/* * Copyright (c) 2006-2021, RT-Thread Development Team * * SPDX-License-Identifier: Apache-2.0 * * Change Logs: * Date Author Notes * 2006-03-18 Bernard the first version * 2006-04-26 Bernard add semaphore APIs * 2006-08-10 Bernard add version information * 2007-01-28 Bernard rename RT_OBJECT_Class_Static to RT_Object_Class_Static * 2007-03-03 Bernard clean up the definitions to rtdef.h * 2010-04-11 yi.qiu add module feature * 2013-06-24 Bernard add rt_kprintf re-define when not use RT_USING_CONSOLE. * 2016-08-09 ArdaFu add new thread and interrupt hook. * 2018-11-22 Jesven add all cpu's lock and ipi handler * 2021-02-28 Meco Man add RT_KSERVICE_USING_STDLIB * 2021-11-14 Meco Man add rtlegacy.h for compatibility * 2022-06-04 Meco Man remove strnlen */ #ifndef __RT_THREAD_H__ #define __RT_THREAD_H__ #include #include #include #include #include #ifdef RT_USING_LEGACY #include #endif #ifdef __cplusplus extern "C" { #endif /** * @addtogroup KernelObject * @{ */ /* * kernel object interface */ struct rt_object_information * rt_object_get_information(enum rt_object_class_type type); int rt_object_get_length(enum rt_object_class_type type); int rt_object_get_pointers(enum rt_object_class_type type, rt_object_t *pointers, int maxlen); void rt_object_init(struct rt_object *object, enum rt_object_class_type type, const char *name); void rt_object_detach(rt_object_t object); #ifdef RT_USING_HEAP rt_object_t rt_object_allocate(enum rt_object_class_type type, const char *name); void rt_object_delete(rt_object_t object); #endif rt_bool_t rt_object_is_systemobject(rt_object_t object); rt_uint8_t rt_object_get_type(rt_object_t object); rt_object_t rt_object_find(const char *name, rt_uint8_t type); #ifdef RT_USING_HEAP /* custom object */ rt_object_t rt_custom_object_create(const char *name, void *data, rt_err_t (*data_destroy)(void *)); rt_err_t rt_custom_object_destroy(rt_object_t obj); #endif #ifdef RT_USING_HOOK void rt_object_attach_sethook(void (*hook)(struct rt_object *object)); void rt_object_detach_sethook(void (*hook)(struct rt_object *object)); void rt_object_trytake_sethook(void (*hook)(struct rt_object *object)); void rt_object_take_sethook(void (*hook)(struct rt_object *object)); void rt_object_put_sethook(void (*hook)(struct rt_object *object)); #endif /**@}*/ /** * @addtogroup Clock * @{ */ /* * clock & timer interface */ rt_tick_t rt_tick_get(void); void rt_tick_set(rt_tick_t tick); void rt_tick_increase(void); rt_tick_t rt_tick_from_millisecond(rt_int32_t ms); rt_tick_t rt_tick_get_millisecond(void); #ifdef RT_USING_HOOK void rt_tick_sethook(void (*hook)(void)); #endif void rt_system_timer_init(void); void rt_system_timer_thread_init(void); void rt_timer_init(rt_timer_t timer, const char *name, void (*timeout)(void *parameter), void *parameter, rt_tick_t time, rt_uint8_t flag); rt_err_t rt_timer_detach(rt_timer_t timer); #ifdef RT_USING_HEAP rt_timer_t rt_timer_create(const char *name, void (*timeout)(void *parameter), void *parameter, rt_tick_t time, rt_uint8_t flag); rt_err_t rt_timer_delete(rt_timer_t timer); #endif rt_err_t rt_timer_start(rt_timer_t timer); rt_err_t rt_timer_stop(rt_timer_t timer); rt_err_t rt_timer_control(rt_timer_t timer, int cmd, void *arg); rt_tick_t