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
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@ -64,9 +64,9 @@ UADEFS =
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# List ARM-mode C source files here
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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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ASRC = chcore.c main.c buzzer.c \
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../../ports/ARM7-LPC214x/GCC/lpc214x_serial.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/chinit.c ../../src/chlists.c ../../src/chdelta.c ../../src/chschd.c \
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../../src/chsem.c ../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c \
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../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c ../../src/chmsg.c \
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../../src/chqueues.c ../../src/chserial.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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# 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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# NOTE: If any module is compiled in thumb mode then -mthumb-interwork is
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@ -25,28 +25,22 @@
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*/
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*/
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#define BOOL char
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#define BOOL char
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#define BYTE8 unsigned 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 WORD16 short
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#define UWORD16 unsigned short
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#define UWORD16 unsigned short
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#define LONG32 int
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#define LONG32 int
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#define ULONG32 unsigned 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_tmode;
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typedef BYTE8 t_tstate;
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typedef BYTE8 t_tstate;
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typedef LONG32 t_prio;
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typedef ULONG32 t_prio;
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typedef PTR_EQ t_msg;
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typedef LONG32 t_msg;
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typedef LONG32 t_eventid;
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typedef LONG32 t_eventid;
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typedef ULONG32 t_eventmask;
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typedef ULONG32 t_eventmask;
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typedef ULONG32 t_time;
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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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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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#define INLINE inline
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#endif /* _CHTYPES_H_ */
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#endif /* _CHTYPES_H_ */
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@ -25,28 +25,22 @@
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*/
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*/
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#define BOOL char
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#define BOOL char
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#define BYTE8 unsigned 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 WORD16 short
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#define UWORD16 unsigned short
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#define UWORD16 unsigned short
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#define LONG32 int
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#define LONG32 int
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#define ULONG32 unsigned 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_tmode;
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typedef BYTE8 t_tstate;
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typedef BYTE8 t_tstate;
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typedef LONG32 t_prio;
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typedef ULONG32 t_prio;
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typedef PTR_EQ t_msg;
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typedef LONG32 t_msg;
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typedef LONG32 t_eventid;
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typedef LONG32 t_eventid;
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typedef ULONG32 t_eventmask;
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typedef ULONG32 t_eventmask;
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typedef ULONG32 t_time;
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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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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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#define INLINE __inline
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#endif /* _CHTYPES_H_ */
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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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# List C source files here
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SRC = chcore.c demo.c \
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SRC = chcore.c demo.c \
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../../ports/win32/simcom.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/chinit.c ../../src/chlists.c ../../src/chdelta.c ../../src/chschd.c \
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../../src/chsem.c ../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c \
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../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c ../../src/chmsg.c \
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../../src/chqueues.c ../../src/chserial.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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# List ASM source files here
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ASRC = chcore2.s
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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 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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sizeof(struct stackregs) + (n) + (INT_REQUIRED_STACK))
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__attribute__((fastcall)) void chSysHalt(void);
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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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*/
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#define BOOL char
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#define BOOL char
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#define BYTE8 unsigned 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 WORD16 short
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#define UWORD16 unsigned short
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#define UWORD16 unsigned short
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#define LONG32 int
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#define LONG32 int
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#define ULONG32 unsigned 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_tmode;
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typedef BYTE8 t_tstate;
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typedef BYTE8 t_tstate;
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typedef LONG32 t_prio;
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typedef ULONG32 t_prio;
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typedef PTR_EQ t_msg;
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typedef LONG32 t_msg;
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typedef LONG32 t_eventid;
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typedef LONG32 t_eventid;
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typedef ULONG32 t_eventmask;
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typedef ULONG32 t_eventmask;
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typedef ULONG32 t_time;
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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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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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#define INLINE inline
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#endif /* _CHTYPES_H_ */
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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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*** Releases ***
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*****************************************************************************
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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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*** 0.3.0 ***
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- ChibiOS/RT goes beta.
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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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- 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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void chVTInit(void) {
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dlist.dl_next = dlist.dl_prev = (VirtualTimer *)&dlist;
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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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/**
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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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*/
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void chEvtSend(EventSource *esp) {
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void chEvtSend(EventSource *esp) {
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EventListener *elp;
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EventListener *elp;
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BOOL flag = FALSE;
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chSysLock();
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chSysLock();
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@ -102,11 +101,10 @@ void chEvtSend(EventSource *esp) {
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tp->p_epending |= EventMask(elp->el_id);
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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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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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elp = elp->el_next;
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}
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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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chSysUnlock();
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}
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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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// Test removed, it should never happen.
