1 | /** |
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2 | * @file rtems/score/thread.h |
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3 | * |
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4 | * @brief Constants and Structures Related with the Thread Control Block |
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5 | * |
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6 | * This include file contains all constants and structures associated |
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7 | * with the thread control block. |
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8 | */ |
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9 | |
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10 | /* |
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11 | * COPYRIGHT (c) 1989-2009. |
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12 | * On-Line Applications Research Corporation (OAR). |
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13 | * |
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14 | * The license and distribution terms for this file may be |
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15 | * found in the file LICENSE in this distribution or at |
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16 | * http://www.rtems.com/license/LICENSE. |
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17 | */ |
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18 | |
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19 | #ifndef _RTEMS_SCORE_THREAD_H |
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20 | #define _RTEMS_SCORE_THREAD_H |
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21 | |
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22 | #include <rtems/score/context.h> |
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23 | #if defined(RTEMS_MULTIPROCESSING) |
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24 | #include <rtems/score/mppkt.h> |
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25 | #endif |
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26 | #include <rtems/score/object.h> |
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27 | #include <rtems/score/percpu.h> |
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28 | #include <rtems/score/priority.h> |
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29 | #include <rtems/score/stack.h> |
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30 | #include <rtems/score/states.h> |
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31 | #include <rtems/score/threadq.h> |
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32 | #include <rtems/score/watchdog.h> |
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33 | |
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34 | #ifdef __cplusplus |
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35 | extern "C" { |
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36 | #endif |
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37 | |
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38 | /** |
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39 | * @defgroup ScoreThread Thread Handler |
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40 | * |
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41 | * @ingroup Score |
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42 | * |
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43 | * This handler encapsulates functionality related to the management of |
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44 | * threads. This includes the creation, deletion, and scheduling of threads. |
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45 | * |
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46 | * The following variables are maintained as part of the per cpu data |
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47 | * structure. |
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48 | * |
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49 | * + Idle thread pointer |
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50 | * + Executing thread pointer |
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51 | * + Heir thread pointer |
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52 | */ |
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53 | /**@{*/ |
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54 | |
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55 | #if defined(RTEMS_POSIX_API) |
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56 | #define RTEMS_SCORE_THREAD_ENABLE_EXHAUST_TIMESLICE |
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57 | #endif |
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58 | |
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59 | /* |
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60 | * With the addition of the Constant Block Scheduler (CBS), |
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61 | * this feature is needed even when POSIX is disabled. |
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62 | */ |
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63 | #define RTEMS_SCORE_THREAD_ENABLE_SCHEDULER_CALLOUT |
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64 | |
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65 | #if defined(RTEMS_POSIX_API) |
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66 | #define RTEMS_SCORE_THREAD_ENABLE_USER_PROVIDED_STACK_VIA_API |
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67 | #endif |
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68 | |
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69 | /* |
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70 | * The user can define this at configure time and go back to ticks |
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71 | * resolution. |
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72 | */ |
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73 | #ifndef __RTEMS_USE_TICKS_FOR_STATISTICS__ |
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74 | #include <rtems/score/timestamp.h> |
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75 | |
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76 | typedef Timestamp_Control Thread_CPU_usage_t; |
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77 | #else |
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78 | typedef uint32_t Thread_CPU_usage_t; |
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79 | #endif |
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80 | |
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81 | /** |
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82 | * The following defines the "return type" of a thread. |
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83 | * |
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84 | * @note This cannot always be right. Some APIs have void |
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85 | * tasks/threads, others return pointers, others may |
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86 | * return a numeric value. Hopefully a pointer is |
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87 | * always at least as big as an uint32_t . :) |
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88 | */ |
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89 | typedef void *Thread; |
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90 | |
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91 | /** |
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92 | * @brief Type of the numeric argument of a thread entry function with at |
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93 | * least one numeric argument. |
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94 | * |
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95 | * This numeric argument type designates an unsigned integer type with the |
