From 3a90ab685aaae59f242ae31260e67e9125ae78cd Mon Sep 17 00:00:00 2001
From: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>
Date: Mon, 1 Oct 2007 17:42:47 +0000
Subject: Preparation for AVR core support.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@27 35acf78f-673a-0410-8e92-d51de3d6d3f4
---
demos/LPC214x-GCC/Makefile | 8 ++--
demos/LPC214x-GCC/chtypes.h | 14 ++-----
demos/Win32-MSVS/chtypes.h | 14 ++-----
demos/Win32-MinGW/Makefile | 6 +--
demos/Win32-MinGW/chcore.h | 2 +-
demos/Win32-MinGW/chtypes.h | 14 ++-----
readme.txt | 19 ++++++++++
src/chdelta.c | 2 +-
src/chevents.c | 8 ++--
src/chlists.c | 89 +++++++++++++++++++++++++++++++++++++++++++++
src/chmsg.c | 8 ++--
src/chqueues.c | 2 +-
src/chschd.c | 21 ++++++-----
src/chsem.c | 78 ++++++++++++++++++++-------------------
src/chthreads.c | 37 ++-----------------
src/include/ch.h | 16 ++++----
src/include/lists.h | 67 ++++++++++++++++++++++++++++++++++
src/include/scheduler.h | 2 +
src/include/semaphores.h | 17 ++++-----
src/include/threads.h | 74 ++++++++++++++++++++-----------------
src/templates/chconf.h | 2 +-
src/templates/chcore.c | 2 +-
src/templates/chcore.h | 11 +++++-
src/templates/chtypes.h | 28 +++++---------
24 files changed, 339 insertions(+), 202 deletions(-)
create mode 100644 src/chlists.c
create mode 100644 src/include/lists.h
diff --git a/demos/LPC214x-GCC/Makefile b/demos/LPC214x-GCC/Makefile
index e96550727..7f75b31b2 100644
--- a/demos/LPC214x-GCC/Makefile
+++ b/demos/LPC214x-GCC/Makefile
@@ -64,9 +64,9 @@ UADEFS =
# List ARM-mode C source files here
ASRC = chcore.c main.c buzzer.c \
../../ports/ARM7-LPC214x/GCC/lpc214x_serial.c \
- ../../src/chinit.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/chinit.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
# List THUMB-mode C sources here
# NOTE: If any module is compiled in thumb mode then -mthumb-interwork is
@@ -112,7 +112,7 @@ ADEFS = $(DADEFS) $(UADEFS)
AOBJS = $(ASRC:.c=.o)
TOBJS = $(TSRC:.c=.o)
OBJS = $(ASMOBJS) $(AOBJS) $(TOBJS)
-ASMOBJS = $(ASMSRC:.s=.o)
+ASMOBJS = $(ASMSRC:.s=.o)
LIBS = $(DLIBS) $(ULIBS)
MCFLAGS = -mcpu=$(MCU)
diff --git a/demos/LPC214x-GCC/chtypes.h b/demos/LPC214x-GCC/chtypes.h
index 49c7c6c38..803b5ead4 100644
--- a/demos/LPC214x-GCC/chtypes.h
+++ b/demos/LPC214x-GCC/chtypes.h
@@ -25,28 +25,22 @@
*/
#define BOOL char
#define BYTE8 unsigned char
+#define SBYTE8 char
#define WORD16 short
#define UWORD16 unsigned short
#define LONG32 int
#define ULONG32 unsigned int
-#define PTR_EQ int
typedef BYTE8 t_tmode;
typedef BYTE8 t_tstate;
-typedef LONG32 t_prio;
-typedef PTR_EQ t_msg;
+typedef ULONG32 t_prio;
+typedef LONG32 t_msg;
typedef LONG32 t_eventid;
typedef ULONG32 t_eventmask;
typedef ULONG32 t_time;
-typedef LONG32 t_semcnt;
+typedef LONG32 t_cnt;
typedef ULONG32 t_size;
-#define MINPRIO 0x8000
-#define MAXPRIO 0x7fff
-
-#define MINDELTA 0
-#define MAXDELTA 0xffff
-
#define INLINE inline
#endif /* _CHTYPES_H_ */
diff --git a/demos/Win32-MSVS/chtypes.h b/demos/Win32-MSVS/chtypes.h
index f7d05b855..6481c22a8 100644
--- a/demos/Win32-MSVS/chtypes.h
+++ b/demos/Win32-MSVS/chtypes.h
@@ -25,28 +25,22 @@
*/
#define BOOL char
#define BYTE8 unsigned char
+#define SBYTE8 char
#define WORD16 short
#define UWORD16 unsigned short
#define LONG32 int
#define ULONG32 unsigned int
-#define PTR_EQ int
typedef BYTE8 t_tmode;
typedef BYTE8 t_tstate;
-typedef LONG32 t_prio;
-typedef PTR_EQ t_msg;
+typedef ULONG32 t_prio;
+typedef LONG32 t_msg;
typedef LONG32 t_eventid;
typedef ULONG32 t_eventmask;
typedef ULONG32 t_time;
-typedef LONG32 t_semcnt;
+typedef LONG32 t_cnt;
typedef ULONG32 t_size;
-#define MINPRIO 0x8000
-#define MAXPRIO 0x7fff
-
-#define MINDELTA 0
-#define MAXDELTA 0xffff
-
#define INLINE __inline
#endif /* _CHTYPES_H_ */
diff --git a/demos/Win32-MinGW/Makefile b/demos/Win32-MinGW/Makefile
index b7dc8b024..4ab603d8e 100644
--- a/demos/Win32-MinGW/Makefile
+++ b/demos/Win32-MinGW/Makefile
@@ -58,9 +58,9 @@ UADEFS =
