git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@90 35acf78f-673a-0410-8e92-d51de3d6d3f4

19 files changed, 106 insertions, 51 deletions

diff --git a/demos/ARM7-LPC214x-GCC/Makefile b/demos/ARM7-LPC214x-GCC/Makefile
index 0c0ad93e9..eb9cf9bc7 100644
--- a/demos/ARM7-LPC214x-GCC/Makefile
+++ b/demos/ARM7-LPC214x-GCC/Makefile
@@ -93,9 +93,13 @@ AOPT =
 TOPT = -mthumb -D THUMB

 

 # Common options here

-# NOTE: -ffixed-r7 is only needed if you enabled CH_CURRP_REGISTER_CACHE in chconf.h.

+# NOTE: -ffixed-r7 is only needed if you enabled CH_CURRP_REGISTER_CACHE in

+#       chconf.h.

+# NOTE: -falign-functions=16 may improve the performance, not always, but

+#       increases the code size.

 OPT = -O2 -ggdb -fomit-frame-pointer -fno-strict-aliasing

 #OPT += -ffixed-r7

+#OPT += -falign-functions=16

 

 # Define warning options here

 WARN = -Wall -Wstrict-prototypes

diff --git a/demos/ARM7-LPC214x-GCC/main.c b/demos/ARM7-LPC214x-GCC/main.c
index fbd4f2726..e10063bcb 100644
--- a/demos/ARM7-LPC214x-GCC/main.c
+++ b/demos/ARM7-LPC214x-GCC/main.c
@@ -119,8 +119,14 @@ static t_msg Thread3(void *arg) {
 int main(int argc, char **argv) {

 

   chSysInit();

-  chThdCreate(NORMALPRIO, 0, waThread1, sizeof(waThread1), Thread1, NULL);

-  chThdCreate(NORMALPRIO, 0, waThread2, sizeof(waThread2), Thread2, NULL);

+  /*

+   * If a button is pressed during the reset then the blinking leds are not

+   * started in order to make accurate benchmarks.

+   */

+  if ((IO0PIN & 0x00018000) == 0x00018000) {

+    chThdCreate(NORMALPRIO, 0, waThread1, sizeof(waThread1), Thread1, NULL);

+    chThdCreate(NORMALPRIO, 0, waThread2, sizeof(waThread2), Thread2, NULL);

+  }

   chThdCreate(NORMALPRIO, 0, waThread3, sizeof(waThread3), Thread3, NULL);

   chSysPause();

   return 0;

diff --git a/demos/AVR-AT90CANx-GCC/chconf.h b/demos/AVR-AT90CANx-GCC/chconf.h
index 63a391e08..c6146f5e7 100644
--- a/demos/AVR-AT90CANx-GCC/chconf.h
+++ b/demos/AVR-AT90CANx-GCC/chconf.h
@@ -157,6 +157,12 @@
  */

 //#define CH_CURRP_REGISTER_CACHE "reg"

 

+/** Configuration option: Includes basic debug support to the kernel.

+ *  @note the debug support is port-dependent, it may be not present on some

+ *       targets. In that case stub functions will be included.

+ */

+//#define CH_USE_DEBUG

+

 #endif  /* _CHCONF_H_ */

 

 /** @} */

diff --git a/demos/AVR-AT90CANx-GCC/chcore.h b/demos/AVR-AT90CANx-GCC/chcore.h
index c3e0cfa34..935c37488 100644
--- a/demos/AVR-AT90CANx-GCC/chcore.h
+++ b/demos/AVR-AT90CANx-GCC/chcore.h
@@ -101,6 +101,7 @@ typedef struct {
 

 #define chSysLock() asm("cli")

 #define chSysUnlock() asm("sei")

+#define chSysPuts(msg) {}

 

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

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

diff --git a/demos/AVR-AT90CANx-GCC/chtypes.h b/demos/AVR-AT90CANx-GCC/chtypes.h
index d3c26caaf..60e16aaf4 100644
--- a/demos/AVR-AT90CANx-GCC/chtypes.h
+++ b/demos/AVR-AT90CANx-GCC/chtypes.h
@@ -34,6 +34,7 @@
 

 typedef BYTE8       t_tmode;

 typedef BYTE8       t_tstate;