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// if (((Thread *)p)->p_state == PRWTEVENT)
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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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/**
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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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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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if (tp->p_state == PRWTMSG)
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chSchReadyI(tp);
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chSchReadyI(tp);
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currp->p_msg = msg;
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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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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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// if (tp->p_state == PRWTMSG)
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// chSchReadyI(tp);
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// chSchReadyI(tp);
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chEvtSendI(esp);
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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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chSysLock();
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chVTSetI(&vt, time, unsend, currp);
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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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if (tp->p_state == PRWTMSG)
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chSchReadyI(tp);
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chSchReadyI(tp);
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currp->p_msg = msg;
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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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chSysLock();
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// if (!chMsgIsPendingI(currp)
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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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chSysUnlock();
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}
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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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chSysLock();
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qp->q_rdptr = qp->q_wrptr = qp->q_buffer;
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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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|
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chSysUnlock();
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chSysUnlock();
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}
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}
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21
src/chschd.c
21
src/chschd.c
|
@ -32,7 +32,7 @@ static ReadyList rlist;
|
||||||
Thread *currp;
|
Thread *currp;
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
static UWORD16 preempt;
|
static t_cnt preempt;
|
||||||
#ifdef CH_USE_SYSTEMTIME
|
#ifdef CH_USE_SYSTEMTIME
|
||||||
t_time stime;
|
t_time stime;
|
||||||
#endif
|
#endif
|
||||||
|
@ -46,7 +46,7 @@ t_time stime;
|
||||||
void chSchInit(void) {
|
void chSchInit(void) {
|
||||||
|
|
||||||
rlist.p_next = rlist.p_prev = (Thread *)&rlist;
|
rlist.p_next = rlist.p_prev = (Thread *)&rlist;
|
||||||
rlist.p_prio = MAXPRIO;
|
rlist.p_prio = ABSPRIO;
|
||||||
preempt = CH_TIME_QUANTUM;
|
preempt = CH_TIME_QUANTUM;
|
||||||
#ifdef CH_USE_SYSTEMTIME
|
#ifdef CH_USE_SYSTEMTIME
|
||||||
stime = 0;
|
stime = 0;
|
||||||
|
@ -68,11 +68,12 @@ Thread *chSchReadyI(Thread *tp) {
|
||||||
|
|
||||||
tp->p_state = PRREADY;
|
tp->p_state = PRREADY;
|
||||||
tp->p_rdymsg = RDY_OK;
|
tp->p_rdymsg = RDY_OK;
|
||||||
cp = rlist.p_next;
|
cp = rlist.p_prev;
|
||||||
while (cp->p_prio < prio)
|
while (cp->p_prio < prio)
|
||||||
cp = cp->p_next;
|
cp = cp->p_prev;
|
||||||
tp->p_prev = (tp->p_next = cp)->p_prev;
|
// Insertion on p_next
|
||||||
tp->p_prev->p_next = cp->p_prev = tp;
|
tp->p_next = (tp->p_prev = cp)->p_next;
|
||||||
|
tp->p_next->p_prev = cp->p_next = tp;
|
||||||
return tp;
|
return tp;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -83,7 +84,7 @@ Thread *chSchReadyI(Thread *tp) {
|
||||||
static void nextready(void) {
|
static void nextready(void) {
|
||||||
Thread *otp = currp;
|
Thread *otp = currp;
|
||||||
|
|
||||||
(currp = dequeue(rlist.p_prev))->p_state = PRCURR;
|
(currp = fifo_remove((ThreadsQueue *)&rlist))->p_state = PRCURR;
|
||||||
preempt = CH_TIME_QUANTUM;
|
preempt = CH_TIME_QUANTUM;
|
||||||
chSysSwitchI(&otp->p_ctx, &currp->p_ctx);
|
chSysSwitchI(&otp->p_ctx, &currp->p_ctx);
|
||||||
}
|
}
|
||||||
|
@ -135,7 +136,7 @@ void chSchWakeupI(Thread *tp, t_msg msg) {
|
||||||
*/
|
*/
|
||||||
void chSchRescheduleI(void) {
|
void chSchRescheduleI(void) {
|
||||||
|
|
||||||
if (isempty(&rlist) || lastprio(&rlist) <= currp->p_prio)
|
if (isempty(&rlist) || firstprio(&rlist) <= currp->p_prio)
|
||||||
return;
|
return;
|
||||||
|
|
||||||
chSchDoRescheduleI();
|
chSchDoRescheduleI();
|
||||||
|
@ -162,11 +163,11 @@ BOOL chSchRescRequiredI(void) {
|
||||||
return FALSE;
|
return FALSE;
|
||||||
|
|
||||||
if (preempt) {
|
if (preempt) {
|
||||||
if (lastprio(&rlist) <= currp->p_prio)
|
if (firstprio(&rlist) <= currp->p_prio)
|
||||||
return FALSE;
|
return FALSE;
|
||||||
}
|
}
|
||||||
else { /* Time quantum elapsed. */
|
else { /* Time quantum elapsed. */
|
||||||
if (lastprio(&rlist) < currp->p_prio)
|
if (firstprio(&rlist) < currp->p_prio)
|
||||||
return FALSE;
|
return FALSE;
|
||||||
}
|
}
|
||||||
return TRUE;
|
return TRUE;
|
||||||
|
|
76
src/chsem.c
76
src/chsem.c
|
@ -31,10 +31,10 @@
|
||||||
* @param n initial value of the semaphore counter. Must be non-negative.
|
* @param n initial value of the semaphore counter. Must be non-negative.
|
||||||
* @note Can be called with interrupts disabled or enabled.
|
* @note Can be called with interrupts disabled or enabled.
