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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6167 35acf78f-673a-0410-8e92-d51de3d6d3f4

master
gdisirio 2013-08-17 11:04:57 +00:00
parent bfa3ba9f00
commit 4f49b546b1
9 changed files with 336 additions and 249 deletions
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149
os/hal/osal/chibios/osal.c
View File

@ -84,153 +84,4 @@ void osalSysHalt(const char *reason) {
chSysHalt(); chSysHalt();
} }
/**
* @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 osalThreadSuspendS(thread_reference_t *trp) {
chDbgAssert(*trp == NULL, "not NULL");
*trp = (thread_reference_t)chThdGetSelfX();
chSchGoSleepS(CH_STATE_SUSPENDED);
return chThdGetSelfX()->p_msg;
}
/**
* @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 osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
if (*trp != NULL) {
chDbgAssert((*trp)->p_state == CH_STATE_SUSPENDED,
"not THD_STATE_SUSPENDED");
(*trp)->p_u.rdymsg = msg;
chSchReadyI((thread_t *)*trp);
*trp = NULL;
}
}
/**
* @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 osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
if (*trp != NULL) {
thread_t *tp = (thread_t *)*trp;
chDbgAssert(tp->p_state == CH_STATE_SUSPENDED, "not THD_STATE_SUSPENDED");
*trp = NULL;
chSchWakeupS(tp, msg);
}
}
/**
* @brief Enqueues the caller thread.
* @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] time 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 RDY_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 osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time) {
void wakeup(void *p) {
thread_t *tp = (thread_t *)p;
chSysUnlockFromISR();
tp->p_u.rdymsg = RDY_TIMEOUT;
chSchReadyI(queue_dequeue(tp));
chSysUnlockFromISR();
}
if (TIME_IMMEDIATE == time)
return MSG_TIMEOUT;
queue_insert(currp, tqp);
if (TIME_INFINITE == time)
chSchGoSleepS(CH_STATE_SUSPENDED);
else {
virtual_timer_t vt;
chVTDoSetI(&vt, time, wakeup, currp);
chSchGoSleepS(CH_STATE_SUSPENDED);
if (chVTIsArmedI(&vt))
chVTDoResetI(&vt);
}
return currp->p_u.rdymsg;
}
/**
* @brief Dequeues and wakes up one thread from the queue, if any.
*
* @param[in] tqp pointer to the threads queue object
* @param[in] msg the message code
*
* @iclass
*/
void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) {
if (queue_notempty(tqp)) {
thread_t *tp = queue_fifo_remove(tqp);
tp->p_u.rdymsg = msg;
chSchReadyI(tp);
}
}
/**
* @brief Dequeues and wakes up all threads from the queue.
*
* @param[in] tqp pointer to the threads queue object
* @param[in] msg the message code
*
* @iclass
*/
void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg) {
while (queue_notempty(tqp)) {
thread_t *tp = queue_fifo_remove(tqp);
tp->p_u.rdymsg = msg;
chSchReadyI(tp);
}
}
/** @} */ /** @} */