+typedef BYTE8       t_tid;

 typedef BYTE8       t_prio;

 typedef WORD16      t_msg;

 typedef BYTE8       t_eventid;

diff --git a/demos/Win32-MSVS/ch.vcproj b/demos/Win32-MSVS/ch.vcproj
index 26dd9557e..3490c810b 100644
--- a/demos/Win32-MSVS/ch.vcproj
+++ b/demos/Win32-MSVS/ch.vcproj
@@ -142,6 +142,9 @@
 				Name="src"

 				Filter="">

 				<File

+					RelativePath="..\..\src\chdebug.c">

+				</File>

+				<File

 					RelativePath="..\..\src\chdelta.c">

 				</File>

 				<File

@@ -210,6 +213,9 @@
 					RelativePath="..\..\src\include\ch.h">

 				</File>

 				<File

+					RelativePath="..\..\src\include\debug.h">

+				</File>

+				<File

 					RelativePath="..\..\src\include\delta.h">

 				</File>

 				<File

diff --git a/demos/Win32-MSVS/chconf.h b/demos/Win32-MSVS/chconf.h
index 1aa089575..be1896046 100644
--- a/demos/Win32-MSVS/chconf.h
+++ b/demos/Win32-MSVS/chconf.h
@@ -161,6 +161,12 @@
  */

 //#define CH_CURRP_REGISTER_CACHE "reg"

 

+/** Configuration option: Includes basic debug support to the kernel.

+ *  @note the debug support is port-dependent, it may be not present on some

+ *       targets. In that case stub functions will be included.

+ */

+//#define CH_USE_DEBUG

+

 #endif  /* _CHCONF_H_ */

 

 /** @} */

diff --git a/demos/Win32-MSVS/chcore.c b/demos/Win32-MSVS/chcore.c
index 01619f9cd..8aedbb465 100644
--- a/demos/Win32-MSVS/chcore.c
+++ b/demos/Win32-MSVS/chcore.c
@@ -47,7 +47,7 @@ void InitCore(void) {
 /*

  * Interrupt simulation.

  */

-static void ChkIntSources(void) {

+void ChkIntSources(void) {

   LARGE_INTEGER n;

 

   if (Com1InInterruptSimCom()   || Com2InInterruptSimCom()  ||

diff --git a/demos/Win32-MSVS/chcore.h b/demos/Win32-MSVS/chcore.h
index 26e0b66bf..58e278fe4 100644
--- a/demos/Win32-MSVS/chcore.h
+++ b/demos/Win32-MSVS/chcore.h
@@ -58,8 +58,8 @@ typedef struct {
 }

 

 #define chSysLock()

-

 #define chSysUnlock()

+#define chSysPuts(msg) {}

 

 #define INT_REQUIRED_STACK 0x0

 

diff --git a/demos/Win32-MSVS/chtypes.h b/demos/Win32-MSVS/chtypes.h
index 6481c22a8..5ab9a06e1 100644
--- a/demos/Win32-MSVS/chtypes.h
+++ b/demos/Win32-MSVS/chtypes.h
@@ -33,6 +33,7 @@
 

 typedef BYTE8       t_tmode;

 typedef BYTE8       t_tstate;

+typedef UWORD16     t_tid;

 typedef ULONG32     t_prio;

 typedef LONG32      t_msg;

 typedef LONG32      t_eventid;

diff --git a/demos/Win32-MinGW/chconf.h b/demos/Win32-MinGW/chconf.h
index b7a8acedd..8ce32defa 100644
--- a/demos/Win32-MinGW/chconf.h
+++ b/demos/Win32-MinGW/chconf.h
@@ -161,6 +161,12 @@
  */

 //#define CH_CURRP_REGISTER_CACHE "reg"

 

+/** Configuration option: Includes basic debug support to the kernel.

+ *  @note the debug support is port-dependent, it may be not present on some

+ *       targets. In that case stub functions will be included.

