/* ChibiOS - Copyright (C) 2006,2007,2008,2009,2010,2011,2012,2013,2014, 2015,2016,2017,2018,2019,2020,2021 Giovanni Di Sirio. This file is part of ChibiOS. ChibiOS 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 version 3 of the License. ChibiOS 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 . */ /** * @file chobjects.h * @brief Operating System Objects macros and structures. * * @addtogroup os_structures * @{ */ #ifndef CHOBJECTS_H #define CHOBJECTS_H /*===========================================================================*/ /* Module constants. */ /*===========================================================================*/ /*===========================================================================*/ /* Module pre-compile time settings. */ /*===========================================================================*/ /*===========================================================================*/ /* Derived constants and error checks. */ /*===========================================================================*/ /*===========================================================================*/ /* Module data structures and types. */ /*===========================================================================*/ /** * @brief Global state of the operating system. */ typedef enum { ch_sys_uninit = 0, ch_sys_initializing = 1, ch_sys_running = 2, ch_sys_halted = 3 } system_state_t; /** * @brief Type of a Virtual Timer. */ typedef struct ch_virtual_timer virtual_timer_t; /** * @brief Type of a Virtual Timer callback function. * * @param[in] vtp pointer to the @p virtual_timer_t calling this callback * @param[in[ p optional argument to the callback * @return The interval to be reloaded into the timer or zero. * @retval 0 if the timer must not be reloaded. */ typedef void (*vtfunc_t)(virtual_timer_t *vtp, void *p); /** * @brief Structure representing a Virtual Timer. */ struct ch_virtual_timer { /** * @brief Delta list element. */ ch_delta_list_t dlist; /** * @brief Timer callback function pointer. */ vtfunc_t func; /** * @brief Timer callback function parameter. */ void *par; /** * @brief Current reload interval. */ sysinterval_t reload; }; /** * @brief Type of virtual timers list header. * @note The timers list is implemented as a double link bidirectional list * in order to make the unlink time constant, the reset of a virtual * timer is often used in the code. */ typedef struct ch_virtual_timers_list { /** * @brief Delta list header. */ ch_delta_list_t dlist; #if (CH_CFG_ST_TIMEDELTA == 0) || defined(__DOXYGEN__) /** * @brief System Time counter. */ volatile systime_t systime; #endif #if (CH_CFG_ST_TIMEDELTA > 0) || defined(__DOXYGEN__) /** * @brief System time of the last tick event. */ systime_t lasttime; #endif #if (CH_CFG_USE_TIMESTAMP == TRUE) || defined(__DOXYGEN__) /** * @brief Last generated time stamp. */ volatile uint64_t laststamp; #endif } virtual_timers_list_t; /** * @brief Type of a registry structure. */ typedef struct ch_registry { /** * @brief Registry queue header. */ ch_queue_t queue; } registry_t; /** * @brief Type of a thread reference. */ typedef thread_t * thread_reference_t; /** * @brief Type of a threads queue. */ typedef struct ch_threads_queue { /** * @brief Threads queue header. */ ch_queue_t queue; } threads_queue_t; /** * @brief Structure representing a thread. * @note Not all the listed fields are always needed, by switching off some * not needed ChibiOS/RT subsystems it is possible to save RAM space * by shrinking this structure. */ struct ch_thread { /** * @brief Shared list headers. */ union { /** * @brief Threads lists element. */ ch_list_t list; /** * @brief Threads queues element. */ ch_queue_t queue; /** * @brief Threads ordered queues element. */ ch_priority_queue_t pqueue; } hdr; /** * @brief Processor context. */ struct port_context ctx; #if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__) /** * @brief Registry queue element. */ ch_queue_t rqueue; #endif /** * @brief OS instance owner of this thread. */ os_instance_t *owner; #if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__) /** * @brief Thread name or @p NULL. */ const char *name; #endif #if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE) || \ defined(__DOXYGEN__) /** * @brief Working area base address. * @note This pointer is used for stack overflow checks and for * dynamic threading. */ stkalign_t *wabase; #endif /** * @brief Current thread state. */ tstate_t state; /** * @brief Various thread flags. */ tmode_t flags; #if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__) /** * @brief References to this thread. */ trefs_t refs; #endif /** * @brief Number of ticks remaining to this thread. */ #if (CH_CFG_TIME_QUANTUM > 0) || defined(__DOXYGEN__) tslices_t ticks; #endif #if (CH_DBG_THREADS_PROFILING == TRUE) || defined(__DOXYGEN__) /** * @brief Thread consumed time in ticks. * @note This field can overflow. */ volatile systime_t time; #endif /** * @brief State-specific fields. * @note All the fields declared in this union are only valid in the * specified state or condition and are thus volatile. */ union { /** * @brief Thread wakeup code. * @note This field contains the low level message sent to the thread * by the waking thread or interrupt handler. The value is valid * after exiting the @p chSchWakeupS() function. */ msg_t rdymsg; /** * @brief Thread exit code. * @note The thread termination code is stored in this field in order * to be retrieved by the thread performing a @p chThdWait() on * this thread. */ msg_t exitcode; /** * @brief Pointer to a generic "wait" object. * @note This field is used to get a generic pointer to a synchronization * object and is valid when the thread is in one of the wait * states. */ void *wtobjp; /** * @brief Pointer to a generic thread reference object. * @note This field is used to get a pointer to a synchronization * object and is valid when the thread is in @p CH_STATE_SUSPENDED * state. */ thread_reference_t *wttrp; #if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__) /** * @brief Thread sent message. */ msg_t sentmsg; #endif #if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__) /** * @brief Pointer to a generic semaphore object. * @note This field is used to get a pointer to a synchronization * object and is valid when the thread is in @p CH_STATE_WTSEM * state. */ struct ch_semaphore *wtsemp; #endif #if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__) /** * @brief Pointer to a generic mutex object. * @note This field is used to get a pointer to a synchronization * object and is valid when the thread is in @p CH_STATE_WTMTX * state. */ struct ch_mutex *wtmtxp; #endif #if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__) /** * @brief Enabled events mask. * @note This field is only valid while the thread is in the * @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states. */ eventmask_t ewmask; #endif } u; #if (CH_CFG_USE_WAITEXIT == TRUE) || defined(__DOXYGEN__) /** * @brief Termination waiting list. */ ch_list_t waiting; #endif #if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__) /** * @brief Messages queue. */ ch_queue_t msgqueue; #endif #if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__) /** * @brief Pending events mask. */ eventmask_t epending; #endif #if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__) /** * @brief List of the mutexes owned by this thread. * @note The list is terminated by a @p NULL in this field. */ struct ch_mutex *mtxlist; /** * @brief Thread's own, non-inherited, priority. */ tprio_t realprio; #endif #if ((CH_CFG_USE_DYNAMIC == TRUE) && (CH_CFG_USE_MEMPOOLS == TRUE)) || \ defined(__DOXYGEN__) /** * @brief Memory Pool where the thread workspace is returned. */ void *mpool; #endif #if (CH_DBG_STATISTICS == TRUE) || defined(__DOXYGEN__) /** * @brief Thread statistics. */ time_measurement_t stats; #endif #if defined(CH_CFG_THREAD_EXTRA_FIELDS) /* Extra fields defined in chconf.h.