git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@141 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
parent
b196b277b9
commit
430010715e
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@ -64,8 +64,9 @@ UADEFS =
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# List ARM-mode C source files here
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ASRC = chcore.c \
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../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \
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../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c \
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../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c ../../src/chserial.c \
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../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chmtx.c \
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../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c \
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../../src/chserial.c \
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../../ports/ARM7-LPC214x/GCC/vic.c \
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main.c
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@ -69,8 +69,9 @@ ASRC =
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# enabled for all modules and that lowers performance.
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TSRC = chcore.c \
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../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \
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../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c \
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../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c ../../src/chserial.c \
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../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chmtx.c \
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../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c \
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../../src/chserial.c \
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../../ports/ARM7-LPC214x/GCC/vic.c \
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main.c
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@ -77,10 +77,9 @@
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* @note requires \p CH_USE_VIRTUAL_TIMERS.*/
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//#define CH_USE_SEMAPHORES_TIMEOUT
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/** Configuration option: if specified then the Semaphores APIs with priority
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* shift are included in the kernel.
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* @note requires \p CH_USE_SEMAPHORES.*/
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//#define CH_USE_RT_SEMAPHORES
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/** Configuration option: if specified then the Mutexes APIs are included in
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* the kernel.*/
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//#define CH_USE_MUTEXES
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/** Configuration option: if specified then the Events APIs are included in
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* the kernel.*/
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@ -64,8 +64,9 @@ UADEFS =
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# List ARM-mode C source files here
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ASRC = chcore.c \
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../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \
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../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c \
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../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c ../../src/chserial.c \
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../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chmtx.c \
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../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c \
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../../src/chserial.c \
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../../ports/ARM7-LPC214x/GCC/vic.c ../../ports/ARM7-LPC214x/GCC/lpc214x_serial.c \
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../../ports/ARM7-LPC214x/GCC/lpc214x_ssp.c \
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../../src/lib/evtimer.c ../../test/test.c \
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@ -69,8 +69,9 @@ ASRC =
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# enabled for all modules and that lowers performance.
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TSRC = chcore.c \
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../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \
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../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c \
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../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c ../../src/chserial.c \
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../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chmtx.c \
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../../src/chevents.c ../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c \
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../../src/chserial.c \
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../../ports/ARM7-LPC214x/GCC/vic.c ../../ports/ARM7-LPC214x/GCC/lpc214x_serial.c \
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../../ports/ARM7-LPC214x/GCC/lpc214x_ssp.c \
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../../src/lib/evtimer.c ../../test/test.c \
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@ -77,10 +77,9 @@
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* @note requires \p CH_USE_VIRTUAL_TIMERS.*/
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#define CH_USE_SEMAPHORES_TIMEOUT
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/** Configuration option: if specified then the Semaphores APIs with priority
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* shift are included in the kernel.
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* @note requires \p CH_USE_SEMAPHORES.*/
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#define CH_USE_RT_SEMAPHORES
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/** Configuration option: if specified then the Mutexes APIs are included in
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* the kernel.*/
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#define CH_USE_MUTEXES
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/** Configuration option: if specified then the Events APIs are included in
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* the kernel.*/
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@ -78,10 +78,9 @@
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* @note requires \p CH_USE_VIRTUAL_TIMERS.*/
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#define CH_USE_SEMAPHORES_TIMEOUT
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/** Configuration option: if specified then the Semaphores APIs with priority
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* shift are included in the kernel.
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* @note requires \p CH_USE_SEMAPHORES.*/
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#define CH_USE_RT_SEMAPHORES
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/** Configuration option: if specified then the Mutexes APIs are included in
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* the kernel.*/
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#define CH_USE_MUTEXES
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/** Configuration option: if specified then the Events APIs are included in
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* the kernel.*/
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@ -82,10 +82,9 @@
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* @note requires \p CH_USE_VIRTUAL_TIMERS.*/
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#define CH_USE_SEMAPHORES_TIMEOUT
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/** Configuration option: if specified then the Semaphores APIs with priority
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* shift are included in the kernel.
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* @note requires \p CH_USE_SEMAPHORES.*/
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#define CH_USE_RT_SEMAPHORES
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/** Configuration option: if specified then the Mutexes APIs are included in
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* the kernel.*/
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#define CH_USE_MUTEXES
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/** Configuration option: if specified then the Events APIs are included in
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* the kernel.*/
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@ -82,10 +82,9 @@
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* @note requires \p CH_USE_VIRTUAL_TIMERS.*/
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#define CH_USE_SEMAPHORES_TIMEOUT
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/** Configuration option: if specified then the Semaphores APIs with priority
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* shift are included in the kernel.
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* @note requires \p CH_USE_SEMAPHORES.*/
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#define CH_USE_RT_SEMAPHORES
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/** Configuration option: if specified then the Mutexes APIs are included in
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* the kernel.*/
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#define CH_USE_MUTEXES
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/** Configuration option: if specified then the Events APIs are included in
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* the kernel.*/
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@ -4,7 +4,7 @@
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# Project related configuration options
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#---------------------------------------------------------------------------
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PROJECT_NAME = ChibiOS/RT
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PROJECT_NUMBER = "0.4.5 beta"
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PROJECT_NUMBER = "0.5.0 beta"
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OUTPUT_DIRECTORY = .
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CREATE_SUBDIRS = NO
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OUTPUT_LANGUAGE = English
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@ -231,7 +231,7 @@ PREDEFINED = __JUST_STUBS__ \
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CH_USE_TERMINATE \
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CH_USE_WAITEXIT \
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CH_USE_SEMAPHORES \
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CH_USE_RT_SEMAPHORES \
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CH_USE_MUTEXES \
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CH_USE_EVENTS \
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CH_USE_EVENTS_TIMEOUT \
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CH_USE_EXIT_EVENT \
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65
docs/ch.txt
65
docs/ch.txt
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@ -13,7 +13,7 @@
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* <li>Easily portable.</li>
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* <li>Mixed programming model:</li>
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* <ul>
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* <li>Synchronous, using semaphores and/or messages.</li>
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* <li>Synchronous, using semaphores/mutexes and/or messages.</li>
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* <li>Asynchronous, using event sources.</li>
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* <li>Mix of the above models, multiple threads listening to multiple event
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* sources while serving message queues.</li>
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@ -27,6 +27,7 @@
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* <li>Unlimited number of threads.</li>
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* <li>Unlimited number of virtual timers.</li>
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* <li>Unlimited number of semaphores.</li>
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* <li>Unlimited number of mutexes.</li>
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* <li>Unlimited number of event sources.</li>
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* <li>Unlimited number of messages in queue.</li>
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* <li>Unlimited number of I/O queues.</li>
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@ -213,36 +214,64 @@
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* <ul>
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* <li><b>Signal</b>: The semaphore counter is increased and if the result
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* is non-positive then a waiting thread is removed from the semaphore
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* queue and made ready for execution.</li>
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* queue and made ready for execution.
