diff options
| author | gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2010-02-21 07:24:53 +0000 |
|---|---|---|
| committer | gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2010-02-21 07:24:53 +0000 |
| commit | 157b6f9695e7f72f2d54b231c19cb4045710ed01 (patch) | |
| tree | a856d81bf5f173c207510fdeb7367e218f12b3db /os/kernel | |
| parent | a90a90ffcf0f90b2a4b6c24dc5a60e72652549f1 (diff) | |
| download | ChibiOS-157b6f9695e7f72f2d54b231c19cb4045710ed01.tar.gz ChibiOS-157b6f9695e7f72f2d54b231c19cb4045710ed01.tar.bz2 ChibiOS-157b6f9695e7f72f2d54b231c19cb4045710ed01.zip | |
Updated license dates.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1646 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'os/kernel')
43 files changed, 1907 insertions, 1907 deletions
diff --git a/os/kernel/include/ch.h b/os/kernel/include/ch.h index a0b2ca6fd..8f3f07e21 100644 --- a/os/kernel/include/ch.h +++ b/os/kernel/include/ch.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -31,27 +31,27 @@ #define _CH_H_
/**
- * @brief ChibiOS/RT identification macro. + * @brief ChibiOS/RT identification macro.
*/
#define _CHIBIOS_RT_
/**
- * @brief Kernel version string. + * @brief Kernel version string.
*/
#define CH_KERNEL_VERSION "1.5.2unstable"
/**
- * @brief Kernel version major number. + * @brief Kernel version major number.
*/
#define CH_KERNEL_MAJOR 1
/**
- * @brief Kernel version minor number. + * @brief Kernel version minor number.
*/
#define CH_KERNEL_MINOR 5
/**
- * @brief Kernel version patch number. + * @brief Kernel version patch number.
*/
#define CH_KERNEL_PATCH 2
diff --git a/os/kernel/include/channels.h b/os/kernel/include/channels.h index 7e275af96..06c7cf88a 100644 --- a/os/kernel/include/channels.h +++ b/os/kernel/include/channels.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/condvars.h b/os/kernel/include/condvars.h index be40f7dd3..a84fa3bdb 100644 --- a/os/kernel/include/condvars.h +++ b/os/kernel/include/condvars.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/debug.h b/os/kernel/include/debug.h index b60171866..5cd056a81 100644 --- a/os/kernel/include/debug.h +++ b/os/kernel/include/debug.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/events.h b/os/kernel/include/events.h index 42f415b73..c434eb7ce 100644 --- a/os/kernel/include/events.h +++ b/os/kernel/include/events.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/heap.h b/os/kernel/include/heap.h index 0ebe1d7b5..8be48961a 100644 --- a/os/kernel/include/heap.h +++ b/os/kernel/include/heap.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/inline.h b/os/kernel/include/inline.h index 43f12f2e7..2b160f03f 100644 --- a/os/kernel/include/inline.h +++ b/os/kernel/include/inline.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/lists.h b/os/kernel/include/lists.h index 9240a6fcb..48841c687 100644 --- a/os/kernel/include/lists.h +++ b/os/kernel/include/lists.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -45,7 +45,7 @@ typedef struct Thread Thread; /**
* @brief Evaluates to @p TRUE if the specified threads queue or list is
- * empty. + * empty.
*/
#define isempty(p) ((p)->p_next == (Thread *)(p))
diff --git a/os/kernel/include/mailboxes.h b/os/kernel/include/mailboxes.h index 33048229f..d2c71b6d8 100644 --- a/os/kernel/include/mailboxes.h +++ b/os/kernel/include/mailboxes.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -102,7 +102,7 @@ extern "C" { * @note A message must be waiting in the queue for this function to work or
* it would return garbage. The correct way to use this macro is to
* use @p chMBGetFull() and then use this macro, all within a lock
- * state. + * state.
*/
#define chMBPeek(mbp) (*(mbp)->mb_rdptr)
diff --git a/os/kernel/include/memcore.h b/os/kernel/include/memcore.h index c0aa9c9a2..381339938 100644 --- a/os/kernel/include/memcore.h +++ b/os/kernel/include/memcore.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/mempools.h b/os/kernel/include/mempools.h index d6611663a..056ceaae8 100644 --- a/os/kernel/include/mempools.h +++ b/os/kernel/include/mempools.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -31,7 +31,7 @@ #if CH_USE_MEMPOOLS
/**
- * @brief Memory pool free object header. + * @brief Memory pool free object header.
*/
struct pool_header {
struct pool_header *ph_next; /**< @brief Pointer to the next pool
@@ -39,7 +39,7 @@ struct pool_header { };
/**
- * @brief Memory pool descriptor. + * @brief Memory pool descriptor.
*/
typedef struct {
struct pool_header *mp_next; /**< @brief Pointer to the header. */
diff --git a/os/kernel/include/messages.h b/os/kernel/include/messages.h index 669b1c8b9..d5e7cb32e 100644 --- a/os/kernel/include/messages.h +++ b/os/kernel/include/messages.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/mutexes.h b/os/kernel/include/mutexes.h index 5bdbcdbd9..a57e8386a 100644 --- a/os/kernel/include/mutexes.h +++ b/os/kernel/include/mutexes.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/queues.h b/os/kernel/include/queues.h index 124175133..fb2f13194 100644 --- a/os/kernel/include/queues.h +++ b/os/kernel/include/queues.h @@ -1,242 +1,242 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2007 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 queues.h I/O - * @brief Queues macros and structures. - * - * @addtogroup io_queues - * @{ - */ - -#ifndef _QUEUES_H_ -#define _QUEUES_H_ - -#if CH_USE_QUEUES - -/* - * Module dependencies check. - */ -#if !CH_USE_SEMAPHORES -#error "CH_USE_QUEUES requires CH_USE_SEMAPHORES" -#endif - -/** @brief Queue notification callback type.*/ -typedef void (*qnotify_t)(void); - -/** @brief Returned by the queue functions if the operation is successful.*/ -#define Q_OK RDY_OK -/** @brief Returned by the queue functions if a timeout occurs.*/ -#define Q_TIMEOUT RDY_TIMEOUT -/** @brief Returned by the queue functions if the queue is reset.*/ -#define Q_RESET RDY_RESET -/** @brief Returned by the queue functions if the queue is empty.*/ -#define Q_EMPTY -3 -/** @brief Returned by the queue functions if the queue is full.*/ -#define Q_FULL -4 - -/** - * @brief Generic I/O queue structure. - * @details This structure represents a generic Input or Output asymmetrical - * queue. The queue is asymmetrical because one end is meant to be - * accessed from a thread context, and thus can be blocking, the other - * end is accessible from interrupt handlers or from within a kernel - * lock zone (see <b>I-Locked</b> and <b>S-Locked</b> states in - * @ref system_states) and is non-blocking. - */ -typedef struct { - uint8_t *q_buffer; /**< @brief Pointer to the queue buffer.*/ - uint8_t *q_top; /**< @brief Pointer to the first location - after the buffer. */ - uint8_t *q_wrptr; /**< @brief Write pointer. */ - uint8_t *q_rdptr; /**< @brief Read pointer. */ - Semaphore q_sem; /**< @brief Counter @p Semaphore. */ - qnotify_t q_notify; /**< @brief Data notification callback. */ -} GenericQueue; - -/** - * @brief Returns the queue's buffer size. - */ -#define chQSize(q) ((q)->q_top - (q)->q_buffer) - -/** - * @brief Queue space. - * @details Returns the used space if used on an Input Queue and the empty - * space if used on an Output Queue. - * @note The returned value can be less than zero when there are waiting - * threads on the internal semaphore. - */ -#define chQSpace(q) chSemGetCounterI(&(q)->q_sem) - -/** - * @extends GenericQueue - * - * @brief Input queue structure. - * @details This structure represents a generic asymmetrical input queue. - * Writing in the queue is non-blocking and can be performed from - * interrupt handlers or from within a kernel lock zone (see - * <b>I-Locked</b> and <b>S-Locked</b> states in @ref system_states). - * Reading the queue can be a blocking operation and is supposed to - * be performed by a system thread. - */ -typedef GenericQueue InputQueue; - -/** @brief Evaluates to @p TRUE if the specified Input Queue is empty.*/ -#define chIQIsEmpty(q) (chQSpace(q) <= 0) - -/** @brief Evaluates to @p TRUE if the specified Input Queue is full.*/ -#define chIQIsFull(q) (chQSpace(q) >= chQSize(q)) - -/** - * @brief Input queue read. - * @details This function reads a byte value from an input queue. If the queue - * is empty then the calling thread is suspended until a byte arrives - * in the queue. - * - * @param[in] iqp pointer to an @p InputQueue structure - * @return A byte value from the queue or: - * @retval Q_RESET if the queue was reset. - */ -#define chIQGet(iqp) chIQGetTimeout(iqp, TIME_INFINITE) - -/** - * @brief Data part of a static input queue initializer. - * @details This macro should be used when statically initializing an - * input queue that is part of a bigger structure. - * - * @param[in] name the name of the input queue variable - * @param[in] buffer pointer to the queue buffer area - * @param[in] size size of the queue buffer area - * @param[in] inotify input notification callback pointer - */ -#define _INPUTQUEUE_DATA(name, buffer, size, inotify) { \ - (uint8_t *)(buffer), \ - (uint8_t *)(buffer) + size, \ - (uint8_t *)(buffer), \ - (uint8_t *)(buffer), \ - _SEMAPHORE_DATA(name.q_sem, 0), \ - inotify \ -} - -/** - * @brief Static input queue initializer. - * @details Statically initialized input queues require no explicit - * initialization using @p chIQInit(). - * - * @param[in] name the name of the input queue variable - * @param[in] buffer pointer to the queue buffer area - * @param[in] size size of the queue buffer area - * @param[in] inotify input notification callback pointer - */ -#define INPUTQUEUE_DECL(name, buffer, size, inotify) \ - InputQueue name = _INPUTQUEUE_DATA(name, buffer, size, inotify) - -/** - * @extends GenericQueue - * - * @brief Output queue structure. - * @details This structure represents a generic asymmetrical output queue. - * Reading from the queue is non-blocking and can be performed from - * interrupt handlers or from within a kernel lock zone (see - * <b>I-Locked</b> and <b>S-Locked</b> states in @ref system_states). - * Writing the queue can be a blocking operation and is supposed to - * be performed by a system thread. - */ -typedef GenericQueue OutputQueue; - -/** - * @brief Evaluates to @p TRUE if the specified Output Queue is empty. - */ -#define chOQIsEmpty(q) (chQSpace(q) >= chQSize(q)) - -/** - * @brief Evaluates to @p TRUE if the specified Output Queue is full. - */ -#define chOQIsFull(q) (chQSpace(q) <= 0) - -/** - * @brief Output queue write. - * @details This function writes a byte value to an output queue. If the queue - * is full then the calling thread is suspended until there is space - * in the queue. - * - * @param[in] oqp pointer to an @p OutputQueue structure - * @param[in] b the byte value to be written in the queue - * @return The operation status: - * @retval Q_OK if the operation succeeded. - * @retval Q_RESET if the queue was reset. - */ -#define chOQPut(oqp, b) chOQPutTimeout(oqp, b, TIME_INFINITE) - -/** - * @brief Data part of a static output queue initializer. - * @details This macro should be used when statically initializing an - * output queue that is part of a bigger structure. - * - * @param[in] name the name of the output queue variable. - * @param[in] buffer pointer to the queue buffer area - * @param[in] size size of the queue buffer area - * @param[in] onotify output notification callback pointer - */ -#define _OUTPUTQUEUE_DATA(name, buffer, size, onotify) { \ - (uint8_t *)(buffer), \ - (uint8_t *)(buffer) + size, \ - (uint8_t *)(buffer), \ - (uint8_t *)(buffer), \ - _SEMAPHORE_DATA(name.q_sem, size), \ - onotify \ -} - -/** - * @brief Static output queue initializer. - * @details Statically initialized output queues require no explicit - * initialization using @p chOQInit(). - * - * @param[in] name the name of the output queue variable - * @param[in] buffer pointer to the queue buffer area - * @param[in] size size of the queue buffer area - * @param[in] onotify output notification callback pointer - */ -#define OUTPUTQUEUE_DECL(name, buffer, size, onotify) \ - InputQueue name = _OUTPUTQUEUE_DATA(name, buffer, size, onotify) - -#ifdef __cplusplus -extern "C" { -#endif - void chIQInit(InputQueue *qp, uint8_t *bp, size_t size, qnotify_t infy); - void chIQResetI(InputQueue *qp); - msg_t chIQPutI(InputQueue *qp, uint8_t b); - msg_t chIQGetTimeout(InputQueue *qp, systime_t time); - size_t chIQReadTimeout(InputQueue *qp, uint8_t *bp, - size_t n, systime_t time); - - void chOQInit(OutputQueue *queue, uint8_t *bp, size_t size, qnotify_t onfy); - void chOQResetI(OutputQueue *queue); - msg_t chOQPutTimeout(OutputQueue *queue, uint8_t b, systime_t time); - msg_t chOQGetI(OutputQueue *queue); - size_t chOQWriteTimeout(OutputQueue *queue, const uint8_t *bp, - size_t n, systime_t time); -#ifdef __cplusplus -} -#endif -#endif /* CH_USE_QUEUES */ - -#endif /* _QUEUES_H_ */ - -/** @} */ +/*
+ 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 queues.h I/O
+ * @brief Queues macros and structures.
+ *
+ * @addtogroup io_queues
+ * @{
+ */
+
+#ifndef _QUEUES_H_
+#define _QUEUES_H_
+
+#if CH_USE_QUEUES
+
+/*
+ * Module dependencies check.
+ */
+#if !CH_USE_SEMAPHORES
+#error "CH_USE_QUEUES requires CH_USE_SEMAPHORES"
+#endif
+
+/** @brief Queue notification callback type.*/
+typedef void (*qnotify_t)(void);
+
+/** @brief Returned by the queue functions if the operation is successful.*/
+#define Q_OK RDY_OK
+/** @brief Returned by the queue functions if a timeout occurs.*/
+#define Q_TIMEOUT RDY_TIMEOUT
+/** @brief Returned by the queue functions if the queue is reset.*/
+#define Q_RESET RDY_RESET
+/** @brief Returned by the queue functions if the queue is empty.*/
+#define Q_EMPTY -3
+/** @brief Returned by the queue functions if the queue is full.*/
+#define Q_FULL -4
+
+/**
+ * @brief Generic I/O queue structure.
