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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013 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 chglobal.h
* @brief Data structures with global scope header.
*
* @addtogroup global
*/
#ifndef _CHGLOBAL_H_
#define _CHGLOBAL_H_
/*===========================================================================*/
/* Module constants. */
/*===========================================================================*/
/*===========================================================================*/
/* Module pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/*===========================================================================*/
/* Module data structures and types. */
/*===========================================================================*/
/**
* @brief Generic threads single link list, it works like a stack.
*/
typedef struct {
thread_t *p_next; /**< @brief Next in the list/queue. */
} threads_list_t;
/**
* @extends threads_list_t
*
* @brief Generic threads bidirectional linked list header and element.
*/
typedef struct {
thread_t *p_next; /**< @brief Next in the list/queue. */
thread_t *p_prev; /**< @brief Previous in the queue. */
} threads_queue_t;
/**
* @extends threads_queue_t
*
* @brief Ready list header.
*/
typedef struct {
threads_queue_t 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_CFG_USE_REGISTRY || defined(__DOXYGEN__)
thread_t *r_newer; /**< @brief Newer registry element. */
thread_t *r_older; /**< @brief Older registry element. */
#endif
/* End of the fields shared with the thread_t structure.*/
thread_t *r_current; /**< @brief The currently running
thread. */
} ready_list_t;
/**
* @extends threads_queue_t
*
* @brief 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_t structure.
*/
typedef struct thread {
thread_t *p_next; /**< @brief Next in the list/queue. */
/* End of the fields shared with the threads_list_t structure.*/
thread_t *p_prev; /**< @brief Previous in the queue. */
/* End of the fields shared with the threads_queue_t structure.*/
tprio_t p_prio; /**< @brief Thread priority. */
struct context p_ctx; /**< @brief Processor context. */
#if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__)
thread_t *p_newer; /**< @brief Newer registry element. */
thread_t *p_older; /**< @brief Older registry element. */
#endif
/* End of the fields shared with the ReadyList structure. */
#if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__)
/**
* @brief Thread name or @p NULL.
*/
const char *p_name;
#endif
#if CH_DBG_ENABLE_STACK_CHECK || defined(__DOXYGEN__)
/**
* @brief Thread stack boundary.
*/
stkalign_t *p_stklimit;
#endif
/**
* @brief Current thread state.
*/
tstate_t p_state;
/**
* @brief Various thread flags.
*/
tmode_t p_flags;
#if CH_CFG_USE_DYNAMIC || defined(__DOXYGEN__)
/**
* @brief References to this thread.
*/
trefs_t p_refs;
#endif
/**
* @brief Number of ticks remaining to this thread.
*/
#if (CH_CFG_TIME_QUANTUM > 0) || defined(__DOXYGEN__)
tslices_t p_preempt;
#endif
#if CH_DBG_THREADS_PROFILING || defined(__DOXYGEN__)
/**
* @brief Thread consumed time in ticks.
* @note This field can overflow.
*/
volatile systime_t p_time;
#endif
/**
* @brief State-specific fields.
* @note All the fields declared in this union are only valid in the
* specified state or condition and are thus volatile.
*/
union {
/**
* @brief Thread wakeup code.
* @note This field contains the low level message sent to the thread
* by the waking thread or interrupt handler. The value is valid
* after exiting the @p chSchWakeupS() function.
*/
msg_t rdymsg;
/**
* @brief Thread exit code.
* @note The thread termination code is stored in this field in order
* to be retrieved by the thread performing a @p chThdWait() on
* this thread.
*/
msg_t exitcode;
/**
* @brief Pointer to a generic "wait" object.
* @note This field is used to get a generic pointer to a synchronization
* object and is valid when the thread is in one of the wait
* states.
*/
void *wtobjp;
#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)
/**
* @brief Enabled events mask.
* @note This field is only valid while the thread is in the
* @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states.
