/* 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 _InitThread(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); 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:
* * @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_ */ /** @} */