git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@655 35acf78f-673a-0410-8e92-d51de3d6d3f4

docs/ch.txt

@@ -192,7 +192,28 @@
  *
  * @section thread_states Threads States
  * The image shows how threads can change their state in ChibiOS/RT.<br>
- * @image html states.png
+ * @dot
+  digraph example {
+      /*rankdir="LR";*/
+      node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];
+      start [label="Start", style="bold"];
+      run [label="Running"];
+      ready [label="Ready"];
+      suspend [label="Suspended"];
+      sleep [label="Sleeping"];
+      stop [label="Stop", style="bold"];
+      start -> suspend [label="chThdInit()", fontname=Helvetica, fontsize=8, constraint=false];
+      start -> run [label="chThdCreate()", fontname=Helvetica, fontsize=8];
+      start -> ready [label="chThdCreate()", fontname=Helvetica, fontsize=8];
+      run -> ready [dir="both", label="Reschedulation", fontname=Helvetica, fontsize=8];
+      suspend -> run [label="chThdResume()", fontname=Helvetica, fontsize=8];
+      suspend -> ready [label="chThdResume()", fontname=Helvetica, fontsize=8];
+      run -> sleep [label="chSchGoSleepS()", fontname=Helvetica, fontsize=8];
+      sleep -> run [label="chSchWakepS()", fontname=Helvetica, fontsize=8];
+      sleep -> ready [label="chSchWakepS()", fontname=Helvetica, fontsize=8];
+      run -> stop [label="chThdExit()", fontname=Helvetica, fontsize=8];
+  }
+ * @enddot
  *
  * @section priority Priority Levels
  * Priorities in ChibiOS/RT are a contiguous numerical range but the initial
@@ -246,6 +267,7 @@
  * - @subpage article_atomic
  * - @subpage article_saveram
  * - @subpage article_interrupts
+ * - @subpage article_timing
  */
 /** @} */
 

docs/src/atomic.dox

@@ -12,17 +12,13 @@
  
   chSemSignalI(&sem1);
   chSemSignalI(&sem2);
-  if (tp != NULL) {
-    chThdResumeI(tp);
-    tp = NULL;
-  }
   chSchRescheduleS();
  
   chSysUnlock();
  * @endcode
- * The above example performs a signal operation on two semaphores, optionally
- * resumes a thread, and performs a final reschedulation. The three operations
- * are performed atomically.<br>
+ * The above example performs a signal operation on two semaphores and
+ * performs a final reschedulation. The two operations are performed
+ * atomically.<br>
  * An hypotetical @p chSemSignalSignalWait() operation could be implemented as
  * follow:
  * @code

docs/src/timing.dox

@@ -0,0 +1,42 @@
+/**
+ * @page article_timing Reliable timings using Threads
+ * @{
+ * One common task is to have threads do something at regular, scheduled,
+ * intervals.
+ * An obvious solution is to write something like this:
+ * @code
+msg_t my_thread(void *param) {
+
+  while (TRUE) {
+    do_something();
+    chThdSleepMilliseconds(1000);   /* Fixed interval */
+  }
+}
+ * @endcode
+ * This example works well assuming that @p do_something() execution time is
+ * well below the system tick period and that @p my_thread() is not preempted
+ * by other threads inserting long intervals.<br>
+ * If the above conditions are not satisfied you may have @p do_something()
+ * executed at irregular intevals, as example:<br><br>
+ * T0...T0+1000...T0+2002...T0+3002...T0+4005...etc.<br><br>
+ * Also note that the error increases over time and this kind of behavior can
+ * lead anomalies really hard to debug.
+ * <h2>A better solution</h2>
+ * It is possible to rewrite the above code using absolute deadlines rather
+ * than fixed intervals:
+ * @code
+msg_t my_thread(void *param) {
+
+  systick_t time = chSysGetTime();  /* T0 */
+  while (TRUE) {
+    time += MS2ST(1000);            /* Next deadline */
+    do_something();
+    chThdSleepUntil(time);
+  }
+}
+ * @endcode
+ * Using this code @p do_something() will always be executed at an absolute
+ * deadline time and the error will not accumulate over time regardless of
+ * the execution time and delays inserted by other threads.
+ */
+/** @} */

src/chschd.c

@@ -102,11 +102,13 @@ static void wakeup(void *p) {
 #ifdef CH_USE_SEMAPHORES
   case PRWTSEM:
     chSemFastSignalI(tp->p_wtsemp);
-    /* Falls into, intentional.*/
+    /* Falls into, intentional. */
 #endif
   case PRWTCOND:
-    chSchReadyI(dequeue(tp))->p_rdymsg = RDY_TIMEOUT;
-    break;
+  case PRWTMTX:
+    /* States requiring dequeuing. */
+    dequeue(tp);
+    /* Falls into, intentional. */
   default:
     chSchReadyI(tp)->p_rdymsg = RDY_TIMEOUT;
   }

src/chthreads.c

@@ -214,26 +214,6 @@ void chThdSetPriority(tprio_t newprio) {
   chSysUnlock();
 }
 
-/**
- * @brief Suspends the invoking thread.
- *
- * @param tpp pointer to a @p Thread pointer, the @p Thread pointer is set
- *            to point to the suspended process before it enters the
- *            @p PRSUSPENDED state. The variable pointed by this parameter
- *            must be set to @p NULL on entry.
- * @note The resume operation is meant to be executed into an interrupt or timer
- *       handler. The handler is also responsible to clear the variable pointed
- *       by @p tpp after invoking @p chThdResumeI().
- */
-void chThdSuspend(Thread **tpp) {
-
-  chSysLock();
-  chDbgAssert(*tpp == NULL, "chthreads.c, chThdSuspend()");
-  *tpp = currp;
-  chSchGoSleepS(PRSUSPENDED);
-  chSysUnlock();
-}
-
 /**
  * @brief Resumes a suspended thread.
  *

src/include/threads.h

@@ -183,7 +183,6 @@ extern "C" {
 #endif
   void chThdSetPriority(tprio_t newprio);
   Thread *chThdResume(Thread *tp);
-  void chThdSuspend(Thread **tpp);
   void chThdTerminate(Thread *tp);
   void chThdSleep(systime_t time);
   void chThdSleepUntil(systime_t time);

test/testsem.c

@@ -94,7 +94,6 @@ static void sem2_execute(void) {
     test_assert(isempty(&sem1.s_queue), "queue not empty");
     test_assert(&sem1.s_cnt != 0, "counter not zero");
   }
-  test_assert(chSemGetCounter(&sem1) == 0, "non zero counter");
   test_assert_sequence("ABCDE");
   test_assert_time_window(target_time, target_time + ALLOWED_DELAY);
 }