diff options
Diffstat (limited to 'ChibiOS_20.3.2/os/rt/src/chthreads.c')
| -rw-r--r-- | ChibiOS_20.3.2/os/rt/src/chthreads.c | 906 |
1 files changed, 906 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/rt/src/chthreads.c b/ChibiOS_20.3.2/os/rt/src/chthreads.c new file mode 100644 index 0000000..caa846b --- /dev/null +++ b/ChibiOS_20.3.2/os/rt/src/chthreads.c @@ -0,0 +1,906 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file rt/src/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.
+ * .
+ * @{
+ */
+
+#include "ch.h"
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @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] name thread name
+ * @param[in] prio the priority level for the new thread
+ * @return The same thread pointer passed as parameter.
+ *
+ * @notapi
+ */
+thread_t *_thread_init(thread_t *tp, const char *name, tprio_t prio) {
+
+ tp->prio = prio;
+ tp->state = CH_STATE_WTSTART;
+ tp->flags = CH_FLAG_MODE_STATIC;
+#if CH_CFG_TIME_QUANTUM > 0
+ tp->ticks = (tslices_t)CH_CFG_TIME_QUANTUM;
+#endif
+#if CH_CFG_USE_MUTEXES == TRUE
+ tp->realprio = prio;
+ tp->mtxlist = NULL;
+#endif
+#if CH_CFG_USE_EVENTS == TRUE
+ tp->epending = (eventmask_t)0;
+#endif
+#if CH_DBG_THREADS_PROFILING == TRUE
+ tp->time = (systime_t)0;
+#endif
+#if CH_CFG_USE_REGISTRY == TRUE
+ tp->refs = (trefs_t)1;
+ tp->name = name;
+ REG_INSERT(tp);
+#else
+ (void)name;
+#endif
+#if CH_CFG_USE_WAITEXIT == TRUE
+ list_init(&tp->waiting);
+#endif
+#if CH_CFG_USE_MESSAGES == TRUE
+ queue_init(&tp->msgqueue);
+#endif
+#if CH_DBG_STATISTICS == TRUE
+ chTMObjectInit(&tp->stats);
+#endif
+ CH_CFG_THREAD_INIT_HOOK(tp);
+ return tp;
+}
+
+#if (CH_DBG_FILL_THREADS == TRUE) || 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 CH_STATE_WTSTART.
+ * @post The created thread has a reference counter set to one, it is
+ * caller responsibility to call @p chThdRelease() or @p chthdWait()
+ * in order to release the reference. The thread persists in the
+ * registry until its reference counter reaches zero.
+ * @post The initialized thread can be subsequently started by invoking
+ * @p chThdStart(), @p chThdStartI() 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] tdp pointer to the thread descriptor
+ * @return The pointer to the @p thread_t structure allocated for
+ * the thread into the working space area.
+ *
+ * @iclass
+ */
+thread_t *chThdCreateSuspendedI(const thread_descriptor_t *tdp) {
+ thread_t *tp;
+
+ chDbgCheckClassI();
+ chDbgCheck(tdp != NULL);
+ chDbgCheck(MEM_IS_ALIGNED(tdp->wbase, PORT_WORKING_AREA_ALIGN) &&
+ MEM_IS_ALIGNED(tdp->wend, PORT_STACK_ALIGN) &&
+ (tdp->wend > tdp->wbase) &&
+ (((size_t)tdp->wend - (size_t)tdp->wbase) >= THD_WORKING_AREA_SIZE(0)));
+ chDbgCheck((tdp->prio <= HIGHPRIO) && (tdp->funcp != NULL));
+
+ /* The thread structure is laid out in the upper part of the thread
+ workspace. The thread position structure is aligned to the required
+ stack alignment because it represents the stack top.*/
+ tp = (thread_t *)((uint8_t *)tdp->wend -
+ MEM_ALIGN_NEXT(sizeof (thread_t), PORT_STACK_ALIGN));
+
+#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE)
+ /* Stack boundary.*/
+ tp->wabase = tdp->wbase;
+#endif
+
+ /* Setting up the port-dependent part of the working area.*/
+ PORT_SETUP_CONTEXT(tp, tdp->wbase, tp, tdp->funcp, tdp->arg);
+
+ /* The driver object is initialized but not started.*/
+ return _thread_init(tp, tdp->name, tdp->prio);
+}
+
+/**
+ * @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 CH_STATE_WTSTART.
+ * @post The created thread has a reference counter set to one, it is
+ * caller responsibility to call @p chThdRelease() or @p chthdWait()
+ * in order to release the reference. The thread persists in the
+ * registry until its reference counter reaches zero.
