Statistics
| Branch: | Tag: | Revision:

amiro-os / core / src / aos_thread.c @ e7c4f797

History | View | Annotate | Download (5.04 KB)

1 e545e620 Thomas Schöpping
/*
2
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
3 96621a83 Thomas Schöpping
Copyright (C) 2016..2020  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 d180e1ba Thomas Schöpping
void aosThdSleepUntilS(const aos_timestamp_t t)
59 e545e620 Thomas Schöpping
{
60
  aos_timestamp_t uptime;
61
62
  // get the current system uptime
63
  aosSysGetUptimeX(&uptime);
64
65
  // while the remaining time is too long, it must be split into multiple sleeps
66 d180e1ba Thomas Schöpping
  while ( (t > uptime) && ((t - uptime) > AOS_THD_MAX_SLEEP_US) ) {
67 1e5f7648 Thomas Schöpping
    chThdSleepS(chTimeUS2I(AOS_THD_MAX_SLEEP_US));
68 e545e620 Thomas Schöpping
    aosSysGetUptimeX(&uptime);
69
  }
70
71
  // sleep the remaining time
72 d180e1ba Thomas Schöpping
  if (t > uptime) {
73
    sysinterval_t rest = chTimeUS2I(t - uptime);
74 e545e620 Thomas Schöpping
    if (rest > TIME_IMMEDIATE) {
75
      chThdSleepS(rest);
76
    }
77
  }
78
79
  return;
80
}
81 53710ca3 Marc Rothmann
82 5c9e9b9d Thomas Schöpping
#if ((AMIROOS_CFG_DBG == true) && (CH_DBG_FILL_THREADS == TRUE)) || defined(__DOXYGEN__)
83 aed3754b Thomas Schöpping
/**
84
 * @brief   Calculate the peak stack utilization for a specific thread so far in bytes.
85
 *
86
 * @param[in] thread    Thread to calculate the stack utilization for.
87
 *
88
 * @return  Absolute peak stack utilization in bytes.
89
 */
90
size_t aosThdGetStackPeakUtilization(thread_t* thread)
91
{
92
  aosDbgCheck(thread != NULL);
93
94 e5742249 Thomas Schöpping
  // iterator through the stack
95
  // note: since the stack is filled from top to bottom, the loop searches for the first irregular byte from the bottom (stack end).
96
  for (uint8_t* ptr = (uint8_t*)thread->wabase; ptr < (uint8_t*)thread->wabase + aosThdGetStacksize(thread); ++ptr) {
97
    if (*ptr != CH_DBG_STACK_FILL_VALUE) {
98
      return aosThdGetStacksize(thread) - (size_t)(--ptr - (uint8_t*)thread->wabase);
99
    }
100 aed3754b Thomas Schöpping
  }
101
102 e5742249 Thomas Schöpping
  return 0;
103 aed3754b Thomas Schöpping
}
104 5c9e9b9d Thomas Schöpping
#endif /* (AMIROOS_CFG_DBG == true) && (CH_DBG_FILL_THREADS == TRUE) */
105 aed3754b Thomas Schöpping
106 e7c4f797 Thomas Schöpping
#if ((CH_CFG_USE_REGISTRY == TRUE) || (CH_CFG_USE_THREADHIERARCHY == TRUE)) || defined(__DOXYGEN__)
107
108
/**
109
 * @brief   Retrieve the first/root thread in the system.
110
 *
111
 * @return  Pointer to the first/root thread.
112
 */
113
thread_t* aosThreadGetFirst(void)
114
{
115
#if (CH_CFG_USE_REGISTRY == TRUE)
116
  return chRegFirstThread();
117
#elif (CH_CFG_USE_THREADHIERARCHY == TRUE)
118
  thread_t* tp = chThdGetSelfX();
119
  while (tp->parent) {
120
    tp = tp->parent;
121
  }
122
  return tp;
123
#endif
124
}
125
126
/**
127
 * @brief   Retrieve the next thread in the system.
128
 *
129
 * @param[in] thread  Current thread to retrieve the 'successor' to.
130
 *
131
 * @return  Pointer to the next thread, or NULL if there are no further threads.
132
 */
133
thread_t* aosThreadGetNext(thread_t* thread)
134
{
135
  aosDbgCheck(thread != NULL);
136
137
#if (CH_CFG_USE_REGISTRY == TRUE)
138
  return chRegNextThread(thread);
139
#elif (CH_CFG_USE_THREADHIERARCHY == TRUE)
140
  if (thread->children != NULL) {
141
    return thread->children;
142
  } else {
143
    while (thread != NULL && thread->sibling == NULL) {
144
      thread = thread->parent;
145
    }
146
    return (thread != NULL) ? thread->sibling : NULL;
147
  }
148
#endif
149
}
150
151
#endif /* (CH_CFG_USE_REGISTRY == TRUE) || (CH_CFG_USE_THREADHIERARCHY == TRUE) */
152
153 53710ca3 Marc Rothmann
/** @} */