diff options
| -rw-r--r-- | demos/ARM7-LPC214x-GCC-minimal/Makefile | 5 | ||||
| -rw-r--r-- | demos/ARM7-LPC214x-GCC-minimal/Makefile.thumb | 5 | ||||
| -rw-r--r-- | demos/ARM7-LPC214x-GCC-minimal/chconf.h | 7 | ||||
| -rw-r--r-- | demos/ARM7-LPC214x-GCC/Makefile | 5 | ||||
| -rw-r--r-- | demos/ARM7-LPC214x-GCC/Makefile.thumb | 5 | ||||
| -rw-r--r-- | demos/ARM7-LPC214x-GCC/chconf.h | 7 | ||||
| -rw-r--r-- | demos/AVR-AT90CANx-GCC/chconf.h | 7 | ||||
| -rw-r--r-- | demos/Win32-MSVS/chconf.h | 7 | ||||
| -rw-r--r-- | demos/Win32-MinGW/chconf.h | 7 | ||||
| -rw-r--r-- | docs/Doxyfile | 4 | ||||
| -rw-r--r-- | docs/ch.txt | 73 | ||||
| -rw-r--r-- | docs/index.html | 2 | ||||
| -rw-r--r-- | readme.txt | 12 | ||||
| -rw-r--r-- | src/chmtx.c | 249 | ||||
| -rw-r--r-- | src/chsem.c | 129 | ||||
| -rw-r--r-- | src/chthreads.c | 14 | ||||
| -rw-r--r-- | src/include/ch.h | 4 | ||||
| -rw-r--r-- | src/include/mutexes.h | 66 | ||||
| -rw-r--r-- | src/include/semaphores.h | 9 | ||||
| -rw-r--r-- | src/include/threads.h | 26 | ||||
| -rw-r--r-- | src/templates/chconf.h | 7 | ||||
| -rw-r--r-- | test/test.c | 232 |
22 files changed, 615 insertions, 267 deletions
diff --git a/demos/ARM7-LPC214x-GCC-minimal/Makefile b/demos/ARM7-LPC214x-GCC-minimal/Makefile index e74d2f382..ac7bb1000 100644 --- a/demos/ARM7-LPC214x-GCC-minimal/Makefile +++ b/demos/ARM7-LPC214x-GCC-minimal/Makefile @@ -64,8 +64,9 @@ UADEFS = # List ARM-mode C source files here
ASRC = chcore.c \
../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \
- ../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c \
- ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c ../../src/chserial.c \
+ ../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chmtx.c \
+ ../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c \
+ ../../src/chserial.c \
../../ports/ARM7-LPC214x/GCC/vic.c \
main.c
diff --git a/demos/ARM7-LPC214x-GCC-minimal/Makefile.thumb b/demos/ARM7-LPC214x-GCC-minimal/Makefile.thumb index 68f308449..17239c741 100644 --- a/demos/ARM7-LPC214x-GCC-minimal/Makefile.thumb +++ b/demos/ARM7-LPC214x-GCC-minimal/Makefile.thumb @@ -69,8 +69,9 @@ ASRC = # enabled for all modules and that lowers performance.
TSRC = chcore.c \
../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \
- ../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c \
- ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c ../../src/chserial.c \
+ ../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chmtx.c \
+ ../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c \
+ ../../src/chserial.c \
../../ports/ARM7-LPC214x/GCC/vic.c \
main.c
diff --git a/demos/ARM7-LPC214x-GCC-minimal/chconf.h b/demos/ARM7-LPC214x-GCC-minimal/chconf.h index fc81d571f..11081acc4 100644 --- a/demos/ARM7-LPC214x-GCC-minimal/chconf.h +++ b/demos/ARM7-LPC214x-GCC-minimal/chconf.h @@ -77,10 +77,9 @@ * @note requires \p CH_USE_VIRTUAL_TIMERS.*/
//#define CH_USE_SEMAPHORES_TIMEOUT
-/** Configuration option: if specified then the Semaphores APIs with priority
- * shift are included in the kernel.
- * @note requires \p CH_USE_SEMAPHORES.*/
-//#define CH_USE_RT_SEMAPHORES
+/** Configuration option: if specified then the Mutexes APIs are included in
+ * the kernel.*/
+//#define CH_USE_MUTEXES
/** Configuration option: if specified then the Events APIs are included in
* the kernel.*/
diff --git a/demos/ARM7-LPC214x-GCC/Makefile b/demos/ARM7-LPC214x-GCC/Makefile index 60c2df008..a2f229617 100644 --- a/demos/ARM7-LPC214x-GCC/Makefile +++ b/demos/ARM7-LPC214x-GCC/Makefile @@ -64,8 +64,9 @@ UADEFS = # List ARM-mode C source files here
ASRC = chcore.c \
../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \
- ../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c \
- ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c ../../src/chserial.c \
+ ../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chmtx.c \
+ ../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c \
+ ../../src/chserial.c \
../../ports/ARM7-LPC214x/GCC/vic.c ../../ports/ARM7-LPC214x/GCC/lpc214x_serial.c \
../../ports/ARM7-LPC214x/GCC/lpc214x_ssp.c \
../../src/lib/evtimer.c ../../test/test.c \
diff --git a/demos/ARM7-LPC214x-GCC/Makefile.thumb b/demos/ARM7-LPC214x-GCC/Makefile.thumb index 111fa8c7b..518169cd8 100644 --- a/demos/ARM7-LPC214x-GCC/Makefile.thumb +++ b/demos/ARM7-LPC214x-GCC/Makefile.thumb @@ -69,8 +69,9 @@ ASRC = # enabled for all modules and that lowers performance.
TSRC = chcore.c \
../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \
- ../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c \
- ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c ../../src/chserial.c \
+ ../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chmtx.c \
+ ../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c \
+ ../../src/chserial.c \
../../ports/ARM7-LPC214x/GCC/vic.c ../../ports/ARM7-LPC214x/GCC/lpc214x_serial.c \
../../ports/ARM7-LPC214x/GCC/lpc214x_ssp.c \
../../src/lib/evtimer.c ../../test/test.c \
diff --git a/demos/ARM7-LPC214x-GCC/chconf.h b/demos/ARM7-LPC214x-GCC/chconf.h index 87402547c..28db4b351 100644 --- a/demos/ARM7-LPC214x-GCC/chconf.h +++ b/demos/ARM7-LPC214x-GCC/chconf.h @@ -77,10 +77,9 @@ * @note requires \p CH_USE_VIRTUAL_TIMERS.*/
#define CH_USE_SEMAPHORES_TIMEOUT
-/** Configuration option: if specified then the Semaphores APIs with priority
- * shift are included in the kernel.
