Fixes to the documentation, swapped the values of constants TIME_INFINITE and TIME_IMMEDIATE (previously TIME_ZERO).
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@816 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
gdisirio
parent
a5d0e87382
commit
8588e9642d
180
docs/index.html
180
docs/index.html
|
|
@ -1,172 +1,8 @@
|
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
|
||||
<html><head>
|
||||
<meta content="text/html; charset=ISO-8859-1" http-equiv="content-type">
|
||||
<title>ChibiOS/RT embedded RTOS homepage</title></head>
|
||||
<body>
|
||||
<table style="text-align: left; width: 100%;" border="0" cellpadding="2" cellspacing="2">
|
||||
<tbody>
|
||||
<tr align="center">
|
||||
<td colspan="2" rowspan="1">
|
||||
<h2>ChibiOS/RT embedded RTOS homepage</h2>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center; vertical-align: top; width: 150px;">Current
|
||||
Versions<br>
|
||||
1.0.1 stable<br>
|
||||
1.1.0 unstable<br>
|
||||
-<br>
|
||||
<a href="http://sourceforge.net/projects/chibios/" rel="me" target="_top">Project on SourceForge</a><br>
|
||||
<a href="html/index.html" target="_top" rel="me">Documentation</a><br>
|
||||
<a href="http://sourceforge.net/project/showfiles.php?group_id=205897" rel="me" target="_top">Downloads</a><br>
|
||||
<a href="http://sourceforge.net/users/gdisirio/" rel="me" target="_top">Contact me</a><br>
|
||||
-<br>
|
||||
<a href="#History">History</a><br>
|
||||
<a href="#Description">Description</a><br><a href="index.html#Current_ports">Current ports</a><br>
|
||||
<a href="#Design">Design</a><br><a href="#Performance_and_Size">Performance and Size</a><br>
|
||||
<a href="#Future">Future</a><br>
|
||||
-<br>
|
||||
<a href="#Credits">Credits</a><br>
|
||||
<br>
|
||||
<a href="http://sourceforge.net"><img src="http://sflogo.sourceforge.net/sflogo.php?group_id=205897&type=4" alt="SourceForge.net Logo" border="0" height="37" width="125"></a><br>
|
||||
<br>
|
||||
<a href="http://sourceforge.net/donate/index.php?group_id=205897"><img src="http://images.sourceforge.net/images/project-support.jpg" alt="Support This Project" border="0" height="32" width="88"></a><br><br>
|
||||
<!-- Inizio Codice Shinystat -->
|
||||
<script type="text/javascript" language="JavaScript" src="http://codice.shinystat.com/cgi-bin/getcod.cgi?USER=ChibiOS"></script>
|
||||
<noscript>
|
||||
<a href="http://www.shinystat.com/it" target="_top">
|
||||
<img src="http://www.shinystat.com/cgi-bin/shinystat.cgi?USER=ChibiOS" alt="Statistiche" border="0"></a>
|
||||
</noscript>
|
||||
<!-- Fine Codice Shinystat -->
|
||||
</td>
|
||||
<td style="text-align: justify; vertical-align: top;">
|
||||
<h3><a name="History"></a>History</h3>
|
||||
This RTOS is something I wrote back in 1990 for use on boards
|
||||
equipped
|
||||
with M68K processors, the development was made on an Atari ST. The OS
|
||||
worked well for its intended purpose, Internet was not
|
||||
widespread at that time so the system had a limited use.<br>
|
||||
Recently I decided to release this system, formerly known as <span style="font-style: italic;">mkRTOS</span>, as Free
|
||||
Software. I cleaned up the code, improved the documentation, ported it
|
||||
to more modern architectures and it is finally ready.<br>
|
||||
<h3><a name="Description"></a>Description</h3>
|
||||
ChibiOS/RT is designed for embedded applications and it is meant to be
|
||||
linked with the application code. The design philosophy is to make it
|
||||
easy to use so I hope that all the APIs are meaningful, easy to
|
||||
understand and with the parameters you would expect from them.<br>The
|
||||
system offers threads, semaphores, mutexes, messages, events, virtual
|
||||
timers,
|
||||
queues, I/O channels with timeout capability and much more. The
|
||||
Priority Inheritance algorithm is implemented through the Mutexes
|
||||
mechaninsm, the implementation supports any number of threads and
|
||||
nested mutexes.<br>
|
||||
<h3><a name="Current_ports"></a>Current
|
||||
ports</h3>
|
||||
Currently the ChibiOS/RT is ported to the following architectures:<br>
|
||||
<ul>
|
||||
<li>ARM7TDMI-LPC214x, the port to other LPC2000 chips
|
||||
should be trivial. Both ARM and THUMB modes are supported.</li>
|
||||
<li>ARM7TDMI-AT91SAM7X256, this port also supports other Atmel
|
||||
chips: SAM7XC, SAM7S and the various sizes (128, 256, 512) with
