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| author | gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2009-01-21 11:32:31 +0000 |
|---|---|---|
| committer | gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2009-01-21 11:32:31 +0000 |
| commit | 22fe505a817d26c5b88dae4f602b658498a8a18e (patch) | |
| tree | 116bcfab560251aaa9af8cd0d581e54470f63c1b /docs | |
| parent | 12721da8ad78b13eff38169f59ebbc4db97bfd2b (diff) | |
| download | ChibiOS-22fe505a817d26c5b88dae4f602b658498a8a18e.tar.gz ChibiOS-22fe505a817d26c5b88dae4f602b658498a8a18e.tar.bz2 ChibiOS-22fe505a817d26c5b88dae4f602b658498a8a18e.zip | |
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@655 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'docs')
| -rw-r--r-- | docs/ch.txt | 24 | ||||
| -rw-r--r-- | docs/src/atomic.dox | 10 | ||||
| -rw-r--r-- | docs/src/timing.dox | 42 |
3 files changed, 68 insertions, 8 deletions
diff --git a/docs/ch.txt b/docs/ch.txt index 0ae4eb61b..74436d6b5 100644 --- a/docs/ch.txt +++ b/docs/ch.txt @@ -192,7 +192,28 @@ *
* @section thread_states Threads States
* The image shows how threads can change their state in ChibiOS/RT.<br>
- * @image html states.png
+ * @dot
+ digraph example {
+ /*rankdir="LR";*/
+ node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];
+ start [label="Start", style="bold"];
+ run [label="Running"];
+ ready [label="Ready"];
+ suspend [label="Suspended"];
+ sleep [label="Sleeping"];
+ stop [label="Stop", style="bold"];
+ start -> suspend [label="chThdInit()", fontname=Helvetica, fontsize=8, constraint=false];
+ start -> run [label="chThdCreate()", fontname=Helvetica, fontsize=8];
+ start -> ready [label="chThdCreate()", fontname=Helvetica, fontsize=8];
+ run -> ready [dir="both", label="Reschedulation", fontname=Helvetica, fontsize=8];
+ suspend -> run [label="chThdResume()", fontname=Helvetica, fontsize=8];
+ suspend -> ready [label="chThdResume()", fontname=Helvetica, fontsize=8];
+ run -> sleep [label="chSchGoSleepS()", fontname=Helvetica, fontsize=8];
+ sleep -> run [label="chSchWakepS()", fontname=Helvetica, fontsize=8];
+ sleep -> ready [label="chSchWakepS()", fontname=Helvetica, fontsize=8];
+ run -> stop [label="chThdExit()", fontname=Helvetica, fontsize=8];
+ }
+ * @enddot
*
* @section priority Priority Levels
* Priorities in ChibiOS/RT are a contiguous numerical range but the initial
@@ -246,6 +267,7 @@ * - @subpage article_atomic
* - @subpage article_saveram
* - @subpage article_interrupts
+ * - @subpage article_timing
*/
/** @} */
diff --git a/docs/src/atomic.dox b/docs/src/atomic.dox index 22601d8d9..144d6bca0 100644 --- a/docs/src/atomic.dox +++ b/docs/src/atomic.dox @@ -12,17 +12,13 @@ chSemSignalI(&sem1);
chSemSignalI(&sem2);
- if (tp != NULL) {
- chThdResumeI(tp);
- tp = NULL;
- }
chSchRescheduleS();
chSysUnlock();
* @endcode
- * The above example performs a signal operation on two semaphores, optionally
- * resumes a thread, and performs a final reschedulation. The three operations
- * are performed atomically.<br>
+ * The above example performs a signal operation on two semaphores and
+ * performs a final reschedulation. The two operations are performed
+ * atomically.<br>
* An hypotetical @p chSemSignalSignalWait() operation could be implemented as
* follow:
* @code
diff --git a/docs/src/timing.dox b/docs/src/timing.dox new file mode 100644 index 000000000..e38fcb74c --- /dev/null +++ b/docs/src/timing.dox @@ -0,0 +1,42 @@ +/**
+ * @page article_timing Reliable timings using Threads
+ * @{
+ * One common task is to have threads do something at regular, scheduled,
+ * intervals.
+ * An obvious solution is to write something like this:
+ * @code
+msg_t my_thread(void *param) {
+
+ while (TRUE) {
+ do_something();
+ chThdSleepMilliseconds(1000); /* Fixed interval */
+ }
+}
+ * @endcode
+ * This example works well assuming that @p do_something() execution time is
+ * well below the system tick period and that @p my_thread() is not preempted
+ * by other threads inserting long intervals.<br>
+ * If the above conditions are not satisfied you may have @p do_something()
+ * executed at irregular intevals, as example:<br><br>
+ * T0...T0+1000...T0+2002...T0+3002...T0+4005...etc.<br><br>
+ * Also note that the error increases over time and this kind of behavior can
+ * lead anomalies really hard to debug.
+ * <h2>A better solution</h2>
+ * It is possible to rewrite the above code using absolute deadlines rather
+ * than fixed intervals:
+ * @code
+msg_t my_thread(void *param) {
+
+ systick_t time = chSysGetTime(); /* T0 */
+ while (TRUE) {
+ time += MS2ST(1000); /* Next deadline */
+ do_something();
+ chThdSleepUntil(time);
+ }
+}
+ * @endcode
+ * Using this code @p do_something() will always be executed at an absolute
+ * deadline time and the error will not accumulate over time regardless of
+ * the execution time and delays inserted by other threads.
+ */
+/** @} */
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