diff options
| -rw-r--r-- | demos/ARMCM4-STM32F303-DISCOVERY/chconf.h | 16 | ||||
| -rw-r--r-- | os/kernel/include/chstats.h | 56 | ||||
| -rw-r--r-- | os/kernel/include/chsys.h | 38 | ||||
| -rw-r--r-- | os/kernel/include/chtm.h | 2 | ||||
| -rw-r--r-- | os/kernel/src/chdebug.c | 2 | ||||
| -rw-r--r-- | os/kernel/src/chstats.c | 50 | ||||
| -rw-r--r-- | os/kernel/src/chsys.c | 2 | ||||
| -rw-r--r-- | os/ports/GCC/ARMCMx/chcore_v7m.c | 6 | ||||
| -rw-r--r-- | os/ports/GCC/ARMCMx/chcore_v7m.h | 10 | ||||
| -rw-r--r-- | test/testbmk.c | 3 | ||||
| -rw-r--r-- | test/testmbox.c | 2 | ||||
| -rw-r--r-- | test/testsem.c | 18 |
12 files changed, 109 insertions, 96 deletions
diff --git a/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h b/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h index 727f9de89..31fcff51c 100644 --- a/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h +++ b/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h @@ -41,7 +41,7 @@ * setting also defines the system tick time unit.
*/
#if !defined(CH_CFG_FREQUENCY) || defined(__DOXYGEN__)
-#define CH_CFG_FREQUENCY 10000
+#define CH_CFG_FREQUENCY 1000
#endif
/**
@@ -53,7 +53,7 @@ * this value.
*/
#if !defined(CH_CFG_TIMEDELTA) || defined(__DOXYGEN__)
-#define CH_CFG_TIMEDELTA 2
+#define CH_CFG_TIMEDELTA 0
#endif
/**
@@ -359,7 +359,7 @@ * @note The default is @p FALSE.
*/
#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_SYSTEM_STATE_CHECK FALSE
+#define CH_DBG_SYSTEM_STATE_CHECK TRUE
#endif
/**
@@ -370,7 +370,7 @@ * @note The default is @p FALSE.
*/
#if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_CHECKS FALSE
+#define CH_DBG_ENABLE_CHECKS TRUE
#endif
/**
@@ -382,7 +382,7 @@ * @note The default is @p FALSE.
*/
#if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_ASSERTS FALSE
+#define CH_DBG_ENABLE_ASSERTS TRUE
#endif
/**
@@ -393,7 +393,7 @@ * @note The default is @p FALSE.
*/
#if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_TRACE FALSE
+#define CH_DBG_ENABLE_TRACE TRUE
#endif
/**
@@ -407,7 +407,7 @@ * @p panic_msg variable set to @p NULL.
*/
#if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)
-#define CH_DBG_ENABLE_STACK_CHECK FALSE
+#define CH_DBG_ENABLE_STACK_CHECK TRUE
#endif
/**
@@ -419,7 +419,7 @@ * @note The default is @p FALSE.
*/
#if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)
-#define CH_DBG_FILL_THREADS FALSE
+#define CH_DBG_FILL_THREADS TRUE
#endif
/**
diff --git a/os/kernel/include/chstats.h b/os/kernel/include/chstats.h index a62eba0cc..d40117882 100644 --- a/os/kernel/include/chstats.h +++ b/os/kernel/include/chstats.h @@ -62,60 +62,12 @@ typedef struct { critical zones duration. */
time_measurement_t m_crit_isr; /**< @brief Measurement of ISRs critical
zones duration. */
- time_measurement_t m_isr; /**< @brief Measurement of ISRs total
- duration. */
} kernel_stats_t;
/*===========================================================================*/
/* Module macros. */
/*===========================================================================*/
-/**
- * @brief Increases the IRQ counter.
- */
-#define _stats_increase_irq() kernel_stats.n_irq++
-
-/**
- * @brief Increases the context switch counter.
- */
-#define _stats_increase_ctxswc() kernel_stats.n_ctxswc++
-
-/**
- * @brief Starts the measurement of a thread critical zone.
- */
-#define _stats_start_measure_crit_thd() \
- chTMStartMeasurementX(&kernel_stats.m_crit_thd)
-
-/**
- * @brief Stops the measurement of a thread critical zone.
- */
-#define _stats_stop_measure_crit_thd() \
- chTMStopMeasurementX(&kernel_stats.m_crit_thd)
-
-/**
- * @brief Starts the measurement of an ISR critical zone.
