diff options
Diffstat (limited to 'os/kernel')
47 files changed, 654 insertions, 388 deletions
diff --git a/os/kernel/include/ch.h b/os/kernel/include/ch.h index 3bd81e16b..250f6adbf 100644 --- a/os/kernel/include/ch.h +++ b/os/kernel/include/ch.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -39,7 +40,7 @@ /**
* @brief Kernel version string.
*/
-#define CH_KERNEL_VERSION "2.3.0unstable"
+#define CH_KERNEL_VERSION "2.3.4unstable"
/**
* @brief Kernel version major number.
@@ -54,7 +55,7 @@ /**
* @brief Kernel version patch number.
*/
-#define CH_KERNEL_PATCH 0
+#define CH_KERNEL_PATCH 4
/*
* Common values.
@@ -94,7 +95,7 @@ #include "chdebug.h"
#if !defined(__DOXYGEN__)
-extern WORKING_AREA(_idle_thread_wa, IDLE_THREAD_STACK_SIZE);
+extern WORKING_AREA(_idle_thread_wa, PORT_IDLE_THREAD_STACK_SIZE);
#endif
#ifdef __cplusplus
diff --git a/os/kernel/include/chbsem.h b/os/kernel/include/chbsem.h index e60886bcd..e0e1ca865 100644 --- a/os/kernel/include/chbsem.h +++ b/os/kernel/include/chbsem.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -70,7 +71,7 @@ typedef struct { * @param[in] taken the semaphore initial state
*/
#define _BSEMAPHORE_DATA(name, taken) \
- {_SEMAPHORE_DATA(name.bs_sem), ((taken) ? 0 : 1)}
+ {_SEMAPHORE_DATA(name.bs_sem, ((taken) ? 0 : 1))}
/**
* @brief Static semaphore initializer.
diff --git a/os/kernel/include/chcond.h b/os/kernel/include/chcond.h index 5a03ddd7f..072ae40ab 100644 --- a/os/kernel/include/chcond.h +++ b/os/kernel/include/chcond.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/chdebug.h b/os/kernel/include/chdebug.h index e29b095e8..471da5532 100644 --- a/os/kernel/include/chdebug.h +++ b/os/kernel/include/chdebug.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -150,7 +151,7 @@ extern "C" { #endif
#if CH_DBG_ENABLE_TRACE || defined(__DOXYGEN__)
extern TraceBuffer trace_buffer;
- void trace_init(void);
+ void _trace_init(void);
void chDbgTrace(Thread *otp);
#endif
#if CH_DBG_ENABLE_ASSERTS || CH_DBG_ENABLE_CHECKS || CH_DBG_ENABLE_STACK_CHECK
diff --git a/os/kernel/include/chdynamic.h b/os/kernel/include/chdynamic.h index 76de4ae09..790725493 100644 --- a/os/kernel/include/chdynamic.h +++ b/os/kernel/include/chdynamic.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/chevents.h b/os/kernel/include/chevents.h index 6a1cd6106..e808caec3 100644 --- a/os/kernel/include/chevents.h +++ b/os/kernel/include/chevents.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -56,6 +57,11 @@ typedef struct EventSource { } EventSource;
/**
+ * @brief Event Handler callback function.
+ */
+typedef void (*evhandler_t)(eventid_t);
+
+/**
* @brief Data part of a static event source initializer.
* @details This macro should be used when statically initializing an event
* source that is part of a bigger structure.
@@ -119,9 +125,28 @@ typedef struct EventSource { ((void *)(esp) != (void *)(esp)->es_next)
/**
- * @brief Event Handler callback function.
+ * @brief Signals all the Event Listeners registered on the specified Event
+ * Source.
+ *
+ * @param[in] esp pointer to the @p EventSource structure
+ *
+ * @api
*/
-typedef void (*evhandler_t)(eventid_t);
+#define chEvtBroadcast(esp) chEvtBroadcastFlags(esp, 0)
+
+/**
+ * @brief Signals all the Event Listeners registered on the specified Event
+ * Source.
+ * @post This function does not reschedule so a call to a rescheduling
+ * function must be performed before unlocking the kernel. Note that
+ * interrupt handlers always reschedule on exit so an explicit
+ * reschedule must not be performed in ISRs.
+ *
+ * @param[in] esp pointer to the @p EventSource structure
+ *
+ * @iclass
+ */
+#define chEvtBroadcastI(esp) chEvtBroadcastFlagsI(esp, 0)
#ifdef __cplusplus
extern "C" {
@@ -132,10 +157,10 @@ extern "C" { void chEvtUnregister(EventSource *esp, EventListener *elp);
eventmask_t chEvtClearFlags(eventmask_t mask);
eventmask_t chEvtAddFlags(eventmask_t mask);
- void chEvtSignal(Thread *tp, eventmask_t mask);
- void chEvtSignalI(Thread *tp, eventmask_t mask);
- void chEvtBroadcast(EventSource *esp);
- void chEvtBroadcastI(EventSource *esp);
+ void chEvtSignalFlags(Thread *tp, eventmask_t mask);
+ void chEvtSignalFlagsI(Thread *tp, eventmask_t mask);
+ void chEvtBroadcastFlags(EventSource *esp, eventmask_t mask);
+ void chEvtBroadcastFlagsI(EventSource *esp, eventmask_t mask);
void chEvtDispatch(const evhandler_t *handlers, eventmask_t mask);
#if CH_OPTIMIZE_SPEED || !CH_USE_EVENTS_TIMEOUT
eventmask_t chEvtWaitOne(eventmask_t mask);
diff --git a/os/kernel/include/chfiles.h b/os/kernel/include/chfiles.h index dbe5e0567..ff3f8274e 100644 --- a/os/kernel/include/chfiles.h +++ b/os/kernel/include/chfiles.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/chheap.h b/os/kernel/include/chheap.h index 1c5ec5419..0db1cbc1d 100644 --- a/os/kernel/include/chheap.h +++ b/os/kernel/include/chheap.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -74,8 +75,10 @@ struct memory_heap { #ifdef __cplusplus
extern "C" {
#endif
- void heap_init(void);
+ void _heap_init(void);
+#if !CH_USE_MALLOC_HEAP
void chHeapInit(MemoryHeap *heapp, void *buf, size_t size);
+#endif
void *chHeapAlloc(MemoryHeap *heapp, size_t size);
void chHeapFree(void *p);
size_t chHeapStatus(MemoryHeap *heapp, size_t *sizep);
diff --git a/os/kernel/include/chinline.h b/os/kernel/include/chinline.h index f41c12cc2..d3ae4b7a4 100644 --- a/os/kernel/include/chinline.h +++ b/os/kernel/include/chinline.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/chioch.h b/os/kernel/include/chioch.h index f5741fcec..02757c7e9 100644 --- a/os/kernel/include/chioch.h +++ b/os/kernel/include/chioch.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/chlists.h b/os/kernel/include/chlists.h index a93ccedb4..4df139722 100644 --- a/os/kernel/include/chlists.h +++ b/os/kernel/include/chlists.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/chmboxes.h b/os/kernel/include/chmboxes.h index ce3f238be..4a1706302 100644 --- a/os/kernel/include/chmboxes.h +++ b/os/kernel/include/chmboxes.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -60,10 +61,13 @@ extern "C" { void chMBReset(Mailbox *mbp);
msg_t chMBPost(Mailbox *mbp, msg_t msg, systime_t timeout);
msg_t chMBPostS(Mailbox *mbp, msg_t msg, systime_t timeout);
+ msg_t chMBPostI(Mailbox *mbp, msg_t msg);
msg_t chMBPostAhead(Mailbox *mbp, msg_t msg, systime_t timeout);
msg_t chMBPostAheadS(Mailbox *mbp, msg_t msg, systime_t timeout);
+ msg_t chMBPostAheadI(Mailbox *mbp, msg_t msg);
msg_t chMBFetch(Mailbox *mbp, msg_t *msgp, systime_t timeout);
msg_t chMBFetchS(Mailbox *mbp, msg_t *msgp, systime_t timeout);
+ msg_t chMBFetchI(Mailbox *mbp, msg_t *msgp);
#ifdef __cplusplus
}
#endif
diff --git a/os/kernel/include/chmemcore.h b/os/kernel/include/chmemcore.h index f42478125..cf608c4e8 100644 --- a/os/kernel/include/chmemcore.h +++ b/os/kernel/include/chmemcore.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -36,14 +37,24 @@ typedef void *(*memgetfunc_t)(size_t size);
/**
+ * @brief Alignment size constant.
+ */
+#define MEM_ALIGN_SIZE sizeof(stkalign_t)
+
+/**
* @brief Alignment mask constant.
*/
-#define MEM_ALIGN_MASK (sizeof(stkalign_t) - 1)
+#define MEM_ALIGN_MASK (MEM_ALIGN_SIZE - 1)
+
+/**
+ * @brief Alignment helper macro.
+ */
+#define MEM_ALIGN_PREV(p) ((size_t)(p) & ~MEM_ALIGN_MASK)
/**
* @brief Alignment helper macro.
*/
-#define MEM_ALIGN_SIZE(p) (((size_t)(p) + MEM_ALIGN_MASK) & ~MEM_ALIGN_MASK)
+#define MEM_ALIGN_NEXT(p) MEM_ALIGN_PREV((size_t)(p) + MEM_ALIGN_MASK)
/**
* @brief Returns whatever a pointer or memory size is aligned to
@@ -56,7 +67,7 @@ typedef void *(*memgetfunc_t)(size_t size); #ifdef __cplusplus
extern "C" {
#endif
- void core_init(void);
+ void _core_init(void);
void *chCoreAlloc(size_t size);
void *chCoreAllocI(size_t size);
size_t chCoreStatus(void);
diff --git a/os/kernel/include/chmempools.h b/os/kernel/include/chmempools.h index 1c2e2aa70..c53e17473 100644 --- a/os/kernel/include/chmempools.h +++ b/os/kernel/include/chmempools.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -59,7 +60,7 @@ typedef struct { * @param[in] provider memory provider function for the memory pool
*/
#define _MEMORYPOOL_DATA(name, size, provider) \
- {NULL, MEM_ALIGN_SIZE(size), provider}
+ {NULL, MEM_ALIGN_NEXT(size), provider}
/**
* @brief Static memory pool initializer in hungry mode.
diff --git a/os/kernel/include/chmsg.h b/os/kernel/include/chmsg.h index 438da021f..1803c719d 100644 --- a/os/kernel/include/chmsg.h +++ b/os/kernel/include/chmsg.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -39,20 +40,47 @@ ((tp)->p_msgqueue.p_next != (Thread *)&(tp)->p_msgqueue)
/**
- * @brief Returns the first message in the queue.
