git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6039 35acf78f-673a-0410-8e92-d51de3d6d3f4

7 files changed, 171 insertions, 142 deletions

diff --git a/os/kernel/include/ch.h b/os/kernel/include/ch.h
index e30ddd515..d2a29ac0c 100644
--- a/os/kernel/include/ch.h
+++ b/os/kernel/include/ch.h
@@ -108,9 +108,9 @@ typedef struct thread thread_t;
 #include "chconf.h"

 #include "chtypes.h"

 #include "chdebug.h"

+#include "chcore.h"

 #include "chtm.h"

 #include "chstats.h"

-#include "chcore.h"

 #include "chsys.h"

 #include "chvt.h"

 #include "chthreads.h"

diff --git a/os/kernel/include/chstats.h b/os/kernel/include/chstats.h
index a94a84814..dee5c9bec 100644
--- a/os/kernel/include/chstats.h
+++ b/os/kernel/include/chstats.h
@@ -39,6 +39,10 @@
 /* Module pre-compile time settings.                                         */

 /*===========================================================================*/

 

+#if !CH_CFG_USE_TM

+#error "CH_DBG_STATISTICS requires CH_CFG_USE_TM"

+#endif

+

 /*===========================================================================*/

 /* Derived constants and error checks.                                       */

 /*===========================================================================*/

@@ -84,6 +88,7 @@ extern kernel_stats_t kernel_stats;
 #ifdef __cplusplus

 extern "C" {

 #endif

+  void _stats_init(void);

 #ifdef __cplusplus

 }

 #endif

diff --git a/os/kernel/include/chsys.h b/os/kernel/include/chsys.h
index 3dc6623e9..0fd07b96b 100644
--- a/os/kernel/include/chsys.h
+++ b/os/kernel/include/chsys.h
@@ -101,20 +101,99 @@
 /** @} */

 

 /**

+ * @name    Time conversion utilities for the realtime counter

+ * @{

+ */

+/**

+ * @brief   Seconds to realtime counter.

+ * @details Converts from seconds to realtime counter cycles.

+ * @note    The result is rounded upward to the next tick boundary.

+ *

+ * @param[in] freq      realtime counter operating frequency

+ * @param[in] sec       number of seconds

+ * @return              The number of cycles.

+ *

+ * @api

+ */

+#define S2RTV(freq, sec) ((freq) * (sec))

+

+/**

+ * @brief   Milliseconds to realtime counter.

+ * @details Converts from milliseconds to realtime counter cycles.

+ * @note    The result is rounded upward to the next tick boundary.

+ *

+ * @param[in] freq      realtime counter operating frequency

+ * @param[in] msec      number of milliseconds

+ * @return              The number of cycles.

+ *

+ * @api

+ */

+#define MS2RTC(freq, msec) (rtcnt_t)((((freq) + 999UL) / 1000UL) * (msec))

+

+/**

+ * @brief   Microseconds to realtime counter.

+ * @details Converts from microseconds to realtime counter cycles.

+ * @note    The result is rounded upward to the next tick boundary.

+ *

+ * @param[in] freq      realtime counter operating frequency

+ * @param[in] usec      number of microseconds

+ * @return              The number of cycles.

+ *

+ * @api

+ */

+#define US2RTC(freq, usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec))

+

+/**

+ * @brief   Realtime counter cycles to seconds.

+ * @details Converts from realtime counter cycles number to seconds.

+ *

+ * @param[in] freq      realtime counter operating frequency

+ * @param[in] n         number of cycles

+ * @return              The number of seconds.

+ *

+ * @api

+ */

+#define RTC2S(freq, n) (rtcnt_t)((n) / (freq))

+

+/**

+ * @brief   Realtime counter cycles to milliseconds.

+ * @details Converts from realtime counter cycles number to milliseconds.

+ *

+ * @param[in] freq      realtime counter operating frequency

+ * @param[in] n         number of cycles

+ * @return              The number of milliseconds.

+ *

+ * @api

+ */

+#define RTC2MS(freq, n) ((n) / ((freq) / 1000UL))

+

+/**

+ * @brief   Realtime counter cycles to microseconds.

+ * @details Converts from realtime counter cycles number to microseconds.

+ *

+ * @param[in] freq      realtime counter operating frequency

+ * @param[in] n         number of cycles

+ * @return              The number of microseconds.

+ *

+ * @api

+ */

+#define RTC2US(freq, n) ((n) / ((freq) / 1000000UL))

+/** @} */

+

+/**

  * @brief   Returns the current value of the system real time counter.