+ * @details This structure represents a generic Input or Output asymmetrical
+ * queue. The queue is asymmetrical because one end is meant to be
+ * accessed from a thread context, and thus can be blocking, the other
+ * end is accessible from interrupt handlers or from within a kernel
+ * lock zone (see <b>I-Locked</b> and <b>S-Locked</b> states in
+ * @ref system_states) and is non-blocking.
+ */
+typedef struct {
+ uint8_t *q_buffer; /**< @brief Pointer to the queue buffer.*/
+ uint8_t *q_top; /**< @brief Pointer to the first location
+ after the buffer. */
+ uint8_t *q_wrptr; /**< @brief Write pointer. */
+ uint8_t *q_rdptr; /**< @brief Read pointer. */
+ Semaphore q_sem; /**< @brief Counter @p Semaphore. */
+ qnotify_t q_notify; /**< @brief Data notification callback. */
+} GenericQueue;
+
+/**
+ * @brief Returns the queue's buffer size.
+ */
+#define chQSize(q) ((q)->q_top - (q)->q_buffer)
+
+/**
+ * @brief Queue space.
+ * @details Returns the used space if used on an Input Queue and the empty
+ * space if used on an Output Queue.
+ * @note The returned value can be less than zero when there are waiting
+ * threads on the internal semaphore.
+ */
+#define chQSpace(q) chSemGetCounterI(&(q)->q_sem)
+
+/**
+ * @extends GenericQueue
+ *
+ * @brief Input queue structure.
+ * @details This structure represents a generic asymmetrical input queue.
+ * Writing in the queue is non-blocking and can be performed from
+ * interrupt handlers or from within a kernel lock zone (see
+ * <b>I-Locked</b> and <b>S-Locked</b> states in @ref system_states).
+ * Reading the queue can be a blocking operation and is supposed to
+ * be performed by a system thread.
+ */
+typedef GenericQueue InputQueue;
+
+/** @brief Evaluates to @p TRUE if the specified Input Queue is empty.*/
+#define chIQIsEmpty(q) (chQSpace(q) <= 0)
+
+/** @brief Evaluates to @p TRUE if the specified Input Queue is full.*/
+#define chIQIsFull(q) (chQSpace(q) >= chQSize(q))
+
+/**
+ * @brief Input queue read.
+ * @details This function reads a byte value from an input queue. If the queue
+ * is empty then the calling thread is suspended until a byte arrives
+ * in the queue.
+ *
+ * @param[in] iqp pointer to an @p InputQueue structure
+ * @return A byte value from the queue or:
+ * @retval Q_RESET if the queue was reset.
+ */
+#define chIQGet(iqp) chIQGetTimeout(iqp, TIME_INFINITE)
+
+/**
+ * @brief Data part of a static input queue initializer.
+ * @details This macro should be used when statically initializing an
+ * input queue that is part of a bigger structure.
+ *
+ * @param[in] name the name of the input queue variable
+ * @param[in] buffer pointer to the queue buffer area
+ * @param[in] size size of the queue buffer area
+ * @param[in] inotify input notification callback pointer
+ */
+#define _INPUTQUEUE_DATA(name, buffer, size, inotify) { \
+ (uint8_t *)(buffer), \
+ (uint8_t *)(buffer) + size, \
+ (uint8_t *)(buffer), \
+ (uint8_t *)(buffer), \
+ _SEMAPHORE_DATA(name.q_sem, 0), \
+ inotify \
+}
+
+/**
+ * @brief Static input queue initializer.
+ * @details Statically initialized input queues require no explicit
+ * initialization using @p chIQInit().
+ *
+ * @param[in] name the name of the input queue variable
+ * @param[in] buffer pointer to the queue buffer area
+ * @param[in] size size of the queue buffer area
+ * @param[in] inotify input notification callback pointer
+ */
+#define INPUTQUEUE_DECL(name, buffer, size, inotify) \
+ InputQueue name = _INPUTQUEUE_DATA(name, buffer, size, inotify)
+
+/**
+ * @extends GenericQueue
+ *
+ * @brief Output queue structure.
+ * @details This structure represents a generic asymmetrical output queue.
+ * Reading from the queue is non-blocking and can be performed from
+ * interrupt handlers or from within a kernel lock zone (see
+ * <b>I-Locked</b> and <b>S-Locked</b> states in @ref system_states).
+ * Writing the queue can be a blocking operation and is supposed to
+ * be performed by a system thread.
+ */
+typedef GenericQueue OutputQueue;
+
+/**
+ * @brief Evaluates to @p TRUE if the specified Output Queue is empty.
+ */
+#define chOQIsEmpty(q) (chQSpace(q) >= chQSize(q))
+
+/**
+ * @brief Evaluates to @p TRUE if the specified Output Queue is full.
+ */
+#define chOQIsFull(q) (chQSpace(q) <= 0)
+
+/**
+ * @brief Output queue write.
+ * @details This function writes a byte value to an output queue. If the queue
+ * is full then the calling thread is suspended until there is space
+ * in the queue.
+ *
+ * @param[in] oqp pointer to an @p OutputQueue structure
+ * @param[in] b the byte value to be written in the queue
+ * @return The operation status:
+ * @retval Q_OK if the operation succeeded.
+ * @retval Q_RESET if the queue was reset.
+ */
+#define chOQPut(oqp, b) chOQPutTimeout(oqp, b, TIME_INFINITE)
+
+/**
+ * @brief Data part of a static output queue initializer.
+ * @details This macro should be used when statically initializing an
+ * output queue that is part of a bigger structure.
+ *
+ * @param[in] name the name of the output queue variable.
+ * @param[in] buffer pointer to the queue buffer area
+ * @param[in] size size of the queue buffer area
+ * @param[in] onotify output notification callback pointer
+ */
+#define _OUTPUTQUEUE_DATA(name, buffer, size, onotify) { \
+ (uint8_t *)(buffer), \
+ (uint8_t *)(buffer) + size, \
+ (uint8_t *)(buffer), \
+ (uint8_t *)(buffer), \
+ _SEMAPHORE_DATA(name.q_sem, size), \
+ onotify \
+}
+
+/**
+ * @brief Static output queue initializer.
+ * @details Statically initialized output queues require no explicit
+ * initialization using @p chOQInit().
+ *
+ * @param[in] name the name of the output queue variable
+ * @param[in] buffer pointer to the queue buffer area
+ * @param[in] size size of the queue buffer area
+ * @param[in] onotify output notification callback pointer
+ */
+#define OUTPUTQUEUE_DECL(name, buffer, size, onotify) \
+ InputQueue name = _OUTPUTQUEUE_DATA(name, buffer, size, onotify)
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void chIQInit(InputQueue *qp, uint8_t *bp, size_t size, qnotify_t infy);
+ void chIQResetI(InputQueue *qp);
+ msg_t chIQPutI(InputQueue *qp, uint8_t b);
+ msg_t chIQGetTimeout(InputQueue *qp, systime_t time);
+ size_t chIQReadTimeout(InputQueue *qp, uint8_t *bp,
+ size_t n, systime_t time);
+
+ void chOQInit(OutputQueue *queue, uint8_t *bp, size_t size, qnotify_t onfy);
+ void chOQResetI(OutputQueue *queue);
+ msg_t chOQPutTimeout(OutputQueue *queue, uint8_t b, systime_t time);
+ msg_t chOQGetI(OutputQueue *queue);
+ size_t chOQWriteTimeout(OutputQueue *queue, const uint8_t *bp,
+ size_t n, systime_t time);
+#ifdef __cplusplus
+}
+#endif
+#endif /* CH_USE_QUEUES */
+
+#endif /* _QUEUES_H_ */
+
+/** @} */
diff --git a/os/kernel/include/registry.h b/os/kernel/include/registry.h index afaf3c5f7..2bff903e8 100644 --- a/os/kernel/include/registry.h +++ b/os/kernel/include/registry.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -34,7 +34,7 @@ * @brief Removes a thread from the registry list.
* @note This macro is not meant for use in application code.
*
- * @param[in] tp thread to remove from the registry + * @param[in] tp thread to remove from the registry
*/
#define REG_REMOVE(tp) { \
(tp)->p_older->p_newer = (tp)->p_newer; \
diff --git a/os/kernel/include/scheduler.h b/os/kernel/include/scheduler.h index e6bc69078..ddb7df979 100644 --- a/os/kernel/include/scheduler.h +++ b/os/kernel/include/scheduler.h @@ -1,134 +1,134 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2007 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 scheduler.h - * @brief Scheduler macros and structures. - * - * @addtogroup scheduler - * @{ - */ - -#ifndef _SCHEDULER_H_ -#define _SCHEDULER_H_ - -/** @brief Default thread wakeup low level message.*/ -#define RDY_OK 0 -/** @brief Low level message sent to a thread awakened by a timeout.*/ -#define RDY_TIMEOUT -1 -/** @brief Low level message sent to a thread awakened by a reset operation.*/ -#define RDY_RESET -2 - -#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. */ - -/** - * @brief Zero time specification for some syscalls with a timeout - * specification. - * @note Not all functions accept @p TIME_IMMEDIATE as timeout parameter, - * see the specific function documentation. - */ -#define TIME_IMMEDIATE ((systime_t)-1) - -/** - * @brief Infinite time specification for all the syscalls with a timeout - * specification. - */ -#define TIME_INFINITE ((systime_t)0) - -/** - * @brief Returns the priority of the first thread on the given ready list. - */ -#define firstprio(rlp) ((rlp)->p_next->p_prio) - -/** - * @extends ThreadsQueue - * - * @brief Ready list header. - */ -typedef struct { - ThreadsQueue r_queue; /**< @brief Threads queue. */ - tprio_t r_prio; /**< @brief This field must be - initialized to zero. */ - struct context p_ctx; /**< @brief Not used, present because - offsets. */ -#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 Thread structure.*/ -#if CH_TIME_QUANTUM > 0 - cnt_t r_preempt; /**< @brief Round robin counter. */ -#endif -#ifndef CH_CURRP_REGISTER_CACHE - Thread *r_current; /**< @brief The currently running - thread. */ -#endif -} ReadyList; - -#if !defined(__DOXYGEN__) -extern ReadyList rlist; -#endif - -#ifdef CH_CURRP_REGISTER_CACHE -register Thread *currp asm(CH_CURRP_REGISTER_CACHE); -#else -#define currp rlist.r_current -#endif - -/* - * Scheduler APIs. - */ -#ifdef __cplusplus -extern "C" { -#endif - void scheduler_init(void); - Thread *chSchReadyI(Thread *tp); - void chSchGoSleepS(tstate_t newstate); - msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time); - void chSchWakeupS(Thread *tp, msg_t msg); - void chSchDoRescheduleI(void); - void chSchRescheduleS(void); - bool_t chSchIsRescRequiredExI(void); - void chSchDoYieldS(void); -#ifdef __cplusplus -} -#endif - -/** - * @brief Determines if yielding is possible. - * @details This function returns @p TRUE if there is a ready thread with - * equal or higher priority. - */ -#define chSchCanYieldS() (firstprio(&rlist.r_queue) >= currp->p_prio) - -/** - * @brief Determines if the current thread must reschedule. - * @details This function returns @p TRUE if there is a ready thread with - * higher priority. - */ -#define chSchIsRescRequiredI() (firstprio(&rlist.r_queue) > currp->p_prio) - -#endif /* _SCHEDULER_H_ */ - -/** @} */ +/*
+ 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 scheduler.h
+ * @brief Scheduler macros and structures.
+ *
+ * @addtogroup scheduler
+ * @{
+ */
+
+#ifndef _SCHEDULER_H_
+#define _SCHEDULER_H_
+
+/** @brief Default thread wakeup low level message.*/
+#define RDY_OK 0
+/** @brief Low level message sent to a thread awakened by a timeout.*/
+#define RDY_TIMEOUT -1
+/** @brief Low level message sent to a thread awakened by a reset operation.*/
+#define RDY_RESET -2
+
+#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. */
+
+/**
+ * @brief Zero time specification for some syscalls with a timeout
+ * specification.
+ * @note Not all functions accept @p TIME_IMMEDIATE as timeout parameter,
+ * see the specific function documentation.
+ */
+#define TIME_IMMEDIATE ((systime_t)-1)
+
+/**
+ * @brief Infinite time specification for all the syscalls with a timeout
+ * specification.
+ */
+#define TIME_INFINITE ((systime_t)0)
+
+/**
+ * @brief Returns the priority of the first thread on the given ready list.
+ */
+#define firstprio(rlp) ((rlp)->p_next->p_prio)
+
+/**
+ * @extends ThreadsQueue
+ *
+ * @brief Ready list header.
+ */
+typedef struct {
+ ThreadsQueue r_queue; /**< @brief Threads queue. */
+ tprio_t r_prio; /**< @brief This field must be
+ initialized to zero. */
+ struct context p_ctx; /**< @brief Not used, present because
+ offsets. */
+#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 Thread structure.*/
+#if CH_TIME_QUANTUM > 0
+ cnt_t r_preempt; /**< @brief Round robin counter. */
+#endif
+#ifndef CH_CURRP_REGISTER_CACHE
+ Thread *r_current; /**< @brief The currently running
+ thread. */
+#endif
+} ReadyList;
+
+#if !defined(__DOXYGEN__)
+extern ReadyList rlist;
+#endif
+
+#ifdef CH_CURRP_REGISTER_CACHE
+register Thread *currp asm(CH_CURRP_REGISTER_CACHE);
+#else
+#define currp rlist.r_current
+#endif
+
+/*
+ * Scheduler APIs.
+ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void scheduler_init(void);
+ Thread *chSchReadyI(Thread *tp);
+ void chSchGoSleepS(tstate_t newstate);
+ msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time);
+ void chSchWakeupS(Thread *tp, msg_t msg);
+ void chSchDoRescheduleI(void);
+ void chSchRescheduleS(void);
+ bool_t chSchIsRescRequiredExI(void);
+ void chSchDoYieldS(void);
+#ifdef __cplusplus
+}
+#endif
+
+/**
+ * @brief Determines if yielding is possible.
+ * @details This function returns @p TRUE if there is a ready thread with
+ * equal or higher priority.
+ */
+#define chSchCanYieldS() (firstprio(&rlist.r_queue) >= currp->p_prio)
+
+/**
+ * @brief Determines if the current thread must reschedule.
+ * @details This function returns @p TRUE if there is a ready thread with
+ * higher priority.
