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amiro-os / core / inc / aos_thread.h @ 8543d0d9

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