Preparation for AVR core support.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@27 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
parent
9a0ef300bc
commit
3a90ab685a
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@ -64,9 +64,9 @@ UADEFS =
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# List ARM-mode C source files here
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ASRC = chcore.c main.c buzzer.c \
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../../ports/ARM7-LPC214x/GCC/lpc214x_serial.c \
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../../src/chinit.c ../../src/chdelta.c ../../src/chschd.c ../../src/chthreads.c \
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../../src/chsem.c ../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c \
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../../src/chqueues.c ../../src/chserial.c
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../../src/chinit.c ../../src/chlists.c ../../src/chdelta.c ../../src/chschd.c \
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../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c ../../src/chmsg.c \
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../../src/chsleep.c ../../src/chqueues.c ../../src/chserial.c
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# List THUMB-mode C sources here
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# NOTE: If any module is compiled in thumb mode then -mthumb-interwork is
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@ -112,7 +112,7 @@ ADEFS = $(DADEFS) $(UADEFS)
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AOBJS = $(ASRC:.c=.o)
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TOBJS = $(TSRC:.c=.o)
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OBJS = $(ASMOBJS) $(AOBJS) $(TOBJS)
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ASMOBJS = $(ASMSRC:.s=.o)
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ASMOBJS = $(ASMSRC:.s=.o)
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LIBS = $(DLIBS) $(ULIBS)
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MCFLAGS = -mcpu=$(MCU)
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@ -25,28 +25,22 @@
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*/
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#define BOOL char
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#define BYTE8 unsigned char
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#define SBYTE8 char
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#define WORD16 short
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#define UWORD16 unsigned short
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#define LONG32 int
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#define ULONG32 unsigned int
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#define PTR_EQ int
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typedef BYTE8 t_tmode;
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typedef BYTE8 t_tstate;
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typedef LONG32 t_prio;
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typedef PTR_EQ t_msg;
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typedef ULONG32 t_prio;
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typedef LONG32 t_msg;
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typedef LONG32 t_eventid;
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typedef ULONG32 t_eventmask;
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typedef ULONG32 t_time;
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typedef LONG32 t_semcnt;
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typedef LONG32 t_cnt;
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typedef ULONG32 t_size;
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#define MINPRIO 0x8000
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#define MAXPRIO 0x7fff
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#define MINDELTA 0
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#define MAXDELTA 0xffff
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#define INLINE inline
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#endif /* _CHTYPES_H_ */
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@ -25,28 +25,22 @@
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*/
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#define BOOL char
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#define BYTE8 unsigned char
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#define SBYTE8 char
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#define WORD16 short
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#define UWORD16 unsigned short
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#define LONG32 int
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#define ULONG32 unsigned int
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#define PTR_EQ int
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typedef BYTE8 t_tmode;
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typedef BYTE8 t_tstate;
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typedef LONG32 t_prio;
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typedef PTR_EQ t_msg;
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typedef ULONG32 t_prio;
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typedef LONG32 t_msg;
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typedef LONG32 t_eventid;
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typedef ULONG32 t_eventmask;
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typedef ULONG32 t_time;
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typedef LONG32 t_semcnt;
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typedef LONG32 t_cnt;
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typedef ULONG32 t_size;
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#define MINPRIO 0x8000
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#define MAXPRIO 0x7fff
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#define MINDELTA 0
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#define MAXDELTA 0xffff
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#define INLINE __inline
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#endif /* _CHTYPES_H_ */
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@ -58,9 +58,9 @@ UADEFS =
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# List C source files here
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SRC = chcore.c demo.c \
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../../ports/win32/simcom.c \
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../../src/chinit.c ../../src/chdelta.c ../../src/chschd.c ../../src/chthreads.c \
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../../src/chsem.c ../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c \
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../../src/chqueues.c ../../src/chserial.c
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../../src/chinit.c ../../src/chlists.c ../../src/chdelta.c ../../src/chschd.c \
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../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c ../../src/chmsg.c \
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../../src/chsleep.c ../../src/chqueues.c ../../src/chserial.c
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# List ASM source files here
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ASRC = chcore2.s
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@ -63,7 +63,7 @@ typedef struct {
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#define INT_REQUIRED_STACK 0x0
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#define UserStackSize(n) (sizeof(Thread) + sizeof(PTR_EQ) + sizeof(PTR_EQ) + \
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#define UserStackSize(n) (sizeof(Thread) + sizeof(void *) * 2 + \
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sizeof(struct stackregs) + (n) + (INT_REQUIRED_STACK))
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__attribute__((fastcall)) void chSysHalt(void);
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@ -25,28 +25,22 @@
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*/
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#define BOOL char
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#define BYTE8 unsigned char
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#define SBYTE8 char
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#define WORD16 short
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#define UWORD16 unsigned short
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#define LONG32 int
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#define ULONG32 unsigned int
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#define PTR_EQ int
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typedef BYTE8 t_tmode;
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typedef BYTE8 t_tstate;
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typedef LONG32 t_prio;
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typedef PTR_EQ t_msg;
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typedef ULONG32 t_prio;
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typedef LONG32 t_msg;
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typedef LONG32 t_eventid;
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typedef ULONG32 t_eventmask;
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typedef ULONG32 t_time;
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typedef LONG32 t_semcnt;
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typedef LONG32 t_cnt;
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typedef ULONG32 t_size;
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#define MINPRIO 0x8000
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#define MAXPRIO 0x7fff
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#define MINDELTA 0
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#define MAXDELTA 0xffff
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#define INLINE inline
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#endif /* _CHTYPES_H_ */
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19
readme.txt
19
readme.txt
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@ -32,6 +32,25 @@ LPC214x-GCC - ChibiOS/RT port for ARM7 LPC2148, the demo targets the
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*** Releases ***
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*****************************************************************************
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*** 0.3.1 ***
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- Lists code moved into chlists.c from various other places and reorganized.
