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Fixed bug #828 (to be tested). 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/stable_16.1.x@10161 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Giovanni Di Sirio 2017-04-17 17:34:37 +00:00
parent 51d8ce8923
commit 4f48f576d0
3 changed files with 198 additions and 107 deletions
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89
os/rt/include/chmboxes.h
View File

@ -42,10 +42,6 @@
/* Derived constants and error checks. */ /* Derived constants and error checks. */
/*===========================================================================*/ /*===========================================================================*/
#if CH_CFG_USE_SEMAPHORES == FALSE
#error "CH_CFG_USE_MAILBOXES requires CH_CFG_USE_SEMAPHORES"
#endif
/*===========================================================================*/ /*===========================================================================*/
/* Module data structures and types. */ /* Module data structures and types. */
/*===========================================================================*/ /*===========================================================================*/
@ -60,10 +56,10 @@ typedef struct {
after the buffer. */ after the buffer. */
msg_t *mb_wrptr; /**< @brief Write pointer. */ msg_t *mb_wrptr; /**< @brief Write pointer. */
msg_t *mb_rdptr; /**< @brief Read pointer. */ msg_t *mb_rdptr; /**< @brief Read pointer. */
semaphore_t mb_fullsem; /**< @brief Full counter cnt_t mb_cnt; /**< @brief Messages in queue. */
@p semaphore_t. */ bool mb_reset; /**< @brief True in reset state. */
semaphore_t mb_emptysem; /**< @brief Empty counter threads_queue_t mb_qw; /**< @brief Queued writers. */
@p semaphore_t. */ threads_queue_t mb_qr; /**< @brief Queued readers. */
} mailbox_t; } mailbox_t;
/*===========================================================================*/ /*===========================================================================*/
@ -79,13 +75,15 @@ typedef struct {
* @param[in] buffer pointer to the mailbox buffer area * @param[in] buffer pointer to the mailbox buffer area
* @param[in] size size of the mailbox buffer area * @param[in] size size of the mailbox buffer area
*/ */
#define _MAILBOX_DATA(name, buffer, size) { \ #define _MAILBOX_DATA(name, buffer, size) { \
(msg_t *)(buffer), \ (msg_t *)(buffer), \
(msg_t *)(buffer) + size, \ (msg_t *)(buffer) + size, \
(msg_t *)(buffer), \ (msg_t *)(buffer), \
(msg_t *)(buffer), \ (msg_t *)(buffer), \
_SEMAPHORE_DATA(name.mb_fullsem, 0), \ (cnt_t)0, \
_SEMAPHORE_DATA(name.mb_emptysem, size), \ false, \
_THREADS_QUEUE_DATA(name.mb_qw), \
_THREADS_QUEUE_DATA(name.mb_qr), \
} }
/** /**
@ -97,7 +95,7 @@ typedef struct {
* @param[in] buffer pointer to the mailbox buffer area * @param[in] buffer pointer to the mailbox buffer area
* @param[in] size size of the mailbox buffer area * @param[in] size size of the mailbox buffer area
*/ */
#define MAILBOX_DECL(name, buffer, size) \ #define MAILBOX_DECL(name, buffer, size) \
mailbox_t name = _MAILBOX_DATA(name, buffer, size) mailbox_t name = _MAILBOX_DATA(name, buffer, size)
/*===========================================================================*/ /*===========================================================================*/
@ -128,27 +126,39 @@ extern "C" {
/*===========================================================================*/ /*===========================================================================*/
/** /**
* @brief Returns the mailbox buffer size. * @brief Returns the mailbox buffer size as number of messages.
* *
* @param[in] mbp the pointer to an initialized mailbox_t object * @param[in] mbp the pointer to an initialized mailbox_t object
* @return The size of the mailbox. * @return The size of the mailbox.
* *
* @iclass * @iclass
*/ */
static inline size_t chMBGetSizeI(mailbox_t *mbp) { static inline cnt_t chMBGetSizeI(mailbox_t *mbp) {
/*lint -save -e9033 [10.8] Perfectly safe pointers /*lint -save -e9033 [10.8] Perfectly safe pointers
arithmetic.*/ arithmetic.*/
return (size_t)(mbp->mb_top - mbp->mb_buffer); return (cnt_t)(mbp->mb_top - mbp->mb_buffer);
/*lint -restore*/ /*lint -restore*/
} }
/**
* @brief Returns the number of used message slots into a mailbox.
