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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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<td><big><big>ChibiOS/RT</big></big><br><br>Architecture - Reference Manual - Guides</td>
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Imported ChibiOS/RT 2.0.6.
2010-11-22 05:53:37 +00:00
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Imported ChibiOS/RT 2.0.6.
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Initial import
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<li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
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Imported ChibiOS/RT 2.0.6.
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Initial import
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</div>
Imported ChibiOS/RT 2.0.6.
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<div class="header">
<div class="headertitle">
<h1>chschd.c</h1> </div>
</div>
<div class="contents">
<a href="chschd_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
Initial import
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<a name="l00002"></a>00002 <span class="comment"> ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.</span>
<a name="l00003"></a>00003 <span class="comment"></span>
<a name="l00004"></a>00004 <span class="comment"> This file is part of ChibiOS/RT.</span>
<a name="l00005"></a>00005 <span class="comment"></span>
<a name="l00006"></a>00006 <span class="comment"> ChibiOS/RT is free software; you can redistribute it and/or modify</span>
<a name="l00007"></a>00007 <span class="comment"> it under the terms of the GNU General Public License as published by</span>
<a name="l00008"></a>00008 <span class="comment"> the Free Software Foundation; either version 3 of the License, or</span>
<a name="l00009"></a>00009 <span class="comment"> (at your option) any later version.</span>
<a name="l00010"></a>00010 <span class="comment"></span>
<a name="l00011"></a>00011 <span class="comment"> ChibiOS/RT is distributed in the hope that it will be useful,</span>
<a name="l00012"></a>00012 <span class="comment"> but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00013"></a>00013 <span class="comment"> MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00014"></a>00014 <span class="comment"> GNU General Public License for more details.</span>
<a name="l00015"></a>00015 <span class="comment"></span>
<a name="l00016"></a>00016 <span class="comment"> You should have received a copy of the GNU General Public License</span>
<a name="l00017"></a>00017 <span class="comment"> along with this program. If not, see &lt;http://www.gnu.org/licenses/&gt;.</span>
<a name="l00018"></a>00018 <span class="comment"></span>
<a name="l00019"></a>00019 <span class="comment"> ---</span>
<a name="l00020"></a>00020 <span class="comment"></span>
<a name="l00021"></a>00021 <span class="comment"> A special exception to the GPL can be applied should you wish to distribute</span>
<a name="l00022"></a>00022 <span class="comment"> a combined work that includes ChibiOS/RT, without being obliged to provide</span>
<a name="l00023"></a>00023 <span class="comment"> the source code for any proprietary components. See the file exception.txt</span>
<a name="l00024"></a>00024 <span class="comment"> for full details of how and when the exception can be applied.</span>
<a name="l00025"></a>00025 <span class="comment">*/</span>
<a name="l00026"></a>00026 <span class="comment"></span>
<a name="l00027"></a>00027 <span class="comment">/**</span>
<a name="l00028"></a>00028 <span class="comment"> * @file chschd.c</span>
<a name="l00029"></a>00029 <span class="comment"> * @brief Scheduler code.</span>
<a name="l00030"></a>00030 <span class="comment"> *</span>
<a name="l00031"></a>00031 <span class="comment"> * @addtogroup scheduler</span>
<a name="l00032"></a>00032 <span class="comment"> * @details This module provides the default portable scheduler code,</span>
<a name="l00033"></a>00033 <span class="comment"> * scheduler functions can be individually captured by the port</span>
<a name="l00034"></a>00034 <span class="comment"> * layer in order to provide architecture optimized equivalents.</span>
<a name="l00035"></a>00035 <span class="comment"> * When a function is captured its default code is not built into</span>
<a name="l00036"></a>00036 <span class="comment"> * the OS image, the optimized version is included instead.</span>
<a name="l00037"></a>00037 <span class="comment"> * @{</span>
<a name="l00038"></a>00038 <span class="comment"> */</span>
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;<a class="code" href="ch_8h.html" title="ChibiOS/RT main include file.">ch.h</a>&quot;</span>
<a name="l00041"></a>00041 <span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment">/**</span>
<a name="l00043"></a>00043 <span class="comment"> * @brief Ready list header.</span>
<a name="l00044"></a>00044 <span class="comment"> */</span>
<a name="l00045"></a>00045 <span class="preprocessor">#if !defined(PORT_OPTIMIZED_RLIST_VAR) || defined(__DOXYGEN__)</span>
<a name="l00046"></a><a class="code" href="group___s_t_m8___c_o_r_e.html#ga3a6de9d40a3d21712aecc7837fa7c23b">00046</a> <span class="preprocessor"></span><a class="code" href="struct_ready_list.html" title="Ready list header.">ReadyList</a> <a class="code" href="group__scheduler.html#ga752cd9dbf0dc458b8b532182836ca38d" title="Ready list header.">rlist</a>;
<a name="l00047"></a>00047 <span class="preprocessor">#endif </span><span class="comment">/* !defined(PORT_OPTIMIZED_RLIST_VAR) */</span>
<a name="l00048"></a>00048 <span class="comment"></span>
<a name="l00049"></a>00049 <span class="comment">/**</span>
<a name="l00050"></a>00050 <span class="comment"> * @brief Scheduler initialization.</span>
<a name="l00051"></a>00051 <span class="comment"> * @note Internally invoked by the @p chSysInit(), not an API.</span>
<a name="l00052"></a>00052 <span class="comment"> */</span>
<a name="l00053"></a><a class="code" href="group__scheduler.html#gab258cc2856e5f6bb125907cc23358fbd">00053</a> <span class="keywordtype">void</span> <a class="code" href="group__scheduler.html#gab258cc2856e5f6bb125907cc23358fbd" title="Scheduler initialization.">scheduler_init</a>(<span class="keywordtype">void</span>) {
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <a class="code" href="group__internals.html#ga6d19d0f3ff1fa599b6d9783dec180451" title="Threads queue initialization.">queue_init</a>(&amp;rlist.<a class="code" href="struct_ready_list.html#a7577e36ac8500b0364cd3d4157e260d1" title="Threads queue.">r_queue</a>);
Imported ChibiOS/RT 2.0.6.
