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-rw-r--r--os/rt/include/chdynamic.h97
-rw-r--r--os/rt/include/chschd.h107
-rw-r--r--os/rt/rt.mk10
-rw-r--r--os/rt/src/chdynamic.c193
-rw-r--r--os/rt/src/chregistry.c23
-rw-r--r--os/rt/src/chsys.c1
-rw-r--r--os/rt/src/chthreads.c1
7 files changed, 379 insertions, 53 deletions
diff --git a/os/rt/include/chdynamic.h b/os/rt/include/chdynamic.h
new file mode 100644
index 000000000..fa42bf3ae
--- /dev/null
+++ b/os/rt/include/chdynamic.h
@@ -0,0 +1,97 @@
+/*
+ ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file chdynamic.h
+ * @brief Dynamic threads macros and structures.
+ *
+ * @addtogroup dynamic_threads
+ * @{
+ */
+
+#ifndef _CHDYNAMIC_H_
+#define _CHDYNAMIC_H_
+
+#if (CH_CFG_USE_DYNAMIC == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*
+ * Module dependencies check.
+ */
+#if CH_CFG_USE_WAITEXIT == FALSE
+#error "CH_CFG_USE_DYNAMIC requires CH_CFG_USE_WAITEXIT"
+#endif
+
+#if (CH_CFG_USE_HEAP == FALSE) && (CH_CFG_USE_MEMPOOLS == FALSE)
+#error "CH_CFG_USE_DYNAMIC requires CH_CFG_USE_HEAP and/or CH_CFG_USE_MEMPOOLS"
+#endif
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+/*
+ * Dynamic threads APIs.
+ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+#if CH_CFG_USE_HEAP == TRUE
+ thread_t *chThdCreateFromHeap(memory_heap_t *heapp, size_t size,
+ const char *name, tprio_t prio,
+ tfunc_t pf, void *arg);
+ void chThdFreeToHeap(thread_t *tp);
+#endif
+#if CH_CFG_USE_MEMPOOLS == TRUE
+ thread_t *chThdCreateFromMemoryPool(memory_pool_t *mp, const char *name,
+ tprio_t prio, tfunc_t pf, void *arg);
+ void chThdFreeToMemoryPool(thread_t *tp, memory_pool_t *mp);
+#endif
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+#endif /* CH_CFG_USE_DYNAMIC == TRUE */
+
+#endif /* _CHDYNAMIC_H_ */
+
+/** @} */
diff --git a/os/rt/include/chschd.h b/os/rt/include/chschd.h
index 8275a1eee..ca48afe75 100644
--- a/os/rt/include/chschd.h
+++ b/os/rt/include/chschd.h
@@ -218,131 +218,148 @@ struct ch_thread {
/* End of the fields shared with the ReadyList structure. */
#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
/**
- * @brief Thread name or @p NULL.
+ * @brief Thread name or @p NULL.
*/
const char *name;
#endif
/**
- * @brief Thread stack boundary.
- * @note This pointer matches with the working area base address.
+ * @brief Thread stack boundary.
+ * @note This pointer matches with the working area base address.
*/
stkalign_t *stklimit;
/**
- * @brief Current thread state.
+ * @brief Current thread state.
*/
tstate_t state;
/**
- * @brief Number of ticks remaining to this thread.
+ * @brief Various thread flags.
+ */
+ tmode_t flags;
+#if (CH_CFG_USE_DYNAMIC == TRUE) || defined(__DOXYGEN__)
+ /**
+ * @brief References to this thread.
+ */
+ trefs_t refs;
+#endif
+ /**
+ * @brief Number of ticks remaining to this thread.
*/
#if (CH_CFG_TIME_QUANTUM > 0) || defined(__DOXYGEN__)
tslices_t preempt;
#endif
#if (CH_DBG_THREADS_PROFILING == TRUE) || defined(__DOXYGEN__)
/**
- * @brief Thread consumed time in ticks.
- * @note This field can overflow.
+ * @brief Thread consumed time in ticks.
