git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@30 35acf78f-673a-0410-8e92-d51de3d6d3f4

demos/LPC214x-GCC/chconf.h

@@ -63,6 +63,10 @@
  *  in the kernel.*/
 #define CH_USE_SEMAPHORES
 
+/** Configuration option: if specified then the Semaphores atomic Signal+Wait
+ *  APIs are included in the kernel.*/
+#define CH_USE_SEMSW
+
 /** Configuration option: if specified then the Semaphores with timeout APIs
  *  are included in the kernel.
  * @note requires \p CH_USE_SEMAPHORES.

demos/Win32-MSVS/ch.vcproj

@@ -182,6 +182,13 @@
 					RelativePath="..\..\ports\Win32\simcom.c">
 				</File>
 			</Filter>
+			<Filter
+				Name="test"
+				Filter="">
+				<File
+					RelativePath="..\..\test\test.c">
+				</File>
+			</Filter>
 		</Filter>
 		<Filter
 			Name="Header Files"

demos/Win32-MSVS/chconf.h

@@ -68,6 +68,10 @@
  *  in the kernel.*/
 #define CH_USE_SEMAPHORES
 
+/** Configuration option: if specified then the Semaphores atomic Signal+Wait
+ *  APIs are included in the kernel.*/
+#define CH_USE_SEMSW
+
 /** Configuration option: if specified then the Semaphores with timeout APIs
  *  are included in the kernel.
  * @note requires \p CH_USE_SEMAPHORES.
@@ -134,11 +138,11 @@
 
 /** Configuration option: Frequency of the system timer that drives the system
  *  ticks. This also defines the system time unit.*/
-#define CH_FREQUENCY 100
+#define CH_FREQUENCY 1000
 
 /** Configuration option: This constant is the number of ticks allowed for the
  *  threads before preemption occurs.*/
-#define CH_TIME_QUANTUM 10
+#define CH_TIME_QUANTUM 20
 
 /** Configuration option: Defines a CPU register to be used as storage for the
  *  global \p currp variable. Caching this variable in a register can greatly

demos/Win32-MSVS/demo.c

@@ -36,6 +36,8 @@ static t_msg WatchdogThread(void *arg);
 static t_msg ConsoleThread(void *arg);
 static t_msg InitThread(void *arg);
 
+t_msg TestThread(void *p);
+
 void InitCore(void);
 extern FullDuplexDriver COM1, COM2;
 
@@ -73,7 +75,7 @@ static t_msg WatchdogThread(void *arg) {
       printf("Halted by watchdog");
       chSysHalt();
     }
-    chThdSleep(5);
+    chThdSleep(50);
   }
   return 0;
 }
@@ -144,7 +146,7 @@ static t_msg HelloWorldThread(void *arg) {
   for (i = 0; i < 100; i++) {
 
     PrintLineFDD(sd, "Hello World\r\n");
-    c = chFDDGetTimeout(sd, 33);
+    c = chFDDGetTimeout(sd, 333);
     switch (c) {
     case -1:
       continue;
@@ -154,7 +156,7 @@ static t_msg HelloWorldThread(void *arg) {
       PrintLineFDD(sd, "^C\r\n");
       return 0;
     default:
-      chThdSleep(33);
+      chThdSleep(333);
     }
   }
   return 0;
@@ -202,6 +204,7 @@ static t_msg ShellThread(void *arg) {
         PrintLineFDD(sd, "  exit     - Logout from ChibiOS/RT\r\n");
         PrintLineFDD(sd, "  time     - Prints the system timer value\r\n");
         PrintLineFDD(sd, "  hello    - Runs the Hello World demo thread\r\n");
+        PrintLineFDD(sd, "  test     - Runs the System Test thread\r\n");
       }
       else if (stricmp(lp, "exit") == 0) {
         if (checkend(sd))
@@ -223,6 +226,14 @@ static t_msg ShellThread(void *arg) {
         if (chThdWait(tp))
           break;  // Lost connection while executing the hello thread.
       }
+      else if (stricmp(lp, "test") == 0) {
+        if (checkend(sd))
+          continue;
+        tp = chThdCreate(NORMALPRIO, 0, tarea, sizeof(tarea),
+                         TestThread, arg);
+        if (chThdWait(tp))
+          break;  // Lost connection while executing the hello thread.
+      }
       else {
         PrintLineFDD(sd, lp);
         PrintLineFDD(sd, " ?\r\n");