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- The list of the threads waiting in chThdWait() is now a single link list,
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this saves some space.
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- Cleaned the template files code, the files contained some obsolete
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declarations.
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- Code optimization in scSemSignalWait().
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- Code optimization in chEvtSend().
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- Added a Semaphore pointer to the Thread structure, this allows to know on
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which semaphore a thread is waiting on. It takes no space because it is
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located in the union inside the Thread structure. This also allowed a minor
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optimization inside chSemWaitTimeout() and chSemWaitTimeoutS().
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- Changed the priority constants in order to make the t_prio type compatible
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with a signed byte, this is very important for 8 bits architectures.
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Now the threads priorities can range from 1 to 63, more than enough anyway.
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- Fixed bug in chEvtWaitTimeout(), the timeout code performed a useless
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dequeue operation.
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- Fixed bug on RT semaphores, the priority queuing was broken.
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*** 0.3.0 ***
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- ChibiOS/RT goes beta.
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- Diet for the threads code, some simple APIs become macros.
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@ -33,7 +33,7 @@ DeltaList dlist;
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void chVTInit(void) {
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dlist.dl_next = dlist.dl_prev = (VirtualTimer *)&dlist;
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dlist.dl_dtime = MAXDELTA;
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dlist.dl_dtime = (t_time)-1;
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}
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/**
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@ -92,7 +92,6 @@ void chEvtClear(t_eventmask mask) {
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*/
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void chEvtSend(EventSource *esp) {
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EventListener *elp;
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BOOL flag = FALSE;
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chSysLock();
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tp->p_epending |= EventMask(elp->el_id);
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if ((tp->p_state == PRWTEVENT) && (tp->p_epending & tp->p_ewmask))
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chSchReadyI(tp), flag = TRUE;
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chSchReadyI(tp);
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elp = elp->el_next;
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}
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if (flag)
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chSchRescheduleI();
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chSchRescheduleI();
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chSysUnlock();
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}
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@ -174,7 +172,7 @@ static void unwait(void *p) {
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// Test removed, it should never happen.
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// if (((Thread *)p)->p_state == PRWTEVENT)
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chSchReadyI(dequeue(p))->p_rdymsg = RDY_TIMEOUT;
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chSchReadyI(p)->p_rdymsg = RDY_TIMEOUT;
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}
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/**
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@ -0,0 +1,89 @@
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/*
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ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @addtogroup Messages
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* @{
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*/
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#include <ch.h>
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#ifndef CH_OPTIMIZE_SPEED
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/*
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* Inserts a thread into a FIFO queue.
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* @param tp the pointer to the thread to be inserted in the list
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* @param tqp the pointer to the threads list header
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*/
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void fifo_insert(Thread *tp, ThreadsQueue *tqp) {
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tp->p_next = (Thread *)tqp;
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tp->p_prev = tqp->p_prev;
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tqp->p_prev->p_next = tp;
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tqp->p_prev = tp;
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}
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/*
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* Removes a thread from a FIFO queue.
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* @param tqp the pointer to the threads list header
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*/
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Thread *fifo_remove(ThreadsQueue *tqp) {
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Thread *tp = tqp->p_next;
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(tqp->p_next = tp->p_next)->p_prev = (Thread *)tqp;
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return tp;
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}
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/*
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* Removes a Thread from a FIFO list and returns it.
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* @param tp the pointer to the thread to be removed from the list
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* @param tqp the pointer to the list header
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* @return the removed thread pointer
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*/
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Thread *dequeue(Thread *tp) {
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tp->p_prev->p_next = tp->p_next;
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tp->p_next->p_prev = tp->p_prev;
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return tp;
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}
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/*
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* Inserts a Thread into a stack list.
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* @param tp the pointer to the thread to be inserted in the list
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* @param tlp the pointer to the threads list header
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*/
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void list_insert(Thread *tp, ThreadsList *tlp) {
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tp->p_next = tlp->p_next;
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tlp->p_next = tp;
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}
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/*
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* Removes a Thread from a stack list and returns it.