- * @note requires \p CH_USE_SEMAPHORES.*/
-#define CH_USE_RT_SEMAPHORES
+/** Configuration option: if specified then the Mutexes APIs are included in
+ * the kernel.*/
+#define CH_USE_MUTEXES
/** Configuration option: if specified then the Events APIs are included in
* the kernel.*/
diff --git a/demos/AVR-AT90CANx-GCC/chconf.h b/demos/AVR-AT90CANx-GCC/chconf.h index 2bc89dc2f..b4ddeeb05 100644 --- a/demos/AVR-AT90CANx-GCC/chconf.h +++ b/demos/AVR-AT90CANx-GCC/chconf.h @@ -78,10 +78,9 @@ * @note requires \p CH_USE_VIRTUAL_TIMERS.*/
#define CH_USE_SEMAPHORES_TIMEOUT
-/** Configuration option: if specified then the Semaphores APIs with priority
- * shift are included in the kernel.
- * @note requires \p CH_USE_SEMAPHORES.*/
-#define CH_USE_RT_SEMAPHORES
+/** Configuration option: if specified then the Mutexes APIs are included in
+ * the kernel.*/
+#define CH_USE_MUTEXES
/** Configuration option: if specified then the Events APIs are included in
* the kernel.*/
diff --git a/demos/Win32-MSVS/chconf.h b/demos/Win32-MSVS/chconf.h index 5941cc856..037e3d8a0 100644 --- a/demos/Win32-MSVS/chconf.h +++ b/demos/Win32-MSVS/chconf.h @@ -82,10 +82,9 @@ * @note requires \p CH_USE_VIRTUAL_TIMERS.*/
#define CH_USE_SEMAPHORES_TIMEOUT
-/** Configuration option: if specified then the Semaphores APIs with priority
- * shift are included in the kernel.
- * @note requires \p CH_USE_SEMAPHORES.*/
-#define CH_USE_RT_SEMAPHORES
+/** Configuration option: if specified then the Mutexes APIs are included in
+ * the kernel.*/
+#define CH_USE_MUTEXES
/** Configuration option: if specified then the Events APIs are included in
* the kernel.*/
diff --git a/demos/Win32-MinGW/chconf.h b/demos/Win32-MinGW/chconf.h index af19dd995..3e741bb8c 100644 --- a/demos/Win32-MinGW/chconf.h +++ b/demos/Win32-MinGW/chconf.h @@ -82,10 +82,9 @@ * @note requires \p CH_USE_VIRTUAL_TIMERS.*/
#define CH_USE_SEMAPHORES_TIMEOUT
-/** Configuration option: if specified then the Semaphores APIs with priority
- * shift are included in the kernel.
- * @note requires \p CH_USE_SEMAPHORES.*/
-#define CH_USE_RT_SEMAPHORES
+/** Configuration option: if specified then the Mutexes APIs are included in
+ * the kernel.*/
+#define CH_USE_MUTEXES
/** Configuration option: if specified then the Events APIs are included in
* the kernel.*/
diff --git a/docs/Doxyfile b/docs/Doxyfile index 8abfd62b4..24ab33ea9 100644 --- a/docs/Doxyfile +++ b/docs/Doxyfile @@ -4,7 +4,7 @@ # Project related configuration options #--------------------------------------------------------------------------- PROJECT_NAME = ChibiOS/RT -PROJECT_NUMBER = "0.4.5 beta" +PROJECT_NUMBER = "0.5.0 beta" OUTPUT_DIRECTORY = . CREATE_SUBDIRS = NO OUTPUT_LANGUAGE = English @@ -231,7 +231,7 @@ PREDEFINED = __JUST_STUBS__ \ CH_USE_TERMINATE \ CH_USE_WAITEXIT \ CH_USE_SEMAPHORES \ - CH_USE_RT_SEMAPHORES \ + CH_USE_MUTEXES \ CH_USE_EVENTS \ CH_USE_EVENTS_TIMEOUT \ CH_USE_EXIT_EVENT \ diff --git a/docs/ch.txt b/docs/ch.txt index 02152047b..993f77102 100644 --- a/docs/ch.txt +++ b/docs/ch.txt @@ -13,7 +13,7 @@ * <li>Easily portable.</li>
* <li>Mixed programming model:</li>
* <ul>
- * <li>Synchronous, using semaphores and/or messages.</li>
+ * <li>Synchronous, using semaphores/mutexes and/or messages.</li>
* <li>Asynchronous, using event sources.</li>
* <li>Mix of the above models, multiple threads listening to multiple event
* sources while serving message queues.</li>
@@ -27,6 +27,7 @@ * <li>Unlimited number of threads.</li>
* <li>Unlimited number of virtual timers.</li>
* <li>Unlimited number of semaphores.</li>
+ * <li>Unlimited number of mutexes.</li>
* <li>Unlimited number of event sources.</li>
* <li>Unlimited number of messages in queue.</li>
* <li>Unlimited number of I/O queues.</li>
@@ -211,39 +212,67 @@ * A semaphore is a threads synchronization object, some operations
* are defined on semaphores:<br>
* <ul>
- * <li><b>Signal</b>: The semaphore counter is increased and if the result
+ * <li><b>Signal</b>: The semaphore counter is increased and if the result
* is non-positive then a waiting thread is removed from the semaphore
- * queue and made ready for execution.</li>
- * <li><b>Wait</b>: The semaphore counter is decreased and if the result
+ * queue and made ready for execution.
+ * </li>
+ * <li><b>Wait</b>: The semaphore counter is decreased and if the result
* becomes negative the thread is queued in the semaphore and suspended.
