chthreads.h
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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT 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/RT 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/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
/**
* @file chthreads.h
* @brief Threads macros and structures.
*
* @addtogroup threads
* @{
*/
#ifndef _CHTHREADS_H_
#define _CHTHREADS_H_
/**
* @name Thread states
* @{
*/
#define THD_STATE_READY 0 /**< @brief Waiting on the ready list. */
#define THD_STATE_CURRENT 1 /**< @brief Currently running. */
#define THD_STATE_SUSPENDED 2 /**< @brief Created in suspended state. */
#define THD_STATE_WTSEM 3 /**< @brief Waiting on a semaphore. */
#define THD_STATE_WTMTX 4 /**< @brief Waiting on a mutex. */
#define THD_STATE_WTCOND 5 /**< @brief Waiting on a condition
variable. */
#define THD_STATE_SLEEPING 6 /**< @brief Waiting in @p chThdSleep()
or @p chThdSleepUntil(). */
#define THD_STATE_WTEXIT 7 /**< @brief Waiting in @p chThdWait(). */
#define THD_STATE_WTOREVT 8 /**< @brief Waiting for an event. */
#define THD_STATE_WTANDEVT 9 /**< @brief Waiting for several events. */
#define THD_STATE_SNDMSGQ 10 /**< @brief Sending a message, in queue.*/
#define THD_STATE_SNDMSG 11 /**< @brief Sent a message, waiting
answer. */
#define THD_STATE_WTMSG 12 /**< @brief Waiting for a message. */
#define THD_STATE_WTQUEUE 13 /**< @brief Waiting on an I/O queue. */
#define THD_STATE_FINAL 14 /**< @brief Thread terminated. */
/**
* @brief Thread states as array of strings.
* @details Each element in an array initialized with this macro can be
* indexed using the numeric thread state values.
*/
#define THD_STATE_NAMES \
"READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING", \
"WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE", \
"FINAL"
/** @} */
/**
* @name Thread flags and attributes
* @{
*/
#define THD_MEM_MODE_MASK 3 /**< @brief Thread memory mode mask. */
#define THD_MEM_MODE_STATIC 0 /**< @brief Static thread. */
#define THD_MEM_MODE_HEAP 1 /**< @brief Thread allocated from a
Memory Heap. */
#define THD_MEM_MODE_MEMPOOL 2 /**< @brief Thread allocated from a
Memory Pool. */
#define THD_TERMINATE 4 /**< @brief Termination requested flag. */
/** @} */
/**
* @extends ThreadsQueue
*
* @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 the @p Thread structure.
*/
struct Thread {
Thread *p_next; /**< @brief Next in the list/queue. */
/* End of the fields shared with the ThreadsList structure. */
Thread *p_prev; /**< @brief Previous in the queue. */
/* End of the fields shared with the ThreadsQueue structure. */
tprio_t p_prio; /**< @brief Thread priority. */
struct context p_ctx; /**< @brief Processor context. */
#if CH_USE_REGISTRY || defined(__DOXYGEN__)
Thread *p_newer; /**< @brief Newer registry element. */
Thread *p_older; /**< @brief Older registry element. */
#endif
/* End of the fields shared with the ReadyList structure. */
#if CH_USE_REGISTRY || defined(__DOXYGEN__)
/**
* @brief Thread name or @p NULL.
*/
const char *p_name;
#endif
#if CH_DBG_ENABLE_STACK_CHECK || defined(__DOXYGEN__)
/**
* @brief Thread stack boundary.
*/
stkalign_t *p_stklimit;
#endif
/**
* @brief Current thread state.
*/
tstate_t p_state;
/**
* @brief Various thread flags.
*/
tmode_t p_flags;
#if CH_USE_DYNAMIC || defined(__DOXYGEN__)
/**
* @brief References to this thread.
*/
trefs_t p_refs;
#endif
#if CH_DBG_THREADS_PROFILING || defined(__DOXYGEN__)
/**
* @brief Thread consumed time in ticks.
* @note This field can overflow.
*/
volatile systime_t p_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;
#if CH_USE_EVENTS || defined(__DOXYGEN__)
/**
* @brief Enabled events mask.
* @note This field is only valid while the thread is in the
* @p THD_STATE_WTOREVT or @p THD_STATE_WTANDEVT states.
*/
eventmask_t ewmask;
#endif
} p_u;
#if CH_USE_WAITEXIT || defined(__DOXYGEN__)
/**
* @brief Termination waiting list.
*/
ThreadsList p_waiting;
#endif
#if CH_USE_MESSAGES || defined(__DOXYGEN__)
/**
* @brief Messages queue.
*/
ThreadsQueue p_msgqueue;
/**
* @brief Thread message.
*/
msg_t p_msg;
#endif
#if CH_USE_EVENTS || defined(__DOXYGEN__)
/**
* @brief Pending events mask.