|
||||||
*/
|
*/
|
||||||
void chSemInit(Semaphore *sp, t_semcnt n) {
|
void chSemInit(Semaphore *sp, t_cnt n) {
|
||||||
|
|
||||||
|
fifo_init(&sp->s_queue);
|
||||||
sp->s_cnt = n;
|
sp->s_cnt = n;
|
||||||
sp->s_queue.p_next = sp->s_queue.p_prev = (Thread *)&sp->s_queue;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
|
@ -45,8 +45,8 @@ void chSemInit(Semaphore *sp, t_semcnt n) {
|
||||||
* instead than a signal because the \p p_rdymsg field is set to
|
* instead than a signal because the \p p_rdymsg field is set to
|
||||||
* \p RDY_RESET.
|
* \p RDY_RESET.
|
||||||
*/
|
*/
|
||||||
void chSemReset(Semaphore *sp, t_semcnt n) {
|
void chSemReset(Semaphore *sp, t_cnt n) {
|
||||||
t_semcnt cnt;
|
t_cnt cnt;
|
||||||
|
|
||||||
chSysLock();
|
chSysLock();
|
||||||
|
|
||||||
|
@ -54,7 +54,7 @@ void chSemReset(Semaphore *sp, t_semcnt n) {
|
||||||
sp->s_cnt = n;
|
sp->s_cnt = n;
|
||||||
if (cnt < 0) {
|
if (cnt < 0) {
|
||||||
while (cnt++)
|
while (cnt++)
|
||||||
chSchReadyI(dequeue(sp->s_queue.p_next))->p_rdymsg = RDY_RESET;
|
chSchReadyI(fifo_remove(&sp->s_queue))->p_rdymsg = RDY_RESET;
|
||||||
chSchRescheduleI();
|
chSchRescheduleI();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -70,13 +70,13 @@ void chSemReset(Semaphore *sp, t_semcnt n) {
|
||||||
* \p RDY_RESET.
|
* \p RDY_RESET.
|
||||||
* @note This function must be called with interrupts disabled.
|
* @note This function must be called with interrupts disabled.
|
||||||
*/
|
*/
|
||||||
void chSemResetI(Semaphore *sp, t_semcnt n) {
|
void chSemResetI(Semaphore *sp, t_cnt n) {
|
||||||
t_semcnt cnt;
|
t_cnt cnt;
|
||||||
|
|
||||||
cnt = sp->s_cnt;
|
cnt = sp->s_cnt;
|
||||||
sp->s_cnt = n;
|
sp->s_cnt = n;
|
||||||
while (cnt++ < 0)
|
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();
|
chSysLock();
|
||||||
|
|
||||||
if (--sp->s_cnt < 0) {
|
if (--sp->s_cnt < 0) {
|
||||||
enqueue(currp, &sp->s_queue);
|
fifo_insert(currp, &sp->s_queue);
|
||||||
|
currp->p_semp = sp;
|
||||||
chSchGoSleepI(PRWTSEM);
|
chSchGoSleepI(PRWTSEM);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -104,7 +105,8 @@ void chSemWait(Semaphore *sp) {
|
||||||
void chSemWaitS(Semaphore *sp) {
|
void chSemWaitS(Semaphore *sp) {
|
||||||
|
|
||||||
if (--sp->s_cnt < 0) {
|
if (--sp->s_cnt < 0) {
|
||||||
enqueue(currp, &sp->s_queue);
|
fifo_insert(currp, &sp->s_queue);
|
||||||
|
currp->p_semp = sp;
|
||||||
chSchGoSleepI(PRWTSEM);
|
chSchGoSleepI(PRWTSEM);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
@ -114,6 +116,7 @@ static void unwait(void *p) {
|
||||||
|
|
||||||
// Test removed, it should never happen.
|
// Test removed, it should never happen.
|
||||||
// if (((Thread *)p)->p_state == PRWTSEM)
|
// if (((Thread *)p)->p_state == PRWTSEM)
|
||||||
|
chSemFastSignalI(((Thread *)p)->p_semp);
|
||||||
chSchReadyI(dequeue(p))->p_rdymsg = RDY_TIMEOUT;
|
chSchReadyI(dequeue(p))->p_rdymsg = RDY_TIMEOUT;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -132,11 +135,11 @@ t_msg chSemWaitTimeout(Semaphore *sp, t_time time) {
|
||||||
VirtualTimer vt;
|
VirtualTimer vt;
|
||||||
|
|
||||||
chVTSetI(&vt, time, unwait, currp);
|
chVTSetI(&vt, time, unwait, currp);
|
||||||
enqueue(currp, &sp->s_queue);
|
fifo_insert(currp, &sp->s_queue);
|
||||||
|
currp->p_semp = sp;
|
||||||
chSchGoSleepI(PRWTSEM);
|
chSchGoSleepI(PRWTSEM);
|
||||||
msg = currp->p_rdymsg; // Note, got value *before* invoking CH_LEAVE_SYSTEM().
|
msg = currp->p_rdymsg; // Note, got value *before* invoking CH_LEAVE_SYSTEM().
