345 lines
10 KiB
C
345 lines
10 KiB
C
/*
|
|
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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 <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
/**
|
|
* @file chthreads.h
|
|
* @brief Threads macros and structures.
|
|
*
|
|
* @addtogroup threads
|
|
* @{
|
|
*/
|
|
|
|
#ifndef _CHTHREADS_H_
|
|
#define _CHTHREADS_H_
|
|
|
|
/**
|
|
* @extends ThreadsQueue
|
|
*
|
|
* @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 structure.
|
|
*/
|
|
struct Thread {
|
|
Thread *p_next; /**< @brief Next in the list/queue. */
|
|
/* End of the fields shared with the ThreadsList structure. */
|
|
Thread *p_prev; /**< @brief Previous in the queue. */
|
|
/* End of the fields shared with the ThreadsQueue structure. */
|
|
tprio_t p_prio; /**< @brief Thread priority. */
|
|
struct context p_ctx; /**< @brief Processor context. */
|
|
#if CH_USE_REGISTRY
|
|
Thread *p_newer; /**< @brief Newer registry element. */
|
|
Thread *p_older; /**< @brief Older registry element. */
|
|
#endif
|
|
/* End of the fields shared with the ReadyList structure. */
|
|
/**
|
|
* @brief Current thread state.
|
|
*/
|
|
tstate_t p_state;
|
|
/**
|
|
* @brief Various thread flags.
|
|
*/
|
|
tmode_t p_flags;
|
|
#if CH_USE_DYNAMIC
|
|
/**
|
|
* @brief References to this thread.
|
|
*/
|
|
trefs_t p_refs;
|
|
#endif
|
|
#if CH_USE_NESTED_LOCKS
|
|
/**
|
|
* @brief Number of nested locks.
|
|
*/
|
|
cnt_t p_locks;
|
|
#endif
|
|
#if CH_DBG_THREADS_PROFILING
|
|
/**
|
|
* @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_USE_EVENTS
|
|
/**
|
|
* @brief Enabled events mask.
|
|
* @note This field is only valied while the thread is in the
|
|
* @p THD_STATE_WTOREVT or @p THD_STATE_WTANDEVT states.
|
|
*/
|
|
eventmask_t ewmask;
|
|
#endif
|
|
} p_u;
|
|
#if CH_USE_WAITEXIT
|
|
/**
|
|
* @brief Termination waiting list.
|
|
*/
|
|
ThreadsList p_waiting;
|
|
#endif
|
|
#if CH_USE_MESSAGES
|
|
/**
|
|
* @brief Messages queue.
|
|
*/
|
|
ThreadsQueue p_msgqueue;
|
|
/**
|
|
* @brief Thread message.
|
|
*/
|
|
msg_t p_msg;
|
|
#endif
|
|
#if CH_USE_EVENTS
|
|
/**
|
|
* @brief Pending events mask.
|
|
*/
|
|
eventmask_t p_epending;
|
|
#endif
|
|
#if CH_USE_MUTEXES
|
|
/**
|
|
* @brief List of the mutexes owned by this thread.
|
|
* @note The list is terminated by a @p NULL in this field.
|
|
*/
|
|
Mutex *p_mtxlist;
|
|
/**
|
|
* @brief Thread's own, non-inherited, priority.
|
|
*/
|
|
tprio_t p_realprio;
|
|
#endif
|
|
#if CH_USE_DYNAMIC && CH_USE_MEMPOOLS
|
|
/**
|
|
* @brief Memory Pool where the thread workspace is returned.
|
|
*/
|
|
void *p_mpool;
|
|
#endif
|
|
#if defined(THREAD_EXT_FIELDS)
|
|
/* Extra fields defined in chconf.h.*/
|
|
THREAD_EXT_FIELDS
|
|
#endif
|
|
};
|
|
|
|
/** @brief Thread state: Ready to run, waiting on the ready list.*/
|
|
#define THD_STATE_READY 0
|
|
/** @brief Thread state: Currently running.*/
|
|
#define THD_STATE_CURRENT 1
|
|
/** @brief Thread state: Thread created in suspended state.*/
|
|
#define THD_STATE_SUSPENDED 2
|
|
/** @brief Thread state: Waiting on a semaphore.*/
|
|
#define THD_STATE_WTSEM 3
|
|
/** @brief Thread state: Waiting on a mutex.*/
|
|
#define THD_STATE_WTMTX 4
|
|
/** @brief Thread state: Waiting in @p chCondWait().*/
|
|
#define THD_STATE_WTCOND 5
|
|
/** @brief Thread state: Waiting in @p chThdSleep() or @p chThdSleepUntil().*/
|
|
#define THD_STATE_SLEEPING 6
|
|
/** @brief Thread state: Waiting in @p chThdWait().*/
|
|
#define THD_STATE_WTEXIT 7
|
|
/** @brief Thread state: Waiting in @p chEvtWaitXXX().*/
|
|
#define THD_STATE_WTOREVT 8
|
|
/** @brief Thread state: Waiting in @p chEvtWaitAllTimeout().*/
|
|
#define THD_STATE_WTANDEVT 9
|
|
/** @brief Thread state: Waiting in @p chMsgSend().*/
|
|
#define THD_STATE_SNDMSG 10
|
|
/** @brief Thread state: Waiting in @p chMsgWait().*/
|
|
#define THD_STATE_WTMSG 11
|
|
/** @brief Thread state: After termination.*/
|
|
#define THD_STATE_FINAL 12
|
|
|
|
/*
|
|
* Various flags into the thread p_flags field.