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* </li>
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* <li><b>Wait</b>: The semaphore counter is decreased and if the result
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* becomes negative the thread is queued in the semaphore and suspended.
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* </li>
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* <li><b>Reset</b>: The semaphore counter is reset to a non-negative value
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* and all the threads in the queue are released.</li>
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* and all the threads in the queue are released.
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* </li>
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* </ul>
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* Semaphores are mainly used as guards for mutual exclusion code zones but
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* Semaphores can be used as guards for mutual exclusion code zones but
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* also have other uses, queues guards and counters as example.<br>
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* In order to use the Semaphores APIs the \p CH_USE_SEMAPHORES
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* option must be specified in \p chconf.h.<br><br>
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* <b>Realtime Semaphores</b><br><br>
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* The RT Semaphores work exactly like normal semaphores except that the
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* thread gaining access to a mutex zone receives a priority boost, the
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* priority is increased by \p MEPRIO and becomes higher than any thread that
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* does not have the boost, note that all the boosted threads still keep their
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* relative priorities.<br>
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* Another difference is that the threads are queued by priority when trying
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* to acquire RT semaphores, normal semaphores use a FIFO strategy.<br>
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* The reason of this mechanism is to make the threads leave very critical
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* guarded zones in a predictable time. Use this mechanism if your application
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* has very strong realtime requirements.<br>
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* In order to use the RT Semaphores APIs the \p CH_USE_RT_SEMAPHORES
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* option must be specified in \p chconf.h.<br>
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* This mechanism is <b>experimental</b>.
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* @file semaphores.h Semaphores macros and structures.
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* @file chsem.c Semaphores code.
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*/
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/** @} */
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/**
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* @defgroup Mutexes Mutexes
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* @{
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* Mutexes and threads synchronization.
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* <b>Operation mode</b><br><br>
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* A mutex is a threads synchronization object, some operations are defined
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* on mutexes:<br>
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* <ul>
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* <li><b>Lock</b>: The mutex is checked, if the mutex is not owned by some
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* other thread then it is locked else the current thread is queued on the
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* mutex in a list ordered by priority.
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* </li>
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* <li><b>Unlock</b>: The mutex is released by the owner and the highest
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* priority thread waiting in the queue, if any, is resumed and made owner
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* of the mutex.
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* </li>
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* </ul>
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* In order to use the Event APIs the \p CH_USE_MUTEXES option must be
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* specified in \p chconf.h.<br><br>
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*
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* <b>Constraints</b><br><br>
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* In ChibiOS/RT the Unlock operations are always performed in Lock-reverse
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* order. The Unlock API does not even have a parameter, the mutex to unlock
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* is taken from an internal stack of owned mutexes.
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* This both improves the performance and is required by the priority
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* inheritance mechanism.
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*
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* <b>The priority inversion problem</b><br><br>
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* The mutexes in ChibiOS/RT implements the <b>full recursive<b> priority
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* inheritance mechanism in order handle the priority inversion problem.<br>
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* When a thread is queued on a mutex, any thread, directly or indirectly,
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* holding the mutex gains the same priority of the waiting thread (if their
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* priority was not already equal or higher). The mechanism works with any
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* number of nested mutexes and any number of involved threads. The algorithm
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* complexity (worst case) is N with N equal to the number of nested mutexes.
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* @file mutexes.h Mutexes macros and structures.
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* @file chmtx.c Mutexes functions.
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*/
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/** @} */
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/**
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* @defgroup Events Events
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* @{
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@ -13,7 +13,7 @@ Homepage</h2>
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</tr>
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<tr>
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<td style="text-align: center; vertical-align: top; width: 150px;">Current
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Version 0.4.5<br>
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Version 0.5.0<br>
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-<br>
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<a href="http://sourceforge.net/projects/chibios/" rel="me" target="_top">Project on SourceForge</a><br>
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<a href="html/index.html" target="_top" rel="me">Documentation</a><br>
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12
readme.txt
12
readme.txt
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@ -39,6 +39,18 @@ AVR-AT90CANx-GCC - Port on AVR AT90CAN128, not complete yet.
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*** Releases ***
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*****************************************************************************
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*** 0.5.0 ***
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- NEW: Binary Mutexes, the new mechanism provides a complete implementation
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of the "priority inheritance" algorithm as a tool for work around the
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priority inversion problem.
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The Mutexes are not meant to replace the Semaphores that are still the best
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mechanism for synchronization between interrupt handlers and high level
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code, something Mutexes cannot do.
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Soon an article will be added to the wiki describing pro and cons of the
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various mechanisms and the correct use cases.
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- RT Semaphores subsystem removed, the Mutexes implements a better solution
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for the same problem.
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*** 0.4.5 ***
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- Moved the serial IRQ handlers and VIC vectors initialization inside the
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serial drivers. Now the serial-related code is all inside the driver.
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@ -0,0 +1,249 @@
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/*
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ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
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|
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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
|
||||
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/>.
|
||||
*/
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/**
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* @addtogroup Mutexes
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* @{
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*/
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#include <ch.h>
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#ifdef CH_USE_MUTEXES
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/**
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* Initializes s \p Mutex structure.
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* @param mp pointer to a \p Mutex structure
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*/
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void chMtxInit(Mutex *mp) {
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fifo_init(&mp->m_queue);
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mp->m_owner = NULL;
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}
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/*
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* Inserts a thread into a list ordering it by priority.