# List C source files here
SRC = chcore.c demo.c \
../../ports/win32/simcom.c \
- ../../src/chinit.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/chinit.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
# List ASM source files here
ASRC = chcore2.s
diff --git a/demos/Win32-MinGW/chcore.h b/demos/Win32-MinGW/chcore.h
index b8872c819..7f0021854 100644
--- a/demos/Win32-MinGW/chcore.h
+++ b/demos/Win32-MinGW/chcore.h
@@ -63,7 +63,7 @@ typedef struct {
#define INT_REQUIRED_STACK 0x0
-#define UserStackSize(n) (sizeof(Thread) + sizeof(PTR_EQ) + sizeof(PTR_EQ) + \
+#define UserStackSize(n) (sizeof(Thread) + sizeof(void *) * 2 + \
sizeof(struct stackregs) + (n) + (INT_REQUIRED_STACK))
__attribute__((fastcall)) void chSysHalt(void);
diff --git a/demos/Win32-MinGW/chtypes.h b/demos/Win32-MinGW/chtypes.h
index 49c7c6c38..803b5ead4 100644
--- a/demos/Win32-MinGW/chtypes.h
+++ b/demos/Win32-MinGW/chtypes.h
@@ -25,28 +25,22 @@
*/
#define BOOL char
#define BYTE8 unsigned char
+#define SBYTE8 char
#define WORD16 short
#define UWORD16 unsigned short
#define LONG32 int
#define ULONG32 unsigned int
-#define PTR_EQ int
typedef BYTE8 t_tmode;
typedef BYTE8 t_tstate;
-typedef LONG32 t_prio;
-typedef PTR_EQ t_msg;
+typedef ULONG32 t_prio;
+typedef LONG32 t_msg;
typedef LONG32 t_eventid;
typedef ULONG32 t_eventmask;
typedef ULONG32 t_time;
-typedef LONG32 t_semcnt;
+typedef LONG32 t_cnt;
typedef ULONG32 t_size;
-#define MINPRIO 0x8000
-#define MAXPRIO 0x7fff
-
-#define MINDELTA 0
-#define MAXDELTA 0xffff
-
#define INLINE inline
#endif /* _CHTYPES_H_ */
diff --git a/readme.txt b/readme.txt
index 4508b2a21..347262f18 100644
--- a/readme.txt
+++ b/readme.txt
@@ -32,6 +32,25 @@ LPC214x-GCC - ChibiOS/RT port for ARM7 LPC2148, the demo targets the
*** Releases ***
*****************************************************************************
+*** 0.3.1 ***
+- Lists code moved into chlists.c from various other places and reorganized.
+- The list of the threads waiting in chThdWait() is now a single link list,
+ this saves some space.
+- Cleaned the template files code, the files contained some obsolete
+ declarations.
+- Code optimization in scSemSignalWait().
+- Code optimization in chEvtSend().
+- Added a Semaphore pointer to the Thread structure, this allows to know on
+ which semaphore a thread is waiting on. It takes no space because it is
+ located in the union inside the Thread structure. This also allowed a minor
+ optimization inside chSemWaitTimeout() and chSemWaitTimeoutS().
+- Changed the priority constants in order to make the t_prio type compatible
+ with a signed byte, this is very important for 8 bits architectures.
+ Now the threads priorities can range from 1 to 63, more than enough anyway.
+- Fixed bug in chEvtWaitTimeout(), the timeout code performed a useless
+ dequeue operation.
+- Fixed bug on RT semaphores, the priority queuing was broken.
+
*** 0.3.0 ***
- ChibiOS/RT goes beta.
- Diet for the threads code, some simple APIs become macros.
diff --git a/src/chdelta.c b/src/chdelta.c
index 9a4f8b21d..e627cbf19 100644
--- a/src/chdelta.c
+++ b/src/chdelta.c
@@ -33,7 +33,7 @@ DeltaList dlist;
void chVTInit(void) {
dlist.dl_next = dlist.dl_prev = (VirtualTimer *)&dlist;
- dlist.dl_dtime = MAXDELTA;
+ dlist.dl_dtime = (t_time)-1;
}
/**
diff --git a/src/chevents.c b/src/chevents.c
index 87f990c16..4dcf37a22 100644
--- a/src/chevents.c
+++ b/src/chevents.c
@@ -92,7 +92,6 @@ void chEvtClear(t_eventmask mask) {
*/
void chEvtSend(EventSource *esp) {
EventListener *elp;
- BOOL flag = FALSE;
chSysLock();
@@ -102,11 +101,10 @@ void chEvtSend(EventSource *esp) {
tp->p_epending |= EventMask(elp->el_id);
if ((tp->p_state == PRWTEVENT) && (tp->p_epending & tp->p_ewmask))
- chSchReadyI(tp), flag = TRUE;
+ chSchReadyI(tp);
elp = elp->el_next;
}
- if (flag)
- chSchRescheduleI();
+ chSchRescheduleI();
chSysUnlock();
}
@@ -174,7 +172,7 @@ static void unwait(void *p) {
// Test removed, it should never happen.
