git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@225 35acf78f-673a-0410-8e92-d51de3d6d3f4

readme.txt

@@ -63,11 +63,13 @@ AVR-AT90CANx-GCC       - Port on AVR AT90CAN128, not tested on hardware yet.
 *** 0.6.1 ***
 - Removed some redundant checks from the scheduler code: improved threads
   flyback time.
-- Manual optimization in chSchReadyI(), it seems GCC is missing some obvious
-  code optimizations here. Both code size and speed improved.
+- Huge scheduler speed improvement obtained by removing the 2nd parameter to
+  the chSchReadyI() API and manually assigning the message value only where
+  is really needed (very few points in the code).
 - Removed the -falign-functions=16 option from the AT91SAM7X demo makefiles,
   the Atmel chip does not require it, the option is still present on the
   LPC21xx demos. This saves significant ROM space.
+- Fixes to the doxigen documentation.
 
 *** 0.6.0 ***
 - Code refactory, all the old sized-integer definitions like LONG32, UWORD16

src/chevents.c

@@ -114,7 +114,7 @@ void chEvtSendI(EventSource *esp) {
 
     tp->p_epending |= EventMask(elp->el_id);
     if ((tp->p_state == PRWTEVENT) && (tp->p_epending & tp->p_ewmask))
-      chSchReadyI(tp, RDY_OK);
+      chSchReadyI(tp)->p_rdymsg = RDY_OK;
     elp = elp->el_next;
   }
 }

src/chmsg.c

@@ -47,7 +47,7 @@ msg_t chMsgSend(Thread *tp, msg_t msg) {
   currp->p_msg = msg;
   currp->p_wtthdp = tp;
   if (tp->p_state == PRWTMSG)
-    chSchReadyI(tp, RDY_OK);
+    chSchReadyI(tp);
   chSchGoSleepS(PRSNDMSG);
   msg = currp->p_rdymsg;
 

src/chmtx.c

@@ -79,7 +79,7 @@ void chMtxLockS(Mutex *mp) {
           prio_insert(dequeue(tp), &tp->p_wtthdp->p_msgqueue);
 #endif
       case PRREADY:
-        chSchReadyI(dequeue(tp), RDY_OK);
+        chSchReadyI(dequeue(tp));
       }
       break;
     }
@@ -209,7 +209,7 @@ void chMtxUnlockS(void) {
       mp = mp->m_next;
     }
     currp->p_prio = newprio;
-    chSchReadyI(tp, RDY_OK);
+    chSchReadyI(tp);
   }
 }
 
@@ -229,7 +229,7 @@ void chMtxUnlockAll(void) {
       currp->p_mtxlist = mp->m_next;
       mp->m_owner = NULL;
       if (chMtxQueueNotEmptyS(mp))
-        chSchReadyI(fifo_remove(&mp->m_queue), RDY_OK);
+        chSchReadyI(fifo_remove(&mp->m_queue));
     } while (currp->p_mtxlist != NULL);
     currp->p_prio = currp->p_realprio;
     chSchRescheduleS();

src/chschd.c

@@ -45,7 +45,6 @@ void chSchInit(void) {
 /**
  * Inserts a thread in the Ready List.
  * @param tp the Thread to be made ready
- * @param msg message to the awakened thread
  * @return the Thread pointer
  * @note The function must be called in the system mutex zone.
  * @note The function does not reschedule, the \p chSchRescheduleS() should
@@ -54,20 +53,21 @@ void chSchInit(void) {
  */
 #ifdef CH_OPTIMIZE_SPEED
 /* NOTE: it is inlined in this module only.*/
-INLINE void chSchReadyI(Thread *tp, msg_t msg) {
+INLINE Thread *chSchReadyI(Thread *tp) {
 #else
-void chSchReadyI(Thread *tp, msg_t msg) {
+void chSchReadyI(Thread *tp) {
 #endif
   Thread *cp;
 
   tp->p_state = PRREADY;
-  tp->p_rdymsg = msg;
+//  tp->p_rdymsg = RDY_OK;
   cp = rlist.r_queue.p_next;
   while (cp->p_prio >= tp->p_prio)
     cp = cp->p_next;
   /* Insertion on p_prev.*/
   tp->p_prev = (tp->p_next = cp)->p_prev;
   tp->p_prev->p_next = cp->p_prev = tp;
+  return tp;
 }
 