demos/Win32-MinGW/Makefile

@@ -57,7 +57,7 @@ UADEFS =
 
 # List C source files here
 SRC  = chcore.c demo.c \
-       ../../ports/win32/simcom.c \
+       ../../test/test.c ../../ports/win32/simcom.c \
        ../../src/chinit.c ../../src/chlists.c ../../src/chdelta.c ../../src/chschd.c \
        ../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c ../../src/chmsg.c \
        ../../src/chsleep.c ../../src/chqueues.c ../../src/chserial.c

demos/Win32-MinGW/chconf.h

@@ -68,6 +68,10 @@
  *  in the kernel.*/
 #define CH_USE_SEMAPHORES
 
+/** Configuration option: if specified then the Semaphores atomic Signal+Wait
+ *  APIs are included in the kernel.*/
+#define CH_USE_SEMSW
+
 /** Configuration option: if specified then the Semaphores with timeout APIs
  *  are included in the kernel.
  * @note requires \p CH_USE_SEMAPHORES.
@@ -134,11 +138,11 @@
 
 /** Configuration option: Frequency of the system timer that drives the system
  *  ticks. This also defines the system time unit.*/
-#define CH_FREQUENCY 100
+#define CH_FREQUENCY 1000
 
 /** Configuration option: This constant is the number of ticks allowed for the
  *  threads before preemption occurs.*/
-#define CH_TIME_QUANTUM 10
+#define CH_TIME_QUANTUM 20
 
 /** Configuration option: Defines a CPU register to be used as storage for the
  *  global \p currp variable. Caching this variable in a register can greatly

demos/Win32-MinGW/chcore.c

@@ -52,7 +52,7 @@ void InitCore(void) {
     exit(1);
   }
 
-  printf("Win32 ChobiOS/RT simulator\n\n");
+  printf("Win32 ChibiOS/RT simulator\n\n");
   printf("Thread structure %d bytes\n", sizeof(Thread));
   if (!QueryPerformanceFrequency(&slice)) {
     printf("QueryPerformanceFrequency() error");

demos/Win32-MinGW/chcore2.s

@@ -39,5 +39,5 @@
 .p2align 4,,15
 .globl @threadstart@0
 @threadstart@0:
-        push    %ecx
+        push    %eax
         call    _chThdExit

demos/Win32-MinGW/demo.c

@@ -36,6 +36,8 @@ static t_msg WatchdogThread(void *arg);
 static t_msg ConsoleThread(void *arg);
 static t_msg InitThread(void *arg);
 
+t_msg TestThread(void *p);
+
 void InitCore(void);
 extern FullDuplexDriver COM1, COM2;
 
@@ -73,7 +75,7 @@ static t_msg WatchdogThread(void *arg) {
       printf("Halted by watchdog");
       chSysHalt();
     }
-    chThdSleep(5);
+    chThdSleep(50);
   }
   return 0;
 }
@@ -144,7 +146,7 @@ static t_msg HelloWorldThread(void *arg) {
   for (i = 0; i < 100; i++) {
 
     PrintLineFDD(sd, "Hello World\r\n");
-    c = chFDDGetTimeout(sd, 33);
+    c = chFDDGetTimeout(sd, 333);
     switch (c) {
     case -1:
       continue;
@@ -154,7 +156,7 @@ static t_msg HelloWorldThread(void *arg) {
       PrintLineFDD(sd, "^C\r\n");
       return 0;
     default:
-      chThdSleep(33);
+      chThdSleep(333);
     }
   }
   return 0;
@@ -202,6 +204,7 @@ static t_msg ShellThread(void *arg) {
         PrintLineFDD(sd, "  exit     - Logout from ChibiOS/RT\r\n");
         PrintLineFDD(sd, "  time     - Prints the system timer value\r\n");
         PrintLineFDD(sd, "  hello    - Runs the Hello World demo thread\r\n");
+        PrintLineFDD(sd, "  test     - Runs the System Test thread\r\n");
       }
       else if (stricmp(lp, "exit") == 0) {
         if (checkend(sd))
@@ -223,6 +226,14 @@ static t_msg ShellThread(void *arg) {
         if (chThdWait(tp))
           break;  // Lost connection while executing the hello thread.
       }
+      else if (stricmp(lp, "test") == 0) {
+        if (checkend(sd))
+          continue;
+        tp = chThdCreate(NORMALPRIO, 0, tarea, sizeof(tarea),
+                         TestThread, arg);
+        if (chThdWait(tp))
+          break;  // Lost connection while executing the hello thread.
+      }
       else {
         PrintLineFDD(sd, lp);
         PrintLineFDD(sd, " ?\r\n");