131
os/hal/osal/chibios/osal.h
View File

@ -130,10 +130,12 @@ typedef uint32_t systime_t;
typedef uint32_t rtcnt_t; typedef uint32_t rtcnt_t;
#endif #endif
#if 0
/** /**
* @brief Type of a thread reference. * @brief Type of a thread reference.
*/ */
typedef thread_t * thread_reference_t; typedef thread_t * thread_reference_t;
#endif
#if 0 #if 0
/** /**
@ -257,12 +259,6 @@ extern "C" {
#endif #endif
void osalInit(void); void osalInit(void);
void osalSysHalt(const char *reason); void osalSysHalt(const char *reason);
msg_t osalThreadSuspendS(thread_reference_t *trp);
void osalThreadResumeI(thread_reference_t *trp, msg_t msg);
void osalThreadResumeS(thread_reference_t *trp, msg_t msg);
msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time);
void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg);
void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
@ -391,6 +387,117 @@ static inline void osalThreadSleep(systime_t time) {
chThdSleep(time); chThdSleep(time);
} }
/**
* @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
*/
static inline msg_t osalThreadSuspendS(thread_reference_t *trp) {
return osalThreadSuspendS(trp);
}
/**
* @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
*/
static inline void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
chThreadResumeI(trp, 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
*
* @iclass
*/
static inline void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
chThreadResumeS(trp, msg);
}
/**
* @brief Initializes a threads queue object.
*
* @param[out] tqp pointer to the threads queue object
*
* @init
*/
static inline void osalQueueObjectInit(threads_queue_t *tqp) {
queue_init(tqp);
}
/**
* @brief Enqueues the caller thread.
* @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] time 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 RDY_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
*/
static inline msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time) {
return chQueueGoSleepTimeoutS(tqp, time);
}
/**
* @brief Dequeues and wakes up one thread from the queue, if any.
*
* @param[in] tqp pointer to the threads queue object
* @param[in] msg the message code
*
* @iclass
*/
static inline void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) {
chQueueWakeupOneI(tqp, msg);
}
/**
* @brief Dequeues and wakes up all threads from the queue.
*
* @param[in] tqp pointer to the threads queue object
* @param[in] msg the message code
*
* @iclass
*/
static inline void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg) {
chQueueWakeupAllI(tqp, msg);
}
/** /**
* @brief Initializes an event flags object. * @brief Initializes an event flags object.
* *
@ -494,18 +601,6 @@ static inline void osalMutexUnlock(mutex_t *mp) {
#endif #endif
} }
/**
* @brief Initializes a threads queue object.
*
* @param[out] tqp pointer to the threads queue object
*
* @init
*/
static inline void osalQueueObjectInit(threads_queue_t *tqp) {
queue_init(tqp);
}
#endif /* _OSAL_H_ */ #endif /* _OSAL_H_ */
/** @} */ /** @} */

26
os/rt/include/chlists.h
View File

@ -20,9 +20,9 @@
/** /**
* @file chlists.h * @file chlists.h
* @brief Thread queues/lists inlined code. * @brief Thread queues and lists header.
* *
* @addtogroup internals * @addtogroup queues_list
* @{ * @{
*/ */
@ -72,6 +72,16 @@
/* External declarations. */ /* External declarations. */
/*===========================================================================*/ /*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
msg_t chQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time);
void chQueueWakeupOneI(threads_queue_t *tqp, msg_t msg);
void chQueueWakeupAllI(threads_queue_t *tqp, msg_t msg);
#ifdef __cplusplus
}
#endif
/*===========================================================================*/ /*===========================================================================*/
/* Module inline functions. */ /* Module inline functions. */
/*===========================================================================*/ /*===========================================================================*/
@ -192,4 +202,16 @@ static inline thread_t *queue_dequeue(thread_t *tp) {
} }
#endif /* CH_CFG_OPTIMIZE_SPEED */ #endif /* CH_CFG_OPTIMIZE_SPEED */
/**
* @brief Initializes a threads queue object.
*
* @param[out] tqp pointer to the threads queue object
*
* @init
*/
static inline void chQueueObjectInit(threads_queue_t *tqp) {
queue_init(tqp);
}
#endif /* _CHLISTS_H_ */ #endif /* _CHLISTS_H_ */

