amiro-os / os / core / inc / aos_thread.h @ 53710ca3
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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 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
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.h
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21 | * @brief Thread macros and inline functions.
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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 | e545e620 | Thomas Schöpping | #ifndef _AMIROOS_THREAD_H_
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28 | #define _AMIROOS_THREAD_H_
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29 | |||
30 | #include <aos_time.h> |
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31 | #include <aos_system.h> |
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32 | |||
33 | /**
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34 | * @brief Minimum thread priority.
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35 | */
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36 | 1e5f7648 | Thomas Schöpping | #define AOS_THD_LOWPRIO_MIN ((tprio_t)(LOWPRIO))
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37 | e545e620 | Thomas Schöpping | |
38 | /**
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39 | * @brief Maximum priority for background threads.
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40 | */
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41 | 1e5f7648 | Thomas Schöpping | #define AOS_THD_LOWPRIO_MAX ((tprio_t)(LOWPRIO + ((NORMALPRIO - LOWPRIO) / 2))) |
42 | e545e620 | Thomas Schöpping | |
43 | /**
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44 | * @brief Minimum priority for normal/standard threads.
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45 | */
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46 | 1e5f7648 | Thomas Schöpping | #define AOS_THD_NORMALPRIO_MIN ((tprio_t)(AOS_THD_LOWPRIO_MAX + 1)) |
47 | e545e620 | Thomas Schöpping | |
48 | /**
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49 | * @brief Maximum priority for normal/standard threads.
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50 | */
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51 | 1e5f7648 | Thomas Schöpping | #define AOS_THD_NORMALPRIO_MAX ((tprio_t)(NORMALPRIO))
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52 | e545e620 | Thomas Schöpping | |
53 | /**
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54 | * @brief Minimum priority for important threads.
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55 | */
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56 | 1e5f7648 | Thomas Schöpping | #define AOS_THD_HIGHPRIO_MIN ((tprio_t)(NORMALPRIO + 1)) |
57 | e545e620 | Thomas Schöpping | |
58 | /**
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59 | * @brief Maximum priority for important threads.
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60 | */
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61 | 1e5f7648 | Thomas Schöpping | #define AOS_THD_HIGHPRIO_MAX ((tprio_t)(NORMALPRIO + ((HIGHPRIO - NORMALPRIO) / 2))) |
62 | e545e620 | Thomas Schöpping | |
63 | /**
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64 | * @brief Minimum priority for real-time threads.
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65 | */
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66 | 1e5f7648 | Thomas Schöpping | #define AOS_THD_RTPRIO_MIN ((tprio_t)(AOS_THD_HIGHPRIO_MAX + 1)) |
67 | e545e620 | Thomas Schöpping | |
68 | /**
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69 | * @brief Maximum priority for real-time threads.
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70 | */
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71 | 1e5f7648 | Thomas Schöpping | #define AOS_THD_RTPRIO_MAX ((tprio_t)(HIGHPRIO - 1)) |
72 | e545e620 | Thomas Schöpping | |
73 | /**
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74 | * @brief Priority for the system control thread.
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75 | */
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76 | 1e5f7648 | Thomas Schöpping | #define AOS_THD_CTRLPRIO ((tprio_t)(HIGHPRIO))
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77 | e545e620 | Thomas Schöpping | |
78 | /**
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79 | * @brief Maximum timeframe that can be slept in system ticks.
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80 | */
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81 | 1e5f7648 | Thomas Schöpping | #define AOS_THD_MAX_SLEEP_ST TIME_MAX_INTERVAL
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82 | e545e620 | Thomas Schöpping | |
83 | /**
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84 | * @brief Maximum timeframe that can be slept in seconds.
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85 | */
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86 | 1e5f7648 | Thomas Schöpping | #define AOS_THD_MAX_SLEEP_S (chTimeI2S(AOS_THD_MAX_SLEEP_ST) - 1) |
87 | e545e620 | Thomas Schöpping | |
88 | /**
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89 | * @brief Maximum timeframe that can be slept in milliseconds.
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90 | */
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91 | 1e5f7648 | Thomas Schöpping | #define AOS_THD_MAX_SLEEP_MS (chTimeI2MS(AOS_THD_MAX_SLEEP_ST) - 1) |
92 | e545e620 | Thomas Schöpping | |
93 | /**
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94 | * @brief Maximum timeframe that can be slept in microseconds.
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95 | */
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96 | 1e5f7648 | Thomas Schöpping | #define AOS_THD_MAX_SLEEP_US (chTimeI2US(AOS_THD_MAX_SLEEP_ST) - 1) |
97 | e545e620 | Thomas Schöpping | |
98 | #ifdef __cplusplus
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99 | extern "C" { |
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100 | #endif
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101 | void aosThdSleepUntilS(const aos_timestamp_t* t); |
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102 | #ifdef __cplusplus
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103 | } |
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104 | #endif
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105 | |||
106 | /**
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107 | * @brief Lets the calling thread sleep the specified amount of microseconds.
