Add software
This commit is contained in:
RocketGod
@ -0,0 +1,292 @@
|
||||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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.
|
||||
*/
|
||||
/*
|
||||
Concepts and parts of this file have been contributed by Leon Woestenberg.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file chcond.c
|
||||
* @brief Condition Variables code.
|
||||
*
|
||||
* @addtogroup condvars Condition Variables
|
||||
* @details This module implements the Condition Variables mechanism. Condition
|
||||
* variables are an extensions to the Mutex subsystem and cannot
|
||||
* work alone.
|
||||
* <h2>Operation mode</h2>
|
||||
* The condition variable is a synchronization object meant to be
|
||||
* used inside a zone protected by a @p Mutex. Mutexes and CondVars
|
||||
* together can implement a Monitor construct.
|
||||
* @pre In order to use the condition variable APIs the @p CH_USE_CONDVARS
|
||||
* option must be enabled in @p chconf.h.
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
|
||||
#if (CH_USE_CONDVARS && CH_USE_MUTEXES) || defined(__DOXYGEN__)
|
||||
|
||||
/**
|
||||
* @brief Initializes s @p CondVar structure.
|
||||
*
|
||||
* @param[out] cp pointer to a @p CondVar structure
|
||||
*
|
||||
* @init
|
||||
*/
|
||||
void chCondInit(CondVar *cp) {
|
||||
|
||||
chDbgCheck(cp != NULL, "chCondInit");
|
||||
|
||||
queue_init(&cp->c_queue);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Signals one thread that is waiting on the condition variable.
|
||||
*
|
||||
* @param[in] cp pointer to the @p CondVar structure
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chCondSignal(CondVar *cp) {
|
||||
|
||||
chDbgCheck(cp != NULL, "chCondSignal");
|
||||
|
||||
chSysLock();
|
||||
if (notempty(&cp->c_queue))
|
||||
chSchWakeupS(fifo_remove(&cp->c_queue), RDY_OK);
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Signals one thread that is waiting on the condition variable.
|
||||
* @post This function does not reschedule so a call to a rescheduling
|
||||
* function must be performed before unlocking the kernel. Note that
|
||||
* interrupt handlers always reschedule on exit so an explicit
|
||||
* reschedule must not be performed in ISRs.
|
||||
*
|
||||
* @param[in] cp pointer to the @p CondVar structure
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
void chCondSignalI(CondVar *cp) {
|
||||
|
||||
chDbgCheckClassI();
|
||||
chDbgCheck(cp != NULL, "chCondSignalI");
|
||||
|
||||
if (notempty(&cp->c_queue))
|
||||
chSchReadyI(fifo_remove(&cp->c_queue))->p_u.rdymsg = RDY_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Signals all threads that are waiting on the condition variable.
|
||||
*
|
||||
* @param[in] cp pointer to the @p CondVar structure
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chCondBroadcast(CondVar *cp) {
|
||||
|
||||
chSysLock();
|
||||
chCondBroadcastI(cp);
|
||||
chSchRescheduleS();
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Signals all threads that are waiting on the condition variable.
|
||||
* @post This function does not reschedule so a call to a rescheduling
|
||||
* function must be performed before unlocking the kernel. Note that
|
||||
* interrupt handlers always reschedule on exit so an explicit
|
||||
* reschedule must not be performed in ISRs.
|
||||
*
|
||||
* @param[in] cp pointer to the @p CondVar structure
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
void chCondBroadcastI(CondVar *cp) {
|
||||
|
||||
chDbgCheckClassI();
|
||||
chDbgCheck(cp != NULL, "chCondBroadcastI");
|
||||
|
||||
/* Empties the condition variable queue and inserts all the Threads into the
|
||||
ready list in FIFO order. The wakeup message is set to @p RDY_RESET in
|
||||
order to make a chCondBroadcast() detectable from a chCondSignal().*/
|
||||
while (cp->c_queue.p_next != (void *)&cp->c_queue)
|
||||
chSchReadyI(fifo_remove(&cp->c_queue))->p_u.rdymsg = RDY_RESET;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Waits on the condition variable releasing the mutex lock.
|
||||
* @details Releases the currently owned mutex, waits on the condition
|
||||
* variable, and finally acquires the mutex again. All the sequence
|
||||
* is performed atomically.
|
||||
* @pre The invoking thread <b>must</b> have at least one owned mutex.
|
||||
*
|
||||
* @param[in] cp pointer to the @p CondVar structure
|
||||
* @return A message specifying how the invoking thread has been
|
||||
* released from the condition variable.
|
||||
* @retval RDY_OK if the condvar has been signaled using
|
||||
* @p chCondSignal().
|
||||
* @retval RDY_RESET if the condvar has been signaled using
|
||||
* @p chCondBroadcast().
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
msg_t chCondWait(CondVar *cp) {
|
||||
msg_t msg;
|
||||
|
||||
chSysLock();
|
||||
msg = chCondWaitS(cp);
|
||||
chSysUnlock();
|
||||
return msg;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Waits on the condition variable releasing the mutex lock.
|
||||
* @details Releases the currently owned mutex, waits on the condition
|
||||
* variable, and finally acquires the mutex again. All the sequence
|
||||
* is performed atomically.
|
||||
* @pre The invoking thread <b>must</b> have at least one owned mutex.
|
||||
*
|
||||
* @param[in] cp pointer to the @p CondVar structure
|
||||
* @return A message specifying how the invoking thread has been
|
||||
* released from the condition variable.
|
||||
* @retval RDY_OK if the condvar has been signaled using
|
||||
* @p chCondSignal().
|
||||
* @retval RDY_RESET if the condvar has been signaled using
|
||||
* @p chCondBroadcast().
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
msg_t chCondWaitS(CondVar *cp) {
|
||||
Thread *ctp = currp;
|
||||
Mutex *mp;
|
||||
msg_t msg;
|
||||
|
||||
chDbgCheckClassS();
|
||||
chDbgCheck(cp != NULL, "chCondWaitS");
|
||||
chDbgAssert(ctp->p_mtxlist != NULL,
|
||||
"chCondWaitS(), #1",
|
||||
"not owning a mutex");
|
||||
|
||||
mp = chMtxUnlockS();
|
||||
ctp->p_u.wtobjp = cp;
|
||||
prio_insert(ctp, &cp->c_queue);
|
||||
chSchGoSleepS(THD_STATE_WTCOND);
|
||||
msg = ctp->p_u.rdymsg;
|
||||
chMtxLockS(mp);
|
||||
return msg;
|
||||
}
|
||||
|
||||
#if CH_USE_CONDVARS_TIMEOUT || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief Waits on the condition variable releasing the mutex lock.
|
||||
* @details Releases the currently owned mutex, waits on the condition
|
||||
* variable, and finally acquires the mutex again. All the sequence
|
||||
* is performed atomically.
|
||||
* @pre The invoking thread <b>must</b> have at least one owned mutex.
|
||||
* @pre The configuration option @p CH_USE_CONDVARS_TIMEOUT must be enabled
|
||||
* in order to use this function.
|
||||
* @post Exiting the function because a timeout does not re-acquire the
|
||||
* mutex, the mutex ownership is lost.
|
||||
*
|
||||
* @param[in] cp pointer to the @p CondVar structure
|
||||
* @param[in] time the number of ticks before the operation timeouts, the
|
||||
* special values are handled as follow:
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* - @a TIME_IMMEDIATE this value is not allowed.
|
||||
* .
|
||||
* @return A message specifying how the invoking thread has been
|
||||
* released from the condition variable.
|
||||
* @retval RDY_OK if the condvar has been signaled using
|
||||
* @p chCondSignal().
|
||||
* @retval RDY_RESET if the condvar has been signaled using
|
||||
* @p chCondBroadcast().
|
||||
* @retval RDY_TIMEOUT if the condvar has not been signaled within the
|
||||
* specified timeout.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
msg_t chCondWaitTimeout(CondVar *cp, systime_t time) {
|
||||
msg_t msg;
|
||||
|
||||
chSysLock();
|
||||
msg = chCondWaitTimeoutS(cp, time);
|
||||
chSysUnlock();
|
||||
return msg;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Waits on the condition variable releasing the mutex lock.
|
||||
* @details Releases the currently owned mutex, waits on the condition
|
||||
* variable, and finally acquires the mutex again. All the sequence
|
||||
* is performed atomically.
|
||||
* @pre The invoking thread <b>must</b> have at least one owned mutex.
|
||||
* @pre The configuration option @p CH_USE_CONDVARS_TIMEOUT must be enabled
|
||||
* in order to use this function.
|
||||
* @post Exiting the function because a timeout does not re-acquire the
|
||||
* mutex, the mutex ownership is lost.
|
||||
*
|
||||
* @param[in] cp pointer to the @p CondVar structure
|
||||
* @param[in] time the number of ticks before the operation timeouts, the
|
||||
* special values are handled as follow:
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* - @a TIME_IMMEDIATE this value is not allowed.
|
||||
* .
|
||||
* @return A message specifying how the invoking thread has been
|
||||
* released from the condition variable.
|
||||
* @retval RDY_OK if the condvar has been signaled using
|
||||
* @p chCondSignal().
|
||||
* @retval RDY_RESET if the condvar has been signaled using
|
||||
* @p chCondBroadcast().
|
||||
* @retval RDY_TIMEOUT if the condvar has not been signaled within the
|
||||
* specified timeout.
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
msg_t chCondWaitTimeoutS(CondVar *cp, systime_t time) {
|
||||
Mutex *mp;
|
||||
msg_t msg;
|
||||
|
||||
chDbgCheckClassS();
|
||||
chDbgCheck((cp != NULL) && (time != TIME_IMMEDIATE), "chCondWaitTimeoutS");
|
||||
chDbgAssert(currp->p_mtxlist != NULL,
|
||||
"chCondWaitTimeoutS(), #1",
|
||||
"not owning a mutex");
|
||||
|
||||
mp = chMtxUnlockS();
|
||||
currp->p_u.wtobjp = cp;
|
||||
prio_insert(currp, &cp->c_queue);
|
||||
msg = chSchGoSleepTimeoutS(THD_STATE_WTCOND, time);
|
||||
if (msg != RDY_TIMEOUT)
|
||||
chMtxLockS(mp);
|
||||
return msg;
|
||||
}
|
||||
#endif /* CH_USE_CONDVARS_TIMEOUT */
|
||||
|
||||
#endif /* CH_USE_CONDVARS && CH_USE_MUTEXES */
|
||||
|
||||
/** @} */
|
||||
@ -0,0 +1,278 @@
|
||||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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 chdebug.c
|
||||
* @brief ChibiOS/RT Debug code.
|
||||
*
|
||||
* @addtogroup debug
|
||||
* @details Debug APIs and services:
|
||||
* - Runtime system state and call protocol check. The following
|
||||
* panic messages can be generated:
|
||||
* - SV#1, misplaced @p chSysDisable().
|
||||
* - SV#2, misplaced @p chSysSuspend()
|
||||
* - SV#3, misplaced @p chSysEnable().
|
||||
* - SV#4, misplaced @p chSysLock().
|
||||
* - SV#5, misplaced @p chSysUnlock().
|
||||
* - SV#6, misplaced @p chSysLockFromIsr().
|
||||
* - SV#7, misplaced @p chSysUnlockFromIsr().
|
||||
* - SV#8, misplaced @p CH_IRQ_PROLOGUE().
|
||||
* - SV#9, misplaced @p CH_IRQ_EPILOGUE().
|
||||
* - SV#10, misplaced I-class function.
|
||||
* - SV#11, misplaced S-class function.
|
||||
* .
|
||||
* - Trace buffer.
|
||||
* - Parameters check.
|
||||
* - Kernel assertions.
|
||||
* - Kernel panics.
|
||||
* .
|
||||
* @note Stack checks are not implemented in this module but in the port
|
||||
* layer in an architecture-dependent way.
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
|
||||
/*===========================================================================*/
|
||||
/* System state checker related code and variables. */
|
||||
/*===========================================================================*/
|
||||
|
||||
#if CH_DBG_SYSTEM_STATE_CHECK || defined(__DOXYGEN__)
|
||||
|
||||
/**
|
||||
* @brief ISR nesting level.
|
||||
*/
|
||||
cnt_t dbg_isr_cnt;
|
||||
|
||||
/**
|
||||
* @brief Lock nesting level.
|
||||
*/
|
||||
cnt_t dbg_lock_cnt;
|
||||
|
||||
/**
|
||||
* @brief Guard code for @p chSysDisable().
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
void dbg_check_disable(void) {
|
||||
|
||||
if ((dbg_isr_cnt != 0) || (dbg_lock_cnt != 0))
|
||||
chDbgPanic("SV#1");
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Guard code for @p chSysSuspend().
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
void dbg_check_suspend(void) {
|
||||
|
||||
if ((dbg_isr_cnt != 0) || (dbg_lock_cnt != 0))
|
||||
chDbgPanic("SV#2");
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Guard code for @p chSysEnable().
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
void dbg_check_enable(void) {
|
||||
|
||||
if ((dbg_isr_cnt != 0) || (dbg_lock_cnt != 0))
|
||||
chDbgPanic("SV#3");
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Guard code for @p chSysLock().
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
void dbg_check_lock(void) {
|
||||
|
||||
if ((dbg_isr_cnt != 0) || (dbg_lock_cnt != 0))
|
||||
chDbgPanic("SV#4");
|
||||
dbg_enter_lock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Guard code for @p chSysUnlock().
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
void dbg_check_unlock(void) {
|
||||
|
||||
if ((dbg_isr_cnt != 0) || (dbg_lock_cnt <= 0))
|
||||
chDbgPanic("SV#5");
|
||||
dbg_leave_lock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Guard code for @p chSysLockFromIsr().
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
void dbg_check_lock_from_isr(void) {
|
||||
|
||||
if ((dbg_isr_cnt <= 0) || (dbg_lock_cnt != 0))
|
||||
chDbgPanic("SV#6");
|
||||
dbg_enter_lock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Guard code for @p chSysUnlockFromIsr().
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
void dbg_check_unlock_from_isr(void) {
|
||||
|
||||
if ((dbg_isr_cnt <= 0) || (dbg_lock_cnt <= 0))
|
||||
chDbgPanic("SV#7");
|
||||
dbg_leave_lock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Guard code for @p CH_IRQ_PROLOGUE().
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
void dbg_check_enter_isr(void) {
|
||||
|
||||
port_lock_from_isr();
|
||||
if ((dbg_isr_cnt < 0) || (dbg_lock_cnt != 0))
|
||||
chDbgPanic("SV#8");
|
||||
dbg_isr_cnt++;
|
||||
port_unlock_from_isr();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Guard code for @p CH_IRQ_EPILOGUE().
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
void dbg_check_leave_isr(void) {
|
||||
|
||||
port_lock_from_isr();
|
||||
if ((dbg_isr_cnt <= 0) || (dbg_lock_cnt != 0))
|
||||
chDbgPanic("SV#9");
|
||||
dbg_isr_cnt--;
|
||||
port_unlock_from_isr();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief I-class functions context check.
|
||||
* @details Verifies that the system is in an appropriate state for invoking
|
||||
* an I-class API function. A panic is generated if the state is
|
||||
* not compatible.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chDbgCheckClassI(void) {
|
||||
|
||||
if ((dbg_isr_cnt < 0) || (dbg_lock_cnt <= 0))
|
||||
chDbgPanic("SV#10");
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief S-class functions context check.
|
||||
* @details Verifies that the system is in an appropriate state for invoking
|
||||
* an S-class API function. A panic is generated if the state is
|
||||
* not compatible.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chDbgCheckClassS(void) {
|
||||
|
||||
if ((dbg_isr_cnt != 0) || (dbg_lock_cnt <= 0))
|
||||
chDbgPanic("SV#11");
|
||||
}
|
||||
|
||||
#endif /* CH_DBG_SYSTEM_STATE_CHECK */
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Trace related code and variables. */
|
||||
/*===========================================================================*/
|
||||
|
||||
#if CH_DBG_ENABLE_TRACE || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief Public trace buffer.
|
||||
*/
|
||||
ch_trace_buffer_t dbg_trace_buffer;
|
||||
|
||||
/**
|
||||
* @brief Trace circular buffer subsystem initialization.
|
||||
* @note Internal use only.
|
||||
*/
|
||||
void _trace_init(void) {
|
||||
|
||||
dbg_trace_buffer.tb_size = CH_TRACE_BUFFER_SIZE;
|
||||
dbg_trace_buffer.tb_ptr = &dbg_trace_buffer.tb_buffer[0];
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Inserts in the circular debug trace buffer a context switch record.
|
||||
*
|
||||
* @param[in] otp the thread being switched out
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
void dbg_trace(Thread *otp) {
|
||||
|
||||
dbg_trace_buffer.tb_ptr->se_time = chTimeNow();
|
||||
dbg_trace_buffer.tb_ptr->se_tp = currp;
|
||||
dbg_trace_buffer.tb_ptr->se_wtobjp = otp->p_u.wtobjp;
|
||||
dbg_trace_buffer.tb_ptr->se_state = (uint8_t)otp->p_state;
|
||||
if (++dbg_trace_buffer.tb_ptr >=
|
||||
&dbg_trace_buffer.tb_buffer[CH_TRACE_BUFFER_SIZE])
|
||||
dbg_trace_buffer.tb_ptr = &dbg_trace_buffer.tb_buffer[0];
|
||||
}
|
||||
#endif /* CH_DBG_ENABLE_TRACE */
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Panic related code and variables. */
|
||||
/*===========================================================================*/
|
||||
|
||||
#if CH_DBG_ENABLED || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief Pointer to the panic message.
|
||||
* @details This pointer is meant to be accessed through the debugger, it is
|
||||
* written once and then the system is halted.
|
||||
*/
|
||||
const char *dbg_panic_msg;
|
||||
|
||||
/**
|
||||
* @brief Prints a panic message on the console and then halts the system.
|
||||
*
|
||||
* @param[in] msg the pointer to the panic message string
|
||||
*/
|
||||
void chDbgPanic(const char *msg) {
|
||||
|
||||
dbg_panic_msg = msg;
|
||||
chSysHalt();
|
||||
}
|
||||
#endif /* CH_DBG_ENABLED */
|
||||
|
||||
/** @} */
|
||||
@ -0,0 +1,211 @@
|
||||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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 chdynamic.c
|
||||
* @brief Dynamic threads code.
|
||||
*
|
||||
* @addtogroup dynamic_threads
|
||||
* @details Dynamic threads related APIs and services.
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
|
||||
#if CH_USE_DYNAMIC || defined(__DOXYGEN__)
|
||||
|
||||
/**
|
||||
* @brief Adds a reference to a thread object.
|
||||
* @pre The configuration option @p CH_USE_DYNAMIC must be enabled in order
|
||||
* to use this function.
|
||||
*
|
||||
* @param[in] tp pointer to the thread
|
||||
* @return The same thread pointer passed as parameter
|
||||
* representing the new reference.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
Thread *chThdAddRef(Thread *tp) {
|
||||
|
||||
chSysLock();
|
||||
chDbgAssert(tp->p_refs < 255, "chThdAddRef(), #1", "too many references");
|
||||
tp->p_refs++;
|
||||
chSysUnlock();
|
||||
return tp;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Releases a reference to a thread object.
|
||||
* @details If the references counter reaches zero <b>and</b> the thread
|
||||
* is in the @p THD_STATE_FINAL state then the thread's memory is
|
||||
* returned to the proper allocator.
|
||||
* @pre The configuration option @p CH_USE_DYNAMIC must be enabled in order
|
||||
* to use this function.
|
||||
* @note Static threads are not affected.
|
||||
*
|
||||
* @param[in] tp pointer to the thread
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chThdRelease(Thread *tp) {
|
||||
trefs_t refs;
|
||||
|
||||
chSysLock();
|
||||
chDbgAssert(tp->p_refs > 0, "chThdRelease(), #1", "not referenced");
|
||||
refs = --tp->p_refs;
|
||||
chSysUnlock();
|
||||
|
||||
/* If the references counter reaches zero and the thread is in its
|
||||
terminated state then the memory can be returned to the proper
|
||||
allocator. Of course static threads are not affected.*/
|
||||
if ((refs == 0) && (tp->p_state == THD_STATE_FINAL)) {
|
||||
switch (tp->p_flags & THD_MEM_MODE_MASK) {
|
||||
#if CH_USE_HEAP
|
||||
case THD_MEM_MODE_HEAP:
|
||||
#if CH_USE_REGISTRY
|
||||
REG_REMOVE(tp);
|
||||
#endif
|
||||
chHeapFree(tp);
|
||||
break;
|
||||
#endif
|
||||
#if CH_USE_MEMPOOLS
|
||||
case THD_MEM_MODE_MEMPOOL:
|
||||
#if CH_USE_REGISTRY
|
||||
REG_REMOVE(tp);
|
||||
#endif
|
||||
chPoolFree(tp->p_mpool, tp);
|
||||
break;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#if CH_USE_HEAP || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief Creates a new thread allocating the memory from the heap.
|
||||
* @pre The configuration options @p CH_USE_DYNAMIC and @p CH_USE_HEAP
|
||||
* must be enabled in order to use this function.
|
||||
* @note A thread can terminate by calling @p chThdExit() or by simply
|
||||
* returning from its main function.
|
||||
* @note The memory allocated for the thread is not released when the thread
|
||||
* terminates but when a @p chThdWait() is performed.
|
||||
*
|
||||
* @param[in] heapp heap from which allocate the memory or @p NULL for the
|
||||
* default heap
|
||||
* @param[in] size size of the working area to be allocated
|
||||
* @param[in] prio the priority level for the new thread
|
||||
* @param[in] pf the thread function
|
||||
* @param[in] arg an argument passed to the thread function. It can be
|
||||
* @p NULL.
|
||||
* @return The pointer to the @p Thread structure allocated for
|
||||
* the thread into the working space area.
