aboutsummaryrefslogtreecommitdiffstats
path: root/target/linux/at91
Commit message (Expand)AuthorAgeFilesLines
* [kernel] bump to 3.3.8John Crispin2012-06-051-1/+1
* kernel: update linux 3.3 to 3.3.7Gabor Juhos2012-05-231-1/+1
* linux: move certain disabled symbols to the generic configsGabor Juhos2012-05-151-8/+0
* kernel: update linux 3.3 to 3.3.6Gabor Juhos2012-05-141-1/+1
* kernel: update linux 3.3 to 3.3.5Gabor Juhos2012-05-071-1/+1
* kernel: update linux 3.3 to 3.3.4Gabor Juhos2012-04-301-1/+1
* kernel: update linux 3.3 to 3.3.3Jonas Gorski2012-04-245-17/+13
* [at91] flexibity: Cleanup the subtarget configClaudio Mignanti2012-04-221-729/+1
* [at91] tqma9263: update board definition for 3.x series and fix config chooseClaudio Mignanti2012-04-223-18/+7
* [at91] Remove old netus board definitionClaudio Mignanti2012-04-221-242/+0
* [at91] Reorganize the subtargets, group subtargets per cpu familyClaudio Mignanti2012-04-2017-31/+41
* [at91] Update the kernel to 3.3.x series, remove patches that doesn't apply a...Claudio Mignanti2012-04-208-463/+60
* [at91] Ensure that the bin directory exists before copy the filesClaudio Mignanti2012-04-201-0/+2
* at91: Missing kernel config symbols for AT91 target platformHauke Mehrtens2012-04-151-0/+8
* targets: fix CONFIG_USB_STORAGE_* inconsistencyNicolas Thill2011-11-251-11/+0
* base-files, target: assign name to system timeserver section, makes it easier...Jo-Philipp Wich2011-11-101-1/+1
* add timeserver config to target specific system configs as wellJo-Philipp Wich2011-11-041-2/+5
* AT91: flexibity: add system uci fileJohn Crispin2011-07-031-0/+6
* AT91: Add flexibity board supportJohn Crispin2011-07-0312-1/+987
* kernel: update to kernel 2.6.38.8Hauke Mehrtens2011-06-181-1/+1
* kernel: update kernel from 2.6.38.2 to 2.6.38.6 and refresh patchesHauke Mehrtens2011-05-155-22/+17
* at91: add some missing config optionsHauke Mehrtens2011-04-091-0/+3
* Update 2.6.38 to 2.6.38.2Michael Büsch2011-03-281-1/+1
* global cflags: remove -funit-at-a-time, it is ignored by recent compilers. in...Felix Fietkau2011-03-261-1/+1
* [at91] Update to 2.6.38Claudio Mignanti2011-03-203-77/+10
* only support EABI on ARM targetsImre Kaloz2011-03-071-1/+0
* [kernel] update to 2.6.35.11Florian Fainelli2011-02-191-1/+1
* config symbol cleanupImre Kaloz2011-02-011-9/+0
* [at91] move Netus G20 into a subtarget and rework toplevel config and makefileJo-Philipp Wich2011-01-274-6/+21
* [at91] prepare TQMa9263 subtargetJo-Philipp Wich2011-01-272-0/+32
* [at91] add TQMa9263 board setupJo-Philipp Wich2011-01-271-0/+229
* [at91] prepare TQ-Components TQMa9263 kernel supportJo-Philipp Wich2011-01-272-0/+109
* [at91] Fix i2c driver and package itClaudio Mignanti2011-01-131-0/+285
* [at91] Allow module compilation for adc driverClaudio Mignanti2011-01-131-1/+1
* [at91] Import an experimental ADC driverClaudio Mignanti2010-12-235-0/+460
* update to the latest stable kernelsImre Kaloz2010-11-241-1/+1
* switch from ext2 to ext4 (w/o) journalingImre Kaloz2010-11-221-1/+1
* update kernels to 2.6.32.25 and 2.6.35.8Imre Kaloz2010-11-041-1/+1
* [at91] Don't compile u-boot by defaultClaudio Mignanti2010-10-241-2/+2
* [at91] Tag the uncompressed imageClaudio Mignanti2010-10-111-1/+2
* Add me as maintainerClaudio Mignanti2010-10-111-0/+1
* [at91] Update to 2.6.35.7Claudio Mignanti2010-10-113-10/+22
* [at91] Copy rootfs(s) inside BIN_DIRClaudio Mignanti2010-10-111-0/+1
* [at91] Add support for FOXGM carrier boardClaudio Mignanti2010-10-112-2/+26
* [kernel]: upgrade kernel versions to the latest stable onesImre Kaloz2010-10-041-1/+1
* kernel: update kernel version to 2.6.34.5Hauke Mehrtens2010-08-221-1/+1
* [at91] Include the usb-ohci module as defaultClaudio Mignanti2010-08-192-5/+1
* [at91] general cleanupClaudio Mignanti2010-07-2211-14249/+0
* [at91] Add support for u-bootClaudio Mignanti2010-07-2220-6490/+610
* fixup some boardnamesImre Kaloz2010-07-191-1/+1
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-22 05:06:35 +0000
href='#n630'>630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 
/*
    ChibiOS - Copyright (C) 2006..2016 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    chthreads.c
 * @brief   Threads code.
 *
 * @addtogroup threads
 * @details Threads related APIs and services.
 *          <h2>Operation mode</h2>
 *          A thread is an abstraction of an independent instructions flow.
 *          In ChibiOS/RT a thread is represented by a "C" function owning
 *          a processor context, state informations and a dedicated stack
 *          area. In this scenario static variables are shared among all
 *          threads while automatic variables are local to the thread.<br>
 *          Operations defined for threads:
 *          - <b>Create</b>, a thread is started on the specified thread
 *            function. This operation is available in multiple variants,
 *            both static and dynamic.
 *          - <b>Exit</b>, a thread terminates by returning from its top
 *            level function or invoking a specific API, the thread can
 *            return a value that can be retrieved by other threads.
 *          - <b>Wait</b>, a thread waits for the termination of another
 *            thread and retrieves its return value.
 *          - <b>Resume</b>, a thread created in suspended state is started.
 *          - <b>Sleep</b>, the execution of a thread is suspended for the
 *            specified amount of time or the specified future absolute time
 *            is reached.
 *          - <b>SetPriority</b>, a thread changes its own priority level.
 *          - <b>Yield</b>, a thread voluntarily renounces to its time slot.
 *          .
 * @{
 */

