mirror of https://github.com/rusefi/ChibiOS.git
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8940 35acf78f-673a-0410-8e92-d51de3d6d3f4
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@ -218,131 +218,148 @@ struct ch_thread {
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/* End of the fields shared with the ReadyList structure. */
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#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Thread name or @p NULL.
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* @brief Thread name or @p NULL.
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*/
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const char *name;
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#endif
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/**
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* @brief Thread stack boundary.
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* @note This pointer matches with the working area base address.
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* @brief Thread stack boundary.
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* @note This pointer matches with the working area base address.
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*/
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stkalign_t *stklimit;
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/**
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* @brief Current thread state.
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* @brief Current thread state.
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*/
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tstate_t state;
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/**
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* @brief Number of ticks remaining to this thread.
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* @brief Various thread flags.
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*/
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tmode_t flags;
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#if (CH_CFG_USE_DYNAMIC == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief References to this thread.
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*/
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trefs_t refs;
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#endif
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/**
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* @brief Number of ticks remaining to this thread.
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*/
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#if (CH_CFG_TIME_QUANTUM > 0) || defined(__DOXYGEN__)
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tslices_t preempt;
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#endif
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#if (CH_DBG_THREADS_PROFILING == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Thread consumed time in ticks.
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* @note This field can overflow.
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* @brief Thread consumed time in ticks.
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* @note This field can overflow.
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*/
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volatile systime_t time;
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#endif
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/**
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* @brief State-specific fields.
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* @note All the fields declared in this union are only valid in the
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* specified state or condition and are thus volatile.
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* @brief State-specific fields.
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* @note All the fields declared in this union are only valid in the
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* specified state or condition and are thus volatile.
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*/
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union {
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/**
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* @brief Thread wakeup code.
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* @note This field contains the low level message sent to the thread
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* by the waking thread or interrupt handler. The value is valid
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* after exiting the @p chSchWakeupS() function.
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* @brief Thread wakeup code.
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* @note This field contains the low level message sent to the thread
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* by the waking thread or interrupt handler. The value is valid
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* after exiting the @p chSchWakeupS() function.
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*/
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msg_t rdymsg;
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/**
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* @brief Thread exit code.
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* @note The thread termination code is stored in this field in order
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* to be retrieved by the thread performing a @p chThdWait() on
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* this thread.
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* @brief Thread exit code.
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* @note The thread termination code is stored in this field in order
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* to be retrieved by the thread performing a @p chThdWait() on
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* this thread.
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*/
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msg_t exitcode;
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/**
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* @brief Pointer to a generic "wait" object.
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* @note This field is used to get a generic pointer to a synchronization
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* object and is valid when the thread is in one of the wait
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* states.
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* @brief Pointer to a generic "wait" object.
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* @note This field is used to get a generic pointer to a synchronization
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* object and is valid when the thread is in one of the wait
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* states.
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*/
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void *wtobjp;
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/**
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* @brief Pointer to a generic thread reference object.
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* @note This field is used to get a pointer to a synchronization
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* object and is valid when the thread is in @p CH_STATE_SUSPENDED
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* state.
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* @brief Pointer to a generic thread reference object.
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* @note This field is used to get a pointer to a synchronization
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* object and is valid when the thread is in @p CH_STATE_SUSPENDED
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* state.
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*/
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thread_reference_t *wttrp;
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#if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Thread sent message.
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* @brief Thread sent message.
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*/
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msg_t sentmsg;
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#endif
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#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Pointer to a generic semaphore object.
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* @note This field is used to get a pointer to a synchronization
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* object and is valid when the thread is in @p CH_STATE_WTSEM
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* state.
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* @brief Pointer to a generic semaphore object.
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* @note This field is used to get a pointer to a synchronization
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* object and is valid when the thread is in @p CH_STATE_WTSEM
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* state.
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*/
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struct ch_semaphore *wtsemp;
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#endif
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#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Pointer to a generic mutex object.
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* @note This field is used to get a pointer to a synchronization
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* object and is valid when the thread is in @p CH_STATE_WTMTX
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* state.
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* @brief Pointer to a generic mutex object.
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* @note This field is used to get a pointer to a synchronization
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* object and is valid when the thread is in @p CH_STATE_WTMTX
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* state.
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*/
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struct ch_mutex *wtmtxp;
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#endif
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#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Enabled events mask.
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* @note This field is only valid while the thread is in the
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* @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states.
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* @brief Enabled events mask.
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* @note This field is only valid while the thread is in the
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* @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states.
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*/
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eventmask_t ewmask;
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#endif
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} u;
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#if (CH_CFG_USE_WAITEXIT == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Termination waiting list.
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* @brief Termination waiting list.
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*/
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threads_list_t waiting;
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#endif
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#if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Messages queue.
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* @brief Messages queue.
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*/
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threads_queue_t msgqueue;
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#endif
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#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Pending events mask.
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* @brief Pending events mask.
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*/
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eventmask_t epending;
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#endif
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#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief List of the mutexes owned by this thread.
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* @note The list is terminated by a @p NULL in this field.
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* @brief List of the mutexes owned by this thread.
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* @note The list is terminated by a @p NULL in this field.