|
||||||
if (!vt.vt_func) {
|
if (!vt.vt_func) {
|
||||||
sp->s_cnt++;
|
|
||||||
|
|
||||||
chSysUnlock();
|
chSysUnlock();
|
||||||
return msg;
|
return msg;
|
||||||
|
@ -167,12 +170,11 @@ t_msg chSemWaitTimeoutS(Semaphore *sp, t_time time) {
|
||||||
VirtualTimer vt;
|
VirtualTimer vt;
|
||||||
|
|
||||||
chVTSetI(&vt, time, unwait, currp);
|
chVTSetI(&vt, time, unwait, currp);
|
||||||
enqueue(currp, &sp->s_queue);
|
fifo_insert(currp, &sp->s_queue);
|
||||||
|
currp->p_semp = sp;
|
||||||
chSchGoSleepI(PRWTSEM);
|
chSchGoSleepI(PRWTSEM);
|
||||||
if (!vt.vt_func) {
|
if (!vt.vt_func)
|
||||||
sp->s_cnt++;
|
|
||||||
return currp->p_rdymsg;
|
return currp->p_rdymsg;
|
||||||
}
|
|
||||||
chVTResetI(&vt);
|
chVTResetI(&vt);
|
||||||
return currp->p_rdymsg;
|
return currp->p_rdymsg;
|
||||||
}
|
}
|
||||||
|
@ -191,7 +193,7 @@ void chSemSignal(Semaphore *sp) {
|
||||||
chSysLock();
|
chSysLock();
|
||||||
|
|
||||||
if (sp->s_cnt++ < 0)
|
if (sp->s_cnt++ < 0)
|
||||||
chSchWakeupI(dequeue(sp->s_queue.p_next), RDY_OK);
|
chSchWakeupI(fifo_remove(&sp->s_queue), RDY_OK);
|
||||||
|
|
||||||
chSysUnlock();
|
chSysUnlock();
|
||||||
}
|
}
|
||||||
|
@ -206,7 +208,7 @@ void chSemSignal(Semaphore *sp) {
|
||||||
void chSemSignalI(Semaphore *sp) {
|
void chSemSignalI(Semaphore *sp) {
|
||||||
|
|
||||||
if (sp->s_cnt++ < 0)
|
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.
|
* option is enabled in \p chconf.h.
|
||||||
*/
|
*/
|
||||||
void chSemSignalWait(Semaphore *sps, Semaphore *spw) {
|
void chSemSignalWait(Semaphore *sps, Semaphore *spw) {
|
||||||
BOOL flag;
|
|
||||||
|
|
||||||
chSysLock();
|
chSysLock();
|
||||||
|
|
||||||
if (sps->s_cnt++ < 0)
|
if (sps->s_cnt++ < 0)
|
||||||
chSchReadyI(dequeue(sps->s_queue.p_next)), flag = TRUE;
|
chSchReadyI(fifo_remove(&sps->s_queue));
|
||||||
else
|
|
||||||
flag = FALSE;
|
|
||||||
|
|
||||||
if (--spw->s_cnt < 0) {
|
if (--spw->s_cnt < 0) {
|
||||||
enqueue(currp, &spw->s_queue);
|
fifo_insert(currp, &spw->s_queue);
|
||||||
|
currp->p_semp = spw;
|
||||||
chSchGoSleepI(PRWTSEM);
|
chSchGoSleepI(PRWTSEM);
|
||||||
}
|
}
|
||||||
else if (flag)
|
else
|
||||||
chSchRescheduleI();
|
chSchRescheduleI();
|
||||||
|
|
||||||
chSysUnlock();
|
chSysUnlock();
|
||||||
|
@ -245,15 +245,14 @@ void chSemSignalWait(Semaphore *sps, Semaphore *spw) {
|
||||||
* you want to create some custom threads synchronization mechanism.
|
* you want to create some custom threads synchronization mechanism.
|
||||||
*/
|
*/
|
||||||
static void prioenq(Thread *tp, ThreadsQueue *tqp) {
|
static void prioenq(Thread *tp, ThreadsQueue *tqp) {
|
||||||
Thread *p;
|
Thread *cp;
|
||||||
|
|
||||||
p = tqp->p_next;
|
cp = tqp->p_next;
|
||||||
while ((p != (Thread *)tqp) && (p->p_prio >= tp->p_prio))
|
while ((cp != (Thread *)tqp) && (cp->p_prio >= tp->p_prio))
|
||||||
p = p->p_next;
|
cp = cp->p_next;
|
||||||
tp->p_next = p;
|
// Insertion on p_prev
|
||||||
tp->p_prev = tqp->p_prev;
|
tp->p_prev = (tp->p_next = cp)->p_prev;
|
||||||
p->p_prev->p_next = tp;
|
tp->p_prev->p_next = cp->p_prev = tp;
|
||||||
p->p_prev = tp;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
|
@ -268,6 +267,7 @@ void chSemRaisePrioWait(Semaphore *sp) {
|
||||||
|
|
||||||
if (--sp->s_cnt < 0) {
|
if (--sp->s_cnt < 0) {
|
||||||
prioenq(currp, &sp->s_queue);
|
prioenq(currp, &sp->s_queue);
|
||||||
|
currp->p_semp = sp;
|
||||||
chSchGoSleepI(PRWTSEM);
|
chSchGoSleepI(PRWTSEM);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -290,11 +290,11 @@ void chSemLowerPrioSignal(Semaphore *sp) {
|
||||||
if (!--currp->p_rtcnt) {
|
if (!--currp->p_rtcnt) {
|
||||||
currp->p_prio -= MEPRIO;
|
currp->p_prio -= MEPRIO;
