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-rw-r--r--demos/ARM7-AT91SAM7X-GCC/chconf.h7
-rw-r--r--demos/ARM7-AT91SAM7X-WEB-GCC/chconf.h7
-rw-r--r--demos/ARM7-LPC214x-G++/chconf.h7
-rw-r--r--demos/ARM7-LPC214x-GCC-minimal/chconf.h7
-rw-r--r--demos/ARM7-LPC214x-GCC/chconf.h7
-rw-r--r--demos/ARMCM3-STM32F103-GCC/chconf.h7
-rw-r--r--demos/AVR-AT90CANx-GCC/chconf.h7
-rw-r--r--demos/AVR-ATmega128-GCC/chconf.h7
-rw-r--r--demos/MSP430-MSP430x1611-GCC/chconf.h7
-rw-r--r--demos/Win32-MinGW/chconf.h7
-rw-r--r--docs/Doxyfile2
-rw-r--r--docs/index.html2
-rw-r--r--ports/ARMCM3/chcore.c2
-rw-r--r--readme.txt7
-rw-r--r--src/chinit.c2
-rw-r--r--src/chschd.c12
-rw-r--r--src/include/scheduler.h2
-rw-r--r--src/templates/chconf.h7
18 files changed, 93 insertions, 13 deletions
diff --git a/demos/ARM7-AT91SAM7X-GCC/chconf.h b/demos/ARM7-AT91SAM7X-GCC/chconf.h
index c8817f85c..8db71b445 100644
--- a/demos/ARM7-AT91SAM7X-GCC/chconf.h
+++ b/demos/ARM7-AT91SAM7X-GCC/chconf.h
@@ -38,6 +38,10 @@
* included in the kernel.*/
#define CH_USE_VIRTUAL_TIMERS
+/** Configuration option: if specified then the kernel performs the round
+ * robin scheduling algorithm on threads of equal priority. */
+#define CH_USE_ROUNDROBIN
+
/** Configuration option: if specified then the System Timer subsystem is
* included in the kernel.*/
#define CH_USE_SYSTEMTIME
@@ -138,7 +142,8 @@
#define CH_FREQUENCY 1000
/** Configuration option: This constant is the number of ticks allowed for the
- * threads before preemption occurs.*/
+ * threads before preemption occurs. This option is only meaningful if the
+ * option \p CH_USE_ROUNDROBIN is also active.*/
#define CH_TIME_QUANTUM 20
/** Configuration option: Defines a CPU register to be used as storage for the
diff --git a/demos/ARM7-AT91SAM7X-WEB-GCC/chconf.h b/demos/ARM7-AT91SAM7X-WEB-GCC/chconf.h
index c8817f85c..8db71b445 100644
--- a/demos/ARM7-AT91SAM7X-WEB-GCC/chconf.h
+++ b/demos/ARM7-AT91SAM7X-WEB-GCC/chconf.h
@@ -38,6 +38,10 @@
* included in the kernel.*/
#define CH_USE_VIRTUAL_TIMERS
+/** Configuration option: if specified then the kernel performs the round
+ * robin scheduling algorithm on threads of equal priority. */
+#define CH_USE_ROUNDROBIN
+
/** Configuration option: if specified then the System Timer subsystem is
* included in the kernel.*/
#define CH_USE_SYSTEMTIME
@@ -138,7 +142,8 @@
#define CH_FREQUENCY 1000
/** Configuration option: This constant is the number of ticks allowed for the
- * threads before preemption occurs.*/
+ * threads before preemption occurs. This option is only meaningful if the
+ * option \p CH_USE_ROUNDROBIN is also active.*/
#define CH_TIME_QUANTUM 20
/** Configuration option: Defines a CPU register to be used as storage for the
diff --git a/demos/ARM7-LPC214x-G++/chconf.h b/demos/ARM7-LPC214x-G++/chconf.h
index c8817f85c..8db71b445 100644
--- a/demos/ARM7-LPC214x-G++/chconf.h
+++ b/demos/ARM7-LPC214x-G++/chconf.h
@@ -38,6 +38,10 @@
* included in the kernel.*/
#define CH_USE_VIRTUAL_TIMERS
+/** Configuration option: if specified then the kernel performs the round
+ * robin scheduling algorithm on threads of equal priority. */
+#define CH_USE_ROUNDROBIN
