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ChibiOS
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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@3946 35acf78f-673a-0410-8e92-d51de3d6d3f4

This commit is contained in:
gdisirio 2012-02-08 17:53:52 +00:00
parent 6894617b8e
commit 18b8b49524
15 changed files with 111 additions and 46 deletions
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2
boards/OLIMEX_LPC_P2148/buzzer.c
View File

@ -69,7 +69,9 @@ void buzzInit(void) {
static void stop(void *p) {
StopCounter((TC *)p);
chSysLockFromIsr();
chEvtBroadcastI(&BuzzerSilentEventSource);
chSysUnlockFromIsr();
}
/**

2
demos/ARMCM3-STM32F103ZG-FATFS/main.c
View File

@ -89,6 +89,7 @@ bool_t sdc_lld_is_write_protected(SDCDriver *sdcp) {
static void tmrfunc(void *p) {
SDCDriver *sdcp = p;
chSysLockFromIsr();
if (cnt > 0) {
if (sdcIsCardInserted(sdcp)) {
if (--cnt == 0) {
@ -105,6 +106,7 @@ static void tmrfunc(void *p) {
}
}
chVTSetI(&tmr, MS2ST(SDC_POLLING_DELAY), tmrfunc, sdcp);
chSysUnlockFromIsr();
}
/**

26
docs/reports/SPC563M64-80.txt
View File

@ -5,8 +5,8 @@ Settings: SYSCLK=80
*** ChibiOS/RT test suite
***
*** Kernel: 2.4.0
*** Compiled: Jan 17 2012 - 14:35:40
*** Kernel: 2.5.0
*** Compiled: Feb 8 2012 - 10:21:46
*** Compiler: GCC 4.4.1
*** Architecture: Power Architecture
*** Core Variant: e200z3
@ -100,35 +100,35 @@ Settings: SYSCLK=80
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.1 (Benchmark, messages #1)
--- Score : 283160 msgs/S, 566320 ctxswc/S
--- Score : 278226 msgs/S, 556452 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.2 (Benchmark, messages #2)
--- Score : 226208 msgs/S, 452416 ctxswc/S
--- Score : 224935 msgs/S, 449870 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.3 (Benchmark, messages #3)
--- Score : 226208 msgs/S, 452416 ctxswc/S
--- Score : 224935 msgs/S, 449870 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.4 (Benchmark, context switch)
--- Score : 897232 ctxswc/S
--- Score : 890960 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.5 (Benchmark, threads, full cycle)
--- Score : 180251 threads/S
--- Score : 178638 threads/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.6 (Benchmark, threads, create only)
--- Score : 261812 threads/S
--- Score : 255935 threads/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.7 (Benchmark, mass reschedule, 5 threads)
--- Score : 73862 reschedules/S, 443172 ctxswc/S
--- Score : 73319 reschedules/S, 439914 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.8 (Benchmark, round robin context switching)
--- Score : 614140 ctxswc/S
--- Score : 609448 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.9 (Benchmark, I/O Queues throughput)
@ -136,7 +136,7 @@ Settings: SYSCLK=80
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.10 (Benchmark, virtual timers set/reset)
--- Score : 1093664 timers/S
--- Score : 1094200 timers/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.11 (Benchmark, semaphores wait/signal)
@ -144,11 +144,11 @@ Settings: SYSCLK=80
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.12 (Benchmark, mutexes lock/unlock)
--- Score : 841236 lock+unlock/S
--- Score : 841232 lock+unlock/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.13 (Benchmark, RAM footprint)
--- System: 768 bytes
--- System: 764 bytes
--- Thread: 72 bytes
--- Timer : 20 bytes
--- Semaph: 12 bytes

2
os/hal/platforms/STM32/i2c_lld.c
View File

@ -167,8 +167,10 @@ static void i2c_lld_safety_timeout(void *p) {
if (i2cp->thread) {
i2c_lld_abort_operation(i2cp);
chSysLockFromIsr();
i2cp->thread->p_u.rdymsg = RDY_TIMEOUT;
chSchReadyI(i2cp->thread);
chSysUnlockFromIsr();
}
}