+ * @post The initialized thread can be subsequently started by invoking
+ * @p chThdStart(), @p chThdStartI() 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.
+ *
+ * @param[out] tdp pointer to the thread descriptor
+ * @return The pointer to the @p thread_t structure allocated for
+ * the thread into the working space area.
+ *
+ * @api
+ */
+thread_t *chThdCreateSuspended(const thread_descriptor_t *tdp) {
+ thread_t *tp;
+
+#if CH_CFG_USE_REGISTRY == TRUE
+ chDbgAssert(chRegFindThreadByWorkingArea(tdp->wbase) == NULL,
+ "working area in use");
+#endif
+
+#if CH_DBG_FILL_THREADS == TRUE
+ _thread_memfill((uint8_t *)tdp->wbase,
+ (uint8_t *)tdp->wend,
+ CH_DBG_STACK_FILL_VALUE);
+#endif
+
+ chSysLock();
+ tp = chThdCreateSuspendedI(tdp);
+ chSysUnlock();
+
+ return tp;
+}
+
+/**
+ * @brief Creates a new thread into a static memory area.
+ * @details The new thread is initialized and make ready to execute.
+ * @post The created thread has a reference counter set to one, it is
+ * caller responsibility to call @p chThdRelease() or @p chthdWait()
+ * in order to release the reference. The thread persists in the
+ * registry until its reference counter reaches zero.
+ * @post The initialized thread can be subsequently started by invoking
+ * @p chThdStart(), @p chThdStartI() 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] tdp pointer to the thread descriptor
+ * @return The pointer to the @p thread_t structure allocated for
+ * the thread into the working space area.
+ *
+ * @iclass
+ */
+thread_t *chThdCreateI(const thread_descriptor_t *tdp) {
+
+ return chSchReadyI(chThdCreateSuspendedI(tdp));
+}
+
+/**
+ * @brief Creates a new thread into a static memory area.
+ * @details The new thread is initialized and make ready to execute.
+ * @post The created thread has a reference counter set to one, it is
+ * caller responsibility to call @p chThdRelease() or @p chthdWait()
+ * in order to release the reference. The thread persists in the
+ * registry until its reference counter reaches zero.
+ * @note A thread can terminate by calling @p chThdExit() or by simply
+ * returning from its main function.
+ *
+ * @param[out] tdp pointer to the thread descriptor
+ * @return The pointer to the @p thread_t structure allocated for
+ * the thread into the working space area.
+ *
+ * @iclass
+ */
+thread_t *chThdCreate(const thread_descriptor_t *tdp) {
+ thread_t *tp;
+
+#if (CH_CFG_USE_REGISTRY == TRUE) && \
+ ((CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE))
+ chDbgAssert(chRegFindThreadByWorkingArea(tdp->wbase) == NULL,
+ "working area in use");
+#endif
+
+#if CH_DBG_FILL_THREADS == TRUE
+ _thread_memfill((uint8_t *)tdp->wbase,
+ (uint8_t *)tdp->wend,
+ CH_DBG_STACK_FILL_VALUE);
+#endif
+
+ chSysLock();
+ tp = chThdCreateSuspendedI(tdp);
+ chSchWakeupS(tp, MSG_OK);
+ chSysUnlock();
+
+ return tp;
+}
+
+/**
+ * @brief Creates a new thread into a static memory area.
+ * @post The created thread has a reference counter set to one, it is
+ * caller responsibility to call @p chThdRelease() or @p chThdWait()
+ * in order to release the reference. The thread persists in the
+ * registry until its reference counter reaches zero.
+ * @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_t structure allocated for
+ * the thread into the working space area.
