From 49c3629538ee20a1df4ee5bbe664464e4904db5d Mon Sep 17 00:00:00 2001 From: gdisirio Date: Tue, 22 Jul 2008 09:55:51 +0000 Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@346 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- src/include/queues.h | 368 ++++++++++++++++++------------------ src/include/scheduler.h | 162 ++++++++-------- src/include/threads.h | 483 ++++++++++++++++++++++++------------------------ 3 files changed, 508 insertions(+), 505 deletions(-) (limited to 'src/include') diff --git a/src/include/queues.h b/src/include/queues.h index 5c480e8cf..0a373b5ea 100644 --- a/src/include/queues.h +++ b/src/include/queues.h @@ -1,184 +1,184 @@ -/* - 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 . -*/ - -/** - * @addtogroup IOQueues - * @{ - */ - -#ifndef _QUEUES_H_ -#define _QUEUES_H_ - -/** Queue notification callback type.*/ -typedef void (*qnotify_t)(void); - -/** Returned by the queue functions if the operation is successful.*/ -#define Q_OK RDY_OK -/** Returned by the queue functions if a timeout occurs.*/ -#define Q_TIMEOUT RDY_TIMEOUT -/** Returned by the queue functions if the queue is reset.*/ -#define Q_RESET RDY_RESET -/** Returned by the queue functions if the queue is empty.*/ -#define Q_EMPTY -3 -/** Returned by the queue functions if the queue is full.*/ -#define Q_FULL -4 - -#ifdef CH_USE_QUEUES -/** - * I/O queue structure, it is used by both Input and Output Queues, - * the difference is on how the semaphore is initialized. - */ -typedef struct { - /** Pointer to the queue buffer.*/ - uint8_t *q_buffer; - /** Pointer to the first location after the buffer.*/ - uint8_t *q_top; - /** Write pointer.*/ - uint8_t *q_wrptr; - /** Read pointer.*/ - uint8_t *q_rdptr; - /** Counter semaphore.*/ - Semaphore q_sem; - /** Data notification callback.*/ - qnotify_t q_notify; -} Queue; - -/** Returns the queue's buffer size.*/ -#define chQSize(q) \ - ((q)->q_top - (q)->q_buffer) - -/** Returns the used space if used on an Input Queue and the empty space if - * used on an Output Queue.*/ -#define chQSpace(q) \ - ((q)->q_sem.s_cnt) - -/** Evaluates to TRUE if the specified Input Queue is empty.*/ -#define chIQIsEmpty(q) \ - (chQSpace(q) <= 0) - -/** Evaluates to TRUE if the specified Input Queue is full.*/ -#define chIQIsFull(q) \ - (chQSpace(q) >= chQSize(q)) - -/** Evaluates to TRUE if the specified Output Queue is empty.*/ -#define chOQIsEmpty(q) \ - (chQSpace(q) >= chQSize(q)) - -/** Evaluates to TRUE if the specified Output Queue is full.*/ -#define chOQIsFull(q) \ - (chQSpace(q) <= 0) - -#ifdef __cplusplus -extern "C" { -#endif - /* - * Input Queues functions. An Input Queue is usually written into by an - * interrupt handler and read from a thread. - */ - void chIQInit(Queue *qp, uint8_t *buffer, size_t size, qnotify_t inotify); - void chIQReset(Queue *qp); - msg_t chIQPutI(Queue *qp, uint8_t b); - msg_t chIQGet(Queue *qp); - size_t chIQRead(Queue *qp, uint8_t *buffer, size_t n); -#ifdef CH_USE_QUEUES_TIMEOUT - msg_t chIQGetTimeout(Queue *qp, systime_t time); -#endif - - /* - * Output Queues functions. An Output