// if (((Thread *)p)->p_state == PRWTEVENT)
- chSchReadyI(dequeue(p))->p_rdymsg = RDY_TIMEOUT;
+ chSchReadyI(p)->p_rdymsg = RDY_TIMEOUT;
}
/**
diff --git a/src/chlists.c b/src/chlists.c
new file mode 100644
index 000000000..d01c8c37c
--- /dev/null
+++ b/src/chlists.c
@@ -0,0 +1,89 @@
+/*
+ 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 Messages
+ * @{
+ */
+#include <ch.h>
+
+#ifndef CH_OPTIMIZE_SPEED
+/*
+ * Inserts a thread into a FIFO queue.
+ * @param tp the pointer to the thread to be inserted in the list
+ * @param tqp the pointer to the threads list header
+ */
+void fifo_insert(Thread *tp, ThreadsQueue *tqp) {
+
+ tp->p_next = (Thread *)tqp;
+ tp->p_prev = tqp->p_prev;
+ tqp->p_prev->p_next = tp;
+ tqp->p_prev = tp;
+}
+
+/*
+ * Removes a thread from a FIFO queue.
+ * @param tqp the pointer to the threads list header
+ */
+Thread *fifo_remove(ThreadsQueue *tqp) {
+ Thread *tp = tqp->p_next;
+
+ (tqp->p_next = tp->p_next)->p_prev = (Thread *)tqp;
+ return tp;
+}
+
+/*
+ * Removes a Thread from a FIFO list and returns it.
+ * @param tp the pointer to the thread to be removed from the list
+ * @param tqp the pointer to the list header
+ * @return the removed thread pointer
+ */
+Thread *dequeue(Thread *tp) {
+
+ tp->p_prev->p_next = tp->p_next;
+ tp->p_next->p_prev = tp->p_prev;
+ return tp;
+}
+
+/*
+ * Inserts a Thread into a stack list.
+ * @param tp the pointer to the thread to be inserted in the list
+ * @param tlp the pointer to the threads list header
+ */
+void list_insert(Thread *tp, ThreadsList *tlp) {
+
+ tp->p_next = tlp->p_next;
+ tlp->p_next = tp;
+}
+
+
+/*
+ * Removes a Thread from a stack list and returns it.
+ * @param tlp the pointer to the threads list header
+ * @return the removed thread pointer
+ */
+Thread *list_remove(ThreadsList *tlp) {
+
+ Thread *tp = tlp->p_next;
+ tlp->p_next = tp->p_next;
+ return tp;
+}
+#endif /* CH_OPTIMIZE_SPEED */
+
+/** @} */
diff --git a/src/chmsg.c b/src/chmsg.c
index 7b22a69b2..7a25502b0 100644
--- a/src/chmsg.c
+++ b/src/chmsg.c
@@ -36,7 +36,7 @@ t_msg chMsgSend(Thread *tp, t_msg msg) {
chSysLock();
- enqueue(currp, &tp->p_msgqueue);
+ fifo_insert(currp, &tp->p_msgqueue);
if (tp->p_state == PRWTMSG)
chSchReadyI(tp);
currp->p_msg = msg;
@@ -66,7 +66,7 @@ t_msg chMsgSendWithEvent(Thread *tp, t_msg msg, EventSource *esp) {
chSysLock();
- enqueue(currp, &tp->p_msgqueue);
+ fifo_insert(currp, &tp->p_msgqueue);
// if (tp->p_state == PRWTMSG)
// chSchReadyI(tp);
chEvtSendI(esp);
@@ -109,7 +109,7 @@ t_msg chMsgSendTimeout(Thread *tp, t_msg msg, t_time time) {
chSysLock();
chVTSetI(&vt, time, unsend, currp);
- enqueue(currp, &tp->p_msgqueue);
+ fifo_insert(currp, &tp->p_msgqueue);
if (tp->p_state == PRWTMSG)
chSchReadyI(tp);
currp->p_msg = msg;
@@ -183,7 +183,7 @@ void chMsgRelease(t_msg msg) {
chSysLock();
// if (!chMsgIsPendingI(currp)
- chSchWakeupI(dequeue(currp->p_msgqueue.p_next), msg);
+ chSchWakeupI(fifo_remove(&currp->p_msgqueue), msg);
chSysUnlock();
}
diff --git a/src/chqueues.c b/src/chqueues.c
index 2cccc3120..225492e60 100644
--- a/src/chqueues.c
+++ b/src/chqueues.c
@@ -212,7 +212,7 @@ void chOQReset(Queue *qp) {
chSysLock();
qp->q_rdptr = qp->q_wrptr = qp->q_buffer;
- chSemResetI(&qp->q_sem, (t_semcnt)(qp->q_top - qp->q_buffer));
+ chSemResetI(&qp->q_sem, (t_cnt)(qp->q_top - qp->q_buffer));
chSysUnlock();
}
diff --git a/src/chschd.c b/src/chschd.c
index a046f4fbf..81031f8c4 100644
--- a/src/chschd.c
+++ b/src/chschd.c
@@ -32,7 +32,7 @@ static ReadyList rlist;
Thread *currp;
#endif
-static UWORD16 preempt;