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<a name="l00056"></a>00056 rlist.<a class="code" href="struct_ready_list.html#aee33d97bf6d798dfd2528db725452bcc" title="This field must be initialized to zero.">r_prio</a> = NOPRIO;
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<a name="l00057"></a>00057 <span class="preprocessor">#if CH_TIME_QUANTUM &gt; 0</span>
Imported ChibiOS/RT 2.0.6.
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<a name="l00058"></a>00058 <span class="preprocessor"></span> rlist.r_preempt = CH_TIME_QUANTUM;
Initial import
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<a name="l00059"></a>00059 <span class="preprocessor">#endif</span>
<a name="l00060"></a>00060 <span class="preprocessor"></span><span class="preprocessor">#if CH_USE_REGISTRY</span>
<a name="l00061"></a>00061 <span class="preprocessor"></span> rlist.<a class="code" href="struct_ready_list.html#adaf2a3d936298fdee21396af9cf640c9" title="Newer registry element.">r_newer</a> = rlist.<a class="code" href="struct_ready_list.html#a5b122d594ffb1f9e400ef9ee69b7aa12" title="Older registry element.">r_older</a> = (<a class="code" href="struct_thread.html" title="Structure representing a thread.">Thread</a> *)&amp;rlist;
<a name="l00062"></a>00062 <span class="preprocessor">#endif</span>
<a name="l00063"></a>00063 <span class="preprocessor"></span>}
<a name="l00064"></a>00064 <span class="comment"></span>
<a name="l00065"></a>00065 <span class="comment">/**</span>
<a name="l00066"></a>00066 <span class="comment"> * @brief Inserts a thread in the Ready List.</span>
<a name="l00067"></a>00067 <span class="comment"> * @note The function does not reschedule, the @p chSchRescheduleS() should</span>
<a name="l00068"></a>00068 <span class="comment"> * be called soon after.</span>
<a name="l00069"></a>00069 <span class="comment"> *</span>
<a name="l00070"></a>00070 <span class="comment"> * @param[in] tp the Thread to be made ready</span>
<a name="l00071"></a>00071 <span class="comment"> * @return The Thread pointer.</span>
<a name="l00072"></a>00072 <span class="comment"> */</span>
<a name="l00073"></a>00073 <span class="preprocessor">#if !defined(PORT_OPTIMIZED_READYI) || defined(__DOXYGEN__)</span>
<a name="l00074"></a>00074 <span class="preprocessor"></span><span class="preprocessor">#if CH_OPTIMIZE_SPEED</span>
<a name="l00075"></a>00075 <span class="preprocessor"></span><span class="comment">/* NOTE: it is inlined in this module only.*/</span>
<a name="l00076"></a>00076 <a class="code" href="group__types.html#ga2eb6f9e0395b47b8d5e3eeae4fe0c116" title="Inline function modifier.">INLINE</a> <a class="code" href="struct_thread.html" title="Structure representing a thread.">Thread</a> *<a class="code" href="group__scheduler.html#ga535d58cfb3436c8d4e4586c31c062298" title="Inserts a thread in the Ready List.">chSchReadyI</a>(<a class="code" href="struct_thread.html" title="Structure representing a thread.">Thread</a> *tp) {
<a name="l00077"></a>00077 <span class="preprocessor">#else</span>
<a name="l00078"></a><a class="code" href="group__scheduler.html#ga535d58cfb3436c8d4e4586c31c062298">00078</a> <span class="preprocessor"></span><a class="code" href="struct_thread.html" title="Structure representing a thread.">Thread</a> *<a class="code" href="group__scheduler.html#ga535d58cfb3436c8d4e4586c31c062298" title="Inserts a thread in the Ready List.">chSchReadyI</a>(<a class="code" href="struct_thread.html" title="Structure representing a thread.">Thread</a> *tp) {
<a name="l00079"></a>00079 <span class="preprocessor">#endif</span>
<a name="l00080"></a>00080 <span class="preprocessor"></span> <a class="code" href="struct_thread.html" title="Structure representing a thread.">Thread</a> *cp;
<a name="l00081"></a>00081
Imported ChibiOS/RT 2.0.6.