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* @param tlp the pointer to the threads list header
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* @return the removed thread pointer
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*/
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Thread *list_remove(ThreadsList *tlp) {
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Thread *tp = tlp->p_next;
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tlp->p_next = tp->p_next;
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return tp;
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}
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#endif /* CH_OPTIMIZE_SPEED */
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/** @} */
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@ -36,7 +36,7 @@ t_msg chMsgSend(Thread *tp, t_msg msg) {
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chSysLock();
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enqueue(currp, &tp->p_msgqueue);
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fifo_insert(currp, &tp->p_msgqueue);
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if (tp->p_state == PRWTMSG)
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chSchReadyI(tp);
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currp->p_msg = msg;
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@ -66,7 +66,7 @@ t_msg chMsgSendWithEvent(Thread *tp, t_msg msg, EventSource *esp) {
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chSysLock();
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enqueue(currp, &tp->p_msgqueue);
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fifo_insert(currp, &tp->p_msgqueue);
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// if (tp->p_state == PRWTMSG)
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// chSchReadyI(tp);
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chEvtSendI(esp);
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@ -109,7 +109,7 @@ t_msg chMsgSendTimeout(Thread *tp, t_msg msg, t_time time) {
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chSysLock();
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chVTSetI(&vt, time, unsend, currp);
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enqueue(currp, &tp->p_msgqueue);
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fifo_insert(currp, &tp->p_msgqueue);
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if (tp->p_state == PRWTMSG)
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chSchReadyI(tp);
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currp->p_msg = msg;
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@ -183,7 +183,7 @@ void chMsgRelease(t_msg msg) {
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chSysLock();
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// if (!chMsgIsPendingI(currp)
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chSchWakeupI(dequeue(currp->p_msgqueue.p_next), msg);
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chSchWakeupI(fifo_remove(&currp->p_msgqueue), msg);
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chSysUnlock();
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}
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@ -212,7 +212,7 @@ void chOQReset(Queue *qp) {
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chSysLock();
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qp->q_rdptr = qp->q_wrptr = qp->q_buffer;
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chSemResetI(&qp->q_sem, (t_semcnt)(qp->q_top - qp->q_buffer));
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chSemResetI(&qp->q_sem, (t_cnt)(qp->q_top - qp->q_buffer));
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chSysUnlock();
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}
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21
src/chschd.c
21
src/chschd.c
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@ -32,7 +32,7 @@ static ReadyList rlist;
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Thread *currp;
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#endif
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static UWORD16 preempt;
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static t_cnt preempt;
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#ifdef CH_USE_SYSTEMTIME
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t_time stime;
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#endif
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@ -46,7 +46,7 @@ t_time stime;
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void chSchInit(void) {
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rlist.p_next = rlist.p_prev = (Thread *)&rlist;
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rlist.p_prio = MAXPRIO;
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rlist.p_prio = ABSPRIO;
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preempt = CH_TIME_QUANTUM;
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#ifdef CH_USE_SYSTEMTIME
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stime = 0;
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@ -68,11 +68,12 @@ Thread *chSchReadyI(Thread *tp) {
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tp->p_state = PRREADY;
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tp->p_rdymsg = RDY_OK;
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cp = rlist.p_next;
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cp = rlist.p_prev;
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while (cp->p_prio < prio)
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cp = cp->p_next;
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tp->p_prev = (tp->p_next = cp)->p_prev;
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tp->p_prev->p_next = cp->p_prev = tp;
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cp = cp->p_prev;
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// Insertion on p_next
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tp->p_next = (tp->p_prev = cp)->p_next;
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tp->p_next->p_prev = cp->p_next = tp;
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return tp;
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}
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@ -83,7 +84,7 @@ Thread *chSchReadyI(Thread *tp) {
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static void nextready(void) {
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Thread *otp = currp;
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(currp = dequeue(rlist.p_prev))->p_state = PRCURR;
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(currp = fifo_remove((ThreadsQueue *)&rlist))->p_state = PRCURR;
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preempt = CH_TIME_QUANTUM;
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chSysSwitchI(&otp->p_ctx, &currp->p_ctx);
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}
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@ -135,7 +136,7 @@ void chSchWakeupI(Thread *tp, t_msg msg) {
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*/
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void chSchRescheduleI(void) {
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if (isempty(&rlist) || lastprio(&rlist) <= currp->p_prio)
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if (isempty(&rlist) || firstprio(&rlist) <= currp->p_prio)
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return;
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chSchDoRescheduleI();
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@ -162,11 +163,11 @@ BOOL chSchRescRequiredI(void) {
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return FALSE;
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if (preempt) {
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if (lastprio(&rlist) <= currp->p_prio)
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if (firstprio(&rlist) <= currp->p_prio)
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return FALSE;
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}
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else { /* Time quantum elapsed. */
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if (lastprio(&rlist) < currp->p_prio)
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if (firstprio(&rlist) < currp->p_prio)
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return FALSE;
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}
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return TRUE;
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76
src/chsem.c
76
src/chsem.c
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@ -31,10 +31,10 @@
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* @param n initial value of the semaphore counter. Must be non-negative.
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* @note Can be called with interrupts disabled or enabled.
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||||
*/
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void chSemInit(Semaphore *sp, t_semcnt n) {
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void chSemInit(Semaphore *sp, t_cnt n) {
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fifo_init(&sp->s_queue);
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sp->s_cnt = n;
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sp->s_queue.p_next = sp->s_queue.p_prev = (Thread *)&sp->s_queue;
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}
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/**
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@ -45,8 +45,8 @@ void chSemInit(Semaphore *sp, t_semcnt n) {
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* instead than a signal because the \p p_rdymsg field is set to
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* \p RDY_RESET.
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*/
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void chSemReset(Semaphore *sp, t_semcnt n) {
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t_semcnt cnt;
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void chSemReset(Semaphore *sp, t_cnt n) {
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t_cnt cnt;
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chSysLock();
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|
@ -54,7 +54,7 @@ void chSemReset(Semaphore *sp, t_semcnt n) {
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sp->s_cnt = n;
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if (cnt < 0) {
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while (cnt++)
|
||||
chSchReadyI(dequeue(sp->s_queue.p_next))->p_rdymsg = RDY_RESET;
|
||||
chSchReadyI(fifo_remove(&sp->s_queue))->p_rdymsg = RDY_RESET;
|
||||
chSchRescheduleI();
|
||||
}
|
||||
|
||||
|
@ -70,13 +70,13 @@ void chSemReset(Semaphore *sp, t_semcnt n) {
|
|||
* \p RDY_RESET.
|
||||
* @note This function must be called with interrupts disabled.
