git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1745 35acf78f-673a-0410-8e92-d51de3d6d3f4

2010-03-16 15:43:23 +00:00 · 2010-03-16 15:43:23 +00:00 · 0eed163a69
parent c7add28f3b
commit 0eed163a69
8 changed files with 250 additions and 60 deletions
--- a/docs/Doxyfile
+++ b/docs/Doxyfile
@ -511,7 +511,7 @@ FILE_VERSION_FILTER    =
 # file name after the option, if omitted DoxygenLayout.xml will be used as the name
 # of the layout file.

-LAYOUT_FILE            =
+LAYOUT_FILE            = ./rsc/layout.xml

 #---------------------------------------------------------------------------
 # configuration options related to warning and progress messages
--- a/docs/reports/SPC563M64-80.txt
+++ b/docs/reports/SPC563M64-80.txt
@ -92,7 +92,7 @@ Settings: SYSCLK=80, optimal wait states, prefetching enabled
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.1 (Benchmark, messages #1)
--- Score : 280181 msgs/S, 560362 ctxswc/S
+--- Score : 280180 msgs/S, 560360 ctxswc/S
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.2 (Benchmark, messages #2)
@ -120,7 +120,7 @@ Settings: SYSCLK=80, optimal wait states, prefetching enabled
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.8 (Benchmark, round robin context switching)
--- Score : 654408 reschedulations/S, 654408 ctxswc/S
+--- Score : 614140 reschedulations/S, 614140 ctxswc/S
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.9 (Benchmark, I/O Queues throughput)
@ -128,7 +128,7 @@ Settings: SYSCLK=80, optimal wait states, prefetching enabled
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.10 (Benchmark, virtual timers set/reset)
--- Score : 1093662 timers/S
+--- Score : 1093664 timers/S
 --- Result: SUCCESS
 ----------------------------------------------------------------------------
 --- Test Case 11.11 (Benchmark, semaphores wait/signal)
--- a/docs/rsc/layout.xml
+++ b/docs/rsc/layout.xml
@ -0,0 +1,184 @@
+<doxygenlayout version="1.0">
+  <!-- Navigation index tabs for HTML output -->
+  <navindex>
+    <tab type="mainpage" visible="yes" title=""/>
+    <tab type="pages" visible="yes" title=""/>
+    <tab type="modules" visible="yes" title=""/>
+    <tab type="namespaces" visible="yes" title="">
+      <tab type="namespaces" visible="yes" title=""/>
+      <tab type="namespacemembers" visible="yes" title=""/>
+    </tab>
+    <tab type="classes" visible="yes" title="">
+      <tab type="classes" visible="yes" title=""/>
+      <tab type="classindex" visible="$ALPHABETICAL_INDEX" title=""/> 
+      <tab type="hierarchy" visible="yes" title=""/>
+      <tab type="classmembers" visible="yes" title=""/>
+    </tab>
+    <tab type="files" visible="yes" title="">
+      <tab type="files" visible="yes" title=""/>
+      <tab type="globals" visible="yes" title=""/>
+    </tab>
+    <tab type="dirs" visible="yes" title=""/>
+    <tab type="examples" visible="yes" title=""/>  
+  </navindex>
+
+  <!-- Layout definition for a class page -->
+  <class>
+    <briefdescription visible="yes"/>
+    <includes visible="$SHOW_INCLUDE_FILES"/>
+    <inheritancegraph visible="$CLASS_GRAPH"/>
+    <collaborationgraph visible="$COLLABORATION_GRAPH"/>
+    <allmemberslink visible="yes"/>
+    <memberdecl>
+      <nestedclasses visible="yes" title=""/>
+      <publictypes title=""/>
+      <publicslots title=""/>
+      <signals title=""/>
+      <publicmethods title=""/>
+      <publicstaticmethods title=""/>
+      <publicattributes title=""/>
+      <publicstaticattributes title=""/>
+      <protectedtypes title=""/>
+      <protectedslots title=""/>
+      <protectedmethods title=""/>
+      <protectedstaticmethods title=""/>
+      <protectedattributes title=""/>
+      <protectedstaticattributes title=""/>
+      <packagetypes title=""/>
+      <packagemethods title=""/>
+      <packagestaticmethods title=""/>
+      <packageattributes title=""/>
+      <packagestaticattributes title=""/>
+      <properties title=""/>
+      <events title=""/>
+      <privatetypes title=""/>
+      <privateslots title=""/>
+      <privatemethods title=""/>
+      <privatestaticmethods title=""/>
+      <privateattributes title=""/>
