git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1745 35acf78f-673a-0410-8e92-d51de3d6d3f4

8 files changed, 247 insertions, 57 deletions

diff --git a/docs/Doxyfile b/docs/Doxyfile
index 9ebf7f47d..6f2187e40 100644
--- a/docs/Doxyfile
+++ b/docs/Doxyfile
@@ -511,7 +511,7 @@ FILE_VERSION_FILTER    =
 # file name after the option, if omitted DoxygenLayout.xml will be used as the name
 # of the layout file.
 
-LAYOUT_FILE            =
+LAYOUT_FILE            = ./rsc/layout.xml
 
 #---------------------------------------------------------------------------
 # configuration options related to warning and progress messages
diff --git a/docs/reports/SPC563M64-80.txt b/docs/reports/SPC563M64-80.txt
index 2b4930c77..a11669746 100644
--- a/docs/reports/SPC563M64-80.txt
+++ b/docs/reports/SPC563M64-80.txt
@@ -92,7 +92,7 @@ Settings: SYSCLK=80, optimal wait states, prefetching enabled
 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.1 (Benchmark, messages #1)

---- Score : 280181 msgs/S, 560362 ctxswc/S

+--- Score : 280180 msgs/S, 560360 ctxswc/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.2 (Benchmark, messages #2)

@@ -120,7 +120,7 @@ Settings: SYSCLK=80, optimal wait states, prefetching enabled
 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.8 (Benchmark, round robin context switching)

---- Score : 654408 reschedulations/S, 654408 ctxswc/S

+--- Score : 614140 reschedulations/S, 614140 ctxswc/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.9 (Benchmark, I/O Queues throughput)

@@ -128,7 +128,7 @@ Settings: SYSCLK=80, optimal wait states, prefetching enabled
 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.10 (Benchmark, virtual timers set/reset)

---- Score : 1093662 timers/S

+--- Score : 1093664 timers/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.11 (Benchmark, semaphores wait/signal)