+ * @note This field can overflow.
*/
volatile systime_t time;
#endif
/**
- * @brief State-specific fields.
- * @note All the fields declared in this union are only valid in the
- * specified state or condition and are thus volatile.
+ * @brief State-specific fields.
+ * @note All the fields declared in this union are only valid in the
+ * specified state or condition and are thus volatile.
*/
union {
/**
- * @brief Thread wakeup code.
- * @note This field contains the low level message sent to the thread
- * by the waking thread or interrupt handler. The value is valid
- * after exiting the @p chSchWakeupS() function.
+ * @brief Thread wakeup code.
+ * @note This field contains the low level message sent to the thread
+ * by the waking thread or interrupt handler. The value is valid
+ * after exiting the @p chSchWakeupS() function.
*/
msg_t rdymsg;
/**
- * @brief Thread exit code.
- * @note The thread termination code is stored in this field in order
- * to be retrieved by the thread performing a @p chThdWait() on
- * this thread.
+ * @brief Thread exit code.
+ * @note The thread termination code is stored in this field in order
+ * to be retrieved by the thread performing a @p chThdWait() on
+ * this thread.
*/
msg_t exitcode;
/**
- * @brief Pointer to a generic "wait" object.
- * @note This field is used to get a generic pointer to a synchronization
- * object and is valid when the thread is in one of the wait
- * states.
+ * @brief Pointer to a generic "wait" object.
+ * @note This field is used to get a generic pointer to a synchronization
+ * object and is valid when the thread is in one of the wait
+ * states.
*/
void *wtobjp;
/**
- * @brief Pointer to a generic thread reference object.
- * @note This field is used to get a pointer to a synchronization
- * object and is valid when the thread is in @p CH_STATE_SUSPENDED
- * state.
+ * @brief Pointer to a generic thread reference object.
+ * @note This field is used to get a pointer to a synchronization
+ * object and is valid when the thread is in @p CH_STATE_SUSPENDED
+ * state.
*/
thread_reference_t *wttrp;
#if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)
/**
- * @brief Thread sent message.
+ * @brief Thread sent message.
*/
msg_t sentmsg;
#endif
#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
/**
- * @brief Pointer to a generic semaphore object.
- * @note This field is used to get a pointer to a synchronization
- * object and is valid when the thread is in @p CH_STATE_WTSEM
- * state.
+ * @brief Pointer to a generic semaphore object.
+ * @note This field is used to get a pointer to a synchronization
+ * object and is valid when the thread is in @p CH_STATE_WTSEM
+ * state.
*/
struct ch_semaphore *wtsemp;
#endif
#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
/**
- * @brief Pointer to a generic mutex object.
- * @note This field is used to get a pointer to a synchronization
- * object and is valid when the thread is in @p CH_STATE_WTMTX
- * state.
+ * @brief Pointer to a generic mutex object.
+ * @note This field is used to get a pointer to a synchronization
+ * object and is valid when the thread is in @p CH_STATE_WTMTX
+ * state.
*/
struct ch_mutex *wtmtxp;
#endif
#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
/**
- * @brief Enabled events mask.
- * @note This field is only valid while the thread is in the
- * @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states.
+ * @brief Enabled events mask.
+ * @note This field is only valid while the thread is in the
+ * @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states.
*/
eventmask_t ewmask;
#endif
} u;
#if (CH_CFG_USE_WAITEXIT == TRUE) || defined(__DOXYGEN__)
/**
- * @brief Termination waiting list.
+ * @brief Termination waiting list.
*/
threads_list_t waiting;
#endif
#if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)
/**
- * @brief Messages queue.
+ * @brief Messages queue.
*/
threads_queue_t msgqueue;
#endif
#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
/**
- * @brief Pending events mask.
+ * @brief Pending events mask.
*/
eventmask_t epending;
#endif
#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
/**
- * @brief List of the mutexes owned by this thread.
- * @note The list is terminated by a @p NULL in this field.
+ * @brief List of the mutexes owned by this thread.
