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Optimizations, documentation reformatting. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@14223 27425a3e-05d8-49a3-a47f-9c15f0e5edd8
This commit is contained in:
Giovanni Di Sirio 2021-04-18 09:59:41 +00:00
parent dc9b229679
commit 8e0f307e75
3 changed files with 119 additions and 73 deletions
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8
os/common/ports/ARMv6-M-RP2/chcore.c
View File

@ -178,10 +178,6 @@ CH_IRQ_HANDLER(Vector80) {
* @notapi * @notapi
*/ */
void port_init(os_instance_t *oip) { void port_init(os_instance_t *oip) {
uint32_t core_id = port_get_core_id();
/* Port-related info for each OS instance.*/
oip->core_id = core_id;
/* Activating timer for this instance.*/ /* Activating timer for this instance.*/
port_timer_enable(oip); port_timer_enable(oip);
@ -189,11 +185,11 @@ void port_init(os_instance_t *oip) {
#if CH_CFG_SMP_MODE== TRUE #if CH_CFG_SMP_MODE== TRUE
/* FIFO handlers for each core.*/ /* FIFO handlers for each core.*/
SIO->FIFO_ST = SIO_FIFO_ST_ROE | SIO_FIFO_ST_WOF; SIO->FIFO_ST = SIO_FIFO_ST_ROE | SIO_FIFO_ST_WOF;
if (core_id == 0U) { if (oip->core_id == 0U) {
NVIC_SetPriority(15, CORTEX_MINIMUM_PRIORITY); NVIC_SetPriority(15, CORTEX_MINIMUM_PRIORITY);
NVIC_EnableIRQ(15); NVIC_EnableIRQ(15);
} }
else if (core_id == 1U) { else if (oip->core_id == 1U) {
NVIC_SetPriority(16, CORTEX_MINIMUM_PRIORITY); NVIC_SetPriority(16, CORTEX_MINIMUM_PRIORITY);
NVIC_EnableIRQ(16); NVIC_EnableIRQ(16);
} }

179
os/rt/include/chobjects.h
View File

@ -48,10 +48,10 @@
* @brief Global state of the operating system. * @brief Global state of the operating system.
*/ */
typedef enum { typedef enum {
ch_sys_uninit = 0, ch_sys_uninit = 0,
ch_sys_initializing = 1, ch_sys_initializing = 1,
ch_sys_running = 2, ch_sys_running = 2,
ch_sys_halted = 3 ch_sys_halted = 3
} system_state_t; } system_state_t;
/** /**
@ -68,20 +68,36 @@ typedef struct ch_delta_list delta_list_t;
* @brief Virtual Timer delta list element and header structure. * @brief Virtual Timer delta list element and header structure.
*/ */
struct ch_delta_list { struct ch_delta_list {
delta_list_t *next; /**< @brief Next timer in the list. */ /**
delta_list_t *prev; /**< @brief Previous timer in the list. */ * @brief Next timer in the list.
sysinterval_t delta; /**< @brief Time delta before timeout. */ */
delta_list_t *next;
/**
* @brief Previous timer in the list.
*/
delta_list_t *prev;
/**
* @brief Time delta before timeout.
*/
sysinterval_t delta;
}; };
/** /**
* @brief Type of a Virtual Timer. * @brief Type of a Virtual Timer.
*/ */
typedef struct ch_virtual_timer { typedef struct ch_virtual_timer {
delta_list_t dlist; /**< @brief Delta list element. */ /**
vtfunc_t func; /**< @brief Timer callback function * @brief Delta list element.
pointer. */ */
void *par; /**< @brief Timer callback function delta_list_t dlist;
parameter. */ /**
* @brief Timer callback function pointer.
*/
vtfunc_t func;
/**
* @brief Timer callback function parameter.
*/
void *par;
} virtual_timer_t; } virtual_timer_t;
/** /**
@ -91,19 +107,27 @@ typedef struct ch_virtual_timer {
* timer is often used in the code. * timer is often used in the code.
*/ */
typedef struct ch_virtual_timers_list { typedef struct ch_virtual_timers_list {
delta_list_t dlist; /**< @brief Delta list header. */ /**
* @brief Delta list header.
