git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@3946 35acf78f-673a-0410-8e92-d51de3d6d3f4

15 files changed, 111 insertions, 46 deletions

diff --git a/boards/OLIMEX_LPC_P2148/buzzer.c b/boards/OLIMEX_LPC_P2148/buzzer.c
index 39c501e07..8f1137446 100644
--- a/boards/OLIMEX_LPC_P2148/buzzer.c
+++ b/boards/OLIMEX_LPC_P2148/buzzer.c
@@ -69,7 +69,9 @@ void buzzInit(void) {
 static void stop(void *p) {

 

   StopCounter((TC *)p);

+  chSysLockFromIsr();

   chEvtBroadcastI(&BuzzerSilentEventSource);

+  chSysUnlockFromIsr();

 }

 

 /**

diff --git a/demos/ARMCM3-STM32F103ZG-FATFS/main.c b/demos/ARMCM3-STM32F103ZG-FATFS/main.c
index 4181c7004..8199275cd 100644
--- a/demos/ARMCM3-STM32F103ZG-FATFS/main.c
+++ b/demos/ARMCM3-STM32F103ZG-FATFS/main.c
@@ -89,6 +89,7 @@ bool_t sdc_lld_is_write_protected(SDCDriver *sdcp) {
 static void tmrfunc(void *p) {

   SDCDriver *sdcp = p;

 

+  chSysLockFromIsr();

   if (cnt > 0) {

     if (sdcIsCardInserted(sdcp)) {

       if (--cnt == 0) {

@@ -105,6 +106,7 @@ static void tmrfunc(void *p) {
     }

   }

   chVTSetI(&tmr, MS2ST(SDC_POLLING_DELAY), tmrfunc, sdcp);

+  chSysUnlockFromIsr();

 }

 

 /**

diff --git a/docs/reports/SPC563M64-80.txt b/docs/reports/SPC563M64-80.txt
index d786aa30e..fc754adcc 100644
--- a/docs/reports/SPC563M64-80.txt
+++ b/docs/reports/SPC563M64-80.txt
@@ -5,8 +5,8 @@ Settings: SYSCLK=80
 

 *** ChibiOS/RT test suite

 ***

-*** Kernel:       2.4.0

-*** Compiled:     Jan 17 2012 - 14:35:40

+*** Kernel:       2.5.0

+*** Compiled:     Feb  8 2012 - 10:21:46

 *** Compiler:     GCC 4.4.1

 *** Architecture: Power Architecture

 *** Core Variant: e200z3

@@ -100,35 +100,35 @@ Settings: SYSCLK=80
 --- Result: SUCCESS

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

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

---- Score : 283160 msgs/S, 566320 ctxswc/S

+--- Score : 278226 msgs/S, 556452 ctxswc/S

 --- Result: SUCCESS

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

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

---- Score : 226208 msgs/S, 452416 ctxswc/S

+--- Score : 224935 msgs/S, 449870 ctxswc/S

 --- Result: SUCCESS

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

 --- Test Case 11.3 (Benchmark, messages #3)

---- Score : 226208 msgs/S, 452416 ctxswc/S

+--- Score : 224935 msgs/S, 449870 ctxswc/S

 --- Result: SUCCESS

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

 --- Test Case 11.4 (Benchmark, context switch)

---- Score : 897232 ctxswc/S

+--- Score : 890960 ctxswc/S

 --- Result: SUCCESS

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

 --- Test Case 11.5 (Benchmark, threads, full cycle)

---- Score : 180251 threads/S

+--- Score : 178638 threads/S

 --- Result: SUCCESS

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

 --- Test Case 11.6 (Benchmark, threads, create only)

---- Score : 261812 threads/S

+--- Score : 255935 threads/S

 --- Result: SUCCESS

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

 --- Test Case 11.7 (Benchmark, mass reschedule, 5 threads)

---- Score : 73862 reschedules/S, 443172 ctxswc/S

+--- Score : 73319 reschedules/S, 439914 ctxswc/S

 --- Result: SUCCESS

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

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

---- Score : 614140 ctxswc/S

+--- Score : 609448 ctxswc/S

 --- Result: SUCCESS

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

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

@@ -136,7 +136,7 @@ Settings: SYSCLK=80
 --- Result: SUCCESS

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

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

---- Score : 1093664 timers/S

+--- Score : 1094200 timers/S

 --- Result: SUCCESS

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

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

@@ -144,11 +144,11 @@ Settings: SYSCLK=80
 --- Result: SUCCESS

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

 --- Test Case 11.12 (Benchmark, mutexes lock/unlock)