*/
eventmask_t ewmask;
#endif
} p_u;
#if CH_CFG_USE_WAITEXIT || defined(__DOXYGEN__)
/**
* @brief Termination waiting list.
*/
threads_list_t p_waiting;
#endif
#if CH_CFG_USE_MESSAGES || defined(__DOXYGEN__)
/**
* @brief Messages queue.
*/
threads_queue_t p_msgqueue;
/**
* @brief Thread message.
*/
msg_t p_msg;
#endif
#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)
/**
* @brief Pending events mask.
*/
eventmask_t p_epending;
#endif
#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)
/**
* @brief List of the mutexes owned by this thread.
* @note The list is terminated by a @p NULL in this field.
*/
struct mutex *p_mtxlist;
/**
* @brief Thread's own, non-inherited, priority.
*/
tprio_t p_realprio;
#endif
#if (CH_CFG_USE_DYNAMIC && CH_CFG_USE_MEMPOOLS) || defined(__DOXYGEN__)
/**
* @brief Memory Pool where the thread workspace is returned.
*/
void *p_mpool;
#endif
#if CH_DBG_STATISTICS || defined(__DOXYGEN__)
time_measurement_t p_stats;
#endif
#if defined(CH_CFG_THREAD_EXTRA_FIELDS)
/* Extra fields defined in chconf.h.*/
CH_CFG_THREAD_EXTRA_FIELDS
#endif
} thread_t;
/**
* @brief Virtual timers list header.
* @note The timers list is implemented as a double link bidirectional list
* in order to make the unlink time constant, the reset of a virtual
* timer is often used in the code.
*/
typedef struct {
virtual_timer_t *vt_next; /**< @brief Next timer in the delta
list. */
virtual_timer_t *vt_prev; /**< @brief Last timer in the delta
list. */
systime_t vt_delta; /**< @brief Must be initialized to -1. */
#if CH_CFG_ST_TIMEDELTA == 0 || defined(__DOXYGEN__)
volatile systime_t vt_systime; /**< @brief System Time counter. */
#endif
#if CH_CFG_ST_TIMEDELTA > 0 || defined(__DOXYGEN__)
/**
* @brief System time of the last tick event.
*/
systime_t vt_lasttime;/**< @brief System time of the last
tick event. */
#endif
} virtual_timers_list_t;
/**
* @brief System data structure.
* @note This structure contain all the data areas used by the OS except
* stacks.
*/
typedef struct ch_system {
/**
* @brief Ready list header.
*/
ready_list_t rlist;
/**
* @brief Virtual timers delta list header.
*/
virtual_timers_list_t vtlist;
#if CH_CFG_USE_TM || defined(__DOXYGEN__)
/**
* @brief Measurement calibration value.
*/
rtcnt_t measurement_offset;
#endif
#if CH_DBG_STATISTICS || defined(__DOXYGEN__)
/**
* @brief Global kernel statistics.
*/
kernel_stats_t kernel_stats;
#endif
#if CH_DBG_ENABLED || defined(__DOXYGEN__)
/**
* @brief Pointer to the panic message.
* @details This pointer is meant to be accessed through the debugger, it is
* written once and then the system is halted.
*/
const char *dbg_panic_msg;
#endif
#if CH_DBG_SYSTEM_STATE_CHECK || defined(__DOXYGEN__)
/**
* @brief ISR nesting level.
*/
cnt_t dbg_isr_cnt;
/**
* @brief Lock nesting level.
*/
cnt_t dbg_lock_cnt;
#endif
#if CH_DBG_ENABLE_TRACE || defined(__DOXYGEN__)
/**
* @brief Public trace buffer.
*/
ch_trace_buffer_t dbg_trace_buffer;
#endif
} ch_system_t;
/*===========================================================================*/
/* Module macros. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#if !defined(__DOXYGEN__)
extern ch_system_t ch;
#endif
/*===========================================================================*/
/* Module inline functions. */
/*===========================================================================*/
#endif /* _CHGLOBAL_H_ */
/** @} */
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