|
|
*/
|
|
#define THD_MEM_MODE_MASK 3 /**< @brief Thread memory mode mask. */
|
|
#define THD_MEM_MODE_STATIC 0 /**< @brief Thread memory mode: static. */
|
|
#define THD_MEM_MODE_HEAP 1 /**< @brief Thread memory mode: heap. */
|
|
#define THD_MEM_MODE_MEMPOOL 2 /**< @brief Thread memory mode: pool. */
|
|
#define THD_TERMINATE 4 /**< @brief Termination requested. */
|
|
|
|
/** @brief Thread function.*/
|
|
typedef msg_t (*tfunc_t)(void *);
|
|
|
|
/*
|
|
* Threads APIs.
|
|
*/
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
Thread *_thread_init(Thread *tp, tprio_t prio);
|
|
#if CH_DBG_FILL_THREADS
|
|
void _thread_memfill(uint8_t *startp, uint8_t *endp, uint8_t v);
|
|
#endif
|
|
Thread *chThdCreateI(void *wsp, size_t size,
|
|
tprio_t prio, tfunc_t pf, void *arg);
|
|
Thread *chThdCreateStatic(void *wsp, size_t size,
|
|
tprio_t prio, tfunc_t pf, void *arg);
|
|
tprio_t chThdSetPriority(tprio_t newprio);
|
|
Thread *chThdResume(Thread *tp);
|
|
void chThdTerminate(Thread *tp);
|
|
void chThdSleep(systime_t time);
|
|
void chThdSleepUntil(systime_t time);
|
|
void chThdYield(void);
|
|
void chThdExit(msg_t msg);
|
|
#if CH_USE_WAITEXIT
|
|
msg_t chThdWait(Thread *tp);
|
|
#endif
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
/**
|
|
* @brief Returns a pointer to the current @p Thread.
|
|
*
|
|
* @api
|
|
*/
|
|
#define chThdSelf() currp
|
|
|
|
/**
|
|
* @brief Returns the current thread priority.
|
|
*
|
|
* @api
|
|
*/
|
|
#define chThdGetPriority() (currp->p_prio)
|
|
|
|
/**
|
|
* @brief Returns the number of ticks consumed by the specified thread.
|
|
* @note This function is only available when the
|
|
* @p CH_DBG_THREADS_PROFILING configuration option is enabled.
|
|
*
|
|
* @param[in] tp the pointer to the thread
|
|
*
|
|
* @api
|
|
*/
|
|
#define chThdGetTicks(tp) ((tp)->p_time)
|
|
|
|
/**
|
|
* @brief Returns the pointer to the @p Thread local storage area, if any.
|
|
*
|
|
* @api
|
|
*/
|
|
#define chThdLS() (void *)(currp + 1)
|
|
|
|
/**
|
|
* @brief Verifies if the specified thread is in the @p THD_STATE_FINAL state.
|
|
*
|
|
* @param[in] tp the pointer to the thread
|
|
* @retval TRUE thread terminated.
|
|
* @retval FALSE thread not terminated.
|
|
*
|
|
* @api
|
|
*/
|
|
#define chThdTerminated(tp) ((tp)->p_state == THD_STATE_FINAL)
|
|
|
|
/**
|
|
* @brief Verifies if the current thread has a termination request pending.
|
|
*
|
|
* @retval TRUE termination request pended.
|
|
* @retval FALSE termination request not pended.
|
|
*
|
|
* @api
|
|
*/
|
|
#define chThdShouldTerminate() (currp->p_flags & THD_TERMINATE)
|
|
|
|
/**
|
|
* @brief Resumes a thread created with @p chThdInit().
|
|
*
|
|
* @param[in] tp the pointer to the thread
|
|
*
|
|
* @iclass
|
|
*/
|
|
#define chThdResumeI(tp) chSchReadyI(tp)
|
|
|
|
/**
|
|
* @brief Suspends the invoking thread for the specified time.
|
|
*
|
|
* @param[in] time the delay in system ticks, the special values are
|
|
* handled as follow:
|
|
* - @a TIME_INFINITE the thread enters an infinite sleep
|
|
* state.
|
|
* - @a TIME_IMMEDIATE this value is accepted but
|
|
* interpreted as a normal time specification not as
|
|
* an immediate timeout specification.
|
|
* .
|
|
*
|
|
* @sclass
|
|
*/
|
|
#define chThdSleepS(time) chSchGoSleepTimeoutS(THD_STATE_SLEEPING, time)
|
|
|
|
/**
|
|
* @brief 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.
|
|
*
|
|
* @param[in] sec the time in seconds
|
|
*
|
|
* @api
|
|
*/
|
|
#define chThdSleepSeconds(sec) chThdSleep(S2ST(sec))
|
|
|
|
/**
|
|
* @brief 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.
|
|
*
|
|
* @param[in] msec the time in milliseconds
|
|
*
|
|
* @api
|
|
*/
|
|
#define chThdSleepMilliseconds(msec) chThdSleep(MS2ST(msec))
|
|
|
|
/**
|
|
* @brief 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.
|
|
*
|
|
* @param[in] usec the time in microseconds
|
|
*
|
|
* @api
|
|
*/
|
|
#define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec))
|
|
|
|
#endif /* _CHTHREADS_H_ */
|
|
|
|
/** @} */
|