|
||||
minimal changes.</li>
|
||||
<li>ARM Cortex-M3, ST Microelectronics STM32.</li>
|
||||
<li>Atmel AVR: AT90CAN128 and ATmega128 demos included.</li>
|
||||
<li>Texas Instruments MSP430.</li>
|
||||
<li>x86 as a Win32 process, this port allows to write
|
||||
your application on the PC without the need of a development
|
||||
board/simulator/emulator. Communication ports are simulated over
|
||||
sockets, you can telnet on the simulator ports for the debug. I am
|
||||
considering to create a similar simulator into a Linux process.</li>
|
||||
<li>M68K, this was the original target but it is
|
||||
currently removed from the source tree because currently I have no way
|
||||
to test it, my old Atari ST is long dead. It should be very easy to
|
||||
revive the port to the M68K or Coldfire CPUs.</li>
|
||||
</ul>
|
||||
In general the port is very easy on architectures that can handle well
|
||||
linked lists, the kernel is entirely reliant on lists so this
|
||||
is a
|
||||
very important efficiency factor. 16 and 32 bits architectures are
|
||||
always fine, 8 bit architectures should be evaluated case by case but
|
||||
are not ruled out, something like an H8 would not have problems. You
|
||||
could port it
|
||||
to a Z80/Z180 (I considered that too, and made tests using the SDCC
|
||||
compiler) but the
|
||||
resulting code is not much efficient because the instruction set is
|
||||
missing the indirect addressing for 16 bits values that is important
|
||||
for efficient linked lists traversal.
|
||||
<h3><a name="Design"></a>Design</h3>
|
||||
The system was designed to be stable and avoid trouble as much as
|
||||
possible so some rules were set:<br>
|
||||
<ul>
|
||||
<li>No arrays or tables, I don't like to have to
|
||||
configure limits
|
||||
for data structures, only use lists or other dynamic data structures.
|
||||
See
|
||||
the <a href="http://chibios.sourceforge.net/html/index.html" target="_top" rel="me">Documentation</a> and
|
||||
the demos.</li>
|
||||
<li>No memory allocation inside the kernel, an allocator
|
||||
can be
|
||||
troublesome for RT applications. All the data structures are declared
|
||||
in the application code and not allocated from a shared system heap.
|
||||
This does not prevent the application code to use an allocator if
|
||||
needed, it is just the kernel that does not require it.</li>
|
||||
<li>No weird macros in the user code, everything should
|
||||
look
|
||||
and feel like normal C code with a normal main() function.</li>
|
||||
<li>Encapsulate all the things that need changes while
|
||||
porting
|
||||
the OS to new architectures in few template files, fill the code into
|
||||
the templates and the port is done.</li></ul><h3><a name="Performance_and_Size"></a>Performance and Size</h3>ChibiOS/RT
|
||||
has a wide set of APIs but all the subsystems can be included or
|
||||
removed from the memory image by editing the kernel configuration file
|
||||
chconf.h. On ARM processors, the kernel size starts at just
|
||||
1.5KiB depending on the included subsystems and the choosen
|
||||
compiler optimizations.<br>As reference, a kernel configured with...<br><ul><li>System startup code</li><li>Chip initialization code</li><li>Multithreading APIs</li><li>Virtual Timer APIs</li><li>Semaphore APIs</li><li>System time + Sleep API</li><li>Suspend/Resume APIs</li><li>Small main() program with flashing LEDs demo and 3 threads</li></ul>...just takes 2.11KiB of program space when compiled using THUMB code and space optimizations. Note that this is quite a <span style="font-weight: bold;">typical configuration</span>
|
||||
not a minimal one. A kernel configured with all the options and
|
||||
optimized for speed takes about 6KiB. See the documentation about the
|
||||
many available subsystems.<br><br>About performance, on a 48MHz LPC
|
||||
ARM7 processor the kernel is capable of context switch time ranging
|
||||
from 3 to 6 microseconds depending on the code type (ARM/THUMB) and the
|
||||
choosen compiler/kernel optimizations. In the distribution is included
|
||||
a spreadsheet with the exact values and the various space/time trade
|
||||
offs.<br>The context switch time is *measured* using 2 threads
|
||||
exchanging messages and doing *real* work, it is not a calculated peak
|
||||
value. See the demo code, it includes the benchmark.