- * </li>
- * <li><b>Reset</b>: The semaphore counter is reset to a non-negative value
- * and all the threads in the queue are released.</li>
+ * </li>
+ * <li><b>Reset</b>: The semaphore counter is reset to a non-negative value
+ * and all the threads in the queue are released.
+ * </li>
* </ul>
- * Semaphores are mainly used as guards for mutual exclusion code zones but
+ * Semaphores can be used as guards for mutual exclusion code zones but
* also have other uses, queues guards and counters as example.<br>
* In order to use the Semaphores APIs the \p CH_USE_SEMAPHORES
* option must be specified in \p chconf.h.<br><br>
- * <b>Realtime Semaphores</b><br><br>
- * The RT Semaphores work exactly like normal semaphores except that the
- * thread gaining access to a mutex zone receives a priority boost, the
- * priority is increased by \p MEPRIO and becomes higher than any thread that
- * does not have the boost, note that all the boosted threads still keep their
- * relative priorities.<br>
- * Another difference is that the threads are queued by priority when trying
- * to acquire RT semaphores, normal semaphores use a FIFO strategy.<br>
- * The reason of this mechanism is to make the threads leave very critical
- * guarded zones in a predictable time. Use this mechanism if your application
- * has very strong realtime requirements.<br>
- * In order to use the RT Semaphores APIs the \p CH_USE_RT_SEMAPHORES
- * option must be specified in \p chconf.h.<br>
- * This mechanism is <b>experimental</b>.
* @file semaphores.h Semaphores macros and structures.
* @file chsem.c Semaphores code.
*/
/** @} */
/**
+ * @defgroup Mutexes Mutexes
+ * @{
+ * Mutexes and threads synchronization.
+ * <b>Operation mode</b><br><br>
+ * A mutex is a threads synchronization object, some operations are defined
+ * on mutexes:<br>
+ * <ul>
+ * <li><b>Lock</b>: The mutex is checked, if the mutex is not owned by some
+ * other thread then it is locked else the current thread is queued on the
+ * mutex in a list ordered by priority.
+ * </li>
+ * <li><b>Unlock</b>: The mutex is released by the owner and the highest
+ * priority thread waiting in the queue, if any, is resumed and made owner
+ * of the mutex.
+ * </li>
+ * </ul>
+ * In order to use the Event APIs the \p CH_USE_MUTEXES option must be
+ * specified in \p chconf.h.<br><br>
+ *
+ * <b>Constraints</b><br><br>
+ * In ChibiOS/RT the Unlock operations are always performed in Lock-reverse
+ * order. The Unlock API does not even have a parameter, the mutex to unlock
+ * is taken from an internal stack of owned mutexes.
+ * This both improves the performance and is required by the priority
+ * inheritance mechanism.
+ *
+ * <b>The priority inversion problem</b><br><br>
+ * The mutexes in ChibiOS/RT implements the <b>full recursive<b> priority
+ * inheritance mechanism in order handle the priority inversion problem.<br>
+ * When a thread is queued on a mutex, any thread, directly or indirectly,
+ * holding the mutex gains the same priority of the waiting thread (if their
+ * priority was not already equal or higher). The mechanism works with any
+ * number of nested mutexes and any number of involved threads. The algorithm
+ * complexity (worst case) is N with N equal to the number of nested mutexes.
+ * @file mutexes.h Mutexes macros and structures.
+ * @file chmtx.c Mutexes functions.
+ */
+/** @} */
+
+/**
* @defgroup Events Events
* @{
* Event Sources and Event Listeners.<br>
diff --git a/docs/index.html b/docs/index.html index 4ac525ae0..10b088bbb 100644 --- a/docs/index.html +++ b/docs/index.html @@ -13,7 +13,7 @@ Homepage</h2> </tr>
<tr>
<td style="text-align: center; vertical-align: top; width: 150px;">Current
-Version 0.4.5<br>
+Version 0.5.0<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/readme.txt b/readme.txt index 4348c6cba..18ba71eb5 100644 --- a/readme.txt +++ b/readme.txt @@ -39,6 +39,18 @@ AVR-AT90CANx-GCC - Port on AVR AT90CAN128, not complete yet. *** Releases ***
*****************************************************************************
+*** 0.5.0 ***
+- NEW: Binary Mutexes, the new mechanism provides a complete implementation
+ of the "priority inheritance" algorithm as a tool for work around the
+ priority inversion problem.
+ The Mutexes are not meant to replace the Semaphores that are still the best
+ mechanism for synchronization between interrupt handlers and high level
+ code, something Mutexes cannot do.
+ Soon an article will be added to the wiki describing pro and cons of the
+ various mechanisms and the correct use cases.
+- RT Semaphores subsystem removed, the Mutexes implements a better solution
+ for the same problem.
+
*** 0.4.5 ***
- Moved the serial IRQ handlers and VIC vectors initialization inside the
serial drivers. Now the serial-related code is all inside the driver.
diff --git a/src/chmtx.c b/src/chmtx.c new file mode 100644 index 000000000..1c0055acd --- /dev/null +++ b/src/chmtx.c @@ -0,0 +1,249 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @addtogroup Mutexes
+ * @{
+ */
+
+#include <ch.h>
+
+#ifdef CH_USE_MUTEXES
+
+/**
+ * Initializes s \p Mutex structure.
+ * @param mp pointer to a \p Mutex structure
+ */
+void chMtxInit(Mutex *mp) {
+
+ fifo_init(&mp->m_queue);
+ mp->m_owner = NULL;
+}
+
+/*
+ * Inserts a thread into a list ordering it by priority.
+ * @param tp the pointer to the thread to be inserted in the list
+ * @param tqp the pointer to the threads list header
+ */
+#ifdef CH_OPTIMIZE_SPEED
+static INLINE void prio_enq(Thread *tp, ThreadsQueue *tqp) {
+#else
+static void prio_enq(Thread *tp, ThreadsQueue *tqp) {
+#endif
+
+ Thread *cp = tqp->p_next;
+ while ((cp != (Thread *)tqp) && (cp->p_prio >= tp->p_prio))
+ cp = cp->p_next;
+ /* Insertion on p_prev.*/
+ tp->p_prev = (tp->p_next = cp)->p_prev;
+ tp->p_prev->p_next = cp->p_prev = tp;
+}
+
+/*
+ * 0 +++BA++------------------2+++--8++++++++++BR0----------------------------
+ * 1 .......++AA++--2+++++++++BA....8..........++++++++BR8++++AR1-------------
+ * 2 .............++AA..............................................----++AR++
+ * 8 .............................++AA........................++++++AR++......
