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-rw-r--r--src/chschd.c242
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diff --git a/src/chschd.c b/src/chschd.c
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-/*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
-
- This file is part of ChibiOS/RT.
-
- ChibiOS/RT 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/RT 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 chschd.c
- * @brief Scheduler code.
- * @addtogroup Scheduler
- * @{
- */
-
-#include <ch.h>
-
-/** @cond never */
-ReadyList rlist;
-/** @endcond */
-
-/**
- * @brief Scheduler initialization.
- *
- * @note Internally invoked by the @p chSysInit().
- */
-void scheduler_init(void) {
-
- queue_init(&rlist);
- rlist.r_prio = NOPRIO;
-#if CH_USE_ROUNDROBIN
- rlist.r_preempt = CH_TIME_QUANTUM;
-#endif
-}
-
-/**
- * @brief Inserts a thread in the Ready List.
- *
- * @param[in] tp the Thread to be made ready
- * @return The Thread pointer.
- * @note The function does not reschedule, the @p chSchRescheduleS() should
- * be called soon after.
- */
-#if CH_OPTIMIZE_SPEED
-/* NOTE: it is inlined in this module only.*/
-INLINE Thread *chSchReadyI(Thread *tp) {
-#else
-Thread *chSchReadyI(Thread *tp) {
-#endif
- Thread *cp;
-
- tp->p_state = PRREADY;
- cp = (Thread *)&rlist;
- do {
- cp = cp->p_next;
- } while (cp->p_prio >= tp->p_prio);
- /* Insertion on p_prev.*/
- tp->p_prev = (tp->p_next = cp)->p_prev;
- tp->p_prev->p_next = cp->p_prev = tp;
- return tp;
-}
-
-/**
- * @brief Puts the current thread to sleep into the specified state.
- * @details The thread goes into a sleeping state. The @ref thread_states are
- * described into @p threads.h.
- *
- * @param[in] newstate the new thread state
- */
-void chSchGoSleepS(tstate_t newstate) {
- Thread *otp;
-
- (otp = currp)->p_state = newstate;
- (currp = fifo_remove((void *)&rlist))->p_state = PRCURR;
-#if CH_USE_ROUNDROBIN
- rlist.r_preempt = CH_TIME_QUANTUM;
-#endif
- chDbgTrace(otp, currp);
- chSysSwitchI(otp, currp);
-}
-
-/*
- * Timeout wakeup callback.
- */
-static void wakeup(void *p) {
- Thread *tp = (Thread *)p;
-
-#if CH_USE_SEMAPHORES || CH_USE_MUTEXES || CH_USE_CONDVARS
- switch (tp->p_state) {
-#if CH_USE_SEMAPHORES
- case PRWTSEM:
- chSemFastSignalI(tp->p_wtsemp);
- /* Falls into, intentional. */
-#endif
-#if CH_USE_MUTEXES
- case PRWTMTX:
-#endif
-#if CH_USE_CONDVARS
- case PRWTCOND:
-#endif
- /* States requiring dequeuing. */
- dequeue(tp);
- }
-#endif
- chSchReadyI(tp)->p_rdymsg = RDY_TIMEOUT;
-}
-
-/**
- * @brief Puts the current thread to sleep into the specified state with
- * timeout specification.
- * @details The thread goes into a sleeping state, if it is not awakened
- * explicitly within the specified timeout then it is forcibly
- * awakened with a @p RDY_TIMEOUT low level message. The @ref
- * thread_states are described into @p threads.h.
- *
- * @param[in] newstate the new thread state
- * @param[in] time the number of ticks before the operation timeouts, the
- * special values are handled as follow:
- * - @a TIME_INFINITE the thread enters an infinite sleep
- * state, this is equivalent to invoking @p chSchGoSleepS()
- * but, of course, less efficient.
- * - @a TIME_IMMEDIATE this value is accepted but interpreted
- * as a normal time specification not as an immediate timeout
- * specification.
- * .
- * @return The wakeup message.
- * @retval RDY_TIMEOUT if a timeout occurs.
- */
-msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
-
- if (TIME_INFINITE != time) {
- VirtualTimer vt;
-
- chVTSetI(&vt, time, wakeup, currp);
- chSchGoSleepS(newstate);
- if (chVTIsArmedI(&vt))
- chVTResetI(&vt);
- }
- else
- chSchGoSleepS(newstate);
- return currp->p_rdymsg;
-}
-
-/**
- * @brief Wakes up a thread.
- * @details The thread is inserted into the ready list or immediately made
- * running depending on its relative priority compared to the current
- * thread.
- *
- * @param[in] ntp the Thread to be made ready
- * @param[in] msg message to the awakened thread
- * @note It is equivalent to a @p chSchReadyI() followed by a
- * @p chSchRescheduleS() but much more efficient.
- */
-void chSchWakeupS(Thread *ntp, msg_t msg) {
-
- ntp->p_rdymsg = msg;
- /* If the waken thread has a not-greater priority than the current
- * one then it is just inserted in the ready list else it made
- * running immediately and the invoking thread goes in the ready
- * list instead.*/
- if (ntp->p_prio <= currp->p_prio)
- chSchReadyI(ntp);
- else {
- Thread *otp = currp;
- chSchReadyI(otp);
- (currp = ntp)->p_state = PRCURR;
-#if CH_USE_ROUNDROBIN
- rlist.r_preempt = CH_TIME_QUANTUM;
-#endif
- chDbgTrace(otp, ntp);
- chSysSwitchI(otp, ntp);
- }
-}
-
-/**
- * @brief Switches to the first thread on the runnable queue.
- *
- * @note It is intended to be called if @p chSchRescRequiredI() evaluates to
- * @p TRUE.
- */
-void chSchDoRescheduleI(void) {
-
- Thread *otp = currp;
- /* pick the first thread from the ready queue and makes it current */
- (currp = fifo_remove((void *)&rlist))->p_state = PRCURR;
- chSchReadyI(otp);
-#if CH_USE_ROUNDROBIN
- rlist.r_preempt = CH_TIME_QUANTUM;
-#endif
- chDbgTrace(otp, currp);
- chSysSwitchI(otp, currp);
-}
-
-/**
- * @brief Performs a reschedulation if a higher priority thread is runnable.
- * @details If a thread with a higher priority than the current thread is in
- * the ready list then make the higher priority thread running.
- */
-void chSchRescheduleS(void) {
- /* first thread in the runnable queue has higher priority than the running
- * thread? */
- if (firstprio(&rlist) > currp->p_prio)
- chSchDoRescheduleI();
-}
-
-/**
- * @brief Evaluates if a reschedulation is required.
- * @details The decision is taken by comparing the relative priorities and
- * depending on the state of the round robin timeout counter.
- *
- * @retval TRUE if there is a thread that should go in running state.
- * @retval FALSE if a reschedulation is not required.
- */
-bool_t chSchRescRequiredI(void) {
- tprio_t p1 = firstprio(&rlist);
- tprio_t p2 = currp->p_prio;
-#if CH_USE_ROUNDROBIN
- /* If the running thread has not reached its time quantum, reschedule only
- * if the first thread on the ready queue has a higher priority.
- * Otherwise, if the running thread has used up its time quantum, reschedule
- * if the first thread on the ready queue has equal or higher priority.*/
- return rlist.r_preempt ? p1 > p2 : p1 >= p2;
-#else
- /* If the round robin feature is not enabled then performs a simpler
- * comparison.*/
- return p1 > p2;
-#endif
-}
-
-/** @} */
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