+ * @brief Returns the message carried by the specified thread.
+ * @pre This function must be invoked immediately after exiting a call
+ * to @p chMsgWait().
*
- * @iclass
+ * @param[in] tp pointer to the thread
+ * @return The message carried by the sender.
+ *
+ * @api
+ */
+#define chMsgGet(tp) ((tp)->p_msg)
+
+/**
+ * @brief Returns the message carried by the specified thread.
+ * @pre This function must be invoked immediately after exiting a call
+ * to @p chMsgWait().
+ *
+ * @param[in] tp pointer to the thread
+ * @return The message carried by the sender.
+ *
+ * @sclass
+ */
+#define chMsgGetS(tp) ((tp)->p_msg)
+
+/**
+ * @brief Releases the thread waiting on top of the messages queue.
+ * @pre Invoke this function only after a message has been received
+ * using @p chMsgWait().
+ *
+ * @param[in] tp pointer to the thread
+ * @param[in] msg message to be returned to the sender
+ *
+ * @sclass
*/
-#define chMsgGetI(tp) \
- ((tp)->p_msgqueue.p_next->p_msg)
+#define chMsgReleaseS(tp, msg) chSchWakeupS(tp, msg)
#ifdef __cplusplus
extern "C" {
#endif
msg_t chMsgSend(Thread *tp, msg_t msg);
- msg_t chMsgWait(void);
- msg_t chMsgGet(void);
- void chMsgRelease(msg_t msg);
+ Thread * chMsgWait(void);
+ void chMsgRelease(Thread *tp, msg_t msg);
#ifdef __cplusplus
}
#endif
diff --git a/os/kernel/include/chmtx.h b/os/kernel/include/chmtx.h index cb0e78001..9f2d5a0d3 100644 --- a/os/kernel/include/chmtx.h +++ b/os/kernel/include/chmtx.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/chqueues.h b/os/kernel/include/chqueues.h index 1913e8bdd..a2df59dad 100644 --- a/os/kernel/include/chqueues.h +++ b/os/kernel/include/chqueues.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -30,18 +31,11 @@ #if CH_USE_QUEUES || defined(__DOXYGEN__)
-/*
- * Module dependencies check.
- */
-#if !CH_USE_SEMAPHORES
-#error "CH_USE_QUEUES requires CH_USE_SEMAPHORES"
-#endif
-
/** @brief Returned by the queue functions if the operation is successful.*/
#define Q_OK RDY_OK
/** @brief Returned by the queue functions if a timeout occurs.*/
#define Q_TIMEOUT RDY_TIMEOUT
-/** @brief Returned by the queue functions if the queue is reset.*/
+/** @brief Returned by the queue functions if the queue has been reset.*/
#define Q_RESET RDY_RESET
/** @brief Returned by the queue functions if the queue is empty.*/
#define Q_EMPTY -3
@@ -66,12 +60,13 @@ typedef void (*qnotify_t)(GenericQueue *qp); * @ref system_states) and is non-blocking.
*/
struct GenericQueue {
+ ThreadsQueue q_waiting; /**< @brief Queue of waiting threads. */
+ size_t q_counter; /**< @brief Resources counter. */
uint8_t *q_buffer; /**< @brief Pointer to the queue buffer.*/
uint8_t *q_top; /**< @brief Pointer to the first location
after the buffer. */
uint8_t *q_wrptr; /**< @brief Write pointer. */
uint8_t *q_rdptr; /**< @brief Read pointer. */
- Semaphore q_sem; /**< @brief Counter @p Semaphore. */
qnotify_t q_notify; /**< @brief Data notification callback. */
};
@@ -83,21 +78,19 @@ struct GenericQueue { *
* @iclass
*/
-#define chQSizeI(qp) ((qp)->q_top - (qp)->q_buffer)
+#define chQSizeI(qp) ((size_t)((qp)->q_top - (qp)->q_buffer))
/**
* @brief Queue space.
* @details Returns the used space if used on an input queue or the empty
* space if used on an output queue.
- * @note The returned value can be less than zero when there are waiting
- * threads on the internal semaphore.
*
* @param[in] qp pointer to a @p GenericQueue structure.
* @return The buffer space.
*
* @iclass
*/
-#define chQSpaceI(qp) chSemGetCounterI(&(qp)->q_sem)
+#define chQSpaceI(qp) ((size_t)((qp)->q_counter))
/**
* @extends GenericQueue
@@ -113,6 +106,28 @@ struct GenericQueue { typedef GenericQueue InputQueue;
/**
+ * @brief Returns the filled space into an input queue.
+ *
+ * @param[in] iqp pointer to an @p InputQueue structure
+ * @return The number of full bytes in the queue.
+ * @retval 0 if the queue is empty.
+ *
+ * @iclass
+ */
+#define chIQGetFullI(iqp) chQSpaceI(iqp)
+
+/**
+ * @brief Returns the empty space into an input queue.
+ *
+ * @param[in] iqp pointer to an @p InputQueue structure
+ * @return The number of empty bytes in the queue.
+ * @retval 0 if the queue is full.
+ *
+ * @iclass
+ */
+#define chIQGetEmptyI(iqp) (chQSizeI(iqp) - chQSpaceI(iqp))
+
+/**
* @brief Evaluates to @p TRUE if the specified input queue is empty.
*
* @param[in] iqp pointer to an @p InputQueue structure.
@@ -134,7 +149,8 @@ typedef GenericQueue InputQueue; *
* @iclass
*/
-#define chIQIsFullI(iqp) ((bool_t)(chQSpaceI(iqp) >= chQSizeI(iqp)))
+#define chIQIsFullI(iqp) ((bool_t)(((iqp)->q_wrptr == (iqp)->q_rdptr) && \
+ ((iqp)->q_counter != 0)))
/**
* @brief Input queue read.
@@ -144,7 +160,7 @@ typedef GenericQueue InputQueue; *
* @param[in] iqp pointer to an @p InputQueue structure
* @return A byte value from the queue.
- * @retval Q_RESET If the queue has been reset.
+ * @retval Q_RESET if the queue has been reset.
*
* @api
*/
@@ -160,13 +176,14 @@ typedef GenericQueue InputQueue; * @param[in] size size of the queue buffer area
* @param[in] inotify input notification callback pointer
*/
-#define _INPUTQUEUE_DATA(name, buffer, size, inotify) { \
- (uint8_t *)(buffer), \
- (uint8_t *)(buffer) + size, \
- (uint8_t *)(buffer), \
- (uint8_t *)(buffer), \
- _SEMAPHORE_DATA(name.q_sem, 0), \
- inotify \
+#define _INPUTQUEUE_DATA(name, buffer, size, inotify) { \
+ _THREADSQUEUE_DATA(name), \
+ 0, \
+ (uint8_t *)(buffer), \
+ (uint8_t *)(buffer) + (size), \
+ (uint8_t *)(buffer), \
+ (uint8_t *)(buffer), \
+ inotify \
}
/**
@@ -195,6 +212,28 @@ typedef GenericQueue InputQueue; */
typedef GenericQueue OutputQueue;
+ /**
+ * @brief Returns the filled space into an output queue.
+ *
+ * @param[in] oqp pointer to an @p OutputQueue structure
+ * @return The number of full bytes in the queue.
+ * @retval 0 if the queue is empty.
+ *
+ * @iclass
+ */
+#define chOQGetFullI(oqp) (chQSizeI(oqp) - chQSpaceI(oqp))
+
+/**
+ * @brief Returns the empty space into an output queue.
+ *
+ * @param[in] iqp pointer to an @p OutputQueue structure
+ * @return The number of empty bytes in the queue.
+ * @retval 0 if the queue is full.
+ *
+ * @iclass
+ */
+#define chOQGetEmptyI(iqp) chQSpaceI(oqp)
+
/**
* @brief Evaluates to @p TRUE if the specified output queue is empty.
*
@@ -205,7 +244,8 @@ typedef GenericQueue OutputQueue; *
* @iclass
*/
-#define chOQIsEmptyI(oqp) ((bool_t)(chQSpaceI(oqp) >= chQSizeI(oqp)))
+#define chOQIsEmptyI(oqp) ((bool_t)(((oqp)->q_wrptr == (oqp)->q_rdptr) && \
+ ((oqp)->q_counter != 0)))
/**
* @brief Evaluates to @p TRUE if the specified output queue is full.