+      <privatestaticattributes title=""/>
+      <friends title=""/>
+      <related title="" subtitle=""/>
+      <membergroups visible="yes"/>
+    </memberdecl>
+    <detaileddescription title=""/>
+    <memberdef>
+      <typedefs title=""/>
+      <enums title=""/>
+      <constructors title=""/>
+      <functions title=""/>
+      <related title=""/>
+      <variables title=""/>
+      <properties title=""/>
+      <events title=""/>
+    </memberdef>
+    <usedfiles visible="$SHOW_USED_FILES"/>
+    <authorsection visible="yes"/>
+  </class>
+
+  <!-- Layout definition for a namespace page -->
+  <namespace>
+    <briefdescription visible="yes"/>
+    <memberdecl>
+      <nestednamespaces visible="yes" title=""/>
+      <classes visible="yes" title=""/>
+      <typedefs title=""/>
+      <enums title=""/>
+      <functions title=""/>
+      <variables title=""/>
+      <membergroups visible="yes"/>
+    </memberdecl>
+    <detaileddescription title=""/>
+    <memberdef>
+      <typedefs title=""/>
+      <enums title=""/>
+      <functions title=""/>
+      <variables title=""/>
+    </memberdef>
+    <authorsection visible="yes"/>
+  </namespace>
+
+  <!-- Layout definition for a file page -->
+  <file>
+    <briefdescription visible="yes"/>
+    <includes visible="$SHOW_INCLUDE_FILES"/>
+    <includegraph visible="$INCLUDE_GRAPH"/>
+    <includedbygraph visible="$INCLUDED_BY_GRAPH"/>
+    <sourcelink visible="yes"/>
+    <memberdecl>
+      <classes visible="yes" title=""/>
+      <namespaces visible="yes" title=""/>
+      <defines title=""/>
+      <typedefs title=""/>
+      <enums title=""/>
+      <functions title=""/>
+      <variables title=""/>
+      <membergroups visible="yes"/>
+    </memberdecl>
+    <detaileddescription title=""/>
+    <memberdef>
+      <defines title=""/>
+      <typedefs title=""/>
+      <enums title=""/>
+      <functions title=""/>
+      <variables title=""/>
+    </memberdef>
+    <authorsection/>
+  </file>
+
+  <!-- Layout definition for a group page -->
+  <group>
+    <briefdescription visible="yes"/>
+    <groupgraph visible="$GROUP_GRAPHS"/>
+    <detaileddescription title="Description"/>
+    <memberdecl>
+      <classes visible="yes" title=""/>
+      <namespaces visible="yes" title=""/>
+      <dirs visible="yes" title=""/>
+      <nestedgroups visible="yes" title=""/>
+      <files visible="yes" title=""/>
+      <defines title=""/>
+      <typedefs title=""/>
+      <enums title=""/>
+      <enumvalues title=""/>
+      <functions title=""/>
+      <variables title=""/>
+      <signals title=""/>
+      <publicslots title=""/>
+      <protectedslots title=""/>
+      <privateslots title=""/>
+      <events title=""/>
+      <properties title=""/>
+      <friends title=""/>
+      <membergroups visible="yes"/>
+    </memberdecl>
+    <memberdef>
+      <pagedocs/>
+      <defines title=""/>
+      <typedefs title=""/>
+      <enums title=""/>
+      <enumvalues title=""/>
+      <functions title=""/>
+      <variables title=""/>
+      <signals title=""/>
+      <publicslots title=""/>
+      <protectedslots title=""/>
+      <privateslots title=""/>
+      <events title=""/>
+      <properties title=""/>
+      <friends title=""/>
+    </memberdef>
+    <authorsection visible="yes"/>
+  </group>
+
+  <!-- Layout definition for a directory page -->
+  <directory>
+    <briefdescription visible="yes"/>
+    <directorygraph visible="yes"/>
+    <memberdecl>
+      <dirs visible="yes"/>
+      <files visible="yes"/>
+    </memberdecl>
+    <detaileddescription title=""/>
+  </directory>
+</doxygenlayout>
--- a/os/kernel/include/chschd.h
+++ b/os/kernel/include/chschd.h
@ -66,6 +66,7 @@
 *
 * @brief   Ready list header.
 */
+#if !defined(PORT_OPTIMIZED_READYLIST_STRUCT) || defined(__DOXYGEN__)
 typedef struct {
  ThreadsQueue          r_queue;    /**< @brief Threads queue.              */
  tprio_t               r_prio;     /**< @brief This field must be
@ -85,10 +86,11 @@ typedef struct {
                                                thread.                     */
 #endif
 } ReadyList;
+#endif /* !defined(PORT_OPTIMIZED_READYLIST_STRUCT) */