+ */
+#define chSchIsRescRequiredI() (firstprio(&rlist.r_queue) > currp->p_prio)
+
+#endif /* _SCHEDULER_H_ */
+
+/** @} */
diff --git a/os/kernel/include/semaphores.h b/os/kernel/include/semaphores.h index b2fbba65c..cced49601 100644 --- a/os/kernel/include/semaphores.h +++ b/os/kernel/include/semaphores.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -62,7 +62,7 @@ extern "C" { * @brief Data part of a static semaphore initializer.
* @details This macro should be used when statically initializing a semaphore
* that is part of a bigger structure.
- * + *
* @param[in] name the name of the semaphore variable
* @param[in] n the counter initial value, this value must be
* non-negative
@@ -76,7 +76,7 @@ extern "C" { *
* @param[in] name the name of the semaphore variable
* @param[in] n the counter initial value, this value must be
- * non-negative + * non-negative
*/
#define SEMAPHORE_DECL(name, n) Semaphore name = _SEMAPHORE_DATA(name, n)
diff --git a/os/kernel/include/streams.h b/os/kernel/include/streams.h index b4f7f4901..fa376546c 100644 --- a/os/kernel/include/streams.h +++ b/os/kernel/include/streams.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/sys.h b/os/kernel/include/sys.h index a6409d3bf..5d0b6d875 100644 --- a/os/kernel/include/sys.h +++ b/os/kernel/include/sys.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -154,7 +154,7 @@ #define CH_IRQ_EPILOGUE() PORT_IRQ_EPILOGUE()
/**
- * @brief Standard IRQ handler declaration. + * @brief Standard IRQ handler declaration.
* @note @p id can be a function name or a vector number depending on the
* port implementation.
*/
diff --git a/os/kernel/include/threads.h b/os/kernel/include/threads.h index 253b220fe..9f519fea0 100644 --- a/os/kernel/include/threads.h +++ b/os/kernel/include/threads.h @@ -1,330 +1,330 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2007 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 threads.h - * @brief Threads macros and structures. - * - * @addtogroup threads - * @{ - */ - -#ifndef _THREADS_H_ -#define _THREADS_H_ - -/* - * Module dependencies check. - */ -#if CH_USE_DYNAMIC && !CH_USE_WAITEXIT -#error "CH_USE_DYNAMIC requires CH_USE_WAITEXIT" -#endif -#if CH_USE_DYNAMIC && !CH_USE_HEAP && !CH_USE_MEMPOOLS -#error "CH_USE_DYNAMIC requires CH_USE_HEAP and/or CH_USE_MEMPOOLS" -#endif - -/** - * @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 - /* Extra fields defined in chconf.h.*/ - THREAD_EXT_FIELDS -}; - -/** @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 *init_thread(Thread *tp, tprio_t prio); - Thread *chThdInit(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); -#if CH_USE_DYNAMIC && CH_USE_WAITEXIT && CH_USE_HEAP - Thread *chThdCreateFromHeap(MemoryHeap *heapp, size_t size, - tprio_t prio, tfunc_t pf, void *arg); -#endif -#if CH_USE_DYNAMIC && CH_USE_WAITEXIT && CH_USE_MEMPOOLS - Thread *chThdCreateFromMemoryPool(MemoryPool *mp, tprio_t prio, - tfunc_t pf, void *arg); -#endif - 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_DYNAMIC - Thread *chThdAddRef(Thread *tp); - void chThdRelease(Thread *tp); -#endif -#if CH_USE_WAITEXIT - msg_t chThdWait(Thread *tp); -#endif -#ifdef __cplusplus -} -#endif - -/** - * @brief Returns a pointer to the current @p Thread. - */ -#define chThdSelf() currp - -/** - * @brief Returns the current thread priority. - */ -#define chThdGetPriority() (currp->p_prio) - -/** - * @brief Returns the pointer to the @p Thread local storage area, if any. - */ -#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. - */ -#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. - */ -#define chThdShouldTerminate() (currp->p_flags & THD_TERMINATE) - -/** - * @brief Resumes a thread created with @p chThdInit(). - * - * @param[in] tp the pointer to the thread - */ -#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. - * . - */ -#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 - */ -#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 - */ -#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 - */ -#define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec)) - -#endif /* _THREADS_H_ */ - -/** @} */ +/*
+ 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 threads.h
+ * @brief Threads macros and structures.
+ *
+ * @addtogroup threads
+ * @{
+ */
+
+#ifndef _THREADS_H_
+#define _THREADS_H_
+
+/*
+ * Module dependencies check.
+ */
+#if CH_USE_DYNAMIC && !CH_USE_WAITEXIT
+#error "CH_USE_DYNAMIC requires CH_USE_WAITEXIT"
+#endif
+#if CH_USE_DYNAMIC && !CH_USE_HEAP && !CH_USE_MEMPOOLS
+#error "CH_USE_DYNAMIC requires CH_USE_HEAP and/or CH_USE_MEMPOOLS"
+#endif
+
+/**
+ * @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
+ /* Extra fields defined in chconf.h.*/
+ THREAD_EXT_FIELDS
+};
+
+/** @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 *init_thread(Thread *tp, tprio_t prio);
+ Thread *chThdInit(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);
+#if CH_USE_DYNAMIC && CH_USE_WAITEXIT && CH_USE_HEAP
+ Thread *chThdCreateFromHeap(MemoryHeap *heapp, size_t size,
+ tprio_t prio, tfunc_t pf, void *arg);
+#endif
+#if CH_USE_DYNAMIC && CH_USE_WAITEXIT && CH_USE_MEMPOOLS
+ Thread *chThdCreateFromMemoryPool(MemoryPool *mp, tprio_t prio,
+ tfunc_t pf, void *arg);
+#endif
+ 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_DYNAMIC
+ Thread *chThdAddRef(Thread *tp);
+ void chThdRelease(Thread *tp);
+#endif
+#if CH_USE_WAITEXIT
+ msg_t chThdWait(Thread *tp);
+#endif
+#ifdef __cplusplus
+}
+#endif
+
+/**
+ * @brief Returns a pointer to the current @p Thread.
+ */
+#define chThdSelf() currp
+
+/**
+ * @brief Returns the current thread priority.
+ */
+#define chThdGetPriority() (currp->p_prio)
+
+/**
+ * @brief Returns the pointer to the @p Thread local storage area, if any.
+ */
+#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.
+ */
+#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.
+ */
+#define chThdShouldTerminate() (currp->p_flags & THD_TERMINATE)
+
+/**
+ * @brief Resumes a thread created with @p chThdInit().
+ *
+ * @param[in] tp the pointer to the thread
+ */
+#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.
+ * .
+ */
+#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
+ */
+#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
+ */
+#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
+ */
+#define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec))
+
+#endif /* _THREADS_H_ */
+
+/** @} */
diff --git a/os/kernel/include/vt.h b/os/kernel/include/vt.h index 23396e594..445650332 100644 --- a/os/kernel/include/vt.h +++ b/os/kernel/include/vt.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -55,7 +55,7 @@ typedef void (*vtfunc_t)(void *);
/**
- * @brief Virtual Timer structure type. + * @brief Virtual Timer structure type.
*/
typedef struct VirtualTimer VirtualTimer;
@@ -94,7 +94,7 @@ typedef struct { extern VTList vtlist;
/**
- * @brief Virtual timers sticker. + * @brief Virtual timers sticker.
*/
#define chVTDoTickI() { \
vtlist.vt_systime++; \
diff --git a/os/kernel/kernel.dox b/os/kernel/kernel.dox index 072be41ec..e93ac8c5e 100644 --- a/os/kernel/kernel.dox +++ b/os/kernel/kernel.dox @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -353,4 +353,4 @@ * Internal details, not APIs.
* @ingroup kernel
*/
-
\ No newline at end of file +
diff --git a/os/kernel/src/chcond.c b/os/kernel/src/chcond.c index 21f3a22e2..f0ec50c4f 100644 --- a/os/kernel/src/chcond.c +++ b/os/kernel/src/chcond.c @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/src/chdebug.c b/os/kernel/src/chdebug.c index 38626387b..ebe93e8a5 100644 --- a/os/kernel/src/chdebug.c +++ b/os/kernel/src/chdebug.c @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -64,7 +64,7 @@ void chDbgTrace(Thread *otp, Thread *ntp) { * @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. This variable can be
- * set to @p NULL if the halt is caused by a stack overflow. + * set to @p NULL if the halt is caused by a stack overflow.
*/
char *panic_msg;
diff --git a/os/kernel/src/chevents.c b/os/kernel/src/chevents.c index 310f04212..e3c0b07ba 100644 --- a/os/kernel/src/chevents.c +++ b/os/kernel/src/chevents.c @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/src/chheap.c b/os/kernel/src/chheap.c index 91b7d01bc..ce8ce385b 100644 --- a/os/kernel/src/chheap.c +++ b/os/kernel/src/chheap.c @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/src/chlists.c b/os/kernel/src/chlists.c index 9b309ceea..f722f94cb 100644 --- a/os/kernel/src/chlists.c +++ b/os/kernel/src/chlists.c @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/src/chmboxes.c b/os/kernel/src/chmboxes.c index aee514f84..3811fc5da 100644 --- a/os/kernel/src/chmboxes.c +++ b/os/kernel/src/chmboxes.c @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -33,7 +33,7 @@ *
* @param[out] mbp the pointer to the Mailbox structure to be initialized
* @param[in] buf the circular messages buffer
- * @param[in] n the buffer size as number of @p msg_t + * @param[in] n the buffer size as number of @p msg_t
*/
void chMBInit(Mailbox *mbp, msg_t *buf, cnt_t n) {
diff --git a/os/kernel/src/chmemcore.c b/os/kernel/src/chmemcore.c index d5adbef48..435120a33 100644 --- a/os/kernel/src/chmemcore.c +++ b/os/kernel/src/chmemcore.c @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -60,7 +60,7 @@ void core_init(void) { *
* @param[in] size the size of the block to be allocated
* @return A pointer to the allocated memory block.
- * @retval NULL allocation failed, core memory exhausted. + * @retval NULL allocation failed, core memory exhausted.
*/
void *chCoreAlloc(size_t size) {
void *p;
@@ -95,7 +95,7 @@ void *chCoreAllocI(size_t size) { /**
* @brief Core memory left.
*
- * @return The size, in bytes, of the free core memory. + * @return The size, in bytes, of the free core memory.