+static t_cnt preempt;
#ifdef CH_USE_SYSTEMTIME
t_time stime;
#endif
@@ -46,7 +46,7 @@ t_time stime;
void chSchInit(void) {
rlist.p_next = rlist.p_prev = (Thread *)&rlist;
- rlist.p_prio = MAXPRIO;
+ rlist.p_prio = ABSPRIO;
preempt = CH_TIME_QUANTUM;
#ifdef CH_USE_SYSTEMTIME
stime = 0;
@@ -68,11 +68,12 @@ Thread *chSchReadyI(Thread *tp) {
tp->p_state = PRREADY;
tp->p_rdymsg = RDY_OK;
- cp = rlist.p_next;
+ cp = rlist.p_prev;
while (cp->p_prio < prio)
- cp = cp->p_next;
- tp->p_prev = (tp->p_next = cp)->p_prev;
- tp->p_prev->p_next = cp->p_prev = tp;
+ cp = cp->p_prev;
+ // Insertion on p_next
+ tp->p_next = (tp->p_prev = cp)->p_next;
+ tp->p_next->p_prev = cp->p_next = tp;
return tp;
}
@@ -83,7 +84,7 @@ Thread *chSchReadyI(Thread *tp) {
static void nextready(void) {
Thread *otp = currp;
- (currp = dequeue(rlist.p_prev))->p_state = PRCURR;
+ (currp = fifo_remove((ThreadsQueue *)&rlist))->p_state = PRCURR;
preempt = CH_TIME_QUANTUM;
chSysSwitchI(&otp->p_ctx, &currp->p_ctx);
}
@@ -135,7 +136,7 @@ void chSchWakeupI(Thread *tp, t_msg msg) {
*/
void chSchRescheduleI(void) {
- if (isempty(&rlist) || lastprio(&rlist) <= currp->p_prio)
+ if (isempty(&rlist) || firstprio(&rlist) <= currp->p_prio)
return;
chSchDoRescheduleI();
@@ -162,11 +163,11 @@ BOOL chSchRescRequiredI(void) {
return FALSE;
if (preempt) {
- if (lastprio(&rlist) <= currp->p_prio)
+ if (firstprio(&rlist) <= currp->p_prio)
return FALSE;
}
else { /* Time quantum elapsed. */
- if (lastprio(&rlist) < currp->p_prio)
+ if (firstprio(&rlist) < currp->p_prio)
return FALSE;
}
return TRUE;
diff --git a/src/chsem.c b/src/chsem.c
index 058187050..5c1ff0544 100644
--- a/src/chsem.c
+++ b/src/chsem.c
@@ -31,10 +31,10 @@
* @param n initial value of the semaphore counter. Must be non-negative.
* @note Can be called with interrupts disabled or enabled.
*/
-void chSemInit(Semaphore *sp, t_semcnt n) {
+void chSemInit(Semaphore *sp, t_cnt n) {
+ fifo_init(&sp->s_queue);
sp->s_cnt = n;
- sp->s_queue.p_next = sp->s_queue.p_prev = (Thread *)&sp->s_queue;
}
/**
@@ -45,8 +45,8 @@ void chSemInit(Semaphore *sp, t_semcnt n) {
* instead than a signal because the \p p_rdymsg field is set to
* \p RDY_RESET.
*/
-void chSemReset(Semaphore *sp, t_semcnt n) {
- t_semcnt cnt;
+void chSemReset(Semaphore *sp, t_cnt n) {
+ t_cnt cnt;
chSysLock();
@@ -54,7 +54,7 @@ void chSemReset(Semaphore *sp, t_semcnt n) {
sp->s_cnt = n;
if (cnt < 0) {
while (cnt++)
- chSchReadyI(dequeue(sp->s_queue.p_next))->p_rdymsg = RDY_RESET;
+ chSchReadyI(fifo_remove(&sp->s_queue))->p_rdymsg = RDY_RESET;
chSchRescheduleI();
}
@@ -70,13 +70,13 @@ void chSemReset(Semaphore *sp, t_semcnt n) {
* \p RDY_RESET.
* @note This function must be called with interrupts disabled.
*/
-void chSemResetI(Semaphore *sp, t_semcnt n) {
- t_semcnt cnt;
+void chSemResetI(Semaphore *sp, t_cnt n) {
+ t_cnt cnt;
cnt = sp->s_cnt;
sp->s_cnt = n;
while (cnt++ < 0)
- chSchReadyI(dequeue(sp->s_queue.p_next))->p_rdymsg = RDY_RESET;
+ chSchReadyI(fifo_remove(&sp->s_queue))->p_rdymsg = RDY_RESET;
}
/**
@@ -88,7 +88,8 @@ void chSemWait(Semaphore *sp) {
chSysLock();
if (--sp->s_cnt < 0) {
- enqueue(currp, &sp->s_queue);
+ fifo_insert(currp, &sp->s_queue);
+ currp->p_semp = sp;
chSchGoSleepI(PRWTSEM);
}
@@ -104,7 +105,8 @@ void chSemWait(Semaphore *sp) {
void chSemWaitS(Semaphore *sp) {
if (--sp->s_cnt < 0) {
- enqueue(currp, &sp->s_queue);
+ fifo_insert(currp, &sp->s_queue);
+ currp->p_semp = sp;
chSchGoSleepI(PRWTSEM);
}
}
@@ -114,6 +116,7 @@ static void unwait(void *p) {
// Test removed, it should never happen.