Queue is usually written into by a - * thread and read from an interrupt handler. - */ - void chOQInit(Queue *queue, uint8_t *buffer, size_t size, qnotify_t onotify); - void chOQReset(Queue *queue); - void chOQPut(Queue *queue, uint8_t b); - msg_t chOQGetI(Queue *queue); - size_t chOQWrite(Queue *queue, uint8_t *buffer, size_t n); -#ifdef __cplusplus -} -#endif -#endif /* CH_USE_QUEUES */ - -#ifdef CH_USE_QUEUES_HALFDUPLEX -/** - * Half duplex queue structure. - */ -typedef struct { - /** Pointer to the queue buffer.*/ - uint8_t *hdq_buffer; - /** Pointer to the first location after the buffer.*/ - uint8_t *hdq_top; - /** Write pointer.*/ - uint8_t *hdq_wrptr; - /** Read pointer.*/ - uint8_t *hdq_rdptr; - /** Input counter semaphore.*/ - Semaphore hdq_isem; - /** Output counter semaphore.*/ - Semaphore hdq_osem; - /** Input data notification callback.*/ - qnotify_t hdq_inotify; - /** Output data notification callback.*/ - qnotify_t hdq_onotify; -} HalfDuplexQueue; - -/** Returns the queue's buffer size.*/ -#define chHDQSize(q) \ - ((q)->hdq_top - (q)->hdq_buffer) - -/** Returns the queue space when in transmission mode.*/ -#define chHDQEmptySpace(q) \ - ((q)->hdq_osem.s_cnt) - -/** Returns the number of the bytes in the queue when in receive mode.*/ -#define chHDQFilledSpace(q) \ - ((q)->hdq_isem.s_cnt) - -/** Evaluates to TRUE if the queue is in transmit mode.*/ -#define chHDQIsTransmitting(q) \ - (chHDQEmptySpace(q) < chHDQSize(q)) - -/** Evaluates to TRUE if the queue is in receive mode.*/ -#define chHDQIsReceiving(q) \ - (chHDQEmptySpaceQ(q) >= chHDQSize(q)) - -/** Evaluates to TRUE if the receive queue is full.*/ -#define chHDQIsFullReceive(q) \ - (chHDQFilledSpace(q) >= chHDQSize(q)) - -#ifdef __cplusplus -extern "C" { -#endif - void chHDQInit(HalfDuplexQueue *qp, uint8_t *buffer, size_t size, - qnotify_t inotify, qnotify_t onotify); - msg_t chHDQGetReceive(HalfDuplexQueue *qp); - void chHDQPutTransmit(HalfDuplexQueue *qp, uint8_t b); - msg_t chHDQGetTransmitI(HalfDuplexQueue *qp); - msg_t chHDQPutReceiveI(HalfDuplexQueue *qp, uint8_t b); -#ifdef CH_USE_QUEUES_TIMEOUT - msg_t chHDQGetReceiveTimeout(HalfDuplexQueue *qp, systime_t time); -#endif -#ifdef __cplusplus -} -#endif - -#endif /* CH_USE_QUEUES_HALFDUPLEX */ - -#endif /* _QUEUES_H_ */ - -/** @} */ +/* + 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 . +*/ + +/** + * @addtogroup IOQueues + * @{ + */ + +#ifndef _QUEUES_H_ +#define _QUEUES_H_ + +/** Queue notification callback type. */ +typedef void (*qnotify_t)(void); + +/** Returned by the queue functions if the operation is successful. */ +#define Q_OK RDY_OK +/** Returned by the queue functions if a timeout occurs. */ +#define Q_TIMEOUT RDY_TIMEOUT +/** Returned by the queue functions if the queue is reset. */ +#define Q_RESET RDY_RESET +/** Returned by the queue functions if the queue is empty. */ +#define Q_EMPTY -3 +/** Returned by the queue functions if the queue is full. */ +#define Q_FULL -4 + +#ifdef CH_USE_QUEUES +/** + * I/O queue structure, it is used by both Input and Output Queues, + * the difference is on how the