*/
delta_list_t dlist;
#if (CH_CFG_ST_TIMEDELTA == 0) || defined(__DOXYGEN__) #if (CH_CFG_ST_TIMEDELTA == 0) || defined(__DOXYGEN__)
volatile systime_t systime; /**< @brief System Time counter. */ /**
* @brief System Time counter.
*/
volatile systime_t systime;
#endif #endif
#if (CH_CFG_ST_TIMEDELTA > 0) || defined(__DOXYGEN__) #if (CH_CFG_ST_TIMEDELTA > 0) || defined(__DOXYGEN__)
/** /**
* @brief System time of the last tick event. * @brief System time of the last tick event.
*/ */
systime_t lasttime; /**< @brief System time of the last systime_t lasttime;
tick event. */
#endif #endif
#if (CH_CFG_USE_TIMESTAMP == TRUE) || defined(__DOXYGEN__) #if (CH_CFG_USE_TIMESTAMP == TRUE) || defined(__DOXYGEN__)
volatile uint64_t laststamp; /**< @brief Last generated time stamp. */ /**
* @brief Last generated time stamp.
*/
volatile uint64_t laststamp;
#endif #endif
} virtual_timers_list_t; } virtual_timers_list_t;
@ -116,7 +140,10 @@ typedef thread_t * thread_reference_t;
* @brief Type of a threads queue. * @brief Type of a threads queue.
*/ */
typedef struct ch_threads_queue { typedef struct ch_threads_queue {
ch_queue_t queue; /**< @brief Threads queue header. */ /**
* @brief Threads queue header.
*/
ch_queue_t queue;
} threads_queue_t; } threads_queue_t;
/** /**
@ -126,28 +153,42 @@ typedef struct ch_threads_queue {
* by shrinking this structure. * by shrinking this structure.
*/ */
struct ch_thread { struct ch_thread {
/**
* @brief Shared list headers.
*/
union { union {
ch_list_t list; /**< @brief Threads lists element. */ /**
ch_queue_t queue; /**< @brief Threads queues element. */ * @brief Threads lists element.
ch_priority_queue_t pqueue; /**< @brief Threads ordered queues */
element. */ ch_list_t list;
/**
* @brief Threads queues element.
*/
ch_queue_t queue;
/**
* @brief Threads ordered queues element.
*/
ch_priority_queue_t pqueue;
} hdr; } hdr;
/** /**
* @brief Processor context. * @brief Processor context.
*/ */
struct port_context ctx; struct port_context ctx;
#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__) #if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
ch_queue_t rqueue; /**< @brief Registry queue element. */ /**
* @brief Registry queue element.
*/
ch_queue_t rqueue;
#endif #endif
/** /**
* @brief OS instance owner of this thread. * @brief OS instance owner of this thread.
*/ */
os_instance_t *owner; os_instance_t *owner;
#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__) #if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
/** /**
* @brief Thread name or @p NULL. * @brief Thread name or @p NULL.
*/ */
const char *name; const char *name;
#endif #endif
#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE) || \ #if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE) || \
defined(__DOXYGEN__) defined(__DOXYGEN__)
@ -156,34 +197,34 @@ struct ch_thread {
* @note This pointer is used for stack overflow checks and for * @note This pointer is used for stack overflow checks and for
* dynamic threading. * dynamic threading.
*/ */
stkalign_t *wabase; stkalign_t *wabase;
#endif #endif
/** /**
* @brief Current thread state. * @brief Current thread state.
*/ */
tstate_t state; tstate_t state;
/** /**
* @brief Various thread flags. * @brief Various thread flags.
*/ */
tmode_t flags; tmode_t flags;
#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__) #if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
/** /**
* @brief References to this thread. * @brief References to this thread.
*/ */
trefs_t refs; trefs_t refs;
#endif #endif
/** /**
* @brief Number of ticks remaining to this thread. * @brief Number of ticks remaining to this thread.
*/ */
#if (CH_CFG_TIME_QUANTUM > 0) || defined(__DOXYGEN__) #if (CH_CFG_TIME_QUANTUM > 0) || defined(__DOXYGEN__)
tslices_t ticks; tslices_t ticks;
#endif #endif
#if (CH_DBG_THREADS_PROFILING == TRUE) || defined(__DOXYGEN__) #if (CH_DBG_THREADS_PROFILING == TRUE) || defined(__DOXYGEN__)
/** /**
* @brief Thread consumed time in ticks. * @brief Thread consumed time in ticks.