+ *
+ *
+ * 5 ++++++++++++++++++AA+....9++++++++++++++AR5------------------------------
+ * 7 .....................++--------------------------------------------------
+ * 9 .......................++AA.............+++++++++AR++++++++++++++++++++++
+ */
+
+/**
+ * Locks the specified mutex.
+ * @param mp pointer to the \p Mutex structure
+ */
+void chMtxLock(Mutex *mp) {
+
+ chSysLock();
+
+ chMtxLockS(mp);
+
+ chSysUnlock();
+}
+
+/**
+ * Locks the specified mutex.
+ * @param mp pointer to the \p Mutex structure
+ * @note This function must be called within a \p chSysLock() / \p chSysUnlock()
+ * block.
+ */
+void chMtxLockS(Mutex *mp) {
+
+ if (mp->m_owner != NULL) {
+ /*
+ * Inheritance, explores the thread-mutex dependances adjusting
+ * the priority of all the affected threads.
+ */
+ Thread *tp = mp->m_owner;
+ while (tp->p_prio < currp->p_prio) {
+ tp->p_prio = currp->p_prio;
+ switch (tp->p_state) {
+ case PRWTMTX:
+ prio_enq(dequeue(tp), &tp->p_mtxp->m_queue);
+ tp = tp->p_mtxp->m_owner;
+ continue;
+ case PRREADY:
+ chSchReadyI(dequeue(tp), RDY_OK);
+ }
+ break;
+ }
+ /*
+ * Goes to sleep on the mutex.
+ */
+ prio_enq(currp, &mp->m_queue);
+ currp->p_mtxp = mp;
+ chSchGoSleepS(PRWTMTX);
+ chDbgAssert(mp->m_owner == NULL, "chmtx.c, chMtxLockS()");
+ }
+ /*
+ * The mutex is now inserted in the owned mutexes list.
+ */
+ mp->m_owner = currp;
+ mp->m_next = currp->p_mtxlist;
+ currp->p_mtxlist = mp;
+}
+
+/**
+ * Tries to lock a mutex. This function does not have any overhead related to
+ * the priority inheritance mechanism because it does not try to enter a sleep
+ * state on the mutex.
+ * @param mp pointer to the \p Mutex structure
+ * @return \p TRUE if the mutex was successfully acquired else \p FALSE
+ */
+BOOL chMtxTryLock(Mutex *mp) {
+
+ chSysLock();
+
+ BOOL b = chMtxTryLockS(mp);
+
+ chSysUnlock();
+ return b;
+}
+
+/**
+ * Tries to lock a mutex. This function does not have any overhead related to
+ * the priority inheritance mechanism because it does not try to enter a sleep
+ * state on the mutex.
+ * @param mp pointer to the \p Mutex structure
+ * @return \p TRUE if the mutex was successfully acquired else \p FALSE
+ * @note This function must be called within a \p chSysLock() / \p chSysUnlock()
+ * block.
+ */
+BOOL chMtxTryLockS(Mutex *mp) {
+
+ if (mp->m_owner != NULL)
+ return FALSE;
+ mp->m_owner = currp;
+ mp->m_next = currp->p_mtxlist;
+ currp->p_mtxlist = mp;
+ return TRUE;
+}
+
+/**
+ * Unlocks the next owned mutex in reverse lock order.
+ */
+void chMtxUnlock(void) {
+
+ chSysLock();
+
+ chMtxUnlockS();
+
+ chSysUnlock();
+}
+
+/**
+ * Unlocks the next owned mutex in reverse lock order.
+ * @note This function must be called within a \p chSysLock() / \p chSysUnlock()
+ * block.
+ */
+void chMtxUnlockS(void) {
+
+ chDbgAssert((currp->p_mtxlist != NULL) && (currp->p_mtxlist->m_owner == currp),
+ "chmtx.c, chMtxUnlockS()");
+
+ /*
+ * Removes the top Mutex from the owned mutexes list and marks it as not owned.
+ */
+ Mutex *mp = currp->p_mtxlist;
+ currp->p_mtxlist = mp->m_next;
+ mp->m_owner = NULL;
+ /*
+ * If a thread is waiting on the mutex then the hard part begins.
+ */
+ if (chMtxQueueNotEmptyS(mp)) {
+ Thread *tp = fifo_remove(&mp->m_queue);
+ /*
+ * Recalculates the optimal thread priority by scanning the owned mutexes list.
+ */
+ t_prio newprio = currp->p_realprio;
+ mp = currp->p_mtxlist;
+ while (mp != NULL) {
+ if (chMtxQueueNotEmptyS(mp) && (mp->m_queue.p_next->p_prio > newprio))
+ newprio = mp->m_queue.p_next->p_prio;
+ mp = mp->m_next;
+ }
+ currp->p_prio = newprio;
+ chSchWakeupS(tp, RDY_OK);
+ }
+}
+
+/**
+ * Unlocks all the mutexes owned by the invoking thread, this is <b>MUCH MORE</b>
+ * efficient than releasing the mutexes one by one and not just because the
+ * call overhead, this function does not have any overhead related to the
+ * priority inheritance mechanism.
+ */
+void chMtxUnlockAll(void) {
+
+ chSysLock();
+
+ chMtxUnlockAllS();
+
+ chSysUnlock();
+}
+
+/**
+ * Unlocks all the mutexes owned by the invoking thread, this is <b>MUCH MORE</b>
+ * efficient than releasing the mutexes one by one and not just because the
+ * call overhead, this function does not have any overhead related to the
+ * priority inheritance mechanism.
+ * @note This function must be called within a \p chSysLock() / \p chSysUnlock()
+ * block.