+ */

+//#define CH_USE_DEBUG

+

 #endif  /* _CHCONF_H_ */

 

 /** @} */

diff --git a/demos/Win32-MinGW/chcore.c b/demos/Win32-MinGW/chcore.c
index ee04147e9..c96611f8b 100644
--- a/demos/Win32-MinGW/chcore.c
+++ b/demos/Win32-MinGW/chcore.c
@@ -70,7 +70,7 @@ void InitCore(void) {
 /*

  * Interrupt simulation.

  */

-static void ChkIntSources(void) {

+void ChkIntSources(void) {

   LARGE_INTEGER n;

 

   if (Com1InInterruptSimCom()   || Com2InInterruptSimCom()  ||

diff --git a/demos/Win32-MinGW/chcore.h b/demos/Win32-MinGW/chcore.h
index 7f0021854..6d3055081 100644
--- a/demos/Win32-MinGW/chcore.h
+++ b/demos/Win32-MinGW/chcore.h
@@ -58,8 +58,8 @@ typedef struct {
 }

 

 #define chSysLock()

-

 #define chSysUnlock()

+#define chSysPuts(msg) {}

 

 #define INT_REQUIRED_STACK 0x0

 

diff --git a/demos/Win32-MinGW/chtypes.h b/demos/Win32-MinGW/chtypes.h
index 803b5ead4..2ac219148 100644
--- a/demos/Win32-MinGW/chtypes.h
+++ b/demos/Win32-MinGW/chtypes.h
@@ -33,6 +33,7 @@
 

 typedef BYTE8       t_tmode;

 typedef BYTE8       t_tstate;

+typedef UWORD16     t_tid;

 typedef ULONG32     t_prio;

 typedef LONG32      t_msg;

 typedef LONG32      t_eventid;

diff --git a/readme.txt b/readme.txt
index 79b03287d..36255b42f 100644
--- a/readme.txt
+++ b/readme.txt
@@ -48,6 +48,7 @@ AVR-AT90CANx-GCC    - Port on AVR AT90CAN128, not complete yet.
   using the CH_USE_DEBUG in chconf.h.

   The trace buffer is meant to be fetched and decoded by an external tool

   (coming soon, it can be accessed using JTAG in the meanwhile).

+- Added new API chThdGetPriority() as a macro.

 - Implemented panic messages when CH_USE_DEBUG is enabled.

 - Added a thread identifier field to the Thread structure, it is used only

   for debug.

diff --git a/src/chmsg.c b/src/chmsg.c
index 5ea3f9821..0f24b24aa 100644
--- a/src/chmsg.c
+++ b/src/chmsg.c
@@ -153,7 +153,7 @@ t_msg chMsgWait(void) {
  * @return the pointer to the message structure. Note, it is always the

  *         message associated to the thread on the top of the messages queue.

  *         If the queue is empty then \p NULL is returned.

- * @note You can assume that the data contained in the message is stable until

+ * @note You can assume that the data pointed by the message is stable until

  *       you invoke \p chMsgRelease() because the sending thread is

  *       suspended until then. Always remember that the message data is not

  *       copied between the sender and the receiver, just a pointer is passed.

diff --git a/src/chschd.c b/src/chschd.c
index c88a63ead..a3763cd38 100644
--- a/src/chschd.c
+++ b/src/chschd.c
@@ -81,7 +81,11 @@ Thread *chSchReadyI(Thread *tp) {
  * Switches to the next thread in the ready list, the ready list is assumed

  * to contain at least a thread.

  */

+#ifdef CH_OPTIMIZE_SPEED

+static INLINE void nextready(void) {

+#else

 static void nextready(void) {

+#endif

   Thread *otp = currp;

 

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

@@ -111,27 +115,27 @@ void chSchGoSleepS(t_tstate newstate) {
  * Wakeups a thread, the thread is inserted into the ready list or made

  * running directly depending on its relative priority compared to the current

  * thread.

- * @param tp the Thread to be made ready

+ * @param ntp the Thread to be made ready

  * @param msg wakeup message to the awakened thread

  * @note The function must be called in the system mutex zone.

  * @note The function is not meant to be used in the user code directly.

  * @note It is equivalent to a \p chSchReadyI() followed by a

  *       \p chSchRescheduleI() but much more efficient.

