From 157b6f9695e7f72f2d54b231c19cb4045710ed01 Mon Sep 17 00:00:00 2001 From: gdisirio Date: Sun, 21 Feb 2010 07:24:53 +0000 Subject: Updated license dates. git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1646 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/kernel/include/ch.h | 12 +- os/kernel/include/channels.h | 2 +- os/kernel/include/condvars.h | 2 +- os/kernel/include/debug.h | 2 +- os/kernel/include/events.h | 2 +- os/kernel/include/heap.h | 2 +- os/kernel/include/inline.h | 2 +- os/kernel/include/lists.h | 4 +- os/kernel/include/mailboxes.h | 4 +- os/kernel/include/memcore.h | 2 +- os/kernel/include/mempools.h | 6 +- os/kernel/include/messages.h | 2 +- os/kernel/include/mutexes.h | 2 +- os/kernel/include/queues.h | 484 +++++++++++++++--------------- os/kernel/include/registry.h | 4 +- os/kernel/include/scheduler.h | 268 ++++++++--------- os/kernel/include/semaphores.h | 6 +- os/kernel/include/streams.h | 2 +- os/kernel/include/sys.h | 4 +- os/kernel/include/threads.h | 660 ++++++++++++++++++++--------------------- os/kernel/include/vt.h | 6 +- 21 files changed, 739 insertions(+), 739 deletions(-) (limited to 'os/kernel/include') diff --git a/os/kernel/include/ch.h b/os/kernel/include/ch.h index a0b2ca6fd..8f3f07e21 100644 --- a/os/kernel/include/ch.h +++ b/os/kernel/include/ch.h @@ -1,5 +1,5 @@ /* - ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. This file is part of ChibiOS/RT. @@ -31,27 +31,27 @@ #define _CH_H_ /** - * @brief ChibiOS/RT identification macro. + * @brief ChibiOS/RT identification macro. */ #define _CHIBIOS_RT_ /** - * @brief Kernel version string. + * @brief Kernel version string. */ #define CH_KERNEL_VERSION "1.5.2unstable" /** - * @brief Kernel version major number. + * @brief Kernel version major number. */ #define CH_KERNEL_MAJOR 1 /** - * @brief Kernel version minor number. + * @brief Kernel version minor number. */ #define CH_KERNEL_MINOR 5 /** - * @brief Kernel version patch number. + * @brief Kernel version patch number. */ #define CH_KERNEL_PATCH 2 diff --git a/os/kernel/include/channels.h b/os/kernel/include/channels.h index 7e275af96..06c7cf88a 100644 --- a/os/kernel/include/channels.h +++ b/os/kernel/include/channels.h @@ -1,5 +1,5 @@ /* - ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. This file is part of ChibiOS/RT. diff --git a/os/kernel/include/condvars.h b/os/kernel/include/condvars.h index be40f7dd3..a84fa3bdb 100644 --- a/os/kernel/include/condvars.h +++ b/os/kernel/include/condvars.h @@ -1,5 +1,5 @@ /* - ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. This file is part of ChibiOS/RT. diff --git a/os/kernel/include/debug.h b/os/kernel/include/debug.h index b60171866..5cd056a81 100644 --- a/os/kernel/include/debug.h +++ b/os/kernel/include/debug.h @@ -1,5 +1,5 @@ /* - ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. This file is part of ChibiOS/RT. diff --git a/os/kernel/include/events.h b/os/kernel/include/events.h index 42f415b73..c434eb7ce 100644 --- a/os/kernel/include/events.h +++ b/os/kernel/include/events.h @@ -1,5 +1,5 @@ /* - ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. This file is part of ChibiOS/RT. diff --git a/os/kernel/include/heap.h b/os/kernel/include/heap.h index 0ebe1d7b5..8be48961a 100644 --- a/os/kernel/include/heap.h +++ b/os/kernel/include/heap.h @@ -1,5 +1,5 @@ /* - ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. This file is part of ChibiOS/RT. diff --git a/os/kernel/include/inline.h b/os/kernel/include/inline.h index 43f12f2e7..2b160f03f 100644 --- a/os/kernel/include/inline.h +++ b/os/kernel/include/inline.h @@ -1,5 +1,5 @@ /* - ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. This file is part of ChibiOS/RT. diff --git a/os/kernel/include/lists.h b/os/kernel/include/lists.h index 9240a6fcb..48841c687 100644 --- a/os/kernel/include/lists.h +++ b/os/kernel/include/lists.h @@ -1,5 +1,5 @@ /* - ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. This file is part of ChibiOS/RT. @@ -45,7 +45,7 @@ typedef struct Thread Thread; /** * @brief Evaluates to @p TRUE if the specified threads queue or list is - * empty. + * empty. */ #define isempty(p) ((p)->p_next == (Thread *)(p)) diff --git a/os/kernel/include/mailboxes.h b/os/kernel/include/mailboxes.h index 33048229f..d2c71b6d8 100644 --- a/os/kernel/include/mailboxes.h +++ b/os/kernel/include/mailboxes.h @@ -1,5 +1,5 @@ /* - ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. This file is part of ChibiOS/RT. @@ -102,7 +102,7 @@ extern "C" { * @note A message must be waiting in the queue for this function to work or * it would return garbage. The correct way to use this macro is to * use @p chMBGetFull() and then use this macro, all within a lock - * state. + * state. */ #define chMBPeek(mbp) (*(mbp)->mb_rdptr) diff --git a/os/kernel/include/memcore.h b/os/kernel/include/memcore.h index c0aa9c9a2..381339938 100644 --- a/os/kernel/include/memcore.h +++ b/os/kernel/include/memcore.h @@ -1,5 +1,5 @@ /* - ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. This file is part of ChibiOS/RT. diff --git a/os/kernel/include/mempools.h b/os/kernel/include/mempools.h index d6611663a..056ceaae8 100644 --- a/os/kernel/include/mempools.h +++ b/os/kernel/include/mempools.h @@ -1,5 +1,5 @@ /* - ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. This file is part of ChibiOS/RT. @@ -31,7 +31,7 @@ #if CH_USE_MEMPOOLS /** - * @brief Memory pool free object header. + * @brief Memory pool free object header. */ struct pool_header { struct pool_header *ph_next; /**< @brief Pointer to the next pool @@ -39,7 +39,7 @@ struct pool_header { }; /** - * @brief Memory pool descriptor. + * @brief Memory pool descriptor. */ typedef struct { struct pool_header *mp_next; /**< @brief Pointer to the header. */ diff --git a/os/kernel/include/messages.h b/os/kernel/include/messages.h index 669b1c8b9..d5e7cb32e 100644 --- a/os/kernel/include/messages.h +++ b/os/kernel/include/messages.h @@ -1,5 +1,5 @@ /* - ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. This file is part of ChibiOS/RT. diff --git a/os/kernel/include/mutexes.h b/os/kernel/include/mutexes.h index 5bdbcdbd9..a57e8386a 100644 --- a/os/kernel/include/mutexes.h +++ b/os/kernel/include/mutexes.h @@ -1,5 +1,5 @@ /* - ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. This file is part of ChibiOS/RT. diff --git a/os/kernel/include/queues.h b/os/kernel/include/queues.h index 124175133..fb2f13194 100644 --- a/os/kernel/include/queues.h +++ b/os/kernel/include/queues.h @@ -1,242 +1,242 @@ -/* - 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 . -*/ - -/** - * @file queues.h I/O - * @brief Queues macros and structures. - * - * @addtogroup io_queues - * @{ - */ - -#ifndef _QUEUES_H_ -#define _QUEUES_H_ - -#if CH_USE_QUEUES - -/* - * Module dependencies check. - */ -#if !CH_USE_SEMAPHORES -#error "CH_USE_QUEUES requires CH_USE_SEMAPHORES" -#endif - -/** @brief Queue notification callback type.