|
||||
* @retval NULL if the memory cannot be allocated.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
Thread *chThdCreateFromHeap(MemoryHeap *heapp, size_t size,
|
||||
tprio_t prio, tfunc_t pf, void *arg) {
|
||||
void *wsp;
|
||||
Thread *tp;
|
||||
|
||||
wsp = chHeapAlloc(heapp, size);
|
||||
if (wsp == NULL)
|
||||
return NULL;
|
||||
|
||||
#if CH_DBG_FILL_THREADS
|
||||
_thread_memfill((uint8_t *)wsp,
|
||||
(uint8_t *)wsp + sizeof(Thread),
|
||||
CH_THREAD_FILL_VALUE);
|
||||
_thread_memfill((uint8_t *)wsp + sizeof(Thread),
|
||||
(uint8_t *)wsp + size,
|
||||
CH_STACK_FILL_VALUE);
|
||||
#endif
|
||||
|
||||
chSysLock();
|
||||
tp = chThdCreateI(wsp, size, prio, pf, arg);
|
||||
tp->p_flags = THD_MEM_MODE_HEAP;
|
||||
chSchWakeupS(tp, RDY_OK);
|
||||
chSysUnlock();
|
||||
return tp;
|
||||
}
|
||||
#endif /* CH_USE_HEAP */
|
||||
|
||||
#if CH_USE_MEMPOOLS || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief Creates a new thread allocating the memory from the specified
|
||||
* memory pool.
|
||||
* @pre The configuration options @p CH_USE_DYNAMIC and @p CH_USE_MEMPOOLS
|
||||
* must be enabled in order to use this function.
|
||||
* @note A thread can terminate by calling @p chThdExit() or by simply
|
||||
* returning from its main function.
|
||||
* @note The memory allocated for the thread is not released when the thread
|
||||
* terminates but when a @p chThdWait() is performed.
|
||||
*
|
||||
* @param[in] mp pointer to the memory pool object
|
||||
* @param[in] prio the priority level for the new thread
|
||||
* @param[in] pf the thread function
|
||||
* @param[in] arg an argument passed to the thread function. It can be
|
||||
* @p NULL.
|
||||
* @return The pointer to the @p Thread structure allocated for
|
||||
* the thread into the working space area.
|
||||
* @retval NULL if the memory pool is empty.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
Thread *chThdCreateFromMemoryPool(MemoryPool *mp, tprio_t prio,
|
||||
tfunc_t pf, void *arg) {
|
||||
void *wsp;
|
||||
Thread *tp;
|
||||
|
||||
chDbgCheck(mp != NULL, "chThdCreateFromMemoryPool");
|
||||
|
||||
wsp = chPoolAlloc(mp);
|
||||
if (wsp == NULL)
|
||||
return NULL;
|
||||
|
||||
#if CH_DBG_FILL_THREADS
|
||||
_thread_memfill((uint8_t *)wsp,
|
||||
(uint8_t *)wsp + sizeof(Thread),
|
||||
CH_THREAD_FILL_VALUE);
|
||||
_thread_memfill((uint8_t *)wsp + sizeof(Thread),
|
||||
(uint8_t *)wsp + mp->mp_object_size,
|
||||
CH_STACK_FILL_VALUE);
|
||||
#endif
|
||||
|
||||
chSysLock();
|
||||
tp = chThdCreateI(wsp, mp->mp_object_size, prio, pf, arg);
|
||||
tp->p_flags = THD_MEM_MODE_MEMPOOL;
|
||||
tp->p_mpool = mp;
|
||||
chSchWakeupS(tp, RDY_OK);
|
||||
chSysUnlock();
|
||||
return tp;
|
||||
}
|
||||
#endif /* CH_USE_MEMPOOLS */
|
||||
|
||||
#endif /* CH_USE_DYNAMIC */
|
||||
|
||||
/** @} */
|
||||
@ -0,0 +1,555 @@
|
||||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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.
|
||||
*/
|
||||
/*
|
||||
Concepts and parts of this file have been contributed by Scott (skute).
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file chevents.c
|
||||
* @brief Events code.
|
||||
*
|
||||
* @addtogroup events
|
||||
* @details Event Flags, Event Sources and Event Listeners.
|
||||
* <h2>Operation mode</h2>
|
||||
* Each thread has a mask of pending event flags inside its @p Thread
|
||||
* structure.
|
||||
* Operations defined for event flags:
|
||||
* - <b>Wait</b>, the invoking thread goes to sleep until a certain
|
||||
* AND/OR combination of event flags becomes pending.
|
||||
* - <b>Clear</b>, a mask of event flags is cleared from the pending
|
||||
* events mask, the cleared event flags mask is returned (only the
|
||||
* flags that were actually pending and then cleared).
|
||||
* - <b>Signal</b>, an event mask is directly ORed to the mask of the
|
||||
* signaled thread.
|
||||
* - <b>Broadcast</b>, each thread registered on an Event Source is
|
||||
* signaled with the event flags specified in its Event Listener.
|
||||
* - <b>Dispatch</b>, an events mask is scanned and for each bit set
|
||||
* to one an associated handler function is invoked. Bit masks are
|
||||
* scanned from bit zero upward.
|
||||
* .
|
||||
* An Event Source is a special object that can be "broadcasted" by
|
||||
* a thread or an interrupt service routine. Broadcasting an Event
|
||||
* Source has the effect that all the threads registered on the
|
||||
* Event Source will be signaled with an events mask.<br>
|
||||
* An unlimited number of Event Sources can exists in a system and
|
||||
* each thread can be listening on an unlimited number of
|
||||
* them.
|
||||
* @pre In order to use the Events APIs the @p CH_USE_EVENTS option must be
|
||||
* enabled in @p chconf.h.
|
||||
* @post Enabling events requires 1-4 (depending on the architecture)
|
||||
* extra bytes in the @p Thread structure.
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
|
||||
#if CH_USE_EVENTS || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief Registers an Event Listener on an Event Source.
|
||||
* @details Once a thread has registered as listener on an event source it
|
||||
* will be notified of all events broadcasted there.
|
||||
* @note Multiple Event Listeners can specify the same bits to be ORed to
|
||||
* different threads.
|
||||
*
|
||||
* @param[in] esp pointer to the @p EventSource structure
|
||||
* @param[out] elp pointer to the @p EventListener structure
|
||||
* @param[in] mask the mask of event flags to be ORed to the thread when
|
||||
* the event source is broadcasted
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chEvtRegisterMask(EventSource *esp, EventListener *elp, eventmask_t mask) {
|
||||
|
||||
chDbgCheck((esp != NULL) && (elp != NULL), "chEvtRegisterMask");
|
||||
|
||||
chSysLock();
|
||||
elp->el_next = esp->es_next;
|
||||
esp->es_next = elp;
|
||||
elp->el_listener = currp;
|
||||
elp->el_mask = mask;
|
||||
elp->el_flags = 0;
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Unregisters an Event Listener from its Event Source.
|
||||
* @note If the event listener is not registered on the specified event
|
||||
* source then the function does nothing.
|
||||
* @note For optimal performance it is better to perform the unregister
|
||||
* operations in inverse order of the register operations (elements
|
||||
* are found on top of the list).
|
||||
*
|
||||
* @param[in] esp pointer to the @p EventSource structure
|
||||
* @param[in] elp pointer to the @p EventListener structure
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chEvtUnregister(EventSource *esp, EventListener *elp) {
|
||||
EventListener *p;
|
||||
|
||||
chDbgCheck((esp != NULL) && (elp != NULL), "chEvtUnregister");
|
||||
|
||||
p = (EventListener *)esp;
|
||||
chSysLock();
|
||||
while (p->el_next != (EventListener *)esp) {
|
||||
if (p->el_next == elp) {
|
||||
p->el_next = elp->el_next;
|
||||
break;
|
||||
}
|
||||
p = p->el_next;
|
||||
}
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Clears the pending events specified in the mask.
|
||||
*
|
||||
* @param[in] mask the events to be cleared
|
||||
* @return The pending events that were cleared.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
eventmask_t chEvtGetAndClearEvents(eventmask_t mask) {
|
||||
eventmask_t m;
|
||||
|
||||
chSysLock();
|
||||
|
||||
m = currp->p_epending & mask;
|
||||
currp->p_epending &= ~mask;
|
||||
|
||||
chSysUnlock();
|
||||
return m;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Adds (OR) a set of event flags on the current thread, this is
|
||||
* @b much faster than using @p chEvtBroadcast() or @p chEvtSignal().
|
||||
*
|
||||
* @param[in] mask the event flags to be added
|
||||
* @return The current pending events mask.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
eventmask_t chEvtAddEvents(eventmask_t mask) {
|
||||
|
||||
chSysLock();
|
||||
|
||||
mask = (currp->p_epending |= mask);
|
||||
|
||||
chSysUnlock();
|
||||
return mask;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Signals all the Event Listeners registered on the specified Event
|
||||
* Source.
|
||||
* @details This function variants ORs the specified event flags to all the
|
||||
* threads registered on the @p EventSource in addition to the event
|
||||
* flags specified by the threads themselves in the
|
||||
* @p EventListener objects.
|
||||
* @post This function does not reschedule so a call to a rescheduling
|
||||
* function must be performed before unlocking the kernel. Note that
|
||||
* interrupt handlers always reschedule on exit so an explicit
|
||||
* reschedule must not be performed in ISRs.
|
||||
*
|
||||
* @param[in] esp pointer to the @p EventSource structure
|
||||
* @param[in] flags the flags set to be added to the listener flags mask
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
void chEvtBroadcastFlagsI(EventSource *esp, flagsmask_t flags) {
|
||||
EventListener *elp;
|
||||
|
||||
chDbgCheckClassI();
|
||||
chDbgCheck(esp != NULL, "chEvtBroadcastMaskI");
|
||||
|
||||
elp = esp->es_next;
|
||||
while (elp != (EventListener *)esp) {
|
||||
elp->el_flags |= flags;
|
||||
chEvtSignalI(elp->el_listener, elp->el_mask);
|
||||
elp = elp->el_next;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the flags associated to an @p EventListener.
|
||||
* @details The flags are returned and the @p EventListener flags mask is
|
||||
* cleared.
|
||||
*
|
||||
* @param[in] elp pointer to the @p EventListener structure
|
||||
* @return The flags added to the listener by the associated
|
||||
* event source.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
flagsmask_t chEvtGetAndClearFlags(EventListener *elp) {
|
||||
flagsmask_t flags;
|
||||
|
||||
chSysLock();
|
||||
|
||||
flags = elp->el_flags;
|
||||
elp->el_flags = 0;
|
||||
|
||||
chSysUnlock();
|
||||
return flags;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Adds a set of event flags directly to specified @p Thread.
|
||||
*
|
||||
* @param[in] tp the thread to be signaled
|
||||
* @param[in] mask the event flags set to be ORed
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chEvtSignal(Thread *tp, eventmask_t mask) {
|
||||
|
||||
chDbgCheck(tp != NULL, "chEvtSignal");
|
||||
|
||||
chSysLock();
|
||||
chEvtSignalI(tp, mask);
|
||||
chSchRescheduleS();
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Adds a set of event flags directly to specified @p Thread.
|
||||
* @post This function does not reschedule so a call to a rescheduling
|
||||
* function must be performed before unlocking the kernel. Note that
|
||||
* interrupt handlers always reschedule on exit so an explicit
|
||||
* reschedule must not be performed in ISRs.
|
||||
*
|
||||
* @param[in] tp the thread to be signaled
|
||||
* @param[in] mask the event flags set to be ORed
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
void chEvtSignalI(Thread *tp, eventmask_t mask) {
|
||||
|
||||
chDbgCheckClassI();
|
||||
chDbgCheck(tp != NULL, "chEvtSignalI");
|
||||
|
||||
tp->p_epending |= mask;
|
||||
/* Test on the AND/OR conditions wait states.*/
|
||||
if (((tp->p_state == THD_STATE_WTOREVT) &&
|
||||
((tp->p_epending & tp->p_u.ewmask) != 0)) ||
|
||||
((tp->p_state == THD_STATE_WTANDEVT) &&
|
||||
((tp->p_epending & tp->p_u.ewmask) == tp->p_u.ewmask)))
|
||||
chSchReadyI(tp)->p_u.rdymsg = RDY_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Signals all the Event Listeners registered on the specified Event
|
||||
* Source.
|
||||
* @details This function variants ORs the specified event flags to all the
|
||||
* threads registered on the @p EventSource in addition to the event
|
||||
* flags specified by the threads themselves in the
|
||||
* @p EventListener objects.
|
||||
*
|
||||
* @param[in] esp pointer to the @p EventSource structure
|
||||
* @param[in] flags the flags set to be added to the listener flags mask
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chEvtBroadcastFlags(EventSource *esp, flagsmask_t flags) {
|
||||
|
||||
chSysLock();
|
||||
chEvtBroadcastFlagsI(esp, flags);
|
||||
chSchRescheduleS();
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the flags associated to an @p EventListener.
|
||||
* @details The flags are returned and the @p EventListener flags mask is
|
||||
* cleared.
|
||||
*
|
||||
* @param[in] elp pointer to the @p EventListener structure
|
||||
* @return The flags added to the listener by the associated
|
||||
* event source.
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
flagsmask_t chEvtGetAndClearFlagsI(EventListener *elp) {
|
||||
flagsmask_t flags;
|
||||
|
||||
flags = elp->el_flags;
|
||||
elp->el_flags = 0;
|
||||
|
||||
return flags;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Invokes the event handlers associated to an event flags mask.
|
||||
*
|
||||
* @param[in] mask mask of the event flags to be dispatched
|
||||
* @param[in] handlers an array of @p evhandler_t. The array must have size
|
||||
* equal to the number of bits in eventmask_t.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chEvtDispatch(const evhandler_t *handlers, eventmask_t mask) {
|
||||
eventid_t eid;
|
||||
|
||||
chDbgCheck(handlers != NULL, "chEvtDispatch");
|
||||
|
||||
eid = 0;
|
||||
while (mask) {
|
||||
if (mask & EVENT_MASK(eid)) {
|
||||
chDbgAssert(handlers[eid] != NULL,
|
||||
"chEvtDispatch(), #1",
|
||||
"null handler");
|
||||
mask &= ~EVENT_MASK(eid);
|
||||
handlers[eid](eid);
|
||||
}
|
||||
eid++;
|
||||
}
|
||||
}
|
||||
|
||||
#if CH_OPTIMIZE_SPEED || !CH_USE_EVENTS_TIMEOUT || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief Waits for exactly one of the specified events.
|
||||
* @details The function waits for one event among those specified in
|
||||
* @p mask to become pending then the event is cleared and returned.
|
||||
* @note One and only one event is served in the function, the one with the
|
||||
* lowest event id. The function is meant to be invoked into a loop in
|
||||
* order to serve all the pending events.<br>
|
||||
* This means that Event Listeners with a lower event identifier have
|
||||
* an higher priority.
|
||||
*
|
||||
* @param[in] mask mask of the event flags that the function should wait
|
||||
* for, @p ALL_EVENTS enables all the events
|
||||
* @return The mask of the lowest id served and cleared event.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
eventmask_t chEvtWaitOne(eventmask_t mask) {
|
||||
Thread *ctp = currp;
|
||||
eventmask_t m;
|
||||
|
||||
chSysLock();
|
||||
|
||||
if ((m = (ctp->p_epending & mask)) == 0) {
|
||||
ctp->p_u.ewmask = mask;
|
||||
chSchGoSleepS(THD_STATE_WTOREVT);
|
||||
m = ctp->p_epending & mask;
|
||||
}
|
||||
m ^= m & (m - 1);
|
||||
ctp->p_epending &= ~m;
|
||||
|
||||
chSysUnlock();
|
||||
return m;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Waits for any of the specified events.
|
||||
* @details The function waits for any event among those specified in
|
||||
* @p mask to become pending then the events are cleared and returned.
|
||||
*
|
||||
* @param[in] mask mask of the event flags that the function should wait
|
||||
* for, @p ALL_EVENTS enables all the events
|
||||
* @return The mask of the served and cleared events.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
eventmask_t chEvtWaitAny(eventmask_t mask) {
|
||||
Thread *ctp = currp;
|
||||
eventmask_t m;
|
||||
|
||||
chSysLock();
|
||||
|
||||
if ((m = (ctp->p_epending & mask)) == 0) {
|
||||
ctp->p_u.ewmask = mask;
|
||||
chSchGoSleepS(THD_STATE_WTOREVT);
|
||||
m = ctp->p_epending & mask;
|
||||
}
|
||||
ctp->p_epending &= ~m;
|
||||
|
||||
chSysUnlock();
|
||||
return m;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Waits for all the specified events.
|
||||
* @details The function waits for all the events specified in @p mask to
|
||||
* become pending then the events are cleared and returned.
|
||||
*
|
||||
* @param[in] mask mask of the event flags that the function should wait
|
||||
* for, @p ALL_EVENTS requires all the events
|
||||
* @return The mask of the served and cleared events.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
eventmask_t chEvtWaitAll(eventmask_t mask) {
|
||||
Thread *ctp = currp;
|
||||
|
||||
chSysLock();
|
||||
|
||||
if ((ctp->p_epending & mask) != mask) {
|
||||
ctp->p_u.ewmask = mask;
|
||||
chSchGoSleepS(THD_STATE_WTANDEVT);
|
||||
}
|
||||
ctp->p_epending &= ~mask;
|
||||
|
||||
chSysUnlock();
|
||||
return mask;
|
||||
}
|
||||
#endif /* CH_OPTIMIZE_SPEED || !CH_USE_EVENTS_TIMEOUT */
|
||||
|
||||
#if CH_USE_EVENTS_TIMEOUT || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief Waits for exactly one of the specified events.
|
||||
* @details The function waits for one event among those specified in
|
||||
* @p mask to become pending then the event is cleared and returned.
|
||||
* @note One and only one event is served in the function, the one with the
|
||||
* lowest event id. The function is meant to be invoked into a loop in
|
||||
* order to serve all the pending events.<br>
|
||||
* This means that Event Listeners with a lower event identifier have
|
||||
* an higher priority.
|
||||
*
|
||||
* @param[in] mask mask of the event flags that the function should wait
|
||||
* for, @p ALL_EVENTS enables all the events
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The mask of the lowest id served and cleared event.
|
||||
* @retval 0 if the operation has timed out.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
eventmask_t chEvtWaitOneTimeout(eventmask_t mask, systime_t time) {
|
||||
Thread *ctp = currp;
|
||||
eventmask_t m;
|
||||
|
||||
chSysLock();
|
||||
|
||||
if ((m = (ctp->p_epending & mask)) == 0) {
|
||||
if (TIME_IMMEDIATE == time) {
|
||||
chSysUnlock();
|
||||
return (eventmask_t)0;
|
||||
}
|
||||
ctp->p_u.ewmask = mask;
|
||||
if (chSchGoSleepTimeoutS(THD_STATE_WTOREVT, time) < RDY_OK) {
|
||||
chSysUnlock();
|
||||
return (eventmask_t)0;
|
||||
}
|
||||
m = ctp->p_epending & mask;
|
||||
}
|
||||
m ^= m & (m - 1);
|
||||
ctp->p_epending &= ~m;
|
||||
|
||||
chSysUnlock();
|
||||
return m;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Waits for any of the specified events.
|
||||
* @details The function waits for any event among those specified in
|
||||
* @p mask to become pending then the events are cleared and
|
||||
* returned.
|
||||
*
|
||||
* @param[in] mask mask of the event flags that the function should wait
|
||||
* for, @p ALL_EVENTS enables all the events
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The mask of the served and cleared events.
|
||||
* @retval 0 if the operation has timed out.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
eventmask_t chEvtWaitAnyTimeout(eventmask_t mask, systime_t time) {
|
||||
Thread *ctp = currp;
|
||||
eventmask_t m;
|
||||
|
||||
chSysLock();
|
||||
|
||||
if ((m = (ctp->p_epending & mask)) == 0) {
|
||||
if (TIME_IMMEDIATE == time) {
|
||||
chSysUnlock();
|
||||
return (eventmask_t)0;
|
||||
}
|
||||
ctp->p_u.ewmask = mask;
|
||||
if (chSchGoSleepTimeoutS(THD_STATE_WTOREVT, time) < RDY_OK) {
|
||||
chSysUnlock();
|
||||
return (eventmask_t)0;
|
||||
}
|
||||
m = ctp->p_epending & mask;
|
||||
}
|
||||
ctp->p_epending &= ~m;
|
||||
|
||||
chSysUnlock();
|
||||
return m;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Waits for all the specified events.
|
||||
* @details The function waits for all the events specified in @p mask to
|
||||
* become pending then the events are cleared and returned.
|
||||
*
|
||||
* @param[in] mask mask of the event flags that the function should wait
|
||||
* for, @p ALL_EVENTS requires all the events
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The mask of the served and cleared events.
|
||||
* @retval 0 if the operation has timed out.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
eventmask_t chEvtWaitAllTimeout(eventmask_t mask, systime_t time) {
|
||||
Thread *ctp = currp;
|
||||
|
||||
chSysLock();
|
||||
|
||||
if ((ctp->p_epending & mask) != mask) {
|
||||
if (TIME_IMMEDIATE == time) {
|
||||
chSysUnlock();
|
||||
return (eventmask_t)0;
|
||||
}
|
||||
ctp->p_u.ewmask = mask;
|
||||
if (chSchGoSleepTimeoutS(THD_STATE_WTANDEVT, time) < RDY_OK) {
|
||||
chSysUnlock();
|
||||
return (eventmask_t)0;
|
||||
}
|
||||
}
|
||||
ctp->p_epending &= ~mask;
|
||||
|
||||
chSysUnlock();
|
||||
return mask;
|
||||
}
|
||||
#endif /* CH_USE_EVENTS_TIMEOUT */
|
||||
|
||||
#endif /* CH_USE_EVENTS */
|
||||
|
||||
/** @} */
|
||||
@ -0,0 +1,325 @@
|
||||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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 chheap.c
|
||||
* @brief Heaps code.
|
||||
*
|
||||
* @addtogroup heaps
|
||||
* @details Heap Allocator related APIs.
|
||||
* <h2>Operation mode</h2>
|
||||
* The heap allocator implements a first-fit strategy and its APIs
|
||||
* are functionally equivalent to the usual @p malloc() and @p free()
|
||||
* library functions. The main difference is that the OS heap APIs
|
||||
* are guaranteed to be thread safe.<br>
|
||||
* By enabling the @p CH_USE_MALLOC_HEAP option the heap manager
|
||||
* will use the runtime-provided @p malloc() and @p free() as
|
||||
* back end for the heap APIs instead of the system provided
|
||||
* allocator.
|
||||
* @pre In order to use the heap APIs the @p CH_USE_HEAP option must
|
||||
* be enabled in @p chconf.h.