*/
size_t chCoreFree(void) {
diff --git a/os/kernel/src/chmempools.c b/os/kernel/src/chmempools.c index 1e827c128..f79e20353 100644 --- a/os/kernel/src/chmempools.c +++ b/os/kernel/src/chmempools.c @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/src/chmsg.c b/os/kernel/src/chmsg.c index 9b6afd950..411c5fed3 100644 --- a/os/kernel/src/chmsg.c +++ b/os/kernel/src/chmsg.c @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/src/chmtx.c b/os/kernel/src/chmtx.c index d5335c0aa..336df8a6e 100644 --- a/os/kernel/src/chmtx.c +++ b/os/kernel/src/chmtx.c @@ -1,276 +1,276 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2007 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 chmtx.c - * @brief Mutexes code. - * - * @addtogroup mutexes - * @{ - */ - -#include "ch.h" - -#if CH_USE_MUTEXES - -/** - * @brief Initializes s @p Mutex structure. - * - * @param[out] mp pointer to a @p Mutex structure - */ -void chMtxInit(Mutex *mp) { - - chDbgCheck(mp != NULL, "chMtxInit"); - - queue_init(&mp->m_queue); - mp->m_owner = NULL; -} - -/** - * @brief Locks the specified mutex. - * - * @param[in] mp pointer to the @p Mutex structure - */ -void chMtxLock(Mutex *mp) { - - chSysLock(); - - chMtxLockS(mp); - - chSysUnlock(); -} - -/** - * @brief Locks the specified mutex. - * - * @param[in] mp pointer to the @p Mutex structure - */ -void chMtxLockS(Mutex *mp) { - Thread *ctp = currp; - - chDbgCheck(mp != NULL, "chMtxLockS"); - - /* Ia the mutex already locked? */ - if (mp->m_owner != NULL) { - /* Priority inheritance protocol; explores the thread-mutex dependencies - boosting the priority of all the affected threads to equal the priority - of the running thread requesting the mutex.*/ - Thread *tp = mp->m_owner; - /* Does the running thread have higher priority than the mutex - ownning thread? */ - while (tp->p_prio < ctp->p_prio) { - /* Make priority of thread tp match the running thread's priority.*/ - tp->p_prio = ctp->p_prio; - /* The following states need priority queues reordering.*/ - switch (tp->p_state) { - case THD_STATE_WTMTX: - /* Re-enqueues the mutex owner with its new priority.*/ - prio_insert(dequeue(tp), (ThreadsQueue *)tp->p_u.wtobjp); - tp = ((Mutex *)tp->p_u.wtobjp)->m_owner; - continue; -#if CH_USE_CONDVARS | CH_USE_SEMAPHORES_PRIORITY | CH_USE_MESSAGES_PRIORITY -#if CH_USE_CONDVARS - case THD_STATE_WTCOND: -#endif -#if CH_USE_SEMAPHORES_PRIORITY - case THD_STATE_WTSEM: -#endif -#if CH_USE_MESSAGES_PRIORITY - case THD_STATE_SNDMSG: -#endif - /* Re-enqueues tp with its new priority on the queue.*/ - prio_insert(dequeue(tp), (ThreadsQueue *)tp->p_u.wtobjp); - break; -#endif - case THD_STATE_READY: - /* Re-enqueues tp with its new priority on the ready list.*/ - chSchReadyI(dequeue(tp)); - } - break; - } - /* Sleep on the mutex.*/ - prio_insert(ctp, &mp->m_queue); - ctp->p_u.wtobjp = mp; - chSchGoSleepS(THD_STATE_WTMTX); - chDbgAssert(mp->m_owner == NULL, "chMtxLockS(), #1", "still owned"); - } - /* The mutex is now inserted in the owned mutexes list.*/ - mp->m_owner = ctp; - mp->m_next = ctp->p_mtxlist; - ctp->p_mtxlist = mp; -} - -/** - * @brief Tries to lock a mutex. - * @details This function does not have any overhead related to - * the priority inheritance mechanism because it does not try to - * enter a sleep state on the mutex. - * - * @param[in] mp pointer to the @p Mutex structure - * @retval TRUE if the mutex was successfully acquired - * @retval FALSE if the lock attempt failed. - */ -bool_t chMtxTryLock(Mutex *mp) { - bool_t b; - - chSysLock(); - - b = chMtxTryLockS(mp); - - chSysUnlock(); - return b; -} - -/** - * @brief Tries to lock a mutex. - * @details This function does not have any overhead related to - * the priority inheritance mechanism because it does not try to - * enter a sleep state on the mutex. - * - * @param[in] mp pointer to the @p Mutex structure - * @retval TRUE if the mutex was successfully acquired - * @retval FALSE if the lock attempt failed. - */ -bool_t chMtxTryLockS(Mutex *mp) { - - chDbgCheck(mp != NULL, "chMtxTryLockS"); - - if (mp->m_owner != NULL) - return FALSE; - mp->m_owner = currp; - mp->m_next = currp->p_mtxlist; - currp->p_mtxlist = mp; - return TRUE; -} - -/** - * @brief Unlocks the next owned mutex in reverse lock order. - * - * @return The pointer to the unlocked mutex. - */ -Mutex *chMtxUnlock(void) { - Thread *ctp = currp; - Mutex *ump, *mp; - - chSysLock(); - chDbgAssert(ctp->p_mtxlist != NULL, - "chMtxUnlock(), #1", - "owned mutexes list empty"); - chDbgAssert(ctp->p_mtxlist->m_owner == ctp, - "chMtxUnlock(), #2", - "ownership failure"); - /* Removes the top Mutex from the Threads's owned mutexes list and matk it - as not owned.*/ - ump = ctp->p_mtxlist; - ctp->p_mtxlist = ump->m_next; - ump->m_owner = NULL; - /* If a thread is waiting on the mutex then the fun part begins.*/ - if (chMtxQueueNotEmptyS(ump)) { - /* Recalculates the optimal thread priority by scanning the owned - mutexes list.*/ - tprio_t newprio = ctp->p_realprio; - mp = ctp->p_mtxlist; - while (mp != NULL) { - /* If the highest priority thread waiting in the mutexes list has a - greater priority than the current thread base priority then the final - priority will have at least that priority.*/ - if (chMtxQueueNotEmptyS(mp) && (mp->m_queue.p_next->p_prio > newprio)) - newprio = mp->m_queue.p_next->p_prio; - mp = mp->m_next; - } - /* Assigns to the current thread the highest priority among all the - waiting threads.*/ - ctp->p_prio = newprio; - /* Awakens the highest priority thread waiting for the unlocked mutex.*/ - chSchWakeupS(fifo_remove(&ump->m_queue), RDY_OK); - } - chSysUnlock(); - return ump; -} - -/** - * @brief Unlocks the next owned mutex in reverse lock order. - * @note This function does not reschedule internally. - * - * @return The pointer to the unlocked mutex. - */ -Mutex *chMtxUnlockS(void) { - Thread *ctp = currp; - Mutex *ump, *mp; - - chDbgAssert(ctp->p_mtxlist != NULL, - "chMtxUnlockS(), #1", - "owned mutexes list empty"); - chDbgAssert(ctp->p_mtxlist->m_owner == ctp, - "chMtxUnlockS(), #2", - "ownership failure"); - - /* Removes the top Mutex from the owned mutexes list and marks it as not - owned.*/ - ump = ctp->p_mtxlist; - ctp->p_mtxlist = ump->m_next; - ump->m_owner = NULL; - /* If a thread is waiting on the mutex then the fun part begins.*/ - if (chMtxQueueNotEmptyS(ump)) { - /* Recalculates the optimal thread priority by scanning the owned - mutexes list.*/ - tprio_t newprio = ctp->p_realprio; - mp = ctp->p_mtxlist; - while (mp != NULL) { - /* If the highest priority thread waiting in the mutexes list has a - greater priority than the current thread base priority then the final - priority will have at least that priority.*/ - if (chMtxQueueNotEmptyS(mp) && (mp->m_queue.p_next->p_prio > newprio)) - newprio = mp->m_queue.p_next->p_prio; - mp = mp->m_next; - } - ctp->p_prio = newprio; - chSchReadyI(fifo_remove(&ump->m_queue)); - } - return ump; -} - -/** - * @brief Unlocks all the mutexes owned by the invoking thread. - * @details This function is <b>MUCH MORE</b> efficient than releasing the - * mutexes one by one and not just because the call overhead, - * this function does not have any overhead related to the priority - * inheritance mechanism. - */ -void chMtxUnlockAll(void) { - Thread *ctp = currp; - - chSysLock(); - if (ctp->p_mtxlist != NULL) { - do { - Mutex *mp = ctp->p_mtxlist; - ctp->p_mtxlist = mp->m_next; - mp->m_owner = NULL; - if (chMtxQueueNotEmptyS(mp)) - chSchReadyI(fifo_remove(&mp->m_queue)); - } while (ctp->p_mtxlist != NULL); - ctp->p_prio = ctp->p_realprio; - chSchRescheduleS(); - } - chSysUnlock(); -} - -#endif /* CH_USE_MUTEXES */ - -/** @} */ +/*
+ 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 chmtx.c
+ * @brief Mutexes code.
+ *
+ * @addtogroup mutexes
+ * @{
+ */
+
+#include "ch.h"
+
+#if CH_USE_MUTEXES
+
+/**
+ * @brief Initializes s @p Mutex structure.
+ *
+ * @param[out] mp pointer to a @p Mutex structure
+ */
+void chMtxInit(Mutex *mp) {
+
+ chDbgCheck(mp != NULL, "chMtxInit");
+
+ queue_init(&mp->m_queue);
+ mp->m_owner = NULL;
+}
+
+/**
+ * @brief Locks the specified mutex.
+ *
+ * @param[in] mp pointer to the @p Mutex structure
+ */
+void chMtxLock(Mutex *mp) {
+
+ chSysLock();
+
+ chMtxLockS(mp);
+
+ chSysUnlock();
+}
+
+/**
+ * @brief Locks the specified mutex.
+ *
+ * @param[in] mp pointer to the @p Mutex structure
+ */
+void chMtxLockS(Mutex *mp) {
+ Thread *ctp = currp;
+
+ chDbgCheck(mp != NULL, "chMtxLockS");
+
+ /* Ia the mutex already locked? */
+ if (mp->m_owner != NULL) {
+ /* Priority inheritance protocol; explores the thread-mutex dependencies
+ boosting the priority of all the affected threads to equal the priority
+ of the running thread requesting the mutex.*/
+ Thread *tp = mp->m_owner;
+ /* Does the running thread have higher priority than the mutex
+ ownning thread? */
+ while (tp->p_prio < ctp->p_prio) {
+ /* Make priority of thread tp match the running thread's priority.*/
+ tp->p_prio = ctp->p_prio;
+ /* The following states need priority queues reordering.*/
+ switch (tp->p_state) {
+ case THD_STATE_WTMTX:
+ /* Re-enqueues the mutex owner with its new priority.*/
+ prio_insert(dequeue(tp), (ThreadsQueue *)tp->p_u.wtobjp);
+ tp = ((Mutex *)tp->p_u.wtobjp)->m_owner;
+ continue;
+#if CH_USE_CONDVARS | CH_USE_SEMAPHORES_PRIORITY | CH_USE_MESSAGES_PRIORITY
+#if CH_USE_CONDVARS
+ case THD_STATE_WTCOND:
+#endif
+#if CH_USE_SEMAPHORES_PRIORITY
+ case THD_STATE_WTSEM:
+#endif
+#if CH_USE_MESSAGES_PRIORITY
+ case THD_STATE_SNDMSG:
+#endif
+ /* Re-enqueues tp with its new priority on the queue.*/
+ prio_insert(dequeue(tp), (ThreadsQueue *)tp->p_u.wtobjp);
+ break;
+#endif
+ case THD_STATE_READY:
+ /* Re-enqueues tp with its new priority on the ready list.*/
+ chSchReadyI(dequeue(tp));
+ }
+ break;
+ }
+ /* Sleep on the mutex.*/
+ prio_insert(ctp, &mp->m_queue);
+ ctp->p_u.wtobjp = mp;
+ chSchGoSleepS(THD_STATE_WTMTX);
+ chDbgAssert(mp->m_owner == NULL, "chMtxLockS(), #1", "still owned");
+ }
+ /* The mutex is now inserted in the owned mutexes list.*/
+ mp->m_owner = ctp;
+ mp->m_next = ctp->p_mtxlist;
+ ctp->p_mtxlist = mp;
+}
+
+/**
+ * @brief Tries to lock a mutex.
+ * @details This function does not have any overhead related to
+ * the priority inheritance mechanism because it does not try to
+ * enter a sleep state on the mutex.
+ *
+ * @param[in] mp pointer to the @p Mutex structure
+ * @retval TRUE if the mutex was successfully acquired
+ * @retval FALSE if the lock attempt failed.
+ */
+bool_t chMtxTryLock(Mutex *mp) {
+ bool_t b;
+
+ chSysLock();
+
+ b = chMtxTryLockS(mp);
+
+ chSysUnlock();
+ return b;
+}
+
+/**
+ * @brief Tries to lock a mutex.
+ * @details This function does not have any overhead related to
+ * the priority inheritance mechanism because it does not try to
+ * enter a sleep state on the mutex.
+ *
+ * @param[in] mp pointer to the @p Mutex structure
+ * @retval TRUE if the mutex was successfully acquired
+ * @retval FALSE if the lock attempt failed.
+ */
+bool_t chMtxTryLockS(Mutex *mp) {
+
+ chDbgCheck(mp != NULL, "chMtxTryLockS");
+
+ if (mp->m_owner != NULL)
+ return FALSE;
+ mp->m_owner = currp;
+ mp->m_next = currp->p_mtxlist;
+ currp->p_mtxlist = mp;
+ return TRUE;
+}
+
+/**
+ * @brief Unlocks the next owned mutex in reverse lock order.
+ *
+ * @return The pointer to the unlocked mutex.
+ */
+Mutex *chMtxUnlock(void) {
+ Thread *ctp = currp;
+ Mutex *ump, *mp;
+
+ chSysLock();
+ chDbgAssert(ctp->p_mtxlist != NULL,
+ "chMtxUnlock(), #1",
+ "owned mutexes list empty");
+ chDbgAssert(ctp->p_mtxlist->m_owner == ctp,
+ "chMtxUnlock(), #2",
+ "ownership failure");
+ /* Removes the top Mutex from the Threads's owned mutexes list and matk it
+ as not owned.*/
+ ump = ctp->p_mtxlist;
+ ctp->p_mtxlist = ump->m_next;
+ ump->m_owner = NULL;
+ /* If a thread is waiting on the mutex then the fun part begins.*/
+ if (chMtxQueueNotEmptyS(ump)) {
+ /* Recalculates the optimal thread priority by scanning the owned
+ mutexes list.*/
+ tprio_t newprio = ctp->p_realprio;
+ mp = ctp->p_mtxlist;
+ while (mp != NULL) {
+ /* If the highest priority thread waiting in the mutexes list has a
+ greater priority than the current thread base priority then the final
+ priority will have at least that priority.*/
+ if (chMtxQueueNotEmptyS(mp) && (mp->m_queue.p_next->p_prio > newprio))
+ newprio = mp->m_queue.p_next->p_prio;
+ mp = mp->m_next;
+ }
+ /* Assigns to the current thread the highest priority among all the
+ waiting threads.*/
+ ctp->p_prio = newprio;
+ /* Awakens the highest priority thread waiting for the unlocked mutex.*/
+ chSchWakeupS(fifo_remove(&ump->m_queue), RDY_OK);
+ }
+ chSysUnlock();
+ return ump;
+}
+
+/**
+ * @brief Unlocks the next owned mutex in reverse lock order.
+ * @note This function does not reschedule internally.
+ *
+ * @return The pointer to the unlocked mutex.
+ */
+Mutex *chMtxUnlockS(void) {
+ Thread *ctp = currp;
+ Mutex *ump, *mp;
+
+ chDbgAssert(ctp->p_mtxlist != NULL,
+ "chMtxUnlockS(), #1",
+ "owned mutexes list empty");
+ chDbgAssert(ctp->p_mtxlist->m_owner == ctp,
+ "chMtxUnlockS(), #2",
+ "ownership failure");
+
+ /* Removes the top Mutex from the owned mutexes list and marks it as not
+ owned.*/
+ ump = ctp->p_mtxlist;
+ ctp->p_mtxlist = ump->m_next;
+ ump->m_owner = NULL;
+ /* If a thread is waiting on the mutex then the fun part begins.*/
+ if (chMtxQueueNotEmptyS(ump)) {
+ /* Recalculates the optimal thread priority by scanning the owned
+ mutexes list.*/
+ tprio_t newprio = ctp->p_realprio;
+ mp = ctp->p_mtxlist;
+ while (mp != NULL) {
+ /* If the highest priority thread waiting in the mutexes list has a
+ greater priority than the current thread base priority then the final
+ priority will have at least that priority.*/
+ if (chMtxQueueNotEmptyS(mp) && (mp->m_queue.p_next->p_prio > newprio))
+ newprio = mp->m_queue.p_next->p_prio;
+ mp = mp->m_next;
+ }
+ ctp->p_prio = newprio;
+ chSchReadyI(fifo_remove(&ump->m_queue));
+ }
+ return ump;
+}
+
+/**
+ * @brief Unlocks all the mutexes owned by the invoking thread.
+ * @details This function is <b>MUCH MORE</b> efficient than releasing the
+ * mutexes one by one and not just because the call overhead,
+ * this function does not have any overhead related to the priority
+ * inheritance mechanism.
+ */
+void chMtxUnlockAll(void) {
+ Thread *ctp = currp;
+
+ chSysLock();
+ if (ctp->p_mtxlist != NULL) {
+ do {
+ Mutex *mp = ctp->p_mtxlist;
+ ctp->p_mtxlist = mp->m_next;
+ mp->m_owner = NULL;
+ if (chMtxQueueNotEmptyS(mp))
+ chSchReadyI(fifo_remove(&mp->m_queue));
+ } while (ctp->p_mtxlist != NULL);
+ ctp->p_prio = ctp->p_realprio;
+ chSchRescheduleS();
+ }
+ chSysUnlock();
+}
+
+#endif /* CH_USE_MUTEXES */
+
+/** @} */
diff --git a/os/kernel/src/chqueues.c b/os/kernel/src/chqueues.c index 50f1f2401..2f8d1b569 100644 --- a/os/kernel/src/chqueues.c +++ b/os/kernel/src/chqueues.c @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/src/chregistry.c b/os/kernel/src/chregistry.c index b6555df40..8d4ffa4e8 100644 --- a/os/kernel/src/chregistry.c +++ b/os/kernel/src/chregistry.c @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -37,7 +37,7 @@ * @note This function cannot return @p NULL because there is always at
* least one thread in the system.