#include "ch.h"

/*===========================================================================*/
/* Module local definitions.                                                 */
/*===========================================================================*/

/*===========================================================================*/
/* Module exported variables.                                                */
/*===========================================================================*/

/*===========================================================================*/
/* Module local types.                                                       */
/*===========================================================================*/

/*===========================================================================*/
/* Module local variables.                                                   */
/*===========================================================================*/

/*===========================================================================*/
/* Module local functions.                                                   */
/*===========================================================================*/

/*===========================================================================*/
/* Module exported functions.                                                */
/*===========================================================================*/

/**
 * @brief   Initializes a thread structure.
 * @note    This is an internal functions, do not use it in application code.
 *
 * @param[in] tp        pointer to the thread
 * @param[in] name      thread name
 * @param[in] prio      the priority level for the new thread
 * @return              The same thread pointer passed as parameter.
 *
 * @notapi
 */
thread_t *_thread_init(thread_t *tp, const char *name, tprio_t prio) {

  tp->prio      = prio;
  tp->state     = CH_STATE_WTSTART;
  tp->flags     = CH_FLAG_MODE_STATIC;
#if CH_CFG_TIME_QUANTUM > 0
  tp->preempt   = (tslices_t)CH_CFG_TIME_QUANTUM;
#endif
#if CH_CFG_USE_MUTEXES == TRUE
  tp->realprio  = prio;
  tp->mtxlist   = NULL;
#endif
#if CH_CFG_USE_EVENTS == TRUE
  tp->epending  = (eventmask_t)0;
#endif
#if CH_DBG_THREADS_PROFILING == TRUE
  tp->time      = (systime_t)0;
#endif
#if CH_CFG_USE_REGISTRY == TRUE
  tp->refs      = (trefs_t)1;
  tp->name      = name;
  REG_INSERT(tp);
#else
  (void)name;
#endif
#if CH_CFG_USE_WAITEXIT == TRUE
  list_init(&tp->waiting);
#endif
#if CH_CFG_USE_MESSAGES == TRUE
  queue_init(&tp->msgqueue);
#endif
#if CH_DBG_STATISTICS == TRUE
  chTMObjectInit(&tp->stats);
#endif
  CH_CFG_THREAD_INIT_HOOK(tp);
  return tp;
}

