342 lines
11 KiB
C
342 lines
11 KiB
C
/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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 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 dependencies check.
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*/
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#if CH_USE_DYNAMIC && !CH_USE_WAITEXIT
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#error "CH_USE_DYNAMIC requires CH_USE_WAITEXIT"
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#endif
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#if CH_USE_DYNAMIC && !CH_USE_HEAP && !CH_USE_MEMPOOLS
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#error "CH_USE_DYNAMIC requires CH_USE_HEAP and/or CH_USE_MEMPOOLS"
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#endif
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/**
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* @extends ThreadsQueue
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*
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* @brief Structure representing a thread.
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* @note Not all the listed fields are always needed, by switching off some
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* not needed ChibiOS/RT subsystems it is possible to save RAM space
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* by shrinking the @p Thread structure.
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*/
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struct Thread {
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Thread *p_next; /**< @brief Next in the list/queue. */
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/* End of the fields shared with the ThreadsList structure. */
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Thread *p_prev; /**< @brief Previous in the queue. */
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/* End of the fields shared with the ThreadsQueue structure. */
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tprio_t p_prio; /**< @brief Thread priority. */
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struct context p_ctx; /**< @brief Processor context. */
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#if CH_USE_REGISTRY
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Thread *p_newer; /**< @brief Newer registry element. */
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Thread *p_older; /**< @brief Older registry element. */
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#endif
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/* End of the fields shared with the ReadyList structure. */
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/**
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* @brief Current thread state.
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*/
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tstate_t p_state;
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/**
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* @brief Various thread flags.
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*/
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tmode_t p_flags;
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#if CH_USE_DYNAMIC
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/**
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* @brief References to this thread.
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*/
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trefs_t p_refs;
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#endif
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#if CH_USE_NESTED_LOCKS
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/**
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* @brief Number of nested locks.
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*/
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cnt_t p_locks;
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#endif
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#if CH_DBG_THREADS_PROFILING
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/**
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* @brief Thread consumed time in ticks.
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* @note This field can overflow.
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*/
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volatile systime_t p_time;
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#endif
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/**
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* @brief State-specific fields.
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* @note All the fields declared in this union are only valid in the
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* specified state or condition and are thus volatile.
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*/
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union {
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/**
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* @brief Thread wakeup code.
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* @note This field contains the low level message sent to the thread
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* by the waking thread or interrupt handler. The value is valid
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* after exiting the @p chSchWakeupS() function.
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*/
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msg_t rdymsg;
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/**
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* @brief Thread exit code.
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* @note The thread termination code is stored in this field in order
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* to be retrieved by the thread performing a @p chThdWait() on
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* this thread.
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*/
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msg_t exitcode;
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/**
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* @brief Pointer to a generic "wait" object.
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* @note This field is used to get a generic pointer to a synchronization
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* object and is valid when the thread is in one of the wait
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* states.
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*/
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void *wtobjp;
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#if CH_USE_EVENTS
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/**
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* @brief Enabled events mask.
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* @note This field is only valied while the thread is in the
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* @p THD_STATE_WTOREVT or @p THD_STATE_WTANDEVT states.
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*/
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eventmask_t ewmask;
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#endif
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} p_u;
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#if CH_USE_WAITEXIT
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/**
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* @brief Termination waiting list.
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*/
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ThreadsList p_waiting;
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#endif
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#if CH_USE_MESSAGES
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/**
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* @brief Messages queue.
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*/
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ThreadsQueue p_msgqueue;
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/**
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* @brief Thread message.
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*/
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msg_t p_msg;
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#endif
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#if CH_USE_EVENTS
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/**
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* @brief Pending events mask.
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*/
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eventmask_t p_epending;
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#endif
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#if CH_USE_MUTEXES
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/**
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* @brief List of the mutexes owned by this thread.
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* @note The list is terminated by a @p NULL in this field.
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*/
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Mutex *p_mtxlist;
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/**
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* @brief Thread's own, non-inherited, priority.
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*/
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tprio_t p_realprio;
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#endif
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#if CH_USE_DYNAMIC && CH_USE_MEMPOOLS
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/**
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* @brief Memory Pool where the thread workspace is returned.
