Cortex-M3 related improvements.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1161 35acf78f-673a-0410-8e92-d51de3d6d3f4

6 files changed, 34 insertions, 23 deletions

diff --git a/docs/reports/STM32F103-72.txt b/docs/reports/STM32F103-72.txt
index 09ddc8850..78b3dded3 100644
--- a/docs/reports/STM32F103-72.txt
+++ b/docs/reports/STM32F103-72.txt
@@ -90,51 +90,64 @@ Settings: SYSCLK=72, ACR=0x12 (2 wait states)
 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.1 (Benchmark, messages #1)

---- Score : 221677 msgs/S, 443354 ctxswc/S

+--- Score : 221722 msgs/S, 443444 ctxswc/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.2 (Benchmark, messages #2)

---- Score : 185595 msgs/S, 371190 ctxswc/S

+--- Score : 185630 msgs/S, 371260 ctxswc/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.3 (Benchmark, messages #3)

---- Score : 185595 msgs/S, 371190 ctxswc/S

+--- Score : 185630 msgs/S, 371260 ctxswc/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.4 (Benchmark, context switch)

---- Score : 696488 ctxswc/S

+--- Score : 696632 ctxswc/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.5 (Benchmark, threads, full cycle)

---- Score : 173486 threads/S

+--- Score : 173525 threads/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.6 (Benchmark, threads, create only)

---- Score : 222371 threads/S

+--- Score : 222415 threads/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.7 (Benchmark, mass reschedulation, 5 threads)

---- Score : 56916 reschedulations/S, 341496 ctxswc/S

+--- Score : 56929 reschedulations/S, 341574 ctxswc/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.8 (Benchmark, round robin context switching)

---- Score : 504956 reschedulations/S, 504956 ctxswc/S

+--- Score : 505056 reschedulations/S, 505056 ctxswc/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.9 (Benchmark, I/O Queues throughput)

---- Score : 474720 bytes/S

+--- Score : 474812 bytes/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.10 (Benchmark, virtual timers set/reset)

---- Score : 647110 timers/S

+--- Score : 647250 timers/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.11 (Benchmark, semaphores wait/signal)

---- Score : 832884 wait+signal/S

+--- Score : 833064 wait+signal/S

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 --- Test Case 11.12 (Benchmark, mutexes lock/unlock)

---- Score : 586424 lock+unlock/S

+--- Score : 586532 lock+unlock/S

+--- Result: SUCCESS

+----------------------------------------------------------------------------

+--- Test Case 11.13 (Benchmark, RAM footprint)

+--- System: 300 bytes

+--- Thread: 60 bytes

+--- Timer : 20 bytes

+--- Semaph: 12 bytes

+--- EventS: 4 bytes

+--- EventL: 12 bytes

+--- Mutex : 16 bytes

+--- CondV.: 8 bytes

+--- Queue : 32 bytes

+--- MailB.: 40 bytes

 --- Result: SUCCESS

 ----------------------------------------------------------------------------

 

diff --git a/os/kernel/include/scheduler.h b/os/kernel/include/scheduler.h
index 8aa692e58..f3216bb7a 100644
--- a/os/kernel/include/scheduler.h
+++ b/os/kernel/include/scheduler.h
@@ -117,7 +117,7 @@ extern "C" {
  * @details This function returns @p TRUE if there is a ready thread with
  *          higher priority.
  */
-#define chSchMustRescheduleS() (firstprio(&rlist.r_queue) >= currp->p_prio)
+#define chSchMustRescheduleS() (firstprio(&rlist.r_queue) > currp->p_prio)
 
 #endif /* _SCHEDULER_H_ */
 
diff --git a/os/kernel/src/chschd.c b/os/kernel/src/chschd.c
index 1f7e27c93..08ecf46a0 100644
--- a/os/kernel/src/chschd.c
+++ b/os/kernel/src/chschd.c
@@ -210,8 +210,7 @@ void chSchDoRescheduleI(void) {
  *          the ready list then make the higher priority thread running.
  */
 void chSchRescheduleS(void) {
-  /* First thread in the runnable queue has higher priority than the running
-   * thread?.*/
+
   if (chSchMustRescheduleS())
     chSchDoRescheduleI();
 }
diff --git a/os/ports/GCC/ARMCM3/chcore.c b/os/ports/GCC/ARMCM3/chcore.c
index ce76ffa4c..4e9874f82 100644
--- a/os/ports/GCC/ARMCM3/chcore.c
+++ b/os/ports/GCC/ARMCM3/chcore.c
@@ -151,13 +151,7 @@ void PendSVVector(void) {
   Thread *otp;

   register struct intctx *sp_thd asm("r12");

 

-  asm volatile ("push    {lr}");

   chSysLockFromIsr();

-  if (!chSchRescRequiredI()) {

-    chSysUnlockFromIsr();

-    asm volatile ("pop     {pc}");

-  }

-  asm volatile ("pop     {lr}");

 

   PUSH_CONTEXT(sp_thd);

 

diff --git a/os/ports/GCC/ARMCM3/chcore.h b/os/ports/GCC/ARMCM3/chcore.h
index 4a6ee2695..daff52090 100644
--- a/os/ports/GCC/ARMCM3/chcore.h
+++ b/os/ports/GCC/ARMCM3/chcore.h
@@ -209,8 +209,11 @@ struct context {
  * IRQ epilogue code, inserted at the end of all IRQ handlers enabled to

  * invoke system APIs.

  */

-#define PORT_IRQ_EPILOGUE() {                                            \

-  SCB_ICSR = ICSR_PENDSVSET;                                            \

+#define PORT_IRQ_EPILOGUE() {                                           \

+  chSysLockFromIsr();                                                   \

+  if (chSchRescRequiredI())                                             \

+    SCB_ICSR = ICSR_PENDSVSET;                                          \

+  chSysUnlockFromIsr();                                                 \

 }

 

 /**

diff --git a/readme.txt b/readme.txt
index 17faf38f8..ecbf68907 100644
--- a/readme.txt
+++ b/readme.txt
@@ -12,6 +12,8 @@
 - FIX: Fixed GCC 4.4.x related problems in CM3 port (bug 2846162)(backported

   in stable branch).

 - FIX: Fixed LPC214x UART problem (bug 2841088)(backported in stable branch).

+- NEW: Improved the Cortex-M3 preemption code, now less interrupt-related

+  jitter is generated and all benchmarks scores improved a bit.

 - NEW: Added new APIs chSchDoYieldS() and chThdYield().

 - MEW: Added new benchmark about RAM footprint.

 - MEW: Added new benchmark about round robin rescheduling.