// if (((Thread *)p)->p_state == PRWTSEM)
+ chSemFastSignalI(((Thread *)p)->p_semp);
chSchReadyI(dequeue(p))->p_rdymsg = RDY_TIMEOUT;
}
@@ -132,11 +135,11 @@ t_msg chSemWaitTimeout(Semaphore *sp, t_time time) {
VirtualTimer vt;
chVTSetI(&vt, time, unwait, currp);
- enqueue(currp, &sp->s_queue);
+ fifo_insert(currp, &sp->s_queue);
+ currp->p_semp = sp;
chSchGoSleepI(PRWTSEM);
msg = currp->p_rdymsg; // Note, got value *before* invoking CH_LEAVE_SYSTEM().
if (!vt.vt_func) {
- sp->s_cnt++;
chSysUnlock();
return msg;
@@ -167,12 +170,11 @@ t_msg chSemWaitTimeoutS(Semaphore *sp, t_time time) {
VirtualTimer vt;
chVTSetI(&vt, time, unwait, currp);
- enqueue(currp, &sp->s_queue);
+ fifo_insert(currp, &sp->s_queue);
+ currp->p_semp = sp;
chSchGoSleepI(PRWTSEM);
- if (!vt.vt_func) {
- sp->s_cnt++;
+ if (!vt.vt_func)
return currp->p_rdymsg;
- }
chVTResetI(&vt);
return currp->p_rdymsg;
}
@@ -191,7 +193,7 @@ void chSemSignal(Semaphore *sp) {
chSysLock();
if (sp->s_cnt++ < 0)
- chSchWakeupI(dequeue(sp->s_queue.p_next), RDY_OK);
+ chSchWakeupI(fifo_remove(&sp->s_queue), RDY_OK);
chSysUnlock();
}
@@ -206,7 +208,7 @@ void chSemSignal(Semaphore *sp) {
void chSemSignalI(Semaphore *sp) {
if (sp->s_cnt++ < 0)
- chSchReadyI(dequeue(sp->s_queue.p_next));
+ chSchReadyI(fifo_remove(&sp->s_queue));
}
/**
@@ -217,20 +219,18 @@ void chSemSignalI(Semaphore *sp) {
* option is enabled in \p chconf.h.
*/
void chSemSignalWait(Semaphore *sps, Semaphore *spw) {
- BOOL flag;
chSysLock();
if (sps->s_cnt++ < 0)
- chSchReadyI(dequeue(sps->s_queue.p_next)), flag = TRUE;
- else
- flag = FALSE;
+ chSchReadyI(fifo_remove(&sps->s_queue));
if (--spw->s_cnt < 0) {
- enqueue(currp, &spw->s_queue);
+ fifo_insert(currp, &spw->s_queue);
+ currp->p_semp = spw;
chSchGoSleepI(PRWTSEM);
}
- else if (flag)
+ else
chSchRescheduleI();
chSysUnlock();
@@ -245,15 +245,14 @@ void chSemSignalWait(Semaphore *sps, Semaphore *spw) {
* you want to create some custom threads synchronization mechanism.
*/
static void prioenq(Thread *tp, ThreadsQueue *tqp) {
- Thread *p;
-
- p = tqp->p_next;
- while ((p != (Thread *)tqp) && (p->p_prio >= tp->p_prio))
- p = p->p_next;
- tp->p_next = p;
- tp->p_prev = tqp->p_prev;
- p->p_prev->p_next = tp;
- p->p_prev = tp;
+ 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;
}
/**
@@ -268,6 +267,7 @@ void chSemRaisePrioWait(Semaphore *sp) {
if (--sp->s_cnt < 0) {
prioenq(currp, &sp->s_queue);
+ currp->p_semp = sp;
chSchGoSleepI(PRWTSEM);
}
@@ -290,11 +290,11 @@ void chSemLowerPrioSignal(Semaphore *sp) {
if (!--currp->p_rtcnt) {
currp->p_prio -= MEPRIO;
if (sp->s_cnt++ < 0)
- chSchReadyI(dequeue(sp->s_queue.p_next));
+ chSchReadyI(fifo_remove(&sp->s_queue));
chSchRescheduleI();
}
else if (sp->s_cnt++ < 0)
- chSchWakeupI(dequeue(sp->s_queue.p_next), RDY_OK);
+ chSchWakeupI(fifo_remove(&sp->s_queue), RDY_OK);
chSysUnlock();
}
@@ -312,10 +312,11 @@ void chSemRaisePrioSignalWait(Semaphore *sps, Semaphore *spw) {
chSysLock();
if (sps->s_cnt++ < 0)
- chSchReadyI(dequeue(sps->s_queue.p_next));
+ chSchReadyI(fifo_remove(&sps->s_queue));
if (--spw->s_cnt < 0) {
prioenq(currp, &spw->s_queue);
+ currp->p_semp = spw;
chSchGoSleepI(PRWTSEM);
if (!currp->p_rtcnt++)
@@ -347,10 +348,11 @@ void chSemLowerPrioSignalWait(Semaphore *sps, Semaphore *spw) {
currp->p_prio -= MEPRIO;
if (sps->s_cnt++ < 0)
- chSchReadyI(dequeue(sps->s_queue.p_next));
+ chSchReadyI(fifo_remove(&sps->s_queue));
if (--spw->s_cnt < 0) {
- enqueue(currp, &spw->s_queue); // enqueue() because the spw is a normal sem.
+ fifo_insert(currp, &spw->s_queue); // fifo_insert() because the spw is a normal sem.
+ currp->p_semp = spw;
chSchGoSleepI(PRWTSEM);
}
else
diff --git a/src/chthreads.c b/src/chthreads.c
index a439eb5b4..608dabe89 100644
--- a/src/chthreads.c
+++ b/src/chthreads.c
@@ -24,33 +24,6 @@
#include <ch.h>
-#ifndef CH_OPTIMIZE_SPEED
-/*
- * Removes a Thread from a list and returns it.
- * @param tp the pointer to the thread to be removed from the list
- * @return the removed thread pointer
- */
-Thread *dequeue(Thread *tp) {
-
- tp->p_prev->p_next = tp->p_next;
- tp->p_next->p_prev = tp->p_prev;
- return tp;
-}
-
-/*
- * Inserts a thread into a bi-directional list in FIFO order.