+ * @note The list is terminated by a @p NULL in this field.
*/
struct ch_mutex *mtxlist;
/**
- * @brief Thread's own, non-inherited, priority.
+ * @brief Thread's own, non-inherited, priority.
*/
tprio_t realprio;
#endif
+#if ((CH_CFG_USE_DYNAMIC == TRUE) && (CH_CFG_USE_MEMPOOLS == TRUE)) || \
+ defined(__DOXYGEN__)
+ /**
+ * @brief Memory Pool where the thread workspace is returned.
+ */
+ void *mpool;
+#endif
#if (CH_DBG_STATISTICS == TRUE) || defined(__DOXYGEN__)
/**
- * @brief Thread statistics.
+ * @brief Thread statistics.
*/
time_measurement_t stats;
#endif
diff --git a/os/rt/rt.mk b/os/rt/rt.mk
index 971e18c23..cf92d654d 100644
--- a/os/rt/rt.mk
+++ b/os/rt/rt.mk
@@ -35,6 +35,9 @@ endif
ifneq ($(findstring CH_CFG_USE_QUEUES TRUE,$(CHCONF)),)
KERNSRC += $(CHIBIOS)/os/rt/src/chqueues.c
endif
+ifneq ($(findstring CH_CFG_USE_DYNAMIC TRUE,$(CHCONF)),)
+KERNSRC += $(CHIBIOS)/os/rt/src/chdynamic.c
+endif
ifneq ($(findstring CH_CFG_USE_MAILBOXES TRUE,$(CHCONF)),)
KERNSRC += $(CHIBIOS)/os/common/oslib/src/chmboxes.c
endif
@@ -47,9 +50,6 @@ endif
ifneq ($(findstring CH_CFG_USE_MEMPOOLS TRUE,$(CHCONF)),)
KERNSRC += $(CHIBIOS)/os/common/oslib/src/chmempools.c
endif
-ifneq ($(findstring CH_CFG_USE_DYNAMIC TRUE,$(CHCONF)),)
-KERNSRC += $(CHIBIOS)/os/common/oslib/src/chdynamic.c
-endif
else
KERNSRC := $(CHIBIOS)/os/rt/src/chsys.c \
$(CHIBIOS)/os/rt/src/chdebug.c \
@@ -65,11 +65,11 @@ KERNSRC := $(CHIBIOS)/os/rt/src/chsys.c \
$(CHIBIOS)/os/rt/src/chevents.c \
$(CHIBIOS)/os/rt/src/chmsg.c \
$(CHIBIOS)/os/rt/src/chqueues.c \
+ $(CHIBIOS)/os/rt/src/chdynamic.c \
$(CHIBIOS)/os/common/oslib/src/chmboxes.c \
$(CHIBIOS)/os/common/oslib/src/chmemcore.c \
$(CHIBIOS)/os/common/oslib/src/chheap.c \
- $(CHIBIOS)/os/common/oslib/src/chmempools.c \
- $(CHIBIOS)/os/common/oslib/src/chdynamic.c
+ $(CHIBIOS)/os/common/oslib/src/chmempools.c
endif
# Required include directories
diff --git a/os/rt/src/chdynamic.c b/os/rt/src/chdynamic.c
new file mode 100644
index 000000000..414cfe2c8
--- /dev/null
+++ b/os/rt/src/chdynamic.c
@@ -0,0 +1,193 @@
+/*
+ ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file chdynamic.c
+ * @brief Dynamic threads code.
+ *
+ * @addtogroup dynamic_threads
+ * @details Dynamic threads related APIs and services.
+ * @{
+ */
+
+#include "ch.h"
+
+#if (CH_CFG_USE_DYNAMIC == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+#if (CH_CFG_USE_HEAP == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Creates a new thread allocating the memory from the heap.
+ * @pre The configuration options @p CH_CFG_USE_DYNAMIC and
+ * @p CH_CFG_USE_HEAP must be enabled in order to use this function.
+ * @note A thread can terminate by calling @p chThdExit() or by simply
+ * returning from its main function.
