Collaboration diagram for Scheduler:

Detailed Description

This module provides the default portable scheduler code.

Macros
#define	firstprio(rlp) ((rlp)->next->prio)
	Returns the priority of the first thread on the given ready list. More...

#define	currp ch.rlist.current
	Current thread pointer access macro. More...

#define	__CH_STRINGIFY(a) #a
	Utility to make the parameter a quoted string. More...

Wakeup status codes
#define	MSG_OK (msg_t)0
	Normal wakeup message. More...

#define	MSG_TIMEOUT (msg_t)-1
	Wakeup caused by a timeout condition. More...

#define	MSG_RESET (msg_t)-2
	Wakeup caused by a reset condition. More...

Priority constants
#define	NOPRIO (tprio_t)0
	Ready list header priority. More...

#define	IDLEPRIO (tprio_t)1
	Idle priority. More...

#define	LOWPRIO (tprio_t)2
	Lowest priority. More...

#define	NORMALPRIO (tprio_t)128
	Normal priority. More...

#define	HIGHPRIO (tprio_t)255
	Highest priority. More...

Thread states
#define	CH_STATE_READY (tstate_t)0
	Waiting on the ready list. More...

#define	CH_STATE_CURRENT (tstate_t)1
	Currently running. More...

#define	CH_STATE_WTSTART (tstate_t)2
	Just created. More...

#define	CH_STATE_SUSPENDED (tstate_t)3
	Suspended state. More...

#define	CH_STATE_QUEUED (tstate_t)4
	On a queue. More...

#define	CH_STATE_WTSEM (tstate_t)5
	On a semaphore. More...

#define	CH_STATE_WTMTX (tstate_t)6
	On a mutex. More...

#define	CH_STATE_WTCOND (tstate_t)7
	On a cond.variable. More...

#define	CH_STATE_SLEEPING (tstate_t)8
	Sleeping. More...

#define	CH_STATE_WTEXIT (tstate_t)9
	Waiting a thread. More...

#define	CH_STATE_WTOREVT (tstate_t)10
	One event. More...

#define	CH_STATE_WTANDEVT (tstate_t)11
	Several events. More...

#define	CH_STATE_SNDMSGQ (tstate_t)12
	Sending a message, in queue. More...

#define	CH_STATE_SNDMSG (tstate_t)13
	Sent a message, waiting answer. More...

#define	CH_STATE_WTMSG (tstate_t)14
	Waiting for a message. More...

#define	CH_STATE_FINAL (tstate_t)15
	Thread terminated. More...

#define	CH_STATE_NAMES
	Thread states as array of strings. More...

Thread flags and attributes
#define	CH_FLAG_MODE_MASK (tmode_t)3U
	Thread memory mode mask. More...

#define	CH_FLAG_MODE_STATIC (tmode_t)0U
	Static thread. More...

#define	CH_FLAG_MODE_HEAP (tmode_t)1U
	Thread allocated from a Memory Heap. More...

#define	CH_FLAG_MODE_MPOOL (tmode_t)2U
	Thread allocated from a Memory Pool. More...

#define	CH_FLAG_TERMINATE (tmode_t)4U
	Termination requested flag. More...

Typedefs
typedef struct ch_thread	thread_t
	Type of a thread structure. More...

typedef thread_t *	thread_reference_t
	Type of a thread reference. More...

typedef struct ch_threads_list	threads_list_t
	Type of a generic threads single link list, it works like a stack. More...

typedef struct ch_threads_queue	threads_queue_t
	Type of a generic threads bidirectional linked list header and element. More...

typedef struct ch_ready_list	ready_list_t
	Type of a ready list header. More...

typedef void(*	vtfunc_t) (void *p)
	Type of a Virtual Timer callback function. More...

typedef struct ch_virtual_timer	virtual_timer_t
	Type of a Virtual Timer structure. More...

typedef struct ch_virtual_timers_list	virtual_timers_list_t
	Type of virtual timers list header. More...

typedef struct ch_system_debug	system_debug_t
	Type of a system debug structure. More...

typedef struct ch_system	ch_system_t
	Type of system data structure. More...

Data Structures
struct	ch_threads_list
	Generic threads single link list, it works like a stack. More...

struct	ch_threads_queue
	Generic threads bidirectional linked list header and element. More...

struct	ch_thread
	Structure representing a thread. More...

struct	ch_virtual_timer
	Virtual Timer descriptor structure. More...

struct	ch_virtual_timers_list
	Virtual timers list header. More...

struct	ch_system_debug
	System debug data structure. More...

struct	ch_system
	System data structure. More...