- * @param tp the pointer to the thread to be inserted in the list
- * @param tqp the pointer to the threads list header
- */
-void enqueue(Thread *tp, ThreadsQueue *tqp) {
-
- tp->p_next = (Thread *)tqp;
- tp->p_prev = tqp->p_prev;
- tqp->p_prev->p_next = tp;
- tqp->p_prev = tp;
-}
-#endif /* CH_OPTIMIZE_SPEED */
-
/*
* Initializes a thread structure.
*/
@@ -63,12 +36,10 @@ void _InitThread(t_prio prio, t_tmode mode, Thread *tp) {
tp->p_rtcnt = 0;
#endif
#ifdef CH_USE_WAITEXIT
- tp->p_waiting.p_next = (Thread *)&tp->p_waiting;
- tp->p_waiting.p_prev = (Thread *)&tp->p_waiting;
+ list_init(&tp->p_waiting);
#endif
#ifdef CH_USE_MESSAGES
- tp->p_msgqueue.p_next = (Thread *)&tp->p_msgqueue;
- tp->p_msgqueue.p_prev = (Thread *)&tp->p_msgqueue;
+ fifo_init(&tp->p_msgqueue);
#endif
#ifdef CH_USE_EVENTS
tp->p_epending = 0;
@@ -179,7 +150,7 @@ void chThdExit(t_msg msg) {
currp->p_exitcode = msg; /* Post mortem info. */
#ifdef CH_USE_WAITEXIT
while (notempty(&currp->p_waiting))
- chSchReadyI(dequeue(currp->p_waiting.p_next));
+ chSchReadyI(list_remove(&currp->p_waiting));
#endif
#ifdef CH_USE_EXIT_EVENT
chEvtSendI(&currp->p_exitesource);
@@ -203,7 +174,7 @@ t_msg chThdWait(Thread *tp) {
chSysLock();
if (tp->p_state != PREXIT) {
- enqueue(currp, &tp->p_waiting);
+ list_insert(currp, &tp->p_waiting);
chSchGoSleepI(PRWAIT);
}
diff --git a/src/include/ch.h b/src/include/ch.h
index 80204bb2d..aa77df544 100644
--- a/src/include/ch.h
+++ b/src/include/ch.h
@@ -25,8 +25,6 @@
#ifndef _CH_H_
#define _CH_H_
-typedef struct Thread Thread;
-
#ifndef __DOXIGEN__
#ifndef _CHCONF_H_
#include <chconf.h>
@@ -41,14 +39,22 @@ typedef struct Thread Thread;
#endif
#endif /* __DOXIGEN__ */
-#ifndef _DELTA_H_
+#ifndef _LISTS_H_
#include "delta.h"
#endif
+#ifndef _LISTS_H_
+#include "lists.h"
+#endif
+
#ifndef _SCHEDULER_H_
#include "scheduler.h"
#endif
+#ifndef _SEMAPHORES_H_
+#include "semaphores.h"
+#endif
+
#ifndef _EVENTS_H_
#include "events.h"
#endif
@@ -65,10 +71,6 @@ typedef struct Thread Thread;
#include "sleep.h"
#endif
-#ifndef _SEMAPHORES_H_
-#include "semaphores.h"
-#endif
-
#ifndef _QUEUES_H_
#include "queues.h"
#endif
diff --git a/src/include/lists.h b/src/include/lists.h
new file mode 100644
index 000000000..477ab1061
--- /dev/null
+++ b/src/include/lists.h
@@ -0,0 +1,67 @@
+/*
+ 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 Threads
+ * @{
+ */
+
+#ifndef _LISTS_H_
+#define _LISTS_H_
+
+typedef struct Thread Thread;
+
+/* Macros good with both ThreadsQueue and ThreadsList.*/
+#define isempty(p) ((p)->p_next == (Thread *)(p))
+#define notempty(p) ((p)->p_next != (Thread *)(p))
+
+/**
+ * Generic threads FIFO queue header and element.
+ */
+typedef struct {
+ /** Next \p Thread in the queue, in FIFO order.*/
+ Thread *p_next;
+ /** Last \p Thread in the queue, in FIFO order.*/
+ Thread *p_prev;
+} ThreadsQueue;
+
+/**
+ * Generic threads single link list, it works like a stack.
+ */
+typedef struct {
+ Thread *p_next;
+} ThreadsList;
+
+/*
+ * Threads Lists functions and macros.
+ */
+#define fifo_init(tqp) ((tqp)->p_next = (tqp)->p_prev = (Thread *)(tqp));
+#define list_init(tlp) ((tlp)->p_next = (Thread *)(tlp))
+
+#ifndef CH_OPTIMIZE_SPEED
+void fifo_insert(Thread *tp, ThreadsQueue *tqp);
+Thread *fifo_remove(ThreadsQueue *tqp);
+Thread *dequeue(Thread *tp);
+void list_insert(Thread *tp, ThreadsList *tlp);
+Thread *list_remove(ThreadsList *tlp);
+#endif
+
+#endif /* _LISTS_H_ */
+
+/** @} */
diff --git a/src/include/scheduler.h b/src/include/scheduler.h
index 78fbb4a72..2efabbcd2 100644
--- a/src/include/scheduler.h
+++ b/src/include/scheduler.h
@@ -32,6 +32,8 @@
/** Returned if the thread was made ready because a reset.*/
#define RDY_RESET -2
+#define firstprio(qp) ((qp)->p_next->p_prio)
+
/**
* Ready list header.
