git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@353 35acf78f-673a-0410-8e92-d51de3d6d3f4

18 files changed, 93 insertions, 13 deletions

diff --git a/demos/ARM7-AT91SAM7X-GCC/chconf.h b/demos/ARM7-AT91SAM7X-GCC/chconf.h
index c8817f85c..8db71b445 100644
--- a/demos/ARM7-AT91SAM7X-GCC/chconf.h
+++ b/demos/ARM7-AT91SAM7X-GCC/chconf.h
@@ -38,6 +38,10 @@
  *  included in the kernel.*/

 #define CH_USE_VIRTUAL_TIMERS

 

+/** Configuration option: if specified then the kernel performs the round

+ *  robin scheduling algorithm on threads of equal priority. */

+#define CH_USE_ROUNDROBIN

+

 /** Configuration option: if specified then the System Timer subsystem is

  *  included in the kernel.*/

 #define CH_USE_SYSTEMTIME

@@ -138,7 +142,8 @@
 #define CH_FREQUENCY 1000

 

 /** Configuration option: This constant is the number of ticks allowed for the

- *  threads before preemption occurs.*/

+ *  threads before preemption occurs. This option is only meaningful if the

+ *  option \p CH_USE_ROUNDROBIN is also active.*/

 #define CH_TIME_QUANTUM 20

 

 /** Configuration option: Defines a CPU register to be used as storage for the

diff --git a/demos/ARM7-AT91SAM7X-WEB-GCC/chconf.h b/demos/ARM7-AT91SAM7X-WEB-GCC/chconf.h
index c8817f85c..8db71b445 100644
--- a/demos/ARM7-AT91SAM7X-WEB-GCC/chconf.h
+++ b/demos/ARM7-AT91SAM7X-WEB-GCC/chconf.h
@@ -38,6 +38,10 @@
  *  included in the kernel.*/

 #define CH_USE_VIRTUAL_TIMERS

 

+/** Configuration option: if specified then the kernel performs the round

+ *  robin scheduling algorithm on threads of equal priority. */

+#define CH_USE_ROUNDROBIN

+

 /** Configuration option: if specified then the System Timer subsystem is

  *  included in the kernel.*/

 #define CH_USE_SYSTEMTIME

@@ -138,7 +142,8 @@
 #define CH_FREQUENCY 1000

 

 /** Configuration option: This constant is the number of ticks allowed for the

- *  threads before preemption occurs.*/

+ *  threads before preemption occurs. This option is only meaningful if the

+ *  option \p CH_USE_ROUNDROBIN is also active.*/

 #define CH_TIME_QUANTUM 20

 

 /** Configuration option: Defines a CPU register to be used as storage for the

diff --git a/demos/ARM7-LPC214x-G++/chconf.h b/demos/ARM7-LPC214x-G++/chconf.h
index c8817f85c..8db71b445 100644
--- a/demos/ARM7-LPC214x-G++/chconf.h
+++ b/demos/ARM7-LPC214x-G++/chconf.h
@@ -38,6 +38,10 @@
  *  included in the kernel.*/

 #define CH_USE_VIRTUAL_TIMERS

 

+/** Configuration option: if specified then the kernel performs the round

+ *  robin scheduling algorithm on threads of equal priority. */

+#define CH_USE_ROUNDROBIN

+

 /** Configuration option: if specified then the System Timer subsystem is

  *  included in the kernel.*/

 #define CH_USE_SYSTEMTIME

@@ -138,7 +142,8 @@
 #define CH_FREQUENCY 1000

 

 /** Configuration option: This constant is the number of ticks allowed for the

- *  threads before preemption occurs.*/

+ *  threads before preemption occurs. This option is only meaningful if the

+ *  option \p CH_USE_ROUNDROBIN is also active.*/

 #define CH_TIME_QUANTUM 20

 