semaphore is initialized. + */ +typedef struct { + /** Pointer to the queue buffer. */ + uint8_t *q_buffer; + /** Pointer to the first location after the buffer. */ + uint8_t *q_top; + /** Write pointer. */ + uint8_t *q_wrptr; + /** Read pointer. */ + uint8_t *q_rdptr; + /** Counter semaphore. */ + Semaphore q_sem; + /** Data notification callback. */ + qnotify_t q_notify; +} Queue; + +/** Returns the queue's buffer size. */ +#define chQSize(q) \ + ((q)->q_top - (q)->q_buffer) + +/** Returns the used space if used on an Input Queue and the empty space if + * used on an Output Queue. */ +#define chQSpace(q) \ + ((q)->q_sem.s_cnt) + +/** Evaluates to TRUE if the specified Input Queue is empty. */ +#define chIQIsEmpty(q) \ + (chQSpace(q) <= 0) + +/** Evaluates to TRUE if the specified Input Queue is full. */ +#define chIQIsFull(q) \ + (chQSpace(q) >= chQSize(q)) + +/** Evaluates to TRUE if the specified Output Queue is empty. */ +#define chOQIsEmpty(q) \ + (chQSpace(q) >= chQSize(q)) + +/** Evaluates to TRUE if the specified Output Queue is full. */ +#define chOQIsFull(q) \ + (chQSpace(q) <= 0) + +#ifdef __cplusplus +extern "C" { +#endif + /* + * Input Queues functions. An Input Queue is usually written into by an + * interrupt handler and read from a thread. + */ + void chIQInit(Queue *qp, uint8_t *buffer, size_t size, qnotify_t inotify); + void chIQReset(Queue *qp); + msg_t chIQPutI(Queue *qp, uint8_t b); + msg_t chIQGet(Queue *qp); + size_t chIQRead(Queue *qp, uint8_t *buffer, size_t n); +#ifdef CH_USE_QUEUES_TIMEOUT + msg_t chIQGetTimeout(Queue *qp, systime_t time); +#endif + + /* + * Output Queues functions. An Output Queue is usually written into by a + * thread and read from an interrupt handler. + */ + void chOQInit(Queue *queue, uint8_t *buffer, size_t size, qnotify_t onotify); + void chOQReset(Queue *queue); + void chOQPut(Queue *queue, uint8_t b); + msg_t chOQGetI(Queue *queue); + size_t chOQWrite(Queue *queue, uint8_t *buffer, size_t n); +#ifdef __cplusplus +} +#endif +#endif /* CH_USE_QUEUES */ + +#ifdef CH_USE_QUEUES_HALFDUPLEX +/** + * Half duplex queue structure. + */ +typedef struct { + /** Pointer to the queue buffer. */ + uint8_t *hdq_buffer; + /** Pointer to the first location after the buffer. */ + uint8_t *hdq_top; + /** Write pointer.*/ + uint8_t *hdq_wrptr; + /** Read pointer.*/ + uint8_t *hdq_rdptr; + /** Input counter semaphore. */ + Semaphore hdq_isem; + /** Output counter semaphore. */ + Semaphore hdq_osem; + /** Input data notification callback. */ + qnotify_t hdq_inotify; + /** Output data notification callback. */ + qnotify_t hdq_onotify; +} HalfDuplexQueue; + +/** Returns the queue's buffer size. */ +#define chHDQSize(q) \ + ((q)->hdq_top - (q)->hdq_buffer) + +/** Returns the queue space when in transmission mode. */ +#define chHDQEmptySpace(q) \ + ((q)->hdq_osem.s_cnt) + +/** Returns the number of the bytes in the queue when in receive mode. */ +#define chHDQFilledSpace(q) \ + ((q)->hdq_isem.s_cnt) + +/** Evaluates to TRUE if the queue is in transmit mode. */ +#define chHDQIsTransmitting(q) \ + (chHDQEmptySpace(q) < chHDQSize(q)) + +/** Evaluates