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<a name="l00082"></a>00082 tp-&gt;<a class="code" href="struct_thread.html#a3c3e9d6abccb62c3a5fab6ef043a391f" title="Current thread state.">p_state</a> = THD_STATE_READY;
Initial import
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<a name="l00083"></a>00083 cp = (<a class="code" href="struct_thread.html" title="Structure representing a thread.">Thread</a> *)&amp;rlist.<a class="code" href="struct_ready_list.html#a7577e36ac8500b0364cd3d4157e260d1" title="Threads queue.">r_queue</a>;
<a name="l00084"></a>00084 <span class="keywordflow">do</span> {
<a name="l00085"></a>00085 cp = cp-&gt;<a class="code" href="struct_thread.html#a49d3270919a6e423a47de20bc57beaa1" title="Next in the list/queue.">p_next</a>;
<a name="l00086"></a>00086 } <span class="keywordflow">while</span> (cp-&gt;p_prio &gt;= tp-&gt;<a class="code" href="struct_thread.html#ae60cc22956f4c19965cb94045333aa9c" title="Thread priority.">p_prio</a>);
<a name="l00087"></a>00087 <span class="comment">/* Insertion on p_prev.*/</span>
Imported ChibiOS/RT 2.0.6.
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<a name="l00088"></a>00088 tp-&gt;<a class="code" href="struct_thread.html#a49d3270919a6e423a47de20bc57beaa1" title="Next in the list/queue.">p_next</a> = cp;
<a name="l00089"></a>00089 tp-&gt;<a class="code" href="struct_thread.html#a7661cf39bbb29453ce0c48a94708fb69" title="Previous in the queue.">p_prev</a> = cp-&gt;<a class="code" href="struct_thread.html#a7661cf39bbb29453ce0c48a94708fb69" title="Previous in the queue.">p_prev</a>;
<a name="l00090"></a>00090 tp-&gt;<a class="code" href="struct_thread.html#a7661cf39bbb29453ce0c48a94708fb69" title="Previous in the queue.">p_prev</a>-&gt;<a class="code" href="struct_thread.html#a49d3270919a6e423a47de20bc57beaa1" title="Next in the list/queue.">p_next</a> = cp-&gt;<a class="code" href="struct_thread.html#a7661cf39bbb29453ce0c48a94708fb69" title="Previous in the queue.">p_prev</a> = tp;
<a name="l00091"></a>00091 <span class="keywordflow">return</span> tp;
<a name="l00092"></a>00092 }
<a name="l00093"></a>00093 <span class="preprocessor">#endif </span><span class="comment">/* !defined(PORT_OPTIMIZED_READYI) */</span>
<a name="l00094"></a>00094 <span class="comment"></span>
<a name="l00095"></a>00095 <span class="comment">/**</span>
<a name="l00096"></a>00096 <span class="comment"> * @brief Puts the current thread to sleep into the specified state.</span>
<a name="l00097"></a>00097 <span class="comment"> * @details The thread goes into a sleeping state. The @ref thread_states are</span>
<a name="l00098"></a>00098 <span class="comment"> * described into @p threads.h.</span>
<a name="l00099"></a>00099 <span class="comment"> *</span>
<a name="l00100"></a>00100 <span class="comment"> * @param[in] newstate the new thread state</span>
<a name="l00101"></a>00101 <span class="comment"> */</span>
<a name="l00102"></a>00102 <span class="preprocessor">#if !defined(PORT_OPTIMIZED_GOSLEEPS) || defined(__DOXYGEN__)</span>
<a name="l00103"></a><a class="code" href="group__scheduler.html#ga97c1c514b755a1e71caf2f19c1ccf986">00103</a> <span class="preprocessor"></span><span class="keywordtype">void</span> <a class="code" href="group__scheduler.html#ga97c1c514b755a1e71caf2f19c1ccf986" title="Puts the current thread to sleep into the specified state.">chSchGoSleepS</a>(<a class="code" href="group__types.html#ga52d7ed152360a74632afa37bbeeca7ca" title="Thread state, uint8_t is ok.">tstate_t</a> newstate) {
<a name="l00104"></a>00104 <a class="code" href="struct_thread.html" title="Structure representing a thread.">Thread</a> *otp;
<a name="l00105"></a>00105
<a name="l00106"></a>00106 (otp = currp)-&gt;p_state = newstate;
<a name="l00107"></a>00107 <span class="preprocessor">#if CH_TIME_QUANTUM &gt; 0</span>
<a name="l00108"></a>00108 <span class="preprocessor"></span> rlist.r_preempt = CH_TIME_QUANTUM;
<a name="l00109"></a>00109 <span class="preprocessor">#endif</span>
<a name="l00110"></a>00110 <span class="preprocessor"></span> <a class="code" href="group__scheduler.html#ga226bd98a30b2db31dbb1ecc572c18da2" title="Current thread pointer change macro.">setcurrp</a>(<a class="code" href="group__internals.html#ga042479f09357fc59befebf4dfe0e9f4a" title="Removes the first-out Thread from a queue and returns it.">fifo_remove</a>(&amp;rlist.<a class="code" href="struct_ready_list.html#a7577e36ac8500b0364cd3d4157e260d1" title="Threads queue.">r_queue</a>));
<a name="l00111"></a>00111 <a class="code" href="group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title="Current thread pointer access macro.">currp</a>-&gt;p_state = THD_STATE_CURRENT;