+
/** Configuration option: if specified then the System Timer subsystem is
* included in the kernel.*/
#define CH_USE_SYSTEMTIME
@@ -138,7 +142,8 @@
#define CH_FREQUENCY 1000
/** Configuration option: This constant is the number of ticks allowed for the
- * threads before preemption occurs.*/
+ * threads before preemption occurs. This option is only meaningful if the
+ * option \p CH_USE_ROUNDROBIN is also active.*/
#define CH_TIME_QUANTUM 20
/** Configuration option: Defines a CPU register to be used as storage for the
diff --git a/demos/ARM7-LPC214x-GCC-minimal/chconf.h b/demos/ARM7-LPC214x-GCC-minimal/chconf.h
index d12a1827e..9f903df06 100644
--- a/demos/ARM7-LPC214x-GCC-minimal/chconf.h
+++ b/demos/ARM7-LPC214x-GCC-minimal/chconf.h
@@ -38,6 +38,10 @@
* included in the kernel.*/
#define CH_USE_VIRTUAL_TIMERS
+/** Configuration option: if specified then the kernel performs the round
+ * robin scheduling algorithm on threads of equal priority. */
+#define CH_USE_ROUNDROBIN
+
/** Configuration option: if specified then the System Timer subsystem is
* included in the kernel.*/
#define CH_USE_SYSTEMTIME
@@ -138,7 +142,8 @@
#define CH_FREQUENCY 1000
/** Configuration option: This constant is the number of ticks allowed for the
- * threads before preemption occurs.*/
+ * threads before preemption occurs. This option is only meaningful if the
+ * option \p CH_USE_ROUNDROBIN is also active.*/
#define CH_TIME_QUANTUM 20
/** Configuration option: Defines a CPU register to be used as storage for the
diff --git a/demos/ARM7-LPC214x-GCC/chconf.h b/demos/ARM7-LPC214x-GCC/chconf.h
index c8817f85c..8db71b445 100644
--- a/demos/ARM7-LPC214x-GCC/chconf.h
+++ b/demos/ARM7-LPC214x-GCC/chconf.h
@@ -38,6 +38,10 @@
* included in the kernel.*/
#define CH_USE_VIRTUAL_TIMERS
+/** Configuration option: if specified then the kernel performs the round
+ * robin scheduling algorithm on threads of equal priority. */
+#define CH_USE_ROUNDROBIN
+
/** Configuration option: if specified then the System Timer subsystem is
* included in the kernel.*/
#define CH_USE_SYSTEMTIME
@@ -138,7 +142,8 @@
#define CH_FREQUENCY 1000
/** Configuration option: This constant is the number of ticks allowed for the
- * threads before preemption occurs.*/
+ * threads before preemption occurs. This option is only meaningful if the
+ * option \p CH_USE_ROUNDROBIN is also active.*/
#define CH_TIME_QUANTUM 20
/** Configuration option: Defines a CPU register to be used as storage for the
diff --git a/demos/ARMCM3-STM32F103-GCC/chconf.h b/demos/ARMCM3-STM32F103-GCC/chconf.h
index c8817f85c..8db71b445 100644
--- a/demos/ARMCM3-STM32F103-GCC/chconf.h
+++ b/demos/ARMCM3-STM32F103-GCC/chconf.h
@@ -38,6 +38,10 @@
* included in the kernel.*/
#define CH_USE_VIRTUAL_TIMERS
+/** Configuration option: if specified then the kernel performs the round
+ * robin scheduling algorithm on threads of equal priority. */
+#define CH_USE_ROUNDROBIN
+
/** Configuration option: if specified then the System Timer subsystem is
* included in the kernel.*/
#define CH_USE_SYSTEMTIME
@@ -138,7 +142,8 @@
#define CH_FREQUENCY 1000
