git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@249 35acf78f-673a-0410-8e92-d51de3d6d3f4

8 files changed, 134 insertions, 68 deletions

diff --git a/demos/ARM7-LPC214x-G++/Makefile b/demos/ARM7-LPC214x-G++/Makefile
index 087fa89d9..f2bdcd2ac 100644
--- a/demos/ARM7-LPC214x-G++/Makefile
+++ b/demos/ARM7-LPC214x-G++/Makefile
@@ -90,7 +90,7 @@ TSRC =
 ASMSRC = ../../ports/ARM7-LPC214x/crt0.s ../../ports/ARM7/chsys.s

 

 # List all user directories here

-UINCDIR = ../../src/include ../../src/lib \

+UINCDIR = ../../src/include ../../src/lib ../../test \

           ../../ports/ARM7 ../../ports/ARM7-LPC214x

 

 # List the user directory to look for the libraries here

diff --git a/demos/ARM7-LPC214x-G++/main.cpp b/demos/ARM7-LPC214x-G++/main.cpp
index b3c4f8e45..1d8acfb5e 100644
--- a/demos/ARM7-LPC214x-G++/main.cpp
+++ b/demos/ARM7-LPC214x-G++/main.cpp
@@ -18,7 +18,9 @@
 */

 

 #include <ch.hpp>

+

 #include <evtimer.h>

+#include <test.h>

 

 #include <lpc214x.h>

 #include <lpc214x_serial.h>

@@ -29,9 +31,10 @@ using namespace chibios_rt;
  * LED blinking sequences.

  */

 #define SLEEP           0

-#define STOP            1

-#define BITCLEAR        2

-#define BITSET          3

+#define GOTO            1

+#define STOP            2

+#define BITCLEAR        3

+#define BITSET          4

 

 typedef struct {

   uint8_t       action;

@@ -43,7 +46,8 @@ bitop_t LED1_sequence[] =
   {BITCLEAR, 0x00000400},

   {SLEEP,    200},

   {BITSET,   0x00000400},

-  {SLEEP,    1800}

+  {SLEEP,    1800},

+  {GOTO,     0}

 };

 

 bitop_t LED2_sequence[] =

@@ -52,7 +56,8 @@ bitop_t LED2_sequence[] =
   {BITCLEAR, 0x00000800},

   {SLEEP,    200},

   {BITSET,   0x00000800},

-  {SLEEP,    800}

+  {SLEEP,    1800},

+  {GOTO,     1}

 };

 

 bitop_t LED3_sequence[] =

@@ -60,13 +65,14 @@ bitop_t LED3_sequence[] =
   {BITCLEAR, 0x80000000},

   {SLEEP,    200},

   {BITSET,   0x80000000},

-  {SLEEP,    300}

+  {SLEEP,    300},

+  {GOTO,     0}

 };

 

 /**

- * LED blinker thread class.

+ * Blinker thread class. It can drive LEDs or other output pins.

  */

-class BlinkerThread : chibios_rt::BaseThread {

+class BlinkerThread : BaseThread {

 private:

   WorkingArea(wa, 64);

   bitop_t *base, *curr, *top;

@@ -79,6 +85,9 @@ protected:
       case SLEEP:

         Sleep(curr->value);

         break;

+      case GOTO:

+        curr = &base[curr->value];

+        continue;

       case STOP:

         return 0;

       case BITCLEAR:

@@ -88,23 +97,17 @@ protected:
         IO0SET = curr->value;

         break;

       }

-      if (++curr >= top)

-        curr = base;

+      curr++;

     }

   }

 

 public:

-  BlinkerThread(bitop_t *sequence, int n) : BaseThread(NORMALPRIO, 0, wa, sizeof wa) {

+  BlinkerThread(bitop_t *sequence) : BaseThread(NORMALPRIO, 0, wa, sizeof wa) {

 

     base = curr = sequence;

-    top = sequence + n;

   }

 };

 

-extern "C" {

-  msg_t TestThread(void *p);

-}

-

 /*

  * Executed as event handler at 500mS intervals.

  */

@@ -130,11 +133,18 @@ int main(int argc, char **argv) {
   evtStart(&evt);                       /* Starts the event timer.              */

   chEvtRegister(&evt.et_es, &el0, 0);   /* Registers on the timer event source. */

 

-  BlinkerThread blinker1(LED1_sequence, sizeof(LED1_sequence) / sizeof(bitop_t));

-  BlinkerThread blinker2(LED2_sequence, sizeof(LED2_sequence) / sizeof(bitop_t));

-  BlinkerThread blinker3(LED3_sequence, sizeof(LED3_sequence) / sizeof(bitop_t));

-

-  while(1)

+  /*

+   * Starts serveral instances of the BlinkerThread class, each one operating

+   * on a different LED.

+   */

+  BlinkerThread blinker1(LED1_sequence);

+  BlinkerThread blinker2(LED2_sequence);

+  BlinkerThread blinker3(LED3_sequence);

+

+  /*

+   * Serves timer events.