rt_timer_next_timeout_tick(void); void rt_timer_check(void); #ifdef RT_USING_HOOK void rt_timer_enter_sethook(void (*hook)(struct rt_timer *timer)); void rt_timer_exit_sethook(void (*hook)(struct rt_timer *timer)); #endif /**@}*/ /** * @addtogroup Thread * @{ */ /* * thread interface */ rt_err_t rt_thread_init(struct rt_thread *thread, const char *name, void (*entry)(void *parameter), void *parameter, void *stack_start, rt_uint32_t stack_size, rt_uint8_t priority, rt_uint32_t tick); rt_err_t rt_thread_detach(rt_thread_t thread); #ifdef RT_USING_HEAP rt_thread_t rt_thread_create(const char *name, void (*entry)(void *parameter), void *parameter, rt_uint32_t stack_size, rt_uint8_t priority, rt_uint32_t tick); rt_err_t rt_thread_delete(rt_thread_t thread); #endif rt_thread_t rt_thread_self(void); rt_thread_t rt_thread_find(char *name); rt_err_t rt_thread_startup(rt_thread_t thread); rt_err_t rt_thread_yield(void); rt_err_t rt_thread_delay(rt_tick_t tick); rt_err_t rt_thread_delay_until(rt_tick_t *tick, rt_tick_t inc_tick); rt_err_t rt_thread_mdelay(rt_int32_t ms); rt_err_t rt_thread_control(rt_thread_t thread, int cmd, void *arg); rt_err_t rt_thread_suspend(rt_thread_t thread); rt_err_t rt_thread_suspend_with_flag(rt_thread_t thread, int suspend_flag); rt_err_t rt_thread_resume(rt_thread_t thread); #ifdef RT_USING_SMART rt_err_t rt_thread_wakeup(rt_thread_t thread); void rt_thread_wakeup_set(struct rt_thread *thread, rt_wakeup_func_t func, void* user_data); #endif void rt_thread_timeout(void *parameter); #ifdef RT_USING_SIGNALS void rt_thread_alloc_sig(rt_thread_t tid); void rt_thread_free_sig(rt_thread_t tid); int rt_thread_kill(rt_thread_t tid, int sig); #endif #ifdef RT_USING_HOOK void rt_thread_suspend_sethook(void (*hook)(rt_thread_t thread)); void rt_thread_resume_sethook (void (*hook)(rt_thread_t thread)); void rt_thread_inited_sethook (void (*hook)(rt_thread_t thread)); #endif /* * idle thread interface */ void rt_thread_idle_init(void); #if defined(RT_USING_HOOK) || defined(RT_USING_IDLE_HOOK) rt_err_t rt_thread_idle_sethook(void (*hook)(void)); rt_err_t rt_thread_idle_delhook(void (*hook)(void)); #endif rt_thread_t rt_thread_idle_gethandler(void); /* * schedule service */ void rt_system_scheduler_init(void); void rt_system_scheduler_start(void); void rt_schedule(void); void rt_schedule_insert_thread(struct rt_thread *thread); void rt_schedule_remove_thread(struct rt_thread *thread); void rt_enter_critical(void); void rt_exit_critical(void); rt_uint16_t rt_critical_level(void); #ifdef RT_USING_HOOK void rt_scheduler_sethook(void (*hook)(rt_thread_t from, rt_thread_t to)); void rt_scheduler_switch_sethook(void (*hook)(struct rt_thread *tid)); #endif #ifdef RT_USING_SMP void rt_secondary_cpu_entry(void); void rt_scheduler_ipi_handler(int vector, void *param); #endif /**@}*/ /** * @addtogroup Signals * @{ */ #ifdef RT_USING_SIGNALS void rt_signal_mask(int signo); void rt_signal_unmask(int signo); rt_sighandler_t rt_signal_install(int signo, rt_sighandler_t handler); int rt_signal_wait(const rt_sigset_t *set, rt_siginfo_t *si, rt_int32_t timeout); int rt_system_signal_init(void); #endif /**@}*/ /** * @addtogroup MM * @{ */ /* * memory management interface */ #ifdef RT_USING_MEMPOOL /* * memory pool