  */

-void chSchWakeupS(Thread *tp, t_msg msg) {

-  Thread *ctp = currp;

+void chSchWakeupS(Thread *ntp, t_msg msg) {

 

-  if (tp->p_prio <= ctp->p_prio)

-    chSchReadyI(tp)->p_rdymsg = msg;

+  if (ntp->p_prio <= currp->p_prio)

+    chSchReadyI(ntp)->p_rdymsg = msg;

   else {

-    chSchReadyI(ctp);

-    (currp = tp)->p_state = PRCURR;

-    tp->p_rdymsg = msg;

+    Thread *otp = currp;

+    chSchReadyI(otp);

+    (currp = ntp)->p_state = PRCURR;

+    ntp->p_rdymsg = msg;

     preempt = CH_TIME_QUANTUM;

 #ifdef CH_USE_DEBUG

-    chDbgTrace(ctp, tp);

+    chDbgTrace(otp, ntp);

 #endif

-    chSysSwitchI(&ctp->p_ctx, &tp->p_ctx);

+    chSysSwitchI(&otp->p_ctx, &ntp->p_ctx);

   }

 }

 

diff --git a/src/include/threads.h b/src/include/threads.h
index e4cd8376e..ee00039b3 100644
--- a/src/include/threads.h
+++ b/src/include/threads.h
@@ -178,6 +178,9 @@ extern "C" {
 /** Returns the pointer to the \p Thread currently in execution.*/

 #define chThdSelf() currp

 

+/** Returns the thread priority.*/

+#define chThdGetPriority() (currp->p_prio)

+

 /** Returns the pointer to the \p Thread local storage area, if any.*/

 #define chThdLS() (void *)(currp + 1)

 

diff --git a/test/test.c b/test/test.c
index 8fe61794c..a40a059f3 100644
--- a/test/test.c
+++ b/test/test.c
@@ -19,6 +19,8 @@
 

 #include <ch.h>

 

+void ChkIntSources(void);

+

 #if defined(WIN32) && defined(_DEBUG)

 static BYTE8 wsT1[UserStackSize(512)];

 static BYTE8 wsT2[UserStackSize(512)];

@@ -126,6 +128,7 @@ t_msg Thread6(void *p) {
 t_msg TestThread(void *p) {

   t_msg msg;

   unsigned int i;

+  t_time time;

 

   comp = p;

   println("*****************************");

@@ -137,19 +140,19 @@ t_msg TestThread(void *p) {
    * Ready list ordering test.

    */

   println("*** Ready List, priority enqueuing test #1, you should read ABCDE:");

-  t5 = chThdCreate(NORMALPRIO-5, 0, wsT5, sizeof(wsT5), Thread1, "E");

-  t4 = chThdCreate(NORMALPRIO-4, 0, wsT4, sizeof(wsT4), Thread1, "D");

-  t3 = chThdCreate(NORMALPRIO-3, 0, wsT3, sizeof(wsT3), Thread1, "C");

-  t2 = chThdCreate(NORMALPRIO-2, 0, wsT2, sizeof(wsT2), Thread1, "B");

-  t1 = chThdCreate(NORMALPRIO-1, 0, wsT1, sizeof(wsT1), Thread1, "A");

+  t5 = chThdCreate(chThdGetPriority()-5, 0, wsT5, sizeof(wsT5), Thread1, "E");

+  t4 = chThdCreate(chThdGetPriority()-4, 0, wsT4, sizeof(wsT4), Thread1, "D");

+  t3 = chThdCreate(chThdGetPriority()-3, 0, wsT3, sizeof(wsT3), Thread1, "C");

+  t2 = chThdCreate(chThdGetPriority()-2, 0, wsT2, sizeof(wsT2), Thread1, "B");

+  t1 = chThdCreate(chThdGetPriority()-1, 0, wsT1, sizeof(wsT1), Thread1, "A");

   wait();

   println("");

   println("*** Ready List, priority enqueuing test #2, you should read ABCDE:");

-  t4 = chThdCreate(NORMALPRIO-4, 0, wsT4, sizeof(wsT4), Thread1, "D");

-  t5 = chThdCreate(NORMALPRIO-5, 0, wsT5, sizeof(wsT5), Thread1, "E");

