mirror of https://github.com/rusefi/ChibiOS.git
192 lines
8.1 KiB
C
192 lines
8.1 KiB
C
/*
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ChibiOS - Copyright (C) 2006,2007,2008,2009,2010,2011,2012,2013,2014,
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2015,2016,2017,2018,2019,2020,2021 Giovanni Di Sirio.
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This file is part of ChibiOS.
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ChibiOS 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 version 3 of the License.
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ChibiOS 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 rt/include/chschd.h
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* @brief Scheduler macros and structures.
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*
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* @addtogroup scheduler
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* @{
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*/
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#ifndef CHSCHD_H
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#define CHSCHD_H
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/*===========================================================================*/
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/* Module constants. */
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/*===========================================================================*/
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/**
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* @name Wakeup status codes
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* @{
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*/
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#define MSG_OK (msg_t)0 /**< @brief Normal wakeup message. */
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#define MSG_TIMEOUT (msg_t)-1 /**< @brief Wakeup caused by a timeout
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condition. */
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#define MSG_RESET (msg_t)-2 /**< @brief Wakeup caused by a reset
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condition. */
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/** @} */
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/**
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* @name Priority constants
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* @{
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*/
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#define NOPRIO (tprio_t)0 /**< @brief Ready list header
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priority. */
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#define IDLEPRIO (tprio_t)1 /**< @brief Idle priority. */
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#define LOWPRIO (tprio_t)2 /**< @brief Lowest priority. */
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#define NORMALPRIO (tprio_t)128 /**< @brief Normal priority. */
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#define HIGHPRIO (tprio_t)255 /**< @brief Highest priority. */
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/** @} */
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/**
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* @name Thread states
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* @{
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*/
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#define CH_STATE_READY (tstate_t)0 /**< @brief Waiting on the
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ready list. */
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#define CH_STATE_CURRENT (tstate_t)1 /**< @brief Currently running. */
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#define CH_STATE_WTSTART (tstate_t)2 /**< @brief Just created. */
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#define CH_STATE_SUSPENDED (tstate_t)3 /**< @brief Suspended state. */
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#define CH_STATE_QUEUED (tstate_t)4 /**< @brief On a queue. */
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#define CH_STATE_WTSEM (tstate_t)5 /**< @brief On a semaphore. */
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#define CH_STATE_WTMTX (tstate_t)6 /**< @brief On a mutex. */
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#define CH_STATE_WTCOND (tstate_t)7 /**< @brief On a cond.variable.*/
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#define CH_STATE_SLEEPING (tstate_t)8 /**< @brief Sleeping. */
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#define CH_STATE_WTEXIT (tstate_t)9 /**< @brief Waiting a thread. */
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#define CH_STATE_WTOREVT (tstate_t)10 /**< @brief One event. */
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#define CH_STATE_WTANDEVT (tstate_t)11 /**< @brief Several events. */
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#define CH_STATE_SNDMSGQ (tstate_t)12 /**< @brief Sending a message,
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in queue. */
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#define CH_STATE_SNDMSG (tstate_t)13 /**< @brief Sent a message,
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waiting answer. */
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#define CH_STATE_WTMSG (tstate_t)14 /**< @brief Waiting for a
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message. */
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#define CH_STATE_FINAL (tstate_t)15 /**< @brief Thread terminated. */
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/**
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* @brief Thread states as array of strings.
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* @details Each element in an array initialized with this macro can be
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* indexed using the numeric thread state values.
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*/
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#define CH_STATE_NAMES \
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"READY", "CURRENT", "WTSTART", "SUSPENDED", "QUEUED", "WTSEM", "WTMTX", \
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"WTCOND", "SLEEPING", "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", \
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"SNDMSG", "WTMSG", "FINAL"
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/** @} */
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/**
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* @name Thread flags and attributes
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* @{
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*/
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#define CH_FLAG_MODE_MASK (tmode_t)3U /**< @brief Thread memory mode
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mask. */
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#define CH_FLAG_MODE_STATIC (tmode_t)0U /**< @brief Static thread. */
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#define CH_FLAG_MODE_HEAP (tmode_t)1U /**< @brief Thread allocated
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from a Memory Heap. */
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#define CH_FLAG_MODE_MPOOL (tmode_t)2U /**< @brief Thread allocated
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from a Memory Pool. */
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#define CH_FLAG_TERMINATE (tmode_t)4U /**< @brief Termination requested
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flag. */
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/** @} */
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/*===========================================================================*/
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/* Module pre-compile time settings. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module data structures and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module macros. */
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/*===========================================================================*/
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/**
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* @brief Returns the priority of the first thread on the given ready list.
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*
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* @notapi
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*/
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#define firstprio(rlp) ((rlp)->next->prio)
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/**
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* @brief Current thread pointer get macro.
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* @note This macro is not meant to be used in the application code but
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* only from within the kernel, use @p chThdGetSelfX() instead.
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*/
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#define __sch_get_currthread() __instance_get_currthread(currcore)
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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/*
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* Scheduler 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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void chSchObjectInit(os_instance_t *oip,
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const os_instance_config_t *oicp);
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thread_t *chSchReadyI(thread_t *tp);
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void chSchGoSleepS(tstate_t newstate);
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msg_t chSchGoSleepTimeoutS(tstate_t newstate, sysinterval_t timeout);
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void chSchWakeupS(thread_t *ntp, msg_t msg);
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void chSchRescheduleS(void);
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bool chSchIsPreemptionRequired(void);
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void chSchDoPreemption(void);
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void chSchPreemption(void);
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void chSchDoYieldS(void);
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thread_t *chSchSelectFirstI(void);
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#if CH_CFG_OPTIMIZE_SPEED == FALSE
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void ch_sch_prio_insert(ch_queue_t *qp, ch_queue_t *tp);
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#endif /* CH_CFG_OPTIMIZE_SPEED == FALSE */
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#ifdef __cplusplus
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}
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#endif
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/*===========================================================================*/
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/* Module inline functions. */
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/*===========================================================================*/
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/* If the performance code path has been chosen then all the following
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functions are inlined into the various kernel modules.*/
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#if CH_CFG_OPTIMIZE_SPEED == TRUE
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static inline void ch_sch_prio_insert(ch_queue_t *qp, ch_queue_t *tp) {
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ch_queue_t *cp = qp;
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do {
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cp = cp->next;
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} while ((cp != qp) &&
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(((thread_t *)cp)->hdr.pqueue.prio >= ((thread_t *)tp)->hdr.pqueue.prio));
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tp->next = cp;
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tp->prev = cp->prev;
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tp->prev->next = tp;
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cp->prev = tp;
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}
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#endif /* CH_CFG_OPTIMIZE_SPEED == TRUE */
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#endif /* CHSCHD_H */
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/** @} */
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