+ */
+void chMtxUnlockAllS(void) {
+
+ if (currp->p_mtxlist != NULL) {
+ do {
+ Mutex *mp = currp->p_mtxlist;
+ currp->p_mtxlist = mp->m_next;
+ mp->m_owner = NULL;
+ if (chMtxQueueNotEmptyS(mp))
+ chSchReadyI(fifo_remove(&mp->m_queue), RDY_OK);
+ } while (currp->p_mtxlist != NULL);
+ currp->p_prio = currp->p_realprio;
+ chSchRescheduleS();
+ }
+}
+
+#endif /* CH_USE_MUTEXES */
+
+/** @} */
diff --git a/src/chsem.c b/src/chsem.c index 083e25412..8e5073248 100644 --- a/src/chsem.c +++ b/src/chsem.c @@ -225,135 +225,6 @@ void chSemSignalWait(Semaphore *sps, Semaphore *spw) { }
#endif /* CH_USE_SEMSW */
-#ifdef CH_USE_RT_SEMAPHORES
-/*
- * Inserts a thread into a list ordering it by priority.
- * @param tp the pointer to the thread to be inserted in the list
- * @param tqp the pointer to the threads list header
- * @note Usually you dont need to use this function in the user code unless
- * you want to create some custom threads synchronization mechanism.
- */
-static void prioenq(Thread *tp, ThreadsQueue *tqp) {
- Thread *cp;
-
- cp = tqp->p_next;
- while ((cp != (Thread *)tqp) && (cp->p_prio >= tp->p_prio))
- cp = cp->p_next;
- // Insertion on p_prev
- tp->p_prev = (tp->p_next = cp)->p_prev;
- tp->p_prev->p_next = cp->p_prev = tp;
-}
-
-/**
- * Performs a wait operation on a semaphore with priority boost.
- * @param sp pointer to a \p Semaphore structure
- * @note The function is available only if the \p CH_USE_RT_SEMAPHORES
- * option is enabled in \p chconf.h.
- */
-void chSemRaisePrioWait(Semaphore *sp) {
-
- chSysLock();
-
- if (--sp->s_cnt < 0) {
- prioenq(currp, &sp->s_queue);
- currp->p_semp = sp;
- chSchGoSleepS(PRWTSEM);
- }
-
- if (!currp->p_rtcnt++)
- currp->p_prio += MEPRIO;
-
- chSysUnlock();
-}
-
-/**
- * Performs a signal operation on a semaphore with return to normal priority.
- * @param sp pointer to a \p Semaphore structure
- * @note The function is available only if the \p CH_USE_RT_SEMAPHORES
- * option is enabled in \p chconf.h.
- */
-void chSemLowerPrioSignal(Semaphore *sp) {
-
- chSysLock();
-
- if (!--currp->p_rtcnt) {
- currp->p_prio -= MEPRIO;
- if (sp->s_cnt++ < 0)
- chSchReadyI(fifo_remove(&sp->s_queue), RDY_OK);
- chSchRescheduleS();
- }
- else if (sp->s_cnt++ < 0)
- chSchWakeupS(fifo_remove(&sp->s_queue), RDY_OK);
-
- chSysUnlock();
-}
-
-#ifdef CH_USE_SEMSW
-/**
- * Performs atomic signal and wait operations on two semaphores with priority
- * boost.
- * @param sps pointer to a \p Semaphore structure to be signaled
- * @param spw pointer to a \p Semaphore structure to be wait on
- * @note The function is available only if the \p CH_USE_RT_SEMAPHORES
- * option is enabled in \p chconf.h.
- */
-void chSemRaisePrioSignalWait(Semaphore *sps, Semaphore *spw) {
-
- chSysLock();
-
- if (sps->s_cnt++ < 0)
- chSchReadyI(fifo_remove(&sps->s_queue), RDY_OK);
-
- if (--spw->s_cnt < 0) {
- prioenq(currp, &spw->s_queue);
- currp->p_semp = spw;
- chSchGoSleepS(PRWTSEM);
-
- if (!currp->p_rtcnt++)
- currp->p_prio += MEPRIO;
- }
- else {
- if (!currp->p_rtcnt++)
- currp->p_prio += MEPRIO;
-
- chSchRescheduleS(); // Really needed ?
- }
-
- chSysUnlock();
-}
-
-/**
- * Performs atomic signal and wait operations on two semaphores with return
- * to normal priority.
- * @param sps pointer to a \p Semaphore structure to be signaled
- * @param spw pointer to a \p Semaphore structure to be wait on
- * @note The function is available only if the \p CH_USE_RT_SEMAPHORES
- * option is enabled in \p chconf.h.
- */
-void chSemLowerPrioSignalWait(Semaphore *sps, Semaphore *spw) {
-
- chSysLock();
-
- if (!--currp->p_rtcnt)
- currp->p_prio -= MEPRIO;
-
- if (sps->s_cnt++ < 0)
- chSchReadyI(fifo_remove(&sps->s_queue), RDY_OK);
-
- if (--spw->s_cnt < 0) {
- fifo_insert(currp, &spw->s_queue); // fifo_insert() because the spw is a normal sem.