to TRUE if the queue is in receive mode. */ +#define chHDQIsReceiving(q) \ + (chHDQEmptySpaceQ(q) >= chHDQSize(q)) + +/** Evaluates to TRUE if the receive queue is full. */ +#define chHDQIsFullReceive(q) \ + (chHDQFilledSpace(q) >= chHDQSize(q)) + +#ifdef __cplusplus +extern "C" { +#endif + void chHDQInit(HalfDuplexQueue *qp, uint8_t *buffer, size_t size, + qnotify_t inotify, qnotify_t onotify); + msg_t chHDQGetReceive(HalfDuplexQueue *qp); + void chHDQPutTransmit(HalfDuplexQueue *qp, uint8_t b); + msg_t chHDQGetTransmitI(HalfDuplexQueue *qp); + msg_t chHDQPutReceiveI(HalfDuplexQueue *qp, uint8_t b); +#ifdef CH_USE_QUEUES_TIMEOUT + msg_t chHDQGetReceiveTimeout(HalfDuplexQueue *qp, systime_t time); +#endif +#ifdef __cplusplus +} +#endif + +#endif /* CH_USE_QUEUES_HALFDUPLEX */ + +#endif /* _QUEUES_H_ */ + +/** @} */ diff --git a/src/include/scheduler.h b/src/include/scheduler.h index 0235a7c97..3a6486efe 100644 --- a/src/include/scheduler.h +++ b/src/include/scheduler.h @@ -1,80 +1,82 @@ -/* - 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 . -*/ - -/** - * @addtogroup Scheduler - * @{ - */ - -#ifndef _SCHEDULER_H_ -#define _SCHEDULER_H_ - -/** Normal \p chSchReadyI() message.*/ -#define RDY_OK 0 -/** Returned if the thread was made ready because a timeout.*/ -#define RDY_TIMEOUT -1 -/** Returned if the thread was made ready because a reset.*/ -#define RDY_RESET -2 - -#define firstprio(rlp) ((rlp)->p_next->p_prio) - -/** - * Ready list header. - */ -typedef struct { - ThreadsQueue r_queue; - tprio_t r_prio; - cnt_t r_preempt; -#ifndef CH_CURRP_REGISTER_CACHE - Thread *r_current; -#endif -#ifdef CH_USE_SYSTEMTIME - volatile systime_t r_stime; -#endif -} ReadyList; - -extern ReadyList rlist; - -/* - * Scheduler APIs. - */ -#ifdef __cplusplus -extern "C" { -#endif - void chSchInit(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 chSchRescRequiredI(void); -#ifdef __cplusplus -} -#endif - -#ifdef CH_CURRP_REGISTER_CACHE -register Thread *currp asm(CH_CURRP_REGISTER_CACHE); -#else -#define currp rlist.r_current -#endif - -#endif /* _SCHEDULER_H_ */ - -/** @} */ +/* + 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 . +*/ + +/** + * @addtogroup Scheduler + * @{ + */ + +#ifndef _SCHEDULER_H_ +#define _SCHEDULER_H_ + +/** Normal \p chSchReadyI() message. */ +#define RDY_OK 0 +/** Returned when the thread was made ready because of a timeout. */ +#define RDY_TIMEOUT -1 +/** Returned when the thread was made ready because of a reset. */ +#define RDY_RESET -2 + +/** The priority of the first thread on the given ready list. */ +#define firstprio(rlp) ((rlp)->p_next->p_prio) + +/** + * Ready list header. + */ +typedef struct { + ThreadsQueue r_queue; + tprio_t r_prio; + cnt_t r_preempt; +#ifndef CH_CURRP_REGISTER_CACHE + /** the currently running thread */ + Thread *r_current; +#endif +#ifdef CH_USE_SYSTEMTIME + volatile systime_t r_stime; +#endif +} ReadyList; + +extern ReadyList rlist; + +/* + * Scheduler APIs. + */ +#ifdef __cplusplus +extern "C" { +#endif + void chSchInit(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 