2
os/hal/src/mmc_spi.c
View File

@ -105,6 +105,7 @@ static uint8_t crc7(uint8_t crc, const uint8_t *buffer, size_t len) {
static void tmrfunc(void *p) {
MMCDriver *mmcp = p;
chSysLockFromIsr();
if (mmcp->cnt > 0) {
if (mmcp->is_inserted()) {
if (--mmcp->cnt == 0) {
@ -123,6 +124,7 @@ static void tmrfunc(void *p) {
}
}
chVTSetI(&mmcp->vt, MS2ST(MMC_POLLING_DELAY), tmrfunc, mmcp);
chSysUnlockFromIsr();
}
/**

88
os/kernel/include/chvt.h
View File

@ -55,7 +55,8 @@
*
* @api
*/
#define MS2ST(msec) ((systime_t)(((((msec) - 1L) * CH_FREQUENCY) / 1000L) + 1L))
#define MS2ST(msec) ((systime_t)(((((msec) - 1L) * CH_FREQUENCY) / \
1000L) + 1L))
/**
* @brief Microseconds to system ticks.
@ -67,7 +68,8 @@
*
* @api
*/
#define US2ST(usec) ((systime_t)(((((usec) - 1L) * CH_FREQUENCY) / 1000000L) + 1L))
#define US2ST(usec) ((systime_t)(((((usec) - 1L) * CH_FREQUENCY) / \
1000000L) + 1L))
/** @} */
/**
@ -112,40 +114,84 @@ typedef struct {
volatile systime_t vt_systime; /**< @brief System Time counter. */
} VTList;
extern VTList vtlist;
/**
* @name Macro Functions
* @{
*/
/**
* @brief Virtual timers ticker.
* @note The system lock is released before entering the callback and
* re-acquired immediately after. It is callback's responsibility
* to acquire the lock if needed. This is done in order to reduce
* interrupts jitter when many timers are in use.
*
* @iclass
*/
#define chVTDoTickI() { \
vtlist.vt_systime++; \
if (&vtlist != (VTList *)vtlist.vt_next) { \
VirtualTimer *vtp; \
\
--vtlist.vt_next->vt_time; \
while (!(vtp = vtlist.vt_next)->vt_time) { \
vtfunc_t fn = vtp->vt_func; \
vtp->vt_func = (vtfunc_t)NULL; \
vtp->vt_next->vt_prev = (void *)&vtlist; \
(&vtlist)->vt_next = vtp->vt_next; \
fn(vtp->vt_par); \
} \
} \
#define chVTDoTickI() { \
vtlist.vt_systime++; \
if (&vtlist != (VTList *)vtlist.vt_next) { \
VirtualTimer *vtp; \
\
--vtlist.vt_next->vt_time; \
while (!(vtp = vtlist.vt_next)->vt_time) { \
vtfunc_t fn = vtp->vt_func; \
vtp->vt_func = (vtfunc_t)NULL; \
vtp->vt_next->vt_prev = (void *)&vtlist; \
(&vtlist)->vt_next = vtp->vt_next; \
chSysUnlockFromIsr(); \
fn(vtp->vt_par); \
chSysLockFromIsr(); \
} \
} \
}
/**
* @brief Returns TRUE if the speciified timer is armed.
* @brief Returns @p TRUE if the specified timer is armed.
*
* @iclass
*/
#define chVTIsArmedI(vtp) ((vtp)->vt_func != NULL)
/**
* @brief Enables a virtual timer.
* @note The associated function is invoked from interrupt context.
*
* @param[out] vtp the @p VirtualTimer structure pointer
* @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.
* @param[in] par a parameter that will be passed to the callback
* function
*
* @api
*/
#define chVTSet(vtp, time, vtfunc, par) { \
chSysLock(); \
chVTSetI(vtp, time, vtfunc, par); \
chSysUnlock(); \
}
/**
* @brief Disables a Virtual Timer.
* @note The timer is first checked and disabled only if armed.
*
* @param[in] vtp the @p VirtualTimer structure pointer
*
* @api
*/
#define chVTReset(vtp) { \
chSysLock(); \
if (chVTIsArmedI(vtp)) \
chVTResetI(vtp); \
chSysUnlock(); \
}
/**
* @brief Current system time.
* @details Returns the number of system ticks since the @p chSysInit()
@ -153,13 +199,15 @@ extern VTList vtlist;
* @note The counter can reach its maximum and then restart from zero.
* @note This function is designed to work with the @p chThdSleepUntil().
*
* @return The system time in ticks.r
* @return The system time in ticks.
*
* @api
*/
#define chTimeNow() (vtlist.vt_systime)
/** @} */
extern VTList vtlist;
/*
* Virtual Timers APIs.
*/

