git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8940 35acf78f-673a-0410-8e92-d51de3d6d3f4

7 files changed, 89 insertions, 54 deletions

diff --git a/os/common/oslib/include/chdynamic.h b/os/rt/include/chdynamic.h
index fa42bf3ae..fa42bf3ae 100644
--- a/os/common/oslib/include/chdynamic.h
+++ b/os/rt/include/chdynamic.h
diff --git a/os/rt/include/chschd.h b/os/rt/include/chschd.h
index 8275a1eee..ca48afe75 100644
--- a/os/rt/include/chschd.h
+++ b/os/rt/include/chschd.h
@@ -218,131 +218,148 @@ struct ch_thread {
   /* End of the fields shared with the ReadyList structure. */

 #if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)

   /**

-   * @brief Thread name or @p NULL.

+   * @brief   Thread name or @p NULL.

    */

   const char            *name;

 #endif

   /**

-   * @brief Thread stack boundary.

-   * @note  This pointer matches with the working area base address.

+   * @brief   Thread stack boundary.

+   * @note    This pointer matches with the working area base address.

    */

   stkalign_t            *stklimit;

   /**

-   * @brief Current thread state.

+   * @brief   Current thread state.

    */

   tstate_t              state;

   /**

-   * @brief Number of ticks remaining to this thread.

+   * @brief   Various thread flags.

+   */

+  tmode_t               flags;

+#if (CH_CFG_USE_DYNAMIC == TRUE) || defined(__DOXYGEN__)

+  /**

+   * @brief   References to this thread.

+   */

+  trefs_t               refs;

+#endif

+  /**

+   * @brief   Number of ticks remaining to this thread.

    */

 #if (CH_CFG_TIME_QUANTUM > 0) || defined(__DOXYGEN__)

   tslices_t             preempt;

 #endif

 #if (CH_DBG_THREADS_PROFILING == TRUE) || defined(__DOXYGEN__)

   /**

-   * @brief Thread consumed time in ticks.

-   * @note  This field can overflow.

+   * @brief   Thread consumed time in ticks.

+   * @note    This field can overflow.

    */

   volatile systime_t    time;

 #endif

   /**

-   * @brief State-specific fields.

-   * @note  All the fields declared in this union are only valid in the

-   *        specified state or condition and are thus volatile.

+   * @brief   State-specific fields.

+   * @note    All the fields declared in this union are only valid in the

+   *          specified state or condition and are thus volatile.

    */

   union {

     /**

-     * @brief Thread wakeup code.

-     * @note  This field contains the low level message sent to the thread

-     *        by the waking thread or interrupt handler. The value is valid

-     *        after exiting the @p chSchWakeupS() function.

+     * @brief   Thread wakeup code.

+     * @note    This field contains the low level message sent to the thread

+     *          by the waking thread or interrupt handler. The value is valid

+     *          after exiting the @p chSchWakeupS() function.

      */

     msg_t               rdymsg;

     /**

-     * @brief Thread exit code.

-     * @note  The thread termination code is stored in this field in order

-     *        to be retrieved by the thread performing a @p chThdWait() on

-     *        this thread.

+     * @brief   Thread exit code.

+     * @note    The thread termination code is stored in this field in order

+     *          to be retrieved by the thread performing a @p chThdWait() on

+     *          this thread.

      */

     msg_t               exitcode;

     /**

-     * @brief Pointer to a generic "wait" object.

-     * @note  This field is used to get a generic pointer to a synchronization

-     *        object and is valid when the thread is in one of the wait

-     *        states.

+     * @brief   Pointer to a generic "wait" object.

+     * @note    This field is used to get a generic pointer to a synchronization

+     *          object and is valid when the thread is in one of the wait

+     *          states.

      */

     void                *wtobjp;

     /**

-     * @brief Pointer to a generic thread reference object.

-     * @note  This field is used to get a pointer to a synchronization

-     *        object and is valid when the thread is in @p CH_STATE_SUSPENDED

-     *        state.

+     * @brief   Pointer to a generic thread reference object.

+     * @note    This field is used to get a pointer to a synchronization

+     *          object and is valid when the thread is in @p CH_STATE_SUSPENDED

+     *          state.

      */

     thread_reference_t  *wttrp;

 #if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)

     /**

-     * @brief Thread sent message.

+     * @brief   Thread sent message.

      */

     msg_t               sentmsg;

 #endif

 #if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__)

     /**

-     * @brief Pointer to a generic semaphore object.