+   */

+  while (true)

     Event::Wait(ALL_EVENTS, evhndl);

 

   return 0;

diff --git a/readme.txt b/readme.txt
index 52554c513..f6728df02 100644
--- a/readme.txt
+++ b/readme.txt
@@ -32,6 +32,9 @@ ARM7-LPC214x-GCC       - ChibiOS/RT port for ARM7 LPC2148, the demo targets
                          other boards. The demo can be compiled using YAGARTO

                          or any other GCC-based ARM toolchain. Full demo.

 ARM7-LPC214x-GCC-min   - Minimal demo for LPC214X.

+ARM7-LPC214x-G++       - Yet another LPC214X demo but this one is done using

+                         G++ in order to provide a C++ template project to the

+                         ChibiOS/RT users.

 ARM7-AT91SAM7X-GCC     - Port for Atmel AT91SAM7X256. The demo program targets

                          the Olimex SAM7-EX256 board.

 ARMCM3-ST32F103-GCC    - ARM Cortex-M3 port, work in progress, not complete

@@ -68,12 +71,17 @@ Win32-MinGW            - ChibiOS/RT simulator and demo into a WIN32 process,
 - NEW: Added a new LPC2148 demo using the new C++ wrapper, it is a good

   example of C++ used for an embedded application. The demo does not use RTTI

   nor standard libraries so the resulting code is very compact.

+- Enhanced the chSemSignalWait() API to return the wakeup message just like

+  the other "Wait" semaphore functions.

 - Fixed a minor problem in the ARM7 port, the extctx structure definition was

   missing one field, the effect was to allocate stacks 4 bytes shorter than

   the declared size.

 - Fixed a compile time error into the chThdSleepUntil() macro.

 - Fixes in various headers to make some macros compatible with both C and C++.

-- More work on the ARM-CM3 port but it is still not complete.

+- Fixed a regression in the LPC214x minimal demo that broke interrupt

+  handling.

+- Some fixes to the doxigen documentation.

+- More work done on the ARM-CM3 port but it is still not complete.

 

 *** 0.6.1 ***

 - Removed some redundant checks from the scheduler code: improved threads

diff --git a/src/chsem.c b/src/chsem.c
index 14b8567ad..d1199f072 100644
--- a/src/chsem.c
+++ b/src/chsem.c
@@ -188,10 +188,12 @@ void chSemSignalI(Semaphore *sp) {
  * Performs atomic signal and wait operations on two semaphores.

  * @param sps pointer to a \p Semaphore structure to be signaled

  * @param spw pointer to a \p Semaphore structure to be wait on

- * @note The function is available only if the \p CH_USE_SEMAPHORES

+ * @return the function can return \p RDY_OK or \p RDY_RESET.

+ * @note The function is available only if the \p CH_USE_SEMSW

  *       option is enabled in \p chconf.h.

  */

-void chSemSignalWait(Semaphore *sps, Semaphore *spw) {

+msg_t chSemSignalWait(Semaphore *sps, Semaphore *spw) {

+  msg_t msg;

 

   chSysLock();

 

@@ -202,11 +204,15 @@ void chSemSignalWait(Semaphore *sps, Semaphore *spw) {
     fifo_insert(currp, &spw->s_queue);

     currp->p_wtsemp = spw;

     chSchGoSleepS(PRWTSEM);

+    msg = currp->p_rdymsg;

   }

-  else

+  else {

     chSchRescheduleS();

+    msg = RDY_OK;

+  }

 

   chSysUnlock();

+  return msg;

 }

 #endif /* CH_USE_SEMSW */

 

diff --git a/src/include/semaphores.h b/src/include/semaphores.h
index c894629a4..45486874b 100644
--- a/src/include/semaphores.h
+++ b/src/include/semaphores.h
@@ -51,7 +51,9 @@ extern "C" {
 #endif

   void chSemSignal(Semaphore *sp);

   void chSemSignalI(Semaphore *sp);

-  void chSemSignalWait(Semaphore *sps, Semaphore *spw);

+#ifdef CH_USE_SEMSW

+  msg_t chSemSignalWait(Semaphore *sps, Semaphore *spw);

+#endif

 #ifdef __cplusplus

 }

 #endif

diff --git a/src/lib/ch.cpp b/src/lib/ch.cpp
index ad4be5f4d..d1e739915 100644
--- a/src/lib/ch.cpp
+++ b/src/lib/ch.cpp
@@ -70,13 +70,11 @@ namespace chibios_rt {
    * chibios_rt::BaseThread                                                 *

    *------------------------------------------------------------------------*/

   static msg_t thdstart(void *arg) {

-    BaseThread *btp = (BaseThread *)arg;

 

-    return btp->Main();

+    return ((BaseThread *)arg)->Main();

   }

 

   BaseThread::BaseThread(tprio_t prio, tmode_t mode, void *workspace, size_t wsize) {

-    msg_t thdstart(void *arg);

 

     thread_ref = chThdCreate(prio, mode, workspace, wsize, thdstart, this);