|
||||
<h3><a name="Future"></a>Future</h3>
|
||||
Expect:<br><ul>
|
||||
|
||||
<li>Documentation improvements.</li>
|
||||
|
||||
<li>Ports to more architectures/boards when I am able to
|
||||
put my hands on new hardware/tools.</li>
|
||||
<li>More demos.</li>
|
||||
<li>Creation of new subsystems.</li>
|
||||
<li>Integration with
|
||||
existing other free projects like: TCP/IP stacks, File Systems etc.</li>
|
||||
</ul>
|
||||
<h3><a name="Credits"></a>Credits</h3>
|
||||
ChibiOS/RT is 100% proprietary software free and was created using all the following FOSS projects:<br>
|
||||
<ul>
|
||||
<li>7-Zip, <a href="http://7-zip.org" target="_top">http://7-zip.org</a></li>
|
||||
<li>GCC and GNU binutils, <a href="http://gcc.gnu.org" target="_top">http://gcc.gnu.org</a></li>
|
||||
<li>Doxygen, <a href="http://www.doxygen.org" target="_top">http://www.doxygen.org</a></li>
|
||||
<li>Eclipse, <a href="http://www.eclipse.org" target="_top">http://www.eclipse.org</a></li>
|
||||
<li>Eclox, <a href="http://eclox.eu" target="_top">http://eclox.eu</a></li>
|
||||
<li>Freemarker, <a href="http://freemarker.org" target="_top">http://freemarker.org</a></li>
|
||||
<li>FMPP, <a href="http://fmpp.sourceforge.net" target="_top">http://fmpp.sourceforge.net</a></li>
|
||||
<li>Graphviz, <a href="http://www.graphviz.org" target="_top">http://www.graphviz.org</a></li>
|
||||
<li>Inkscape, <a href="http://www.inkscape.org" target="_top">http://www.inkscape.org</a></li>
|
||||
<li>MinGW, <a href="http://mingw.org" target="_top">http://mingw.org</a></li>
|
||||
<li>MSPGCC, <a href="http://mspgcc.sourceforge.net" target="_top">http://mspgcc.sourceforge.net</a></li>
|
||||
<li>NVU, <a href="http://www.nvu.com/" target="_top">http://www.nvu.com</a></li>
|
||||
<li>OpenOCD, <a href="http://openocd.berlios.de/web" target="_top">http://openocd.berlios.de/web</a></li>
|
||||
<li>WinARM, <a href="http://www.siwawi.arubi.uni-kl.de/avr_projects/arm_projects" target="_top">http://www.siwawi.arubi.uni-kl.de/avr_projects/arm_projects</a></li>
|
||||
<li>WinAVR, <a href="http://winavr.sourceforge.net" target="_top">http://winavr.sourceforge.net</a></li>
|
||||
<li>YAGARTO, <a href="http://www.yagarto.de" target="_top">http://www.yagarto.de</a></li>
|
||||
</ul>
|
||||
</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
|
||||
</body></html>
|
||||
<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
|
||||
<html>
|
||||
<head>
|
||||
<meta http-equiv="Refresh" content="0; URL=html/index.html">
|
||||
</head>
|
||||
<body>
|
||||
</body>
|
||||
</html>
|
||||
|
|
|
|||
|
|
@ -60,7 +60,7 @@ Settings: SYSCLK=72, ACR=0x12 (2 wait states)
|
|||
--- Result: SUCCESS
|
||||
---------------------------------------------------------------------------
|
||||
--- Test Case 11.2 (Benchmark, context switch #2, empty ready list)
|
||||
--- Score : 178664 msgs/S, 357328 ctxswc/S
|
||||
--- Score : 178663 msgs/S, 357326 ctxswc/S
|
||||
--- Result: SUCCESS
|
||||
---------------------------------------------------------------------------
|
||||
--- Test Case 11.3 (Benchmark, context switch #3, 4 threads in ready list)
|
||||
|
|
@ -72,7 +72,7 @@ Settings: SYSCLK=72, ACR=0x12 (2 wait states)
|
|||
--- Result: SUCCESS
|
||||
---------------------------------------------------------------------------
|
||||
--- Test Case 11.5 (Benchmark, threads creation/termination, optimal)
|
||||
--- Score : 210632 threads/S
|
||||
--- Score : 210633 threads/S
|
||||
--- Result: SUCCESS
|
||||
---------------------------------------------------------------------------
|
||||
--- Test Case 11.6 (Benchmark, mass reschedulation, 5 threads)
|
||||
|
|
@ -92,7 +92,7 @@ Settings: SYSCLK=72, ACR=0x12 (2 wait states)
|
|||
--- Result: SUCCESS
|
||||
---------------------------------------------------------------------------
|
||||
--- Test Case 11.10 (Benchmark, mutexes lock/unlock)
|
||||
--- Score : 601124 lock+unlock/S
|
||||
--- Score : 601120 lock+unlock/S
|
||||
--- Result: SUCCESS
|
||||
---------------------------------------------------------------------------
|
||||
|
||||
|
|
|
|||
10
src/chcond.c
10
src/chcond.c
|
|
@ -164,8 +164,9 @@ msg_t chCondWaitS(CondVar *cp) {
|
|||
* @param[in] cp pointer to the @p CondVar structure
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the special value @p TIME_INFINITE is allowed.
