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-rw-r--r--src/chschd.c18
-rw-r--r--src/chthreads.c15
-rw-r--r--src/chvt.c34
-rw-r--r--src/include/scheduler.h4
-rw-r--r--src/include/threads.h30
-rw-r--r--src/include/vt.h13
6 files changed, 72 insertions, 42 deletions
diff --git a/src/chschd.c b/src/chschd.c
index b6fd624e0..573b311ec 100644
--- a/src/chschd.c
+++ b/src/chschd.c
@@ -111,19 +111,25 @@ static void wakeup(void *p) {
* the specified time has elapsed.
*
* @param newstate the new thread state
- * @param time the number of ticks before the operation timeouts
+ * @param time the number of ticks before the operation timeouts. the value
+ * zero (\p TIME_INFINITE) is allowed.
* @return The wakeup message.
* @retval 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);
+ if (TIME_INFINITE != time) {
+ VirtualTimer vt;
+
+ chVTSetI(&vt, time, wakeup, currp);
+ chSchGoSleepS(newstate);
+ if (chVTIsArmedI(&vt))
+ chVTResetI(&vt);
+ }
+ else
+ chSchGoSleepS(newstate);
return currp->p_rdymsg;
}
diff --git a/src/chthreads.c b/src/chthreads.c
index 11d2442ad..3f55c4de5 100644
--- a/src/chthreads.c
+++ b/src/chthreads.c
@@ -289,7 +289,7 @@ void chThdTerminate(Thread *tp) {
/**
* Suspends the invoking thread for the specified time.
- * @param time the system ticks number
+ * @param time the delay in system ticks
*/
void chThdSleep(systime_t time) {
@@ -299,6 +299,19 @@ void chThdSleep(systime_t time) {
}
/**
+ * Suspends the invoking thread until the system time arrives to the specified
+ * value.
+ * @param time the absolute system time
+ */
+void chThdSleepUntil(systime_t time) {
+
+ chSysLock();
+ if ((time -= chSysGetTime()) > 0)
+ chSchGoSleepTimeoutS(PRSLEEP, time);
+ chSysUnlock();
+}
+
+/**
* Terminates the current thread by specifying an exit status code.
*
* @param msg the thread exit code. The code can be retrieved by using
diff --git a/src/chvt.c b/src/chvt.c
index 77978e16c..03847c44e 100644
--- a/src/chvt.c
+++ b/src/chvt.c
@@ -40,36 +40,32 @@ void chVTInit(void) {
/**
* Enables a virtual timer.
* @param vtp the \p VirtualTimer structure pointer
- * @param time the number of time ticks, the value zero is allowed with
- * meaning "infinite". In this case the structure is initialized
- * but not inserted in the delta list, the timer will never be
- * triggered.
+ * @param time the number of time ticks, the value zero is not allowed
* @param vtfunc the timer callback function. After invoking the callback
* the timer is disabled and the structure can be disposed or
* reused.
* @param par a parameter that will be passed to the callback function
* @note Must be called with the interrupts disabled.
- * @note The associated function is invoked by an interrupt handler.
+ * @note The associated function is invoked from an interrupt handler.
*/
void chVTSetI(VirtualTimer *vtp, systime_t time, vtfunc_t vtfunc, void *par) {
+ VirtualTimer *p;
+
+ chDbgAssert(time != 0, "chvt.c, chVTSetI()");
vtp->vt_par = par;
vtp->vt_func = vtfunc;
- if (time) {
- VirtualTimer *p = vtlist.vt_next;
- while (p->vt_time < time) {
- time -= p->vt_time;
- p = p->vt_next;
- }
-
- vtp->vt_prev = (vtp->vt_next = p)->vt_prev;
- vtp->vt_prev->vt_next = p->vt_prev = vtp;
- vtp->vt_time = time;
- if (p != (void *)&vtlist)
- p->vt_time -= time;
+ p = vtlist.vt_next;
+ while (p->vt_time < time) {
+ time -= p->vt_time;
+ p = p->vt_next;
}
- else
- vtp->vt_next = vtp->vt_prev = vtp; // Allows a chVTResetI() on the fake timer.