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*/
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void *p_mpool;
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#endif
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#if defined(THREAD_EXT_FIELDS_HOOK)
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/* Extra fields defined in chconf.h.*/
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THREAD_EXT_FIELDS_HOOK
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#endif
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};
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/** @brief Thread state: Ready to run, waiting on the ready list.*/
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#define THD_STATE_READY 0
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/** @brief Thread state: Currently running.*/
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#define THD_STATE_CURRENT 1
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/** @brief Thread state: Thread created in suspended state.*/
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#define THD_STATE_SUSPENDED 2
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/** @brief Thread state: Waiting on a semaphore.*/
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#define THD_STATE_WTSEM 3
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/** @brief Thread state: Waiting on a mutex.*/
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#define THD_STATE_WTMTX 4
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/** @brief Thread state: Waiting in @p chCondWait().*/
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#define THD_STATE_WTCOND 5
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/** @brief Thread state: Waiting in @p chThdSleep() or @p chThdSleepUntil().*/
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#define THD_STATE_SLEEPING 6
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/** @brief Thread state: Waiting in @p chThdWait().*/
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#define THD_STATE_WTEXIT 7
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/** @brief Thread state: Waiting in @p chEvtWaitXXX().*/
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#define THD_STATE_WTOREVT 8
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/** @brief Thread state: Waiting in @p chEvtWaitAllTimeout().*/
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#define THD_STATE_WTANDEVT 9
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/** @brief Thread state: Waiting in @p chMsgSend().*/
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#define THD_STATE_SNDMSG 10
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/** @brief Thread state: Waiting in @p chMsgWait().*/
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#define THD_STATE_WTMSG 11
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/** @brief Thread state: After termination.*/
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#define THD_STATE_FINAL 12
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/*
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* Various flags into the thread p_flags field.
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*/
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#define THD_MEM_MODE_MASK 3 /**< @brief Thread memory mode mask. */
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#define THD_MEM_MODE_STATIC 0 /**< @brief Thread memory mode: static. */
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#define THD_MEM_MODE_HEAP 1 /**< @brief Thread memory mode: heap. */
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#define THD_MEM_MODE_MEMPOOL 2 /**< @brief Thread memory mode: pool. */
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#define THD_TERMINATE 4 /**< @brief Termination requested. */
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/** @brief Thread function.*/
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typedef msg_t (*tfunc_t)(void *);
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/*
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* Threads APIs.
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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 *init_thread(Thread *tp, tprio_t prio);
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Thread *chThdInit(void *wsp, size_t size,
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tprio_t prio, tfunc_t pf, void *arg);
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Thread *chThdCreateStatic(void *wsp, size_t size,
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tprio_t prio, tfunc_t pf, void *arg);
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#if CH_USE_DYNAMIC && CH_USE_WAITEXIT && CH_USE_HEAP
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Thread *chThdCreateFromHeap(MemoryHeap *heapp, size_t size,
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tprio_t prio, tfunc_t pf, void *arg);
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#endif
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#if CH_USE_DYNAMIC && CH_USE_WAITEXIT && CH_USE_MEMPOOLS
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Thread *chThdCreateFromMemoryPool(MemoryPool *mp, tprio_t prio,
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tfunc_t pf, void *arg);
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#endif
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tprio_t chThdSetPriority(tprio_t newprio);
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Thread *chThdResume(Thread *tp);
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void chThdTerminate(Thread *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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#if CH_USE_DYNAMIC
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Thread *chThdAddRef(Thread *tp);
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void chThdRelease(Thread *tp);
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#endif
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#if CH_USE_WAITEXIT
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msg_t chThdWait(Thread *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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* @brief Returns a pointer to the current @p Thread.
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*/
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#define chThdSelf() currp
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/**
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* @brief Returns the current thread priority.
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*/
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#define chThdGetPriority() (currp->p_prio)
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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 the pointer to the thread
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*/
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#define chThdGetTicks(tp) ((tp)->p_time)
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/**
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* @brief Returns the pointer to the @p Thread local storage area, if any.
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*/
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#define chThdLS() (void *)(currp + 1)
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/**
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* @brief Verifies if the specified thread is in the @p THD_STATE_FINAL state.
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*
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* @param[in] tp the 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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#define chThdTerminated(tp) ((tp)->p_state == THD_STATE_FINAL)
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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 pended.
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* @retval FALSE termination request not pended.
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*/
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#define chThdShouldTerminate() (currp->p_flags & THD_TERMINATE)
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/**
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* @brief Resumes a thread created with @p chThdInit().
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*
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* @param[in] tp the pointer to the thread
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*/
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#define chThdResumeI(tp) chSchReadyI(tp)
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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 accepted but
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* interpreted as a normal time specification not as
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* an immediate timeout specification.
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* .
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*/
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#define chThdSleepS(time) chSchGoSleepTimeoutS(THD_STATE_SLEEPING, time)
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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 clock.
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* @note The maximum specified value is implementation dependent.
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*
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* @param[in] sec the time in seconds
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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 clock.
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* @note The maximum specified value is implementation dependent.
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*
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* @param[in] msec the time in milliseconds
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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 clock.
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* @note The maximum specified value is implementation dependent.
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*
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* @param[in] usec the time in microseconds
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*/
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#define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec))
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#endif /* _CHTHREADS_H_ */
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/** @} */
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