*/ -typedef void (*qnotify_t)(void); - -/** @brief Returned by the queue functions if the operation is successful.*/ -#define Q_OK RDY_OK -/** @brief Returned by the queue functions if a timeout occurs.*/ -#define Q_TIMEOUT RDY_TIMEOUT -/** @brief Returned by the queue functions if the queue is reset.*/ -#define Q_RESET RDY_RESET -/** @brief Returned by the queue functions if the queue is empty.*/ -#define Q_EMPTY -3 -/** @brief Returned by the queue functions if the queue is full.*/ -#define Q_FULL -4 - -/** - * @brief Generic I/O queue structure. - * @details This structure represents a generic Input or Output asymmetrical - * queue. The queue is asymmetrical because one end is meant to be - * accessed from a thread context, and thus can be blocking, the other - * end is accessible from interrupt handlers or from within a kernel - * lock zone (see I-Locked and S-Locked states in - * @ref system_states) and is non-blocking. - */ -typedef struct { - uint8_t *q_buffer; /**< @brief Pointer to the queue buffer.*/ - uint8_t *q_top; /**< @brief Pointer to the first location - after the buffer. */ - uint8_t *q_wrptr; /**< @brief Write pointer. */ - uint8_t *q_rdptr; /**< @brief Read pointer. */ - Semaphore q_sem; /**< @brief Counter @p Semaphore. */ - qnotify_t q_notify; /**< @brief Data notification callback. */ -} GenericQueue; - -/** - * @brief Returns the queue's buffer size. - */ -#define chQSize(q) ((q)->q_top - (q)->q_buffer) - -/** - * @brief Queue space. - * @details Returns the used space if used on an Input Queue and the empty - * space if used on an Output Queue. - * @note The returned value can be less than zero when there are waiting - * threads on the internal semaphore. - */ -#define chQSpace(q) chSemGetCounterI(&(q)->q_sem) - -/** - * @extends GenericQueue - * - * @brief Input queue structure. - * @details This structure represents a generic asymmetrical input queue. - * Writing in the queue is non-blocking and can be performed from - * interrupt handlers or from within a kernel lock zone (see - * I-Locked and S-Locked states in @ref system_states). - * Reading the queue can be a blocking operation and is supposed to - * be performed by a system thread. - */ -typedef GenericQueue InputQueue; - -/** @brief Evaluates to @p TRUE if the specified Input Queue is empty.*/ -#define chIQIsEmpty(q) (chQSpace(q) <= 0) - -/** @brief Evaluates to @p TRUE if the specified Input Queue is full.*/ -#define chIQIsFull(q) (chQSpace(q) >= chQSize(q)) - -/** - * @brief Input queue read. - * @details This function reads a byte value from an input queue. If the queue - * is empty then the calling thread is suspended until a byte arrives - * in the queue. - * - * @param[in] iqp pointer to an @p InputQueue structure - * @return A byte value from the queue or: - * @retval Q_RESET if the queue was reset. - */ -#define chIQGet(iqp) chIQGetTimeout(iqp, TIME_INFINITE) - -/** - * @brief Data part of a static input queue initializer. - * @details This macro should be used when statically initializing an - * input queue that is part of a bigger structure. - * - * @param[in] name the name of the input queue variable - * @param[in] buffer pointer to the queue buffer area - * @param[in] size size of the queue buffer area - * @param[in] inotify input notification callback pointer - */ -#define _INPUTQUEUE_DATA(name, buffer, size, inotify) { \ - (uint8_t *)(buffer), \ - (uint8_t *)(buffer) + size, \ - (uint8_t *)(buffer), \ - (uint8_t *)(buffer), \ - _SEMAPHORE_DATA(name.q_sem, 0), \ - inotify \ -} - -/** - * @brief Static input queue initializer. - * @details Statically initialized input queues require no explicit - * initialization using @p chIQInit(). - * - * @param[in] name the name of the input queue variable - * @param[in] buffer pointer to the queue buffer area - * @param[in] size size of the queue buffer area - * @param[in] inotify input notification callback pointer - */ -#define INPUTQUEUE_DECL(name, buffer, size, inotify) \ - InputQueue name = _INPUTQUEUE_DATA(name, buffer, size, inotify) - -/** - * @extends GenericQueue - * - * @brief Output queue structure. - * @details This structure represents a generic asymmetrical output queue. - * Reading from the queue is non-blocking and can be performed from - * interrupt handlers or from within a kernel lock zone (see - * I-Locked and S-Locked states in @ref system_states). - * Writing the queue can be a blocking operation and is supposed to - * be performed by a system thread. - */ -typedef GenericQueue OutputQueue; - -/** - * @brief Evaluates to @p TRUE if the specified Output Queue is empty. - */ -#define chOQIsEmpty(q) (chQSpace(q) >= chQSize(q)) - -/** - * @brief Evaluates to @p TRUE if the specified Output Queue is full. - */ -#define chOQIsFull(q) (chQSpace(q) <= 0) - -/** - * @brief Output queue write. - * @details This function writes a byte value to an output queue. If the queue - * is full then the calling thread is suspended until there is space - * in the queue. - * - * @param[in] oqp pointer to an @p OutputQueue structure - * @param[in] b the byte value to be written in the queue - * @return The operation status: - * @retval Q_OK if the operation succeeded. - * @retval