/* ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, 2011,2012,2013 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 . */ /** * @file chglobal.h * @brief Data structures with global scope header. * * @addtogroup global */ #ifndef _CHGLOBAL_H_ #define _CHGLOBAL_H_ /*===========================================================================*/ /* Module constants. */ /*===========================================================================*/ /*===========================================================================*/ /* Module pre-compile time settings. */ /*===========================================================================*/ /*===========================================================================*/ /* Derived constants and error checks. */ /*===========================================================================*/ /*===========================================================================*/ /* Module data structures and types. */ /*===========================================================================*/ /** * @brief Generic threads single link list, it works like a stack. */ typedef struct { thread_t *p_next; /**< @brief Next in the list/queue. */ } threads_list_t; /** * @extends threads_list_t * * @brief Generic threads bidirectional linked list header and element. */ typedef struct { thread_t *p_next; /**< @brief Next in the list/queue. */ thread_t *p_prev; /**< @brief Previous in the queue. */ } threads_queue_t; /** * @extends threads_queue_t * * @brief Ready list header. */ typedef struct { threads_queue_t r_queue; /**< @brief Threads queue. */ tprio_t r_prio; /**< @brief This field must be initialized to zero. */ struct context r_ctx; /**< @brief Not used, present because offsets. */ #if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__) thread_t *r_newer; /**< @brief Newer registry element. */ thread_t *r_older; /**< @brief Older registry element. */ #endif /* End of the fields shared with the thread_t structure.*/ thread_t *r_current; /**< @brief The currently running thread. */ } ready_list_t; /** * @extends threads_queue_t * * @brief 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_t structure. */ typedef struct thread { thread_t *p_next; /**< @brief Next in the list/queue. */ /* End of the fields shared with the threads_list_t structure.*/ thread_t *p_prev; /**< @brief Previous in the queue. */ /* End of the fields shared with the threads_queue_t structure.*/ tprio_t p_prio; /**< @brief Thread priority. */ struct context p_ctx; /**< @brief Processor context. */ #if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__) thread_t *p_newer; /**< @brief Newer registry element. */ thread_t *p_older; /**< @brief Older registry element. */ #endif /* End of the fields shared with the ReadyList structure. */ #if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__) /** * @brief Thread name or @p NULL. */ const char *p_name; #endif #if CH_DBG_ENABLE_STACK_CHECK || defined(__DOXYGEN__) /** * @brief Thread stack boundary. */ stkalign_t *p_stklimit; #endif /** * @brief Current thread state. */ tstate_t p_state; /** * @brief Various thread flags. */ tmode_t p_flags; #if CH_CFG_USE_DYNAMIC || defined(__DOXYGEN__) /** * @brief References to this thread. */ trefs_t p_refs; #endif /** * @brief Number of ticks remaining to this thread. */ #if (CH_CFG_TIME_QUANTUM > 0) || defined(__DOXYGEN__) tslices_t p_preempt; #endif #if CH_DBG_THREADS_PROFILING || defined(__DOXYGEN__) /** * @brief Thread consumed time in ticks. * @note This field can overflow. */ volatile systime_t p_time; #endif /** * @brief State-specific fields. * @note All the fields declared in this union are only valid in the * specified state or condition and are thus volatile. */ union { /** * @brief Thread wakeup code. * @note This field contains the low level message sent to the thread * by the waking thread or interrupt handler. The value is valid * after exiting the @p chSchWakeupS() function. */ msg_t rdymsg; /** * @brief Thread exit code. * @note The