-  t1 = chThdCreate(NORMALPRIO-1, 0, wsT1, sizeof(wsT1), Thread1, "A");

-  t2 = chThdCreate(NORMALPRIO-2, 0, wsT2, sizeof(wsT2), Thread1, "B");

-  t3 = chThdCreate(NORMALPRIO-3, 0, wsT3, sizeof(wsT3), Thread1, "C");

+  t4 = chThdCreate(chThdGetPriority()-4, 0, wsT4, sizeof(wsT4), Thread1, "D");

+  t5 = chThdCreate(chThdGetPriority()-5, 0, wsT5, sizeof(wsT5), Thread1, "E");

+  t1 = chThdCreate(chThdGetPriority()-1, 0, wsT1, sizeof(wsT1), Thread1, "A");

+  t2 = chThdCreate(chThdGetPriority()-2, 0, wsT2, sizeof(wsT2), Thread1, "B");

+  t3 = chThdCreate(chThdGetPriority()-3, 0, wsT3, sizeof(wsT3), Thread1, "C");

   wait();

   println("");

 

@@ -158,11 +161,11 @@ t_msg TestThread(void *p) {
    */

   chSemInit(&sem1, 0);

   println("*** Semaphores, FIFO enqueuing test, you should read ABCDE:");

-  t1 = chThdCreate(NORMALPRIO+5, 0, wsT1, sizeof(wsT1), Thread2, "A");

-  t2 = chThdCreate(NORMALPRIO+1, 0, wsT2, sizeof(wsT2), Thread2, "B");

-  t3 = chThdCreate(NORMALPRIO+3, 0, wsT3, sizeof(wsT3), Thread2, "C");

-  t4 = chThdCreate(NORMALPRIO+4, 0, wsT4, sizeof(wsT4), Thread2, "D");

-  t5 = chThdCreate(NORMALPRIO+2, 0, wsT5, sizeof(wsT5), Thread2, "E");

+  t1 = chThdCreate(chThdGetPriority()+5, 0, wsT1, sizeof(wsT1), Thread2, "A");

+  t2 = chThdCreate(chThdGetPriority()+1, 0, wsT2, sizeof(wsT2), Thread2, "B");

+  t3 = chThdCreate(chThdGetPriority()+3, 0, wsT3, sizeof(wsT3), Thread2, "C");

+  t4 = chThdCreate(chThdGetPriority()+4, 0, wsT4, sizeof(wsT4), Thread2, "D");

+  t5 = chThdCreate(chThdGetPriority()+2, 0, wsT5, sizeof(wsT5), Thread2, "E");

   chSemSignal(&sem1);

   chSemSignal(&sem1);

   chSemSignal(&sem1);

@@ -172,11 +175,11 @@ t_msg TestThread(void *p) {
   println("");

   println("*** Semaphores, priority enqueuing test #1, you should read ABCDE:");

   chSemInit(&sem1, 0);

-  t5 = chThdCreate(NORMALPRIO+1, 0, wsT5, sizeof(wsT5), Thread3, "E");

-  t4 = chThdCreate(NORMALPRIO+2, 0, wsT4, sizeof(wsT4), Thread3, "D");

-  t3 = chThdCreate(NORMALPRIO+3, 0, wsT3, sizeof(wsT3), Thread3, "C");

-  t2 = chThdCreate(NORMALPRIO+4, 0, wsT2, sizeof(wsT2), Thread3, "B");

-  t1 = chThdCreate(NORMALPRIO+5, 0, wsT1, sizeof(wsT1), Thread3, "A");

+  t5 = chThdCreate(chThdGetPriority()+1, 0, wsT5, sizeof(wsT5), Thread3, "E");

+  t4 = chThdCreate(chThdGetPriority()+2, 0, wsT4, sizeof(wsT4), Thread3, "D");

+  t3 = chThdCreate(chThdGetPriority()+3, 0, wsT3, sizeof(wsT3), Thread3, "C");

+  t2 = chThdCreate(chThdGetPriority()+4, 0, wsT2, sizeof(wsT2), Thread3, "B");