@@ -245,13 +285,14 @@ typedef GenericQueue OutputQueue; * @param[in] size size of the queue buffer area
* @param[in] onotify output notification callback pointer
*/
-#define _OUTPUTQUEUE_DATA(name, buffer, size, onotify) { \
- (uint8_t *)(buffer), \
- (uint8_t *)(buffer) + size, \
- (uint8_t *)(buffer), \
- (uint8_t *)(buffer), \
- _SEMAPHORE_DATA(name.q_sem, size), \
- onotify \
+#define _OUTPUTQUEUE_DATA(name, buffer, size, onotify) { \
+ _THREADSQUEUE_DATA(name), \
+ (size), \
+ (uint8_t *)(buffer), \
+ (uint8_t *)(buffer) + (size), \
+ (uint8_t *)(buffer), \
+ (uint8_t *)(buffer), \
+ onotify \
}
/**
@@ -271,7 +312,6 @@ typedef GenericQueue OutputQueue; extern "C" {
#endif
void chIQInit(InputQueue *iqp, uint8_t *bp, size_t size, qnotify_t infy);
- size_t chIQGetFullI(InputQueue *iqp);
void chIQResetI(InputQueue *iqp);
msg_t chIQPutI(InputQueue *iqp, uint8_t b);
msg_t chIQGetTimeout(InputQueue *iqp, systime_t time);
@@ -279,7 +319,6 @@ extern "C" { size_t n, systime_t time);
void chOQInit(OutputQueue *oqp, uint8_t *bp, size_t size, qnotify_t onfy);
- size_t chOQGetFullI(OutputQueue *oqp);
void chOQResetI(OutputQueue *oqp);
msg_t chOQPutTimeout(OutputQueue *oqp, uint8_t b, systime_t time);
msg_t chOQGetI(OutputQueue *oqp);
diff --git a/os/kernel/include/chregistry.h b/os/kernel/include/chregistry.h index f9185acb7..3e9cc5508 100644 --- a/os/kernel/include/chregistry.h +++ b/os/kernel/include/chregistry.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/chschd.h b/os/kernel/include/chschd.h index a9283c290..e154da863 100644 --- a/os/kernel/include/chschd.h +++ b/os/kernel/include/chschd.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -48,13 +49,13 @@ * @note Not all functions accept @p TIME_IMMEDIATE as timeout parameter,
* see the specific function documentation.
*/
-#define TIME_IMMEDIATE ((systime_t)-1)
+#define TIME_IMMEDIATE ((systime_t)0)
/**
* @brief Infinite time specification for all the syscalls with a timeout
* specification.
*/
-#define TIME_INFINITE ((systime_t)0)
+#define TIME_INFINITE ((systime_t)-1)
/**
* @brief Returns the priority of the first thread on the given ready list.
@@ -83,10 +84,8 @@ typedef struct { #if CH_TIME_QUANTUM > 0
cnt_t r_preempt; /**< @brief Round robin counter. */
#endif
-#ifndef CH_CURRP_REGISTER_CACHE
Thread *r_current; /**< @brief The currently running
thread. */
-#endif
} ReadyList;
#endif /* !defined(PORT_OPTIMIZED_READYLIST_STRUCT) */
@@ -102,11 +101,7 @@ extern ReadyList rlist; * (currp = something), use @p setcurrp() instead.
*/
#if !defined(PORT_OPTIMIZED_CURRP) || defined(__DOXYGEN__)
-#if !defined(CH_CURRP_REGISTER_CACHE) || defined(__DOXYGEN__)
#define currp rlist.r_current
-#else /* defined(CH_CURRP_REGISTER_CACHE) */
-register Thread *currp asm(CH_CURRP_REGISTER_CACHE);
-#endif /* defined(CH_CURRP_REGISTER_CACHE) */
#endif /* !defined(PORT_OPTIMIZED_CURRP) */
/**
@@ -126,7 +121,7 @@ register Thread *currp asm(CH_CURRP_REGISTER_CACHE); #ifdef __cplusplus
extern "C" {
#endif
- void scheduler_init(void);
+ void _scheduler_init(void);
#if !defined(PORT_OPTIMIZED_READYI)
Thread *chSchReadyI(Thread *tp);
#endif
diff --git a/os/kernel/include/chsem.h b/os/kernel/include/chsem.h index efed15189..04e079466 100644 --- a/os/kernel/include/chsem.h +++ b/os/kernel/include/chsem.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -51,7 +52,7 @@ extern "C" { msg_t chSemWaitTimeoutS(Semaphore *sp, systime_t time);
void chSemSignal(Semaphore *sp);
void chSemSignalI(Semaphore *sp);
- void chSemSetCounterI(Semaphore *sp, cnt_t n);
+ void chSemAddCounterI(Semaphore *sp, cnt_t n);
#if CH_USE_SEMSW
msg_t chSemSignalWait(Semaphore *sps, Semaphore *spw);
#endif
diff --git a/os/kernel/include/chstreams.h b/os/kernel/include/chstreams.h index 7d85aa186..0bd763366 100644 --- a/os/kernel/include/chstreams.h +++ b/os/kernel/include/chstreams.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/include/chsys.h b/os/kernel/include/chsys.h index 944aedc02..37d4cd7ce 100644 --- a/os/kernel/include/chsys.h +++ b/os/kernel/include/chsys.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -28,8 +29,11 @@ #ifndef _CHSYS_H_
#define _CHSYS_H_
+#if !CH_NO_IDLE_THREAD || defined(__DOXYGEN__)
/**
* @brief Returns a pointer to the idle thread.
+ * @pre In order to use this function the option @p CH_NO_IDLE_THREAD
+ * must be disabled.
* @note The reference counter of the idle thread is not incremented but
* it is not strictly required being the idle thread a static
* object.
@@ -39,6 +43,7 @@ * @api
*/
#define chSysGetIdleThread() ((Thread *)_idle_thread_wa)
+#endif
/**
* @brief Halts the system.
diff --git a/os/kernel/include/chthreads.h b/os/kernel/include/chthreads.h index 677f0be58..215bb9920 100644 --- a/os/kernel/include/chthreads.h +++ b/os/kernel/include/chthreads.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -176,12 +177,16 @@ struct Thread { #define THD_STATE_WTOREVT 8
/** @brief Thread state: Waiting in @p chEvtWaitAllTimeout().*/
#define THD_STATE_WTANDEVT 9
-/** @brief Thread state: Waiting in @p chMsgSend().*/
-#define THD_STATE_SNDMSG 10
+/** @brief Thread state: Waiting in @p chMsgSend() (queued).*/
+#define THD_STATE_SNDMSGQ 10
+/** @brief Thread state: Waiting in @p chMsgSend() (not queued).*/
+#define THD_STATE_SNDMSG 11
/** @brief Thread state: Waiting in @p chMsgWait().*/
-#define THD_STATE_WTMSG 11
+#define THD_STATE_WTMSG 12
+/** @brief Thread state: Waiting on an I/O queue.*/
+#define THD_STATE_WTQUEUE 13
/** @brief Thread state: After termination.*/
-#define THD_STATE_FINAL 12
+#define THD_STATE_FINAL 14
/*
* Various flags into the thread p_flags field.
@@ -242,7 +247,7 @@ extern "C" { * @note This function is only available when the
* @p CH_DBG_THREADS_PROFILING configuration option is enabled.
*
- * @param[in] tp the pointer to the thread
+ * @param[in] tp pointer to the thread
*
* @api
*/
@@ -258,7 +263,7 @@ extern "C" { /**
* @brief Verifies if the specified thread is in the @p THD_STATE_FINAL state.
*
- * @param[in] tp the pointer to the thread
+ * @param[in] tp pointer to the thread
* @retval TRUE thread terminated.
* @retval FALSE thread not terminated.
*
@@ -279,7 +284,7 @@ extern "C" { /**
* @brief Resumes a thread created with @p chThdInit().
*
- * @param[in] tp the pointer to the thread
+ * @param[in] tp pointer to the thread
*
* @iclass
*/
@@ -292,9 +297,7 @@ extern "C" { * handled as follow:
* - @a TIME_INFINITE the thread enters an infinite sleep
* state.
- * - @a TIME_IMMEDIATE this value is accepted but
- * interpreted as a normal time specification not as
- * an immediate timeout specification.
+ * - @a TIME_IMMEDIATE this value is not allowed.
* .
*
* @sclass
@@ -307,7 +310,7 @@ extern "C" { * system clock.
* @note The maximum specified value is implementation dependent.
*
- * @param[in] sec the time in seconds
+ * @param[in] sec time in seconds
*
* @api
*/
@@ -320,7 +323,7 @@ extern "C" { * system clock.
* @note The maximum specified value is implementation dependent.
*
- * @param[in] msec the time in milliseconds
+ * @param[in] msec time in milliseconds
*
* @api
*/
@@ -333,7 +336,7 @@ extern "C" { * system clock.
* @note The maximum specified value is implementation dependent.
*
- * @param[in] usec the time in microseconds
+ * @param[in] usec time in microseconds
*
* @api
*/
diff --git a/os/kernel/include/chvt.h b/os/kernel/include/chvt.h index a7667b92c..e75e966d5 100644 --- a/os/kernel/include/chvt.h +++ b/os/kernel/include/chvt.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -120,7 +121,7 @@ extern VTList vtlist; #ifdef __cplusplus
extern "C" {
#endif
- void vt_init(void);
+ void _vt_init(void);
void chVTSetI(VirtualTimer *vtp, systime_t time, vtfunc_t vtfunc, void *par);
void chVTResetI(VirtualTimer *vtp);
bool_t chTimeIsWithin(systime_t start, systime_t end);
diff --git a/os/kernel/kernel.dox b/os/kernel/kernel.dox index 2a9278620..b1fc4bc29 100644 --- a/os/kernel/kernel.dox +++ b/os/kernel/kernel.dox @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -174,4 +175,4 @@ * @defgroup internals Internals
* @ingroup kernel
*/
-
\ No newline at end of file +
diff --git a/os/kernel/src/chcond.c b/os/kernel/src/chcond.c index 0ad9d459d..456fc454f 100644 --- a/os/kernel/src/chcond.c +++ b/os/kernel/src/chcond.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -203,11 +204,11 @@ msg_t chCondWaitS(CondVar *cp) { * mutex, the mutex ownership is lost.
*
* @param[in] cp pointer to the @p CondVar structure
- * @param[in] time the number of ticks before the operation timeouts,
- * the special value @p TIME_INFINITE is allowed.
- * It is not possible to specify zero @p TIME_IMMEDIATE
- * as timeout specification because it would make no sense
- * in this function.
+ * @param[in] time the number of ticks before the operation timeouts, the
+ * special values are handled as follow:
+ * - @a TIME_INFINITE no timeout.
+ * - @a TIME_IMMEDIATE this value is not allowed.
+ * .
* @return A message specifying how the invoking thread has been
* released from the condition variable.
* @retval RDY_OK if the condvar has been signaled using
@@ -240,11 +241,11 @@ msg_t chCondWaitTimeout(CondVar *cp, systime_t time) { * mutex, the mutex ownership is lost.
*
* @param[in] cp pointer to the @p CondVar structure
- * @param[in] time the number of ticks before the operation timeouts,
- * the special value @p TIME_INFINITE is allowed.