interface */ rt_err_t rt_mp_init(struct rt_mempool *mp, const char *name, void *start, rt_size_t size, rt_size_t block_size); rt_err_t rt_mp_detach(struct rt_mempool *mp); #ifdef RT_USING_HEAP rt_mp_t rt_mp_create(const char *name, rt_size_t block_count, rt_size_t block_size); rt_err_t rt_mp_delete(rt_mp_t mp); #endif void *rt_mp_alloc(rt_mp_t mp, rt_int32_t time); void rt_mp_free(void *block); #ifdef RT_USING_HOOK void rt_mp_alloc_sethook(void (*hook)(struct rt_mempool *mp, void *block)); void rt_mp_free_sethook(void (*hook)(struct rt_mempool *mp, void *block)); #endif #endif #ifdef RT_USING_HEAP /* * heap memory interface */ void rt_system_heap_init(void *begin_addr, void *end_addr); void *rt_malloc(rt_size_t nbytes); void rt_free(void *ptr); void *rt_realloc(void *ptr, rt_size_t nbytes); void *rt_calloc(rt_size_t count, rt_size_t size); void *rt_malloc_align(rt_size_t size, rt_size_t align); void rt_free_align(void *ptr); void rt_memory_info(rt_size_t *total, rt_size_t *used, rt_size_t *max_used); #if defined(RT_USING_SLAB) && defined(RT_USING_SLAB_AS_HEAP) void *rt_page_alloc(rt_size_t npages); void rt_page_free(void *addr, rt_size_t npages); #endif #ifdef RT_USING_HOOK void rt_malloc_sethook(void (*hook)(void *ptr, rt_size_t size)); void rt_free_sethook(void (*hook)(void *ptr)); #endif #endif #ifdef RT_USING_SMALL_MEM /** * small memory object interface */ rt_smem_t rt_smem_init(const char *name, void *begin_addr, rt_size_t size); rt_err_t rt_smem_detach(rt_smem_t m); void *rt_smem_alloc(rt_smem_t m, rt_size_t size); void *rt_smem_realloc(rt_smem_t m, void *rmem, rt_size_t newsize); void rt_smem_free(void *rmem); #endif #ifdef RT_USING_MEMHEAP /** * memory heap object interface */ rt_err_t rt_memheap_init(struct rt_memheap *memheap, const char *name, void *start_addr, rt_size_t size); rt_err_t rt_memheap_detach(struct rt_memheap *heap); void *rt_memheap_alloc(struct rt_memheap *heap, rt_size_t size); void *rt_memheap_realloc(struct rt_memheap *heap, void *ptr, rt_size_t newsize); void rt_memheap_free(void *ptr); void rt_memheap_info(struct rt_memheap *heap, rt_size_t *total, rt_size_t *used, rt_size_t *max_used); #endif #ifdef RT_USING_SLAB /** * slab object interface */ rt_slab_t rt_slab_init(const char *name, void *begin_addr, rt_size_t size); rt_err_t rt_slab_detach(rt_slab_t m); void *rt_slab_page_alloc(rt_slab_t m, rt_size_t npages); void rt_slab_page_free(rt_slab_t m, void *addr, rt_size_t npages); void *rt_slab_alloc(rt_slab_t m, rt_size_t size); void *rt_slab_realloc(rt_slab_t m, void *ptr, rt_size_t size); void rt_slab_free(rt_slab_t m, void *ptr); #endif /**@}*/ /** * @addtogroup IPC * @{ */ #ifdef RT_USING_SEMAPHORE /* * semaphore interface */ rt_err_t rt_sem_init(rt_sem_t sem, const char *name, rt_uint32_t value, rt_uint8_t flag); rt_err_t rt_sem_detach(rt_sem_t sem); #ifdef RT_USING_HEAP rt_sem_t rt_sem_create(const char *name, rt_uint32_t value, rt_uint8_t flag); rt_err_t rt_sem_delete(rt_sem_t sem); #endif rt_err_t rt_sem_take(rt_sem_t sem, rt_int32_t timeout); rt_err_t rt_sem_take_interruptible(rt_sem_t sem, rt_int32_t timeout); rt_err_t rt_sem_take_killable(rt_sem_t sem, rt_int32_t timeout); rt_err_t rt_sem_trytake(rt_sem_t sem); rt_err_t rt_sem_release(rt_sem_t