- currp->p_semp = spw;
- chSchGoSleepS(PRWTSEM);
- }
- else
- chSchRescheduleS();
-
- chSysUnlock();
-}
-#endif /* CH_USE_SEMSW */
-
-#endif /* CH_USE_RT_SEMAPHORES */
-
#endif /* CH_USE_SEMAPHORES */
/** @} */
diff --git a/src/chthreads.c b/src/chthreads.c index 1f37bb808..8a27acdb9 100644 --- a/src/chthreads.c +++ b/src/chthreads.c @@ -34,8 +34,9 @@ void _InitThread(t_prio prio, t_tmode mode, Thread *tp) { tp->p_flags = mode;
tp->p_prio = prio;
tp->p_rdymsg = RDY_OK;
-#ifdef CH_USE_RT_SEMAPHORES
- tp->p_rtcnt = 0;
+#ifdef CH_USE_MUTEXES
+ tp->p_mtxlist = NULL;
+ tp->p_realprio = prio;
#endif
#ifdef CH_USE_WAITEXIT
list_init(&tp->p_waiting);
@@ -125,11 +126,14 @@ void chThdSetPriority(t_prio newprio) { chDbgAssert(newprio <= HIGHPRIO, "chthreads.c, chThdSetPriority()")
chSysLock();
-#ifdef CH_USE_RT_SEMAPHORES
- if (currp->p_rtcnt)
- currp->p_prio = newprio + MEPRIO;
+#ifdef CH_USE_MUTEXES
+ if (currp->p_prio != currp->p_realprio) {
+ if (newprio > currp->p_prio)
+ currp->p_prio = newprio;
+ }
else
currp->p_prio = newprio;
+ currp->p_realprio = newprio;
#else
currp->p_prio = newprio;
#endif
diff --git a/src/include/ch.h b/src/include/ch.h index be251415f..2c2bb2f7c 100644 --- a/src/include/ch.h +++ b/src/include/ch.h @@ -57,6 +57,10 @@ #include "semaphores.h"
#endif
+#ifndef _MUTEXES_H_
+#include "mutexes.h"
+#endif
+
#ifndef _EVENTS_H_
#include "events.h"
#endif
diff --git a/src/include/mutexes.h b/src/include/mutexes.h new file mode 100644 index 000000000..e2881423d --- /dev/null +++ b/src/include/mutexes.h @@ -0,0 +1,66 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @addtogroup Mutexes
+ * @{
+ */
+
+#ifndef _MUTEXES_H_
+#define _MUTEXES_H_
+
+#ifdef CH_USE_MUTEXES
+
+typedef struct Mutex Mutex;
+
+struct Mutex {
+ /** Queue of the threads sleeping on this Mutex.*/
+ ThreadsQueue m_queue;
+ /** Owner \p Thread pointer or \p NULL.*/
+ Thread *m_owner;
+ /** Next \p Mutex into an owner-list, \p NULL if none.*/
+ Mutex *m_next;
+};
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void chMtxInit(Mutex *mp);
+ void chMtxLock(Mutex *mp);
+ void chMtxLockS(Mutex *mp);
+ BOOL chMtxTryLock(Mutex *mp);
+ BOOL chMtxTryLockS(Mutex *mp);
+ void chMtxUnlock(void);
+ void chMtxUnlockS(void);
+ void chMtxUnlockAll(void);
+ void chMtxUnlockAllS(void);
+#ifdef __cplusplus
+}
+#endif
+
+/**
+ * Returns \p TRUE if the mutex queus contains at least a waiting thread.
+ */
+#define chMtxQueueNotEmptyS(mp) notempty(&(mp)->m_queue)
+
+#endif /* CH_USE_MUTEXES */
+
+#endif /* _MUTEXES_H_ */
+
+/** @} */
diff --git a/src/include/semaphores.h b/src/include/semaphores.h index e17d03a6a..0457da81d 100644 --- a/src/include/semaphores.h +++ b/src/include/semaphores.h @@ -52,13 +52,6 @@ extern "C" { void chSemSignal(Semaphore *sp);
void chSemSignalI(Semaphore *sp);
void chSemSignalWait(Semaphore *sps, Semaphore *spw);
-
-#ifdef CH_USE_RT_SEMAPHORES
- void chSemRaisePrioWait(Semaphore *sp);
- void chSemLowerPrioSignal(Semaphore *sp);
- void chSemRaisePrioSignalWait(Semaphore *sps, Semaphore *spw);
- void chSemLowerPrioSignalWait(Semaphore *sps, Semaphore *spw);
-#endif
#ifdef __cplusplus
}
#endif
@@ -82,6 +75,6 @@ extern "C" { #endif /* CH_USE_SEMAPHORES */
-#endif /* _SEM_H_ */
+#endif /* _SEMAPHORES_H_ */
/** @} */
diff --git a/src/include/threads.h b/src/include/threads.h index 0783c4e9a..241b44442 100644 --- a/src/include/threads.h +++ b/src/include/threads.h @@ -62,6 +62,9 @@ struct Thread { /** Semaphore where the thread is waiting on (only in \p PRWTSEM state).*/
Semaphore *p_semp;
#endif
+#ifdef CH_USE_MUTEXES
+ Mutex *p_mtxp;
+#endif
#ifdef CH_USE_EVENTS
/** Enabled events mask (only while in \p PRWTEVENT state).*/
t_eventmask p_ewmask;
@@ -96,9 +99,10 @@ struct Thread { /** Pending events mask.*/
t_eventmask p_epending;
#endif
-#ifdef CH_USE_RT_SEMAPHORES
- /** RT semaphores depth counter.*/
- t_cnt p_rtcnt;
+#ifdef CH_USE_MUTEXES
+ /** Owner mutexes list, \p NULL terminated.*/
+ Mutex *p_mtxlist;
+ t_prio p_realprio;
#endif
};
@@ -112,18 +116,20 @@ struct Thread { #define PRSUSPENDED 3
/** Thread state: Waiting on a semaphore.*/
#define PRWTSEM 4
+/** Thread state: Waiting on a mutex.*/
+#define PRWTMTX 5
/** Thread state: Waiting in \p chThdSleep() or \p chThdSleepUntil().*/
-#define PRSLEEP 5
+#define PRSLEEP 6
/** Thread state: Waiting in \p chThdWait().*/
-#define PRWAIT 6
+#define PRWAIT 7
/** Thread state: Waiting in \p chEvtWait().*/
-#define PRWTEVENT 7
+#define PRWTEVENT 8
/** Thread state: Waiting in \p chMsgSend().*/
-#define PRSNDMSG 8
+#define PRSNDMSG 9
/** Thread state: Waiting in \p chMsgWait().*/
-#define PRWTMSG 9
+#define PRWTMSG 10
/** Thread state: After termination.*/
-#define PREXIT 10
+#define PREXIT 11
/** Thread option: Termination requested flag.*/
#define P_TERMINATE 1
@@ -138,8 +144,6 @@ struct Thread { #define NORMALPRIO 64
/** Highest user priority.*/
#define HIGHPRIO 127
-/** Boosted base priority.*/
-#define MEPRIO 128
/** Greatest possible priority.*/
#define ABSPRIO 255
diff --git a/src/templates/chconf.h b/src/templates/chconf.h index 187eb2373..fb8ae6a69 100644 --- a/src/templates/chconf.h +++ b/src/templates/chconf.h @@ -78,10 +78,9 @@ * @note requires \p CH_USE_VIRTUAL_TIMERS.*/
#define CH_USE_SEMAPHORES_TIMEOUT
-/** Configuration option: if specified then the Semaphores APIs with priority
- * shift are included in the kernel.
