From 49c3629538ee20a1df4ee5bbe664464e4904db5d Mon Sep 17 00:00:00 2001 From: gdisirio Date: Tue, 22 Jul 2008 09:55:51 +0000 Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@346 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- src/chthreads.c | 569 ++++++++++++++++++++++++++++---------------------------- 1 file changed, 287 insertions(+), 282 deletions(-) (limited to 'src/chthreads.c') diff --git a/src/chthreads.c b/src/chthreads.c index e19e04acf..990b9bdba 100644 --- a/src/chthreads.c +++ b/src/chthreads.c @@ -1,282 +1,287 @@ -/* - 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 . -*/ - -/** - * @addtogroup Threads - * @{ - */ - -#include - -/* - * Initializes a thread structure. - */ -void init_thread(tprio_t prio, tmode_t mode, Thread *tp) { - static tid_t nextid = 0; - - tp->p_tid = nextid++; - tp->p_flags = mode; - tp->p_prio = prio; -#ifdef CH_USE_MUTEXES - tp->p_realprio = prio; - tp->p_mtxlist = NULL; -#endif -#ifdef CH_USE_WAITEXIT - list_init(&tp->p_waiting); -#endif -#ifdef CH_USE_MESSAGES - fifo_init(&tp->p_msgqueue); -#endif -#ifdef CH_USE_EVENTS - tp->p_epending = 0; -#endif -#ifdef CH_USE_EXIT_EVENT - chEvtInit(&tp->p_exitesource); -#endif -} - -#ifdef CH_USE_DEBUG -static void memfill(uint8_t *p, uint32_t n, uint8_t v) { - - while (n) - *p++ = v, n--; -} -#endif - -/** - * Creates a new thread. - * @param prio the priority level for the new thread. Usually the threads are - * created with priority \p NORMALPRIO, priorities - * can range from \p LOWPRIO to \p HIGHPRIO. - * @param mode the creation option flags for the thread. The following options - * can be OR'ed in this parameter:
- *
    - *
  • \p P_SUSPENDED, the thread is created in the - * \p PRSUSPENDED state and a subsequent call to - * \p chThdResume() will make it ready for - * execution.
    • - *
  • \p P_TERMINATED, this flag is usually set - * by the \p chThdTerminate() function and it is not - * normally used as parameter for this function. The - * result would be to create a thread with a termination - * request already pending.
    • - *
- * @param workspace pointer to a working area dedicated to the thread stack - * @param wsize size of the working area. - * @param pf the thread function. Returning from this function automatically - * terminates the thread. - * @param arg an argument passed to the thread function. It can be \p NULL. - * @return the pointer to the \p Thread structure allocated for the - * thread into the working space area. - * @note A thread can terminate by calling \p chThdExit() or by simply - * returning from its main function. - */ -Thread *chThdCreate(tprio_t prio, tmode_t mode, void *workspace, - size_t wsize, tfunc_t pf, void *arg) { - Thread *tp = workspace; - - chDbgAssert((wsize >= UserStackSize(0)) && (prio <= HIGHPRIO) && - (workspace != NULL) && (pf != NULL), - "chthreads.c, chThdCreate()"); -#ifdef CH_USE_DEBUG - memfill(workspace, wsize, MEM_FILL_PATTERN); -#endif - SETUP_CONTEXT(workspace, wsize, pf, arg); - init_thread(prio, mode, tp); -#ifdef CH_USE_RESUME - if (tp->p_flags & P_SUSPENDED) - tp->p_state = PRSUSPENDED; - else { -#endif - chSysLock(); - chSchWakeupS(tp, RDY_OK); - chSysUnlock(); -#ifdef CH_USE_RESUME - } -#endif - return tp; -} - -/** - * Creates a new thread. - * @param prio the priority level for the new thread. Usually the threads are - * created with priority \p NORMALPRIO, priorities - * can range from \p LOWPRIO to \p HIGHPRIO. - * @param workspace pointer to a working area dedicated to the thread stack - * @param wsize size of the working area. - * @param pf the thread function. Returning from this function automatically - * terminates the thread. - * @return the pointer to the \p Thread structure