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96 | * property that any valid pointer to void can be converted to this type and |
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97 | * then converted back to a pointer to void. The result will compare equal to |
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98 | * the original pointer. |
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99 | */ |
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100 | typedef uintptr_t Thread_Entry_numeric_type; |
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101 | |
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102 | /** |
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103 | * The following defines the ways in which the entry point for a |
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104 | * thread can be invoked. Basically, it can be passed any |
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105 | * combination/permutation of a pointer and an uint32_t value. |
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106 | * |
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107 | * @note For now, we are ignoring the return type. |
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108 | */ |
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109 | typedef enum { |
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110 | THREAD_START_NUMERIC, |
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111 | THREAD_START_POINTER, |
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112 | #if defined(FUNCTIONALITY_NOT_CURRENTLY_USED_BY_ANY_API) |
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113 | THREAD_START_BOTH_POINTER_FIRST, |
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114 | THREAD_START_BOTH_NUMERIC_FIRST |
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115 | #endif |
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116 | } Thread_Start_types; |
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117 | |
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118 | /** This type corresponds to a very simple style thread entry point. */ |
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119 | typedef Thread ( *Thread_Entry )( void ); /* basic type */ |
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120 | |
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121 | /** This type corresponds to a thread entry point which takes a single |
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122 | * unsigned thirty-two bit integer as an argument. |
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123 | */ |
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124 | typedef Thread ( *Thread_Entry_numeric )( Thread_Entry_numeric_type ); |
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125 | |
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126 | /** This type corresponds to a thread entry point which takes a single |
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127 | * untyped pointer as an argument. |
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128 | */ |
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129 | typedef Thread ( *Thread_Entry_pointer )( void * ); |
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130 | |
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131 | /** This type corresponds to a thread entry point which takes a single |
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132 | * untyped pointer and an unsigned thirty-two bit integer as arguments. |
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133 | */ |
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134 | typedef Thread ( *Thread_Entry_both_pointer_first )( void *, Thread_Entry_numeric_type ); |
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135 | |
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136 | /** This type corresponds to a thread entry point which takes a single |
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137 | * unsigned thirty-two bit integer and an untyped pointer and an |
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138 | * as arguments. |
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139 | */ |
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140 | typedef Thread ( *Thread_Entry_both_numeric_first )( Thread_Entry_numeric_type, void * ); |
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141 | |
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142 | /** |
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143 | * The following lists the algorithms used to manage the thread cpu budget. |
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144 | * |
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145 | * Reset Timeslice: At each context switch, reset the time quantum. |
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146 | * Exhaust Timeslice: Only reset the quantum once it is consumed. |
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147 | * Callout: Execute routine when budget is consumed. |
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148 | */ |
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149 | typedef enum { |
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150 | THREAD_CPU_BUDGET_ALGORITHM_NONE, |
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151 | THREAD_CPU_BUDGET_ALGORITHM_RESET_TIMESLICE, |
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152 | #if defined(RTEMS_SCORE_THREAD_ENABLE_EXHAUST_TIMESLICE) |
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153 | THREAD_CPU_BUDGET_ALGORITHM_EXHAUST_TIMESLICE, |
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154 | #endif |
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155 | #if defined(RTEMS_SCORE_THREAD_ENABLE_SCHEDULER_CALLOUT) |
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156 | THREAD_CPU_BUDGET_ALGORITHM_CALLOUT |
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157 | #endif |
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158 | } Thread_CPU_budget_algorithms; |
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159 | |
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160 | /** This defines thes the entry point for the thread specific timeslice |
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161 | * budget management algorithm. |
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162 | */ |
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163 | typedef void (*Thread_CPU_budget_algorithm_callout )( Thread_Control * ); |
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164 | |
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165 | /** |
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166 | * @brief Forward reference to the per task variable structure.. |
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167 | * |
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168 | * Forward reference to the per task variable structure. |
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169 | */ |
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170 | struct rtems_task_variable_tt; |
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171 | |
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172 | /** |
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173 | * @brief Internal structure used to manager per task variables. |
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174 | * |
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175 | * This is the internal structure used to manager per Task Variables. |
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176 | */ |
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177 | typedef struct { |
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178 | /** This field points to the next per task variable for this task. */ |
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179 | struct rtems_task_variable_tt *next; |