diff --git a/docs/rsc/layout.xml b/docs/rsc/layout.xml
new file mode 100644
index 000000000..eba6d68b3
--- /dev/null
+++ b/docs/rsc/layout.xml
@@ -0,0 +1,184 @@
+<doxygenlayout version="1.0">
+  <!-- Navigation index tabs for HTML output -->
+  <navindex>
+    <tab type="mainpage" visible="yes" title=""/>
+    <tab type="pages" visible="yes" title=""/>
+    <tab type="modules" visible="yes" title=""/>
+    <tab type="namespaces" visible="yes" title="">
+      <tab type="namespaces" visible="yes" title=""/>
+      <tab type="namespacemembers" visible="yes" title=""/>
+    </tab>
+    <tab type="classes" visible="yes" title="">
+      <tab type="classes" visible="yes" title=""/>
+      <tab type="classindex" visible="$ALPHABETICAL_INDEX" title=""/> 
+      <tab type="hierarchy" visible="yes" title=""/>
+      <tab type="classmembers" visible="yes" title=""/>
+    </tab>
+    <tab type="files" visible="yes" title="">
+      <tab type="files" visible="yes" title=""/>
+      <tab type="globals" visible="yes" title=""/>
+    </tab>
+    <tab type="dirs" visible="yes" title=""/>
+    <tab type="examples" visible="yes" title=""/>  
+  </navindex>
+
+  <!-- Layout definition for a class page -->
+  <class>
+    <briefdescription visible="yes"/>
+    <includes visible="$SHOW_INCLUDE_FILES"/>
+    <inheritancegraph visible="$CLASS_GRAPH"/>
+    <collaborationgraph visible="$COLLABORATION_GRAPH"/>
+    <allmemberslink visible="yes"/>
+    <memberdecl>
+      <nestedclasses visible="yes" title=""/>
+      <publictypes title=""/>
+      <publicslots title=""/>
+      <signals title=""/>
+      <publicmethods title=""/>
+      <publicstaticmethods title=""/>
+      <publicattributes title=""/>
+      <publicstaticattributes title=""/>
+      <protectedtypes title=""/>
+      <protectedslots title=""/>
+      <protectedmethods title=""/>
+      <protectedstaticmethods title=""/>
+      <protectedattributes title=""/>
+      <protectedstaticattributes title=""/>
+      <packagetypes title=""/>
+      <packagemethods title=""/>
+      <packagestaticmethods title=""/>
+      <packageattributes title=""/>
+      <packagestaticattributes title=""/>
+      <properties title=""/>
+      <events title=""/>
+      <privatetypes title=""/>
+      <privateslots title=""/>
+      <privatemethods title=""/>
+      <privatestaticmethods title=""/>
+      <privateattributes title=""/>
+      <privatestaticattributes title=""/>
+      <friends title=""/>
+      <related title="" subtitle=""/>
+      <membergroups visible="yes"/>
+    </memberdecl>
+    <detaileddescription title=""/>
+    <memberdef>
+      <typedefs title=""/>
+      <enums title=""/>
+      <constructors title=""/>
+      <functions title=""/>
+      <related title=""/>
+      <variables title=""/>
+      <properties title=""/>
+      <events title=""/>
+    </memberdef>
+    <usedfiles visible="$SHOW_USED_FILES"/>
+    <authorsection visible="yes"/>
+  </class>
+
+  <!-- Layout definition for a namespace page -->
+  <namespace>
+    <briefdescription visible="yes"/>
+    <memberdecl>
+      <nestednamespaces visible="yes" title=""/>
+      <classes visible="yes" title=""/>
+      <typedefs title=""/>
+      <enums title=""/>
+      <functions title=""/>
+      <variables title=""/>
+      <membergroups visible="yes"/>
+    </memberdecl>
+    <detaileddescription title=""/>
+    <memberdef>
+      <typedefs title=""/>
+      <enums title=""/>
+      <functions title=""/>
+      <variables title=""/>
+    </memberdef>
+    <authorsection visible="yes"/>
+  </namespace>
+
+  <!-- Layout definition for a file page -->
+  <file>
+    <briefdescription visible="yes"/>
+    <includes visible="$SHOW_INCLUDE_FILES"/>
+    <includegraph visible="$INCLUDE_GRAPH"/>
+    <includedbygraph visible="$INCLUDED_BY_GRAPH"/>
+    <sourcelink visible="yes"/>
+    <memberdecl>
+      <classes visible="yes" title=""/>
+      <namespaces visible="yes" title=""/>
+      <defines title=""/>
+      <typedefs title=""/>
+      <enums title=""/>
+      <functions title=""/>
+      <variables title=""/>
+      <membergroups visible="yes"/>
+    </memberdecl>
+    <detaileddescription title=""/>
+    <memberdef>
+      <defines title=""/>
+      <typedefs title=""/>
+      <enums title=""/>
+      <functions title=""/>
+      <variables title=""/>
+    </memberdef>
+    <authorsection/>
+  </file>
+
+  <!-- Layout definition for a group page -->
+  <group>
+    <briefdescription visible="yes"/>
+    <groupgraph visible="$GROUP_GRAPHS"/>
+    <detaileddescription title="Description"/>
+    <memberdecl>
+      <classes visible="yes" title=""/>
+      <namespaces visible="yes" title=""/>
+      <dirs visible="yes" title=""/>
+      <nestedgroups visible="yes" title=""/>
+      <files visible="yes" title=""/>
+      <defines title=""/>
+      <typedefs title=""/>
+      <enums title=""/>
+      <enumvalues title=""/>
+      <functions title=""/>
+      <variables title=""/>
+      <signals title=""/>
+      <publicslots title=""/>
+      <protectedslots title=""/>
+      <privateslots title=""/>
+      <events title=""/>
+      <properties title=""/>
+      <friends title=""/>
+      <membergroups visible="yes"/>
+    </memberdecl>
+    <memberdef>
+      <pagedocs/>
+      <defines title=""/>
+      <typedefs title=""/>
+      <enums title=""/>
+      <enumvalues title=""/>
+      <functions title=""/>
+      <variables title=""/>
+      <signals title=""/>
+      <publicslots title=""/>
+      <protectedslots title=""/>
+      <privateslots title=""/>
+      <events title=""/>
+      <properties title=""/>
+      <friends title=""/>
+    </memberdef>
+    <authorsection visible="yes"/>
+  </group>
+
+  <!-- Layout definition for a directory page -->
+  <directory>
+    <briefdescription visible="yes"/>
+    <directorygraph visible="yes"/>
+    <memberdecl>
+      <dirs visible="yes"/>
+      <files visible="yes"/>
+    </memberdecl>
+    <detaileddescription title=""/>
+  </directory>
+</doxygenlayout>
diff --git a/os/kernel/include/chschd.h b/os/kernel/include/chschd.h
index c06ed8100..b8406722b 100644
--- a/os/kernel/include/chschd.h
+++ b/os/kernel/include/chschd.h
@@ -66,6 +66,7 @@
  *