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
|
||||
#if CH_USE_HEAP || defined(__DOXYGEN__)
|
||||
|
||||
#if !CH_USE_MALLOC_HEAP || defined(__DOXYGEN__)
|
||||
|
||||
/*
|
||||
* Defaults on the best synchronization mechanism available.
|
||||
*/
|
||||
#if CH_USE_MUTEXES || defined(__DOXYGEN__)
|
||||
#define H_LOCK(h) chMtxLock(&(h)->h_mtx)
|
||||
#define H_UNLOCK(h) chMtxUnlock()
|
||||
#else
|
||||
#define H_LOCK(h) chSemWait(&(h)->h_sem)
|
||||
#define H_UNLOCK(h) chSemSignal(&(h)->h_sem)
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Default heap descriptor.
|
||||
*/
|
||||
static MemoryHeap default_heap;
|
||||
|
||||
/**
|
||||
* @brief Initializes the default heap.
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
void _heap_init(void) {
|
||||
default_heap.h_provider = chCoreAlloc;
|
||||
default_heap.h_free.h.u.next = (union heap_header *)NULL;
|
||||
default_heap.h_free.h.size = 0;
|
||||
#if CH_USE_MUTEXES || defined(__DOXYGEN__)
|
||||
chMtxInit(&default_heap.h_mtx);
|
||||
#else
|
||||
chSemInit(&default_heap.h_sem, 1);
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initializes a memory heap from a static memory area.
|
||||
* @pre Both the heap buffer base and the heap size must be aligned to
|
||||
* the @p stkalign_t type size.
|
||||
* @pre In order to use this function the option @p CH_USE_MALLOC_HEAP
|
||||
* must be disabled.
|
||||
*
|
||||
* @param[out] heapp pointer to the memory heap descriptor to be initialized
|
||||
* @param[in] buf heap buffer base
|
||||
* @param[in] size heap size
|
||||
*
|
||||
* @init
|
||||
*/
|
||||
void chHeapInit(MemoryHeap *heapp, void *buf, size_t size) {
|
||||
union heap_header *hp;
|
||||
|
||||
chDbgCheck(MEM_IS_ALIGNED(buf) && MEM_IS_ALIGNED(size), "chHeapInit");
|
||||
|
||||
heapp->h_provider = (memgetfunc_t)NULL;
|
||||
heapp->h_free.h.u.next = hp = buf;
|
||||
heapp->h_free.h.size = 0;
|
||||
hp->h.u.next = NULL;
|
||||
hp->h.size = size - sizeof(union heap_header);
|
||||
#if CH_USE_MUTEXES || defined(__DOXYGEN__)
|
||||
chMtxInit(&heapp->h_mtx);
|
||||
#else
|
||||
chSemInit(&heapp->h_sem, 1);
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Allocates a block of memory from the heap by using the first-fit
|
||||
* algorithm.
|
||||
* @details The allocated block is guaranteed to be properly aligned for a
|
||||
* pointer data type (@p stkalign_t).
|
||||
*
|
||||
* @param[in] heapp pointer to a heap descriptor or @p NULL in order to
|
||||
* access the default heap.
|
||||
* @param[in] size the size of the block to be allocated. Note that the
|
||||
* allocated block may be a bit bigger than the requested
|
||||
* size for alignment and fragmentation reasons.
|
||||
* @return A pointer to the allocated block.
|
||||
* @retval NULL if the block cannot be allocated.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void *chHeapAlloc(MemoryHeap *heapp, size_t size) {
|
||||
union heap_header *qp, *hp, *fp;
|
||||
|
||||
if (heapp == NULL)
|
||||
heapp = &default_heap;
|
||||
|
||||
size = MEM_ALIGN_NEXT(size);
|
||||
qp = &heapp->h_free;
|
||||
H_LOCK(heapp);
|
||||
|
||||
while (qp->h.u.next != NULL) {
|
||||
hp = qp->h.u.next;
|
||||
if (hp->h.size >= size) {
|
||||
if (hp->h.size < size + sizeof(union heap_header)) {
|
||||
/* Gets the whole block even if it is slightly bigger than the
|
||||
requested size because the fragment would be too small to be
|
||||
useful.*/
|
||||
qp->h.u.next = hp->h.u.next;
|
||||
}
|
||||
else {
|
||||
/* Block bigger enough, must split it.*/
|
||||
fp = (void *)((uint8_t *)(hp) + sizeof(union heap_header) + size);
|
||||
fp->h.u.next = hp->h.u.next;
|
||||
fp->h.size = hp->h.size - sizeof(union heap_header) - size;
|
||||
qp->h.u.next = fp;
|
||||
hp->h.size = size;
|
||||
}
|
||||
hp->h.u.heap = heapp;
|
||||
|
||||
H_UNLOCK(heapp);
|
||||
return (void *)(hp + 1);
|
||||
}
|
||||
qp = hp;
|
||||
}
|
||||
|
||||
H_UNLOCK(heapp);
|
||||
|
||||
/* More memory is required, tries to get it from the associated provider
|
||||
else fails.*/
|
||||
if (heapp->h_provider) {
|
||||
hp = heapp->h_provider(size + sizeof(union heap_header));
|
||||
if (hp != NULL) {
|
||||
hp->h.u.heap = heapp;
|
||||
hp->h.size = size;
|
||||
hp++;
|
||||
return (void *)hp;
|
||||
}
|
||||
}
|
||||
return NULL;
|
||||
}
|
||||
|
||||
#define LIMIT(p) (union heap_header *)((uint8_t *)(p) + \
|
||||
sizeof(union heap_header) + \
|
||||
(p)->h.size)
|
||||
|
||||
/**
|
||||
* @brief Frees a previously allocated memory block.
|
||||
*
|
||||
* @param[in] p pointer to the memory block to be freed
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chHeapFree(void *p) {
|
||||
union heap_header *qp, *hp;
|
||||
MemoryHeap *heapp;
|
||||
|
||||
chDbgCheck(p != NULL, "chHeapFree");
|
||||
|
||||
hp = (union heap_header *)p - 1;
|
||||
heapp = hp->h.u.heap;
|
||||
qp = &heapp->h_free;
|
||||
H_LOCK(heapp);
|
||||
|
||||
while (TRUE) {
|
||||
chDbgAssert((hp < qp) || (hp >= LIMIT(qp)),
|
||||
"chHeapFree(), #1",
|
||||
"within free block");
|
||||
|
||||
if (((qp == &heapp->h_free) || (hp > qp)) &&
|
||||
((qp->h.u.next == NULL) || (hp < qp->h.u.next))) {
|
||||
/* Insertion after qp.*/
|
||||
hp->h.u.next = qp->h.u.next;
|
||||
qp->h.u.next = hp;
|
||||
/* Verifies if the newly inserted block should be merged.*/
|
||||
if (LIMIT(hp) == hp->h.u.next) {
|
||||
/* Merge with the next block.*/
|
||||
hp->h.size += hp->h.u.next->h.size + sizeof(union heap_header);
|
||||
hp->h.u.next = hp->h.u.next->h.u.next;
|
||||
}
|
||||
if ((LIMIT(qp) == hp)) {
|
||||
/* Merge with the previous block.*/
|
||||
qp->h.size += hp->h.size + sizeof(union heap_header);
|
||||
qp->h.u.next = hp->h.u.next;
|
||||
}
|
||||
break;
|
||||
}
|
||||
qp = qp->h.u.next;
|
||||
}
|
||||
|
||||
H_UNLOCK(heapp);
|
||||
return;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Reports the heap status.
|
||||
* @note This function is meant to be used in the test suite, it should
|
||||
* not be really useful for the application code.
|
||||
* @note This function is not implemented when the @p CH_USE_MALLOC_HEAP
|
||||
* configuration option is used (it always returns zero).
|
||||
*
|
||||
* @param[in] heapp pointer to a heap descriptor or @p NULL in order to
|
||||
* access the default heap.
|
||||
* @param[in] sizep pointer to a variable that will receive the total
|
||||
* fragmented free space
|
||||
* @return The number of fragments in the heap.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
size_t chHeapStatus(MemoryHeap *heapp, size_t *sizep) {
|
||||
union heap_header *qp;
|
||||
size_t n, sz;
|
||||
|
||||
if (heapp == NULL)
|
||||
heapp = &default_heap;
|
||||
|
||||
H_LOCK(heapp);
|
||||
|
||||
sz = 0;
|
||||
for (n = 0, qp = &heapp->h_free; qp->h.u.next; n++, qp = qp->h.u.next)
|
||||
sz += qp->h.u.next->h.size;
|
||||
if (sizep)
|
||||
*sizep = sz;
|
||||
|
||||
H_UNLOCK(heapp);
|
||||
return n;
|
||||
}
|
||||
|
||||
#else /* CH_USE_MALLOC_HEAP */
|
||||
|
||||
#include <stdlib.h>
|
||||
|
||||
#if CH_USE_MUTEXES
|
||||
#define H_LOCK() chMtxLock(&hmtx)
|
||||
#define H_UNLOCK() chMtxUnlock()
|
||||
static Mutex hmtx;
|
||||
#elif CH_USE_SEMAPHORES
|
||||
#define H_LOCK() chSemWait(&hsem)
|
||||
#define H_UNLOCK() chSemSignal(&hsem)
|
||||
static Semaphore hsem;
|
||||
#endif
|
||||
|
||||
void _heap_init(void) {
|
||||
|
||||
#if CH_USE_MUTEXES
|
||||
chMtxInit(&hmtx);
|
||||
#else
|
||||
chSemInit(&hsem, 1);
|
||||
#endif
|
||||
}
|
||||
|
||||
void *chHeapAlloc(MemoryHeap *heapp, size_t size) {
|
||||
void *p;
|
||||
|
||||
chDbgCheck(heapp == NULL, "chHeapAlloc");
|
||||
|
||||
H_LOCK();
|
||||
p = malloc(size);
|
||||
H_UNLOCK();
|
||||
return p;
|
||||
}
|
||||
|
||||
void chHeapFree(void *p) {
|
||||
|
||||
chDbgCheck(p != NULL, "chHeapFree");
|
||||
|
||||
H_LOCK();
|
||||
free(p);
|
||||
H_UNLOCK();
|
||||
}
|
||||
|
||||
size_t chHeapStatus(MemoryHeap *heapp, size_t *sizep) {
|
||||
|
||||
chDbgCheck(heapp == NULL, "chHeapStatus");
|
||||
|
||||
if (sizep)
|
||||
*sizep = 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
#endif /* CH_USE_MALLOC_HEAP */
|
||||
|
||||
#endif /* CH_USE_HEAP */
|
||||
|
||||
/** @} */
|
||||
@ -0,0 +1,163 @@
|
||||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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 chlists.c
|
||||
* @brief Thread queues/lists code.
|
||||
*
|
||||
* @addtogroup internals
|
||||
* @details All the functions present in this module, while public, are not
|
||||
* OS APIs and should not be directly used in the user applications
|
||||
* code.
|
||||
* @{
|
||||
*/
|
||||
#include "ch.h"
|
||||
|
||||
#if !CH_OPTIMIZE_SPEED || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief Inserts a thread into a priority ordered queue.
|
||||
* @note The insertion is done by scanning the list from the highest
|
||||
* priority toward the lowest.
|
||||
*
|
||||
* @param[in] tp the pointer to the thread to be inserted in the list
|
||||
* @param[in] tqp the pointer to the threads list header
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
void prio_insert(Thread *tp, ThreadsQueue *tqp) {
|
||||
|
||||
/* cp iterates over the queue.*/
|
||||
Thread *cp = (Thread *)tqp;
|
||||
do {
|
||||
/* Iterate to next thread in queue.*/
|
||||
cp = cp->p_next;
|
||||
/* Not end of queue? and cp has equal or higher priority than tp?.*/
|
||||
} while ((cp != (Thread *)tqp) && (cp->p_prio >= tp->p_prio));
|
||||
/* Insertion on p_prev.*/
|
||||
tp->p_next = cp;
|
||||
tp->p_prev = cp->p_prev;
|
||||
tp->p_prev->p_next = cp->p_prev = tp;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Inserts a Thread into a queue.
|
||||
*
|
||||
* @param[in] tp the pointer to the thread to be inserted in the list
|
||||
* @param[in] tqp the pointer to the threads list header
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
void queue_insert(Thread *tp, ThreadsQueue *tqp) {
|
||||
|
||||
tp->p_next = (Thread *)tqp;
|
||||
tp->p_prev = tqp->p_prev;
|
||||
tp->p_prev->p_next = tqp->p_prev = tp;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Removes the first-out Thread from a queue and returns it.
|
||||
* @note If the queue is priority ordered then this function returns the
|
||||
* thread with the highest priority.
|
||||
*
|
||||
* @param[in] tqp the pointer to the threads list header
|
||||
* @return The removed thread pointer.
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
Thread *fifo_remove(ThreadsQueue *tqp) {
|
||||
Thread *tp = tqp->p_next;
|
||||
|
||||
(tqp->p_next = tp->p_next)->p_prev = (Thread *)tqp;
|
||||
return tp;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Removes the last-out Thread from a queue and returns it.
|
||||
* @note If the queue is priority ordered then this function returns the
|
||||
* thread with the lowest priority.
|
||||
*
|
||||
* @param[in] tqp the pointer to the threads list header
|
||||
* @return The removed thread pointer.
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
Thread *lifo_remove(ThreadsQueue *tqp) {
|
||||
Thread *tp = tqp->p_prev;
|
||||
|
||||
(tqp->p_prev = tp->p_prev)->p_next = (Thread *)tqp;
|
||||
return tp;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Removes a Thread from a queue and returns it.
|
||||
* @details The thread is removed from the queue regardless of its relative
|
||||
* position and regardless the used insertion method.
|
||||
*
|
||||
* @param[in] tp the pointer to the thread to be removed from the queue
|
||||
* @return The removed thread pointer.
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
Thread *dequeue(Thread *tp) {
|
||||
|
||||
tp->p_prev->p_next = tp->p_next;
|
||||
tp->p_next->p_prev = tp->p_prev;
|
||||
return tp;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pushes a Thread on top of a stack list.
|
||||
*
|
||||
* @param[in] tp the pointer to the thread to be inserted in the list
|
||||
* @param[in] tlp the pointer to the threads list header
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
void list_insert(Thread *tp, ThreadsList *tlp) {
|
||||
|
||||
tp->p_next = tlp->p_next;
|
||||
tlp->p_next = tp;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pops a Thread from the top of a stack list and returns it.
|
||||
* @pre The list must be non-empty before calling this function.
|
||||
*
|
||||
* @param[in] tlp the pointer to the threads list header
|
||||
* @return The removed thread pointer.
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
Thread *list_remove(ThreadsList *tlp) {
|
||||
|
||||
Thread *tp = tlp->p_next;
|
||||
tlp->p_next = tp->p_next;
|
||||
return tp;
|
||||
}
|
||||
#endif /* CH_OPTIMIZE_SPEED */
|
||||
|
||||
/** @} */
|
||||
@ -0,0 +1,383 @@
|
||||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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 chmboxes.c
|
||||
* @brief Mailboxes code.
|
||||
*
|
||||
* @addtogroup mailboxes
|
||||
* @details Asynchronous messages.
|
||||
* <h2>Operation mode</h2>
|
||||
* A mailbox is an asynchronous communication mechanism.<br>
|
||||
* Operations defined for mailboxes:
|
||||
* - <b>Post</b>: Posts a message on the mailbox in FIFO order.
|
||||
* - <b>Post Ahead</b>: Posts a message on the mailbox with urgent
|
||||
* priority.
|
||||
* - <b>Fetch</b>: A message is fetched from the mailbox and removed
|
||||
* from the queue.
|
||||
* - <b>Reset</b>: The mailbox is emptied and all the stored messages
|
||||
* are lost.
|
||||
* .
|
||||
* A message is a variable of type msg_t that is guaranteed to have
|
||||
* the same size of and be compatible with (data) pointers (anyway an
|
||||
* explicit cast is needed).
|
||||
* If larger messages need to be exchanged then a pointer to a
|
||||
* structure can be posted in the mailbox but the posting side has
|
||||
* no predefined way to know when the message has been processed. A
|
||||
* possible approach is to allocate memory (from a memory pool for
|
||||
* example) from the posting side and free it on the fetching side.
|
||||
* Another approach is to set a "done" flag into the structure pointed
|
||||
* by the message.
|
||||
* @pre In order to use the mailboxes APIs the @p CH_USE_MAILBOXES option
|
||||
* must be enabled in @p chconf.h.
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
|
||||
#if CH_USE_MAILBOXES || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief Initializes a Mailbox object.
|
||||
*
|
||||
* @param[out] mbp the pointer to the Mailbox structure to be initialized
|
||||
* @param[in] buf pointer to the messages buffer as an array of @p msg_t
|
||||
* @param[in] n number of elements in the buffer array
|
||||
*
|
||||
* @init
|
||||
*/
|
||||
void chMBInit(Mailbox *mbp, msg_t *buf, cnt_t n) {
|
||||
|
||||
chDbgCheck((mbp != NULL) && (buf != NULL) && (n > 0), "chMBInit");
|
||||
|
||||
mbp->mb_buffer = mbp->mb_wrptr = mbp->mb_rdptr = buf;
|
||||
mbp->mb_top = &buf[n];
|
||||
chSemInit(&mbp->mb_emptysem, n);
|
||||
chSemInit(&mbp->mb_fullsem, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Resets a Mailbox object.
|
||||
* @details All the waiting threads are resumed with status @p RDY_RESET and
|
||||
* the queued messages are lost.
|
||||
*
|
||||
* @param[in] mbp the pointer to an initialized Mailbox object
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chMBReset(Mailbox *mbp) {
|
||||
|
||||
chDbgCheck(mbp != NULL, "chMBReset");
|
||||
|
||||
chSysLock();
|
||||
mbp->mb_wrptr = mbp->mb_rdptr = mbp->mb_buffer;
|
||||
chSemResetI(&mbp->mb_emptysem, mbp->mb_top - mbp->mb_buffer);
|
||||
chSemResetI(&mbp->mb_fullsem, 0);
|
||||
chSchRescheduleS();
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Posts a message into a mailbox.
|
||||
* @details The invoking thread waits until a empty slot in the mailbox becomes
|
||||
* available or the specified time runs out.
|
||||
*
|
||||
* @param[in] mbp the pointer to an initialized Mailbox object
|
||||
* @param[in] msg the message to be posted on the mailbox
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The operation status.
|
||||
* @retval RDY_OK if a message has been correctly posted.
|
||||
* @retval RDY_RESET if the mailbox has been reset while waiting.
|
||||
* @retval RDY_TIMEOUT if the operation has timed out.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
msg_t chMBPost(Mailbox *mbp, msg_t msg, systime_t time) {
|
||||
msg_t rdymsg;
|
||||
|
||||
chSysLock();
|
||||
rdymsg = chMBPostS(mbp, msg, time);
|
||||
chSysUnlock();
|
||||
return rdymsg;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Posts a message into a mailbox.
|
||||
* @details The invoking thread waits until a empty slot in the mailbox becomes
|
||||
* available or the specified time runs out.
|
||||
*
|
||||
* @param[in] mbp the pointer to an initialized Mailbox object
|
||||
* @param[in] msg the message to be posted on the mailbox
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The operation status.
|
||||
* @retval RDY_OK if a message has been correctly posted.
|
||||
* @retval RDY_RESET if the mailbox has been reset while waiting.
|
||||
* @retval RDY_TIMEOUT if the operation has timed out.
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
msg_t chMBPostS(Mailbox *mbp, msg_t msg, systime_t time) {
|
||||
msg_t rdymsg;
|
||||
|
||||
chDbgCheckClassS();
|
||||
chDbgCheck(mbp != NULL, "chMBPostS");
|
||||
|
||||
rdymsg = chSemWaitTimeoutS(&mbp->mb_emptysem, time);
|
||||
if (rdymsg == RDY_OK) {
|
||||
*mbp->mb_wrptr++ = msg;
|
||||
if (mbp->mb_wrptr >= mbp->mb_top)
|
||||
mbp->mb_wrptr = mbp->mb_buffer;
|
||||
chSemSignalI(&mbp->mb_fullsem);
|
||||
chSchRescheduleS();
|
||||
}
|
||||
return rdymsg;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Posts a message into a mailbox.
|
||||
* @details This variant is non-blocking, the function returns a timeout
|
||||
* condition if the queue is full.
|
||||
*
|
||||
* @param[in] mbp the pointer to an initialized Mailbox object
|
||||
* @param[in] msg the message to be posted on the mailbox
|
||||
* @return The operation status.
|
||||
* @retval RDY_OK if a message has been correctly posted.
|
||||
* @retval RDY_TIMEOUT if the mailbox is full and the message cannot be
|
||||
* posted.
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
msg_t chMBPostI(Mailbox *mbp, msg_t msg) {
|
||||
|
||||
chDbgCheckClassI();
|
||||
chDbgCheck(mbp != NULL, "chMBPostI");
|
||||
|
||||
if (chSemGetCounterI(&mbp->mb_emptysem) <= 0)
|
||||
return RDY_TIMEOUT;
|
||||
chSemFastWaitI(&mbp->mb_emptysem);
|
||||
*mbp->mb_wrptr++ = msg;
|
||||
if (mbp->mb_wrptr >= mbp->mb_top)
|
||||
mbp->mb_wrptr = mbp->mb_buffer;
|
||||
chSemSignalI(&mbp->mb_fullsem);
|
||||
return RDY_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Posts an high priority message into a mailbox.
|
||||
* @details The invoking thread waits until a empty slot in the mailbox becomes
|
||||
* available or the specified time runs out.
|
||||
*
|
||||
* @param[in] mbp the pointer to an initialized Mailbox object
|
||||
* @param[in] msg the message to be posted on the mailbox
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The operation status.
|
||||
* @retval RDY_OK if a message has been correctly posted.
|
||||
* @retval RDY_RESET if the mailbox has been reset while waiting.
|
||||
* @retval RDY_TIMEOUT if the operation has timed out.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
msg_t chMBPostAhead(Mailbox *mbp, msg_t msg, systime_t time) {
|
||||
msg_t rdymsg;
|
||||
|
||||
chSysLock();
|
||||
rdymsg = chMBPostAheadS(mbp, msg, time);
|
||||
chSysUnlock();
|
||||
return rdymsg;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Posts an high priority message into a mailbox.
|
||||
* @details The invoking thread waits until a empty slot in the mailbox becomes
|
||||
* available or the specified time runs out.
|
||||
*
|
||||
* @param[in] mbp the pointer to an initialized Mailbox object
|
||||
* @param[in] msg the message to be posted on the mailbox
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The operation status.
|
||||
* @retval RDY_OK if a message has been correctly posted.
|
||||
* @retval RDY_RESET if the mailbox has been reset while waiting.
|
||||
* @retval RDY_TIMEOUT if the operation has timed out.