40
os/rt/include/chthreads.h
View File

@ -41,20 +41,20 @@
#define CH_STATE_CURRENT 1 /**< @brief Currently running. */ #define CH_STATE_CURRENT 1 /**< @brief Currently running. */
#define CH_STATE_WTSTART 2 /**< @brief Created but not started. */ #define CH_STATE_WTSTART 2 /**< @brief Created but not started. */
#define CH_STATE_SUSPENDED 3 /**< @brief Created in suspended state. */ #define CH_STATE_SUSPENDED 3 /**< @brief Created in suspended state. */
#define CH_STATE_WTSEM 4 /**< @brief Waiting on a semaphore. */ #define CH_STATE_QUEUED 4 /**< @brief Waiting on an I/O queue. */
#define CH_STATE_WTMTX 5 /**< @brief Waiting on a mutex. */ #define CH_STATE_WTSEM 5 /**< @brief Waiting on a semaphore. */
#define CH_STATE_WTCOND 6 /**< @brief Waiting on a condition #define CH_STATE_WTMTX 6 /**< @brief Waiting on a mutex. */
#define CH_STATE_WTCOND 7 /**< @brief Waiting on a condition
variable. */ variable. */
#define CH_STATE_SLEEPING 7 /**< @brief Waiting in @p chThdSleep() #define CH_STATE_SLEEPING 8 /**< @brief Waiting in @p chThdSleep()
or @p chThdSleepUntil(). */ or @p chThdSleepUntil(). */
#define CH_STATE_WTEXIT 8 /**< @brief Waiting in @p chThdWait(). */ #define CH_STATE_WTEXIT 9 /**< @brief Waiting in @p chThdWait(). */
#define CH_STATE_WTOREVT 9 /**< @brief Waiting for an event. */ #define CH_STATE_WTOREVT 10 /**< @brief Waiting for an event. */
#define CH_STATE_WTANDEVT 10 /**< @brief Waiting for several events. */ #define CH_STATE_WTANDEVT 11 /**< @brief Waiting for several events. */
#define CH_STATE_SNDMSGQ 11 /**< @brief Sending a message, in queue.*/ #define CH_STATE_SNDMSGQ 12 /**< @brief Sending a message, in queue.*/
#define CH_STATE_SNDMSG 12 /**< @brief Sent a message, waiting #define CH_STATE_SNDMSG 13 /**< @brief Sent a message, waiting
answer. */ answer. */
#define CH_STATE_WTMSG 13 /**< @brief Waiting for a message. */ #define CH_STATE_WTMSG 14 /**< @brief Waiting for a message. */
#define CH_STATE_WTQUEUE 14 /**< @brief Waiting on an I/O queue. */
#define CH_STATE_FINAL 15 /**< @brief Thread terminated. */ #define CH_STATE_FINAL 15 /**< @brief Thread terminated. */
/** /**
@ -63,9 +63,9 @@
* indexed using the numeric thread state values. * indexed using the numeric thread state values.
*/ */
#define CH_STATE_NAMES \ #define CH_STATE_NAMES \
"READY", "WTSTART", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", \ "READY", "WTSTART", "CURRENT", "SUSPENDED", "QUEUED", "WTSEM", "WTMTX", \
"SLEEPING", "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", \ "WTCOND", "SLEEPING", "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", \
"WTMSG", "WTQUEUE", "FINAL" "SNDMSG", "WTMSG", "FINAL"
/** @} */ /** @} */
/** /**
@ -93,6 +93,10 @@
/* Module data structures and types. */ /* Module data structures and types. */
/*===========================================================================*/ /*===========================================================================*/
/**
* @brief Type of a thread reference.
*/
typedef thread_t * thread_reference_t;
/** /**
* @brief Thread function. * @brief Thread function.
@ -161,8 +165,12 @@ extern "C" {
tprio_t prio, tfunc_t pf, void *arg); tprio_t prio, tfunc_t pf, void *arg);
thread_t *chThdCreateStatic(void *wsp, size_t size, thread_t *chThdCreateStatic(void *wsp, size_t size,
tprio_t prio, tfunc_t pf, void *arg); tprio_t prio, tfunc_t pf, void *arg);
thread_t *chThdStart(thread_t *tp);
tprio_t chThdSetPriority(tprio_t newprio); tprio_t chThdSetPriority(tprio_t newprio);
thread_t *chThdResume(thread_t *tp); msg_t chThreadSuspendS(thread_reference_t *trp);
void chThreadResumeI(thread_reference_t *trp, msg_t msg);
void chThreadResumeS(thread_reference_t *trp, msg_t msg);
void chThreadResume(thread_reference_t *trp, msg_t msg);
void chThdTerminate(thread_t *tp); void chThdTerminate(thread_t *tp);
void chThdSleep(systime_t time); void chThdSleep(systime_t time);
void chThdSleepUntil(systime_t time); void chThdSleepUntil(systime_t time);
@ -249,7 +257,7 @@ static inline bool chThdShouldTerminateX(void) {
* *
* @param[in] tp pointer to the thread * @param[in] tp pointer to the thread
* *
* @xclass * @iclass
*/ */
static inline thread_t *chThdStartI(thread_t *tp) { static inline thread_t *chThdStartI(thread_t *tp) {