*/ CH_CFG_THREAD_EXTRA_FIELDS #endif }; /** * @brief Type of a ready list header. */ typedef struct ch_ready_list { /** * @brief Threads ordered queues header. * @note The priority field must be initialized to zero. */ ch_priority_queue_t pqueue; /** * @brief The currently running thread. */ thread_t *current; } ready_list_t; /** * @brief Type of an system instance configuration. */ typedef struct ch_os_instance_config { /** * @brief Instance name. */ const char *name; #if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE) || \ defined(__DOXYGEN__) /** * @brief Lower limit of the main function thread stack. */ stkalign_t *mainthread_base; /** * @brief Upper limit of the main function thread stack. */ stkalign_t *mainthread_end; #endif #if (CH_CFG_NO_IDLE_THREAD == FALSE) || defined(__DOXYGEN__) /** * @brief Lower limit of the dedicated idle thread stack. */ stkalign_t *idlethread_base; /** * @brief Upper limit of the dedicated idle thread stack. */ stkalign_t *idlethread_end; #endif } os_instance_config_t; /** * @brief System instance data structure. */ struct ch_os_instance { /** * @brief Ready list header. */ ready_list_t rlist; /** * @brief Virtual timers delta list header. */ virtual_timers_list_t vtlist; #if ((CH_CFG_USE_REGISTRY == TRUE) && (CH_CFG_SMP_MODE == FALSE)) || \ defined(__DOXYGEN__) /** * @brief Registry header. * @note This field is present only if the SMP mode is disabled. */ registry_t reglist; #endif /** * @brief Core associated to this instance. */ core_id_t core_id; #if (CH_CFG_SMP_MODE == FALSE) || defined(__DOXYGEN__) /** * @brief Runtime Faults Collection Unit for this instance. * @note This field is present only if the SMP mode is disabled. */ rfcu_t rfcu; #endif /** * @brief Pointer to the instance configuration data. */ const os_instance_config_t *config; /** * @brief Main thread descriptor. */ thread_t mainthread; /** * @brief System debug. */ system_debug_t dbg; #if (CH_DBG_TRACE_MASK != CH_DBG_TRACE_MASK_DISABLED) || defined(__DOXYGEN__) /** * @brief Trace buffer. */ trace_buffer_t trace_buffer; #endif #if (CH_DBG_STATISTICS == TRUE) || defined(__DOXYGEN__) /** * @brief Global kernel statistics. */ kernel_stats_t kernel_stats; #endif #if defined(PORT_INSTANCE_EXTRA_FIELDS) || defined(__DOXYGEN__) /* Extra fields from port layer.*/ PORT_INSTANCE_EXTRA_FIELDS #endif /* Extra fields from configuration.*/ CH_CFG_OS_INSTANCE_EXTRA_FIELDS }; /** * @brief Type of system data structure. */ typedef struct ch_system { /** * @brief Operating system state. */ system_state_t state; /** * @brief Initialized OS instances or @p NULL. */ os_instance_t *instances[PORT_CORES_NUMBER]; #if (CH_CFG_USE_TM == TRUE) || defined(__DOXYGEN__) /** * @brief Time measurement calibration data. */ tm_calibration_t tmc; #endif #if ((CH_CFG_USE_REGISTRY == TRUE) && (CH_CFG_SMP_MODE == TRUE)) || \ defined(__DOXYGEN__) /** * @brief Registry header. * @note This field is present only if the SMP mode is enabled. */ registry_t reglist; #endif #if (CH_CFG_SMP_MODE == TRUE) || defined(__DOXYGEN__) /** * @brief Runtime Faults Collection Unit. * @note This field is present only if the SMP mode is enabled. */ rfcu_t rfcu; #endif #if defined(PORT_SYSTEM_EXTRA_FIELDS) || defined(__DOXYGEN__) /* Extra fields from port layer.*/ PORT_SYSTEM_EXTRA_FIELDS #endif /* Extra fields from configuration.*/ CH_CFG_SYSTEM_EXTRA_FIELDS } ch_system_t; /*===========================================================================*/ /* Module macros. */ /*===========================================================================*/ /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ #ifdef __cplusplus extern "C" { #endif #ifdef __cplusplus } #endif /*===========================================================================*/ /* Module inline functions. */ /*===========================================================================*/ #endif /* CHOBJECTS_H */ /** @} */