sem); rt_err_t rt_sem_control(rt_sem_t sem, int cmd, void *arg); #endif #ifdef RT_USING_MUTEX /* * mutex interface */ rt_err_t rt_mutex_init(rt_mutex_t mutex, const char *name, rt_uint8_t flag); rt_err_t rt_mutex_detach(rt_mutex_t mutex); #ifdef RT_USING_HEAP rt_mutex_t rt_mutex_create(const char *name, rt_uint8_t flag); rt_err_t rt_mutex_delete(rt_mutex_t mutex); #endif void rt_mutex_drop_thread(rt_mutex_t mutex, rt_thread_t thread); rt_uint8_t rt_mutex_setprioceiling(rt_mutex_t mutex, rt_uint8_t priority); rt_uint8_t rt_mutex_getprioceiling(rt_mutex_t mutex); rt_err_t rt_mutex_take(rt_mutex_t mutex, rt_int32_t timeout); rt_err_t rt_mutex_trytake(rt_mutex_t mutex); rt_err_t rt_mutex_take_interruptible(rt_mutex_t mutex, rt_int32_t time); rt_err_t rt_mutex_take_killable(rt_mutex_t mutex, rt_int32_t time); rt_err_t rt_mutex_release(rt_mutex_t mutex); rt_err_t rt_mutex_control(rt_mutex_t mutex, int cmd, void *arg); #endif #ifdef RT_USING_EVENT /* * event interface */ rt_err_t rt_event_init(rt_event_t event, const char *name, rt_uint8_t flag); rt_err_t rt_event_detach(rt_event_t event); #ifdef RT_USING_HEAP rt_event_t rt_event_create(const char *name, rt_uint8_t flag); rt_err_t rt_event_delete(rt_event_t event); #endif rt_err_t rt_event_send(rt_event_t event, rt_uint32_t set); rt_err_t rt_event_recv(rt_event_t event, rt_uint32_t set, rt_uint8_t opt, rt_int32_t timeout, rt_uint32_t *recved); rt_err_t rt_event_recv_interruptible(rt_event_t event, rt_uint32_t set, rt_uint8_t opt, rt_int32_t timeout, rt_uint32_t *recved); rt_err_t rt_event_recv_killable(rt_event_t event, rt_uint32_t set, rt_uint8_t opt, rt_int32_t timeout, rt_uint32_t *recved); rt_err_t rt_event_control(rt_event_t event, int cmd, void *arg); #endif #ifdef RT_USING_MAILBOX /* * mailbox interface */ rt_err_t rt_mb_init(rt_mailbox_t mb, const char *name, void *msgpool, rt_size_t size, rt_uint8_t flag); rt_err_t rt_mb_detach(rt_mailbox_t mb); #ifdef RT_USING_HEAP rt_mailbox_t rt_mb_create(const char *name, rt_size_t size, rt_uint8_t flag); rt_err_t rt_mb_delete(rt_mailbox_t mb); #endif rt_err_t rt_mb_send(rt_mailbox_t mb, rt_ubase_t value); rt_err_t rt_mb_send_wait(rt_mailbox_t mb, rt_ubase_t value, rt_int32_t timeout); rt_err_t rt_mb_send_wait_interruptible(rt_mailbox_t mb, rt_ubase_t value, rt_int32_t timeout); rt_err_t rt_mb_send_wait_killable(rt_mailbox_t mb, rt_ubase_t value, rt_int32_t timeout); rt_err_t rt_mb_urgent(rt_mailbox_t mb, rt_ubase_t value); rt_err_t rt_mb_recv(rt_mailbox_t mb, rt_ubase_t *value, rt_int32_t timeout); rt_err_t rt_mb_recv_interruptibale(rt_mailbox_t mb, rt_ubase_t *value, rt_int32_t timeout); rt_err_t rt_mb_recv_killable(rt_mailbox_t mb, rt_ubase_t *value, rt_int32_t timeout); rt_err_t rt_mb_control(rt_mailbox_t mb, int cmd, void *arg); #endif #ifdef RT_USING_MESSAGEQUEUE /* * message queue interface */ rt_err_t rt_mq_init(rt_mq_t mq, const char *name, void *msgpool, rt_size_t msg_size, rt_size_t pool_size, rt_uint8_t flag); rt_err_t rt_mq_detach(rt_mq_t mq); #ifdef RT_USING_HEAP rt_mq_t rt_mq_create(const char *name, rt_size_t msg_size, rt_size_t max_msgs, rt_uint8_t flag); rt_err_t rt_mq_delete(rt_mq_t mq); #endif rt_err_t rt_mq_send(rt_mq_t mq, const void *buffer, rt_size_t size); rt_err_t