- * @note requires \p CH_USE_SEMAPHORES.*/
-#define CH_USE_RT_SEMAPHORES
+/** Configuration option: if specified then the Mutexes APIs are included in
+ * the kernel.*/
+#define CH_USE_MUTEXES
/** Configuration option: if specified then the Events APIs are included in
* the kernel.*/
diff --git a/test/test.c b/test/test.c index 15b70b9d4..5f6736843 100644 --- a/test/test.c +++ b/test/test.c @@ -40,6 +40,7 @@ static Thread *t1, *t2, *t3, *t4, *t5; static FullDuplexDriver *comp;
static Semaphore sem1;
+static Mutex m1, m2;
static void wait(void) {
@@ -92,8 +93,9 @@ t_msg Thread2(void *p) { t_msg Thread3(void *p) {
- chSemRaisePrioWait(&sem1);
+ chMtxLock(&m1);
chFDDPut(comp, *(BYTE8 *)p);
+ chMtxUnlock();
return 0;
}
@@ -129,25 +131,8 @@ t_msg Thread7(void *p) { return (unsigned int)p + 1;
}
-/**
- * Tester thread, this thread must be created with priority \p NORMALPRIO.
- */
-t_msg TestThread(void *p) {
- static BYTE8 ib[16];
- static Queue iq;
- t_msg msg;
- unsigned int i;
- t_time time;
+static void testrdy1(void) {
- comp = p;
- println("*****************************");
- println("*** ChibiOS/RT test suite ***");
- println("*****************************");
- println("");
-
- /*
- * Ready list ordering test.
- */
println("*** Ready List, priority enqueuing test #1, you should read ABCDE:");
t5 = chThdCreate(chThdGetPriority()-5, 0, wsT5, sizeof(wsT5), Thread1, "E");
t4 = chThdCreate(chThdGetPriority()-4, 0, wsT4, sizeof(wsT4), Thread1, "D");
@@ -156,6 +141,10 @@ t_msg TestThread(void *p) { t1 = chThdCreate(chThdGetPriority()-1, 0, wsT1, sizeof(wsT1), Thread1, "A");
wait();
println("");
+}
+
+static void testrdy2(void) {
+
println("*** Ready List, priority enqueuing test #2, you should read ABCDE:");
t4 = chThdCreate(chThdGetPriority()-4, 0, wsT4, sizeof(wsT4), Thread1, "D");
t5 = chThdCreate(chThdGetPriority()-5, 0, wsT5, sizeof(wsT5), Thread1, "E");
@@ -164,12 +153,12 @@ t_msg TestThread(void *p) { t3 = chThdCreate(chThdGetPriority()-3, 0, wsT3, sizeof(wsT3), Thread1, "C");
wait();
println("");
+}
+
+static void testsem1(void) {
- /*
- * Semaphores test.
- */
- chSemInit(&sem1, 0);
println("*** Semaphores, FIFO enqueuing test, you should read ABCDE:");
+ chSemInit(&sem1, 0);
t1 = chThdCreate(chThdGetPriority()+5, 0, wsT1, sizeof(wsT1), Thread2, "A");
t2 = chThdCreate(chThdGetPriority()+1, 0, wsT2, sizeof(wsT2), Thread2, "B");
t3 = chThdCreate(chThdGetPriority()+3, 0, wsT3, sizeof(wsT3), Thread2, "C");
@@ -182,45 +171,111 @@ t_msg TestThread(void *p) { chSemSignal(&sem1);
wait();
println("");
- println("*** Semaphores, priority enqueuing test #1, you should read ABCDE:");
+}
+
+static void testsem2(void) {
+ unsigned int i;
+
+ println("*** Semaphores, timeout test, you should read ABCDE (slowly):");
chSemInit(&sem1, 0);
+ for (i = 0; i < 5; i++) {
+ chFDDPut(comp, 'A' + i);
+ chSemWaitTimeout(&sem1, 500);
+ }
+ println("");
+}
+
+static void testmtx1(void) {
+
+ chMtxInit(&m1);
+ println("*** Mutexes, priority enqueuing test, you should read ABCDE:");
+ chMtxLock(&m1);
t5 = chThdCreate(chThdGetPriority()+1, 0, wsT5, sizeof(wsT5), Thread3, "E");
- t4 = chThdCreate(chThdGetPriority()+2, 0, wsT4, sizeof(wsT4), Thread3, "D");
+ t4 = chThdCreate(chThdGetPriority()+3, 0, wsT4, sizeof(wsT4), Thread3, "D");
t3 = chThdCreate(chThdGetPriority()+3, 0, wsT3, sizeof(wsT3), Thread3, "C");
t2 = chThdCreate(chThdGetPriority()+4, 0, wsT2, sizeof(wsT2), Thread3, "B");
t1 = chThdCreate(chThdGetPriority()+5, 0, wsT1, sizeof(wsT1), Thread3, "A");
- chSemLowerPrioSignal(&sem1);
- chSemLowerPrioSignal(&sem1);
- chSemLowerPrioSignal(&sem1);
- chSemLowerPrioSignal(&sem1);
- chSemLowerPrioSignal(&sem1);
+ chMtxUnlock();
wait();
println("");
- println("*** Semaphores, priority enqueuing test #2, you should read ABCDE:");
- chSemInit(&sem1, 0);
- t4 = chThdCreate(chThdGetPriority()+2, 0, wsT4, sizeof(wsT4), Thread3, "D");
- t5 = chThdCreate(chThdGetPriority()+1, 0, wsT5, sizeof(wsT5), Thread3, "E");
- t1 = chThdCreate(chThdGetPriority()+5, 0, wsT1, sizeof(wsT1), Thread3, "A");
- t2 = chThdCreate(chThdGetPriority()+4, 0, wsT2, sizeof(wsT2), Thread3, "B");
- t3 = chThdCreate(chThdGetPriority()+3, 0, wsT3, sizeof(wsT3), Thread3, "C");
- chSemLowerPrioSignal(&sem1);
- chSemLowerPrioSignal(&sem1);