*
* @param[in] mbp the pointer to an initialized mailbox_t object
* @return The number of queued messages.
* @retval QUEUE_RESET if the queue is in reset state.
*
* @iclass
*/
static inline cnt_t chMBGetUsedCountI(mailbox_t *mbp) {
chDbgCheckClassI();
return mbp->mb_cnt;
}
/** /**
* @brief Returns the number of free message slots into a mailbox. * @brief Returns the number of free message slots into a mailbox.
* @note Can be invoked in any system state but if invoked out of a locked
* state then the returned value may change after reading.
* @note The returned value can be less than zero when there are waiting
* threads on the internal semaphore.
* *
* @param[in] mbp the pointer to an initialized mailbox_t object * @param[in] mbp the pointer to an initialized mailbox_t object
* @return The number of empty message slots. * @return The number of empty message slots.
@ -159,26 +169,7 @@ static inline cnt_t chMBGetFreeCountI(mailbox_t *mbp) {
chDbgCheckClassI(); chDbgCheckClassI();
return chSemGetCounterI(&mbp->mb_emptysem); return chMBGetSizeI(mbp) - chMBGetUsedCountI(mbp);
}
/**
* @brief Returns the number of used message slots into a mailbox.
* @note Can be invoked in any system state but if invoked out of a locked
* state then the returned value may change after reading.
* @note The returned value can be less than zero when there are waiting
* threads on the internal semaphore.
*
* @param[in] mbp the pointer to an initialized mailbox_t object
* @return The number of queued messages.
*
* @iclass
*/
static inline cnt_t chMBGetUsedCountI(mailbox_t *mbp) {
chDbgCheckClassI();
return chSemGetCounterI(&mbp->mb_fullsem);
} }
/** /**
@ -200,6 +191,18 @@ static inline msg_t chMBPeekI(mailbox_t *mbp) {
return *mbp->mb_rdptr; return *mbp->mb_rdptr;
} }
/**
* @brief Terminates the reset state.
*
* @param[in] mbp the pointer to an initialized mailbox_t object
*
* @xclass
*/
static inline void chMBResumeX(mailbox_t *mbp) {
mbp->mb_reset = false;
}
#endif /* CH_CFG_USE_MAILBOXES == TRUE */ #endif /* CH_CFG_USE_MAILBOXES == TRUE */
#endif /* _CHMBOXES_H_ */ #endif /* _CHMBOXES_H_ */

215
os/rt/src/chmboxes.c
View File

@ -88,17 +88,22 @@ void chMBObjectInit(mailbox_t *mbp, msg_t *buf, cnt_t n) {
chDbgCheck((mbp != NULL) && (buf != NULL) && (n > (cnt_t)0)); chDbgCheck((mbp != NULL) && (buf != NULL) && (n > (cnt_t)0));
mbp->mb_buffer = buf; mbp->mb_buffer = buf;
mbp->mb_rdptr = buf; mbp->mb_rdptr = buf;
mbp->mb_wrptr = buf; mbp->mb_wrptr = buf;
mbp->mb_top = &buf[n]; mbp->mb_top = &buf[n];
chSemObjectInit(&mbp->mb_emptysem, n); mbp->mb_cnt = (cnt_t)0;
chSemObjectInit(&mbp->mb_fullsem, (cnt_t)0); mbp->mb_reset = false;
chThdQueueObjectInit(&mbp->mb_qw);
chThdQueueObjectInit(&mbp->mb_qr);
} }
/** /**
* @brief Resets a @p mailbox_t object. * @brief Resets a @p mailbox_t object.
* @details All the waiting threads are resumed with status @p MSG_RESET and * @details All the waiting threads are resumed with status @p MSG_RESET and
* the queued messages are lost. * the queued messages are lost.
* @post The mailbox is in reset state, all operations will fail and
* return @p MSG reset until the mailbox is enabled again using
* @p chMBResumeX().