rt_mq_send_interrupt(rt_mq_t mq, const void *buffer, rt_size_t size); rt_err_t rt_mq_send_killable(rt_mq_t mq, const void *buffer, rt_size_t size); rt_err_t rt_mq_send_wait(rt_mq_t mq, const void *buffer, rt_size_t size, rt_int32_t timeout); rt_err_t rt_mq_send_wait_interruptible(rt_mq_t mq, const void *buffer, rt_size_t size, rt_int32_t timeout); rt_err_t rt_mq_send_wait_killable(rt_mq_t mq, const void *buffer, rt_size_t size, rt_int32_t timeout); rt_err_t rt_mq_urgent(rt_mq_t mq, const void *buffer, rt_size_t size); rt_err_t rt_mq_recv(rt_mq_t mq, void *buffer, rt_size_t size, rt_int32_t timeout); rt_err_t rt_mq_recv_interruptible(rt_mq_t mq, void *buffer, rt_size_t size, rt_int32_t timeout); rt_err_t rt_mq_recv_killable(rt_mq_t mq, void *buffer, rt_size_t size, rt_int32_t timeout); rt_err_t rt_mq_control(rt_mq_t mq, int cmd, void *arg); #endif /* defunct */ void rt_thread_defunct_enqueue(rt_thread_t thread); rt_thread_t rt_thread_defunct_dequeue(void); /* * spinlock */ #ifdef RT_USING_SMP struct rt_spinlock; void rt_spin_lock_init(struct rt_spinlock *lock); void rt_spin_lock(struct rt_spinlock *lock); void rt_spin_unlock(struct rt_spinlock *lock); rt_base_t rt_spin_lock_irqsave(struct rt_spinlock *lock); void rt_spin_unlock_irqrestore(struct rt_spinlock *lock, rt_base_t level); #else #define rt_spin_lock_init(lock) /* nothing */ #define rt_spin_lock(lock) rt_enter_critical() #define rt_spin_unlock(lock) rt_exit_critical() #define rt_spin_lock_irqsave(lock) rt_hw_interrupt_disable() #define rt_spin_unlock_irqrestore(lock, level) rt_hw_interrupt_enable(level) #endif /**@}*/ #ifdef RT_USING_DEVICE /** * @addtogroup Device * @{ */ /* * device (I/O) system interface */ rt_device_t rt_device_find(const char *name); rt_err_t rt_device_register(rt_device_t dev, const char *name, rt_uint16_t flags); rt_err_t rt_device_unregister(rt_device_t dev); #ifdef RT_USING_HEAP rt_device_t rt_device_create(int type, int attach_size); void rt_device_destroy(rt_device_t device); #endif rt_err_t rt_device_set_rx_indicate(rt_device_t dev, rt_err_t (*rx_ind)(rt_device_t dev, rt_size_t size)); rt_err_t rt_device_set_tx_complete(rt_device_t dev, rt_err_t (*tx_done)(rt_device_t dev, void *buffer)); rt_err_t rt_device_init (rt_device_t dev); rt_err_t rt_device_open (rt_device_t dev, rt_uint16_t oflag); rt_err_t rt_device_close(rt_device_t dev); rt_ssize_t rt_device_read(rt_device_t dev, rt_off_t pos, void *buffer, rt_size_t size); rt_ssize_t rt_device_write(rt_device_t dev, rt_off_t pos, const void *buffer, rt_size_t size); rt_err_t rt_device_control(rt_device_t dev, int cmd, void *arg); #ifdef RT_USING_DM rt_err_t rt_device_bind_driver(rt_device_t device, rt_driver_t driver, void *node); rt_device_t rt_device_create_since_driver(rt_driver_t drv,int device_id); rt_err_t rt_device_probe_and_init(rt_device_t device); rt_err_t rt_driver_match_with_id(const rt_driver_t drv,int device_id); rt_err_t rt_driver_match_with_dtb(const rt_driver_t drv,void *from_node,int max_dev_num); #endif /**@}*/ #endif /* * interrupt service */ /* * rt_interrupt_enter and rt_interrupt_leave only can be called by BSP */ void rt_interrupt_enter(void); void rt_interrupt_leave(void); #ifdef RT_USING_SMP /* * smp cpus lock service */ rt_base_t rt_cpus_lock(void); void