453 lines
13 KiB
C
453 lines
13 KiB
C
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/*
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ChibiOS - Copyright (C) 2006..2016 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; either version 3 of the License, or
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(at your option) any later version.
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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 chthreads.h
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* @brief Threads module macros and structures.
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*
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* @addtogroup threads
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* @{
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*/
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#ifndef CHTHREADS_H
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#define CHTHREADS_H
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/*lint -sem(chThdExit, r_no) -sem(chThdExitS, r_no)*/
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/*===========================================================================*/
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/* Module constants. */
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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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#if !defined(CH_CFG_THREAD_EXTRA_FIELDS)
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#error "CH_CFG_THREAD_EXTRA_FIELDS not defined in chconf.h"
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#endif
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#if !defined(CH_CFG_THREAD_INIT_HOOK)
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#error "CH_CFG_THREAD_INIT_HOOK not defined in chconf.h"
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#endif
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#if !defined(CH_CFG_THREAD_EXIT_HOOK)
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#error "CH_CFG_THREAD_EXIT_HOOK not defined in chconf.h"
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#endif
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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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* @brief Thread function.
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*/
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typedef void (*tfunc_t)(void *p);
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/**
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* @brief Type of a thread descriptor.
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*/
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typedef struct {
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/**
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* @brief Thread name.
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*/
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const char *name;
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/**
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* @brief Pointer to the working area base.
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*/
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stkalign_t *wbase;
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/**
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* @brief End of the working area.
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*/
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stkalign_t *wend;
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/**
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* @brief Thread priority.
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*/
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tprio_t prio;
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/**
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* @brief Thread function pointer.
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*/
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tfunc_t funcp;
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/**
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* @brief Thread argument.
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*/
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void *arg;
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} thread_descriptor_t;
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/*===========================================================================*/
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/* Module macros. */
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/*===========================================================================*/
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/**
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* @name Threads queues
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*/
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/**
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* @brief Data part of a static threads queue object initializer.
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* @details This macro should be used when statically initializing a threads
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* queue that is part of a bigger structure.
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*
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* @param[in] name the name of the threads queue variable
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*/
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#define _THREADS_QUEUE_DATA(name) {(thread_t *)&name, (thread_t *)&name}
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/**
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* @brief Static threads queue object initializer.
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* @details Statically initialized threads queues require no explicit
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* initialization using @p queue_init().
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*
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* @param[in] name the name of the threads queue variable
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*/
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#define _THREADS_QUEUE_DECL(name) \
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threads_queue_t name = _THREADS_QUEUE_DATA(name)
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/** @} */
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/**
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* @name Working Areas
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*/
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/**
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* @brief Calculates the total Working Area size.
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*
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* @param[in] n the stack size to be assigned to the thread
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* @return The total used memory in bytes.
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*
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* @api
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*/
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#define THD_WORKING_AREA_SIZE(n) \
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MEM_ALIGN_NEXT(sizeof(thread_t) + PORT_WA_SIZE(n), PORT_STACK_ALIGN)
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/**
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* @brief Static working area allocation.
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* @details This macro is used to allocate a static thread working area
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* aligned as both position and size.
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*
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* @param[in] s the name to be assigned to the stack array
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* @param[in] n the stack size to be assigned to the thread
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*
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* @api
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*/
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#define THD_WORKING_AREA(s, n) PORT_WORKING_AREA(s, n)
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/**
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* @brief Base of a working area casted to the correct type.
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*
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* @param[in] s name of the working area
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*/
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#define THD_WORKING_AREA_BASE(s) ((stkalign_t *)(s))
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/**
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* @brief End of a working area casted to the correct type.
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*
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* @param[in] s name of the working area
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*/
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#define THD_WORKING_AREA_END(s) (THD_WORKING_AREA_BASE(s) + \
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(sizeof (s) / sizeof (stkalign_t)))
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/** @} */
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/**
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* @name Threads abstraction macros
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*/
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/**
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* @brief Thread declaration macro.
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* @note Thread declarations should be performed using this macro because
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* the port layer could define optimizations for thread functions.
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*/
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#define THD_FUNCTION(tname, arg) PORT_THD_FUNCTION(tname, arg)
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/** @} */
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/**
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* @name Macro Functions
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* @{
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*/
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/**
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* @brief Delays the invoking thread for the specified number of seconds.
