diff options
Diffstat (limited to 'os/rt/include/chthreads.h')
| -rw-r--r-- | os/rt/include/chthreads.h | 352 |
1 files changed, 114 insertions, 238 deletions
diff --git a/os/rt/include/chthreads.h b/os/rt/include/chthreads.h index 22f499edf..d27de04a9 100644 --- a/os/rt/include/chthreads.h +++ b/os/rt/include/chthreads.h @@ -39,22 +39,23 @@ */
#define CH_STATE_READY 0 /**< @brief Waiting on the ready list. */
#define CH_STATE_CURRENT 1 /**< @brief Currently running. */
-#define CH_STATE_SUSPENDED 2 /**< @brief Created in suspended state. */
-#define CH_STATE_WTSEM 3 /**< @brief Waiting on a semaphore. */
-#define CH_STATE_WTMTX 4 /**< @brief Waiting on a mutex. */
-#define CH_STATE_WTCOND 5 /**< @brief Waiting on a condition
+#define CH_STATE_WTSTART 2 /**< @brief Created but not started. */
+#define CH_STATE_SUSPENDED 3 /**< @brief Created in suspended state. */
+#define CH_STATE_WTSEM 4 /**< @brief Waiting on a semaphore. */
+#define CH_STATE_WTMTX 5 /**< @brief Waiting on a mutex. */
+#define CH_STATE_WTCOND 6 /**< @brief Waiting on a condition
variable. */
-#define CH_STATE_SLEEPING 6 /**< @brief Waiting in @p chThdSleep()
+#define CH_STATE_SLEEPING 7 /**< @brief Waiting in @p chThdSleep()
or @p chThdSleepUntil(). */
-#define CH_STATE_WTEXIT 7 /**< @brief Waiting in @p chThdWait(). */
-#define CH_STATE_WTOREVT 8 /**< @brief Waiting for an event. */
-#define CH_STATE_WTANDEVT 9 /**< @brief Waiting for several events. */
-#define CH_STATE_SNDMSGQ 10 /**< @brief Sending a message, in queue.*/
-#define CH_STATE_SNDMSG 11 /**< @brief Sent a message, waiting
+#define CH_STATE_WTEXIT 8 /**< @brief Waiting in @p chThdWait(). */
+#define CH_STATE_WTOREVT 9 /**< @brief Waiting for an event. */
+#define CH_STATE_WTANDEVT 10 /**< @brief Waiting for several events. */
+#define CH_STATE_SNDMSGQ 11 /**< @brief Sending a message, in queue.*/
+#define CH_STATE_SNDMSG 12 /**< @brief Sent a message, waiting
answer. */
-#define CH_STATE_WTMSG 12 /**< @brief Waiting for a message. */
-#define CH_STATE_WTQUEUE 13 /**< @brief Waiting on an I/O queue. */
-#define CH_STATE_FINAL 14 /**< @brief Thread terminated. */
+#define CH_STATE_WTMSG 13 /**< @brief Waiting for a message. */
+#define CH_STATE_WTQUEUE 14 /**< @brief Waiting on an I/O queue. */
+#define CH_STATE_FINAL 15 /**< @brief Thread terminated. */
/**
* @brief Thread states as array of strings.
@@ -62,9 +63,9 @@ * indexed using the numeric thread state values.
*/
#define CH_STATE_NAMES \
- "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING", \
- "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE", \
- "FINAL"
+ "READY", "WTSTART", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", \
+ "SLEEPING", "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", \
+ "WTMSG", "WTQUEUE", "FINAL"
/** @} */
/**
@@ -92,154 +93,6 @@ /* Module data structures and types. */
/*===========================================================================*/
-/* Forward declaration required by the mutexes stack structure present
- in every thread.*/
-#if CH_CFG_USE_MUTEXES
-typedef struct mutex mutex_t;
-#endif
-
-/**
- * @extends threads_queue_t
- *
- * @brief Structure representing a thread.
- * @note Not all the listed fields are always needed, by switching off some
- * not needed ChibiOS/RT subsystems it is possible to save RAM space
- * by shrinking the @p thread_t structure.
- */
-typedef struct thread {
- thread_t *p_next; /**< @brief Next in the list/queue. */
- /* End of the fields shared with the threads_list_t structure.*/
- thread_t *p_prev; /**< @brief Previous in the queue. */
- /* End of the fields shared with the threads_queue_t structure.*/
- tprio_t p_prio; /**< @brief Thread priority. */
- struct context p_ctx; /**< @brief Processor context. */
-#if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__)
- thread_t *p_newer; /**< @brief Newer registry element. */
- thread_t *p_older; /**< @brief Older registry element. */
-#endif
- /* End of the fields shared with the ReadyList structure. */
-#if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__)
- /**
- * @brief Thread name or @p NULL.
- */
- const char *p_name;
-#endif
-#if CH_DBG_ENABLE_STACK_CHECK || defined(__DOXYGEN__)
- /**
- * @brief Thread stack boundary.
- */
- stkalign_t *p_stklimit;
-#endif
- /**
- * @brief Current thread state.
- */
- tstate_t p_state;
- /**
- * @brief Various thread flags.
- */
- tmode_t p_flags;
-#if CH_CFG_USE_DYNAMIC || defined(__DOXYGEN__)
- /**
- * @brief References to this thread.
- */
- trefs_t p_refs;
-#endif
- /**
- * @brief Number of ticks remaining to this thread.
