diff options
| -rw-r--r-- | demos/LPC214x-GCC/main.c | 6 | ||||
| -rw-r--r-- | docs/Doxyfile | 72 | ||||
| -rw-r--r-- | docs/ch.txt | 69 | ||||
| -rw-r--r-- | docs/img/readylist.png | bin | 0 -> 7883 bytes | |||
| -rw-r--r-- | docs/img/workspace.png | bin | 0 -> 14430 bytes | |||
| -rw-r--r-- | readme.txt | 9 | ||||
| -rw-r--r-- | src/chsleep.c | 4 | ||||
| -rw-r--r-- | src/chthreads.c | 49 | ||||
| -rw-r--r-- | src/include/threads.h | 46 | ||||
| -rw-r--r-- | src/templates/chcore.c | 2 | ||||
| -rw-r--r-- | src/templates/chcore.h | 4 |
11 files changed, 163 insertions, 98 deletions
diff --git a/demos/LPC214x-GCC/main.c b/demos/LPC214x-GCC/main.c index a696b223f..c925671e9 100644 --- a/demos/LPC214x-GCC/main.c +++ b/demos/LPC214x-GCC/main.c @@ -23,7 +23,7 @@ #include "lpc214x_serial.h"
#include "buzzer.h"
-static BYTE8 waThread1[UserStackSize(16)];
+static BYTE8 waThread1[UserStackSize(32)];
static t_msg Thread1(void *arg) {
@@ -40,7 +40,7 @@ static t_msg Thread1(void *arg) { return 0;
}
-static BYTE8 waThread2[UserStackSize(16)];
+static BYTE8 waThread2[UserStackSize(32)];
static t_msg Thread2(void *arg) {
@@ -53,7 +53,7 @@ static t_msg Thread2(void *arg) { return 0;
}
-static BYTE8 waThread3[UserStackSize(16)];
+static BYTE8 waThread3[UserStackSize(32)];
static t_msg Thread3(void *arg) {
diff --git a/docs/Doxyfile b/docs/Doxyfile index 6cc09c5d9..0bcdbdbf2 100644 --- a/docs/Doxyfile +++ b/docs/Doxyfile @@ -4,7 +4,7 @@ # Project related configuration options #--------------------------------------------------------------------------- PROJECT_NAME = ChibiOS/RT -PROJECT_NUMBER = "0.2.1 alpha" +PROJECT_NUMBER = "0.3.0 beta" OUTPUT_DIRECTORY = . CREATE_SUBDIRS = NO OUTPUT_LANGUAGE = English @@ -26,7 +26,7 @@ ALWAYS_DETAILED_SEC = NO INLINE_INHERITED_MEMB = NO FULL_PATH_NAMES = NO STRIP_FROM_PATH = "C:/Documents and Settings/Administrator/" -STRIP_FROM_INC_PATH = +STRIP_FROM_INC_PATH = SHORT_NAMES = NO JAVADOC_AUTOBRIEF = YES MULTILINE_CPP_IS_BRIEF = NO @@ -34,7 +34,7 @@ DETAILS_AT_TOP = YES INHERIT_DOCS = NO SEPARATE_MEMBER_PAGES = NO TAB_SIZE = 2 -ALIASES = +ALIASES = OPTIMIZE_OUTPUT_FOR_C = YES OPTIMIZE_OUTPUT_JAVA = NO BUILTIN_STL_SUPPORT = NO @@ -64,11 +64,11 @@ GENERATE_TODOLIST = YES GENERATE_TESTLIST = YES GENERATE_BUGLIST = YES GENERATE_DEPRECATEDLIST= YES -ENABLED_SECTIONS = +ENABLED_SECTIONS = MAX_INITIALIZER_LINES = 30 SHOW_USED_FILES = NO SHOW_DIRECTORIES = NO -FILE_VERSION_FILTER = +FILE_VERSION_FILTER = #--------------------------------------------------------------------------- # configuration options related to warning and progress messages #--------------------------------------------------------------------------- @@ -78,7 +78,7 @@ WARN_IF_UNDOCUMENTED = YES WARN_IF_DOC_ERROR = YES WARN_NO_PARAMDOC = NO WARN_FORMAT = "$file:$line: $text" -WARN_LOGFILE = +WARN_LOGFILE = #--------------------------------------------------------------------------- # configuration options related to the input files #--------------------------------------------------------------------------- @@ -115,15 +115,15 @@ FILE_PATTERNS = *.c \ *.py \ *.ddf RECURSIVE = YES -EXCLUDE = +EXCLUDE = EXCLUDE_SYMLINKS = NO -EXCLUDE_PATTERNS = -EXAMPLE_PATH = +EXCLUDE_PATTERNS = +EXAMPLE_PATH = EXAMPLE_PATTERNS = * EXAMPLE_RECURSIVE = NO -IMAGE_PATH = -INPUT_FILTER = -FILTER_PATTERNS = +IMAGE_PATH = ./img +INPUT_FILTER = +FILTER_PATTERNS = FILTER_SOURCE_FILES = NO #--------------------------------------------------------------------------- # configuration options related to