---- Score : 841236 lock+unlock/S

+--- Score : 841232 lock+unlock/S

 --- Result: SUCCESS

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

 --- Test Case 11.13 (Benchmark, RAM footprint)

---- System: 768 bytes

+--- System: 764 bytes

 --- Thread: 72 bytes

 --- Timer : 20 bytes

 --- Semaph: 12 bytes

diff --git a/os/hal/platforms/STM32/i2c_lld.c b/os/hal/platforms/STM32/i2c_lld.c
index 996033da5..7458d9252 100644
--- a/os/hal/platforms/STM32/i2c_lld.c
+++ b/os/hal/platforms/STM32/i2c_lld.c
@@ -167,8 +167,10 @@ static void i2c_lld_safety_timeout(void *p) {
 

   if (i2cp->thread) {

     i2c_lld_abort_operation(i2cp);

+    chSysLockFromIsr();

     i2cp->thread->p_u.rdymsg = RDY_TIMEOUT;

     chSchReadyI(i2cp->thread);

+    chSysUnlockFromIsr();

   }

 }

 

diff --git a/os/hal/src/mmc_spi.c b/os/hal/src/mmc_spi.c
index 8f11355b8..f4bcb51fd 100644
--- a/os/hal/src/mmc_spi.c
+++ b/os/hal/src/mmc_spi.c
@@ -105,6 +105,7 @@ static uint8_t crc7(uint8_t crc, const uint8_t *buffer, size_t len) {
 static void tmrfunc(void *p) {

   MMCDriver *mmcp = p;

 

+  chSysLockFromIsr();

   if (mmcp->cnt > 0) {

     if (mmcp->is_inserted()) {

       if (--mmcp->cnt == 0) {

@@ -123,6 +124,7 @@ static void tmrfunc(void *p) {
     }

   }

   chVTSetI(&mmcp->vt, MS2ST(MMC_POLLING_DELAY), tmrfunc, mmcp);

+  chSysUnlockFromIsr();

 }

 

 /**

diff --git a/os/kernel/include/chvt.h b/os/kernel/include/chvt.h
index 95fb16408..355f66064 100644
--- a/os/kernel/include/chvt.h
+++ b/os/kernel/include/chvt.h
@@ -55,7 +55,8 @@
  *

  * @api

  */

-#define MS2ST(msec) ((systime_t)(((((msec) - 1L) * CH_FREQUENCY) / 1000L) + 1L))

+#define MS2ST(msec) ((systime_t)(((((msec) - 1L) * CH_FREQUENCY) /          \

+                                   1000L) + 1L))

 

 /**

  * @brief   Microseconds to system ticks.

@@ -67,7 +68,8 @@
  *

  * @api

  */

-#define US2ST(usec) ((systime_t)(((((usec) - 1L) * CH_FREQUENCY) / 1000000L) + 1L))

+#define US2ST(usec) ((systime_t)(((((usec) - 1L) * CH_FREQUENCY) /          \

+                                  1000000L) + 1L))

 /** @} */

 

 /**

@@ -112,54 +114,100 @@ typedef struct {
   volatile systime_t    vt_systime; /**< @brief System Time counter.        */

 } VTList;

 

-extern VTList vtlist;

-

 /**

  * @name    Macro Functions

  * @{

  */

 /**

  * @brief   Virtual timers ticker.

+ * @note    The system lock is released before entering the callback and

+ *          re-acquired immediately after. It is callback's responsibility

+ *          to acquire the lock if needed. This is done in order to reduce

+ *          interrupts jitter when many timers are in use.

  *

  * @iclass

  */

-#define chVTDoTickI() {                                                 \

-  vtlist.vt_systime++;                                                  \

-  if (&vtlist != (VTList *)vtlist.vt_next) {                            \

-    VirtualTimer *vtp;                                                  \

-                                                                        \

-    --vtlist.vt_next->vt_time;                                          \

-    while (!(vtp = vtlist.vt_next)->vt_time) {                          \

-      vtfunc_t fn = vtp->vt_func;                                       \

-      vtp->vt_func = (vtfunc_t)NULL;                                    \

-      vtp->vt_next->vt_prev = (void *)&vtlist;                          \

-      (&vtlist)->vt_next = vtp->vt_next;                                \

-      fn(vtp->vt_par);                                                  \

-    }                                                                   \

-  }                                                                     \

+#define chVTDoTickI() {                                                     \

+  vtlist.vt_systime++;                                                      \

+  if (&vtlist != (VTList *)vtlist.vt_next) {                                \

+    VirtualTimer *vtp;                                                      \

+                                                                            \

+    --vtlist.vt_next->vt_time;                                              \

+    while (!(vtp = vtlist.vt_next)->vt_time) {                              \

+      vtfunc_t fn = vtp->vt_func;                                           \

+      vtp->vt_func = (vtfunc_t)NULL;                                        \

+      vtp->vt_next->vt_prev = (void *)&vtlist;                              \

+      (&vtlist)->vt_next = vtp->vt_next;                                    \

+      chSysUnlockFromIsr();                                                 \

+      fn(vtp->vt_par);                                                      \

+      chSysLockFromIsr();                                                   \

+    }                                                                       \

+  }                                                                         \

 }

 

 /**

- * @brief   Returns TRUE if the speciified timer is armed.