- */
-#define _stats_start_measure_crit_isr() \
- chTMStartMeasurementX(&kernel_stats.m_crit_isr)
-
-/**
- * @brief Stops the measurement of an ISR critical zone.
- */
-#define _stats_stop_measure_crit_isr() \
- chTMStopMeasurementX(&kernel_stats.m_crit_isr)
-
-/**
- * @brief Starts the measurement of an ISR duration.
- */
-#define _stats_start_measure_isr() \
- chTMStartMeasurementX(&kernel_stats.m_crit_isr)
-
-/**
- * @brief Stops the measurement of an ISR duration.
- */
-#define _stats_stop_measure_isr() \
- chTMStopMeasurementX(&kernel_stats.m_crit_isr)
-
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
@@ -128,6 +80,12 @@ extern kernel_stats_t kernel_stats; extern "C" {
#endif
void _stats_init(void);
+ void _stats_increase_irq(void);
+ void _stats_increase_ctxswc(void);
+ void _stats_start_measure_crit_thd(void);
+ void _stats_stop_measure_crit_thd(void);
+ void _stats_start_measure_crit_isr(void);
+ void _stats_stop_measure_crit_isr(void);
#ifdef __cplusplus
}
#endif
@@ -145,8 +103,6 @@ extern "C" { #define _stats_stop_measure_crit_thd()
#define _stats_start_measure_crit_isr()
#define _stats_stop_measure_crit_isr()
-#define _stats_start_measure_isr()
-#define _stats_stop_measure_isr()
#endif /* !CH_DBG_STATISTICS */
diff --git a/os/kernel/include/chsys.h b/os/kernel/include/chsys.h index 9663e85ac..bfb521d65 100644 --- a/os/kernel/include/chsys.h +++ b/os/kernel/include/chsys.h @@ -61,7 +61,6 @@ */
#define CH_IRQ_PROLOGUE() \
PORT_IRQ_PROLOGUE(); \
- _stats_start_measure_isr(); \
_stats_increase_irq(); \
dbg_check_enter_isr()
@@ -75,7 +74,6 @@ */
#define CH_IRQ_EPILOGUE() \
dbg_check_leave_isr(); \
- _stats_stop_measure_isr(); \
PORT_IRQ_EPILOGUE()
/**
@@ -196,6 +194,24 @@ #define chSysGetRealtimeCounterX() (rtcnt_t)port_rt_get_counter_value()
#endif
+/**
+ * @brief Performs a context switch.
+ * @note Not a user function, it is meant to be invoked by the scheduler
+ * itself or from within the port layer.
+ *
+ * @param[in] ntp the thread to be switched in
+ * @param[in] otp the thread to be switched out
+ *
+ * @special
+ */
+#define chSysSwitch(ntp, otp) { \
+ \
+ dbg_trace(otp); \
+ _stats_increase_ctxswc(); \
+ CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp); \
+ port_switch(ntp, otp); \
+}
+
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
@@ -221,24 +237,6 @@ extern "C" { /*===========================================================================*/
/**
- * @brief Performs a context switch.
- * @note Not a user function, it is meant to be invoked by the scheduler
- * itself or from within the port layer.
- *
- * @param[in] ntp the thread to be switched in
- * @param[in] otp the thread to be switched out
- *
- * @special
- */
-static inline void chSysSwitch(thread_t *ntp, thread_t *otp) {
-
- dbg_trace(otp);
- _stats_increase_ctxswc();
- CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp);
- port_switch(ntp, otp);
-}
-
-/**
* @brief Raises the system interrupt priority mask to the maximum level.
* @details All the maskable interrupt sources are disabled regardless their
* hardware priority.