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*/
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struct ch_mutex *mtxlist;
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/**
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* @brief Thread's own, non-inherited, priority.
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* @brief Thread's own, non-inherited, priority.
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*/
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tprio_t realprio;
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#endif
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#if ((CH_CFG_USE_DYNAMIC == TRUE) && (CH_CFG_USE_MEMPOOLS == TRUE)) || \
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defined(__DOXYGEN__)
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/**
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* @brief Memory Pool where the thread workspace is returned.
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*/
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void *mpool;
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#endif
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#if (CH_DBG_STATISTICS == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Thread statistics.
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* @brief Thread statistics.
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*/
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time_measurement_t stats;
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#endif
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10
os/rt/rt.mk
10
os/rt/rt.mk
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@ -35,6 +35,9 @@ endif
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ifneq ($(findstring CH_CFG_USE_QUEUES TRUE,$(CHCONF)),)
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KERNSRC += $(CHIBIOS)/os/rt/src/chqueues.c
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endif
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ifneq ($(findstring CH_CFG_USE_DYNAMIC TRUE,$(CHCONF)),)
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KERNSRC += $(CHIBIOS)/os/rt/src/chdynamic.c
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endif
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ifneq ($(findstring CH_CFG_USE_MAILBOXES TRUE,$(CHCONF)),)
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KERNSRC += $(CHIBIOS)/os/common/oslib/src/chmboxes.c
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endif
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ifneq ($(findstring CH_CFG_USE_MEMPOOLS TRUE,$(CHCONF)),)
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KERNSRC += $(CHIBIOS)/os/common/oslib/src/chmempools.c
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endif
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ifneq ($(findstring CH_CFG_USE_DYNAMIC TRUE,$(CHCONF)),)
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KERNSRC += $(CHIBIOS)/os/common/oslib/src/chdynamic.c
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endif
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else
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KERNSRC := $(CHIBIOS)/os/rt/src/chsys.c \
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$(CHIBIOS)/os/rt/src/chdebug.c \
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$(CHIBIOS)/os/rt/src/chevents.c \
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$(CHIBIOS)/os/rt/src/chmsg.c \
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$(CHIBIOS)/os/rt/src/chqueues.c \
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$(CHIBIOS)/os/rt/src/chdynamic.c \
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$(CHIBIOS)/os/common/oslib/src/chmboxes.c \
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$(CHIBIOS)/os/common/oslib/src/chmemcore.c \
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$(CHIBIOS)/os/common/oslib/src/chheap.c \
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$(CHIBIOS)/os/common/oslib/src/chmempools.c \
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$(CHIBIOS)/os/common/oslib/src/chdynamic.c
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$(CHIBIOS)/os/common/oslib/src/chmempools.c
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endif
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# Required include directories
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@ -23,7 +23,6 @@
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*
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* @addtogroup dynamic_threads
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* @details Dynamic threads related APIs and services.
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* @note Compatible with RT only.
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* @{
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*/
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@ -101,8 +101,12 @@ ROMCONST chdebug_t ch_debug = {
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(uint8_t)0,
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#endif
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(uint8_t)_offsetof(thread_t, state),
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(uint8_t)0, /* Flags no more part of the structure. */
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(uint8_t)0, /* Refs no more part of the structure. */
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(uint8_t)_offsetof(thread_t, flags),
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#if CH_CFG_USE_DYNAMIC == TRUE
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(uint8_t)_offsetof(thread_t, refs),
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#else
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(uint8_t)0,
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#endif
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#if CH_CFG_TIME_QUANTUM > 0
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(uint8_t)_offsetof(thread_t, preempt),
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#else
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chSysLock();
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tp = ch.rlist.newer;
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#if CH_CFG_USE_DYNAMIC == TRUE
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tp->refs++;
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#endif
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chSysUnlock();
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return tp;
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/*lint -restore*/
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ntp = NULL;
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}
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#if CH_CFG_USE_DYNAMIC == TRUE
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else {
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chDbgAssert(ntp->refs < (trefs_t)255, "too many references");
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ntp->refs++;
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}
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#endif
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chSysUnlock();
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#if CH_CFG_USE_DYNAMIC == TRUE
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chThdRelease(tp);
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#endif
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return ntp;
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}
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return NULL;
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}
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#endif /* CH_CFG_USE_REGISTRY == TRUE */
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/**
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* @brief Confirms that a pointer is a valid thread pointer.
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return NULL;
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}
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#endif /* CH_CFG_USE_REGISTRY == TRUE */
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/** @} */
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@ -129,6 +129,7 @@ void chSysInit(void) {
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/* Setting up the caller as current thread.*/
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currp->state = CH_STATE_CURRENT;
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currp->flags = CH_FLAG_MODE_STATIC;
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/* Port layer initialization last because it depend on some of the
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initializations performed before.*/
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@ -175,6 +175,7 @@ thread_t *chThdCreateSuspendedI(const thread_descriptor_t *tdp) {
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/* Initial state.*/
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tp->state = CH_STATE_WTSTART;
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tp->flags = CH_FLAG_MODE_STATIC;
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/* Stack boundary.*/
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tp->stklimit = tdp->wbase;
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