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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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#ifdef CH_OPTIMIZE_SPEED
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static INLINE void prio_enq(Thread *tp, ThreadsQueue *tqp) {
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#else
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static void prio_enq(Thread *tp, ThreadsQueue *tqp) {
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#endif
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Thread *cp = tqp->p_next;
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while ((cp != (Thread *)tqp) && (cp->p_prio >= tp->p_prio))
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cp = cp->p_next;
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||||
/* Insertion on p_prev.*/
|
||||
tp->p_prev = (tp->p_next = cp)->p_prev;
|
||||
tp->p_prev->p_next = cp->p_prev = tp;
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||||
}
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||||
/*
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||||
* 0 +++BA++------------------2+++--8++++++++++BR0----------------------------
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||||
* 1 .......++AA++--2+++++++++BA....8..........++++++++BR8++++AR1-------------
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||||
* 2 .............++AA..............................................----++AR++
|
||||
* 8 .............................++AA........................++++++AR++......
|
||||
*
|
||||
*
|
||||
* 5 ++++++++++++++++++AA+....9++++++++++++++AR5------------------------------
|
||||
* 7 .....................++--------------------------------------------------
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||||
* 9 .......................++AA.............+++++++++AR++++++++++++++++++++++
|
||||
*/
|
||||
|
||||
/**
|
||||
* Locks the specified mutex.
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||||
* @param mp pointer to the \p Mutex structure
|
||||
*/
|
||||
void chMtxLock(Mutex *mp) {
|
||||
|
||||
chSysLock();
|
||||
|
||||
chMtxLockS(mp);
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||||
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* Locks the specified mutex.
|
||||
* @param mp pointer to the \p Mutex structure
|
||||
* @note This function must be called within a \p chSysLock() / \p chSysUnlock()
|
||||
* block.
|
||||
*/
|
||||
void chMtxLockS(Mutex *mp) {
|
||||
|
||||
if (mp->m_owner != NULL) {
|
||||
/*
|
||||
* Inheritance, explores the thread-mutex dependances adjusting
|
||||
* the priority of all the affected threads.
|
||||
*/
|
||||
Thread *tp = mp->m_owner;
|
||||
while (tp->p_prio < currp->p_prio) {
|
||||
tp->p_prio = currp->p_prio;
|
||||
switch (tp->p_state) {
|
||||
case PRWTMTX:
|
||||
prio_enq(dequeue(tp), &tp->p_mtxp->m_queue);
|
||||
tp = tp->p_mtxp->m_owner;
|
||||
continue;
|
||||
case PRREADY:
|
||||
chSchReadyI(dequeue(tp), RDY_OK);
|
||||
}
|
||||
break;
|
||||
}
|
||||
/*
|
||||
* Goes to sleep on the mutex.
|
||||
*/
|
||||
prio_enq(currp, &mp->m_queue);
|
||||
currp->p_mtxp = mp;
|
||||
chSchGoSleepS(PRWTMTX);
|
||||
chDbgAssert(mp->m_owner == NULL, "chmtx.c, chMtxLockS()");
|
||||
}
|
||||
/*
|
||||
* The mutex is now inserted in the owned mutexes list.
|
||||
*/
|
||||
mp->m_owner = currp;
|
||||
mp->m_next = currp->p_mtxlist;
|
||||
currp->p_mtxlist = mp;
|
||||
}
|
||||
|
||||
/**
|
||||
* Tries to lock a mutex. This function does not have any overhead related to
|
||||
* the priority inheritance mechanism because it does not try to enter a sleep
|
||||
* state on the mutex.
|
||||
* @param mp pointer to the \p Mutex structure
|
||||
* @return \p TRUE if the mutex was successfully acquired else \p FALSE
|
||||
*/
|
||||
BOOL chMtxTryLock(Mutex *mp) {
|
||||
|
||||
chSysLock();
|
||||
|
||||
BOOL b = chMtxTryLockS(mp);
|
||||
|
||||
chSysUnlock();
|
||||
return b;
|
||||
}
|
||||
|
||||
/**
|
||||
* Tries to lock a mutex. This function does not have any overhead related to
|
||||
* the priority inheritance mechanism because it does not try to enter a sleep
|
||||
* state on the mutex.
|
||||
* @param mp pointer to the \p Mutex structure
|
||||
* @return \p TRUE if the mutex was successfully acquired else \p FALSE
|
||||
* @note This function must be called within a \p chSysLock() / \p chSysUnlock()
|
||||
* block.
|
||||
*/
|
||||
BOOL chMtxTryLockS(Mutex *mp) {
|
||||
|
||||
if (mp->m_owner != NULL)
|
||||
return FALSE;
|
||||
mp->m_owner = currp;
|
||||
mp->m_next = currp->p_mtxlist;
|
||||
currp->p_mtxlist = mp;
|
||||
return TRUE;
|
||||
}
|
||||
|
||||
/**
|
||||
* Unlocks the next owned mutex in reverse lock order.
|
||||
*/
|
||||
void chMtxUnlock(void) {
|
||||
|
||||
chSysLock();
|
||||
|
||||
chMtxUnlockS();
|
||||
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* Unlocks the next owned mutex in reverse lock order.
|
||||
* @note This function must be called within a \p chSysLock() / \p chSysUnlock()
|
||||
* block.
|
||||
*/
|
||||
void chMtxUnlockS(void) {
|
||||
|
||||
chDbgAssert((currp->p_mtxlist != NULL) && (currp->p_mtxlist->m_owner == currp),
|
||||
"chmtx.c, chMtxUnlockS()");
|
||||
|
||||
/*
|
||||
* Removes the top Mutex from the owned mutexes list and marks it as not owned.
|
||||
*/
|
||||
Mutex *mp = currp->p_mtxlist;
|
||||
currp->p_mtxlist = mp->m_next;
|
||||
mp->m_owner = NULL;
|
||||
/*
|
||||
* If a thread is waiting on the mutex then the hard part begins.
|
||||
*/
|
||||
if (chMtxQueueNotEmptyS(mp)) {
|
||||
Thread *tp = fifo_remove(&mp->m_queue);
|
||||
/*
|
||||
* Recalculates the optimal thread priority by scanning the owned mutexes list.