docs/Doxyfile

@@ -241,7 +241,8 @@ PREDEFINED             = __JUST_STUBS__ \
                          CH_USE_SERIAL_HALFDUPLEX \
                          CH_USE_MESSAGES \
                          CH_USE_MESSAGES_TIMEOUT \
-                         CH_USE_MESSAGES_EVENT
+                         CH_USE_MESSAGES_EVENT \
+                         CH_USE_SEMSW
 EXPAND_AS_DEFINED      = 
 SKIP_FUNCTION_MACROS   = YES
 #---------------------------------------------------------------------------

readme.txt

@@ -33,23 +33,36 @@ LPC214x-GCC         - ChibiOS/RT port for ARM7 LPC2148, the demo targets the
 *****************************************************************************
 
 *** 0.3.1 ***
+- Test program added to the MinGW and MSVS demos. Telnet the demo and type
+  "test" at the "ch>" prompt. The test performs integrity tests on the main
+  ChibiOS/RT functionalities.
+  The test code is also a good example of APIs usage and ChibiOS/RT behavior.
+- Fixed bug in chEvtWaitTimeout(), the timeout code performed an useless
+  dequeue operation.
+- Fixed a bug in chSemWaitTimeoutS() and chSemWaitTimeout(), the semaphore
+  counter was not atomically updated on a timeout condition.
+- Fixed bug on RT semaphores, the priority queuing was broken.
+- Fixed a bug in the MinGW demo, the chThdExit() code was not correctly
+  reported to the thread waiting in chThdWait().
+- Fixed a function declaration in semaphores.h.
 - Lists code moved into chlists.c from various other places optimized and
   reorganized.
 - The list of the threads waiting in chThdWait() is now a single link list,
   this saves some space.
 - Cleaned the template files code, the files contained some obsolete
   declarations.
-- Code optimization in scSemSignalWait().
+- Code optimization in chSemWaitTimeoutS(), chSemWaitTimeout() and
+  chSemSignalWait().
 - Code optimization in chEvtSend().
+- Code optimization in chVTDoTickI().
 - Added a Semaphore pointer to the Thread structure, this allows to know on
   which semaphore a thread is waiting on. It takes no space because it is
   located in the union inside the Thread structure. This also allowed a minor
   optimization inside chSemWaitTimeout() and chSemWaitTimeoutS().
 - Changed the priority type to unsigned in order to make it compatible
   with a byte value, this is very important for 8 bits architectures.
-- Fixed bug in chEvtWaitTimeout(), the timeout code performed a useless
+- Modified the MinGW and MSVS demos to use 1ms ticks instead of 10ms as
-  dequeue operation.
+  before.
-- Fixed bug on RT semaphores, the priority queuing was broken.
 
 *** 0.3.0 ***
 - ChibiOS/RT goes beta.

src/chsem.c

@@ -138,12 +138,8 @@ t_msg chSemWaitTimeout(Semaphore *sp, t_time time) {
     fifo_insert(currp, &sp->s_queue);
     currp->p_semp = sp;
     chSchGoSleepI(PRWTSEM);
-    msg = currp->p_rdymsg; // Note, got value *before* invoking CH_LEAVE_SYSTEM().
+    msg = currp->p_rdymsg;
-    if (!vt.vt_func) {
+    if (vt.vt_func)
-
-      chSysUnlock();
-      return msg;
-    }
       chVTResetI(&vt);
 
     chSysUnlock();
@@ -173,8 +169,7 @@ t_msg chSemWaitTimeoutS(Semaphore *sp, t_time time) {
     fifo_insert(currp, &sp->s_queue);
     currp->p_semp = sp;
     chSchGoSleepI(PRWTSEM);
-    if (!vt.vt_func)
+    if (vt.vt_func)
-      return currp->p_rdymsg;
       chVTResetI(&vt);
     return currp->p_rdymsg;
   }
@@ -211,6 +206,7 @@ void chSemSignalI(Semaphore *sp) {
     chSchReadyI(fifo_remove(&sp->s_queue));
 }
 