Q_RESET if the queue was reset. - */ -#define chOQPut(oqp, b) chOQPutTimeout(oqp, b, TIME_INFINITE) - -/** - * @brief Data part of a static output queue initializer. - * @details This macro should be used when statically initializing an - * output queue that is part of a bigger structure. - * - * @param[in] name the name of the output queue variable. - * @param[in] buffer pointer to the queue buffer area - * @param[in] size size of the queue buffer area - * @param[in] onotify output notification callback pointer - */ -#define _OUTPUTQUEUE_DATA(name, buffer, size, onotify) { \ - (uint8_t *)(buffer), \ - (uint8_t *)(buffer) + size, \ - (uint8_t *)(buffer), \ - (uint8_t *)(buffer), \ - _SEMAPHORE_DATA(name.q_sem, size), \ - onotify \ -} - -/** - * @brief Static output queue initializer. - * @details Statically initialized output queues require no explicit - * initialization using @p chOQInit(). - * - * @param[in] name the name of the output queue variable - * @param[in] buffer pointer to the queue buffer area - * @param[in] size size of the queue buffer area - * @param[in] onotify output notification callback pointer - */ -#define OUTPUTQUEUE_DECL(name, buffer, size, onotify) \ - InputQueue name = _OUTPUTQUEUE_DATA(name, buffer, size, onotify) - -#ifdef __cplusplus -extern "C" { -#endif - void chIQInit(InputQueue *qp, uint8_t *bp, size_t size, qnotify_t infy); - void chIQResetI(InputQueue *qp); - msg_t chIQPutI(InputQueue *qp, uint8_t b); - msg_t chIQGetTimeout(InputQueue *qp, systime_t time); - size_t chIQReadTimeout(InputQueue *qp, uint8_t *bp, - size_t n, systime_t time); - - void chOQInit(OutputQueue *queue, uint8_t *bp, size_t size, qnotify_t onfy); - void chOQResetI(OutputQueue *queue); - msg_t chOQPutTimeout(OutputQueue *queue, uint8_t b, systime_t time); - msg_t chOQGetI(OutputQueue *queue); - size_t chOQWriteTimeout(OutputQueue *queue, const uint8_t *bp, - size_t n, systime_t time); -#ifdef __cplusplus -} -#endif -#endif /* CH_USE_QUEUES */ - -#endif /* _QUEUES_H_ */ - -/** @} */ +/* + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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 . +*/ + +/** + * @file queues.h I/O + * @brief Queues macros and structures. + * + * @addtogroup io_queues + * @{ + */ + +#ifndef _QUEUES_H_ +#define _QUEUES_H_ + +#if CH_USE_QUEUES + +/* + * Module dependencies check. + */ +#if !CH_USE_SEMAPHORES +#error "CH_USE_QUEUES requires CH_USE_SEMAPHORES" +#endif + +/** @brief Queue notification callback type.*/ +typedef void (*qnotify_t)(void); + +/** @brief Returned by the queue functions if the operation is successful.*/ +#define Q_OK RDY_OK +/** @brief Returned by the queue functions if a timeout occurs.*/ +#define Q_TIMEOUT RDY_TIMEOUT +/** @brief Returned by the queue functions if the queue is reset.*/ +#define Q_RESET RDY_RESET +/** @brief Returned by the queue functions if the queue is empty.*/ +#define Q_EMPTY -3 +/** @brief Returned by the queue functions if the queue is full.*/ +#define Q_FULL -4 + +/** + * @brief Generic I/O queue structure. + * @details This structure represents a generic Input or Output asymmetrical + * queue. The queue is asymmetrical because one end is meant to be + * accessed from a thread context, and thus can be blocking, the other + * end is accessible from interrupt handlers or from within a kernel + * lock zone (see I-Locked and S-Locked states in + * @ref system_states) and is non-blocking. + */ +typedef struct { + uint8_t *q_buffer; /**< @brief Pointer to the queue buffer.*/ + uint8_t *q_top; /**< @brief Pointer to the first location + after the buffer. */ + uint8_t *q_wrptr; /**< @brief Write pointer. */ + uint8_t *q_rdptr; /**< @brief Read pointer. */ + Semaphore q_sem; /**< @brief Counter @p Semaphore. */ + qnotify_t q_notify; /**< @brief Data notification callback. */ +} GenericQueue; + +/** + * @brief Returns the queue's buffer size. + */ +#define chQSize(q) ((q)->q_top - (q)->q_buffer) + +/** + * @brief Queue space. + * @details Returns the used space if used on an Input Queue and the empty + * space if used on an Output Queue. + * @note The returned value can be less than zero when there are waiting + * threads on the internal semaphore. + */ +#define chQSpace(q) chSemGetCounterI(&(q)->q_sem) + +/** + * @extends GenericQueue + * + * @brief Input queue structure. + * @details This structure represents a generic asymmetrical input queue. + * Writing in the queue is non-blocking and can be performed from + * interrupt handlers or from within a kernel lock zone (see + * I-Locked and S-Locked states in @ref system_states). + * Reading the queue can be a blocking operation and is supposed to + * be performed by a system thread. + */ +typedef GenericQueue InputQueue; + +/** @brief Evaluates to @p TRUE if the specified Input Queue is empty.*/ +#define chIQIsEmpty(q) (chQSpace(q) <= 0) + +/** @brief Evaluates to @p TRUE if the specified Input Queue is full.*/ +#define chIQIsFull(q) (chQSpace(q) >= chQSize(q)) + +/** + * @brief Input queue read. + * @details This function reads a byte value from an input queue. If the queue + * is empty then the calling thread is suspended until a byte arrives + * in the queue. + * + * @param[in] iqp pointer to an @p InputQueue structure + * @return A byte value from the queue or: + * @retval Q_RESET if the queue was reset. + */ +#define chIQGet(iqp) chIQGetTimeout(iqp, TIME_INFINITE) + +/** + * @brief Data part of a static input queue initializer. + * @details This macro should be used when statically initializing an + * input queue that is part of a bigger structure. + * + * @param[in] name the name of the input queue variable + * @param[in] buffer pointer to the queue buffer area + * @param[in] size size of the queue buffer area + * @param[in] inotify input notification callback pointer + */ +#define _INPUTQUEUE_DATA(name, buffer, size, inotify) { \ + (uint8_t *)(buffer), \ + (uint8_t *)(buffer) + size, \ + (uint8_t *)(buffer), \ + (uint8_t *)(buffer), \ + _SEMAPHORE_DATA(name.q_sem, 0), \ + inotify \ +} + +/** + * @brief Static input