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180 | /** This field points to the physical memory location of this per |
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181 | * task variable. |
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182 | */ |
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183 | void **ptr; |
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184 | /** This field is to the global value for this per task variable. */ |
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185 | void *gval; |
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186 | /** This field is to this thread's value for this per task variable. */ |
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187 | void *tval; |
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188 | /** This field points to the destructor for this per task variable. */ |
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189 | void (*dtor)(void *); |
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190 | } rtems_task_variable_t; |
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191 | |
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192 | /** |
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193 | * The following structure contains the information which defines |
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194 | * the starting state of a thread. |
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195 | */ |
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196 | typedef struct { |
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197 | /** This field is the starting address for the thread. */ |
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198 | Thread_Entry entry_point; |
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199 | /** This field indicates the how task is invoked. */ |
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200 | Thread_Start_types prototype; |
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201 | /** This field is the pointer argument passed at thread start. */ |
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202 | void *pointer_argument; |
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203 | /** This field is the numeric argument passed at thread start. */ |
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204 | Thread_Entry_numeric_type numeric_argument; |
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205 | /*-------------- initial execution modes ----------------- */ |
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206 | /** This field indicates whether the thread was preemptible when |
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207 | * it started. |
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208 | */ |
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209 | bool is_preemptible; |
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210 | /** This field indicates the CPU budget algorith. */ |
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211 | Thread_CPU_budget_algorithms budget_algorithm; |
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212 | /** This field is the routine to invoke when the CPU allotment is |
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213 | * consumed. |
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214 | */ |
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215 | Thread_CPU_budget_algorithm_callout budget_callout; |
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216 | /** This field is the initial ISR disable level of this thread. */ |
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217 | uint32_t isr_level; |
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218 | /** This field is the initial priority. */ |
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219 | Priority_Control initial_priority; |
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220 | #if defined(RTEMS_SCORE_THREAD_ENABLE_USER_PROVIDED_STACK_VIA_API) |
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221 | /** This field indicates whether the SuperCore allocated the stack. */ |
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222 | bool core_allocated_stack; |
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223 | #endif |
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224 | /** This field is the stack information. */ |
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225 | Stack_Control Initial_stack; |
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226 | #if ( CPU_HARDWARE_FP == TRUE ) || ( CPU_SOFTWARE_FP == TRUE ) |
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227 | /** This field is the initial FP context area address. */ |
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228 | Context_Control_fp *fp_context; |
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229 | #endif |
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230 | /** This field is the initial stack area address. */ |
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231 | void *stack; |
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232 | /** The thread-local storage (TLS) area */ |
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233 | void *tls_area; |
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234 | } Thread_Start_information; |
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235 | |
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236 | /** |
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237 | * @brief Union type to hold a pointer to an immutable or a mutable object. |
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238 | * |
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239 | * The main purpose is to enable passing of pointers to read-only send buffers |
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240 | * in the message passing subsystem. This approach is somewhat fragile since |
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241 | * it prevents the compiler to check if the operations on objects are valid |
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242 | * with respect to the constant qualifier. An alternative would be to add a |
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243 | * third pointer argument for immutable objects, but this would increase the |
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244 | * structure size. |
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245 | */ |
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246 | typedef union { |
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247 | void *mutable_object; |
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248 | const void *immutable_object; |
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249 | } Thread_Wait_information_Object_argument_type; |
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250 | |
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251 | /** |
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252 | * @brief Information required to manage a thread while it is blocked. |
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253 | * |
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254 | * This contains the information required to manage a thread while it is |
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255 | * blocked and to return information to it. |
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256 | */ |
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257 | typedef struct { |
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258 | /** This field is the Id of the object this thread is waiting upon. */ |
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259 | Objects_Id id; |
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260 | /** This field is used to return an integer while when blocked. */ |
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261 | uint32_t count; |
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262 | /** This field is for a pointer to a user return argument. */ |