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
msg_t chMBPostAheadS(Mailbox *mbp, msg_t msg, systime_t time) {
|
||||
msg_t rdymsg;
|
||||
|
||||
chDbgCheckClassS();
|
||||
chDbgCheck(mbp != NULL, "chMBPostAheadS");
|
||||
|
||||
rdymsg = chSemWaitTimeoutS(&mbp->mb_emptysem, time);
|
||||
if (rdymsg == RDY_OK) {
|
||||
if (--mbp->mb_rdptr < mbp->mb_buffer)
|
||||
mbp->mb_rdptr = mbp->mb_top - 1;
|
||||
*mbp->mb_rdptr = msg;
|
||||
chSemSignalI(&mbp->mb_fullsem);
|
||||
chSchRescheduleS();
|
||||
}
|
||||
return rdymsg;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Posts an high priority message into a mailbox.
|
||||
* @details This variant is non-blocking, the function returns a timeout
|
||||
* condition if the queue is full.
|
||||
*
|
||||
* @param[in] mbp the pointer to an initialized Mailbox object
|
||||
* @param[in] msg the message to be posted on the mailbox
|
||||
* @return The operation status.
|
||||
* @retval RDY_OK if a message has been correctly posted.
|
||||
* @retval RDY_TIMEOUT if the mailbox is full and the message cannot be
|
||||
* posted.
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
msg_t chMBPostAheadI(Mailbox *mbp, msg_t msg) {
|
||||
|
||||
chDbgCheckClassI();
|
||||
chDbgCheck(mbp != NULL, "chMBPostAheadI");
|
||||
|
||||
if (chSemGetCounterI(&mbp->mb_emptysem) <= 0)
|
||||
return RDY_TIMEOUT;
|
||||
chSemFastWaitI(&mbp->mb_emptysem);
|
||||
if (--mbp->mb_rdptr < mbp->mb_buffer)
|
||||
mbp->mb_rdptr = mbp->mb_top - 1;
|
||||
*mbp->mb_rdptr = msg;
|
||||
chSemSignalI(&mbp->mb_fullsem);
|
||||
return RDY_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Retrieves a message from a mailbox.
|
||||
* @details The invoking thread waits until a message is posted in the mailbox
|
||||
* or the specified time runs out.
|
||||
*
|
||||
* @param[in] mbp the pointer to an initialized Mailbox object
|
||||
* @param[out] msgp pointer to a message variable for the received message
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The operation status.
|
||||
* @retval RDY_OK if a message has been correctly fetched.
|
||||
* @retval RDY_RESET if the mailbox has been reset while waiting.
|
||||
* @retval RDY_TIMEOUT if the operation has timed out.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
msg_t chMBFetch(Mailbox *mbp, msg_t *msgp, systime_t time) {
|
||||
msg_t rdymsg;
|
||||
|
||||
chSysLock();
|
||||
rdymsg = chMBFetchS(mbp, msgp, time);
|
||||
chSysUnlock();
|
||||
return rdymsg;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Retrieves a message from a mailbox.
|
||||
* @details The invoking thread waits until a message is posted in the mailbox
|
||||
* or the specified time runs out.
|
||||
*
|
||||
* @param[in] mbp the pointer to an initialized Mailbox object
|
||||
* @param[out] msgp pointer to a message variable for the received message
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The operation status.
|
||||
* @retval RDY_OK if a message has been correctly fetched.
|
||||
* @retval RDY_RESET if the mailbox has been reset while waiting.
|
||||
* @retval RDY_TIMEOUT if the operation has timed out.
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
msg_t chMBFetchS(Mailbox *mbp, msg_t *msgp, systime_t time) {
|
||||
msg_t rdymsg;
|
||||
|
||||
chDbgCheckClassS();
|
||||
chDbgCheck((mbp != NULL) && (msgp != NULL), "chMBFetchS");
|
||||
|
||||
rdymsg = chSemWaitTimeoutS(&mbp->mb_fullsem, time);
|
||||
if (rdymsg == RDY_OK) {
|
||||
*msgp = *mbp->mb_rdptr++;
|
||||
if (mbp->mb_rdptr >= mbp->mb_top)
|
||||
mbp->mb_rdptr = mbp->mb_buffer;
|
||||
chSemSignalI(&mbp->mb_emptysem);
|
||||
chSchRescheduleS();
|
||||
}
|
||||
return rdymsg;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Retrieves a message from a mailbox.
|
||||
* @details This variant is non-blocking, the function returns a timeout
|
||||
* condition if the queue is empty.
|
||||
*
|
||||
* @param[in] mbp the pointer to an initialized Mailbox object
|
||||
* @param[out] msgp pointer to a message variable for the received message
|
||||
* @return The operation status.
|
||||
* @retval RDY_OK if a message has been correctly fetched.
|
||||
* @retval RDY_TIMEOUT if the mailbox is empty and a message cannot be
|
||||
* fetched.
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
msg_t chMBFetchI(Mailbox *mbp, msg_t *msgp) {
|
||||
|
||||
chDbgCheckClassI();
|
||||
chDbgCheck((mbp != NULL) && (msgp != NULL), "chMBFetchI");
|
||||
|
||||
if (chSemGetCounterI(&mbp->mb_fullsem) <= 0)
|
||||
return RDY_TIMEOUT;
|
||||
chSemFastWaitI(&mbp->mb_fullsem);
|
||||
*msgp = *mbp->mb_rdptr++;
|
||||
if (mbp->mb_rdptr >= mbp->mb_top)
|
||||
mbp->mb_rdptr = mbp->mb_buffer;
|
||||
chSemSignalI(&mbp->mb_emptysem);
|
||||
return RDY_OK;
|
||||
}
|
||||
#endif /* CH_USE_MAILBOXES */
|
||||
|
||||
/** @} */
|
||||
@ -0,0 +1,138 @@
|
||||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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 chmemcore.c
|
||||
* @brief Core memory manager code.
|
||||
*
|
||||
* @addtogroup memcore
|
||||
* @details Core Memory Manager related APIs and services.
|
||||
* <h2>Operation mode</h2>
|
||||
* The core memory manager is a simplified allocator that only
|
||||
* allows to allocate memory blocks without the possibility to
|
||||
* free them.<br>
|
||||
* This allocator is meant as a memory blocks provider for the
|
||||
* other allocators such as:
|
||||
* - C-Runtime allocator (through a compiler specific adapter module).
|
||||
* - Heap allocator (see @ref heaps).
|
||||
* - Memory pools allocator (see @ref pools).
|
||||
* .
|
||||
* By having a centralized memory provider the various allocators
|
||||
* can coexist and share the main memory.<br>
|
||||
* This allocator, alone, is also useful for very simple
|
||||
* applications that just require a simple way to get memory
|
||||
* blocks.
|
||||
* @pre In order to use the core memory manager APIs the @p CH_USE_MEMCORE
|
||||
* option must be enabled in @p chconf.h.
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
|
||||
#if CH_USE_MEMCORE || defined(__DOXYGEN__)
|
||||
|
||||
static uint8_t *nextmem;
|
||||
static uint8_t *endmem;
|
||||
|
||||
/**
|
||||
* @brief Low level memory manager initialization.
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
void _core_init(void) {
|
||||
#if CH_MEMCORE_SIZE == 0
|
||||
extern uint8_t __heap_base__[];
|
||||
extern uint8_t __heap_end__[];
|
||||
nextmem = (uint8_t *)MEM_ALIGN_NEXT(__heap_base__);
|
||||
endmem = (uint8_t *)MEM_ALIGN_PREV(__heap_end__);
|
||||
#else
|
||||
static stkalign_t buffer[MEM_ALIGN_NEXT(CH_MEMCORE_SIZE)/MEM_ALIGN_SIZE];
|
||||
nextmem = (uint8_t *)&buffer[0];
|
||||
endmem = (uint8_t *)&buffer[MEM_ALIGN_NEXT(CH_MEMCORE_SIZE)/MEM_ALIGN_SIZE];
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Allocates a memory block.
|
||||
* @details The size of the returned block is aligned to the alignment
|
||||
* type so it is not possible to allocate less
|
||||
* than <code>MEM_ALIGN_SIZE</code>.
|
||||
*
|
||||
* @param[in] size the size of the block to be allocated
|
||||
* @return A pointer to the allocated memory block.
|
||||
* @retval NULL allocation failed, core memory exhausted.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void *chCoreAlloc(size_t size) {
|
||||
void *p;
|
||||
|
||||
chSysLock();
|
||||
p = chCoreAllocI(size);
|
||||
chSysUnlock();
|
||||
return p;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Allocates a memory block.
|
||||
* @details The size of the returned block is aligned to the alignment
|
||||
* type so it is not possible to allocate less than
|
||||
* <code>MEM_ALIGN_SIZE</code>.
|
||||
*
|
||||
* @param[in] size the size of the block to be allocated.
|
||||
* @return A pointer to the allocated memory block.
|
||||
* @retval NULL allocation failed, core memory exhausted.
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
void *chCoreAllocI(size_t size) {
|
||||
void *p;
|
||||
|
||||
chDbgCheckClassI();
|
||||
|
||||
size = MEM_ALIGN_NEXT(size);
|
||||
if ((size_t)(endmem - nextmem) < size)
|
||||
return NULL;
|
||||
p = nextmem;
|
||||
nextmem += size;
|
||||
return p;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Core memory status.
|
||||
*
|
||||
* @return The size, in bytes, of the free core memory.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
size_t chCoreStatus(void) {
|
||||
|
||||
return (size_t)(endmem - nextmem);
|
||||
}
|
||||
#endif /* CH_USE_MEMCORE */
|
||||
|
||||
/** @} */
|
||||
@ -0,0 +1,180 @@
|
||||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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 chmempools.c
|
||||
* @brief Memory Pools code.
|
||||
*
|
||||
* @addtogroup pools
|
||||
* @details Memory Pools related APIs and services.
|
||||
* <h2>Operation mode</h2>
|
||||
* The Memory Pools APIs allow to allocate/free fixed size objects in
|
||||
* <b>constant time</b> and reliably without memory fragmentation
|
||||
* problems.<br>
|
||||
* Memory Pools do not enforce any alignment constraint on the
|
||||
* contained object however the objects must be properly aligned
|
||||
* to contain a pointer to void.
|
||||
* @pre In order to use the memory pools APIs the @p CH_USE_MEMPOOLS option
|
||||
* must be enabled in @p chconf.h.
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
|
||||
#if CH_USE_MEMPOOLS || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief Initializes an empty memory pool.
|
||||
*
|
||||
* @param[out] mp pointer to a @p MemoryPool structure
|
||||
* @param[in] size the size of the objects contained in this memory pool,
|
||||
* the minimum accepted size is the size of a pointer to
|
||||
* void.
|
||||
* @param[in] provider memory provider function for the memory pool or
|
||||
* @p NULL if the pool is not allowed to grow
|
||||
* automatically
|
||||
*
|
||||
* @init
|
||||
*/
|
||||
void chPoolInit(MemoryPool *mp, size_t size, memgetfunc_t provider) {
|
||||
|
||||
chDbgCheck((mp != NULL) && (size >= sizeof(void *)), "chPoolInit");
|
||||
|
||||
mp->mp_next = NULL;
|
||||
mp->mp_object_size = size;
|
||||
mp->mp_provider = provider;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Loads a memory pool with an array of static objects.
|
||||
* @pre The memory pool must be already been initialized.
|
||||
* @pre The array elements must be of the right size for the specified
|
||||
* memory pool.
|
||||
* @post The memory pool contains the elements of the input array.
|
||||
*
|
||||
* @param[in] mp pointer to a @p MemoryPool structure
|
||||
* @param[in] p pointer to the array first element
|
||||
* @param[in] n number of elements in the array
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chPoolLoadArray(MemoryPool *mp, void *p, size_t n) {
|
||||
|
||||
chDbgCheck((mp != NULL) && (n != 0), "chPoolLoadArray");
|
||||
|
||||
while (n) {
|
||||
chPoolAdd(mp, p);
|
||||
p = (void *)(((uint8_t *)p) + mp->mp_object_size);
|
||||
n--;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Allocates an object from a memory pool.
|
||||
* @pre The memory pool must be already been initialized.
|
||||
*
|
||||
* @param[in] mp pointer to a @p MemoryPool structure
|
||||
* @return The pointer to the allocated object.
|
||||
* @retval NULL if pool is empty.
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
void *chPoolAllocI(MemoryPool *mp) {
|
||||
void *objp;
|
||||
|
||||
chDbgCheckClassI();
|
||||
chDbgCheck(mp != NULL, "chPoolAllocI");
|
||||
|
||||
if ((objp = mp->mp_next) != NULL)
|
||||
mp->mp_next = mp->mp_next->ph_next;
|
||||
else if (mp->mp_provider != NULL)
|
||||
objp = mp->mp_provider(mp->mp_object_size);
|
||||
return objp;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Allocates an object from a memory pool.
|
||||
* @pre The memory pool must be already been initialized.
|
||||
*
|
||||
* @param[in] mp pointer to a @p MemoryPool structure
|
||||
* @return The pointer to the allocated object.
|
||||
* @retval NULL if pool is empty.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void *chPoolAlloc(MemoryPool *mp) {
|
||||
void *objp;
|
||||
|
||||
chSysLock();
|
||||
objp = chPoolAllocI(mp);
|
||||
chSysUnlock();
|
||||
return objp;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Releases an object into a memory pool.
|
||||
* @pre The memory pool must be already been initialized.
|
||||
* @pre The freed object must be of the right size for the specified
|
||||
* memory pool.
|
||||
* @pre The object must be properly aligned to contain a pointer to void.
|
||||
*
|
||||
* @param[in] mp pointer to a @p MemoryPool structure
|
||||
* @param[in] objp the pointer to the object to be released
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
void chPoolFreeI(MemoryPool *mp, void *objp) {
|
||||
struct pool_header *php = objp;
|
||||
|
||||
chDbgCheckClassI();
|
||||
chDbgCheck((mp != NULL) && (objp != NULL), "chPoolFreeI");
|
||||
|
||||
php->ph_next = mp->mp_next;
|
||||
mp->mp_next = php;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Releases an object into a memory pool.
|
||||
* @pre The memory pool must be already been initialized.
|
||||
* @pre The freed object must be of the right size for the specified
|
||||
* memory pool.
|
||||
* @pre The object must be properly aligned to contain a pointer to void.
|
||||
*
|
||||
* @param[in] mp pointer to a @p MemoryPool structure
|
||||
* @param[in] objp the pointer to the object to be released
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chPoolFree(MemoryPool *mp, void *objp) {
|
||||
|
||||
chSysLock();
|
||||
chPoolFreeI(mp, objp);
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
#endif /* CH_USE_MEMPOOLS */
|
||||
|
||||
/** @} */
|
||||
139
Software/portapack-mayhem/firmware/chibios/os/kernel/src/chmsg.c
Normal file
139
Software/portapack-mayhem/firmware/chibios/os/kernel/src/chmsg.c
Normal file
@ -0,0 +1,139 @@
|
||||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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 chmsg.c
|
||||
* @brief Messages code.
|
||||
*
|
||||
* @addtogroup messages
|
||||
* @details Synchronous inter-thread messages APIs and services.
|
||||
* <h2>Operation Mode</h2>
|
||||
* Synchronous messages are an easy to use and fast IPC mechanism,
|
||||
* threads can both act as message servers and/or message clients,
|
||||
* the mechanism allows data to be carried in both directions. Note
|
||||
* that messages are not copied between the client and server threads
|
||||
* but just a pointer passed so the exchange is very time
|
||||
* efficient.<br>
|
||||
* Messages are scalar data types of type @p msg_t that are guaranteed
|
||||
* to be size compatible with data pointers. Note that on some
|
||||
* architectures function pointers can be larger that @p msg_t.<br>
|
||||
* Messages are usually processed in FIFO order but it is possible to
|
||||
* process them in priority order by enabling the
|
||||
* @p CH_USE_MESSAGES_PRIORITY option in @p chconf.h.<br>
|
||||
* @pre In order to use the message APIs the @p CH_USE_MESSAGES option
|
||||
* must be enabled in @p chconf.h.
|
||||
* @post Enabling messages requires 6-12 (depending on the architecture)
|
||||
* extra bytes in the @p Thread structure.
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
|
||||
#if CH_USE_MESSAGES || defined(__DOXYGEN__)
|
||||
|
||||
#if CH_USE_MESSAGES_PRIORITY
|
||||
#define msg_insert(tp, qp) prio_insert(tp, qp)
|
||||
#else
|
||||
#define msg_insert(tp, qp) queue_insert(tp, qp)
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Sends a message to the specified thread.
|
||||
* @details The sender is stopped until the receiver executes a
|
||||
* @p chMsgRelease()after receiving the message.
|
||||
*
|
||||
* @param[in] tp the pointer to the thread
|
||||
* @param[in] msg the message
|
||||
* @return The answer message from @p chMsgRelease().
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
msg_t chMsgSend(Thread *tp, msg_t msg) {
|
||||
Thread *ctp = currp;
|
||||
|
||||
chDbgCheck(tp != NULL, "chMsgSend");
|
||||
|
||||
chSysLock();
|
||||
ctp->p_msg = msg;
|
||||
ctp->p_u.wtobjp = &tp->p_msgqueue;
|
||||
msg_insert(ctp, &tp->p_msgqueue);
|
||||
if (tp->p_state == THD_STATE_WTMSG)
|
||||
chSchReadyI(tp);
|
||||
chSchGoSleepS(THD_STATE_SNDMSGQ);
|
||||
msg = ctp->p_u.rdymsg;
|
||||
chSysUnlock();
|
||||
return msg;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Suspends the thread and waits for an incoming message.
|
||||
* @post After receiving a message the function @p chMsgGet() must be
|
||||
* called in order to retrieve the message and then @p chMsgRelease()
|
||||
* must be invoked in order to acknowledge the reception and send
|
||||
* the answer.
|
||||
* @note If the message is a pointer then you can assume that the data
|
||||
* pointed by the message is stable until you invoke @p chMsgRelease()
|
||||
* because the sending thread is suspended until then.
|
||||
*
|
||||
* @return A reference to the thread carrying the message.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
Thread *chMsgWait(void) {
|
||||
Thread *tp;
|
||||
|
||||
chSysLock();
|
||||
if (!chMsgIsPendingI(currp))
|
||||
chSchGoSleepS(THD_STATE_WTMSG);
|
||||
tp = fifo_remove(&currp->p_msgqueue);
|
||||
tp->p_state = THD_STATE_SNDMSG;
|
||||
chSysUnlock();
|
||||
return tp;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Releases a sender thread specifying a response message.
|
||||
* @pre Invoke this function only after a message has been received
|
||||
* using @p chMsgWait().
|
||||
*
|
||||
* @param[in] tp pointer to the thread
|
||||
* @param[in] msg message to be returned to the sender
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chMsgRelease(Thread *tp, msg_t msg) {
|
||||
|
||||
chSysLock();
|
||||
chDbgAssert(tp->p_state == THD_STATE_SNDMSG,
|
||||
"chMsgRelease(), #1", "invalid state");
|
||||
chMsgReleaseS(tp, msg);
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
#endif /* CH_USE_MESSAGES */
|
||||
|
||||
/** @} */
|
||||
400
Software/portapack-mayhem/firmware/chibios/os/kernel/src/chmtx.c
Normal file
400
Software/portapack-mayhem/firmware/chibios/os/kernel/src/chmtx.c
Normal file
@ -0,0 +1,400 @@
|
||||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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 chmtx.c
|
||||
* @brief Mutexes code.
|
||||
*
|
||||
* @addtogroup mutexes
|
||||
* @details Mutexes related APIs and services.
|
||||
*
|
||||
* <h2>Operation mode</h2>
|
||||
* A mutex is a threads synchronization object that can be in two
|
||||
* distinct states:
|
||||
* - Not owned (unlocked).
|
||||
* - Owned by a thread (locked).
|
||||
* .
|
||||
* Operations defined for mutexes:
|
||||
* - <b>Lock</b>: The mutex is checked, if the mutex is not owned by
|
||||
* some other thread then it is associated to the locking thread
|
||||
* else the thread is queued on the mutex in a list ordered by
|
||||
* priority.
|
||||
* - <b>Unlock</b>: The mutex is released by the owner and the highest
|
||||
* priority thread waiting in the queue, if any, is resumed and made
|
||||
* owner of the mutex.
|
||||
* .
|
||||
* <h2>Constraints</h2>
|
||||
* In ChibiOS/RT the Unlock operations are always performed in
|
||||
* lock-reverse order. The unlock API does not even have a parameter,
|
||||
* the mutex to unlock is selected from an internal, per-thread, stack
|
||||
* of owned mutexes. This both improves the performance and is
|
||||
* required for an efficient implementation of the priority
|
||||
* inheritance mechanism.
|
||||
*
|
||||
* <h2>The priority inversion problem</h2>
|
||||
* The mutexes in ChibiOS/RT implements the <b>full</b> priority
|
||||
* inheritance mechanism in order handle the priority inversion
|
||||
* problem.<br>
|
||||
* When a thread is queued on a mutex, any thread, directly or
|
||||
* indirectly, holding the mutex gains the same priority of the
|
||||
* waiting thread (if their priority was not already equal or higher).
|
||||
* The mechanism works with any number of nested mutexes and any
|
||||
* number of involved threads. The algorithm complexity (worst case)
|
||||
* is N with N equal to the number of nested mutexes.
|
||||
* @pre In order to use the mutex APIs the @p CH_USE_MUTEXES option
|
||||
* must be enabled in @p chconf.h.
|
||||
* @post Enabling mutexes requires 5-12 (depending on the architecture)
|
||||
* extra bytes in the @p Thread structure.