queue initializer. + * @details Statically initialized input queues require no explicit + * initialization using @p chIQInit(). + * + * @param[in] name the name of the input queue variable + * @param[in] buffer pointer to the queue buffer area + * @param[in] size size of the queue buffer area + * @param[in] inotify input notification callback pointer + */ +#define INPUTQUEUE_DECL(name, buffer, size, inotify) \ + InputQueue name = _INPUTQUEUE_DATA(name, buffer, size, inotify) + +/** + * @extends GenericQueue + * + * @brief Output queue structure. + * @details This structure represents a generic asymmetrical output queue. + * Reading from the queue is non-blocking and can be performed from + * interrupt handlers or from within a kernel lock zone (see + * I-Locked and S-Locked states in @ref system_states). + * Writing the queue can be a blocking operation and is supposed to + * be performed by a system thread. + */ +typedef GenericQueue OutputQueue; + +/** + * @brief Evaluates to @p TRUE if the specified Output Queue is empty. + */ +#define chOQIsEmpty(q) (chQSpace(q) >= chQSize(q)) + +/** + * @brief Evaluates to @p TRUE if the specified Output Queue is full. + */ +#define chOQIsFull(q) (chQSpace(q) <= 0) + +/** + * @brief Output queue write. + * @details This function writes a byte value to an output queue. If the queue + * is full then the calling thread is suspended until there is space + * in the queue. + * + * @param[in] oqp pointer to an @p OutputQueue structure + * @param[in] b the byte value to be written in the queue + * @return The operation status: + * @retval Q_OK if the operation succeeded. + * @retval Q_RESET if the queue was reset. + */ +#define chOQPut(oqp, b) chOQPutTimeout(oqp, b, TIME_INFINITE) + +/** + * @brief Data part of a static output queue initializer. + * @details This macro should be used when statically initializing an + * output queue that is part of a bigger structure. + * + * @param[in] name the name of the output queue variable. + * @param[in] buffer pointer to the queue buffer area + * @param[in] size size of the queue buffer area + * @param[in] onotify output notification callback pointer + */ +#define _OUTPUTQUEUE_DATA(name, buffer, size, onotify) { \ + (uint8_t *)(buffer), \ + (uint8_t *)(buffer) + size, \ + (uint8_t *)(buffer), \ + (uint8_t *)(buffer), \ + _SEMAPHORE_DATA(name.q_sem, size), \ + onotify \ +} + +/** + * @brief Static output queue initializer. + * @details Statically initialized output queues require no explicit + * initialization using @p chOQInit(). + * + * @param[in] name the name of the output queue variable + * @param[in] buffer pointer to the queue buffer area + * @param[in] size size of the queue buffer area + * @param[in] onotify output notification callback pointer + */ +#define OUTPUTQUEUE_DECL(name, buffer, size, onotify) \ + InputQueue name = _OUTPUTQUEUE_DATA(name, buffer, size, onotify) + +#ifdef __cplusplus +extern "C" { +#endif + void chIQInit(InputQueue *qp, uint8_t *bp, size_t size, qnotify_t infy); + void chIQResetI(InputQueue *qp); + msg_t chIQPutI(InputQueue *qp, uint8_t b); + msg_t chIQGetTimeout(InputQueue *qp, systime_t time); + size_t chIQReadTimeout(InputQueue *qp, uint8_t *bp, + size_t n, systime_t time); + + void chOQInit(OutputQueue *queue, uint8_t *bp, size_t size, qnotify_t onfy); + void chOQResetI(OutputQueue *queue); + msg_t chOQPutTimeout(OutputQueue *queue, uint8_t b, systime_t time); + msg_t chOQGetI(OutputQueue *queue); + size_t chOQWriteTimeout(OutputQueue *queue, const uint8_t *bp, + size_t n, systime_t time); +#ifdef __cplusplus +} +#endif +#endif /* CH_USE_QUEUES */ + +#endif /* _QUEUES_H_ */ + +/** @} */ diff --git a/os/kernel/include/registry.h b/os/kernel/include/registry.h index afaf3c5f7..2bff903e8 100644 --- a/os/kernel/include/registry.h +++ b/os/kernel/include/registry.h @@ -1,5 +1,5 @@ /* - ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. This file is part of ChibiOS/RT. @@ -34,7 +34,7 @@ * @brief Removes a thread from the registry list. * @note This macro is not meant for use in application code. * - * @param[in] tp thread to remove from the registry + * @param[in] tp thread to remove from the registry */ #define REG_REMOVE(tp) { \ (tp)->p_older->p_newer = (tp)->p_newer; \ diff --git a/os/kernel/include/scheduler.h b/os/kernel/include/scheduler.h index e6bc69078..ddb7df979 100644 --- a/os/kernel/include/scheduler.h +++ b/os/kernel/include/scheduler.h @@ -1,134 +1,134 @@ -/* - 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 . -*/ - -/** - * @file scheduler.h - * @brief Scheduler macros and structures. - * - * @addtogroup scheduler - * @{ - */ - -#ifndef _SCHEDULER_H_ -#define _SCHEDULER_H_ - -/** @brief Default thread wakeup low level message.*/ -#define RDY_OK 0 -/** @brief Low level message sent to a thread awakened by a timeout.*/ -#define RDY_TIMEOUT -1 -/** @brief Low level message sent to a thread awakened by a reset operation.*/ -#define RDY_RESET -2 - -#define NOPRIO 0 /**< @brief Ready list header priority. */ -#define IDLEPRIO 1 /**< @brief Idle thread priority. */ -#define LOWPRIO 2 /**< @brief Lowest user priority. */ -#define NORMALPRIO 64 /**< @brief Normal user priority. */ -#define HIGHPRIO 127 /**< @brief Highest user priority. */ -#define ABSPRIO 255 /**< @brief Greatest possible priority. */ - -/** - * @brief Zero time specification for some syscalls with a timeout - * specification. - * @note Not all functions accept @p TIME_IMMEDIATE as timeout parameter, - * see the specific function documentation. - */ -#define TIME_IMMEDIATE ((systime_t)-1) - -/** - * @brief Infinite time specification for all the syscalls with a timeout - * specification. - */ -#define TIME_INFINITE ((systime_t)0) - -/** - * @brief Returns the priority of the first thread on the given ready list. - */ -#define firstprio(rlp) ((rlp)->p_next->p_prio) - -/** - * @extends ThreadsQueue - * - * @brief Ready list header. - */ -typedef struct { - ThreadsQueue r_queue; /**< @brief Threads queue. */ - tprio_t r_prio; /**< @brief This field must be - initialized to zero. */ - struct context p_ctx; /**< @brief Not used, present because - offsets. */ -#if CH_USE_REGISTRY - Thread *p_newer; /**< @brief Newer registry element. */ - Thread *p_older; /**< @brief Older registry element. */ -#endif - /* End of the fields shared with the Thread structure.