|
||||
*/
|
||||
t_prio newprio = currp->p_realprio;
|
||||
mp = currp->p_mtxlist;
|
||||
while (mp != NULL) {
|
||||
if (chMtxQueueNotEmptyS(mp) && (mp->m_queue.p_next->p_prio > newprio))
|
||||
newprio = mp->m_queue.p_next->p_prio;
|
||||
mp = mp->m_next;
|
||||
}
|
||||
currp->p_prio = newprio;
|
||||
chSchWakeupS(tp, RDY_OK);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Unlocks all the mutexes owned by the invoking thread, this is <b>MUCH MORE</b>
|
||||
* efficient than releasing the mutexes one by one and not just because the
|
||||
* call overhead, this function does not have any overhead related to the
|
||||
* priority inheritance mechanism.
|
||||
*/
|
||||
void chMtxUnlockAll(void) {
|
||||
|
||||
chSysLock();
|
||||
|
||||
chMtxUnlockAllS();
|
||||
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* Unlocks all the mutexes owned by the invoking thread, this is <b>MUCH MORE</b>
|
||||
* efficient than releasing the mutexes one by one and not just because the
|
||||
* call overhead, this function does not have any overhead related to the
|
||||
* priority inheritance mechanism.
|
||||
* @note This function must be called within a \p chSysLock() / \p chSysUnlock()
|
||||
* block.
|
||||
*/
|
||||
void chMtxUnlockAllS(void) {
|
||||
|
||||
if (currp->p_mtxlist != NULL) {
|
||||
do {
|
||||
Mutex *mp = currp->p_mtxlist;
|
||||
currp->p_mtxlist = mp->m_next;
|
||||
mp->m_owner = NULL;
|
||||
if (chMtxQueueNotEmptyS(mp))
|
||||
chSchReadyI(fifo_remove(&mp->m_queue), RDY_OK);
|
||||
} while (currp->p_mtxlist != NULL);
|
||||
currp->p_prio = currp->p_realprio;
|
||||
chSchRescheduleS();
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* CH_USE_MUTEXES */
|
||||
|
||||
/** @} */
|
129
src/chsem.c
129
src/chsem.c
|
@ -225,135 +225,6 @@ void chSemSignalWait(Semaphore *sps, Semaphore *spw) {
|
|||
}
|
||||
#endif /* CH_USE_SEMSW */
|
||||
|
||||
#ifdef CH_USE_RT_SEMAPHORES
|
||||
/*
|
||||
* Inserts a thread into a list ordering it by priority.
|
||||
* @param tp the pointer to the thread to be inserted in the list
|
||||
* @param tqp the pointer to the threads list header
|
||||
* @note Usually you dont need to use this function in the user code unless
|
||||
* you want to create some custom threads synchronization mechanism.
|
||||
*/
|
||||
static void prioenq(Thread *tp, ThreadsQueue *tqp) {
|
||||
Thread *cp;
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
/**
|
||||
* Performs a wait operation on a semaphore with priority boost.
|
||||
* @param sp pointer to a \p Semaphore structure
|
||||
* @note The function is available only if the \p CH_USE_RT_SEMAPHORES
|
||||
* option is enabled in \p chconf.h.
|
||||
*/
|
||||
void chSemRaisePrioWait(Semaphore *sp) {
|
||||
|
||||
chSysLock();
|
||||
|
||||
if (--sp->s_cnt < 0) {
|
||||
prioenq(currp, &sp->s_queue);
|
||||
currp->p_semp = sp;
|
||||
chSchGoSleepS(PRWTSEM);
|
||||
}
|
||||
|
||||
if (!currp->p_rtcnt++)
|
||||
currp->p_prio += MEPRIO;
|
||||
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* Performs a signal operation on a semaphore with return to normal priority.
|
||||
* @param sp pointer to a \p Semaphore structure
|
||||
* @note The function is available only if the \p CH_USE_RT_SEMAPHORES
|
||||
* option is enabled in \p chconf.h.
|
||||
*/
|
||||
void chSemLowerPrioSignal(Semaphore *sp) {
|
||||
|
||||
chSysLock();
|
||||
|
||||
if (!--currp->p_rtcnt) {
|
||||
currp->p_prio -= MEPRIO;
|
||||
if (sp->s_cnt++ < 0)
|
||||
chSchReadyI(fifo_remove(&sp->s_queue), RDY_OK);
|
||||
chSchRescheduleS();
|
||||
}
|
||||
else if (sp->s_cnt++ < 0)
|
||||
chSchWakeupS(fifo_remove(&sp->s_queue), RDY_OK);
|
||||
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
#ifdef CH_USE_SEMSW
|
||||
/**
|
||||
* Performs atomic signal and wait operations on two semaphores with priority
|
||||
* boost.
|
||||
* @param sps pointer to a \p Semaphore structure to be signaled
|
||||
* @param spw pointer to a \p Semaphore structure to be wait on
|
||||
* @note The function is available only if the \p CH_USE_RT_SEMAPHORES
|
||||
* option is enabled in \p chconf.h.
|
||||
*/
|
||||
void chSemRaisePrioSignalWait(Semaphore *sps, Semaphore *spw) {
|
||||
|
||||
chSysLock();
|
||||
|
||||
if (sps->s_cnt++ < 0)
|
||||
chSchReadyI(fifo_remove(&sps->s_queue), RDY_OK);
|
||||
|
||||
if (--spw->s_cnt < 0) {
|
||||
prioenq(currp, &spw->s_queue);
|
||||
currp->p_semp = spw;
|
||||
chSchGoSleepS(PRWTSEM);
|
||||
|
||||
if (!currp->p_rtcnt++)
|
||||
currp->p_prio += MEPRIO;
|
||||
}
|
||||
else {
|
||||
if (!currp->p_rtcnt++)
|
||||
currp->p_prio += MEPRIO;
|
||||
|
||||
chSchRescheduleS(); // Really needed ?
|
||||
}
|
||||
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* Performs atomic signal and wait operations on two semaphores with return
|
||||
* to normal priority.
|
||||
* @param sps pointer to a \p Semaphore structure to be signaled
|
||||
* @param spw pointer to a \p Semaphore structure to be wait on
|
||||
* @note The function is available only if the \p CH_USE_RT_SEMAPHORES
|
||||
* option is enabled in \p chconf.h.