|
||||
* It is not possible to specify zero (@p TIME_ZERO) as timeout
|
||||
* specification.
|
||||
* It is not possible to specify zero @p TIME_IMMEDIATE
|
||||
* as timeout specification because it would make no sense
|
||||
* in this function.
|
||||
* @return The wakep mode.
|
||||
* @retval RDY_OK if the condvar was signaled using chCondSignal().
|
||||
* @retval RDY_RESET if the condvar was signaled using chCondBroadcast().
|
||||
|
|
@ -191,8 +192,9 @@ msg_t chCondWaitTimeout(CondVar *cp, systime_t time) {
|
|||
* @param[in] cp pointer to the @p CondVar structure
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the special value @p TIME_INFINITE is allowed.
|
||||
* It is not possible to specify zero (@p TIME_ZERO) as timeout
|
||||
* specification.
|
||||
* It is not possible to specify zero @p TIME_IMMEDIATE
|
||||
* as timeout specification because it would make no sense
|
||||
* in this function.
|
||||
* @return The wakep mode.
|
||||
* @retval RDY_OK if the condvar was signaled using chCondSignal().
|
||||
* @retval RDY_RESET if the condvar was signaled using chCondBroadcast().
|
||||
|
|
|
|||
|
|
@ -290,7 +290,7 @@ eventmask_t chEvtWaitAll(eventmask_t ewmask) {
|
|||
* @p ALL_EVENTS enables all the events
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_ZERO immediate timeout.
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The mask of the lowest id served and cleared event.
|
||||
|
|
@ -307,7 +307,7 @@ eventmask_t chEvtWaitOneTimeout(eventmask_t ewmask, systime_t time) {
|
|||
chSysLock();
|
||||
|
||||
if ((m = (currp->p_epending & ewmask)) == 0) {
|
||||
if (TIME_ZERO == time)
|
||||
if (TIME_IMMEDIATE == time)
|
||||
return (eventmask_t)0;
|
||||
currp->p_ewmask = ewmask;
|
||||
if (chSchGoSleepTimeoutS(PRWTOREVT, time) < RDY_OK)
|
||||
|
|
@ -331,7 +331,7 @@ eventmask_t chEvtWaitOneTimeout(eventmask_t ewmask, systime_t time) {
|
|||
* @p ALL_EVENTS enables all the events
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_ZERO immediate timeout.
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The mask of the served and cleared events.
|
||||
|
|
@ -343,7 +343,7 @@ eventmask_t chEvtWaitAnyTimeout(eventmask_t ewmask, systime_t time) {
|
|||
chSysLock();
|
||||
|
||||
if ((m = (currp->p_epending & ewmask)) == 0) {
|
||||
if (TIME_ZERO == time)
|
||||
if (TIME_IMMEDIATE == time)
|
||||
return (eventmask_t)0;
|
||||
currp->p_ewmask = ewmask;
|
||||
if (chSchGoSleepTimeoutS(PRWTOREVT, time) < RDY_OK)
|
||||
|
|
@ -364,7 +364,7 @@ eventmask_t chEvtWaitAnyTimeout(eventmask_t ewmask, systime_t time) {
|
|||
* @param[in] ewmask mask of the event ids that the function should wait for
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_ZERO immediate timeout.
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The mask of the served and cleared events.
|
||||
|
|
@ -375,7 +375,7 @@ eventmask_t chEvtWaitAllTimeout(eventmask_t ewmask, systime_t time) {
|
|||
chSysLock();
|
||||
|
||||
if ((currp->p_epending & ewmask) != ewmask) {
|
||||
if (TIME_ZERO == time)
|
||||
if (TIME_IMMEDIATE == time)
|
||||
return (eventmask_t)0;
|
||||
currp->p_ewmask = ewmask;
|
||||
if (chSchGoSleepTimeoutS(PRWTANDEVT, time) < RDY_OK)
|
||||
|
|
|
|||
|
|
@ -72,7 +72,7 @@ void chMBReset(Mailbox *mbp) {
|
|||
* @param[in] msg the message to be posted on the mailbox
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_ZERO immediate timeout.
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The operation status.
|
||||
|
|
@ -98,7 +98,7 @@ msg_t chMBPost(Mailbox *mbp, msg_t msg, systime_t time) {
|
|||
* @param[in] msg the message to be posted on the mailbox
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_ZERO immediate timeout.