#if (CH_DBG_FILL_THREADS == TRUE) || defined(__DOXYGEN__)
/**
 * @brief   Memory fill utility.
 *
 * @param[in] startp    first address to fill
 * @param[in] endp      last address to fill +1
 * @param[in] v         filler value
 *
 * @notapi
 */
void _thread_memfill(uint8_t *startp, uint8_t *endp, uint8_t v) {

  while (startp < endp) {
    *startp++ = v;
  }
}
#endif /* CH_DBG_FILL_THREADS */

/**
 * @brief   Creates a new thread into a static memory area.
 * @details The new thread is initialized but not inserted in the ready list,
 *          the initial state is @p CH_STATE_WTSTART.
 * @post    The created thread has a reference counter set to one, it is
 *          caller responsibility to call @p chThdRelease() or @p chthdWait()
 *          in order to release the reference. The thread persists in the
 *          registry until its reference counter reaches zero.
 * @post    The initialized thread can be subsequently started by invoking
 *          @p chThdStart(), @p chThdStartI() or @p chSchWakeupS()
 *          depending on the execution context.
 * @note    A thread can terminate by calling @p chThdExit() or by simply
 *          returning from its main function.
 * @note    Threads created using this function do not obey to the
 *          @p CH_DBG_FILL_THREADS debug option because it would keep
 *          the kernel locked for too much time.
 *
 * @param[out] tdp      pointer to the thread descriptor
 * @return              The pointer to the @p thread_t structure allocated for
 *                      the thread into the working space area.
 *
 * @iclass
 */
thread_t *chThdCreateSuspendedI(const thread_descriptor_t *tdp) {
  thread_t *tp;

  chDbgCheckClassI();
  chDbgCheck(tdp != NULL);
  chDbgCheck(MEM_IS_ALIGNED(tdp->wbase, PORT_WORKING_AREA_ALIGN) &&
             MEM_IS_ALIGNED(tdp->wend, PORT_STACK_ALIGN) &&
             (tdp->wend > tdp->wbase) &&
             (((size_t)tdp->wend - (size_t)tdp->wbase) >= THD_WORKING_AREA_SIZE(0)));
  chDbgCheck((tdp->prio <= HIGHPRIO) && (tdp->funcp != NULL));

  /* The thread structure is laid out in the upper part of the thread
     workspace. The thread position structure is aligned to the required
     stack alignment because it represents the stack top.*/
  tp = (thread_t *)((uint8_t *)tdp->wend -
                    MEM_ALIGN_NEXT(sizeof (thread_t), PORT_STACK_ALIGN));

#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE)
  /* Stack boundary.*/
  tp->wabase = tdp->wbase;
#endif

  /* Setting up the port-dependent part of the working area.*/
  PORT_SETUP_CONTEXT(tp, tdp->wbase, tp, tdp->funcp, tdp->arg);

  /* The driver object is initialized but not started.*/
  return _thread_init(tp, tdp->name, tdp->prio);
}


/**
 * @brief   Creates a new thread into a static memory area.
 * @details The new thread is initialized but not inserted in the ready list,
 *          the initial state is @p CH_STATE_WTSTART.
 * @post    The created thread has a reference counter set to one, it is
 *          caller responsibility to call @p chThdRelease() or @p chthdWait()
 *          in order to release the reference. The thread persists in the
 *          registry until its reference counter reaches zero.
 * @post    The initialized thread can be subsequently started by invoking
 *          @p chThdStart(), @p chThdStartI() or @p chSchWakeupS()
 *          depending on the execution context.
 * @note    A thread can terminate by calling @p chThdExit() or by simply
 *          returning from its main function.
 *
 * @param[out] tdp      pointer to the thread descriptor
 * @return              The pointer to the @p thread_t structure allocated for
 *                      the thread into the working space area.
 *
 * @api
 */
thread_t *chThdCreateSuspended(const thread_descriptor_t *tdp) {
  thread_t *tp;