chSchRescRequiredI(void); +#ifdef __cplusplus +} +#endif + +#ifdef CH_CURRP_REGISTER_CACHE +register Thread *currp asm(CH_CURRP_REGISTER_CACHE); +#else +#define currp rlist.r_current +#endif + +#endif /* _SCHEDULER_H_ */ + +/** @} */ diff --git a/src/include/threads.h b/src/include/threads.h index 5bfd51423..b7b1a3e29 100644 --- a/src/include/threads.h +++ b/src/include/threads.h @@ -1,241 +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 . -*/ - -/** - * @addtogroup Threads - * @{ - */ - -#ifndef _THREADS_H_ -#define _THREADS_H_ - -/** - * 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 { - /** Next \p Thread in the threads list.*/ - Thread *p_next; - /* End of the fields shared with the ThreadsList structure. */ - /** Previous \p Thread in the threads list.*/ - Thread *p_prev; - /* End of the fields shared with the ThreadsQueue structure. */ - /** The thread priority.*/ - tprio_t p_prio; - /* End of the fields shared with the ReadyList structure. */ - /** Thread identifier. */ - tid_t p_tid; - /** Current thread state.*/ - tstate_t p_state; - /** Mode flags.*/ - tmode_t p_flags; - /** Machine dependent processor context.*/ - Context p_ctx; - /* - * The following fields are merged in unions because they are all - * state-specific fields. This trick saves some extra space for each - * thread in the system. - */ - union { - /** Thread wakeup code (only valid when exiting the \p PRREADY state).*/ - msg_t p_rdymsg; - /** The thread exit code (only while in \p PREXIT state).*/ - msg_t p_exitcode; -#ifdef CH_USE_SEMAPHORES - /** Semaphore where the thread is waiting on (only in \p PRWTSEM state).*/ - Semaphore *p_wtsemp; -#endif -#ifdef CH_USE_MUTEXES - /** Mutex where the thread is waiting on (only in \p PRWTMTX state).*/ - Mutex *p_wtmtxp; -#endif -#ifdef CH_USE_MESSAGES - /** Destination thread for message send (only in \p PRSNDMSG state).*/ - Thread *p_wtthdp; -#endif -#ifdef CH_USE_EVENTS - /** Enabled events mask (only while in \p PRWTEVENT state).*/ - eventmask_t p_ewmask; -#endif -#ifdef CH_USE_TRACE - /** Kernel object where the thread is waiting on. It is only valid when - the thread is some sleeping states.*/ - void *p_wtobjp; -#endif - }; - /* - * Start of the optional fields. - */ -#ifdef CH_USE_WAITEXIT - /** The list of the threads waiting for this thread termination.*/ - ThreadsList p_waiting; -#endif -#ifdef CH_USE_EXIT_EVENT - /** The thread termination \p EventSource.*/ - EventSource p_exitesource; -#endif -#ifdef CH_USE_MESSAGES - ThreadsQueue p_msgqueue; - msg_t p_msg; -#endif -#ifdef CH_USE_EVENTS - /** Pending events mask.*/ - eventmask_t p_epending; -#endif -#ifdef CH_USE_MUTEXES - /** Owner mutexes list, \p NULL terminated.*/ - Mutex *p_mtxlist; - tprio_t p_realprio; -#endif -}; - -/** Thread state: Thread in the ready list.*/ -#define PRREADY 0 -/** Thread state: Current.*/ -#define PRCURR 1 -/** Thread state: Thread created in suspended state.*/ -#define PRSUSPENDED 2 -/** Thread state: Waiting on a semaphore.*/ -#define PRWTSEM 3 -/** Thread state: Waiting on a mutex.