/*
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 nil/src/ch.c
* @brief Nil RTOS main source file.
*
* @addtogroup NIL_KERNEL
* @{
*/
#include "ch.h"
/*===========================================================================*/
/* Module local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Module exported variables. */
/*===========================================================================*/
/**
* @brief System data structures.
*/
nil_system_t nil;
/*===========================================================================*/
/* Module local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Module local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Module interrupt handlers. */
/*===========================================================================*/
/*===========================================================================*/
/* Module exported functions. */
/*===========================================================================*/
/**
* @brief Retrieves the highest priority thread in the specified state and
* associated to the specified object.
*
* @param[in] state thread state
* @param[in] p object pointer
* @return The pointer to the found thread.
* @retval NULL if the thread is not found.
*
* @notapi
*/
thread_t *nil_find_thread(tstate_t state, void *p) {
thread_t *tp = nil.threads;
while (tp < &nil.threads[CH_CFG_MAX_THREADS]) {
/* Is this thread matching?*/
if ((tp->state == state) && (tp->u1.p == p)) {
return tp;
}
tp++;
}
return NULL;
}
/**
* @brief Puts in ready state all thread matching the specified status and
* associated object.
*
* @param[in] p object pointer
* @param[in] cnt number of threads to be readied as a negative number,
* non negative numbers are ignored
* @param[in] msg the wakeup message
* @return The number of readied threads.
*
* @notapi
*/
cnt_t nil_ready_all(void *p, cnt_t cnt, msg_t msg) {
thread_t *tp = nil.threads;;
while (cnt < (cnt_t)0) {
chDbgAssert(tp < &nil.threads[CH_CFG_MAX_THREADS],
"pointer out of range");
/* Is this thread waiting on this queue?*/
if ((tp->state == NIL_STATE_WTQUEUE) && (tp->u1.p == p)) {
cnt++;
(void) chSchReadyI(tp, msg);
}
tp++;
}
return cnt;
}
#if (CH_DBG_SYSTEM_STATE_CHECK == TRUE) || defined(__DOXYGEN__)
/**
* @brief Guard code for @p chSysDisable().
*
* @notapi
*/
void _dbg_check_disable(void) {
if ((nil.isr_cnt != (cnt_t)0) || (nil.lock_cnt != (cnt_t)0)) {
chSysHalt("SV#1");
}
}
/**
* @brief Guard code for @p chSysSuspend().
*
* @notapi
*/
void _dbg_check_suspend(void) {
if ((nil.isr_cnt != (cnt_t)0) || (nil.lock_cnt != (cnt_t)0)) {
chSysHalt("SV#2");
}
}
/**
* @brief Guard code for @p chSysEnable().
*
* @notapi
*/
void _dbg_check_enable(void) {
if ((nil.isr_cnt != (cnt_t)0) || (nil.lock_cnt != (cnt_t)0)) {
chSysHalt("SV#3");
}
}
/**
* @brief Guard code for @p chSysLock().
*
* @notapi
*/
void _dbg_check_lock(void) {
if ((nil.isr_cnt != (cnt_t)0) || (nil.lock_cnt != (cnt_t)0)) {
chSysHalt("SV#4");
}
_dbg_enter_lock();
}
/**
* @brief Guard code for @p chSysUnlock().
*
* @notapi
*/
void _dbg_check_unlock(void) {
if ((nil.isr_cnt != (cnt_t)0) || (nil.lock_cnt <= (cnt_t)0)) {
chSysHalt("SV#5");
}
_dbg_leave_lock();
}
/**
* @brief Guard code for @p chSysLockFromIsr().
*
* @notapi
*/
void _dbg_check_lock_from_isr(void) {
if ((nil.isr_cnt <= (cnt_t)0) || (nil.lock_cnt != (cnt_t)0)) {
chSysHalt("SV#6");
}
_dbg_enter_lock();
}
/**
* @brief Guard code for @p chSysUnlockFromIsr().