#if CH_CFG_USE_REGISTRY == TRUE
  chDbgAssert(chRegFindThreadByWorkingArea(tdp->wbase) == NULL,
              "working area in use");
#endif

#if CH_DBG_FILL_THREADS == TRUE
  _thread_memfill((uint8_t *)tdp->wbase,
                  (uint8_t *)tdp->wend,
                  CH_DBG_STACK_FILL_VALUE);
#endif

  chSysLock();
  tp = chThdCreateSuspendedI(tdp);
  chSysUnlock();

  return tp;
}

/**
 * @brief   Creates a new thread into a static memory area.
 * @details The new thread is initialized and make ready to execute.
 * @post    The created thread has a reference counter set to one, it is
 *          caller responsibility to call @p chThdRelease() or @p chthdWait()
 *          in order to release the reference. The thread persists in the
 *          registry until its reference counter reaches zero.
 * @post    The initialized thread can be subsequently started by invoking
 *          @p chThdStart(), @p chThdStartI() or @p chSchWakeupS()
 *          depending on the execution context.
 * @note    A thread can terminate by calling @p chThdExit() or by simply
 *          returning from its main function.
 * @note    Threads created using this function do not obey to the
 *          @p CH_DBG_FILL_THREADS debug option because it would keep
 *          the kernel locked for too much time.
 *
 * @param[out] tdp      pointer to the thread descriptor
 * @return              The pointer to the @p thread_t structure allocated for
 *                      the thread into the working space area.
 *
 * @iclass
 */
thread_t *chThdCreateI(const thread_descriptor_t *tdp) {

  return chSchReadyI(chThdCreateSuspendedI(tdp));
}

/**
 * @brief   Creates a new thread into a static memory area.
 * @details The new thread is initialized and make ready to execute.
 * @post    The created thread has a reference counter set to one, it is
 *          caller responsibility to call @p chThdRelease() or @p chthdWait()
 *          in order to release the reference. The thread persists in the
 *          registry until its reference counter reaches zero.
 * @note    A thread can terminate by calling @p chThdExit() or by simply
 *          returning from its main function.
 *
 * @param[out] tdp      pointer to the thread descriptor
 * @return              The pointer to the @p thread_t structure allocated for
 *                      the thread into the working space area.
 *
 * @iclass
 */
thread_t *chThdCreate(const thread_descriptor_t *tdp) {
  thread_t *tp;

#if CH_CFG_USE_REGISTRY == TRUE
  chDbgAssert(chRegFindThreadByWorkingArea(tdp->wbase) == NULL,
              "working area in use");
#endif

#if CH_DBG_FILL_THREADS == TRUE
  _thread_memfill((uint8_t *)tdp->wbase,
                  (uint8_t *)tdp->wend,
                  CH_DBG_STACK_FILL_VALUE);
#endif

  chSysLock();
  tp = chThdCreateSuspendedI(tdp);
  chSchWakeupS(tp, MSG_OK);
  chSysUnlock();

  return tp;
}

/**
 * @brief   Creates a new thread into a static memory area.
 * @post    The created thread has a reference counter set to one, it is
 *          caller responsibility to call @p chThdRelease() or @p chthdWait()
 *          in order to release the reference. The thread persists in the
 *          registry until its reference counter reaches zero.
 * @note    A thread can terminate by calling @p chThdExit() or by simply
 *          returning from its main function.
 *
 * @param[out] wsp      pointer to a working area dedicated to the thread stack
 * @param[in] size      size of the working area
 * @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.
 *
 * @api
 */
thread_t *chThdCreateStatic(void *wsp, size_t size,
                            tprio_t prio, tfunc_t pf, void *arg) {
  thread_t *tp;

  chDbgCheck((wsp != NULL) &&
             MEM_IS_ALIGNED(wsp, PORT_WORKING_AREA_ALIGN) &&
             (size >= THD_WORKING_AREA_SIZE(0)) &&
             MEM_IS_ALIGNED(size, PORT_STACK_ALIGN) &&
             (prio <= HIGHPRIO) && (pf != NULL));

#if CH_CFG_USE_REGISTRY == TRUE
  chDbgAssert(chRegFindThreadByWorkingArea(wsp) == NULL,
              "working area in use");
#endif