+ * @brief   Returns @p TRUE if the specified timer is armed.

  *

  * @iclass

  */

 #define chVTIsArmedI(vtp) ((vtp)->vt_func != NULL)

 

 /**

+ * @brief   Enables a virtual timer.

+ * @note    The associated function is invoked from interrupt context.

+ *

+ * @param[out] vtp      the @p VirtualTimer structure pointer

+ * @param[in] time      the number of ticks before the operation timeouts, the

+ *                      special values are handled as follow:

+ *                      - @a TIME_INFINITE is allowed but interpreted as a

+ *                        normal time specification.

+ *                      - @a TIME_IMMEDIATE this value is not allowed.

+ *                      .

+ * @param[in] vtfunc    the timer callback function. After invoking the

+ *                      callback the timer is disabled and the structure can

+ *                      be disposed or reused.

+ * @param[in] par       a parameter that will be passed to the callback

+ *                      function

+ *

+ * @api

+ */

+#define chVTSet(vtp, time, vtfunc, par) {                                   \

+  chSysLock();                                                              \

+  chVTSetI(vtp, time, vtfunc, par);                                         \

+  chSysUnlock();                                                            \

+}

+

+/**

+ * @brief   Disables a Virtual Timer.

+ * @note    The timer is first checked and disabled only if armed.

+ *

+ * @param[in] vtp       the @p VirtualTimer structure pointer

+ *

+ * @api

+ */

+#define chVTReset(vtp) {                                                    \

+  chSysLock();                                                              \

+  if (chVTIsArmedI(vtp))                                                    \

+    chVTResetI(vtp);                                                        \

+  chSysUnlock();                                                            \

+}

+

+/**

  * @brief   Current system time.

  * @details Returns the number of system ticks since the @p chSysInit()

  *          invocation.

  * @note    The counter can reach its maximum and then restart from zero.

  * @note    This function is designed to work with the @p chThdSleepUntil().

  *

- * @return              The system time in ticks.r

+ * @return              The system time in ticks.

  *

  * @api

  */

 #define chTimeNow() (vtlist.vt_systime)

 /** @} */

 

+extern VTList vtlist;

+

 /*

  * Virtual Timers APIs.

  */

diff --git a/os/kernel/src/chschd.c b/os/kernel/src/chschd.c
index 808e06300..9739a595b 100644
--- a/os/kernel/src/chschd.c
+++ b/os/kernel/src/chschd.c
@@ -127,10 +127,12 @@ void chSchGoSleepS(tstate_t newstate) {
 static void wakeup(void *p) {

   Thread *tp = (Thread *)p;

 

+  chSysLockFromIsr();

   switch (tp->p_state) {

   case THD_STATE_READY:

     /* Handling the special case where the thread has been made ready by

        another thread with higher priority.*/

+    chSysUnlockFromIsr();

     return;

 #if CH_USE_SEMAPHORES || CH_USE_QUEUES ||                                   \

     (CH_USE_CONDVARS && CH_USE_CONDVARS_TIMEOUT)

@@ -151,6 +153,7 @@ static void wakeup(void *p) {
   }

   tp->p_u.rdymsg = RDY_TIMEOUT;

   chSchReadyI(tp);

+  chSysUnlockFromIsr();

 }

 

 /**

diff --git a/os/kernel/src/chvt.c b/os/kernel/src/chvt.c
index 4869cebef..6389aaf6d 100644
--- a/os/kernel/src/chvt.c
+++ b/os/kernel/src/chvt.c
@@ -49,8 +49,7 @@ void _vt_init(void) {
 

 /**

  * @brief   Enables a virtual timer.

- * @note    The associated function is invoked by an interrupt handler within

- *          the I-Locked state, see @ref system_states.

+ * @note    The associated function is invoked from interrupt context.

