git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6668 35acf78f-673a-0410-8e92-d51de3d6d3f4

10 files changed, 69 insertions, 48 deletions

diff --git a/os/common/ports/ARMCMx/compilers/GCC/rules.mk b/os/common/ports/ARMCMx/compilers/GCC/rules.mk
index a9228e393..1d6def961 100644
--- a/os/common/ports/ARMCMx/compilers/GCC/rules.mk
+++ b/os/common/ports/ARMCMx/compilers/GCC/rules.mk
@@ -23,6 +23,9 @@ ifeq ($(USE_LTO),yes)
 endif

 

 # FPU-related options

+ifeq ($(USE_FPU),)

+  USE_FPU = no

+endif

 ifneq ($(USE_FPU),no)

   OPT += -mfloat-abi=$(USE_FPU) -mfpu=fpv4-sp-d16 -fsingle-precision-constant

   DDEFS += -DCORTEX_USE_FPU=TRUE

diff --git a/os/nil/ports/ARMCMx/nilcore.h b/os/nil/ports/ARMCMx/nilcore.h
index 9d9c643b4..60202222a 100644
--- a/os/nil/ports/ARMCMx/nilcore.h
+++ b/os/nil/ports/ARMCMx/nilcore.h
@@ -42,6 +42,11 @@
  */

 #define PORT_ARCHITECTURE_ARM

 

+/* The following code is not processed when the file is included from an

+   asm module because those intrinsic macros are not necessarily defined

+   by the assembler too.*/

+#if !defined(_FROM_ASM_)

+

 /**

  * @brief   Compiler name and version.

  */

@@ -57,6 +62,9 @@
 #else

 #error "unsupported compiler"

 #endif

+

+#endif /* !defined(_FROM_ASM_) */

+

 /** @} */

 

 /**

diff --git a/os/rt/include/ch.h b/os/rt/include/ch.h
index 11c75c407..a8cc7ac81 100644
--- a/os/rt/include/ch.h
+++ b/os/rt/include/ch.h
@@ -62,10 +62,6 @@
 #define CH_KERNEL_PATCH         0

 /** @} */

 

-/* Forward declarations.*/

-typedef struct thread thread_t;

-typedef struct virtual_timer virtual_timer_t;

-

 /* Core headers.*/

 #include "chtypes.h"

 #include "chconf.h"

diff --git a/os/rt/include/chschd.h b/os/rt/include/chschd.h
index bcca26d85..fe85f76cb 100644
--- a/os/rt/include/chschd.h
+++ b/os/rt/include/chschd.h
@@ -69,16 +69,16 @@
 /*===========================================================================*/

 

 /**

- * @brief   Generic threads single link list, it works like a stack.

+ * @extends threads_queue_t

+ *

+ * @brief   Type of a thread structure.

  */

-typedef struct {

-  thread_t              *p_next;    /**< @brief Next in the list/queue.     */

-} threads_list_t;

+typedef struct thread thread_t;

 

 /**

  * @extends threads_list_t

  *

- * @brief   Generic threads bidirectional linked list header and element.

+ * @brief   Type of a generic threads bidirectional linked list header and element.

  */

 typedef struct {

   thread_t              *p_next;    /**< @brief Next in the list/queue.     */

@@ -86,6 +86,13 @@ typedef struct {
 } threads_queue_t;

 

 /**

+ * @brief   Type of a generic threads single link list, it works like a stack.

+ */

+typedef struct {

+  thread_t              *p_next;    /**< @brief Next in the list/queue.     */

+} threads_list_t;

+

+/**

  * @extends threads_queue_t

  *

  * @brief   Ready list header.

@@ -106,14 +113,12 @@ typedef struct {
 } ready_list_t;

 

 /**

- * @extends threads_queue_t

- *

  * @brief   Structure representing a thread.