allocated for the - * thread into the working space area. - * @note A thread can terminate by calling \p chThdExit() or by simply - * returning from its main function. - */ -Thread *chThdCreateFast(tprio_t prio, void *workspace, - size_t wsize, tfunc_t pf) { - Thread *tp = workspace; - - chDbgAssert((wsize >= UserStackSize(0)) && (prio <= HIGHPRIO) && - (workspace != NULL) && (pf != NULL), - "chthreads.c, chThdCreateFast()"); -#ifdef CH_USE_DEBUG - memfill(workspace, wsize, MEM_FILL_PATTERN); -#endif - SETUP_CONTEXT(workspace, wsize, pf, NULL); - init_thread(prio, 0, tp); - chSysLock(); - chSchWakeupS(tp, RDY_OK); - chSysUnlock(); - return tp; -} - -/** - * Changes the thread priority, reschedules if necessary. - * @param newprio the new priority of the invoking thread - */ -void chThdSetPriority(tprio_t newprio) { - - chDbgAssert(newprio <= HIGHPRIO, "chthreads.c, chThdSetPriority()") - chSysLock(); - -#ifdef CH_USE_MUTEXES - if (currp->p_prio != currp->p_realprio) { - if (newprio > currp->p_prio) - currp->p_prio = newprio; - } - else - currp->p_prio = newprio; - currp->p_realprio = newprio; -#else - currp->p_prio = newprio; -#endif - chSchRescheduleS(); - - chSysUnlock(); -} - -#ifdef CH_USE_SUSPEND -/** - * Suspends the invoking thread. - * - * @param tpp pointer to a \p Thread pointer, the \p Thread pointer is set - * to point to the suspended process before it enters the - * \p PRSUSPENDED state, it is set to \p NULL after it is resumed. - * This allows to implement a "test and resume" on the variable - * into interrupt handlers. - * @note The function is available only if the \p CH_USE_SUSPEND - * option is enabled in \p chconf.h. - */ -void chThdSuspend(Thread **tpp) { - - chSysLock(); - - chDbgAssert(*tpp == NULL, "chthreads.c, chThdSuspend()"); - *tpp = currp; - chSchGoSleepS(PRSUSPENDED); - *tpp = NULL; - - chSysUnlock(); -} -#endif /* CH_USE_SUSPEND */ - -#ifdef CH_USE_RESUME -/** - * Resumes a thread created with the \p P_SUSPENDED option or suspended with - * \p chThdSuspend(). - * @param tp the pointer to the thread - * @note The function has no effect on threads in any other state than - * \p PRSUSPENDED. - * @note The function is available only if the \p CH_USE_RESUME - * option is enabled in \p chconf.h. - */ -void chThdResume(Thread *tp) { - - chSysLock(); - - if ((tp)->p_state == PRSUSPENDED) - chSchWakeupS(tp, RDY_OK); - - chSysUnlock(); -} -#endif - -#ifdef CH_USE_TERMINATE -/** - * Requests a thread termination. - * @param tp the pointer to the thread - * @note The thread is not termitated but a termination request is added to - * its \p p_flags field. The thread can read this status by - * invoking \p chThdShouldTerminate() and then terminate cleanly. - */ -void chThdTerminate(Thread *tp) { - - chSysLock(); - - tp->p_flags |= P_TERMINATE; - - chSysUnlock(); -} -#endif - -/** - * Terminates the current thread by specifying an exit status code. - * @param msg the thread exit code. The code can be retrieved by using - * \p chThdWait(). - */ -void chThdExit(msg_t msg) { - - chSysLock(); - - currp->p_exitcode = msg; -#ifdef CH_USE_WAITEXIT - while (notempty(&currp->p_waiting)) - chSchReadyI(list_remove(&currp->p_waiting)); -#endif -#ifdef CH_USE_EXIT_EVENT - chEvtSendI(&currp->p_exitesource); -#endif - chSchGoSleepS(PREXIT); -} - -#ifdef CH_USE_WAITEXIT -/** - * Blocks the execution of the invoking thread until the specified thread - * terminates then the exit code is returned. - * @param tp the pointer to the thread - * @return the exit code - * @note The function is available only if the \p CH_USE_WAITEXIT - * option is enabled in \p chconf.h. - */ -msg_t chThdWait(Thread *tp) { - msg_t msg; - - chSysLock(); - - if (tp->p_state != PREXIT) { - list_insert(currp, &tp->p_waiting); - chSchGoSleepS(PRWAIT); - } - msg = tp->p_exitcode; - - chSysUnlock(); - return msg; -} -#endif /* CH_USE_WAITEXIT */ - -/** @} */ +/* + 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 . +*/ + +/** + * @addtogroup Threads + * @{ + */ + +#include + +/* + * Initializes a thread structure. + */ +void init_thread(tprio_t prio, tmode_t mode, Thread *tp) { + static tid_t nextid = 0; + + tp->p_tid = nextid++; + tp->p_flags = mode; + tp->p_prio = prio; +#ifdef CH_USE_MUTEXES + /* realprio is the thread's own, non-inherited, priority */ + tp->p_realprio = prio; + tp->p_mtxlist = NULL; +#endif +#ifdef CH_USE_WAITEXIT + list_init(&tp->p_waiting); +#endif +#ifdef CH_USE_MESSAGES + fifo_init(&tp->p_msgqueue); +#endif +#ifdef CH_USE_EVENTS + tp->p_epending = 0; +#endif +#ifdef CH_USE_EXIT_EVENT + chEvtInit(&tp->p_exitesource); +#endif +} + +#ifdef CH_USE_DEBUG +static void memfill(uint8_t *p, uint32_t n, uint8_t v) { + + while (n) + *p++ = v, n--; +} +#endif + +/** + * Creates a new thread. + * @param prio the priority level for the new thread. Usually the threads are + * created with priority \p NORMALPRIO, priorities + * can range from \p LOWPRIO to \p HIGHPRIO. + * @param mode the creation option flags for the thread. The following options + * can be OR'ed in this parameter:
+ *
    + *
  • \p P_SUSPENDED, the thread is created in the + * \p PRSUSPENDED state and a subsequent call to + * \p chThdResume() will make it ready for + * execution.
    • + *
  • \p P_TERMINATED, this flag is usually set + * by the \p chThdTerminate() function and it is not + * normally used as parameter for this function. The + * result would be to create a thread with a termination + * request already pending.
    • + *
+ * @param workspace pointer to a working area dedicated to the thread stack + * @param wsize size of the working area. + * @param pf the thread function. Returning from this function automatically + * terminates the thread. + * @param arg an argument passed to the thread function. It can be \p NULL. + * @return the pointer to the \p Thread structure allocated for the + * thread into the working space area. + * @note A thread can terminate by calling \p chThdExit() or by simply + * returning from its main function. + */ +Thread *chThdCreate(tprio_t prio, tmode_t mode, void *workspace, + size_t wsize, tfunc_t pf, void *arg) { + /* thread structure is layed out in the lower part of the thread workspace */ + Thread *tp = workspace; + + chDbgAssert((wsize >= UserStackSize(0)) && (prio <= HIGHPRIO) && + (workspace != NULL) && (pf != NULL), + "chthreads.c, chThdCreate()"); +#ifdef CH_USE_DEBUG + memfill(workspace, wsize, MEM_FILL_PATTERN); +#endif + SETUP_CONTEXT(workspace, wsize, pf, arg); + init_thread(prio, mode, tp); +#ifdef CH_USE_RESUME + if (tp->p_flags & P_SUSPENDED) + tp->p_state = PRSUSPENDED; + else { +#endif + chSysLock(); + chSchWakeupS(tp, RDY_OK); + chSysUnlock(); +#ifdef CH_USE_RESUME + } +#endif + return tp; +} + +/** + * Creates a new thread. + * @param prio the priority level for the new thread. Usually the threads are + * created with priority \p NORMALPRIO, priorities + * can range from \p LOWPRIO to \p HIGHPRIO. + * @param workspace pointer to a working area dedicated to the thread stack + * @param wsize size of the working area. + * @param pf the thread function. Returning from this function automatically + * terminates the thread. + * @return the pointer to the \p Thread structure allocated for the + * thread into the working space area. + * @note A thread can terminate by calling \p chThdExit() or by simply + * returning from its main function. + */ +Thread *chThdCreateFast(tprio_t prio, void *workspace, + size_t wsize, tfunc_t pf) { + Thread *tp = workspace; + + chDbgAssert((wsize >= UserStackSize(0)) && (prio <= HIGHPRIO) && + (workspace != NULL) && (pf != NULL), + "chthreads.c, chThdCreateFast()"); +#ifdef CH_USE_DEBUG + memfill(workspace, wsize, MEM_FILL_PATTERN); +#endif + SETUP_CONTEXT(workspace, wsize, pf, NULL); + init_thread(prio, 0, tp); + chSysLock(); + chSchWakeupS(tp, RDY_OK); + chSysUnlock(); + return tp; +} + +/** + * Changes the running thread priority, reschedules if necessary. + * + * @param newprio the new priority of the running thread + */ +void chThdSetPriority(tprio_t newprio) { + + chDbgAssert(newprio <= HIGHPRIO, "chthreads.c, chThdSetPriority()") + chSysLock(); + +#ifdef CH_USE_MUTEXES + if (currp->p_prio != currp->p_realprio) { + if (newprio > currp->p_prio) + currp->p_prio = newprio; + } + else + currp->p_prio = newprio; + currp->p_realprio = newprio; +#else + currp->p_prio = newprio; +#endif + chSchRescheduleS(); + + chSysUnlock(); +} + +#ifdef CH_USE_SUSPEND +/** + * Suspends the invoking thread. + * + * @param tpp pointer to a \p Thread pointer, the \p Thread pointer is set + * to point to the suspended process before it enters the + * \p PRSUSPENDED state, it is set to \p NULL after it is resumed. + * This allows to implement a "test and resume" on the variable + * into interrupt handlers. + * @note The function is available only if the \p CH_USE_SUSPEND + * option is enabled in \p chconf.h. + */ +void chThdSuspend(Thread **tpp) { + + chSysLock(); + + chDbgAssert(*tpp == NULL, "chthreads.c, chThdSuspend()"); + *tpp = currp; + chSchGoSleepS(PRSUSPENDED); + *tpp = NULL; + + chSysUnlock(); +} +#endif /* CH_USE_SUSPEND */ + +#ifdef CH_USE_RESUME +/** + * Resumes a thread created with the \p P_SUSPENDED option or suspended with + * \p chThdSuspend(). + * @param tp the pointer to the thread + * @note The function has no effect on threads in any other state than + * \p PRSUSPENDED. + * @note The function is available only if the \p CH_USE_RESUME + * option is enabled in \p chconf.h. + */ +void chThdResume(Thread *tp) { + + chSysLock(); + + if ((tp)->p_state == PRSUSPENDED) + chSchWakeupS(tp, RDY_OK); + + chSysUnlock(); +} +#endif + +#ifdef CH_USE_TERMINATE +/** + * Requests a thread termination. + * @param tp the pointer to the thread + * @note The thread is not termitated but a termination request is added to + * its \p p_flags field. The thread can read this status by + * invoking \p chThdShouldTerminate() and then terminate cleanly. + */ +void chThdTerminate(Thread *tp) { + + chSysLock(); + + tp->p_flags |= P_TERMINATE; + + chSysUnlock(); +} +#endif + +/** + * Terminates the current thread by specifying an exit status code. + * + * @param msg the thread exit code. The code can be retrieved by using + * \p chThdWait(). + */ +void chThdExit(msg_t msg) { + + chSysLock(); + + currp->p_exitcode = msg; +#ifdef CH_USE_WAITEXIT + while (notempty(&currp->p_waiting)) + chSchReadyI(list_remove(&currp->p_waiting)); +#endif +#ifdef CH_USE_EXIT_EVENT + chEvtSendI(&currp->p_exitesource); +#endif + chSchGoSleepS(PREXIT); +} + +#ifdef CH_USE_WAITEXIT +/** + * Blocks the execution of the invoking thread until the specified thread + * terminates then the exit code is returned. + * + * @param tp the pointer to the thread + * @return the exit code + * @note The function is available only if the \p CH_USE_WAITEXIT + * option is enabled in \p chconf.h. + */ +msg_t chThdWait(Thread *tp) { + msg_t msg; + + chSysLock(); + + if (tp->p_state != PREXIT) { + list_insert(currp, &tp->p_waiting); + chSchGoSleepS(PRWAIT); + } + msg = tp->p_exitcode; + + chSysUnlock(); + return msg; +} +#endif /* CH_USE_WAITEXIT */ + +/** @} */ -- cgit v1.2.3