+ *
+ * @api
+ */
+thread_t *chThdCreateStatic(void *wsp, size_t size,
+ tprio_t prio, tfunc_t pf, void *arg) {
+ thread_t *tp;
+
+ chDbgCheck((wsp != NULL) &&
+ MEM_IS_ALIGNED(wsp, PORT_WORKING_AREA_ALIGN) &&
+ (size >= THD_WORKING_AREA_SIZE(0)) &&
+ MEM_IS_ALIGNED(size, PORT_STACK_ALIGN) &&
+ (prio <= HIGHPRIO) && (pf != NULL));
+
+#if (CH_CFG_USE_REGISTRY == TRUE) && \
+ ((CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE))
+ chDbgAssert(chRegFindThreadByWorkingArea(wsp) == NULL,
+ "working area in use");
+#endif
+
+#if CH_DBG_FILL_THREADS == TRUE
+ _thread_memfill((uint8_t *)wsp,
+ (uint8_t *)wsp + size,
+ CH_DBG_STACK_FILL_VALUE);
+#endif
+
+ chSysLock();
+
+ /* The thread structure is laid out in the upper part of the thread
+ workspace. The thread position structure is aligned to the required
+ stack alignment because it represents the stack top.*/
+ tp = (thread_t *)((uint8_t *)wsp + size -
+ MEM_ALIGN_NEXT(sizeof (thread_t), PORT_STACK_ALIGN));
+
+#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE)
+ /* Stack boundary.*/
+ tp->wabase = (stkalign_t *)wsp;
+#endif
+
+ /* Setting up the port-dependent part of the working area.*/
+ PORT_SETUP_CONTEXT(tp, wsp, tp, pf, arg);
+
+ tp = _thread_init(tp, "noname", prio);
+
+ /* Starting the thread immediately.*/
+ chSchWakeupS(tp, MSG_OK);
+ chSysUnlock();
+
+ return tp;
+}
+
+/**
+ * @brief Resumes a thread created with @p chThdCreateI().
+ *
+ * @param[in] tp pointer to the thread
+ * @return The pointer to the @p thread_t structure allocated for
+ * the thread into the working space area.
+ *
+ * @api
+ */
+thread_t *chThdStart(thread_t *tp) {
+
+ chSysLock();
+ chDbgAssert(tp->state == CH_STATE_WTSTART, "wrong state");
+ chSchWakeupS(tp, MSG_OK);
+ chSysUnlock();
+
+ return tp;
+}
+
+#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Adds a reference to a thread object.
+ * @pre The configuration option @p CH_CFG_USE_REGISTRY 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_t *chThdAddRef(thread_t *tp) {
+
+ chSysLock();
+ chDbgAssert(tp->refs < (trefs_t)255, "too many references");
+ tp->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 CH_STATE_FINAL state then the thread's memory is
+ * returned to the proper allocator and the thread is removed
+ * from the registry.<br>
+ * Threads whose counter reaches zero and are still active become
+ * "detached" and will be removed from registry on termination.
+ * @pre The configuration option @p CH_CFG_USE_REGISTRY 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_t *tp) {
+
+ chSysLock();
+ chDbgAssert(tp->refs > (trefs_t)0, "not referenced");
+ tp->refs--;
+
+ /* If the references counter reaches zero and the thread is in its
+ terminated state then the memory can be returned to the proper
+ allocator.*/
+ if ((tp->refs == (trefs_t)0) && (tp->state == CH_STATE_FINAL)) {
+ REG_REMOVE(tp);
+ chSysUnlock();
+
+#if CH_CFG_USE_DYNAMIC == TRUE
+ switch (tp->flags & CH_FLAG_MODE_MASK) {
+#if CH_CFG_USE_HEAP == TRUE
+ case CH_FLAG_MODE_HEAP:
+ chHeapFree(chThdGetWorkingAreaX(tp));
+ break;
+#endif
+#if CH_CFG_USE_MEMPOOLS == TRUE
+ case CH_FLAG_MODE_MPOOL:
+ chPoolFree(tp->mpool, chThdGetWorkingAreaX(tp));
+ break;
+#endif
+ default:
+ /* Nothing else to do for static threads.*/
+ break;
+ }
+#endif /* CH_CFG_USE_DYNAMIC == TRUE */
+ return;
+ }
+ chSysUnlock();
+}
+#endif /* CH_CFG_USE_REGISTRY == TRUE */
+
+/**
+ * @brief Terminates the current thread.
+ * @details The thread goes in the @p CH_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 CH_STATE_FINAL state holding the
+ * specified exit status code, other threads can retrieve the
+ * exit status code by invoking the function @p chThdWait().
+ * @post Exiting a non-static thread that does not have references
+ * (detached) causes the thread to remain in the registry.
+ * It can only be removed by performing a registry scan operation.