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
|
||||
#if CH_USE_MUTEXES || defined(__DOXYGEN__)
|
||||
|
||||
/**
|
||||
* @brief Initializes s @p Mutex structure.
|
||||
*
|
||||
* @param[out] mp pointer to a @p Mutex structure
|
||||
*
|
||||
* @init
|
||||
*/
|
||||
void chMtxInit(Mutex *mp) {
|
||||
|
||||
chDbgCheck(mp != NULL, "chMtxInit");
|
||||
|
||||
queue_init(&mp->m_queue);
|
||||
mp->m_owner = NULL;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Locks the specified mutex.
|
||||
* @post The mutex is locked and inserted in the per-thread stack of owned
|
||||
* mutexes.
|
||||
*
|
||||
* @param[in] mp pointer to the @p Mutex structure
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chMtxLock(Mutex *mp) {
|
||||
|
||||
chSysLock();
|
||||
|
||||
chMtxLockS(mp);
|
||||
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Locks the specified mutex.
|
||||
* @post The mutex is locked and inserted in the per-thread stack of owned
|
||||
* mutexes.
|
||||
*
|
||||
* @param[in] mp pointer to the @p Mutex structure
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
void chMtxLockS(Mutex *mp) {
|
||||
Thread *ctp = currp;
|
||||
|
||||
chDbgCheckClassS();
|
||||
chDbgCheck(mp != NULL, "chMtxLockS");
|
||||
|
||||
/* Is the mutex already locked? */
|
||||
if (mp->m_owner != NULL) {
|
||||
/* Priority inheritance protocol; explores the thread-mutex dependencies
|
||||
boosting the priority of all the affected threads to equal the priority
|
||||
of the running thread requesting the mutex.*/
|
||||
Thread *tp = mp->m_owner;
|
||||
/* Does the running thread have higher priority than the mutex
|
||||
owning thread? */
|
||||
while (tp->p_prio < ctp->p_prio) {
|
||||
/* Make priority of thread tp match the running thread's priority.*/
|
||||
tp->p_prio = ctp->p_prio;
|
||||
/* The following states need priority queues reordering.*/
|
||||
switch (tp->p_state) {
|
||||
case THD_STATE_WTMTX:
|
||||
/* Re-enqueues the mutex owner with its new priority.*/
|
||||
prio_insert(dequeue(tp), (ThreadsQueue *)tp->p_u.wtobjp);
|
||||
tp = ((Mutex *)tp->p_u.wtobjp)->m_owner;
|
||||
continue;
|
||||
#if CH_USE_CONDVARS || \
|
||||
(CH_USE_SEMAPHORES && CH_USE_SEMAPHORES_PRIORITY) || \
|
||||
(CH_USE_MESSAGES && CH_USE_MESSAGES_PRIORITY)
|
||||
#if CH_USE_CONDVARS
|
||||
case THD_STATE_WTCOND:
|
||||
#endif
|
||||
#if CH_USE_SEMAPHORES && CH_USE_SEMAPHORES_PRIORITY
|
||||
case THD_STATE_WTSEM:
|
||||
#endif
|
||||
#if CH_USE_MESSAGES && CH_USE_MESSAGES_PRIORITY
|
||||
case THD_STATE_SNDMSGQ:
|
||||
#endif
|
||||
/* Re-enqueues tp with its new priority on the queue.*/
|
||||
prio_insert(dequeue(tp), (ThreadsQueue *)tp->p_u.wtobjp);
|
||||
break;
|
||||
#endif
|
||||
case THD_STATE_READY:
|
||||
#if CH_DBG_ENABLE_ASSERTS
|
||||
/* Prevents an assertion in chSchReadyI().*/
|
||||
tp->p_state = THD_STATE_CURRENT;
|
||||
#endif
|
||||
/* Re-enqueues tp with its new priority on the ready list.*/
|
||||
chSchReadyI(dequeue(tp));
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
/* Sleep on the mutex.*/
|
||||
prio_insert(ctp, &mp->m_queue);
|
||||
ctp->p_u.wtobjp = mp;
|
||||
chSchGoSleepS(THD_STATE_WTMTX);
|
||||
/* It is assumed that the thread performing the unlock operation assigns
|
||||
the mutex to this thread.*/
|
||||
chDbgAssert(mp->m_owner == ctp, "chMtxLockS(), #1", "not owner");
|
||||
chDbgAssert(ctp->p_mtxlist == mp, "chMtxLockS(), #2", "not owned");
|
||||
}
|
||||
else {
|
||||
/* It was not owned, inserted in the owned mutexes list.*/
|
||||
mp->m_owner = ctp;
|
||||
mp->m_next = ctp->p_mtxlist;
|
||||
ctp->p_mtxlist = mp;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Tries to lock a mutex.
|
||||
* @details This function attempts to lock a mutex, if the mutex is already
|
||||
* locked by another thread then the function exits without waiting.
|
||||
* @post The mutex is locked and inserted in the per-thread stack of owned
|
||||
* mutexes.
|
||||
* @note This function does not have any overhead related to the
|
||||
* priority inheritance mechanism because it does not try to
|
||||
* enter a sleep state.
|
||||
*
|
||||
* @param[in] mp pointer to the @p Mutex structure
|
||||
* @return The operation status.
|
||||
* @retval TRUE if the mutex has been successfully acquired
|
||||
* @retval FALSE if the lock attempt failed.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
bool_t chMtxTryLock(Mutex *mp) {
|
||||
bool_t b;
|
||||
|
||||
chSysLock();
|
||||
|
||||
b = chMtxTryLockS(mp);
|
||||
|
||||
chSysUnlock();
|
||||
return b;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Tries to lock a mutex.
|
||||
* @details This function attempts to lock a mutex, if the mutex is already
|
||||
* taken by another thread then the function exits without waiting.
|
||||
* @post The mutex is locked and inserted in the per-thread stack of owned
|
||||
* mutexes.
|
||||
* @note This function does not have any overhead related to the
|
||||
* priority inheritance mechanism because it does not try to
|
||||
* enter a sleep state.
|
||||
*
|
||||
* @param[in] mp pointer to the @p Mutex structure
|
||||
* @return The operation status.
|
||||
* @retval TRUE if the mutex has been successfully acquired
|
||||
* @retval FALSE if the lock attempt failed.
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
bool_t chMtxTryLockS(Mutex *mp) {
|
||||
|
||||
chDbgCheckClassS();
|
||||
chDbgCheck(mp != NULL, "chMtxTryLockS");
|
||||
|
||||
if (mp->m_owner != NULL)
|
||||
return FALSE;
|
||||
mp->m_owner = currp;
|
||||
mp->m_next = currp->p_mtxlist;
|
||||
currp->p_mtxlist = mp;
|
||||
return TRUE;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Unlocks the next owned mutex in reverse lock order.
|
||||
* @pre The invoking thread <b>must</b> have at least one owned mutex.
|
||||
* @post The mutex is unlocked and removed from the per-thread stack of
|
||||
* owned mutexes.
|
||||
*
|
||||
* @return A pointer to the unlocked mutex.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
Mutex *chMtxUnlock(void) {
|
||||
Thread *ctp = currp;
|
||||
Mutex *ump, *mp;
|
||||
|
||||
chSysLock();
|
||||
chDbgAssert(ctp->p_mtxlist != NULL,
|
||||
"chMtxUnlock(), #1",
|
||||
"owned mutexes list empty");
|
||||
chDbgAssert(ctp->p_mtxlist->m_owner == ctp,
|
||||
"chMtxUnlock(), #2",
|
||||
"ownership failure");
|
||||
/* Removes the top Mutex from the Thread's owned mutexes list and marks it
|
||||
as not owned.*/
|
||||
ump = ctp->p_mtxlist;
|
||||
ctp->p_mtxlist = ump->m_next;
|
||||
/* If a thread is waiting on the mutex then the fun part begins.*/
|
||||
if (chMtxQueueNotEmptyS(ump)) {
|
||||
Thread *tp;
|
||||
|
||||
/* Recalculates the optimal thread priority by scanning the owned
|
||||
mutexes list.*/
|
||||
tprio_t newprio = ctp->p_realprio;
|
||||
mp = ctp->p_mtxlist;
|
||||
while (mp != NULL) {
|
||||
/* If the highest priority thread waiting in the mutexes list has a
|
||||
greater priority than the current thread base priority then the final
|
||||
priority will have at least that priority.*/
|
||||
if (chMtxQueueNotEmptyS(mp) && (mp->m_queue.p_next->p_prio > newprio))
|
||||
newprio = mp->m_queue.p_next->p_prio;
|
||||
mp = mp->m_next;
|
||||
}
|
||||
/* Assigns to the current thread the highest priority among all the
|
||||
waiting threads.*/
|
||||
ctp->p_prio = newprio;
|
||||
/* Awakens the highest priority thread waiting for the unlocked mutex and
|
||||
assigns the mutex to it.*/
|
||||
tp = fifo_remove(&ump->m_queue);
|
||||
ump->m_owner = tp;
|
||||
ump->m_next = tp->p_mtxlist;
|
||||
tp->p_mtxlist = ump;
|
||||
chSchWakeupS(tp, RDY_OK);
|
||||
}
|
||||
else
|
||||
ump->m_owner = NULL;
|
||||
chSysUnlock();
|
||||
return ump;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Unlocks the next owned mutex in reverse lock order.
|
||||
* @pre The invoking thread <b>must</b> have at least one owned mutex.
|
||||
* @post The mutex is unlocked and removed from the per-thread stack of
|
||||
* owned mutexes.
|
||||
* @post This function does not reschedule so a call to a rescheduling
|
||||
* function must be performed before unlocking the kernel.
|
||||
*
|
||||
* @return A pointer to the unlocked mutex.
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
Mutex *chMtxUnlockS(void) {
|
||||
Thread *ctp = currp;
|
||||
Mutex *ump, *mp;
|
||||
|
||||
chDbgCheckClassS();
|
||||
chDbgAssert(ctp->p_mtxlist != NULL,
|
||||
"chMtxUnlockS(), #1",
|
||||
"owned mutexes list empty");
|
||||
chDbgAssert(ctp->p_mtxlist->m_owner == ctp,
|
||||
"chMtxUnlockS(), #2",
|
||||
"ownership failure");
|
||||
|
||||
/* Removes the top Mutex from the owned mutexes list and marks it as not
|
||||
owned.*/
|
||||
ump = ctp->p_mtxlist;
|
||||
ctp->p_mtxlist = ump->m_next;
|
||||
/* If a thread is waiting on the mutex then the fun part begins.*/
|
||||
if (chMtxQueueNotEmptyS(ump)) {
|
||||
Thread *tp;
|
||||
|
||||
/* Recalculates the optimal thread priority by scanning the owned
|
||||
mutexes list.*/
|
||||
tprio_t newprio = ctp->p_realprio;
|
||||
mp = ctp->p_mtxlist;
|
||||
while (mp != NULL) {
|
||||
/* If the highest priority thread waiting in the mutexes list has a
|
||||
greater priority than the current thread base priority then the final
|
||||
priority will have at least that priority.*/
|
||||
if (chMtxQueueNotEmptyS(mp) && (mp->m_queue.p_next->p_prio > newprio))
|
||||
newprio = mp->m_queue.p_next->p_prio;
|
||||
mp = mp->m_next;
|
||||
}
|
||||
ctp->p_prio = newprio;
|
||||
/* Awakens the highest priority thread waiting for the unlocked mutex and
|
||||
assigns the mutex to it.*/
|
||||
tp = fifo_remove(&ump->m_queue);
|
||||
ump->m_owner = tp;
|
||||
ump->m_next = tp->p_mtxlist;
|
||||
tp->p_mtxlist = ump;
|
||||
chSchReadyI(tp);
|
||||
}
|
||||
else
|
||||
ump->m_owner = NULL;
|
||||
return ump;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Unlocks all the mutexes owned by the invoking thread.
|
||||
* @post The stack of owned mutexes is emptied and all the found
|
||||
* mutexes are unlocked.
|
||||
* @note This function is <b>MUCH MORE</b> efficient than releasing the
|
||||
* mutexes one by one and not just because the call overhead,
|
||||
* this function does not have any overhead related to the priority
|
||||
* inheritance mechanism.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chMtxUnlockAll(void) {
|
||||
Thread *ctp = currp;
|
||||
|
||||
chSysLock();
|
||||
if (ctp->p_mtxlist != NULL) {
|
||||
do {
|
||||
Mutex *ump = ctp->p_mtxlist;
|
||||
ctp->p_mtxlist = ump->m_next;
|
||||
if (chMtxQueueNotEmptyS(ump)) {
|
||||
Thread *tp = fifo_remove(&ump->m_queue);
|
||||
ump->m_owner = tp;
|
||||
ump->m_next = tp->p_mtxlist;
|
||||
tp->p_mtxlist = ump;
|
||||
chSchReadyI(tp);
|
||||
}
|
||||
else
|
||||
ump->m_owner = NULL;
|
||||
} while (ctp->p_mtxlist != NULL);
|
||||
ctp->p_prio = ctp->p_realprio;
|
||||
chSchRescheduleS();
|
||||
}
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
#endif /* CH_USE_MUTEXES */
|
||||
|
||||
/** @} */
|
||||
@ -0,0 +1,438 @@
|
||||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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 chqueues.c
|
||||
* @brief I/O Queues code.
|
||||
*
|
||||
* @addtogroup io_queues
|
||||
* @details ChibiOS/RT queues are mostly used in serial-like device drivers.
|
||||
* The device drivers are usually designed to have a lower side
|
||||
* (lower driver, it is usually an interrupt service routine) and an
|
||||
* upper side (upper driver, accessed by the application threads).<br>
|
||||
* There are several kind of queues:<br>
|
||||
* - <b>Input queue</b>, unidirectional queue where the writer is the
|
||||
* lower side and the reader is the upper side.
|
||||
* - <b>Output queue</b>, unidirectional queue where the writer is the
|
||||
* upper side and the reader is the lower side.
|
||||
* - <b>Full duplex queue</b>, bidirectional queue. Full duplex queues
|
||||
* are implemented by pairing an input queue and an output queue
|
||||
* together.
|
||||
* .
|
||||
* @pre In order to use the I/O queues the @p CH_USE_QUEUES option must
|
||||
* be enabled in @p chconf.h.
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
|
||||
#if CH_USE_QUEUES || defined(__DOXYGEN__)
|
||||
|
||||
/**
|
||||
* @brief Puts the invoking thread into the queue's threads queue.
|
||||
*
|
||||
* @param[out] qp pointer to an @p GenericQueue structure
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return A message specifying how the invoking thread has been
|
||||
* released from threads queue.
|
||||
* @retval Q_OK is the normal exit, thread signaled.
|
||||
* @retval Q_RESET if the queue has been reset.
|
||||
* @retval Q_TIMEOUT if the queue operation timed out.
|
||||
*/
|
||||
static msg_t qwait(GenericQueue *qp, systime_t time) {
|
||||
|
||||
if (TIME_IMMEDIATE == time)
|
||||
return Q_TIMEOUT;
|
||||
currp->p_u.wtobjp = qp;
|
||||
queue_insert(currp, &qp->q_waiting);
|
||||
return chSchGoSleepTimeoutS(THD_STATE_WTQUEUE, time);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initializes an input queue.
|
||||
* @details A Semaphore is internally initialized and works as a counter of
|
||||
* the bytes contained in the queue.
|
||||
* @note The callback is invoked from within the S-Locked system state,
|
||||
* see @ref system_states.
|
||||
*
|
||||
* @param[out] iqp pointer to an @p InputQueue structure
|
||||
* @param[in] bp pointer to a memory area allocated as queue buffer
|
||||
* @param[in] size size of the queue buffer
|
||||
* @param[in] infy pointer to a callback function that is invoked when
|
||||
* data is read from the queue. The value can be @p NULL.
|
||||
* @param[in] link application defined pointer
|
||||
*
|
||||
* @init
|
||||
*/
|
||||
void chIQInit(InputQueue *iqp, uint8_t *bp, size_t size, qnotify_t infy,
|
||||
void *link) {
|
||||
|
||||
queue_init(&iqp->q_waiting);
|
||||
iqp->q_counter = 0;
|
||||
iqp->q_buffer = iqp->q_rdptr = iqp->q_wrptr = bp;
|
||||
iqp->q_top = bp + size;
|
||||
iqp->q_notify = infy;
|
||||
iqp->q_link = link;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Resets an input queue.
|
||||
* @details All the data in the input queue is erased and lost, any waiting
|
||||
* thread is resumed with status @p Q_RESET.
|
||||
* @note A reset operation can be used by a low level driver in order to
|
||||
* obtain immediate attention from the high level layers.
|
||||
*
|
||||
* @param[in] iqp pointer to an @p InputQueue structure
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
void chIQResetI(InputQueue *iqp) {
|
||||
|
||||
chDbgCheckClassI();
|
||||
|
||||
iqp->q_rdptr = iqp->q_wrptr = iqp->q_buffer;
|
||||
iqp->q_counter = 0;
|
||||
while (notempty(&iqp->q_waiting))
|
||||
chSchReadyI(fifo_remove(&iqp->q_waiting))->p_u.rdymsg = Q_RESET;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Input queue write.
|
||||
* @details A byte value is written into the low end of an input queue.
|
||||
*
|
||||
* @param[in] iqp pointer to an @p InputQueue structure
|
||||
* @param[in] b the byte value to be written in the queue
|
||||
* @return The operation status.
|
||||
* @retval Q_OK if the operation has been completed with success.
|
||||
* @retval Q_FULL if the queue is full and the operation cannot be
|
||||
* completed.
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
msg_t chIQPutI(InputQueue *iqp, uint8_t b) {
|
||||
|
||||
chDbgCheckClassI();
|
||||
|
||||
if (chIQIsFullI(iqp))
|
||||
return Q_FULL;
|
||||
|
||||
iqp->q_counter++;
|
||||
*iqp->q_wrptr++ = b;
|
||||
if (iqp->q_wrptr >= iqp->q_top)
|
||||
iqp->q_wrptr = iqp->q_buffer;
|
||||
|
||||
if (notempty(&iqp->q_waiting))
|
||||
chSchReadyI(fifo_remove(&iqp->q_waiting))->p_u.rdymsg = Q_OK;
|
||||
|
||||
return Q_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Input queue read with timeout.
|
||||
* @details This function reads a byte value from an input queue. If the queue
|
||||
* is empty then the calling thread is suspended until a byte arrives
|
||||
* in the queue or a timeout occurs.
|
||||
* @note The callback is invoked before reading the character from the
|
||||
* buffer or before entering the state @p THD_STATE_WTQUEUE.
|
||||
*
|
||||
* @param[in] iqp pointer to an @p InputQueue structure
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return A byte value from the queue.
|
||||
* @retval Q_TIMEOUT if the specified time expired.
|
||||
* @retval Q_RESET if the queue has been reset.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
msg_t chIQGetTimeout(InputQueue *iqp, systime_t time) {
|
||||
uint8_t b;
|
||||
|
||||
chSysLock();
|
||||
if (iqp->q_notify)
|
||||
iqp->q_notify(iqp);
|
||||
|
||||
while (chIQIsEmptyI(iqp)) {
|
||||
msg_t msg;
|
||||
if ((msg = qwait((GenericQueue *)iqp, time)) < Q_OK) {
|
||||
chSysUnlock();
|
||||
return msg;
|
||||
}
|
||||
}
|
||||
|
||||
iqp->q_counter--;
|
||||
b = *iqp->q_rdptr++;
|
||||
if (iqp->q_rdptr >= iqp->q_top)
|
||||
iqp->q_rdptr = iqp->q_buffer;
|
||||
|
||||
chSysUnlock();
|
||||
return b;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Input queue read with timeout.
|
||||
* @details The function reads data from an input queue into a buffer. The
|
||||
* operation completes when the specified amount of data has been
|
||||
* transferred or after the specified timeout or if the queue has
|
||||
* been reset.
|
||||
* @note The function is not atomic, if you need atomicity it is suggested
|
||||
* to use a semaphore or a mutex for mutual exclusion.
|
||||
* @note The callback is invoked before reading each character from the
|
||||
* buffer or before entering the state @p THD_STATE_WTQUEUE.
|
||||
*
|
||||
* @param[in] iqp pointer to an @p InputQueue structure
|
||||
* @param[out] bp pointer to the data buffer
|
||||
* @param[in] n the maximum amount of data to be transferred, the
|
||||
* value 0 is reserved
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The number of bytes effectively transferred.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
size_t chIQReadTimeout(InputQueue *iqp, uint8_t *bp,
|
||||
size_t n, systime_t time) {
|
||||
qnotify_t nfy = iqp->q_notify;
|
||||
size_t r = 0;
|
||||
|
||||
chDbgCheck(n > 0, "chIQReadTimeout");
|
||||
|
||||
chSysLock();
|
||||
while (TRUE) {
|
||||
if (nfy)
|
||||
nfy(iqp);
|
||||
|
||||
while (chIQIsEmptyI(iqp)) {
|
||||
if (qwait((GenericQueue *)iqp, time) != Q_OK) {
|
||||
chSysUnlock();
|
||||
return r;
|
||||
}
|
||||
}
|
||||
|
||||
iqp->q_counter--;
|
||||
*bp++ = *iqp->q_rdptr++;
|
||||
if (iqp->q_rdptr >= iqp->q_top)
|
||||
iqp->q_rdptr = iqp->q_buffer;
|
||||
|
||||
chSysUnlock(); /* Gives a preemption chance in a controlled point.*/
|
||||
r++;
|
||||
if (--n == 0)
|
||||
return r;
|
||||
|
||||
chSysLock();
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initializes an output queue.
|
||||
* @details A Semaphore is internally initialized and works as a counter of
|
||||
* the free bytes in the queue.
|
||||
* @note The callback is invoked from within the S-Locked system state,
|
||||
* see @ref system_states.
