git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@95 35acf78f-673a-0410-8e92-d51de3d6d3f4

8 files changed, 53 insertions, 52 deletions

diff --git a/demos/ARM7-LPC214x-GCC/buzzer.c b/demos/ARM7-LPC214x-GCC/buzzer.c
index 218d920d0..7d80d8881 100644
--- a/demos/ARM7-LPC214x-GCC/buzzer.c
+++ b/demos/ARM7-LPC214x-GCC/buzzer.c
@@ -52,8 +52,8 @@ void InitBuzzer(void) {
   TC *tc = T1Base;

   StopCounter(tc);

   tc->TC_CTCR = 0;                      // Clock source is PCLK.

-  tc->TC_PR = 0;                        // Prescaler disabled.

-  tc->TC_MCR = 2;                       // Clear TC on match MR0.

+  tc->TC_PR   = 0;                        // Prescaler disabled.

+  tc->TC_MCR  = 2;                       // Clear TC on match MR0.

 }

 

 static void stop(void *p) {

diff --git a/demos/ARM7-LPC214x-GCC/chcore.c b/demos/ARM7-LPC214x-GCC/chcore.c
index 2f60c9d53..bf157cf43 100644
--- a/demos/ARM7-LPC214x-GCC/chcore.c
+++ b/demos/ARM7-LPC214x-GCC/chcore.c
@@ -140,14 +140,15 @@ void hwinit(void) {
   InitBuzzer();

 }

 

-void chSysPause(void) {

-

-  chThdSetPriority(IDLEPRIO);

+/*

+ * System idle thread loop.

+ */

+void _IdleThread(void *p) {

 

   while (TRUE) {

 // Note, it is disabled because it causes trouble with the JTAG probe.

 // Enable it in the final code only.

-//    PCON = 1;   /* Stops CPU clock until next interrupt. */

+//    PCON = 1;

   }

 }

 

diff --git a/demos/ARM7-LPC214x-GCC/chcore.h b/demos/ARM7-LPC214x-GCC/chcore.h
index 9a1401f1c..7aef95d12 100644
--- a/demos/ARM7-LPC214x-GCC/chcore.h
+++ b/demos/ARM7-LPC214x-GCC/chcore.h
@@ -98,6 +98,10 @@ extern void chSysUnlock(void);
 #define UserStackSize(n) (sizeof(Thread) + \

                           sizeof(struct stackregs) + (n) + (INT_REQUIRED_STACK))

 

+

+#define IDLE_THREAD_STACK_SIZE 8

+void _IdleThread(void *p) __attribute__((noreturn));

+

 void chSysHalt(void) __attribute__((noreturn));

 void chSysPause(void)  __attribute__((noreturn));

 void chSysSwitchI(Context *oldp, Context *newp);

diff --git a/demos/ARM7-LPC214x-GCC/main.c b/demos/ARM7-LPC214x-GCC/main.c
index 14e03170d..1829e6eb6 100644
--- a/demos/ARM7-LPC214x-GCC/main.c
+++ b/demos/ARM7-LPC214x-GCC/main.c
@@ -26,18 +26,6 @@
 #include "evtimer.h"

 

 /*

- * System Idle Thread, this thread only runs when on other threads in the

- * system require the CPU.

- * The role of this thread is to minimize the power consumption when idling

- * and serve the interrupts.

- */

-static BYTE8 waIdleThread[UserStackSize(16)];

-static t_msg IdleThread(void *arg) {

-

-  chSysPause();

-}

-

-/*

  * Red LEDs blinker thread, times are in milliseconds.

  */

 static BYTE8 waThread1[UserStackSize(32)];

@@ -139,15 +127,6 @@ int main(int argc, char **argv) {
   chSysInit();

 

   /*

-   * This thread has the lowest priority in the system, its role is just to

-   * execute the chSysPause() and serve interrupts in its context.

-   * In ChibiOS/RT at least one thread in the system *must* execute

-   * chThdPause(), it can be done in a dedicated thread or in the main()

-   * function (that would never exit the call).

-   */

-  chThdCreate(IDLEPRIO, 0, waIdleThread, sizeof(waIdleThread), IdleThread, NULL);

-

-  /*

    * If a button is pressed during the reset then the blinking leds threads

    * are not started in order to make accurate benchmarks.

    */

@@ -163,7 +142,7 @@ int main(int argc, char **argv) {
   chThdSetPriority(NORMALPRIO);

 

   /*

-   * Normal main() activity, in this demo it server events incoming from

+   * Normal main() activity, in this demo it serves events generated by

    * various sources.

    */

   evtInit(&evt, 500);           /* Initializes an event timer object.   */

diff --git a/readme.txt b/readme.txt
index 9cf09029b..673d5f0c5 100644
--- a/readme.txt
+++ b/readme.txt
@@ -39,6 +39,13 @@ AVR-AT90CANx-GCC    - Port on AVR AT90CAN128, not complete yet.
 *****************************************************************************

 

 *** 0.4.1 ***

+- Modified the initialization code in order to have a dedicated idle thread in

+  the system, now the main() function behaves like a normal thread after

+  executing chSysInit() and can use all the ChibiOS/RT APIs (it was required

+  to run the idle loop in previous versions).

