diff options
| -rw-r--r-- | os/kernel/include/chbsem.h | 218 | ||||
| -rw-r--r-- | os/kernel/kernel.dox | 7 | ||||
| -rw-r--r-- | os/kernel/src/chcond.c | 3 | ||||
| -rw-r--r-- | os/kernel/src/chqueues.c | 7 | ||||
| -rw-r--r-- | os/ports/GCC/ARMCMx/chcore_v7m.c | 10 | ||||
| -rw-r--r-- | readme.txt | 7 |
6 files changed, 246 insertions, 6 deletions
diff --git a/os/kernel/include/chbsem.h b/os/kernel/include/chbsem.h new file mode 100644 index 000000000..b8cd08306 --- /dev/null +++ b/os/kernel/include/chbsem.h @@ -0,0 +1,218 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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/>.
+*/
+
+/**
+ * @file chbsem.h
+ * @brief Binary semaphores structures and macros.
+ *
+ * @addtogroup binary_semaphores
+ * @details Binary semaphores related APIs and services.
+ *
+ * <h2>Operation mode</h2>
+ * Binary semaphores are implemented as a set of macros that use the
+ * existing counting semaphores primitives. The difference between
+ * counting and binary semaphores is that the counter of binary
+ * semaphores is not allowed to grow above the value 1. Repeated
+ * signal operation are ignored. A binary semaphore can thus have
+ * only two defined states:
+ * - <b>Taken</b>, when its counter has a value of zero or lower
+ * than zero. A negative number represent the number of threads
+ * queued on the binary semaphore.
+ * - <b>Not taken</b>, when its counter has a value of one.
+ * .
+ * Binary semaphores are different from mutexes because there is no
+ * the concept of ownership, a binary semaphore can be taken by a
+ * thread and signaled by another thread or an interrupt handler,
+ * mutexes can only be taken and released by the same thread. Another
+ * difference is that binary semaphores, unlike mutexes, do not
+ * implement the priority inheritance protocol.<br>
+ * In order to use the binary semaphores APIs the @p CH_USE_SEMAPHORES
+ * option must be enabled in @p chconf.h.
+ * @{
+ */
+
+#ifndef _CHBSEM_H_
+#define _CHBSEM_H_
+
+#if CH_USE_SEMAPHORES
+
+/**
+ * @extends Semaphore
+ *
+ * @brief Binary semaphore type. + */
+typedef struct {
+ Semaphore bs_sem;
+} BinarySemaphore;
+
+/**
+ * @brief Data part of a static semaphore initializer.
+ * @details This macro should be used when statically initializing a semaphore
+ * that is part of a bigger structure.
+ *
+ * @param[in] name the name of the semaphore variable
+ * @param[in] n the counter initial value, this value must be
+ * non-negative
+ */
+#define _BSEMAPHORE_DATA(name, t) {_SEMAPHORE_DATA(name.bs_sem), ((t) ? 0 : 1)}
+
+/**
+ * @brief Static semaphore initializer.
+ * @details Statically initialized semaphores require no explicit
+ * initialization using @p chSemInit().
+ *
+ * @param[in] name the name of the semaphore variable
+ * @param[in] n the counter initial value, this value must be
+ * non-negative
+ */
+#define BSEMAPHORE_DECL(name, t) Semaphore name = _BSEMAPHORE_DATA(name, t)
+
+
+/**
+ * @brief Initializes a binary semaphore.
+ *
+ * @param[out] bsp pointer to a @p BinarySemaphore structure
+ * @param[in] taken initial state of the binary semaphore:
+ * - @a FALSE, the initial state is not taken.
+ * - @a TRUE, the initial state is taken.
+ * .
+ */
+#define chBSemInit(bsp, taken) chSemInit(&bsp->bs_sem, taken ? 0 : 1)
+
+/**
+ * @brief Wait operation on the binary semaphore.
+ *
+ * @param[in] bsp pointer to a @p BinarySemaphore structure + * @retval RDY_OK if the binary semaphore had been successfully taken.
+ * @retval RDY_RESET if the binary semaphore has been reset using
+ * @p bsemReset().
+ */
+#define chBSemWait(bsp) chSemWait(&bsp->bs_sem)
+
+/**
+ * @brief Wait operation on the binary semaphore.
+ *
+ * @param[in] bsp pointer to a @p BinarySemaphore structure
+ * @retval RDY_OK if the binary semaphore had been successfully taken.