- * It is not possible to specify zero @p TIME_IMMEDIATE
- * as timeout specification because it would make no sense
- * in this function.
+ * @param[in] time the number of ticks before the operation timeouts, the
+ * special values are handled as follow:
+ * - @a TIME_INFINITE no timeout.
+ * - @a TIME_IMMEDIATE this value is not allowed.
+ * .
* @return A message specifying how the invoking thread has been
* released from the condition variable.
* @retval RDY_OK if the condvar has been signaled using
@@ -260,7 +261,7 @@ msg_t chCondWaitTimeoutS(CondVar *cp, systime_t time) { Mutex *mp;
msg_t msg;
- chDbgCheck(cp != NULL, "chCondWaitTimeoutS");
+ chDbgCheck((cp != NULL) && (time != TIME_IMMEDIATE), "chCondWaitTimeoutS");
chDbgAssert(currp->p_mtxlist != NULL,
"chCondWaitTimeoutS(), #1",
"not owning a mutex");
diff --git a/os/kernel/src/chdebug.c b/os/kernel/src/chdebug.c index 80323e183..3c3c34c70 100644 --- a/os/kernel/src/chdebug.c +++ b/os/kernel/src/chdebug.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -45,7 +46,7 @@ TraceBuffer trace_buffer; * @brief Trace circular buffer subsystem initialization.
* @note Internal use only.
*/
-void trace_init(void) {
+void _trace_init(void) {
trace_buffer.tb_size = TRACE_BUFFER_SIZE;
trace_buffer.tb_ptr = &trace_buffer.tb_buffer[0];
diff --git a/os/kernel/src/chdynamic.c b/os/kernel/src/chdynamic.c index 5f1fc3401..acd23c244 100644 --- a/os/kernel/src/chdynamic.c +++ b/os/kernel/src/chdynamic.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/src/chevents.c b/os/kernel/src/chevents.c index a0ef2d1bb..d74ad2dc4 100644 --- a/os/kernel/src/chevents.c +++ b/os/kernel/src/chevents.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -160,12 +161,12 @@ eventmask_t chEvtAddFlags(eventmask_t mask) { *
* @api
*/
-void chEvtSignal(Thread *tp, eventmask_t mask) {
+void chEvtSignalFlags(Thread *tp, eventmask_t mask) {
chDbgCheck(tp != NULL, "chEvtSignal");
chSysLock();
- chEvtSignalI(tp, mask);
+ chEvtSignalFlagsI(tp, mask);
chSchRescheduleS();
chSysUnlock();
}
@@ -182,7 +183,7 @@ void chEvtSignal(Thread *tp, eventmask_t mask) { *
* @iclass
*/
-void chEvtSignalI(Thread *tp, eventmask_t mask) {
+void chEvtSignalFlagsI(Thread *tp, eventmask_t mask) {
chDbgCheck(tp != NULL, "chEvtSignalI");
@@ -198,15 +199,20 @@ void chEvtSignalI(Thread *tp, eventmask_t mask) { /**
* @brief Signals all the Event Listeners registered on the specified Event
* Source.
+ * @details This function variants ORs the specified event flags to all the
+ * threads registered on the @p EventSource in addition to the event
+ * flags specified by the threads themselves in the
+ * @p EventListener objects.
*
* @param[in] esp pointer to the @p EventSource structure
+ * @param[in] mask the event flags set to be ORed
*
* @api
*/
-void chEvtBroadcast(EventSource *esp) {
+void chEvtBroadcastFlags(EventSource *esp, eventmask_t mask) {
chSysLock();
- chEvtBroadcastI(esp);
+ chEvtBroadcastFlagsI(esp, mask);
chSchRescheduleS();
chSysUnlock();
}
@@ -214,23 +220,28 @@ void chEvtBroadcast(EventSource *esp) { /**
* @brief Signals all the Event Listeners registered on the specified Event
* Source.
+ * @details This function variants ORs the specified event flags to all the
+ * threads registered on the @p EventSource in addition to the event
+ * flags specified by the threads themselves in the
+ * @p EventListener objects.
* @post This function does not reschedule so a call to a rescheduling
* function must be performed before unlocking the kernel. Note that
* interrupt handlers always reschedule on exit so an explicit
* reschedule must not be performed in ISRs.
*
* @param[in] esp pointer to the @p EventSource structure
+ * @param[in] mask the event flags set to be ORed
*
* @iclass
*/
-void chEvtBroadcastI(EventSource *esp) {
+void chEvtBroadcastFlagsI(EventSource *esp, eventmask_t mask) {
EventListener *elp;
- chDbgCheck(esp != NULL, "chEvtBroadcastI");
+ chDbgCheck(esp != NULL, "chEvtBroadcastMaskI");
elp = esp->es_next;
while (elp != (EventListener *)esp) {
- chEvtSignalI(elp->el_listener, elp->el_mask);
+ chEvtSignalFlagsI(elp->el_listener, elp->el_mask | mask);
elp = elp->el_next;
}
}
diff --git a/os/kernel/src/chheap.c b/os/kernel/src/chheap.c index 13db7cf6b..b90b21909 100644 --- a/os/kernel/src/chheap.c +++ b/os/kernel/src/chheap.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -64,7 +65,7 @@ static MemoryHeap default_heap; *
* @notapi
*/
-void heap_init(void) {
+void _heap_init(void) {
default_heap.h_provider = chCoreAlloc;
default_heap.h_free.h.u.next = (union heap_header *)NULL;
default_heap.h_free.h.size = 0;
@@ -79,6 +80,8 @@ void heap_init(void) { * @brief Initializes a memory heap from a static memory area.
* @pre Both the heap buffer base and the heap size must be aligned to
* the @p stkalign_t type size.
+ * @pre In order to use this function the option @p CH_USE_MALLOC_HEAP
+ * must be disabled.
*
* @param[out] heapp pointer to the memory heap descriptor to be initialized
* @param[in] buf heap buffer base
@@ -125,7 +128,7 @@ void *chHeapAlloc(MemoryHeap *heapp, size_t size) { if (heapp == NULL)
heapp = &default_heap;
- size = MEM_ALIGN_SIZE(size);
+ size = MEM_ALIGN_NEXT(size);
qp = &heapp->h_free;
H_LOCK(heapp);
@@ -270,7 +273,7 @@ static Mutex hmtx; static Semaphore hsem;
#endif
-void heap_init(void) {
+void _heap_init(void) {
#if CH_USE_MUTEXES
chMtxInit(&hmtx);
diff --git a/os/kernel/src/chlists.c b/os/kernel/src/chlists.c index 878f1360c..c3168eafe 100644 --- a/os/kernel/src/chlists.c +++ b/os/kernel/src/chlists.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/src/chmboxes.c b/os/kernel/src/chmboxes.c index b2cef2470..af6ee5ea8 100644 --- a/os/kernel/src/chmboxes.c +++ b/os/kernel/src/chmboxes.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -156,6 +157,34 @@ msg_t chMBPostS(Mailbox *mbp, msg_t msg, systime_t time) { }
/**
+ * @brief Posts a message into a mailbox.
+ * @details This variant is non-blocking, the function returns a timeout
+ * condition if the queue is full.
+ *
+ * @param[in] mbp the pointer to an initialized Mailbox object
+ * @param[in] msg the message to be posted on the mailbox
+ * @return The operation status.
+ * @retval RDY_OK if a message has been correctly posted.
+ * @retval RDY_TIMEOUT if the mailbox is full and the message cannot be
+ * posted.
+ *
+ * @iclass
+ */
+msg_t chMBPostI(Mailbox *mbp, msg_t msg) {
+
+ chDbgCheck(mbp != NULL, "chMBPostI");
+
+ if (chSemGetCounterI(&mbp->mb_emptysem) <= 0)
+ return RDY_TIMEOUT;
+ chSemFastWaitI(&mbp->mb_emptysem);
+ *mbp->mb_wrptr++ = msg;
+ if (mbp->mb_wrptr >= mbp->mb_top)
+ mbp->mb_wrptr = mbp->mb_buffer;
+ chSemSignalI(&mbp->mb_fullsem);
+ return RDY_OK;
+}
+
+/**
* @brief Posts an high priority message into a mailbox.
* @details The invoking thread waits until a empty slot in the mailbox becomes
* available or the specified time runs out.
@@ -219,6 +248,34 @@ msg_t chMBPostAheadS(Mailbox *mbp, msg_t msg, systime_t time) { }
/**
+ * @brief Posts an high priority message into a mailbox.
+ * @details This variant is non-blocking, the function returns a timeout
+ * condition if the queue is full.
+ *
+ * @param[in] mbp the pointer to an initialized Mailbox object
+ * @param[in] msg the message to be posted on the mailbox
+ * @return The operation status.
+ * @retval RDY_OK if a message has been correctly posted.
+ * @retval RDY_TIMEOUT if the mailbox is full and the message cannot be
+ * posted.
+ *
+ * @iclass
+ */
+msg_t chMBPostAheadI(Mailbox *mbp, msg_t msg) {
+
+ chDbgCheck(mbp != NULL, "chMBPostAheadI");
+
+ if (chSemGetCounterI(&mbp->mb_emptysem) <= 0)
+ return RDY_TIMEOUT;
+ chSemFastWaitI(&mbp->mb_emptysem);
+ if (--mbp->mb_rdptr < mbp->mb_buffer)
+ mbp->mb_rdptr = mbp->mb_top - 1;
+ *mbp->mb_rdptr = msg;
+ chSemSignalI(&mbp->mb_fullsem);
+ return RDY_OK;
+}
+
+/**
* @brief Retrieves a message from a mailbox.
* @details The invoking thread waits until a message is posted in the mailbox
* or the specified time runs out.
@@ -280,6 +337,33 @@ msg_t chMBFetchS(Mailbox *mbp, msg_t *msgp, systime_t time) { }
return rdymsg;
}
+
+/**
+ * @brief Retrieves a message from a mailbox.
+ * @details This variant is non-blocking, the function returns a timeout
+ * condition if the queue is full.