|
||||
*/
|
||||
void chSemResetI(Semaphore *sp, t_semcnt n) {
|
||||
t_semcnt cnt;
|
||||
void chSemResetI(Semaphore *sp, t_cnt n) {
|
||||
t_cnt cnt;
|
||||
|
||||
cnt = sp->s_cnt;
|
||||
sp->s_cnt = n;
|
||||
while (cnt++ < 0)
|
||||
chSchReadyI(dequeue(sp->s_queue.p_next))->p_rdymsg = RDY_RESET;
|
||||
chSchReadyI(fifo_remove(&sp->s_queue))->p_rdymsg = RDY_RESET;
|
||||
}
|
||||
|
||||
/**
|
||||
|
@ -88,7 +88,8 @@ void chSemWait(Semaphore *sp) {
|
|||
chSysLock();
|
||||
|
||||
if (--sp->s_cnt < 0) {
|
||||
enqueue(currp, &sp->s_queue);
|
||||
fifo_insert(currp, &sp->s_queue);
|
||||
currp->p_semp = sp;
|
||||
chSchGoSleepI(PRWTSEM);
|
||||
}
|
||||
|
||||
|
@ -104,7 +105,8 @@ void chSemWait(Semaphore *sp) {
|
|||
void chSemWaitS(Semaphore *sp) {
|
||||
|
||||
if (--sp->s_cnt < 0) {
|
||||
enqueue(currp, &sp->s_queue);
|
||||
fifo_insert(currp, &sp->s_queue);
|
||||
currp->p_semp = sp;
|
||||
chSchGoSleepI(PRWTSEM);
|
||||
}
|
||||
}
|
||||
|
@ -114,6 +116,7 @@ static void unwait(void *p) {
|
|||
|
||||
// Test removed, it should never happen.
|
||||
// if (((Thread *)p)->p_state == PRWTSEM)
|
||||
chSemFastSignalI(((Thread *)p)->p_semp);
|
||||
chSchReadyI(dequeue(p))->p_rdymsg = RDY_TIMEOUT;
|
||||
}
|
||||
|
||||
|
@ -132,11 +135,11 @@ t_msg chSemWaitTimeout(Semaphore *sp, t_time time) {
|
|||
VirtualTimer vt;
|
||||
|
||||
chVTSetI(&vt, time, unwait, currp);
|
||||
enqueue(currp, &sp->s_queue);
|
||||
fifo_insert(currp, &sp->s_queue);
|
||||
currp->p_semp = sp;
|
||||
chSchGoSleepI(PRWTSEM);
|
||||
msg = currp->p_rdymsg; // Note, got value *before* invoking CH_LEAVE_SYSTEM().
|
||||
if (!vt.vt_func) {
|
||||
sp->s_cnt++;
|
||||
|
||||
chSysUnlock();
|
||||
return msg;
|
||||
|
@ -167,12 +170,11 @@ t_msg chSemWaitTimeoutS(Semaphore *sp, t_time time) {
|
|||
VirtualTimer vt;
|
||||
|
||||
chVTSetI(&vt, time, unwait, currp);
|
||||
enqueue(currp, &sp->s_queue);
|
||||
fifo_insert(currp, &sp->s_queue);
|
||||
currp->p_semp = sp;
|
||||
chSchGoSleepI(PRWTSEM);
|
||||
if (!vt.vt_func) {
|
||||
sp->s_cnt++;
|
||||
if (!vt.vt_func)
|
||||
return currp->p_rdymsg;
|
||||
}
|
||||
chVTResetI(&vt);
|
||||
return currp->p_rdymsg;
|
||||
}
|
||||
|
@ -191,7 +193,7 @@ void chSemSignal(Semaphore *sp) {
|
|||
chSysLock();
|
||||
|
||||
if (sp->s_cnt++ < 0)
|
||||
chSchWakeupI(dequeue(sp->s_queue.p_next), RDY_OK);
|
||||
chSchWakeupI(fifo_remove(&sp->s_queue), RDY_OK);
|
||||
|
||||
chSysUnlock();
|
||||
}
|
||||
|
@ -206,7 +208,7 @@ void chSemSignal(Semaphore *sp) {
|
|||
void chSemSignalI(Semaphore *sp) {
|
||||
|
||||
if (sp->s_cnt++ < 0)
|
||||
chSchReadyI(dequeue(sp->s_queue.p_next));
|
||||
chSchReadyI(fifo_remove(&sp->s_queue));
|
||||
}
|
||||
|
||||
/**
|
||||
|
@ -217,20 +219,18 @@ void chSemSignalI(Semaphore *sp) {
|
|||
* option is enabled in \p chconf.h.
|
||||
*/
|
||||
void chSemSignalWait(Semaphore *sps, Semaphore *spw) {
|
||||
BOOL flag;
|
||||
|
||||
chSysLock();
|
||||
|
||||
if (sps->s_cnt++ < 0)
|
||||
chSchReadyI(dequeue(sps->s_queue.p_next)), flag = TRUE;
|
||||
else
|
||||
flag = FALSE;
|
||||
chSchReadyI(fifo_remove(&sps->s_queue));
|
||||
|
||||
if (--spw->s_cnt < 0) {
|
||||
enqueue(currp, &spw->s_queue);
|
||||
fifo_insert(currp, &spw->s_queue);
|
||||
currp->p_semp = spw;
|
||||
chSchGoSleepI(PRWTSEM);
|
||||
}
|
||||
else if (flag)
|
||||
else
|
||||
chSchRescheduleI();
|
||||
|
||||
chSysUnlock();
|
||||
|
@ -245,15 +245,14 @@ void chSemSignalWait(Semaphore *sps, Semaphore *spw) {
|
|||
* you want to create some custom threads synchronization mechanism.