source browsing @@ -141,20 +141,20 @@ VERBATIM_HEADERS = NO #--------------------------------------------------------------------------- ALPHABETICAL_INDEX = NO COLS_IN_ALPHA_INDEX = 5 -IGNORE_PREFIX = +IGNORE_PREFIX = #--------------------------------------------------------------------------- # configuration options related to the HTML output #--------------------------------------------------------------------------- GENERATE_HTML = YES HTML_OUTPUT = html HTML_FILE_EXTENSION = .html -HTML_HEADER = -HTML_FOOTER = -HTML_STYLESHEET = +HTML_HEADER = +HTML_FOOTER = +HTML_STYLESHEET = HTML_ALIGN_MEMBERS = YES GENERATE_HTMLHELP = NO -CHM_FILE = -HHC_LOCATION = +CHM_FILE = +HHC_LOCATION = GENERATE_CHI = NO BINARY_TOC = NO TOC_EXPAND = NO @@ -171,8 +171,8 @@ LATEX_CMD_NAME = latex MAKEINDEX_CMD_NAME = makeindex COMPACT_LATEX = NO PAPER_TYPE = a4wide -EXTRA_PACKAGES = -LATEX_HEADER = +EXTRA_PACKAGES = +LATEX_HEADER = PDF_HYPERLINKS = NO USE_PDFLATEX = NO LATEX_BATCHMODE = NO @@ -184,8 +184,8 @@ GENERATE_RTF = NO RTF_OUTPUT = rtf COMPACT_RTF = NO RTF_HYPERLINKS = NO -RTF_STYLESHEET_FILE = -RTF_EXTENSIONS_FILE = +RTF_STYLESHEET_FILE = +RTF_EXTENSIONS_FILE = #--------------------------------------------------------------------------- # configuration options related to the man page output #--------------------------------------------------------------------------- @@ -198,8 +198,8 @@ MAN_LINKS = NO #--------------------------------------------------------------------------- GENERATE_XML = NO XML_OUTPUT = xml -XML_SCHEMA = -XML_DTD = +XML_SCHEMA = +XML_DTD = XML_PROGRAMLISTING = YES #--------------------------------------------------------------------------- # configuration options for the AutoGen Definitions output @@ -211,16 +211,16 @@ GENERATE_AUTOGEN_DEF = NO GENERATE_PERLMOD = NO PERLMOD_LATEX = NO PERLMOD_PRETTY = YES -PERLMOD_MAKEVAR_PREFIX = +PERLMOD_MAKEVAR_PREFIX = #--------------------------------------------------------------------------- -# Configuration options related to the preprocessor +# Configuration options related to the preprocessor #--------------------------------------------------------------------------- ENABLE_PREPROCESSING = YES MACRO_EXPANSION = NO EXPAND_ONLY_PREDEF = NO SEARCH_INCLUDES = YES -INCLUDE_PATH = -INCLUDE_FILE_PATTERNS = +INCLUDE_PATH = +INCLUDE_FILE_PATTERNS = PREDEFINED = __JUST_STUBS__ \ __DOXIGEN__ \ CH_USE_VIRTUAL_TIMERS \ @@ -242,18 +242,18 @@ PREDEFINED = __JUST_STUBS__ \ CH_USE_MESSAGES \ CH_USE_MESSAGES_TIMEOUT \ CH_USE_MESSAGES_EVENT -EXPAND_AS_DEFINED = +EXPAND_AS_DEFINED = SKIP_FUNCTION_MACROS = YES #--------------------------------------------------------------------------- -# Configuration::additions related to external references +# Configuration::additions related to external references #--------------------------------------------------------------------------- -TAGFILES = -GENERATE_TAGFILE = +TAGFILES = +GENERATE_TAGFILE = ALLEXTERNALS = NO EXTERNAL_GROUPS = YES PERL_PATH = /usr/bin/perl #--------------------------------------------------------------------------- -# Configuration options related to the dot tool +# Configuration options related to the dot tool #--------------------------------------------------------------------------- CLASS_DIAGRAMS = NO HIDE_UNDOC_RELATIONS = YES @@ -270,8 +270,8 @@ CALLER_GRAPH = NO GRAPHICAL_HIERARCHY = YES DIRECTORY_GRAPH = YES DOT_IMAGE_FORMAT = png -DOT_PATH = -DOTFILE_DIRS = +DOT_PATH = +DOTFILE_DIRS = MAX_DOT_GRAPH_WIDTH = 1024 MAX_DOT_GRAPH_HEIGHT = 1024 