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* @note The specified time is rounded up to a value allowed by the real
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* system tick clock.
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* @note The maximum specifiable value is implementation dependent.
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* @note Use of this macro for large values is not secure because
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* integer overflows, make sure your value can be correctly
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* converted.
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*
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* @param[in] sec time in seconds, must be different from zero
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*
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* @api
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*/
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#define chThdSleepSeconds(sec) chThdSleep(S2ST(sec))
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/**
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* @brief Delays the invoking thread for the specified number of
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* milliseconds.
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* @note The specified time is rounded up to a value allowed by the real
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* system tick clock.
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* @note The maximum specifiable value is implementation dependent.
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* @note Use of this macro for large values is not secure because
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* integer overflows, make sure your value can be correctly
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* converted.
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*
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* @param[in] msec time in milliseconds, must be different from zero
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*
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* @api
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*/
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#define chThdSleepMilliseconds(msec) chThdSleep(MS2ST(msec))
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/**
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* @brief Delays the invoking thread for the specified number of
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* microseconds.
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* @note The specified time is rounded up to a value allowed by the real
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* system tick clock.
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* @note The maximum specifiable value is implementation dependent.
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* @note Use of this macro for large values is not secure because
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* integer overflows, make sure your value can be correctly
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* converted.
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*
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* @param[in] usec time in microseconds, must be different from zero
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*
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* @api
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*/
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#define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec))
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/** @} */
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/*===========================================================================*/
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/* External declarations. */
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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_t *_thread_init(thread_t *tp, const char *name, tprio_t prio);
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#if CH_DBG_FILL_THREADS == TRUE
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void _thread_memfill(uint8_t *startp, uint8_t *endp, uint8_t v);
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#endif
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thread_t *chThdCreateSuspendedI(const thread_descriptor_t *tdp);
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thread_t *chThdCreateSuspended(const thread_descriptor_t *tdp);
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thread_t *chThdCreateI(const thread_descriptor_t *tdp);
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thread_t *chThdCreate(const thread_descriptor_t *tdp);
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thread_t *chThdCreateStatic(void *wsp, size_t size,
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tprio_t prio, tfunc_t pf, void *arg);
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thread_t *chThdStart(thread_t *tp);
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#if CH_CFG_USE_REGISTRY == TRUE
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thread_t *chThdAddRef(thread_t *tp);
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void chThdRelease(thread_t *tp);
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#endif
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void chThdExit(msg_t msg);
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void chThdExitS(msg_t msg);
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#if CH_CFG_USE_WAITEXIT == TRUE
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msg_t chThdWait(thread_t *tp);
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#endif
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tprio_t chThdSetPriority(tprio_t newprio);
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void chThdTerminate(thread_t *tp);
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msg_t chThdSuspendS(thread_reference_t *trp);
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msg_t chThdSuspendTimeoutS(thread_reference_t *trp, systime_t timeout);
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void chThdResumeI(thread_reference_t *trp, msg_t msg);
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void chThdResumeS(thread_reference_t *trp, msg_t msg);
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void chThdResume(thread_reference_t *trp, msg_t msg);
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msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout);
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void chThdDequeueNextI(threads_queue_t *tqp, msg_t msg);
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void chThdDequeueAllI(threads_queue_t *tqp, msg_t msg);
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void chThdSleep(systime_t time);
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void chThdSleepUntil(systime_t time);
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systime_t chThdSleepUntilWindowed(systime_t prev, systime_t next);
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void chThdYield(void);
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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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/**
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* @brief Returns a pointer to the current @p thread_t.
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*
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* @return A pointer to the current thread.
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*
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* @xclass
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*/
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static inline thread_t *chThdGetSelfX(void) {
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return ch.rlist.current;
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}
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/**
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* @brief Returns the current thread priority.
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* @note Can be invoked in any context.
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*
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* @return The current thread priority.
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*
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* @xclass
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*/
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static inline tprio_t chThdGetPriorityX(void) {
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return chThdGetSelfX()->prio;
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}
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/**
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* @brief Returns the number of ticks consumed by the specified thread.