 /** Configuration option: Defines a CPU register to be used as storage for the

diff --git a/demos/ARM7-LPC214x-GCC-minimal/chconf.h b/demos/ARM7-LPC214x-GCC-minimal/chconf.h
index d12a1827e..9f903df06 100644
--- a/demos/ARM7-LPC214x-GCC-minimal/chconf.h
+++ b/demos/ARM7-LPC214x-GCC-minimal/chconf.h
@@ -38,6 +38,10 @@
  *  included in the kernel.*/

 #define CH_USE_VIRTUAL_TIMERS

 

+/** Configuration option: if specified then the kernel performs the round

+ *  robin scheduling algorithm on threads of equal priority. */

+#define CH_USE_ROUNDROBIN

+

 /** Configuration option: if specified then the System Timer subsystem is

  *  included in the kernel.*/

 #define CH_USE_SYSTEMTIME

@@ -138,7 +142,8 @@
 #define CH_FREQUENCY 1000

 

 /** Configuration option: This constant is the number of ticks allowed for the

- *  threads before preemption occurs.*/

+ *  threads before preemption occurs. This option is only meaningful if the

+ *  option \p CH_USE_ROUNDROBIN is also active.*/

 #define CH_TIME_QUANTUM 20

 

 /** Configuration option: Defines a CPU register to be used as storage for the

diff --git a/demos/ARM7-LPC214x-GCC/chconf.h b/demos/ARM7-LPC214x-GCC/chconf.h
index c8817f85c..8db71b445 100644
--- a/demos/ARM7-LPC214x-GCC/chconf.h
+++ b/demos/ARM7-LPC214x-GCC/chconf.h
@@ -38,6 +38,10 @@
  *  included in the kernel.*/

 #define CH_USE_VIRTUAL_TIMERS

 

+/** Configuration option: if specified then the kernel performs the round

+ *  robin scheduling algorithm on threads of equal priority. */

+#define CH_USE_ROUNDROBIN

+

 /** Configuration option: if specified then the System Timer subsystem is

  *  included in the kernel.*/

 #define CH_USE_SYSTEMTIME

@@ -138,7 +142,8 @@
 #define CH_FREQUENCY 1000

 

 /** Configuration option: This constant is the number of ticks allowed for the

- *  threads before preemption occurs.*/

+ *  threads before preemption occurs. This option is only meaningful if the

+ *  option \p CH_USE_ROUNDROBIN is also active.*/

 #define CH_TIME_QUANTUM 20

 

 /** Configuration option: Defines a CPU register to be used as storage for the

diff --git a/demos/ARMCM3-STM32F103-GCC/chconf.h b/demos/ARMCM3-STM32F103-GCC/chconf.h
index c8817f85c..8db71b445 100644
--- a/demos/ARMCM3-STM32F103-GCC/chconf.h
+++ b/demos/ARMCM3-STM32F103-GCC/chconf.h
@@ -38,6 +38,10 @@
  *  included in the kernel.*/

 #define CH_USE_VIRTUAL_TIMERS

 

+/** Configuration option: if specified then the kernel performs the round

+ *  robin scheduling algorithm on threads of equal priority. */

+#define CH_USE_ROUNDROBIN

+

 /** Configuration option: if specified then the System Timer subsystem is

  *  included in the kernel.*/

 #define CH_USE_SYSTEMTIME

@@ -138,7 +142,8 @@
 #define CH_FREQUENCY 1000

 

 /** Configuration option: This constant is the number of ticks allowed for the

- *  threads before preemption occurs.*/

+ *  threads before preemption occurs. This option is only meaningful if the

+ *  option \p CH_USE_ROUNDROBIN is also active.*/

 #define CH_TIME_QUANTUM 20

 

 /** Configuration option: Defines a CPU register to be used as storage for the

diff --git a/demos/AVR-AT90CANx-GCC/chconf.h b/demos/AVR-AT90CANx-GCC/chconf.h
index 17c2c3d38..fca0159a2 100644
--- a/demos/AVR-AT90CANx-GCC/chconf.h
+++ b/demos/AVR-AT90CANx-GCC/chconf.h
@@ -38,6 +38,10 @@
  *  included in the kernel.*/