*/ -#if CH_TIME_QUANTUM > 0 - cnt_t r_preempt; /**< @brief Round robin counter. */ -#endif -#ifndef CH_CURRP_REGISTER_CACHE - Thread *r_current; /**< @brief The currently running - thread. */ -#endif -} ReadyList; - -#if !defined(__DOXYGEN__) -extern ReadyList rlist; -#endif - -#ifdef CH_CURRP_REGISTER_CACHE -register Thread *currp asm(CH_CURRP_REGISTER_CACHE); -#else -#define currp rlist.r_current -#endif - -/* - * Scheduler APIs. - */ -#ifdef __cplusplus -extern "C" { -#endif - void scheduler_init(void); - Thread *chSchReadyI(Thread *tp); - void chSchGoSleepS(tstate_t newstate); - msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time); - void chSchWakeupS(Thread *tp, msg_t msg); - void chSchDoRescheduleI(void); - void chSchRescheduleS(void); - bool_t chSchIsRescRequiredExI(void); - void chSchDoYieldS(void); -#ifdef __cplusplus -} -#endif - -/** - * @brief Determines if yielding is possible. - * @details This function returns @p TRUE if there is a ready thread with - * equal or higher priority. - */ -#define chSchCanYieldS() (firstprio(&rlist.r_queue) >= currp->p_prio) - -/** - * @brief Determines if the current thread must reschedule. - * @details This function returns @p TRUE if there is a ready thread with - * higher priority. - */ -#define chSchIsRescRequiredI() (firstprio(&rlist.r_queue) > currp->p_prio) - -#endif /* _SCHEDULER_H_ */ - -/** @} */ +/* + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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 . +*/ + +/** + * @file scheduler.h + * @brief Scheduler macros and structures. + * + * @addtogroup scheduler + * @{ + */ + +#ifndef _SCHEDULER_H_ +#define _SCHEDULER_H_ + +/** @brief Default thread wakeup low level message.*/ +#define RDY_OK 0 +/** @brief Low level message sent to a thread awakened by a timeout.*/ +#define RDY_TIMEOUT -1 +/** @brief Low level message sent to a thread awakened by a reset operation.*/ +#define RDY_RESET -2 + +#define NOPRIO 0 /**< @brief Ready list header priority. */ +#define IDLEPRIO 1 /**< @brief Idle thread priority. */ +#define LOWPRIO 2 /**< @brief Lowest user priority. */ +#define NORMALPRIO 64 /**< @brief Normal user priority. */ +#define HIGHPRIO 127 /**< @brief Highest user priority. */ +#define ABSPRIO 255 /**< @brief Greatest possible priority. */ + +/** + * @brief Zero time specification for some syscalls with a timeout + * specification. + * @note Not all functions accept @p TIME_IMMEDIATE as timeout parameter, + * see the specific function documentation. + */ +#define TIME_IMMEDIATE ((systime_t)-1) + +/** + * @brief Infinite time specification for all the syscalls with a timeout + * specification. + */ +#define TIME_INFINITE ((systime_t)0) + +/** + * @brief Returns the priority of the first thread on the given ready list. + */ +#define firstprio(rlp) ((rlp)->p_next->p_prio) + +/** + * @extends ThreadsQueue + * + * @brief Ready list header. + */ +typedef struct { + ThreadsQueue r_queue; /**< @brief Threads queue. */ + tprio_t r_prio; /**< @brief This field must be + initialized to zero. */ + struct context p_ctx; /**< @brief Not used, present because + offsets. */ +#if CH_USE_REGISTRY + Thread *p_newer; /**< @brief Newer registry element. */ + Thread *p_older; /**< @brief Older registry element. */ +#endif + /* End of the fields shared with the Thread structure.*/ +#if CH_TIME_QUANTUM > 0 + cnt_t r_preempt; /**< @brief Round robin counter. */ +#endif +#ifndef CH_CURRP_REGISTER_CACHE + Thread *r_current; /**< @brief The currently running + thread. */ +#endif +} ReadyList; + +#if !defined(__DOXYGEN__) +extern ReadyList rlist; +#endif + +#ifdef CH_CURRP_REGISTER_CACHE +register Thread *currp asm(CH_CURRP_REGISTER_CACHE); +#else +#define currp rlist.r_current +#endif + +/* + * Scheduler APIs. + */ +#ifdef __cplusplus +extern "C" { +#endif + void scheduler_init(void); + Thread *chSchReadyI(Thread *tp); + void chSchGoSleepS(tstate_t newstate); + msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time); + void chSchWakeupS(Thread *tp, msg_t msg); + void chSchDoRescheduleI(void); + void chSchRescheduleS(void); + bool_t chSchIsRescRequiredExI(void); + void chSchDoYieldS(void); +#ifdef __cplusplus +} +#endif + +/** + * @brief Determines if yielding is possible. + * @details This function returns @p TRUE if there is a ready thread with + * equal or higher priority. + */ +#define chSchCanYieldS() (firstprio(&rlist.r_queue) >= currp->p_prio) + +/** + * @brief Determines if the current thread must reschedule. + * @details This function returns @p TRUE if there is a ready thread with + * higher priority. + */ +#define chSchIsRescRequiredI() (firstprio(&rlist.r_queue) > currp->p_prio) + +#endif /* _SCHEDULER_H_ */ + +/** @} */ diff --git a/os/kernel/include/semaphores.h b/os/kernel/include/semaphores.h index b2fbba65c..cced49601 100644 --- a/os/kernel/include/semaphores.h +++ b/os/kernel/include/semaphores.h @@ -1,5 +1,5 @@ /* - ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. This file is part of ChibiOS/RT. @@ -62,7 +62,7 @@ extern "C" { * @brief Data part of a static semaphore initializer. * @details This macro should be used when statically initializing a semaphore * that is part of a bigger structure. - * + * * @param[in] name the name of the semaphore variable * @param[in] n the counter initial value, this value must be * non-negative @@ -76,7 +76,7 @@ extern "C" { * * @param[in] name the name of the semaphore variable * @param[in] n the counter initial value, this value must be - * non-negative + * non-negative */ #define SEMAPHORE_DECL(name, n) Semaphore name = _SEMAPHORE_DATA(name, n) diff --git a/os/kernel/include/streams.h b/os/kernel/include/streams.h index b4f7f4901..fa376546c 100644 --- a/os/kernel/include/streams.h +++ b/os/kernel/include/streams.h @@ -1,5 +1,5 @@ /* - ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. This file is part of ChibiOS/RT. diff --git a/os/kernel/include/sys.h b/os/kernel/include/sys.h index a6409d3bf..5d0b6d875 100644 --- a/os/kernel/include/sys.h +++ b/os/kernel/include/sys.h @@ -1,5 +1,5 @@ /* - ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. This file is part of ChibiOS/RT. @@ -154,7 +154,7 @@ #define CH_IRQ_EPILOGUE() PORT_IRQ_EPILOGUE() /** - * @brief Standard IRQ handler declaration. + * @brief Standard IRQ handler declaration. * @note @p id can be a function name or a vector number depending on the * port implementation. */ diff --git a/os/kernel/include/threads.h b/os/kernel/include/threads.h index 253b220fe..9f519fea0 100644 --- a/os/kernel/include/threads.h +++ b/os/kernel/include/threads.h @@ -1,330 +1,330 @@ -/* - 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 . -*/ - -/** - * @file threads.h - * @brief Threads macros and structures. - * - * @addtogroup threads - * @{ - */ - -#ifndef _THREADS_H_ -#define _THREADS_H_ - -/* - * Module dependencies check. - */ -#if CH_USE_DYNAMIC && !CH_USE_WAITEXIT -#error "CH_USE_DYNAMIC requires CH_USE_WAITEXIT" -#endif -#if CH_USE_DYNAMIC && !CH_USE_HEAP && !CH_USE_MEMPOOLS -#error "CH_USE_DYNAMIC requires CH_USE_HEAP and/or CH_USE_MEMPOOLS" -#endif - -/** - * @extends ThreadsQueue - * - * @brief Structure representing a thread. - * @note Not all the listed fields are always needed, by switching off some - * not needed ChibiOS/RT subsystems it is possible to save RAM space - * by shrinking the @p Thread structure. - */ -struct Thread { - Thread *p_next; /**< @brief Next in the list/queue. */ - /* End of the fields shared with the ThreadsList structure. */ - Thread *p_prev; /**< @brief Previous in the queue. */ - /* End of the fields shared with the ThreadsQueue structure. */ - tprio_t p_prio; /**< @brief Thread priority. */ - struct context p_ctx; /**< @brief Processor context. */ -#if CH_USE_REGISTRY - Thread *p_newer; /**< @brief Newer registry element. */ - Thread *p_older; /**< @brief Older registry element. */ -#endif - /* End of the fields shared with the ReadyList structure. */ - /** - * @brief Current thread state. - */ - tstate_t p_state; - /** - * @brief Various thread flags. - */ - tmode_t p_flags; -#if CH_USE_DYNAMIC - /** - * @brief References to this thread. - */ - trefs_t p_refs; -#endif -#if CH_USE_NESTED_LOCKS - /** - * @brief Number of nested locks. - */ - cnt_t p_locks; -#endif -#if CH_DBG_THREADS_PROFILING - /** - * @brief Thread consumed time in ticks. - * @note This field can overflow. - */ - volatile systime_t p_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. - */ - 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. - */ - 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. - */ - 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. - */ - void *wtobjp; -#if CH_USE_EVENTS - /** - * @brief Enabled events mask. - * @note This field is only valied while the thread is in the - * @p THD_STATE_WTOREVT or @p THD_STATE_WTANDEVT states. - */ - eventmask_t ewmask; -#endif - } p_u; -#if CH_USE_WAITEXIT - /** - * @brief Termination waiting list. - */ - ThreadsList p_waiting; -#endif -#if CH_USE_MESSAGES - /** - * @brief Messages queue. - */ - ThreadsQueue p_msgqueue; - /** - * @brief Thread message. - */ - msg_t p_msg; -#endif -#if CH_USE_EVENTS - /** - * @brief Pending events mask. - */ - eventmask_t p_epending; -#endif -#if CH_USE_MUTEXES - /** - * @brief List of the mutexes owned by this thread. - * @note The list is terminated by a @p NULL in this field. - */ - Mutex *p_mtxlist; - /** - * @brief Thread's own, non-inherited, priority. - */ - tprio_t p_realprio; -#endif -#if CH_USE_DYNAMIC && CH_USE_MEMPOOLS - /** - * @brief Memory Pool where the thread workspace is returned. - */ - void *p_mpool; -#endif - /* Extra fields defined in chconf.h.*/ - THREAD_EXT_FIELDS -}; - -/** @brief Thread state: Ready to run, waiting on the ready list.*/ -#define THD_STATE_READY 0 -/** @brief Thread state: Currently running.*/ -#define THD_STATE_CURRENT 1 -/** @brief Thread state: Thread created in suspended state.*/ -#define THD_STATE_SUSPENDED 2 -/** @brief Thread state: Waiting on a semaphore.*/ -#define THD_STATE_WTSEM 3 -/** @brief Thread state: Waiting on a mutex.*/ -#define THD_STATE_WTMTX 4 -/** @brief Thread state: Waiting in @p chCondWait().*/ -#define THD_STATE_WTCOND 5 -/** @brief Thread state: Waiting in @p chThdSleep() or @p chThdSleepUntil().*/ -#define THD_STATE_SLEEPING 6 -/** @brief Thread state: Waiting in @p chThdWait().*/ -#define THD_STATE_WTEXIT 7 -/** @brief Thread state: Waiting in @p chEvtWaitXXX().*/ -#define THD_STATE_WTOREVT 8 -/** @brief Thread state: Waiting in @p chEvtWaitAllTimeout().*/ -#define THD_STATE_WTANDEVT 9 -/** @brief Thread state: Waiting in @p chMsgSend().*/ -#define THD_STATE_SNDMSG 10 -/** @brief Thread state: Waiting in @p chMsgWait().*/ -#define THD_STATE_WTMSG 11 -/** @brief Thread state: After termination.*/ -#define THD_STATE_FINAL 12 - -/* - * Various flags into the thread p_flags field. - */ -#define THD_MEM_MODE_MASK 3 /**< @brief Thread memory mode mask. */ -#define THD_MEM_MODE_STATIC 0 /**< @brief Thread memory mode: static. */ -#define THD_MEM_MODE_HEAP 1 /**< @brief Thread memory mode: heap. */ -#define THD_MEM_MODE_MEMPOOL 2 /**< @brief Thread memory mode: pool. */ -#define THD_TERMINATE 4 /**< @brief Termination requested. */ - -/** @brief Thread function.