amiro-os / core / src / aos_thread.c @ 691a0632
History | View | Annotate | Download (3.778 KB)
| 1 | e545e620 | Thomas Schöpping | /*
|
|---|---|---|---|
| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 4 | e545e620 | Thomas Schöpping | |
| 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 | 53710ca3 | Marc Rothmann | /**
|
| 20 | * @file aos_thread.c
|
||
| 21 | * @brief Thread code.
|
||
| 22 | *
|
||
| 23 | * @addtogroup aos_threads
|
||
| 24 | * @{
|
||
| 25 | */
|
||
| 26 | |||
| 27 | 3940ba8a | Thomas Schöpping | #include <amiroos.h> |
| 28 | |||
| 29 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
|
| 30 | /* LOCAL DEFINITIONS */
|
||
| 31 | /******************************************************************************/
|
||
| 32 | |||
| 33 | /******************************************************************************/
|
||
| 34 | /* EXPORTED VARIABLES */
|
||
| 35 | /******************************************************************************/
|
||
| 36 | |||
| 37 | /******************************************************************************/
|
||
| 38 | /* LOCAL TYPES */
|
||
| 39 | /******************************************************************************/
|
||
| 40 | |||
| 41 | /******************************************************************************/
|
||
| 42 | /* LOCAL VARIABLES */
|
||
| 43 | /******************************************************************************/
|
||
| 44 | |||
| 45 | /******************************************************************************/
|
||
| 46 | /* LOCAL FUNCTIONS */
|
||
| 47 | /******************************************************************************/
|
||
| 48 | |||
| 49 | /******************************************************************************/
|
||
| 50 | /* EXPORTED FUNCTIONS */
|
||
| 51 | /******************************************************************************/
|
||
| 52 | e545e620 | Thomas Schöpping | |
| 53 | /**
|
||
| 54 | * @brief Lets the calling thread sleep until the specifide system uptime.
|
||
| 55 | *
|
||
| 56 | * @param[in] t Deadline until the thread will sleep.
|
||
| 57 | */
|
||
| 58 | void aosThdSleepUntilS(const aos_timestamp_t* t) |
||
| 59 | {
|
||
| 60 | aosDbgCheck(t != NULL);
|
||
| 61 | |||
| 62 | aos_timestamp_t uptime; |
||
| 63 | |||
| 64 | // get the current system uptime
|
||
| 65 | aosSysGetUptimeX(&uptime); |
||
| 66 | |||
| 67 | // while the remaining time is too long, it must be split into multiple sleeps
|
||
| 68 | 512abac1 | Thomas Schöpping | while ( (*t > uptime) && ((*t - uptime) > AOS_THD_MAX_SLEEP_US) ) {
|
| 69 | 1e5f7648 | Thomas Schöpping | chThdSleepS(chTimeUS2I(AOS_THD_MAX_SLEEP_US)); |
| 70 | e545e620 | Thomas Schöpping | aosSysGetUptimeX(&uptime); |
| 71 | } |
||
| 72 | |||
| 73 | // sleep the remaining time
|
||
| 74 | if (*t > uptime) {
|
||
| 75 | 1e5f7648 | Thomas Schöpping | sysinterval_t rest = chTimeUS2I(*t - uptime); |
| 76 | e545e620 | Thomas Schöpping | if (rest > TIME_IMMEDIATE) {
|
| 77 | chThdSleepS(rest); |
||
| 78 | } |
||
| 79 | } |
||
| 80 | |||
| 81 | return;
|
||
| 82 | } |
||
| 83 | 53710ca3 | Marc Rothmann | |
| 84 | 5c9e9b9d | Thomas Schöpping | #if ((AMIROOS_CFG_DBG == true) && (CH_DBG_FILL_THREADS == TRUE)) || defined(__DOXYGEN__) |
| 85 | aed3754b | Thomas Schöpping | /**
|
| 86 | * @brief Calculate the peak stack utilization for a specific thread so far in bytes.
|
||
| 87 | *
|
||
| 88 | * @param[in] thread Thread to calculate the stack utilization for.
|
||
| 89 | *
|
||
| 90 | * @return Absolute peak stack utilization in bytes.
|
||
| 91 | */
|
||
| 92 | size_t aosThdGetStackPeakUtilization(thread_t* thread) |
||
| 93 | {
|
||
| 94 | aosDbgCheck(thread != NULL);
|
||
| 95 | |||
| 96 | size_t util; |
||
| 97 | uint8_t* ptr = (uint8_t*)thread->wabase; |
||
| 98 | |||
| 99 | chSysLock(); |
||
| 100 | while (*ptr == CH_DBG_STACK_FILL_VALUE && ptr < (uint8_t*)thread->wabase + aosThdGetStacksize(thread)) {
|
||
| 101 | ++ptr; |
||
| 102 | } |
||
| 103 | util = aosThdGetStacksize(thread) - (ptr - (uint8_t*)thread->wabase); |
||
| 104 | chSysUnlock(); |
||
| 105 | |||
| 106 | return util;
|
||
| 107 | } |
||
| 108 | 5c9e9b9d | Thomas Schöpping | #endif /* (AMIROOS_CFG_DBG == true) && (CH_DBG_FILL_THREADS == TRUE) */ |
| 109 | aed3754b | Thomas Schöpping | |
| 110 | 53710ca3 | Marc Rothmann | /** @} */ |