|
||||||
if (sp->s_cnt++ < 0)
|
if (sp->s_cnt++ < 0)
|
||||||
chSchReadyI(dequeue(sp->s_queue.p_next));
|
chSchReadyI(fifo_remove(&sp->s_queue));
|
||||||
chSchRescheduleI();
|
chSchRescheduleI();
|
||||||
}
|
}
|
||||||
else if (sp->s_cnt++ < 0)
|
else if (sp->s_cnt++ < 0)
|
||||||
chSchWakeupI(dequeue(sp->s_queue.p_next), RDY_OK);
|
chSchWakeupI(fifo_remove(&sp->s_queue), RDY_OK);
|
||||||
|
|
||||||
chSysUnlock();
|
chSysUnlock();
|
||||||
}
|
}
|
||||||
|
@ -312,10 +312,11 @@ void chSemRaisePrioSignalWait(Semaphore *sps, Semaphore *spw) {
|
||||||
chSysLock();
|
chSysLock();
|
||||||
|
|
||||||
if (sps->s_cnt++ < 0)
|
if (sps->s_cnt++ < 0)
|
||||||
chSchReadyI(dequeue(sps->s_queue.p_next));
|
chSchReadyI(fifo_remove(&sps->s_queue));
|
||||||
|
|
||||||
if (--spw->s_cnt < 0) {
|
if (--spw->s_cnt < 0) {
|
||||||
prioenq(currp, &spw->s_queue);
|
prioenq(currp, &spw->s_queue);
|
||||||
|
currp->p_semp = spw;
|
||||||
chSchGoSleepI(PRWTSEM);
|
chSchGoSleepI(PRWTSEM);
|
||||||
|
|
||||||
if (!currp->p_rtcnt++)
|
if (!currp->p_rtcnt++)
|
||||||
|
@ -347,10 +348,11 @@ void chSemLowerPrioSignalWait(Semaphore *sps, Semaphore *spw) {
|
||||||
currp->p_prio -= MEPRIO;
|
currp->p_prio -= MEPRIO;
|
||||||
|
|
||||||
if (sps->s_cnt++ < 0)
|
if (sps->s_cnt++ < 0)
|
||||||
chSchReadyI(dequeue(sps->s_queue.p_next));
|
chSchReadyI(fifo_remove(&sps->s_queue));
|
||||||
|
|
||||||
if (--spw->s_cnt < 0) {
|
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);
|
chSchGoSleepI(PRWTSEM);
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
|
|
|
@ -24,33 +24,6 @@
|
||||||
|
|
||||||
#include <ch.h>
|
#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.
|
* Initializes a thread structure.
|
||||||
*/
|
*/
|
||||||
|
@ -63,12 +36,10 @@ void _InitThread(t_prio prio, t_tmode mode, Thread *tp) {
|
||||||
tp->p_rtcnt = 0;
|
tp->p_rtcnt = 0;
|
||||||
#endif
|
#endif
|
||||||
#ifdef CH_USE_WAITEXIT
|
#ifdef CH_USE_WAITEXIT
|
||||||
tp->p_waiting.p_next = (Thread *)&tp->p_waiting;
|
list_init(&tp->p_waiting);
|
||||||
tp->p_waiting.p_prev = (Thread *)&tp->p_waiting;
|
|
||||||
#endif
|
#endif
|
||||||
#ifdef CH_USE_MESSAGES
|
#ifdef CH_USE_MESSAGES
|
||||||
tp->p_msgqueue.p_next = (Thread *)&tp->p_msgqueue;
|
fifo_init(&tp->p_msgqueue);
|
||||||
tp->p_msgqueue.p_prev = (Thread *)&tp->p_msgqueue;
|
|
||||||
#endif
|
#endif
|
||||||
#ifdef CH_USE_EVENTS
|
#ifdef CH_USE_EVENTS
|
||||||
tp->p_epending = 0;
|
tp->p_epending = 0;
|
||||||
|
@ -179,7 +150,7 @@ void chThdExit(t_msg msg) {
|
||||||
currp->p_exitcode = msg; /* Post mortem info. */
|
currp->p_exitcode = msg; /* Post mortem info. */
|
||||||
#ifdef CH_USE_WAITEXIT
|
#ifdef CH_USE_WAITEXIT
|
||||||
while (notempty(&currp->p_waiting))
|
while (notempty(&currp->p_waiting))
|
||||||
chSchReadyI(dequeue(currp->p_waiting.p_next));
|
chSchReadyI(list_remove(&currp->p_waiting));
|
||||||
#endif
|
#endif
|
||||||
#ifdef CH_USE_EXIT_EVENT
|
#ifdef CH_USE_EXIT_EVENT
|
||||||
chEvtSendI(&currp->p_exitesource);
|
chEvtSendI(&currp->p_exitesource);
|
||||||
|
@ -203,7 +174,7 @@ t_msg chThdWait(Thread *tp) {
|
||||||
chSysLock();
|
chSysLock();
|
||||||
|
|
||||||
if (tp->p_state != PREXIT) {
|
if (tp->p_state != PREXIT) {
|
||||||
enqueue(currp, &tp->p_waiting);
|
list_insert(currp, &tp->p_waiting);
|
||||||
chSchGoSleepI(PRWAIT);
|
chSchGoSleepI(PRWAIT);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
|
@ -25,8 +25,6 @@
|
||||||
#ifndef _CH_H_
|
#ifndef _CH_H_
|
||||||
#define _CH_H_
|
#define _CH_H_
|
||||||
|
|
||||||
typedef struct Thread Thread;
|
|
||||||
|
|
||||||
#ifndef __DOXIGEN__
|
#ifndef __DOXIGEN__
|
||||||
#ifndef _CHCONF_H_
|
#ifndef _CHCONF_H_
|
||||||
#include <chconf.h>