+#ifdef CH_USE_SEMSW
 /**
  * Performs atomic signal and wait operations on two semaphores.
  * @param sps pointer to a \p Semaphore structure to be signaled
@@ -235,6 +231,7 @@ void chSemSignalWait(Semaphore *sps, Semaphore *spw) {
 
   chSysUnlock();
 }
+#endif /* CH_USE_SEMSW */
 
 #ifdef CH_USE_RT_SEMAPHORES
 /*
@@ -299,6 +296,7 @@ void chSemLowerPrioSignal(Semaphore *sp) {
   chSysUnlock();
 }
 
+#ifdef CH_USE_SEMSW
 /**
  * Performs atomic signal and wait operations on two semaphores with priority
  * boost.
@@ -326,7 +324,7 @@ void chSemRaisePrioSignalWait(Semaphore *sps, Semaphore *spw) {
     if (!currp->p_rtcnt++)
       currp->p_prio += MEPRIO;
 
-    chSchRescheduleI();
+    chSchRescheduleI(); // Really needed ?
   }
 
   chSysUnlock();
@@ -360,6 +358,7 @@ void chSemLowerPrioSignalWait(Semaphore *sps, Semaphore *spw) {
 
   chSysUnlock();
 }
+#endif /* CH_USE_SEMSW */
 
 #endif /* CH_USE_RT_SEMAPHORES */
 

src/include/delta.h

@@ -77,8 +77,7 @@ extern DeltaList dlist;
     while (!(vtp = dlist.dl_next)->vt_dtime) {                          \
       t_vtfunc fn = vtp->vt_func;                                       \
       vtp->vt_func = 0;                                                 \
-      vtp->vt_prev->vt_next = vtp->vt_next;                             \
+      (vtp->vt_next->vt_prev = (VirtualTimer *)&dlist)->vt_next = vtp->vt_next; \
-      vtp->vt_next->vt_prev = vtp->vt_prev;                             \
       fn(vtp->vt_par);                                                  \
     }                                                                   \
   }

src/include/semaphores.h

@@ -46,7 +46,7 @@ t_msg chSemWaitTimeout(Semaphore *sp, t_time time);
 t_msg chSemWaitTimeoutS(Semaphore *sp, t_time time);
 void chSemSignal(Semaphore *sp);
 void chSemSignalI(Semaphore *sp);
-void chSignalWait(Semaphore *sps, Semaphore *spw);
+void chSemSignalWait(Semaphore *sps, Semaphore *spw);
 
 #ifdef CH_USE_RT_SEMAPHORES
 void chSemRaisePrioWait(Semaphore *sp);

src/templates/chconf.h

@@ -64,6 +64,10 @@
  *  in the kernel.*/
 #define CH_USE_SEMAPHORES
 
+/** Configuration option: if specified then the Semaphores atomic Signal+Wait
+ *  APIs are included in the kernel.*/
+#define CH_USE_SEMSW
+
 /** Configuration option: if specified then the Semaphores with timeout APIs
  *  are included in the kernel.
  * @note requires \p CH_USE_SEMAPHORES.