MAX_DOT_GRAPH_DEPTH = 1000 @@ -280,6 +280,6 @@ DOT_MULTI_TARGETS = NO GENERATE_LEGEND = YES DOT_CLEANUP = YES #--------------------------------------------------------------------------- -# Configuration::additions related to the search engine +# Configuration::additions related to the search engine #--------------------------------------------------------------------------- SEARCHENGINE = NO diff --git a/docs/ch.txt b/docs/ch.txt index c259357eb..38d6d589a 100644 --- a/docs/ch.txt +++ b/docs/ch.txt @@ -47,9 +47,78 @@ * memory image.</li>
* <li>Almost totally written in C with little ASM code required for ports.</li>
* </ul>
+ *
+ * ChibiOS/RT architecture:<br><br>
+ * @subpage Concepts
*/
/**
+ * @page Concepts Concepts
+ * @{
+ * @section naming Naming Conventions
+ * ChibiOS/RT APIs are all named following this convention:
+ * \a ch\<group\>\<action\>\<suffix\>().
+ * The possible groups are: \a Sys, \a Sch, \a VT, \a Thd, \a Sem, \a Evt,
+ * \a Msg, \a IQ, \a OQ, \a HQ,\a FDD, \a HDD.
+ * The suffix is not present for normal APIs but can be one of
+ * the following: "I" for APIs meant to be invoked from an interrupt handler
+ * or within the system mutex zone but not from user code, "S" for APIs only
+ * useable from within the system mutex zone but not from interrupt handlers
+ * or user code. The APIs without suffix can be invoked only from the user
+ * code.<br>
+ * Examples: \p chThdCreate(), \p chSemSignalI(), \p chIQGetTimeout().
+ *
+ * @section scheduling Scheduling
+ * The strategy is very simple the currently ready thread with the highest
+ * priority is executed. If more than one thread with equal priority are
+ * eligible for execution then they are executed in a round-robin way, the
+ * CPU time slice constant is configurable. The ready list is a double linked
+ * list of threads ordered by priority.
+ * @image html readylist.png
+ * Note that the currently running thread is not in the ready list, the list
+ * only contains the threads ready to be executed but still actually waiting.
+ *
+ * @section warea Thread Working Area
+ * Each thread has its own stack, a Thread structure and a registers dump
+ * structure. All the structures are allocated into a "Thread working area",
+ * a thread private heap, usually allocated in a char array declared in your
+ * code, there is not a central threads table or list, this means you can
+ * have as many threads you want as long you have enough available RAM
+ * memory. The threads do not use any memory outside the allocated working
+ * area.<br>
+
+ * @image html workspace.png
+ * <br>
+ * Note that the registers dump is only present when the Thread is not
+ * running, the context switching is done by pushing the registers on the
+ * stack of the switched-out thread and popping the registers of the
+ * switched-in thread from its stack.
+ *
+ * @section sysmutex System Mutex Zone
+ * It is the code within the OS that cannot be preempted, this code is
+ * everything between the \p chSysLock() and \p chSysUnlock() API calls.
+ * The implementation of the APIs in most cases just enables/disables the
+ * interrupts. Of course the code in the system mutex zone must be as short
+ * and efficient possible as it affects the RT performance of the whole
+ * system. The worst case response time is affected by the longest code
+ * path in the system mutex zone or interrupt handler.
+ * @code
+ * // User code, not critical, preemption possible.
+ * chSysLock();
+ * ...
+ * // System critical code, preemption delayed.