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* @note This function is only available when the
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* @p CH_DBG_THREADS_PROFILING configuration option is enabled.
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*
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* @param[in] tp pointer to the thread
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* @return The number of consumed system ticks.
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*
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* @xclass
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*/
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#if (CH_DBG_THREADS_PROFILING == TRUE) || defined(__DOXYGEN__)
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static inline systime_t chThdGetTicksX(thread_t *tp) {
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return tp->time;
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}
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#endif
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#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE) || \
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defined(__DOXYGEN__)
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/**
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* @brief Returns the working area base of the specified thread.
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*
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* @param[in] tp pointer to the thread
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* @return The working area base pointer.
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*
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* @xclass
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*/
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static inline stkalign_t *chThdGetWorkingAreaX(thread_t *tp) {
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return tp->wabase;
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}
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#endif /* CH_DBG_ENABLE_STACK_CHECK == TRUE */
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/**
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* @brief Verifies if the specified thread is in the @p CH_STATE_FINAL state.
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*
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* @param[in] tp 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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* @xclass
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*/
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static inline bool chThdTerminatedX(thread_t *tp) {
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return (bool)(tp->state == CH_STATE_FINAL);
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}
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/**
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* @brief Verifies if the current thread has a termination request pending.
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*
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* @retval true termination request pending.
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* @retval false termination request not pending.
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*
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* @xclass
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*/
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static inline bool chThdShouldTerminateX(void) {
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return (bool)((chThdGetSelfX()->flags & CH_FLAG_TERMINATE) != (tmode_t)0);
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}
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/**
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* @brief Resumes a thread created with @p chThdCreateI().
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*
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* @param[in] tp pointer to the thread
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* @return The pointer to the @p thread_t structure allocated for
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* the thread into the working space area.
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*
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* @iclass
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*/
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static inline thread_t *chThdStartI(thread_t *tp) {
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chDbgAssert(tp->state == CH_STATE_WTSTART, "wrong state");
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return chSchReadyI(tp);
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}
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/**
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* @brief 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
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* handled as 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 not allowed.
|
||
|
|
* .
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
static inline void chThdSleepS(systime_t time) {
|
||
|
|
|
||
|
|
chDbgCheck(time != TIME_IMMEDIATE);
|
||
|
|
|
||
|
|
(void) chSchGoSleepTimeoutS(CH_STATE_SLEEPING, time);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Initializes a threads queue object.
|
||
|
|
*
|
||
|
|
* @param[out] tqp pointer to the threads queue object
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
static inline void chThdQueueObjectInit(threads_queue_t *tqp) {
|
||
|
|
|
||
|
|
queue_init(tqp);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Evaluates to @p true if the specified queue is empty.
|
||
|
|
*
|
||
|
|
* @param[out] tqp pointer to the threads queue object
|
||
|
|
* @return The queue status.
|
||
|
|
* @retval false if the queue is not empty.
|
||
|
|
* @retval true if the queue is empty.
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
static inline bool chThdQueueIsEmptyI(threads_queue_t *tqp) {
|
||
|
|
|
||
|
|
chDbgCheckClassI();
|
||
|
|
|
||
|
|
return queue_isempty(tqp);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Dequeues and wakes up one thread from the threads queue object.
|
||
|
|
* @details Dequeues one thread from the queue without checking if the queue
|
||
|
|
* is empty.
|
||
|
|
* @pre The queue must contain at least an object.
|
||
|
|
*
|
||
|
|
* @param[in] tqp pointer to the threads queue object
|
||
|
|
* @param[in] msg the message code
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
static inline void chThdDoDequeueNextI(threads_queue_t *tqp, msg_t msg) {
|
||
|
|
thread_t *tp;
|
||
|
|
|
||
|
|
chDbgAssert(queue_notempty(tqp), "empty queue");
|
||
|
|
|
||
|
|
tp = queue_fifo_remove(tqp);
|
||
|
|
|
||
|
|
chDbgAssert(tp->state == CH_STATE_QUEUED, "invalid state");
|
||
|
|
|
||
|
|
tp->u.rdymsg = msg;
|
||
|
|
(void) chSchReadyI(tp);
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif /* CHTHREADS_H */
|
||
|
|
|
||
|
|
/** @} */
|