|
||||
*/
|
||||
static void prioenq(Thread *tp, ThreadsQueue *tqp) {
|
||||
Thread *p;
|
||||
Thread *cp;
|
||||
|
||||
p = tqp->p_next;
|
||||
while ((p != (Thread *)tqp) && (p->p_prio >= tp->p_prio))
|
||||
p = p->p_next;
|
||||
tp->p_next = p;
|
||||
tp->p_prev = tqp->p_prev;
|
||||
p->p_prev->p_next = tp;
|
||||
p->p_prev = tp;
|
||||
cp = tqp->p_next;
|
||||
while ((cp != (Thread *)tqp) && (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;
|
||||
}
|
||||
|
||||
/**
|
||||
|
@ -268,6 +267,7 @@ void chSemRaisePrioWait(Semaphore *sp) {
|
|||
|
||||
if (--sp->s_cnt < 0) {
|
||||
prioenq(currp, &sp->s_queue);
|
||||
currp->p_semp = sp;
|
||||
chSchGoSleepI(PRWTSEM);
|
||||
}
|
||||
|
||||
|
@ -290,11 +290,11 @@ void chSemLowerPrioSignal(Semaphore *sp) {
|
|||
if (!--currp->p_rtcnt) {
|
||||
currp->p_prio -= MEPRIO;
|
||||
if (sp->s_cnt++ < 0)
|
||||
chSchReadyI(dequeue(sp->s_queue.p_next));
|
||||
chSchReadyI(fifo_remove(&sp->s_queue));
|
||||
chSchRescheduleI();
|
||||
}
|
||||
else if (sp->s_cnt++ < 0)
|
||||
chSchWakeupI(dequeue(sp->s_queue.p_next), RDY_OK);
|
||||
chSchWakeupI(fifo_remove(&sp->s_queue), RDY_OK);
|
||||
|
||||
chSysUnlock();
|
||||
}
|
||||
|
@ -312,10 +312,11 @@ void chSemRaisePrioSignalWait(Semaphore *sps, Semaphore *spw) {
|
|||
chSysLock();
|
||||
|
||||
if (sps->s_cnt++ < 0)
|
||||
chSchReadyI(dequeue(sps->s_queue.p_next));
|
||||
chSchReadyI(fifo_remove(&sps->s_queue));
|
||||
|
||||
if (--spw->s_cnt < 0) {
|
||||
prioenq(currp, &spw->s_queue);
|
||||
currp->p_semp = spw;
|
||||
chSchGoSleepI(PRWTSEM);
|
||||
|
||||
if (!currp->p_rtcnt++)
|
||||
|
@ -347,10 +348,11 @@ void chSemLowerPrioSignalWait(Semaphore *sps, Semaphore *spw) {
|
|||
currp->p_prio -= MEPRIO;
|
||||
|
||||
if (sps->s_cnt++ < 0)
|
||||
chSchReadyI(dequeue(sps->s_queue.p_next));
|
||||
chSchReadyI(fifo_remove(&sps->s_queue));
|
||||
|
||||
if (--spw->s_cnt < 0) {
|
||||
enqueue(currp, &spw->s_queue); // enqueue() because the spw is a normal sem.
|
||||
fifo_insert(currp, &spw->s_queue); // fifo_insert() because the spw is a normal sem.
|
||||
currp->p_semp = spw;
|
||||
chSchGoSleepI(PRWTSEM);
|
||||
}
|
||||
else
|
||||
|
|
|
@ -24,33 +24,6 @@
|
|||
|
||||
#include <ch.h>
|
||||
|
||||
#ifndef CH_OPTIMIZE_SPEED
|
||||
/*
|
||||
* Removes a Thread from a list and returns it.
|
||||
* @param tp the pointer to the thread to be removed from the list
|
||||
* @return the removed thread pointer
|
||||
*/
|
||||
Thread *dequeue(Thread *tp) {
|
||||
|
||||
tp->p_prev->p_next = tp->p_next;
|
||||
tp->p_next->p_prev = tp->p_prev;
|
||||
return tp;
|
||||
}
|
||||
|
||||
/*
|
||||
* Inserts a thread into a bi-directional list in FIFO order.
|
||||
* @param tp the pointer to the thread to be inserted in the list
|
||||
* @param tqp the pointer to the threads list header
|
||||
*/
|
||||
void enqueue(Thread *tp, ThreadsQueue *tqp) {
|
||||
|
||||
tp->p_next = (Thread *)tqp;
|
||||
tp->p_prev = tqp->p_prev;
|
||||
tqp->p_prev->p_next = tp;
|
||||
tqp->p_prev = tp;
|
||||
}
|
||||
#endif /* CH_OPTIMIZE_SPEED */
|
||||
|
||||
/*
|
||||
* Initializes a thread structure.
|
||||
*/
|
||||
|
@ -63,12 +36,10 @@ void _InitThread(t_prio prio, t_tmode mode, Thread *tp) {
|
|||
tp->p_rtcnt = 0;
|
||||
#endif
|
||||
#ifdef CH_USE_WAITEXIT
|
||||
tp->p_waiting.p_next = (Thread *)&tp->p_waiting;
|
||||
tp->p_waiting.p_prev = (Thread *)&tp->p_waiting;
|
||||
list_init(&tp->p_waiting);
|
||||
#endif
|
||||
#ifdef CH_USE_MESSAGES
|
||||
tp->p_msgqueue.p_next = (Thread *)&tp->p_msgqueue;
|
||||
tp->p_msgqueue.p_prev = (Thread *)&tp->p_msgqueue;
|
||||
fifo_init(&tp->p_msgqueue);
|
||||
#endif
|
||||
#ifdef CH_USE_EVENTS
|
||||
tp->p_epending = 0;
|
||||
|
@ -179,7 +150,7 @@ void chThdExit(t_msg msg) {
|
|||
currp->p_exitcode = msg; /* Post mortem info. */
|
||||
#ifdef CH_USE_WAITEXIT
|
||||
while (notempty(&currp->p_waiting))
|
||||
chSchReadyI(dequeue(currp->p_waiting.p_next));
|
||||
chSchReadyI(list_remove(&currp->p_waiting));
|
||||
#endif
|
||||
#ifdef CH_USE_EXIT_EVENT
|
||||
chEvtSendI(&currp->p_exitesource);
|
||||
|