- chSemLowerPrioSignal(&sem1);
- chSemLowerPrioSignal(&sem1);
- chSemLowerPrioSignal(&sem1);
- wait();
+}
+
+t_msg Thread8(void *p) {
+
+ chThdSleep(5);
+ chMtxLock(&m1);
+ chMtxUnlock();
+ chFDDPut(comp, *(BYTE8 *)p);
+ return 0;
+}
+
+t_msg Thread9(void *p) {
+
+ chMtxLock(&m1);
+ chThdSleep(20);
+ chMtxUnlock();
+ chFDDPut(comp, *(BYTE8 *)p);
+ return 0;
+}
+
+t_msg Thread10(void *p) {
+
+ chThdSleep(10);
+ /* 50mS CPU pulse */
+ t_time time = chSysGetTime() + 50;
+ while (chSysGetTime() != time)
+ ;
+ chFDDPut(comp, *(BYTE8 *)p);
+ return 0;
+}
+
+t_msg Thread11(void *p) {
+
+ chThdSleep(5);
+ chSemWait(&sem1);
+ chSemSignal(&sem1);
+ chFDDPut(comp, *(BYTE8 *)p);
+ return 0;
+}
+
+t_msg Thread12(void *p) {
+
+ chSemWait(&sem1);
+ chThdSleep(20);
+ chSemSignal(&sem1);
+ chFDDPut(comp, *(BYTE8 *)p);
+ return 0;
+}
+
+static void testmtx2(void) {
+
+ chMtxInit(&m1);
+ println("*** Mutexes, mutex with inheritance, you should read ABC:");
+ t1 = chThdCreate(chThdGetPriority()-1, 0, wsT1, sizeof(wsT1), Thread8, "A");
+ t2 = chThdCreate(chThdGetPriority()-3, 0, wsT2, sizeof(wsT2), Thread9, "C");
+ t3 = chThdCreate(chThdGetPriority()-2, 0, wsT3, sizeof(wsT3), Thread10, "B");
+ chThdWait(t1);
+ chThdWait(t2);
+ chThdWait(t3);
println("");
- println("*** Semaphores, timeout test, you should read ABCDE (slowly):");
- chSemInit(&sem1, 0);
- for (i = 0; i < 5; i++) {
- chFDDPut(comp, 'A'+i);
- chSemWaitTimeout(&sem1, 500);
- }
+}
+
+static void testmtx3(void) {
+
+ chSemInit(&sem1, 1);
+ println("*** Mutexes, mutex without inheritance, inversion happens, you should read BAC:");
+ t1 = chThdCreate(chThdGetPriority()-1, 0, wsT1, sizeof(wsT1), Thread11, "A");
+ t2 = chThdCreate(chThdGetPriority()-3, 0, wsT2, sizeof(wsT2), Thread12, "C");
+ t3 = chThdCreate(chThdGetPriority()-2, 0, wsT3, sizeof(wsT3), Thread10, "B");
+ chThdWait(t1);
+ chThdWait(t2);
+ chThdWait(t3);
println("");
+}
+
+static void testmsg1(void) {
+ t_msg msg;
- /*
- * Messages test.
- */
println("*** Messages, dispatch test, you should read AABBCCDDEE:");
t1 = chThdCreate(chThdGetPriority()-1, 0, wsT1, sizeof(wsT1), Thread4, chThdSelf());
do {
@@ -230,19 +285,26 @@ t_msg TestThread(void *p) { } while (msg);
chThdWait(t1);
println("");
+}
+
+static void testmsg2(void) {
+ unsigned int i;
+
println("*** Messages, timeout test, you should read ABCDE (slowly):");
t1 = chThdCreate(chThdGetPriority()-1, 0, wsT1, sizeof(wsT1), Thread5, chThdSelf());
for (i = 0; i < 5; i++) {
- chFDDPut(comp, 'A'+i);
- chMsgSendTimeout(t1, 'A'+i, 500);
+ chFDDPut(comp, 'A' + i);
+ chMsgSendTimeout(t1, 'A' + i, 500);
}
chMsgSendTimeout(t1, 0, 500);
chThdWait(t1);
println("");
+}
+
+static void bench1(void) {
+ unsigned int i;
+ t_time time;
- /*
- * Kernel benchmarks.
- */
println("*** Kernel Benchmark, context switch stress test:");
time = chSysGetTime() + 1;
while (chSysGetTime() < time) {
@@ -266,6 +328,11 @@ t_msg TestThread(void *p) { print(" msgs/S, ");
printn(i << 1);
println(" ctxsws/S");
+}
+
+static void bench2(void) {
+ unsigned int i;
+ t_time time;
println("*** Kernel Benchmark, threads creation/termination:");
time = chSysGetTime() + 1;
@@ -286,6 +353,13 @@ t_msg TestThread(void *p) { print("Threads throughput = ");
printn(i);
println(" threads/S");
+}
+
+static void bench3(void) {
+ static BYTE8 ib[16];
+ static Queue iq;
+ unsigned int i;
+ t_time time;
println("*** Kernel Benchmark, I/O Queues throughput:");
chIQInit(&iq, ib, sizeof(ib), NULL);
@@ -311,6 +385,50 @@ t_msg TestThread(void *p) { print("Queues throughput = ");
printn(i * 4);
println(" bytes/S");
+}
+
+/**
+ * Tester thread, this thread must be created with priority \p NORMALPRIO.
+ */
+t_msg TestThread(void *p) {
+
+ comp = p;
+ println("*****************************");
+ println("*** ChibiOS/RT test suite ***");
+ println("*****************************");
+ println("");
+
+ /*
+ * Ready list ordering tests.
+ */
+ testrdy1();
+ testrdy2();
+
+ /*
+ * Semaphores tests.
+ */
+ testsem1();
+ testsem2();
+
+ /*
+ * Mutexes tests.
+ */
+ testmtx1();
+ testmtx2();
+ testmtx3();
+
+ /*
+ * Messages tests.
+ */
+ testmsg1();
+ testmsg2();
+
+ /*
+ * Kernel benchmarks.
+ */
+ bench1();
+ bench2();
+ bench3();
println("\r\nTest complete");
return 0;
|