- */
-#if (CH_CFG_TIME_QUANTUM > 0) || defined(__DOXYGEN__)
- tslices_t p_preempt;
-#endif
-#if CH_DBG_THREADS_PROFILING || defined(__DOXYGEN__)
- /**
- * @brief Thread consumed time in ticks.
- * @note This field can overflow.
- */
- volatile systime_t p_time;
-#endif
- /**
- * @brief State-specific fields.
- * @note All the fields declared in this union are only valid in the
- * specified state or condition and are thus volatile.
- */
- union {
- /**
- * @brief Thread wakeup code.
- * @note This field contains the low level message sent to the thread
- * by the waking thread or interrupt handler. The value is valid
- * after exiting the @p chSchWakeupS() function.
- */
- msg_t rdymsg;
- /**
- * @brief Thread exit code.
- * @note The thread termination code is stored in this field in order
- * to be retrieved by the thread performing a @p chThdWait() on
- * this thread.
- */
- msg_t exitcode;
- /**
- * @brief Pointer to a generic "wait" object.
- * @note This field is used to get a generic pointer to a synchronization
- * object and is valid when the thread is in one of the wait
- * states.
- */
- void *wtobjp;
-#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)
- /**
- * @brief Enabled events mask.
- * @note This field is only valid while the thread is in the
- * @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states.
- */
- eventmask_t ewmask;
-#endif
- } p_u;
-#if CH_CFG_USE_WAITEXIT || defined(__DOXYGEN__)
- /**
- * @brief Termination waiting list.
- */
- threads_list_t p_waiting;
-#endif
-#if CH_CFG_USE_MESSAGES || defined(__DOXYGEN__)
- /**
- * @brief Messages queue.
- */
- threads_queue_t p_msgqueue;
- /**
- * @brief Thread message.
- */
- msg_t p_msg;
-#endif
-#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)
- /**
- * @brief Pending events mask.
- */
- eventmask_t p_epending;
-#endif
-#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)
- /**
- * @brief List of the mutexes owned by this thread.
- * @note The list is terminated by a @p NULL in this field.
- */
- mutex_t *p_mtxlist;
- /**
- * @brief Thread's own, non-inherited, priority.
- */
- tprio_t p_realprio;
-#endif
-#if (CH_CFG_USE_DYNAMIC && CH_CFG_USE_MEMPOOLS) || defined(__DOXYGEN__)
- /**
- * @brief Memory Pool where the thread workspace is returned.
- */
- void *p_mpool;
-#endif
-#if CH_DBG_STATISTICS || defined(__DOXYGEN__)
- time_measurement_t p_stats;
-#endif
-#if defined(CH_CFG_THREAD_EXTRA_FIELDS)
- /* Extra fields defined in chconf.h.*/
- CH_CFG_THREAD_EXTRA_FIELDS
-#endif
-} thread_t;
/**
* @brief Thread function.
@@ -255,80 +108,6 @@ typedef msg_t (*tfunc_t)(void *); * @{
*/
/**
- * @brief Returns a pointer to the current @p thread_t.
- * @note Can be invoked in any context.
- *
- * @special
- */
-#define chThdSelf() currp
-
-/**
- * @brief Returns the current thread priority.
- * @note Can be invoked in any context.
- *
- * @special
- */
-#define chThdGetPriority() (currp->p_prio)
-
-/**
- * @brief Returns the number of ticks consumed by the specified thread.
- * @note This function is only available when the
- * @p CH_DBG_THREADS_PROFILING configuration option is enabled.
- * @note Can be invoked in any context.
- *
- * @param[in] tp pointer to the thread
- *
- * @special
- */
-#define chThdGetTicks(tp) ((tp)->p_time)
-
-/**
- * @brief Verifies if the specified thread is in the @p CH_STATE_FINAL state.
- * @note Can be invoked in any context.
- *
- * @param[in] tp pointer to the thread
- * @retval true thread terminated.
- * @retval false thread not terminated.
- *
- * @special
- */
-#define chThdTerminated(tp) ((tp)->p_state == CH_STATE_FINAL)
-
-/**
- * @brief Verifies if the current thread has a termination request pending.
- * @note Can be invoked in any context.
- *
- * @retval true termination request pending.
- * @retval false termination request not pending.
- *
- * @special
- */
-#define chThdShouldTerminate() (currp->p_flags & CH_FLAG_TERMINATE)
-
-/**
- * @brief Resumes a thread created with @p chThdCreateI().
- *
- * @param[in] tp pointer to the thread
- *
- * @iclass
- */
-#define chThdResumeI(tp) chSchReadyI(tp)
-
-/**
- * @brief Suspends the invoking thread for the specified time.
- *
- * @param[in] time the delay in system ticks, the special values are
- * handled as follow:
- * - @a TIME_INFINITE the thread enters an infinite sleep
- * state.
- * - @a TIME_IMMEDIATE this value is not allowed.
- * .
- *
- * @sclass
- */
-#define chThdSleepS(time) chSchGoSleepTimeoutS(CH_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 tick clock.
@@ -401,6 +180,103 @@ extern "C" { /* 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);
+}
+
+/**
+ * @brief Resumes a thread created with @p chThdCreateI().
+ *
+ * @param[in] tp pointer to the thread
+ *
+ * @xclass
+ */
+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);
+}
+
#endif /* _CHTHREADS_H_ */
/** @} */
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