*
* @notapi
*/
void _dbg_check_unlock_from_isr(void) {
if ((nil.isr_cnt <= (cnt_t)0) || (nil.lock_cnt <= (cnt_t)0)) {
chSysHalt("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 ((nil.isr_cnt < (cnt_t)0) || (nil.lock_cnt != (cnt_t)0)) {
chSysHalt("SV#8");
}
nil.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 ((nil.isr_cnt <= (cnt_t)0) || (nil.lock_cnt != (cnt_t)0)) {
chSysHalt("SV#9");
}
nil.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 ((nil.isr_cnt < (cnt_t)0) || (nil.lock_cnt <= (cnt_t)0)) {
chSysHalt("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 ((nil.isr_cnt != (cnt_t)0) || (nil.lock_cnt <= (cnt_t)0)) {
chSysHalt("SV#11");
}
}
#endif /* CH_DBG_SYSTEM_STATE_CHECK == TRUE */
/**
* @brief Initializes the kernel.
* @details Initializes the kernel structures, the current instructions flow
* becomes the idle thread upon return. The idle thread must not
* invoke any kernel primitive able to change state to not runnable.
* @note This function assumes that the @p nil global variable has been
* zeroed by the runtime environment. If this is not the case then
* make sure to clear it before calling this function.
*
* @special
*/
void chSysInit(void) {
const thread_descriptor_t *tdp;
/* Optional library modules.*/
_oslib_init();
/* Architecture layer initialization.*/
port_init();
/* System initialization hook.*/
CH_CFG_SYSTEM_INIT_HOOK();
/* Making idle the current thread, this may change after rescheduling.*/
nil.next = nil.current = &nil.threads[CH_CFG_MAX_THREADS];
nil.current->state = NIL_STATE_READY;
#if CH_DBG_ENABLE_STACK_CHECK == TRUE
/* The idle thread is a special case because its stack is set up by the
runtime environment.*/
nil.threads[CH_CFG_MAX_THREADS].wabase = THD_IDLE_BASE;
#endif
/* Interrupts partially enabled. It is equivalent to entering the
kernel critical zone.*/
chSysSuspend();
#if CH_DBG_SYSTEM_STATE_CHECK == TRUE
nil.lock_cnt = (cnt_t)1;
#endif
#if CH_CFG_AUTOSTART_THREADS == TRUE
/* Iterates through the list of threads to be auto-started.*/
tdp = nil_thd_configs;
do {
(void) chThdCreateI(tdp);
tdp++;
} while (tdp->funcp != NULL);
#endif
/* Starting the dance.*/
chSchRescheduleS();
chSysUnlock();
}
/**
* @brief Halts the system.
* @details This function is invoked by the operating system when an
* unrecoverable error is detected, for example because a programming
* error in the application code that triggers an assertion while
* in debug mode.
* @note Can be invoked from any system state.
*
* @param[in] reason pointer to an error string
*
* @special
*/
void chSysHalt(const char *reason) {
port_disable();
#if NIL_DBG_ENABLED
nil.dbg_panic_msg = reason;
#else
(void)reason;
#endif
/* Halt hook code, usually empty.*/
CH_CFG_SYSTEM_HALT_HOOK(reason);
/* Harmless infinite loop.*/
while (true) {
}
}
/**
* @brief Time management handler.
* @note This handler has to be invoked by a periodic ISR in order to
* reschedule the waiting threads.
