1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
|
/*
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio.
This file is part of ChibiOS.
ChibiOS 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 is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file chdynamic.c
* @brief Dynamic threads code.
*
* @addtogroup dynamic_threads
* @details Dynamic threads related APIs and services.
* @note Compatible with RT only.
* @{
*/
#include "ch.h"
#if (CH_CFG_USE_DYNAMIC == TRUE) || defined(__DOXYGEN__)
/*===========================================================================*/
/* Module local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Module exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Module local types. */
/*===========================================================================*/
/*===========================================================================*/
/* Module local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Module local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Module exported functions. */
/*===========================================================================*/
#if (CH_CFG_USE_HEAP == TRUE) || defined(__DOXYGEN__)
/**
* @brief Creates a new thread allocating the memory from the heap.
* @pre The configuration options @p CH_CFG_USE_DYNAMIC and
* @p CH_CFG_USE_HEAP must be enabled in order to use this function.
* @note A thread can terminate by calling @p chThdExit() or by simply
* returning from its main function.
* @note The memory allocated for the thread is not released automatically,
* it is responsibility of the creator thread to call @p chThdWait()
* and then release the allocated memory.
*
* @param[in] heapp heap from which allocate the memory or @p NULL for the
* default heap
* @param[in] size size of the working area to be allocated
* @param[in] name thread name
* @param[in] prio the priority level for the new thread
* @param[in] pf the thread function
* @param[in] arg an argument passed to the thread function. It can be
* @p NULL.
* @return The pointer to the @p thread_t structure allocated for
* the thread into the working space area.
* @retval NULL if the memory cannot be allocated.
*
* @api
*/
thread_t *chThdCreateFromHeap(memory_heap_t *heapp, size_t size,
const char *name, tprio_t prio,
tfunc_t pf, void *arg) {
void *wsp;
wsp = chHeapAllocAligned(heapp, size, PORT_WORKING_AREA_ALIGN);
if (wsp == NULL) {
return NULL;
}
thread_descriptor_t td = {
name,
wsp,
(stkalign_t *)((uint8_t *)wsp + size),
prio,
pf,
arg
};
return chThdCreate(&td);
}
/**
* @brief Releases a thread working area into the owner heap.
* @pre The thread must have been created using @p chThdCreateFromHeap().
* @pre The thread must be in the state @p CH_STATE_FINAL (terminated).
*
* @param[in] tp the pointer to the thread
*
* @api
*/
void chThdFreeToHeap(thread_t *tp) {
chDbgCheck(tp != NULL);
chDbgAssert(tp->state == CH_STATE_FINAL, "not terminated");
chHeapFree(chthdGetStackLimitX(tp));
}
#endif /* CH_CFG_USE_HEAP == TRUE */
#if (CH_CFG_USE_MEMPOOLS == TRUE) || defined(__DOXYGEN__)
/**
* @brief Creates a new thread allocating the memory from the specified
* memory pool.
* @pre The configuration options @p CH_CFG_USE_DYNAMIC and
* @p CH_CFG_USE_MEMPOOLS must be enabled in order to use this
* function.
* @pre The pool must be initialized to contain only objects with
* alignment @p PORT_WORKING_AREA_ALIGN.
* @note A thread can terminate by calling @p chThdExit() or by simply
* returning from its main function.
* @note The memory allocated for the thread is not released automatically,
* it is responsibility of the creator thread to call @p chThdWait()
* and then release the allocated memory.
*
* @param[in] mp pointer to the memory pool object
* @param[in] name thread name
* @param[in] prio the priority level for the new thread
* @param[in] pf the thread function
* @param[in] arg an argument passed to the thread function. It can be
* @p NULL.
* @return The pointer to the @p thread_t structure allocated for
* the thread into the working space area.
* @retval NULL if the memory pool is empty.
*
* @api
*/
thread_t *chThdCreateFromMemoryPool(memory_pool_t *mp, const char *name,
tprio_t prio, tfunc_t pf, void *arg) {
void *wsp;
chDbgCheck(mp != NULL);
wsp = chPoolAlloc(mp);
if (wsp == NULL) {
return NULL;
}
thread_descriptor_t td = {
name,
wsp,
(stkalign_t *)((uint8_t *)wsp + mp->object_size),
prio,
pf,
arg
};
return chThdCreate(&td);
}
/**
* @brief Releases a thread working area into a memory pool.
* @pre The thread must have been created using @p chThdCreateFromMemoryPool().
* @pre The thread must be in the state @p CH_STATE_FINAL (terminated).
*
* @param[in] tp the pointer to the thread
* @param[in] mp pointer to a @p memory_pool_t structure
*
* @api
*/
void chThdFreeToMemoryPool(thread_t *tp, memory_pool_t *mp) {
chDbgCheck((tp != NULL) && (mp != NULL));
chDbgAssert(tp->state == CH_STATE_FINAL, "not terminated");
chPoolFree(mp, (void *)chthdGetStackLimitX(tp));
}
#endif /* CH_CFG_USE_MEMPOOLS == TRUE */
#endif /* CH_CFG_USE_DYNAMIC == TRUE */
/** @} */
|