test/test.c

@@ -0,0 +1,273 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+    This file is part of ChibiOS/RT.
+
+    ChibiOS/RT is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 3 of the License, or
+    (at your option) any later version.
+
+    ChibiOS/RT is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <ch.h>
+
+#if defined(WIN32) && defined(_DEBUG)
+static BYTE8 wsT1[UserStackSize(512)];
+static BYTE8 wsT2[UserStackSize(512)];
+static BYTE8 wsT3[UserStackSize(512)];
+static BYTE8 wsT4[UserStackSize(512)];
+static BYTE8 wsT5[UserStackSize(512)];
+#else
+static BYTE8 wsT1[UserStackSize(64)];
+static BYTE8 wsT2[UserStackSize(64)];
+static BYTE8 wsT3[UserStackSize(64)];
+static BYTE8 wsT4[UserStackSize(64)];
+static BYTE8 wsT5[UserStackSize(64)];
+#endif
+static Thread *t1, *t2, *t3, *t4, *t5;
+
+static FullDuplexDriver *comp;
+static Semaphore sem1, sem2;
+
+static void wait(void) {
+
+  chThdWait(t1);
+  chThdWait(t2);
+  chThdWait(t3);
+  chThdWait(t4);
+  chThdWait(t5);
+}
+
+static void println(char *msgp) {
+
+  while (*msgp)
+    chFDDPut(comp, *msgp++);
+  chFDDPut(comp, '\r');
+  chFDDPut(comp, '\n');
+}
+
+t_msg Thread1(void *p) {
+
+  chFDDPut(comp, *(BYTE8 *)p);
+  return 0;
+}
+
+t_msg Thread2(void *p) {
+
+  chSemWait(&sem1);
+  chFDDPut(comp, *(BYTE8 *)p);
+  return 0;
+}
+
+t_msg Thread3(void *p) {
+
+  chSemRaisePrioWait(&sem1);
+  chFDDPut(comp, *(BYTE8 *)p);
+  return 0;
+}
+
+t_msg Thread4(void *p) {
+
+  chSemWait(&sem1);
+  chFDDPut(comp, *(BYTE8 *)p);
+  /*
+   * NOTE: chSemSignalWait() is not the same of chSemSignal()+chSemWait().
+   *       The former is performed atomically, try it.
+   */
+  chSemSignalWait(&sem1, &sem2);
+//  chSemSignal(&sem1);
+//  chSemWait(&sem2);
+  chFDDPut(comp, *(BYTE8 *)p);
+  chSemSignal(&sem2);
+  return 0;
+}
+
+t_msg Thread5(void *p) {
+
+  chSemWait(&sem1);
+  chFDDPut(comp, *(BYTE8 *)p);
+  chSemRaisePrioSignalWait(&sem1, &sem2);
+//  chSemSignal(&sem1);
+//  chSemRaisePrioWait(&sem2);
+  chFDDPut(comp, *(BYTE8 *)p);
+  chSemLowerPrioSignal(&sem2);
+  return 0;
+}
+
+t_msg Thread6(void *p) {
+  t_msg msg;
+  int i;
+
+  for (i = 0; i < 5; i++) {
+    msg = chMsgSend(p, 'A' + i);
+    chFDDPut(comp, msg);
+  }
+  chMsgSend(p, 0);
+  return 0;
+}
+
+t_msg Thread7(void *p) {
+
+  // NOTE, this thread does not serve messages this causes the client to
+  // timeout.
+  chThdSleep(3000);
+  return 0;
+}
+
+/**
+ * Tester thread, this thread must be created with priority \p NORMALPRIO.
+ */
+t_msg TestThread(void *p) {
+  t_msg msg;
+  int i;
+
+  comp = p;
+
+  /*
+   * Ready list ordering test.
+   */
+  println("*** Ready List, priority enqueuing test #1, you should read ABCDE:");
+  t5 = chThdCreate(NORMALPRIO-5, 0, wsT5, sizeof(wsT5), Thread1, "E");
+  t4 = chThdCreate(NORMALPRIO-4, 0, wsT4, sizeof(wsT4), Thread1, "D");