 #define CH_USE_VIRTUAL_TIMERS

 

+/** Configuration option: if specified then the kernel performs the round

+ *  robin scheduling algorithm on threads of equal priority. */

+#define CH_USE_ROUNDROBIN

+

 /** Configuration option: if specified then the System Timer subsystem is

  *  included in the kernel.*/

 #define CH_USE_SYSTEMTIME

@@ -138,7 +142,8 @@
 #define CH_FREQUENCY 1000

 

 /** Configuration option: This constant is the number of ticks allowed for the

- *  threads before preemption occurs.*/

+ *  threads before preemption occurs. This option is only meaningful if the

+ *  option \p CH_USE_ROUNDROBIN is also active.*/

 #define CH_TIME_QUANTUM 20

 

 /** Configuration option: Defines a CPU register to be used as storage for the

diff --git a/demos/AVR-ATmega128-GCC/chconf.h b/demos/AVR-ATmega128-GCC/chconf.h
index 17c2c3d38..fca0159a2 100644
--- a/demos/AVR-ATmega128-GCC/chconf.h
+++ b/demos/AVR-ATmega128-GCC/chconf.h
@@ -38,6 +38,10 @@
  *  included in the kernel.*/

 #define CH_USE_VIRTUAL_TIMERS

 

+/** Configuration option: if specified then the kernel performs the round

+ *  robin scheduling algorithm on threads of equal priority. */

+#define CH_USE_ROUNDROBIN

+

 /** Configuration option: if specified then the System Timer subsystem is

  *  included in the kernel.*/

 #define CH_USE_SYSTEMTIME

@@ -138,7 +142,8 @@
 #define CH_FREQUENCY 1000

 

 /** Configuration option: This constant is the number of ticks allowed for the

- *  threads before preemption occurs.*/

+ *  threads before preemption occurs. This option is only meaningful if the

+ *  option \p CH_USE_ROUNDROBIN is also active.*/

 #define CH_TIME_QUANTUM 20

 

 /** Configuration option: Defines a CPU register to be used as storage for the

diff --git a/demos/MSP430-MSP430x1611-GCC/chconf.h b/demos/MSP430-MSP430x1611-GCC/chconf.h
index 4ca12304e..7e29d314e 100644
--- a/demos/MSP430-MSP430x1611-GCC/chconf.h
+++ b/demos/MSP430-MSP430x1611-GCC/chconf.h
@@ -39,6 +39,10 @@
  *  included in the kernel.*/

 #define CH_USE_VIRTUAL_TIMERS

 

+/** Configuration option: if specified then the kernel performs the round

+ *  robin scheduling algorithm on threads of equal priority. */

+#define CH_USE_ROUNDROBIN

+

 /** Configuration option: if specified then the System Timer subsystem is

  *  included in the kernel.*/

 #define CH_USE_SYSTEMTIME

@@ -139,7 +143,8 @@
 #define CH_FREQUENCY 1000

 

 /** Configuration option: This constant is the number of ticks allowed for the

- *  threads before preemption occurs.*/

+ *  threads before preemption occurs. This option is only meaningful if the

+ *  option \p CH_USE_ROUNDROBIN is also active.*/

 #define CH_TIME_QUANTUM 20

 

 /** Configuration option: Defines a CPU register to be used as storage for the

diff --git a/demos/Win32-MinGW/chconf.h b/demos/Win32-MinGW/chconf.h
index 15cf3d323..b17295c65 100644
--- a/demos/Win32-MinGW/chconf.h
+++ b/demos/Win32-MinGW/chconf.h
@@ -43,6 +43,10 @@
  *  included in the kernel.*/

 #define CH_USE_VIRTUAL_TIMERS

 

+/** Configuration option: if specified then the kernel performs the round

+ *  robin scheduling algorithm on threads of equal priority. */

+#define CH_USE_ROUNDROBIN

+

 /** Configuration option: if specified then the System Timer subsystem is

  *  included in the kernel.*/

 #define CH_USE_SYSTEMTIME

@@ -143,7 +147,8 @@
 #define CH_FREQUENCY 1000

 