<a name="l00112"></a>00112 <a class="code" href="group__debug.html#gac7f8f0653faf2e3a93108ff5333821b7" title="Inserts in the circular debug trace buffer a context switch record.">chDbgTrace</a>(otp);
<a name="l00113"></a>00113 <a class="code" href="group__system.html#ga63044a9140cf65d2272f06e05431e161" title="Performs a context switch.">chSysSwitchI</a>(<a class="code" href="group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title="Current thread pointer access macro.">currp</a>, otp);
<a name="l00114"></a>00114 }
<a name="l00115"></a>00115 <span class="preprocessor">#endif </span><span class="comment">/* !defined(PORT_OPTIMIZED_GOSLEEPS) */</span>
<a name="l00116"></a>00116
<a name="l00117"></a>00117 <span class="preprocessor">#if !defined(PORT_OPTIMIZED_GOSLEEPTIMEOUTS) || defined(__DOXYGEN__)</span>
<a name="l00118"></a>00118 <span class="preprocessor"></span><span class="comment">/*</span>
<a name="l00119"></a>00119 <span class="comment"> * Timeout wakeup callback.</span>
<a name="l00120"></a>00120 <span class="comment"> */</span>
<a name="l00121"></a>00121 <span class="keyword">static</span> <span class="keywordtype">void</span> wakeup(<span class="keywordtype">void</span> *p) {
<a name="l00122"></a>00122 <a class="code" href="struct_thread.html" title="Structure representing a thread.">Thread</a> *tp = (<a class="code" href="struct_thread.html" title="Structure representing a thread.">Thread</a> *)p;
<a name="l00123"></a>00123
<a name="l00124"></a>00124 <span class="keywordflow">switch</span> (tp-&gt;<a class="code" href="struct_thread.html#a3c3e9d6abccb62c3a5fab6ef043a391f" title="Current thread state.">p_state</a>) {
<a name="l00125"></a>00125 <span class="keywordflow">case</span> <a class="code" href="group__threads.html#ga1f7b83c73a5b850a3f33bddbdb024fb3" title="Thread state: Ready to run, waiting on the ready list.">THD_STATE_READY</a>:
<a name="l00126"></a>00126 <span class="comment">/* Handling the special case where the thread has been made ready by</span>
<a name="l00127"></a>00127 <span class="comment"> another thread with higher priority.*/</span>
<a name="l00128"></a>00128 <span class="keywordflow">return</span>;
<a name="l00129"></a>00129 <span class="preprocessor">#if CH_USE_SEMAPHORES || (CH_USE_CONDVARS &amp;&amp; CH_USE_CONDVARS_TIMEOUT)</span>
<a name="l00130"></a>00130 <span class="preprocessor"></span><span class="preprocessor">#if CH_USE_SEMAPHORES</span>
<a name="l00131"></a>00131 <span class="preprocessor"></span> <span class="keywordflow">case</span> <a class="code" href="group__threads.html#gad0b81cae859c0a6bc6a0d2036aa8e272" title="Thread state: Waiting on a semaphore.">THD_STATE_WTSEM</a>:
<a name="l00132"></a>00132 <a class="code" href="group__semaphores.html#gacb89a28bd1fff2704207423f350215ba" title="Increases the semaphore counter.">chSemFastSignalI</a>((<a class="code" href="struct_semaphore.html" title="Semaphore structure.">Semaphore</a> *)tp-&gt;<a class="code" href="struct_thread.html#a72cd0424b6098ca241fac1f74d21b56a" title="State-specific fields.">p_u</a>.<a class="code" href="struct_thread.html#a4f016b01444741e6f9b420436b748862" title="Pointer to a generic &amp;quot;wait&amp;quot; object.">wtobjp</a>);
<a name="l00133"></a>00133 <span class="comment">/* Falls into, intentional. */</span>
<a name="l00134"></a>00134 <span class="preprocessor">#endif</span>
<a name="l00135"></a>00135 <span class="preprocessor"></span><span class="preprocessor">#if CH_USE_CONDVARS &amp;&amp; CH_USE_CONDVARS_TIMEOUT</span>
<a name="l00136"></a>00136 <span class="preprocessor"></span> <span class="keywordflow">case</span> <a class="code" href="group__threads.html#ga286c5b1a6459d654d5794fc17e93c939" title="Thread state: Waiting in chCondWait().">THD_STATE_WTCOND</a>:
<a name="l00137"></a>00137 <span class="preprocessor">#endif</span>
<a name="l00138"></a>00138 <span class="preprocessor"></span> <span class="comment">/* States requiring dequeuing.*/</span>
<a name="l00139"></a>00139 <a class="code" href="group__internals.html#gafff11bcd31d7dc3d1a0a6c66f3fc6ec9" title="Removes a Thread from a queue and returns it.">dequeue</a>(tp);
<a name="l00140"></a>00140 <span class="preprocessor">#endif</span>
<a name="l00141"></a>00141 <span class="preprocessor"></span> }
<a name="l00142"></a>00142 tp-&gt;<a class="code" href="struct_thread.html#a72cd0424b6098ca241fac1f74d21b56a" title="State-specific fields.">p_u</a>.<a class="code" href="struct_thread.html#ad5792c30fbd60df0de223b0f398fc6d7" title="Thread wakeup code.">rdymsg</a> = RDY_TIMEOUT;
<a name="l00143"></a>00143 <a class="code" href="group__scheduler.html#ga535d58cfb3436c8d4e4586c31c062298" title="Inserts a thread in the Ready List.">chSchReadyI</a>(tp);
<a name="l00144"></a>00144 }
<a name="l00145"></a>00145 <span class="comment"></span>