*
* @iclass
*/
void chSysTimerHandlerI(void) {
chDbgCheckClassI();
#if CH_CFG_ST_TIMEDELTA == 0
thread_t *tp = &nil.threads[0];
nil.systime++;
do {
/* Is the thread in a wait state with timeout?.*/
if (tp->timeout > (sysinterval_t)0) {
chDbgAssert(!NIL_THD_IS_READY(tp), "is ready");
/* Did the timer reach zero?*/
if (--tp->timeout == (sysinterval_t)0) {
/* Timeout on queues/semaphores requires a special handling because
the counter must be incremented.*/
/*lint -save -e9013 [15.7] There is no else because it is not needed.*/
#if CH_CFG_USE_SEMAPHORES == TRUE
if (NIL_THD_IS_WTQUEUE(tp)) {
tp->u1.semp->cnt++;
}
else
#endif
if (NIL_THD_IS_SUSPENDED(tp)) {
*tp->u1.trp = NULL;
}
/*lint -restore*/
(void) chSchReadyI(tp, MSG_TIMEOUT);
}
}
/* Lock released in order to give a preemption chance on those
architectures supporting IRQ preemption.*/
chSysUnlockFromISR();
tp++;
chSysLockFromISR();
} while (tp < &nil.threads[CH_CFG_MAX_THREADS]);
#else
thread_t *tp = &nil.threads[0];
sysinterval_t next = (sysinterval_t)0;
chDbgAssert(nil.nexttime == port_timer_get_alarm(), "time mismatch");
do {
sysinterval_t timeout = tp->timeout;
/* Is the thread in a wait state with timeout?.*/
if (timeout > (sysinterval_t)0) {
chDbgAssert(!NIL_THD_IS_READY(tp), "is ready");
chDbgAssert(timeout >= chTimeDiffX(nil.lasttime, nil.nexttime),
"skipped one");
/* The volatile field is updated once, here.*/
timeout -= chTimeDiffX(nil.lasttime, nil.nexttime);
tp->timeout = timeout;
if (timeout == (sysinterval_t)0) {
/* Timeout on thread queues requires a special handling because the
counter must be incremented.*/
if (NIL_THD_IS_WTQUEUE(tp)) {
tp->u1.tqp->cnt++;
}
else {
if (NIL_THD_IS_SUSPENDED(tp)) {
*tp->u1.trp = NULL;
}
}
(void) chSchReadyI(tp, MSG_TIMEOUT);
}
else {
if (timeout <= (sysinterval_t)(next - (sysinterval_t)1)) {
next = timeout;
}
}
}
/* Lock released in order to give a preemption chance on those
architectures supporting IRQ preemption.*/
chSysUnlockFromISR();
tp++;
chSysLockFromISR();
} while (tp < &nil.threads[CH_CFG_MAX_THREADS]);
nil.lasttime = nil.nexttime;
if (next > (sysinterval_t)0) {
nil.nexttime = chTimeAddX(nil.nexttime, next);
port_timer_set_alarm(nil.nexttime);
}
else {
/* No tick event needed.*/
port_timer_stop_alarm();
}
#endif
}
/**
* @brief Unconditionally enters the kernel lock state.
* @note Can be called without previous knowledge of the current lock state.
* The final state is "s-locked".
*
* @special
*/
void chSysUnconditionalLock(void) {
if (port_irq_enabled(port_get_irq_status())) {
chSysLock();
}
}
/**
* @brief Unconditionally leaves the kernel lock state.
* @note Can be called without previous knowledge of the current lock state.
* The final state is "normal".
*
* @special
*/
void chSysUnconditionalUnlock(void) {
if (!port_irq_enabled(port_get_irq_status())) {
chSysUnlock();
}
}
/**
* @brief Returns the execution status and enters a critical zone.
* @details This functions enters into a critical zone and can be called
* from any context. Because its flexibility it is less efficient
* than @p chSysLock() which is preferable when the calling context
* is known.
* @post The system is in a critical zone.
*
* @return The previous system status, the encoding of this
* status word is architecture-dependent and opaque.
*
* @xclass
*/
syssts_t chSysGetStatusAndLockX(void) {
syssts_t sts = port_get_irq_status();
if (port_irq_enabled(sts)) {
if (port_is_isr_context()) {
chSysLockFromISR();
}
else {
chSysLock();
}
}
return sts;
}
/**
* @brief Restores the specified execution status and leaves a critical zone.
* @note A call to @p chSchRescheduleS() is automatically performed
* if exiting the critical zone and if not in ISR context.
*
* @param[in] sts the system status to be restored.
*
* @xclass
*/
void chSysRestoreStatusX(syssts_t sts) {
if (port_irq_enabled(sts)) {
if (port_is_isr_context()) {
chSysUnlockFromISR();
}
else {
chSchRescheduleS();
chSysUnlock();
}
}
}
#if (PORT_SUPPORTS_RT == TRUE) || defined(__DOXYGEN__)
/**
* @brief Realtime window test.
