amiro-os / core / inc / aos_thread.h @ 5c9e9b9d
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file aos_thread.h
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* @brief Thread macros and inline functions.
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*
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* @addtogroup aos_threads
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* @{
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*/
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#ifndef _AMIROOS_THREAD_H_
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#define _AMIROOS_THREAD_H_
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#include <aos_time.h> |
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#include <aos_system.h> |
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/**
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* @brief Minimum thread priority.
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*/
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#define AOS_THD_LOWPRIO_MIN ((tprio_t)(LOWPRIO))
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/**
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* @brief Maximum priority for background threads.
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*/
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#define AOS_THD_LOWPRIO_MAX ((tprio_t)(LOWPRIO + ((NORMALPRIO - LOWPRIO) / 2))) |
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/**
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* @brief Minimum priority for normal/standard threads.
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*/
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#define AOS_THD_NORMALPRIO_MIN ((tprio_t)(AOS_THD_LOWPRIO_MAX + 1)) |
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/**
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* @brief Maximum priority for normal/standard threads.
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*/
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#define AOS_THD_NORMALPRIO_MAX ((tprio_t)(NORMALPRIO))
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/**
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* @brief Minimum priority for important threads.
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*/
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#define AOS_THD_HIGHPRIO_MIN ((tprio_t)(NORMALPRIO + 1)) |
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/**
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* @brief Maximum priority for important threads.
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*/
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#define AOS_THD_HIGHPRIO_MAX ((tprio_t)(NORMALPRIO + ((HIGHPRIO - NORMALPRIO) / 2))) |
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/**
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* @brief Minimum priority for real-time threads.
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*/
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#define AOS_THD_RTPRIO_MIN ((tprio_t)(AOS_THD_HIGHPRIO_MAX + 1)) |
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/**
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* @brief Maximum priority for real-time threads.
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*/
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#define AOS_THD_RTPRIO_MAX ((tprio_t)(HIGHPRIO - 1)) |
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/**
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* @brief Priority for the system control thread.
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*/
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#define AOS_THD_CTRLPRIO ((tprio_t)(HIGHPRIO))
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/**
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* @brief Maximum timeframe that can be slept in system ticks.
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*/
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#define AOS_THD_MAX_SLEEP_ST TIME_MAX_INTERVAL
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/**
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* @brief Maximum timeframe that can be slept in seconds.
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*/
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#define AOS_THD_MAX_SLEEP_S (chTimeI2S(AOS_THD_MAX_SLEEP_ST) - 1) |
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/**
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* @brief Maximum timeframe that can be slept in milliseconds.
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*/
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#define AOS_THD_MAX_SLEEP_MS (chTimeI2MS(AOS_THD_MAX_SLEEP_ST) - 1) |
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/**
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* @brief Maximum timeframe that can be slept in microseconds.
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*/
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#define AOS_THD_MAX_SLEEP_US (chTimeI2US(AOS_THD_MAX_SLEEP_ST) - 1) |
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#ifdef __cplusplus
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extern "C" { |
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#endif
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void aosThdSleepUntilS(const aos_timestamp_t* t); |
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#if (AMIROOS_CFG_DBG == true) && (CH_DBG_FILL_THREADS == TRUE) |
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size_t aosThdGetStackPeakUtilization(thread_t* thread); |
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#endif
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#ifdef __cplusplus
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} |
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#endif
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/**
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* @brief Lets the calling thread sleep the specified amount of microseconds.
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*
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* @param[in] us Time to sleep in microseconds.
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*/
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static inline void aosThdUSleepS(const aos_interval_t us) |
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{ |
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aos_timestamp_t ut; |
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aosSysGetUptimeX(&ut); |
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ut += us; |
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aosThdSleepUntilS(&ut); |
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return;
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} |
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/**
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* @brief Lets the calling thread sleep the specified amount of milliseconds.
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*
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* @param[in] ms Time to sleep in milliseconds.
