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ChibiOS/os/rt/include/chobjects.h

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/*
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
This file is part of ChibiOS.
ChibiOS 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 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 <http://www.gnu.org/licenses/>.
*/
/**
* @file chobjects.h
* @brief Operating System Objects macros and structures.
*
* @addtogroup os_structures
* @{
*/
#ifndef CHOBJECTS_H
#define CHOBJECTS_H
/*===========================================================================*/
/* Module constants. */
/*===========================================================================*/
/*===========================================================================*/
/* Module pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/*===========================================================================*/
/* Module data structures and types. */
/*===========================================================================*/
/**
* @brief Type of a Virtual Timer callback function.
*/
typedef void (*vtfunc_t)(void *p);
/**
* @brief Type of a Virtual Timer structure.
*/
typedef struct ch_delta_list delta_list_t;
/**
* @brief Virtual Timer delta list element and header structure.
*/
struct ch_delta_list {
delta_list_t *next; /**< @brief Next timer in the list. */
delta_list_t *prev; /**< @brief Previous timer in the list. */
sysinterval_t delta; /**< @brief Time delta before timeout. */
};
/**
* @brief Type of a Virtual Timer.
*/
typedef struct ch_virtual_timer {
delta_list_t dlist; /**< @brief Delta list element. */
vtfunc_t func; /**< @brief Timer callback function
pointer. */
void *par; /**< @brief Timer callback function
parameter. */
} virtual_timer_t;
/**
* @brief Type of virtual timers list header.
* @note The timers list is implemented as a double link bidirectional list
* in order to make the unlink time constant, the reset of a virtual
* timer is often used in the code.
*/
typedef struct ch_virtual_timers_list {
delta_list_t dlist; /**< @brief Delta list header. */
#if (CH_CFG_ST_TIMEDELTA == 0) || defined(__DOXYGEN__)
volatile systime_t systime; /**< @brief System Time counter. */
#endif
#if (CH_CFG_ST_TIMEDELTA > 0) || defined(__DOXYGEN__)
/**
* @brief System time of the last tick event.
*/
systime_t lasttime; /**< @brief System time of the last
tick event. */
#endif
#if (CH_CFG_USE_TIMESTAMP == TRUE) || defined(__DOXYGEN__)
volatile uint64_t laststamp; /**< @brief Last generated time stamp. */
#endif
} virtual_timers_list_t;
/**
* @brief Type of a thread reference.
*/
typedef thread_t * thread_reference_t;
/**
* @brief Type of a threads queue.
*/
typedef struct ch_threads_queue {
ch_queue_t queue; /**< @brief Threads queue header. */
} threads_queue_t;
/**
* @brief Structure representing a thread.
* @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 this structure.
*/
struct ch_thread {
union {
ch_list_t list; /**< @brief Threads lists element. */
ch_queue_t queue; /**< @brief Threads queues element. */
ch_priority_queue_t pqueue; /**< @brief Threads ordered queues
element. */
} hdr;
#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
thread_t *newer; /**< @brief Newer registry element. */
thread_t *older; /**< @brief Older registry element. */
#endif
/* End of the fields shared with the ReadyList structure. */
/**
* @brief Processor context.
*/
struct port_context ctx;
#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
/**
* @brief Thread name or @p NULL.
*/
const char *name;
#endif
#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE) || \
defined(__DOXYGEN__)
/**
* @brief Working area base address.
* @note This pointer is used for stack overflow checks and for
* dynamic threading.
*/
stkalign_t *wabase;
#endif
/**
* @brief Current thread state.
*/
tstate_t state;
/**
* @brief Various thread flags.
*/
tmode_t flags;
#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
/**
* @brief References to this thread.
*/
trefs_t refs;
#endif
/**
* @brief Number of ticks remaining to this thread.
*/
#if (CH_CFG_TIME_QUANTUM > 0) || defined(__DOXYGEN__)
tslices_t ticks;
#endif
#if (CH_DBG_THREADS_PROFILING == TRUE) || defined(__DOXYGEN__)
/**
* @brief Thread consumed time in ticks.
* @note This field can overflow.
*/
volatile systime_t time;
#endif
/**
* @brief State-specific fields.
* @note All the fields declared in this union are only valid in the
* specified state or condition and are thus volatile.
*/
union {
/**
* @brief Thread wakeup code.
* @note This field contains the low level message sent to the thread
* by the waking thread or interrupt handler. The value is valid
* after exiting the @p chSchWakeupS() function.
*/
msg_t rdymsg;
/**
* @brief Thread exit code.
* @note The thread termination code is stored in this field in order
* to be retrieved by the thread performing a @p chThdWait() on
* this thread.
*/
msg_t exitcode;
/**
* @brief Pointer to a generic "wait" object.
* @note This field is used to get a generic pointer to a synchronization
* object and is valid when the thread is in one of the wait
* states.
*/
void *wtobjp;
/**
* @brief Pointer to a generic thread reference object.
* @note This field is used to get a pointer to a synchronization
* object and is valid when the thread is in @p CH_STATE_SUSPENDED
* state.