  * @note    Not all the listed fields are always needed, by switching off some

  *          not needed ChibiOS/RT subsystems it is possible to save RAM space

- *          by shrinking the @p thread_t structure.

+ *          by shrinking this structure.

  */

-typedef struct thread {

+struct thread {

   thread_t              *p_next;    /**< @brief Next in the list/queue.     */

   /* End of the fields shared with the threads_list_t structure.*/

   thread_t              *p_prev;    /**< @brief Previous in the queue.      */

@@ -246,7 +251,32 @@ typedef struct thread {
   /* Extra fields defined in chconf.h.*/

   CH_CFG_THREAD_EXTRA_FIELDS

 #endif

-} thread_t;

+};

+

+/**

+ * @brief   Type of a Virtual Timer callback function.

+ */

+typedef void (*vtfunc_t)(void *);

+

+/**

+ * @brief   Type of a Virtual Timer structure.

+ */

+typedef struct virtual_timer virtual_timer_t;

+

+/**

+ * @extends virtual_timers_list_t

+ *

+ * @brief   Virtual Timer descriptor structure.

+ */

+struct virtual_timer {

+  virtual_timer_t       *vt_next;   /**< @brief Next timer in the list.     */

+  virtual_timer_t       *vt_prev;   /**< @brief Previous timer in the list. */

+  systime_t             vt_delta;   /**< @brief Time delta before timeout.  */

+  vtfunc_t              vt_func;    /**< @brief Timer callback function

+                                                pointer.                    */

+  void                  *vt_par;    /**< @brief Timer callback function

+                                                parameter.                  */

+};

 

 /**

  * @brief   Virtual timers list header.

diff --git a/os/rt/include/chvt.h b/os/rt/include/chvt.h
index 5c2d49d31..471ba22ee 100644
--- a/os/rt/include/chvt.h
+++ b/os/rt/include/chvt.h
@@ -87,31 +87,6 @@
 /* Module data structures and types.                                         */

 /*===========================================================================*/

 

-/**

- * @brief   Type of a Virtual Timer callback function.

- */

-typedef void (*vtfunc_t)(void *);

-

-/**

- * @brief   Type of a Virtual Timer structure.

- */

-typedef struct virtual_timer virtual_timer_t;

-

-/**

- * @extends virtual_timers_list_t

- *

- * @brief   Virtual Timer descriptor structure.

- */

-struct virtual_timer {

-  virtual_timer_t       *vt_next;   /**< @brief Next timer in the list.     */

-  virtual_timer_t       *vt_prev;   /**< @brief Previous timer in the list. */

-  systime_t             vt_delta;   /**< @brief Time delta before timeout.  */

-  vtfunc_t              vt_func;    /**< @brief Timer callback function

-                                                pointer.                    */

-  void                  *vt_par;    /**< @brief Timer callback function

-                                                parameter.                  */

-};

-

 /*===========================================================================*/

 /* Module macros.                                                            */

 /*===========================================================================*/

diff --git a/os/rt/ports/ARMCMx/chcore.h b/os/rt/ports/ARMCMx/chcore.h
index ca6ae60e7..0e5ed6933 100644
--- a/os/rt/ports/ARMCMx/chcore.h
+++ b/os/rt/ports/ARMCMx/chcore.h
@@ -42,6 +42,11 @@
  */

 #define PORT_ARCHITECTURE_ARM

 

+/* The following code is not processed when the file is included from an

+   asm module because those intrinsic macros are not necessarily defined

+   by the assembler too.*/

+#if !defined(_FROM_ASM_)

+

 /**

  * @brief   Compiler name and version.