|
||||
*
|
||||
* @param[out] oqp pointer to an @p OutputQueue structure
|
||||
* @param[in] bp pointer to a memory area allocated as queue buffer
|
||||
* @param[in] size size of the queue buffer
|
||||
* @param[in] onfy pointer to a callback function that is invoked when
|
||||
* data is written to the queue. The value can be @p NULL.
|
||||
* @param[in] link application defined pointer
|
||||
*
|
||||
* @init
|
||||
*/
|
||||
void chOQInit(OutputQueue *oqp, uint8_t *bp, size_t size, qnotify_t onfy,
|
||||
void *link) {
|
||||
|
||||
queue_init(&oqp->q_waiting);
|
||||
oqp->q_counter = size;
|
||||
oqp->q_buffer = oqp->q_rdptr = oqp->q_wrptr = bp;
|
||||
oqp->q_top = bp + size;
|
||||
oqp->q_notify = onfy;
|
||||
oqp->q_link = link;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Resets an output queue.
|
||||
* @details All the data in the output queue is erased and lost, any waiting
|
||||
* thread is resumed with status @p Q_RESET.
|
||||
* @note A reset operation can be used by a low level driver in order to
|
||||
* obtain immediate attention from the high level layers.
|
||||
*
|
||||
* @param[in] oqp pointer to an @p OutputQueue structure
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
void chOQResetI(OutputQueue *oqp) {
|
||||
|
||||
chDbgCheckClassI();
|
||||
|
||||
oqp->q_rdptr = oqp->q_wrptr = oqp->q_buffer;
|
||||
oqp->q_counter = chQSizeI(oqp);
|
||||
while (notempty(&oqp->q_waiting))
|
||||
chSchReadyI(fifo_remove(&oqp->q_waiting))->p_u.rdymsg = Q_RESET;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Output queue write with timeout.
|
||||
* @details This function writes a byte value to an output queue. If the queue
|
||||
* is full then the calling thread is suspended until there is space
|
||||
* in the queue or a timeout occurs.
|
||||
* @note The callback is invoked after writing the character into the
|
||||
* buffer.
|
||||
*
|
||||
* @param[in] oqp pointer to an @p OutputQueue structure
|
||||
* @param[in] b the byte value to be written in the queue
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The operation status.
|
||||
* @retval Q_OK if the operation succeeded.
|
||||
* @retval Q_TIMEOUT if the specified time expired.
|
||||
* @retval Q_RESET if the queue has been reset.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
msg_t chOQPutTimeout(OutputQueue *oqp, uint8_t b, systime_t time) {
|
||||
|
||||
chSysLock();
|
||||
while (chOQIsFullI(oqp)) {
|
||||
msg_t msg;
|
||||
|
||||
if ((msg = qwait((GenericQueue *)oqp, time)) < Q_OK) {
|
||||
chSysUnlock();
|
||||
return msg;
|
||||
}
|
||||
}
|
||||
|
||||
oqp->q_counter--;
|
||||
*oqp->q_wrptr++ = b;
|
||||
if (oqp->q_wrptr >= oqp->q_top)
|
||||
oqp->q_wrptr = oqp->q_buffer;
|
||||
|
||||
if (oqp->q_notify)
|
||||
oqp->q_notify(oqp);
|
||||
|
||||
chSysUnlock();
|
||||
return Q_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Output queue read.
|
||||
* @details A byte value is read from the low end of an output queue.
|
||||
*
|
||||
* @param[in] oqp pointer to an @p OutputQueue structure
|
||||
* @return The byte value from the queue.
|
||||
* @retval Q_EMPTY if the queue is empty.
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
msg_t chOQGetI(OutputQueue *oqp) {
|
||||
uint8_t b;
|
||||
|
||||
chDbgCheckClassI();
|
||||
|
||||
if (chOQIsEmptyI(oqp))
|
||||
return Q_EMPTY;
|
||||
|
||||
oqp->q_counter++;
|
||||
b = *oqp->q_rdptr++;
|
||||
if (oqp->q_rdptr >= oqp->q_top)
|
||||
oqp->q_rdptr = oqp->q_buffer;
|
||||
|
||||
if (notempty(&oqp->q_waiting))
|
||||
chSchReadyI(fifo_remove(&oqp->q_waiting))->p_u.rdymsg = Q_OK;
|
||||
|
||||
return b;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Output queue write with timeout.
|
||||
* @details The function writes data from a buffer to an output queue. The
|
||||
* operation completes when the specified amount of data has been
|
||||
* transferred or after the specified timeout or if the queue has
|
||||
* been reset.
|
||||
* @note The function is not atomic, if you need atomicity it is suggested
|
||||
* to use a semaphore or a mutex for mutual exclusion.
|
||||
* @note The callback is invoked after writing each character into the
|
||||
* buffer.
|
||||
*
|
||||
* @param[in] oqp pointer to an @p OutputQueue structure
|
||||
* @param[in] bp pointer to the data buffer
|
||||
* @param[in] n the maximum amount of data to be transferred, the
|
||||
* value 0 is reserved
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The number of bytes effectively transferred.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
size_t chOQWriteTimeout(OutputQueue *oqp, const uint8_t *bp,
|
||||
size_t n, systime_t time) {
|
||||
qnotify_t nfy = oqp->q_notify;
|
||||
size_t w = 0;
|
||||
|
||||
chDbgCheck(n > 0, "chOQWriteTimeout");
|
||||
|
||||
chSysLock();
|
||||
while (TRUE) {
|
||||
while (chOQIsFullI(oqp)) {
|
||||
if (qwait((GenericQueue *)oqp, time) != Q_OK) {
|
||||
chSysUnlock();
|
||||
return w;
|
||||
}
|
||||
}
|
||||
oqp->q_counter--;
|
||||
*oqp->q_wrptr++ = *bp++;
|
||||
if (oqp->q_wrptr >= oqp->q_top)
|
||||
oqp->q_wrptr = oqp->q_buffer;
|
||||
|
||||
if (nfy)
|
||||
nfy(oqp);
|
||||
|
||||
chSysUnlock(); /* Gives a preemption chance in a controlled point.*/
|
||||
w++;
|
||||
if (--n == 0)
|
||||
return w;
|
||||
chSysLock();
|
||||
}
|
||||
}
|
||||
#endif /* CH_USE_QUEUES */
|
||||
|
||||
/** @} */
|
||||
@ -0,0 +1,163 @@
|
||||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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 chregistry.c
|
||||
* @brief Threads registry code.
|
||||
*
|
||||
* @addtogroup registry
|
||||
* @details Threads Registry related APIs and services.
|
||||
*
|
||||
* <h2>Operation mode</h2>
|
||||
* The Threads Registry is a double linked list that holds all the
|
||||
* active threads in the system.<br>
|
||||
* Operations defined for the registry:
|
||||
* - <b>First</b>, returns the first, in creation order, active thread
|
||||
* in the system.
|
||||
* - <b>Next</b>, returns the next, in creation order, active thread
|
||||
* in the system.
|
||||
* .
|
||||
* The registry is meant to be mainly a debug feature, for example,
|
||||
* using the registry a debugger can enumerate the active threads
|
||||
* in any given moment or the shell can print the active threads
|
||||
* and their state.<br>
|
||||
* Another possible use is for centralized threads memory management,
|
||||
* terminating threads can pulse an event source and an event handler
|
||||
* can perform a scansion of the registry in order to recover the
|
||||
* memory.
|
||||
* @pre In order to use the threads registry the @p CH_USE_REGISTRY option
|
||||
* must be enabled in @p chconf.h.
|
||||
* @{
|
||||
*/
|
||||
#include "ch.h"
|
||||
|
||||
#if CH_USE_REGISTRY || defined(__DOXYGEN__)
|
||||
|
||||
#define _offsetof(st, m) \
|
||||
((size_t)((char *)&((st *)0)->m - (char *)0))
|
||||
|
||||
/*
|
||||
* OS signature in ROM plus debug-related information.
|
||||
*/
|
||||
ROMCONST chdebug_t ch_debug = {
|
||||
"main",
|
||||
(uint8_t)0,
|
||||
(uint8_t)sizeof (chdebug_t),
|
||||
(uint16_t)((CH_KERNEL_MAJOR << 11) |
|
||||
(CH_KERNEL_MINOR << 6) |
|
||||
(CH_KERNEL_PATCH << 0)),
|
||||
(uint8_t)sizeof (void *),
|
||||
(uint8_t)sizeof (systime_t),
|
||||
(uint8_t)sizeof (Thread),
|
||||
(uint8_t)_offsetof(Thread, p_prio),
|
||||
(uint8_t)_offsetof(Thread, p_ctx),
|
||||
(uint8_t)_offsetof(Thread, p_newer),
|
||||
(uint8_t)_offsetof(Thread, p_older),
|
||||
(uint8_t)_offsetof(Thread, p_name),
|
||||
#if CH_DBG_ENABLE_STACK_CHECK
|
||||
(uint8_t)_offsetof(Thread, p_stklimit),
|
||||
#else
|
||||
(uint8_t)0,
|
||||
#endif
|
||||
(uint8_t)_offsetof(Thread, p_state),
|
||||
(uint8_t)_offsetof(Thread, p_flags),
|
||||
#if CH_USE_DYNAMIC
|
||||
(uint8_t)_offsetof(Thread, p_refs),
|
||||
#else
|
||||
(uint8_t)0,
|
||||
#endif
|
||||
#if CH_TIME_QUANTUM > 0
|
||||
(uint8_t)_offsetof(Thread, p_preempt),
|
||||
#else
|
||||
(uint8_t)0,
|
||||
#endif
|
||||
#if CH_DBG_THREADS_PROFILING
|
||||
(uint8_t)_offsetof(Thread, p_time)
|
||||
#else
|
||||
(uint8_t)0
|
||||
#endif
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Returns the first thread in the system.
|
||||
* @details Returns the most ancient thread in the system, usually this is
|
||||
* the main thread unless it terminated. A reference is added to the
|
||||
* returned thread in order to make sure its status is not lost.
|
||||
* @note This function cannot return @p NULL because there is always at
|
||||
* least one thread in the system.
|
||||
*
|
||||
* @return A reference to the most ancient thread.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
Thread *chRegFirstThread(void) {
|
||||
Thread *tp;
|
||||
|
||||
chSysLock();
|
||||
tp = rlist.r_newer;
|
||||
#if CH_USE_DYNAMIC
|
||||
tp->p_refs++;
|
||||
#endif
|
||||
chSysUnlock();
|
||||
return tp;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the thread next to the specified one.
|
||||
* @details The reference counter of the specified thread is decremented and
|
||||
* the reference counter of the returned thread is incremented.
|
||||
*
|
||||
* @param[in] tp pointer to the thread
|
||||
* @return A reference to the next thread.
|
||||
* @retval NULL if there is no next thread.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
Thread *chRegNextThread(Thread *tp) {
|
||||
Thread *ntp;
|
||||
|
||||
chSysLock();
|
||||
ntp = tp->p_newer;
|
||||
if (ntp == (Thread *)&rlist)
|
||||
ntp = NULL;
|
||||
#if CH_USE_DYNAMIC
|
||||
else {
|
||||
chDbgAssert(ntp->p_refs < 255, "chRegNextThread(), #1",
|
||||
"too many references");
|
||||
ntp->p_refs++;
|
||||
}
|
||||
#endif
|
||||
chSysUnlock();
|
||||
#if CH_USE_DYNAMIC
|
||||
chThdRelease(tp);
|
||||
#endif
|
||||
return ntp;
|
||||
}
|
||||
|
||||
#endif /* CH_USE_REGISTRY */
|
||||
|
||||
/** @} */
|
||||
@ -0,0 +1,386 @@
|
||||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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 chschd.c
|
||||
* @brief Scheduler code.
|
||||
*
|
||||
* @addtogroup scheduler
|
||||
* @details This module provides the default portable scheduler code,
|
||||
* scheduler functions can be individually captured by the port
|
||||
* layer in order to provide architecture optimized equivalents.
|
||||
* When a function is captured its default code is not built into
|
||||
* the OS image, the optimized version is included instead.
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
|
||||
/**
|
||||
* @brief Ready list header.
|
||||
*/
|
||||
#if !defined(PORT_OPTIMIZED_RLIST_VAR) || defined(__DOXYGEN__)
|
||||
ReadyList rlist;
|
||||
#endif /* !defined(PORT_OPTIMIZED_RLIST_VAR) */
|
||||
|
||||
/**
|
||||
* @brief Scheduler initialization.
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
void _scheduler_init(void) {
|
||||
|
||||
queue_init(&rlist.r_queue);
|
||||
rlist.r_prio = NOPRIO;
|
||||
#if CH_USE_REGISTRY
|
||||
rlist.r_newer = rlist.r_older = (Thread *)&rlist;
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Inserts a thread in the Ready List.
|
||||
* @details The thread is positioned behind all threads with higher or equal
|
||||
* priority.
|
||||
* @pre The thread must not be already inserted in any list through its
|
||||
* @p p_next and @p p_prev or list corruption would occur.
|
||||
* @post This function does not reschedule so a call to a rescheduling
|
||||
* function must be performed before unlocking the kernel. Note that
|
||||
* interrupt handlers always reschedule on exit so an explicit
|
||||
* reschedule must not be performed in ISRs.
|
||||
*
|
||||
* @param[in] tp the thread to be made ready
|
||||
* @return The thread pointer.
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
#if !defined(PORT_OPTIMIZED_READYI) || defined(__DOXYGEN__)
|
||||
Thread *chSchReadyI(Thread *tp) {
|
||||
Thread *cp;
|
||||
|
||||
chDbgCheckClassI();
|
||||
|
||||
/* Integrity checks.*/
|
||||
chDbgAssert((tp->p_state != THD_STATE_READY) &&
|
||||
(tp->p_state != THD_STATE_FINAL),
|
||||
"chSchReadyI(), #1",
|
||||
"invalid state");
|
||||
|
||||
tp->p_state = THD_STATE_READY;
|
||||
cp = (Thread *)&rlist.r_queue;
|
||||
do {
|
||||
cp = cp->p_next;
|
||||
} while (cp->p_prio >= tp->p_prio);
|
||||
/* Insertion on p_prev.*/
|
||||
tp->p_next = cp;
|
||||
tp->p_prev = cp->p_prev;
|
||||
tp->p_prev->p_next = cp->p_prev = tp;
|
||||
return tp;
|
||||
}
|
||||
#endif /* !defined(PORT_OPTIMIZED_READYI) */
|
||||
|
||||
/**
|
||||
* @brief Puts the current thread to sleep into the specified state.
|
||||
* @details The thread goes into a sleeping state. The possible
|
||||
* @ref thread_states are defined into @p threads.h.
|
||||
*
|
||||
* @param[in] newstate the new thread state
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
#if !defined(PORT_OPTIMIZED_GOSLEEPS) || defined(__DOXYGEN__)
|
||||
void chSchGoSleepS(tstate_t newstate) {
|
||||
Thread *otp;
|
||||
|
||||
chDbgCheckClassS();
|
||||
|
||||
(otp = currp)->p_state = newstate;
|
||||
#if CH_TIME_QUANTUM > 0
|
||||
/* The thread is renouncing its remaining time slices so it will have a new
|
||||
time quantum when it will wakeup.*/
|
||||
otp->p_preempt = CH_TIME_QUANTUM;
|
||||
#endif
|
||||
setcurrp(fifo_remove(&rlist.r_queue));
|
||||
currp->p_state = THD_STATE_CURRENT;
|
||||
chSysSwitch(currp, otp);
|
||||
}
|
||||
#endif /* !defined(PORT_OPTIMIZED_GOSLEEPS) */
|
||||
|
||||
#if !defined(PORT_OPTIMIZED_GOSLEEPTIMEOUTS) || defined(__DOXYGEN__)
|
||||
/*
|
||||
* Timeout wakeup callback.
|
||||
*/
|
||||
static void wakeup(void *p) {
|
||||
Thread *tp = (Thread *)p;
|
||||
|
||||
chSysLockFromIsr();
|
||||
switch (tp->p_state) {
|
||||
case THD_STATE_READY:
|
||||
/* Handling the special case where the thread has been made ready by
|
||||
another thread with higher priority.*/
|
||||
chSysUnlockFromIsr();
|
||||
return;
|
||||
#if CH_USE_SEMAPHORES || CH_USE_QUEUES || \
|
||||
(CH_USE_CONDVARS && CH_USE_CONDVARS_TIMEOUT)
|
||||
#if CH_USE_SEMAPHORES
|
||||
case THD_STATE_WTSEM:
|
||||
chSemFastSignalI((Semaphore *)tp->p_u.wtobjp);
|
||||
__attribute__ ((fallthrough));
|
||||
/* Falls into, intentional. */
|
||||
#endif
|
||||
#if CH_USE_QUEUES
|
||||
case THD_STATE_WTQUEUE:
|
||||
#endif
|
||||
#if CH_USE_CONDVARS && CH_USE_CONDVARS_TIMEOUT
|
||||
case THD_STATE_WTCOND:
|
||||
#endif
|
||||
/* States requiring dequeuing.*/
|
||||
dequeue(tp);
|
||||
#endif
|
||||
}
|
||||
tp->p_u.rdymsg = RDY_TIMEOUT;
|
||||
chSchReadyI(tp);
|
||||
chSysUnlockFromIsr();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Puts the current thread to sleep into the specified state with
|
||||
* timeout specification.
|
||||
* @details The thread goes into a sleeping state, if it is not awakened
|
||||
* explicitly within the specified timeout then it is forcibly
|
||||
* awakened with a @p RDY_TIMEOUT low level message. The possible
|
||||
* @ref thread_states are defined into @p threads.h.
|
||||
*
|
||||
* @param[in] newstate the new thread state
|
||||
* @param[in] time the number of ticks before the operation timeouts, the
|
||||
* special values are handled as follow:
|
||||
* - @a TIME_INFINITE the thread enters an infinite sleep
|
||||
* state, this is equivalent to invoking
|
||||
* @p chSchGoSleepS() but, of course, less efficient.
|
||||
* - @a TIME_IMMEDIATE this value is not allowed.
|
||||
* .
|
||||
* @return The wakeup message.
|
||||
* @retval RDY_TIMEOUT if a timeout occurs.
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
|
||||
|
||||
chDbgCheckClassS();
|
||||
|
||||
if (TIME_INFINITE != time) {
|
||||
VirtualTimer vt;
|
||||
|
||||
chVTSetI(&vt, time, wakeup, currp);
|
||||
chSchGoSleepS(newstate);
|
||||
if (chVTIsArmedI(&vt))
|
||||
chVTResetI(&vt);
|
||||
}
|
||||
else
|
||||
chSchGoSleepS(newstate);
|
||||
return currp->p_u.rdymsg;
|
||||
}
|
||||
#endif /* !defined(PORT_OPTIMIZED_GOSLEEPTIMEOUTS) */
|
||||
|
||||
/**
|
||||
* @brief Wakes up a thread.
|
||||
* @details The thread is inserted into the ready list or immediately made
|
||||
* running depending on its relative priority compared to the current
|
||||
* thread.
|
||||
* @pre The thread must not be already inserted in any list through its
|
||||
* @p p_next and @p p_prev or list corruption would occur.
|
||||
* @note It is equivalent to a @p chSchReadyI() followed by a
|
||||
* @p chSchRescheduleS() but much more efficient.
|
||||
* @note The function assumes that the current thread has the highest
|
||||
* priority.
|
||||
*
|
||||
* @param[in] ntp the Thread to be made ready
|
||||
* @param[in] msg message to the awakened thread
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
#if !defined(PORT_OPTIMIZED_WAKEUPS) || defined(__DOXYGEN__)
|
||||
void chSchWakeupS(Thread *ntp, msg_t msg) {
|
||||
|
||||
chDbgCheckClassS();
|
||||
|
||||
ntp->p_u.rdymsg = msg;
|
||||
/* If the waken thread has a not-greater priority than the current
|
||||
one then it is just inserted in the ready list else it made
|
||||
running immediately and the invoking thread goes in the ready
|
||||
list instead.*/
|
||||
if (ntp->p_prio <= currp->p_prio)
|
||||
chSchReadyI(ntp);
|
||||
else {
|
||||
Thread *otp = chSchReadyI(currp);
|
||||
setcurrp(ntp);
|
||||
ntp->p_state = THD_STATE_CURRENT;
|
||||
chSysSwitch(ntp, otp);
|
||||
}
|
||||
}
|
||||
#endif /* !defined(PORT_OPTIMIZED_WAKEUPS) */
|
||||
|
||||
/**
|
||||
* @brief Performs a reschedule if a higher priority thread is runnable.
|
||||
* @details If a thread with a higher priority than the current thread is in
|
||||
* the ready list then make the higher priority thread running.