-#if !defined(__DOXYGEN__)
+#if !defined(PORT_OPTIMIZED_RLIST_EXT) && !defined(__DOXYGEN__)
 extern ReadyList rlist;
-#endif
+#endif /* !defined(PORT_OPTIMIZED_RLIST_EXT) */

 #ifdef CH_CURRP_REGISTER_CACHE
 register Thread *currp asm(CH_CURRP_REGISTER_CACHE);
@ -115,19 +117,35 @@ extern "C" {
 }
 #endif

-/**
- * @brief   Determines if yielding is possible.
- * @details This function returns @p TRUE if there is a ready thread with
- *          equal or higher priority.
- */
-#define chSchCanYieldS() (firstprio(&rlist.r_queue) >= currp->p_prio)
-
 /**
 * @brief   Determines if the current thread must reschedule.
 * @details This function returns @p TRUE if there is a ready thread with
 *          higher priority.
 */
+#if !defined(PORT_OPTIMIZED_ISRESCHREQUIREDI) && !defined(__DOXYGEN__)
 #define chSchIsRescRequiredI() (firstprio(&rlist.r_queue) > currp->p_prio)
+#endif /* !defined(PORT_OPTIMIZED_ISRESCHREQUIREDI) */
+
+/**
+ * @brief   Determines if yielding is possible.
+ * @details This function returns @p TRUE if there is a ready thread with
+ *          equal or higher priority.
+ */
+#if !defined(PORT_OPTIMIZED_CANYIELDS) && !defined(__DOXYGEN__)
+#define chSchCanYieldS() (firstprio(&rlist.r_queue) >= currp->p_prio)
+#endif /* !defined(PORT_OPTIMIZED_CANYIELDS) */
+
+/**
+ * @brief   Yields the time slot.
+ * @details Yields the CPU control to the next thread in the ready list with
+ *          equal or higher priority, if any.
+ */
+#if !defined(PORT_OPTIMIZED_DOYIELDS) || defined(__DOXYGEN__)
+#define chSchDoYieldS(void) {                                               \
+  if (chSchCanYieldS())                                                     \
+    chSchDoRescheduleI();                                                   \
+}
+#endif /* !defined(PORT_OPTIMIZED_DOYIELDS) */

 #endif /* _CHSCHD_H_ */

--- a/os/kernel/kernel.dox
+++ b/os/kernel/kernel.dox
@ -61,18 +61,6 @@
 * @ingroup base
 */