+ * @note The memory allocated for the thread is not released automatically,
+ * it is responsibility of the creator thread to call @p chThdWait()
+ * and then release the allocated memory.
+ *
+ * @param[in] heapp heap from which allocate the memory or @p NULL for the
+ * default heap
+ * @param[in] size size of the working area to be allocated
+ * @param[in] name thread name
+ * @param[in] prio the priority level for the new thread
+ * @param[in] pf the thread function
+ * @param[in] arg an argument passed to the thread function. It can be
+ * @p NULL.
+ * @return The pointer to the @p thread_t structure allocated for
+ * the thread into the working space area.
+ * @retval NULL if the memory cannot be allocated.
+ *
+ * @api
+ */
+thread_t *chThdCreateFromHeap(memory_heap_t *heapp, size_t size,
+ const char *name, tprio_t prio,
+ tfunc_t pf, void *arg) {
+ void *wsp;
+
+ wsp = chHeapAllocAligned(heapp, size, PORT_WORKING_AREA_ALIGN);
+ if (wsp == NULL) {
+ return NULL;
+ }
+
+ thread_descriptor_t td = {
+ name,
+ wsp,
+ (stkalign_t *)((uint8_t *)wsp + size),
+ prio,
+ pf,
+ arg
+ };
+
+ return chThdCreate(&td);
+}
+
+/**
+ * @brief Releases a thread working area into the owner heap.
+ * @pre The thread must have been created using @p chThdCreateFromHeap().
+ * @pre The thread must be in the state @p CH_STATE_FINAL (terminated).
+ *
+ * @param[in] tp the pointer to the thread
+ *
+ * @api
+ */
+void chThdFreeToHeap(thread_t *tp) {
+
+ chDbgCheck(tp != NULL);
+ chDbgAssert(tp->state == CH_STATE_FINAL, "not terminated");
+
+ chHeapFree(chthdGetStackLimitX(tp));
+}
+#endif /* CH_CFG_USE_HEAP == TRUE */
+
+#if (CH_CFG_USE_MEMPOOLS == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Creates a new thread allocating the memory from the specified
+ * memory pool.
+ * @pre The configuration options @p CH_CFG_USE_DYNAMIC and
+ * @p CH_CFG_USE_MEMPOOLS must be enabled in order to use this
+ * function.
+ * @pre The pool must be initialized to contain only objects with
+ * alignment @p PORT_WORKING_AREA_ALIGN.
+ * @note A thread can terminate by calling @p chThdExit() or by simply
+ * returning from its main function.
+ * @note The memory allocated for the thread is not released automatically,
+ * it is responsibility of the creator thread to call @p chThdWait()
+ * and then release the allocated memory.
+ *
+ * @param[in] mp pointer to the memory pool object
+ * @param[in] name thread name
+ * @param[in] prio the priority level for the new thread
+ * @param[in] pf the thread function
+ * @param[in] arg an argument passed to the thread function. It can be
+ * @p NULL.
+ * @return The pointer to the @p thread_t structure allocated for
+ * the thread into the working space area.
+ * @retval NULL if the memory pool is empty.
+ *
+ * @api
+ */
+thread_t *chThdCreateFromMemoryPool(memory_pool_t *mp, const char *name,
+ tprio_t prio, tfunc_t pf, void *arg) {
+ void *wsp;
+
+ chDbgCheck(mp != NULL);
+
+ wsp = chPoolAlloc(mp);
+ if (wsp == NULL) {
+ return NULL;
+ }
+
+ thread_descriptor_t td = {
+ name,
+ wsp,
+ (stkalign_t *)((uint8_t *)wsp + mp->object_size),
+ prio,
+ pf,
+ arg
+ };
+
+ return chThdCreate(&td);
+}
+
+/**
+ * @brief Releases a thread working area into a memory pool.
+ * @pre The thread must have been created using @p chThdCreateFromMemoryPool().
+ * @pre The thread must be in the state @p CH_STATE_FINAL (terminated).