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
#if !defined(PORT_OPTIMIZED_RESCHEDULES) || defined(__DOXYGEN__)
|
||||
void chSchRescheduleS(void) {
|
||||
|
||||
chDbgCheckClassS();
|
||||
|
||||
if (chSchIsRescRequiredI())
|
||||
chSchDoRescheduleAhead();
|
||||
}
|
||||
#endif /* !defined(PORT_OPTIMIZED_RESCHEDULES) */
|
||||
|
||||
/**
|
||||
* @brief Evaluates if preemption is required.
|
||||
* @details The decision is taken by comparing the relative priorities and
|
||||
* depending on the state of the round robin timeout counter.
|
||||
* @note Not a user function, it is meant to be invoked by the scheduler
|
||||
* itself or from within the port layer.
|
||||
*
|
||||
* @retval TRUE if there is a thread that must go in running state
|
||||
* immediately.
|
||||
* @retval FALSE if preemption is not required.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
#if !defined(PORT_OPTIMIZED_ISPREEMPTIONREQUIRED) || defined(__DOXYGEN__)
|
||||
bool_t chSchIsPreemptionRequired(void) {
|
||||
tprio_t p1 = firstprio(&rlist.r_queue);
|
||||
tprio_t p2 = currp->p_prio;
|
||||
#if CH_TIME_QUANTUM > 0
|
||||
/* If the running thread has not reached its time quantum, reschedule only
|
||||
if the first thread on the ready queue has a higher priority.
|
||||
Otherwise, if the running thread has used up its time quantum, reschedule
|
||||
if the first thread on the ready queue has equal or higher priority.*/
|
||||
return currp->p_preempt ? p1 > p2 : p1 >= p2;
|
||||
#else
|
||||
/* If the round robin preemption feature is not enabled then performs a
|
||||
simpler comparison.*/
|
||||
return p1 > p2;
|
||||
#endif
|
||||
}
|
||||
#endif /* !defined(PORT_OPTIMIZED_ISPREEMPTIONREQUIRED) */
|
||||
|
||||
/**
|
||||
* @brief Switches to the first thread on the runnable queue.
|
||||
* @details The current thread is positioned in the ready list behind all
|
||||
* threads having the same priority. The thread regains its time
|
||||
* quantum.
|
||||
* @note Not a user function, it is meant to be invoked by the scheduler
|
||||
* itself or from within the port layer.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
#if !defined(PORT_OPTIMIZED_DORESCHEDULEBEHIND) || defined(__DOXYGEN__)
|
||||
void chSchDoRescheduleBehind(void) {
|
||||
Thread *otp;
|
||||
|
||||
otp = currp;
|
||||
/* Picks the first thread from the ready queue and makes it current.*/
|
||||
setcurrp(fifo_remove(&rlist.r_queue));
|
||||
currp->p_state = THD_STATE_CURRENT;
|
||||
#if CH_TIME_QUANTUM > 0
|
||||
otp->p_preempt = CH_TIME_QUANTUM;
|
||||
#endif
|
||||
chSchReadyI(otp);
|
||||
chSysSwitch(currp, otp);
|
||||
}
|
||||
#endif /* !defined(PORT_OPTIMIZED_DORESCHEDULEBEHIND) */
|
||||
|
||||
/**
|
||||
* @brief Switches to the first thread on the runnable queue.
|
||||
* @details The current thread is positioned in the ready list ahead of all
|
||||
* threads having the same priority.
|
||||
* @note Not a user function, it is meant to be invoked by the scheduler
|
||||
* itself or from within the port layer.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
#if !defined(PORT_OPTIMIZED_DORESCHEDULEAHEAD) || defined(__DOXYGEN__)
|
||||
void chSchDoRescheduleAhead(void) {
|
||||
Thread *otp, *cp;
|
||||
|
||||
otp = currp;
|
||||
/* Picks the first thread from the ready queue and makes it current.*/
|
||||
setcurrp(fifo_remove(&rlist.r_queue));
|
||||
currp->p_state = THD_STATE_CURRENT;
|
||||
|
||||
otp->p_state = THD_STATE_READY;
|
||||
cp = (Thread *)&rlist.r_queue;
|
||||
do {
|
||||
cp = cp->p_next;
|
||||
} while (cp->p_prio > otp->p_prio);
|
||||
/* Insertion on p_prev.*/
|
||||
otp->p_next = cp;
|
||||
otp->p_prev = cp->p_prev;
|
||||
otp->p_prev->p_next = cp->p_prev = otp;
|
||||
|
||||
chSysSwitch(currp, otp);
|
||||
}
|
||||
#endif /* !defined(PORT_OPTIMIZED_DORESCHEDULEAHEAD) */
|
||||
|
||||
/**
|
||||
* @brief Switches to the first thread on the runnable queue.
|
||||
* @details The current thread is positioned in the ready list behind or
|
||||
* ahead of all threads having the same priority depending on
|
||||
* if it used its whole time slice.
|
||||
* @note Not a user function, it is meant to be invoked by the scheduler
|
||||
* itself or from within the port layer.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
#if !defined(PORT_OPTIMIZED_DORESCHEDULE) || defined(__DOXYGEN__)
|
||||
void chSchDoReschedule(void) {
|
||||
|
||||
#if CH_TIME_QUANTUM > 0
|
||||
/* If CH_TIME_QUANTUM is enabled then there are two different scenarios to
|
||||
handle on preemption: time quantum elapsed or not.*/
|
||||
if (currp->p_preempt == 0) {
|
||||
/* The thread consumed its time quantum so it is enqueued behind threads
|
||||
with same priority level, however, it acquires a new time quantum.*/
|
||||
chSchDoRescheduleBehind();
|
||||
}
|
||||
else {
|
||||
/* The thread didn't consume all its time quantum so it is put ahead of
|
||||
threads with equal priority and does not acquire a new time quantum.*/
|
||||
chSchDoRescheduleAhead();
|
||||
}
|
||||
#else /* !(CH_TIME_QUANTUM > 0) */
|
||||
/* If the round-robin mechanism is disabled then the thread goes always
|
||||
ahead of its peers.*/
|
||||
chSchDoRescheduleAhead();
|
||||
#endif /* !(CH_TIME_QUANTUM > 0) */
|
||||
}
|
||||
#endif /* !defined(PORT_OPTIMIZED_DORESCHEDULE) */
|
||||
|
||||
/** @} */
|
||||
400
Software/portapack-mayhem/firmware/chibios/os/kernel/src/chsem.c
Normal file
400
Software/portapack-mayhem/firmware/chibios/os/kernel/src/chsem.c
Normal file
@ -0,0 +1,400 @@
|
||||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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 chsem.c
|
||||
* @brief Semaphores code.
|
||||
*
|
||||
* @addtogroup semaphores
|
||||
* @details Semaphores related APIs and services.
|
||||
*
|
||||
* <h2>Operation mode</h2>
|
||||
* Semaphores are a flexible synchronization primitive, ChibiOS/RT
|
||||
* implements semaphores in their "counting semaphores" variant as
|
||||
* defined by Edsger Dijkstra plus several enhancements like:
|
||||
* - Wait operation with timeout.
|
||||
* - Reset operation.
|
||||
* - Atomic wait+signal operation.
|
||||
* - Return message from the wait operation (OK, RESET, TIMEOUT).
|
||||
* .
|
||||
* The binary semaphores variant can be easily implemented using
|
||||
* counting semaphores.<br>
|
||||
* Operations defined for semaphores:
|
||||
* - <b>Signal</b>: The semaphore counter is increased and if the
|
||||
* result is non-positive then a waiting thread is removed from
|
||||
* the semaphore queue and made ready for execution.
|
||||
* - <b>Wait</b>: The semaphore counter is decreased and if the result
|
||||
* becomes negative the thread is queued in the semaphore and
|
||||
* suspended.
|
||||
* - <b>Reset</b>: The semaphore counter is reset to a non-negative
|
||||
* value and all the threads in the queue are released.
|
||||
* .
|
||||
* Semaphores can be used as guards for mutual exclusion zones
|
||||
* (note that mutexes are recommended for this kind of use) but
|
||||
* also have other uses, queues guards and counters for example.<br>
|
||||
* Semaphores usually use a FIFO queuing strategy but it is possible
|
||||
* to make them order threads by priority by enabling
|
||||
* @p CH_USE_SEMAPHORES_PRIORITY in @p chconf.h.
|
||||
* @pre In order to use the semaphore APIs the @p CH_USE_SEMAPHORES
|
||||
* option must be enabled in @p chconf.h.
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
|
||||
#if CH_USE_SEMAPHORES || defined(__DOXYGEN__)
|
||||
|
||||
#if CH_USE_SEMAPHORES_PRIORITY
|
||||
#define sem_insert(tp, qp) prio_insert(tp, qp)
|
||||
#else
|
||||
#define sem_insert(tp, qp) queue_insert(tp, qp)
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Initializes a semaphore with the specified counter value.
|
||||
*
|
||||
* @param[out] sp pointer to a @p Semaphore structure
|
||||
* @param[in] n initial value of the semaphore counter. Must be
|
||||
* non-negative.
|
||||
*
|
||||
* @init
|
||||
*/
|
||||
void chSemInit(Semaphore *sp, cnt_t n) {
|
||||
|
||||
chDbgCheck((sp != NULL) && (n >= 0), "chSemInit");
|
||||
|
||||
queue_init(&sp->s_queue);
|
||||
sp->s_cnt = n;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Performs a reset operation on the semaphore.
|
||||
* @post After invoking this function all the threads waiting on the
|
||||
* semaphore, if any, are released and the semaphore counter is set
|
||||
* to the specified, non negative, value.
|
||||
* @note The released threads can recognize they were waked up by a reset
|
||||
* rather than a signal because the @p chSemWait() will return
|
||||
* @p RDY_RESET instead of @p RDY_OK.
|
||||
*
|
||||
* @param[in] sp pointer to a @p Semaphore structure
|
||||
* @param[in] n the new value of the semaphore counter. The value must
|
||||
* be non-negative.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chSemReset(Semaphore *sp, cnt_t n) {
|
||||
|
||||
chSysLock();
|
||||
chSemResetI(sp, n);
|
||||
chSchRescheduleS();
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Performs a reset operation on the semaphore.
|
||||
* @post After invoking this function all the threads waiting on the
|
||||
* semaphore, if any, are released and the semaphore counter is set
|
||||
* to the specified, non negative, value.
|
||||
* @post This function does not reschedule so a call to a rescheduling
|
||||
* function must be performed before unlocking the kernel. Note that
|
||||
* interrupt handlers always reschedule on exit so an explicit
|
||||
* reschedule must not be performed in ISRs.
|
||||
* @note The released threads can recognize they were waked up by a reset
|
||||
* rather than a signal because the @p chSemWait() will return
|
||||
* @p RDY_RESET instead of @p RDY_OK.
|
||||
*
|
||||
* @param[in] sp pointer to a @p Semaphore structure
|
||||
* @param[in] n the new value of the semaphore counter. The value must
|
||||
* be non-negative.
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
void chSemResetI(Semaphore *sp, cnt_t n) {
|
||||
cnt_t cnt;
|
||||
|
||||
chDbgCheckClassI();
|
||||
chDbgCheck((sp != NULL) && (n >= 0), "chSemResetI");
|
||||
chDbgAssert(((sp->s_cnt >= 0) && isempty(&sp->s_queue)) ||
|
||||
((sp->s_cnt < 0) && notempty(&sp->s_queue)),
|
||||
"chSemResetI(), #1",
|
||||
"inconsistent semaphore");
|
||||
|
||||
cnt = sp->s_cnt;
|
||||
sp->s_cnt = n;
|
||||
while (++cnt <= 0)
|
||||
chSchReadyI(lifo_remove(&sp->s_queue))->p_u.rdymsg = RDY_RESET;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Performs a wait operation on a semaphore.
|
||||
*
|
||||
* @param[in] sp pointer to a @p Semaphore structure
|
||||
* @return A message specifying how the invoking thread has been
|
||||
* released from the semaphore.
|
||||
* @retval RDY_OK if the thread has not stopped on the semaphore or the
|
||||
* semaphore has been signaled.
|
||||
* @retval RDY_RESET if the semaphore has been reset using @p chSemReset().
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
msg_t chSemWait(Semaphore *sp) {
|
||||
msg_t msg;
|
||||
|
||||
chSysLock();
|
||||
msg = chSemWaitS(sp);
|
||||
chSysUnlock();
|
||||
return msg;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Performs a wait operation on a semaphore.
|
||||
*
|
||||
* @param[in] sp pointer to a @p Semaphore structure
|
||||
* @return A message specifying how the invoking thread has been
|
||||
* released from the semaphore.
|
||||
* @retval RDY_OK if the thread has not stopped on the semaphore or the
|
||||
* semaphore has been signaled.
|
||||
* @retval RDY_RESET if the semaphore has been reset using @p chSemReset().
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
msg_t chSemWaitS(Semaphore *sp) {
|
||||
|
||||
chDbgCheckClassS();
|
||||
chDbgCheck(sp != NULL, "chSemWaitS");
|
||||
chDbgAssert(((sp->s_cnt >= 0) && isempty(&sp->s_queue)) ||
|
||||
((sp->s_cnt < 0) && notempty(&sp->s_queue)),
|
||||
"chSemWaitS(), #1",
|
||||
"inconsistent semaphore");
|
||||
|
||||
if (--sp->s_cnt < 0) {
|
||||
currp->p_u.wtobjp = sp;
|
||||
sem_insert(currp, &sp->s_queue);
|
||||
chSchGoSleepS(THD_STATE_WTSEM);
|
||||
return currp->p_u.rdymsg;
|
||||
}
|
||||
return RDY_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Performs a wait operation on a semaphore with timeout specification.
|
||||
*
|
||||
* @param[in] sp pointer to a @p Semaphore structure
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return A message specifying how the invoking thread has been
|
||||
* released from the semaphore.
|
||||
* @retval RDY_OK if the thread has not stopped on the semaphore or the
|
||||
* semaphore has been signaled.
|
||||
* @retval RDY_RESET if the semaphore has been reset using @p chSemReset().
|
||||
* @retval RDY_TIMEOUT if the semaphore has not been signaled or reset within
|
||||
* the specified timeout.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
msg_t chSemWaitTimeout(Semaphore *sp, systime_t time) {
|
||||
msg_t msg;
|
||||
|
||||
chSysLock();
|
||||
msg = chSemWaitTimeoutS(sp, time);
|
||||
chSysUnlock();
|
||||
return msg;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Performs a wait operation on a semaphore with timeout specification.
|
||||
*
|
||||
* @param[in] sp pointer to a @p Semaphore structure
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return A message specifying how the invoking thread has been
|
||||
* released from the semaphore.
|
||||
* @retval RDY_OK if the thread has not stopped on the semaphore or the
|
||||
* semaphore has been signaled.
|
||||
* @retval RDY_RESET if the semaphore has been reset using @p chSemReset().
|
||||
* @retval RDY_TIMEOUT if the semaphore has not been signaled or reset within
|
||||
* the specified timeout.
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
msg_t chSemWaitTimeoutS(Semaphore *sp, systime_t time) {
|
||||
|
||||
chDbgCheckClassS();
|
||||
chDbgCheck(sp != NULL, "chSemWaitTimeoutS");
|
||||
chDbgAssert(((sp->s_cnt >= 0) && isempty(&sp->s_queue)) ||
|
||||
((sp->s_cnt < 0) && notempty(&sp->s_queue)),
|
||||
"chSemWaitTimeoutS(), #1",
|
||||
"inconsistent semaphore");
|
||||
|
||||
if (--sp->s_cnt < 0) {
|
||||
if (TIME_IMMEDIATE == time) {
|
||||
sp->s_cnt++;
|
||||
return RDY_TIMEOUT;
|
||||
}
|
||||
currp->p_u.wtobjp = sp;
|
||||
sem_insert(currp, &sp->s_queue);
|
||||
return chSchGoSleepTimeoutS(THD_STATE_WTSEM, time);
|
||||
}
|
||||
return RDY_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Performs a signal operation on a semaphore.
|
||||
*
|
||||
* @param[in] sp pointer to a @p Semaphore structure
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chSemSignal(Semaphore *sp) {
|
||||
|
||||
chDbgCheck(sp != NULL, "chSemSignal");
|
||||
chDbgAssert(((sp->s_cnt >= 0) && isempty(&sp->s_queue)) ||
|
||||
((sp->s_cnt < 0) && notempty(&sp->s_queue)),
|
||||
"chSemSignal(), #1",
|
||||
"inconsistent semaphore");
|
||||
|
||||
chSysLock();
|
||||
if (++sp->s_cnt <= 0)
|
||||
chSchWakeupS(fifo_remove(&sp->s_queue), RDY_OK);
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Performs a signal operation on a semaphore.
|
||||
* @post This function does not reschedule so a call to a rescheduling
|
||||
* function must be performed before unlocking the kernel. Note that
|
||||
* interrupt handlers always reschedule on exit so an explicit
|
||||
* reschedule must not be performed in ISRs.
|
||||
*
|
||||
* @param[in] sp pointer to a @p Semaphore structure
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
void chSemSignalI(Semaphore *sp) {
|
||||
|
||||
chDbgCheckClassI();
|
||||
chDbgCheck(sp != NULL, "chSemSignalI");
|
||||
chDbgAssert(((sp->s_cnt >= 0) && isempty(&sp->s_queue)) ||
|
||||
((sp->s_cnt < 0) && notempty(&sp->s_queue)),
|
||||
"chSemSignalI(), #1",
|
||||
"inconsistent semaphore");
|
||||
|
||||
if (++sp->s_cnt <= 0) {
|
||||
/* Note, it is done this way in order to allow a tail call on
|
||||
chSchReadyI().*/
|
||||
Thread *tp = fifo_remove(&sp->s_queue);
|
||||
tp->p_u.rdymsg = RDY_OK;
|
||||
chSchReadyI(tp);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Adds the specified value to the semaphore counter.
|
||||
* @post This function does not reschedule so a call to a rescheduling
|
||||
* function must be performed before unlocking the kernel. Note that
|
||||
* interrupt handlers always reschedule on exit so an explicit
|
||||
* reschedule must not be performed in ISRs.
|
||||
*
|
||||
* @param[in] sp pointer to a @p Semaphore structure
|
||||
* @param[in] n value to be added to the semaphore counter. The value
|
||||
* must be positive.
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
void chSemAddCounterI(Semaphore *sp, cnt_t n) {
|
||||
|
||||
chDbgCheckClassI();
|
||||
chDbgCheck((sp != NULL) && (n > 0), "chSemAddCounterI");
|
||||
chDbgAssert(((sp->s_cnt >= 0) && isempty(&sp->s_queue)) ||
|
||||
((sp->s_cnt < 0) && notempty(&sp->s_queue)),
|
||||
"chSemAddCounterI(), #1",
|
||||
"inconsistent semaphore");
|
||||
|
||||
while (n > 0) {
|
||||
if (++sp->s_cnt <= 0)
|
||||
chSchReadyI(fifo_remove(&sp->s_queue))->p_u.rdymsg = RDY_OK;
|
||||
n--;
|
||||
}
|
||||
}
|
||||
|
||||
#if CH_USE_SEMSW || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief Performs atomic signal and wait operations on two semaphores.
|
||||
* @pre The configuration option @p CH_USE_SEMSW must be enabled in order
|
||||
* to use this function.
|
||||
*
|
||||
* @param[in] sps pointer to a @p Semaphore structure to be signaled
|
||||
* @param[in] spw pointer to a @p Semaphore structure to wait on
|
||||
* @return A message specifying how the invoking thread has been
|
||||
* released from the semaphore.
|
||||
* @retval RDY_OK if the thread has not stopped on the semaphore or the
|
||||
* semaphore has been signaled.
|
||||
* @retval RDY_RESET if the semaphore has been reset using @p chSemReset().
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
msg_t chSemSignalWait(Semaphore *sps, Semaphore *spw) {
|
||||
msg_t msg;
|
||||
|
||||
chDbgCheck((sps != NULL) && (spw != NULL), "chSemSignalWait");
|
||||
chDbgAssert(((sps->s_cnt >= 0) && isempty(&sps->s_queue)) ||
|
||||
((sps->s_cnt < 0) && notempty(&sps->s_queue)),
|
||||
"chSemSignalWait(), #1",
|
||||
"inconsistent semaphore");
|
||||
chDbgAssert(((spw->s_cnt >= 0) && isempty(&spw->s_queue)) ||
|
||||
((spw->s_cnt < 0) && notempty(&spw->s_queue)),
|
||||
"chSemSignalWait(), #2",
|
||||
"inconsistent semaphore");
|
||||
|
||||
chSysLock();
|
||||
if (++sps->s_cnt <= 0)
|
||||
chSchReadyI(fifo_remove(&sps->s_queue))->p_u.rdymsg = RDY_OK;
|
||||
if (--spw->s_cnt < 0) {
|
||||
Thread *ctp = currp;
|
||||
sem_insert(ctp, &spw->s_queue);
|
||||
ctp->p_u.wtobjp = spw;
|
||||
chSchGoSleepS(THD_STATE_WTSEM);
|
||||
msg = ctp->p_u.rdymsg;
|
||||
}
|
||||
else {
|
||||
chSchRescheduleS();
|
||||
msg = RDY_OK;
|
||||
}
|
||||
chSysUnlock();
|
||||
return msg;
|
||||
}
|
||||
#endif /* CH_USE_SEMSW */
|
||||
|
||||
#endif /* CH_USE_SEMAPHORES */
|
||||
|
||||
/** @} */
|
||||
156
Software/portapack-mayhem/firmware/chibios/os/kernel/src/chsys.c
Normal file
156
Software/portapack-mayhem/firmware/chibios/os/kernel/src/chsys.c
Normal file
@ -0,0 +1,156 @@
|
||||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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 chsys.c
|
||||
* @brief System related code.
|
||||
*
|
||||
* @addtogroup system
|
||||
* @details System related APIs and services:
|
||||
* - Initialization.
|
||||
* - Locks.
|
||||
* - Interrupt Handling.
|
||||
* - Power Management.
|
||||
* - Abnormal Termination.
|
||||
* .