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263 | void *return_argument; |
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264 | /** This field is for a pointer to a second user return argument. */ |
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265 | Thread_Wait_information_Object_argument_type |
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266 | return_argument_second; |
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267 | /** This field contains any options in effect on this blocking operation. */ |
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268 | uint32_t option; |
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269 | /** This field will contain the return status from a blocking operation. |
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270 | * |
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271 | * @note The following assumes that all API return codes can be |
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272 | * treated as an uint32_t. |
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273 | */ |
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274 | uint32_t return_code; |
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275 | |
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276 | /** This field is the chain header for the second through Nth tasks |
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277 | * of the same priority blocked waiting on the same object. |
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278 | */ |
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279 | Chain_Control Block2n; |
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280 | /** This field points to the thread queue on which this thread is blocked. */ |
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281 | Thread_queue_Control *queue; |
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282 | } Thread_Wait_information; |
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283 | |
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284 | /** |
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285 | * The following defines the control block used to manage |
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286 | * each thread proxy. |
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287 | * |
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288 | * @note It is critical that proxies and threads have identical |
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289 | * memory images for the shared part. |
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290 | */ |
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291 | typedef struct { |
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292 | /** This field is the object management structure for each proxy. */ |
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293 | Objects_Control Object; |
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294 | /** This field is the current execution state of this proxy. */ |
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295 | States_Control current_state; |
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296 | /** This field is the current priority state of this proxy. */ |
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297 | Priority_Control current_priority; |
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298 | /** This field is the base priority of this proxy. */ |
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299 | Priority_Control real_priority; |
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300 | /** This field is the number of mutexes currently held by this proxy. */ |
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301 | uint32_t resource_count; |
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302 | |
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303 | /** This field is the blocking information for this proxy. */ |
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304 | Thread_Wait_information Wait; |
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305 | /** This field is the Watchdog used to manage proxy delays and timeouts. */ |
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306 | Watchdog_Control Timer; |
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307 | #if defined(RTEMS_MULTIPROCESSING) |
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308 | /** This field is the received response packet in an MP system. */ |
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309 | MP_packet_Prefix *receive_packet; |
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310 | #endif |
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311 | /****************** end of common block ********************/ |
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312 | /** This field is used to manage the set of proxies in the system. */ |
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313 | Chain_Node Active; |
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314 | } Thread_Proxy_control; |
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315 | |
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316 | /** |
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317 | * The following record defines the control block used |
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318 | * to manage each thread. |
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319 | * |
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320 | * @note It is critical that proxies and threads have identical |
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321 | * memory images for the shared part. |
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322 | */ |
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323 | typedef enum { |
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324 | /** This value is for the Classic RTEMS API. */ |
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325 | THREAD_API_RTEMS, |
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326 | /** This value is for the POSIX API. */ |
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327 | THREAD_API_POSIX |
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328 | } Thread_APIs; |
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329 | |
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330 | /** This macro defines the first API which has threads. */ |
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331 | #define THREAD_API_FIRST THREAD_API_RTEMS |
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332 | |
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333 | /** This macro defines the last API which has threads. */ |
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334 | #define THREAD_API_LAST THREAD_API_POSIX |
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335 | |
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336 | /** |
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337 | * This structure defines the Thread Control Block (TCB). |
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338 | */ |
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339 | struct Thread_Control_struct { |
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340 | /** This field is the object management structure for each thread. */ |
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341 | Objects_Control Object; |
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342 | /** This field is the current execution state of this thread. */ |
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343 | States_Control current_state; |
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344 | /** This field is the current priority state of this thread. */ |
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345 | Priority_Control current_priority; |
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346 | /** This field is the base priority of this thread. */ |
