amiro-os / core / inc / aos_thread.h @ 1dd7edc7
History | View | Annotate | Download (5.381 KB)
1 |
/*
|
---|---|
2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
3 |
Copyright (C) 2016..2018 Thomas Schöpping et al.
|
4 |
|
5 |
This program is free software: you can redistribute it and/or modify
|
6 |
it under the terms of the GNU General Public License as published by
|
7 |
the Free Software Foundation, either version 3 of the License, or
|
8 |
(at your option) any later version.
|
9 |
|
10 |
This program is distributed in the hope that it will be useful,
|
11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13 |
GNU General Public License for more details.
|
14 |
|
15 |
You should have received a copy of the GNU General Public License
|
16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
17 |
*/
|
18 |
|
19 |
/**
|
20 |
* @file aos_thread.h
|
21 |
* @brief Thread macros and inline functions.
|
22 |
*
|
23 |
* @addtogroup aos_threads
|
24 |
* @{
|
25 |
*/
|
26 |
|
27 |
#ifndef _AMIROOS_THREAD_H_
|
28 |
#define _AMIROOS_THREAD_H_
|
29 |
|
30 |
#include <aos_time.h> |
31 |
#include <aos_system.h> |
32 |
|
33 |
/**
|
34 |
* @brief Minimum thread priority.
|
35 |
*/
|
36 |
#define AOS_THD_LOWPRIO_MIN ((tprio_t)(LOWPRIO))
|
37 |
|
38 |
/**
|
39 |
* @brief Maximum priority for background threads.
|
40 |
*/
|
41 |
#define AOS_THD_LOWPRIO_MAX ((tprio_t)(LOWPRIO + ((NORMALPRIO - LOWPRIO) / 2))) |
42 |
|
43 |
/**
|
44 |
* @brief Minimum priority for normal/standard threads.
|
45 |
*/
|
46 |
#define AOS_THD_NORMALPRIO_MIN ((tprio_t)(AOS_THD_LOWPRIO_MAX + 1)) |
47 |
|
48 |
/**
|
49 |
* @brief Maximum priority for normal/standard threads.
|
50 |
*/
|
51 |
#define AOS_THD_NORMALPRIO_MAX ((tprio_t)(NORMALPRIO))
|
52 |
|
53 |
/**
|
54 |
* @brief Minimum priority for important threads.
|
55 |
*/
|
56 |
#define AOS_THD_HIGHPRIO_MIN ((tprio_t)(NORMALPRIO + 1)) |
57 |
|
58 |
/**
|
59 |
* @brief Maximum priority for important threads.
|
60 |
*/
|
61 |
#define AOS_THD_HIGHPRIO_MAX ((tprio_t)(NORMALPRIO + ((HIGHPRIO - NORMALPRIO) / 2))) |
62 |
|
63 |
/**
|
64 |
* @brief Minimum priority for real-time threads.
|
65 |
*/
|
66 |
#define AOS_THD_RTPRIO_MIN ((tprio_t)(AOS_THD_HIGHPRIO_MAX + 1)) |
67 |
|
68 |
/**
|
69 |
* @brief Maximum priority for real-time threads.
|
70 |
*/
|
71 |
#define AOS_THD_RTPRIO_MAX ((tprio_t)(HIGHPRIO - 1)) |
72 |
|
73 |
/**
|
74 |
* @brief Priority for the system control thread.
|
75 |
*/
|
76 |
#define AOS_THD_CTRLPRIO ((tprio_t)(HIGHPRIO))
|
77 |
|
78 |
/**
|
79 |
* @brief Maximum timeframe that can be slept in system ticks.
|
80 |
*/
|
81 |
#define AOS_THD_MAX_SLEEP_ST TIME_MAX_INTERVAL
|
82 |
|
83 |
/**
|
84 |
* @brief Maximum timeframe that can be slept in seconds.
|
85 |
*/
|
86 |
#define AOS_THD_MAX_SLEEP_S (chTimeI2S(AOS_THD_MAX_SLEEP_ST) - 1) |
87 |
|
88 |
/**
|
89 |
* @brief Maximum timeframe that can be slept in milliseconds.
|
90 |
*/
|
91 |
#define AOS_THD_MAX_SLEEP_MS (chTimeI2MS(AOS_THD_MAX_SLEEP_ST) - 1) |
92 |
|
93 |
/**
|
94 |
* @brief Maximum timeframe that can be slept in microseconds.
|
95 |
*/
|
96 |
#define AOS_THD_MAX_SLEEP_US (chTimeI2US(AOS_THD_MAX_SLEEP_ST) - 1) |
97 |
|
98 |
#ifdef __cplusplus
|
99 |
extern "C" { |
100 |
#endif
|
101 |
void aosThdSleepUntilS(const aos_timestamp_t* t); |
102 |
#ifdef __cplusplus
|
103 |
} |
104 |
#endif
|
105 |
|
106 |
/**
|
107 |
* @brief Lets the calling thread sleep the specified amount of microseconds.
