mirror of https://github.com/rusefi/ChibiOS.git
Threads queues completed in NIL.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@10155 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
parent
ca129dc5b4
commit
477baaed5a
|
@ -34,8 +34,8 @@
|
|||
<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_REGISTER_GROUPS" value=""/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><contentList/>"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <globalVariableList/> "/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <memoryBlockExpressionList/> "/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <globalVariableList/> "/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <memoryBlockExpressionList/> "/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="./build/ch.elf"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="NIL-STM32F303-DISCOVERY"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
|
||||
|
|
|
@ -48,68 +48,4 @@
|
|||
/* Module exported functions. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Dequeues and wakes up one thread from the queue, if any.
|
||||
*
|
||||
* @param[in] tqp pointer to the threads queue object
|
||||
* @param[in] msg the message code
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) {
|
||||
semaphore_t *sp = &tqp->sem;
|
||||
|
||||
if (chSemGetCounterI(&tqp->sem) < (cnt_t)0) {
|
||||
thread_t *tp = nil.threads;
|
||||
while (true) {
|
||||
/* Is this thread waiting on this semaphore?*/
|
||||
if (tp->u1.semp == sp) {
|
||||
sp->cnt++;
|
||||
|
||||
chDbgAssert(NIL_THD_IS_WTSEM(tp), "not waiting");
|
||||
|
||||
(void) chSchReadyI(tp, msg);
|
||||
return;
|
||||
}
|
||||
tp++;
|
||||
|
||||
chDbgAssert(tp < &nil.threads[CH_CFG_NUM_THREADS],
|
||||
"pointer out of range");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Dequeues and wakes up all threads from the queue.
|
||||
*
|
||||
* @param[in] tqp pointer to the threads queue object
|
||||
* @param[in] msg the message code
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) {
|
||||
semaphore_t *sp = &tqp->sem;
|
||||
thread_t *tp;
|
||||
cnt_t cnt;
|
||||
|
||||
cnt = sp->cnt;
|
||||
sp->cnt = (cnt_t)0;
|
||||
tp = nil.threads;
|
||||
while (cnt < (cnt_t)0) {
|
||||
|
||||
chDbgAssert(tp < &nil.threads[CH_CFG_NUM_THREADS],
|
||||
"pointer out of range");
|
||||
|
||||
/* Is this thread waiting on this semaphore?*/
|
||||
if (tp->u1.semp == sp) {
|
||||
|
||||
chDbgAssert(NIL_THD_IS_WTSEM(tp), "not waiting");
|
||||
|
||||
cnt++;
|
||||
(void) chSchReadyI(tp, msg);
|
||||
}
|
||||
tp++;
|
||||
}
|
||||
}
|
||||
|
||||
/** @} */
|
||||
|
|
|
@ -219,6 +219,8 @@ struct event_source {
|
|||
*/
|
||||
typedef semaphore_t mutex_t;
|
||||
|
||||
|
||||
#if 0
|
||||
/**
|
||||
* @brief Type of a thread queue.
|
||||
* @details A thread queue is a queue of sleeping threads, queued threads
|
||||
|
@ -227,8 +229,9 @@ typedef semaphore_t mutex_t;
|
|||
* because there are no real threads.
|
||||
*/
|
||||
typedef struct {
|
||||
semaphore_t sem;
|
||||
thread_reference_t tr;
|
||||
} threads_queue_t;
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module macros. */
|
||||
|
@ -444,8 +447,7 @@ typedef struct {
|
|||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg);
|
||||
void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
@ -766,7 +768,7 @@ static inline void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
|
|||
*/
|
||||
static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) {
|
||||
|
||||
chSemObjectInit(&tqp->sem, (cnt_t)0);
|
||||
chThdQueueObjectInit(tqp);
|
||||
}
|
||||
|
||||
/**
|
||||
|
@ -795,7 +797,33 @@ static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) {
|
|||
static inline msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp,
|
||||
systime_t time) {
|
||||
|
||||
return chSemWaitTimeoutS(&tqp->sem, time);
|
||||
return chThdEnqueueTimeoutS(tqp, time);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Dequeues and wakes up one thread from the queue, if any.
