381 lines
13 KiB
C
381 lines
13 KiB
C
/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
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2011,2012,2013 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file chthreads.h
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* @brief Threads module macros and structures.
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*
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* @addtogroup threads
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* @{
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*/
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#ifndef _CHTHREADS_H_
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#define _CHTHREADS_H_
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/*===========================================================================*/
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/* Module constants. */
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/*===========================================================================*/
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/**
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* @name Thread states
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* @{
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*/
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#define CH_STATE_READY 0 /**< @brief Waiting on the ready list. */
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#define CH_STATE_CURRENT 1 /**< @brief Currently running. */
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#define CH_STATE_WTSTART 2 /**< @brief Created but not started. */
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#define CH_STATE_SUSPENDED 3 /**< @brief Created in suspended state. */
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#define CH_STATE_QUEUED 4 /**< @brief Waiting on an I/O queue. */
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#define CH_STATE_WTSEM 5 /**< @brief Waiting on a semaphore. */
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#define CH_STATE_WTMTX 6 /**< @brief Waiting on a mutex. */
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#define CH_STATE_WTCOND 7 /**< @brief Waiting on a condition
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variable. */
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#define CH_STATE_SLEEPING 8 /**< @brief Waiting in @p chThdSleep()
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or @p chThdSleepUntil(). */
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#define CH_STATE_WTEXIT 9 /**< @brief Waiting in @p chThdWait(). */
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#define CH_STATE_WTOREVT 10 /**< @brief Waiting for an event. */
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#define CH_STATE_WTANDEVT 11 /**< @brief Waiting for several events. */
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#define CH_STATE_SNDMSGQ 12 /**< @brief Sending a message, in queue.*/
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#define CH_STATE_SNDMSG 13 /**< @brief Sent a message, waiting
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answer. */
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#define CH_STATE_WTMSG 14 /**< @brief Waiting for a message. */
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#define CH_STATE_FINAL 15 /**< @brief Thread terminated. */
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/**
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* @brief Thread states as array of strings.
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* @details Each element in an array initialized with this macro can be
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* indexed using the numeric thread state values.
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*/
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#define CH_STATE_NAMES \
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"READY", "WTSTART", "CURRENT", "SUSPENDED", "QUEUED", "WTSEM", "WTMTX", \
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"WTCOND", "SLEEPING", "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", \
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"SNDMSG", "WTMSG", "FINAL"
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/** @} */
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/**
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* @name Thread flags and attributes
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* @{
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*/
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#define CH_FLAG_MODE_MASK 3 /**< @brief Thread memory mode mask. */
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#define CH_FLAG_MODE_STATIC 0 /**< @brief Static thread. */
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#define CH_FLAG_MODE_HEAP 1 /**< @brief Thread allocated from a
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Memory Heap. */
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#define CH_FLAG_MODE_MEMPOOL 2 /**< @brief Thread allocated from a
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Memory Pool. */
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#define CH_FLAG_TERMINATE 4 /**< @brief Termination requested flag. */
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/** @} */
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/*===========================================================================*/
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/* Module pre-compile time settings. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module data structures and types. */
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/*===========================================================================*/
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/**
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* @brief Type of a thread reference.
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*/
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typedef thread_t * thread_reference_t;
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/**
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* @brief Thread function.
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*/
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typedef msg_t (*tfunc_t)(void *);
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/*===========================================================================*/
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/* Module macros. */
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/*===========================================================================*/
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/**
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* @name Working Areas and Alignment
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*/
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/**
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* @brief Enforces a correct alignment for a stack area size value.
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*
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* @param[in] n the stack size to be aligned to the next stack
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* alignment boundary
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* @return The aligned stack size.
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*
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* @api
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*/
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#define THD_ALIGN_STACK_SIZE(n) \
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((((n) - 1) | (sizeof(stkalign_t) - 1)) + 1)
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/**
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* @brief Calculates the total Working Area size.
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*
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* @param[in] n the stack size to be assigned to the thread
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* @return The total used memory in bytes.
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*
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* @api
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*/
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#define THD_WORKING_AREA_SIZE(n) \
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THD_ALIGN_STACK_SIZE(sizeof(thread_t) + PORT_WA_SIZE(n))
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/**
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* @brief Static working area allocation.
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* @details This macro is used to allocate a static thread working area
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* aligned as both position and size.
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*
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* @param[in] s the name to be assigned to the stack array
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* @param[in] n the stack size to be assigned to the thread
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*
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* @api
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*/
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#define THD_WORKING_AREA(s, n) \
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stkalign_t s[THD_WORKING_AREA_SIZE(n) / sizeof(stkalign_t)]
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/** @} */
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/**
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* @name Threads abstraction macros
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*/
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/**
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* @brief Thread declaration macro.
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* @note Thread declarations should be performed using this macro because
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* the port layer could define optimizations for thread functions.
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*/
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#define THD_FUNCTION(tname, arg) PORT_THD_FUNCTION(tname, arg)
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/** @} */
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/**
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* @name Threads queues
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*/
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/**
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* @brief Data part of a static threads queue object initializer.
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* @details This macro should be used when statically initializing a threads
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* queue that is part of a bigger structure.
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*
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* @param[in] name the name of the threads queue variable
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*/
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#define _threads_queue_t_DATA(name) {(thread_t *)&name, (thread_t *)&name}
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/**
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* @brief Static threads queue object initializer.
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* @details Statically initialized threads queues require no explicit
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* initialization using @p queue_init().
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*
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* @param[in] name the name of the threads queue variable
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*/
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#define threads_queue_t_DECL(name) \
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threads_queue_t name = _threads_queue_t_DATA(name)
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/** @} */
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/**
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* @name Macro Functions
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* @{
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*/
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/**
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* @brief Delays the invoking thread for the specified number of seconds.