+ * @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_t *tp = currp;
+
+ /* Storing exit message.*/
+ tp->u.exitcode = msg;
+
+ /* Exit handler hook.*/
+ CH_CFG_THREAD_EXIT_HOOK(tp);
+
+#if CH_CFG_USE_WAITEXIT == TRUE
+ /* Waking up any waiting thread.*/
+ while (list_notempty(&tp->waiting)) {
+ (void) chSchReadyI(list_remove(&tp->waiting));
+ }
+#endif
+
+#if CH_CFG_USE_REGISTRY == TRUE
+ /* Static threads with no references are immediately removed from the
+ registry because there is no memory to recover.*/
+#if CH_CFG_USE_DYNAMIC == TRUE
+ if ((tp->refs == (trefs_t)0) &&
+ ((tp->flags & CH_FLAG_MODE_MASK) == CH_FLAG_MODE_STATIC)) {
+ REG_REMOVE(tp);
+ }
+#else
+ if (tp->refs == (trefs_t)0) {
+ REG_REMOVE(tp);
+ }
+#endif
+#endif
+
+ /* Going into final state.*/
+ chSchGoSleepS(CH_STATE_FINAL);
+
+ /* The thread never returns here.*/
+ chDbgAssert(false, "zombies apocalypse");
+}
+
+#if (CH_CFG_USE_WAITEXIT == TRUE) || 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 and
+ * the thread is removed from registry.
+ * @pre The configuration option @p CH_CFG_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_t structure.
+ * @note If @p CH_CFG_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_t *tp) {
+ msg_t msg;
+
+ chDbgCheck(tp != NULL);
+
+ chSysLock();
+ chDbgAssert(tp != currp, "waiting self");
+#if CH_CFG_USE_REGISTRY == TRUE
+ chDbgAssert(tp->refs > (trefs_t)0, "no references");
+#endif
+
+ if (tp->state != CH_STATE_FINAL) {
+ list_insert(currp, &tp->waiting);
+ chSchGoSleepS(CH_STATE_WTEXIT);
+ }
+ msg = tp->u.exitcode;
+ chSysUnlock();
+
+#if CH_CFG_USE_REGISTRY == TRUE
+ /* Releasing a reference to the thread.*/
+ chThdRelease(tp);
+#endif
+
+ return msg;
+}
+#endif /* CH_CFG_USE_WAITEXIT */
+
+/**
+ * @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);
+
+ chSysLock();
+#if CH_CFG_USE_MUTEXES == TRUE
+ oldprio = currp->realprio;
+ if ((currp->prio == currp->realprio) || (newprio > currp->prio)) {
+ currp->prio = newprio;
+ }
+ currp->realprio = newprio;
+#else
+ oldprio = currp->prio;
+ currp->prio = newprio;
+#endif
+ chSchRescheduleS();
+ chSysUnlock();
+
+ return oldprio;
+}
+
+/**
+ * @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_t *tp) {
+
+ chSysLock();
+ tp->flags |= CH_FLAG_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(sysinterval_t time) {
+
+ chSysLock();
+ chThdSleepS(time);
+ chSysUnlock();
+}
+
+/**
+ * @brief Suspends the invoking thread until the system time arrives to the
+ * specified value.
+ * @note The function has no concept of "past", all specifiable times
+ * are in the future, this means that if you call this function
+ * exceeding your calculated intervals then the function will
+ * return in a far future time, not immediately.
+ * @see chThdSleepUntilWindowed()
+ *
+ * @param[in] time absolute system time
+ *
+ * @api
+ */
+void chThdSleepUntil(systime_t time) {
+ sysinterval_t interval;
+
+ chSysLock();
+ interval = chTimeDiffX(chVTGetSystemTimeX(), time);
+ if (interval > (sysinterval_t)0) {
+ chThdSleepS(interval);
+ }
+ chSysUnlock();
+}
+
+/**
+ * @brief Suspends the invoking thread until the system time arrives to the
+ * specified value.
+ * @note The system time is assumed to be between @p prev and @p next
+ * else the call is assumed to have been called outside the
+ * allowed time interval, in this case no sleep is performed.
+ * @see chThdSleepUntil()
+ *
+ * @param[in] prev absolute system time of the previous deadline
+ * @param[in] next absolute system time of the next deadline
+ * @return the @p next parameter
+ *
+ * @api
+ */
+systime_t chThdSleepUntilWindowed(systime_t prev, systime_t next) {
+ systime_t time;
+
+ chSysLock();
+ time = chVTGetSystemTimeX();
+ if (chTimeIsInRangeX(time, prev, next)) {
+ chThdSleepS(chTimeDiffX(time, next));
+ }
+ chSysUnlock();
+
+ return next;
+}
+
+/**
+ * @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 Sends the current thread sleeping and sets a reference variable.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @return The wake up message.