|
||||
*/
|
||||
void chSemLowerPrioSignalWait(Semaphore *sps, Semaphore *spw) {
|
||||
|
||||
chSysLock();
|
||||
|
||||
if (!--currp->p_rtcnt)
|
||||
currp->p_prio -= MEPRIO;
|
||||
|
||||
if (sps->s_cnt++ < 0)
|
||||
chSchReadyI(fifo_remove(&sps->s_queue), RDY_OK);
|
||||
|
||||
if (--spw->s_cnt < 0) {
|
||||
fifo_insert(currp, &spw->s_queue); // fifo_insert() because the spw is a normal sem.
|
||||
currp->p_semp = spw;
|
||||
chSchGoSleepS(PRWTSEM);
|
||||
}
|
||||
else
|
||||
chSchRescheduleS();
|
||||
|
||||
chSysUnlock();
|
||||
}
|
||||
#endif /* CH_USE_SEMSW */
|
||||
|
||||
#endif /* CH_USE_RT_SEMAPHORES */
|
||||
|
||||
#endif /* CH_USE_SEMAPHORES */
|
||||
|
||||
/** @} */
|
||||
|
|
|
@ -34,8 +34,9 @@ void _InitThread(t_prio prio, t_tmode mode, Thread *tp) {
|
|||
tp->p_flags = mode;
|
||||
tp->p_prio = prio;
|
||||
tp->p_rdymsg = RDY_OK;
|
||||
#ifdef CH_USE_RT_SEMAPHORES
|
||||
tp->p_rtcnt = 0;
|
||||
#ifdef CH_USE_MUTEXES
|
||||
tp->p_mtxlist = NULL;
|
||||
tp->p_realprio = prio;
|
||||
#endif
|
||||
#ifdef CH_USE_WAITEXIT
|
||||
list_init(&tp->p_waiting);
|
||||
|
@ -125,11 +126,14 @@ void chThdSetPriority(t_prio newprio) {
|
|||
chDbgAssert(newprio <= HIGHPRIO, "chthreads.c, chThdSetPriority()")
|
||||
chSysLock();
|
||||
|
||||
#ifdef CH_USE_RT_SEMAPHORES
|
||||
if (currp->p_rtcnt)
|
||||
currp->p_prio = newprio + MEPRIO;
|
||||
#ifdef CH_USE_MUTEXES
|
||||
if (currp->p_prio != currp->p_realprio) {
|
||||
if (newprio > currp->p_prio)
|
||||
currp->p_prio = newprio;
|
||||
}
|
||||
else
|
||||
currp->p_prio = newprio;
|
||||
currp->p_realprio = newprio;
|
||||
#else
|
||||
currp->p_prio = newprio;
|
||||
#endif
|
||||
|
|
|
@ -57,6 +57,10 @@
|
|||
#include "semaphores.h"
|
||||
#endif
|
||||
|
||||
#ifndef _MUTEXES_H_
|
||||
#include "mutexes.h"
|
||||
#endif
|
||||
|
||||
#ifndef _EVENTS_H_
|
||||
#include "events.h"
|
||||
#endif
|
||||
|
|
|
@ -0,0 +1,66 @@
|
|||
/*
|
||||
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 Mutexes
|
||||
* @{
|
||||
*/
|
||||
|
||||
#ifndef _MUTEXES_H_
|
||||
#define _MUTEXES_H_
|
||||
|
||||
#ifdef CH_USE_MUTEXES
|
||||
|
||||
typedef struct Mutex Mutex;
|
||||
|
||||
struct Mutex {
|
||||
/** Queue of the threads sleeping on this Mutex.*/
|
||||
ThreadsQueue m_queue;
|
||||
/** Owner \p Thread pointer or \p NULL.*/
|
||||
Thread *m_owner;
|
||||
/** Next \p Mutex into an owner-list, \p NULL if none.*/
|
||||
Mutex *m_next;
|
||||
};
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
void chMtxInit(Mutex *mp);
|
||||
void chMtxLock(Mutex *mp);
|
||||
void chMtxLockS(Mutex *mp);
|
||||
BOOL chMtxTryLock(Mutex *mp);
|
||||
BOOL chMtxTryLockS(Mutex *mp);
|
||||
void chMtxUnlock(void);
|
||||
void chMtxUnlockS(void);
|
||||
void chMtxUnlockAll(void);
|
||||
void chMtxUnlockAllS(void);
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Returns \p TRUE if the mutex queus contains at least a waiting thread.
