git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@25 35acf78f-673a-0410-8e92-d51de3d6d3f4

11 files changed, 163 insertions, 98 deletions

diff --git a/demos/LPC214x-GCC/main.c b/demos/LPC214x-GCC/main.c
index a696b223f..c925671e9 100644
--- a/demos/LPC214x-GCC/main.c
+++ b/demos/LPC214x-GCC/main.c
@@ -23,7 +23,7 @@
 #include "lpc214x_serial.h"

 #include "buzzer.h"

 

-static BYTE8 waThread1[UserStackSize(16)];

+static BYTE8 waThread1[UserStackSize(32)];

 

 static t_msg Thread1(void *arg) {

 

@@ -40,7 +40,7 @@ static t_msg Thread1(void *arg) {
   return 0;

 }

 

-static BYTE8 waThread2[UserStackSize(16)];

+static BYTE8 waThread2[UserStackSize(32)];

 

 static t_msg Thread2(void *arg) {

 

@@ -53,7 +53,7 @@ static t_msg Thread2(void *arg) {
   return 0;

 }

 

-static BYTE8 waThread3[UserStackSize(16)];

+static BYTE8 waThread3[UserStackSize(32)];

 

 static t_msg Thread3(void *arg) {

 

diff --git a/docs/Doxyfile b/docs/Doxyfile
index 6cc09c5d9..0bcdbdbf2 100644
--- a/docs/Doxyfile
+++ b/docs/Doxyfile
@@ -4,7 +4,7 @@
 # Project related configuration options
 #---------------------------------------------------------------------------
 PROJECT_NAME           = ChibiOS/RT
-PROJECT_NUMBER         = "0.2.1 alpha"
+PROJECT_NUMBER         = "0.3.0 beta"
 OUTPUT_DIRECTORY       = .
 CREATE_SUBDIRS         = NO
 OUTPUT_LANGUAGE        = English
@@ -26,7 +26,7 @@ ALWAYS_DETAILED_SEC    = NO
 INLINE_INHERITED_MEMB  = NO
 FULL_PATH_NAMES        = NO
 STRIP_FROM_PATH        = "C:/Documents and Settings/Administrator/"
-STRIP_FROM_INC_PATH    =
+STRIP_FROM_INC_PATH    = 
 SHORT_NAMES            = NO
 JAVADOC_AUTOBRIEF      = YES
 MULTILINE_CPP_IS_BRIEF = NO
@@ -34,7 +34,7 @@ DETAILS_AT_TOP         = YES
 INHERIT_DOCS           = NO
 SEPARATE_MEMBER_PAGES  = NO
 TAB_SIZE               = 2
-ALIASES                =
+ALIASES                = 
 OPTIMIZE_OUTPUT_FOR_C  = YES
 OPTIMIZE_OUTPUT_JAVA   = NO
 BUILTIN_STL_SUPPORT    = NO
@@ -64,11 +64,11 @@ GENERATE_TODOLIST      = YES
 GENERATE_TESTLIST      = YES
 GENERATE_BUGLIST       = YES
 GENERATE_DEPRECATEDLIST= YES
-ENABLED_SECTIONS       =
+ENABLED_SECTIONS       = 
 MAX_INITIALIZER_LINES  = 30
 SHOW_USED_FILES        = NO
 SHOW_DIRECTORIES       = NO
-FILE_VERSION_FILTER    =
+FILE_VERSION_FILTER    = 
 #---------------------------------------------------------------------------
 # configuration options related to warning and progress messages
 #---------------------------------------------------------------------------
@@ -78,7 +78,7 @@ WARN_IF_UNDOCUMENTED   = YES
 WARN_IF_DOC_ERROR      = YES
 WARN_NO_PARAMDOC       = NO
 WARN_FORMAT            = "$file:$line: $text"
-WARN_LOGFILE           =
+WARN_LOGFILE           = 
 #---------------------------------------------------------------------------
 # configuration options related to the input files
 #---------------------------------------------------------------------------
@@ -115,15 +115,15 @@ FILE_PATTERNS          = *.c \
                          *.py \
                          *.ddf
 RECURSIVE              = YES
-EXCLUDE                =
+EXCLUDE                = 
 EXCLUDE_SYMLINKS       = NO
-EXCLUDE_PATTERNS       =
-EXAMPLE_PATH           =
+EXCLUDE_PATTERNS       = 
+EXAMPLE_PATH           = 
 EXAMPLE_PATTERNS       = *
 EXAMPLE_RECURSIVE      = NO
-IMAGE_PATH             =
-INPUT_FILTER           =
-FILTER_PATTERNS        =
+IMAGE_PATH             = ./img
+INPUT_FILTER           = 
+FILTER_PATTERNS        = 
 FILTER_SOURCE_FILES    = NO
 #---------------------------------------------------------------------------
 # configuration options related to source browsing
@@ -141,20 +141,20 @@ VERBATIM_HEADERS       = NO
 #---------------------------------------------------------------------------
 ALPHABETICAL_INDEX     = NO
 COLS_IN_ALPHA_INDEX    = 5
-IGNORE_PREFIX          =
+IGNORE_PREFIX          = 
 #---------------------------------------------------------------------------
 # configuration options related to the HTML output
 #---------------------------------------------------------------------------
 GENERATE_HTML          = YES
 HTML_OUTPUT            = html
 HTML_FILE_EXTENSION    = .html
-HTML_HEADER            =
-HTML_FOOTER            =
-HTML_STYLESHEET        =
+HTML_HEADER            = 
+HTML_FOOTER            = 
