/* 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 . */ /** * @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 /** * @brief Structure representing a thread. * * @extends ThreadsQueue * @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; /**< Next @p Thread in the threads list/queue. */ /* End of the fields shared with the ThreadsList structure. */ Thread *p_prev; /**< Previous @p Thread in the threads queue. */ /* End of the fields shared with the ThreadsQueue structure. */ tprio_t p_prio; /**< Thread priority. */ /* End of the fields shared with the ReadyList structure. */ tstate_t p_state; /**< Current thread state. */ tmode_t p_flags; /**< Various thread flags. */ struct context p_ctx; /**< Processor context. */ #if CH_USE_NESTED_LOCKS cnt_t p_locks; /**< Number of nested locks. */ #endif #if CH_DBG_THREADS_PROFILING volatile systime_t p_time; /**< Thread consumed time in ticks. @note This field can overflow. */ #endif union { msg_t rdymsg; /**< Thread wakeup code. */ msg_t exitcode; /**< The thread exit code (@p THD_STATE_FINAL state). */ void *wtobjp; /**< Generic kernel object pointer. */ #if CH_USE_EVENTS eventmask_t ewmask; /**< Enabled events mask (@p THD_STATE_WTOREVT or @p THD_STATE_WTANDEVT states). */ #endif } p_u; /**< State-specific fields. */ #if CH_USE_WAITEXIT Thread *p_waiting; /**< Thread waiting for termination.*/ #endif #if CH_USE_MESSAGES ThreadsQueue p_msgqueue; /**< Messages queue. */ msg_t p_msg; /**< Thread message. */ #endif #if CH_USE_EVENTS eventmask_t p_epending; /**< Pending events mask. */ #endif #if CH_USE_MUTEXES Mutex *p_mtxlist; /**< List of the mutexes owned by this thread, @p NULL terminated. */ tprio_t p_realprio; /**< Thread's own, non-inherited, priority. */ #endif #if CH_USE_DYNAMIC && CH_USE_MEMPOOLS void *p_mpool; /**< Memory Pool where the thread workspace is returned. */ #endif /* Extra fields defined in chconf.h */ THREAD_EXT_FIELDS }; /** Thread state: Ready to run, waiting on the ready list.*/ #define THD_STATE_READY 0 /** Thread state: Currently running.*/ #define THD_STATE_CURRENT 1 /** Thread state: Thread created in suspended state.*/ #define THD_STATE_SUSPENDED 2 /** Thread state: Waiting on a semaphore.*/ #define THD_STATE_WTSEM 3 /** Thread state: Waiting on a mutex.*/ #define THD_STATE_WTMTX 4 /** Thread state: Waiting in @p chCondWait().*/ #define THD_STATE_WTCOND 5 /** Thread state: Waiting in @p chThdSleep() or @p chThdSleepUntil().*/ #define THD_STATE_SLEEPING 6 /** Thread state: Waiting in @p chThdWait().*/ #define THD_STATE_WTEXIT 7 /** Thread state: Waiting in @p chEvtWaitOneTimeout() or @p chEvtWaitAnyTimeout().*/ #define THD_STATE_WTOREVT 8 /** Thread state: Waiting in @p chEvtWaitAllTimeout().*/ #define THD_STATE_WTANDEVT 9 /** Thread state: Waiting in @p chMsgSend().*/ #define THD_STATE_SNDMSG 10 /** Thread state: Waiting in @p chMsgWait().*/ #define THD_STATE_WTMSG 11 /** Thread state: After termination.*/ #define THD_STATE_FINAL 12 /* * Various flags into the thread p_flags field. */ #define THD_MEM_MODE_MASK 3 /**< Thread memory mode mask. */ #define THD_MEM_MODE_STATIC 0 /**< Thread memory mode: static.*/ #define THD_MEM_MODE_HEAP 1 /**< Thread memory mode: heap. */ #define THD_MEM_MODE_MEMPOOL 2 /**< Thread memory mode: pool. */ #define THD_TERMINATE 4 /**< Termination requested. */ /* Not an API, don't use into the application code.*/ Thread *init_thread(Thread *tp, tprio_t prio); /** Thread function.*/ typedef msg_t (*tfunc_t)(void *); /* * Threads APIs. */ #ifdef __cplusplus extern "C" { #endif 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_WAITEXIT msg_t chThdWait(Thread *tp); #endif #ifdef __cplusplus } #endif /** Returns the pointer to the @p Thread currently in execution.*/ #define chThdSelf() currp /** Returns the current thread priority.*/ #define chThdGetPriority() (currp->p_prio) /** Returns the pointer to the @p Thread local storage area, if any.*/ #define chThdLS() (void *)(currp + 1) /** * 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) /** * 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) /** * Resumes a thread created with @p chThdInit(). * * @param[in] tp the pointer to the thread */ #define chThdResumeI(tp) chSchReadyI(tp) /** * 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) /** * Delays the invoking thread for the specified number of seconds. * * @param[in] sec the time in 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. */ #define chThdSleepSeconds(sec) chThdSleep(S2ST(sec)) /** * Delays the invoking thread for the specified number of milliseconds. * * @param[in] msec the time in 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. */ #define chThdSleepMilliseconds(msec) chThdSleep(MS2ST(msec)) /** * Delays the invoking thread for the specified number of microseconds. * * @param[in] usec the time in 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. */ #define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec)) #endif /* _THREADS_H_ */ /** @} */