|
||||
*
|
||||
* @param[in] tqp pointer to the threads queue object
|
||||
* @param[in] msg the message code
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
static inline void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) {
|
||||
|
||||
chThdDequeueNextI(tqp, msg);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Dequeues and wakes up all threads from the queue.
|
||||
*
|
||||
* @param[in] tqp pointer to the threads queue object
|
||||
* @param[in] msg the message code
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
static inline void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) {
|
||||
|
||||
chThdDequeueAllI(tqp, msg);
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
|
@ -534,6 +534,9 @@ struct nil_thread {
|
|||
void *p; /**< @brief Generic pointer. */
|
||||
thread_reference_t *trp; /**< @brief Pointer to thread reference.*/
|
||||
threads_queue_t *tqp; /**< @brief Pointer to thread queue. */
|
||||
#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
|
||||
semaphore_t *semp; /**< @brief Pointer to semaphore. */
|
||||
#endif
|
||||
#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
|
||||
eventmask_t ewmask; /**< @brief Enabled events mask. */
|
||||
#endif
|
||||
|
@ -911,6 +914,29 @@ struct nil_system {
|
|||
#define US2RTC(freq, usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec))
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @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_DATA(name) {(cnt_t)0}
|
||||
|
||||
/**
|
||||
* @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_DECL(name) \
|
||||
threads_queue_t name = _THREADS_QUEUE_DATA(name)
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name Semaphores macros
|
||||
* @{
|
||||
|
@ -1367,6 +1393,7 @@ extern "C" {
|
|||
void chThdResumeI(thread_reference_t *trp, msg_t msg);
|
||||
void chThdSleep(systime_t timeout);
|
||||
void chThdSleepUntil(systime_t abstime);
|
||||
msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout);
|
||||
void chThdDoDequeueNextI(threads_queue_t *tqp, msg_t msg);
|
||||
void chThdDequeueNextI(threads_queue_t *tqp, msg_t msg);
|
||||
void chThdDequeueAllI(threads_queue_t *tqp, msg_t msg);
|
||||
|
|
|
@ -757,6 +757,45 @@ void chThdSleepUntil(systime_t abstime) {
|
|||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enqueues the caller thread on a threads queue object.
|
||||
* @details The caller thread is enqueued and put to sleep until it is
|
||||
* dequeued or the specified timeouts expires.
|
||||
*
|
||||
* @param[in] tqp pointer to the threads queue object
|
||||
* @param[in] timeout the timeout in system ticks, the special values are
|
||||
* handled as follow:
|
||||
* - @a TIME_INFINITE the thread enters an infinite sleep
|
||||
* state.
|
||||
* - @a TIME_IMMEDIATE the thread is not enqueued and
|
||||
* the function returns @p MSG_TIMEOUT as if a timeout
|
||||
* occurred.
|
||||
* .
|
||||
* @return The message from @p osalQueueWakeupOneI() or
|
||||
* @p osalQueueWakeupAllI() functions.
|
||||
* @retval MSG_TIMEOUT if the thread has not been dequeued within the
|
||||
* specified timeout or if the function has been
|
||||
* invoked with @p TIME_IMMEDIATE as timeout
|
||||
* specification.
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout) {
|
||||
|
||||
chDbgCheckClassS();
|
||||
chDbgCheck(tqp != NULL);
|
||||
|
||||
chDbgAssert(tqp->cnt <= (cnt_t)0, "invalid counter");
|
||||
|
||||
if (TIME_IMMEDIATE == timeout) {
|
||||
return MSG_TIMEOUT;
|
||||
}
|
||||
|
||||
tqp->cnt--;
|
||||
nil.current->u1.tqp = tqp;
|
||||
return chSchGoSleepTimeoutS(NIL_STATE_WTQUEUE, timeout);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Dequeues and wakes up one thread from the threads queue object.
