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Diffstat (limited to 'os/rt/include/chthreads.h')
| -rw-r--r-- | os/rt/include/chthreads.h | 380 |
1 files changed, 380 insertions, 0 deletions
diff --git a/os/rt/include/chthreads.h b/os/rt/include/chthreads.h new file mode 100644 index 000000000..ef83fc963 --- /dev/null +++ b/os/rt/include/chthreads.h @@ -0,0 +1,380 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011,2012,2013 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file chthreads.h
+ * @brief Threads module macros and structures.
+ *
+ * @addtogroup threads
+ * @{
+ */
+
+#ifndef _CHTHREADS_H_
+#define _CHTHREADS_H_
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/**
+ * @name Thread states
+ * @{
+ */
+#define CH_STATE_READY 0 /**< @brief Waiting on the ready list. */
+#define CH_STATE_CURRENT 1 /**< @brief Currently running. */
+#define CH_STATE_WTSTART 2 /**< @brief Created but not started. */
+#define CH_STATE_SUSPENDED 3 /**< @brief Created in suspended state. */
+#define CH_STATE_QUEUED 4 /**< @brief Waiting on an I/O queue. */
+#define CH_STATE_WTSEM 5 /**< @brief Waiting on a semaphore. */
+#define CH_STATE_WTMTX 6 /**< @brief Waiting on a mutex. */
+#define CH_STATE_WTCOND 7 /**< @brief Waiting on a condition
+ variable. */
+#define CH_STATE_SLEEPING 8 /**< @brief Waiting in @p chThdSleep()
+ or @p chThdSleepUntil(). */
+#define CH_STATE_WTEXIT 9 /**< @brief Waiting in @p chThdWait(). */
+#define CH_STATE_WTOREVT 10 /**< @brief Waiting for an event. */
+#define CH_STATE_WTANDEVT 11 /**< @brief Waiting for several events. */
+#define CH_STATE_SNDMSGQ 12 /**< @brief Sending a message, in queue.*/
+#define CH_STATE_SNDMSG 13 /**< @brief Sent a message, waiting
+ answer. */
+#define CH_STATE_WTMSG 14 /**< @brief Waiting for a message. */
+#define CH_STATE_FINAL 15 /**< @brief Thread terminated. */
+
+/**
+ * @brief Thread states as array of strings.
+ * @details Each element in an array initialized with this macro can be
+ * indexed using the numeric thread state values.
+ */
+#define CH_STATE_NAMES \
+ "READY", "WTSTART", "CURRENT", "SUSPENDED", "QUEUED", "WTSEM", "WTMTX", \
+ "WTCOND", "SLEEPING", "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", \
+ "SNDMSG", "WTMSG", "FINAL"
+/** @} */
+
+/**
+ * @name Thread flags and attributes
+ * @{
+ */
+#define CH_FLAG_MODE_MASK 3 /**< @brief Thread memory mode mask. */
+#define CH_FLAG_MODE_STATIC 0 /**< @brief Static thread. */
+#define CH_FLAG_MODE_HEAP 1 /**< @brief Thread allocated from a
+ Memory Heap. */
+#define CH_FLAG_MODE_MEMPOOL 2 /**< @brief Thread allocated from a
+ Memory Pool. */
+#define CH_FLAG_TERMINATE 4 /**< @brief Termination requested flag. */
+/** @} */
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Type of a thread reference.
+ */
+typedef thread_t * thread_reference_t;
+
+/**
+ * @brief Thread function.
+ */
+typedef msg_t (*tfunc_t)(void *);
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/**
+ * @name Working Areas and Alignment
+ */
+/**
+ * @brief Enforces a correct alignment for a stack area size value.
+ *
+ * @param[in] n the stack size to be aligned to the next stack
+ * alignment boundary
+ * @return The aligned stack size.
+ *
+ * @api
+ */
+#define THD_ALIGN_STACK_SIZE(n) \
+ ((((n) - 1) | (sizeof(stkalign_t) - 1)) + 1)
+
+/**
+ * @brief Calculates the total Working Area size.
+ *
+ * @param[in] n the stack size to be assigned to the thread
+ * @return The total used memory in bytes.
+ *
+ * @api
+ */
+#define THD_WORKING_AREA_SIZE(n) \
+ THD_ALIGN_STACK_SIZE(sizeof(thread_t) + PORT_WA_SIZE(n))
+
+/**
+ * @brief Static working area allocation.
+ * @details This macro is used to allocate a static thread working area
+ * aligned as both position and size.
+ *
+ * @param[in] s the name to be assigned to the stack array
+ * @param[in] n the stack size to be assigned to the thread
+ *
+ * @api
+ */
+#define THD_WORKING_AREA(s, n) \
+ stkalign_t s[THD_WORKING_AREA_SIZE(n) / sizeof(stkalign_t)]
+/** @} */
+
+/**
+ * @name Threads abstraction macros
+ */
+/**
+ * @brief Thread declaration macro.
+ * @note Thread declarations should be performed using this macro because
+ * the port layer could define optimizations for thread functions.
+ */
+#define THD_FUNCTION(tname, arg) PORT_THD_FUNCTION(tname, arg)
+/** @} */
+
+/**
+ * @name Threads queues
+ */
+/**
+ * @brief Data part of a static threads queue object initializer.
+ * @details This macro should be used when statically initializing a threads
+ * queue that is part of a bigger structure.
+ *
+ * @param[in] name the name of the threads queue variable
+ */
+#define _threads_queue_t_DATA(name) {(thread_t *)&name, (thread_t *)&name}
+
+/**
+ * @brief Static threads queue object initializer.
+ * @details Statically initialized threads queues require no explicit
+ * initialization using @p queue_init().