#if CH_DBG_FILL_THREADS == TRUE
  _thread_memfill((uint8_t *)wsp,
                  (uint8_t *)wsp + size,
                  CH_DBG_STACK_FILL_VALUE);
#endif

  chSysLock();

  /* The thread structure is laid out in the upper part of the thread
     workspace. The thread position structure is aligned to the required
     stack alignment because it represents the stack top.*/
  tp = (thread_t *)((uint8_t *)wsp + size -
                    MEM_ALIGN_NEXT(sizeof (thread_t), PORT_STACK_ALIGN));

#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE)
  /* Stack boundary.*/
  tp->wabase = (stkalign_t *)wsp;
#endif

  /* Setting up the port-dependent part of the working area.*/
  PORT_SETUP_CONTEXT(tp, wsp, tp, pf, arg);

  tp = _thread_init(tp, "noname", prio);

  /* Starting the thread immediately.*/
  chSchWakeupS(tp, MSG_OK);
  chSysUnlock();

  return tp;
}

/**
 * @brief   Resumes a thread created with @p chThdCreateI().
 *
 * @param[in] tp        pointer to the thread
 * @return              The pointer to the @p thread_t structure allocated for
 *                      the thread into the working space area.
 *
 * @api
 */
thread_t *chThdStart(thread_t *tp) {

  chSysLock();
  tp = chThdStartI(tp);
  chSysUnlock();

  return tp;
}

#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
/**
 * @brief   Adds a reference to a thread object.
 * @pre     The configuration option @p CH_CFG_USE_DYNAMIC must be enabled in
 *          order to use this function.
 *
 * @param[in] tp        pointer to the thread
 * @return              The same thread pointer passed as parameter
 *                      representing the new reference.
 *
 * @api
 */
thread_t *chThdAddRef(thread_t *tp) {

  chSysLock();
  chDbgAssert(tp->refs < (trefs_t)255, "too many references");
  tp->refs++;
  chSysUnlock();

  return tp;
}

/**
 * @brief   Releases a reference to a thread object.
 * @details If the references counter reaches zero <b>and</b> the thread
 *          is in the @p CH_STATE_FINAL state then the thread's memory is
 *          returned to the proper allocator and the thread is removed
 *          from the registry.<br>
 *          Threads whose counter reaches zero and are still active become
 *          "detached" and will be removed from registry on termination.
 * @pre     The configuration option @p CH_CFG_USE_DYNAMIC must be enabled in
 *          order to use this function.
 * @note    Static threads are not affected.
 *
 * @param[in] tp        pointer to the thread
 *
 * @api
 */
void chThdRelease(thread_t *tp) {

  chSysLock();
  chDbgAssert(tp->refs > (trefs_t)0, "not referenced");
  tp->refs--;

  /* If the references counter reaches zero and the thread is in its
     terminated state then the memory can be returned to the proper
     allocator.*/
  if ((tp->refs == (trefs_t)0) && (tp->state == CH_STATE_FINAL)) {
    REG_REMOVE(tp);
    chSysUnlock();

#if CH_CFG_USE_DYNAMIC == TRUE
    switch (tp->flags & CH_FLAG_MODE_MASK) {
#if CH_CFG_USE_HEAP == TRUE
    case CH_FLAG_MODE_HEAP:
      chHeapFree(chThdGetWorkingAreaX(tp));
      break;
#endif
#if CH_CFG_USE_MEMPOOLS == TRUE
    case CH_FLAG_MODE_MPOOL:
      chPoolFree(tp->mpool, chThdGetWorkingAreaX(tp));
      break;
#endif
    default:
      /* Nothing else to do for static threads.*/
      break;
    }
#endif /* CH_CFG_USE_DYNAMIC == TRUE */
    return;
  }
  chSysUnlock();
}
#endif /* CH_CFG_USE_REGISTRY == TRUE */