diff --git a/os/kernel/include/chtm.h b/os/kernel/include/chtm.h index 8d8d021fd..b72bff8e6 100644 --- a/os/kernel/include/chtm.h +++ b/os/kernel/include/chtm.h @@ -31,8 +31,6 @@ #if CH_CFG_USE_TM || defined(__DOXYGEN__)
-#define port_rt_get_counter_value() 0
-
/*===========================================================================*/
/* Module constants. */
/*===========================================================================*/
diff --git a/os/kernel/src/chdebug.c b/os/kernel/src/chdebug.c index 44058dff8..ba9c469b9 100644 --- a/os/kernel/src/chdebug.c +++ b/os/kernel/src/chdebug.c @@ -234,7 +234,7 @@ void _trace_init(void) { */
void dbg_trace(thread_t *otp) {
- dbg_trace_buffer.tb_ptr->se_time = chTimeNow();
+ dbg_trace_buffer.tb_ptr->se_time = chVTGetSystemTimeX();
dbg_trace_buffer.tb_ptr->se_tp = currp;
dbg_trace_buffer.tb_ptr->se_wtobjp = otp->p_u.wtobjp;
dbg_trace_buffer.tb_ptr->se_state = (uint8_t)otp->p_state;
diff --git a/os/kernel/src/chstats.c b/os/kernel/src/chstats.c index eb2023c93..93739da17 100644 --- a/os/kernel/src/chstats.c +++ b/os/kernel/src/chstats.c @@ -69,11 +69,59 @@ void _stats_init(void) { kernel_stats.n_irq = 0;
kernel_stats.n_ctxswc = 0;
- chTMObjectInit(&kernel_stats.m_isr);
chTMObjectInit(&kernel_stats.m_crit_thd);
chTMObjectInit(&kernel_stats.m_crit_isr);
}
+
+/**
+ * @brief Increases the IRQ counter.
+ */
+void _stats_increase_irq(void) {
+
+ kernel_stats.n_irq++;
+}
+
+/**
+ * @brief Increases the context switch counter.
+ */
+void _stats_increase_ctxswc(void) {
+
+ kernel_stats.n_ctxswc++;
+}
+
+/**
+ * @brief Starts the measurement of a thread critical zone.
+ */
+void _stats_start_measure_crit_thd(void) {
+
+ chTMStartMeasurementX(&kernel_stats.m_crit_thd);
+}
+
+/**
+ * @brief Stops the measurement of a thread critical zone.
+ */
+void _stats_stop_measure_crit_thd(void) {
+
+ chTMStopMeasurementX(&kernel_stats.m_crit_thd);
+}
+
+/**
+ * @brief Starts the measurement of an ISR critical zone.
+ */
+void _stats_start_measure_crit_isr(void) {
+
+ chTMStartMeasurementX(&kernel_stats.m_crit_isr);
+}
+
+/**
+ * @brief Stops the measurement of an ISR critical zone.
+ */
+void _stats_stop_measure_crit_isr(void) {
+
+ chTMStopMeasurementX(&kernel_stats.m_crit_isr);
+}
+
#endif /* CH_DBG_STATISTICS */
/** @} */
diff --git a/os/kernel/src/chsys.c b/os/kernel/src/chsys.c index 168bd1376..7057a7e01 100644 --- a/os/kernel/src/chsys.c +++ b/os/kernel/src/chsys.c @@ -163,7 +163,7 @@ void chSysInit(void) { */
void chSysHalt(void) {
- chSysDisable();
+ port_disable();
#if defined(CH_CFG_SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
CH_CFG_SYSTEM_HALT_HOOK();
diff --git a/os/ports/GCC/ARMCMx/chcore_v7m.c b/os/ports/GCC/ARMCMx/chcore_v7m.c index bb099e50c..821f2403e 100644 --- a/os/ports/GCC/ARMCMx/chcore_v7m.c +++ b/os/ports/GCC/ARMCMx/chcore_v7m.c @@ -62,9 +62,9 @@ CH_IRQ_HANDLER(SysTickVector) { CH_IRQ_PROLOGUE();
- chSysLockFromIsr();
+ chSysLockFromISR();
chSysTimerHandlerI();
- chSysUnlockFromIsr();
+ chSysUnlockFromISR();
CH_IRQ_EPILOGUE();
}
@@ -191,9 +191,11 @@ __attribute__((naked)) #endif
void _port_switch_from_isr(void) {
+ _stats_start_measure_crit_thd();
dbg_check_lock();
chSchDoReschedule();
dbg_check_unlock();
+ _stats_stop_measure_crit_thd();
asm volatile ("_port_exit_from_isr:" : : : "memory");
#if !CORTEX_SIMPLIFIED_PRIORITY || defined(__DOXYGEN__)
asm volatile ("svc #0");