+ *
+ * @param[in] tp the pointer to the thread
+ * @param[in] mp pointer to a @p memory_pool_t structure
+ *
+ * @api
+ */
+void chThdFreeToMemoryPool(thread_t *tp, memory_pool_t *mp) {
+
+ chDbgCheck((tp != NULL) && (mp != NULL));
+ chDbgAssert(tp->state == CH_STATE_FINAL, "not terminated");
+
+ chPoolFree(mp, (void *)chthdGetStackLimitX(tp));
+}
+#endif /* CH_CFG_USE_MEMPOOLS == TRUE */
+
+#endif /* CH_CFG_USE_DYNAMIC == TRUE */
+
+/** @} */
diff --git a/os/rt/src/chregistry.c b/os/rt/src/chregistry.c
index 944383bf1..7d870897b 100644
--- a/os/rt/src/chregistry.c
+++ b/os/rt/src/chregistry.c
@@ -101,8 +101,12 @@ ROMCONST chdebug_t ch_debug = {
(uint8_t)0,
#endif
(uint8_t)_offsetof(thread_t, state),
- (uint8_t)0, /* Flags no more part of the structure. */
- (uint8_t)0, /* Refs no more part of the structure. */
+ (uint8_t)_offsetof(thread_t, flags),
+#if CH_CFG_USE_DYNAMIC == TRUE
+ (uint8_t)_offsetof(thread_t, refs),
+#else
+ (uint8_t)0,
+#endif
#if CH_CFG_TIME_QUANTUM > 0
(uint8_t)_offsetof(thread_t, preempt),
#else
@@ -132,6 +136,9 @@ thread_t *chRegFirstThread(void) {
chSysLock();
tp = ch.rlist.newer;
+#if CH_CFG_USE_DYNAMIC == TRUE
+ tp->refs++;
+#endif
chSysUnlock();
return tp;
@@ -158,7 +165,16 @@ thread_t *chRegNextThread(thread_t *tp) {
/*lint -restore*/
ntp = NULL;
}
+#if CH_CFG_USE_DYNAMIC == TRUE
+ else {
+ chDbgAssert(ntp->refs < (trefs_t)255, "too many references");
+ ntp->refs++;
+ }
+#endif
chSysUnlock();
+#if CH_CFG_USE_DYNAMIC == TRUE
+ chThdRelease(tp);
+#endif
return ntp;
}
@@ -186,7 +202,6 @@ thread_t *chRegFindThreadByName(const char *name) {
return NULL;
}
-#endif /* CH_CFG_USE_REGISTRY == TRUE */
/**
* @brief Confirms that a pointer is a valid thread pointer.
@@ -212,4 +227,6 @@ thread_t *chRegFindThreadByPointer(thread_t *tp) {
return NULL;
}
+#endif /* CH_CFG_USE_REGISTRY == TRUE */
+
/** @} */
diff --git a/os/rt/src/chsys.c b/os/rt/src/chsys.c
index d9ca6d81a..18459849d 100644
--- a/os/rt/src/chsys.c
+++ b/os/rt/src/chsys.c
@@ -129,6 +129,7 @@ void chSysInit(void) {
/* Setting up the caller as current thread.*/
currp->state = CH_STATE_CURRENT;
+ currp->flags = CH_FLAG_MODE_STATIC;
/* Port layer initialization last because it depend on some of the
initializations performed before.*/
diff --git a/os/rt/src/chthreads.c b/os/rt/src/chthreads.c
index e706c0d77..0fff76604 100644
--- a/os/rt/src/chthreads.c
+++ b/os/rt/src/chthreads.c
@@ -175,6 +175,7 @@ thread_t *chThdCreateSuspendedI(const thread_descriptor_t *tdp) {
/* Initial state.*/
tp->state = CH_STATE_WTSTART;
+ tp->flags = CH_FLAG_MODE_STATIC;
/* Stack boundary.*/
tp->stklimit = tdp->wbase;
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-23 03:30:56 +0000