@ -203,7 +174,7 @@ t_msg chThdWait(Thread *tp) {
|
|||
chSysLock();
|
||||
|
||||
if (tp->p_state != PREXIT) {
|
||||
enqueue(currp, &tp->p_waiting);
|
||||
list_insert(currp, &tp->p_waiting);
|
||||
chSchGoSleepI(PRWAIT);
|
||||
}
|
||||
|
||||
|
|
|
@ -25,8 +25,6 @@
|
|||
#ifndef _CH_H_
|
||||
#define _CH_H_
|
||||
|
||||
typedef struct Thread Thread;
|
||||
|
||||
#ifndef __DOXIGEN__
|
||||
#ifndef _CHCONF_H_
|
||||
#include <chconf.h>
|
||||
|
@ -41,14 +39,22 @@ typedef struct Thread Thread;
|
|||
#endif
|
||||
#endif /* __DOXIGEN__ */
|
||||
|
||||
#ifndef _DELTA_H_
|
||||
#ifndef _LISTS_H_
|
||||
#include "delta.h"
|
||||
#endif
|
||||
|
||||
#ifndef _LISTS_H_
|
||||
#include "lists.h"
|
||||
#endif
|
||||
|
||||
#ifndef _SCHEDULER_H_
|
||||
#include "scheduler.h"
|
||||
#endif
|
||||
|
||||
#ifndef _SEMAPHORES_H_
|
||||
#include "semaphores.h"
|
||||
#endif
|
||||
|
||||
#ifndef _EVENTS_H_
|
||||
#include "events.h"
|
||||
#endif
|
||||
|
@ -65,10 +71,6 @@ typedef struct Thread Thread;
|
|||
#include "sleep.h"
|
||||
#endif
|
||||
|
||||
#ifndef _SEMAPHORES_H_
|
||||
#include "semaphores.h"
|
||||
#endif
|
||||
|
||||
#ifndef _QUEUES_H_
|
||||
#include "queues.h"
|
||||
#endif
|
||||
|
|
|
@ -0,0 +1,67 @@
|
|||
/*
|
||||
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/>.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @addtogroup Threads
|
||||
* @{
|
||||
*/
|
||||
|
||||
#ifndef _LISTS_H_
|
||||
#define _LISTS_H_
|
||||
|
||||
typedef struct Thread Thread;
|
||||
|
||||
/* Macros good with both ThreadsQueue and ThreadsList.*/
|
||||
#define isempty(p) ((p)->p_next == (Thread *)(p))
|
||||
#define notempty(p) ((p)->p_next != (Thread *)(p))
|
||||
|
||||
/**
|
||||
* Generic threads FIFO queue header and element.
|
||||
*/
|
||||
typedef struct {
|
||||
/** Next \p Thread in the queue, in FIFO order.*/
|
||||
Thread *p_next;
|
||||
/** Last \p Thread in the queue, in FIFO order.*/
|
||||
Thread *p_prev;
|
||||
} ThreadsQueue;
|
||||
|
||||
/**
|
||||
* Generic threads single link list, it works like a stack.
|
||||
*/
|
||||
typedef struct {
|
||||
Thread *p_next;
|
||||
} ThreadsList;
|
||||
|
||||
/*
|
||||
* Threads Lists functions and macros.
|
||||
*/
|
||||
#define fifo_init(tqp) ((tqp)->p_next = (tqp)->p_prev = (Thread *)(tqp));
|
||||
#define list_init(tlp) ((tlp)->p_next = (Thread *)(tlp))
|
||||
|
||||
#ifndef CH_OPTIMIZE_SPEED
|
||||
void fifo_insert(Thread *tp, ThreadsQueue *tqp);
|
||||
Thread *fifo_remove(ThreadsQueue *tqp);
|
||||
Thread *dequeue(Thread *tp);
|
||||
void list_insert(Thread *tp, ThreadsList *tlp);
|
||||
Thread *list_remove(ThreadsList *tlp);
|
||||
#endif
|
||||
|
||||
#endif /* _LISTS_H_ */
|
||||
|
||||
/** @} */
|
|
@ -32,6 +32,8 @@
|
|||
/** Returned if the thread was made ready because a reset.*/
|
||||
#define RDY_RESET -2
|
||||
|
||||
#define firstprio(qp) ((qp)->p_next->p_prio)
|
||||
|
||||
/**
|
||||
* Ready list header.
|
||||
*/
|
||||
|
|
|
@ -34,12 +34,12 @@ typedef struct {
|
|||
/** Queue of the threads sleeping on this Semaphore.*/
|
||||
ThreadsQueue s_queue;
|
||||
/** The Semaphore counter.*/
|
||||
t_semcnt s_cnt;
|
||||
t_cnt s_cnt;
|
||||
} Semaphore;
|
||||
|
||||
void chSemInit(Semaphore *sp, t_semcnt n);
|
||||
void chSemReset(Semaphore *sp, t_semcnt n);
|
||||
void chSemResetI(Semaphore *sp, t_semcnt n);
|
||||
void chSemInit(Semaphore *sp, t_cnt n);
|
||||
void chSemReset(Semaphore *sp, t_cnt n);
|
||||
void chSemResetI(Semaphore *sp, t_cnt n);
|
||||
void chSemWait(Semaphore *sp);
|
||||
void chSemWaitS(Semaphore *sp);
|
||||
t_msg chSemWaitTimeout(Semaphore *sp, t_time time);
|
||||
|
@ -59,21 +59,18 @@ void chSemLowerPrioSignalWait(Semaphore *sps, Semaphore *spw);
|
|||
* Decreases the semaphore counter, this macro can be used when it is ensured
|
||||
* that the counter would not become negative.
|
||||
*/
|
||||
#define chSemFastWaitS(sp) \
|
||||
((sp)->s_cnt--)
|
||||
#define chSemFastWaitS(sp) ((sp)->s_cnt--)
|
||||
|
||||
/**
|
||||
* Increases the semaphore counter, this macro can be used when the counter is
|
||||
* not negative.
