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
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
|
/*
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 <http://www.gnu.org/licenses/>.
*/
/**
* @file threads.h
* @brief Threads macros and structures.
* @addtogroup Threads
* @{
*/
#ifndef _THREADS_H_
#define _THREADS_H_
/**
* @brief Structure representing a thread.
*
* @extends ThreadsQueue
* @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; /**< Next @p Thread in the threads
list/queue.*/
/* End of the fields shared with the ThreadsList structure. */
Thread *p_prev; /**< Previous @p Thread in the threads
queue.*/
/* End of the fields shared with the ThreadsQueue structure. */
tprio_t p_prio; /**< Thread priority.*/
/* End of the fields shared with the ReadyList structure. */
tstate_t p_state; /**< Current thread state.*/
tmode_t p_flags; /**< Various flags.*/
struct context p_ctx; /**< Processor context.*/
#if CH_USE_NESTED_LOCKS
cnt_t p_locks; /**< Number of nested locks.*/
#endif
#if CH_DBG_THREADS_PROFILING
volatile systime_t p_time; /**< Consumed time.
@note This field can overflow.*/
#endif
/*
* 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 {
msg_t p_rdymsg; /**< Thread wakeup code.*/
msg_t p_exitcode; /**< The thread exit code
(@p PREXIT state).*/
void *p_wtobjp; /**< Generic kernel object pointer used
for opaque access.*/
#if CH_USE_SEMAPHORES
Semaphore *p_wtsemp; /**< Semaphore where the thread is
waiting on (@p PRWTSEM state).*/
#endif
#if CH_USE_MUTEXES
Mutex *p_wtmtxp; /**< Mutex where the thread is waiting
on (@p PRWTMTX state).*/
#endif
#if CH_USE_CONDVARS
CondVar *p_wtcondp; /**< CondVar where the thread is
waiting on (@p PRWTCOND state).*/
#endif
#if CH_USE_MESSAGES
Thread *p_wtthdp; /**< Destination thread for message
send @p PRSNDMSG state).*/
#endif
#if CH_USE_EVENTS
eventmask_t p_ewmask; /**< Enabled events mask (@p PRWTOREVT
or @p PRWTANDEVT states).*/
#endif
};
/*
* Start of the optional fields.
*/
#if CH_USE_WAITEXIT
Thread *p_waiting; /**< Thread waiting for termination.*/
#endif
#if CH_USE_MESSAGES
ThreadsQueue p_msgqueue; /**< Message queue.*/
msg_t p_msg; /**< The message.*/
#endif
#if CH_USE_EVENTS
eventmask_t p_epending; /**< Pending events mask.*/
#endif
#if CH_USE_MUTEXES
Mutex *p_mtxlist; /**< List of the mutexes owned by this
thread, @p NULL terminated.*/
tprio_t p_realprio; /**< Thread's own, non-inherited,
priority.*/
#endif
#if CH_USE_DYNAMIC && CH_USE_MEMPOOLS
void *p_mpool; /**< Memory Pool where the thread
workspace is returned.*/
#endif
/* Extra fields defined in chconf.h */
THREAD_EXT_FIELDS
};
/** Thread state: Ready to run, waiting on the ready list.*/
#define PRREADY 0
/** Thread state: Currently running. */
#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 PRWTCOND 5
/** Thread state: Waiting in @p chCondWait(). */
#define PRSLEEP 6
/** Thread state: Waiting in @p chThdWait(). */
#define PRWAIT 7
/** Thread state: Waiting in @p chEvtWaitOneTimeout() or
@p chEvtWaitAnyTimeout(). */
#define PRWTOREVT 8
/** Thread state: Waiting in @p chEvtWaitAllTimeout(). */
#define PRWTANDEVT 9
/** Thread state: Waiting in @p chMsgSend(). */
#define PRSNDMSG 10
/** Thread state: Waiting in @p chMsgWait(). */
#define PRWTMSG 11
/** Thread state: After termination.*/
#define PREXIT 12
/*
* Various flags into the thread p_flags field.
*/
#define P_MEM_MODE_MASK 3 /* Thread memory mode mask. */
#define P_MEM_MODE_STATIC 0 /* Thread memory mode: static. */
#define P_MEM_MODE_HEAP 1 /* Thread memory mode: heap. */
#define P_MEM_MODE_MEMPOOL 2 /* Thread memory mode: mempool. */
#define P_TERMINATE 4 /* Termination requested. */
/* Not an API, don't use into the application code.*/
Thread *init_thread(Thread *tp, tprio_t prio);
/** Thread function.*/
typedef msg_t (*tfunc_t)(void *);
/*
* Threads APIs.
*/
#ifdef __cplusplus
extern "C" {
#endif
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(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 chThdExit(msg_t msg);
#if 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 current 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.
*
* @param[in] tp the pointer to the thread
* @retval TRUE thread terminated.
* @retval FALSE thread not terminated.
*/
#define chThdTerminated(tp) ((tp)->p_state == PREXIT)
/**
* 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 & P_TERMINATE)
/**
* Resumes a thread created with @p chThdInit().
*
* @param[in] tp the pointer to the thread
*/
#define chThdResumeI(tp) chSchReadyI(tp)
/**
* 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(PRSLEEP, time)
/**
* Delays the invoking thread for the specified number of seconds.
*
* @param[in] sec the time in 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.
*/
#define chThdSleepSeconds(sec) chThdSleep(S2ST(sec))
/**
* Delays the invoking thread for the specified number of milliseconds.
*
* @param[in] msec the time in 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.
*/
#define chThdSleepMilliseconds(msec) chThdSleep(MS2ST(msec))
/**
* Delays the invoking thread for the specified number of microseconds.
*
* @param[in] usec the time in 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.
*/
#define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec))
#endif /* _THREADS_H_ */
/** @} */
|