 /** Configuration option: This constant is the number of ticks allowed for the

- *  threads before preemption occurs.*/

+ *  threads before preemption occurs. This option is only meaningful if the

+ *  option \p CH_USE_ROUNDROBIN is also active.*/

 #define CH_TIME_QUANTUM 20

 

 /** Configuration option: Defines a CPU register to be used as storage for the

diff --git a/docs/Doxyfile b/docs/Doxyfile
index 03115e918..ffc6c03e1 100644
--- a/docs/Doxyfile
+++ b/docs/Doxyfile
@@ -5,7 +5,7 @@
 #---------------------------------------------------------------------------
 DOXYFILE_ENCODING      = UTF-8
 PROJECT_NAME           = ChibiOS/RT
-PROJECT_NUMBER         = "0.6.8 beta"
+PROJECT_NUMBER         = "0.6.9 beta"
 OUTPUT_DIRECTORY       = .
 CREATE_SUBDIRS         = NO
 OUTPUT_LANGUAGE        = English
diff --git a/docs/index.html b/docs/index.html
index 86ad1030d..40ce2d19d 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -12,7 +12,7 @@
     </tr>

     <tr>

       <td style="text-align: center; vertical-align: top; width: 150px;">Current

-Version 0.6.8<br>

+Version 0.6.9<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/ports/ARMCM3/chcore.c b/ports/ARMCM3/chcore.c
index c09de270c..4aa797c63 100644
--- a/ports/ARMCM3/chcore.c
+++ b/ports/ARMCM3/chcore.c
@@ -151,7 +151,9 @@ void PendSVVector(void) {
   chSchReadyI(otp);
   (currp = fifo_remove(&rlist.r_queue))->p_state = PRCURR;
   /* set the round-robin time quantum */
+#ifdef CH_USE_ROUNDROBIN
   rlist.r_preempt = CH_TIME_QUANTUM;
+#endif
 #ifdef CH_USE_TRACE
   chDbgTrace(otp, currp);
 #endif
diff --git a/readme.txt b/readme.txt
index 6d2b7bba2..54de58ab3 100644
--- a/readme.txt
+++ b/readme.txt
@@ -75,6 +75,13 @@ Win32-MinGW            - ChibiOS/RT simulator and demo into a WIN32 process,
 *** Releases                                                              ***

 *****************************************************************************

 

+*** 0.6.9 ***

+- NEW: Added an option to exclude the support for the round robin scheduling,

+  this can save some extra program space and makes the context switch a bit

+  faster if the feature is not required. Threads at the same priority are

+  still supported when the feature is disabled but the scheduling among them

+  becomes cooperative.

+

 *** 0.6.8 ***

 - FIX: Fixed a bug in the priority inheritance mechanism, the bug was only a

   problems when the CH_USE_MESSAGES_PRIORITY was enabled, this option is

diff --git a/src/chinit.c b/src/chinit.c
index b8d36a6e5..2aee810a0 100644
--- a/src/chinit.c
+++ b/src/chinit.c
@@ -70,10 +70,12 @@ void chSysInit(void) {
  * together with the \p CH_TIME_QUANTUM macro, the round robin interval.
  */
 void chSysTimerHandlerI(void) {
+#ifdef CH_USE_ROUNDROBIN
   /* running thread has not used up quantum yet? */
   if (rlist.r_preempt > 0)
     /* decrement remaining quantum */
     rlist.r_preempt--;
+#endif
 #ifdef CH_USE_SYSTEMTIME
   rlist.r_stime++;
 #endif
diff --git a/src/chschd.c b/src/chschd.c
index 6a82eb1d8..c3e0fbaed 100644
--- a/src/chschd.c
+++ b/src/chschd.c
@@ -36,7 +36,9 @@ void chSchInit(void) {
 
   fifo_init(&rlist.r_queue);
   rlist.r_prio = NOPRIO;
+#ifdef CH_USE_ROUNDROBIN
   rlist.r_preempt = CH_TIME_QUANTUM;
+#endif
 #ifdef CH_USE_SYSTEMTIME
   rlist.r_stime = 0;
 #endif
@@ -83,7 +85,9 @@ void chSchGoSleepS(tstate_t newstate) {
 