*/ -#define PRWTMTX 4 -/** Thread state: Waiting in \p chThdSleep() or \p chThdSleepUntil().*/ -#define PRSLEEP 5 -/** Thread state: Waiting in \p chThdWait().*/ -#define PRWAIT 6 -/** Thread state: Waiting in \p chEvtWait().*/ -#define PRWTEVENT 7 -/** Thread state: Waiting in \p chMsgSend().*/ -#define PRSNDMSG 8 -/** Thread state: Waiting in \p chMsgWait().*/ -#define PRWTMSG 9 -/** Thread state: After termination.*/ -#define PREXIT 10 - -#ifdef CH_USE_TERMINATE -/** Thread option: Termination requested flag.*/ -#define P_TERMINATE 1 -#endif -#ifdef CH_USE_RESUME -/** Thread option: Create suspended thread.*/ -#define P_SUSPENDED 2 -#endif -#ifdef CH_USE_MESSAGES_PRIORITY -/** Thread option: Serve messages by priority instead of FIFO order.*/ -#define P_MSGBYPRIO 4 -#endif - -/** Pseudo priority used by the ready list header, do not use.*/ -#define NOPRIO 0 -/** Idle thread priority.*/ -#define IDLEPRIO 1 -/** Lowest user priority.*/ -#define LOWPRIO 2 -/** Normal user priority.*/ -#define NORMALPRIO 64 -/** Highest user priority.*/ -#define HIGHPRIO 127 -/** Greatest possible priority.*/ -#define ABSPRIO 255 - -/* Not an API, don't use into the application code.*/ -void init_thread(tprio_t prio, tmode_t mode, Thread *tp); - -/** Thread function.*/ -typedef msg_t (*tfunc_t)(void *); - -/* - * Threads APIs. - */ -#ifdef __cplusplus -extern "C" { -#endif - Thread *chThdCreate(tprio_t prio, tmode_t mode, void *workspace, - size_t wsize, tfunc_t pf, void *arg); - Thread *chThdCreateFast(tprio_t prio, void *workspace, - size_t wsize, tfunc_t pf); - void chThdSetPriority(tprio_t newprio); - void chThdExit(msg_t msg); -#ifdef CH_USE_RESUME - void chThdResume(Thread *tp); -#endif -#ifdef CH_USE_SUSPEND - void chThdSuspend(Thread **tpp); -#endif -#ifdef CH_USE_TERMINATE - void chThdTerminate(Thread *tp); -#endif -#ifdef CH_USE_WAITEXIT - msg_t chThdWait(Thread *tp); -#endif -#ifdef __cplusplus -} -#endif - -/** Returns the pointer to the \p Thread currently in execution.*/ -#define chThdSelf() currp - -/** Returns the thread priority.*/ -#define chThdGetPriority() (currp->p_prio) - -/** Returns the pointer to the \p Thread local storage area, if any.*/ -#define chThdLS() (void *)(currp + 1) - -/** Verifies if the specified thread is in the \p PREXIT state.*/ -#define chThdTerminated(tp) ((tp)->p_state == PREXIT) - -/** - * Verifies if the current thread has a termination request pending. - */ -#define chThdShouldTerminate() (currp->p_flags & P_TERMINATE) - -/** - * Returns the exit event source for the specified thread. The source is - * signaled when the thread terminates. - * @param tp the pointer to the thread - * @note When registering on a thread termination make sure the thread - * is still alive, if you do that after the thread termination - * then you would miss the event. There are two ways to ensure - * this:
- *
    - *
  • Create the thread suspended, register on the event source - * and then resume the thread (recommended).
    • - *
  • Create the thread with a lower priority then register on it. - * This does not work if the hardware is capable of multiple - * physical threads.