+HTML_STYLESHEET        = 
 HTML_ALIGN_MEMBERS     = YES
 GENERATE_HTMLHELP      = NO
-CHM_FILE               =
-HHC_LOCATION           =
+CHM_FILE               = 
+HHC_LOCATION           = 
 GENERATE_CHI           = NO
 BINARY_TOC             = NO
 TOC_EXPAND             = NO
@@ -171,8 +171,8 @@ LATEX_CMD_NAME         = latex
 MAKEINDEX_CMD_NAME     = makeindex
 COMPACT_LATEX          = NO
 PAPER_TYPE             = a4wide
-EXTRA_PACKAGES         =
-LATEX_HEADER           =
+EXTRA_PACKAGES         = 
+LATEX_HEADER           = 
 PDF_HYPERLINKS         = NO
 USE_PDFLATEX           = NO
 LATEX_BATCHMODE        = NO
@@ -184,8 +184,8 @@ GENERATE_RTF           = NO
 RTF_OUTPUT             = rtf
 COMPACT_RTF            = NO
 RTF_HYPERLINKS         = NO
-RTF_STYLESHEET_FILE    =
-RTF_EXTENSIONS_FILE    =
+RTF_STYLESHEET_FILE    = 
+RTF_EXTENSIONS_FILE    = 
 #---------------------------------------------------------------------------
 # configuration options related to the man page output
 #---------------------------------------------------------------------------
@@ -198,8 +198,8 @@ MAN_LINKS              = NO
 #---------------------------------------------------------------------------
 GENERATE_XML           = NO
 XML_OUTPUT             = xml
-XML_SCHEMA             =
-XML_DTD                =
+XML_SCHEMA             = 
+XML_DTD                = 
 XML_PROGRAMLISTING     = YES
 #---------------------------------------------------------------------------
 # configuration options for the AutoGen Definitions output
@@ -211,16 +211,16 @@ GENERATE_AUTOGEN_DEF   = NO
 GENERATE_PERLMOD       = NO
 PERLMOD_LATEX          = NO
 PERLMOD_PRETTY         = YES
-PERLMOD_MAKEVAR_PREFIX =
+PERLMOD_MAKEVAR_PREFIX = 
 #---------------------------------------------------------------------------
-# Configuration options related to the preprocessor
+# Configuration options related to the preprocessor   
 #---------------------------------------------------------------------------
 ENABLE_PREPROCESSING   = YES
 MACRO_EXPANSION        = NO
 EXPAND_ONLY_PREDEF     = NO
 SEARCH_INCLUDES        = YES
-INCLUDE_PATH           =
-INCLUDE_FILE_PATTERNS  =
+INCLUDE_PATH           = 
+INCLUDE_FILE_PATTERNS  = 
 PREDEFINED             = __JUST_STUBS__ \
                          __DOXIGEN__ \
                          CH_USE_VIRTUAL_TIMERS \
@@ -242,18 +242,18 @@ PREDEFINED             = __JUST_STUBS__ \
                          CH_USE_MESSAGES \
                          CH_USE_MESSAGES_TIMEOUT \
                          CH_USE_MESSAGES_EVENT
-EXPAND_AS_DEFINED      =
+EXPAND_AS_DEFINED      = 
 SKIP_FUNCTION_MACROS   = YES
 #---------------------------------------------------------------------------
-# Configuration::additions related to external references
+# Configuration::additions related to external references   
 #---------------------------------------------------------------------------
-TAGFILES               =
-GENERATE_TAGFILE       =
+TAGFILES               = 
+GENERATE_TAGFILE       = 
 ALLEXTERNALS           = NO
 EXTERNAL_GROUPS        = YES
 PERL_PATH              = /usr/bin/perl
 #---------------------------------------------------------------------------
-# Configuration options related to the dot tool
+# Configuration options related to the dot tool   
 #---------------------------------------------------------------------------
 CLASS_DIAGRAMS         = NO
 HIDE_UNDOC_RELATIONS   = YES
@@ -270,8 +270,8 @@ CALLER_GRAPH           = NO
 GRAPHICAL_HIERARCHY    = YES
 DIRECTORY_GRAPH        = YES
 DOT_IMAGE_FORMAT       = png
-DOT_PATH               =
-DOTFILE_DIRS           =
+DOT_PATH               = 
+DOTFILE_DIRS           = 
 MAX_DOT_GRAPH_WIDTH    = 1024
 MAX_DOT_GRAPH_HEIGHT   = 1024
 MAX_DOT_GRAPH_DEPTH    = 1000
@@ -280,6 +280,6 @@ DOT_MULTI_TARGETS      = NO
 GENERATE_LEGEND        = YES
 DOT_CLEANUP            = YES
 #---------------------------------------------------------------------------
-# Configuration::additions related to the search engine
+# Configuration::additions related to the search engine   
 #---------------------------------------------------------------------------
 SEARCHENGINE           = NO
diff --git a/docs/ch.txt b/docs/ch.txt
index c259357eb..38d6d589a 100644
--- a/docs/ch.txt
+++ b/docs/ch.txt
@@ -47,9 +47,78 @@
  *     memory image.</li>