*/
thread_reference_t *wttrp;
#if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)
/**
* @brief Thread sent message.
*/
msg_t sentmsg;
#endif
#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
/**
* @brief Pointer to a generic semaphore object.
* @note This field is used to get a pointer to a synchronization
* object and is valid when the thread is in @p CH_STATE_WTSEM
* state.
*/
struct ch_semaphore *wtsemp;
#endif
#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
/**
* @brief Pointer to a generic mutex object.
* @note This field is used to get a pointer to a synchronization
* object and is valid when the thread is in @p CH_STATE_WTMTX
* state.
*/
struct ch_mutex *wtmtxp;
#endif
#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
/**
* @brief Enabled events mask.
* @note This field is only valid while the thread is in the
* @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states.
*/
eventmask_t ewmask;
#endif
} u;
#if (CH_CFG_USE_WAITEXIT == TRUE) || defined(__DOXYGEN__)
/**
* @brief Termination waiting list.
*/
ch_list_t waiting;
#endif
#if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)
/**
* @brief Messages queue.
*/
ch_queue_t msgqueue;
#endif
#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
/**
* @brief Pending events mask.
*/
eventmask_t epending;
#endif
#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
/**
* @brief List of the mutexes owned by this thread.
* @note The list is terminated by a @p NULL in this field.
*/
struct ch_mutex *mtxlist;
/**
* @brief Thread's own, non-inherited, priority.
*/
tprio_t realprio;
#endif
#if ((CH_CFG_USE_DYNAMIC == TRUE) && (CH_CFG_USE_MEMPOOLS == TRUE)) || \
defined(__DOXYGEN__)
/**
* @brief Memory Pool where the thread workspace is returned.
*/
void *mpool;
#endif
#if (CH_DBG_STATISTICS == TRUE) || defined(__DOXYGEN__)
/**
* @brief Thread statistics.
*/
time_measurement_t stats;
#endif
#if defined(CH_CFG_THREAD_EXTRA_FIELDS)
/* Extra fields defined in chconf.h.*/
CH_CFG_THREAD_EXTRA_FIELDS
#endif
};
/**
* @extends threads_queue_t
*
* @brief Type of a ready list header.
*/
typedef struct ch_ready_list {
/**
* @brief Threads ordered queues header.
* @note The priority field must be initialized to zero.
*/
ch_priority_queue_t pqueue;
#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
/**
* @brief Newer registry element.
*/
thread_t *newer;
/**
* @brief Older registry element.
*/
thread_t *older;
#endif
/* End of the fields shared with the thread_t structure.*/
/**
* @brief The currently running thread.
*/
thread_t *current;
} ready_list_t;
/**
* @brief Type of an system instance configuration.
*/
typedef struct ch_os_instance_config {
/**
* @brief Instance name.
*/
const char *name;
#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE) || \
defined(__DOXYGEN__)
/**
* @brief Lower limit of the main function thread stack.
*/
stkalign_t *mainthread_base;
/**
* @brief Upper limit of the main function thread stack.
*/
stkalign_t *mainthread_end;
#endif
#if (CH_CFG_NO_IDLE_THREAD == FALSE) || defined(__DOXYGEN__)
/**
* @brief Lower limit of the dedicated idle thread stack.
*/
stkalign_t *idlethread_base;
/**
* @brief Upper limit of the dedicated idle thread stack.
*/
stkalign_t *idlethread_end;
#endif
} os_instance_config_t;
/**
* @brief System instance data structure.
*/
struct ch_os_instance {
/**
* @brief Ready list header.
*/
ready_list_t rlist;
/**
* @brief Virtual timers delta list header.
*/
virtual_timers_list_t vtlist;
/**
* @brief Main thread descriptor.
*/
thread_t mainthread;
/**
* @brief System debug.
*/
system_debug_t dbg;
#if (CH_DBG_TRACE_MASK != CH_DBG_TRACE_MASK_DISABLED) || defined(__DOXYGEN__)
/**
* @brief Trace buffer.
*/
trace_buffer_t trace_buffer;
#endif
#if (CH_CFG_USE_TM == TRUE) || defined(__DOXYGEN__)
/**
* @brief Time measurement calibration data.
*/
tm_calibration_t tmc;
#endif
#if (CH_DBG_STATISTICS == TRUE) || defined(__DOXYGEN__)
/**
* @brief Global kernel statistics.
*/
kernel_stats_t kernel_stats;
#endif
#if defined(PORT_INSTANCE_EXTRA_FIELDS) || defined(__DOXYGEN__)
/* Extra fields from port layer.*/
PORT_INSTANCE_EXTRA_FIELDS
#endif
/* Extra fields from configuration.*/
CH_CFG_OS_INSTANCE_EXTRA_FIELDS
};
/*===========================================================================*/
/* Module macros. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
#ifdef __cplusplus
}
#endif
/*===========================================================================*/
/* Module inline functions. */
/*===========================================================================*/
#endif /* CHOBJECTS_H */
/** @} */
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