diff --git a/os/ports/GCC/ARMCMx/chcore_v7m.h b/os/ports/GCC/ARMCMx/chcore_v7m.h index 6cd461408..b9b30dad2 100644 --- a/os/ports/GCC/ARMCMx/chcore_v7m.h +++ b/os/ports/GCC/ARMCMx/chcore_v7m.h @@ -421,6 +421,10 @@ static inline void port_init(void) { SCB_VTOR = CORTEX_VTOR_INIT;
SCB_AIRCR = AIRCR_VECTKEY | AIRCR_PRIGROUP(CORTEX_PRIGROUP_INIT);
+ /* DWT cycle counter enable.*/
+ SCS_DEMCR |= SCS_DEMCR_TRCENA;
+ DWT_CTRL |= DWT_CTRL_CYCCNTENA;
+
/* Initialization of the system vectors used by the port.*/
nvicSetSystemHandlerPriority(HANDLER_SVCALL,
CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_SVCALL));
@@ -595,6 +599,12 @@ static inline void port_wait_for_interrupt(void) { #endif
}
+
+static inline rtcnt_t port_rt_get_counter_value(void) {
+
+ return DWT_CYCCNT;
+}
+
#endif /* _FROM_ASM_ */
#endif /* _CHCORE_V7M_H_ */
diff --git a/test/testbmk.c b/test/testbmk.c index 293dbd607..c04239817 100644 --- a/test/testbmk.c +++ b/test/testbmk.c @@ -218,7 +218,8 @@ static void bmk4_execute(void) { thread_t *tp;
uint32_t n;
- tp = threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriority()+1, thread4, NULL);
+ tp = threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriority()+1,
+ thread4, NULL);
n = 0;
test_wait_tick();
test_start_timer(1000);
diff --git a/test/testmbox.c b/test/testmbox.c index 0ba52aa09..1ca34dadc 100644 --- a/test/testmbox.c +++ b/test/testmbox.c @@ -80,7 +80,7 @@ static void mbox1_execute(void) { /*
* Testing initial space.
*/
- test_assert(1, chMBGetFreeCountI(&mb1) == MB_SIZE, "wrong size");
+ test_assert_lock(1, chMBGetFreeCountI(&mb1) == MB_SIZE, "wrong size");
/*
* Testing enqueuing and backward circularity.
diff --git a/test/testsem.c b/test/testsem.c index d73a5e11b..0810300ea 100644 --- a/test/testsem.c +++ b/test/testsem.c @@ -104,7 +104,7 @@ static void sem1_execute(void) { chSemAddCounterI(&sem1, 2);
chSysUnlock();
test_wait_threads();
- test_assert(2, chSemGetCounterI(&sem1) == 1, "invalid counter");
+ test_assert_lock(2, chSemGetCounterI(&sem1) == 1, "invalid counter");
}
ROMCONST struct testcase testsem1 = {
@@ -252,7 +252,7 @@ static void sem4_execute(void) { /* Creates a taken binary semaphore.*/
chBSemObjectInit(&bsem, TRUE);
chBSemReset(&bsem, TRUE);
- test_assert(1, chBSemGetStateI(&bsem) == TRUE, "not taken");
+ test_assert_lock(1, chBSemGetStateI(&bsem) == TRUE, "not taken");
/* Starts a signaler thread at a lower priority.*/
threads[0] = chThdCreateStatic(wa[0], WA_SIZE,
@@ -262,18 +262,18 @@ static void sem4_execute(void) { chBSemWait(&bsem);
/* The binary semaphore is expected to be taken.*/
- test_assert(2, chBSemGetStateI(&bsem) == TRUE, "not taken");
-
+ test_assert_lock(2, chBSemGetStateI(&bsem) == TRUE, "not taken");
+
/* Releasing it, check both the binary semaphore state and the underlying
counter semaphore state..*/
chBSemSignal(&bsem);
- test_assert(3, chBSemGetStateI(&bsem) == FALSE, "still taken");
- test_assert(4, chSemGetCounterI(&bsem.bs_sem) == 1, "unexpected counter");
-
+ test_assert_lock(3, chBSemGetStateI(&bsem) == FALSE, "still taken");
+ test_assert_lock(4, chSemGetCounterI(&bsem.bs_sem) == 1, "unexpected counter");
+
/* Checking signaling overflow, the counter must not go beyond 1.*/
chBSemSignal(&bsem);
- test_assert(3, chBSemGetStateI(&bsem) == FALSE, "taken");
- test_assert(5, chSemGetCounterI(&bsem.bs_sem) == 1, "unexpected counter");
+ test_assert_lock(3, chBSemGetStateI(&bsem) == FALSE, "taken");
+ test_assert_lock(5, chSemGetCounterI(&bsem.bs_sem) == 1, "unexpected counter");
}
ROMCONST struct testcase testsem4 = {
|