81
os/rt/src/chlists.c
View File

@ -20,12 +20,9 @@
/** /**
* @file chlists.c * @file chlists.c
* @brief Thread queues/lists code. * @brief Thread queues and lists code.
* *
* @addtogroup internals * @addtogroup queues_list
* @details All the functions present in this module, while public, are not
* OS APIs and should not be directly used in the user applications
* code.
* @{ * @{
*/ */
#include "ch.h" #include "ch.h"
@ -54,6 +51,80 @@
/* Module exported functions. */ /* Module exported functions. */
/*===========================================================================*/ /*===========================================================================*/
/**
* @brief Enqueues the caller thread.
* @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] time 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 RDY_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 chQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time) {
if (TIME_IMMEDIATE == time)
return RDY_TIMEOUT;
queue_insert(currp, tqp);
return chSchGoSleepTimeoutS(CH_STATE_QUEUED, time);
}
/**
* @brief Dequeues and wakes up one thread from the queue, if any.
*
* @param[in] tqp pointer to the threads queue object
* @param[in] msg the message code
*
* @iclass
*/
void chQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) {
if (queue_notempty(tqp)) {
thread_t *tp = queue_fifo_remove(tqp);
chDbgAssert(tp->p_state == CH_STATE_QUEUED,
"not CH_STATE_QUEUED");
tp->p_u.rdymsg = msg;
chSchReadyI(tp);
}
}
/**
* @brief Dequeues and wakes up all threads from the queue.
*
* @param[in] tqp pointer to the threads queue object
* @param[in] msg the message code
*
* @iclass
*/
void chQueueWakeupAllI(threads_queue_t *tqp, msg_t msg) {
while (queue_notempty(tqp)) {
thread_t *tp = queue_fifo_remove(tqp);
chDbgAssert(tp->p_state == CH_STATE_QUEUED,
"not CH_STATE_QUEUED");
tp->p_u.rdymsg = msg;
chSchReadyI(tp);
}
}
#if !CH_CFG_OPTIMIZE_SPEED || defined(__DOXYGEN__) #if !CH_CFG_OPTIMIZE_SPEED || defined(__DOXYGEN__)
/** /**
* @brief Inserts a thread into a priority ordered queue. * @brief Inserts a thread into a priority ordered queue.