+ * ...
+ * chSysUnlock();
+ * // User code, preemption possible again.
+ * @endcode
+ * Applications usually do not need to put code into the system mutex zone
+ * unless you are implementing device drivers or special synchronization
+ * primitives, everything else can be implemented by using semaphores,
+ * messages or events.
+ */
+/** @} */
+
+/**
* @defgroup Kernel Kernel
* @{
*/
diff --git a/docs/img/readylist.png b/docs/img/readylist.png Binary files differnew file mode 100644 index 000000000..4d852388f --- /dev/null +++ b/docs/img/readylist.png diff --git a/docs/img/workspace.png b/docs/img/workspace.png Binary files differnew file mode 100644 index 000000000..03149b7bd --- /dev/null +++ b/docs/img/workspace.png diff --git a/readme.txt b/readme.txt index 07fc0c508..4508b2a21 100644 --- a/readme.txt +++ b/readme.txt @@ -32,6 +32,15 @@ LPC214x-GCC - ChibiOS/RT port for ARM7 LPC2148, the demo targets the *** Releases ***
*****************************************************************************
+*** 0.3.0 ***
+- ChibiOS/RT goes beta.
+- Diet for the threads code, some simple APIs become macros.
+- Thread Local Storage implemented as a single API: chThdLS().
+ The API simply returns a pointer into the thread working area, see the
+ documentation on the web site.
+- Moved some documentation and images from the web site into the Doxigen
+ generated HTMLs.
+
*** 0.2.1 ***
- Optimizations in the RT semaphores subsystem. The support for this
subsystem should still be considered experimental and further changes may
diff --git a/src/chsleep.c b/src/chsleep.c index 9fedd0244..5814410f3 100644 --- a/src/chsleep.c +++ b/src/chsleep.c @@ -62,11 +62,11 @@ t_time chSysGetTime(void) { * option is enabled in \p chconf.h.
*/
void chThdSleepUntil(t_time time) {
- VirtualTimer t;
+ VirtualTimer vt;
chSysLock();
- chVTSetI(&t, (t_time)(time - stime), (t_vtfunc)chSchReadyI, currp);
+ chVTSetI(&vt, (t_time)(time - stime), (t_vtfunc)chSchReadyI, currp);
chSchGoSleepI(PRSLEEP);
chSysUnlock();
diff --git a/src/chthreads.c b/src/chthreads.c index 59c361116..a439eb5b4 100644 --- a/src/chthreads.c +++ b/src/chthreads.c @@ -129,17 +129,6 @@ Thread *chThdCreate(t_prio prio, t_tmode mode, void *workspace, return tp;
}
-/**
- * Verifies if the specified thread is in the \p PREXIT state.
- * @param tp the pointer to the thread
- * @return \p TRUE if the thread is ended else \p FALSE. \p TRUE ensures that
- * a subsequent call to \p chThdWait() would not block.
- */
-BOOL chThdTerminated(Thread *tp) {
-
- return tp->p_state == PREXIT;
-}
-
#ifdef CH_USE_RESUME
/**
* Resumes a thread created with the \p P_SUSPENDED option.
@@ -176,17 +165,6 @@ void chThdTerminate(Thread *tp) { chSysUnlock();
}
-
-/**
- * Verifies if the current thread has a termination request pending.
- * @return \p TRUE if the termination was requested. The thread should terminate
- * as soon it is ready to do so.
- */
-BOOL chThdShouldTerminate(void) {
-
- return currp->p_flags & P_TERMINATE ? TRUE : FALSE;
-}
-
#endif
/**
@@ -234,31 +212,4 @@ t_msg chThdWait(Thread *tp) { }
#endif /* CH_USE_WAITEXIT */
-#ifdef CH_USE_EXIT_EVENT
-/**
- * Returns the exit event source for the specified thread. The source is
- * signaled when the thread terminates.
- * @param tp the pointer to the thread
- * @note When registering on a thread termination make sure the thread
- * is still alive, if you do that after the thread termination
- * then you would miss the event. There are two ways to ensure
- * this:<br>
- * <ul>
- * <li>Create the thread suspended, register on the event source
- * and then resume the thread (recommended).</li>
- * <li>Create the thread with a lower priority then register on it.
- * This does not work if the hardware is capable of multiple
- * physical threads.</li>
- * </ul>
- * @note You dont need to unregister from a terminated thread because
- * the event source becomes inactive.