+  Now it is also possible to use ChibiOS/RT with a single main() thread and

+  just use it for the I/O capabilities, Virtual Timers and events. You don't

+  have to use multiple threads if you don't really need to.

 - Cleaned up the LPC2148 demo in main.c, it is now well documented and

   explains everything, I assumed too much stuff to be "obvious".

 - Added a spreadsheet in the documentation that describes the advantages

@@ -51,7 +58,7 @@ AVR-AT90CANx-GCC    - Port on AVR AT90CAN128, not complete yet.
   is bad for a RTOS. This option however increases the code size slightly

   because of the alignment gaps.

 - Fine tuning in the scheduler code for improved performance, deeper

-  inlining and small changes.

+  inlining and small changes, about 5% better scheduler performance.

 - Increased the default system-mode stack size from 128 to 256 bytes because

   some optimizations and the THUMB mode seem to use more stack space.

 - Included a Makefile in the LPC2148 demo that builds in THUMB mode.

diff --git a/src/chinit.c b/src/chinit.c
index 4a25567a8..918da1796 100644
--- a/src/chinit.c
+++ b/src/chinit.c
@@ -24,27 +24,17 @@
 

 #include <ch.h>

 

-static Thread idlethread;

 

 /**

  * ChibiOS/RT initialization. After executing this function the current

- * instructions stream becomes the idle thread. The thread must execute the

- * first user thread and then go to sleep into the \p chSysPause() where it

- * will just serve the interrupts while keeping the lowest possible power

- * mode.<br><br>

- * @code

- *   chSysInit();

- *   chThdCreate(...); // Starts one or more user threads.

- *   chSysPause();

- * @endcode

+ * instructions stream becomes the main thread.

  * @note Interrupts should be still disabled when \p chSysInit() is invoked

  *       and are internally enabled.

- * @note The idle thread has absolute priority when exiting from the

- *       \p chSysInit(), this is done to make sure that all the initializations

- *       performed in the \p main() procedure are completed before any thread

- *       starts. The priority is set to \p IDLEPRIO into the \p chSysPause().

+ * @note The main thread is created with priority \p NORMALPRIO.

  */

 void chSysInit(void) {

+  static Thread mainthread;

+  static BYTE8 waIdleThread[UserStackSize(IDLE_THREAD_STACK_SIZE)];

 

   chSchInit();

   chDbgInit();

@@ -52,13 +42,23 @@ void chSysInit(void) {
   chVTInit();

 #endif

   /*

-   * Now this instructions flow becomes the idle thread.

+   * Now this instructions flow becomes the main thread.

    */

-  _InitThread(ABSPRIO, 0, &idlethread);

-  idlethread.p_state = PRCURR;

-  currp = &idlethread;

+  _InitThread(NORMALPRIO, 0, &mainthread);

+  mainthread.p_state = PRCURR;

+  currp = &mainthread;

 

   chSysUnlock();

+

+  /*

+   * The idle thread is created using the port-provided implementation.

+   * This thread has the lowest priority in the system, its role is just to

+   * execute the chSysPause() and serve interrupts in its context.

+   * In ChibiOS/RT at least one thread in the system *must* execute

+   * chThdPause(), it can be done in a dedicated thread or in the main()

+   * function (that would never exit the call).

+   */

+  chThdCreate(IDLEPRIO, 0, waIdleThread, sizeof(waIdleThread), (t_tfunc)_IdleThread, NULL);

 }

 

 /** @} */

diff --git a/src/templates/chcore.c b/src/templates/chcore.c
index bc8c68b90..ec2b39592 100644
--- a/src/templates/chcore.c
+++ b/src/templates/chcore.c
@@ -36,9 +36,7 @@
  * The priority is internally set to the minimum system value so that this

  * thread is executed only if there are no other ready threads in the system.

  */

-void chSysPause(void) {

-

-  chThdSetPriority(IDLEPRIO);

+void _IdleThread(void *p) {

 

   while (TRUE)

     ;

diff --git a/src/templates/chcore.h b/src/templates/chcore.h
index e917ffa6f..7f2c5fb0b 100644
--- a/src/templates/chcore.h
+++ b/src/templates/chcore.h
@@ -42,8 +42,20 @@ typedef struct {
 {                                                                  \

 }

 

-#define INT_REQUIRED_STACK 0  // Must include registers and stack frames.

+/**

+ * Stack size for the system idle thread.

+ */

+#define IDLE_THREAD_STACK_SIZE 0

 

+/**

+ * Per-thread stack overhead for interrupts servicing.

+ */

+#define INT_REQUIRED_STACK 0

+

+/**

+ * Macro to be used when allocating stack spaces, it adds the system-specific

+ * overhead.

+ */

 #define UserStackSize(n) (sizeof(Thread) + \

                           sizeof(struct stackregs) + (n) + (INT_REQUIRED_STACK))

 

@@ -74,8 +86,8 @@ typedef struct {
  */

 #define chSysPuts(msg) {}

 

+void _IdleThread(void *p);

 void chSysHalt(void);

-void chSysPause(void);

 void chSysSwitchI(Context *oldp, Context *newp);

 

 #endif /* _CHCORE_H_ */