|
||||
*/
|
||||
#define chMtxQueueNotEmptyS(mp) notempty(&(mp)->m_queue)
|
||||
|
||||
#endif /* CH_USE_MUTEXES */
|
||||
|
||||
#endif /* _MUTEXES_H_ */
|
||||
|
||||
/** @} */
|
|
@ -52,13 +52,6 @@ extern "C" {
|
|||
void chSemSignal(Semaphore *sp);
|
||||
void chSemSignalI(Semaphore *sp);
|
||||
void chSemSignalWait(Semaphore *sps, Semaphore *spw);
|
||||
|
||||
#ifdef CH_USE_RT_SEMAPHORES
|
||||
void chSemRaisePrioWait(Semaphore *sp);
|
||||
void chSemLowerPrioSignal(Semaphore *sp);
|
||||
void chSemRaisePrioSignalWait(Semaphore *sps, Semaphore *spw);
|
||||
void chSemLowerPrioSignalWait(Semaphore *sps, Semaphore *spw);
|
||||
#endif
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
@ -82,6 +75,6 @@ extern "C" {
|
|||
|
||||
#endif /* CH_USE_SEMAPHORES */
|
||||
|
||||
#endif /* _SEM_H_ */
|
||||
#endif /* _SEMAPHORES_H_ */
|
||||
|
||||
/** @} */
|
||||
|
|
|
@ -62,6 +62,9 @@ struct Thread {
|
|||
/** Semaphore where the thread is waiting on (only in \p PRWTSEM state).*/
|
||||
Semaphore *p_semp;
|
||||
#endif
|
||||
#ifdef CH_USE_MUTEXES
|
||||
Mutex *p_mtxp;
|
||||
#endif
|
||||
#ifdef CH_USE_EVENTS
|
||||
/** Enabled events mask (only while in \p PRWTEVENT state).*/
|
||||
t_eventmask p_ewmask;
|
||||
|
@ -96,9 +99,10 @@ struct Thread {
|
|||
/** Pending events mask.*/
|
||||
t_eventmask p_epending;
|
||||
#endif
|
||||
#ifdef CH_USE_RT_SEMAPHORES
|
||||
/** RT semaphores depth counter.*/
|
||||
t_cnt p_rtcnt;
|
||||
#ifdef CH_USE_MUTEXES
|
||||
/** Owner mutexes list, \p NULL terminated.*/
|
||||
Mutex *p_mtxlist;
|
||||
t_prio p_realprio;
|
||||
#endif
|
||||
};
|
||||
|
||||
|
@ -112,18 +116,20 @@ struct Thread {
|
|||
#define PRSUSPENDED 3
|
||||
/** Thread state: Waiting on a semaphore.*/
|
||||
#define PRWTSEM 4
|
||||
/** Thread state: Waiting on a mutex.*/
|
||||
#define PRWTMTX 5
|
||||
/** Thread state: Waiting in \p chThdSleep() or \p chThdSleepUntil().*/
|
||||
#define PRSLEEP 5
|
||||
#define PRSLEEP 6
|
||||
/** Thread state: Waiting in \p chThdWait().*/
|
||||
#define PRWAIT 6
|
||||
#define PRWAIT 7
|
||||
/** Thread state: Waiting in \p chEvtWait().*/
|
||||
#define PRWTEVENT 7
|
||||
#define PRWTEVENT 8
|
||||
/** Thread state: Waiting in \p chMsgSend().*/
|
||||
#define PRSNDMSG 8
|
||||
#define PRSNDMSG 9
|
||||
/** Thread state: Waiting in \p chMsgWait().*/
|
||||
#define PRWTMSG 9
|
||||
#define PRWTMSG 10
|
||||
/** Thread state: After termination.*/
|
||||
#define PREXIT 10
|
||||
#define PREXIT 11
|
||||
|
||||
/** Thread option: Termination requested flag.*/
|
||||
#define P_TERMINATE 1
|
||||
|
@ -138,8 +144,6 @@ struct Thread {
|
|||
#define NORMALPRIO 64
|
||||
/** Highest user priority.*/
|
||||
#define HIGHPRIO 127
|
||||
/** Boosted base priority.*/
|
||||
#define MEPRIO 128
|
||||
/** Greatest possible priority.*/
|
||||
#define ABSPRIO 255
|
||||
|
||||
|
|
|
@ -78,10 +78,9 @@
|
|||
* @note requires \p CH_USE_VIRTUAL_TIMERS.*/
|
||||
#define CH_USE_SEMAPHORES_TIMEOUT
|
||||
|
||||
/** Configuration option: if specified then the Semaphores APIs with priority
|
||||
* shift are included in the kernel.
|
||||
* @note requires \p CH_USE_SEMAPHORES.*/
|
||||
#define CH_USE_RT_SEMAPHORES
|
||||
/** Configuration option: if specified then the Mutexes APIs are included in
|
||||
* the kernel.*/
|
||||
#define CH_USE_MUTEXES
|
||||
|
||||
/** Configuration option: if specified then the Events APIs are included in
|
||||
* the kernel.*/
|
||||
|
|
238
test/test.c
238
test/test.c
|
@ -40,6 +40,7 @@ static Thread *t1, *t2, *t3, *t4, *t5;
|
|||
|
||||
static FullDuplexDriver *comp;
|
||||
static Semaphore sem1;
|
||||
static Mutex m1, m2;
|
||||
|
||||
static void wait(void) {
|
||||
|
||||
|
@ -92,8 +93,9 @@ t_msg Thread2(void *p) {
|
|||
|
||||
t_msg Thread3(void *p) {
|
||||
|
||||
chSemRaisePrioWait(&sem1);
|
||||
chMtxLock(&m1);
|
||||
chFDDPut(comp, *(BYTE8 *)p);
|
||||
chMtxUnlock();
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
@ -129,25 +131,8 @@ t_msg Thread7(void *p) {
|
|||
return (unsigned int)p + 1;
|
||||
}
|
||||
|
||||
/**
|
||||
* Tester thread, this thread must be created with priority \p NORMALPRIO.
|
||||
*/
|
||||
t_msg TestThread(void *p) {
|
||||
static BYTE8 ib[16];
|
||||
static Queue iq;
|
||||
t_msg msg;
|
||||
unsigned int i;
|
||||
t_time time;
|
||||
static void testrdy1(void) {
|
||||
|
||||
comp = p;
|
||||
println("*****************************");
|
||||
println("*** ChibiOS/RT test suite ***");
|
||||
println("*****************************");
|
||||
println("");
|
||||
|
||||
/*
|
||||
* Ready list ordering test.
|
||||
*/
|
||||
println("*** Ready List, priority enqueuing test #1, you should read ABCDE:");
|
||||
t5 = chThdCreate(chThdGetPriority()-5, 0, wsT5, sizeof(wsT5), Thread1, "E");
|
||||
t4 = chThdCreate(chThdGetPriority()-4, 0, wsT4, sizeof(wsT4), Thread1, "D");
|
||||
|
@ -156,6 +141,10 @@ t_msg TestThread(void *p) {
|
|||
t1 = chThdCreate(chThdGetPriority()-1, 0, wsT1, sizeof(wsT1), Thread1, "A");
|
||||
wait();
|
||||
println("");
|
||||
}
|
||||
|
||||
static void testrdy2(void) {
|
||||
|
||||
println("*** Ready List, priority enqueuing test #2, you should read ABCDE:");
|
||||
t4 = chThdCreate(chThdGetPriority()-4, 0, wsT4, sizeof(wsT4), Thread1, "D");
|
||||
t5 = chThdCreate(chThdGetPriority()-5, 0, wsT5, sizeof(wsT5), Thread1, "E");
|
||||
|
@ -164,12 +153,12 @@ t_msg TestThread(void *p) {
|
|||
t3 = chThdCreate(chThdGetPriority()-3, 0, wsT3, sizeof(wsT3), Thread1, "C");
|
||||
wait();
|
||||
println("");
|
||||
}
|
||||
|
||||
static void testsem1(void) {
|
||||
|
||||
/*
|
||||
* Semaphores test.