  * @brief   Ready list header.

  */

+#if !defined(PORT_OPTIMIZED_READYLIST_STRUCT) || defined(__DOXYGEN__)

 typedef struct {

   ThreadsQueue          r_queue;    /**< @brief Threads queue.              */

   tprio_t               r_prio;     /**< @brief This field must be

@@ -85,10 +86,11 @@ typedef struct {
                                                 thread.                     */

 #endif

 } ReadyList;

+#endif /* !defined(PORT_OPTIMIZED_READYLIST_STRUCT) */

 

-#if !defined(__DOXYGEN__)

+#if !defined(PORT_OPTIMIZED_RLIST_EXT) && !defined(__DOXYGEN__)

 extern ReadyList rlist;

-#endif

+#endif /* !defined(PORT_OPTIMIZED_RLIST_EXT) */

 

 #ifdef CH_CURRP_REGISTER_CACHE

 register Thread *currp asm(CH_CURRP_REGISTER_CACHE);

@@ -116,18 +118,34 @@ extern "C" {
 #endif

 

 /**

+ * @brief   Determines if the current thread must reschedule.

+ * @details This function returns @p TRUE if there is a ready thread with

+ *          higher priority.

+ */

+#if !defined(PORT_OPTIMIZED_ISRESCHREQUIREDI) && !defined(__DOXYGEN__)

+#define chSchIsRescRequiredI() (firstprio(&rlist.r_queue) > currp->p_prio)

+#endif /* !defined(PORT_OPTIMIZED_ISRESCHREQUIREDI) */

+

+/**

  * @brief   Determines if yielding is possible.

  * @details This function returns @p TRUE if there is a ready thread with

  *          equal or higher priority.

  */

+#if !defined(PORT_OPTIMIZED_CANYIELDS) && !defined(__DOXYGEN__)

 #define chSchCanYieldS() (firstprio(&rlist.r_queue) >= currp->p_prio)

+#endif /* !defined(PORT_OPTIMIZED_CANYIELDS) */

 

 /**

- * @brief   Determines if the current thread must reschedule.

- * @details This function returns @p TRUE if there is a ready thread with

- *          higher priority.

+ * @brief   Yields the time slot.

+ * @details Yields the CPU control to the next thread in the ready list with

+ *          equal or higher priority, if any.

  */

-#define chSchIsRescRequiredI() (firstprio(&rlist.r_queue) > currp->p_prio)

+#if !defined(PORT_OPTIMIZED_DOYIELDS) || defined(__DOXYGEN__)

+#define chSchDoYieldS(void) {                                               \

+  if (chSchCanYieldS())                                                     \

+    chSchDoRescheduleI();                                                   \

+}

+#endif /* !defined(PORT_OPTIMIZED_DOYIELDS) */

 

 #endif /* _CHSCHD_H_ */

 

diff --git a/os/kernel/kernel.dox b/os/kernel/kernel.dox
index 5ca6005f6..b55d53d49 100644
--- a/os/kernel/kernel.dox
+++ b/os/kernel/kernel.dox
@@ -62,18 +62,6 @@
  */

 

 /**

- * @defgroup scheduler Scheduler

- * ChibiOS/RT scheduler APIs and macros.

- * @ingroup base

- */

-

-/**

- * @defgroup threads Threads

- * Threads related APIs.

- * @ingroup base

- */

-

-/**

  * @defgroup synchronization Synchronization

  * Synchronization services.