|
||||
*/
|
||||
#define chSemFastSignalI(sp) \
|
||||
((sp)->s_cnt++)
|
||||
#define chSemFastSignalI(sp) ((sp)->s_cnt++)
|
||||
|
||||
/**
|
||||
* Returns the semaphore counter current value.
|
||||
*/
|
||||
#define chSemGetCounter(sp) \
|
||||
((sp)->s_cnt)
|
||||
#define chSemGetCounter(sp) ((sp)->s_cnt)
|
||||
|
||||
#endif /* CH_USE_SEMAPHORES */
|
||||
|
||||
|
|
|
@ -25,21 +25,6 @@
|
|||
#ifndef _THREADS_H_
|
||||
#define _THREADS_H_
|
||||
|
||||
#define isempty(qp) ((qp)->p_next == (Thread *)(qp))
|
||||
#define notempty(qp) ((qp)->p_next != (Thread *)(qp))
|
||||
#define firstprio(qp) ((qp)->p_next->p_prio)
|
||||
#define lastprio(qp) ((qp)->p_prev->p_prio)
|
||||
|
||||
/**
|
||||
* Generic threads queue header and element.
|
||||
*/
|
||||
typedef struct {
|
||||
/** First \p Thread in the queue.*/
|
||||
Thread *p_next;
|
||||
/** Last \p Thread in the queue.*/
|
||||
Thread *p_prev;
|
||||
} ThreadsQueue;
|
||||
|
||||
/**
|
||||
* Structure representing a thread.
|
||||
* @note Not all the listed fields are always needed, by switching off some
|
||||
|
@ -49,6 +34,7 @@ typedef struct {
|
|||
struct Thread {
|
||||
/** Next \p Thread in the threads list.*/
|
||||
Thread *p_next;
|
||||
/* End of the fields shared with the ThreadsList structure. */
|
||||
/** Previous \p Thread in the threads list.*/
|
||||
Thread *p_prev;
|
||||
/* End of the fields shared with the ThreadsQueue structure. */
|
||||
|
@ -66,10 +52,14 @@ struct Thread {
|
|||
*/
|
||||
union {
|
||||
/** Thread wakeup code, normally set to \p RDY_OK by the \p chSchReadyI()
|
||||
* (only while in \p PRCURR or \p PRREADY states).*/
|
||||
* (only while in \p PRREADY state).*/
|
||||
t_msg p_rdymsg;
|
||||
/** The thread exit code (only while in \p PREXIT state).*/
|
||||
t_msg p_exitcode;
|
||||
#ifdef CH_USE_SEMAPHORES
|
||||
/** Semaphore where the thread is waiting on (only in \p PRWTSEM state).*/
|
||||
Semaphore *p_semp;
|
||||
#endif
|
||||
#ifdef CH_USE_EVENTS
|
||||
/** Enabled events mask (only while in \p PRWTEVENT state).*/
|
||||
t_eventmask p_ewmask;
|
||||
|
@ -89,7 +79,7 @@ struct Thread {
|
|||
*/
|
||||
#ifdef CH_USE_WAITEXIT
|
||||
/** The queue of the threads waiting for this thread termination.*/
|
||||
ThreadsQueue p_waiting;
|
||||
ThreadsList p_waiting;
|
||||
#endif
|
||||
#ifdef CH_USE_EXIT_EVENT
|
||||
/** The thread termination \p EventSource.*/
|
||||
|
@ -103,9 +93,8 @@ struct Thread {
|
|||
t_eventmask p_epending;
|
||||
#endif
|
||||
#ifdef CH_USE_RT_SEMAPHORES
|
||||
/** Priority backup after acquiring a RT semaphore.*/
|
||||
/** RT semaphores depth counter.*/
|
||||
int p_rtcnt;
|
||||
t_cnt p_rtcnt;
|
||||
#endif
|
||||
};
|
||||
|
||||
|
@ -142,13 +131,13 @@ struct Thread {
|
|||
/** Lowest user priority.*/
|
||||
#define LOWPRIO 1
|
||||
/** Normal user priority.*/
|
||||
#define NORMALPRIO 128
|
||||
#define NORMALPRIO 64
|
||||
/** Highest user priority.*/
|
||||
#define HIGHPRIO 255
|
||||
#define HIGHPRIO 127
|
||||
/** Boosted base priority.*/
|
||||
#define MEPRIO 256
|
||||
/** Absolute priority.*/
|
||||
#define ABSPRIO 512
|
||||
#define MEPRIO 128
|
||||
/** Greatest possible priority.*/
|
||||
#define ABSPRIO 255
|
||||
|
||||
/* Not an API, don't use into the application code.*/
|
||||
void _InitThread(t_prio prio, t_tmode mode, Thread *tp);
|
||||
|
@ -157,12 +146,24 @@ void _InitThread(t_prio prio, t_tmode mode, Thread *tp);
|
|||
typedef t_msg (*t_tfunc)(void *);
|
||||
|
||||
/*
|
||||
* Threads Lists functions.
|
||||
* Inlined functions if CH_OPTIMIZE_SPEED is enabled.
