617 lines
19 KiB
C
617 lines
19 KiB
C
/*
|
|
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
|
2011,2012,2013,2014 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 chschd.h
|
|
* @brief Scheduler macros and structures.
|
|
*
|
|
* @addtogroup scheduler
|
|
* @{
|
|
*/
|
|
|
|
#ifndef _CHSCHD_H_
|
|
#define _CHSCHD_H_
|
|
|
|
/*===========================================================================*/
|
|
/* Module constants. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @name Wakeup status codes
|
|
* @{
|
|
*/
|
|
#define MSG_OK 0 /**< @brief Normal wakeup message. */
|
|
#define MSG_TIMEOUT -1 /**< @brief Wakeup caused by a timeout
|
|
condition. */
|
|
#define MSG_RESET -2 /**< @brief Wakeup caused by a reset
|
|
condition. */
|
|
/** @} */
|
|
|
|
/**
|
|
* @name Priority constants
|
|
* @{
|
|
*/
|
|
#define NOPRIO 0 /**< @brief Ready list header priority. */
|
|
#define IDLEPRIO 1 /**< @brief Idle thread priority. */
|
|
#define LOWPRIO 2 /**< @brief Lowest user priority. */
|
|
#define NORMALPRIO 64 /**< @brief Normal user priority. */
|
|
#define HIGHPRIO 127 /**< @brief Highest user priority. */
|
|
#define ABSPRIO 255 /**< @brief Greatest possible priority. */
|
|
/** @} */
|
|
|
|
/*===========================================================================*/
|
|
/* Module pre-compile time settings. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* Derived constants and error checks. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* Module data structures and types. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @extends threads_queue_t
|
|
*
|
|
* @brief Type of a thread structure.
|
|
*/
|
|
typedef struct thread thread_t;
|
|
|
|
/**
|
|
* @extends threads_list_t
|
|
*
|
|
* @brief Type of a 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;
|
|
|
|
/**
|
|
* @brief Type of a 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_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;
|
|
|
|
/**
|
|
* @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 this structure.
|
|
*/
|
|
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
|
|
};
|
|
|
|
/**
|
|
* @brief Type of a Virtual Timer callback function.
|
|
*/
|
|
typedef void (*vtfunc_t)(void *);
|
|
|
|
/**
|
|
* @brief Type of a Virtual Timer structure.
|
|
*/
|
|
typedef struct virtual_timer virtual_timer_t;
|
|
|
|
/**
|
|
* @extends virtual_timers_list_t
|
|
*
|
|
* @brief Virtual Timer descriptor structure.
|
|
*/
|
|
struct virtual_timer {
|
|
virtual_timer_t *vt_next; /**< @brief Next timer in the list. */
|
|
virtual_timer_t *vt_prev; /**< @brief Previous timer in the list. */
|
|
systime_t vt_delta; /**< @brief Time delta before timeout. */
|
|
vtfunc_t vt_func; /**< @brief Timer callback function
|
|
pointer. */
|
|
void *vt_par; /**< @brief Timer callback function
|
|
parameter. */
|
|
};
|
|
|
|
/**
|
|
* @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.
|
|
* @note Accesses to this pointer must never be optimized out so the
|
|
* field itself is declared volatile.
|
|
*/
|
|
const char * volatile 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. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @brief Returns the priority of the first thread on the given ready list.
|
|
*
|
|
* @notapi
|
|
*/
|
|
#define firstprio(rlp) ((rlp)->p_next->p_prio)
|
|
|
|
/**
|
|
* @brief Current thread pointer access macro.
|
|
* @note This macro is not meant to be used in the application code but
|
|
* only from within the kernel, use the @p chThdSelf() API instead.
|
|
* @note It is forbidden to use this macro in order to change the pointer
|
|
* (currp = something), use @p setcurrp() instead.
|
|
*/
|
|
#define currp ch.rlist.r_current
|
|
|
|
/**
|
|
* @brief Current thread pointer change macro.
|
|
* @note This macro is not meant to be used in the application code but
|
|
* only from within the kernel.