+ * @retval RDY_RESET if the binary semaphore has been reset using
+ * @p bsemReset().
+ */
+#define chBSemWaitS(bsp) chSemWaitS(&bsp->bs_sem)
+
+/**
+ * @brief Wait operation on the binary semaphore.
+ *
+ * @param[in] bsp pointer to a @p BinarySemaphore structure
+ * @param[in] time the number of ticks before the operation timeouts,
+ * the following special values are allowed:
+ * - @a TIME_IMMEDIATE immediate timeout.
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @retval RDY_OK if the binary semaphore had been successfully taken.
+ * @retval RDY_RESET if the binary semaphore has been reset using
+ * @p bsemReset().
+ * @retval RDY_TIMEOUT if the binary semaphore was not signaled or reset
+ * within the specified timeout.
+ */
+#define chBSemWaitTimeout(bsp, time) chSemWaitTimeout(&bsp->bs_sem, time)
+
+/**
+ * @brief Wait operation on the binary semaphore.
+ *
+ * @param[in] bsp pointer to a @p BinarySemaphore structure
+ * @param[in] time the number of ticks before the operation timeouts,
+ * the following special values are allowed:
+ * - @a TIME_IMMEDIATE immediate timeout.
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @retval RDY_OK if the binary semaphore had been successfully taken.
+ * @retval RDY_RESET if the binary semaphore has been reset using
+ * @p bsemReset().
+ * @retval RDY_TIMEOUT if the binary semaphore was not signaled or reset
+ * within the specified timeout.
+ */
+#define chBSemWaitTimeoutS(bsp, time) chSemWaitTimeoutS(&bsp->bs_sem, time)
+
+/**
+ * @brief Reset operation on the binary semaphore.
+ * @note The released threads can recognize they were waked up by a reset
+ * rather than a signal because the @p bsemWait() will return
+ * @p RDY_RESET instead of @p RDY_OK.
+ *
+ * @param[in] bsp pointer to a @p BinarySemaphore structure
+ * @param[in] taken new state of the binary semaphore
+ * - @a FALSE, the new state is not taken.
+ * - @a TRUE, the new state is taken.
+ * .
+ */
+#define chBSemReset(bsp, taken) chSemReset(&bsp->bs_sem, taken ? 0 : 1)
+
+/**
+ * @brief Reset operation on the binary semaphore.
+ * @note The released threads can recognize they were waked up by a reset
+ * rather than a signal because the @p bsemWait() will return
+ * @p RDY_RESET instead of @p RDY_OK.
+ * @note This function does not reschedule.
+ *
+ * @param[in] bsp pointer to a @p BinarySemaphore structure
+ * @param[in] taken new state of the binary semaphore
+ * - @a FALSE, the new state is not taken.
+ * - @a TRUE, the new state is taken.
+ * .
+ */
+#define chBSemResetI(bsp, taken) chSemResetI(&bsp->bs_sem, taken ? 0 : 1)
+
+/**
+ * @brief Performs a signal operation on a binary semaphore.
+ *
+ * @param[in] bsp pointer to a @p BinarySemaphore structure
+ */
+#define chBSemSignal(bsp) { \
+ chSysLock(); \
+ chBSemSignalI(bsp); \
+ chSchRescheduleS(); \
+ chSysUnlock(); \
+}
+
+/**
+ * @brief Performs a signal operation on a binary semaphore.
+ * @note This function does not reschedule.
+ *
+ * @param[in] bsp pointer to a @p BinarySemaphore structure
+ */
+#define chBSemSignalI(bsp) { \
+ if (bsp->bs_sem.s_cnt < 1) \
+ chSemSignalI(&bsp->bs_sem); \
+}
+
+/**
+ * @brief Returns the binary semaphore current state.
+ *
+ * @param[in] bsp pointer to a @p BinarySemaphore structure
+ * @return The binary semaphore current state.
+ * @retval FALSE if the binary semaphore is not taken.
+ * @retval TRUE if the binary semaphore is taken.