*/
eventmask_t p_epending;
#endif
#if CH_USE_MUTEXES || defined(__DOXYGEN__)
/**
* @brief List of the mutexes owned by this thread.
* @note The list is terminated by a @p NULL in this field.
*/
Mutex *p_mtxlist;
/**
* @brief Thread's own, non-inherited, priority.
*/
tprio_t p_realprio;
#endif
#if (CH_USE_DYNAMIC && CH_USE_MEMPOOLS) || defined(__DOXYGEN__)
/**
* @brief Memory Pool where the thread workspace is returned.
*/
void *p_mpool;
#endif
#if defined(THREAD_EXT_FIELDS)
/* Extra fields defined in chconf.h.*/
THREAD_EXT_FIELDS
#endif
};
/**
* @brief Thread function.
*/
typedef msg_t (*tfunc_t)(void *);
/**
* @name Macro Functions
* @{
*/
/**
* @brief Returns a pointer to the current @p Thread.
*
* @api
*/
#define chThdSelf() currp
/**
* @brief Returns the current thread priority.
*
* @api
*/
#define chThdGetPriority() (currp->p_prio)
/**
* @brief Returns the number of ticks consumed by the specified thread.
* @note This function is only available when the
* @p CH_DBG_THREADS_PROFILING configuration option is enabled.
*
* @param[in] tp pointer to the thread
*
* @api
*/
#define chThdGetTicks(tp) ((tp)->p_time)
/**
* @brief Returns the pointer to the @p Thread local storage area, if any.
*
* @api
*/
#define chThdLS() (void *)(currp + 1)
/**
* @brief Verifies if the specified thread is in the @p THD_STATE_FINAL state.
*
* @param[in] tp pointer to the thread
* @retval TRUE thread terminated.
* @retval FALSE thread not terminated.
*
* @api
*/
#define chThdTerminated(tp) ((tp)->p_state == THD_STATE_FINAL)
/**
* @brief Verifies if the current thread has a termination request pending.
*
* @retval TRUE termination request pended.
* @retval FALSE termination request not pended.
*
* @api
*/
#define chThdShouldTerminate() (currp->p_flags & THD_TERMINATE)
/**
* @brief Resumes a thread created with @p chThdCreateI().
*
* @param[in] tp pointer to the thread
*
* @iclass
*/
#define chThdResumeI(tp) chSchReadyI(tp)
/**
* @brief Suspends the invoking thread for the specified time.
*
* @param[in] time the delay in system ticks, the special values are
* handled as follow:
* - @a TIME_INFINITE the thread enters an infinite sleep
* state.
* - @a TIME_IMMEDIATE this value is not allowed.
* .
*
* @sclass
*/
#define chThdSleepS(time) chSchGoSleepTimeoutS(THD_STATE_SLEEPING, time)
/**
* @brief Delays the invoking thread for the specified number of seconds.
* @note The specified time is rounded up to a value allowed by the real
* system clock.
* @note The maximum specified value is implementation dependent.
*
* @param[in] sec time in seconds, must be different from zero
*
* @api
*/
#define chThdSleepSeconds(sec) chThdSleep(S2ST(sec))
/**
* @brief Delays the invoking thread for the specified number of
* milliseconds.
* @note The specified time is rounded up to a value allowed by the real
* system clock.
* @note The maximum specified value is implementation dependent.
*
* @param[in] msec time in milliseconds, must be different from zero
*
* @api
*/
#define chThdSleepMilliseconds(msec) chThdSleep(MS2ST(msec))
/**
* @brief Delays the invoking thread for the specified number of
* microseconds.
* @note The specified time is rounded up to a value allowed by the real
* system clock.
* @note The maximum specified value is implementation dependent.
*
* @param[in] usec time in microseconds, must be different from zero
*
* @api
*/
#define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec))
/** @} */
/*
* Threads APIs.
*/
#ifdef __cplusplus
extern "C" {
#endif
Thread *_thread_init(Thread *tp, tprio_t prio);
#if CH_DBG_FILL_THREADS
void _thread_memfill(uint8_t *startp, uint8_t *endp, uint8_t v);
#endif
Thread *chThdCreateI(void *wsp, size_t size,
tprio_t prio, tfunc_t pf, void *arg);
Thread *chThdCreateStatic(void *wsp, size_t size,
tprio_t prio, tfunc_t pf, void *arg);
tprio_t chThdSetPriority(tprio_t newprio);
Thread *chThdResume(Thread *tp);
void chThdTerminate(Thread *tp);
void chThdSleep(systime_t time);
void chThdSleepUntil(systime_t time);
void chThdYield(void);
void chThdExit(msg_t msg);
void chThdExitS(msg_t msg);
#if CH_USE_WAITEXIT
msg_t chThdWait(Thread *tp);
#endif
#ifdef __cplusplus
}
#endif
#endif /* _CHTHREADS_H_ */
/** @} */