  * <li>Almost totally written in C with little ASM code required for ports.</li>

  * </ul>

+ *

+ * ChibiOS/RT architecture:<br><br>

+ * @subpage Concepts

  */

 

 /**

+ * @page Concepts Concepts

+ * @{

+ * @section naming Naming Conventions

+ * ChibiOS/RT APIs are all named following this convention:

+ * \a ch\<group\>\<action\>\<suffix\>().

+ * The possible groups are: \a Sys, \a Sch, \a VT, \a Thd, \a Sem, \a Evt,

+ * \a Msg, \a IQ, \a OQ, \a HQ,\a FDD, \a HDD.

+ * The suffix is not present for normal APIs but can be one of

+ * the following: "I" for APIs meant to be invoked from an interrupt handler

+ * or within the system mutex zone but not from user code, "S" for APIs only

+ * useable from within the system mutex zone but not from interrupt handlers

+ * or user code. The APIs without suffix can be invoked only from the user

+ * code.<br>

+ * Examples: \p chThdCreate(), \p chSemSignalI(), \p chIQGetTimeout().

+ *

+ * @section scheduling Scheduling

+ * The strategy is very simple the currently ready thread with the highest

+ * priority is executed. If more than one thread with equal priority are

+ * eligible for execution then they are executed in a round-robin way, the

+ * CPU time slice constant is configurable. The ready list is a double linked

+ * list of threads ordered by priority.

+ * @image html readylist.png

+ * Note that the currently running thread is not in the ready list, the list

+ * only contains the threads ready to be executed but still actually waiting.

+ *

+ * @section warea Thread Working Area

+ * Each thread has its own stack, a Thread structure and a registers dump

+ * structure. All the structures are allocated into a "Thread working area",

+ * a thread private heap, usually allocated in a char array declared in your

+ * code, there is not a central threads table or list, this means you can

+ * have as many threads you want as long you have enough available RAM

+ * memory. The threads do not use any memory outside the allocated working

+ * area.<br>

+

+ * @image html workspace.png

+ * <br>

+ * Note that the registers dump is only present when the Thread is not

+ * running, the context switching is done by pushing the registers on the

+ * stack of the switched-out thread and popping the registers of the

+ * switched-in thread from its stack.

+ *

+ * @section sysmutex System Mutex Zone

+ * It is the code within the OS that cannot be preempted, this code is

+ * everything between the \p chSysLock() and \p chSysUnlock() API calls.

+ * The implementation of the APIs in most cases just enables/disables the

+ * interrupts. Of course the code in the system mutex zone must be as short

+ * and efficient possible as it affects the RT performance of the whole

+ * system. The worst case response time is affected by the longest code

+ * path in the system mutex zone or interrupt handler.

