amiro-os / core / src / aos_thread.c @ 40b5aa1d
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| 1 | e545e620 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | 96621a83 | Thomas Schöpping | Copyright (C) 2016..2020 Thomas Schöpping et al.
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| 4 | e545e620 | Thomas Schöpping | |
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | 53710ca3 | Marc Rothmann | /**
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| 20 | * @file aos_thread.c
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| 21 | * @brief Thread code.
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| 22 | *
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| 23 | * @addtogroup aos_threads
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| 24 | * @{
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| 25 | */
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| 26 | |||
| 27 | 3940ba8a | Thomas Schöpping | #include <amiroos.h> |
| 28 | |||
| 29 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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| 30 | /* LOCAL DEFINITIONS */
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| 31 | /******************************************************************************/
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| 32 | |||
| 33 | /******************************************************************************/
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| 34 | /* EXPORTED VARIABLES */
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| 35 | /******************************************************************************/
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| 36 | |||
| 37 | /******************************************************************************/
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| 38 | /* LOCAL TYPES */
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| 39 | /******************************************************************************/
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| 40 | |||
| 41 | /******************************************************************************/
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| 42 | /* LOCAL VARIABLES */
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| 43 | /******************************************************************************/
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| 44 | |||
| 45 | /******************************************************************************/
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| 46 | /* LOCAL FUNCTIONS */
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| 47 | /******************************************************************************/
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| 48 | |||
| 49 | /******************************************************************************/
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| 50 | /* EXPORTED FUNCTIONS */
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| 51 | /******************************************************************************/
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| 52 | e545e620 | Thomas Schöpping | |
| 53 | /**
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| 54 | * @brief Lets the calling thread sleep until the specifide system uptime.
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| 55 | *
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| 56 | * @param[in] t Deadline until the thread will sleep.
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| 57 | */
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| 58 | d180e1ba | Thomas Schöpping | void aosThdSleepUntilS(const aos_timestamp_t t) |
| 59 | e545e620 | Thomas Schöpping | {
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| 60 | aos_timestamp_t uptime; |
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| 61 | |||
| 62 | // get the current system uptime
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| 63 | aosSysGetUptimeX(&uptime); |
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| 64 | |||
| 65 | // while the remaining time is too long, it must be split into multiple sleeps
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| 66 | d180e1ba | Thomas Schöpping | while ( (t > uptime) && ((t - uptime) > AOS_THD_MAX_SLEEP_US) ) {
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| 67 | 1e5f7648 | Thomas Schöpping | chThdSleepS(chTimeUS2I(AOS_THD_MAX_SLEEP_US)); |
| 68 | e545e620 | Thomas Schöpping | aosSysGetUptimeX(&uptime); |
| 69 | } |
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| 70 | |||
| 71 | // sleep the remaining time
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| 72 | d180e1ba | Thomas Schöpping | if (t > uptime) {
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| 73 | sysinterval_t rest = chTimeUS2I(t - uptime); |
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| 74 | e545e620 | Thomas Schöpping | if (rest > TIME_IMMEDIATE) {
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| 75 | chThdSleepS(rest); |
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| 76 | } |
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| 77 | } |
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| 78 | |||
| 79 | return;
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| 80 | } |
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| 81 | 53710ca3 | Marc Rothmann | |
| 82 | 5c9e9b9d | Thomas Schöpping | #if ((AMIROOS_CFG_DBG == true) && (CH_DBG_FILL_THREADS == TRUE)) || defined(__DOXYGEN__) |
| 83 | aed3754b | Thomas Schöpping | /**
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| 84 | * @brief Calculate the peak stack utilization for a specific thread so far in bytes.
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| 85 | *
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| 86 | * @param[in] thread Thread to calculate the stack utilization for.
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| 87 | *
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| 88 | * @return Absolute peak stack utilization in bytes.
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| 89 | */
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| 90 | size_t aosThdGetStackPeakUtilization(thread_t* thread) |
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| 91 | {
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| 92 | aosDbgCheck(thread != NULL);
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| 93 | |||
| 94 | e5742249 | Thomas Schöpping | // iterator through the stack
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| 95 | // note: since the stack is filled from top to bottom, the loop searches for the first irregular byte from the bottom (stack end).
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| 96 | for (uint8_t* ptr = (uint8_t*)thread->wabase; ptr < (uint8_t*)thread->wabase + aosThdGetStacksize(thread); ++ptr) {
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| 97 | if (*ptr != CH_DBG_STACK_FILL_VALUE) {
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| 98 | return aosThdGetStacksize(thread) - (size_t)(--ptr - (uint8_t*)thread->wabase);
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| 99 | } |
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| 100 | aed3754b | Thomas Schöpping | } |
| 101 | |||
| 102 | e5742249 | Thomas Schöpping | return 0; |
| 103 | aed3754b | Thomas Schöpping | } |
| 104 | 5c9e9b9d | Thomas Schöpping | #endif /* (AMIROOS_CFG_DBG == true) && (CH_DBG_FILL_THREADS == TRUE) */ |
| 105 | aed3754b | Thomas Schöpping | |
| 106 | 53710ca3 | Marc Rothmann | /** @} */ |