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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 Threads
* @{
*/
#ifndef _THREADS_H_
#define _THREADS_H_
#define isempty(qp) ((qp)->p_next == (Thread *)(qp))
#define notempty(qp) ((qp)->p_next != (Thread *)(qp))
#define firstprio(qp) ((qp)->p_next->p_prio)
#define lastprio(qp) ((qp)->p_prev->p_prio)
/**
* Generic threads queue header and element.
*/
typedef struct {
/** First \p Thread in the queue.*/
Thread *p_next;
/** Last \p Thread in the queue.*/
Thread *p_prev;
} ThreadsQueue;
/**
* 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;
/** Previous \p Thread in the threads list.*/
Thread *p_prev;
/* End of the fields shared with the ThreadsQueue structure. */
/** The thread priority.*/
t_prio p_prio;
/* End of the fields shared with the ReadyList structure. */
/** Current thread state.*/
t_tstate p_state;
/** Mode flags.*/
t_tmode p_flags;
/*
* The following fields are merged in an union because they are all
* state-specific fields. This trick saves some extra space for each
* thread in the system.
*/
union {
/** Thread wakeup code, normally set to \p RDY_OK by the \p chSchReadyI()
* (only while in \p PRCURR or \p PRREADY states).*/
t_msg p_rdymsg;
/** The thread exit code (only while in \p PREXIT state).*/
t_msg p_exitcode;
#ifdef CH_USE_EVENTS
/** Enabled events mask (only while in \p PRWTEVENT state).*/
t_eventmask p_ewmask;
#endif
#ifdef CH_USE_MESSAGES
/** Message (only while in \p PRSNDMSG state).*/
t_msg p_msg;
#endif
};
/** Machine dependent processor context.*/
Context p_ctx;
/*
* Start of the optional fields. Note, the null thread may also let its
* stack overwrite the following fields since it never uses semaphores,
* events, messages, exit etc, this can save some space on RAM starved
* systems, be caruful in doing so.
*/
#ifdef CH_USE_WAITEXIT
/** The queue of the threads waiting for this thread termination.*/
ThreadsQueue p_waiting;
#endif
#ifdef CH_USE_EXIT_EVENT
/** The thread termination \p EventSource.*/
EventSource p_exitesource;
#endif
#ifdef CH_USE_MESSAGES
ThreadsQueue p_msgqueue;
#endif
#ifdef CH_USE_EVENTS
/** Pending events mask.*/
t_eventmask p_epending;
#endif
#ifdef CH_USE_RT_SEMAPHORES
/** Priority backup after acquiring a RT semaphore.*/
t_prio p_bakprio;
/** RT semaphores depth counter.*/
WORD16 p_rtcnt;
#endif
};
/** Thread state: Reserved.*/
#define PRFREE 0
/** Thread state: Current.*/
#define PRCURR 1
/** Thread state: Thread in the ready list.*/
#define PRREADY 2
/** Thread state: Thread created in suspended state.*/
#define PRSUSPENDED 3
/** Thread state: Waiting on a semaphore.*/
#define PRWTSEM 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
/** Thread option: Termination requested flag.*/
#define P_TERMINATE 1
/** Thread option: Create suspended thread.*/
#define P_SUSPENDED 2
/** Idle thread priority.*/
#define IDLEPRIO 0
/** Lowest user priority.*/
#define LOWPRIO 1
/** Normal user priority.*/
#define NORMALPRIO 128
/** Highest user priority.*/
#define HIGHPRIO 255
/** Boosted base priority.*/
#define MEPRIO 256
/** Absolute priority.*/
#define ABSPRIO 512
/* Not an API, don't use into the application code.*/
void _InitThread(t_prio prio, t_tmode mode, Thread *tp);
/** Thread function.*/
typedef t_msg (*t_tfunc)(void *);
/*
* Threads Lists functions.
*/
#ifndef CH_OPTIMIZE_SPEED
void enqueue(Thread *tp, ThreadsQueue *tqp);
Thread *dequeue(Thread *tp);
#else
static INLINE Thread *dequeue(Thread *tp) {
tp->p_prev->p_next = tp->p_next;
tp->p_next->p_prev = tp->p_prev;
return tp;
}
static INLINE void enqueue(Thread *tp, ThreadsQueue *tqp) {
tp->p_next = (Thread *)tqp;
tp->p_prev = tqp->p_prev;
tqp->p_prev->p_next = tp;
tqp->p_prev = tp;
}
#endif
/*
* Threads APIs.
*/
#define chThdSelf() currp
Thread *chThdCreate(t_prio prio, t_tmode mode, void *workspace,
t_size wsize, t_tfunc pf, void *arg);
void chThdResume(Thread *tp);
void chThdTerminate(Thread *tp);
BOOL chThdShouldTerminate(void);
BOOL chThdTerminated(Thread *tp);
void chThdExit(t_msg msg);
#ifdef CH_USE_WAITEXIT
t_msg chThdWait(Thread *tp);
#endif
#ifdef CH_USE_EXIT_EVENT
EventSource *chThdGetExitEventSource(Thread *tp);
#endif
#endif /* _THREADS_H_ */
/** @} */
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