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The operation status.
|
||||
|
|
@ -131,7 +131,7 @@ msg_t chMBPostS(Mailbox *mbp, msg_t msg, systime_t time) {
|
|||
* @param[in] msg the message to be posted on the mailbox
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_ZERO immediate timeout.
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The operation status.
|
||||
|
|
@ -157,7 +157,7 @@ msg_t chMBPostAhead(Mailbox *mbp, msg_t msg, systime_t time) {
|
|||
* @param[in] msg the message to be posted on the mailbox
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_ZERO immediate timeout.
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The operation status.
|
||||
|
|
@ -190,7 +190,7 @@ msg_t chMBPostAheadS(Mailbox *mbp, msg_t msg, systime_t time) {
|
|||
* @param[out] msgp pointer to a message variable for the received message
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_ZERO immediate timeout.
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The operation status.
|
||||
|
|
@ -216,7 +216,7 @@ msg_t chMBFetch(Mailbox *mbp, msg_t *msgp, systime_t time) {
|
|||
* @param[out] msgp pointer to a message variable for the received message
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_ZERO immediate timeout.
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @return The operation status.
|
||||
|
|
|
|||
|
|
@ -124,7 +124,7 @@ static void wakeup(void *p) {
|
|||
* @param[in] newstate the new thread state
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the special value @p TIME_INFINITE is allowed.
|
||||
* It is not possible to specify zero (@p TIME_ZERO) as timeout
|
||||
* It is not possible to specify @p TIME_IMMEDIATE as timeout
|
||||
* specification.
|
||||
* @return The wakeup message.
|
||||
* @retval RDY_TIMEOUT if a timeout occurs.
|
||||
|
|
|
|||
|
|
@ -134,7 +134,7 @@ msg_t chSemWaitS(Semaphore *sp) {
|
|||
* @param[in] sp pointer to a @p Semaphore structure
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_ZERO immediate timeout.
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* @retval RDY_OK if the semaphore was signaled or not taken.
|
||||
* @retval RDY_RESET if the semaphore was reset using @p chSemReset().
|
||||
|
|
@ -158,7 +158,7 @@ msg_t chSemWaitTimeout(Semaphore *sp, systime_t time) {
|
|||
* @param[in] sp pointer to a @p Semaphore structure
|
||||
* @param[in] time the number of ticks before the operation timeouts,
|
||||
* the following special values are allowed:
|
||||
* - @a TIME_ZERO immediate timeout.
|
||||
* - @a TIME_IMMEDIATE immediate timeout.
|
||||
* - @a TIME_INFINITE no timeout.
|
||||
* .
|
||||
* @retval RDY_OK if the semaphore was signaled or not taken.
|
||||
|
|
@ -173,7 +173,7 @@ msg_t chSemWaitTimeoutS(Semaphore *sp, systime_t time) {
|
|||
chDbgCheck(sp != NULL, "chSemWaitTimeoutS");
|
||||
|
||||
if (--sp->s_cnt < 0) {
|
||||
if (TIME_ZERO == time)
|
||||
if (TIME_IMMEDIATE == time)
|
||||
return RDY_TIMEOUT;
|
||||
sem_insert(currp, &sp->s_queue);
|
||||
currp->p_wtsemp = sp;
|
||||
|
|
|
|||
101
src/chthreads.c
101
src/chthreads.c
|
|
@ -69,15 +69,16 @@ static void memfill(uint8_t *startp, uint8_t *endp, uint8_t v) {
|
|||
/**
|
||||
* @brief Initializes a new thread.
|
||||
* @details The new thread is initialized but not inserted in the ready list,
|
||||
* the initial state is @p PRSUSPENDED.
|
||||
* the initial state is @p PRSUSPENDED.
|
||||
*
|
||||
* @param prio the priority level for the new thread. Usually the threads are
|
||||
* created with priority @p NORMALPRIO, priorities
|
||||
* can range from @p LOWPRIO to @p HIGHPRIO.
|
||||
* @param workspace pointer to a working area dedicated to the thread stack
|
||||
* @param wsize size of the working area.
|
||||
* @param pf the thread function
|
||||
* @param arg an argument passed to the thread function. It can be @p NULL.
|
||||
* @param[out] workspace pointer to a working area dedicated to the thread
|
||||
* stack
|
||||
* @param[in] wsize size of the working area.
|
||||
* @param[in] prio the priority level for the new thread. Usually the threads
|
||||
* are created with priority @p NORMALPRIO, priorities
|
||||
* can range from @p LOWPRIO to @p HIGHPRIO.
|
||||
* @param[in] pf the thread function
|
||||
* @param[in] arg an argument passed to the thread function. It can be @p NULL.