* @details This function verifies if the current realtime counter value
* lies within the specified range or not. The test takes care
* of the realtime counter wrapping to zero on overflow.
* @note When start==end then the function returns always false because a
* null time range is specified.
* @note This function is only available if the port layer supports the
* option @p PORT_SUPPORTS_RT.
*
* @param[in] cnt the counter value to be tested
* @param[in] start the start of the time window (inclusive)
* @param[in] end the end of the time window (non inclusive)
* @retval true current time within the specified time window.
* @retval false current time not within the specified time window.
*
* @xclass
*/
bool chSysIsCounterWithinX(rtcnt_t cnt, rtcnt_t start, rtcnt_t end) {
return (bool)(((rtcnt_t)cnt - (rtcnt_t)start) <
((rtcnt_t)end - (rtcnt_t)start));
}
/**
* @brief Polled delay.
* @note The real delay is always few cycles in excess of the specified
* value.
* @note This function is only available if the port layer supports the
* option @p PORT_SUPPORTS_RT.
*
* @param[in] cycles number of cycles
*
* @xclass
*/
void chSysPolledDelayX(rtcnt_t cycles) {
rtcnt_t start = chSysGetRealtimeCounterX();
rtcnt_t end = start + cycles;
while (chSysIsCounterWithinX(chSysGetRealtimeCounterX(), start, end)) {
}
}
#endif /* PORT_SUPPORTS_RT == TRUE */
/**
* @brief Makes the specified thread ready for execution.
*
* @param[in] tp pointer to the @p thread_t object
* @param[in] msg the wakeup message
*
* @return The same reference passed as parameter.
*/
thread_t *chSchReadyI(thread_t *tp, msg_t msg) {
chDbgCheckClassI();
chDbgCheck((tp >= nil.threads) && (tp < &nil.threads[CH_CFG_MAX_THREADS]));
chDbgAssert(!NIL_THD_IS_READY(tp), "already ready");
chDbgAssert(nil.next <= nil.current, "priority ordering");
tp->u1.msg = msg;
tp->state = NIL_STATE_READY;
tp->timeout = (sysinterval_t)0;
if (tp < nil.next) {
nil.next = tp;
}
return tp;
}
/**
* @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
*/
bool chSchIsPreemptionRequired(void) {
return chSchIsRescRequiredI();
}
/**
* @brief Switches to the first thread on the runnable queue.
* @note Not a user function, it is meant to be invoked by the scheduler
* itself or from within the port layer.
*
* @special
*/
void chSchDoReschedule(void) {
thread_t *otp = nil.current;
nil.current = nil.next;
if (otp == &nil.threads[CH_CFG_MAX_THREADS]) {
CH_CFG_IDLE_LEAVE_HOOK();
}
port_switch(nil.next, otp);
}
/**
* @brief Reschedules if needed.
*
* @sclass
*/
void chSchRescheduleS(void) {
chDbgCheckClassS();
if (chSchIsRescRequiredI()) {
chSchDoReschedule();
}
}
/**
* @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 system time then it is forcibly
* awakened with a @p MSG_TIMEOUT low level message.
*
* @param[in] newstate the new thread state or a semaphore pointer
* @param[in] timeout the number of ticks before the operation timeouts.
* the following special values are allowed:
* - @a TIME_INFINITE no timeout.
* .
* @return The wakeup message.
* @retval MSG_TIMEOUT if a timeout occurred.
