git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@166 35acf78f-673a-0410-8e92-d51de3d6d3f4

12 files changed, 71 insertions, 3 deletions

diff --git a/demos/ARM7-LPC214x-GCC-minimal/chconf.h b/demos/ARM7-LPC214x-GCC-minimal/chconf.h
index 11081acc4..7db7c3618 100644
--- a/demos/ARM7-LPC214x-GCC-minimal/chconf.h
+++ b/demos/ARM7-LPC214x-GCC-minimal/chconf.h
@@ -107,6 +107,11 @@
  * @note requires \p CH_USE_VIRTUAL_TIMERS.*/

 //#define CH_USE_MESSAGES_EVENT

 

+/** Configuration option: If enabled then the threads have an option to serve

+ *  messages by priority instead of FIFO order.

+ * @note requires \p CH_USE_MESSAGES.*/

+//#define CH_USE_MESSAGES_PRIORITY

+

 /** Configuration option: if specified then the

  *  \p chThdGetExitEventSource() function is included in the kernel.

  * @note requires \p CH_USE_MESSAGES.

diff --git a/demos/ARM7-LPC214x-GCC/chconf.h b/demos/ARM7-LPC214x-GCC/chconf.h
index 28db4b351..4889fb590 100644
--- a/demos/ARM7-LPC214x-GCC/chconf.h
+++ b/demos/ARM7-LPC214x-GCC/chconf.h
@@ -107,6 +107,11 @@
  * @note requires \p CH_USE_VIRTUAL_TIMERS.*/

 #define CH_USE_MESSAGES_EVENT

 

+/** Configuration option: If enabled then the threads have an option to serve

+ *  messages by priority instead of FIFO order.

+ * @note requires \p CH_USE_MESSAGES.*/

+#define CH_USE_MESSAGES_PRIORITY

+

 /** Configuration option: if specified then the

  *  \p chThdGetExitEventSource() function is included in the kernel.

  * @note requires \p CH_USE_MESSAGES.

diff --git a/demos/AVR-AT90CANx-GCC/chconf.h b/demos/AVR-AT90CANx-GCC/chconf.h
index b4ddeeb05..d3f4491b2 100644
--- a/demos/AVR-AT90CANx-GCC/chconf.h
+++ b/demos/AVR-AT90CANx-GCC/chconf.h
@@ -108,6 +108,11 @@
  * @note requires \p CH_USE_VIRTUAL_TIMERS.*/

 #define CH_USE_MESSAGES_EVENT

 

+/** Configuration option: If enabled then the threads have an option to serve

+ *  messages by priority instead of FIFO order.

+ * @note requires \p CH_USE_MESSAGES.*/

+#define CH_USE_MESSAGES_PRIORITY

+

 /** Configuration option: if specified then the

  *  \p chThdGetExitEventSource() function is included in the kernel.

  * @note requires \p CH_USE_MESSAGES.

diff --git a/demos/Win32-MSVS/chconf.h b/demos/Win32-MSVS/chconf.h
index 037e3d8a0..e4710e575 100644
--- a/demos/Win32-MSVS/chconf.h
+++ b/demos/Win32-MSVS/chconf.h
@@ -112,6 +112,11 @@
  * @note requires \p CH_USE_VIRTUAL_TIMERS.*/

 #define CH_USE_MESSAGES_EVENT

 

+/** Configuration option: If enabled then the threads have an option to serve

+ *  messages by priority instead of FIFO order.

+ * @note requires \p CH_USE_MESSAGES.*/

+#define CH_USE_MESSAGES_PRIORITY

+

 /** Configuration option: if specified then the

  *  \p chThdGetExitEventSource() function is included in the kernel.