|
||||
* @return The pointer to the @p Thread structure allocated for the
|
||||
* thread into the working space area.
|
||||
* @note A thread can terminate by calling @p chThdExit() or by simply
|
||||
|
|
@ -109,13 +110,14 @@ Thread *chThdInit(void *workspace, size_t wsize,
|
|||
/**
|
||||
* @brief Creates a new thread into a static memory area.
|
||||
*
|
||||
* @param workspace pointer to a working area dedicated to the thread stack
|
||||
* @param wsize size of the working area.
|
||||
* @param prio the priority level for the new thread. Usually the threads are
|
||||
* created with priority @p NORMALPRIO, priorities
|
||||
* @param[out] workspace pointer to a working area dedicated to the thread
|
||||
* stack
|
||||
* @param[in] wsize size of the working area.
|
||||
* @param[in] prio the priority level for the new thread. Usually the threads
|
||||
* are created with priority @p NORMALPRIO, priorities
|
||||
* can range from @p LOWPRIO to @p HIGHPRIO.
|
||||
* @param pf the thread function
|
||||
* @param arg an argument passed to the thread function. It can be @p NULL.
|
||||
* @param[in] pf the thread function
|
||||
* @param[in] arg an argument passed to the thread function. It can be @p NULL.
|
||||
* @return The pointer to the @p Thread structure allocated for the
|
||||
* thread into the working space area.
|
||||
* @note A thread can terminate by calling @p chThdExit() or by simply
|
||||
|
|
@ -131,12 +133,12 @@ Thread *chThdCreateStatic(void *workspace, size_t wsize,
|
|||
/**
|
||||
* @brief Creates a new thread allocating the memory from the heap.
|
||||
*
|
||||
* @param wsize size of the working area to be allocated
|
||||
* @param prio the priority level for the new thread. Usually the threads are
|
||||
* created with priority @p NORMALPRIO, priorities
|
||||
* can range from @p LOWPRIO to @p HIGHPRIO.
|
||||
* @param pf the thread function
|
||||
* @param arg an argument passed to the thread function. It can be @p NULL.
|
||||
* @param[in] wsize size of the working area to be allocated
|
||||
* @param[in] prio the priority level for the new thread. Usually the threads
|
||||
* are created with priority @p NORMALPRIO, priorities
|
||||
* can range from @p LOWPRIO to @p HIGHPRIO.
|
||||
* @param[in] pf the thread function
|
||||
* @param[in] arg an argument passed to the thread function. It can be @p NULL.
|
||||
* @return The pointer to the @p Thread structure allocated for the
|
||||
* thread into the working space area.
|
||||
* @retval NULL if the memory cannot be allocated.
|
||||
|
|
@ -163,14 +165,14 @@ Thread *chThdCreateFromHeap(size_t wsize, tprio_t prio,
|
|||
#if CH_USE_DYNAMIC && CH_USE_WAITEXIT && CH_USE_MEMPOOLS
|
||||
/**
|
||||
* @brief Creates a new thread allocating the memory from the specified Memory
|
||||
* Pool.
|
||||
* Pool.
|
||||
*
|
||||
* @param mp the memory pool
|
||||
* @param prio the priority level for the new thread. Usually the threads are
|
||||
* created with priority @p NORMALPRIO, priorities
|
||||
* can range from @p LOWPRIO to @p HIGHPRIO.
|
||||
* @param pf the thread function
|
||||
* @param arg an argument passed to the thread function. It can be @p NULL.
|
||||
* @param[in] mp the memory pool
|
||||
* @param[in] prio the priority level for the new thread. Usually the threads
|
||||
* are created with priority @p NORMALPRIO, priorities
|
||||
* can range from @p LOWPRIO to @p HIGHPRIO.
|
||||
* @param[in] pf the thread function
|
||||
* @param[in] arg an argument passed to the thread function. It can be @p NULL.
|
||||
* @return The pointer to the @p Thread structure allocated for the
|
||||
* thread into the working space area or @p NULL if the memory cannot
|
||||
* be allocated.
|
||||
|
|
@ -200,9 +202,9 @@ Thread *chThdCreateFromMemoryPool(MemoryPool *mp, tprio_t prio,
|
|||
|
||||
/**
|
||||
* @brief Changes the running thread priority level then reschedules if
|
||||
* necessary.
|
||||
* necessary.
|
||||
*
|
||||
* @param newprio the new priority level of the running thread
|
||||
* @param[in] newprio the new priority level of the running thread
|
||||
* @return The old priority level.
|
||||
* @note The function returns the real thread priority regardless of the
|
||||
* actual priority that could be higher than the real priority because
|
||||
|
|
@ -232,7 +234,7 @@ tprio_t chThdSetPriority(tprio_t newprio) {
|
|||
/**
|
||||
* @brief Resumes a suspended thread.