 /**
@@ -75,7 +75,6 @@ void chSchReadyI(Thread *tp, msg_t msg) {
  * priority thread becomes running. The threads states are described into
  * \p threads.h
  * @param newstate the new thread state
- * @return the wakeup message
  * @note The function must be called in the system mutex zone.
  * @note The function is not meant to be used in the user code directly.
  */
@@ -101,7 +100,7 @@ static void wakeup(void *p) {
   if (((Thread *)p)->p_state == PRWTSEM)
     chSemFastSignalI(((Thread *)p)->p_wtsemp);
 #endif
-  chSchReadyI(p, RDY_TIMEOUT);
+  chSchReadyI(p)->p_rdymsg = RDY_TIMEOUT;;
 }
 
 /**
@@ -138,12 +137,12 @@ msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
  */
 void chSchWakeupS(Thread *ntp, msg_t msg) {
 
+  ntp->p_rdymsg = msg;
   if (ntp->p_prio <= currp->p_prio)
-    chSchReadyI(ntp, msg);
+    chSchReadyI(ntp);
   else {
     Thread *otp = currp;
-    ntp->p_rdymsg = msg;
-    chSchReadyI(otp, RDY_OK);
+    chSchReadyI(otp);
     (currp = ntp)->p_state = PRCURR;
     rlist.r_preempt = CH_TIME_QUANTUM;
 #ifdef CH_USE_TRACE
@@ -160,7 +159,7 @@ void chSchWakeupS(Thread *ntp, msg_t msg) {
 void chSchDoRescheduleI(void) {
   Thread *otp = currp;
 
-  chSchReadyI(otp, RDY_OK);
+  chSchReadyI(otp);
   (currp = fifo_remove(&rlist.r_queue))->p_state = PRCURR;
   rlist.r_preempt = CH_TIME_QUANTUM;
 #ifdef CH_USE_TRACE

src/chsem.c

@@ -72,7 +72,7 @@ void chSemResetI(Semaphore *sp, cnt_t n) {
   cnt = sp->s_cnt;
   sp->s_cnt = n;
   while (cnt++ < 0)
-    chSchReadyI(fifo_remove(&sp->s_queue), RDY_RESET);
+    chSchReadyI(fifo_remove(&sp->s_queue))->p_rdymsg = RDY_RESET;
 }
 
 /**
@@ -175,7 +175,7 @@ void chSemSignal(Semaphore *sp) {
 void chSemSignalI(Semaphore *sp) {
 
   if (sp->s_cnt++ < 0)
-    chSchReadyI(fifo_remove(&sp->s_queue), RDY_OK);
+    chSchReadyI(fifo_remove(&sp->s_queue))->p_rdymsg = RDY_OK;
 }
 
 #ifdef CH_USE_SEMSW
@@ -191,7 +191,7 @@ void chSemSignalWait(Semaphore *sps, Semaphore *spw) {
   chSysLock();
 
   if (sps->s_cnt++ < 0)
-    chSchReadyI(fifo_remove(&sps->s_queue), RDY_OK);
+    chSchReadyI(fifo_remove(&sps->s_queue))->p_rdymsg = RDY_OK;
 
   if (--spw->s_cnt < 0) {
     fifo_insert(currp, &spw->s_queue);

src/chthreads.c

@@ -218,7 +218,7 @@ void chThdExit(msg_t msg) {
   currp->p_exitcode = msg;
 #ifdef CH_USE_WAITEXIT
   while (notempty(&currp->p_waiting))
-    chSchReadyI(list_remove(&currp->p_waiting), RDY_OK);
+    chSchReadyI(list_remove(&currp->p_waiting));
 #endif
 #ifdef CH_USE_EXIT_EVENT
   chEvtSendI(&currp->p_exitesource);

src/include/scheduler.h

@@ -58,7 +58,7 @@ extern ReadyList rlist;
 extern "C" {
 #endif
   void chSchInit(void);
-  void chSchReadyI(Thread *tp, msg_t msg);
+  Thread *chSchReadyI(Thread *tp);
   void chSchGoSleepS(tstate_t newstate);
   msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time);
   void chSchWakeupS(Thread *tp, msg_t msg);