  * @ingroup kernel

diff --git a/os/kernel/src/chschd.c b/os/kernel/src/chschd.c
index 412467b65..023c35d41 100644
--- a/os/kernel/src/chschd.c
+++ b/os/kernel/src/chschd.c
@@ -21,7 +21,13 @@
  * @file    chschd.c

  * @brief   Scheduler code.

  *

- * @addtogroup scheduler

+ * @defgroup scheduler Scheduler

+ * @ingroup base

+ * @details This module provides the default portable scheduler code,

+ *          scheduler functions can be individually captured by the port

+ *          layer in order to provide architecture optimized equivalents.

+ *          When a function is captured its default code is not built into

+ *          the OS image, the optimized version is included instead.

  * @{

  */

 

@@ -30,7 +36,9 @@
 /**

  * @brief   Ready list header.

  */

+#if !defined(PORT_OPTIMIZED_RLIST_VAR) || defined(__DOXYGEN__)

 ReadyList rlist;

+#endif /* !defined(PORT_OPTIMIZED_RLIST_VAR) */

 

 /**

  * @brief   Scheduler initialization.

@@ -56,6 +64,7 @@ void scheduler_init(void) {
  * @param[in] tp        the Thread to be made ready

  * @return              The Thread pointer.

  */

+#if !defined(PORT_OPTIMIZED_READYI) || defined(__DOXYGEN__)

 #if CH_OPTIMIZE_SPEED

 /* NOTE: it is inlined in this module only.*/

 INLINE Thread *chSchReadyI(Thread *tp) {

@@ -74,6 +83,7 @@ Thread *chSchReadyI(Thread *tp) {
   tp->p_prev->p_next = cp->p_prev = tp;

   return tp;

 }

+#endif /* !defined(PORT_OPTIMIZED_READYI) */

 

 /**

  * @brief   Puts the current thread to sleep into the specified state.

@@ -82,6 +92,7 @@ Thread *chSchReadyI(Thread *tp) {
  *

  * @param[in] newstate  the new thread state

  */

+#if !defined(PORT_OPTIMIZED_GOSLEEPS) || defined(__DOXYGEN__)

 void chSchGoSleepS(tstate_t newstate) {

   Thread *otp;

 

@@ -93,6 +104,7 @@ void chSchGoSleepS(tstate_t newstate) {
   chDbgTrace(currp, otp);

   chSysSwitchI(currp, otp);

 }

+#endif /* !defined(PORT_OPTIMIZED_GOSLEEPS) */

 

 /*

  * Timeout wakeup callback.

@@ -169,6 +181,7 @@ msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
  * @param[in] ntp       the Thread to be made ready

  * @param[in] msg       message to the awakened thread

  */

+#if !defined(PORT_OPTIMIZED_WAKEUPS) || defined(__DOXYGEN__)

 void chSchWakeupS(Thread *ntp, msg_t msg) {

 

   ntp->p_u.rdymsg = msg;

@@ -189,12 +202,14 @@ void chSchWakeupS(Thread *ntp, msg_t msg) {
     chSysSwitchI(ntp, otp);

   }

 }

+#endif /* !defined(PORT_OPTIMIZED_WAKEUPS) */

 

 /**

  * @brief   Switches to the first thread on the runnable queue.

  * @note    It is intended to be called if @p chSchRescRequiredI() evaluates

  *          to @p TRUE.

  */

+#if !defined(PORT_OPTIMIZED_DORESCHEDULEI) || defined(__DOXYGEN__)

 void chSchDoRescheduleI(void) {

   Thread *otp, *ntp;

 

@@ -202,23 +217,26 @@ void chSchDoRescheduleI(void) {
   rlist.r_preempt = CH_TIME_QUANTUM;

 #endif

   otp = currp;

-  /* Pick the first thread from the ready queue and makes it current.*/

+  /* Picks the first thread from the ready queue and makes it current.*/

   (currp = ntp = fifo_remove(&rlist.r_queue))->p_state = THD_STATE_CURRENT;

   chSchReadyI(otp);

   chDbgTrace(ntp, otp);

   chSysSwitchI(ntp, otp);

 }

+#endif /* !defined(PORT_OPTIMIZED_DORESCHEDULEI) */

 

 /**

  * @brief   Performs a reschedulation if a higher priority thread is runnable.