/**
 * @brief   Terminates the current thread.
 * @details The thread goes in the @p CH_STATE_FINAL state holding the
 *          specified exit status code, other threads can retrieve the
 *          exit status code by invoking the function @p chThdWait().
 * @post    Eventual code after this function will never be executed,
 *          this function never returns. The compiler has no way to
 *          know this so do not assume that the compiler would remove
 *          the dead code.
 *
 * @param[in] msg       thread exit code
 *
 * @api
 */
void chThdExit(msg_t msg) {

  chSysLock();
  chThdExitS(msg);
  /* The thread never returns here.*/
}

/**
 * @brief   Terminates the current thread.
 * @details The thread goes in the @p CH_STATE_FINAL state holding the
 *          specified exit status code, other threads can retrieve the
 *          exit status code by invoking the function @p chThdWait().
 * @post    Exiting a non-static thread that does not have references
 *          (detached) causes the thread to remain in the registry.
 *          It can only be removed by performing a registry scan operation.
 * @post    Eventual code after this function will never be executed,
 *          this function never returns. The compiler has no way to
 *          know this so do not assume that the compiler would remove
 *          the dead code.
 *
 * @param[in] msg       thread exit code
 *
 * @sclass
 */
void chThdExitS(msg_t msg) {
  thread_t *tp = currp;

  /* Storing exit message.*/
  tp->u.exitcode = msg;

  /* Exit handler hook.*/
  CH_CFG_THREAD_EXIT_HOOK(tp);

#if CH_CFG_USE_WAITEXIT == TRUE
  /* Waking up any waiting thread.*/
  while (list_notempty(&tp->waiting)) {
    (void) chSchReadyI(list_remove(&tp->waiting));
  }
#endif

#if CH_CFG_USE_REGISTRY == TRUE
  /* Static threads with no references are immediately removed from the
     registry because there is no memory to recover.*/
#if CH_CFG_USE_DYNAMIC == TRUE
  if ((tp->refs == (trefs_t)0) &&
      ((tp->flags & CH_FLAG_MODE_MASK) == CH_FLAG_MODE_STATIC)) {
    REG_REMOVE(tp);
  }
#else
  if (tp->refs == (trefs_t)0) {
    REG_REMOVE(tp);
  }
#endif
#endif

  /* Going into final state.*/
  chSchGoSleepS(CH_STATE_FINAL);

  /* The thread never returns here.*/
  chDbgAssert(false, "zombies apocalypse");
}

#if (CH_CFG_USE_WAITEXIT == TRUE) || defined(__DOXYGEN__)
/**
 * @brief   Blocks the execution of the invoking thread until the specified
 *          thread terminates then the exit code is returned.
 * @details This function waits for the specified thread to terminate then
 *          decrements its reference counter, if the counter reaches zero then
 *          the thread working area is returned to the proper allocator and
 *          the thread is removed from registry.
 * @pre     The configuration option @p CH_CFG_USE_WAITEXIT must be enabled in
 *          order to use this function.
 * @post    Enabling @p chThdWait() requires 2-4 (depending on the
 *          architecture) extra bytes in the @p thread_t structure.
 * @note    If @p CH_CFG_USE_DYNAMIC is not specified this function just waits
 *          for the thread termination, no memory allocators are involved.
 *
 * @param[in] tp        pointer to the thread
 * @return              The exit code from the terminated thread.
 *
 * @api
 */
msg_t chThdWait(thread_t *tp) {
  msg_t msg;

  chDbgCheck(tp != NULL);

  chSysLock();
  chDbgAssert(tp != currp, "waiting self");
#if CH_CFG_USE_REGISTRY == TRUE
  chDbgAssert(tp->refs > (trefs_t)0, "no references");
#endif

  if (tp->state != CH_STATE_FINAL) {
    list_insert(currp, &tp->waiting);
    chSchGoSleepS(CH_STATE_WTEXIT);
  }
  msg = tp->u.exitcode;
  chSysUnlock();

#if CH_CFG_USE_REGISTRY == TRUE
  /* Releasing a reference to the thread.*/
  chThdRelease(tp);
#endif

  return msg;
}
#endif /* CH_CFG_USE_WAITEXIT */

/**
 * @brief   Changes the running thread priority level then reschedules if
 *          necessary.
 * @note    The function returns the real thread priority regardless of the
 *          current priority that could be higher than the real priority
 *          because the priority inheritance mechanism.
 *
 * @param[in] newprio   the new priority level of the running thread
 * @return              The old priority level.
 *
 * @api
 */
tprio_t chThdSetPriority(tprio_t newprio) {
  tprio_t oldprio;

