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Diffstat (limited to 'src/include/threads.h')
| -rw-r--r-- | src/include/threads.h | 203 |
1 files changed, 203 insertions, 0 deletions
diff --git a/src/include/threads.h b/src/include/threads.h new file mode 100644 index 000000000..d8937433f --- /dev/null +++ b/src/include/threads.h @@ -0,0 +1,203 @@ +/*
+ 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/>.
+*/
+
+/**
+ * @addtogroup Threads
+ * @{
+ */
+
+#ifndef _THREADS_H_
+#define _THREADS_H_
+
+#define isempty(qp) ((qp)->p_next == (Thread *)(qp))
+#define notempty(qp) ((qp)->p_next != (Thread *)(qp))
+#define firstprio(qp) ((qp)->p_next->p_prio)
+#define lastprio(qp) ((qp)->p_prev->p_prio)
+
+/**
+ * Generic threads queue header and element.
+ */
+typedef struct {
+ /** First \p Thread in the queue.*/
+ Thread *p_next;
+ /** Last \p Thread in the queue.*/
+ Thread *p_prev;
+} ThreadsQueue;
+
+/**
+ * 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 {
+ /** Next \p Thread in the threads list.*/
+ Thread *p_next;
+ /** Previous \p Thread in the threads list.*/
+ Thread *p_prev;
+ /* End of the fields shared with the ThreadsQueue structure. */
+ /** The thread priority.*/
+ t_prio p_prio;
+ /* End of the fields shared with the ReadyList structure. */
+ /** Current thread state.*/
+ t_tstate p_state;
+ /** Mode flags.*/
+ t_tmode p_flags;
+ /*
+ * The following fields are merged in an union because they are all
+ * state-specific fields. This trick saves some extra space for each
+ * thread in the system.
+ */
+ union {
+ /** Thread wakeup code, normally set to \p RDY_OK by the \p chSchReadyI()
+ * (only while in \p PRCURR or \p PRREADY states).*/
+ t_msg p_rdymsg;
+ /** The thread exit code (only while in \p PREXIT state).*/
+ t_msg p_exitcode;
+#ifdef CH_USE_EVENTS
+ /** Enabled events mask (only while in \p PRWTEVENT state).*/
+ t_eventmask p_ewmask;
+#endif
+#ifdef CH_USE_MESSAGES
+ /** Message (only while in \p PRSNDMSG state).*/
+ t_msg p_msg;
+#endif
+ };
+ /** Machine dependent processor context.*/
+ Context p_ctx;
+ /*
+ * Start of the optional fields. Note, the null thread may also let its
+ * stack overwrite the following fields since it never uses semaphores,
+ * events, messages, exit etc, this can save some space on RAM starved
+ * systems, be caruful in doing so.
+ */
+#ifdef CH_USE_WAITEXIT
+ /** The queue of the threads waiting for this thread termination.*/
+ ThreadsQueue p_waiting;
+#endif
+#ifdef CH_USE_EXIT_EVENT
+ /** The thread termination \p EventSource.*/
+ EventSource p_exitesource;
+#endif
+#ifdef CH_USE_MESSAGES
+ ThreadsQueue p_msgqueue;
+#endif
+#ifdef CH_USE_EVENTS
+ /** Pending events mask.*/
+ t_eventmask p_epending;
+#endif
+#ifdef CH_USE_RT_SEMAPHORES
+ /** Priority backup after acquiring a RT semaphore.*/
+ t_prio p_bakprio;
+ /** RT semaphores depth counter.*/
+ WORD16 p_rtcnt;
+#endif
+};
+
+/** Thread state: Reserved.*/
+#define PRFREE 0
+/** Thread state: Current.*/
+#define PRCURR 1
+/** Thread state: Thread in the ready list.*/
+#define PRREADY 2
+/** Thread state: Thread created in suspended state.*/
+#define PRSUSPENDED 3
+/** Thread state: Waiting on a semaphore.*/
+#define PRWTSEM 4
+/** Thread state: Waiting in \p chThdSleep() or \p chThdSleepUntil().*/
+#define PRSLEEP 5
+/** Thread state: Waiting in \p chThdWait().*/
+#define PRWAIT 6
+/** Thread state: Waiting in \p chEvtWait().*/
+#define PRWTEVENT 7
+/** Thread state: Waiting in \p chMsgSend().*/
+#define PRSNDMSG 8
+/** Thread state: Waiting in \p chMsgWait().*/
+#define PRWTMSG 9
+/** Thread state: After termination.*/
+#define PREXIT 10
+
+/** Thread option: Termination requested flag.*/
+#define P_TERMINATE 1
+/** Thread option: Create suspended thread.*/
+#define P_SUSPENDED 2
+
+/** Idle thread priority.*/
+#define IDLEPRIO 0
+/** Lowest user priority.*/
+#define LOWPRIO 1
+/** Normal user priority.*/
+#define NORMALPRIO 128
+/** Highest user priority.*/
+#define HIGHPRIO 255
+/** Boosted base priority.*/
+#define MEPRIO 256
+/** Absolute priority.*/
+#define ABSPRIO 512
+
+/* Not an API, don't use into the application code.*/
+void _InitThread(t_prio prio, t_tmode mode, Thread *tp);
+
+/** Thread function.*/
+typedef t_msg (*t_tfunc)(void *);
+
+/*
+ * Threads Lists functions.
+ */
+#ifndef CH_OPTIMIZE_SPEED
+void enqueue(Thread *tp, ThreadsQueue *tqp);
+Thread *dequeue(Thread *tp);
+#else
+static INLINE Thread *dequeue(Thread *tp) {
+
+ tp->p_prev->p_next = tp->p_next;
+ tp->p_next->p_prev = tp->p_prev;
+ return tp;
+}
+
+static INLINE void enqueue(Thread *tp, ThreadsQueue *tqp) {
+
+ tp->p_next = (Thread *)tqp;
+ tp->p_prev = tqp->p_prev;
+ tqp->p_prev->p_next = tp;
+ tqp->p_prev = tp;
+}
+#endif
+
+/*
+ * Threads APIs.
+ */
+#define chThdSelf() currp
+Thread *chThdCreate(t_prio prio, t_tmode mode, void *workspace,
+ t_size wsize, t_tfunc pf, void *arg);
+void chThdResume(Thread *tp);
+void chThdTerminate(Thread *tp);
+BOOL chThdShouldTerminate(void);
+BOOL chThdTerminated(Thread *tp);
+void chThdExit(t_msg msg);
+#ifdef CH_USE_WAITEXIT
+t_msg chThdWait(Thread *tp);
+#endif
+#ifdef CH_USE_EXIT_EVENT
+EventSource *chThdGetExitEventSource(Thread *tp);
+#endif
+
+#endif /* _THREADS_H_ */
+
+/** @} */
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