Functions
void	_scheduler_init (void)
	Scheduler initialization. More...

void	queue_prio_insert (thread_t tp, threads_queue_t tqp)
	Inserts a thread into a priority ordered queue. More...

void	queue_insert (thread_t tp, threads_queue_t tqp)
	Inserts a thread into a queue. More...

thread_t *	queue_fifo_remove (threads_queue_t *tqp)
	Removes the first-out thread from a queue and returns it. More...

thread_t *	queue_lifo_remove (threads_queue_t *tqp)
	Removes the last-out thread from a queue and returns it. More...

thread_t *	queue_dequeue (thread_t *tp)
	Removes a thread from a queue and returns it. More...

void	list_insert (thread_t tp, threads_list_t tlp)
	Pushes a thread_t on top of a stack list. More...

thread_t *	list_remove (threads_list_t *tlp)
	Pops a thread from the top of a stack list and returns it. More...

thread_t *	chSchReadyI (thread_t *tp)
	Inserts a thread in the Ready List placing it behind its peers. More...

thread_t *	chSchReadyAheadI (thread_t *tp)
	Inserts a thread in the Ready List placing it ahead its peers. More...

void	chSchGoSleepS (tstate_t newstate)
	Puts the current thread to sleep into the specified state. More...

msg_t	chSchGoSleepTimeoutS (tstate_t newstate, sysinterval_t timeout)
	Puts the current thread to sleep into the specified state with timeout specification. More...

void	chSchWakeupS (thread_t *ntp, msg_t msg)
	Wakes up a thread. More...

void	chSchRescheduleS (void)
	Performs a reschedule if a higher priority thread is runnable. More...

bool	chSchIsPreemptionRequired (void)
	Evaluates if preemption is required. More...

void	chSchDoRescheduleBehind (void)
	Switches to the first thread on the runnable queue. More...

void	chSchDoRescheduleAhead (void)
	Switches to the first thread on the runnable queue. More...

void	chSchDoReschedule (void)
	Switches to the first thread on the runnable queue. More...

static void	list_init (threads_list_t *tlp)
	Threads list initialization. More...

static bool	list_isempty (threads_list_t *tlp)
	Evaluates to `true` if the specified threads list is empty. More...

static bool	list_notempty (threads_list_t *tlp)
	Evaluates to `true` if the specified threads list is not empty. More...

static void	queue_init (threads_queue_t *tqp)
	Threads queue initialization. More...

static bool	queue_isempty (const threads_queue_t *tqp)
	Evaluates to `true` if the specified threads queue is empty. More...

static bool	queue_notempty (const threads_queue_t *tqp)
	Evaluates to `true` if the specified threads queue is not empty. More...

static bool	chSchIsRescRequiredI (void)
	Determines if the current thread must reschedule. More...

static bool	chSchCanYieldS (void)
	Determines if yielding is possible. More...

static void	chSchDoYieldS (void)
	Yields the time slot. More...

static void	chSchPreemption (void)
	Inline-able preemption code. More...

Variables
ch_system_t	ch
	System data structures. More...

Macro Definition Documentation

#define MSG_OK (msg_t)0

#define MSG_TIMEOUT (msg_t)-1

Wakeup caused by a timeout condition.

Definition at line 40 of file chschd.h.

Referenced by chCondWaitTimeoutS(), chMBFetchI(), chMBPostAheadI(), chMBPostI(), chSchGoSleepS(), chSemWaitTimeoutS(), chThdEnqueueTimeoutS(), and chThdSuspendTimeoutS().

#define MSG_RESET (msg_t)-2

Wakeup caused by a reset condition.

Definition at line 43 of file chschd.h.

Referenced by chCondBroadcastI(), chMBFetchI(), chMBFetchTimeoutS(), chMBPostAheadI(), chMBPostAheadTimeoutS(), chMBPostI(), chMBPostTimeoutS(), chMBResetI(), chPipeReset(), and chSemResetI().

#define NOPRIO (tprio_t)0

Ready list header priority.

Definition at line 52 of file chschd.h.

Referenced by _scheduler_init().

#define IDLEPRIO (tprio_t)1

Idle priority.

Definition at line 55 of file chschd.h.

Referenced by chSchDoReschedule(), chSchDoRescheduleAhead(), chSchDoRescheduleBehind(), chSchGoSleepS(), chSchWakeupS(), and chSysInit().

#define LOWPRIO (tprio_t)2

Lowest priority.

Definition at line 56 of file chschd.h.

#define NORMALPRIO (tprio_t)128

Normal priority.

Definition at line 57 of file chschd.h.

Referenced by chSysInit().

#define HIGHPRIO (tprio_t)255

Highest priority.

Definition at line 58 of file chschd.h.

Referenced by chThdCreateStatic(), chThdCreateSuspendedI(), and chThdSetPriority().

#define CH_STATE_READY (tstate_t)0

Waiting on the ready list.

Definition at line 65 of file chschd.h.

Referenced by chMtxLockS(), chSchGoSleepS(), chSchReadyAheadI(), and chSchReadyI().