  *

  * @param[out] vtp      the @p VirtualTimer structure pointer

  * @param[in] time      the number of ticks before the operation timeouts, the

diff --git a/os/various/evtimer.c b/os/various/evtimer.c
index 314e0cc12..fedc5d6e4 100644
--- a/os/various/evtimer.c
+++ b/os/various/evtimer.c
@@ -32,8 +32,10 @@
 static void tmrcb(void *p) {

   EvTimer *etp = p;

 

+  chSysLockFromIsr();

   chEvtBroadcastI(&etp->et_es);

   chVTSetI(&etp->et_vt, etp->et_interval, tmrcb, etp);

+  chSysUnlockFromIsr();

 }

 

 /**

@@ -60,12 +62,7 @@ void evtStart(EvTimer *etp) {
  */

 void evtStop(EvTimer *etp) {

 

-  chSysLock();

-

-  if (chVTIsArmedI(&etp->et_vt))

-    chVTResetI(&etp->et_vt);

-

-  chSysUnlock();

+  chVTReset(&etp->et_vt);

 }

 

 /** @} */

diff --git a/readme.txt b/readme.txt
index c4ac352a4..d757e889c 100644
--- a/readme.txt
+++ b/readme.txt
@@ -93,6 +93,9 @@
 - NEW: Revision of the round-robin scheduling, now threads do not lose their

   time slice when preempted. Each thread has its own time slices counter.

   TODO: Seek optimizations.

+- NEW: Modified the Virtual Timers management, now the callback is invoked

+  not in lock mode. This change reduces the interrupt jitter caused by

+  multiple timers used at same time.

 

 *** 2.3.5 ***

 - FIX: Fixed RTC compile problem on STM32F103 (bug 3468445).

diff --git a/test/test.c b/test/test.c
index bce0b5788..55cfdf445 100644
--- a/test/test.c
+++ b/test/test.c
@@ -278,9 +278,7 @@ void test_start_timer(unsigned ms) {
 

   systime_t duration = MS2ST(ms);

   test_timer_done = FALSE;

-  chSysLock();

-  chVTSetI(&vt, duration, tmr, NULL);

-  chSysUnlock();

+  chVTSet(&vt, duration, tmr, NULL);

 }

 

 /*

diff --git a/testhal/STM32F1xx/UART/main.c b/testhal/STM32F1xx/UART/main.c
index bdc222e35..0d36e2b89 100644
--- a/testhal/STM32F1xx/UART/main.c
+++ b/testhal/STM32F1xx/UART/main.c
@@ -26,7 +26,10 @@ static VirtualTimer vt1, vt2;
 static void restart(void *p) {

 

   (void)p;

+

+  chSysLockFromIsr();

   uartStartSendI(&UARTD2, 14, "Hello World!\r\n");

+  chSysUnlockFromIsr();

 }

 

 static void ledoff(void *p) {

diff --git a/testhal/STM32F4xx/UART/main.c b/testhal/STM32F4xx/UART/main.c
index 377a75934..69aed3c19 100644
--- a/testhal/STM32F4xx/UART/main.c
+++ b/testhal/STM32F4xx/UART/main.c
@@ -26,7 +26,10 @@ static VirtualTimer vt1, vt2;
 static void restart(void *p) {

 

   (void)p;

+

+  chSysLockFromIsr();

   uartStartSendI(&UARTD2, 14, "Hello World!\r\n");

+  chSysUnlockFromIsr();

 }

 

 static void ledoff(void *p) {

diff --git a/testhal/STM32L1xx/UART/main.c b/testhal/STM32L1xx/UART/main.c
index 8bb5ea6d7..65f834672 100644
--- a/testhal/STM32L1xx/UART/main.c
+++ b/testhal/STM32L1xx/UART/main.c
@@ -26,7 +26,10 @@ static VirtualTimer vt1, vt2;
 static void restart(void *p) {

 

   (void)p;

+

+  chSysLockFromIsr();

   uartStartSendI(&UARTD1, 14, "Hello World!\r\n");

+  chSysUnlockFromIsr();

 }

 

 static void ledoff(void *p) {

diff --git a/todo.txt b/todo.txt
index 04ca10f0b..32c58b9b2 100644
--- a/todo.txt
+++ b/todo.txt
@@ -13,8 +13,8 @@ X SDC driver port to STM32F2 and STM32F4.
 

 Within 2.5.x:

 * Revision of scheduling strategy for threads at equal priority.

-- Handling of Virtual Timer callbacks out of critical zone.

-- Add normal API (not iclass) variants of the VT functions.

+* Handling of Virtual Timer callbacks out of critical zone.

+* Add normal API (not iclass) variants of the VT functions.

 - Add the RTC service inside the kernel and port, remove from HAL.

 - Add option to use the RTC counter instead of the systick counter into the

   trace buffer.