-     * @note  This field is used to get a pointer to a synchronization

-     *        object and is valid when the thread is in @p CH_STATE_WTSEM

-     *        state.

+     * @brief   Pointer to a generic semaphore object.

+     * @note    This field is used to get a pointer to a synchronization

+     *          object and is valid when the thread is in @p CH_STATE_WTSEM

+     *          state.

      */

     struct ch_semaphore *wtsemp;

 #endif

 #if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)

     /**

-     * @brief Pointer to a generic mutex object.

-     * @note  This field is used to get a pointer to a synchronization

-     *        object and is valid when the thread is in @p CH_STATE_WTMTX

-     *        state.

+     * @brief   Pointer to a generic mutex object.

+     * @note    This field is used to get a pointer to a synchronization

+     *          object and is valid when the thread is in @p CH_STATE_WTMTX

+     *          state.

      */

     struct ch_mutex     *wtmtxp;

 #endif

 #if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)

     /**

-     * @brief Enabled events mask.

-     * @note  This field is only valid while the thread is in the

-     *        @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states.

+     * @brief   Enabled events mask.

+     * @note    This field is only valid while the thread is in the

+     *          @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states.

      */

     eventmask_t         ewmask;

 #endif

   }                     u;

 #if (CH_CFG_USE_WAITEXIT == TRUE) || defined(__DOXYGEN__)

   /**

-   * @brief Termination waiting list.

+   * @brief   Termination waiting list.

    */

   threads_list_t        waiting;

 #endif

 #if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)

   /**

-   * @brief Messages queue.

+   * @brief   Messages queue.

    */

   threads_queue_t       msgqueue;

 #endif

 #if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)

   /**

-   * @brief Pending events mask.

+   * @brief   Pending events mask.

    */

   eventmask_t           epending;

 #endif

 #if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)

   /**

-   * @brief List of the mutexes owned by this thread.

-   * @note  The list is terminated by a @p NULL in this field.

+   * @brief   List of the mutexes owned by this thread.

+   * @note    The list is terminated by a @p NULL in this field.

    */

   struct ch_mutex       *mtxlist;

   /**

-   * @brief Thread's own, non-inherited, priority.

+   * @brief   Thread's own, non-inherited, priority.

    */

   tprio_t               realprio;

 #endif

+#if ((CH_CFG_USE_DYNAMIC == TRUE) && (CH_CFG_USE_MEMPOOLS == TRUE)) ||      \

+    defined(__DOXYGEN__)

+  /**

+   * @brief   Memory Pool where the thread workspace is returned.

+   */

+  void                  *mpool;

+#endif

 #if (CH_DBG_STATISTICS == TRUE) || defined(__DOXYGEN__)

   /**

-   * @brief Thread statistics.

+   * @brief   Thread statistics.

    */

   time_measurement_t    stats;

 #endif

diff --git a/os/rt/rt.mk b/os/rt/rt.mk
index 971e18c23..cf92d654d 100644
--- a/os/rt/rt.mk
+++ b/os/rt/rt.mk
@@ -35,6 +35,9 @@ endif
 ifneq ($(findstring CH_CFG_USE_QUEUES TRUE,$(CHCONF)),)

 KERNSRC += $(CHIBIOS)/os/rt/src/chqueues.c

 endif

+ifneq ($(findstring CH_CFG_USE_DYNAMIC TRUE,$(CHCONF)),)

+KERNSRC += $(CHIBIOS)/os/rt/src/chdynamic.c

+endif

 ifneq ($(findstring CH_CFG_USE_MAILBOXES TRUE,$(CHCONF)),)

 KERNSRC += $(CHIBIOS)/os/common/oslib/src/chmboxes.c

 endif

@@ -47,9 +50,6 @@ endif
 ifneq ($(findstring CH_CFG_USE_MEMPOOLS TRUE,$(CHCONF)),)

 KERNSRC += $(CHIBIOS)/os/common/oslib/src/chmempools.c

 endif

-ifneq ($(findstring CH_CFG_USE_DYNAMIC TRUE,$(CHCONF)),)

-KERNSRC += $(CHIBIOS)/os/common/oslib/src/chdynamic.c

-endif

 else

 KERNSRC := $(CHIBIOS)/os/rt/src/chsys.c \

            $(CHIBIOS)/os/rt/src/chdebug.c \

@@ -65,11 +65,11 @@ KERNSRC := $(CHIBIOS)/os/rt/src/chsys.c \
            $(CHIBIOS)/os/rt/src/chevents.c \