#define CH_STATE_CURRENT (tstate_t)1

Currently running.

Definition at line 68 of file chschd.h.

Referenced by chMtxLockS(), chSchDoReschedule(), chSchDoRescheduleAhead(), chSchDoRescheduleBehind(), chSchGoSleepS(), chSchWakeupS(), and chSysInit().

#define CH_STATE_WTSTART (tstate_t)2

Just created.

Definition at line 69 of file chschd.h.

Referenced by _thread_init(), chThdStart(), and chThdStartI().

#define CH_STATE_SUSPENDED (tstate_t)3

Suspended state.

Definition at line 70 of file chschd.h.

Referenced by chSchGoSleepS(), chThdResumeI(), chThdResumeS(), chThdSuspendS(), and chThdSuspendTimeoutS().

#define CH_STATE_QUEUED (tstate_t)4

On a queue.

Definition at line 71 of file chschd.h.

Referenced by chSchGoSleepS(), chThdDoDequeueNextI(), and chThdEnqueueTimeoutS().

#define CH_STATE_WTSEM (tstate_t)5

On a semaphore.

Definition at line 72 of file chschd.h.

Referenced by chMtxLockS(), chSchGoSleepS(), chSemSignalWait(), chSemWaitS(), and chSemWaitTimeoutS().

#define CH_STATE_WTMTX (tstate_t)6

On a mutex.

Definition at line 73 of file chschd.h.

Referenced by chMtxLockS().

#define CH_STATE_WTCOND (tstate_t)7

On a cond.variable.

Definition at line 74 of file chschd.h.

Referenced by chCondWaitS(), chCondWaitTimeoutS(), chMtxLockS(), and chSchGoSleepS().

#define CH_STATE_SLEEPING (tstate_t)8

Sleeping.

Definition at line 75 of file chschd.h.

Referenced by chThdSleepS().

#define CH_STATE_WTEXIT (tstate_t)9

Waiting a thread.

Definition at line 76 of file chschd.h.

Referenced by chThdWait().

#define CH_STATE_WTOREVT (tstate_t)10

One event.

Definition at line 77 of file chschd.h.

Referenced by chEvtSignalI(), chEvtWaitAny(), chEvtWaitAnyTimeout(), chEvtWaitOne(), and chEvtWaitOneTimeout().

#define CH_STATE_WTANDEVT (tstate_t)11

Several events.

Definition at line 78 of file chschd.h.

Referenced by chEvtSignalI(), chEvtWaitAll(), and chEvtWaitAllTimeout().

#define CH_STATE_SNDMSGQ (tstate_t)12

Sending a message, in queue.

Definition at line 79 of file chschd.h.

Referenced by chMsgSend(), and chMtxLockS().

#define CH_STATE_SNDMSG (tstate_t)13

Sent a message, waiting answer.

Definition at line 82 of file chschd.h.

Referenced by chMsgGet(), chMsgRelease(), and chMsgWait().

#define CH_STATE_WTMSG (tstate_t)14

Waiting for a message.

Definition at line 85 of file chschd.h.

Referenced by chMsgSend(), and chMsgWait().

#define CH_STATE_FINAL (tstate_t)15

Thread terminated.

Definition at line 88 of file chschd.h.

Referenced by chSchReadyAheadI(), chSchReadyI(), chThdExitS(), chThdRelease(), chThdTerminatedX(), and chThdWait().

#define CH_STATE_NAMES

Value:

"READY", "CURRENT", "WTSTART", "SUSPENDED", "QUEUED", "WTSEM", "WTMTX",  \
  "WTCOND", "SLEEPING", "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ",        \
  "SNDMSG", "WTMSG", "FINAL"

Thread states as array of strings.

Each element in an array initialized with this macro can be indexed using the numeric thread state values.

Definition at line 95 of file chschd.h.

#define CH_FLAG_MODE_MASK (tmode_t)3U

Thread memory mode mask.

Definition at line 105 of file chschd.h.

Referenced by chThdExitS(), and chThdRelease().

#define CH_FLAG_MODE_STATIC (tmode_t)0U

Static thread.

Definition at line 108 of file chschd.h.

Referenced by _thread_init(), and chThdExitS().

#define CH_FLAG_MODE_HEAP (tmode_t)1U

Thread allocated from a Memory Heap.

Definition at line 109 of file chschd.h.

Referenced by chThdCreateFromHeap(), and chThdRelease().

#define CH_FLAG_MODE_MPOOL (tmode_t)2U

Thread allocated from a Memory Pool.

Definition at line 112 of file chschd.h.

Referenced by chThdCreateFromMemoryPool(), and chThdRelease().

#define CH_FLAG_TERMINATE (tmode_t)4U

Termination requested flag.

Definition at line 115 of file chschd.h.

Referenced by chThdShouldTerminateX(), and chThdTerminate().