+ *
+ * @param[in] mbp the pointer to an initialized Mailbox object
+ * @param[out] msgp pointer to a message variable for the received message
+ * @return The operation status.
+ * @retval RDY_OK if a message has been correctly fetched.
+ * @retval RDY_TIMEOUT if the mailbox is empty and a message cannot be
+ * fetched.
+ *
+ * @iclass
+ */
+msg_t chMBFetchI(Mailbox *mbp, msg_t *msgp) {
+
+ chDbgCheck((mbp != NULL) && (msgp != NULL), "chMBFetchI");
+
+ if (chSemGetCounterI(&mbp->mb_fullsem) <= 0)
+ return RDY_TIMEOUT;
+ *msgp = *mbp->mb_rdptr++;
+ if (mbp->mb_rdptr >= mbp->mb_top)
+ mbp->mb_rdptr = mbp->mb_buffer;
+ chSemSignalI(&mbp->mb_emptysem);
+ return RDY_OK;
+}
#endif /* CH_USE_MAILBOXES */
/** @} */
diff --git a/os/kernel/src/chmemcore.c b/os/kernel/src/chmemcore.c index 69d3014a5..311d170c5 100644 --- a/os/kernel/src/chmemcore.c +++ b/os/kernel/src/chmemcore.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -24,18 +25,20 @@ * @addtogroup memcore
* @details Core Memory Manager related APIs and services.
* <h2>Operation mode</h2>
- * The core memory manager is a simplified allocator that only allows
- * to allocate memory blocks without the possibility to free them.<br>
- * This allocator is meant as a memory blocks provider for the other
- * allocators such as:
+ * The core memory manager is a simplified allocator that only
+ * allows to allocate memory blocks without the possibility to
+ * free them.<br>
+ * This allocator is meant as a memory blocks provider for the
+ * other allocators such as:
* - C-Runtime allocator (through a compiler specific adapter module).
* - Heap allocator (see @ref heaps).
* - Memory pools allocator (see @ref pools).
* .
- * By having a centralized memory provider the various allocators can
- * coexist and share the main memory.<br>
- * This allocator, alone, is also useful for very simple applications
- * that just require a simple way to get memory blocks.
+ * By having a centralized memory provider the various allocators
+ * can coexist and share the main memory.<br>
+ * This allocator, alone, is also useful for very simple
+ * applications that just require a simple way to get memory
+ * blocks.
* @pre In order to use the core memory manager APIs the @p CH_USE_MEMCORE
* option must be enabled in @p chconf.h.
* @{
@@ -53,26 +56,24 @@ static uint8_t *endmem; *
* @notapi
*/
-void core_init(void) {
+void _core_init(void) {
#if CH_MEMCORE_SIZE == 0
- extern uint8_t __heap_base__;
- extern uint8_t __heap_end__;
- nextmem = &__heap_base__;
- endmem = &__heap_end__;
+ extern uint8_t __heap_base__[];
+ extern uint8_t __heap_end__[];
+ nextmem = (uint8_t *)MEM_ALIGN_NEXT(__heap_base__);
+ endmem = (uint8_t *)MEM_ALIGN_PREV(__heap_end__);
#else
- static stkalign_t buffer[MEM_ALIGN_SIZE(CH_MEMCORE_SIZE) /
- sizeof(stkalign_t)];
+ static stkalign_t buffer[MEM_ALIGN_NEXT(CH_MEMCORE_SIZE)/MEM_ALIGN_SIZE];
nextmem = (uint8_t *)&buffer[0];
- endmem = (uint8_t *)&buffer[MEM_ALIGN_SIZE(CH_MEMCORE_SIZE) /
- sizeof(stkalign_t)];
+ endmem = (uint8_t *)&buffer[MEM_ALIGN_NEXT(CH_MEMCORE_SIZE)/MEM_ALIGN_SIZE];
#endif
}
/**
* @brief Allocates a memory block.
* @details The size of the returned block is aligned to the alignment
- * type @p stkalign_t so it is not possible to allocate less
- * than <code>sizeof(stkalign_t)</code>.
+ * type so it is not possible to allocate less
+ * than <code>MEM_ALIGN_SIZE</code>.
*
* @param[in] size the size of the block to be allocated
* @return A pointer to the allocated memory block.
@@ -92,8 +93,8 @@ void *chCoreAlloc(size_t size) { /**
* @brief Allocates a memory block.
* @details The size of the returned block is aligned to the alignment
- * type @p align_t so it is not possible to allocate less than
- * <code>sizeof(align_t)</code>.
+ * type so it is not possible to allocate less than
+ * <code>MEM_ALIGN_SIZE</code>.
*
* @param[in] size the size of the block to be allocated.
* @return A pointer to the allocated memory block.
@@ -104,7 +105,7 @@ void *chCoreAlloc(size_t size) { void *chCoreAllocI(size_t size) {
void *p;
- size = MEM_ALIGN_SIZE(size);
+ size = MEM_ALIGN_NEXT(size);
if ((size_t)(endmem - nextmem) < size)
return NULL;
p = nextmem;
diff --git a/os/kernel/src/chmempools.c b/os/kernel/src/chmempools.c index 092944b59..38adc3d49 100644 --- a/os/kernel/src/chmempools.c +++ b/os/kernel/src/chmempools.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -55,7 +56,7 @@ void chPoolInit(MemoryPool *mp, size_t size, memgetfunc_t provider) { chDbgCheck((mp != NULL) && (size >= sizeof(void *)), "chPoolInit");
mp->mp_next = NULL;
- mp->mp_object_size = MEM_ALIGN_SIZE(size);
+ mp->mp_object_size = MEM_ALIGN_NEXT(size);
mp->mp_provider = provider;
}
@@ -75,10 +76,8 @@ void *chPoolAllocI(MemoryPool *mp) { if ((objp = mp->mp_next) != NULL)
mp->mp_next = mp->mp_next->ph_next;
-#if CH_USE_MEMCORE
else if (mp->mp_provider != NULL)
objp = mp->mp_provider(mp->mp_object_size);
-#endif
return objp;
}
diff --git a/os/kernel/src/chmsg.c b/os/kernel/src/chmsg.c index c3b4848b0..5002a892a 100644 --- a/os/kernel/src/chmsg.c +++ b/os/kernel/src/chmsg.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -75,7 +76,7 @@ msg_t chMsgSend(Thread *tp, msg_t msg) { msg_insert(ctp, &tp->p_msgqueue);
if (tp->p_state == THD_STATE_WTMSG)
chSchReadyI(tp);
- chSchGoSleepS(THD_STATE_SNDMSG);
+ chSchGoSleepS(THD_STATE_SNDMSGQ);
msg = ctp->p_u.rdymsg;
chSysUnlock();
return msg;
@@ -83,69 +84,46 @@ msg_t chMsgSend(Thread *tp, msg_t msg) { /**
* @brief Suspends the thread and waits for an incoming message.
- * @post After receiving a message the function @p chMsgRelease() must be
- * invoked in order to acknowledge the reception and send the answer.
+ * @post After receiving a message the function @p chMsgGet() must be
+ * called in order to retrieve the message and then @p chMsgRelease()
+ * must be invoked in order to acknowledge the reception and send
+ * the answer.
* @note If the message is a pointer then you can assume that the data
* pointed by the message is stable until you invoke @p chMsgRelease()
* because the sending thread is suspended until then.
*
- * @return The message.
+ * @return A reference to the thread carrying the message.
*
* @api
*/
-msg_t chMsgWait(void) {
- msg_t msg;
+Thread *chMsgWait(void) {
+ Thread *tp;
chSysLock();
if (!chMsgIsPendingI(currp))
chSchGoSleepS(THD_STATE_WTMSG);
-#if defined(CH_ARCHITECTURE_STM8)
- msg = chMsgGetI((volatile Thread *)currp); /* Temporary hack.*/
-#else
- msg = chMsgGetI(currp);
-#endif
+ tp = fifo_remove(&currp->p_msgqueue);
+ tp->p_state = THD_STATE_SNDMSG;
chSysUnlock();
- return msg;
-}
-
-/**
- * @brief Returns the next message in the queue.
- * @post After receiving a message the function @p chMsgRelease() must be
- * invoked in order to acknowledge the reception and send the answer.
- * @note If the message is a pointer then you can assume that the data
- * pointed by the message is stable until you invoke @p chMsgRelease()
- * because the sending thread is suspended until then.
- *
- * @return The message.
- * @retval 0 if the queue is empty.
- *
- * @api
- */
-msg_t chMsgGet(void) {
- msg_t msg;
-
- chSysLock();
- msg = chMsgIsPendingI(currp) ? chMsgGetI(currp) : (msg_t)NULL;
- chSysUnlock();
- return msg;
+ return tp;
}
/**
* @brief Releases the thread waiting on top of the messages queue.
* @pre Invoke this function only after a message has been received
- * using @p chMsgWait() or @p chMsgGet().
+ * using @p chMsgWait().