+ * @code

+ * // User code, not critical, preemption possible.

+ * chSysLock();

+ * ...

+ * // System critical code, preemption delayed.

+ * ...

+ * chSysUnlock();

+ * // User code, preemption possible again.

+ * @endcode

+ * Applications usually do not need to put code into the system mutex zone

+ * unless you are implementing device drivers or special synchronization

+ * primitives, everything else can be implemented by using semaphores,

+ * messages or events.

+ */

+/** @} */

+

+/**

  * @defgroup Kernel Kernel

  * @{

  */

diff --git a/docs/img/readylist.png b/docs/img/readylist.png
new file mode 100644
index 000000000..4d852388f
--- /dev/null
+++ b/docs/img/readylist.png
diff --git a/docs/img/workspace.png b/docs/img/workspace.png
new file mode 100644
index 000000000..03149b7bd
--- /dev/null
+++ b/docs/img/workspace.png
diff --git a/readme.txt b/readme.txt
index 07fc0c508..4508b2a21 100644
--- a/readme.txt
+++ b/readme.txt
@@ -32,6 +32,15 @@ LPC214x-GCC         - ChibiOS/RT port for ARM7 LPC2148, the demo targets the
 *** Releases                                                              ***

 *****************************************************************************

 

+*** 0.3.0 ***

+- ChibiOS/RT goes beta.

+- Diet for the threads code, some simple APIs become macros.

+- Thread Local Storage implemented as a single API: chThdLS().

+  The API simply returns a pointer into the thread working area, see the

+  documentation on the web site.

+- Moved some documentation and images from the web site into the Doxigen

+  generated HTMLs.

+

 *** 0.2.1 ***

 - Optimizations in the RT semaphores subsystem. The support for this

   subsystem should still be considered experimental and further changes may

diff --git a/src/chsleep.c b/src/chsleep.c
index 9fedd0244..5814410f3 100644
--- a/src/chsleep.c
+++ b/src/chsleep.c
@@ -62,11 +62,11 @@ t_time chSysGetTime(void) {
  *       option is enabled in \p chconf.h.

  */

 void chThdSleepUntil(t_time time) {

-  VirtualTimer t;

+  VirtualTimer vt;

 

   chSysLock();

 

-  chVTSetI(&t, (t_time)(time - stime), (t_vtfunc)chSchReadyI, currp);

+  chVTSetI(&vt, (t_time)(time - stime), (t_vtfunc)chSchReadyI, currp);

   chSchGoSleepI(PRSLEEP);

 

   chSysUnlock();

diff --git a/src/chthreads.c b/src/chthreads.c
index 59c361116..a439eb5b4 100644
--- a/src/chthreads.c
+++ b/src/chthreads.c
@@ -129,17 +129,6 @@ Thread *chThdCreate(t_prio prio, t_tmode mode, void *workspace,
   return tp;

 }

 

-/**

- * Verifies if the specified thread is in the \p PREXIT state.

- * @param tp the pointer to the thread

- * @return \p TRUE if the thread is ended else \p FALSE. \p TRUE ensures that

- *         a subsequent call to \p chThdWait() would not block.

- */

-BOOL chThdTerminated(Thread *tp) {

-

-  return tp->p_state == PREXIT;

-}

-

 #ifdef CH_USE_RESUME

 /**

  * Resumes a thread created with the \p P_SUSPENDED option.

@@ -176,17 +165,6 @@ void chThdTerminate(Thread *tp) {
 

   chSysUnlock();

 }

-

-/**

- * Verifies if the current thread has a termination request pending.

- * @return \p TRUE if the termination was requested. The thread should terminate

- *         as soon it is ready to do so.

- */

-BOOL chThdShouldTerminate(void) {

-

-  return currp->p_flags & P_TERMINATE ? TRUE : FALSE;

-}

-

 #endif

 

 /**

@@ -234,31 +212,4 @@ t_msg chThdWait(Thread *tp) {
 }

 #endif /* CH_USE_WAITEXIT */

 

-#ifdef CH_USE_EXIT_EVENT

-/**

- * Returns the exit event source for the specified thread. The source is

- * signaled when the thread terminates.

- * @param tp the pointer to the thread

- * @note When registering on a thread termination make sure the thread

- *       is still alive, if you do that after the thread termination

- *       then you would miss the event. There are two ways to ensure

- *       this:<br>

- *       <ul>

- *       <li>Create the thread suspended, register on the event source

- *           and then resume the thread (recommended).</li>

- *       <li>Create the thread with a lower priority then register on it.