|
108 |
*
|
109 |
* @param[in] us Time to sleep in microseconds.
|
110 |
*/
|
111 |
static inline void aosThdUSleepS(const aos_interval_t us) |
112 |
{ |
113 |
aos_timestamp_t ut; |
114 |
|
115 |
aosSysGetUptimeX(&ut); |
116 |
ut += us; |
117 |
aosThdSleepUntilS(&ut); |
118 |
|
119 |
return;
|
120 |
} |
121 |
|
122 |
/**
|
123 |
* @brief Lets the calling thread sleep the specified amount of milliseconds.
|
124 |
*
|
125 |
* @param[in] ms Time to sleep in milliseconds.
|
126 |
*/
|
127 |
static inline void aosThdMSleepS(const uint32_t ms) |
128 |
{ |
129 |
aos_timestamp_t ut; |
130 |
|
131 |
aosSysGetUptimeX(&ut); |
132 |
ut += (aos_timestamp_t)ms * MICROSECONDS_PER_MILLISECOND; |
133 |
aosThdSleepUntilS(&ut); |
134 |
|
135 |
return;
|
136 |
} |
137 |
|
138 |
/**
|
139 |
* @brief Lets the calling thread sleep the specified amount of seconds.
|
140 |
*
|
141 |
* @param[in] s Time to sleep in seconds.
|
142 |
*/
|
143 |
static inline void aosThdSSleepS(const uint32_t s) |
144 |
{ |
145 |
aos_timestamp_t ut; |
146 |
|
147 |
aosSysGetUptimeX(&ut); |
148 |
ut += (aos_timestamp_t)s * MICROSECONDS_PER_SECOND; |
149 |
aosThdSleepUntilS(&ut); |
150 |
|
151 |
return;
|
152 |
} |
153 |
|
154 |
/**
|
155 |
* @brief Lets the calling thread sleep the specified amount of seconds.
|
156 |
*
|
157 |
* @param[in] s Time to sleep in seconds.
|
158 |
*/
|
159 |
static inline void aosThdSleepS(const float s) |
160 |
{ |
161 |
aos_timestamp_t ut; |
162 |
|
163 |
aosSysGetUptimeX(&ut); |
164 |
ut += (aos_timestamp_t)(s * MICROSECONDS_PER_SECOND); |
165 |
aosThdSleepUntilS(&ut); |
166 |
|
167 |
return;
|
168 |
} |
169 |
|
170 |
/**
|
171 |
* @brief Lets the calling thread sleep the specified amount of microseconds.
|
172 |
*
|
173 |
* @param[in] us Time to sleep in microseconds.
|
174 |
*/
|
175 |
static inline void aosThdUSleep(const uint32_t us) |
176 |
{ |
177 |
chSysLock(); |
178 |
aosThdUSleepS(us); |
179 |
chSysUnlock(); |
180 |
|
181 |
return;
|
182 |
} |
183 |
|
184 |
/**
|
185 |
* @brief Lets the calling thread sleep the specified amount of milliseconds.
|
186 |
*
|
187 |
* @param[in] ms Time to sleep in milliseconds.
|
188 |
*/
|
189 |
static inline void aosThdMSleep(const uint32_t ms) |
190 |
{ |
191 |
chSysLock(); |
192 |
aosThdMSleepS(ms); |
193 |
chSysUnlock(); |
194 |
|
195 |
return;
|
196 |
} |
197 |
|
198 |
/**
|
199 |
* @brief Lets the calling thread sleep the specified amount of seconds.
|
200 |
*
|
201 |
* @param[in] s Time to sleep in seconds.
|
202 |
*/
|
203 |
static inline void aosThdSSleep(const uint32_t s) |
204 |
{ |
205 |
chSysLock(); |
206 |
aosThdSSleepS(s); |
207 |
chSysUnlock(); |
208 |
|
209 |
return;
|
210 |
} |
211 |
|
212 |
/**
|
213 |
* @brief Lets the calling thread sleep the specified amount of seconds.
|
214 |
*
|
215 |
* @param[in] s Time to sleep in seconds.
|
216 |
*/
|
217 |
static inline void aosThdSleep(const float s) |
218 |
{ |
219 |
chSysLock(); |
220 |
aosThdSleepS(s); |
221 |
chSysUnlock(); |
222 |
|
223 |
return;
|
224 |
} |
225 |
|
226 |
/**
|
227 |
* @brief Lets the calling thread sleep until the specifide system uptime.
|
228 |
*
|
229 |
* @param[in] t Deadline until the thread will sleep.
|
230 |
*/
|
231 |
static inline void aosThdSleepUntil(const aos_timestamp_t* t) |
232 |
{ |
233 |
chSysLock(); |
234 |
aosThdSleepUntilS(t); |
235 |
chSysUnlock(); |
236 |
|
237 |
return;
|
238 |
} |
239 |
|
240 |
#endif /* _AMIROOS_THREAD_H_ */ |
241 |
|
242 |
/** @} */
|