48
os/rt/src/chqueues.c
View File

@ -65,30 +65,6 @@
/* Module local functions. */ /* Module local functions. */
/*===========================================================================*/ /*===========================================================================*/
/**
* @brief Puts the invoking thread into the queue's threads queue.
*
* @param[out] qp pointer to an @p io_queue_t structure
* @param[in] time the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
* .
* @return A message specifying how the invoking thread has been
* released from threads queue.
* @retval Q_OK is the normal exit, thread signaled.
* @retval Q_RESET if the queue has been reset.
* @retval Q_TIMEOUT if the queue operation timed out.
*/
static msg_t qwait(io_queue_t *qp, systime_t time) {
if (TIME_IMMEDIATE == time)
return Q_TIMEOUT;
currp->p_u.wtobjp = qp;
queue_insert(currp, &qp->q_waiting);
return chSchGoSleepTimeoutS(CH_STATE_WTQUEUE, time);
}
/*===========================================================================*/ /*===========================================================================*/
/* Module exported functions. */ /* Module exported functions. */
/*===========================================================================*/ /*===========================================================================*/
@ -112,7 +88,7 @@ static msg_t qwait(io_queue_t *qp, systime_t time) {
void chIQObjectInit(input_queue_t *iqp, uint8_t *bp, size_t size, void chIQObjectInit(input_queue_t *iqp, uint8_t *bp, size_t size,
qnotify_t infy, void *link) { qnotify_t infy, void *link) {
queue_init(&iqp->q_waiting); chQueueObjectInit(&iqp->q_waiting);
iqp->q_counter = 0; iqp->q_counter = 0;
iqp->q_buffer = iqp->q_rdptr = iqp->q_wrptr = bp; iqp->q_buffer = iqp->q_rdptr = iqp->q_wrptr = bp;
iqp->q_top = bp + size; iqp->q_top = bp + size;
@ -137,8 +113,7 @@ void chIQResetI(input_queue_t *iqp) {
iqp->q_rdptr = iqp->q_wrptr = iqp->q_buffer; iqp->q_rdptr = iqp->q_wrptr = iqp->q_buffer;
iqp->q_counter = 0; iqp->q_counter = 0;
while (queue_notempty(&iqp->q_waiting)) chQueueWakeupAllI(&iqp->q_waiting, Q_RESET);
chSchReadyI(queue_fifo_remove(&iqp->q_waiting))->p_u.rdymsg = Q_RESET;
} }
/** /**
@ -166,8 +141,7 @@ msg_t chIQPutI(input_queue_t *iqp, uint8_t b) {
if (iqp->q_wrptr >= iqp->q_top) if (iqp->q_wrptr >= iqp->q_top)
iqp->q_wrptr = iqp->q_buffer; iqp->q_wrptr = iqp->q_buffer;
if (queue_notempty(&iqp->q_waiting)) chQueueWakeupOneI(&iqp->q_waiting, Q_OK);
chSchReadyI(queue_fifo_remove(&iqp->q_waiting))->p_u.rdymsg = Q_OK;
return Q_OK; return Q_OK;
} }
@ -201,7 +175,7 @@ msg_t chIQGetTimeout(input_queue_t *iqp, systime_t time) {
while (chIQIsEmptyI(iqp)) { while (chIQIsEmptyI(iqp)) {
msg_t msg; msg_t msg;
if ((msg = qwait((io_queue_t *)iqp, time)) < Q_OK) { if ((msg = chQueueGoSleepTimeoutS(&iqp->q_waiting, time)) < Q_OK) {
chSysUnlock(); chSysUnlock();
return msg; return msg;
} }
@ -253,7 +227,7 @@ size_t chIQReadTimeout(input_queue_t *iqp, uint8_t *bp,
nfy(iqp); nfy(iqp);
while (chIQIsEmptyI(iqp)) { while (chIQIsEmptyI(iqp)) {
if (qwait((io_queue_t *)iqp, time) != Q_OK) { if (chQueueGoSleepTimeoutS(&iqp->q_waiting, time) != Q_OK) {
chSysUnlock(); chSysUnlock();
return r; return r;
} }
@ -292,7 +266,7 @@ size_t chIQReadTimeout(input_queue_t *iqp, uint8_t *bp,
void chOQObjectInit(output_queue_t *oqp, uint8_t *bp, size_t size, void chOQObjectInit(output_queue_t *oqp, uint8_t *bp, size_t size,
qnotify_t onfy, void *link) { qnotify_t onfy, void *link) {
queue_init(&oqp->q_waiting); chQueueObjectInit(&oqp->q_waiting);
oqp->q_counter = size; oqp->q_counter = size;
oqp->q_buffer = oqp->q_rdptr = oqp->q_wrptr = bp; oqp->q_buffer = oqp->q_rdptr = oqp->q_wrptr = bp;
oqp->q_top = bp + size; oqp->q_top = bp + size;
@ -317,8 +291,7 @@ void chOQResetI(output_queue_t *oqp) {
oqp->q_rdptr = oqp->q_wrptr = oqp->q_buffer; oqp->q_rdptr = oqp->q_wrptr = oqp->q_buffer;
oqp->q_counter = chQSizeI(oqp); oqp->q_counter = chQSizeI(oqp);
while (queue_notempty(&oqp->q_waiting)) chQueueWakeupAllI(&oqp->q_waiting, Q_RESET);
chSchReadyI(queue_fifo_remove(&oqp->q_waiting))->p_u.rdymsg = Q_RESET;
} }
/** /**
@ -349,7 +322,7 @@ msg_t chOQPutTimeout(output_queue_t *oqp, uint8_t b, systime_t time) {
while (chOQIsFullI(oqp)) { while (chOQIsFullI(oqp)) {
msg_t msg; msg_t msg;
if ((msg = qwait((io_queue_t *)oqp, time)) < Q_OK) { if ((msg = chQueueGoSleepTimeoutS(&oqp->q_waiting, time)) < Q_OK) {
chSysUnlock(); chSysUnlock();
return msg; return msg;
} }
@ -390,8 +363,7 @@ msg_t chOQGetI(output_queue_t *oqp) {
if (oqp->q_rdptr >= oqp->q_top) if (oqp->q_rdptr >= oqp->q_top)
oqp->q_rdptr = oqp->q_buffer; oqp->q_rdptr = oqp->q_buffer;
if (queue_notempty(&oqp->q_waiting)) chQueueWakeupOneI(&oqp->q_waiting, Q_OK);
chSchReadyI(queue_fifo_remove(&oqp->q_waiting))->p_u.rdymsg = Q_OK;
return b; return b;
} }
@ -430,7 +402,7 @@ size_t chOQWriteTimeout(output_queue_t *oqp, const uint8_t *bp,
chSysLock(); chSysLock();
while (true) { while (true) {
while (chOQIsFullI(oqp)) { while (chOQIsFullI(oqp)) {
if (qwait((io_queue_t *)oqp, time) != Q_OK) { if (chQueueGoSleepTimeoutS(&oqp->q_waiting, time) != Q_OK) {
chSysUnlock(); chSysUnlock();
return w; return w;
} }