#define firstprio ( rlp ) ((rlp)->next->prio)

Returns the priority of the first thread on the given ready list.

Function Class:: Not an API, this function is for internal use only.

Definition at line 452 of file chschd.h.

Referenced by chSchDoYieldS(), chSchIsPreemptionRequired(), chSchIsRescRequiredI(), and queue_notempty().

#define currp ch.rlist.current

Current thread pointer access macro.

Note: This macro is not meant to be used in the application code but only from within the kernel, use chThdGetSelfX() instead.

Definition at line 459 of file chschd.h.

Referenced by _trace_switch(), chCondWaitS(), chCondWaitTimeoutS(), chEvtAddEventsI(), chEvtGetAndClearEventsI(), chEvtGetEventsX(), chEvtRegisterMaskWithFlags(), chEvtWaitAll(), chEvtWaitAllTimeout(), chEvtWaitAny(), chEvtWaitAnyTimeout(), chEvtWaitOne(), chEvtWaitOneTimeout(), chMsgSend(), chMsgWait(), chMtxLockS(), chMtxTryLockS(), chMtxUnlock(), chMtxUnlockAll(), chMtxUnlockAllS(), chMtxUnlockS(), chSchDoReschedule(), chSchDoRescheduleAhead(), chSchDoRescheduleBehind(), chSchDoYieldS(), chSchGoSleepS(), chSchGoSleepTimeoutS(), chSchIsPreemptionRequired(), chSchIsRescRequiredI(), chSchWakeupS(), chSemSignalWait(), chSemWaitS(), chSemWaitTimeoutS(), chSysInit(), chSysTimerHandlerI(), chThdEnqueueTimeoutS(), chThdExitS(), chThdSetPriority(), chThdWait(), and queue_notempty().

#define __CH_STRINGIFY ( a ) #a

Utility to make the parameter a quoted string.

Definition at line 110 of file chsystypes.h.

Typedef Documentation

typedef struct ch_thread thread_t

Type of a thread structure.

Definition at line 52 of file chsystypes.h.

typedef thread_t* thread_reference_t

Type of a thread reference.

Definition at line 57 of file chsystypes.h.

typedef struct ch_threads_list threads_list_t

Type of a generic threads single link list, it works like a stack.

Definition at line 62 of file chsystypes.h.

typedef struct ch_threads_queue threads_queue_t

Type of a generic threads bidirectional linked list header and element.

Definition at line 69 of file chsystypes.h.

typedef struct ch_ready_list ready_list_t

Type of a ready list header.

Definition at line 76 of file chsystypes.h.

typedef void(* vtfunc_t) (void *p)

Type of a Virtual Timer callback function.

Definition at line 81 of file chsystypes.h.

typedef struct ch_virtual_timer virtual_timer_t

Type of a Virtual Timer structure.

Definition at line 86 of file chsystypes.h.

typedef struct ch_virtual_timers_list virtual_timers_list_t

Type of virtual timers list header.

Definition at line 91 of file chsystypes.h.

typedef struct ch_system_debug system_debug_t

Type of a system debug structure.

Definition at line 96 of file chsystypes.h.

typedef struct ch_system ch_system_t

Type of system data structure.

Definition at line 101 of file chsystypes.h.

Function Documentation

void _scheduler_init ( void )

Scheduler initialization.

Function Class:: Not an API, this function is for internal use only.

Definition at line 65 of file chschd.c.

References NOPRIO, queue_init(), and ch_system::rlist.

Referenced by chSysInit().

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static void queue_prio_insert	(	thread_t *	tp,
		threads_queue_t *	tqp
	)

inline

Inserts a thread into a priority ordered queue.

Note: The insertion is done by scanning the list from the highest priority toward the lowest.

Parameters

[in]	tp	the pointer to the thread to be inserted in the list
[in]	tqp	the pointer to the threads list header

Function Class:: Not an API, this function is for internal use only.

Definition at line 86 of file chschd.c.

References ch_threads_queue::next, ch_threads_queue::prev, ch_thread::prio, and ch_thread::queue.

Referenced by chCondWaitS(), chCondWaitTimeoutS(), chMtxLockS(), and queue_notempty().

static void queue_insert	(	thread_t *	tp,
		threads_queue_t *	tqp
	)

inline

Inserts a thread into a queue.

Parameters

[in]	tp	the pointer to the thread to be inserted in the list
[in]	tqp	the pointer to the threads list header

Function Class:: Not an API, this function is for internal use only.

Definition at line 106 of file chschd.c.

References ch_threads_queue::next, ch_threads_queue::prev, and ch_thread::queue.

Referenced by chThdEnqueueTimeoutS(), and queue_notempty().

static thread_t * queue_fifo_remove ( threads_queue_t * tqp )

inline

Removes the first-out thread from a queue and returns it.

Note: If the queue is priority ordered then this function returns the thread with the highest priority.