*/ -typedef msg_t (*tfunc_t)(void *); - -/* - * Threads APIs. - */ -#ifdef __cplusplus -extern "C" { -#endif - Thread *init_thread(Thread *tp, tprio_t prio); - Thread *chThdInit(void *wsp, size_t size, - tprio_t prio, tfunc_t pf, void *arg); - Thread *chThdCreateStatic(void *wsp, size_t size, - tprio_t prio, tfunc_t pf, void *arg); -#if CH_USE_DYNAMIC && CH_USE_WAITEXIT && CH_USE_HEAP - Thread *chThdCreateFromHeap(MemoryHeap *heapp, size_t size, - tprio_t prio, tfunc_t pf, void *arg); -#endif -#if CH_USE_DYNAMIC && CH_USE_WAITEXIT && CH_USE_MEMPOOLS - Thread *chThdCreateFromMemoryPool(MemoryPool *mp, tprio_t prio, - tfunc_t pf, void *arg); -#endif - tprio_t chThdSetPriority(tprio_t newprio); - Thread *chThdResume(Thread *tp); - void chThdTerminate(Thread *tp); - void chThdSleep(systime_t time); - void chThdSleepUntil(systime_t time); - void chThdYield(void); - void chThdExit(msg_t msg); -#if CH_USE_DYNAMIC - Thread *chThdAddRef(Thread *tp); - void chThdRelease(Thread *tp); -#endif -#if CH_USE_WAITEXIT - msg_t chThdWait(Thread *tp); -#endif -#ifdef __cplusplus -} -#endif - -/** - * @brief Returns a pointer to the current @p Thread. - */ -#define chThdSelf() currp - -/** - * @brief Returns the current thread priority. - */ -#define chThdGetPriority() (currp->p_prio) - -/** - * @brief Returns the pointer to the @p Thread local storage area, if any. - */ -#define chThdLS() (void *)(currp + 1) - -/** - * @brief Verifies if the specified thread is in the @p THD_STATE_FINAL state. - * - * @param[in] tp the pointer to the thread - * @retval TRUE thread terminated. - * @retval FALSE thread not terminated. - */ -#define chThdTerminated(tp) ((tp)->p_state == THD_STATE_FINAL) - -/** - * @brief Verifies if the current thread has a termination request pending. - * - * @retval TRUE termination request pended. - * @retval FALSE termination request not pended. - */ -#define chThdShouldTerminate() (currp->p_flags & THD_TERMINATE) - -/** - * @brief Resumes a thread created with @p chThdInit(). - * - * @param[in] tp the pointer to the thread - */ -#define chThdResumeI(tp) chSchReadyI(tp) - -/** - * @brief Suspends the invoking thread for the specified time. - * - * @param[in] time the delay in system ticks, the special values are - * handled as follow: - * - @a TIME_INFINITE the thread enters an infinite sleep - * state. - * - @a TIME_IMMEDIATE this value is accepted but - * interpreted as a normal time specification not as - * an immediate timeout specification. - * . - */ -#define chThdSleepS(time) chSchGoSleepTimeoutS(THD_STATE_SLEEPING, time) - -/** - * @brief Delays the invoking thread for the specified number of seconds. - * @note The specified time is rounded up to a value allowed by the real - * system clock. - * @note The maximum specified value is implementation dependent. - * - * @param[in] sec the time in seconds - */ -#define chThdSleepSeconds(sec) chThdSleep(S2ST(sec)) - -/** - * @brief Delays the invoking thread for the specified number of - * milliseconds. - * @note The specified time is rounded up to a value allowed by the real - * system clock. - * @note The maximum specified value is implementation dependent. - * - * @param[in] msec the time in milliseconds - */ -#define chThdSleepMilliseconds(msec) chThdSleep(MS2ST(msec)) - -/** - * @brief Delays the invoking thread for the specified number of - * microseconds. - * @note The specified time is rounded up to a value allowed by the real - * system clock. - * @note The maximum specified value is implementation dependent. - * - * @param[in] usec the time in microseconds - */ -#define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec)) - -#endif /* _THREADS_H_ */ - -/** @} */ +/* + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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 . +*/ + +/** + * @file threads.h + * @brief Threads macros and structures. + * + * @addtogroup threads + * @{ + */ + +#ifndef _THREADS_H_ +#define _THREADS_H_ + +/* + * Module dependencies check. + */ +#if CH_USE_DYNAMIC && !CH_USE_WAITEXIT +#error "CH_USE_DYNAMIC requires CH_USE_WAITEXIT" +#endif +#if CH_USE_DYNAMIC && !CH_USE_HEAP && !CH_USE_MEMPOOLS +#error "CH_USE_DYNAMIC requires CH_USE_HEAP and/or CH_USE_MEMPOOLS" +#endif + +/** + * @extends ThreadsQueue + * + * @brief Structure representing a thread. + * @note Not all the listed fields are always needed, by switching off some + * not needed ChibiOS/RT subsystems it is possible to save RAM space + * by shrinking the @p Thread structure. + */ +struct Thread { + Thread *p_next; /**< @brief Next in the list/queue. */ + /* End of the fields shared with the ThreadsList structure. */ + Thread *p_prev; /**< @brief Previous in the queue. */ + /* End of the fields shared with the ThreadsQueue structure. */ + tprio_t p_prio; /**< @brief Thread priority. */ + struct context p_ctx; /**< @brief Processor context. */ +#if CH_USE_REGISTRY + Thread *p_newer; /**< @brief Newer registry element. */ + Thread *p_older; /**< @brief Older registry element. */ +#endif + /* End of the fields shared with the ReadyList structure. */ + /** + * @brief Current thread state. + */ + tstate_t p_state; + /** + * @brief Various thread flags. + */ + tmode_t p_flags; +#if CH_USE_DYNAMIC + /** + * @brief References to this thread. + */ + trefs_t p_refs; +#endif +#if CH_USE_NESTED_LOCKS + /** + * @brief Number of nested locks. + */ + cnt_t p_locks; +#endif +#if CH_DBG_THREADS_PROFILING + /** + * @brief Thread consumed time in ticks. + * @note This field can overflow. + */ + volatile systime_t p_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. + */ + 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. + */ + 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. + */ + 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. + */ + void *wtobjp; +#if CH_USE_EVENTS + /** + * @brief Enabled events mask. + * @note This field is only valied while the thread is in the + * @p THD_STATE_WTOREVT or @p THD_STATE_WTANDEVT states. + */ + eventmask_t ewmask; +#endif + } p_u; +#if CH_USE_WAITEXIT + /** + * @brief Termination waiting list. + */ + ThreadsList p_waiting; +#endif +#if CH_USE_MESSAGES + /** + * @brief Messages queue. + */ + ThreadsQueue p_msgqueue; + /** + * @brief Thread message. + */ + msg_t p_msg; +#endif +#if CH_USE_EVENTS + /** + * @brief Pending events mask. + */ + eventmask_t p_epending; +#endif +#if CH_USE_MUTEXES + /** + * @brief List of the mutexes owned by this thread. + * @note The list is terminated by a @p NULL in this field. + */ + Mutex *p_mtxlist; + /** + * @brief Thread's own, non-inherited, priority. + */ + tprio_t p_realprio; +#endif +#if CH_USE_DYNAMIC && CH_USE_MEMPOOLS + /** + * @brief Memory Pool where the thread workspace is returned. + */ + void *p_mpool; +#endif + /* Extra fields defined in chconf.h.