* *
* @param[in] mbp the pointer to an initialized @p mailbox_t object * @param[in] mbp the pointer to an initialized @p mailbox_t object
* *
@ -116,6 +121,9 @@ void chMBReset(mailbox_t *mbp) {
* @brief Resets a @p mailbox_t object. * @brief Resets a @p mailbox_t object.
* @details All the waiting threads are resumed with status @p MSG_RESET and * @details All the waiting threads are resumed with status @p MSG_RESET and
* the queued messages are lost. * the queued messages are lost.
* @post The mailbox is in reset state, all operations will fail and
* return @p MSG reset until the mailbox is enabled again using
* @p chMBResumeX().
* *
* @param[in] mbp the pointer to an initialized @p mailbox_t object * @param[in] mbp the pointer to an initialized @p mailbox_t object
* *
@ -128,8 +136,10 @@ void chMBResetI(mailbox_t *mbp) {
mbp->mb_wrptr = mbp->mb_buffer; mbp->mb_wrptr = mbp->mb_buffer;
mbp->mb_rdptr = mbp->mb_buffer; mbp->mb_rdptr = mbp->mb_buffer;
chSemResetI(&mbp->mb_emptysem, (cnt_t)(mbp->mb_top - mbp->mb_buffer)); mbp->mb_cnt = (cnt_t)0;
chSemResetI(&mbp->mb_fullsem, (cnt_t)0); mbp->mb_reset = true;
chThdDequeueAllI(&mbp->mb_qw, MSG_RESET);
chThdDequeueAllI(&mbp->mb_qr, MSG_RESET);
} }
/** /**
@ -146,7 +156,7 @@ void chMBResetI(mailbox_t *mbp) {
* . * .
* @return The operation status. * @return The operation status.
* @retval MSG_OK if a message has been correctly posted. * @retval MSG_OK if a message has been correctly posted.
* @retval MSG_RESET if the mailbox has been reset while waiting. * @retval MSG_RESET if the mailbox has been reset.
* @retval MSG_TIMEOUT if the operation has timed out. * @retval MSG_TIMEOUT if the operation has timed out.
* *
* @api * @api
@ -175,7 +185,7 @@ msg_t chMBPost(mailbox_t *mbp, msg_t msg, systime_t timeout) {
* . * .
* @return The operation status. * @return The operation status.
* @retval MSG_OK if a message has been correctly posted. * @retval MSG_OK if a message has been correctly posted.
* @retval MSG_RESET if the mailbox has been reset while waiting. * @retval MSG_RESET if the mailbox has been reset.
* @retval MSG_TIMEOUT if the operation has timed out. * @retval MSG_TIMEOUT if the operation has timed out.
* *
* @sclass * @sclass
@ -186,15 +196,30 @@ msg_t chMBPostS(mailbox_t *mbp, msg_t msg, systime_t timeout) {
chDbgCheckClassS(); chDbgCheckClassS();
chDbgCheck(mbp != NULL); chDbgCheck(mbp != NULL);
rdymsg = chSemWaitTimeoutS(&mbp->mb_emptysem, timeout); do {
if (rdymsg == MSG_OK) { /* If the mailbox is in reset state then returns immediately.*/
*mbp->mb_wrptr++ = msg; if (mbp->mb_reset) {
if (mbp->mb_wrptr >= mbp->mb_top) { return MSG_RESET;
mbp->mb_wrptr = mbp->mb_buffer;
} }
chSemSignalI(&mbp->mb_fullsem);
chSchRescheduleS(); /* Is there a free message slot in queue? if so then post.*/
} if (chMBGetFreeCountI(mbp) > (cnt_t)0) {
*mbp->mb_wrptr++ = msg;
if (mbp->mb_wrptr >= mbp->mb_top) {
mbp->mb_wrptr = mbp->mb_buffer;
}
mbp->mb_cnt++;
/* If there is a reader waiting then makes it ready.*/
chThdDequeueNextI(&mbp->mb_qr, MSG_OK);
chSchRescheduleS();
return MSG_OK;
}
/* No space in the queue, waiting for a slot to become available.*/
rdymsg = chThdEnqueueTimeoutS(&mbp->mb_qw, timeout);
} while (rdymsg == MSG_OK);
return rdymsg; return rdymsg;
} }
@ -208,6 +233,7 @@ msg_t chMBPostS(mailbox_t *mbp, msg_t msg, systime_t timeout) {
* @param[in] msg the message to be posted on the mailbox * @param[in] msg the message to be posted on the mailbox
* @return The operation status. * @return The operation status.