/** Configuration option: This constant is the number of ticks allowed for the
- * threads before preemption occurs.*/
+ * threads before preemption occurs. This option is only meaningful if the
+ * option \p CH_USE_ROUNDROBIN is also active.*/
#define CH_TIME_QUANTUM 20
/** Configuration option: Defines a CPU register to be used as storage for the
diff --git a/demos/AVR-AT90CANx-GCC/chconf.h b/demos/AVR-AT90CANx-GCC/chconf.h
index 17c2c3d38..fca0159a2 100644
--- a/demos/AVR-AT90CANx-GCC/chconf.h
+++ b/demos/AVR-AT90CANx-GCC/chconf.h
@@ -38,6 +38,10 @@
* included in the kernel.*/
#define CH_USE_VIRTUAL_TIMERS
+/** Configuration option: if specified then the kernel performs the round
+ * robin scheduling algorithm on threads of equal priority. */
+#define CH_USE_ROUNDROBIN
+
/** Configuration option: if specified then the System Timer subsystem is
* included in the kernel.*/
#define CH_USE_SYSTEMTIME
@@ -138,7 +142,8 @@
#define CH_FREQUENCY 1000
/** Configuration option: This constant is the number of ticks allowed for the
- * threads before preemption occurs.*/
+ * threads before preemption occurs. This option is only meaningful if the
+ * option \p CH_USE_ROUNDROBIN is also active.*/
#define CH_TIME_QUANTUM 20
/** Configuration option: Defines a CPU register to be used as storage for the
diff --git a/demos/AVR-ATmega128-GCC/chconf.h b/demos/AVR-ATmega128-GCC/chconf.h
index 17c2c3d38..fca0159a2 100644
--- a/demos/AVR-ATmega128-GCC/chconf.h
+++ b/demos/AVR-ATmega128-GCC/chconf.h
@@ -38,6 +38,10 @@
* included in the kernel.*/
#define CH_USE_VIRTUAL_TIMERS
+/** Configuration option: if specified then the kernel performs the round
+ * robin scheduling algorithm on threads of equal priority. */
+#define CH_USE_ROUNDROBIN
+
/** Configuration option: if specified then the System Timer subsystem is
* included in the kernel.*/
#define CH_USE_SYSTEMTIME
@@ -138,7 +142,8 @@
#define CH_FREQUENCY 1000
/** Configuration option: This constant is the number of ticks allowed for the
- * threads before preemption occurs.*/
+ * threads before preemption occurs. This option is only meaningful if the
+ * option \p CH_USE_ROUNDROBIN is also active.*/
#define CH_TIME_QUANTUM 20
/** Configuration option: Defines a CPU register to be used as storage for the
diff --git a/demos/MSP430-MSP430x1611-GCC/chconf.h b/demos/MSP430-MSP430x1611-GCC/chconf.h
index 4ca12304e..7e29d314e 100644
--- a/demos/MSP430-MSP430x1611-GCC/chconf.h
+++ b/demos/MSP430-MSP430x1611-GCC/chconf.h
@@ -39,6 +39,10 @@
* included in the kernel.*/
#define CH_USE_VIRTUAL_TIMERS
+/** Configuration option: if specified then the kernel performs the round
+ * robin scheduling algorithm on threads of equal priority. */
+#define CH_USE_ROUNDROBIN
+
/** Configuration option: if specified then the System Timer subsystem is
* included in the kernel.*/
#define CH_USE_SYSTEMTIME
@@ -139,7 +143,8 @@
#define CH_FREQUENCY 1000
/** Configuration option: This constant is the number of ticks allowed for the
- * threads before preemption occurs.*/
+ * threads before preemption occurs. This option is only meaningful if the
+ * option \p CH_USE_ROUNDROBIN is also active.*/
#define CH_TIME_QUANTUM 20