  * @note    This function can be called from any context.

- * @note    If the port does not support a realtime counter then this

- *          function returns the system time.

  *

  * @return              The value of the system realtime counter of

- *                      type rtcnt_t.

+ *                      type rtcnt_t. If the port does not support a

+ *                      realtime counter then zero is returned.

  *

- * @special

+ * @xclass

  */

 #if CH_PORT_SUPPORTS_RT || defined(__DOXYGEN__)

 #define chSysGetRealtimeCounterX() (rtcnt_t)port_rt_get_counter_value()

 #else

-#define chSysGetRealtimeCounterX() (rtcnt_t)chVTGetSystemTimeX()

+#define chSysGetRealtimeCounterX() 0

 #endif

 

 /*===========================================================================*/

diff --git a/os/kernel/include/chtm.h b/os/kernel/include/chtm.h
index a7500a26b..bd1d73dd9 100644
--- a/os/kernel/include/chtm.h
+++ b/os/kernel/include/chtm.h
@@ -45,6 +45,10 @@
 /* Derived constants and error checks.                                       */

 /*===========================================================================*/

 

+#if !CH_PORT_SUPPORTS_RT

+#error "CH_CFG_USE_TM requires CH_PORT_SUPPORTS_RT"

+#endif

+

 /*===========================================================================*/

 /* Module data structures and types.                                         */

 /*===========================================================================*/

@@ -69,80 +73,6 @@ typedef struct {
 /* Module macros.                                                            */

 /*===========================================================================*/

 

-/**

- * @name    Time conversion utilities for the realtime counter

- * @{

- */

-/**

- * @brief   Seconds to realtime counter.

- * @details Converts from seconds to realtime counter cycles.

- * @note    The result is rounded upward to the next tick boundary.

- *

- * @param[in] sec       number of seconds

- * @return              The number of cycles.

- *

- * @api

- */

-#define S2RTV(freq, sec) ((freq) * (sec))

-

-/**

- * @brief   Milliseconds to realtime counter.

- * @details Converts from milliseconds to realtime counter cycles.

- * @note    The result is rounded upward to the next tick boundary.

- *

- * @param[in] msec      number of milliseconds

- * @return              The number of cycles.

- *

- * @api

- */

-#define MS2RTC(freq, msec) (rtcnt_t)((((freq) + 999UL) / 1000UL) * (msec))

-

-/**

- * @brief   Microseconds to realtime counter.

- * @details Converts from microseconds to realtime counter cycles.

- * @note    The result is rounded upward to the next tick boundary.

- *

- * @param[in] usec      number of microseconds

- * @return              The number of cycles.

- *

- * @api

- */

-#define US2RTC(freq, usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec))

-

-/**

- * @brief   Realtime counter cycles to seconds.

- * @details Converts from realtime counter cycles number to seconds.

- *

- * @param[in] n         number of cycles

- * @return              The number of seconds.

- *

- * @api

- */

-#define RTC2S(freq, n) (rtcnt_t)((n) / (freq))

-

-/**

- * @brief   Realtime counter cycles to milliseconds.

- * @details Converts from realtime counter cycles number to milliseconds.

- *

- * @param[in] n         number of cycles

- * @return              The number of milliseconds.

- *

- * @api

- */

-#define RTC2MS(freq, n) ((n) / ((freq) / 1000UL))

-

-/**

- * @brief   Realtime counter cycles to microseconds.

- * @details Converts from realtime counter cycles number to microseconds.

- *

- * @param[in] n         number of cycles

- * @return              The number of microseconds.

- *

- * @api

- */

-#define RTC2US(freq, n) ((n) / ((freq) / 1000000UL))

-/** @} */

-

 /*===========================================================================*/

 /* External declarations.                                                    */

 /*===========================================================================*/

@@ -150,12 +80,14 @@ typedef struct {
 #ifdef __cplusplus

 extern "C" {

 #endif

-  void _rt_init(void);

-  bool chRTIsCounterWithin(rtcnt_t start, rtcnt_t end);

-  void chRTPolledDelay(rtcnt_t cycles);

-  void chRTTimeMeasurementObjectInit(time_measurement_t *tmp);

-  NOINLINE void chRTTimeMeasurementStartX(time_measurement_t *tmp);

-  NOINLINE void chRTTimeMeasurementStopX(time_measurement_t *tmp);

+  void _tm_init(void);

+  bool chTMIsCounterWithinX(rtcnt_t cnt, rtcnt_t start, rtcnt_t end);