    • - *
- * @note You dont need to unregister from a terminated thread because - * the event source becomes inactive. - * @note The function is available only if the \p CH_USE_EXIT_EVENT - * option is enabled in \p chconf.h. - */ -#define chThdGetExitEventSource(tp) (&(tp)->p_exitesource) - -/** - * Resumes a thread created with the \p P_SUSPENDED option or suspended with - * \p chThdSuspend(). - * @param tp the pointer to the thread - */ -#define chThdResumeI(tp) chSchReadyI((tp), RDY_OK) - -#endif /* _THREADS_H_ */ - -/** @} */ +/* + 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 . +*/ + +/** + * @addtogroup Threads + * @{ + */ + +#ifndef _THREADS_H_ +#define _THREADS_H_ + +/** + * 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 { + /** Next \p Thread in the threads list.*/ + Thread *p_next; + /* End of the fields shared with the ThreadsList structure. */ + /** Previous \p Thread in the threads list.*/ + Thread *p_prev; + /* End of the fields shared with the ThreadsQueue structure. */ + /** The thread priority.*/ + tprio_t p_prio; + /* End of the fields shared with the ReadyList structure. */ + /** Thread identifier. */ + tid_t p_tid; + /** Current thread state.*/ + tstate_t p_state; + /** Mode flags. */ + tmode_t p_flags; + /** Machine dependent processor context.*/ + Context p_ctx; + /* + * The following fields are merged in unions because they are all + * state-specific fields. This trick saves some extra space for each + * thread in the system. + */ + union { + /** Thread wakeup code (only valid when exiting the \p PRREADY state). */ + msg_t p_rdymsg; + /** The thread exit code (only while in \p PREXIT state).*/ + msg_t p_exitcode; +#ifdef CH_USE_SEMAPHORES + /** Semaphore where the thread is waiting on (only in \p PRWTSEM state). */ + Semaphore *p_wtsemp; +#endif +#ifdef CH_USE_MUTEXES + /** Mutex where the thread is waiting on (only in \p PRWTMTX state). */ + Mutex *p_wtmtxp; +#endif +#ifdef CH_USE_MESSAGES + /** Destination thread for message send (only in \p PRSNDMSG state). */ + Thread *p_wtthdp; +#endif +#ifdef CH_USE_EVENTS + /** Enabled events mask (only while in \p PRWTEVENT state). */ + eventmask_t p_ewmask; +#endif +#ifdef CH_USE_TRACE + /** Kernel object where the thread is waiting on. It is only valid when + the thread is some sleeping states. */ + void *p_wtobjp; +#endif + }; + /* + * Start of the optional fields. + */ +#ifdef CH_USE_WAITEXIT + /** The list of the threads waiting for this thread termination.*/ + ThreadsList p_waiting; +#endif +#ifdef CH_USE_EXIT_EVENT + /** The thread termination \p EventSource.*/ + EventSource p_exitesource; +#endif +#ifdef CH_USE_MESSAGES + ThreadsQueue p_msgqueue; + msg_t p_msg; +#endif +#ifdef CH_USE_EVENTS + /** Pending events mask.*/ + eventmask_t p_epending; +#endif +#ifdef CH_USE_MUTEXES + /** List of mutexes owned by this thread, \p NULL terminated.*/ + Mutex *p_mtxlist; + /** Thread's own, non-inherited, priority */ + tprio_t p_realprio; +#endif +}; + +/** Thread state: Thread in the ready list.*/ +#define PRREADY 0 +/** Thread state: Current.*/ +#define PRCURR 1 +/** Thread state: Thread created in suspended state.*/ +#define PRSUSPENDED 2 +/** Thread state: Waiting on a semaphore.*/ +#define PRWTSEM 3 +/** Thread state: Waiting on a mutex.*/ +#define PRWTMTX 4 +/** Thread state: Waiting in \p chThdSleep() or \p chThdSleepUntil().*/ +#define PRSLEEP 5 +/** Thread state: Waiting in \p chThdWait().*/ +#define PRWAIT 6 +/** Thread state: Waiting in \p chEvtWait().