|
||||
*/
|
||||
#ifndef CH_OPTIMIZE_SPEED
|
||||
void enqueue(Thread *tp, ThreadsQueue *tqp);
|
||||
Thread *dequeue(Thread *tp);
|
||||
#else
|
||||
#ifdef CH_OPTIMIZE_SPEED
|
||||
static INLINE void fifo_insert(Thread *tp, ThreadsQueue *tqp) {
|
||||
|
||||
tp->p_next = (Thread *)tqp;
|
||||
tp->p_prev = tqp->p_prev;
|
||||
tqp->p_prev->p_next = tp;
|
||||
tqp->p_prev = tp;
|
||||
}
|
||||
|
||||
static INLINE Thread *fifo_remove(ThreadsQueue *tqp) {
|
||||
Thread *tp = tqp->p_next;
|
||||
|
||||
(tqp->p_next = tp->p_next)->p_prev = (Thread *)tqp;
|
||||
return tp;
|
||||
}
|
||||
|
||||
static INLINE Thread *dequeue(Thread *tp) {
|
||||
|
||||
tp->p_prev->p_next = tp->p_next;
|
||||
|
@ -170,12 +171,17 @@ static INLINE Thread *dequeue(Thread *tp) {
|
|||
return tp;
|
||||
}
|
||||
|
||||
static INLINE void enqueue(Thread *tp, ThreadsQueue *tqp) {
|
||||
static INLINE void list_insert(Thread *tp, ThreadsList *tlp) {
|
||||
|
||||
tp->p_next = (Thread *)tqp;
|
||||
tp->p_prev = tqp->p_prev;
|
||||
tqp->p_prev->p_next = tp;
|
||||
tqp->p_prev = tp;
|
||||
tp->p_next = tlp->p_next;
|
||||
tlp->p_next = tp;
|
||||
}
|
||||
|
||||
static INLINE Thread *list_remove(ThreadsList *tlp) {
|
||||
|
||||
Thread *tp = tlp->p_next;
|
||||
tlp->p_next = tp->p_next;
|
||||
return tp;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
|
@ -147,7 +147,7 @@
|
|||
* ChibiOS/RT code <b>must</b> be recompiled with the GCC option \p
|
||||
* -ffixed-\<reg\>.
|
||||
*/
|
||||
#define CH_CURRP_REGISTER_CACHE "reg"
|
||||
//#define CH_CURRP_REGISTER_CACHE "reg"
|
||||
|
||||
#endif /* _CHCONF_H_ */
|
||||
|
||||
|
|
|
@ -45,6 +45,6 @@ void chSysHalt(void) {}
|
|||
/**
|
||||
* Context switch.
|
||||
*/
|
||||
void chSysSwitchI(struct ctxswc **oldp, struct ctxswc *new) {}
|
||||
void chSysSwitchI(Context *oldp, Context *newp) {}
|
||||
|
||||
/** @} */
|
||||
|
|
|
@ -31,6 +31,10 @@
|
|||
struct stackregs {
|
||||
};
|
||||
|
||||
typedef struct {
|
||||
struct stackregs *sp;
|
||||
} Context;
|
||||
|
||||
/**
|
||||
* Platform dependent part of the \p chThdCreate() API.
|
||||
*/
|
||||
|
@ -38,6 +42,11 @@ struct stackregs {
|
|||
{ \
|
||||
}
|
||||
|
||||
#define INT_REQUIRED_STACK 0 // Must include registers and stack frames.
|
||||
|
||||
#define UserStackSize(n) (sizeof(Thread) + \
|
||||
sizeof(struct stackregs) + (n) + (INT_REQUIRED_STACK))
|
||||
|
||||
/**
|
||||
* Enters the ChibiOS/RT system mutual exclusion zone, the implementation is
|
||||
* architecture dependent, on single core systems usually this function
|
||||
|
@ -62,7 +71,7 @@ struct stackregs {
|
|||
|
||||
void chSysHalt(void);
|
||||
void chSysPause(void);
|
||||
void chSysSwitchI(struct ctxswc **oldp, struct ctxswc *new);
|
||||
void chSysSwitchI(Context *oldp, Context *newp);
|
||||
|
||||
#endif /* _CHCORE_H_ */
|
||||
|
||||
|
|
|
@ -30,29 +30,21 @@
|
|||
*/
|
||||
#define BOOL char
|
||||
#define BYTE8 unsigned char
|
||||
#define SBYTE8 char
|
||||
#define WORD16 short
|
||||
#define UWORD16 unsigned short
|
||||
#define LONG32 int
|
||||
#define ULONG32 unsigned int
|
||||
#define PTR_EQ int
|
||||
|
||||
#define INT_REQUIRED_STACK 0
|
||||
|
||||
typedef BYTE8 t_tmode;
|
||||
typedef BYTE8 t_tstate;
|
||||
typedef LONG32 t_prio;
|
||||
typedef PTR_EQ t_msg;
|
||||
typedef LONG32 t_eventid;
|
||||
typedef ULONG32 t_eventmask;
|
||||
typedef ULONG32 t_time;
|
||||
typedef LONG32 t_semcnt;
|
||||
typedef ULONG32 t_size;
|
||||
|
||||
#define MINPRIO 0x8000
|
||||
#define MAXPRIO 0x7fff
|
||||
|
||||
#define MINDELTA 0
|
||||
#define MAXDELTA 0xffff
|
||||
typedef BYTE8 t_tmode; /* Thread mode flags, BYTE8 is ok. */
|
||||
typedef BYTE8 t_tstate; /* Thread state, BYTE8 is ok. */
|
||||
typedef ULONG32 t_prio; /* Priority, use the fastest unsigned type. */
|
||||
typedef LONG32 t_msg; /* Message, use signed pointer equivalent.*/
|
||||
typedef LONG32 t_eventid; /* Event Id, use fastest signed.*/
|
||||
typedef ULONG32 t_eventmask;/* Event Mask, recommended fastest unsigned.*/
|
||||
typedef ULONG32 t_time; /* Time, recommended fastest unsigned.*/
|
||||
typedef LONG32 t_cnt; /* Counter, recommended fastest signed.*/
|
||||
typedef ULONG32 t_size; /* Size, use unsigned pointer equivalent.*/
|
||||
|
||||
#define THREAD
|
||||
#define INLINE inline
|
||||
|
|
Loading…
Reference in New Issue