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* @note The specified time is rounded up to a value allowed by the real
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* system tick clock.
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* @note The maximum specifiable value is implementation dependent.
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*
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* @param[in] sec time in seconds, must be different from zero
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*
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* @api
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*/
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#define chThdSleepSeconds(sec) chThdSleep(S2ST(sec))
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/**
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* @brief Delays the invoking thread for the specified number of
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* milliseconds.
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* @note The specified time is rounded up to a value allowed by the real
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* system tick clock.
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* @note The maximum specifiable value is implementation dependent.
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*
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* @param[in] msec time in milliseconds, must be different from zero
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*
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* @api
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*/
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#define chThdSleepMilliseconds(msec) chThdSleep(MS2ST(msec))
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/**
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* @brief Delays the invoking thread for the specified number of
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* microseconds.
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* @note The specified time is rounded up to a value allowed by the real
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* system tick clock.
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* @note The maximum specifiable value is implementation dependent.
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*
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* @param[in] usec time in microseconds, must be different from zero
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*
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* @api
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*/
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#define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec))
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/** @} */
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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thread_t *_thread_init(thread_t *tp, tprio_t prio);
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#if CH_DBG_FILL_THREADS
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void _thread_memfill(uint8_t *startp, uint8_t *endp, uint8_t v);
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#endif
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thread_t *chThdCreateI(void *wsp, size_t size,
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tprio_t prio, tfunc_t pf, void *arg);
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thread_t *chThdCreateStatic(void *wsp, size_t size,
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tprio_t prio, tfunc_t pf, void *arg);
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thread_t *chThdStart(thread_t *tp);
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tprio_t chThdSetPriority(tprio_t newprio);
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msg_t chThdSuspendS(thread_reference_t *trp);
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msg_t chThdSuspendTimeoutS(thread_reference_t *trp, systime_t timeout);
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void chThdResumeI(thread_reference_t *trp, msg_t msg);
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void chThdResumeS(thread_reference_t *trp, msg_t msg);
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void chThdResume(thread_reference_t *trp, msg_t msg);
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msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout);
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void chThdDequeueNextI(threads_queue_t *tqp, msg_t msg);
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void chThdDequeueAllI(threads_queue_t *tqp, msg_t msg);
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void chThdTerminate(thread_t *tp);
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void chThdSleep(systime_t time);
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void chThdSleepUntil(systime_t time);
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void chThdYield(void);
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void chThdExit(msg_t msg);
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void chThdExitS(msg_t msg);
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#if CH_CFG_USE_WAITEXIT
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msg_t chThdWait(thread_t *tp);
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#endif
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#ifdef __cplusplus
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}
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#endif
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/*===========================================================================*/
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/* Module inline functions. */
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/*===========================================================================*/
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/**
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* @brief Returns a pointer to the current @p thread_t.
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*
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* @xclass
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*/
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static inline thread_t *chThdGetSelfX(void) {
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return ch.rlist.r_current;
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}
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/**
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* @brief Returns the current thread priority.
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* @note Can be invoked in any context.
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*
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* @xclass
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*/
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static inline tprio_t chThdGetPriorityX(void) {
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return chThdGetSelfX()->p_prio;
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}
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/**
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* @brief Returns the number of ticks consumed by the specified thread.
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* @note This function is only available when the
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* @p CH_DBG_THREADS_PROFILING configuration option is enabled.
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*
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* @param[in] tp pointer to the thread
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*
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* @xclass
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*/
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#if CH_DBG_THREADS_PROFILING || defined(__DOXYGEN__)
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static inline systime_t chThdGetTicksX(thread_t *tp) {
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return tp->p_time;
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}
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#endif
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/**
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* @brief Verifies if the specified thread is in the @p CH_STATE_FINAL state.
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*
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* @param[in] tp pointer to the thread
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* @retval true thread terminated.
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* @retval false thread not terminated.
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*
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* @xclass
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*/
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static inline bool chThdTerminatedX(thread_t *tp) {
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return (bool)(tp->p_state == CH_STATE_FINAL);
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}
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/**
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* @brief Verifies if the current thread has a termination request pending.
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*
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* @retval true termination request pending.
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* @retval false termination request not pending.
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*
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* @xclass
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*/
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static inline bool chThdShouldTerminateX(void) {
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return (bool)((chThdGetSelfX()->p_flags & CH_FLAG_TERMINATE) != 0);
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}
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/**
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* @brief Resumes a thread created with @p chThdCreateI().
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*
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* @param[in] tp pointer to the thread
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*
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* @iclass
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*/
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static inline thread_t *chThdStartI(thread_t *tp) {
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chDbgAssert(tp->p_state == CH_STATE_WTSTART, "wrong state");
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return chSchReadyI(tp);
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}
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/**
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* @brief Suspends the invoking thread for the specified time.
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*
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* @param[in] time the delay in system ticks, the special values are
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* handled as follow:
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* - @a TIME_INFINITE the thread enters an infinite sleep
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* state.
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* - @a TIME_IMMEDIATE this value is not allowed.
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* .
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*
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* @sclass
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*/
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static inline void chThdSleepS(systime_t time) {
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chDbgCheck(time != TIME_IMMEDIATE);
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chSchGoSleepTimeoutS(CH_STATE_SLEEPING, time);
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}
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/**
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* @brief Initializes a threads queue object.
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*
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* @param[out] tqp pointer to the threads queue object
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*
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* @init
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*/
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static inline void chThdQueueObjectInit(threads_queue_t *tqp) {
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queue_init(tqp);
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}
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#endif /* _CHTHREADS_H_ */
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/** @} */
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