  * @note requires \p CH_USE_MESSAGES.

diff --git a/demos/Win32-MinGW/chconf.h b/demos/Win32-MinGW/chconf.h
index 3e741bb8c..115db4325 100644
--- a/demos/Win32-MinGW/chconf.h
+++ b/demos/Win32-MinGW/chconf.h
@@ -112,6 +112,11 @@
  * @note requires \p CH_USE_VIRTUAL_TIMERS.*/

 #define CH_USE_MESSAGES_EVENT

 

+/** Configuration option: If enabled then the threads have an option to serve

+ *  messages by priority instead of FIFO order.

+ * @note requires \p CH_USE_MESSAGES.*/

+#define CH_USE_MESSAGES_PRIORITY

+

 /** Configuration option: if specified then the

  *  \p chThdGetExitEventSource() function is included in the kernel.

  * @note requires \p CH_USE_MESSAGES.

diff --git a/docs/Doxyfile b/docs/Doxyfile
index 24ab33ea9..1672eaa7c 100644
--- a/docs/Doxyfile
+++ b/docs/Doxyfile
@@ -4,7 +4,7 @@
 # Project related configuration options
 #---------------------------------------------------------------------------
 PROJECT_NAME           = ChibiOS/RT
-PROJECT_NUMBER         = "0.5.0 beta"
+PROJECT_NUMBER         = "0.5.1 beta"
 OUTPUT_DIRECTORY       = .
 CREATE_SUBDIRS         = NO
 OUTPUT_LANGUAGE        = English
@@ -243,6 +243,7 @@ PREDEFINED             = __JUST_STUBS__ \
                          CH_USE_MESSAGES \
                          CH_USE_MESSAGES_TIMEOUT \
                          CH_USE_MESSAGES_EVENT \
+                         CH_USE_MESSAGES_PRIORITY \
                          CH_USE_SEMSW \
                          CH_USE_DEBUG \
                          CH_USE_TRACE
diff --git a/docs/ch.txt b/docs/ch.txt
index 48995a155..257d3d89e 100644
--- a/docs/ch.txt
+++ b/docs/ch.txt
@@ -305,7 +305,10 @@
  * be carryed in both directions. Data is not copyed between the client and

  * server threads but just a pointer passed so the exchange is very time

  * efficient.<br>

- * Messages are always processed in FIFO order.<br>

+ * Messages are usually processed in FIFO order but it is possible to process

+ * them in priority order by specifying \p P_MSGBYPRIO when creating a server

+ * thread, \p CH_USE_MESSAGES_PRIORITY must also be specified in \p chconf.h

+ * in order to enable the feature.<br>

  * Threads do not need to allocate space for message queues, the mechanism

  * just requires two extra pointers in the \p Thread structure (the message

  * queue header).<br>

diff --git a/docs/index.html b/docs/index.html
index a4d9e32c2..ae0284cae 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -13,7 +13,7 @@ Homepage</h2>
     </tr>

     <tr>

       <td style="text-align: center; vertical-align: top; width: 150px;">Current

-Version 0.5.0<br>

+Version 0.5.1<br>

 -<br>

       <a href="http://sourceforge.net/projects/chibios/" rel="me" target="_top">Project on SourceForge</a><br>

       <a href="html/index.html" target="_top" rel="me">Documentation</a><br>

diff --git a/readme.txt b/readme.txt
index b00db6498..47e4c16e7 100644
--- a/readme.txt
+++ b/readme.txt
@@ -40,6 +40,17 @@ AVR-AT90CANx-GCC       - Port on AVR AT90CAN128, not complete yet.
 *****************************************************************************

 

 *** 0.5.1 ***

+- NEW: Priority enqueing for messages can be optionally enabled by specifying

+  the P_MSGBYPRIO option when creating a server thread.

+  This change allows the implementation of a priority ceiling protocol into

+  message servers threads. Threads serving messages by priority and threads

+  serving messages in FIFO orded can exist at the same time in the system.

+  This feature can be enabled or disabled by removing the option

+  CH_USE_MESSAGES_PRIORITY into the chconf.h file.