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347 | Priority_Control real_priority; |
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348 | /** This field is the number of mutexes currently held by this thread. */ |
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349 | uint32_t resource_count; |
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350 | /** This field is the blocking information for this thread. */ |
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351 | Thread_Wait_information Wait; |
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352 | /** This field is the Watchdog used to manage thread delays and timeouts. */ |
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353 | Watchdog_Control Timer; |
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354 | #if defined(RTEMS_MULTIPROCESSING) |
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355 | /** This field is the received response packet in an MP system. */ |
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356 | MP_packet_Prefix *receive_packet; |
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357 | #endif |
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358 | #ifdef __RTEMS_STRICT_ORDER_MUTEX__ |
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359 | /** This field is the head of queue of priority inheritance mutex |
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360 | * held by the thread. |
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361 | */ |
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362 | Chain_Control lock_mutex; |
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363 | #endif |
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364 | /*================= end of common block =================*/ |
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365 | #if defined(RTEMS_MULTIPROCESSING) |
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366 | /** This field is true if the thread is offered globally */ |
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367 | bool is_global; |
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368 | #endif |
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369 | /** This field is true if the thread is preemptible. */ |
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370 | bool is_preemptible; |
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371 | #if defined(RTEMS_SMP) |
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372 | /** |
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373 | * @brief This field is true if the thread is scheduled. |
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374 | * |
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375 | * A thread is scheduled if it is ready and the scheduler allocated a |
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376 | * processor for it. A scheduled thread is assigned to exactly one |
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377 | * processor. There are exactly processor count scheduled threads in the |
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378 | * system. |
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379 | */ |
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380 | bool is_scheduled; |
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381 | |
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382 | /** |
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383 | * @brief This field is true if the thread is in the air. |
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384 | * |
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385 | * A thread is in the air if it has an allocated processor (it is an |
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386 | * executing or heir thread on exactly one processor) and it is not a member |
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387 | * of the scheduled chain. The extract operation on a scheduled thread will |
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388 | * produce threads in the air (see also _Thread_Set_transient()). The next |
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389 | * enqueue or schedule operation will decide what to do based on this state |
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390 | * indication. It can either place the thread back on the scheduled chain |
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391 | * and the thread can keep its allocated processor, or it can take the |
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392 | * processor away from the thread and give the processor to another thread of |
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393 | * higher priority. |
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394 | */ |
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395 | bool is_in_the_air; |
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396 | |
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397 | /** |
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398 | * @brief This field is true if the thread is executing. |
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399 | * |
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400 | * A thread is executing if it executes on a processor. An executing thread |
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401 | * executes on exactly one processor. There are exactly processor count |
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402 | * executing threads in the system. An executing thread may have a heir |
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403 | * thread and thread dispatching is necessary. On SMP a thread dispatch on a |
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404 | * remote processor needs help from an inter-processor interrupt, thus it |
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405 | * will take some time to complete the state change. A lot of things can |
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406 | * happen in the meantime. |
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407 | */ |
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408 | bool is_executing; |
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409 | #endif |
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410 | #if __RTEMS_ADA__ |
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411 | /** This field is the GNAT self context pointer. */ |
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412 | void *rtems_ada_self; |
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413 | #endif |
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414 | /** This field is the length of the time quantum that this thread is |
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415 | * allowed to consume. The algorithm used to manage limits on CPU usage |
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416 | * is specified by budget_algorithm. |
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417 | */ |
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418 | uint32_t cpu_time_budget; |
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419 | /** This field is the algorithm used to manage this thread's time |
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420 | * quantum. The algorithm may be specified as none which case, |
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421 | * no limit is in place. |
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422 | */ |
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423 | Thread_CPU_budget_algorithms budget_algorithm; |
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424 | /** This field is the method invoked with the budgeted time is consumed. */ |
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425 | Thread_CPU_budget_algorithm_callout budget_callout; |
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426 | /** This field is the amount of CPU time consumed by this thread |