<a name="l00146"></a>00146 <span class="comment">/**</span>
<a name="l00147"></a>00147 <span class="comment"> * @brief Puts the current thread to sleep into the specified state with</span>
<a name="l00148"></a>00148 <span class="comment"> * timeout specification.</span>
<a name="l00149"></a>00149 <span class="comment"> * @details The thread goes into a sleeping state, if it is not awakened</span>
<a name="l00150"></a>00150 <span class="comment"> * explicitly within the specified timeout then it is forcibly</span>
<a name="l00151"></a>00151 <span class="comment"> * awakened with a @p RDY_TIMEOUT low level message. The @ref</span>
<a name="l00152"></a>00152 <span class="comment"> * thread_states are described into @p threads.h.</span>
<a name="l00153"></a>00153 <span class="comment"> *</span>
<a name="l00154"></a>00154 <span class="comment"> * @param[in] newstate the new thread state</span>
<a name="l00155"></a>00155 <span class="comment"> * @param[in] time the number of ticks before the operation timeouts, the</span>
<a name="l00156"></a>00156 <span class="comment"> * special values are handled as follow:</span>
<a name="l00157"></a>00157 <span class="comment"> * - @a TIME_INFINITE the thread enters an infinite sleep</span>
<a name="l00158"></a>00158 <span class="comment"> * state, this is equivalent to invoking</span>
<a name="l00159"></a>00159 <span class="comment"> * @p chSchGoSleepS() but, of course, less efficient.</span>
<a name="l00160"></a>00160 <span class="comment"> * - @a TIME_IMMEDIATE this value is accepted but</span>
<a name="l00161"></a>00161 <span class="comment"> * interpreted as a normal time specification not as an</span>
<a name="l00162"></a>00162 <span class="comment"> * immediate timeout specification.</span>
<a name="l00163"></a>00163 <span class="comment"> * .</span>
<a name="l00164"></a>00164 <span class="comment"> * @return The wakeup message.</span>
<a name="l00165"></a>00165 <span class="comment"> * @retval RDY_TIMEOUT if a timeout occurs.</span>
<a name="l00166"></a>00166 <span class="comment"> */</span>
<a name="l00167"></a><a class="code" href="group__scheduler.html#ga306e564f678c1a39139639490c77e78b">00167</a> <a class="code" href="group__types.html#ga35bcb0c321cd7bc45bf1a11fa17ebdd3" title="Message, use signed pointer equivalent.">msg_t</a> <a class="code" href="group__scheduler.html#ga306e564f678c1a39139639490c77e78b" title="Puts the current thread to sleep into the specified state with timeout specification.">chSchGoSleepTimeoutS</a>(<a class="code" href="group__types.html#ga52d7ed152360a74632afa37bbeeca7ca" title="Thread state, uint8_t is ok.">tstate_t</a> newstate, <a class="code" href="group__types.html#gae3e32a98d431a02106616da3071832dd" title="System Time, recommended fastest unsigned.">systime_t</a> time) {
<a name="l00168"></a>00168
<a name="l00169"></a>00169 <span class="keywordflow">if</span> (<a class="code" href="group__scheduler.html#gae1568cf3090c973c3bc47f86ae2f5afb" title="Infinite time specification for all the syscalls with a timeout specification.">TIME_INFINITE</a> != time) {
<a name="l00170"></a>00170 <a class="code" href="struct_virtual_timer.html" title="Virtual Timer descriptor structure.">VirtualTimer</a> vt;
<a name="l00171"></a>00171
<a name="l00172"></a>00172 <a class="code" href="group__time.html#ga1c44c3a0bc64b2954d95cd98b2e7124e" title="Enables a virtual timer.">chVTSetI</a>(&amp;vt, time, wakeup, <a class="code" href="group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title="Current thread pointer access macro.">currp</a>);
<a name="l00173"></a>00173 <a class="code" href="group__scheduler.html#ga97c1c514b755a1e71caf2f19c1ccf986" title="Puts the current thread to sleep into the specified state.">chSchGoSleepS</a>(newstate);
<a name="l00174"></a>00174 <span class="keywordflow">if</span> (<a class="code" href="group__time.html#gae54e6dd40bc7b9cdeb409393ec9e134a" title="Returns TRUE if the speciified timer is armed.">chVTIsArmedI</a>(&amp;vt))
<a name="l00175"></a>00175 <a class="code" href="group__time.html#ga680d851a74e594cc965101e79891840f" title="Disables a Virtual Timer.">chVTResetI</a>(&amp;vt);
<a name="l00176"></a>00176 }
<a name="l00177"></a>00177 <span class="keywordflow">else</span>
<a name="l00178"></a>00178 <a class="code" href="group__scheduler.html#ga97c1c514b755a1e71caf2f19c1ccf986" title="Puts the current thread to sleep into the specified state.">chSchGoSleepS</a>(newstate);
<a name="l00179"></a>00179 <span class="keywordflow">return</span> <a class="code" href="group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title="Current thread pointer access macro.">currp</a>-&gt;p_u.rdymsg;
<a name="l00180"></a>00180 }
<a name="l00181"></a>00181 <span class="preprocessor">#endif </span><span class="comment">/* !defined(PORT_OPTIMIZED_GOSLEEPTIMEOUTS) */</span>