* @retval MSG_OK if a message has been correctly posted. * @retval MSG_OK if a message has been correctly posted.
* @retval MSG_RESET if the mailbox has been reset.
* @retval MSG_TIMEOUT if the mailbox is full and the message cannot be * @retval MSG_TIMEOUT if the mailbox is full and the message cannot be
* posted. * posted.
* *
@ -218,18 +244,27 @@ msg_t chMBPostI(mailbox_t *mbp, msg_t msg) {
chDbgCheckClassI(); chDbgCheckClassI();
chDbgCheck(mbp != NULL); chDbgCheck(mbp != NULL);
if (chSemGetCounterI(&mbp->mb_emptysem) <= (cnt_t)0) { /* If the mailbox is in reset state then returns immediately.*/
return MSG_TIMEOUT; if (mbp->mb_reset) {
return MSG_RESET;
} }
chSemFastWaitI(&mbp->mb_emptysem); /* Is there a free message slot in queue? if so then post.*/
*mbp->mb_wrptr++ = msg; if (chMBGetFreeCountI(mbp) > (cnt_t)0) {
if (mbp->mb_wrptr >= mbp->mb_top) { *mbp->mb_wrptr++ = msg;
mbp->mb_wrptr = mbp->mb_buffer; if (mbp->mb_wrptr >= mbp->mb_top) {
} mbp->mb_wrptr = mbp->mb_buffer;
chSemSignalI(&mbp->mb_fullsem); }
mbp->mb_cnt++;
return MSG_OK; /* If there is a reader waiting then makes it ready.*/
chThdDequeueNextI(&mbp->mb_qr, MSG_OK);
return MSG_OK;
}
/* No space, immediate timeout.*/
return MSG_TIMEOUT;
} }
/** /**
@ -246,7 +281,7 @@ msg_t chMBPostI(mailbox_t *mbp, msg_t msg) {
* . * .
* @return The operation status. * @return The operation status.
* @retval MSG_OK if a message has been correctly posted. * @retval MSG_OK if a message has been correctly posted.
* @retval MSG_RESET if the mailbox has been reset while waiting. * @retval MSG_RESET if the mailbox has been reset.
* @retval MSG_TIMEOUT if the operation has timed out. * @retval MSG_TIMEOUT if the operation has timed out.
* *
* @api * @api
@ -275,7 +310,7 @@ msg_t chMBPostAhead(mailbox_t *mbp, msg_t msg, systime_t timeout) {
* . * .
* @return The operation status. * @return The operation status.
* @retval MSG_OK if a message has been correctly posted. * @retval MSG_OK if a message has been correctly posted.
* @retval MSG_RESET if the mailbox has been reset while waiting. * @retval MSG_RESET if the mailbox has been reset.
* @retval MSG_TIMEOUT if the operation has timed out. * @retval MSG_TIMEOUT if the operation has timed out.
* *
* @sclass * @sclass
@ -286,15 +321,30 @@ msg_t chMBPostAheadS(mailbox_t *mbp, msg_t msg, systime_t timeout) {
chDbgCheckClassS(); chDbgCheckClassS();
chDbgCheck(mbp != NULL); chDbgCheck(mbp != NULL);
rdymsg = chSemWaitTimeoutS(&mbp->mb_emptysem, timeout); do {
if (rdymsg == MSG_OK) { /* If the mailbox is in reset state then returns immediately.*/
if (--mbp->mb_rdptr < mbp->mb_buffer) { if (mbp->mb_reset) {
mbp->mb_rdptr = mbp->mb_top - 1; return MSG_RESET;
} }
*mbp->mb_rdptr = msg;
chSemSignalI(&mbp->mb_fullsem); /* Is there a free message slot in queue? if so then post.*/
chSchRescheduleS(); if (chMBGetFreeCountI(mbp) > (cnt_t)0) {
} if (--mbp->mb_rdptr < mbp->mb_buffer) {
mbp->mb_rdptr = mbp->mb_top - 1;
}
*mbp->mb_rdptr = msg;
mbp->mb_cnt++;
/* If there is a reader waiting then makes it ready.*/
chThdDequeueNextI(&mbp->mb_qr, MSG_OK);
chSchRescheduleS();
return MSG_OK;
}
/* No space in the queue, waiting for a slot to become available.*/
rdymsg = chThdEnqueueTimeoutS(&mbp->mb_qw, timeout);
} while (rdymsg == MSG_OK);
return rdymsg; return rdymsg;
} }
@ -308,6 +358,7 @@ msg_t chMBPostAheadS(mailbox_t *mbp, msg_t msg, systime_t timeout) {
* @param[in] msg the message to be posted on the mailbox * @param[in] msg the message to be posted on the mailbox
* @return The operation status. * @return The operation status.