Parameters

[in] tqp the pointer to the threads list header

Returns: The removed thread pointer.

Function Class:: Not an API, this function is for internal use only.

Definition at line 124 of file chschd.c.

References ch_threads_queue::next, ch_threads_queue::prev, and ch_thread::queue.

Referenced by chCondBroadcastI(), chCondSignal(), chCondSignalI(), chMsgWait(), chMtxUnlock(), chMtxUnlockAll(), chMtxUnlockAllS(), chMtxUnlockS(), chSchDoReschedule(), chSchDoRescheduleAhead(), chSchDoRescheduleBehind(), chSchGoSleepS(), chSemAddCounterI(), chSemSignal(), chSemSignalI(), chSemSignalWait(), chThdDoDequeueNextI(), and queue_notempty().

static thread_t * queue_lifo_remove ( threads_queue_t * tqp )

inline

Removes the last-out thread from a queue and returns it.

Note: If the queue is priority ordered then this function returns the thread with the lowest priority.

Parameters

[in] tqp the pointer to the threads list header

Returns: The removed thread pointer.

Function Class:: Not an API, this function is for internal use only.

Definition at line 143 of file chschd.c.

References ch_threads_queue::next, ch_threads_queue::prev, and ch_thread::queue.

Referenced by chSemResetI(), and queue_notempty().

static thread_t * queue_dequeue ( thread_t * tp )

inline

Removes a thread from a queue and returns it.

The thread is removed from the queue regardless of its relative position and regardless the used insertion method.

Parameters

[in] tp the pointer to the thread to be removed from the queue

Returns: The removed thread pointer.

Function Class:: Not an API, this function is for internal use only.

Definition at line 162 of file chschd.c.

References ch_threads_queue::next, ch_threads_queue::prev, and ch_thread::queue.

Referenced by chMtxLockS(), chSchGoSleepS(), and queue_notempty().

static void list_insert	(	thread_t *	tp,
		threads_list_t *	tlp
	)

inline

Pushes a thread_t on top of a stack list.

Parameters

[in]	tp	the pointer to the thread to be inserted in the list
[in]	tlp	the pointer to the threads list header

Function Class:: Not an API, this function is for internal use only.

Definition at line 178 of file chschd.c.

References ch_threads_list::next, ch_threads_queue::next, and ch_thread::queue.

Referenced by chThdWait(), and queue_isempty().

static thread_t * list_remove ( threads_list_t * tlp )

inline

Pops a thread from the top of a stack list and returns it.

Precondition: The list must be non-empty before calling this function.

Parameters

[in] tlp the pointer to the threads list header

Returns: The removed thread pointer.

Function Class:: Not an API, this function is for internal use only.

Definition at line 193 of file chschd.c.

References ch_threads_list::next, ch_threads_queue::next, and ch_thread::queue.

Referenced by chThdExitS().

thread_t * chSchReadyI ( thread_t * tp )

Inserts a thread in the Ready List placing it behind its peers.

The thread is positioned behind all threads with higher or equal priority.

Precondition: The thread must not be already inserted in any list through its next and prev or list corruption would occur.

Postcondition: This function does not reschedule so a call to a rescheduling function must be performed before unlocking the kernel. Note that interrupt handlers always reschedule on exit so an explicit reschedule must not be performed in ISRs.

Parameters

[in] tp the thread to be made ready

Returns: The thread pointer.

Function Class:: This is an I-Class API, this function can be invoked from within a system lock zone by both threads and interrupt handlers.

Definition at line 218 of file chschd.c.

References CH_STATE_FINAL, CH_STATE_READY, chDbgAssert, chDbgCheck, chDbgCheckClassI(), ch_threads_queue::next, ch_thread::queue, ch_system::rlist, and ch_thread::state.

Referenced by chCondBroadcastI(), chCondSignalI(), chEvtSignalI(), chMsgSend(), chMtxLockS(), chMtxUnlock(), chMtxUnlockAll(), chMtxUnlockAllS(), chMtxUnlockS(), chSchDoReschedule(), chSchDoRescheduleBehind(), chSchGoSleepS(), chSchWakeupS(), chSemAddCounterI(), chSemResetI(), chSemSignalI(), chSemSignalWait(), chThdCreateI(), chThdDoDequeueNextI(), chThdExitS(), chThdResumeI(), and chThdStartI().

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thread_t * chSchReadyAheadI ( thread_t * tp )

Inserts a thread in the Ready List placing it ahead its peers.

The thread is positioned ahead all threads with higher or equal priority.

Precondition: The thread must not be already inserted in any list through its next and prev or list corruption would occur.

Postcondition: This function does not reschedule so a call to a rescheduling function must be performed before unlocking the kernel. Note that interrupt handlers always reschedule on exit so an explicit reschedule must not be performed in ISRs.