<a name="l00182"></a>00182 <span class="comment"></span>
<a name="l00183"></a>00183 <span class="comment">/**</span>
<a name="l00184"></a>00184 <span class="comment"> * @brief Wakes up a thread.</span>
<a name="l00185"></a>00185 <span class="comment"> * @details The thread is inserted into the ready list or immediately made</span>
<a name="l00186"></a>00186 <span class="comment"> * running depending on its relative priority compared to the current</span>
<a name="l00187"></a>00187 <span class="comment"> * thread.</span>
<a name="l00188"></a>00188 <span class="comment"> * @note It is equivalent to a @p chSchReadyI() followed by a</span>
<a name="l00189"></a>00189 <span class="comment"> * @p chSchRescheduleS() but much more efficient.</span>
<a name="l00190"></a>00190 <span class="comment"> * @note The function assumes that the current thread has the highest</span>
<a name="l00191"></a>00191 <span class="comment"> * priority.</span>
<a name="l00192"></a>00192 <span class="comment"> *</span>
<a name="l00193"></a>00193 <span class="comment"> * @param[in] ntp the Thread to be made ready</span>
<a name="l00194"></a>00194 <span class="comment"> * @param[in] msg message to the awakened thread</span>
<a name="l00195"></a>00195 <span class="comment"> */</span>
<a name="l00196"></a>00196 <span class="preprocessor">#if !defined(PORT_OPTIMIZED_WAKEUPS) || defined(__DOXYGEN__)</span>
<a name="l00197"></a><a class="code" href="group__scheduler.html#gae47a8819a21ef2d521124e76bfb37c95">00197</a> <span class="preprocessor"></span><span class="keywordtype">void</span> <a class="code" href="group__scheduler.html#gae47a8819a21ef2d521124e76bfb37c95" title="Wakes up a thread.">chSchWakeupS</a>(<a class="code" href="struct_thread.html" title="Structure representing a thread.">Thread</a> *ntp, <a class="code" href="group__types.html#ga35bcb0c321cd7bc45bf1a11fa17ebdd3" title="Message, use signed pointer equivalent.">msg_t</a> msg) {
<a name="l00198"></a>00198
<a name="l00199"></a>00199 ntp-&gt;<a class="code" href="struct_thread.html#a72cd0424b6098ca241fac1f74d21b56a" title="State-specific fields.">p_u</a>.<a class="code" href="struct_thread.html#ad5792c30fbd60df0de223b0f398fc6d7" title="Thread wakeup code.">rdymsg</a> = msg;
<a name="l00200"></a>00200 <span class="comment">/* If the waken thread has a not-greater priority than the current</span>
<a name="l00201"></a>00201 <span class="comment"> one then it is just inserted in the ready list else it made</span>
<a name="l00202"></a>00202 <span class="comment"> running immediately and the invoking thread goes in the ready</span>
<a name="l00203"></a>00203 <span class="comment"> list instead.*/</span>
<a name="l00204"></a>00204 <span class="keywordflow">if</span> (ntp-&gt;<a class="code" href="struct_thread.html#ae60cc22956f4c19965cb94045333aa9c" title="Thread priority.">p_prio</a> &lt;= <a class="code" href="group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title="Current thread pointer access macro.">currp</a>-&gt;p_prio)
<a name="l00205"></a>00205 <a class="code" href="group__scheduler.html#ga535d58cfb3436c8d4e4586c31c062298" title="Inserts a thread in the Ready List.">chSchReadyI</a>(ntp);
<a name="l00206"></a>00206 <span class="keywordflow">else</span> {
<a name="l00207"></a>00207 <a class="code" href="struct_thread.html" title="Structure representing a thread.">Thread</a> *otp = <a class="code" href="group__scheduler.html#ga535d58cfb3436c8d4e4586c31c062298" title="Inserts a thread in the Ready List.">chSchReadyI</a>(<a class="code" href="group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title="Current thread pointer access macro.">currp</a>);
<a name="l00208"></a>00208 <span class="preprocessor">#if CH_TIME_QUANTUM &gt; 0</span>
<a name="l00209"></a>00209 <span class="preprocessor"></span> rlist.r_preempt = CH_TIME_QUANTUM;
<a name="l00210"></a>00210 <span class="preprocessor">#endif</span>
<a name="l00211"></a>00211 <span class="preprocessor"></span> <a class="code" href="group__scheduler.html#ga226bd98a30b2db31dbb1ecc572c18da2" title="Current thread pointer change macro.">setcurrp</a>(ntp);
<a name="l00212"></a>00212 ntp-&gt;<a class="code" href="struct_thread.html#a3c3e9d6abccb62c3a5fab6ef043a391f" title="Current thread state.">p_state</a> = THD_STATE_CURRENT;
<a name="l00213"></a>00213 <a class="code" href="group__debug.html#gac7f8f0653faf2e3a93108ff5333821b7" title="Inserts in the circular debug trace buffer a context switch record.">chDbgTrace</a>(otp);
<a name="l00214"></a>00214 <a class="code" href="group__system.html#ga63044a9140cf65d2272f06e05431e161" title="Performs a context switch.">chSysSwitchI</a>(ntp, otp);
<a name="l00215"></a>00215 }