*
* @sclass
*/
msg_t chSchGoSleepTimeoutS(tstate_t newstate, sysinterval_t timeout) {
thread_t *ntp, *otp = nil.current;
chDbgCheckClassS();
chDbgAssert(otp != &nil.threads[CH_CFG_MAX_THREADS],
"idle cannot sleep");
/* Storing the wait object for the current thread.*/
otp->state = newstate;
#if CH_CFG_ST_TIMEDELTA > 0
if (timeout != TIME_INFINITE) {
systime_t abstime;
/* TIMEDELTA makes sure to have enough time to reprogram the timer
before the free-running timer counter reaches the selected timeout.*/
if (timeout < (sysinterval_t)CH_CFG_ST_TIMEDELTA) {
timeout = (sysinterval_t)CH_CFG_ST_TIMEDELTA;
}
/* Absolute time of the timeout event.*/
abstime = chTimeAddX(chVTGetSystemTimeX(), timeout);
if (nil.lasttime == nil.nexttime) {
/* Special case, first thread asking for a timeout.*/
port_timer_start_alarm(abstime);
nil.nexttime = abstime;
}
else {
/* Special case, there are already other threads with a timeout
activated, evaluating the order.*/
if (chTimeIsInRangeX(abstime, nil.lasttime, nil.nexttime)) {
port_timer_set_alarm(abstime);
nil.nexttime = abstime;
}
}
/* Timeout settings.*/
otp->timeout = abstime - nil.lasttime;
}
#else
/* Timeout settings.*/
otp->timeout = timeout;
#endif
/* Scanning the whole threads array.*/
ntp = nil.threads;
while (true) {
/* Is this thread ready to execute?*/
if (NIL_THD_IS_READY(ntp)) {
nil.current = nil.next = ntp;
if (ntp == &nil.threads[CH_CFG_MAX_THREADS]) {
CH_CFG_IDLE_ENTER_HOOK();
}
port_switch(ntp, otp);
return nil.current->u1.msg;
}
/* Points to the next thread in lowering priority order.*/
ntp++;
chDbgAssert(ntp <= &nil.threads[CH_CFG_MAX_THREADS],
"pointer out of range");
}
}
/**
* @brief Checks if the specified time is within the specified time range.
* @note When start==end then the function returns always false because the
* time window has zero size.
*
* @param[in] time the time to be verified
* @param[in] start the start of the time window (inclusive)
* @param[in] end the end of the time window (non inclusive)
* @retval true current time within the specified time window.
* @retval false current time not within the specified time window.
*
* @xclass
*/
bool chTimeIsInRangeX(systime_t time, systime_t start, systime_t end) {
return (bool)((systime_t)((systime_t)(time) - (systime_t)(start)) <
(systime_t)((systime_t)(end) - (systime_t)(start)));
}
/**
* @brief Creates a new thread into a static memory area.
* @details The new thread is initialized and make ready to execute.
* @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 structure
* @return The pointer to the @p thread_t structure allocated for
* the thread.
*
* @iclass
*/
thread_t *chThdCreateI(const thread_descriptor_t *tdp) {
thread_t *tp;
chDbgCheck((tdp->prio < (tprio_t)CH_CFG_MAX_THREADS) &&
(tdp->wbase != NULL) &&
MEM_IS_ALIGNED(tdp->wbase, PORT_WORKING_AREA_ALIGN) &&
(tdp->wend > tdp->wbase) &&
MEM_IS_ALIGNED(tdp->wbase, PORT_STACK_ALIGN) &&
(tdp->funcp != NULL));
chDbgCheckClassI();
/* Pointer to the thread slot to be used.*/
tp = &nil.threads[tdp->prio];
chDbgAssert(NIL_THD_IS_WTSTART(tp) || NIL_THD_IS_FINAL(tp),
"priority slot taken");
#if CH_CFG_USE_EVENTS == TRUE
tp->epmask = (eventmask_t)0;
#endif
#if CH_DBG_ENABLE_STACK_CHECK == TRUE
tp->wabase = (stkalign_t *)tdp->wbase;
#endif
/* Port dependent thread initialization.*/
PORT_SETUP_CONTEXT(tp, tdp->wbase, tdp->wend, tdp->funcp, tdp->arg);
/* Initialization hook.*/
CH_CFG_THREAD_EXT_INIT_HOOK(tp);
/* Readying up thread.*/
return chSchReadyI(tp, MSG_OK);
}
/**
* @brief Creates a new thread into a static memory area.
* @details The new thread is initialized and make ready to execute.
* @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 structure
* @return The pointer to the @p thread_t structure allocated for
* the thread.