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
|
||||
#if !CH_NO_IDLE_THREAD || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief Idle thread working area.
|
||||
*/
|
||||
WORKING_AREA(_idle_thread_wa, PORT_IDLE_THREAD_STACK_SIZE);
|
||||
|
||||
/**
|
||||
* @brief This function implements the idle thread infinite loop.
|
||||
* @details The function puts the processor in the lowest power mode capable
|
||||
* to serve interrupts.<br>
|
||||
* The priority is internally set to the minimum system value so
|
||||
* that this thread is executed only if there are no other ready
|
||||
* threads in the system.
|
||||
*
|
||||
* @param[in] p the thread parameter, unused in this scenario
|
||||
*/
|
||||
void _idle_thread(void *p) {
|
||||
|
||||
(void)p;
|
||||
chRegSetThreadName("idle");
|
||||
while (TRUE) {
|
||||
port_wait_for_interrupt();
|
||||
IDLE_LOOP_HOOK();
|
||||
}
|
||||
}
|
||||
#endif /* CH_NO_IDLE_THREAD */
|
||||
|
||||
/**
|
||||
* @brief ChibiOS/RT initialization.
|
||||
* @details After executing this function the current instructions stream
|
||||
* becomes the main thread.
|
||||
* @pre Interrupts must be still disabled when @p chSysInit() is invoked
|
||||
* and are internally enabled.
|
||||
* @post The main thread is created with priority @p NORMALPRIO.
|
||||
* @note This function has special, architecture-dependent, requirements,
|
||||
* see the notes into the various port reference manuals.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
void chSysInit(void) {
|
||||
static Thread mainthread;
|
||||
#if CH_DBG_ENABLE_STACK_CHECK
|
||||
extern stkalign_t __main_thread_stack_base__;
|
||||
#endif
|
||||
|
||||
port_init();
|
||||
_scheduler_init();
|
||||
_vt_init();
|
||||
#if CH_USE_MEMCORE
|
||||
_core_init();
|
||||
#endif
|
||||
#if CH_USE_HEAP
|
||||
_heap_init();
|
||||
#endif
|
||||
#if CH_DBG_ENABLE_TRACE
|
||||
_trace_init();
|
||||
#endif
|
||||
|
||||
/* Now this instructions flow becomes the main thread.*/
|
||||
setcurrp(_thread_init(&mainthread, NORMALPRIO));
|
||||
currp->p_state = THD_STATE_CURRENT;
|
||||
#if CH_DBG_ENABLE_STACK_CHECK
|
||||
/* This is a special case because the main thread Thread structure is not
|
||||
adjacent to its stack area.*/
|
||||
currp->p_stklimit = &__main_thread_stack_base__;
|
||||
#endif
|
||||
chSysEnable();
|
||||
|
||||
/* Note, &ch_debug points to the string "main" if the registry is
|
||||
active, else the parameter is ignored.*/
|
||||
chRegSetThreadName((const char *)&ch_debug);
|
||||
|
||||
#if !CH_NO_IDLE_THREAD
|
||||
/* This thread has the lowest priority in the system, its role is just to
|
||||
serve interrupts in its context while keeping the lowest energy saving
|
||||
mode compatible with the system status.*/
|
||||
chThdCreateStatic(_idle_thread_wa, sizeof(_idle_thread_wa), IDLEPRIO,
|
||||
(void *)_idle_thread, NULL);
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Handles time ticks for round robin preemption and timer increments.
|
||||
* @details Decrements the remaining time quantum of the running thread
|
||||
* and preempts it when the quantum is used up. Increments system
|
||||
* time and manages the timers.
|
||||
* @note The frequency of the timer determines the system tick granularity
|
||||
* and, together with the @p CH_TIME_QUANTUM macro, the round robin
|
||||
* interval.
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
void chSysTimerHandlerI(void) {
|
||||
|
||||
chDbgCheckClassI();
|
||||
|
||||
#if CH_TIME_QUANTUM > 0
|
||||
/* Running thread has not used up quantum yet? */
|
||||
if (currp->p_preempt > 0)
|
||||
/* Decrement remaining quantum.*/
|
||||
currp->p_preempt--;
|
||||
#endif
|
||||
#if CH_DBG_THREADS_PROFILING
|
||||
currp->p_time++;
|
||||
#endif
|
||||
chVTDoTickI();
|
||||
#if defined(SYSTEM_TICK_EVENT_HOOK)
|
||||
SYSTEM_TICK_EVENT_HOOK();
|
||||
#endif
|
||||
}
|
||||
|
||||
/** @} */
|
||||
@ -0,0 +1,443 @@
|
||||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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.c
|
||||
* @brief Threads code.
|
||||
*
|
||||
* @addtogroup threads
|
||||
* @details Threads related APIs and services.
|
||||
*
|
||||
* <h2>Operation mode</h2>
|
||||
* A thread is an abstraction of an independent instructions flow.
|
||||
* In ChibiOS/RT a thread is represented by a "C" function owning
|
||||
* a processor context, state informations and a dedicated stack
|
||||
* area. In this scenario static variables are shared among all
|
||||
* threads while automatic variables are local to the thread.<br>
|
||||
* Operations defined for threads:
|
||||
* - <b>Create</b>, a thread is started on the specified thread
|
||||
* function. This operation is available in multiple variants,
|
||||
* both static and dynamic.
|
||||
* - <b>Exit</b>, a thread terminates by returning from its top
|
||||
* level function or invoking a specific API, the thread can
|
||||
* return a value that can be retrieved by other threads.
|
||||
* - <b>Wait</b>, a thread waits for the termination of another
|
||||
* thread and retrieves its return value.
|
||||
* - <b>Resume</b>, a thread created in suspended state is started.
|
||||
* - <b>Sleep</b>, the execution of a thread is suspended for the
|
||||
* specified amount of time or the specified future absolute time
|
||||
* is reached.
|
||||
* - <b>SetPriority</b>, a thread changes its own priority level.
|
||||
* - <b>Yield</b>, a thread voluntarily renounces to its time slot.
|
||||
* .
|
||||
* The threads subsystem is implicitly included in kernel however
|
||||
* some of its part may be excluded by disabling them in @p chconf.h,
|
||||
* see the @p CH_USE_WAITEXIT and @p CH_USE_DYNAMIC configuration
|
||||
* options.
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
|
||||
/**
|
||||
* @brief Initializes a thread structure.
|
||||
* @note This is an internal functions, do not use it in application code.
|
||||
*
|
||||
* @param[in] tp pointer to the thread
|
||||
* @param[in] prio the priority level for the new thread
|
||||
* @return The same thread pointer passed as parameter.
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
Thread *_thread_init(Thread *tp, tprio_t prio) {
|
||||
|
||||
tp->p_prio = prio;
|
||||
tp->p_state = THD_STATE_SUSPENDED;
|
||||
tp->p_flags = THD_MEM_MODE_STATIC;
|
||||
#if CH_TIME_QUANTUM > 0
|
||||
tp->p_preempt = CH_TIME_QUANTUM;
|
||||
#endif
|
||||
#if CH_USE_MUTEXES
|
||||
tp->p_realprio = prio;
|
||||
tp->p_mtxlist = NULL;
|
||||
#endif
|
||||
#if CH_USE_EVENTS
|
||||
tp->p_epending = 0;
|
||||
#endif
|
||||
#if CH_DBG_THREADS_PROFILING
|
||||
tp->p_time = 0;
|
||||
#endif
|
||||
#if CH_USE_DYNAMIC
|
||||
tp->p_refs = 1;
|
||||
#endif
|
||||
#if CH_USE_REGISTRY
|
||||
tp->p_name = NULL;
|
||||
REG_INSERT(tp);
|
||||
#endif
|
||||
#if CH_USE_WAITEXIT
|
||||
list_init(&tp->p_waiting);
|
||||
#endif
|
||||
#if CH_USE_MESSAGES
|
||||
queue_init(&tp->p_msgqueue);
|
||||
#endif
|
||||
#if CH_DBG_ENABLE_STACK_CHECK
|
||||
tp->p_stklimit = (stkalign_t *)(tp + 1);
|
||||
#endif
|
||||
#if defined(THREAD_EXT_INIT_HOOK)
|
||||
THREAD_EXT_INIT_HOOK(tp);
|
||||
#endif
|
||||
return tp;
|
||||
}
|
||||
|
||||
#if CH_DBG_FILL_THREADS || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief Memory fill utility.
|
||||
*
|
||||
* @param[in] startp first address to fill
|
||||
* @param[in] endp last address to fill +1
|
||||
* @param[in] v filler value
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
void _thread_memfill(uint8_t *startp, uint8_t *endp, uint8_t v) {
|
||||
|
||||
while (startp < endp)
|
||||
*startp++ = v;
|
||||
}
|
||||
#endif /* CH_DBG_FILL_THREADS */
|
||||
|
||||
/**
|
||||
* @brief Creates a new thread into a static memory area.
|
||||
* @details The new thread is initialized but not inserted in the ready list,
|
||||
* the initial state is @p THD_STATE_SUSPENDED.
|
||||
* @post The initialized thread can be subsequently started by invoking
|
||||
* @p chThdResume(), @p chThdResumeI() or @p chSchWakeupS()
|
||||
* depending on the execution context.
|
||||
* @note A thread can terminate by calling @p chThdExit() or by simply
|
||||
* returning from its main function.
|
||||
* @note Threads created using this function do not obey to the
|
||||
* @p CH_DBG_FILL_THREADS debug option because it would keep
|
||||
* the kernel locked for too much time.
|
||||
*
|
||||
* @param[out] wsp pointer to a working area dedicated to the thread stack
|
||||
* @param[in] size size of the working area
|
||||
* @param[in] prio the priority level for the new thread
|
||||
* @param[in] pf the thread function
|
||||
* @param[in] arg an argument passed to the thread function. It can be
|
||||
* @p NULL.
|
||||
* @return The pointer to the @p Thread structure allocated for
|
||||
* the thread into the working space area.
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
Thread *chThdCreateI(void *wsp, size_t size,
|
||||
tprio_t prio, tfunc_t pf, void *arg) {
|
||||
/* Thread structure is laid out in the lower part of the thread workspace.*/
|
||||
Thread *tp = wsp;
|
||||
|
||||
chDbgCheckClassI();
|
||||
|
||||
chDbgCheck((wsp != NULL) && (size >= THD_WA_SIZE(0)) &&
|
||||
(prio <= HIGHPRIO) && (pf != NULL),
|
||||
"chThdCreateI");
|
||||
SETUP_CONTEXT(wsp, size, pf, arg);
|
||||
return _thread_init(tp, prio);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Creates a new thread into a static memory area.
|
||||
* @note A thread can terminate by calling @p chThdExit() or by simply
|
||||
* returning from its main function.
|
||||
*
|
||||
* @param[out] wsp pointer to a working area dedicated to the thread stack
|
||||
* @param[in] size size of the working area
|
||||
* @param[in] prio the priority level for the new thread
|
||||
* @param[in] pf the thread function
|
||||
* @param[in] arg an argument passed to the thread function. It can be
|
||||
* @p NULL.
|
||||
* @return The pointer to the @p Thread structure allocated for
|
||||
* the thread into the working space area.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
Thread *chThdCreateStatic(void *wsp, size_t size,
|
||||
tprio_t prio, tfunc_t pf, void *arg) {
|
||||
Thread *tp;
|
||||
|
||||
#if CH_DBG_FILL_THREADS
|
||||
_thread_memfill((uint8_t *)wsp,
|
||||
(uint8_t *)wsp + sizeof(Thread),
|
||||
CH_THREAD_FILL_VALUE);
|
||||
_thread_memfill((uint8_t *)wsp + sizeof(Thread),
|
||||
(uint8_t *)wsp + size,
|
||||
CH_STACK_FILL_VALUE);
|
||||
#endif
|
||||
chSysLock();
|
||||
chSchWakeupS(tp = chThdCreateI(wsp, size, prio, pf, arg), RDY_OK);
|
||||
chSysUnlock();
|
||||
return tp;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Changes the running thread priority level then reschedules if
|
||||
* necessary.
|
||||
* @note The function returns the real thread priority regardless of the
|
||||
* current priority that could be higher than the real priority
|
||||
* because the priority inheritance mechanism.
|
||||
*
|
||||
* @param[in] newprio the new priority level of the running thread
|
||||
* @return The old priority level.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
tprio_t chThdSetPriority(tprio_t newprio) {
|
||||
tprio_t oldprio;
|
||||
|
||||
chDbgCheck(newprio <= HIGHPRIO, "chThdSetPriority");
|
||||
|
||||
chSysLock();
|
||||
#if CH_USE_MUTEXES
|
||||
oldprio = currp->p_realprio;
|
||||
if ((currp->p_prio == currp->p_realprio) || (newprio > currp->p_prio))
|
||||
currp->p_prio = newprio;
|
||||
currp->p_realprio = newprio;
|
||||
#else
|
||||
oldprio = currp->p_prio;
|
||||
currp->p_prio = newprio;
|
||||
#endif
|
||||
chSchRescheduleS();
|
||||
chSysUnlock();
|
||||
return oldprio;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Resumes a suspended thread.
|
||||
* @pre The specified thread pointer must refer to an initialized thread
|
||||
* in the @p THD_STATE_SUSPENDED state.
|
||||
* @post The specified thread is immediately started or put in the ready
|
||||
* list depending on the relative priority levels.
|
||||
* @note Use this function to start threads created with @p chThdCreateI().
|
||||
*
|
||||
* @param[in] tp pointer to the thread
|
||||
* @return The pointer to the thread.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
Thread *chThdResume(Thread *tp) {
|
||||
|
||||
chSysLock();
|
||||
chDbgAssert(tp->p_state == THD_STATE_SUSPENDED,
|
||||
"chThdResume(), #1",
|
||||
"thread not in THD_STATE_SUSPENDED state");
|
||||
chSchWakeupS(tp, RDY_OK);
|
||||
chSysUnlock();
|
||||
return tp;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Requests a thread termination.
|
||||
* @pre The target thread must be written to invoke periodically
|
||||
* @p chThdShouldTerminate() and terminate cleanly if it returns
|
||||
* @p TRUE.
|
||||
* @post The specified thread will terminate after detecting the termination
|
||||
* condition.
|
||||
*
|
||||
* @param[in] tp pointer to the thread
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chThdTerminate(Thread *tp) {
|
||||
|
||||
chSysLock();
|
||||
tp->p_flags |= THD_TERMINATE;
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @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.
|
||||
* .
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chThdSleep(systime_t time) {
|
||||
|
||||
chDbgCheck(time != TIME_IMMEDIATE, "chThdSleep");
|
||||
|
||||
chSysLock();
|
||||
chThdSleepS(time);
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Suspends the invoking thread until the system time arrives to the
|
||||
* specified value.
|
||||
*
|
||||
* @param[in] time absolute system time
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chThdSleepUntil(systime_t time) {
|
||||
|
||||
chSysLock();
|
||||
if ((time -= chTimeNow()) > 0)
|
||||
chThdSleepS(time);
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Yields the time slot.
|
||||
* @details Yields the CPU control to the next thread in the ready list with
|
||||
* equal priority, if any.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chThdYield(void) {
|
||||
|
||||
chSysLock();
|
||||
chSchDoYieldS();
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Terminates the current thread.
|
||||
* @details The thread goes in the @p THD_STATE_FINAL state holding the
|
||||
* specified exit status code, other threads can retrieve the
|
||||
* exit status code by invoking the function @p chThdWait().
|
||||
* @post Eventual code after this function will never be executed,
|
||||
* this function never returns. The compiler has no way to
|
||||
* know this so do not assume that the compiler would remove
|
||||
* the dead code.
|
||||
*
|
||||
* @param[in] msg thread exit code
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void chThdExit(msg_t msg) {
|
||||
|
||||
chSysLock();
|
||||
chThdExitS(msg);
|
||||
/* The thread never returns here.*/
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Terminates the current thread.
|
||||
* @details The thread goes in the @p THD_STATE_FINAL state holding the
|
||||
* specified exit status code, other threads can retrieve the
|
||||
* exit status code by invoking the function @p chThdWait().
|
||||
* @post Eventual code after this function will never be executed,
|
||||
* this function never returns. The compiler has no way to
|
||||
* know this so do not assume that the compiler would remove
|
||||
* the dead code.
|
||||
*
|
||||
* @param[in] msg thread exit code
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
void chThdExitS(msg_t msg) {
|
||||
Thread *tp = currp;
|
||||
|
||||
tp->p_u.exitcode = msg;
|
||||
#if defined(THREAD_EXT_EXIT_HOOK)
|
||||
THREAD_EXT_EXIT_HOOK(tp);
|
||||
#endif
|
||||
#if CH_USE_WAITEXIT
|
||||
while (notempty(&tp->p_waiting))
|
||||
chSchReadyI(list_remove(&tp->p_waiting));
|
||||
#endif
|
||||
#if CH_USE_REGISTRY
|
||||
/* Static threads are immediately removed from the registry because
|
||||
there is no memory to recover.*/
|
||||
if ((tp->p_flags & THD_MEM_MODE_MASK) == THD_MEM_MODE_STATIC)
|
||||
REG_REMOVE(tp);
|
||||
#endif
|
||||
chSchGoSleepS(THD_STATE_FINAL);
|
||||
/* The thread never returns here.*/
|
||||
chDbgAssert(FALSE, "chThdExitS(), #1", "zombies apocalypse");
|
||||
}
|
||||
|
||||
#if CH_USE_WAITEXIT || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief Blocks the execution of the invoking thread until the specified
|
||||
* thread terminates then the exit code is returned.
|
||||
* @details This function waits for the specified thread to terminate then
|
||||
* decrements its reference counter, if the counter reaches zero then
|
||||
* the thread working area is returned to the proper allocator.<br>
|
||||
* The memory used by the exited thread is handled in different ways
|
||||
* depending on the API that spawned the thread:
|
||||
* - If the thread was spawned by @p chThdCreateStatic() or by
|
||||
* @p chThdCreateI() then nothing happens and the thread working
|
||||
* area is not released or modified in any way. This is the
|
||||
* default, totally static, behavior.
|
||||
* - If the thread was spawned by @p chThdCreateFromHeap() then
|
||||
* the working area is returned to the system heap.
|
||||
* - If the thread was spawned by @p chThdCreateFromMemoryPool()
|
||||
* then the working area is returned to the owning memory pool.
|
||||
* .
|
||||
* @pre The configuration option @p CH_USE_WAITEXIT must be enabled in
|
||||
* order to use this function.
|
||||
* @post Enabling @p chThdWait() requires 2-4 (depending on the
|
||||
* architecture) extra bytes in the @p Thread structure.
|
||||
* @post After invoking @p chThdWait() the thread pointer becomes invalid
|
||||
* and must not be used as parameter for further system calls.
|
||||
* @note If @p CH_USE_DYNAMIC is not specified this function just waits for
|
||||
* the thread termination, no memory allocators are involved.
|
||||
*
|
||||
* @param[in] tp pointer to the thread
|
||||
* @return The exit code from the terminated thread.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
msg_t chThdWait(Thread *tp) {
|
||||
msg_t msg;
|
||||
|
||||
chDbgCheck(tp != NULL, "chThdWait");
|
||||
|
||||
chSysLock();
|
||||
chDbgAssert(tp != currp, "chThdWait(), #1", "waiting self");
|
||||
#if CH_USE_DYNAMIC
|
||||
chDbgAssert(tp->p_refs > 0, "chThdWait(), #2", "not referenced");
|
||||
#endif
|
||||
if (tp->p_state != THD_STATE_FINAL) {
|
||||
list_insert(currp, &tp->p_waiting);
|
||||
chSchGoSleepS(THD_STATE_WTEXIT);
|
||||
}
|
||||
msg = tp->p_u.exitcode;
|
||||
chSysUnlock();
|
||||
#if CH_USE_DYNAMIC
|
||||
chThdRelease(tp);
|
||||
#endif
|
||||
return msg;
|
||||
}
|
||||
#endif /* CH_USE_WAITEXIT */
|
||||
|
||||
/** @} */
|
||||
121
Software/portapack-mayhem/firmware/chibios/os/kernel/src/chvt.c
Normal file
121
Software/portapack-mayhem/firmware/chibios/os/kernel/src/chvt.c
Normal file
@ -0,0 +1,121 @@
|
||||
/*
|
||||
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||||
2011,2012,2013 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 chvt.c
|
||||
* @brief Time and Virtual Timers related code.
|
||||
*
|
||||
* @addtogroup time
|
||||
* @details Time and Virtual Timers related APIs and services.
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
|
||||
/**
|
||||
* @brief Virtual timers delta list header.
|
||||
*/
|
||||
VTList vtlist;
|
||||
|
||||
/**
|
||||
* @brief Virtual Timers initialization.
|
||||
* @note Internal use only.
|
||||
*
|
||||
* @notapi
|
||||
*/
|
||||
void _vt_init(void) {
|
||||
|
||||
vtlist.vt_next = vtlist.vt_prev = (void *)&vtlist;
|
||||
vtlist.vt_time = (systime_t)-1;
|
||||
vtlist.vt_systime = 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enables a virtual timer.
|
||||
* @note The associated function is invoked from interrupt context.
|
||||
*
|
||||
* @param[out] vtp the @p VirtualTimer structure pointer
|
||||
* @param[in] time the number of ticks before the operation timeouts, the
|
||||
* special values are handled as follow:
|
||||
* - @a TIME_INFINITE is allowed but interpreted as a
|
||||
* normal time specification.
|
||||
* - @a TIME_IMMEDIATE this value is not allowed.
|
||||
* .
|
||||
* @param[in] vtfunc the timer callback function. After invoking the
|
||||
* callback the timer is disabled and the structure can
|
||||
* be disposed or reused.
|
||||
* @param[in] par a parameter that will be passed to the callback
|
||||
* function
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
void chVTSetI(VirtualTimer *vtp, systime_t time, vtfunc_t vtfunc, void *par) {
|
||||
VirtualTimer *p;
|
||||
|
||||
chDbgCheckClassI();
|
||||
chDbgCheck((vtp != NULL) && (vtfunc != NULL) && (time != TIME_IMMEDIATE),
|
||||
"chVTSetI");
|
||||
|
||||
vtp->vt_par = par;
|
||||
vtp->vt_func = vtfunc;
|
||||
p = vtlist.vt_next;
|
||||
while (p->vt_time < time) {
|
||||
time -= p->vt_time;
|
||||
p = p->vt_next;
|
||||
}
|
||||
|
||||
vtp->vt_prev = (vtp->vt_next = p)->vt_prev;
|
||||
vtp->vt_prev->vt_next = p->vt_prev = vtp;
|
||||
vtp->vt_time = time;
|
||||
if (p != (void *)&vtlist)
|
||||
p->vt_time -= time;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Disables a Virtual Timer.
|
||||
* @note The timer MUST be active when this function is invoked.
|
||||
*
|
||||
* @param[in] vtp the @p VirtualTimer structure pointer
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
void chVTResetI(VirtualTimer *vtp) {
|
||||
|
||||
chDbgCheckClassI();
|
||||
chDbgCheck(vtp != NULL, "chVTResetI");
|
||||
chDbgAssert(vtp->vt_func != NULL,
|
||||
"chVTResetI(), #1",
|
||||
"timer not set or already triggered");
|
||||
|
||||
if (vtp->vt_next != (void *)&vtlist)
|
||||
vtp->vt_next->vt_time += vtp->vt_time;
|
||||
vtp->vt_prev->vt_next = vtp->vt_next;
|
||||
vtp->vt_next->vt_prev = vtp->vt_prev;
|
||||
vtp->vt_func = (vtfunc_t)NULL;
|
||||
}
|
||||
|
||||
/** @} */
|
||||
Reference in New Issue
Block a user