            $(CHIBIOS)/os/rt/src/chmsg.c \

            $(CHIBIOS)/os/rt/src/chqueues.c \

+           $(CHIBIOS)/os/rt/src/chdynamic.c \

            $(CHIBIOS)/os/common/oslib/src/chmboxes.c \

            $(CHIBIOS)/os/common/oslib/src/chmemcore.c \

            $(CHIBIOS)/os/common/oslib/src/chheap.c \

-           $(CHIBIOS)/os/common/oslib/src/chmempools.c \

-           $(CHIBIOS)/os/common/oslib/src/chdynamic.c

+           $(CHIBIOS)/os/common/oslib/src/chmempools.c

 endif

 

 # Required include directories

diff --git a/os/common/oslib/src/chdynamic.c b/os/rt/src/chdynamic.c
index 3865c318a..414cfe2c8 100644
--- a/os/common/oslib/src/chdynamic.c
+++ b/os/rt/src/chdynamic.c
@@ -23,7 +23,6 @@
  *

  * @addtogroup dynamic_threads

  * @details Dynamic threads related APIs and services.

- * @note    Compatible with RT only.

  * @{

  */

 

diff --git a/os/rt/src/chregistry.c b/os/rt/src/chregistry.c
index 944383bf1..7d870897b 100644
--- a/os/rt/src/chregistry.c
+++ b/os/rt/src/chregistry.c
@@ -101,8 +101,12 @@ ROMCONST chdebug_t ch_debug = {
   (uint8_t)0,

 #endif

   (uint8_t)_offsetof(thread_t, state),

-  (uint8_t)0,                       /* Flags no more part of the structure. */

-  (uint8_t)0,                       /* Refs no more part of the structure.  */

+  (uint8_t)_offsetof(thread_t, flags),

+#if CH_CFG_USE_DYNAMIC == TRUE

+  (uint8_t)_offsetof(thread_t, refs),

+#else

+  (uint8_t)0,

+#endif

 #if CH_CFG_TIME_QUANTUM > 0

   (uint8_t)_offsetof(thread_t, preempt),

 #else

@@ -132,6 +136,9 @@ thread_t *chRegFirstThread(void) {
 

   chSysLock();

   tp = ch.rlist.newer;

+#if CH_CFG_USE_DYNAMIC == TRUE

+  tp->refs++;

+#endif

   chSysUnlock();

 

   return tp;

@@ -158,7 +165,16 @@ thread_t *chRegNextThread(thread_t *tp) {
   /*lint -restore*/

     ntp = NULL;

   }

+#if CH_CFG_USE_DYNAMIC == TRUE

+  else {

+    chDbgAssert(ntp->refs < (trefs_t)255, "too many references");

+    ntp->refs++;

+  }

+#endif

   chSysUnlock();

+#if CH_CFG_USE_DYNAMIC == TRUE

+  chThdRelease(tp);

+#endif

 

   return ntp;

 }

@@ -186,7 +202,6 @@ thread_t *chRegFindThreadByName(const char *name) {
 

   return NULL;

 }

-#endif /* CH_CFG_USE_REGISTRY == TRUE */

 

 /**

  * @brief   Confirms that a pointer is a valid thread pointer.

@@ -212,4 +227,6 @@ thread_t *chRegFindThreadByPointer(thread_t *tp) {
   return NULL;

 }

 

+#endif /* CH_CFG_USE_REGISTRY == TRUE */

+

 /** @} */

diff --git a/os/rt/src/chsys.c b/os/rt/src/chsys.c
index d9ca6d81a..18459849d 100644
--- a/os/rt/src/chsys.c
+++ b/os/rt/src/chsys.c
@@ -129,6 +129,7 @@ void chSysInit(void) {
 

   /* Setting up the caller as current thread.*/

   currp->state = CH_STATE_CURRENT;

+  currp->flags = CH_FLAG_MODE_STATIC;

 

   /* Port layer initialization last because it depend on some of the

      initializations performed before.*/

diff --git a/os/rt/src/chthreads.c b/os/rt/src/chthreads.c
index e706c0d77..0fff76604 100644
--- a/os/rt/src/chthreads.c
+++ b/os/rt/src/chthreads.c
@@ -175,6 +175,7 @@ thread_t *chThdCreateSuspendedI(const thread_descriptor_t *tdp) {
 

   /* Initial state.*/

   tp->state = CH_STATE_WTSTART;

+  tp->flags = CH_FLAG_MODE_STATIC;

 

   /* Stack boundary.*/

   tp->stklimit = tdp->wbase;