+  Note: This option brings a small overhead when sending a message regardless

+  if in FIFO or priority order, if you dont need priority ordering for your

+  messages it is better disable the feature in chconf.h. It also saves some

+  space.

 - Added to the ARM demos load scripts the capability to load code in RAM

   instead flash, the function must be marked as:

     __attribute__((section(".ramtext")))

diff --git a/src/chmsg.c b/src/chmsg.c
index 61546d7c1..20a59904e 100644
--- a/src/chmsg.c
+++ b/src/chmsg.c
@@ -36,7 +36,14 @@ t_msg chMsgSend(Thread *tp, t_msg msg) {
 

   chSysLock();

 

+#ifdef CH_USE_MESSAGES_PRIORITY

+  if (tp->p_flags & P_MSGBYPRIO)

+    prio_insert(currp, &tp->p_msgqueue);

+  else

+    fifo_insert(currp, &tp->p_msgqueue);

+#else

   fifo_insert(currp, &tp->p_msgqueue);

+#endif

   currp->p_msg = msg;

   if (tp->p_state == PRWTMSG)

     chSchReadyI(tp, RDY_OK);

@@ -67,7 +74,14 @@ t_msg chMsgSendWithEvent(Thread *tp, t_msg msg, EventSource *esp) {
   chSysLock();

 

   chDbgAssert(tp->p_state != PRWTMSG, "chmsg.c, chMsgSendWithEvent()");

+#ifdef CH_USE_MESSAGES_PRIORITY

+  if (tp->p_flags & P_MSGBYPRIO)

+    prio_insert(currp, &tp->p_msgqueue);

+  else

+    fifo_insert(currp, &tp->p_msgqueue);

+#else

   fifo_insert(currp, &tp->p_msgqueue);

+#endif

   chEvtSendI(esp);

   currp->p_msg = msg;

   chSchGoSleepS(PRSNDMSG);

@@ -107,7 +121,14 @@ t_msg chMsgSendTimeout(Thread *tp, t_msg msg, t_time time) {
   chSysLock();

 

   chVTSetI(&vt, time, wakeup, currp);

+#ifdef CH_USE_MESSAGES_PRIORITY

+  if (tp->p_flags & P_MSGBYPRIO)

+    prio_insert(currp, &tp->p_msgqueue);

+  else

+    fifo_insert(currp, &tp->p_msgqueue);

+#else

   fifo_insert(currp, &tp->p_msgqueue);

+#endif

   if (tp->p_state == PRWTMSG)

     chSchReadyI(tp, RDY_OK);

   currp->p_msg = msg;

diff --git a/src/include/threads.h b/src/include/threads.h
index 50468e063..f451278cf 100644
--- a/src/include/threads.h
+++ b/src/include/threads.h
@@ -135,6 +135,8 @@ struct Thread {
 #define P_TERMINATE 1

 /** Thread option: Create suspended thread.*/

 #define P_SUSPENDED 2

+/** Thread option: Serve messages by priority instead of FIFO order.*/

+#define P_MSGBYPRIO 4

 

 /** Pseudo priority used by the ready list header, do not use.*/

 #define NOPRIO      0

diff --git a/src/templates/chconf.h b/src/templates/chconf.h
index fb8ae6a69..d8e5f88da 100644
--- a/src/templates/chconf.h
+++ b/src/templates/chconf.h
@@ -108,6 +108,11 @@
  * @note requires \p CH_USE_VIRTUAL_TIMERS.*/

 #define CH_USE_MESSAGES_EVENT

 

+/** Configuration option: If enabled then the threads have an option to serve

+ *  messages by priority instead of FIFO order.

+ * @note requires \p CH_USE_MESSAGES.*/

+#define CH_USE_MESSAGES_PRIORITY

+

 /** Configuration option: if specified then the

  *  \p chThdGetExitEventSource() function is included in the kernel.

  * @note requires \p CH_USE_MESSAGES.