+ */
+#define chBSemGetStateI(bsp) ((bsp)->bs_sem.s_cnt > 0 ? 0 : 1)
+
+#endif /* CH_USE_SEMAPHORES */
+
+#endif /* _CHBSEM_H_ */
+
+/** @} */
diff --git a/os/kernel/kernel.dox b/os/kernel/kernel.dox index 0cbcd17af..d4206c882 100644 --- a/os/kernel/kernel.dox +++ b/os/kernel/kernel.dox @@ -72,7 +72,12 @@ */
/**
- * @defgroup semaphores Semaphores
+ * @defgroup semaphores Counting Semaphores
+ * @ingroup synchronization
+ */
+
+/**
+ * @defgroup binary_semaphores Binary Semaphores
* @ingroup synchronization
*/
diff --git a/os/kernel/src/chcond.c b/os/kernel/src/chcond.c index c450b0c32..92e1a4eb4 100644 --- a/os/kernel/src/chcond.c +++ b/os/kernel/src/chcond.c @@ -17,8 +17,7 @@ along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
- Concepts and parts of this file are contributed by and Copyright (C) 2008
- of Leon Woestenberg.
+ Concepts and parts of this file have been contributed by Leon Woestenberg.
*/
/**
diff --git a/os/kernel/src/chqueues.c b/os/kernel/src/chqueues.c index 84cbbed94..d1aa03cc6 100644 --- a/os/kernel/src/chqueues.c +++ b/os/kernel/src/chqueues.c @@ -126,6 +126,10 @@ msg_t chIQGetTimeout(InputQueue *iqp, systime_t time) { msg_t msg;
chSysLock();
+
+ if (iqp->q_notify)
+ iqp->q_notify();
+
if ((msg = chSemWaitTimeoutS(&iqp->q_sem, time)) < RDY_OK) {
chSysUnlock();
return msg;
@@ -134,9 +138,6 @@ msg_t chIQGetTimeout(InputQueue *iqp, systime_t time) { if (iqp->q_rdptr >= iqp->q_top)
iqp->q_rdptr = iqp->q_buffer;
- if (iqp->q_notify)
- iqp->q_notify();
-
chSysUnlock();
return b;
}
diff --git a/os/ports/GCC/ARMCMx/chcore_v7m.c b/os/ports/GCC/ARMCMx/chcore_v7m.c index 74b9ff43b..f546a11fa 100644 --- a/os/ports/GCC/ARMCMx/chcore_v7m.c +++ b/os/ports/GCC/ARMCMx/chcore_v7m.c @@ -27,6 +27,7 @@ #include "ch.h"
+#if !defined(CH_CURRP_REGISTER_CACHE) || defined(__DOXXYGEN__)
/**
* @brief Internal context stacking. */
@@ -40,6 +41,15 @@ #define POP_CONTEXT() { \
asm volatile ("pop {r4, r5, r6, r7, r8, r9, r10, r11, pc}"); \
}
+#else /* defined(CH_CURRP_REGISTER_CACHE) */
+#define PUSH_CONTEXT() { \
+ asm volatile ("push {r4, r5, r6, r8, r9, r10, r11, lr}"); \
+}
+
+#define POP_CONTEXT() { \
+ asm volatile ("pop {r4, r5, r6, r8, r9, r10, r11, pc}"); \
+}
+#endif /* defined(CH_CURRP_REGISTER_CACHE) */
#if !CH_OPTIMIZE_SPEED
void _port_lock(void) {
diff --git a/readme.txt b/readme.txt index 166e2544a..d33c731df 100644 --- a/readme.txt +++ b/readme.txt @@ -59,6 +59,10 @@ *****************************************************************************
*** 2.1.0 ***
+- FIX: Fixed notification order in input queues (bug 3020708)(backported in
+ 2.0.1).
+- FIX: Fixed non functional CH_CURRP_REGISTER_CACHE option in the Cortex-M3
+ port (bug 3020702)(backported in 2.0.1).
- FIX: Fixed non functional CH_DBG_ENABLE_STACK_CHECK option in the Cortex-M3
caused by GCC 4.5.0, the fix also improves the context switch performance
because GCC 4.5.0 apparently was generating useless instructions within the
@@ -73,6 +77,9 @@ - FIX: Fixed assertion in adcStop() (bug 3015109)(backported in 2.0.0).
- NEW: Added timers clock macros to the STM32 clock tree HAL driver (backported
in 2.0.1).
+- NEW: Added Binary Semaphores among the synchronization primitives. The new
+ subsystem is entirely implemented as macros over the existing and proven
+ Counting Semaphores thus takes no space.
- OPT: Simplified the test suite code, now it is smaller.
- Reorganized the documentation, now the description of the device drivers
implementation is under the HAL module instead of the Ports module.
|