|
||||
*
|
||||
* @param tp the pointer to the thread
|
||||
* @param[in] tp the pointer to the thread
|
||||
* @return The pointer to the thread.
|
||||
* @note This call is supposed to resume threads created with @p chThdInit().
|
||||
* It should not be used on threads suspended using @p chThdSuspend().
|
||||
|
|
@ -251,7 +253,7 @@ Thread *chThdResume(Thread *tp) {
|
|||
/**
|
||||
* @brief Requests a thread termination.
|
||||
*
|
||||
* @param tp the pointer to the thread
|
||||
* @param[in] tp the pointer to the thread
|
||||
* @note The thread is not termitated but a termination request is added to
|
||||
* its @p p_flags field. The thread can read this status by
|
||||
* invoking @p chThdShouldTerminate() and then terminate cleanly.
|
||||
|
|
@ -266,10 +268,14 @@ void chThdTerminate(Thread *tp) {
|
|||
/**
|
||||
* @brief Suspends the invoking thread for the specified time.
|
||||
*
|
||||
* @param time the delay in system ticks
|
||||
* @param[in] time the delay in system ticks, the values @p TIME_IMMEDIATE and
|
||||
* @p TIME_INFINITE are not allowed
|
||||
*/
|
||||
void chThdSleep(systime_t time) {
|
||||
|
||||
chDbgCheck((time != TIME_IMMEDIATE) && (time != TIME_INFINITE),
|
||||
"chThdSleep");
|
||||
|
||||
chSysLock();
|
||||
chThdSleepS(time);
|
||||
chSysUnlock();
|
||||
|
|
@ -277,9 +283,9 @@ void chThdSleep(systime_t time) {
|
|||
|
||||
/**
|
||||
* @brief Suspends the invoking thread until the system time arrives to the
|
||||
* specified value.
|
||||
* specified value.
|
||||
*
|
||||
* @param time the absolute system time
|
||||
* @param[in] time the absolute system time
|
||||
*/
|
||||
void chThdSleepUntil(systime_t time) {
|
||||
|
||||
|
|
@ -292,8 +298,8 @@ void chThdSleepUntil(systime_t time) {
|
|||
/**
|
||||
* @brief Terminates the current thread by specifying an exit status code.
|
||||
*
|
||||
* @param msg the thread exit code. The code can be retrieved by using
|
||||
* @p chThdWait().
|
||||
* @param[in] msg the thread exit code. The code can be retrieved by using
|
||||
* @p chThdWait().
|
||||
*/
|
||||
void chThdExit(msg_t msg) {
|
||||
Thread *tp = currp;
|
||||
|
|
@ -311,18 +317,19 @@ void chThdExit(msg_t msg) {
|
|||
#if CH_USE_WAITEXIT
|
||||
/**
|
||||
* @brief Blocks the execution of the invoking thread until the specified
|
||||
* thread terminates then the exit code is returned.
|
||||
* thread terminates then the exit code is returned.
|
||||
* @details The memory used by the exited thread is handled in different ways
|
||||
* depending on the API that spawned the thread:
|
||||
* - If the thread was spawned by @p chThdCreateStatic() or by @p chThdInit()
|
||||
* then nothing happens and the thread working area is not released or
|
||||
* modified in any way. This is the default, totally static, behavior.
|
||||
* - If the thread was spawned by @p chThdCreateFromHeap() then the working
|
||||
* area is returned to the system heap.
|
||||
* - If the thread was spawned by @p chThdCreateFromMemoryPool() then the
|
||||
* working area is returned to the owning memory pool.
|
||||
*
|
||||
* @param tp the thread pointer
|
||||
* depending on the API that spawned the thread:
|
||||
* - If the thread was spawned by @p chThdCreateStatic() or by
|
||||
* @p chThdInit() then nothing happens and the thread working area
|
||||
* is not released or modified in any way. This is the default,
|
||||
* totally static, behavior.
|
||||
* - If the thread was spawned by @p chThdCreateFromHeap() then
|
||||
* the working area is returned to the system heap.
|
||||
* - If the thread was spawned by @p chThdCreateFromMemoryPool()
|
||||
* then the working area is returned to the owning memory pool.
|
||||
* .
|
||||
* @param[in] tp the thread pointer
|
||||
* @return The exit code from the terminated thread
|
||||
* @note After invoking @p chThdWait() the thread pointer becomes invalid and
|
||||
* must not be used as parameter for further system calls.
|
||||
|
|
|
|||
26
src/chvt.c
26
src/chvt.c
|
|
@ -43,13 +43,15 @@ void vt_init(void) {
|
|||
/**
|
||||
* @brief Enables a virtual timer.