- *           This does not work if the hardware is capable of multiple

- *           physical threads.</li>

- *       </ul>

- * @note You dont need to unregister from a terminated thread because

- *       the event source becomes inactive.

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

- *       option is enabled in \p chconf.h.

- */

-EventSource *chThdGetExitEventSource(Thread *tp) {

-

-  return &tp->p_exitesource;

-}

-#endif /* CH_USE_EXIT_EVENT */

-

 /** @} */

diff --git a/src/include/threads.h b/src/include/threads.h
index f170ce368..688ce579a 100644
--- a/src/include/threads.h
+++ b/src/include/threads.h
@@ -182,19 +182,55 @@ static INLINE void enqueue(Thread *tp, ThreadsQueue *tqp) {
 /*

  * Threads APIs.

  */

-#define chThdSelf() currp

 Thread *chThdCreate(t_prio prio, t_tmode mode, void *workspace,

                     t_size wsize, t_tfunc pf, void *arg);

 void chThdResume(Thread *tp);

-void chThdTerminate(Thread *tp);

-BOOL chThdShouldTerminate(void);

-BOOL chThdTerminated(Thread *tp);

 void chThdExit(t_msg msg);

+

+/** Returns the pointer to the \p Thread currently in execution.*/

+#define chThdSelf() currp

+

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

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

+

+/** Verifies if the specified thread is in the \p PREXIT state.*/

+#define chThdTerminated(tp) ((tp)->p_state == PREXIT)

+

+#ifdef CH_USE_TERMINATE

+/**

+ * Verifies if the current thread has a termination request pending.

+ */

+#define chThdShouldTerminate() (currp->p_flags & P_TERMINATE)

+

+void chThdTerminate(Thread *tp);

+#endif

+

 #ifdef CH_USE_WAITEXIT

 t_msg chThdWait(Thread *tp);

 #endif

+

 #ifdef CH_USE_EXIT_EVENT

-EventSource *chThdGetExitEventSource(Thread *tp);

+/**

+ * Returns the exit event source for the specified thread. The source is

+ * signaled when the thread terminates.

+ * @param tp the pointer to the thread

+ * @note When registering on a thread termination make sure the thread

+ *       is still alive, if you do that after the thread termination

+ *       then you would miss the event. There are two ways to ensure

+ *       this:<br>

+ *       <ul>

+ *       <li>Create the thread suspended, register on the event source

+ *           and then resume the thread (recommended).</li>

+ *       <li>Create the thread with a lower priority then register on it.

+ *           This does not work if the hardware is capable of multiple

+ *           physical threads.</li>

+ *       </ul>

+ * @note You dont need to unregister from a terminated thread because

+ *       the event source becomes inactive.

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

+ *       option is enabled in \p chconf.h.

+ */

+#define chThdGetExitEventSource(tp) (&(tp)->p_exitesource)

 #endif

 

 #endif  /* _THREADS_H_ */

diff --git a/src/templates/chcore.c b/src/templates/chcore.c
index 29a809378..e23cf1bfe 100644
--- a/src/templates/chcore.c
+++ b/src/templates/chcore.c
@@ -37,7 +37,7 @@
 void chSysPause(void) {}

 

 /**

- * Abonormal system termination handler. Invoked by the ChobiOS/RT when an

+ * Abonormal system termination handler. Invoked by the ChibiOS/RT when an

  * abnormal unrecoverable condition is met.

  */

 void chSysHalt(void) {}

diff --git a/src/templates/chcore.h b/src/templates/chcore.h
index 895e2b685..bb901b1ec 100644
--- a/src/templates/chcore.h
+++ b/src/templates/chcore.h
@@ -39,7 +39,7 @@ struct stackregs {
 }

 

 /**

- * Enters the ChobiOS/RT system mutual exclusion zone, the implementation is

+ * Enters the ChibiOS/RT system mutual exclusion zone, the implementation is

  * architecture dependent, on single core systems usually this function

  * just disables the interrupts.

  * @note The code in the system mutual exclusion zone must be as light and

@@ -50,7 +50,7 @@ struct stackregs {
 #define chSysLock()

 

 /**

- * Leaves the ChobiOS/RT system mutual exclusion zone, the implementation is

+ * Leaves the ChibiOS/RT system mutual exclusion zone, the implementation is

  * architecture dependent, on single core systems usually this function

  * just enables the interrupts.

  * @note The code in the system mutual exclusion zone must be as light and