|
||||
* @details Dequeues one thread from the queue without checking if the queue
|
||||
|
@ -769,23 +808,23 @@ void chThdSleepUntil(systime_t abstime) {
|
|||
* @iclass
|
||||
*/
|
||||
void chThdDoDequeueNextI(threads_queue_t *tqp, msg_t msg) {
|
||||
thread_reference_t tr = nil.threads;
|
||||
thread_t *tp = nil.threads;
|
||||
|
||||
chDbgAssert(tqp->cnt > (cnt_t)0, "empty queue");
|
||||
chDbgAssert(tqp->cnt < (cnt_t)0, "empty queue");
|
||||
|
||||
while (true) {
|
||||
/* Is this thread waiting on this queue?*/
|
||||
if (tr->u1.tqp == tqp) {
|
||||
if (tp->u1.tqp == tqp) {
|
||||
tqp->cnt++;
|
||||
|
||||
chDbgAssert(NIL_THD_IS_WTQUEUE(tr), "not waiting");
|
||||
chDbgAssert(NIL_THD_IS_WTQUEUE(tp), "not waiting");
|
||||
|
||||
(void) chSchReadyI(tr, msg);
|
||||
(void) chSchReadyI(tp, msg);
|
||||
return;
|
||||
}
|
||||
tr++;
|
||||
tp++;
|
||||
|
||||
chDbgAssert(tr < &nil.threads[CH_CFG_NUM_THREADS],
|
||||
chDbgAssert(tp < &nil.threads[CH_CFG_NUM_THREADS],
|
||||
"pointer out of range");
|
||||
}
|
||||
}
|
||||
|
@ -804,7 +843,7 @@ void chThdDequeueNextI(threads_queue_t *tqp, msg_t msg) {
|
|||
chDbgCheckClassI();
|
||||
chDbgCheck(tqp != NULL);
|
||||
|
||||
if (tqp->cnt <= (cnt_t)0) {
|
||||
if (tqp->cnt < (cnt_t)0) {
|
||||
chThdDoDequeueNextI(tqp, msg);
|
||||
}
|
||||
}
|
||||
|
@ -903,7 +942,7 @@ msg_t chSemWaitTimeoutS(semaphore_t *sp, systime_t timeout) {
|
|||
return MSG_TIMEOUT;
|
||||
}
|
||||
sp->cnt = cnt - (cnt_t)1;
|
||||
nil.current->u1.tqp = (threads_queue_t *)sp;
|
||||
nil.current->u1.semp = sp;
|
||||
return chSchGoSleepTimeoutS(NIL_STATE_WTQUEUE, timeout);
|
||||
}
|
||||
sp->cnt = cnt - (cnt_t)1;
|
||||
|
@ -942,7 +981,21 @@ void chSemSignalI(semaphore_t *sp) {
|
|||
chDbgCheck(sp != NULL);
|
||||
|
||||
if (++sp->cnt <= (cnt_t)0) {
|
||||
chThdDoDequeueNextI((threads_queue_t *)sp, MSG_OK);
|
||||
thread_t *tp = nil.threads;
|
||||
while (true) {
|
||||
/* Is this thread waiting on this semaphore?*/
|
||||
if (tp->u1.semp == sp) {
|
||||
|
||||
chDbgAssert(NIL_THD_IS_WTQUEUE(tp), "not waiting");
|
||||
|
||||
(void) chSchReadyI(tp, MSG_OK);
|
||||
return;
|
||||
}
|
||||
tp++;
|
||||
|
||||
chDbgAssert(tp < &nil.threads[CH_CFG_NUM_THREADS],
|
||||
"pointer out of range");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -998,7 +1051,7 @@ void chSemResetI(semaphore_t *sp, cnt_t n) {
|
|||
"pointer out of range");
|
||||
|
||||
/* Is this thread waiting on this semaphore?*/
|
||||
if (tp->u1.tqp == (threads_queue_t *)sp) {
|
||||
if (tp->u1.semp == sp) {
|
||||
|
||||
chDbgAssert(NIL_THD_IS_WTQUEUE(tp), "not waiting");
|
||||
|
||||
|
|
|
@ -65,6 +65,8 @@ a series of important improvements, new features have been added.
|
|||
|
||||
- Now uses the common ports architecture.
|
||||
- Now uses the new shared RTOS components.
|
||||
- Added implementation of thread queues directly in the kernel, removed it
|
||||
from NIL OSAL.
|
||||
- All new features are optional so there is no code size increase.
|
||||
- Enhanced source-level compatibility with RT.
|
||||
- Enhanced debug features.
|
||||
|
|
Loading…
Reference in New Issue