|
#include <chconf.h>
|
||||||
|
@ -41,14 +39,22 @@ typedef struct Thread Thread;
|
||||||
#endif
|
#endif
|
||||||
#endif /* __DOXIGEN__ */
|
#endif /* __DOXIGEN__ */
|
||||||
|
|
||||||
#ifndef _DELTA_H_
|
#ifndef _LISTS_H_
|
||||||
#include "delta.h"
|
#include "delta.h"
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
#ifndef _LISTS_H_
|
||||||
|
#include "lists.h"
|
||||||
|
#endif
|
||||||
|
|
||||||
#ifndef _SCHEDULER_H_
|
#ifndef _SCHEDULER_H_
|
||||||
#include "scheduler.h"
|
#include "scheduler.h"
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
#ifndef _SEMAPHORES_H_
|
||||||
|
#include "semaphores.h"
|
||||||
|
#endif
|
||||||
|
|
||||||
#ifndef _EVENTS_H_
|
#ifndef _EVENTS_H_
|
||||||
#include "events.h"
|
#include "events.h"
|
||||||
#endif
|
#endif
|
||||||
|
@ -65,10 +71,6 @@ typedef struct Thread Thread;
|
||||||
#include "sleep.h"
|
#include "sleep.h"
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#ifndef _SEMAPHORES_H_
|
|
||||||
#include "semaphores.h"
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifndef _QUEUES_H_
|
#ifndef _QUEUES_H_
|
||||||
#include "queues.h"
|
#include "queues.h"
|
||||||
#endif
|
#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.*/
|
/** Returned if the thread was made ready because a reset.*/
|
||||||
#define RDY_RESET -2
|
#define RDY_RESET -2
|
||||||
|
|
||||||
|
#define firstprio(qp) ((qp)->p_next->p_prio)
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Ready list header.
|
* Ready list header.
|
||||||
*/
|
*/
|
||||||
|
|
|
@ -34,12 +34,12 @@ typedef struct {
|
||||||
/** Queue of the threads sleeping on this Semaphore.*/
|
/** Queue of the threads sleeping on this Semaphore.*/
|
||||||
ThreadsQueue s_queue;
|
ThreadsQueue s_queue;
|
||||||
/** The Semaphore counter.*/
|
/** The Semaphore counter.*/
|
||||||
t_semcnt s_cnt;
|
t_cnt s_cnt;
|
||||||
} Semaphore;
|
} Semaphore;
|
||||||
|
|
||||||
void chSemInit(Semaphore *sp, t_semcnt n);
|
void chSemInit(Semaphore *sp, t_cnt n);
|
||||||
void chSemReset(Semaphore *sp, t_semcnt n);
|
void chSemReset(Semaphore *sp, t_cnt n);
|
||||||
void chSemResetI(Semaphore *sp, t_semcnt n);
|
void chSemResetI(Semaphore *sp, t_cnt n);
|
||||||
void chSemWait(Semaphore *sp);
|
void chSemWait(Semaphore *sp);
|
||||||
void chSemWaitS(Semaphore *sp);
|
void chSemWaitS(Semaphore *sp);
|
||||||
t_msg chSemWaitTimeout(Semaphore *sp, t_time time);
|
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
|
* Decreases the semaphore counter, this macro can be used when it is ensured
|
||||||
* that the counter would not become negative.
|
* that the counter would not become negative.
|
||||||
*/
|
*/
|
||||||
#define chSemFastWaitS(sp) \
|
#define chSemFastWaitS(sp) ((sp)->s_cnt--)
|
||||||
((sp)->s_cnt--)
|
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Increases the semaphore counter, this macro can be used when the counter is
|
* Increases the semaphore counter, this macro can be used when the counter is
|
||||||
* not negative.
|
* not negative.
|
||||||
*/
|
*/
|
||||||
#define chSemFastSignalI(sp) \
|
#define chSemFastSignalI(sp) ((sp)->s_cnt++)
|
||||||
((sp)->s_cnt++)
|
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Returns the semaphore counter current value.
|
* Returns the semaphore counter current value.
|
||||||
*/
|
*/
|
||||||
#define chSemGetCounter(sp) \
|
#define chSemGetCounter(sp) ((sp)->s_cnt)
|
||||||
((sp)->s_cnt)
|
|
||||||
|
|
||||||
#endif /* CH_USE_SEMAPHORES */
|
#endif /* CH_USE_SEMAPHORES */
|
||||||
|
|
||||||
|
|
|
@ -25,21 +25,6 @@
|
||||||
#ifndef _THREADS_H_
|
#ifndef _THREADS_H_
|
||||||
#define _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.