-/**
- * @defgroup scheduler Scheduler
- * ChibiOS/RT scheduler APIs and macros.
- * @ingroup base
- */
-
-/**
- * @defgroup threads Threads
- * Threads related APIs.
- * @ingroup base
- */
-
 /**
 * @defgroup synchronization Synchronization
 * Synchronization services.
--- a/os/kernel/src/chschd.c
+++ b/os/kernel/src/chschd.c
@ -21,7 +21,13 @@
 * @file    chschd.c
 * @brief   Scheduler code.
 *
- * @addtogroup scheduler
+ * @defgroup scheduler Scheduler
+ * @ingroup base
+ * @details This module provides the default portable scheduler code,
+ *          scheduler functions can be individually captured by the port
+ *          layer in order to provide architecture optimized equivalents.
+ *          When a function is captured its default code is not built into
+ *          the OS image, the optimized version is included instead.
 * @{
 */

@ -30,7 +36,9 @@
 /**
 * @brief   Ready list header.
 */
+#if !defined(PORT_OPTIMIZED_RLIST_VAR) || defined(__DOXYGEN__)
 ReadyList rlist;
+#endif /* !defined(PORT_OPTIMIZED_RLIST_VAR) */

 /**
 * @brief   Scheduler initialization.
@ -56,6 +64,7 @@ void scheduler_init(void) {
 * @param[in] tp        the Thread to be made ready
 * @return              The Thread pointer.
 */
+#if !defined(PORT_OPTIMIZED_READYI) || defined(__DOXYGEN__)
 #if CH_OPTIMIZE_SPEED
 /* NOTE: it is inlined in this module only.*/
 INLINE Thread *chSchReadyI(Thread *tp) {
@ -74,6 +83,7 @@ Thread *chSchReadyI(Thread *tp) {
  tp->p_prev->p_next = cp->p_prev = tp;
  return tp;
 }
+#endif /* !defined(PORT_OPTIMIZED_READYI) */

 /**
 * @brief   Puts the current thread to sleep into the specified state.
@ -82,6 +92,7 @@ Thread *chSchReadyI(Thread *tp) {
 *
 * @param[in] newstate  the new thread state
 */
+#if !defined(PORT_OPTIMIZED_GOSLEEPS) || defined(__DOXYGEN__)
 void chSchGoSleepS(tstate_t newstate) {
  Thread *otp;

@ -93,6 +104,7 @@ void chSchGoSleepS(tstate_t newstate) {
  chDbgTrace(currp, otp);
  chSysSwitchI(currp, otp);
 }
+#endif /* !defined(PORT_OPTIMIZED_GOSLEEPS) */

 /*
 * Timeout wakeup callback.
@ -169,6 +181,7 @@ msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
 * @param[in] ntp       the Thread to be made ready
 * @param[in] msg       message to the awakened thread
 */
+#if !defined(PORT_OPTIMIZED_WAKEUPS) || defined(__DOXYGEN__)
 void chSchWakeupS(Thread *ntp, msg_t msg) {

  ntp->p_u.rdymsg = msg;
@ -189,12 +202,14 @@ void chSchWakeupS(Thread *ntp, msg_t msg) {
    chSysSwitchI(ntp, otp);
  }
 }
+#endif /* !defined(PORT_OPTIMIZED_WAKEUPS) */

 /**
 * @brief   Switches to the first thread on the runnable queue.
 * @note    It is intended to be called if @p chSchRescRequiredI() evaluates
 *          to @p TRUE.
 */
+#if !defined(PORT_OPTIMIZED_DORESCHEDULEI) || defined(__DOXYGEN__)
 void chSchDoRescheduleI(void) {
  Thread *otp, *ntp;

@ -202,23 +217,26 @@ void chSchDoRescheduleI(void) {
  rlist.r_preempt = CH_TIME_QUANTUM;
 #endif
  otp = currp;
-  /* Pick the first thread from the ready queue and makes it current.*/
+  /* Picks the first thread from the ready queue and makes it current.*/
  (currp = ntp = fifo_remove(&rlist.r_queue))->p_state = THD_STATE_CURRENT;
  chSchReadyI(otp);
  chDbgTrace(ntp, otp);
  chSysSwitchI(ntp, otp);
 }
+#endif /* !defined(PORT_OPTIMIZED_DORESCHEDULEI) */