  * @details If a thread with a higher priority than the current thread is in

  *          the ready list then make the higher priority thread running.

  */

+#if !defined(PORT_OPTIMIZED_RESCHEDULES) || defined(__DOXYGEN__)

 void chSchRescheduleS(void) {

 

   if (chSchIsRescRequiredI())

     chSchDoRescheduleI();

 }

+#endif /* !defined(PORT_OPTIMIZED_RESCHEDULES) */

 

 /**

  * @brief   Evaluates if a reschedulation is required.

@@ -230,6 +248,7 @@ void chSchRescheduleS(void) {
  * @retval TRUE         if there is a thread that should go in running state.

  * @retval FALSE        if a reschedulation is not required.

  */

+#if !defined(PORT_OPTIMIZED_ISRESCHREQUIREDEXI) || defined(__DOXYGEN__)

 bool_t chSchIsRescRequiredExI(void) {

   tprio_t p1 = firstprio(&rlist.r_queue);

   tprio_t p2 = currp->p_prio;

@@ -245,37 +264,6 @@ bool_t chSchIsRescRequiredExI(void) {
   return p1 > p2;

 #endif

 }

-

-/**

- * @brief   Yields the time slot.

- * @details Yields the CPU control to the next thread in the ready list with

- *          equal priority, if any.

- */

-void chSchDoYieldS(void) {

-

-  if (chSchCanYieldS()) {

-    Thread *cp = (Thread *)&rlist.r_queue;

-    Thread *otp = currp;

-

-    /* Note, the following insertion code works because we know that on the

-       ready list there is at least one thread with priority equal or higher

-       than the current one.*/

-    otp->p_state = THD_STATE_READY;

-    do {

-      cp = cp->p_prev;

-    } while (cp->p_prio < otp->p_prio);

-    /* Insertion on p_next.*/

-    otp->p_next = (otp->p_prev = cp)->p_next;

-    otp->p_next->p_prev = cp->p_next = otp;

-

-    /* Pick the first thread from the ready queue and makes it current.*/

-    (currp = fifo_remove(&rlist.r_queue))->p_state = THD_STATE_CURRENT;

-#if CH_TIME_QUANTUM > 0

-    rlist.r_preempt = CH_TIME_QUANTUM;

-#endif

-    chDbgTrace(currp, otp);

-    chSysSwitchI(currp, otp);

-  }

-}

+#endif /* !defined(PORT_OPTIMIZED_ISRESCHREQUIREDEXI) */

 

 /** @} */

diff --git a/os/kernel/src/chthreads.c b/os/kernel/src/chthreads.c
index 79ea23f94..a2745b94c 100644
--- a/os/kernel/src/chthreads.c
+++ b/os/kernel/src/chthreads.c
@@ -21,7 +21,12 @@
  * @file    chthreads.c

  * @brief   Threads code.

  *

- * @addtogroup threads

+ * @defgroup threads Threads

+ * @ingroup base

+ * @details This module contains all the threads related APIs, creation,

+ *          termination, synchronization, delay etc. Dynamic variants of

+ *          the base static API are also included.

+ *

  * @{

  */

 

diff --git a/readme.txt b/readme.txt
index 7af58f577..670871f95 100644
--- a/readme.txt
+++ b/readme.txt
@@ -65,9 +65,16 @@
   subdirectory, this should make things easier for RIDE7 users. The normal

   makefile is still available of course.

 - NEW: New article in the documentation. Fixed an orphaned page (STM8 port).

+- NEW: The port layer now can "capture" the implementation of individual

+  scheduler API functions in order to provide architecture-optimized

+  versions. This is done because further scheduler optimizations are

+  becoming increasingly pointless without considering architecture and

+  compiler related constraints.

 - OPT: Optimization on the interface between scheduler and port layer, now

   the kernel is even smaller and the context switch performance improved

   quite a bit on all the supported architectures.

+- OPT: Simplified the implementation of chSchYieldS() and made it a macro.

+  The previous implementation was probably overkill and took too much space.

 

 *** 1.5.3 ***

 - FIX: Removed C99-style variables declarations (bug 2964418)(backported