<a name="l00216"></a>00216 }
<a name="l00217"></a>00217 <span class="preprocessor">#endif </span><span class="comment">/* !defined(PORT_OPTIMIZED_WAKEUPS) */</span>
<a name="l00218"></a>00218 <span class="comment"></span>
<a name="l00219"></a>00219 <span class="comment">/**</span>
<a name="l00220"></a>00220 <span class="comment"> * @brief Switches to the first thread on the runnable queue.</span>
<a name="l00221"></a>00221 <span class="comment"> * @note It is intended to be called if @p chSchRescRequiredI() evaluates</span>
<a name="l00222"></a>00222 <span class="comment"> * to @p TRUE.</span>
<a name="l00223"></a>00223 <span class="comment"> */</span>
<a name="l00224"></a>00224 <span class="preprocessor">#if !defined(PORT_OPTIMIZED_DORESCHEDULEI) || defined(__DOXYGEN__)</span>
<a name="l00225"></a><a class="code" href="group__scheduler.html#ga0257cf203e72a766a52059750cb97e6e">00225</a> <span class="preprocessor"></span><span class="keywordtype">void</span> <a class="code" href="group__scheduler.html#ga0257cf203e72a766a52059750cb97e6e" title="Switches to the first thread on the runnable queue.">chSchDoRescheduleI</a>(<span class="keywordtype">void</span>) {
<a name="l00226"></a>00226 <a class="code" href="struct_thread.html" title="Structure representing a thread.">Thread</a> *otp;
<a name="l00227"></a>00227
<a name="l00228"></a>00228 <span class="preprocessor">#if CH_TIME_QUANTUM &gt; 0</span>
<a name="l00229"></a>00229 <span class="preprocessor"></span> rlist.r_preempt = CH_TIME_QUANTUM;
<a name="l00230"></a>00230 <span class="preprocessor">#endif</span>
<a name="l00231"></a>00231 <span class="preprocessor"></span> otp = currp;
<a name="l00232"></a>00232 <span class="comment">/* Picks the first thread from the ready queue and makes it current.*/</span>
<a name="l00233"></a>00233 <a class="code" href="group__scheduler.html#ga226bd98a30b2db31dbb1ecc572c18da2" title="Current thread pointer change macro.">setcurrp</a>(<a class="code" href="group__internals.html#ga042479f09357fc59befebf4dfe0e9f4a" title="Removes the first-out Thread from a queue and returns it.">fifo_remove</a>(&amp;rlist.<a class="code" href="struct_ready_list.html#a7577e36ac8500b0364cd3d4157e260d1" title="Threads queue.">r_queue</a>));
<a name="l00234"></a>00234 <a class="code" href="group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title="Current thread pointer access macro.">currp</a>-&gt;p_state = THD_STATE_CURRENT;
<a name="l00235"></a>00235 <a class="code" href="group__scheduler.html#ga535d58cfb3436c8d4e4586c31c062298" title="Inserts a thread in the Ready List.">chSchReadyI</a>(otp);
<a name="l00236"></a>00236 <a class="code" href="group__debug.html#gac7f8f0653faf2e3a93108ff5333821b7" title="Inserts in the circular debug trace buffer a context switch record.">chDbgTrace</a>(otp);
<a name="l00237"></a>00237 <a class="code" href="group__system.html#ga63044a9140cf65d2272f06e05431e161" title="Performs a context switch.">chSysSwitchI</a>(<a class="code" href="group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title="Current thread pointer access macro.">currp</a>, otp);
<a name="l00238"></a>00238 }
<a name="l00239"></a>00239 <span class="preprocessor">#endif </span><span class="comment">/* !defined(PORT_OPTIMIZED_DORESCHEDULEI) */</span>
<a name="l00240"></a>00240 <span class="comment"></span>
<a name="l00241"></a>00241 <span class="comment">/**</span>
<a name="l00242"></a>00242 <span class="comment"> * @brief Performs a reschedule if a higher priority thread is runnable.</span>
<a name="l00243"></a>00243 <span class="comment"> * @details If a thread with a higher priority than the current thread is in</span>
<a name="l00244"></a>00244 <span class="comment"> * the ready list then make the higher priority thread running.</span>
<a name="l00245"></a>00245 <span class="comment"> */</span>
<a name="l00246"></a>00246 <span class="preprocessor">#if !defined(PORT_OPTIMIZED_RESCHEDULES) || defined(__DOXYGEN__)</span>
<a name="l00247"></a><a class="code" href="group__scheduler.html#ga4e38b4bee3d2330f6a0f1cdb7660af20">00247</a> <span class="preprocessor"></span><span class="keywordtype">void</span> <a class="code" href="group__scheduler.html#ga4e38b4bee3d2330f6a0f1cdb7660af20" title="Performs a reschedule if a higher priority thread is runnable.">chSchRescheduleS</a>(<span class="keywordtype">void</span>) {
<a name="l00248"></a>00248
<a name="l00249"></a>00249 <span class="keywordflow">if</span> (<a class="code" href="group__scheduler.html#ga146230c1fe7e6dab4bc6649f2a71444c" title="Determines if the current thread must reschedule.">chSchIsRescRequiredI</a>())
<a name="l00250"></a>00250 <a class="code" href="group__scheduler.html#ga0257cf203e72a766a52059750cb97e6e" title="Switches to the first thread on the runnable queue.">chSchDoRescheduleI</a>();