7
os/rt/src/chschd.c
View File

@ -147,22 +147,17 @@ static void wakeup(void *p) {
another thread with higher priority.*/ another thread with higher priority.*/
chSysUnlockFromISR(); chSysUnlockFromISR();
return; return;
#if CH_CFG_USE_SEMAPHORES || CH_CFG_USE_QUEUES || \
(CH_CFG_USE_CONDVARS && CH_CFG_USE_CONDVARS_TIMEOUT)
#if CH_CFG_USE_SEMAPHORES #if CH_CFG_USE_SEMAPHORES
case CH_STATE_WTSEM: case CH_STATE_WTSEM:
chSemFastSignalI((semaphore_t *)tp->p_u.wtobjp); chSemFastSignalI((semaphore_t *)tp->p_u.wtobjp);
/* Falls into, intentional. */ /* Falls into, intentional. */
#endif #endif
#if CH_CFG_USE_QUEUES
case CH_STATE_WTQUEUE:
#endif
#if CH_CFG_USE_CONDVARS && CH_CFG_USE_CONDVARS_TIMEOUT #if CH_CFG_USE_CONDVARS && CH_CFG_USE_CONDVARS_TIMEOUT
case CH_STATE_WTCOND: case CH_STATE_WTCOND:
#endif #endif
case CH_STATE_QUEUED:
/* States requiring dequeuing.*/ /* States requiring dequeuing.*/
queue_dequeue(tp); queue_dequeue(tp);
#endif
} }
tp->p_u.rdymsg = RDY_TIMEOUT; tp->p_u.rdymsg = RDY_TIMEOUT;
chSchReadyI(tp); chSchReadyI(tp);