|
* Structure representing a thread.
|
||||||
* @note Not all the listed fields are always needed, by switching off some
|
* @note Not all the listed fields are always needed, by switching off some
|
||||||
|
@ -49,6 +34,7 @@ typedef struct {
|
||||||
struct Thread {
|
struct Thread {
|
||||||
/** Next \p Thread in the threads list.*/
|
/** Next \p Thread in the threads list.*/
|
||||||
Thread *p_next;
|
Thread *p_next;
|
||||||
|
/* End of the fields shared with the ThreadsList structure. */
|
||||||
/** Previous \p Thread in the threads list.*/
|
/** Previous \p Thread in the threads list.*/
|
||||||
Thread *p_prev;
|
Thread *p_prev;
|
||||||
/* End of the fields shared with the ThreadsQueue structure. */
|
/* End of the fields shared with the ThreadsQueue structure. */
|
||||||
|
@ -66,10 +52,14 @@ struct Thread {
|
||||||
*/
|
*/
|
||||||
union {
|
union {
|
||||||
/** Thread wakeup code, normally set to \p RDY_OK by the \p chSchReadyI()
|
/** 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;
|
t_msg p_rdymsg;
|
||||||
/** The thread exit code (only while in \p PREXIT state).*/
|
/** The thread exit code (only while in \p PREXIT state).*/
|
||||||
t_msg p_exitcode;
|
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
|
#ifdef CH_USE_EVENTS
|
||||||
/** Enabled events mask (only while in \p PRWTEVENT state).*/
|
/** Enabled events mask (only while in \p PRWTEVENT state).*/
|
||||||
t_eventmask p_ewmask;
|
t_eventmask p_ewmask;
|
||||||
|
@ -89,7 +79,7 @@ struct Thread {
|
||||||
*/
|
*/
|
||||||
#ifdef CH_USE_WAITEXIT
|
#ifdef CH_USE_WAITEXIT
|
||||||
/** The queue of the threads waiting for this thread termination.*/
|
/** The queue of the threads waiting for this thread termination.*/
|
||||||
ThreadsQueue p_waiting;
|
ThreadsList p_waiting;
|
||||||
#endif
|
#endif
|
||||||
#ifdef CH_USE_EXIT_EVENT
|
#ifdef CH_USE_EXIT_EVENT
|
||||||
/** The thread termination \p EventSource.*/
|
/** The thread termination \p EventSource.*/
|
||||||
|
@ -103,9 +93,8 @@ struct Thread {
|
||||||
t_eventmask p_epending;
|
t_eventmask p_epending;
|
||||||
#endif
|
#endif
|
||||||
#ifdef CH_USE_RT_SEMAPHORES
|
#ifdef CH_USE_RT_SEMAPHORES
|
||||||
/** Priority backup after acquiring a RT semaphore.*/
|
|
||||||
/** RT semaphores depth counter.*/
|
/** RT semaphores depth counter.*/
|
||||||
int p_rtcnt;
|
t_cnt p_rtcnt;
|
||||||
#endif
|
#endif
|
||||||
};
|
};
|
||||||
|
|
||||||
|
@ -142,13 +131,13 @@ struct Thread {
|
||||||
/** Lowest user priority.*/
|
/** Lowest user priority.*/
|
||||||
#define LOWPRIO 1
|
#define LOWPRIO 1
|
||||||
/** Normal user priority.*/
|
/** Normal user priority.*/
|
||||||
#define NORMALPRIO 128
|
#define NORMALPRIO 64
|
||||||
/** Highest user priority.*/
|
/** Highest user priority.*/
|
||||||
#define HIGHPRIO 255
|
#define HIGHPRIO 127
|
||||||
/** Boosted base priority.*/
|
/** Boosted base priority.*/
|
||||||
#define MEPRIO 256
|
#define MEPRIO 128
|
||||||
/** Absolute priority.*/
|
/** Greatest possible priority.*/
|
||||||
#define ABSPRIO 512
|
#define ABSPRIO 255
|
||||||
|
|
||||||
/* Not an API, don't use into the application code.*/
|
/* Not an API, don't use into the application code.*/
|
||||||
void _InitThread(t_prio prio, t_tmode mode, Thread *tp);
|
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 *);
|
typedef t_msg (*t_tfunc)(void *);
|
||||||
|
|
||||||
/*
|
/*
|
||||||
* Threads Lists functions.
|
* Inlined functions if CH_OPTIMIZE_SPEED is enabled.
|
||||||
*/
|
*/
|
||||||
#ifndef CH_OPTIMIZE_SPEED
|
#ifdef CH_OPTIMIZE_SPEED
|
||||||
void enqueue(Thread *tp, ThreadsQueue *tqp);
|
static INLINE void fifo_insert(Thread *tp, ThreadsQueue *tqp) {
|
||||||
Thread *dequeue(Thread *tp);
|
|
||||||
#else
|
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) {
|
static INLINE Thread *dequeue(Thread *tp) {
|
||||||
|
|
||||||
tp->p_prev->p_next = tp->p_next;
|
tp->p_prev->p_next = tp->p_next;
|
||||||
|
@ -170,12 +171,17 @@ static INLINE Thread *dequeue(Thread *tp) {
|
||||||
return 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_next = tlp->p_next;
|
||||||
tp->p_prev = tqp->p_prev;
|
tlp->p_next = tp;
|
||||||
tqp->p_prev->p_next = tp;
|
}
|
||||||
tqp->p_prev = tp;
|
|
||||||
|
static INLINE Thread *list_remove(ThreadsList *tlp) {
|
||||||
|
|
||||||
|
Thread *tp = tlp->p_next;
|
||||||
|
tlp->p_next = tp->p_next;
|
||||||
|
return tp;
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
|
|
@ -147,7 +147,7 @@
|
||||||
* ChibiOS/RT code <b>must</b> be recompiled with the GCC option \p
|
* ChibiOS/RT code <b>must</b> be recompiled with the GCC option \p
|
||||||
* -ffixed-\<reg\>.