Parameters

[in] tp the thread to be made ready

Returns: The thread pointer.

Function Class:: This is an I-Class API, this function can be invoked from within a system lock zone by both threads and interrupt handlers.

Definition at line 257 of file chschd.c.

References CH_STATE_FINAL, CH_STATE_READY, chDbgAssert, chDbgCheck, chDbgCheckClassI(), ch_threads_queue::next, ch_thread::queue, ch_system::rlist, and ch_thread::state.

Referenced by chSchDoReschedule(), chSchDoRescheduleAhead(), and chSchWakeupS().

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void chSchGoSleepS ( tstate_t newstate )

Puts the current thread to sleep into the specified state.

The thread goes into a sleeping state. The possible Thread States are defined into threads.h.

Parameters

[in] newstate the new thread state

Function Class:: This is an S-Class API, this function can be invoked from within a system lock zone by threads only.

Definition at line 289 of file chschd.c.

References CH_CFG_IDLE_ENTER_HOOK, CH_CFG_TIME_QUANTUM, CH_STATE_CURRENT, CH_STATE_QUEUED, CH_STATE_READY, CH_STATE_SUSPENDED, CH_STATE_WTCOND, CH_STATE_WTSEM, chDbgCheckClassS(), chSchReadyI(), chSemFastSignalI(), chSysLockFromISR(), chSysSwitch, chSysUnlockFromISR(), currp, IDLEPRIO, MSG_TIMEOUT, queue_dequeue(), queue_fifo_remove(), ch_thread::rdymsg, ch_system::rlist, ch_thread::state, ch_thread::ticks, ch_thread::u, ch_thread::wtsemp, and ch_thread::wttrp.

Referenced by chCondWaitS(), chEvtWaitAll(), chEvtWaitAny(), chEvtWaitOne(), chMsgSend(), chMsgWait(), chMtxLockS(), chSchGoSleepTimeoutS(), chSemSignalWait(), chSemWaitS(), chThdExitS(), chThdSuspendS(), and chThdWait().

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msg_t chSchGoSleepTimeoutS	(	tstate_t	newstate,
		sysinterval_t	timeout
	)

Puts the current thread to sleep into the specified state with timeout specification.

The thread goes into a sleeping state, if it is not awakened explicitly within the specified timeout then it is forcibly awakened with a MSG_TIMEOUT low level message. The possible Thread States are defined into threads.h.

Parameters

[in]	newstate	the new thread state
[in]	timeout	the number of ticks before the operation timeouts, the special values are handled as follow: TIME_INFINITE the thread enters an infinite sleep state, this is equivalent to invoking `chSchGoSleepS()` but, of course, less efficient. TIME_IMMEDIATE this value is not allowed.

Returns: The wakeup message.

Return values

MSG_TIMEOUT if a timeout occurs.

Function Class:: This is an S-Class API, this function can be invoked from within a system lock zone by threads only.

Definition at line 375 of file chschd.c.

References chDbgCheckClassS(), chSchGoSleepS(), chVTDoResetI(), chVTDoSetI(), chVTIsArmedI(), currp, and TIME_INFINITE.

Referenced by chCondWaitTimeoutS(), chEvtWaitAllTimeout(), chEvtWaitAnyTimeout(), chEvtWaitOneTimeout(), chSemWaitTimeoutS(), chThdEnqueueTimeoutS(), chThdSleepS(), and chThdSuspendTimeoutS().

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void chSchWakeupS	(	thread_t *	ntp,
		msg_t	msg
	)

Wakes up a thread.

The thread is inserted into the ready list or immediately made running depending on its relative priority compared to the current thread.

Precondition: The thread must not be already inserted in any list through its next and prev or list corruption would occur.

Note: It is equivalent to a chSchReadyI() followed by a chSchRescheduleS() but much more efficient.; The function assumes that the current thread has the highest priority.

Parameters

[in]	ntp	the thread to be made ready
[in]	msg	the wakeup message

Function Class:: This is an S-Class API, this function can be invoked from within a system lock zone by threads only.

Definition at line 412 of file chschd.c.

References CH_CFG_IDLE_LEAVE_HOOK, CH_STATE_CURRENT, chDbgAssert, chDbgCheckClassS(), chSchReadyAheadI(), chSchReadyI(), chSysSwitch, currp, IDLEPRIO, ch_thread::prio, ch_thread::rdymsg, ch_system::rlist, ch_thread::state, and ch_thread::u.

Referenced by chCondSignal(), chMsgReleaseS(), chSemSignal(), chThdCreate(), chThdCreateFromHeap(), chThdCreateFromMemoryPool(), chThdCreateStatic(), chThdResumeS(), and chThdStart().

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void chSchRescheduleS ( void )

Performs a reschedule if a higher priority thread is runnable.

If a thread with a higher priority than the current thread is in the ready list then make the higher priority thread running.