*
- * @return A reference to the first thread. + * @return A reference to the first thread.
*/
Thread *chRegFirstThread(void) {
Thread *tp;
@@ -55,7 +55,7 @@ Thread *chRegFirstThread(void) { * @brief Returns the thread next to the specified one.
* @details The reference counter of the specified thread is decremented and
* the reference counter of the returned thread is incremented.
- * + *
* @param[in] tp pointer to the thread
* @return A reference to the next thread.
* @retval NULL if there is no next thread.
diff --git a/os/kernel/src/chschd.c b/os/kernel/src/chschd.c index 5bd016226..8cfd5cd81 100644 --- a/os/kernel/src/chschd.c +++ b/os/kernel/src/chschd.c @@ -1,280 +1,280 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2007 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.c - * @brief Scheduler code. - * - * @addtogroup scheduler - * @{ - */ - -#include "ch.h" - -/** - * @brief Ready list header. - */ -ReadyList rlist; - -/** - * @brief Scheduler initialization. - * @note Internally invoked by the @p chSysInit(), not an API. - */ -void scheduler_init(void) { - - queue_init(&rlist.r_queue); - rlist.r_prio = NOPRIO; -#if CH_TIME_QUANTUM > 0 - rlist.r_preempt = CH_TIME_QUANTUM; -#endif -#if CH_USE_REGISTRY - rlist.p_newer = rlist.p_older = (Thread *)&rlist; -#endif -} - -/** - * @brief Inserts a thread in the Ready List. - * @note The function does not reschedule, the @p chSchRescheduleS() should - * be called soon after. - * - * @param[in] tp the Thread to be made ready - * @return The Thread pointer. - */ -#if CH_OPTIMIZE_SPEED -/* NOTE: it is inlined in this module only.*/ -INLINE Thread *chSchReadyI(Thread *tp) { -#else -Thread *chSchReadyI(Thread *tp) { -#endif - Thread *cp; - - tp->p_state = THD_STATE_READY; - cp = (Thread *)&rlist.r_queue; - do { - cp = cp->p_next; - } while (cp->p_prio >= tp->p_prio); - /* Insertion on p_prev.*/ - tp->p_prev = (tp->p_next = cp)->p_prev; - tp->p_prev->p_next = cp->p_prev = tp; - return tp; -} - -/** - * @brief Puts the current thread to sleep into the specified state. - * @details The thread goes into a sleeping state. The @ref thread_states are - * described into @p threads.h. - * - * @param[in] newstate the new thread state - */ -void chSchGoSleepS(tstate_t newstate) { - Thread *otp; - - (otp = currp)->p_state = newstate; - (currp = fifo_remove(&rlist.r_queue))->p_state = THD_STATE_CURRENT; -#if CH_TIME_QUANTUM > 0 - rlist.r_preempt = CH_TIME_QUANTUM; -#endif - chDbgTrace(otp, currp); - chSysSwitchI(otp, currp); -} - -/* - * Timeout wakeup callback. - */ -static void wakeup(void *p) { - Thread *tp = (Thread *)p; - -#if CH_USE_SEMAPHORES || CH_USE_MUTEXES || CH_USE_CONDVARS - switch (tp->p_state) { -#if CH_USE_SEMAPHORES - case THD_STATE_WTSEM: - chSemFastSignalI((Semaphore *)tp->p_u.wtobjp); - /* Falls into, intentional. */ -#endif -#if CH_USE_MUTEXES - case THD_STATE_WTMTX: -#endif -#if CH_USE_CONDVARS - case THD_STATE_WTCOND: -#endif - /* States requiring dequeuing.*/ - dequeue(tp); - } -#endif - chSchReadyI(tp)->p_u.rdymsg = RDY_TIMEOUT; -} - -/** - * @brief Puts the current thread to sleep into the specified state with - * timeout specification. - * @details The thread goes into a sleeping state, if it is not awakened - * explicitly within the specified timeout then it is forcibly - * awakened with a @p RDY_TIMEOUT low level message. The @ref - * thread_states are described into @p threads.h. - * - * @param[in] newstate the new thread state - * @param[in] time the number of ticks before the operation timeouts, the - * special values are handled as follow: - * - @a TIME_INFINITE the thread enters an infinite sleep - * state, this is equivalent to invoking - * @p chSchGoSleepS() but, of course, less efficient. - * - @a TIME_IMMEDIATE this value is accepted but - * interpreted as a normal time specification not as an - * immediate timeout specification. - * . - * @return The wakeup message. - * @retval RDY_TIMEOUT if a timeout occurs. - */ -msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) { - - if (TIME_INFINITE != time) { - VirtualTimer vt; - - chVTSetI(&vt, time, wakeup, currp); - chSchGoSleepS(newstate); - if (chVTIsArmedI(&vt)) - chVTResetI(&vt); - } - else - chSchGoSleepS(newstate); - return currp->p_u.rdymsg; -} - -/** - * @brief Wakes up a thread. - * @details The thread is inserted into the ready list or immediately made - * running depending on its relative priority compared to the current - * thread. - * @note It is equivalent to a @p chSchReadyI() followed by a - * @p chSchRescheduleS() but much more efficient. - * @note The function assumes that the current thread has the highest - * priority. - * - * @param[in] ntp the Thread to be made ready - * @param[in] msg message to the awakened thread - */ -void chSchWakeupS(Thread *ntp, msg_t msg) { - - ntp->p_u.rdymsg = msg; - /* If the waken thread has a not-greater priority than the current - one then it is just inserted in the ready list else it made - running immediately and the invoking thread goes in the ready - list instead.*/ - if (ntp->p_prio <= currp->p_prio) - chSchReadyI(ntp); - else { - Thread *otp = currp; - chSchReadyI(otp); -#if CH_TIME_QUANTUM > 0 - rlist.r_preempt = CH_TIME_QUANTUM; -#endif - (currp = ntp)->p_state = THD_STATE_CURRENT; - chDbgTrace(otp, ntp); - chSysSwitchI(otp, ntp); - } -} - -/** - * @brief Switches to the first thread on the runnable queue. - * @note It is intended to be called if @p chSchRescRequiredI() evaluates - * to @p TRUE. - */ -void chSchDoRescheduleI(void) { - - Thread *otp = currp; - /* Pick the first thread from the ready queue and makes it current.*/ - (currp = fifo_remove(&rlist.r_queue))->p_state = THD_STATE_CURRENT; - chSchReadyI(otp); -#if CH_TIME_QUANTUM > 0 - rlist.r_preempt = CH_TIME_QUANTUM; -#endif - chDbgTrace(otp, currp); - chSysSwitchI(otp, currp); -} - -/** - * @brief Performs a reschedulation if a higher priority thread is runnable. - * @details If a thread with a higher priority than the current thread is in - * the ready list then make the higher priority thread running. - */ -void chSchRescheduleS(void) { - - if (chSchIsRescRequiredI()) - chSchDoRescheduleI(); -} - -/** - * @brief Evaluates if a reschedulation is required. - * @details The decision is taken by comparing the relative priorities and - * depending on the state of the round robin timeout counter. - * @note This function is meant to be used in the timer interrupt handler - * where @p chVTDoTickI() is invoked. - * - * @retval TRUE if there is a thread that should go in running state. - * @retval FALSE if a reschedulation is not required. - */ -bool_t chSchIsRescRequiredExI(void) { - tprio_t p1 = firstprio(&rlist.r_queue); - tprio_t p2 = currp->p_prio; -#if CH_TIME_QUANTUM > 0 - /* If the running thread has not reached its time quantum, reschedule only - if the first thread on the ready queue has a higher priority. - Otherwise, if the running thread has used up its time quantum, reschedule - if the first thread on the ready queue has equal or higher priority.*/ - return rlist.r_preempt ? p1 > p2 : p1 >= p2; -#else - /* If the round robin preemption feature is not enabled then performs a - simpler comparison.*/ - return p1 > p2; -#endif -} - -/** - * @brief Yields the time slot. - * @details Yields the CPU control to the next thread in the ready list with - * equal priority, if any. - */ -void chSchDoYieldS(void) { - - if (chSchCanYieldS()) { - Thread *cp = (Thread *)&rlist.r_queue; - Thread *otp = currp; - - /* Note, the following insertion code works because we know that on the - ready list there is at least one thread with priority equal or higher - than the current one.*/ - otp->p_state = THD_STATE_READY; - do { - cp = cp->p_prev; - } while (cp->p_prio < otp->p_prio); - /* Insertion on p_next.*/ - otp->p_next = (otp->p_prev = cp)->p_next; - otp->p_next->p_prev = cp->p_next = otp; - - /* Pick the first thread from the ready queue and makes it current.*/ - (currp = fifo_remove(&rlist.r_queue))->p_state = THD_STATE_CURRENT; -#if CH_TIME_QUANTUM > 0 - rlist.r_preempt = CH_TIME_QUANTUM; -#endif - chDbgTrace(otp, currp); - chSysSwitchI(otp, currp); - } -} - -/** @} */ +/*
+ 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 chschd.c
+ * @brief Scheduler code.
+ *
+ * @addtogroup scheduler
+ * @{
+ */
+
+#include "ch.h"
+
+/**
+ * @brief Ready list header.
+ */
+ReadyList rlist;
+
+/**
+ * @brief Scheduler initialization.
+ * @note Internally invoked by the @p chSysInit(), not an API.
+ */
+void scheduler_init(void) {
+
+ queue_init(&rlist.r_queue);
+ rlist.r_prio = NOPRIO;
+#if CH_TIME_QUANTUM > 0
+ rlist.r_preempt = CH_TIME_QUANTUM;
+#endif
+#if CH_USE_REGISTRY
+ rlist.p_newer = rlist.p_older = (Thread *)&rlist;
+#endif
+}
+
+/**
+ * @brief Inserts a thread in the Ready List.
+ * @note The function does not reschedule, the @p chSchRescheduleS() should
+ * be called soon after.
+ *
+ * @param[in] tp the Thread to be made ready
+ * @return The Thread pointer.
+ */
+#if CH_OPTIMIZE_SPEED
+/* NOTE: it is inlined in this module only.*/
+INLINE Thread *chSchReadyI(Thread *tp) {
+#else
+Thread *chSchReadyI(Thread *tp) {
+#endif
+ Thread *cp;
+
+ tp->p_state = THD_STATE_READY;
+ cp = (Thread *)&rlist.r_queue;
+ do {
+ cp = cp->p_next;
+ } while (cp->p_prio >= tp->p_prio);
+ /* Insertion on p_prev.*/
+ tp->p_prev = (tp->p_next = cp)->p_prev;
+ tp->p_prev->p_next = cp->p_prev = tp;
+ return tp;
+}
+
+/**
+ * @brief Puts the current thread to sleep into the specified state.
+ * @details The thread goes into a sleeping state. The @ref thread_states are
+ * described into @p threads.h.
+ *
+ * @param[in] newstate the new thread state
+ */
+void chSchGoSleepS(tstate_t newstate) {
+ Thread *otp;
+
+ (otp = currp)->p_state = newstate;
+ (currp = fifo_remove(&rlist.r_queue))->p_state = THD_STATE_CURRENT;
+#if CH_TIME_QUANTUM > 0
+ rlist.r_preempt = CH_TIME_QUANTUM;
+#endif
+ chDbgTrace(otp, currp);
+ chSysSwitchI(otp, currp);
+}
+
+/*
+ * Timeout wakeup callback.
+ */
+static void wakeup(void *p) {
+ Thread *tp = (Thread *)p;
+
+#if CH_USE_SEMAPHORES || CH_USE_MUTEXES || CH_USE_CONDVARS
+ switch (tp->p_state) {
+#if CH_USE_SEMAPHORES
+ case THD_STATE_WTSEM:
+ chSemFastSignalI((Semaphore *)tp->p_u.wtobjp);
+ /* Falls into, intentional. */
+#endif
+#if CH_USE_MUTEXES
+ case THD_STATE_WTMTX:
+#endif
+#if CH_USE_CONDVARS
+ case THD_STATE_WTCOND:
+#endif
+ /* States requiring dequeuing.*/
+ dequeue(tp);
+ }
+#endif
+ chSchReadyI(tp)->p_u.rdymsg = RDY_TIMEOUT;
+}
+
+/**
+ * @brief Puts the current thread to sleep into the specified state with
+ * timeout specification.
+ * @details The thread goes into a sleeping state, if it is not awakened
+ * explicitly within the specified timeout then it is forcibly
+ * awakened with a @p RDY_TIMEOUT low level message. The @ref
+ * thread_states are described into @p threads.h.
+ *
+ * @param[in] newstate the new thread state
+ * @param[in] time the number of ticks before the operation timeouts, the
+ * special values are handled as follow:
+ * - @a TIME_INFINITE the thread enters an infinite sleep
+ * state, this is equivalent to invoking
+ * @p chSchGoSleepS() but, of course, less efficient.
+ * - @a TIME_IMMEDIATE this value is accepted but
+ * interpreted as a normal time specification not as an
+ * immediate timeout specification.
+ * .
+ * @return The wakeup message.
+ * @retval RDY_TIMEOUT if a timeout occurs.
+ */
+msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
+
+ if (TIME_INFINITE != time) {
+ VirtualTimer vt;
+
+ chVTSetI(&vt, time, wakeup, currp);
+ chSchGoSleepS(newstate);
+ if (chVTIsArmedI(&vt))
+ chVTResetI(&vt);
+ }
+ else
+ chSchGoSleepS(newstate);
+ return currp->p_u.rdymsg;
+}
+
+/**
+ * @brief Wakes up a thread.
+ * @details The thread is inserted into the ready list or immediately made
+ * running depending on its relative priority compared to the current
+ * thread.
+ * @note It is equivalent to a @p chSchReadyI() followed by a
+ * @p chSchRescheduleS() but much more efficient.
+ * @note The function assumes that the current thread has the highest
+ * priority.