|
||||
*/
|
||||
chSemInit(&sem1, 0);
|
||||
println("*** Semaphores, FIFO enqueuing test, you should read ABCDE:");
|
||||
chSemInit(&sem1, 0);
|
||||
t1 = chThdCreate(chThdGetPriority()+5, 0, wsT1, sizeof(wsT1), Thread2, "A");
|
||||
t2 = chThdCreate(chThdGetPriority()+1, 0, wsT2, sizeof(wsT2), Thread2, "B");
|
||||
t3 = chThdCreate(chThdGetPriority()+3, 0, wsT3, sizeof(wsT3), Thread2, "C");
|
||||
|
@ -182,45 +171,111 @@ t_msg TestThread(void *p) {
|
|||
chSemSignal(&sem1);
|
||||
wait();
|
||||
println("");
|
||||
println("*** Semaphores, priority enqueuing test #1, you should read ABCDE:");
|
||||
chSemInit(&sem1, 0);
|
||||
t5 = chThdCreate(chThdGetPriority()+1, 0, wsT5, sizeof(wsT5), Thread3, "E");
|
||||
t4 = chThdCreate(chThdGetPriority()+2, 0, wsT4, sizeof(wsT4), Thread3, "D");
|
||||
t3 = chThdCreate(chThdGetPriority()+3, 0, wsT3, sizeof(wsT3), Thread3, "C");
|
||||
t2 = chThdCreate(chThdGetPriority()+4, 0, wsT2, sizeof(wsT2), Thread3, "B");
|
||||
t1 = chThdCreate(chThdGetPriority()+5, 0, wsT1, sizeof(wsT1), Thread3, "A");
|
||||
chSemLowerPrioSignal(&sem1);
|
||||
chSemLowerPrioSignal(&sem1);
|
||||
chSemLowerPrioSignal(&sem1);
|
||||
chSemLowerPrioSignal(&sem1);
|
||||
chSemLowerPrioSignal(&sem1);
|
||||
wait();
|
||||
println("");
|
||||
println("*** Semaphores, priority enqueuing test #2, you should read ABCDE:");
|
||||
chSemInit(&sem1, 0);
|
||||
t4 = chThdCreate(chThdGetPriority()+2, 0, wsT4, sizeof(wsT4), Thread3, "D");
|
||||
t5 = chThdCreate(chThdGetPriority()+1, 0, wsT5, sizeof(wsT5), Thread3, "E");
|
||||
t1 = chThdCreate(chThdGetPriority()+5, 0, wsT1, sizeof(wsT1), Thread3, "A");
|
||||
t2 = chThdCreate(chThdGetPriority()+4, 0, wsT2, sizeof(wsT2), Thread3, "B");
|
||||
t3 = chThdCreate(chThdGetPriority()+3, 0, wsT3, sizeof(wsT3), Thread3, "C");
|
||||
chSemLowerPrioSignal(&sem1);
|
||||
chSemLowerPrioSignal(&sem1);
|
||||
chSemLowerPrioSignal(&sem1);
|
||||
chSemLowerPrioSignal(&sem1);
|
||||
chSemLowerPrioSignal(&sem1);
|
||||
wait();
|
||||
println("");
|
||||
}
|
||||
|
||||
static void testsem2(void) {
|
||||
unsigned int i;
|
||||
|
||||
println("*** Semaphores, timeout test, you should read ABCDE (slowly):");
|
||||
chSemInit(&sem1, 0);
|
||||
for (i = 0; i < 5; i++) {
|
||||
chFDDPut(comp, 'A'+i);
|
||||
chFDDPut(comp, 'A' + i);
|
||||
chSemWaitTimeout(&sem1, 500);
|
||||
}
|
||||
println("");
|
||||
}
|
||||
|
||||
static void testmtx1(void) {
|
||||
|
||||
chMtxInit(&m1);
|
||||
println("*** Mutexes, priority enqueuing test, you should read ABCDE:");
|
||||
chMtxLock(&m1);
|
||||
t5 = chThdCreate(chThdGetPriority()+1, 0, wsT5, sizeof(wsT5), Thread3, "E");
|
||||
t4 = chThdCreate(chThdGetPriority()+3, 0, wsT4, sizeof(wsT4), Thread3, "D");
|
||||
t3 = chThdCreate(chThdGetPriority()+3, 0, wsT3, sizeof(wsT3), Thread3, "C");
|
||||
t2 = chThdCreate(chThdGetPriority()+4, 0, wsT2, sizeof(wsT2), Thread3, "B");
|
||||
t1 = chThdCreate(chThdGetPriority()+5, 0, wsT1, sizeof(wsT1), Thread3, "A");
|
||||
chMtxUnlock();
|
||||
wait();
|
||||
println("");
|
||||
}
|
||||
|
||||
t_msg Thread8(void *p) {
|
||||
|
||||
chThdSleep(5);
|
||||
chMtxLock(&m1);
|
||||
chMtxUnlock();
|
||||
chFDDPut(comp, *(BYTE8 *)p);
|
||||
return 0;
|
||||
}
|
||||
|
||||
t_msg Thread9(void *p) {
|
||||
|
||||
chMtxLock(&m1);
|
||||
chThdSleep(20);
|
||||
chMtxUnlock();
|
||||
chFDDPut(comp, *(BYTE8 *)p);
|
||||
return 0;
|
||||
}
|
||||
|
||||
t_msg Thread10(void *p) {
|
||||
|
||||
chThdSleep(10);
|
||||
/* 50mS CPU pulse */
|
||||
t_time time = chSysGetTime() + 50;
|
||||
while (chSysGetTime() != time)
|
||||
;
|
||||
chFDDPut(comp, *(BYTE8 *)p);
|
||||
return 0;
|
||||
}
|
||||
|
||||
t_msg Thread11(void *p) {
|
||||
|
||||
chThdSleep(5);
|
||||
chSemWait(&sem1);
|
||||
chSemSignal(&sem1);
|
||||
chFDDPut(comp, *(BYTE8 *)p);
|
||||
return 0;
|
||||
}
|
||||
|
||||
t_msg Thread12(void *p) {
|
||||
|
||||
chSemWait(&sem1);
|
||||
chThdSleep(20);
|
||||
chSemSignal(&sem1);
|
||||
chFDDPut(comp, *(BYTE8 *)p);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void testmtx2(void) {