thread termination code is stored in this field in order * to be retrieved by the thread performing a @p chThdWait() on * this thread. */ msg_t exitcode; /** * @brief Pointer to a generic "wait" object. * @note This field is used to get a generic pointer to a synchronization * object and is valid when the thread is in one of the wait * states. */ void *wtobjp; #if CH_CFG_USE_EVENTS || defined(__DOXYGEN__) /** * @brief Enabled events mask. * @note This field is only valid while the thread is in the * @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states. */ eventmask_t ewmask; #endif } p_u; #if CH_CFG_USE_WAITEXIT || defined(__DOXYGEN__) /** * @brief Termination waiting list. */ threads_list_t p_waiting; #endif #if CH_CFG_USE_MESSAGES || defined(__DOXYGEN__) /** * @brief Messages queue. */ threads_queue_t p_msgqueue; /** * @brief Thread message. */ msg_t p_msg; #endif #if CH_CFG_USE_EVENTS || defined(__DOXYGEN__) /** * @brief Pending events mask. */ eventmask_t p_epending; #endif #if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__) /** * @brief List of the mutexes owned by this thread. * @note The list is terminated by a @p NULL in this field. */ struct mutex *p_mtxlist; /** * @brief Thread's own, non-inherited, priority. */ tprio_t p_realprio; #endif #if (CH_CFG_USE_DYNAMIC && CH_CFG_USE_MEMPOOLS) || defined(__DOXYGEN__) /** * @brief Memory Pool where the thread workspace is returned. */ void *p_mpool; #endif #if CH_DBG_STATISTICS || defined(__DOXYGEN__) time_measurement_t p_stats; #endif #if defined(CH_CFG_THREAD_EXTRA_FIELDS) /* Extra fields defined in chconf.h.*/ CH_CFG_THREAD_EXTRA_FIELDS #endif } thread_t; /** * @brief Virtual timers list header. * @note The timers list is implemented as a double link bidirectional list * in order to make the unlink time constant, the reset of a virtual * timer is often used in the code. */ typedef struct { virtual_timer_t *vt_next; /**< @brief Next timer in the delta list. */ virtual_timer_t *vt_prev; /**< @brief Last timer in the delta list. */ systime_t vt_delta; /**< @brief Must be initialized to -1. */ #if CH_CFG_ST_TIMEDELTA == 0 || defined(__DOXYGEN__) volatile systime_t vt_systime; /**< @brief System Time counter. */ #endif #if CH_CFG_ST_TIMEDELTA > 0 || defined(__DOXYGEN__) /** * @brief System time of the last tick event. */ systime_t vt_lasttime;/**< @brief System time of the last tick event. */ #endif } virtual_timers_list_t; /** * @brief System data structure. * @note This structure contain all the data areas used by the OS except * stacks. */ typedef struct ch_system { /** * @brief Ready list header. */ ready_list_t rlist; /** * @brief Virtual timers delta list header. */ virtual_timers_list_t vtlist; #if CH_CFG_USE_TM || defined(__DOXYGEN__) /** * @brief Measurement calibration value. */ rtcnt_t measurement_offset; #endif #if CH_DBG_STATISTICS || defined(__DOXYGEN__) /** * @brief Global kernel statistics. */ kernel_stats_t kernel_stats; #endif #if CH_DBG_ENABLED || defined(__DOXYGEN__) /** * @brief Pointer to the panic message. * @details This pointer is meant to be accessed through the debugger, it is * written once and then the system is halted. */ const char *dbg_panic_msg; #endif #if CH_DBG_SYSTEM_STATE_CHECK || defined(__DOXYGEN__) /** * @brief ISR nesting level. */ cnt_t dbg_isr_cnt; /** * @brief Lock nesting level. */ cnt_t dbg_lock_cnt; #endif #if CH_DBG_ENABLE_TRACE || defined(__DOXYGEN__) /** * @brief Public trace buffer. */ ch_trace_buffer_t dbg_trace_buffer; #endif } ch_system_t; /*===========================================================================*/ /* Module macros. */ /*===========================================================================*/ /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ #if !defined(__DOXYGEN__) extern ch_system_t ch; #endif /*===========================================================================*/ /* Module inline functions. */ /*===========================================================================*/ #endif /* _CHGLOBAL_H_ */ /** @} */