* @retval MSG_OK if a message has been correctly posted. * @retval MSG_OK if a message has been correctly posted.
* @retval MSG_RESET if the mailbox has been reset.
* @retval MSG_TIMEOUT if the mailbox is full and the message cannot be * @retval MSG_TIMEOUT if the mailbox is full and the message cannot be
* posted. * posted.
* *
@ -318,17 +369,27 @@ msg_t chMBPostAheadI(mailbox_t *mbp, msg_t msg) {
chDbgCheckClassI(); chDbgCheckClassI();
chDbgCheck(mbp != NULL); chDbgCheck(mbp != NULL);
if (chSemGetCounterI(&mbp->mb_emptysem) <= (cnt_t)0) { /* If the mailbox is in reset state then returns immediately.*/
return MSG_TIMEOUT; if (mbp->mb_reset) {
return MSG_RESET;
} }
chSemFastWaitI(&mbp->mb_emptysem);
if (--mbp->mb_rdptr < mbp->mb_buffer) {
mbp->mb_rdptr = mbp->mb_top - 1;
}
*mbp->mb_rdptr = msg;
chSemSignalI(&mbp->mb_fullsem);
return MSG_OK; /* Is there a free message slot in queue? if so then post.*/
if (chMBGetFreeCountI(mbp) > (cnt_t)0) {
if (--mbp->mb_rdptr < mbp->mb_buffer) {
mbp->mb_rdptr = mbp->mb_top - 1;
}
*mbp->mb_rdptr = msg;
mbp->mb_cnt++;
/* If there is a reader waiting then makes it ready.*/
chThdDequeueNextI(&mbp->mb_qr, MSG_OK);
return MSG_OK;
}
/* No space, immediate timeout.*/
return MSG_TIMEOUT;
} }
/** /**
@ -345,7 +406,7 @@ msg_t chMBPostAheadI(mailbox_t *mbp, msg_t msg) {
* . * .
* @return The operation status. * @return The operation status.
* @retval MSG_OK if a message has been correctly fetched. * @retval MSG_OK if a message has been correctly fetched.
* @retval MSG_RESET if the mailbox has been reset while waiting. * @retval MSG_RESET if the mailbox has been reset.
* @retval MSG_TIMEOUT if the operation has timed out. * @retval MSG_TIMEOUT if the operation has timed out.
* *
* @api * @api
@ -374,7 +435,7 @@ msg_t chMBFetch(mailbox_t *mbp, msg_t *msgp, systime_t timeout) {
* . * .
* @return The operation status. * @return The operation status.
* @retval MSG_OK if a message has been correctly fetched. * @retval MSG_OK if a message has been correctly fetched.
* @retval MSG_RESET if the mailbox has been reset while waiting. * @retval MSG_RESET if the mailbox has been reset.
* @retval MSG_TIMEOUT if the operation has timed out. * @retval MSG_TIMEOUT if the operation has timed out.