/** Configuration option: Defines a CPU register to be used as storage for the
diff --git a/demos/Win32-MinGW/chconf.h b/demos/Win32-MinGW/chconf.h
index 15cf3d323..b17295c65 100644
--- a/demos/Win32-MinGW/chconf.h
+++ b/demos/Win32-MinGW/chconf.h
@@ -43,6 +43,10 @@
* included in the kernel.*/
#define CH_USE_VIRTUAL_TIMERS
+/** Configuration option: if specified then the kernel performs the round
+ * robin scheduling algorithm on threads of equal priority. */
+#define CH_USE_ROUNDROBIN
+
/** Configuration option: if specified then the System Timer subsystem is
* included in the kernel.*/
#define CH_USE_SYSTEMTIME
@@ -143,7 +147,8 @@
#define CH_FREQUENCY 1000
/** Configuration option: This constant is the number of ticks allowed for the
- * threads before preemption occurs.*/
+ * threads before preemption occurs. This option is only meaningful if the
+ * option \p CH_USE_ROUNDROBIN is also active.*/
#define CH_TIME_QUANTUM 20
/** Configuration option: Defines a CPU register to be used as storage for the
diff --git a/docs/Doxyfile b/docs/Doxyfile
index 03115e918..ffc6c03e1 100644
--- a/docs/Doxyfile
+++ b/docs/Doxyfile
@@ -5,7 +5,7 @@
#---------------------------------------------------------------------------
DOXYFILE_ENCODING = UTF-8
PROJECT_NAME = ChibiOS/RT
-PROJECT_NUMBER = "0.6.8 beta"
+PROJECT_NUMBER = "0.6.9 beta"
OUTPUT_DIRECTORY = .
CREATE_SUBDIRS = NO
OUTPUT_LANGUAGE = English
diff --git a/docs/index.html b/docs/index.html
index 86ad1030d..40ce2d19d 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -12,7 +12,7 @@
</tr>
<tr>
<td style="text-align: center; vertical-align: top; width: 150px;">Current
-Version 0.6.8<br>
+Version 0.6.9<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/ports/ARMCM3/chcore.c b/ports/ARMCM3/chcore.c
index c09de270c..4aa797c63 100644
--- a/ports/ARMCM3/chcore.c
+++ b/ports/ARMCM3/chcore.c
@@ -151,7 +151,9 @@ void PendSVVector(void) {
chSchReadyI(otp);
(currp = fifo_remove(&rlist.r_queue))->p_state = PRCURR;
/* set the round-robin time quantum */
+#ifdef CH_USE_ROUNDROBIN
rlist.r_preempt = CH_TIME_QUANTUM;
+#endif
#ifdef CH_USE_TRACE
chDbgTrace(otp, currp);
#endif
diff --git a/readme.txt b/readme.txt
index 6d2b7bba2..54de58ab3 100644
--- a/readme.txt
+++ b/readme.txt
@@ -75,6 +75,13 @@ Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process,
*** Releases ***
*****************************************************************************
+*** 0.6.9 ***
+- NEW: Added an option to exclude the support for the round robin scheduling,
+ this can save some extra program space and makes the context switch a bit
+ faster if the feature is not required. Threads at the same priority are
+ still supported when the feature is disabled but the scheduling among them
+ becomes cooperative.
+
*** 0.6.8 ***
- FIX: Fixed a bug in the priority inheritance mechanism, the bug was only a
problems when the CH_USE_MESSAGES_PRIORITY was enabled, this option is
diff --git a/src/chinit.c b/src/chinit.c
index b8d36a6e5..2aee810a0 100644
--- a/src/chinit.c
+++ b/src/chinit.c
@@ -70,10 +70,12 @@ void chSysInit(void) {
* together with the \p CH_TIME_QUANTUM macro, the round robin interval.