+
+ vtp->vt_prev = (vtp->vt_next = p)->vt_prev;
+ vtp->vt_prev->vt_next = p->vt_prev = vtp;
+ vtp->vt_time = time;
+ if (p != (void *)&vtlist)
+ p->vt_time -= time;
}
/**
diff --git a/src/include/scheduler.h b/src/include/scheduler.h
index 3f9eb7a39..b05db16a2 100644
--- a/src/include/scheduler.h
+++ b/src/include/scheduler.h
@@ -32,6 +32,10 @@
/** Returned when the thread was made ready because of a reset. */
#define RDY_RESET -2
+/** Infinite time specification for all the syscalls with a timeout
+ specification.*/
+#define TIME_INFINITE 0
+
/** The priority of the first thread on the given ready list. */
#define firstprio(rlp) ((rlp)->p_next->p_prio)
diff --git a/src/include/threads.h b/src/include/threads.h
index e9894650d..a3d37a7db 100644
--- a/src/include/threads.h
+++ b/src/include/threads.h
@@ -193,6 +193,7 @@ extern "C" {
void chThdSuspend(Thread **tpp);
void chThdTerminate(Thread *tp);
void chThdSleep(systime_t time);
+ void chThdSleepUntil(systime_t time);
void chThdExit(msg_t msg);
#ifdef CH_USE_WAITEXIT
msg_t chThdWait(Thread *tp);
@@ -268,15 +269,28 @@ extern "C" {
chThdCreateStatic(workspace, wsize, prio, pf, NULL)
/**
- * Suspends the invoking thread until the system time arrives to the specified
- * value.
+ * Delays the invoking thread for the specified number of 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 chThdSleepUntil(t) { \
- chSysLock(); \
- chSchGoSleepTimeoutS(PRSLEEP, \
- (systime_t)((t) - chSysGetTime())); \
- chSysUnlock(); \
-}
+#define chThdSleepSeconds(sec) chThdSleep(S2ST(sec))
+
+/**
+ * Delays the invoking thread for the specified number of 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.
+ * @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_ */
diff --git a/src/include/vt.h b/src/include/vt.h
index 954c87da5..72385715b 100644
--- a/src/include/vt.h
+++ b/src/include/vt.h
@@ -34,13 +34,13 @@
* Time conversion utility. Converts from milliseconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*/
-#define MS2ST(msec) ((systime_t)(((((msec) - 1L) * CH_FREQUENCY) / 1000) + 1))
+#define MS2ST(msec) ((systime_t)(((((msec) - 1L) * CH_FREQUENCY) / 1000L) + 1L))
/**
* Time conversion utility. Converts from microseconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*/
-#define US2ST(usec) ((systime_t)(((((usec) - 1L) * CH_FREQUENCY) / 1000000) + 1))
+#define US2ST(usec) ((systime_t)(((((usec) - 1L) * CH_FREQUENCY) / 1000000L) + 1L))
/** Virtual Timer callback function.*/
typedef void (*vtfunc_t)(void *);
@@ -85,12 +85,12 @@ typedef struct {
extern VTList vtlist;
#define chVTDoTickI() { \
- vtlist.vt_systime++; \
+ vtlist.vt_systime++; \
if (&vtlist != (VTList *)vtlist.vt_next) { \
VirtualTimer *vtp; \
\
- --vtlist.vt_next->vt_time; \
- while (!(vtp = vtlist.vt_next)->vt_time) { \
+ --vtlist.vt_next->vt_time; \
+ while (!(vtp = vtlist.vt_next)->vt_time) { \
vtfunc_t fn = vtp->vt_func; \
vtp->vt_func = NULL; \
(vtp->vt_next->vt_prev = (void *)&vtlist)->vt_next = vtp->vt_next;\
@@ -99,9 +99,6 @@ extern VTList vtlist;
} \
}
-/** Infinite time specification.*/
-#define TIME_INFINITE 0
-
/*
* Virtual Timers APIs.
*/
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-18 19:44:06 +0000