|
|
*
|
|
* @notapi
|
|
*/
|
|
#define setcurrp(tp) (currp = (tp))
|
|
|
|
/*===========================================================================*/
|
|
/* External declarations. */
|
|
/*===========================================================================*/
|
|
|
|
#if !defined(__DOXYGEN__)
|
|
extern ch_system_t ch;
|
|
#endif
|
|
|
|
/*
|
|
* Scheduler APIs.
|
|
*/
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
void _scheduler_init(void);
|
|
thread_t *chSchReadyI(thread_t *tp);
|
|
void chSchGoSleepS(tstate_t newstate);
|
|
msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time);
|
|
void chSchWakeupS(thread_t *tp, msg_t msg);
|
|
void chSchRescheduleS(void);
|
|
bool chSchIsPreemptionRequired(void);
|
|
void chSchDoRescheduleBehind(void);
|
|
void chSchDoRescheduleAhead(void);
|
|
void chSchDoReschedule(void);
|
|
#if !CH_CFG_OPTIMIZE_SPEED
|
|
void queue_prio_insert(thread_t *tp, threads_queue_t *tqp);
|
|
void queue_insert(thread_t *tp, threads_queue_t *tqp);
|
|
thread_t *queue_fifo_remove(threads_queue_t *tqp);
|
|
thread_t *queue_lifo_remove(threads_queue_t *tqp);
|
|
thread_t *queue_dequeue(thread_t *tp);
|
|
void list_insert(thread_t *tp, threads_list_t *tlp);
|
|
thread_t *list_remove(threads_list_t *tlp);
|
|
#endif /* CH_CFG_OPTIMIZE_SPEED */
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
/*===========================================================================*/
|
|
/* Module inline functions. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @brief Threads list initialization.
|
|
*
|
|
* @notapi
|
|
*/
|
|
static inline void list_init(threads_list_t *tlp) {
|
|
|
|
tlp->p_next = (thread_t *)tlp;
|
|
}
|
|
|
|
/**
|
|
* @brief Evaluates to @p true if the specified threads list is empty.
|
|
*
|
|
* @notapi
|
|
*/
|
|
static inline bool list_isempty(threads_list_t *tlp) {
|
|
|
|
return (bool)(tlp->p_next == (thread_t *)tlp);
|
|
}
|
|
|
|
/**
|
|
* @brief Evaluates to @p true if the specified threads list is not empty.
|
|
*
|
|
* @notapi
|
|
*/
|
|
static inline bool list_notempty(threads_list_t *tlp) {
|
|
|
|
return (bool)(tlp->p_next != (thread_t *)tlp);
|
|
}
|
|
|
|
/**
|
|
* @brief Threads queue initialization.
|
|
*
|
|
* @notapi
|
|
*/
|
|
static inline void queue_init(threads_queue_t *tqp) {
|
|
|
|
tqp->p_next = tqp->p_prev = (thread_t *)tqp;
|
|
}
|
|
|
|
/**
|
|
* @brief Evaluates to @p true if the specified threads queue is empty.
|
|
*
|
|
* @notapi
|
|
*/
|
|
static inline bool queue_isempty(threads_queue_t *tqp) {
|
|
|
|
return (bool)(tqp->p_next == (thread_t *)tqp);
|
|
}
|
|
|
|
/**
|
|
* @brief Evaluates to @p true if the specified threads queue is not empty.