+ *
+ * @sclass
+ */
+msg_t chThdSuspendS(thread_reference_t *trp) {
+ thread_t *tp = chThdGetSelfX();
+
+ chDbgAssert(*trp == NULL, "not NULL");
+
+ *trp = tp;
+ tp->u.wttrp = trp;
+ chSchGoSleepS(CH_STATE_SUSPENDED);
+
+ return chThdGetSelfX()->u.rdymsg;
+}
+
+/**
+ * @brief Sends the current thread sleeping and sets a reference variable.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] timeout the timeout in system ticks, the special values are
+ * handled as follow:
+ * - @a TIME_INFINITE the thread enters an infinite sleep
+ * state.
+ * - @a TIME_IMMEDIATE the thread is not enqueued and
+ * the function returns @p MSG_TIMEOUT as if a timeout
+ * occurred.
+ * .
+ * @return The wake up message.
+ * @retval MSG_TIMEOUT if the operation timed out.
+ *
+ * @sclass
+ */
+msg_t chThdSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout) {
+ thread_t *tp = chThdGetSelfX();
+
+ chDbgAssert(*trp == NULL, "not NULL");
+
+ if (TIME_IMMEDIATE == timeout) {
+ return MSG_TIMEOUT;
+ }
+
+ *trp = tp;
+ tp->u.wttrp = trp;
+
+ return chSchGoSleepTimeoutS(CH_STATE_SUSPENDED, timeout);
+}
+
+/**
+ * @brief Wakes up a thread waiting on a thread reference object.
+ * @note This function must not reschedule because it can be called from
+ * ISR context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+void chThdResumeI(thread_reference_t *trp, msg_t msg) {
+
+ if (*trp != NULL) {
+ thread_t *tp = *trp;
+
+ chDbgAssert(tp->state == CH_STATE_SUSPENDED, "not CH_STATE_SUSPENDED");
+
+ *trp = NULL;
+ tp->u.rdymsg = msg;
+ (void) chSchReadyI(tp);
+ }
+}
+
+/**
+ * @brief Wakes up a thread waiting on a thread reference object.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+void chThdResumeS(thread_reference_t *trp, msg_t msg) {
+
+ if (*trp != NULL) {
+ thread_t *tp = *trp;
+
+ chDbgAssert(tp->state == CH_STATE_SUSPENDED, "not CH_STATE_SUSPENDED");
+
+ *trp = NULL;
+ chSchWakeupS(tp, msg);
+ }
+}
+
+/**
+ * @brief Wakes up a thread waiting on a thread reference object.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] msg the message code
+ *
+ * @api
+ */
+void chThdResume(thread_reference_t *trp, msg_t msg) {
+
+ chSysLock();
+ chThdResumeS(trp, msg);
+ chSysUnlock();
+}
+
+/**
+ * @brief Enqueues the caller thread on a threads queue object.
+ * @details The caller thread is enqueued and put to sleep until it is
+ * dequeued or the specified timeouts expires.
+ *
+ * @param[in] tqp pointer to the threads queue object
+ * @param[in] timeout the timeout in system ticks, the special values are
+ * handled as follow:
+ * - @a TIME_INFINITE the thread enters an infinite sleep
+ * state.
+ * - @a TIME_IMMEDIATE the thread is not enqueued and
+ * the function returns @p MSG_TIMEOUT as if a timeout
+ * occurred.
+ * .
+ * @return The message from @p osalQueueWakeupOneI() or
+ * @p osalQueueWakeupAllI() functions.
+ * @retval MSG_TIMEOUT if the thread has not been dequeued within the
+ * specified timeout or if the function has been
+ * invoked with @p TIME_IMMEDIATE as timeout
+ * specification.
+ *
+ * @sclass
+ */
+msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout) {
+
+ if (TIME_IMMEDIATE == timeout) {
+ return MSG_TIMEOUT;
+ }
+
+ queue_insert(currp, tqp);
+
+ return chSchGoSleepTimeoutS(CH_STATE_QUEUED, timeout);
+}
+
+/**
+ * @brief Dequeues and wakes up one thread from the threads queue object,
+ * if any.
+ *
+ * @param[in] tqp pointer to the threads queue object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+void chThdDequeueNextI(threads_queue_t *tqp, msg_t msg) {
+
+ if (queue_notempty(tqp)) {
+ chThdDoDequeueNextI(tqp, msg);
+ }
+}
+
+/**
+ * @brief Dequeues and wakes up all threads from the threads queue object.
+ *
+ * @param[in] tqp pointer to the threads queue object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+void chThdDequeueAllI(threads_queue_t *tqp, msg_t msg) {
+
+ while (queue_notempty(tqp)) {
+ chThdDoDequeueNextI(tqp, msg);
+ }
+}
+
+/** @} */
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