*/
diff --git a/src/include/semaphores.h b/src/include/semaphores.h
index 83d4613de..8179627f4 100644
--- a/src/include/semaphores.h
+++ b/src/include/semaphores.h
@@ -34,12 +34,12 @@ typedef struct {
/** Queue of the threads sleeping on this Semaphore.*/
ThreadsQueue s_queue;
/** The Semaphore counter.*/
- t_semcnt s_cnt;
+ t_cnt s_cnt;
} Semaphore;
-void chSemInit(Semaphore *sp, t_semcnt n);
-void chSemReset(Semaphore *sp, t_semcnt n);
-void chSemResetI(Semaphore *sp, t_semcnt n);
+void chSemInit(Semaphore *sp, t_cnt n);
+void chSemReset(Semaphore *sp, t_cnt n);
+void chSemResetI(Semaphore *sp, t_cnt n);
void chSemWait(Semaphore *sp);
void chSemWaitS(Semaphore *sp);
t_msg chSemWaitTimeout(Semaphore *sp, t_time time);
@@ -59,21 +59,18 @@ void chSemLowerPrioSignalWait(Semaphore *sps, Semaphore *spw);
* Decreases the semaphore counter, this macro can be used when it is ensured
* that the counter would not become negative.
*/
-#define chSemFastWaitS(sp) \
- ((sp)->s_cnt--)
+#define chSemFastWaitS(sp) ((sp)->s_cnt--)
/**
* Increases the semaphore counter, this macro can be used when the counter is
* not negative.
*/
-#define chSemFastSignalI(sp) \
- ((sp)->s_cnt++)
+#define chSemFastSignalI(sp) ((sp)->s_cnt++)
/**
* Returns the semaphore counter current value.
*/
-#define chSemGetCounter(sp) \
- ((sp)->s_cnt)
+#define chSemGetCounter(sp) ((sp)->s_cnt)
#endif /* CH_USE_SEMAPHORES */
diff --git a/src/include/threads.h b/src/include/threads.h
index 688ce579a..beb41aae7 100644
--- a/src/include/threads.h
+++ b/src/include/threads.h
@@ -25,21 +25,6 @@
#ifndef _THREADS_H_
#define _THREADS_H_
-#define isempty(qp) ((qp)->p_next == (Thread *)(qp))
-#define notempty(qp) ((qp)->p_next != (Thread *)(qp))
-#define firstprio(qp) ((qp)->p_next->p_prio)
-#define lastprio(qp) ((qp)->p_prev->p_prio)
-
-/**
- * Generic threads queue header and element.
- */
-typedef struct {
- /** First \p Thread in the queue.*/
- Thread *p_next;
- /** Last \p Thread in the queue.*/
- Thread *p_prev;
-} ThreadsQueue;
-
/**
* Structure representing a thread.
* @note Not all the listed fields are always needed, by switching off some
@@ -49,6 +34,7 @@ typedef struct {
struct Thread {
/** Next \p Thread in the threads list.*/
Thread *p_next;
+ /* End of the fields shared with the ThreadsList structure. */
/** Previous \p Thread in the threads list.*/
Thread *p_prev;
/* End of the fields shared with the ThreadsQueue structure. */
@@ -66,10 +52,14 @@ struct Thread {
*/
union {
/** Thread wakeup code, normally set to \p RDY_OK by the \p chSchReadyI()
- * (only while in \p PRCURR or \p PRREADY states).*/
+ * (only while in \p PRREADY state).*/
t_msg p_rdymsg;
/** The thread exit code (only while in \p PREXIT state).*/
t_msg p_exitcode;
+#ifdef CH_USE_SEMAPHORES
+ /** Semaphore where the thread is waiting on (only in \p PRWTSEM state).*/
+ Semaphore *p_semp;
+#endif
#ifdef CH_USE_EVENTS
/** Enabled events mask (only while in \p PRWTEVENT state).*/
t_eventmask p_ewmask;
@@ -89,7 +79,7 @@ struct Thread {
*/
#ifdef CH_USE_WAITEXIT
/** The queue of the threads waiting for this thread termination.*/
- ThreadsQueue p_waiting;
+ ThreadsList p_waiting;
#endif
#ifdef CH_USE_EXIT_EVENT
/** The thread termination \p EventSource.*/
@@ -103,9 +93,8 @@ struct Thread {
t_eventmask p_epending;
#endif
#ifdef CH_USE_RT_SEMAPHORES
- /** Priority backup after acquiring a RT semaphore.*/
/** RT semaphores depth counter.*/
- int p_rtcnt;
+ t_cnt p_rtcnt;
#endif
};
@@ -142,13 +131,13 @@ struct Thread {
/** Lowest user priority.*/
#define LOWPRIO 1
/** Normal user priority.*/
-#define NORMALPRIO 128
+#define NORMALPRIO 64
/** Highest user priority.*/
-#define HIGHPRIO 255
+#define HIGHPRIO 127
/** Boosted base priority.*/
-#define MEPRIO 256
-/** Absolute priority.*/
-#define ABSPRIO 512
+#define MEPRIO 128
+/** Greatest possible priority.*/
+#define ABSPRIO 255
/* Not an API, don't use into the application code.*/
void _InitThread(t_prio prio, t_tmode mode, Thread *tp);
@@ -157,12 +146,24 @@ void _InitThread(t_prio prio, t_tmode mode, Thread *tp);
typedef t_msg (*t_tfunc)(void *);
/*
- * Threads Lists functions.
+ * Inlined functions if CH_OPTIMIZE_SPEED is enabled.