  */

@@ -57,6 +62,9 @@
 #else

 #error "unsupported compiler"

 #endif

+

+#endif /* !defined(_FROM_ASM_) */

+

 /** @} */

 

 /**

diff --git a/os/rt/ports/ARMCMx/chcore_v6m.h b/os/rt/ports/ARMCMx/chcore_v6m.h
index e80efc9b9..fa6476084 100644
--- a/os/rt/ports/ARMCMx/chcore_v6m.h
+++ b/os/rt/ports/ARMCMx/chcore_v6m.h
@@ -254,7 +254,7 @@ struct port_intctx {
   struct port_intctx *r13 = (struct port_intctx *)__get_PSP();              \

   if ((stkalign_t *)(r13 - 1) < (otp)->p_stklimit)                          \

     chSysHalt("stack overflow");                                            \

-  _port_switch(ntp, otp);                                                   \

+  _port_switch((void *)ntp, (void *)otp);                                   \

 }

 #endif

 

@@ -266,10 +266,10 @@ struct port_intctx {
 extern "C" {

 #endif

   void _port_irq_epilogue(regarm_t lr);

+  void _port_switch(void *ntp, void *otp);

+  void _port_thread_start(void);

   void _port_switch_from_isr(void);

   void _port_exit_from_isr(void);

-  void _port_switch(thread_t *ntp, thread_t *otp);

-  void _port_thread_start(void);

 #ifdef __cplusplus

 }

 #endif

diff --git a/os/rt/ports/ARMCMx/chcore_v7m.h b/os/rt/ports/ARMCMx/chcore_v7m.h
index 404e87411..9e0b1e9cd 100644
--- a/os/rt/ports/ARMCMx/chcore_v7m.h
+++ b/os/rt/ports/ARMCMx/chcore_v7m.h
@@ -344,7 +344,7 @@ struct port_intctx {
   struct port_intctx *r13 = (struct port_intctx *)__get_PSP();              \

   if ((stkalign_t *)(r13 - 1) < (otp)->p_stklimit)                          \

     chSysHalt("stack overflow");                                            \

-  _port_switch(ntp, otp);                                                   \

+  _port_switch((void *)ntp, (void *)otp);                                   \

 }

 #endif

 

@@ -356,7 +356,7 @@ struct port_intctx {
 extern "C" {

 #endif

   void _port_irq_epilogue(void);

-  void _port_switch(thread_t *ntp, thread_t *otp);

+  void _port_switch(void *ntp, void *otp);

   void _port_thread_start(void);

   void _port_switch_from_isr(void);

   void _port_exit_from_isr(void);

diff --git a/os/rt/ports/e200/chcore.h b/os/rt/ports/e200/chcore.h
index 0255a0f1d..a043bb0b0 100644
--- a/os/rt/ports/e200/chcore.h
+++ b/os/rt/ports/e200/chcore.h
@@ -340,7 +340,7 @@ struct context {
   register struct port_intctx *sp asm ("%r1");                              \

   if ((stkalign_t *)(sp - 1) < otp->p_stklimit)                             \

     chDbgPanic("stack overflow");                                           \

-  _port_switch(ntp, otp);                                                   \

+  _port_switch((void *)ntp, (void *)otp);                                   \

 }

 #endif

 

@@ -373,7 +373,7 @@ struct context {
 #ifdef __cplusplus

 extern "C" {

 #endif

-  void _port_switch(thread_t *ntp, thread_t *otp);

+  void _port_switch(void *ntp, void *otp);

   void _port_thread_start(void);

 #ifdef __cplusplus

 }

diff --git a/os/rt/src/chvt.c b/os/rt/src/chvt.c
index e87c2d12c..d20e20d91 100644
--- a/os/rt/src/chvt.c
+++ b/os/rt/src/chvt.c
@@ -136,8 +136,9 @@ void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
   while (p->vt_delta < delay) {

     delay -= p->vt_delta;

     p = p->vt_next;

-  }
-
  /* The timer is inserted in the delta list.*/
+  }

+

+  /* The timer is inserted in the delta list.*/

   vtp->vt_prev = (vtp->vt_next = p)->vt_prev;

   vtp->vt_prev->vt_next = p->vt_prev = vtp;

   vtp->vt_delta = delay