*
- * @param[in] msg the message returned to the message sender
+ * @param[in] tp pointer to the thread
+ * @param[in] msg message to be returned to the sender
*
* @api
*/
-void chMsgRelease(msg_t msg) {
+void chMsgRelease(Thread *tp, msg_t msg) {
chSysLock();
- chDbgAssert(chMsgIsPendingI(currp),
- "chMsgRelease(), #1",
- "no message pending");
- chSchWakeupS(fifo_remove(&currp->p_msgqueue), msg);
+ chDbgAssert(tp->p_state == THD_STATE_SNDMSG,
+ "chMsgRelease(), #1", "invalid state");
+ chMsgReleaseS(tp, msg);
chSysUnlock();
}
diff --git a/os/kernel/src/chmtx.c b/os/kernel/src/chmtx.c index b84c4d57e..df71d1cc6 100644 --- a/os/kernel/src/chmtx.c +++ b/os/kernel/src/chmtx.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -133,15 +134,17 @@ void chMtxLockS(Mutex *mp) { prio_insert(dequeue(tp), (ThreadsQueue *)tp->p_u.wtobjp);
tp = ((Mutex *)tp->p_u.wtobjp)->m_owner;
continue;
-#if CH_USE_CONDVARS | CH_USE_SEMAPHORES_PRIORITY | CH_USE_MESSAGES_PRIORITY
+#if CH_USE_CONDVARS | \
+ (CH_USE_SEMAPHORES && CH_USE_SEMAPHORES_PRIORITY) | \
+ (CH_USE_MESSAGES && CH_USE_MESSAGES_PRIORITY)
#if CH_USE_CONDVARS
case THD_STATE_WTCOND:
#endif
-#if CH_USE_SEMAPHORES_PRIORITY
+#if CH_USE_SEMAPHORES && CH_USE_SEMAPHORES_PRIORITY
case THD_STATE_WTSEM:
#endif
-#if CH_USE_MESSAGES_PRIORITY
- case THD_STATE_SNDMSG:
+#if CH_USE_MESSAGES && CH_USE_MESSAGES_PRIORITY
+ case THD_STATE_SNDMSGQ:
#endif
/* Re-enqueues tp with its new priority on the queue.*/
prio_insert(dequeue(tp), (ThreadsQueue *)tp->p_u.wtobjp);
diff --git a/os/kernel/src/chqueues.c b/os/kernel/src/chqueues.c index 8d459a7e8..8532f8307 100644 --- a/os/kernel/src/chqueues.c +++ b/os/kernel/src/chqueues.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -47,6 +48,30 @@ #if CH_USE_QUEUES || defined(__DOXYGEN__)
/**
+ * @brief Puts the invoking thread into the queue's threads queue.
+ *
+ * @param[out] qp pointer to an @p GenericQueue structure
+ * @param[in] time the number of ticks before the operation timeouts,
+ * the following special values are allowed:
+ * - @a TIME_IMMEDIATE immediate timeout.
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return A message specifying how the invoking thread has been
+ * released from threads queue.
+ * @retval Q_OK is the normal exit, thread signaled.
+ * @retval Q_RESET if the queue has been reset.
+ * @retval Q_TIMEOUT if the queue operation timed out.
+ */
+static msg_t qwait(GenericQueue *qp, systime_t time) {
+
+ if (TIME_IMMEDIATE == time)
+ return Q_TIMEOUT;
+ currp->p_u.wtobjp = qp;
+ queue_insert(currp, &qp->q_waiting);
+ return chSchGoSleepTimeoutS(THD_STATE_WTQUEUE, time);
+}
+
+/**
* @brief Initializes an input queue.
* @details A Semaphore is internally initialized and works as a counter of
* the bytes contained in the queue.
@@ -63,28 +88,11 @@ */
void chIQInit(InputQueue *iqp, uint8_t *bp, size_t size, qnotify_t infy) {
+ queue_init(&iqp->q_waiting);
+ iqp->q_counter = 0;
iqp->q_buffer = iqp->q_rdptr = iqp->q_wrptr = bp;
iqp->q_top = bp + size;
iqp->q_notify = infy;
- chSemInit(&iqp->q_sem, 0);
-}
-
-/**
- * @brief Returns the filled space into an input queue.
- *
- * @param[in] iqp pointer to an @p InputQueue structure
- * @return The number of bytes in the queue.
- * @retval 0 if the queue is empty.
- *
- * @iclass
- */
-size_t chIQGetFullI(InputQueue *iqp) {
- cnt_t cnt;
-
- cnt = chQSpaceI(iqp);
- if (cnt < 0)
- return 0;
- return (size_t)cnt;
}
/**
@@ -101,7 +109,9 @@ size_t chIQGetFullI(InputQueue *iqp) { void chIQResetI(InputQueue *iqp) {
iqp->q_rdptr = iqp->q_wrptr = iqp->q_buffer;
- chSemResetI(&iqp->q_sem, 0);
+ iqp->q_counter = 0;
+ while (notempty(&iqp->q_waiting))
+ chSchReadyI(fifo_remove(&iqp->q_waiting))->p_u.rdymsg = Q_RESET;
}
/**
@@ -122,10 +132,14 @@ msg_t chIQPutI(InputQueue *iqp, uint8_t b) { if (chIQIsFullI(iqp))
return Q_FULL;
+ iqp->q_counter++;
*iqp->q_wrptr++ = b;
if (iqp->q_wrptr >= iqp->q_top)
iqp->q_wrptr = iqp->q_buffer;
- chSemSignalI(&iqp->q_sem);
+
+ if (notempty(&iqp->q_waiting))
+ chSchReadyI(fifo_remove(&iqp->q_waiting))->p_u.rdymsg = Q_OK;
+
return Q_OK;
}
@@ -134,6 +148,9 @@ msg_t chIQPutI(InputQueue *iqp, uint8_t b) { * @details This function reads a byte value from an input queue. If the queue
* is empty then the calling thread is suspended until a byte arrives
* in the queue or a timeout occurs.
+ * @note The callback is invoked if the queue is empty before entering the
+ * @p THD_STATE_WTQUEUE state in order to solicit the low level to
+ * start queue filling.
*
* @param[in] iqp pointer to an @p InputQueue structure
* @param[in] time the number of ticks before the operation timeouts,
@@ -143,23 +160,27 @@ msg_t chIQPutI(InputQueue *iqp, uint8_t b) { * .
* @return A byte value from the queue.
* @retval Q_TIMEOUT if the specified time expired.
- * @retval Q_RESET if the queue was reset.
+ * @retval Q_RESET if the queue has been reset.
*
* @api
*/
msg_t chIQGetTimeout(InputQueue *iqp, systime_t time) {
uint8_t b;
- msg_t msg;
chSysLock();
+ while (chIQIsEmptyI(iqp)) {
+ msg_t msg;
- if (iqp->q_notify)
- iqp->q_notify(iqp);
+ if (iqp->q_notify)
+ iqp->q_notify(iqp);
- if ((msg = chSemWaitTimeoutS(&iqp->q_sem, time)) < RDY_OK) {
- chSysUnlock();
- return msg;
+ if ((msg = qwait((GenericQueue *)iqp, time)) < Q_OK) {
+ chSysUnlock();
+ return msg;
+ }
}
+
+ iqp->q_counter--;
b = *iqp->q_rdptr++;
if (iqp->q_rdptr >= iqp->q_top)
iqp->q_rdptr = iqp->q_buffer;
@@ -176,8 +197,9 @@ msg_t chIQGetTimeout(InputQueue *iqp, systime_t time) { * been reset.
* @note The function is not atomic, if you need atomicity it is suggested
* to use a semaphore or a mutex for mutual exclusion.
- * @note The queue callback is invoked before entering a sleep state and at
- * the end of the transfer.
+ * @note The callback is invoked if the queue is empty before entering the
+ * @p THD_STATE_WTQUEUE state in order to solicit the low level to
+ * start queue filling.
*
* @param[in] iqp pointer to an @p InputQueue structure
* @param[out] bp pointer to the data buffer
@@ -201,28 +223,26 @@ size_t chIQReadTimeout(InputQueue *iqp, uint8_t *bp, chSysLock();
while (TRUE) {
- if (chIQIsEmptyI(iqp)) {
+ while (chIQIsEmptyI(iqp)) {
if (nfy)
nfy(iqp);
- if ((chSemWaitTimeoutS(&iqp->q_sem, time) != RDY_OK)) {
+
+ if (qwait((GenericQueue *)iqp, time) != Q_OK) {
chSysUnlock();
return r;
}
}
- else
- chSemFastWaitI(&iqp->q_sem);
+
+ iqp->q_counter--;
*bp++ = *iqp->q_rdptr++;
if (iqp->q_rdptr >= iqp->q_top)
iqp->q_rdptr = iqp->q_buffer;
+
chSysUnlock(); /* Gives a preemption chance in a controlled point.*/
r++;
- if (--n == 0) {
- chSysLock();
- if (nfy)
- nfy(iqp);
- chSysUnlock();
+ if (--n == 0)
return r;
- }
+
chSysLock();
}
}
@@ -244,28 +264,11 @@ size_t chIQReadTimeout(InputQueue *iqp, uint8_t *bp, */
void chOQInit(OutputQueue *oqp, uint8_t *bp, size_t size, qnotify_t onfy) {
+ queue_init(&oqp->q_waiting);
+ oqp->q_counter = size;
oqp->q_buffer = oqp->q_rdptr = oqp->q_wrptr = bp;
oqp->q_top = bp + size;
oqp->q_notify = onfy;
- chSemInit(&oqp->q_sem, (cnt_t)size);
-}
-
-/**
- * @brief Returns the filled space into an output queue.
- *
- * @param[in] oqp pointer to an @p OutputQueue structure
- * @return The number of bytes in the queue.
- * @retval 0 if the queue is empty.
- *
- * @iclass
- */
-size_t chOQGetFullI(OutputQueue *oqp) {
- cnt_t cnt;
-
- cnt = chQSpaceI(oqp);
- if (cnt < 0)
- return chQSizeI(oqp);
- return chQSizeI(oqp) - (size_t)cnt;
}
/**
@@ -282,7 +285,9 @@ size_t chOQGetFullI(OutputQueue *oqp) { void chOQResetI(OutputQueue *oqp) {
oqp->q_rdptr = oqp->q_wrptr = oqp->q_buffer;
- chSemResetI(&oqp->q_sem, (cnt_t)(oqp->q_top - oqp->q_buffer));
+ oqp->q_counter = chQSizeI(oqp);
+ while (notempty(&oqp->q_waiting))
+ chSchReadyI(fifo_remove(&oqp->q_waiting))->p_u.rdymsg = Q_RESET;
}
/**
@@ -290,6 +295,8 @@ void chOQResetI(OutputQueue *oqp) { * @details This function writes a byte value to an output queue. If the queue
* is full then the calling thread is suspended until there is space
* in the queue or a timeout occurs.
+ * @note The callback is invoked after writing the character into the
+ * buffer.
*
* @param[in] oqp pointer to an @p OutputQueue structure
* @param[in] b the byte value to be written in the queue
@@ -301,18 +308,23 @@ void chOQResetI(OutputQueue *oqp) { * @return The operation status.
* @retval Q_OK if the operation succeeded.