*/
-#ifndef CH_OPTIMIZE_SPEED
-void enqueue(Thread *tp, ThreadsQueue *tqp);
-Thread *dequeue(Thread *tp);
-#else
+#ifdef CH_OPTIMIZE_SPEED
+static INLINE void fifo_insert(Thread *tp, ThreadsQueue *tqp) {
+
+ tp->p_next = (Thread *)tqp;
+ tp->p_prev = tqp->p_prev;
+ tqp->p_prev->p_next = tp;
+ tqp->p_prev = tp;
+}
+
+static INLINE Thread *fifo_remove(ThreadsQueue *tqp) {
+ Thread *tp = tqp->p_next;
+
+ (tqp->p_next = tp->p_next)->p_prev = (Thread *)tqp;
+ return tp;
+}
+
static INLINE Thread *dequeue(Thread *tp) {
tp->p_prev->p_next = tp->p_next;
@@ -170,12 +171,17 @@ static INLINE Thread *dequeue(Thread *tp) {
return tp;
}
-static INLINE void enqueue(Thread *tp, ThreadsQueue *tqp) {
+static INLINE void list_insert(Thread *tp, ThreadsList *tlp) {
- tp->p_next = (Thread *)tqp;
- tp->p_prev = tqp->p_prev;
- tqp->p_prev->p_next = tp;
- tqp->p_prev = tp;
+ tp->p_next = tlp->p_next;
+ tlp->p_next = tp;
+}
+
+static INLINE Thread *list_remove(ThreadsList *tlp) {
+
+ Thread *tp = tlp->p_next;
+ tlp->p_next = tp->p_next;
+ return tp;
}
#endif
diff --git a/src/templates/chconf.h b/src/templates/chconf.h
index abb996899..87f9a18b6 100644
--- a/src/templates/chconf.h
+++ b/src/templates/chconf.h
@@ -147,7 +147,7 @@
* ChibiOS/RT code <b>must</b> be recompiled with the GCC option \p
* -ffixed-\<reg\>.
*/
-#define CH_CURRP_REGISTER_CACHE "reg"
+//#define CH_CURRP_REGISTER_CACHE "reg"
#endif /* _CHCONF_H_ */
diff --git a/src/templates/chcore.c b/src/templates/chcore.c
index e23cf1bfe..f39441ed5 100644
--- a/src/templates/chcore.c
+++ b/src/templates/chcore.c
@@ -45,6 +45,6 @@ void chSysHalt(void) {}
/**
* Context switch.
*/
-void chSysSwitchI(struct ctxswc **oldp, struct ctxswc *new) {}
+void chSysSwitchI(Context *oldp, Context *newp) {}
/** @} */
diff --git a/src/templates/chcore.h b/src/templates/chcore.h
index bb901b1ec..a9bfcce63 100644
--- a/src/templates/chcore.h
+++ b/src/templates/chcore.h
@@ -31,6 +31,10 @@
struct stackregs {
};
+typedef struct {
+ struct stackregs *sp;
+} Context;
+
/**
* Platform dependent part of the \p chThdCreate() API.
*/
@@ -38,6 +42,11 @@ struct stackregs {
{ \
}
+#define INT_REQUIRED_STACK 0 // Must include registers and stack frames.
+
+#define UserStackSize(n) (sizeof(Thread) + \
+ sizeof(struct stackregs) + (n) + (INT_REQUIRED_STACK))
+
/**
* Enters the ChibiOS/RT system mutual exclusion zone, the implementation is
* architecture dependent, on single core systems usually this function
@@ -62,7 +71,7 @@ struct stackregs {
void chSysHalt(void);
void chSysPause(void);
-void chSysSwitchI(struct ctxswc **oldp, struct ctxswc *new);
+void chSysSwitchI(Context *oldp, Context *newp);
#endif /* _CHCORE_H_ */
diff --git a/src/templates/chtypes.h b/src/templates/chtypes.h
index 891b850c2..4d8b2a18e 100644
--- a/src/templates/chtypes.h
+++ b/src/templates/chtypes.h
@@ -30,29 +30,21 @@
*/
#define BOOL char
#define BYTE8 unsigned char
+#define SBYTE8 char
#define WORD16 short
#define UWORD16 unsigned short
#define LONG32 int
#define ULONG32 unsigned int
-#define PTR_EQ int
-#define INT_REQUIRED_STACK 0
-
-typedef BYTE8 t_tmode;
-typedef BYTE8 t_tstate;
-typedef LONG32 t_prio;
-typedef PTR_EQ t_msg;
-typedef LONG32 t_eventid;
-typedef ULONG32 t_eventmask;
-typedef ULONG32 t_time;
-typedef LONG32 t_semcnt;
-typedef ULONG32 t_size;
-
-#define MINPRIO 0x8000
-#define MAXPRIO 0x7fff
-
-#define MINDELTA 0
-#define MAXDELTA 0xffff
+typedef BYTE8 t_tmode; /* Thread mode flags, BYTE8 is ok. */
+typedef BYTE8 t_tstate; /* Thread state, BYTE8 is ok. */
+typedef ULONG32 t_prio; /* Priority, use the fastest unsigned type. */
+typedef LONG32 t_msg; /* Message, use signed pointer equivalent.*/
+typedef LONG32 t_eventid; /* Event Id, use fastest signed.*/
+typedef ULONG32 t_eventmask;/* Event Mask, recommended fastest unsigned.*/
+typedef ULONG32 t_time; /* Time, recommended fastest unsigned.*/
+typedef LONG32 t_cnt; /* Counter, recommended fastest signed.*/
+typedef ULONG32 t_size; /* Size, use unsigned pointer equivalent.*/
#define THREAD
#define INLINE inline
--
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