rt_cpus_unlock(rt_base_t level); struct rt_cpu *rt_cpu_self(void); struct rt_cpu *rt_cpu_index(int index); #endif /* * the number of nested interrupts. */ rt_uint8_t rt_interrupt_get_nest(void); #ifdef RT_USING_HOOK void rt_interrupt_enter_sethook(void (*hook)(void)); void rt_interrupt_leave_sethook(void (*hook)(void)); #endif #ifdef RT_USING_COMPONENTS_INIT void rt_components_init(void); void rt_components_board_init(void); #endif /** * @addtogroup KernelService * @{ */ /* * general kernel service */ #ifndef RT_USING_CONSOLE #define rt_kprintf(...) #define rt_kputs(str) #else int rt_kprintf(const char *fmt, ...); void rt_kputs(const char *str); #endif int rt_vsprintf(char *dest, const char *format, va_list arg_ptr); int rt_vsnprintf(char *buf, rt_size_t size, const char *fmt, va_list args); int rt_sprintf(char *buf, const char *format, ...); int rt_snprintf(char *buf, rt_size_t size, const char *format, ...); #if defined(RT_USING_DEVICE) && defined(RT_USING_CONSOLE) rt_device_t rt_console_set_device(const char *name); rt_device_t rt_console_get_device(void); #endif rt_err_t rt_get_errno(void); void rt_set_errno(rt_err_t no); int *_rt_errno(void); const char *rt_strerror(rt_err_t error); #if !defined(RT_USING_NEWLIBC) && !defined(_WIN32) #ifndef errno #define errno *_rt_errno() #endif #endif int __rt_ffs(int value); #ifndef RT_KSERVICE_USING_STDLIB_MEMORY void *rt_memset(void *src, int c, rt_ubase_t n); void *rt_memcpy(void *dest, const void *src, rt_ubase_t n); void *rt_memmove(void *dest, const void *src, rt_size_t n); rt_int32_t rt_memcmp(const void *cs, const void *ct, rt_size_t count); #endif /* RT_KSERVICE_USING_STDLIB_MEMORY */ char *rt_strdup(const char *s); rt_size_t rt_strnlen(const char *s, rt_ubase_t maxlen); #ifndef RT_KSERVICE_USING_STDLIB char *rt_strstr(const char *str1, const char *str2); rt_int32_t rt_strcasecmp(const char *a, const char *b); char *rt_strcpy(char *dst, const char *src); char *rt_strncpy(char *dest, const char *src, rt_size_t n); rt_int32_t rt_strncmp(const char *cs, const char *ct, rt_size_t count); rt_int32_t rt_strcmp(const char *cs, const char *ct); rt_size_t rt_strlen(const char *src); #else #include #ifdef RT_KSERVICE_USING_STDLIB_MEMORY #define rt_memset(s, c, count) memset(s, c, count) #define rt_memcpy(dst, src, count) memcpy(dst, src, count) #define rt_memmove(dest, src, n) memmove(dest, src, n) #define rt_memcmp(cs, ct, count) memcmp(cs, ct, count) #endif /* RT_KSERVICE_USING_STDLIB_MEMORY */ #define rt_strstr(str1, str2) strstr(str1, str2) #define rt_strcasecmp(a, b) strcasecmp(a, b) #define rt_strcpy(dest, src) strcpy(dest, src) #define rt_strncpy(dest, src, n) strncpy(dest, src, n) #define rt_strncmp(cs, ct, count) strncmp(cs, ct, count) #define rt_strcmp(cs, ct) strcmp(cs, ct) #define rt_strlen(src) strlen(src) #endif /*RT_KSERVICE_USING_STDLIB*/ void rt_show_version(void); #ifdef RT_DEBUG extern void (*rt_assert_hook)(const char *ex, const char *func, rt_size_t line); void rt_assert_set_hook(void (*hook)(const char *ex, const char *func, rt_size_t line)); void rt_assert_handler(const char *ex, const char *func, rt_size_t line); #endif /* RT_DEBUG */ #ifdef RT_USING_FINSH #include #endif /**@}*/ #ifdef __cplusplus } #endif #endif