|
||||
*
|
||||
* @param vtp the @p VirtualTimer structure pointer
|
||||
* @param time the number of time ticks, the values @p TIME_ZERO and
|
||||
* @p TIME_INFINITE are not allowed
|
||||
* @param vtfunc the timer callback function. After invoking the callback
|
||||
* the timer is disabled and the structure can be disposed or
|
||||
* reused.
|
||||
* @param par a parameter that will be passed to the callback function
|
||||
* @param[out] vtp the @p VirtualTimer structure pointer
|
||||
* @param[in] time the number of time ticks, the value @p TIME_INFINITE is not
|
||||
* allowed. The value @p TIME_IMMEDIATE is allowed but
|
||||
* interpreted as a normal time specification not as an
|
||||
* immediate timeout specification.
|
||||
* @param[in] vtfunc the timer callback function. After invoking the callback
|
||||
* the timer is disabled and the structure can be disposed or
|
||||
* reused.
|
||||
* @param[in] par a parameter that will be passed to the callback function
|
||||
* @note The associated function is invoked by an interrupt handler within
|
||||
* the I-Locked state, see @ref system_states.
|
||||
*/
|
||||
|
|
@ -57,7 +59,7 @@ void chVTSetI(VirtualTimer *vtp, systime_t time, vtfunc_t vtfunc, void *par) {
|
|||
VirtualTimer *p;
|
||||
|
||||
chDbgCheck((vtp != NULL) && (vtfunc != NULL) &&
|
||||
(time != TIME_ZERO) && (time != TIME_INFINITE), "chVTSetI");
|
||||
(time != TIME_IMMEDIATE) && (time != TIME_INFINITE), "chVTSetI");
|
||||
|
||||
vtp->vt_par = par;
|
||||
vtp->vt_func = vtfunc;
|
||||
|
|
@ -77,7 +79,7 @@ void chVTSetI(VirtualTimer *vtp, systime_t time, vtfunc_t vtfunc, void *par) {
|
|||
/**
|
||||
* @brief Disables a Virtual Timer.
|
||||
*
|
||||
* @param vtp the @p VirtualTimer structure pointer
|
||||
* @param[in] vtp the @p VirtualTimer structure pointer
|
||||
* @note The timer MUST be active when this function is invoked.
|
||||
*/
|
||||
void chVTResetI(VirtualTimer *vtp) {
|
||||
|
|
@ -96,8 +98,10 @@ void chVTResetI(VirtualTimer *vtp) {
|
|||
/**
|
||||
* @brief Checks if the current system time is within the specified time window.
|
||||
*
|
||||
* @param start the start of the time window (inclusive)
|
||||
* @param end the end of the time window (non inclusive)
|
||||
* @param[in] start the start of the time window (inclusive)
|
||||
* @param[in] end the end of the time window (non inclusive)
|
||||
* @retval TRUE current time within the specified time window.
|
||||
* @retval FALSE current time not within the specified time window.
|
||||
*/
|
||||
bool_t chSysInTimeWindow(systime_t start, systime_t end) {
|
||||
|
||||
|
|
|
|||
|
|
@ -44,16 +44,16 @@
|
|||
/**
|
||||
* Zero time specification for some syscalls with a timeout
|
||||
* specification.
|
||||
* @note Not all functions accept @p TIME_ZERO as timeout parameter, see the
|
||||
* specific documentation.
|
||||
* @note Not all functions accept @p TIME_IMMEDIATE as timeout parameter,
|
||||
* see the specific function documentation.
|
||||
*/
|
||||
#define TIME_ZERO ((systime_t)0)
|
||||
#define TIME_IMMEDIATE ((systime_t)-1)
|
||||
|
||||
/**
|
||||
* Infinite time specification for all the syscalls with a timeout
|
||||
* specification.
|
||||
*/
|
||||
#define TIME_INFINITE ((systime_t)-1)
|
||||
#define TIME_INFINITE ((systime_t)0)
|
||||
|
||||
/** The priority of the first thread on the given ready list. */
|
||||
#define firstprio(rlp) ((rlp)->p_next->p_prio)
|
||||
|
|
|
|||
|
|
@ -83,7 +83,7 @@ static void sem2_execute(void) {
|
|||
systime_t target_time;
|
||||
msg_t msg;
|
||||
|
||||
msg= chSemWaitTimeout(&sem1, TIME_ZERO);
|
||||
msg= chSemWaitTimeout(&sem1, TIME_IMMEDIATE);
|
||||
test_assert(msg == RDY_TIMEOUT, "#1");
|
||||
|
||||
target_time = chSysGetTime() + MS2ST(5 * 500);
|
||||
|
|
|
|||
Loading…
Reference in New Issue