<a name="l00251"></a>00251 }
<a name="l00252"></a>00252 <span class="preprocessor">#endif </span><span class="comment">/* !defined(PORT_OPTIMIZED_RESCHEDULES) */</span>
<a name="l00253"></a>00253 <span class="comment"></span>
<a name="l00254"></a>00254 <span class="comment">/**</span>
<a name="l00255"></a>00255 <span class="comment"> * @brief Evaluates if a reschedule is required.</span>
<a name="l00256"></a>00256 <span class="comment"> * @details The decision is taken by comparing the relative priorities and</span>
<a name="l00257"></a>00257 <span class="comment"> * depending on the state of the round robin timeout counter.</span>
<a name="l00258"></a>00258 <span class="comment"> * @note This function is meant to be used in the timer interrupt handler</span>
<a name="l00259"></a>00259 <span class="comment"> * where @p chVTDoTickI() is invoked.</span>
<a name="l00260"></a>00260 <span class="comment"> *</span>
<a name="l00261"></a>00261 <span class="comment"> * @retval TRUE if there is a thread that should go in running state.</span>
<a name="l00262"></a>00262 <span class="comment"> * @retval FALSE if a reschedule is not required.</span>
<a name="l00263"></a>00263 <span class="comment"> */</span>
<a name="l00264"></a>00264 <span class="preprocessor">#if !defined(PORT_OPTIMIZED_ISRESCHREQUIREDEXI) || defined(__DOXYGEN__)</span>
<a name="l00265"></a><a class="code" href="group__scheduler.html#ga5fa012ef9d1e920983fe2aea2695a52a">00265</a> <span class="preprocessor"></span><a class="code" href="group__types.html#ga7556af1cb61728b53228fa3af1c851de" title="Boolean, recommended the fastest signed.">bool_t</a> <a class="code" href="group__scheduler.html#ga5fa012ef9d1e920983fe2aea2695a52a" title="Evaluates if a reschedule is required.">chSchIsRescRequiredExI</a>(<span class="keywordtype">void</span>) {
<a name="l00266"></a>00266 <a class="code" href="group__types.html#ga5f2488ba73e5969cbc0f7033735374ee" title="Priority, use the fastest unsigned type.">tprio_t</a> p1 = <a class="code" href="group__scheduler.html#gaa3e744fe83212f48d7373b764b9abb2d" title="Returns the priority of the first thread on the given ready list.">firstprio</a>(&amp;rlist.<a class="code" href="struct_ready_list.html#a7577e36ac8500b0364cd3d4157e260d1" title="Threads queue.">r_queue</a>);
<a name="l00267"></a>00267 <a class="code" href="group__types.html#ga5f2488ba73e5969cbc0f7033735374ee" title="Priority, use the fastest unsigned type.">tprio_t</a> p2 = <a class="code" href="group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title="Current thread pointer access macro.">currp</a>-&gt;p_prio;
<a name="l00268"></a>00268 <span class="preprocessor">#if CH_TIME_QUANTUM &gt; 0</span>
<a name="l00269"></a>00269 <span class="preprocessor"></span> <span class="comment">/* If the running thread has not reached its time quantum, reschedule only</span>
<a name="l00270"></a>00270 <span class="comment"> if the first thread on the ready queue has a higher priority.</span>
<a name="l00271"></a>00271 <span class="comment"> Otherwise, if the running thread has used up its time quantum, reschedule</span>
<a name="l00272"></a>00272 <span class="comment"> if the first thread on the ready queue has equal or higher priority.*/</span>
<a name="l00273"></a>00273 <span class="keywordflow">return</span> rlist.r_preempt ? p1 &gt; p2 : p1 &gt;= p2;
<a name="l00274"></a>00274 <span class="preprocessor">#else</span>
<a name="l00275"></a>00275 <span class="preprocessor"></span> <span class="comment">/* If the round robin preemption feature is not enabled then performs a</span>
<a name="l00276"></a>00276 <span class="comment"> simpler comparison.*/</span>
<a name="l00277"></a>00277 <span class="keywordflow">return</span> p1 &gt; p2;
<a name="l00278"></a>00278 <span class="preprocessor">#endif</span>
<a name="l00279"></a>00279 <span class="preprocessor"></span>}
<a name="l00280"></a>00280 <span class="preprocessor">#endif </span><span class="comment">/* !defined(PORT_OPTIMIZED_ISRESCHREQUIREDEXI) */</span>
<a name="l00281"></a>00281 <span class="comment"></span>
<a name="l00282"></a>00282 <span class="comment">/** @} */</span>
Initial import
2010-08-10 03:11:02 +00:00
</pre></div></div>
Imported ChibiOS/RT 2.0.6.
2010-11-22 05:53:37 +00:00
</div>
Initial import
2010-08-10 03:11:02 +00:00
<hr size="1"><address style="text-align: right;"><small>
import ChibiOS 2.0.8
2010-11-30 04:54:43 +00:00
Generated on Sun Nov 28 2010 14:09:48 for ChibiOS/RT by&nbsp;<a href="http://www.doxygen.org/index.html"><img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.7.1</small></address>
Initial import
2010-08-10 03:11:02 +00:00
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