|
* -ffixed-\<reg\>.
|
||||||
*/
|
*/
|
||||||
#define CH_CURRP_REGISTER_CACHE "reg"
|
//#define CH_CURRP_REGISTER_CACHE "reg"
|
||||||
|
|
||||||
#endif /* _CHCONF_H_ */
|
#endif /* _CHCONF_H_ */
|
||||||
|
|
||||||
|
|
|
@ -45,6 +45,6 @@ void chSysHalt(void) {}
|
||||||
/**
|
/**
|
||||||
* Context switch.
|
* Context switch.
|
||||||
*/
|
*/
|
||||||
void chSysSwitchI(struct ctxswc **oldp, struct ctxswc *new) {}
|
void chSysSwitchI(Context *oldp, Context *newp) {}
|
||||||
|
|
||||||
/** @} */
|
/** @} */
|
||||||
|
|
|
@ -31,6 +31,10 @@
|
||||||
struct stackregs {
|
struct stackregs {
|
||||||
};
|
};
|
||||||
|
|
||||||
|
typedef struct {
|
||||||
|
struct stackregs *sp;
|
||||||
|
} Context;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Platform dependent part of the \p chThdCreate() API.
|
* 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
|
* Enters the ChibiOS/RT system mutual exclusion zone, the implementation is
|
||||||
* architecture dependent, on single core systems usually this function
|
* architecture dependent, on single core systems usually this function
|
||||||
|
@ -62,7 +71,7 @@ struct stackregs {
|
||||||
|
|
||||||
void chSysHalt(void);
|
void chSysHalt(void);
|
||||||
void chSysPause(void);
|
void chSysPause(void);
|
||||||
void chSysSwitchI(struct ctxswc **oldp, struct ctxswc *new);
|
void chSysSwitchI(Context *oldp, Context *newp);
|
||||||
|
|
||||||
#endif /* _CHCORE_H_ */
|
#endif /* _CHCORE_H_ */
|
||||||
|
|
||||||
|
|
|
@ -30,29 +30,21 @@
|
||||||
*/
|
*/
|
||||||
#define BOOL char
|
#define BOOL char
|
||||||
#define BYTE8 unsigned char
|
#define BYTE8 unsigned char
|
||||||
|
#define SBYTE8 char
|
||||||
#define WORD16 short
|
#define WORD16 short
|
||||||
#define UWORD16 unsigned short
|
#define UWORD16 unsigned short
|
||||||
#define LONG32 int
|
#define LONG32 int
|
||||||
#define ULONG32 unsigned int
|
#define ULONG32 unsigned int
|
||||||
#define PTR_EQ int
|
|
||||||
|
|
||||||
#define INT_REQUIRED_STACK 0
|
typedef BYTE8 t_tmode; /* Thread mode flags, BYTE8 is ok. */
|
||||||
|
typedef BYTE8 t_tstate; /* Thread state, BYTE8 is ok. */
|
||||||
typedef BYTE8 t_tmode;
|
typedef ULONG32 t_prio; /* Priority, use the fastest unsigned type. */
|
||||||
typedef BYTE8 t_tstate;
|
typedef LONG32 t_msg; /* Message, use signed pointer equivalent.*/
|
||||||
typedef LONG32 t_prio;
|
typedef LONG32 t_eventid; /* Event Id, use fastest signed.*/
|
||||||
typedef PTR_EQ t_msg;
|
typedef ULONG32 t_eventmask;/* Event Mask, recommended fastest unsigned.*/
|
||||||
typedef LONG32 t_eventid;
|
typedef ULONG32 t_time; /* Time, recommended fastest unsigned.*/
|
||||||
typedef ULONG32 t_eventmask;
|
typedef LONG32 t_cnt; /* Counter, recommended fastest signed.*/
|
||||||
typedef ULONG32 t_time;
|
typedef ULONG32 t_size; /* Size, use unsigned pointer equivalent.*/
|
||||||
typedef LONG32 t_semcnt;
|
|
||||||
typedef ULONG32 t_size;
|
|
||||||
|
|
||||||
#define MINPRIO 0x8000
|
|
||||||
#define MAXPRIO 0x7fff
|
|
||||||
|
|
||||||
#define MINDELTA 0
|
|
||||||
#define MAXDELTA 0xffff
|
|
||||||
|
|
||||||
#define THREAD
|
#define THREAD
|
||||||
#define INLINE inline
|
#define INLINE inline
|
||||||
|
|
Loading…
Reference in New Issue