* @retval Q_TIMEOUT if the specified time expired.
- * @retval Q_RESET if the queue was reset.
+ * @retval Q_RESET if the queue has been reset.
*
* @api
*/
msg_t chOQPutTimeout(OutputQueue *oqp, uint8_t b, systime_t time) {
- msg_t msg;
chSysLock();
- if ((msg = chSemWaitTimeoutS(&oqp->q_sem, time)) < RDY_OK) {
- chSysUnlock();
- return msg;
+ while (chOQIsFullI(oqp)) {
+ msg_t msg;
+
+ if ((msg = qwait((GenericQueue *)oqp, time)) < Q_OK) {
+ chSysUnlock();
+ return msg;
+ }
}
+
+ oqp->q_counter--;
*oqp->q_wrptr++ = b;
if (oqp->q_wrptr >= oqp->q_top)
oqp->q_wrptr = oqp->q_buffer;
@@ -340,10 +352,14 @@ msg_t chOQGetI(OutputQueue *oqp) { if (chOQIsEmptyI(oqp))
return Q_EMPTY;
+ oqp->q_counter++;
b = *oqp->q_rdptr++;
if (oqp->q_rdptr >= oqp->q_top)
oqp->q_rdptr = oqp->q_buffer;
- chSemSignalI(&oqp->q_sem);
+
+ if (notempty(&oqp->q_waiting))
+ chSchReadyI(fifo_remove(&oqp->q_waiting))->p_u.rdymsg = Q_OK;
+
return b;
}
@@ -355,8 +371,8 @@ msg_t chOQGetI(OutputQueue *oqp) { * been reset.
* @note The function is not atomic, if you need atomicity it is suggested
* to use a semaphore or a mutex for mutual exclusion.
- * @note The queue callback is invoked before entering a sleep state and at
- * the end of the transfer.
+ * @note The callback is invoked after writing each character into the
+ * buffer.
*
* @param[in] oqp pointer to an @p OutputQueue structure
* @param[out] bp pointer to the data buffer
@@ -380,28 +396,24 @@ size_t chOQWriteTimeout(OutputQueue *oqp, const uint8_t *bp, chSysLock();
while (TRUE) {
- if (chOQIsFullI(oqp)) {
- if (nfy)
- nfy(oqp);
- if ((chSemWaitTimeoutS(&oqp->q_sem, time) != RDY_OK)) {
+ while (chOQIsFullI(oqp)) {
+ if (qwait((GenericQueue *)oqp, time) != Q_OK) {
chSysUnlock();
return w;
}
}
- else
- chSemFastWaitI(&oqp->q_sem);
+ oqp->q_counter--;
*oqp->q_wrptr++ = *bp++;
if (oqp->q_wrptr >= oqp->q_top)
oqp->q_wrptr = oqp->q_buffer;
+
+ if (nfy)
+ nfy(oqp);
+
chSysUnlock(); /* Gives a preemption chance in a controlled point.*/
w++;
- if (--n == 0) {
- chSysLock();
- if (nfy)
- nfy(oqp);
- chSysUnlock();
+ if (--n == 0)
return w;
- }
chSysLock();
}
}
diff --git a/os/kernel/src/chregistry.c b/os/kernel/src/chregistry.c index e95ad21a8..9eabe71c0 100644 --- a/os/kernel/src/chregistry.c +++ b/os/kernel/src/chregistry.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/src/chschd.c b/os/kernel/src/chschd.c index 5b04c1f3d..d41649b4c 100644 --- a/os/kernel/src/chschd.c +++ b/os/kernel/src/chschd.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -44,7 +45,7 @@ ReadyList rlist; *
* @notapi
*/
-void scheduler_init(void) {
+void _scheduler_init(void) {
queue_init(&rlist.r_queue);
rlist.r_prio = NOPRIO;
@@ -129,12 +130,16 @@ static void wakeup(void *p) { /* Handling the special case where the thread has been made ready by
another thread with higher priority.*/
return;
-#if CH_USE_SEMAPHORES || (CH_USE_CONDVARS && CH_USE_CONDVARS_TIMEOUT)
+#if CH_USE_SEMAPHORES || CH_USE_QUEUES || \
+ (CH_USE_CONDVARS && CH_USE_CONDVARS_TIMEOUT)
#if CH_USE_SEMAPHORES
case THD_STATE_WTSEM:
chSemFastSignalI((Semaphore *)tp->p_u.wtobjp);
/* Falls into, intentional. */
#endif
+#if CH_USE_QUEUES
+ case THD_STATE_WTQUEUE:
+#endif
#if CH_USE_CONDVARS && CH_USE_CONDVARS_TIMEOUT
case THD_STATE_WTCOND:
#endif
@@ -160,9 +165,7 @@ static void wakeup(void *p) { * - @a TIME_INFINITE the thread enters an infinite sleep
* state, this is equivalent to invoking
* @p chSchGoSleepS() but, of course, less efficient.
- * - @a TIME_IMMEDIATE this value is accepted but
- * interpreted as a normal time specification not as an
- * immediate timeout specification.
+ * - @a TIME_IMMEDIATE this value is not allowed.
* .
* @return The wakeup message.
* @retval RDY_TIMEOUT if a timeout occurs.
diff --git a/os/kernel/src/chsem.c b/os/kernel/src/chsem.c index 18ea9e996..c22a568ea 100644 --- a/os/kernel/src/chsem.c +++ b/os/kernel/src/chsem.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -312,35 +313,32 @@ void chSemSignalI(Semaphore *sp) { }
/**
- * @brief Sets the semaphore counter to the specified value.
- * @post After invoking this function all the threads waiting on the
- * semaphore, if any, are released and the semaphore counter is set
- * to the specified, non negative, value.
+ * @brief Adds the specified value to the semaphore counter.
* @post This function does not reschedule so a call to a rescheduling
* function must be performed before unlocking the kernel. Note that
* interrupt handlers always reschedule on exit so an explicit
* reschedule must not be performed in ISRs.
*
* @param[in] sp pointer to a @p Semaphore structure
- * @param[in] n the new value of the semaphore counter. The value must
- * be non-negative.
+ * @param[in] n value to be added to the semaphore counter. The value
+ * must be positive.
*
* @iclass
*/
-void chSemSetCounterI(Semaphore *sp, cnt_t n) {
- cnt_t cnt;
+void chSemAddCounterI(Semaphore *sp, cnt_t n) {
- chDbgCheck((sp != NULL) && (n >= 0), "chSemSetCounterI");
+ chDbgCheck((sp != NULL) && (n > 0), "chSemAddCounterI");
chDbgAssert(((sp->s_cnt >= 0) && isempty(&sp->s_queue)) ||
((sp->s_cnt < 0) && notempty(&sp->s_queue)),
- "chSemSetCounterI(), #1",
+ "chSemAddCounterI(), #1",
"inconsistent semaphore");
- cnt = sp->s_cnt;
- sp->s_cnt = n;
- while (++cnt <= 0)
- chSchReadyI(lifo_remove(&sp->s_queue))->p_u.rdymsg = RDY_OK;
+ while (n > 0) {
+ if (++sp->s_cnt <= 0)
+ chSchReadyI(fifo_remove(&sp->s_queue))->p_u.rdymsg = RDY_OK;
+ n--;
+ }
}
#if CH_USE_SEMSW
diff --git a/os/kernel/src/chsys.c b/os/kernel/src/chsys.c index 0051985ba..6892ec73a 100644 --- a/os/kernel/src/chsys.c +++ b/os/kernel/src/chsys.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -34,11 +35,12 @@ #include "ch.h"
+#if !CH_NO_IDLE_THREAD || defined(__DOXYGEN__)
/**
* @brief Idle thread working area.
- * @see IDLE_THREAD_STACK_SIZE
+ * @see PORT_IDLE_THREAD_STACK_SIZE
*/
-WORKING_AREA(_idle_thread_wa, IDLE_THREAD_STACK_SIZE);
+WORKING_AREA(_idle_thread_wa, PORT_IDLE_THREAD_STACK_SIZE);
/**
* @brief This function implements the idle thread infinite loop.
@@ -58,6 +60,7 @@ void _idle_thread(void *p) { IDLE_LOOP_HOOK();
}
}
+#endif /* CH_NO_IDLE_THREAD */
/**
* @brief ChibiOS/RT initialization.
@@ -75,16 +78,16 @@ void chSysInit(void) { static Thread mainthread;
port_init();
- scheduler_init();
- vt_init();
+ _scheduler_init();
+ _vt_init();
#if CH_USE_MEMCORE
- core_init();
+ _core_init();
#endif
#if CH_USE_HEAP
- heap_init();
+ _heap_init();
#endif
#if CH_DBG_ENABLE_TRACE
- trace_init();
+ _trace_init();
#endif
/* Now this instructions flow becomes the main thread.*/
@@ -92,11 +95,13 @@ void chSysInit(void) { currp->p_state = THD_STATE_CURRENT;
chSysEnable();
+#if !CH_NO_IDLE_THREAD
/* This thread has the lowest priority in the system, its role is just to
serve interrupts in its context while keeping the lowest energy saving
mode compatible with the system status.*/
chThdCreateStatic(_idle_thread_wa, sizeof(_idle_thread_wa), IDLEPRIO,
(tfunc_t)_idle_thread, NULL);
+#endif
}
/**
diff --git a/os/kernel/src/chthreads.c b/os/kernel/src/chthreads.c index 51efc20d1..7df276bea 100644 --- a/os/kernel/src/chthreads.c +++ b/os/kernel/src/chthreads.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -205,8 +206,7 @@ Thread *chThdCreateStatic(void *wsp, size_t size, tprio_t chThdSetPriority(tprio_t newprio) {
tprio_t oldprio;
- chDbgCheck((newprio >= LOWPRIO) && (newprio <= HIGHPRIO),
- "chThdSetPriority");
+ chDbgCheck(newprio <= HIGHPRIO, "chThdSetPriority");
chSysLock();
#if CH_USE_MUTEXES
@@ -273,16 +273,14 @@ void chThdTerminate(Thread *tp) { * handled as follow:
* - @a TIME_INFINITE the thread enters an infinite sleep
* state.