+  t3 = chThdCreate(NORMALPRIO-3, 0, wsT3, sizeof(wsT3), Thread1, "C");
+  t2 = chThdCreate(NORMALPRIO-2, 0, wsT2, sizeof(wsT2), Thread1, "B");
+  t1 = chThdCreate(NORMALPRIO-1, 0, wsT1, sizeof(wsT1), Thread1, "A");
+  wait();
+  println("");
+  println("*** Ready List, priority enqueuing test #2, you should read ABCDE:");
+  t4 = chThdCreate(NORMALPRIO-4, 0, wsT4, sizeof(wsT4), Thread1, "D");
+  t5 = chThdCreate(NORMALPRIO-5, 0, wsT5, sizeof(wsT5), Thread1, "E");
+  t1 = chThdCreate(NORMALPRIO-1, 0, wsT1, sizeof(wsT1), Thread1, "A");
+  t2 = chThdCreate(NORMALPRIO-2, 0, wsT2, sizeof(wsT2), Thread1, "B");
+  t3 = chThdCreate(NORMALPRIO-3, 0, wsT3, sizeof(wsT3), Thread1, "C");
+  wait();
+  println("");
+
+  /*
+   * Semaphores test.
+   */
+  chSemInit(&sem1, 0);
+  println("*** Semaphores, FIFO enqueuing test, you should read ABCDE:");
+  t1 = chThdCreate(NORMALPRIO+5, 0, wsT1, sizeof(wsT1), Thread2, "A");
+  t2 = chThdCreate(NORMALPRIO+1, 0, wsT2, sizeof(wsT2), Thread2, "B");
+  t3 = chThdCreate(NORMALPRIO+3, 0, wsT3, sizeof(wsT3), Thread2, "C");
+  t4 = chThdCreate(NORMALPRIO+4, 0, wsT4, sizeof(wsT4), Thread2, "D");
+  t5 = chThdCreate(NORMALPRIO+2, 0, wsT5, sizeof(wsT5), Thread2, "E");
+  chSemSignal(&sem1);
+  chSemSignal(&sem1);
+  chSemSignal(&sem1);
+  chSemSignal(&sem1);
+  chSemSignal(&sem1);
+  wait();
+  println("");
+  println("*** Semaphores, priority enqueuing test #1, you should read ABCDE:");
+  t5 = chThdCreate(NORMALPRIO+1, 0, wsT5, sizeof(wsT5), Thread3, "E");
+  t4 = chThdCreate(NORMALPRIO+2, 0, wsT4, sizeof(wsT4), Thread3, "D");
+  t3 = chThdCreate(NORMALPRIO+3, 0, wsT3, sizeof(wsT3), Thread3, "C");
+  t2 = chThdCreate(NORMALPRIO+4, 0, wsT2, sizeof(wsT2), Thread3, "B");
+  t1 = chThdCreate(NORMALPRIO+5, 0, wsT1, sizeof(wsT1), Thread3, "A");
+  chSemLowerPrioSignal(&sem1);
+  chSemLowerPrioSignal(&sem1);
+  chSemLowerPrioSignal(&sem1);
+  chSemLowerPrioSignal(&sem1);
+  chSemLowerPrioSignal(&sem1);
+  wait();
+  println("");
+  println("*** Semaphores, priority enqueuing test #2, you should read ABCDE:");
+  t4 = chThdCreate(NORMALPRIO+2, 0, wsT4, sizeof(wsT4), Thread3, "D");
+  t5 = chThdCreate(NORMALPRIO+1, 0, wsT5, sizeof(wsT5), Thread3, "E");
+  t1 = chThdCreate(NORMALPRIO+5, 0, wsT1, sizeof(wsT1), Thread3, "A");
+  t2 = chThdCreate(NORMALPRIO+4, 0, wsT2, sizeof(wsT2), Thread3, "B");
+  t3 = chThdCreate(NORMALPRIO+3, 0, wsT3, sizeof(wsT3), Thread3, "C");
+  chSemLowerPrioSignal(&sem1);
+  chSemLowerPrioSignal(&sem1);
+  chSemLowerPrioSignal(&sem1);
+  chSemLowerPrioSignal(&sem1);
+  chSemLowerPrioSignal(&sem1);
+  wait();
+  println("");
+  println("*** Semaphores, atomicity test #1, you should read ABCDEABCDE:");
+  chSemInit(&sem1, 0);
+  chSemInit(&sem2, 1);
+  t1 = chThdCreate(NORMALPRIO+1, 0, wsT1, sizeof(wsT1), Thread4, "A");