*/
void chSysTimerHandlerI(void) {
+#ifdef CH_USE_ROUNDROBIN
/* running thread has not used up quantum yet? */
if (rlist.r_preempt > 0)
/* decrement remaining quantum */
rlist.r_preempt--;
+#endif
#ifdef CH_USE_SYSTEMTIME
rlist.r_stime++;
#endif
diff --git a/src/chschd.c b/src/chschd.c
index 6a82eb1d8..c3e0fbaed 100644
--- a/src/chschd.c
+++ b/src/chschd.c
@@ -36,7 +36,9 @@ void chSchInit(void) {
fifo_init(&rlist.r_queue);
rlist.r_prio = NOPRIO;
+#ifdef CH_USE_ROUNDROBIN
rlist.r_preempt = CH_TIME_QUANTUM;
+#endif
#ifdef CH_USE_SYSTEMTIME
rlist.r_stime = 0;
#endif
@@ -83,7 +85,9 @@ void chSchGoSleepS(tstate_t newstate) {
(otp = currp)->p_state = newstate;
(currp = fifo_remove(&rlist.r_queue))->p_state = PRCURR;
+#ifdef CH_USE_ROUNDROBIN
rlist.r_preempt = CH_TIME_QUANTUM;
+#endif
#ifdef CH_USE_TRACE
chDbgTrace(otp, currp);
#endif
@@ -152,7 +156,9 @@ void chSchWakeupS(Thread *ntp, msg_t msg) {
Thread *otp = currp;
chSchReadyI(otp);
(currp = ntp)->p_state = PRCURR;
+#ifdef CH_USE_ROUNDROBIN
rlist.r_preempt = CH_TIME_QUANTUM;
+#endif
#ifdef CH_USE_TRACE
chDbgTrace(otp, ntp);
#endif
@@ -172,7 +178,9 @@ void chSchDoRescheduleI(void) {
chSchReadyI(otp);
/* pick the first thread from the ready queue */
(currp = fifo_remove(&rlist.r_queue))->p_state = PRCURR;
+#ifdef CH_USE_ROUNDROBIN
rlist.r_preempt = CH_TIME_QUANTUM;
+#endif
#ifdef CH_USE_TRACE
chDbgTrace(otp, currp);
#endif
@@ -204,12 +212,16 @@ void chSchRescheduleS(void) {
bool_t chSchRescRequiredI(void) {
tprio_t p1 = firstprio(&rlist.r_queue);
tprio_t p2 = currp->p_prio;
+#ifdef CH_USE_ROUNDROBIN
/* If the running thread has not reached its time quantum, reschedule only
* if the first thread on the ready queue has a higher priority.
* Otherwise, if the running thread has used up its time quantum, reschedule
* if the first thread on the ready queue has equal or higher priority.
*/
return rlist.r_preempt ? p1 > p2 : p1 >= p2;
+#else
+ return p1 > p2;
+#endif
}
/** @} */
diff --git a/src/include/scheduler.h b/src/include/scheduler.h
index 3a6486efe..362dd9d31 100644
--- a/src/include/scheduler.h
+++ b/src/include/scheduler.h
@@ -41,7 +41,9 @@
typedef struct {
ThreadsQueue r_queue;
tprio_t r_prio;
+#ifdef CH_USE_ROUNDROBIN
cnt_t r_preempt;
+#endif
#ifndef CH_CURRP_REGISTER_CACHE
/** the currently running thread */
Thread *r_current;
diff --git a/src/templates/chconf.h b/src/templates/chconf.h
index cc4f992f2..d059f3097 100644
--- a/src/templates/chconf.h
+++ b/src/templates/chconf.h
@@ -39,6 +39,10 @@
* included in the kernel.*/
#define CH_USE_VIRTUAL_TIMERS
+/** Configuration option: if specified then the kernel performs the round
+ * robin scheduling algorithm on threads of equal priority. */
+#define CH_USE_ROUNDROBIN
+
/** Configuration option: if specified then the System Timer subsystem is
* included in the kernel.*/
#define CH_USE_SYSTEMTIME
@@ -139,7 +143,8 @@
#define CH_FREQUENCY 1000
/** Configuration option: This constant is the number of ticks allowed for the
- * threads before preemption occurs.*/
+ * threads before preemption occurs. This option is only meaningful if the
+ * option \p CH_USE_ROUNDROBIN is also active.*/
#define CH_TIME_QUANTUM 20
/** Configuration option: Defines a CPU register to be used as storage for the
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-15 07:30:46 +0000