- * @note The function is available only if the \p CH_USE_EXIT_EVENT
- * option is enabled in \p chconf.h.
- */
-EventSource *chThdGetExitEventSource(Thread *tp) {
-
- return &tp->p_exitesource;
-}
-#endif /* CH_USE_EXIT_EVENT */
-
/** @} */
diff --git a/src/include/threads.h b/src/include/threads.h index f170ce368..688ce579a 100644 --- a/src/include/threads.h +++ b/src/include/threads.h @@ -182,19 +182,55 @@ static INLINE void enqueue(Thread *tp, ThreadsQueue *tqp) { /*
* Threads APIs.
*/
-#define chThdSelf() currp
Thread *chThdCreate(t_prio prio, t_tmode mode, void *workspace,
t_size wsize, t_tfunc pf, void *arg);
void chThdResume(Thread *tp);
-void chThdTerminate(Thread *tp);
-BOOL chThdShouldTerminate(void);
-BOOL chThdTerminated(Thread *tp);
void chThdExit(t_msg msg);
+
+/** Returns the pointer to the \p Thread currently in execution.*/
+#define chThdSelf() currp
+
+/** Returns the pointer to the \p Thread local storage area, if any.*/
+#define chThdLS() (void *)(currp + 1)
+
+/** Verifies if the specified thread is in the \p PREXIT state.*/
+#define chThdTerminated(tp) ((tp)->p_state == PREXIT)
+
+#ifdef CH_USE_TERMINATE
+/**
+ * Verifies if the current thread has a termination request pending.
+ */
+#define chThdShouldTerminate() (currp->p_flags & P_TERMINATE)
+
+void chThdTerminate(Thread *tp);
+#endif
+
#ifdef CH_USE_WAITEXIT
t_msg chThdWait(Thread *tp);
#endif
+
#ifdef CH_USE_EXIT_EVENT
-EventSource *chThdGetExitEventSource(Thread *tp);
+/**
+ * Returns the exit event source for the specified thread. The source is
+ * signaled when the thread terminates.
+ * @param tp the pointer to the thread
+ * @note When registering on a thread termination make sure the thread
+ * is still alive, if you do that after the thread termination
+ * then you would miss the event. There are two ways to ensure
+ * this:<br>
+ * <ul>
+ * <li>Create the thread suspended, register on the event source
+ * and then resume the thread (recommended).</li>
+ * <li>Create the thread with a lower priority then register on it.
+ * This does not work if the hardware is capable of multiple
+ * physical threads.</li>
+ * </ul>
+ * @note You dont need to unregister from a terminated thread because
+ * the event source becomes inactive.
+ * @note The function is available only if the \p CH_USE_EXIT_EVENT
+ * option is enabled in \p chconf.h.
+ */
+#define chThdGetExitEventSource(tp) (&(tp)->p_exitesource)
#endif
#endif /* _THREADS_H_ */
diff --git a/src/templates/chcore.c b/src/templates/chcore.c index 29a809378..e23cf1bfe 100644 --- a/src/templates/chcore.c +++ b/src/templates/chcore.c @@ -37,7 +37,7 @@ void chSysPause(void) {}
/**
- * Abonormal system termination handler. Invoked by the ChobiOS/RT when an
+ * Abonormal system termination handler. Invoked by the ChibiOS/RT when an
* abnormal unrecoverable condition is met.
*/
void chSysHalt(void) {}
diff --git a/src/templates/chcore.h b/src/templates/chcore.h index 895e2b685..bb901b1ec 100644 --- a/src/templates/chcore.h +++ b/src/templates/chcore.h @@ -39,7 +39,7 @@ struct stackregs { }
/**
- * Enters the ChobiOS/RT system mutual exclusion zone, the implementation is
+ * Enters the ChibiOS/RT system mutual exclusion zone, the implementation is
* architecture dependent, on single core systems usually this function
* just disables the interrupts.
* @note The code in the system mutual exclusion zone must be as light and
@@ -50,7 +50,7 @@ struct stackregs { #define chSysLock()
/**
- * Leaves the ChobiOS/RT system mutual exclusion zone, the implementation is
+ * Leaves the ChibiOS/RT system mutual exclusion zone, the implementation is
* architecture dependent, on single core systems usually this function
* just enables the interrupts.
* @note The code in the system mutual exclusion zone must be as light and
|