 /**
 * @brief   Performs a reschedulation if a higher priority thread is runnable.
 * @details If a thread with a higher priority than the current thread is in
 *          the ready list then make the higher priority thread running.
 */
+#if !defined(PORT_OPTIMIZED_RESCHEDULES) || defined(__DOXYGEN__)
 void chSchRescheduleS(void) {

  if (chSchIsRescRequiredI())
    chSchDoRescheduleI();
 }
+#endif /* !defined(PORT_OPTIMIZED_RESCHEDULES) */

 /**
 * @brief   Evaluates if a reschedulation is required.
@ -230,6 +248,7 @@ void chSchRescheduleS(void) {
 * @retval TRUE         if there is a thread that should go in running state.
 * @retval FALSE        if a reschedulation is not required.
 */
+#if !defined(PORT_OPTIMIZED_ISRESCHREQUIREDEXI) || defined(__DOXYGEN__)
 bool_t chSchIsRescRequiredExI(void) {
  tprio_t p1 = firstprio(&rlist.r_queue);
  tprio_t p2 = currp->p_prio;
@ -245,37 +264,6 @@ bool_t chSchIsRescRequiredExI(void) {
  return p1 > p2;
 #endif
 }
-
-/**
- * @brief   Yields the time slot.
- * @details Yields the CPU control to the next thread in the ready list with
- *          equal priority, if any.
- */
-void chSchDoYieldS(void) {
-
-  if (chSchCanYieldS()) {
-    Thread *cp = (Thread *)&rlist.r_queue;
-    Thread *otp = currp;
-
-    /* Note, the following insertion code works because we know that on the
-       ready list there is at least one thread with priority equal or higher
-       than the current one.*/
-    otp->p_state = THD_STATE_READY;
-    do {
-      cp = cp->p_prev;
-    } while (cp->p_prio < otp->p_prio);
-    /* Insertion on p_next.*/
-    otp->p_next = (otp->p_prev = cp)->p_next;
-    otp->p_next->p_prev = cp->p_next = otp;
-
-    /* Pick the first thread from the ready queue and makes it current.*/
-    (currp = fifo_remove(&rlist.r_queue))->p_state = THD_STATE_CURRENT;
-#if CH_TIME_QUANTUM > 0
-    rlist.r_preempt = CH_TIME_QUANTUM;
-#endif
-    chDbgTrace(currp, otp);
-    chSysSwitchI(currp, otp);
-  }
-}
+#endif /* !defined(PORT_OPTIMIZED_ISRESCHREQUIREDEXI) */

 /** @} */
--- a/os/kernel/src/chthreads.c
+++ b/os/kernel/src/chthreads.c
@ -21,7 +21,12 @@
 * @file    chthreads.c
 * @brief   Threads code.
 *
- * @addtogroup threads
+ * @defgroup threads Threads
+ * @ingroup base
+ * @details This module contains all the threads related APIs, creation,
+ *          termination, synchronization, delay etc. Dynamic variants of
+ *          the base static API are also included.
+ *
 * @{
 */

--- a/readme.txt
+++ b/readme.txt
@ -65,9 +65,16 @@
  subdirectory, this should make things easier for RIDE7 users. The normal
  makefile is still available of course.
 - NEW: New article in the documentation. Fixed an orphaned page (STM8 port).
+- NEW: The port layer now can "capture" the implementation of individual
+  scheduler API functions in order to provide architecture-optimized
+  versions. This is done because further scheduler optimizations are
+  becoming increasingly pointless without considering architecture and
+  compiler related constraints.
 - OPT: Optimization on the interface between scheduler and port layer, now
  the kernel is even smaller and the context switch performance improved
  quite a bit on all the supported architectures.
+- OPT: Simplified the implementation of chSchYieldS() and made it a macro.
+  The previous implementation was probably overkill and took too much space.

 *** 1.5.3 ***
 - FIX: Removed C99-style variables declarations (bug 2964418)(backported