* *
* @sclass * @sclass
@ -385,15 +446,30 @@ msg_t chMBFetchS(mailbox_t *mbp, msg_t *msgp, systime_t timeout) {
chDbgCheckClassS(); chDbgCheckClassS();
chDbgCheck((mbp != NULL) && (msgp != NULL)); chDbgCheck((mbp != NULL) && (msgp != NULL));
rdymsg = chSemWaitTimeoutS(&mbp->mb_fullsem, timeout); do {
if (rdymsg == MSG_OK) { /* If the mailbox is in reset state then returns immediately.*/
*msgp = *mbp->mb_rdptr++; if (mbp->mb_reset) {
if (mbp->mb_rdptr >= mbp->mb_top) { return MSG_RESET;
mbp->mb_rdptr = mbp->mb_buffer;
} }
chSemSignalI(&mbp->mb_emptysem);
chSchRescheduleS(); /* Is there a message in queue? if so then fetch.*/
} if (chMBGetUsedCountI(mbp) > (cnt_t)0) {
*msgp = *mbp->mb_rdptr++;
if (mbp->mb_rdptr >= mbp->mb_top) {
mbp->mb_rdptr = mbp->mb_buffer;
}
mbp->mb_cnt--;
/* If there is a writer waiting then makes it ready.*/
chThdDequeueNextI(&mbp->mb_qw, MSG_OK);
chSchRescheduleS();
return MSG_OK;
}
/* No message in the queue, waiting for a message to become available.*/
rdymsg = chThdEnqueueTimeoutS(&mbp->mb_qr, timeout);
} while (rdymsg == MSG_OK);
return rdymsg; return rdymsg;
} }
@ -407,6 +483,7 @@ msg_t chMBFetchS(mailbox_t *mbp, msg_t *msgp, systime_t timeout) {
* @param[out] msgp pointer to a message variable for the received message * @param[out] msgp pointer to a message variable for the received message
* @return The operation status. * @return The operation status.
* @retval MSG_OK if a message has been correctly fetched. * @retval MSG_OK if a message has been correctly fetched.
* @retval MSG_RESET if the mailbox has been reset.
* @retval MSG_TIMEOUT if the mailbox is empty and a message cannot be * @retval MSG_TIMEOUT if the mailbox is empty and a message cannot be
* fetched. * fetched.
* *
@ -417,17 +494,27 @@ msg_t chMBFetchI(mailbox_t *mbp, msg_t *msgp) {
chDbgCheckClassI(); chDbgCheckClassI();
chDbgCheck((mbp != NULL) && (msgp != NULL)); chDbgCheck((mbp != NULL) && (msgp != NULL));
if (chSemGetCounterI(&mbp->mb_fullsem) <= (cnt_t)0) { /* If the mailbox is in reset state then returns immediately.*/
return MSG_TIMEOUT; if (mbp->mb_reset) {
return MSG_RESET;
} }
chSemFastWaitI(&mbp->mb_fullsem);
*msgp = *mbp->mb_rdptr++;
if (mbp->mb_rdptr >= mbp->mb_top) {
mbp->mb_rdptr = mbp->mb_buffer;
}
chSemSignalI(&mbp->mb_emptysem);
return MSG_OK; /* Is there a message in queue? if so then fetch.*/
if (chMBGetUsedCountI(mbp) > (cnt_t)0) {
*msgp = *mbp->mb_rdptr++;
if (mbp->mb_rdptr >= mbp->mb_top) {
mbp->mb_rdptr = mbp->mb_buffer;
}
mbp->mb_cnt--;
/* If there is a writer waiting then makes it ready.*/
chThdDequeueNextI(&mbp->mb_qw, MSG_OK);
return MSG_OK;
}
/* No message, immediate timeout.*/
return MSG_TIMEOUT;
} }
#endif /* CH_CFG_USE_MAILBOXES == TRUE */ #endif /* CH_CFG_USE_MAILBOXES == TRUE */

1
readme.txt
View File

@ -73,6 +73,7 @@
***************************************************************************** *****************************************************************************
*** 16.1.8 *** *** 16.1.8 ***
- RT: Fixed race condition in chBMReset() (bug #828).
- HAL: Fixed wrong number of EXTI lines for STM32F303x8 (bug #827). - HAL: Fixed wrong number of EXTI lines for STM32F303x8 (bug #827).
- HAL: Fixed invalid SDC OCR initialization value (bug #826). - HAL: Fixed invalid SDC OCR initialization value (bug #826).
- HAL: Fixed osThreadSetPriority() returns old priority instead of a status - HAL: Fixed osThreadSetPriority() returns old priority instead of a status