+  t2 = chThdCreate(NORMALPRIO+2, 0, wsT2, sizeof(wsT2), Thread4, "B");
+  t3 = chThdCreate(NORMALPRIO+3, 0, wsT3, sizeof(wsT3), Thread4, "C");
+  t4 = chThdCreate(NORMALPRIO+4, 0, wsT4, sizeof(wsT4), Thread4, "D");
+  t5 = chThdCreate(NORMALPRIO+5, 0, wsT5, sizeof(wsT5), Thread4, "E");
+  chSemSignal(&sem1);
+  wait();
+  println("");
+  println("*** Semaphores, atomicity test #2, you should read ABCDEABCDE:");
+  chSemInit(&sem1, 0);
+  chSemInit(&sem2, 1);
+  t1 = chThdCreate(NORMALPRIO+1, 0, wsT1, sizeof(wsT1), Thread4, "A");
+  t2 = chThdCreate(NORMALPRIO+5, 0, wsT2, sizeof(wsT2), Thread4, "B");
+  t3 = chThdCreate(NORMALPRIO+2, 0, wsT3, sizeof(wsT3), Thread4, "C");
+  t4 = chThdCreate(NORMALPRIO+4, 0, wsT4, sizeof(wsT4), Thread4, "D");
+  t5 = chThdCreate(NORMALPRIO+3, 0, wsT5, sizeof(wsT5), Thread4, "E");
+  chSemSignal(&sem1);
+  wait();
+  println("");
+  println("*** Semaphores, atomicity test #3, you should read AABBCCDDEE:");
+  chSemInit(&sem1, 0);
+  chSemInit(&sem2, 1);
+  t1 = chThdCreate(NORMALPRIO+1, 0, wsT1, sizeof(wsT1), Thread5, "A");
+  t2 = chThdCreate(NORMALPRIO+2, 0, wsT2, sizeof(wsT2), Thread5, "B");
+  t3 = chThdCreate(NORMALPRIO+3, 0, wsT3, sizeof(wsT3), Thread5, "C");
+  t4 = chThdCreate(NORMALPRIO+4, 0, wsT4, sizeof(wsT4), Thread5, "D");
+  t5 = chThdCreate(NORMALPRIO+5, 0, wsT5, sizeof(wsT5), Thread5, "E");
+  chSemSignal(&sem1);
+  wait();
+  println("");
+  println("*** Semaphores, atomicity test #4, you should read AABBCCDDEE:");
+  chSemInit(&sem1, 0);
+  chSemInit(&sem2, 1);
+  t1 = chThdCreate(NORMALPRIO+1, 0, wsT1, sizeof(wsT1), Thread5, "A");
+  t2 = chThdCreate(NORMALPRIO+5, 0, wsT2, sizeof(wsT2), Thread5, "B");
+  t3 = chThdCreate(NORMALPRIO+2, 0, wsT3, sizeof(wsT3), Thread5, "C");
+  t4 = chThdCreate(NORMALPRIO+4, 0, wsT4, sizeof(wsT4), Thread5, "D");
+  t5 = chThdCreate(NORMALPRIO+3, 0, wsT5, sizeof(wsT5), Thread5, "E");
+  chSemSignal(&sem1);
+  wait();
+  println("");
+  println("*** Semaphores, timeout test, you should read ABCDE (slowly):");
+  chSemInit(&sem1, 0);
+  for (i = 0; i < 5; i++) {
+    chFDDPut(comp, 'A'+i);
+    chSemWaitTimeout(&sem1, 500);
+  }
+  println("");
+
+  /*
+   * Messages test.
+   */
+  println("*** Messages, dispatch test, you should read AABBCCDDEE:");
+  t1 = chThdCreate(NORMALPRIO-1, 0, wsT1, sizeof(wsT1), Thread6, chThdSelf());
+  do {
+    chMsgRelease(msg = chMsgWait());
+    if (msg)
+      chFDDPut(comp, msg);
+  } while (msg);
+  chThdWait(t1);
+  println("");
+  println("*** Messages, timeout test, you should read ABCDE (slowly):");
+  t1 = chThdCreate(NORMALPRIO-1, 0, wsT1, sizeof(wsT1), Thread7, chThdSelf());
+  for (i = 0; i < 5; i++) {
+    chFDDPut(comp, 'A'+i);
+    chMsgSendTimeout(t1, 'A'+i, 500);
+  }
+  chMsgSendTimeout(t1, 0, 500);
+  chThdWait(t1);
+  println("");
+
+  println("\r\nTest complete");
+  return 0;
+}