  chDbgCheck(newprio <= HIGHPRIO);

  chSysLock();
#if CH_CFG_USE_MUTEXES == TRUE
  oldprio = currp->realprio;
  if ((currp->prio == currp->realprio) || (newprio > currp->prio)) {
    currp->prio = newprio;
  }
  currp->realprio = newprio;
#else
  oldprio = currp->prio;
  currp->prio = newprio;
#endif
  chSchRescheduleS();
  chSysUnlock();

  return oldprio;
}

/**
 * @brief   Requests a thread termination.
 * @pre     The target thread must be written to invoke periodically
 *          @p chThdShouldTerminate() and terminate cleanly if it returns
 *          @p true.
 * @post    The specified thread will terminate after detecting the termination
 *          condition.
 *
 * @param[in] tp        pointer to the thread
 *
 * @api
 */
void chThdTerminate(thread_t *tp) {

  chSysLock();
  tp->flags |= CH_FLAG_TERMINATE;
  chSysUnlock();
}

/**
 * @brief   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 not allowed.
 *                      .
 *
 * @api
 */
void chThdSleep(systime_t time) {

  chSysLock();
  chThdSleepS(time);
  chSysUnlock();
}

/**
 * @brief   Suspends the invoking thread until the system time arrives to the
 *          specified value.
 * @note    The function has no concept of "past", all specifiable times
 *          are in the future, this means that if you call this function
 *          exceeding your calculated intervals then the function will
 *          return in a far future time, not immediately.
 * @see     chThdSleepUntilWindowed()
 *
 * @param[in] time      absolute system time
 *
 * @api
 */
void chThdSleepUntil(systime_t time) {

  chSysLock();
  time -= chVTGetSystemTimeX();
  if (time > (systime_t)0) {
    chThdSleepS(time);
  }
  chSysUnlock();
}

/**
 * @brief   Suspends the invoking thread until the system time arrives to the
 *          specified value.
 * @note    The system time is assumed to be between @p prev and @p time
 *          else the call is assumed to have been called outside the
 *          allowed time interval, in this case no sleep is performed.
 * @see     chThdSleepUntil()
 *
 * @param[in] prev      absolute system time of the previous deadline
 * @param[in] next      absolute system time of the next deadline
 * @return              the @p next parameter
 *
 * @api
 */
systime_t chThdSleepUntilWindowed(systime_t prev, systime_t next) {
  systime_t time;

  chSysLock();
  time = chVTGetSystemTimeX();
  if (chVTIsTimeWithinX(time, prev, next)) {
    chThdSleepS(next - time);
  }
  chSysUnlock();

  return next;
}

/**
 * @brief   Yields the time slot.
 * @details Yields the CPU control to the next thread in the ready list with
 *          equal priority, if any.
 *
 * @api
 */
void chThdYield(void) {

  chSysLock();
  chSchDoYieldS();
  chSysUnlock();
}

/**
 * @brief   Sends the current thread sleeping and sets a reference variable.
 * @note    This function must reschedule, it can only be called from thread
 *          context.
 *
 * @param[in] trp       a pointer to a thread reference object
 * @return              The wake up message.
 *
 * @sclass
 */
msg_t chThdSuspendS(thread_reference_t *trp) {
  thread_t *tp = chThdGetSelfX();

  chDbgAssert(*trp == NULL, "not NULL");

  *trp = tp;
  tp->u.wttrp = trp;
  chSchGoSleepS(CH_STATE_SUSPENDED);

  return chThdGetSelfX()->u.rdymsg;
}

/**
 * @brief   Sends the current thread sleeping and sets a reference variable.
 * @note    This function must reschedule, it can only be called from thread
 *          context.
 *
 * @param[in] trp       a pointer to a thread reference object
 * @param[in] timeout   the timeout in system ticks, the special values are
 *                      handled as follow:
 *                      - @a TIME_INFINITE the thread enters an infinite sleep
 *                        state.
 *                      - @a TIME_IMMEDIATE the thread is not enqueued and
 *                        the function returns @p MSG_TIMEOUT as if a timeout
 *                        occurred.
 *                      .
 * @return              The wake up message.
 * @retval MSG_TIMEOUT  if the operation timed out.
 *
 * @sclass
 */
msg_t chThdSuspendTimeoutS(thread_reference_t *trp, systime_t timeout) {
  thread_t *tp = chThdGetSelfX();

