diff options
Diffstat (limited to 'src')
| -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 |
8 files changed, 347 insertions, 157 deletions
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.*/
|