|
||||
|
||||
chMtxInit(&m1);
|
||||
println("*** Mutexes, mutex with inheritance, you should read ABC:");
|
||||
t1 = chThdCreate(chThdGetPriority()-1, 0, wsT1, sizeof(wsT1), Thread8, "A");
|
||||
t2 = chThdCreate(chThdGetPriority()-3, 0, wsT2, sizeof(wsT2), Thread9, "C");
|
||||
t3 = chThdCreate(chThdGetPriority()-2, 0, wsT3, sizeof(wsT3), Thread10, "B");
|
||||
chThdWait(t1);
|
||||
chThdWait(t2);
|
||||
chThdWait(t3);
|
||||
println("");
|
||||
}
|
||||
|
||||
static void testmtx3(void) {
|
||||
|
||||
chSemInit(&sem1, 1);
|
||||
println("*** Mutexes, mutex without inheritance, inversion happens, you should read BAC:");
|
||||
t1 = chThdCreate(chThdGetPriority()-1, 0, wsT1, sizeof(wsT1), Thread11, "A");
|
||||
t2 = chThdCreate(chThdGetPriority()-3, 0, wsT2, sizeof(wsT2), Thread12, "C");
|
||||
t3 = chThdCreate(chThdGetPriority()-2, 0, wsT3, sizeof(wsT3), Thread10, "B");
|
||||
chThdWait(t1);
|
||||
chThdWait(t2);
|
||||
chThdWait(t3);
|
||||
println("");
|
||||
}
|
||||
|
||||
static void testmsg1(void) {
|
||||
t_msg msg;
|
||||
|
||||
/*
|
||||
* Messages test.
|
||||
*/
|
||||
println("*** Messages, dispatch test, you should read AABBCCDDEE:");
|
||||
t1 = chThdCreate(chThdGetPriority()-1, 0, wsT1, sizeof(wsT1), Thread4, chThdSelf());
|
||||
do {
|
||||
|
@ -230,19 +285,26 @@ t_msg TestThread(void *p) {
|
|||
} while (msg);
|
||||
chThdWait(t1);
|
||||
println("");
|
||||
}
|
||||
|
||||
static void testmsg2(void) {
|
||||
unsigned int i;
|
||||
|
||||
println("*** Messages, timeout test, you should read ABCDE (slowly):");
|
||||
t1 = chThdCreate(chThdGetPriority()-1, 0, wsT1, sizeof(wsT1), Thread5, chThdSelf());
|
||||
for (i = 0; i < 5; i++) {
|
||||
chFDDPut(comp, 'A'+i);
|
||||
chMsgSendTimeout(t1, 'A'+i, 500);
|
||||
chFDDPut(comp, 'A' + i);
|
||||
chMsgSendTimeout(t1, 'A' + i, 500);
|
||||
}
|
||||
chMsgSendTimeout(t1, 0, 500);
|
||||
chThdWait(t1);
|
||||
println("");
|
||||
}
|
||||
|
||||
static void bench1(void) {
|
||||
unsigned int i;
|
||||
t_time time;
|
||||
|
||||
/*
|
||||
* Kernel benchmarks.
|
||||
*/
|
||||
println("*** Kernel Benchmark, context switch stress test:");
|
||||
time = chSysGetTime() + 1;
|
||||
while (chSysGetTime() < time) {
|
||||
|
@ -266,6 +328,11 @@ t_msg TestThread(void *p) {
|
|||
print(" msgs/S, ");
|
||||
printn(i << 1);
|
||||
println(" ctxsws/S");
|
||||
}
|
||||
|
||||
static void bench2(void) {
|
||||
unsigned int i;
|
||||
t_time time;
|
||||
|
||||
println("*** Kernel Benchmark, threads creation/termination:");
|
||||
time = chSysGetTime() + 1;
|
||||
|
@ -286,6 +353,13 @@ t_msg TestThread(void *p) {
|
|||
print("Threads throughput = ");
|
||||
printn(i);
|
||||
println(" threads/S");
|
||||
}
|
||||
|
||||
static void bench3(void) {
|
||||
static BYTE8 ib[16];
|
||||
static Queue iq;
|
||||
unsigned int i;
|
||||
t_time time;
|
||||
|
||||
println("*** Kernel Benchmark, I/O Queues throughput:");
|
||||
chIQInit(&iq, ib, sizeof(ib), NULL);
|
||||
|
@ -311,6 +385,50 @@ t_msg TestThread(void *p) {
|
|||
print("Queues throughput = ");
|
||||
printn(i * 4);
|
||||
println(" bytes/S");
|
||||
}
|
||||
|
||||
/**
|
||||
* Tester thread, this thread must be created with priority \p NORMALPRIO.
|
||||
*/
|
||||
t_msg TestThread(void *p) {
|
||||
|
||||
comp = p;
|
||||
println("*****************************");
|
||||
println("*** ChibiOS/RT test suite ***");
|
||||
println("*****************************");
|
||||
println("");
|
||||
|
||||
/*
|
||||
* Ready list ordering tests.
|
||||
*/
|
||||
testrdy1();
|
||||
testrdy2();
|
||||
|
||||
/*
|
||||
* Semaphores tests.
|
||||
*/
|
||||
testsem1();
|
||||
testsem2();
|
||||
|
||||
/*
|
||||
* Mutexes tests.
|
||||
*/
|
||||
testmtx1();
|
||||
testmtx2();
|
||||
testmtx3();
|
||||
|
||||
/*
|
||||
* Messages tests.
|
||||
*/
|
||||
testmsg1();
|
||||
testmsg2();
|
||||
|
||||
/*
|
||||
* Kernel benchmarks.
|
||||
*/
|
||||
bench1();
|
||||
bench2();
|
||||
bench3();
|
||||
|
||||
println("\r\nTest complete");
|
||||
return 0;
|
||||
|
|
Loading…
Reference in New Issue