+  t1 = chThdCreate(chThdGetPriority()+5, 0, wsT1, sizeof(wsT1), Thread3, "A");

   chSemLowerPrioSignal(&sem1);

   chSemLowerPrioSignal(&sem1);

   chSemLowerPrioSignal(&sem1);

@@ -186,11 +189,11 @@ t_msg TestThread(void *p) {
   println("");

   println("*** Semaphores, priority enqueuing test #2, you should read ABCDE:");

   chSemInit(&sem1, 0);

-  t4 = chThdCreate(NORMALPRIO+2, 0, wsT4, sizeof(wsT4), Thread3, "D");

-  t5 = chThdCreate(NORMALPRIO+1, 0, wsT5, sizeof(wsT5), Thread3, "E");

-  t1 = chThdCreate(NORMALPRIO+5, 0, wsT1, sizeof(wsT1), Thread3, "A");

-  t2 = chThdCreate(NORMALPRIO+4, 0, wsT2, sizeof(wsT2), Thread3, "B");

-  t3 = chThdCreate(NORMALPRIO+3, 0, wsT3, sizeof(wsT3), Thread3, "C");

+  t4 = chThdCreate(chThdGetPriority()+2, 0, wsT4, sizeof(wsT4), Thread3, "D");

+  t5 = chThdCreate(chThdGetPriority()+1, 0, wsT5, sizeof(wsT5), Thread3, "E");

+  t1 = chThdCreate(chThdGetPriority()+5, 0, wsT1, sizeof(wsT1), Thread3, "A");

+  t2 = chThdCreate(chThdGetPriority()+4, 0, wsT2, sizeof(wsT2), Thread3, "B");

+  t3 = chThdCreate(chThdGetPriority()+3, 0, wsT3, sizeof(wsT3), Thread3, "C");

   chSemLowerPrioSignal(&sem1);

   chSemLowerPrioSignal(&sem1);

   chSemLowerPrioSignal(&sem1);

@@ -210,7 +213,7 @@ t_msg TestThread(void *p) {
    * Messages test.

    */

   println("*** Messages, dispatch test, you should read AABBCCDDEE:");

-  t1 = chThdCreate(NORMALPRIO-1, 0, wsT1, sizeof(wsT1), Thread4, chThdSelf());

+  t1 = chThdCreate(chThdGetPriority()-1, 0, wsT1, sizeof(wsT1), Thread4, chThdSelf());

   do {

     chMsgRelease(msg = chMsgWait());

     if (msg)

@@ -219,7 +222,7 @@ t_msg TestThread(void *p) {
   chThdWait(t1);

   println("");

   println("*** Messages, timeout test, you should read ABCDE (slowly):");

-  t1 = chThdCreate(NORMALPRIO-1, 0, wsT1, sizeof(wsT1), Thread5, chThdSelf());

+  t1 = chThdCreate(chThdGetPriority()-1, 0, wsT1, sizeof(wsT1), Thread5, chThdSelf());

   for (i = 0; i < 5; i++) {

     chFDDPut(comp, 'A'+i);

     chMsgSendTimeout(t1, 'A'+i, 500);

@@ -232,16 +235,22 @@ t_msg TestThread(void *p) {
    * Kernel benchmarks.

    */

   println("*** Kernel Benchmark, context switch stress test:");

-  t_time time = chSysGetTime() + 1;

-  while (chSysGetTime() < time)

-    ;

+  time = chSysGetTime() + 1;

+  while (chSysGetTime() < time) {

+#if defined(WIN32)

+    ChkIntSources();

+#endif

+  }

   time += 1000;

   i = 0;

-  t1 = chThdCreate(NORMALPRIO+1, 0, wsT1, sizeof(wsT1), Thread6, chThdSelf());

-  while (chSysGetTime() < time)

+  t1 = chThdCreate(chThdGetPriority()-1, 0, wsT1, sizeof(wsT1), Thread6, chThdSelf());

+  while (chSysGetTime() < time) {

     i = chMsgSend(t1, i);

+#if defined(WIN32)

+    ChkIntSources();

+#endif

+  }

   chThdTerminate(t1);

-  chMsgSend(t1, 0); /* Lets the thread check the termination flag.*/

   chThdWait(t1);

   print("Messages throughput = ");

   printn(i);