   }

@@ -149,7 +147,7 @@ namespace chibios_rt {
 

   bool BaseThread::IsPendingMessage(void) {

 

-    return chMsgIsPendingI(thread_ref);

+    return chMsgIsPendingI(currp);

   }

 #endif /* CH_USE_MESSAGES */

 

@@ -188,6 +186,13 @@ namespace chibios_rt {
 

     chSemSignal(&sem);

   }

+

+#ifdef CH_USE_SEMSW

+  msg_t Semaphore::SignalWait(Semaphore *ssem, Semaphore *wsem) {

+

+    return chSemSignalWait(&ssem->sem, &wsem->sem);

+  }

+#endif /* CH_USE_SEMSW */

 #endif /* CH_USE_SEMAPHORES */

 

 #ifdef CH_USE_MUTEXES

diff --git a/src/lib/ch.hpp b/src/lib/ch.hpp
index 9f46b757b..d9fffc229 100644
--- a/src/lib/ch.hpp
+++ b/src/lib/ch.hpp
@@ -92,40 +92,6 @@ namespace chibios_rt {
    * function /p Main().

    */

   class BaseThread {

-  protected:

-    /**

-     * Thread exit.

-     */

-//    __attribute__((noreturn))

-    void Exit(msg_t msg);

-

-    /**

-     * Change thread priority.

-     */

-    void SetPriority(tprio_t newprio);

-

-#ifdef CH_USE_MESSAGES

-    /**

-     * Waits for a message and returns it.

-     */

-    msg_t WaitMessage(void);

-

-    /**

-     * Returns an enqueued message or /p NULL.

-     */

-    msg_t GetMessage(void);

-

-    /**

-     * Releases the next message in queue with a reply.

-     */

-    void ReleaseMessage(msg_t msg);

-

-    /**

-     * Returns true if there is at least one message in queue.

-     */

-    bool IsPendingMessage(void);

-#endif /* CH_USE_MESSAGES */

-

   public:

     ::Thread *thread_ref;

 

@@ -134,6 +100,11 @@ namespace chibios_rt {
      */

     BaseThread(tprio_t prio, tmode_t mode, void *workspace, size_t wsize);

 

+    /**

+     * Thread exit.

+     */

+    static void Exit(msg_t msg);

+

 #ifdef CH_USE_WAITEXIT

     /**

      * Synchronization on Thread exit.

@@ -148,6 +119,11 @@ namespace chibios_rt {
     void Resume(void);

 #endif /* CH_USE_RESUME */

 

+    /**

+     * Change thread priority.

+     */

+    static void SetPriority(tprio_t newprio);

+

 #ifdef CH_USE_TERMINATE

     /**

      * Requests thread termination.

@@ -159,13 +135,13 @@ namespace chibios_rt {
     /**

      * Suspends the thread execution for the specified number of system ticks.

      */

-    void Sleep(systime_t n);

+    static void Sleep(systime_t n);

 

 #ifdef CH_USE_SYSTEMTIME

     /**

      * Suspends the thread execution until the specified time arrives.

      */

-    void SleepUntil(systime_t time);

+    static void SleepUntil(systime_t time);

 #endif /* CH_USE_SYSTEMTIME */

 #endif /* CH_USE_SLEEP */

 

@@ -174,12 +150,31 @@ namespace chibios_rt {
      * Sends a message to the thread and returns the answer.

      */

     msg_t SendMessage(msg_t msg);

+

+    /**

+     * Waits for a message and returns it.

+     */

+    static msg_t WaitMessage(void);

+

+    /**

+     * Returns an enqueued message or /p NULL.

+     */

+    static msg_t GetMessage(void);

+

+    /**

+     * Releases the next message in queue with a reply.

+     */

+    static void ReleaseMessage(msg_t msg);

+

+    /**

+     * Returns true if there is at least one message in queue.

+     */

+    static bool IsPendingMessage(void);

 #endif /* CH_USE_MESSAGES */

 

     /**

      * Thread body function.

      */

-//    __attribute__((naked))

     virtual msg_t Main(void);

   };

 

@@ -217,6 +212,13 @@ namespace chibios_rt {
      * Signal operation on the semaphore.

      */

     void Signal(void);

+

+#ifdef CH_USE_SEMSW

+    /**

+     * Atomic signal and wait operations.

+     */

+    msg_t SignalWait(Semaphore *ssem, Semaphore *wsem);

+#endif /* CH_USE_SEMSW */

   };

 #endif /* CH_USE_SEMAPHORES */

 

diff --git a/test/test.h b/test/test.h
new file mode 100644
index 000000000..b05f9aa61
--- /dev/null
+++ b/test/test.h
@@ -0,0 +1,33 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT 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; either version 3 of the License, or

+    (at your option) any later version.

+

+    ChibiOS/RT 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 <http://www.gnu.org/licenses/>.

+*/

+

+#include <ch.h>

+

+#ifndef _TEST_H_

+#define _TEST_H_

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  msg_t TestThread(void *p);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* _TEST_H_ */