+ *
+ * @param[in] name the name of the threads queue variable
+ */
+#define threads_queue_t_DECL(name) \
+ threads_queue_t name = _threads_queue_t_DATA(name)
+/** @} */
+
+/**
+ * @name Macro Functions
+ * @{
+ */
+/**
+ * @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 tick clock.
+ * @note The maximum specifiable value is implementation dependent.
+ *
+ * @param[in] sec time in seconds, must be different from zero
+ *
+ * @api
+ */
+#define chThdSleepSeconds(sec) chThdSleep(S2ST(sec))
+
+/**
+ * @brief Delays the invoking thread for the specified number of
+ * milliseconds.
+ * @note The specified time is rounded up to a value allowed by the real
+ * system tick clock.
+ * @note The maximum specifiable value is implementation dependent.
+ *
+ * @param[in] msec time in milliseconds, must be different from zero
+ *
+ * @api
+ */
+#define chThdSleepMilliseconds(msec) chThdSleep(MS2ST(msec))
+
+/**
+ * @brief Delays the invoking thread for the specified number of
+ * microseconds.
+ * @note The specified time is rounded up to a value allowed by the real
+ * system tick clock.
+ * @note The maximum specifiable value is implementation dependent.
+ *
+ * @param[in] usec time in microseconds, must be different from zero
+ *
+ * @api
+ */
+#define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec))
+/** @} */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ thread_t *_thread_init(thread_t *tp, tprio_t prio);
+#if CH_DBG_FILL_THREADS
+ void _thread_memfill(uint8_t *startp, uint8_t *endp, uint8_t v);
+#endif
+ thread_t *chThdCreateI(void *wsp, size_t size,
+ tprio_t prio, tfunc_t pf, void *arg);
+ thread_t *chThdCreateStatic(void *wsp, size_t size,
+ tprio_t prio, tfunc_t pf, void *arg);
+ thread_t *chThdStart(thread_t *tp);
+ tprio_t chThdSetPriority(tprio_t newprio);
+ msg_t chThdSuspendS(thread_reference_t *trp);
+ msg_t chThdSuspendTimeoutS(thread_reference_t *trp, systime_t timeout);
+ void chThdResumeI(thread_reference_t *trp, msg_t msg);
+ void chThdResumeS(thread_reference_t *trp, msg_t msg);
+ void chThdResume(thread_reference_t *trp, msg_t msg);
+ msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout);
+ void chThdDequeueNextI(threads_queue_t *tqp, msg_t msg);
+ void chThdDequeueAllI(threads_queue_t *tqp, msg_t msg);
+ void chThdTerminate(thread_t *tp);
+ void chThdSleep(systime_t time);
+ void chThdSleepUntil(systime_t time);
+ void chThdYield(void);
+ void chThdExit(msg_t msg);
+ void chThdExitS(msg_t msg);
+#if CH_CFG_USE_WAITEXIT
+ msg_t chThdWait(thread_t *tp);
+#endif
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+ /**
+ * @brief Returns a pointer to the current @p thread_t.
+ *
+ * @xclass
+ */
+static inline thread_t *chThdGetSelfX(void) {
+
+ return ch.rlist.r_current;
+}
+
+/**
+ * @brief Returns the current thread priority.
+ * @note Can be invoked in any context.
+ *
+ * @xclass
+ */
+static inline tprio_t chThdGetPriorityX(void) {
+
+ return chThdGetSelfX()->p_prio;
+}
+
+/**
+ * @brief Returns the number of ticks consumed by the specified thread.
+ * @note This function is only available when the
+ * @p CH_DBG_THREADS_PROFILING configuration option is enabled.
+ *
+ * @param[in] tp pointer to the thread
+ *
+ * @xclass
+ */
+#if CH_DBG_THREADS_PROFILING || defined(__DOXYGEN__)
+static inline systime_t chThdGetTicksX(thread_t *tp) {
+
+ return tp->p_time;
+}
+#endif
+
+/**
+ * @brief Verifies if the specified thread is in the @p CH_STATE_FINAL state.
+ *
+ * @param[in] tp pointer to the thread
+ * @retval true thread terminated.
+ * @retval false thread not terminated.
+ *
+ * @xclass
+ */
+static inline bool chThdTerminatedX(thread_t *tp) {
+
+ return (bool)(tp->p_state == CH_STATE_FINAL);
+}
+
+/**
+ * @brief Verifies if the current thread has a termination request pending.
+ *
+ * @retval true termination request pending.
+ * @retval false termination request not pending.
+ *
+ * @xclass
+ */
+static inline bool chThdShouldTerminateX(void) {
+
+ return (bool)((chThdGetSelfX()->p_flags & CH_FLAG_TERMINATE) != 0);
+}
+
+/**
+ * @brief Resumes a thread created with @p chThdCreateI().
+ *
+ * @param[in] tp pointer to the thread
+ *
+ * @iclass
+ */
+static inline thread_t *chThdStartI(thread_t *tp) {
+
+ chDbgAssert(tp->p_state == CH_STATE_WTSTART, "wrong state");
+
+ return 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 not allowed.
+ * .
+ *
+ * @sclass
+ */
+static inline void chThdSleepS(systime_t time) {
+
+ chDbgCheck(time != TIME_IMMEDIATE);
+
+ chSchGoSleepTimeoutS(CH_STATE_SLEEPING, time);
+}
+
+/**
+ * @brief Initializes a threads queue object.
+ *
+ * @param[out] tqp pointer to the threads queue object
+ *
+ * @init
+ */
+static inline void chThdQueueObjectInit(threads_queue_t *tqp) {
+
+ queue_init(tqp);
+}
+
+#endif /* _CHTHREADS_H_ */
+
+/** @} */
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