*
* @api
*/
thread_t *chThdCreate(const thread_descriptor_t *tdp) {
thread_t *tp;
chSysLock();
tp = chThdCreateI(tdp);
chSchRescheduleS();
chSysUnlock();
return tp;
}
/**
* @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
*
* @api
*/
void chThdExit(msg_t msg) {
chSysLock();
/* Exit handler hook.*/
CH_CFG_THREAD_EXIT_HOOK(tp);
#if CH_CFG_USE_WAITEXIT == TRUE
{
/* Waking up any waiting thread.*/
thread_t *tp = nil.threads;
while (tp < &nil.threads[CH_CFG_MAX_THREADS]) {
/* Is this thread waiting for current thread termination?*/
if ((tp->state == NIL_STATE_WTEXIT) && (tp->u1.tp == nil.current)) {
(void) chSchReadyI(tp, msg);
}
tp++;
}
}
#endif
/* Going into final state with exit message stored.*/
nil.current->u1.msg = msg;
(void) chSchGoSleepTimeoutS(NIL_STATE_FINAL, TIME_INFINITE);
/* The thread never returns here.*/
chDbgAssert(false, "zombies apocalypse");
}
/**
* @brief Blocks the execution of the invoking thread until the specified
* thread terminates then the exit code is returned.
*
* @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;
chSysLock();
if (NIL_THD_IS_FINAL(tp)) {
msg = tp->u1.msg;
}
else {
nil.current->u1.tp = tp;
msg = chSchGoSleepTimeoutS(NIL_STATE_WTEXIT, TIME_INFINITE);
}
chSysUnlock();
return msg;
}
/**
* @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 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 wake up message.
*
* @sclass
*/
msg_t chThdSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout) {
chDbgAssert(*trp == NULL, "not NULL");
if (TIME_IMMEDIATE == timeout) {
return MSG_TIMEOUT;
}
*trp = nil.current;
nil.current->u1.trp = trp;
return chSchGoSleepTimeoutS(NIL_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_reference_t tr = *trp;
chDbgAssert(NIL_THD_IS_SUSPENDED(tr), "not suspended");
*trp = NULL;
(void) chSchReadyI(tr, 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 Suspends the invoking thread for the specified time.
*
* @param[in] timeout the delay in system ticks
*
* @api
*/
void chThdSleep(sysinterval_t timeout) {
chSysLock();
chThdSleepS(timeout);
chSysUnlock();
}
/**
* @brief Suspends the invoking thread until the system time arrives to the
* specified value.
*
* @param[in] abstime absolute system time
*
* @api
*/
void chThdSleepUntil(systime_t abstime) {
chSysLock();
chThdSleepUntilS(abstime);
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_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
* .
* @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) {
chDbgCheckClassS();
chDbgCheck(tqp != NULL);
chDbgAssert(tqp->cnt <= (cnt_t)0, "invalid counter");
if (TIME_IMMEDIATE == timeout) {
return MSG_TIMEOUT;
}
tqp->cnt--;
nil.current->u1.tqp = tqp;
return chSchGoSleepTimeoutS(NIL_STATE_WTQUEUE, timeout);
}
/**
* @brief Dequeues and wakes up one thread from the threads queue object.
* @details Dequeues one thread from the queue without checking if the queue
* is empty.
* @pre The queue must contain at least an object.
*
* @param[in] tqp pointer to the threads queue object
* @param[in] msg the message code
*
* @iclass
*/
void chThdDoDequeueNextI(threads_queue_t *tqp, msg_t msg) {
thread_t *tp;
chDbgAssert(tqp->cnt < (cnt_t)0, "empty queue");
tqp->cnt++;
tp = nil_find_thread(NIL_STATE_WTQUEUE, (void *)tqp);
chDbgAssert(tp != NULL, "thread not found");
(void) chSchReadyI(tp, msg);
}
/**
* @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) {
chDbgCheckClassI();
chDbgCheck(tqp != NULL);
if (tqp->cnt < (cnt_t)0) {
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) {
chDbgCheckClassI();
chDbgCheck(tqp != NULL);
tqp->cnt = nil_ready_all((void *)tqp, tqp->cnt, msg);
}
/** @} */