99
os/rt/src/chthreads.c
View File

@ -222,6 +222,21 @@ thread_t *chThdCreateStatic(void *wsp, size_t size,
return tp; return tp;
} }
/**
* @brief Resumes a thread created with @p chThdCreateI().
*
* @param[in] tp pointer to the thread
*
* @api
*/
thread_t *chThdStart(thread_t *tp) {
chSysLock();
tp = chThdStartI(tp);
chSysUnlock();
return tp;
}
/** /**
* @brief Changes the running thread priority level then reschedules if * @brief Changes the running thread priority level then reschedules if
* necessary. * necessary.
@ -255,26 +270,84 @@ tprio_t chThdSetPriority(tprio_t newprio) {
} }
/** /**
* @brief Resumes a suspended thread. * @brief Sends the current thread sleeping and sets a reference variable.
* @pre The specified thread pointer must refer to an initialized thread * @note This function must reschedule, it can only be called from thread
* in the @p CH_STATE_SUSPENDED state. * context.
* @post The specified thread is immediately started or put in the ready
* list depending on the relative priority levels.
* @note Use this function to start threads created with @p chThdCreateI().
* *
* @param[in] tp pointer to the thread * @param[in] trp a pointer to a thread reference object
* @return The pointer to the thread. * @return The wake up message.
*
* @sclass
*/
msg_t chThreadSuspendS(thread_reference_t *trp) {
chDbgAssert(*trp == NULL, "not NULL");
*trp = (thread_reference_t)chThdGetSelfX();
chSchGoSleepS(CH_STATE_SUSPENDED);
return chThdGetSelfX()->p_msg;
}
/**
* @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 chThreadResumeI(thread_reference_t *trp, msg_t msg) {
if (*trp != NULL) {
chDbgAssert((*trp)->p_state == CH_STATE_SUSPENDED,
"not THD_STATE_SUSPENDED");
(*trp)->p_u.rdymsg = msg;
chSchReadyI(*trp);
*trp = NULL;
}
}
/**
* @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 chThreadResumeS(thread_reference_t *trp, msg_t msg) {
if (*trp != NULL) {
chDbgAssert((*trp)->p_state == CH_STATE_SUSPENDED,
"not THD_STATE_SUSPENDED");
*trp = NULL;
chSchWakeupS(*trp, 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 * @api
*/ */
thread_t *chThdResume(thread_t *tp) { void chThreadResume(thread_reference_t *trp, msg_t msg) {
chSysLock(); chSysLock();
chDbgAssert(tp->p_state == CH_STATE_SUSPENDED, chThreadResumeS(trp, msg);
"thread not in CH_STATE_SUSPENDED state");
chSchWakeupS(tp, RDY_OK);
chSysUnlock(); chSysUnlock();
return tp;
} }
/** /**

4
test/testthd.c
View File

@ -97,11 +97,11 @@ static void thd2_execute(void) {
threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-5, thread, "E"); threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-5, thread, "E");
threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()-1, thread, "A"); threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()-1, thread, "A");
threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()-2, thread, "B"); threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()-2, thread, "B");
/* Done this way for coverage of chThdCreateI() and chThdResume().*/ /* Done this way for coverage of chThdCreateI() and chThdStart().*/
chSysLock(); chSysLock();
threads[2] = chThdCreateI(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread, "C"); threads[2] = chThdCreateI(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread, "C");
chSysUnlock(); chSysUnlock();
chThdResume(threads[2]); chThdStart(threads[2]);
test_wait_threads(); test_wait_threads();
test_assert_sequence(1, "ABCDE"); test_assert_sequence(1, "ABCDE");
} }