+ *
+ * @param[in] ntp the Thread to be made ready
+ * @param[in] msg message to the awakened thread
+ */
+void chSchWakeupS(Thread *ntp, msg_t msg) {
+
+ ntp->p_u.rdymsg = msg;
+ /* If the waken thread has a not-greater priority than the current
+ one then it is just inserted in the ready list else it made
+ running immediately and the invoking thread goes in the ready
+ list instead.*/
+ if (ntp->p_prio <= currp->p_prio)
+ chSchReadyI(ntp);
+ else {
+ Thread *otp = currp;
+ chSchReadyI(otp);
+#if CH_TIME_QUANTUM > 0
+ rlist.r_preempt = CH_TIME_QUANTUM;
+#endif
+ (currp = ntp)->p_state = THD_STATE_CURRENT;
+ chDbgTrace(otp, ntp);
+ chSysSwitchI(otp, ntp);
+ }
+}
+
+/**
+ * @brief Switches to the first thread on the runnable queue.
+ * @note It is intended to be called if @p chSchRescRequiredI() evaluates
+ * to @p TRUE.
+ */
+void chSchDoRescheduleI(void) {
+
+ Thread *otp = currp;
+ /* Pick the first thread from the ready queue and makes it current.*/
+ (currp = fifo_remove(&rlist.r_queue))->p_state = THD_STATE_CURRENT;
+ chSchReadyI(otp);
+#if CH_TIME_QUANTUM > 0
+ rlist.r_preempt = CH_TIME_QUANTUM;
+#endif
+ chDbgTrace(otp, currp);
+ chSysSwitchI(otp, currp);
+}
+
+/**
+ * @brief Performs a reschedulation if a higher priority thread is runnable.
+ * @details If a thread with a higher priority than the current thread is in
+ * the ready list then make the higher priority thread running.
+ */
+void chSchRescheduleS(void) {
+
+ if (chSchIsRescRequiredI())
+ chSchDoRescheduleI();
+}
+
+/**
+ * @brief Evaluates if a reschedulation is required.
+ * @details The decision is taken by comparing the relative priorities and
+ * depending on the state of the round robin timeout counter.
+ * @note This function is meant to be used in the timer interrupt handler
+ * where @p chVTDoTickI() is invoked.
+ *
+ * @retval TRUE if there is a thread that should go in running state.
+ * @retval FALSE if a reschedulation is not required.
+ */
+bool_t chSchIsRescRequiredExI(void) {
+ tprio_t p1 = firstprio(&rlist.r_queue);
+ tprio_t p2 = currp->p_prio;
+#if CH_TIME_QUANTUM > 0
+ /* If the running thread has not reached its time quantum, reschedule only
+ if the first thread on the ready queue has a higher priority.
+ Otherwise, if the running thread has used up its time quantum, reschedule
+ if the first thread on the ready queue has equal or higher priority.*/
+ return rlist.r_preempt ? p1 > p2 : p1 >= p2;
+#else
+ /* If the round robin preemption feature is not enabled then performs a
+ simpler comparison.*/
+ return p1 > p2;
+#endif
+}
+
+/**
+ * @brief Yields the time slot.
+ * @details Yields the CPU control to the next thread in the ready list with
+ * equal priority, if any.
+ */
+void chSchDoYieldS(void) {
+
+ if (chSchCanYieldS()) {
+ Thread *cp = (Thread *)&rlist.r_queue;
+ Thread *otp = currp;
+
+ /* Note, the following insertion code works because we know that on the
+ ready list there is at least one thread with priority equal or higher
+ than the current one.*/
+ otp->p_state = THD_STATE_READY;
+ do {
+ cp = cp->p_prev;
+ } while (cp->p_prio < otp->p_prio);
+ /* Insertion on p_next.*/
+ otp->p_next = (otp->p_prev = cp)->p_next;
+ otp->p_next->p_prev = cp->p_next = otp;
+
+ /* Pick the first thread from the ready queue and makes it current.*/
+ (currp = fifo_remove(&rlist.r_queue))->p_state = THD_STATE_CURRENT;
+#if CH_TIME_QUANTUM > 0
+ rlist.r_preempt = CH_TIME_QUANTUM;
+#endif
+ chDbgTrace(otp, currp);
+ chSysSwitchI(otp, currp);
+ }
+}
+
+/** @} */
diff --git a/os/kernel/src/chsem.c b/os/kernel/src/chsem.c index b4ff0d9bc..7af52d8b6 100644 --- a/os/kernel/src/chsem.c +++ b/os/kernel/src/chsem.c @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/src/chsys.c b/os/kernel/src/chsys.c index 8c252609d..2003f690b 100644 --- a/os/kernel/src/chsys.c +++ b/os/kernel/src/chsys.c @@ -1,130 +1,130 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2007 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 chsys.c - * @brief System related code. - * - * @addtogroup system - * @{ - */ - -#include "ch.h" - -static WORKING_AREA(idle_thread_wa, IDLE_THREAD_STACK_SIZE); - -/** - * @brief This function implements the idle thread infinite loop. - * @details The function puts the processor in the lowest power mode capable - * to serve interrupts.<br> - * The priority is internally set to the minimum system value so - * that this thread is executed only if there are no other ready - * threads in the system. - * - * @param[in] p the thread parameter, unused in this scenario - */ -static void idle_thread(void *p) { - - (void)p; - while (TRUE) { - port_wait_for_interrupt(); - IDLE_LOOP_HOOK(); - } -} - -/** - * @brief ChibiOS/RT initialization. - * @details After executing this function the current instructions stream - * becomes the main thread. - * @note Interrupts should be still disabled when @p chSysInit() is invoked - * and are internally enabled. - * @note The main thread is created with priority @p NORMALPRIO. - */ -void chSysInit(void) { - static Thread mainthread; - - port_init(); - scheduler_init(); - vt_init(); -#if CH_USE_MEMCORE - core_init(); -#endif -#if CH_USE_HEAP - heap_init(); -#endif -#if CH_DBG_ENABLE_TRACE - trace_init(); -#endif - - /* Now this instructions flow becomes the main thread.*/ - (currp = init_thread(&mainthread, NORMALPRIO))->p_state = THD_STATE_CURRENT; - chSysEnable(); - - /* This thread has the lowest priority in the system, its role is just to - serve interrupts in its context while keeping the lowest energy saving - mode compatible with the system status.*/ - chThdCreateStatic(idle_thread_wa, sizeof(idle_thread_wa), IDLEPRIO, - (tfunc_t)idle_thread, NULL); -} - -/** - * @brief Handles time ticks for round robin preemption and timer increments. - * @details Decrements the remaining time quantum of the running thread - * and preempts it when the quantum is used up. Increments system - * time and manages the timers. - * - * @note The frequency of the timer determines the system tick granularity - * and, together with the @p CH_TIME_QUANTUM macro, the round robin - * interval. - */ -void chSysTimerHandlerI(void) { - -#if CH_TIME_QUANTUM > 0 - /* Running thread has not used up quantum yet? */ - if (rlist.r_preempt > 0) - /* Decrement remaining quantum.*/ - rlist.r_preempt--; -#endif -#if CH_DBG_THREADS_PROFILING - currp->p_time++; -#endif - chVTDoTickI(); -} - -#if CH_USE_NESTED_LOCKS && !CH_OPTIMIZE_SPEED -void chSysLock(void) { - - chDbgAssert(currp->p_locks >= 0, - "chSysLock(), #1", - "negative nesting counter"); - if (currp->p_locks++ == 0) - port_lock(); -} - -void chSysUnlock(void) { - - chDbgAssert(currp->p_locks > 0, - "chSysUnlock(), #1", - "non-positive nesting counter"); - if (--currp->p_locks == 0) - port_unlock(); -} -#endif /* CH_USE_NESTED_LOCKS && !CH_OPTIMIZE_SPEED */ - -/** @} */ +/*
+ 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 chsys.c
+ * @brief System related code.
+ *
+ * @addtogroup system
+ * @{
+ */
+
+#include "ch.h"
+
+static WORKING_AREA(idle_thread_wa, IDLE_THREAD_STACK_SIZE);
+
+/**
+ * @brief This function implements the idle thread infinite loop.
+ * @details The function puts the processor in the lowest power mode capable
+ * to serve interrupts.<br>
+ * The priority is internally set to the minimum system value so
+ * that this thread is executed only if there are no other ready
+ * threads in the system.
+ *
+ * @param[in] p the thread parameter, unused in this scenario
+ */
+static void idle_thread(void *p) {
+
+ (void)p;
+ while (TRUE) {
+ port_wait_for_interrupt();
+ IDLE_LOOP_HOOK();
+ }
+}
+
+/**
+ * @brief ChibiOS/RT initialization.
+ * @details After executing this function the current instructions stream
+ * becomes the main thread.
+ * @note Interrupts should be still disabled when @p chSysInit() is invoked
+ * and are internally enabled.
+ * @note The main thread is created with priority @p NORMALPRIO.
+ */
+void chSysInit(void) {
+ static Thread mainthread;
+
+ port_init();
+ scheduler_init();
+ vt_init();
+#if CH_USE_MEMCORE
+ core_init();
+#endif
+#if CH_USE_HEAP
+ heap_init();
+#endif
+#if CH_DBG_ENABLE_TRACE
+ trace_init();
+#endif
+
+ /* Now this instructions flow becomes the main thread.*/
+ (currp = init_thread(&mainthread, NORMALPRIO))->p_state = THD_STATE_CURRENT;
+ chSysEnable();
+
+ /* This thread has the lowest priority in the system, its role is just to
+ serve interrupts in its context while keeping the lowest energy saving
+ mode compatible with the system status.*/
+ chThdCreateStatic(idle_thread_wa, sizeof(idle_thread_wa), IDLEPRIO,
+ (tfunc_t)idle_thread, NULL);
+}
+
+/**
+ * @brief Handles time ticks for round robin preemption and timer increments.
+ * @details Decrements the remaining time quantum of the running thread
+ * and preempts it when the quantum is used up. Increments system
+ * time and manages the timers.
+ *
+ * @note The frequency of the timer determines the system tick granularity
+ * and, together with the @p CH_TIME_QUANTUM macro, the round robin
+ * interval.
+ */
+void chSysTimerHandlerI(void) {
+
+#if CH_TIME_QUANTUM > 0
+ /* Running thread has not used up quantum yet? */
+ if (rlist.r_preempt > 0)
+ /* Decrement remaining quantum.*/
+ rlist.r_preempt--;
+#endif
+#if CH_DBG_THREADS_PROFILING
+ currp->p_time++;
+#endif
+ chVTDoTickI();
+}
+
+#if CH_USE_NESTED_LOCKS && !CH_OPTIMIZE_SPEED
+void chSysLock(void) {
+
+ chDbgAssert(currp->p_locks >= 0,
+ "chSysLock(), #1",
+ "negative nesting counter");
+ if (currp->p_locks++ == 0)
+ port_lock();
+}
+
+void chSysUnlock(void) {
+
+ chDbgAssert(currp->p_locks > 0,
+ "chSysUnlock(), #1",
+ "non-positive nesting counter");
+ if (--currp->p_locks == 0)
+ port_unlock();
+}
+#endif /* CH_USE_NESTED_LOCKS && !CH_OPTIMIZE_SPEED */
+
+/** @} */
diff --git a/os/kernel/src/chthreads.c b/os/kernel/src/chthreads.c index 6f67f7093..79ea23f94 100644 --- a/os/kernel/src/chthreads.c +++ b/os/kernel/src/chthreads.c @@ -1,446 +1,446 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2007 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.c - * @brief Threads code. - * - * @addtogroup threads - * @{ - */ - -#include "ch.h" - -/** - * @brief Initializes a thread structure. - * - * @param[in] tp pointer to the thread - * @param[in] prio the priority level for the new thread - * @return The same thread pointer passed as parameter. - */ -Thread *init_thread(Thread *tp, tprio_t prio) { - - tp->p_flags = THD_MEM_MODE_STATIC; - tp->p_prio = prio; - tp->p_state = THD_STATE_SUSPENDED; -#if CH_USE_REGISTRY - REG_INSERT(tp); -#endif -#if CH_USE_DYNAMIC - tp->p_refs = 1; -#endif -#if CH_USE_NESTED_LOCKS - tp->p_locks = 0; -#endif -#if CH_DBG_THREADS_PROFILING - tp->p_time = 0; -#endif -#if CH_USE_MUTEXES - tp->p_realprio = prio; - tp->p_mtxlist = NULL; -#endif -#if CH_USE_WAITEXIT - list_init(&tp->p_waiting); -#endif -#if CH_USE_MESSAGES - queue_init(&tp->p_msgqueue); -#endif -#if CH_USE_EVENTS - tp->p_epending = 0; -#endif - THREAD_EXT_INIT(tp); - return tp; -} - -#if CH_DBG_FILL_THREADS -static void memfill(uint8_t *startp, uint8_t *endp, uint8_t v) { - - while (startp < endp) - *startp++ = v; -} -#endif - -/** - * @brief Initializes a new thread. - * @details The new thread is initialized but not inserted in the ready list, - * the initial state is @p THD_STATE_SUSPENDED. - * @note A thread can terminate by calling @p chThdExit() or by simply - * returning from its main function. - * @note This function can be invoked from within an interrupt handler - * even if it is not an I-Class API because it does not touch - * any critical kernel data structure. - * - * @param[out] wsp pointer to a working area dedicated to the thread stack - * @param[in] size size of the working area - * @param[in] prio the priority level for the new thread - * @param[in] pf the thread function - * @param[in] arg an argument passed to the thread function. It can be - * @p NULL. - * @return The pointer to the @p Thread structure allocated for - * the thread into the working space area. - */ -Thread *chThdInit(void *wsp, size_t size, tprio_t prio, tfunc_t pf, void *arg) { - /* Thread structure is layed out in the lower part of the thread workspace */ - Thread *tp = wsp; - - chDbgCheck((wsp != NULL) && (size >= THD_WA_SIZE(0)) && - (prio <= HIGHPRIO) && (pf != NULL), - "chThdInit"); -#if CH_DBG_FILL_THREADS - memfill((uint8_t *)wsp, (uint8_t *)wsp + sizeof(Thread), THREAD_FILL_VALUE); - memfill((uint8_t *)wsp + sizeof(Thread), - (uint8_t *)wsp + size, STACK_FILL_VALUE); -#endif - SETUP_CONTEXT(wsp, size, pf, arg); - return init_thread(tp, prio); -} - -/** - * @brief Creates a new thread into a static memory area. - * @note A thread can terminate by calling @p chThdExit() or by simply - * returning from its main function. - * - * @param[out] wsp pointer to a working area dedicated to the thread stack - * @param[in] size size of the working area - * @param[in] prio the priority level for the new thread - * @param[in] pf the thread function - * @param[in] arg an argument passed to the thread function. It can be - * @p NULL. - * @return The pointer to the @p Thread structure allocated for - * the thread into the working space area. - */ -Thread *chThdCreateStatic(void *wsp, size_t size, - tprio_t prio, tfunc_t pf, void *arg) { - - return chThdResume(chThdInit(wsp, size, prio, pf, arg)); -} - -#if CH_USE_DYNAMIC && CH_USE_HEAP -/** - * @brief Creates a new thread allocating the memory from the heap. - * @note A thread can terminate by calling @p chThdExit() or by simply - * returning from its main function. - * @note The memory allocated for the thread is not released when the thread - * terminates but when a @p chThdWait() is performed. - * @note The function is available only if the @p CH_USE_DYNAMIC, - * @p CH_USE_HEAP and @p CH_USE_WAITEXIT options are enabled - * in @p chconf.h. - * - * @param[in] heapp heap from which allocate the memory or @p NULL for the - * default heap - * @param[in] size size of the working area to be allocated - * @param[in] prio the priority level for the new thread - * @param[in] pf the thread function - * @param[in] arg an argument passed to the thread function. It can be - * @p NULL. - * @return The pointer to the @p Thread structure allocated for - * the thread into the working space area. - * @retval NULL if the memory cannot be allocated. - */ -Thread *chThdCreateFromHeap(MemoryHeap *heapp, size_t size, - tprio_t prio, tfunc_t pf, void *arg) { - void *wsp; - Thread *tp; - - wsp = chHeapAlloc(heapp, size); - if (wsp == NULL) - return NULL; - tp = chThdInit(wsp, size, prio, pf, arg); - tp->p_flags = THD_MEM_MODE_HEAP; - return chThdResume(tp); -} -#endif /* CH_USE_DYNAMIC && CH_USE_HEAP */ - -#if CH_USE_DYNAMIC && CH_USE_MEMPOOLS -/** - * @brief Creates a new thread allocating the memory from the specified - * Memory Pool. - * @note A thread can terminate by calling @p chThdExit() or by simply - * returning from its main function. - * @note The memory allocated for the thread is not released when the thread - * terminates but when a @p chThdWait() is performed. - * @note The function is available only if the @p CH_USE_DYNAMIC, - * @p CH_USE_MEMPOOLS and @p CH_USE_WAITEXIT options are enabled - * in @p chconf.h. - * - * @param[in] mp pointer to the memory pool object - * @param[in] prio the priority level for the new thread - * @param[in] pf the thread function - * @param[in] arg an argument passed to the thread function. It can be - * @p NULL. - * @return The pointer to the @p Thread structure allocated for - * the thread into the working space area. - * @retval NULL if the memory pool is empty. - */ -Thread *chThdCreateFromMemoryPool(MemoryPool *mp, tprio_t prio, - tfunc_t pf, void *arg) { - void *wsp; - Thread *tp; - - chDbgCheck(mp != NULL, "chThdCreateFromMemoryPool"); - - wsp = chPoolAlloc(mp); - if (wsp == NULL) - return NULL; - tp = chThdInit(wsp, mp->mp_object_size, prio, pf, arg); - tp->p_flags = THD_MEM_MODE_MEMPOOL; - tp->p_mpool = mp; - return chThdResume(tp); -} -#endif /* CH_USE_DYNAMIC && CH_USE_MEMPOOLS */ - -/** - * @brief Changes the running thread priority level then reschedules if - * necessary. - * @note The function returns the real thread priority regardless of the - * current priority that could be higher than the real priority - * because the priority inheritance mechanism. - * - * @param[in] newprio the new priority level of the running thread - * @return The old priority level. - */ -tprio_t chThdSetPriority(tprio_t newprio) { - tprio_t oldprio; - - chDbgCheck((newprio >= LOWPRIO) && (newprio <= HIGHPRIO), - "chThdSetPriority"); - - chSysLock(); -#if CH_USE_MUTEXES - oldprio = currp->p_realprio; - if ((currp->p_prio == currp->p_realprio) || (newprio > currp->p_prio)) - currp->p_prio = newprio; - currp->p_realprio = newprio; -#else - oldprio = currp->p_prio; - currp->p_prio = newprio; -#endif - chSchRescheduleS(); - chSysUnlock(); - return oldprio; -} - -/** - * @brief Resumes a suspended thread. - * @note Use this function to resume threads created with @p chThdInit(). - * - * @param[in] tp pointer to the thread - * @return The pointer to the thread. - */ -Thread *chThdResume(Thread *tp) { - - chSysLock(); - chDbgAssert(tp->p_state == THD_STATE_SUSPENDED, - "chThdResume(), #1", - "thread not in THD_STATE_SUSPENDED state"); - chSchWakeupS(tp, RDY_OK); - chSysUnlock(); - return tp; -} - -/** - * @brief Requests a thread termination. - * @note The thread is not terminated but a termination request is added to - * its @p p_flags field. The thread can read this status by - * invoking @p chThdShouldTerminate() and then terminate cleanly. - * - * @param[in] tp pointer to the thread - */ -void chThdTerminate(Thread *tp) { - - chSysLock(); - tp->p_flags |= THD_TERMINATE; - chSysUnlock(); -} - -/** - * @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. - * . - */ -void chThdSleep(systime_t time) { - - chDbgCheck(time != TIME_INFINITE, "chThdSleep"); - - chSysLock(); - chThdSleepS(time); - chSysUnlock(); -} - -/** - * @brief Suspends the invoking thread until the system time arrives to the - * specified value. - * - * @param[in] time absolute system time - */ -void chThdSleepUntil(systime_t time) { - - chSysLock(); - if ((time -= chTimeNow()) > 0) - chThdSleepS(time); - chSysUnlock(); -} - -/** - * @brief Yields the time slot. - * @details Yields the CPU control to the next thread in the ready list with - * equal priority, if any. - */ -void chThdYield(void) { - - chSysLock(); - chSchDoYieldS(); - chSysUnlock(); -} - -/** - * @brief Terminates the current thread by specifying an exit status code. - * - * @param[in] msg thread exit code. The code can be retrieved by using - * @p chThdWait(). - */ -void chThdExit(msg_t msg) { - Thread *tp = currp; - - chSysLock(); - tp->p_u.exitcode = msg; - THREAD_EXT_EXIT(tp); -#if CH_USE_WAITEXIT - while (notempty(&tp->p_waiting)) - chSchReadyI(list_remove(&tp->p_waiting)); -#endif -#if CH_USE_REGISTRY - REG_REMOVE(tp); -#endif - chSchGoSleepS(THD_STATE_FINAL); -} - -#if CH_USE_DYNAMIC || defined(__DOXYGEN__) -/** - * @brief Adds a reference to a thread object. - * - * @param[in] tp pointer to the thread - * @return The same thread pointer passed as parameter - * representing the new reference. - */ -Thread *chThdAddRef(Thread *tp) { - - chSysLock(); - chDbgAssert(tp->p_refs < 255, "chThdAddRef(), #1", "too many references"); - tp->p_refs++; - chSysUnlock(); - return tp; -} - -/** - * @brief Releases a reference to a thread object. - * @details If the references counter reaches zero <b>and</b> the thread - * is in the @p THD_STATE_FINAL state then the thread's memory is - * returned to the proper allocator. - * @note Static threads are not affected. - * - * @param[in] tp pointer to the thread - */ -void chThdRelease(Thread *tp) { - trefs_t refs; - - chSysLock(); - chDbgAssert(tp->p_refs > 0, "chThdRelease(), #1", "not referenced"); - refs = --tp->p_refs; - chSysUnlock(); - - /* If the references counter reaches zero then the memory can be returned - to the proper allocator. Of course static threads are not affected.*/ - if (refs == 0) { - switch (tp->p_flags & THD_MEM_MODE_MASK) { -#if CH_USE_HEAP - case THD_MEM_MODE_HEAP: - chHeapFree(tp); - break; -#endif -#if CH_USE_MEMPOOLS - case THD_MEM_MODE_MEMPOOL: - chPoolFree(tp->p_mpool, tp); - break; -#endif - } - } -} -#endif /* CH_USE_DYNAMIC */ - -#if CH_USE_WAITEXIT || defined(__DOXYGEN__) -/** - * @brief Blocks the execution of the invoking thread until the specified - * thread terminates then the exit code is returned. - * @details This function waits for the specified thread to terminate then - * decrements its reference counter, if the counter reaches zero then - * the thread working area is returned to the proper allocator.<br> - * The memory used by the exited thread is handled in different ways - * depending on the API that spawned the thread: - * - If the thread was spawned by @p chThdCreateStatic() or by - * @p chThdInit() then nothing happens and the thread working area - * is not released or modified in any way. This is the default, - * totally static, behavior. - * - If the thread was spawned by @p chThdCreateFromHeap() then - * the working area is returned to the system heap. - * - If the thread was spawned by @p chThdCreateFromMemoryPool() - * then the working area is returned to the owning memory pool. - * . - * Please read the @ref article_lifecycle article for more details. - * @note After invoking @p chThdWait() the thread pointer becomes invalid - * and must not be used as parameter for further system calls. - * @note The function is available only if the @p CH_USE_WAITEXIT - * option is enabled in @p chconf.h. - * @note If @p CH_USE_DYNAMIC is not specified this function just waits for - * the thread termination, no memory allocators are involved. - * - * @param[in] tp pointer to the thread - * @return The exit code from the terminated thread. - */ -msg_t chThdWait(Thread *tp) { - msg_t msg; - - chDbgCheck(tp != NULL, "chThdWait"); - - chSysLock(); - chDbgAssert(tp != currp, "chThdWait(), #1", "waiting self"); -#if CH_USE_DYNAMIC - chDbgAssert(tp->p_refs > 0, "chThdWait(), #2", "not referenced"); -#endif - if (tp->p_state != THD_STATE_FINAL) { - list_insert(currp, &tp->p_waiting); - chSchGoSleepS(THD_STATE_WTEXIT); - } - msg = tp->p_u.exitcode; - chSysUnlock(); -#if CH_USE_DYNAMIC - chThdRelease(tp); -#endif - return msg; -} -#endif /* CH_USE_WAITEXIT */ - -/** @} */ +/*
+ 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.c
+ * @brief Threads code.
+ *
+ * @addtogroup threads
+ * @{
+ */
+
+#include "ch.h"
+
+/**
+ * @brief Initializes a thread structure.
+ *
+ * @param[in] tp pointer to the thread
+ * @param[in] prio the priority level for the new thread
+ * @return The same thread pointer passed as parameter.
+ */
+Thread *init_thread(Thread *tp, tprio_t prio) {
+
+ tp->p_flags = THD_MEM_MODE_STATIC;
+ tp->p_prio = prio;
+ tp->p_state = THD_STATE_SUSPENDED;
+#if CH_USE_REGISTRY
+ REG_INSERT(tp);
+#endif
+#if CH_USE_DYNAMIC
+ tp->p_refs = 1;
+#endif
+#if CH_USE_NESTED_LOCKS
+ tp->p_locks = 0;
+#endif
+#if CH_DBG_THREADS_PROFILING
+ tp->p_time = 0;
+#endif
+#if CH_USE_MUTEXES
+ tp->p_realprio = prio;
+ tp->p_mtxlist = NULL;
+#endif
+#if CH_USE_WAITEXIT
+ list_init(&tp->p_waiting);
+#endif
+#if CH_USE_MESSAGES
+ queue_init(&tp->p_msgqueue);
+#endif
+#if CH_USE_EVENTS
+ tp->p_epending = 0;
+#endif
+ THREAD_EXT_INIT(tp);
+ return tp;
+}
+
+#if CH_DBG_FILL_THREADS
+static void memfill(uint8_t *startp, uint8_t *endp, uint8_t v) {
+
+ while (startp < endp)
+ *startp++ = v;
+}
+#endif
+
+/**
+ * @brief Initializes a new thread.
+ * @details The new thread is initialized but not inserted in the ready list,
+ * the initial state is @p THD_STATE_SUSPENDED.
+ * @note A thread can terminate by calling @p chThdExit() or by simply
+ * returning from its main function.
+ * @note This function can be invoked from within an interrupt handler
+ * even if it is not an I-Class API because it does not touch
+ * any critical kernel data structure.
+ *
+ * @param[out] wsp pointer to a working area dedicated to the thread stack
+ * @param[in] size size of the working area
+ * @param[in] prio the priority level for the new thread
+ * @param[in] pf the thread function
+ * @param[in] arg an argument passed to the thread function. It can be
+ * @p NULL.
+ * @return The pointer to the @p Thread structure allocated for
+ * the thread into the working space area.
+ */
+Thread *chThdInit(void *wsp, size_t size, tprio_t prio, tfunc_t pf, void *arg) {
+ /* Thread structure is layed out in the lower part of the thread workspace */
+ Thread *tp = wsp;
+
+ chDbgCheck((wsp != NULL) && (size >= THD_WA_SIZE(0)) &&
+ (prio <= HIGHPRIO) && (pf != NULL),
+ "chThdInit");
+#if CH_DBG_FILL_THREADS
+ memfill((uint8_t *)wsp, (uint8_t *)wsp + sizeof(Thread), THREAD_FILL_VALUE);
+ memfill((uint8_t *)wsp + sizeof(Thread),
+ (uint8_t *)wsp + size, STACK_FILL_VALUE);
+#endif
+ SETUP_CONTEXT(wsp, size, pf, arg);
+ return init_thread(tp, prio);
+}
+
+/**
+ * @brief Creates a new thread into a static memory area.
+ * @note A thread can terminate by calling @p chThdExit() or by simply
+ * returning from its main function.
+ *
+ * @param[out] wsp pointer to a working area dedicated to the thread stack
+ * @param[in] size size of the working area
+ * @param[in] prio the priority level for the new thread
+ * @param[in] pf the thread function
+ * @param[in] arg an argument passed to the thread function. It can be
+ * @p NULL.
+ * @return The pointer to the @p Thread structure allocated for
+ * the thread into the working space area.
+ */
+Thread *chThdCreateStatic(void *wsp, size_t size,
+ tprio_t prio, tfunc_t pf, void *arg) {
+
+ return chThdResume(chThdInit(wsp, size, prio, pf, arg));
+}
+
+#if CH_USE_DYNAMIC && CH_USE_HEAP
+/**
+ * @brief Creates a new thread allocating the memory from the heap.