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427 | * since it was created. |
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428 | */ |
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429 | Thread_CPU_usage_t cpu_time_used; |
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430 | |
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431 | /** This pointer holds per-thread data for the scheduler and ready queue. */ |
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432 | void *scheduler_info; |
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433 | |
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434 | #ifdef RTEMS_SMP |
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435 | Per_CPU_Control *cpu; |
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436 | #endif |
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437 | |
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438 | /** This field contains information about the starting state of |
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439 | * this thread. |
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440 | */ |
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441 | Thread_Start_information Start; |
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442 | /** This field contains the context of this thread. */ |
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443 | Context_Control Registers; |
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444 | #if ( CPU_HARDWARE_FP == TRUE ) || ( CPU_SOFTWARE_FP == TRUE ) |
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445 | /** This field points to the floating point context for this thread. |
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446 | * If NULL, the thread is integer only. |
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447 | */ |
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448 | Context_Control_fp *fp_context; |
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449 | #endif |
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450 | /** This field points to the newlib reentrancy structure for this thread. */ |
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451 | struct _reent *libc_reent; |
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452 | /** This array contains the API extension area pointers. */ |
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453 | void *API_Extensions[ THREAD_API_LAST + 1 ]; |
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454 | /** This field points to the user extension pointers. */ |
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455 | void **extensions; |
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456 | /** This field points to the set of per task variables. */ |
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457 | rtems_task_variable_t *task_variables; |
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458 | }; |
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459 | |
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460 | #if (CPU_PROVIDES_IDLE_THREAD_BODY == FALSE) |
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461 | /** |
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462 | * This routine is the body of the system idle thread. |
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463 | * |
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464 | * NOTE: This routine is actually instantiated by confdefs.h when needed. |
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465 | */ |
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466 | void *_Thread_Idle_body( |
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467 | uintptr_t ignored |
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468 | ); |
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469 | #endif |
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470 | |
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471 | /** This defines the type for a method which operates on a single thread. |
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472 | */ |
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473 | typedef void (*rtems_per_thread_routine)( Thread_Control * ); |
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474 | |
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475 | /** |
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476 | * @brief Iterates over all threads. |
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477 | * This routine iterates over all threads regardless of API and |
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478 | * invokes the specified routine. |
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479 | */ |
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480 | void rtems_iterate_over_all_threads( |
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481 | rtems_per_thread_routine routine |
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482 | ); |
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483 | |
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484 | /** |
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485 | * @brief Returns the thread control block of the executing thread. |
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486 | * |
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487 | * This function can be called in any context. On SMP configurations |
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488 | * interrupts are disabled to ensure that the processor index is used |
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489 | * consistently. |
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490 | * |
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491 | * @return The thread control block of the executing thread. |
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492 | */ |
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493 | RTEMS_INLINE_ROUTINE Thread_Control *_Thread_Get_executing( void ) |
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494 | { |
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495 | Thread_Control *executing; |
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496 | |
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497 | #if defined( RTEMS_SMP ) |
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498 | ISR_Level level; |
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499 | |
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500 | _ISR_Disable_without_giant( level ); |
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501 | #endif |
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502 | |
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503 | executing = _Thread_Executing; |
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504 | |
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505 | #if defined( RTEMS_SMP ) |
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506 | _ISR_Enable_without_giant( level ); |
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507 | #endif |
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508 | |
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509 | return executing; |
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510 | } |
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511 | |
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512 | /**@}*/ |
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513 | |
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514 | #ifdef __cplusplus |
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515 | } |
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516 | #endif |
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517 | |
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518 | #endif |
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519 | /* end of include file */ |
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