274 lines
9.7 KiB
C
274 lines
9.7 KiB
C
/*
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ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file threads.h
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* @brief Threads macros and structures.
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* @addtogroup threads
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* @{
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*/
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#ifndef _THREADS_H_
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#define _THREADS_H_
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/*
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* Module dependencies check.
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*/
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#if CH_USE_DYNAMIC && !CH_USE_WAITEXIT
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#error "CH_USE_DYNAMIC requires CH_USE_WAITEXIT"
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#endif
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#if CH_USE_DYNAMIC && !CH_USE_HEAP && !CH_USE_MEMPOOLS
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#error "CH_USE_DYNAMIC requires CH_USE_HEAP and/or CH_USE_MEMPOOLS"
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#endif
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/**
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* @brief Structure representing a thread.
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*
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* @extends ThreadsQueue
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* @note Not all the listed fields are always needed, by switching off some
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* not needed ChibiOS/RT subsystems it is possible to save RAM space by
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* shrinking the @p Thread structure.
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*/
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struct Thread {
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Thread *p_next; /**< Next @p Thread in the threads
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list/queue. */
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/* End of the fields shared with the ThreadsList structure. */
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Thread *p_prev; /**< Previous @p Thread in the threads
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queue. */
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/* End of the fields shared with the ThreadsQueue structure. */
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tprio_t p_prio; /**< Thread priority. */
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struct context p_ctx; /**< Processor context. */
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#if CH_USE_REGISTRY
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Thread *p_newer; /**< Newer registry element. */
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Thread *p_older; /**< Older registry element. */
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#endif
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/* End of the fields shared with the ReadyList structure. */
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#if CH_USE_DYNAMIC
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trefs_t p_refs; /**< References to this thread. */
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#endif
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tstate_t p_state; /**< Current thread state. */
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tmode_t p_flags; /**< Various thread flags. */
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#if CH_USE_NESTED_LOCKS
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cnt_t p_locks; /**< Number of nested locks. */
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#endif
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#if CH_DBG_THREADS_PROFILING
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volatile systime_t p_time; /**< Thread consumed time in ticks.
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@note This field can overflow. */
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#endif
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union {
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msg_t rdymsg; /**< Thread wakeup code. */
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msg_t exitcode; /**< The thread exit code
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(@p THD_STATE_FINAL state). */
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void *wtobjp; /**< Generic kernel object pointer. */
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#if CH_USE_EVENTS
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eventmask_t ewmask; /**< Enabled events mask
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(@p THD_STATE_WTOREVT or
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@p THD_STATE_WTANDEVT states). */
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#endif
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} p_u; /**< State-specific fields. */
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#if CH_USE_WAITEXIT
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ThreadsList p_waiting; /**< Termination waiting list. */
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#endif
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#if CH_USE_MESSAGES
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ThreadsQueue p_msgqueue; /**< Messages queue. */
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msg_t p_msg; /**< Thread message. */
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#endif
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#if CH_USE_EVENTS
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eventmask_t p_epending; /**< Pending events mask. */
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#endif
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#if CH_USE_MUTEXES
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Mutex *p_mtxlist; /**< List of the mutexes owned by this
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thread, @p NULL terminated. */
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tprio_t p_realprio; /**< Thread's own, non-inherited,
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priority. */
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#endif
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#if CH_USE_DYNAMIC && CH_USE_MEMPOOLS
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void *p_mpool; /**< Memory Pool where the thread
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workspace is returned. */
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#endif
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/* Extra fields defined in chconf.h */
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THREAD_EXT_FIELDS
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};
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/** Thread state: Ready to run, waiting on the ready list.*/
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#define THD_STATE_READY 0
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/** Thread state: Currently running.*/
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#define THD_STATE_CURRENT 1
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/** Thread state: Thread created in suspended state.*/
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#define THD_STATE_SUSPENDED 2
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/** Thread state: Waiting on a semaphore.*/
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#define THD_STATE_WTSEM 3
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/** Thread state: Waiting on a mutex.*/
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#define THD_STATE_WTMTX 4
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/** Thread state: Waiting in @p chCondWait().*/
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#define THD_STATE_WTCOND 5
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/** Thread state: Waiting in @p chThdSleep() or @p chThdSleepUntil().*/
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#define THD_STATE_SLEEPING 6
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/** Thread state: Waiting in @p chThdWait().*/
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#define THD_STATE_WTEXIT 7
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/** Thread state: Waiting in @p chEvtWaitOneTimeout() or
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@p chEvtWaitAnyTimeout().*/
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#define THD_STATE_WTOREVT 8
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/** Thread state: Waiting in @p chEvtWaitAllTimeout().*/
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#define THD_STATE_WTANDEVT 9
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/** Thread state: Waiting in @p chMsgSend().*/
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#define THD_STATE_SNDMSG 10
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/** Thread state: Waiting in @p chMsgWait().*/
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#define THD_STATE_WTMSG 11
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/** Thread state: After termination.*/
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#define THD_STATE_FINAL 12
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/*
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* Various flags into the thread p_flags field.