+ * @note A thread can terminate by calling @p chThdExit() or by simply
+ * returning from its main function.
+ * @note The memory allocated for the thread is not released when the thread
+ * terminates but when a @p chThdWait() is performed.
+ * @note The function is available only if the @p CH_USE_DYNAMIC,
+ * @p CH_USE_HEAP and @p CH_USE_WAITEXIT options are enabled
+ * in @p chconf.h.
+ *
+ * @param[in] heapp heap from which allocate the memory or @p NULL for the
+ * default heap
+ * @param[in] size size of the working area to be allocated
+ * @param[in] prio the priority level for the new thread
+ * @param[in] pf the thread function
+ * @param[in] arg an argument passed to the thread function. It can be
+ * @p NULL.
+ * @return The pointer to the @p Thread structure allocated for
+ * the thread into the working space area.
+ * @retval NULL if the memory cannot be allocated.
+ */
+Thread *chThdCreateFromHeap(MemoryHeap *heapp, size_t size,
+ tprio_t prio, tfunc_t pf, void *arg) {
+ void *wsp;
+ Thread *tp;
+
+ wsp = chHeapAlloc(heapp, size);
+ if (wsp == NULL)
+ return NULL;
+ tp = chThdInit(wsp, size, prio, pf, arg);
+ tp->p_flags = THD_MEM_MODE_HEAP;
+ return chThdResume(tp);
+}
+#endif /* CH_USE_DYNAMIC && CH_USE_HEAP */
+
+#if CH_USE_DYNAMIC && CH_USE_MEMPOOLS
+/**
+ * @brief Creates a new thread allocating the memory from the specified
+ * Memory Pool.
+ * @note A thread can terminate by calling @p chThdExit() or by simply
+ * returning from its main function.
+ * @note The memory allocated for the thread is not released when the thread
+ * terminates but when a @p chThdWait() is performed.
+ * @note The function is available only if the @p CH_USE_DYNAMIC,
+ * @p CH_USE_MEMPOOLS and @p CH_USE_WAITEXIT options are enabled
+ * in @p chconf.h.
+ *
+ * @param[in] mp pointer to the memory pool object
+ * @param[in] prio the priority level for the new thread
+ * @param[in] pf the thread function
+ * @param[in] arg an argument passed to the thread function. It can be
+ * @p NULL.
+ * @return The pointer to the @p Thread structure allocated for
+ * the thread into the working space area.
+ * @retval NULL if the memory pool is empty.
+ */
+Thread *chThdCreateFromMemoryPool(MemoryPool *mp, tprio_t prio,
+ tfunc_t pf, void *arg) {
+ void *wsp;
+ Thread *tp;
+
+ chDbgCheck(mp != NULL, "chThdCreateFromMemoryPool");
+
+ wsp = chPoolAlloc(mp);
+ if (wsp == NULL)
+ return NULL;
+ tp = chThdInit(wsp, mp->mp_object_size, prio, pf, arg);
+ tp->p_flags = THD_MEM_MODE_MEMPOOL;
+ tp->p_mpool = mp;
+ return chThdResume(tp);
+}
+#endif /* CH_USE_DYNAMIC && CH_USE_MEMPOOLS */
+
+/**
+ * @brief Changes the running thread priority level then reschedules if
+ * necessary.
+ * @note The function returns the real thread priority regardless of the
+ * current priority that could be higher than the real priority
+ * because the priority inheritance mechanism.
+ *
+ * @param[in] newprio the new priority level of the running thread
+ * @return The old priority level.
+ */
+tprio_t chThdSetPriority(tprio_t newprio) {
+ tprio_t oldprio;
+
+ chDbgCheck((newprio >= LOWPRIO) && (newprio <= HIGHPRIO),
+ "chThdSetPriority");
+
+ chSysLock();
+#if CH_USE_MUTEXES
+ oldprio = currp->p_realprio;
+ if ((currp->p_prio == currp->p_realprio) || (newprio > currp->p_prio))
+ currp->p_prio = newprio;
+ currp->p_realprio = newprio;
+#else
+ oldprio = currp->p_prio;
+ currp->p_prio = newprio;
+#endif
+ chSchRescheduleS();
+ chSysUnlock();
+ return oldprio;
+}
+
+/**
+ * @brief Resumes a suspended thread.
+ * @note Use this function to resume threads created with @p chThdInit().
+ *
+ * @param[in] tp pointer to the thread
+ * @return The pointer to the thread.
+ */
+Thread *chThdResume(Thread *tp) {
+
+ chSysLock();
+ chDbgAssert(tp->p_state == THD_STATE_SUSPENDED,
+ "chThdResume(), #1",
+ "thread not in THD_STATE_SUSPENDED state");
+ chSchWakeupS(tp, RDY_OK);
+ chSysUnlock();
+ return tp;
+}
+
+/**
+ * @brief Requests a thread termination.
+ * @note The thread is not terminated but a termination request is added to
+ * its @p p_flags field. The thread can read this status by
+ * invoking @p chThdShouldTerminate() and then terminate cleanly.
+ *
+ * @param[in] tp pointer to the thread
+ */
+void chThdTerminate(Thread *tp) {
+
+ chSysLock();
+ tp->p_flags |= THD_TERMINATE;
+ chSysUnlock();
+}
+
+/**
+ * @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.
+ * .
+ */
+void chThdSleep(systime_t time) {
+
+ chDbgCheck(time != TIME_INFINITE, "chThdSleep");
+
+ chSysLock();
+ chThdSleepS(time);
+ chSysUnlock();
+}
+
+/**
+ * @brief Suspends the invoking thread until the system time arrives to the
+ * specified value.
+ *
+ * @param[in] time absolute system time
+ */
+void chThdSleepUntil(systime_t time) {
+
+ chSysLock();
+ if ((time -= chTimeNow()) > 0)
+ chThdSleepS(time);
+ chSysUnlock();
+}
+
+/**
+ * @brief Yields the time slot.
+ * @details Yields the CPU control to the next thread in the ready list with
+ * equal priority, if any.
+ */
+void chThdYield(void) {
+
+ chSysLock();
+ chSchDoYieldS();
+ chSysUnlock();
+}
+
+/**
+ * @brief Terminates the current thread by specifying an exit status code.
+ *
+ * @param[in] msg thread exit code. The code can be retrieved by using
+ * @p chThdWait().
+ */
+void chThdExit(msg_t msg) {
+ Thread *tp = currp;
+
+ chSysLock();
+ tp->p_u.exitcode = msg;
+ THREAD_EXT_EXIT(tp);
+#if CH_USE_WAITEXIT
+ while (notempty(&tp->p_waiting))
+ chSchReadyI(list_remove(&tp->p_waiting));
+#endif
+#if CH_USE_REGISTRY
+ REG_REMOVE(tp);
+#endif
+ chSchGoSleepS(THD_STATE_FINAL);
+}
+
+#if CH_USE_DYNAMIC || defined(__DOXYGEN__)
+/**
+ * @brief Adds a reference to a thread object.
+ *
+ * @param[in] tp pointer to the thread
+ * @return The same thread pointer passed as parameter
+ * representing the new reference.
+ */
+Thread *chThdAddRef(Thread *tp) {
+
+ chSysLock();
+ chDbgAssert(tp->p_refs < 255, "chThdAddRef(), #1", "too many references");
+ tp->p_refs++;
+ chSysUnlock();
+ return tp;
+}
+
+/**
+ * @brief Releases a reference to a thread object.
+ * @details If the references counter reaches zero <b>and</b> the thread
+ * is in the @p THD_STATE_FINAL state then the thread's memory is
+ * returned to the proper allocator.
+ * @note Static threads are not affected.
+ *
+ * @param[in] tp pointer to the thread
+ */
+void chThdRelease(Thread *tp) {
+ trefs_t refs;
+
+ chSysLock();
+ chDbgAssert(tp->p_refs > 0, "chThdRelease(), #1", "not referenced");
+ refs = --tp->p_refs;
+ chSysUnlock();
+
+ /* If the references counter reaches zero then the memory can be returned
+ to the proper allocator. Of course static threads are not affected.*/
+ if (refs == 0) {
+ switch (tp->p_flags & THD_MEM_MODE_MASK) {
+#if CH_USE_HEAP
+ case THD_MEM_MODE_HEAP:
+ chHeapFree(tp);
+ break;
+#endif
+#if CH_USE_MEMPOOLS
+ case THD_MEM_MODE_MEMPOOL:
+ chPoolFree(tp->p_mpool, tp);
+ break;
+#endif
+ }
+ }
+}
+#endif /* CH_USE_DYNAMIC */
+
+#if CH_USE_WAITEXIT || defined(__DOXYGEN__)
+/**
+ * @brief Blocks the execution of the invoking thread until the specified
+ * thread terminates then the exit code is returned.
+ * @details This function waits for the specified thread to terminate then
+ * decrements its reference counter, if the counter reaches zero then
+ * the thread working area is returned to the proper allocator.<br>
+ * The memory used by the exited thread is handled in different ways
+ * depending on the API that spawned the thread:
+ * - If the thread was spawned by @p chThdCreateStatic() or by
+ * @p chThdInit() then nothing happens and the thread working area
+ * is not released or modified in any way. This is the default,
+ * totally static, behavior.
+ * - If the thread was spawned by @p chThdCreateFromHeap() then
+ * the working area is returned to the system heap.
+ * - If the thread was spawned by @p chThdCreateFromMemoryPool()
+ * then the working area is returned to the owning memory pool.
+ * .
+ * Please read the @ref article_lifecycle article for more details.
+ * @note After invoking @p chThdWait() the thread pointer becomes invalid
+ * and must not be used as parameter for further system calls.
+ * @note The function is available only if the @p CH_USE_WAITEXIT
+ * option is enabled in @p chconf.h.
+ * @note If @p CH_USE_DYNAMIC is not specified this function just waits for
+ * the thread termination, no memory allocators are involved.
+ *
+ * @param[in] tp pointer to the thread
+ * @return The exit code from the terminated thread.
+ */
+msg_t chThdWait(Thread *tp) {
+ msg_t msg;
+
+ chDbgCheck(tp != NULL, "chThdWait");
+
+ chSysLock();
+ chDbgAssert(tp != currp, "chThdWait(), #1", "waiting self");
+#if CH_USE_DYNAMIC
+ chDbgAssert(tp->p_refs > 0, "chThdWait(), #2", "not referenced");
+#endif
+ if (tp->p_state != THD_STATE_FINAL) {
+ list_insert(currp, &tp->p_waiting);
+ chSchGoSleepS(THD_STATE_WTEXIT);
+ }
+ msg = tp->p_u.exitcode;
+ chSysUnlock();
+#if CH_USE_DYNAMIC
+ chThdRelease(tp);
+#endif
+ return msg;
+}
+#endif /* CH_USE_WAITEXIT */
+
+/** @} */
diff --git a/os/kernel/src/chvt.c b/os/kernel/src/chvt.c index 9558a1cb7..b48e7f4f4 100644 --- a/os/kernel/src/chvt.c +++ b/os/kernel/src/chvt.c @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -28,7 +28,7 @@ #include "ch.h"
/**
- * @brief Virtual timers delta list header. + * @brief Virtual timers delta list header.
*/
VTList vtlist;
diff --git a/os/kernel/templates/chconf.h b/os/kernel/templates/chconf.h index 6f8233b7f..02d38baf4 100644 --- a/os/kernel/templates/chconf.h +++ b/os/kernel/templates/chconf.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -404,7 +404,7 @@ * @brief Debug option, stacks initialization.
* @details If enabled then the threads working area is filled with a byte
* value when a thread is created. This can be useful for the
- * runtime measurement of the used stack. + * runtime measurement of the used stack.
*
* @note The default is @p FALSE.
*/
diff --git a/os/kernel/templates/chcore.c b/os/kernel/templates/chcore.c index d1bad3c02..2bca5eb6c 100644 --- a/os/kernel/templates/chcore.c +++ b/os/kernel/templates/chcore.c @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -33,7 +33,7 @@ /**
* @brief Port-related initialization code.
- * @note This function is usually empty. + * @note This function is usually empty.
*/
void port_init(void) {
}
@@ -41,7 +41,7 @@ void port_init(void) { /**
* @brief Kernel-lock action.
* @details Usually this function just disables interrupts but may perform more
- * actions. + * actions.
*/
void port_lock(void) {
}
@@ -74,20 +74,20 @@ void port_unlock_from_isr(void) { /**
* @brief Disables all the interrupt sources.
- * @note Of course non maskable interrupt sources are not included. + * @note Of course non maskable interrupt sources are not included.
*/
void port_disable(void) {
}
/**
* @brief Disables the interrupt sources that are not supposed to preempt
- * the kernel. + * the kernel.
*/
void port_suspend(void) {
}
/**
- * @brief Enables all the interrupt sources. + * @brief Enables all the interrupt sources.
*/
void port_enable(void) {
}
@@ -97,7 +97,7 @@ void port_enable(void) { * @details The function is meant to return when an interrupt becomes pending.
* The simplest implementation is an empty function or macro but this
* would not take advantage of architecture-specific power saving
- * modes. + * modes.
*/
void port_wait_for_interrupt(void) {
}
@@ -107,7 +107,7 @@ void port_wait_for_interrupt(void) { * @details This function is invoked by the operating system when an
* unrecoverable error is detected (as example because a programming
* error in the application code that triggers an assertion while in
- * debug mode). + * debug mode).
*/
void port_halt(void) {
diff --git a/os/kernel/templates/chcore.h b/os/kernel/templates/chcore.h index bf72fc042..0e78dbcf5 100644 --- a/os/kernel/templates/chcore.h +++ b/os/kernel/templates/chcore.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -41,7 +41,7 @@ #define CH_ARCHITECTURE_NAME ""
/**
- * @brief Name of the architecture variant (optional). + * @brief Name of the architecture variant (optional).
*/
#define CH_ARCHITECTURE_VARIANT_NAME ""
@@ -144,7 +144,7 @@ struct context { /**
* @brief IRQ handler function declaration.
* @note @p id can be a function name or a vector number depending on the
- * port implementation. + * port implementation.
*/
#define PORT_IRQ_HANDLER(id) void id(void)
diff --git a/os/kernel/templates/chtypes.h b/os/kernel/templates/chtypes.h index f790d847c..5c771e999 100644 --- a/os/kernel/templates/chtypes.h +++ b/os/kernel/templates/chtypes.h @@ -1,5 +1,5 @@ /*
- ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
|