3
os/kernel/src/chschd.c
View File

@ -127,10 +127,12 @@ void chSchGoSleepS(tstate_t newstate) {
static void wakeup(void *p) {
Thread *tp = (Thread *)p;
chSysLockFromIsr();
switch (tp->p_state) {
case THD_STATE_READY:
/* Handling the special case where the thread has been made ready by
another thread with higher priority.*/
chSysUnlockFromIsr();
return;
#if CH_USE_SEMAPHORES || CH_USE_QUEUES || \
(CH_USE_CONDVARS && CH_USE_CONDVARS_TIMEOUT)
@ -151,6 +153,7 @@ static void wakeup(void *p) {
}
tp->p_u.rdymsg = RDY_TIMEOUT;
chSchReadyI(tp);
chSysUnlockFromIsr();
}
/**

3
os/kernel/src/chvt.c
View File

@ -49,8 +49,7 @@ void _vt_init(void) {
/**
* @brief Enables a virtual timer.
* @note The associated function is invoked by an interrupt handler within
* the I-Locked state, see @ref system_states.
* @note The associated function is invoked from interrupt context.
*
* @param[out] vtp the @p VirtualTimer structure pointer
* @param[in] time the number of ticks before the operation timeouts, the

9
os/various/evtimer.c
View File

@ -32,8 +32,10 @@
static void tmrcb(void *p) {
EvTimer *etp = p;
chSysLockFromIsr();
chEvtBroadcastI(&etp->et_es);
chVTSetI(&etp->et_vt, etp->et_interval, tmrcb, etp);
chSysUnlockFromIsr();
}
/**
@ -60,12 +62,7 @@ void evtStart(EvTimer *etp) {
*/
void evtStop(EvTimer *etp) {
chSysLock();
if (chVTIsArmedI(&etp->et_vt))
chVTResetI(&etp->et_vt);
chSysUnlock();
chVTReset(&etp->et_vt);
}
/** @} */

3
readme.txt
View File

@ -93,6 +93,9 @@
- NEW: Revision of the round-robin scheduling, now threads do not lose their
time slice when preempted. Each thread has its own time slices counter.
TODO: Seek optimizations.
- NEW: Modified the Virtual Timers management, now the callback is invoked
not in lock mode. This change reduces the interrupt jitter caused by
multiple timers used at same time.
*** 2.3.5 ***
- FIX: Fixed RTC compile problem on STM32F103 (bug 3468445).

4
test/test.c
View File

@ -278,9 +278,7 @@ void test_start_timer(unsigned ms) {
systime_t duration = MS2ST(ms);
test_timer_done = FALSE;
chSysLock();
chVTSetI(&vt, duration, tmr, NULL);
chSysUnlock();
chVTSet(&vt, duration, tmr, NULL);
}
/*

3
testhal/STM32F1xx/UART/main.c
View File

@ -26,7 +26,10 @@ static VirtualTimer vt1, vt2;
static void restart(void *p) {
(void)p;
chSysLockFromIsr();
uartStartSendI(&UARTD2, 14, "Hello World!\r\n");
chSysUnlockFromIsr();
}
static void ledoff(void *p) {

3
testhal/STM32F4xx/UART/main.c
View File

@ -26,7 +26,10 @@ static VirtualTimer vt1, vt2;
static void restart(void *p) {
(void)p;
chSysLockFromIsr();
uartStartSendI(&UARTD2, 14, "Hello World!\r\n");
chSysUnlockFromIsr();
}
static void ledoff(void *p) {

3
testhal/STM32L1xx/UART/main.c
View File

@ -26,7 +26,10 @@ static VirtualTimer vt1, vt2;
static void restart(void *p) {
(void)p;
chSysLockFromIsr();
uartStartSendI(&UARTD1, 14, "Hello World!\r\n");
chSysUnlockFromIsr();
}
static void ledoff(void *p) {

4
todo.txt
View File

@ -13,8 +13,8 @@ X SDC driver port to STM32F2 and STM32F4.
Within 2.5.x:
* Revision of scheduling strategy for threads at equal priority.
- Handling of Virtual Timer callbacks out of critical zone.
- Add normal API (not iclass) variants of the VT functions.
* Handling of Virtual Timer callbacks out of critical zone.
* Add normal API (not iclass) variants of the VT functions.
- Add the RTC service inside the kernel and port, remove from HAL.
- Add option to use the RTC counter instead of the systick counter into the
trace buffer.