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*/
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#define THD_MEM_MODE_MASK 3 /**< Thread memory mode mask. */
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#define THD_MEM_MODE_STATIC 0 /**< Thread memory mode: static.*/
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#define THD_MEM_MODE_HEAP 1 /**< Thread memory mode: heap. */
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#define THD_MEM_MODE_MEMPOOL 2 /**< Thread memory mode: pool. */
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#define THD_TERMINATE 4 /**< Termination requested. */
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/* Not an API, don't use into the application code.*/
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Thread *init_thread(Thread *tp, tprio_t prio);
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/** Thread function.*/
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typedef msg_t (*tfunc_t)(void *);
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/*
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* Threads APIs.
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*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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Thread *chThdInit(void *wsp, size_t size,
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tprio_t prio, tfunc_t pf, void *arg);
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Thread *chThdCreateStatic(void *wsp, size_t size,
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tprio_t prio, tfunc_t pf, void *arg);
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#if CH_USE_DYNAMIC && CH_USE_WAITEXIT && CH_USE_HEAP
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Thread *chThdCreateFromHeap(MemoryHeap *heapp, size_t size,
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tprio_t prio, tfunc_t pf, void *arg);
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#endif
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#if CH_USE_DYNAMIC && CH_USE_WAITEXIT && CH_USE_MEMPOOLS
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Thread *chThdCreateFromMemoryPool(MemoryPool *mp, tprio_t prio,
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tfunc_t pf, void *arg);
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#endif
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tprio_t chThdSetPriority(tprio_t newprio);
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Thread *chThdResume(Thread *tp);
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void chThdTerminate(Thread *tp);
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void chThdSleep(systime_t time);
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void chThdSleepUntil(systime_t time);
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void chThdYield(void);
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void chThdExit(msg_t msg);
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#if CH_USE_DYNAMIC
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Thread *chThdAddRef(Thread *tp);
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void chThdRelease(Thread *tp);
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#endif
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#if CH_USE_WAITEXIT
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msg_t chThdWait(Thread *tp);
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#endif
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#ifdef __cplusplus
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}
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#endif
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/**
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* Returns a pointer to the current @p Thread.
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*/
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#define chThdSelf() currp
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/**
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* Returns the current thread priority.
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*/
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#define chThdGetPriority() (currp->p_prio)
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/**
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* Returns the pointer to the @p Thread local storage area, if any.
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*/
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#define chThdLS() (void *)(currp + 1)
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/**
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* Verifies if the specified thread is in the @p THD_STATE_FINAL state.
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*
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* @param[in] tp the pointer to the thread
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* @retval TRUE thread terminated.
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* @retval FALSE thread not terminated.
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*/
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#define chThdTerminated(tp) ((tp)->p_state == THD_STATE_FINAL)
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/**
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* Verifies if the current thread has a termination request pending.
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*
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* @retval TRUE termination request pended.
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* @retval FALSE termination request not pended.
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*/
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#define chThdShouldTerminate() (currp->p_flags & THD_TERMINATE)
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/**
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* Resumes a thread created with @p chThdInit().
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*
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* @param[in] tp the pointer to the thread
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*/
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#define chThdResumeI(tp) chSchReadyI(tp)
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/**
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* Suspends the invoking thread for the specified time.
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*
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* @param[in] time the delay in system ticks, the special values are handled as
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* follow:
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* - @a TIME_INFINITE the thread enters an infinite sleep
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* state.
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* - @a TIME_IMMEDIATE this value is accepted but interpreted
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* as a normal time specification not as an immediate timeout
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* specification.
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* .
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*/
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#define chThdSleepS(time) chSchGoSleepTimeoutS(THD_STATE_SLEEPING, time)
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/**
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* Delays the invoking thread for the specified number of seconds.
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*
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* @param[in] sec the time in seconds
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* @note The specified time is rounded up to a value allowed by the real
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* system clock.
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* @note The maximum specified value is implementation dependent.
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*/
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#define chThdSleepSeconds(sec) chThdSleep(S2ST(sec))
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/**
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* Delays the invoking thread for the specified number of milliseconds.
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*
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* @param[in] msec the time in milliseconds
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* @note The specified time is rounded up to a value allowed by the real
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* system clock.
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* @note The maximum specified value is implementation dependent.
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*/
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#define chThdSleepMilliseconds(msec) chThdSleep(MS2ST(msec))
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/**
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* Delays the invoking thread for the specified number of microseconds.
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*
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* @param[in] usec the time in microseconds
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* @note The specified time is rounded up to a value allowed by the real
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* system clock.
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* @note The maximum specified value is implementation dependent.
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*/
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#define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec))
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#endif /* _THREADS_H_ */
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/** @} */
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