+  void chTMPolledDelayX(rtcnt_t cycles);

+  void chTMObjectInit(time_measurement_t *tmp);

+  NOINLINE void chTMStartX(time_measurement_t *tmp);

+  NOINLINE void chTMStopX(time_measurement_t *tmp);

+  NOINLINE void chTMChainToX(time_measurement_t *tmp1,

+                             time_measurement_t *tmp2);

 #ifdef __cplusplus

 }

 #endif

diff --git a/os/kernel/src/chstats.c b/os/kernel/src/chstats.c
index 1decf8f16..9d69e0023 100644
--- a/os/kernel/src/chstats.c
+++ b/os/kernel/src/chstats.c
@@ -20,9 +20,9 @@
 

 /**

  * @file    chstats.c

- * @brief   Real Time Counter and Measurement module code.

+ * @brief   Statistics module code.

  *

- * @addtogroup realtime_counter

+ * @addtogroup statistics

  * @details Statistics services.

  * @{

  */

@@ -60,6 +60,19 @@ kernel_stats_t kernel_stats;
 /* Module exported functions.                                                */

 /*===========================================================================*/

 

+/**

+ * @brief   Initializes the statistics module.

+ *

+ * @init

+ */

+void _stats_init(void) {

+

+  kernel_stats.nirq = 0;

+  kernel_stats.nctxswc = 0;

+  chTMObjectInit(&kernel_stats.isr);

+  chTMObjectInit(&kernel_stats.critical);

+}

+

 #endif /* CH_DBG_STATISTICS */

 

 /** @} */

diff --git a/os/kernel/src/chsys.c b/os/kernel/src/chsys.c
index 91761b66b..0727532ee 100644
--- a/os/kernel/src/chsys.c
+++ b/os/kernel/src/chsys.c
@@ -105,8 +105,8 @@ void chSysInit(void) {
   port_init();

   _scheduler_init();

   _vt_init();

-#if CH_CFG_USE_RT

-  _rt_init();

+#if CH_CFG_USE_TM

+  _tm_init();

 #endif

 #if CH_CFG_USE_MEMCORE

   _core_init();

@@ -114,6 +114,9 @@ void chSysInit(void) {
 #if CH_CFG_USE_HEAP

   _heap_init();

 #endif

+#if CH_DBG_STATISTICS

+  _stats_init();

+#endif

 #if CH_DBG_ENABLE_TRACE

   _trace_init();

 #endif

diff --git a/os/kernel/src/chtm.c b/os/kernel/src/chtm.c
index a42223da3..0ae2dfeda 100644
--- a/os/kernel/src/chtm.c
+++ b/os/kernel/src/chtm.c
@@ -48,7 +48,7 @@
 /*===========================================================================*/

 

 /**

- * @brief   Subsystem calibration value.

+ * @brief   Measurement calibration value.

  */

 static rtcnt_t measurement_offset;

 

@@ -56,25 +56,35 @@ static rtcnt_t measurement_offset;
 /* Module local functions.                                                   */

 /*===========================================================================*/

 

+static inline void tm_stop(time_measurement_t *tmp, rtcnt_t now) {

+

+  tmp->last = now - tmp->last - measurement_offset;

+  tmp->cumulative += tmp->last;

+  if (tmp->last > tmp->worst)

+    tmp->worst = tmp->last;

+  else if (tmp->last < tmp->best)

+    tmp->best = tmp->last;

+}

+

 /*===========================================================================*/

 /* Module exported functions.                                                */

 /*===========================================================================*/

 

 /**

- * @brief   Initializes the realtime counter unit.

+ * @brief   Initializes the time measurement unit.

  *

  * @init

  */

-void _rt_init(void) {

+void _tm_init(void) {

   time_measurement_t tm;

 

   /* Time Measurement subsystem calibration, it does a null measurement

      and calculates the call overhead which is subtracted to real

      measurements.*/

   measurement_offset = 0;

-  chRTTimeMeasurementObjectInit(&tm);

-  chRTTimeMeasurementStartX(&tm);

-  chRTTimeMeasurementStopX(&tm);

+  chTMObjectInit(&tm);

+  chTMStartX(&tm);

+  chTMStopX(&tm);

   measurement_offset = tm.last;

 }

 

@@ -85,61 +95,34 @@ void _rt_init(void) {
  *          of the realtime counter wrapping to zero on overflow.

  * @note    When start==end then the function returns always true because the

  *          whole time range is specified.

- * @note    This function can be called from any context.