- * - @a TIME_IMMEDIATE this value is accepted but
- * interpreted as a normal time specification not as an
- * immediate timeout specification.
+ * - @a TIME_IMMEDIATE this value is not allowed.
* .
*
* @api
*/
void chThdSleep(systime_t time) {
- chDbgCheck(time != TIME_INFINITE, "chThdSleep");
+ chDbgCheck(time != TIME_IMMEDIATE, "chThdSleep");
chSysLock();
chThdSleepS(time);
diff --git a/os/kernel/src/chvt.c b/os/kernel/src/chvt.c index b622bb493..4674c728e 100644 --- a/os/kernel/src/chvt.c +++ b/os/kernel/src/chvt.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -39,7 +40,7 @@ VTList vtlist; *
* @notapi
*/
-void vt_init(void) {
+void _vt_init(void) {
vtlist.vt_next = vtlist.vt_prev = (void *)&vtlist;
vtlist.vt_time = (systime_t)-1;
@@ -52,10 +53,12 @@ void vt_init(void) { * the I-Locked state, see @ref system_states.
*
* @param[out] vtp the @p VirtualTimer structure pointer
- * @param[in] time the number of time ticks, the value @p TIME_INFINITE
- * is notallowed. The value @p TIME_IMMEDIATE is allowed
- * but interpreted as a normal time specification not as
- * an immediate timeout specification.
+ * @param[in] time the number of ticks before the operation timeouts, the
+ * special values are handled as follow:
+ * - @a TIME_INFINITE is allowed but interpreted as a
+ * normal time specification.
+ * - @a TIME_IMMEDIATE this value is not allowed.
+ * .
* @param[in] vtfunc the timer callback function. After invoking the
* callback the timer is disabled and the structure can
* be disposed or reused.
@@ -67,7 +70,7 @@ void vt_init(void) { void chVTSetI(VirtualTimer *vtp, systime_t time, vtfunc_t vtfunc, void *par) {
VirtualTimer *p;
- chDbgCheck((vtp != NULL) && (vtfunc != NULL) && (time != TIME_INFINITE),
+ chDbgCheck((vtp != NULL) && (vtfunc != NULL) && (time != TIME_IMMEDIATE),
"chVTSetI");
vtp->vt_par = par;
diff --git a/os/kernel/templates/chconf.h b/os/kernel/templates/chconf.h index 3353391ca..c9c4c286a 100644 --- a/os/kernel/templates/chconf.h +++ b/os/kernel/templates/chconf.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -83,12 +84,29 @@ *
* @note In order to let the OS manage the whole RAM the linker script must
* provide the @p __heap_base__ and @p __heap_end__ symbols.
- * @note Requires @p CH_USE_COREMEM.
+ * @note Requires @p CH_USE_MEMCORE.
*/
#if !defined(CH_MEMCORE_SIZE) || defined(__DOXYGEN__)
#define CH_MEMCORE_SIZE 0
#endif
+/**
+ * @brief Idle thread automatic spawn suppression.
+ * @details When this option is activated the function @p chSysInit()
+ * does not spawn the idle thread automatically. The application has
+ * then the responsibility to do one of the following:
+ * - Spawn a custom idle thread at priority @p IDLEPRIO.
+ * - Change the main() thread priority to @p IDLEPRIO then enter
+ * an endless loop. In this scenario the @p main() thread acts as
+ * the idle thread.
+ * .
+ * @note Unless an idle thread is spawned the @p main() thread must not
+ * enter a sleep state.
+ */
+#if !defined(CH_NO_IDLE_THREAD) || defined(__DOXYGEN__)
+#define CH_NO_IDLE_THREAD FALSE
+#endif
+
/*===========================================================================*/
/* Performance options. */
/*===========================================================================*/
@@ -105,26 +123,6 @@ #define CH_OPTIMIZE_SPEED TRUE
#endif
-/**
- * @brief Exotic optimization.
- * @details If defined then a CPU register is used as storage for the global
- * @p currp variable. Caching this variable in a register greatly
- * improves both space and time OS efficiency. A side effect is that
- * one less register has to be saved during the context switch
- * resulting in lower RAM usage and faster context switch.
- *
- * @note This option is only usable with the GCC compiler and is only useful
- * on processors with many registers like ARM cores.
- * @note If this option is enabled then ALL the libraries linked to the
- * ChibiOS/RT code <b>must</b> be recompiled with the GCC option @p
- * -ffixed-@<reg@>.
- * @note This option must be enabled in the Makefile, it is listed here for
- * documentation only.
- */
-#if defined(__DOXYGEN__)
-#define CH_CURRP_REGISTER_CACHE "reg"
-#endif
-
/*===========================================================================*/
/* Subsystem options. */
/*===========================================================================*/
@@ -280,7 +278,6 @@ * @details If enabled then the I/O queues APIs are included in the kernel.
*
* @note The default is @p TRUE.
- * @note Requires @p CH_USE_SEMAPHORES.
*/
#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)
#define CH_USE_QUEUES TRUE
@@ -303,7 +300,7 @@ * in the kernel.
*
* @note The default is @p TRUE.
- * @note Requires @p CH_USE_COREMEM and either @p CH_USE_MUTEXES or
+ * @note Requires @p CH_USE_MEMCORE and either @p CH_USE_MUTEXES or
* @p CH_USE_SEMAPHORES.
* @note Mutexes are recommended.
*/
@@ -318,7 +315,7 @@ *
* @note The default is @p FALSE.
* @note Requires @p CH_USE_HEAP.
- * @note The C-runtime may or may not require @p CH_USE_COREMEM, see the
+ * @note The C-runtime may or may not require @p CH_USE_MEMCORE, see the
* appropriate documentation.
*/
#if !defined(CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)
diff --git a/os/kernel/templates/chcore.c b/os/kernel/templates/chcore.c index c2737b04a..74281f759 100644 --- a/os/kernel/templates/chcore.c +++ b/os/kernel/templates/chcore.c @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
diff --git a/os/kernel/templates/chcore.h b/os/kernel/templates/chcore.h index 69c37b24d..5c8236c7b 100644 --- a/os/kernel/templates/chcore.h +++ b/os/kernel/templates/chcore.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -30,6 +31,48 @@ #ifndef _CHCORE_H_
#define _CHCORE_H_
+/*===========================================================================*/
+/* Port constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Port macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Port configurable parameters. */
+/*===========================================================================*/
+
+/**
+ * @brief Stack size for the system idle thread.
+ * @details This size depends on the idle thread implementation, usually
+ * the idle thread should take no more space than those reserved
+ * by @p PORT_INT_REQUIRED_STACK.
+ */
+#ifndef PORT_IDLE_THREAD_STACK_SIZE
+#define PORT_IDLE_THREAD_STACK_SIZE 0
+#endif
+
+/**
+ * @brief Per-thread stack overhead for interrupts servicing.
+ * @details This constant is used in the calculation of the correct working
+ * area size.
+ * This value can be zero on those architecture where there is a
+ * separate interrupt stack and the stack space between @p intctx and
+ * @p extctx is known to be zero.
+ */
+#ifndef PORT_INT_REQUIRED_STACK
+#define PORT_INT_REQUIRED_STACK 0
+#endif
+
+/*===========================================================================*/
+/* Port derived parameters. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Port exported info. */
+/*===========================================================================*/
+
/**
* @brief Unique macro for the implemented architecture.
*/
@@ -38,12 +81,26 @@ /**
* @brief Name of the implemented architecture.
*/
-#define CH_ARCHITECTURE_NAME ""
+#define CH_ARCHITECTURE_NAME ""
/**
* @brief Name of the architecture variant (optional).
*/
-#define CH_ARCHITECTURE_VARIANT_NAME ""
+#define CH_ARCHITECTURE_VARIANT_NAME ""
+
+/**
+ * @brief Name of the compiler supported by this port.
+ */
+#define CH_COMPILER_NAME "GCC"
+
+/**
+ * @brief Port-specific information string.
+ */
+#define CH_PORT_INFO ""
+
+/*===========================================================================*/
+/* Port implementation part. */
+/*===========================================================================*/
/**
* @brief Base type for stack and memory alignment.
@@ -84,28 +141,6 @@ struct context { }
/**
- * @brief Stack size for the system idle thread.
- * @details This size depends on the idle thread implementation, usually
- * the idle thread should take no more space than those reserved
- * by @p INT_REQUIRED_STACK.
- */
-#ifndef IDLE_THREAD_STACK_SIZE
-#define IDLE_THREAD_STACK_SIZE 0
-#endif
-
-/**
- * @brief Per-thread stack overhead for interrupts servicing.
- * @details This constant is used in the calculation of the correct working
- * area size.
- * This value can be zero on those architecture where there is a
- * separate interrupt stack and the stack space between @p intctx and
- * @p extctx is known to be zero.
- */
-#ifndef INT_REQUIRED_STACK
-#define INT_REQUIRED_STACK 0
-#endif
-
-/**
* @brief Enforces a correct alignment for a stack area size value.
*/
#define STACK_ALIGN(n) ((((n) - 1) | (sizeof(stkalign_t) - 1)) + 1)
@@ -116,7 +151,7 @@ struct context { #define THD_WA_SIZE(n) STACK_ALIGN(sizeof(Thread) + \
sizeof(struct intctx) + \
sizeof(struct extctx) + \
- (n) + (INT_REQUIRED_STACK))
+ (n) + (PORT_INT_REQUIRED_STACK))
/**
* @brief Static working area allocation.
diff --git a/os/kernel/templates/chtypes.h b/os/kernel/templates/chtypes.h index 9be581d33..8b25e598c 100644 --- a/os/kernel/templates/chtypes.h +++ b/os/kernel/templates/chtypes.h @@ -1,5 +1,6 @@ /*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -105,7 +106,7 @@ typedef int32_t cnt_t; * a pointer to a ROMCONST constant is compatible with a pointer
* to a normal variable. It is just like the "const" keyword but
* requires that the constant is placed in ROM if the architecture
- * supports it. + * supports it.
*/
#define ROMCONST const
|