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/*
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/>.
*/
/**
* @addtogroup Scheduler
* @{
*/
#include <ch.h>
/** @cond never */
ReadyList rlist;
/** @endcond */
/**
* Scheduler initialization.
* @note Internally invoked by the \p chSysInit().
*/
void chSchInit(void) {
fifo_init(&rlist.r_queue);
rlist.r_prio = NOPRIO;
#ifdef CH_USE_ROUNDROBIN
rlist.r_preempt = CH_TIME_QUANTUM;
#endif
#ifdef CH_USE_SYSTEMTIME
rlist.r_stime = 0;
#endif
}
/**
* Inserts a thread in the Ready List.
*
* @param tp the Thread to be made ready
* @return the Thread pointer
* @note The function must be called in the system mutex zone.
* @note The function does not reschedule, the \p chSchRescheduleS() should
* be called soon after.
* @note The function is not meant to be used in the user code directly.
*/
#ifdef CH_OPTIMIZE_SPEED
/* NOTE: it is inlined in this module only.*/
INLINE Thread *chSchReadyI(Thread *tp) {
#else
Thread *chSchReadyI(Thread *tp) {
#endif
Thread *cp;
tp->p_state = PRREADY;
cp = rlist.r_queue.p_next;
while (cp->p_prio >= tp->p_prio)
cp = cp->p_next;
/* Insertion on p_prev.*/
tp->p_prev = (tp->p_next = cp)->p_prev;
tp->p_prev->p_next = cp->p_prev = tp;
return tp;
}
/**
* Puts the current thread to sleep into the specified state, the next highest
* priority thread becomes running. The threads states are described into
* \p threads.h
* @param newstate the new thread state
* @note The function must be called in the system mutex zone.
* @note The function is not meant to be used in the user code directly.
*/
void chSchGoSleepS(tstate_t newstate) {
Thread *otp;
(otp = currp)->p_state = newstate;
(currp = fifo_remove(&rlist.r_queue))->p_state = PRCURR;
#ifdef CH_USE_ROUNDROBIN
rlist.r_preempt = CH_TIME_QUANTUM;
#endif
#ifdef CH_USE_TRACE
chDbgTrace(otp, currp);
#endif
chSysSwitchI(otp, currp);
}
#ifdef CH_USE_VIRTUAL_TIMERS
/*
* Timeout wakeup callback.
*/
static void wakeup(void *p) {
#ifdef CH_USE_SEMAPHORES
if (((Thread *)p)->p_state == PRWTSEM)
chSemFastSignalI(((Thread *)p)->p_wtsemp);
#endif
chSchReadyI(p)->p_rdymsg = RDY_TIMEOUT;
}
/**
* Put the current thread to sleep.
*
* Puts the current thread to sleep into the specified state. The next highest
* priority thread becomes running. The thread put to sleep is awakened after
* the specified time has elapsed.
*
* @param newstate the new thread state
* @param time the number of ticks before the operation timouts
* @return the wakeup message, it is \p RDY_TIMEOUT if a timeout occurs
* @note The function must be called in the system mutex zone.
* @note The function is not meant to be used in the user code directly.
*/
msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
VirtualTimer vt;
chVTSetI(&vt, time, wakeup, currp);
chSchGoSleepS(newstate);
if (chVTIsArmedI(&vt))
chVTResetI(&vt);
return currp->p_rdymsg;
}
#endif /* CH_USE_VIRTUAL_TIMERS */
/**
* Wakes up a thread.
*
* Wakes up a thread. The thread is inserted into the ready list or immediately
* made running depending on its relative priority compared to the current
* thread.
* @param ntp the Thread to be made ready
* @param msg message to the awakened thread
* @note The function must be called in the system mutex zone.
* @note The function is not meant to be used in the user code directly.
* @note It is equivalent to a \p chSchReadyI() followed by a
* \p chSchRescheduleS() but much more efficient.
*/
void chSchWakeupS(Thread *ntp, msg_t msg) {
ntp->p_rdymsg = msg;
if (ntp->p_prio <= currp->p_prio)
/* the woken thread has equal or lower priority than the running thread */
chSchReadyI(ntp);
else {
/* the woken thread has higher priority than the running thread and thus
* preempts the currently running thread. */
Thread *otp = currp;
chSchReadyI(otp);
/* change the to-be-run thread to running state */
(currp = ntp)->p_state = PRCURR;
#ifdef CH_USE_ROUNDROBIN
rlist.r_preempt = CH_TIME_QUANTUM;
#endif
#ifdef CH_USE_TRACE
/* trace the context switch */
chDbgTrace(otp, ntp);
#endif
/* switch the thread context */
chSysSwitchI(otp, ntp);
}
}
/**
* Switch to the first thread on the runnable queue.
*
* Intended to be called if \p chSchRescRequired() evaluates to \p TRUE.
*/
void chSchDoRescheduleI(void) {
Thread *otp = currp;
/* pick the first thread from the ready queue and makes it current */
(currp = fifo_remove(&rlist.r_queue))->p_state = PRCURR;
chSchReadyI(otp);
#ifdef CH_USE_ROUNDROBIN
rlist.r_preempt = CH_TIME_QUANTUM;
#endif
#ifdef CH_USE_TRACE
chDbgTrace(otp, currp);
#endif
chSysSwitchI(otp, currp);
}
/**
* Reschedule only if a higher priority thread is runnable.
*
* If a thread with a higher priority than the current thread is in the
* ready list then make the higher priority thread running.
*
* @note The function must be called in the system mutex zone.
*/
void chSchRescheduleS(void) {
/* first thread in the runnable queue has higher priority than the running
* thread? */
if (firstprio(&rlist.r_queue) > currp->p_prio)
chSchDoRescheduleI();
}
/**
* Evaluates if rescheduling is required.
*
* @return \p TRUE if there is a thread that should go in running state
* immediately else \p FALSE.
*/
bool_t chSchRescRequiredI(void) {
tprio_t p1 = firstprio(&rlist.r_queue);
tprio_t p2 = currp->p_prio;
#ifdef CH_USE_ROUNDROBIN
/* If the running thread has not reached its time quantum, reschedule only
* if the first thread on the ready queue has a higher priority.
* Otherwise, if the running thread has used up its time quantum, reschedule
* if the first thread on the ready queue has equal or higher priority.
*/
return rlist.r_preempt ? p1 > p2 : p1 >= p2;
#else
return p1 > p2;
#endif
}
/** @} */
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