Function Class:: This is an S-Class API, this function can be invoked from within a system lock zone by threads only.

Definition at line 456 of file chschd.c.

References chDbgCheckClassS(), chSchDoRescheduleAhead(), and chSchIsRescRequiredI().

Referenced by chBSemSignal(), chCondBroadcast(), chEvtBroadcastFlags(), chEvtSignal(), chGuardedPoolFree(), chGuardedPoolFreeS(), chMBFetchTimeoutS(), chMBPostAheadTimeoutS(), chMBPostTimeoutS(), chMBReset(), chMtxUnlock(), chMtxUnlockAll(), chPipeReset(), chSemReset(), chSemSignalWait(), chSysRestoreStatusX(), and chThdSetPriority().

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bool chSchIsPreemptionRequired ( void )

Evaluates if preemption is required.

The decision is taken by comparing the relative priorities and depending on the state of the round robin timeout counter.

Note: Not a user function, it is meant to be invoked by the scheduler itself or from within the port layer.

Return values

true	if there is a thread that must go in running state immediately.
false	if preemption is not required.

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 479 of file chschd.c.

References currp, firstprio, and ch_system::rlist.

void chSchDoRescheduleBehind ( void )

Switches to the first thread on the runnable queue.

The current thread is positioned in the ready list behind all threads having the same priority. The thread regains its time quantum.

Note: Not a user function, it is meant to be invoked by the scheduler itself.

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 507 of file chschd.c.

References CH_CFG_IDLE_LEAVE_HOOK, CH_CFG_TIME_QUANTUM, CH_STATE_CURRENT, chSchReadyI(), chSysSwitch, currp, IDLEPRIO, ch_thread::prio, queue_fifo_remove(), ch_system::rlist, and ch_thread::ticks.

Referenced by chSchCanYieldS(), and chSchPreemption().

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void chSchDoRescheduleAhead ( void )

Switches to the first thread on the runnable queue.

The current thread is positioned in the ready list ahead of all threads having the same priority.

Note: Not a user function, it is meant to be invoked by the scheduler itself.

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 540 of file chschd.c.

References CH_CFG_IDLE_LEAVE_HOOK, CH_STATE_CURRENT, chSchReadyAheadI(), chSysSwitch, currp, IDLEPRIO, ch_thread::prio, queue_fifo_remove(), and ch_system::rlist.

Referenced by chSchDoYieldS(), chSchPreemption(), and chSchRescheduleS().

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void chSchDoReschedule ( void )

Switches to the first thread on the runnable queue.

The current thread is positioned in the ready list behind or ahead of all threads having the same priority depending on if it used its whole time slice.

Note: Not a user function, it is meant to be invoked by the scheduler itself or from within the port layer.

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 570 of file chschd.c.

References CH_CFG_IDLE_LEAVE_HOOK, CH_CFG_TIME_QUANTUM, CH_STATE_CURRENT, chSchReadyAheadI(), chSchReadyI(), chSysSwitch, currp, IDLEPRIO, ch_thread::prio, queue_fifo_remove(), ch_system::rlist, and ch_thread::ticks.

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static void list_init ( threads_list_t * tlp )

inlinestatic

Threads list initialization.

Parameters

[in] tlp pointer to the threads list object

Function Class:: Not an API, this function is for internal use only.

Definition at line 510 of file chschd.h.

References ch_threads_list::next.

Referenced by _thread_init().

static bool list_isempty ( threads_list_t * tlp )

inlinestatic

Evaluates to true if the specified threads list is empty.

Parameters

[in] tlp pointer to the threads list object

Returns: The status of the list.

Function Class:: Not an API, this function is for internal use only.

Definition at line 523 of file chschd.h.

References ch_threads_list::next.

static bool list_notempty ( threads_list_t * tlp )

inlinestatic

Evaluates to true if the specified threads list is not empty.

Parameters

[in] tlp pointer to the threads list object

Returns: The status of the list.

Function Class:: Not an API, this function is for internal use only.

Definition at line 536 of file chschd.h.

References ch_threads_queue::next, and ch_threads_queue::prev.

Referenced by chThdExitS().

static void queue_init ( threads_queue_t * tqp )

inlinestatic

Threads queue initialization.

Parameters

[in] tqp pointer to the threads queue object

Function Class:: Not an API, this function is for internal use only.

Definition at line 548 of file chschd.h.

References ch_threads_queue::next.

Referenced by _scheduler_init(), _thread_init(), chCondObjectInit(), chMtxObjectInit(), chSemObjectInit(), and chThdQueueObjectInit().

static bool queue_isempty ( const threads_queue_t * tqp )

inlinestatic

Evaluates to true if the specified threads queue is empty.

Parameters

[in] tqp pointer to the threads queue object

Returns: The status of the queue.

Function Class:: Not an API, this function is for internal use only.