   (otp = currp)->p_state = newstate;
   (currp = fifo_remove(&rlist.r_queue))->p_state = PRCURR;
+#ifdef CH_USE_ROUNDROBIN
   rlist.r_preempt = CH_TIME_QUANTUM;
+#endif
 #ifdef CH_USE_TRACE
   chDbgTrace(otp, currp);
 #endif
@@ -152,7 +156,9 @@ void chSchWakeupS(Thread *ntp, msg_t msg) {
     Thread *otp = currp;
     chSchReadyI(otp);
     (currp = ntp)->p_state = PRCURR;
+#ifdef CH_USE_ROUNDROBIN
     rlist.r_preempt = CH_TIME_QUANTUM;
+#endif
 #ifdef CH_USE_TRACE
     chDbgTrace(otp, ntp);
 #endif
@@ -172,7 +178,9 @@ void chSchDoRescheduleI(void) {
   chSchReadyI(otp);
   /* pick the first thread from the ready queue */
   (currp = fifo_remove(&rlist.r_queue))->p_state = PRCURR;
+#ifdef CH_USE_ROUNDROBIN
   rlist.r_preempt = CH_TIME_QUANTUM;
+#endif
 #ifdef CH_USE_TRACE
   chDbgTrace(otp, currp);
 #endif
@@ -204,12 +212,16 @@ void chSchRescheduleS(void) {
 bool_t chSchRescRequiredI(void) {
   tprio_t p1 = firstprio(&rlist.r_queue);
   tprio_t p2 = currp->p_prio;
+#ifdef CH_USE_ROUNDROBIN
   /* If the running thread has not reached its time quantum, reschedule only
    * if the first thread on the ready queue has a higher priority.
    * Otherwise, if the running thread has used up its time quantum, reschedule
    * if the first thread on the ready queue has equal or higher priority.
    */
   return rlist.r_preempt ? p1 > p2 : p1 >= p2;
+#else
+  return p1 > p2;
+#endif
 }
 
 /** @} */
diff --git a/src/include/scheduler.h b/src/include/scheduler.h
index 3a6486efe..362dd9d31 100644
--- a/src/include/scheduler.h
+++ b/src/include/scheduler.h
@@ -41,7 +41,9 @@
 typedef struct {
   ThreadsQueue          r_queue;
   tprio_t               r_prio;
+#ifdef CH_USE_ROUNDROBIN
   cnt_t                 r_preempt;
+#endif
 #ifndef CH_CURRP_REGISTER_CACHE
   /** the currently running thread */
   Thread                *r_current;
diff --git a/src/templates/chconf.h b/src/templates/chconf.h
index cc4f992f2..d059f3097 100644
--- a/src/templates/chconf.h
+++ b/src/templates/chconf.h
@@ -39,6 +39,10 @@
  *  included in the kernel.*/

 #define CH_USE_VIRTUAL_TIMERS

 

+/** Configuration option: if specified then the kernel performs the round

+ *  robin scheduling algorithm on threads of equal priority. */

+#define CH_USE_ROUNDROBIN

+

 /** Configuration option: if specified then the System Timer subsystem is

  *  included in the kernel.*/

 #define CH_USE_SYSTEMTIME

@@ -139,7 +143,8 @@
 #define CH_FREQUENCY 1000

 

 /** Configuration option: This constant is the number of ticks allowed for the

- *  threads before preemption occurs.*/

+ *  threads before preemption occurs. This option is only meaningful if the

+ *  option \p CH_USE_ROUNDROBIN is also active.*/

 #define CH_TIME_QUANTUM 20

 

 /** Configuration option: Defines a CPU register to be used as storage for the