*/ + THREAD_EXT_FIELDS +}; + +/** @brief Thread state: Ready to run, waiting on the ready list.*/ +#define THD_STATE_READY 0 +/** @brief Thread state: Currently running.*/ +#define THD_STATE_CURRENT 1 +/** @brief Thread state: Thread created in suspended state.*/ +#define THD_STATE_SUSPENDED 2 +/** @brief Thread state: Waiting on a semaphore.*/ +#define THD_STATE_WTSEM 3 +/** @brief Thread state: Waiting on a mutex.*/ +#define THD_STATE_WTMTX 4 +/** @brief Thread state: Waiting in @p chCondWait().*/ +#define THD_STATE_WTCOND 5 +/** @brief Thread state: Waiting in @p chThdSleep() or @p chThdSleepUntil().*/ +#define THD_STATE_SLEEPING 6 +/** @brief Thread state: Waiting in @p chThdWait().*/ +#define THD_STATE_WTEXIT 7 +/** @brief Thread state: Waiting in @p chEvtWaitXXX().*/ +#define THD_STATE_WTOREVT 8 +/** @brief Thread state: Waiting in @p chEvtWaitAllTimeout().*/ +#define THD_STATE_WTANDEVT 9 +/** @brief Thread state: Waiting in @p chMsgSend().*/ +#define THD_STATE_SNDMSG 10 +/** @brief Thread state: Waiting in @p chMsgWait().*/ +#define THD_STATE_WTMSG 11 +/** @brief Thread state: After termination.*/ +#define THD_STATE_FINAL 12 + +/* + * Various flags into the thread p_flags field. + */ +#define THD_MEM_MODE_MASK 3 /**< @brief Thread memory mode mask. */ +#define THD_MEM_MODE_STATIC 0 /**< @brief Thread memory mode: static. */ +#define THD_MEM_MODE_HEAP 1 /**< @brief Thread memory mode: heap. */ +#define THD_MEM_MODE_MEMPOOL 2 /**< @brief Thread memory mode: pool. */ +#define THD_TERMINATE 4 /**< @brief Termination requested. */ + +/** @brief Thread function.*/ +typedef msg_t (*tfunc_t)(void *); + +/* + * Threads APIs. + */ +#ifdef __cplusplus +extern "C" { +#endif + Thread *init_thread(Thread *tp, tprio_t prio); + Thread *chThdInit(void *wsp, size_t size, + tprio_t prio, tfunc_t pf, void *arg); + Thread *chThdCreateStatic(void *wsp, size_t size, + tprio_t prio, tfunc_t pf, void *arg); +#if CH_USE_DYNAMIC && CH_USE_WAITEXIT && CH_USE_HEAP + Thread *chThdCreateFromHeap(MemoryHeap *heapp, size_t size, + tprio_t prio, tfunc_t pf, void *arg); +#endif +#if CH_USE_DYNAMIC && CH_USE_WAITEXIT && CH_USE_MEMPOOLS + Thread *chThdCreateFromMemoryPool(MemoryPool *mp, tprio_t prio, + tfunc_t pf, void *arg); +#endif + tprio_t chThdSetPriority(tprio_t newprio); + Thread *chThdResume(Thread *tp); + void chThdTerminate(Thread *tp); + void chThdSleep(systime_t time); + void chThdSleepUntil(systime_t time); + void chThdYield(void); + void chThdExit(msg_t msg); +#if CH_USE_DYNAMIC + Thread *chThdAddRef(Thread *tp); + void chThdRelease(Thread *tp); +#endif +#if CH_USE_WAITEXIT + msg_t chThdWait(Thread *tp); +#endif +#ifdef __cplusplus +} +#endif + +/** + * @brief Returns a pointer to the current @p Thread. + */ +#define chThdSelf() currp + +/** + * @brief Returns the current thread priority. + */ +#define chThdGetPriority() (currp->p_prio) + +/** + * @brief Returns the pointer to the @p Thread local storage area, if any. + */ +#define chThdLS() (void *)(currp + 1) + +/** + * @brief Verifies if the specified thread is in the @p THD_STATE_FINAL state. + * + * @param[in] tp the pointer to the thread + * @retval TRUE thread terminated. + * @retval FALSE thread not terminated. + */ +#define chThdTerminated(tp) ((tp)->p_state == THD_STATE_FINAL) + +/** + * @brief Verifies if the current thread has a termination request pending. + * + * @retval TRUE termination request pended. + * @retval FALSE termination request not pended. + */ +#define chThdShouldTerminate() (currp->p_flags & THD_TERMINATE) + +/** + * @brief Resumes a thread created with @p chThdInit(). + * + * @param[in] tp the pointer to the thread + */ +#define chThdResumeI(tp) chSchReadyI(tp) + +/** + * @brief Suspends the invoking thread for the specified time. + * + * @param[in] time the delay in system ticks, the special values are + * handled as follow: + * - @a TIME_INFINITE the thread enters an infinite sleep + * state. + * - @a TIME_IMMEDIATE this value is accepted but + * interpreted as a normal time specification not as + * an immediate timeout specification. + * . + */ +#define chThdSleepS(time) chSchGoSleepTimeoutS(THD_STATE_SLEEPING, time) + +/** + * @brief Delays the invoking thread for the specified number of seconds. + * @note The specified time is rounded up to a value allowed by the real + * system clock. + * @note The maximum specified value is implementation dependent. + * + * @param[in] sec the time in seconds + */ +#define chThdSleepSeconds(sec) chThdSleep(S2ST(sec)) + +/** + * @brief Delays the invoking thread for the specified number of + * milliseconds. + * @note The specified time is rounded up to a value allowed by the real + * system clock. + * @note The maximum specified value is implementation dependent. + * + * @param[in] msec the time in milliseconds + */ +#define chThdSleepMilliseconds(msec) chThdSleep(MS2ST(msec)) + +/** + * @brief Delays the invoking thread for the specified number of + * microseconds. + * @note The specified time is rounded up to a value allowed by the real + * system clock. + * @note The maximum specified value is implementation dependent. + * + * @param[in] usec the time in microseconds + */ +#define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec)) + +#endif /* _THREADS_H_ */ + +/** @} */ diff --git a/os/kernel/include/vt.h b/os/kernel/include/vt.h index 23396e594..445650332 100644 --- a/os/kernel/include/vt.h +++ b/os/kernel/include/vt.h @@ -1,5 +1,5 @@ /* - ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio. This file is part of ChibiOS/RT. @@ -55,7 +55,7 @@ typedef void (*vtfunc_t)(void *); /** - * @brief Virtual Timer structure type. + * @brief Virtual Timer structure type. */ typedef struct VirtualTimer VirtualTimer; @@ -94,7 +94,7 @@ typedef struct { extern VTList vtlist; /** - * @brief Virtual timers sticker. + * @brief Virtual timers sticker. */ #define chVTDoTickI() { \ vtlist.vt_systime++; \ -- cgit v1.2.3