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108 | *
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109 | * @param[in] us Time to sleep in microseconds.
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110 | */
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111 | static inline void aosThdUSleepS(const aos_interval_t us) |
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112 | { |
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113 | aos_timestamp_t ut; |
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114 | |||
115 | aosSysGetUptimeX(&ut); |
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116 | ut += us; |
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117 | aosThdSleepUntilS(&ut); |
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118 | |||
119 | return;
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120 | } |
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121 | |||
122 | /**
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123 | * @brief Lets the calling thread sleep the specified amount of milliseconds.
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124 | *
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125 | * @param[in] ms Time to sleep in milliseconds.
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126 | */
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127 | static inline void aosThdMSleepS(const uint32_t ms) |
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128 | { |
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129 | aos_timestamp_t ut; |
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130 | |||
131 | aosSysGetUptimeX(&ut); |
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132 | ut += (aos_timestamp_t)ms * MICROSECONDS_PER_MILLISECOND; |
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133 | aosThdSleepUntilS(&ut); |
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134 | |||
135 | return;
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136 | } |
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137 | |||
138 | /**
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139 | * @brief Lets the calling thread sleep the specified amount of seconds.
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140 | *
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141 | * @param[in] s Time to sleep in seconds.
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142 | */
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143 | static inline void aosThdSSleepS(const uint32_t s) |
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144 | { |
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145 | aos_timestamp_t ut; |
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146 | |||
147 | aosSysGetUptimeX(&ut); |
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148 | ut += (aos_timestamp_t)s * MICROSECONDS_PER_SECOND; |
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149 | aosThdSleepUntilS(&ut); |
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150 | |||
151 | return;
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152 | } |
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153 | |||
154 | /**
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155 | * @brief Lets the calling thread sleep the specified amount of seconds.
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156 | *
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157 | * @param[in] s Time to sleep in seconds.
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158 | */
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159 | static inline void aosThdSleepS(const float s) |
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160 | { |
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161 | aos_timestamp_t ut; |
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162 | |||
163 | aosSysGetUptimeX(&ut); |
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164 | ut += (aos_timestamp_t)(s * MICROSECONDS_PER_SECOND); |
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165 | aosThdSleepUntilS(&ut); |
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166 | |||
167 | return;
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168 | } |
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169 | |||
170 | /**
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171 | * @brief Lets the calling thread sleep the specified amount of microseconds.
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172 | *
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173 | * @param[in] us Time to sleep in microseconds.
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174 | */
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175 | static inline void aosThdUSleep(const uint32_t us) |
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176 | { |
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177 | chSysLock(); |
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178 | aosThdUSleepS(us); |
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179 | chSysUnlock(); |
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180 | |||
181 | return;
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182 | } |
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183 | |||
184 | /**
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185 | * @brief Lets the calling thread sleep the specified amount of milliseconds.
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186 | *
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187 | * @param[in] ms Time to sleep in milliseconds.
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188 | */
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189 | static inline void aosThdMSleep(const uint32_t ms) |
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190 | { |
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191 | chSysLock(); |
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192 | aosThdMSleepS(ms); |
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193 | chSysUnlock(); |
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194 | |||
195 | return;
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196 | } |
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197 | |||
198 | /**
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199 | * @brief Lets the calling thread sleep the specified amount of seconds.
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200 | *
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201 | * @param[in] s Time to sleep in seconds.
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202 | */
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203 | static inline void aosThdSSleep(const uint32_t s) |
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204 | { |
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205 | chSysLock(); |
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206 | aosThdSSleepS(s); |
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207 | chSysUnlock(); |
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208 | |||
209 | return;
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210 | } |
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211 | |||
212 | /**
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213 | * @brief Lets the calling thread sleep the specified amount of seconds.
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214 | *
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215 | * @param[in] s Time to sleep in seconds.
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216 | */
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217 | static inline void aosThdSleep(const float s) |
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218 | { |
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219 | chSysLock(); |
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220 | aosThdSleepS(s); |
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221 | chSysUnlock(); |
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222 | |||
223 | return;
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224 | } |
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225 | |||
226 | /**
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227 | * @brief Lets the calling thread sleep until the specifide system uptime.
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228 | *
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229 | * @param[in] t Deadline until the thread will sleep.
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230 | */
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231 | static inline void aosThdSleepUntil(const aos_timestamp_t* t) |
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232 | { |
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233 | chSysLock(); |
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234 | aosThdSleepUntilS(t); |
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235 | chSysUnlock(); |
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236 | |||
237 | return;
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238 | } |
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239 | |||
240 | #endif /* _AMIROOS_THREAD_H_ */ |
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241 | 53710ca3 | Marc Rothmann | |
242 | /** @} */ |