- *

- * @par Example 1

- * Example of a guarded loop using the realtime counter. The loop implements

- * a timeout after one second.

- * @code

- *   rtcnt_t start = chSysGetRealtimeCounterX();

- *   rtcnt_t timeout  = start + S2RTC(RTCCLK, 1);

- *   while (my_condition) {

- *     if (!chTMIsCounterWithin(start, timeout)

- *       return TIMEOUT;

- *     // Do something.

- *   }

- *   // Continue.

- * @endcode

- *

- * @par Example 2

- * Example of a loop that lasts exactly 50 microseconds.

- * @code

- *   rtcnt_t start = chSysGetRealtimeCounterX();

- *   rtcnt_t timeout  = start + US2RTC(RTCCLK, 50);

- *   while (chTMIsCounterWithin(start, timeout)) {

- *     // Do something.

- *   }

- *   // Continue.

- * @endcode

  *

+ * @param[in] cnt       the counter value to be tested

  * @param[in] start     the start of the time window (inclusive)

  * @param[in] end       the end of the time window (non inclusive)

  * @retval true         current time within the specified time window.

  * @retval false        current time not within the specified time window.

  *

- * @special

+ * @xclass

  */

-bool chTMIsCounterWithin(rtcnt_t start, rtcnt_t end) {

-  rtcnt_t now = chSysGetRealtimeCounterX();

+bool chTMIsCounterWithinX(rtcnt_t cnt, rtcnt_t start, rtcnt_t end) {

 

-  return end > start ? (now >= start) && (now < end) :

-                       (now >= start) || (now < end);

+  return end > start ? (cnt >= start) && (cnt < end) :

+                       (cnt >= start) || (cnt < end);

 }

 

 /**

  * @brief   Polled delay.

  * @note    The real delay is always few cycles in excess of the specified

  *          value.

- * @note    This function can be called from any context.

  *

  * @param[in] cycles    number of cycles

  *

- * @special

+ * @xclass

  */

-void chTMPolledDelay(rtcnt_t cycles) {

+void chTMPolledDelayX(rtcnt_t cycles) {

   rtcnt_t start = chSysGetRealtimeCounterX();

   rtcnt_t end  = start + cycles;

-  while (chRTIsCounterWithin(start, end))

+  while (chTMIsCounterWithinX(chSysGetRealtimeCounterX(), start, end))

     ;

 }

 

@@ -161,11 +144,10 @@ void chTMObjectInit(time_measurement_t *tmp) {
 /**

  * @brief   Starts a measurement.

  * @pre     The @p time_measurement_t structure must be initialized.

- * @note    This function can be invoked from any context.

  *

  * @param[in,out] tmp   pointer to a @p TimeMeasurement structure

  *

- * @special

+ * @xclass

  */

 NOINLINE void chTMStartX(time_measurement_t *tmp) {

 

@@ -175,23 +157,38 @@ NOINLINE void chTMStartX(time_measurement_t *tmp) {
 /**

  * @brief   Stops a measurement.

  * @pre     The @p time_measurement_t structure must be initialized.

- * @note    This function can be invoked from any context.

  *

  * @param[in,out] tmp   pointer to a @p time_measurement_t structure

  *

- * @special

+ * @xclass

  */

 NOINLINE void chTMStopX(time_measurement_t *tmp) {

 

-  rtcnt_t now = chSysGetRealtimeCounterX();

-  tmp->last = now - tmp->last - measurement_offset;

-  tmp->cumulative += tmp->last;

-  if (tmp->last > tmp->worst)

-    tmp->worst = tmp->last;

-  else if (tmp->last < tmp->best)

-    tmp->best = tmp->last;

+  tm_stop(tmp, chSysGetRealtimeCounterX());

 }

 

 #endif /* CH_CFG_USE_TM */

 

+/**

+ * @brief   Stops a measurement and chains to the next one using the same time

+ *          stamp.

+ *

+ * @param[in,out] tmp1  pointer to the @p time_measurement_t structure to be

+ *                      stopped

+ * @param[in,out] tmp2  pointer to the @p time_measurement_t structure to be

+ *                      started

+ *

+ *

+ * @xclass

+ */

+NOINLINE void chTMChainToX(time_measurement_t *tmp1,

+                           time_measurement_t *tmp2) {

+

+  /* Starts new measurement.*/

+  tmp2->last = chSysGetRealtimeCounterX();

+

+  /* Stops previous measurement using the same time stamp.*/

+  tm_stop(tmp1, tmp2->last);

+}

+

 /** @} */