amiro-os / core / src / aos_thread.c @ df5aa9b6
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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..2020 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.c
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* @brief Thread code.
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*
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* @addtogroup aos_threads
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* @{
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*/
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#include <amiroos.h> |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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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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void aosThdSleepUntilS(const aos_timestamp_t t) |
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{
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aos_timestamp_t uptime; |
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// get the current system uptime
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aosSysGetUptimeX(&uptime); |
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// while the remaining time is too long, it must be split into multiple sleeps
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while ( (t > uptime) && ((t - uptime) > AOS_THD_MAX_SLEEP_US) ) {
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chThdSleepS(chTimeUS2I(AOS_THD_MAX_SLEEP_US)); |
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aosSysGetUptimeX(&uptime); |
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} |
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// sleep the remaining time
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if (t > uptime) {
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sysinterval_t rest = chTimeUS2I(t - uptime); |
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if (rest > TIME_IMMEDIATE) {
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chThdSleepS(rest); |
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} |
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} |
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return;
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} |
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#if ((AMIROOS_CFG_DBG == true) && (CH_DBG_FILL_THREADS == TRUE)) || defined(__DOXYGEN__) |
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/**
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* @brief Calculate the peak stack utilization for a specific thread so far in bytes.
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*
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* @param[in] thread Thread to calculate the stack utilization for.
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*
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* @return Absolute peak stack utilization in bytes.
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*/
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size_t aosThdGetStackPeakUtilization(thread_t* thread) |
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{
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aosDbgCheck(thread != NULL);
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// iterator through the stack
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// 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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for (uint8_t* ptr = (uint8_t*)thread->wabase; ptr < (uint8_t*)thread->wabase + aosThdGetStacksize(thread); ++ptr) {
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if (*ptr != CH_DBG_STACK_FILL_VALUE) {
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return aosThdGetStacksize(thread) - (size_t)(--ptr - (uint8_t*)thread->wabase);
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} |
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} |
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return 0; |
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} |
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#endif /* (AMIROOS_CFG_DBG == true) && (CH_DBG_FILL_THREADS == TRUE) */ |
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/** @} */
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