|
|
*
|
|
* @notapi
|
|
*/
|
|
static inline bool queue_notempty(threads_queue_t *tqp) {
|
|
|
|
return (bool)(tqp->p_next != (thread_t *)tqp);
|
|
}
|
|
|
|
/* If the performance code path has been chosen then all the following
|
|
functions are inlined into the various kernel modules.*/
|
|
#if CH_CFG_OPTIMIZE_SPEED
|
|
static inline void list_insert(thread_t *tp, threads_list_t *tlp) {
|
|
|
|
tp->p_next = tlp->p_next;
|
|
tlp->p_next = tp;
|
|
}
|
|
|
|
static inline thread_t *list_remove(threads_list_t *tlp) {
|
|
|
|
thread_t *tp = tlp->p_next;
|
|
tlp->p_next = tp->p_next;
|
|
return tp;
|
|
}
|
|
|
|
static inline void queue_prio_insert(thread_t *tp, threads_queue_t *tqp) {
|
|
|
|
thread_t *cp = (thread_t *)tqp;
|
|
do {
|
|
cp = cp->p_next;
|
|
} while ((cp != (thread_t *)tqp) && (cp->p_prio >= tp->p_prio));
|
|
tp->p_next = cp;
|
|
tp->p_prev = cp->p_prev;
|
|
tp->p_prev->p_next = cp->p_prev = tp;
|
|
}
|
|
|
|
static inline void queue_insert(thread_t *tp, threads_queue_t *tqp) {
|
|
|
|
tp->p_next = (thread_t *)tqp;
|
|
tp->p_prev = tqp->p_prev;
|
|
tp->p_prev->p_next = tqp->p_prev = tp;
|
|
}
|
|
|
|
static inline thread_t *queue_fifo_remove(threads_queue_t *tqp) {
|
|
thread_t *tp = tqp->p_next;
|
|
|
|
(tqp->p_next = tp->p_next)->p_prev = (thread_t *)tqp;
|
|
return tp;
|
|
}
|
|
|
|
static inline thread_t *queue_lifo_remove(threads_queue_t *tqp) {
|
|
thread_t *tp = tqp->p_prev;
|
|
|
|
(tqp->p_prev = tp->p_prev)->p_next = (thread_t *)tqp;
|
|
return tp;
|
|
}
|
|
|
|
static inline thread_t *queue_dequeue(thread_t *tp) {
|
|
|
|
tp->p_prev->p_next = tp->p_next;
|
|
tp->p_next->p_prev = tp->p_prev;
|
|
return tp;
|
|
}
|
|
#endif /* CH_CFG_OPTIMIZE_SPEED */
|
|
|
|
/**
|
|
* @brief Determines if the current thread must reschedule.
|
|
* @details This function returns @p true if there is a ready thread with
|
|
* higher priority.
|
|
*
|
|
* @iclass
|
|
*/
|
|
static inline bool chSchIsRescRequiredI(void) {
|
|
|
|
chDbgCheckClassI();
|
|
|
|
return firstprio(&ch.rlist.r_queue) > currp->p_prio;
|
|
}
|
|
|
|
/**
|
|
* @brief Determines if yielding is possible.
|
|
* @details This function returns @p true if there is a ready thread with
|
|
* equal or higher priority.
|
|
*
|
|
* @sclass
|
|
*/
|
|
static inline bool chSchCanYieldS(void) {
|
|
|
|
chDbgCheckClassI();
|
|
|
|
return firstprio(&ch.rlist.r_queue) >= currp->p_prio;
|
|
}
|
|
|
|
/**
|
|
* @brief Yields the time slot.
|
|
* @details Yields the CPU control to the next thread in the ready list with
|
|
* equal or higher priority, if any.
|
|
*
|
|
* @sclass
|
|
*/
|
|
static inline void chSchDoYieldS(void) {
|
|
|
|
chDbgCheckClassS();
|
|
|
|
if (chSchCanYieldS())
|
|
chSchDoRescheduleBehind();
|
|
}
|
|
|
|
/**
|
|
* @brief Inline-able preemption code.
|
|
* @details This is the common preemption code, this function must be invoked
|
|
* exclusively from the port layer.
|
|
*
|
|
* @special
|
|
*/
|
|
static inline void chSchPreemption(void) {
|
|
tprio_t p1 = firstprio(&ch.rlist.r_queue);
|
|
tprio_t p2 = currp->p_prio;
|
|
|
|
#if CH_CFG_TIME_QUANTUM > 0
|
|
if (currp->p_preempt) {
|
|
if (p1 > p2)
|
|
chSchDoRescheduleAhead();
|
|
}
|
|
else {
|
|
if (p1 >= p2)
|
|
chSchDoRescheduleBehind();
|
|
}
|
|
#else /* CH_CFG_TIME_QUANTUM == 0 */
|
|
if (p1 >= p2)
|
|
chSchDoRescheduleAhead();
|
|
#endif /* CH_CFG_TIME_QUANTUM == 0 */
|
|
}
|
|
|
|
#endif /* _CHSCHD_H_ */
|
|
|
|
/** @} */
|