/* ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, 2011,2012 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 chschd.h * @brief Scheduler macros and structures. * * @addtogroup scheduler * @{ */ #ifndef _CHSCHD_H_ #define _CHSCHD_H_ /** * @name Wakeup status codes * @{ */ #define RDY_OK 0 /**< @brief Normal wakeup message. */ #define RDY_TIMEOUT -1 /**< @brief Wakeup caused by a timeout condition. */ #define RDY_RESET -2 /**< @brief Wakeup caused by a reset condition. */ /** @} */ /** * @name Priority constants * @{ */ #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. */ /** @} */ /** * @name Special time constants * @{ */ /** * @brief Zero time specification for some functions 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)0) /** * @brief Infinite time specification for all functions with a timeout * specification. */ #define TIME_INFINITE ((systime_t)-1) /** @} */ /** * @brief Returns the priority of the first thread on the given ready list. * * @notapi */ #define firstprio(rlp) ((rlp)->p_next->p_prio) /** * @extends ThreadsQueue * * @brief Ready list header. */ #if !defined(PORT_OPTIMIZED_READYLIST_STRUCT) || defined(__DOXYGEN__) typedef struct { ThreadsQueue r_queue; /**< @brief Threads queue. */ tprio_t r_prio; /**< @brief This field must be initialized to zero. */ struct context r_ctx; /**< @brief Not used, present because offsets. */ #if CH_USE_REGISTRY || defined(__DOXYGEN__) Thread *r_newer; /**< @brief Newer registry element. */ Thread *r_older; /**< @brief Older registry element. */ #endif /* End of the fields shared with the Thread structure.*/ Thread *r_current; /**< @brief The currently running thread. */ } ReadyList; #endif /* !defined(PORT_OPTIMIZED_READYLIST_STRUCT) */ #if !defined(PORT_OPTIMIZED_RLIST_EXT) && !defined(__DOXYGEN__) extern ReadyList rlist; #endif /* !defined(PORT_OPTIMIZED_RLIST_EXT) */ /** * @brief Current thread pointer access macro. * @note This macro is not meant to be used in the application code but * only from within the kernel, use the @p chThdSelf() API instead. * @note It is forbidden to use this macro in order to change the pointer * (currp = something), use @p setcurrp() instead. */ #if !defined(PORT_OPTIMIZED_CURRP) || defined(__DOXYGEN__) #define currp rlist.r_current #endif /* !defined(PORT_OPTIMIZED_CURRP) */ /** * @brief Current thread pointer change macro. * @note This macro is not meant to be used in the application code but * only from within the kernel. * * @notapi */ #if !defined(PORT_OPTIMIZED_SETCURRP) || defined(__DOXYGEN__) #define setcurrp(tp) (currp = (tp)) #endif /* !defined(PORT_OPTIMIZED_SETCURRP) */ /* * Scheduler APIs. */ #ifdef __cplusplus extern "C" { #endif void _scheduler_init(void); #if !defined(PORT_OPTIMIZED_READYI) Thread *chSchReadyI(Thread *tp); #endif #if !defined(PORT_OPTIMIZED_GOSLEEPS) void chSchGoSleepS(tstate_t newstate); #endif #if !defined(PORT_OPTIMIZED_GOSLEEPTIMEOUTS) msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time); #endif #if !defined(PORT_OPTIMIZED_WAKEUPS) void chSchWakeupS(Thread *tp, msg_t msg); #endif #if !defined(PORT_OPTIMIZED_RESCHEDULES) void chSchRescheduleS(void); #endif #if !defined(PORT_OPTIMIZED_ISPREEMPTIONREQUIRED) bool_t chSchIsPreemptionRequired(void); #endif #if !defined(PORT_OPTIMIZED_DORESCHEDULEBEHIND) || defined(__DOXYGEN__) void chSchDoRescheduleBehind(void); #endif #if !defined(PORT_OPTIMIZED_DORESCHEDULEAHEAD) || defined(__DOXYGEN__) void chSchDoRescheduleAhead(void); #endif #if !defined(PORT_OPTIMIZED_DORESCHEDULE) void chSchDoReschedule(void); #endif #ifdef __cplusplus } #endif /** * @name Macro Functions * @{ */ /** * @brief Determines if the current thread must reschedule. * @details This function returns @p TRUE if there is a ready thread with * higher priority. * * @iclass */ #if !defined(PORT_OPTIMIZED_ISRESCHREQUIREDI) || defined(__DOXYGEN__) #define chSchIsRescRequiredI() (firstprio(&rlist.r_queue) > currp->p_prio) #endif /* !defined(PORT_OPTIMIZED_ISRESCHREQUIREDI) */ /** * @brief Determines if yielding is possible. * @details This function returns @p TRUE if there is a ready thread with * equal or higher priority. * * @sclass */ #if !defined(PORT_OPTIMIZED_CANYIELDS) || defined(__DOXYGEN__) #define chSchCanYieldS() (firstprio(&rlist.r_queue) >= currp->p_prio) #endif /* !defined(PORT_OPTIMIZED_CANYIELDS) */ /** * @brief Yields the time slot. * @details Yields the CPU control to the next thread in the ready list with * equal or higher priority, if any. * * @sclass */ #if !defined(PORT_OPTIMIZED_DOYIELDS) || defined(__DOXYGEN__) #define chSchDoYieldS() { \ if (chSchCanYieldS()) \ chSchDoRescheduleBehind(); \ } #endif /* !defined(PORT_OPTIMIZED_DOYIELDS) */ /** * @brief Inline-able preemption code. * @details This is the common preemption code, this function must be invoked * exclusively from the port layer. * * @special */ #if (CH_TIME_QUANTUM > 0) || defined(__DOXYGEN__) #define chSchPreemption() { \ tprio_t p1 = firstprio(&rlist.r_queue); \ tprio_t p2 = currp->p_prio; \ if (currp->p_preempt) { \ if (p1 > p2) \ chSchDoRescheduleAhead(); \ } \ else { \ if (p1 >= p2) \ chSchDoRescheduleBehind(); \ } \ } #else /* CH_TIME_QUANTUM == 0 */ #define chSchPreemption() { \ if (p1 >= p2) \ chSchDoRescheduleAhead(); \ } #endif /* CH_TIME_QUANTUM == 0 */ /** @} */ #endif /* _CHSCHD_H_ */ /** @} */