  chDbgAssert(*trp == NULL, "not NULL");

  if (TIME_IMMEDIATE == timeout) {
    return MSG_TIMEOUT;
  }

  *trp = tp;
  tp->u.wttrp = trp;

  return chSchGoSleepTimeoutS(CH_STATE_SUSPENDED, timeout);
}

/**
 * @brief   Wakes up a thread waiting on a thread reference object.
 * @note    This function must not reschedule because it can be called from
 *          ISR context.
 *
 * @param[in] trp       a pointer to a thread reference object
 * @param[in] msg       the message code
 *
 * @iclass
 */
void chThdResumeI(thread_reference_t *trp, msg_t msg) {

  if (*trp != NULL) {
    thread_t *tp = *trp;

    chDbgAssert(tp->state == CH_STATE_SUSPENDED, "not CH_STATE_SUSPENDED");

    *trp = NULL;
    tp->u.rdymsg = msg;
    (void) chSchReadyI(tp);
  }
}

/**
 * @brief   Wakes up a thread waiting on a thread reference object.
 * @note    This function must reschedule, it can only be called from thread
 *          context.
 *
 * @param[in] trp       a pointer to a thread reference object
 * @param[in] msg       the message code
 *
 * @iclass
 */
void chThdResumeS(thread_reference_t *trp, msg_t msg) {

  if (*trp != NULL) {
    thread_t *tp = *trp;

    chDbgAssert(tp->state == CH_STATE_SUSPENDED, "not CH_STATE_SUSPENDED");

    *trp = NULL;
    chSchWakeupS(tp, msg);
  }
}

/**
 * @brief   Wakes up a thread waiting on a thread reference object.
 * @note    This function must reschedule, it can only be called from thread
 *          context.
 *
 * @param[in] trp       a pointer to a thread reference object
 * @param[in] msg       the message code
 *
 * @api
 */
void chThdResume(thread_reference_t *trp, msg_t msg) {

  chSysLock();
  chThdResumeS(trp, msg);
  chSysUnlock();
}

/**
 * @brief   Enqueues the caller thread on a threads queue object.
 * @details The caller thread is enqueued and put to sleep until it is
 *          dequeued or the specified timeouts expires.
 *
 * @param[in] tqp       pointer to the threads queue object
 * @param[in] timeout   the timeout in system ticks, the special values are
 *                      handled as follow:
 *                      - @a TIME_INFINITE the thread enters an infinite sleep
 *                        state.
 *                      - @a TIME_IMMEDIATE the thread is not enqueued and
 *                        the function returns @p MSG_TIMEOUT as if a timeout
 *                        occurred.
 *                      .
 * @return              The message from @p osalQueueWakeupOneI() or
 *                      @p osalQueueWakeupAllI() functions.
 * @retval MSG_TIMEOUT  if the thread has not been dequeued within the
 *                      specified timeout or if the function has been
 *                      invoked with @p TIME_IMMEDIATE as timeout
 *                      specification.
 *
 * @sclass
 */
msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout) {

  if (TIME_IMMEDIATE == timeout) {
    return MSG_TIMEOUT;
  }

  queue_insert(currp, tqp);

  return chSchGoSleepTimeoutS(CH_STATE_QUEUED, timeout);
}

/**
 * @brief   Dequeues and wakes up one thread from the threads queue object,
 *          if any.
 *
 * @param[in] tqp       pointer to the threads queue object
 * @param[in] msg       the message code
 *
 * @iclass
 */
void chThdDequeueNextI(threads_queue_t *tqp, msg_t msg) {

  if (queue_notempty(tqp)) {
    chThdDoDequeueNextI(tqp, msg);
  }
}

/**
 * @brief   Dequeues and wakes up all threads from the threads queue object.
 *
 * @param[in] tqp       pointer to the threads queue object
 * @param[in] msg       the message code
 *
 * @iclass
 */
void chThdDequeueAllI(threads_queue_t *tqp, msg_t msg) {

  while (queue_notempty(tqp)) {
    chThdDoDequeueNextI(tqp, msg);
  }
}

/** @} */
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-22 05:06:35 +0000