Definition at line 562 of file chschd.h.

References list_insert(), ch_threads_list::next, ch_threads_queue::next, and ch_thread::queue.

Referenced by chSemAddCounterI(), chSemResetI(), chSemSignal(), chSemSignalI(), chSemSignalWait(), chSemWaitS(), chSemWaitTimeoutS(), and chThdQueueIsEmptyI().

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static bool queue_notempty ( const threads_queue_t * tqp )

inlinestatic

Evaluates to true if the specified threads queue is not empty.

Parameters

[in] tqp pointer to the threads queue object

Returns: The status of the queue.

Function Class:: Not an API, this function is for internal use only.

Definition at line 575 of file chschd.h.

References chDbgCheckClassI(), chSchIsRescRequiredI(), currp, firstprio, ch_threads_list::next, ch_threads_queue::next, ch_threads_queue::prev, ch_thread::prio, ch_thread::queue, queue_dequeue(), queue_fifo_remove(), queue_insert(), queue_lifo_remove(), queue_prio_insert(), and ch_system::rlist.

Referenced by chCondBroadcastI(), chCondSignal(), chCondSignalI(), chMtxQueueNotEmptyS(), chSemAddCounterI(), chSemResetI(), chSemSignal(), chSemSignalI(), chSemSignalWait(), chSemWaitS(), chSemWaitTimeoutS(), chThdDequeueAllI(), chThdDequeueNextI(), and chThdDoDequeueNextI().

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static bool chSchIsRescRequiredI ( void )

inlinestatic

Determines if the current thread must reschedule.

This function returns true if there is a ready thread with higher priority.

Returns: The priorities situation.

Return values

false	if rescheduling is not necessary.
true	if there is a ready thread at higher priority.

Function Class:: This is an I-Class API, this function can be invoked from within a system lock zone by both threads and interrupt handlers.

Definition at line 655 of file chschd.h.

References chDbgCheckClassS(), currp, firstprio, and ch_system::rlist.

Referenced by chSchRescheduleS(), and queue_notempty().

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static bool chSchCanYieldS ( void )

inlinestatic

Determines if yielding is possible.

This function returns true if there is a ready thread with equal or higher priority.

Returns: The priorities situation.

Return values

false	if yielding is not possible.
true	if there is a ready thread at equal or higher priority.

Function Class:: This is an S-Class API, this function can be invoked from within a system lock zone by threads only.

Definition at line 673 of file chschd.h.

References chDbgCheckClassS(), and chSchDoRescheduleBehind().

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static void chSchDoYieldS ( void )

inlinestatic

Yields the time slot.

Yields the CPU control to the next thread in the ready list with equal or higher priority, if any.

Function Class:: This is an S-Class API, this function can be invoked from within a system lock zone by threads only.

Definition at line 687 of file chschd.h.

References chSchDoRescheduleAhead(), currp, firstprio, and ch_system::rlist.

Referenced by chThdYield().

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static void chSchPreemption ( void )

inlinestatic

Inline-able preemption code.

This is the common preemption code, this function must be invoked exclusively from the port layer.

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 703 of file chschd.h.

References chSchDoRescheduleAhead(), and chSchDoRescheduleBehind().

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Variable Documentation

ch_system_t ch

System data structures.

Definition at line 42 of file chschd.c.

Referenced by _dbg_check_disable(), _dbg_check_enable(), _dbg_check_enter_isr(), _dbg_check_leave_isr(), _dbg_check_lock(), _dbg_check_lock_from_isr(), _dbg_check_suspend(), _dbg_check_unlock(), _dbg_check_unlock_from_isr(), _stats_ctxswc(), _stats_increase_irq(), _stats_init(), _stats_start_measure_crit_isr(), _stats_start_measure_crit_thd(), _stats_stop_measure_crit_isr(), _stats_stop_measure_crit_thd(), _tm_init(), _trace_halt(), _trace_init(), _trace_isr_enter(), _trace_isr_leave(), _trace_switch(), _vt_init(), chDbgCheckClassI(), chDbgCheckClassS(), chDbgResumeTraceI(), chDbgSuspendTraceI(), chDbgWriteTraceI(), chRegFirstThread(), chRegNextThread(), chRegSetThreadName(), chSysGetIdleThreadX(), chSysHalt(), chSysInit(), chSysIntegrityCheckI(), chSysUnlock(), chThdGetSelfX(), chTMStopMeasurementX(), chVTDoResetI(), chVTDoSetI(), chVTDoTickI(), chVTGetSystemTimeX(), chVTGetTimersStateI(), and trace_next().

Detailed Description

Macros

Wakeup status codes

Priority constants

Thread states

Thread flags and attributes

Typedefs

Data Structures

Functions

Variables

Macro Definition Documentation

Typedef Documentation

Function Documentation

Variable Documentation