*/ +#define PRWTEVENT 7 +/** Thread state: Waiting in \p chMsgSend().*/ +#define PRSNDMSG 8 +/** Thread state: Waiting in \p chMsgWait().*/ +#define PRWTMSG 9 +/** Thread state: After termination.*/ +#define PREXIT 10 + +#ifdef CH_USE_TERMINATE +/** Thread option: Termination requested flag.*/ +#define P_TERMINATE 1 +#endif +#ifdef CH_USE_RESUME +/** Thread option: Create suspended thread.*/ +#define P_SUSPENDED 2 +#endif +#ifdef CH_USE_MESSAGES_PRIORITY +/** Thread option: Serve messages by priority instead of FIFO order.*/ +#define P_MSGBYPRIO 4 +#endif + +/** Pseudo priority used by the ready list header, do not use.*/ +#define NOPRIO 0 +/** Idle thread priority.*/ +#define IDLEPRIO 1 +/** Lowest user priority.*/ +#define LOWPRIO 2 +/** Normal user priority.*/ +#define NORMALPRIO 64 +/** Highest user priority.*/ +#define HIGHPRIO 127 +/** Greatest possible priority.*/ +#define ABSPRIO 255 + +/* Not an API, don't use into the application code.*/ +void init_thread(tprio_t prio, tmode_t mode, Thread *tp); + +/** Thread function.*/ +typedef msg_t (*tfunc_t)(void *); + +/* + * Threads APIs. + */ +#ifdef __cplusplus +extern "C" { +#endif + Thread *chThdCreate(tprio_t prio, tmode_t mode, void *workspace, + size_t wsize, tfunc_t pf, void *arg); + Thread *chThdCreateFast(tprio_t prio, void *workspace, + size_t wsize, tfunc_t pf); + void chThdSetPriority(tprio_t newprio); + void chThdExit(msg_t msg); +#ifdef CH_USE_RESUME + void chThdResume(Thread *tp); +#endif +#ifdef CH_USE_SUSPEND + void chThdSuspend(Thread **tpp); +#endif +#ifdef CH_USE_TERMINATE + void chThdTerminate(Thread *tp); +#endif +#ifdef CH_USE_WAITEXIT + msg_t chThdWait(Thread *tp); +#endif +#ifdef __cplusplus +} +#endif + +/** Returns the pointer to the \p Thread currently in execution.*/ +#define chThdSelf() currp + +/** Returns the thread priority.*/ +#define chThdGetPriority() (currp->p_prio) + +/** Returns the pointer to the \p Thread local storage area, if any.*/ +#define chThdLS() (void *)(currp + 1) + +/** Verifies if the specified thread is in the \p PREXIT state.*/ +#define chThdTerminated(tp) ((tp)->p_state == PREXIT) + +/** + * Verifies if the current thread has a termination request pending. + */ +#define chThdShouldTerminate() (currp->p_flags & P_TERMINATE) + +/** + * Returns the exit event source for the specified thread. The source is + * signaled when the thread terminates. + * @param tp the pointer to the thread + * @note When registering on a thread termination make sure the thread + * is still alive, if you do that after the thread termination + * then you would miss the event. There are two ways to ensure + * this:
+ *
    + *
  • Create the thread suspended, register on the event source + * and then resume the thread (recommended).
    • + *
  • Create the thread with a lower priority then register on it. + * This does not work if the hardware is capable of multiple + * physical threads.
    • + *
+ * @note You dont need to unregister from a terminated thread because + * the event source becomes inactive. + * @note The function is available only if the \p CH_USE_EXIT_EVENT + * option is enabled in \p chconf.h. + */ +#define chThdGetExitEventSource(tp) (&(tp)->p_exitesource) + +/** + * Resumes a thread created with the \p P_SUSPENDED option or suspended with + * \p chThdSuspend(). + * @param tp the pointer to the thread + */ +#define chThdResumeI(tp) chSchReadyI((tp), RDY_OK) + +#endif /* _THREADS_H_ */ + +/** @} */ -- cgit v1.2.3