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*/
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static inline void aosThdMSleepS(const uint32_t ms) |
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{ |
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aos_timestamp_t ut; |
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aosSysGetUptimeX(&ut); |
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ut += (aos_timestamp_t)ms * MICROSECONDS_PER_MILLISECOND; |
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aosThdSleepUntilS(&ut); |
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return;
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} |
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/**
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* @brief Lets the calling thread sleep the specified amount of seconds.
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*
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* @param[in] s Time to sleep in seconds.
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*/
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static inline void aosThdSSleepS(const uint32_t s) |
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{ |
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aos_timestamp_t ut; |
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aosSysGetUptimeX(&ut); |
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ut += (aos_timestamp_t)s * MICROSECONDS_PER_SECOND; |
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aosThdSleepUntilS(&ut); |
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return;
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} |
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/**
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* @brief Lets the calling thread sleep the specified amount of seconds.
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*
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* @param[in] s Time to sleep in seconds.
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*/
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static inline void aosThdSleepS(const float s) |
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{ |
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aos_timestamp_t ut; |
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aosSysGetUptimeX(&ut); |
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ut += (aos_timestamp_t)(s * MICROSECONDS_PER_SECOND); |
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aosThdSleepUntilS(&ut); |
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return;
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} |
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/**
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* @brief Lets the calling thread sleep the specified amount of microseconds.
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*
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* @param[in] us Time to sleep in microseconds.
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*/
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static inline void aosThdUSleep(const uint32_t us) |
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{ |
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chSysLock(); |
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aosThdUSleepS(us); |
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chSysUnlock(); |
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return;
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} |
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/**
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* @brief Lets the calling thread sleep the specified amount of milliseconds.
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*
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* @param[in] ms Time to sleep in milliseconds.
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*/
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static inline void aosThdMSleep(const uint32_t ms) |
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{ |
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chSysLock(); |
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aosThdMSleepS(ms); |
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chSysUnlock(); |
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return;
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} |
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/**
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* @brief Lets the calling thread sleep the specified amount of seconds.
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*
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* @param[in] s Time to sleep in seconds.
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*/
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static inline void aosThdSSleep(const uint32_t s) |
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{ |
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chSysLock(); |
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aosThdSSleepS(s); |
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chSysUnlock(); |
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return;
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} |
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/**
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* @brief Lets the calling thread sleep the specified amount of seconds.
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*
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* @param[in] s Time to sleep in seconds.
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*/
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static inline void aosThdSleep(const float s) |
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{ |
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chSysLock(); |
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aosThdSleepS(s); |
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chSysUnlock(); |
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return;
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} |
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/**
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* @brief Lets the calling thread sleep until the specifide system uptime.
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*
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* @param[in] t Deadline until the thread will sleep.
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*/
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static inline void aosThdSleepUntil(const aos_timestamp_t* t) |
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{ |
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chSysLock(); |
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aosThdSleepUntilS(t); |
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chSysUnlock(); |
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return;
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} |
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#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__) |
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/**
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* @brief Retrieve the stack size of a specific thread in bytes.
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*
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* @param[in] thread Thread to retrieve the stack size from.
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*
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* @return Absolute stack size in bytes.
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*/
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static inline size_t aosThdGetStacksize(thread_t* thread) |
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{ |
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aosDbgCheck(thread != NULL);
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/*
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* Working area is structured like:
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* thread.wabase (LSB)->[ stack | port specific data | thread structure ]
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* See the following macros for details:
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* - THD_WORKING_AREA
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* - THD_WORKING_AREA_SIZE
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* - PORT_WA_SIZE
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*/
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return ((uintptr_t)(thread) - (uintptr_t)(thread->wabase)) -
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((size_t)PORT_GUARD_PAGE_SIZE + sizeof(struct port_intctx) + sizeof(struct port_extctx) + (size_t)PORT_INT_REQUIRED_STACK); |
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} |
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#endif /* AMIROOS_CFG_DBG == true */ |
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#endif /* _AMIROOS_THREAD_H_ */ |
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/** @} */
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