* @note This field can overflow. * @note This field can overflow.
*/ */
volatile systime_t time; volatile systime_t time;
#endif #endif
/** /**
* @brief State-specific fields. * @brief State-specific fields.
@ -197,33 +238,33 @@ struct ch_thread {
* by the waking thread or interrupt handler. The value is valid * by the waking thread or interrupt handler. The value is valid
* after exiting the @p chSchWakeupS() function. * after exiting the @p chSchWakeupS() function.
*/ */
msg_t rdymsg; msg_t rdymsg;
/** /**
* @brief Thread exit code. * @brief Thread exit code.
* @note The thread termination code is stored in this field in order * @note The thread termination code is stored in this field in order
* to be retrieved by the thread performing a @p chThdWait() on * to be retrieved by the thread performing a @p chThdWait() on
* this thread. * this thread.
*/ */
msg_t exitcode; msg_t exitcode;
/** /**
* @brief Pointer to a generic "wait" object. * @brief Pointer to a generic "wait" object.
* @note This field is used to get a generic pointer to a synchronization * @note This field is used to get a generic pointer to a synchronization
* object and is valid when the thread is in one of the wait * object and is valid when the thread is in one of the wait
* states. * states.
*/ */
void *wtobjp; void *wtobjp;
/** /**
* @brief Pointer to a generic thread reference object. * @brief Pointer to a generic thread reference object.
* @note This field is used to get a pointer to a synchronization * @note This field is used to get a pointer to a synchronization
* object and is valid when the thread is in @p CH_STATE_SUSPENDED * object and is valid when the thread is in @p CH_STATE_SUSPENDED
* state. * state.
*/ */
thread_reference_t *wttrp; thread_reference_t *wttrp;
#if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__) #if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)
/** /**
* @brief Thread sent message. * @brief Thread sent message.
*/ */
msg_t sentmsg; msg_t sentmsg;
#endif #endif
#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__) #if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
/** /**
@ -232,7 +273,7 @@ struct ch_thread {
* object and is valid when the thread is in @p CH_STATE_WTSEM * object and is valid when the thread is in @p CH_STATE_WTSEM
* state. * state.
*/ */
struct ch_semaphore *wtsemp; struct ch_semaphore *wtsemp;
#endif #endif
#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__) #if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
/** /**
@ -241,7 +282,7 @@ struct ch_thread {
* object and is valid when the thread is in @p CH_STATE_WTMTX * object and is valid when the thread is in @p CH_STATE_WTMTX
* state. * state.
*/ */
struct ch_mutex *wtmtxp; struct ch_mutex *wtmtxp;
#endif #endif
#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__) #if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
/** /**
@ -249,50 +290,50 @@ struct ch_thread {
* @note This field is only valid while the thread is in the * @note This field is only valid while the thread is in the
* @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states. * @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states.
*/ */
eventmask_t ewmask; eventmask_t ewmask;
#endif #endif
} u; } u;
#if (CH_CFG_USE_WAITEXIT == TRUE) || defined(__DOXYGEN__) #if (CH_CFG_USE_WAITEXIT == TRUE) || defined(__DOXYGEN__)
/** /**
* @brief Termination waiting list. * @brief Termination waiting list.
*/ */
ch_list_t waiting; ch_list_t waiting;
#endif #endif
#if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__) #if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)
/** /**
* @brief Messages queue. * @brief Messages queue.
*/ */
ch_queue_t msgqueue; ch_queue_t msgqueue;
#endif #endif
#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__) #if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
/** /**
* @brief Pending events mask. * @brief Pending events mask.
*/ */
eventmask_t epending; eventmask_t epending;
#endif #endif
#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__) #if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
/** /**
* @brief List of the mutexes owned by this thread. * @brief List of the mutexes owned by this thread.
* @note The list is terminated by a @p NULL in this field. * @note The list is terminated by a @p NULL in this field.
*/ */
struct ch_mutex *mtxlist; struct ch_mutex *mtxlist;
/** /**
* @brief Thread's own, non-inherited, priority. * @brief Thread's own, non-inherited, priority.
*/ */
tprio_t realprio; tprio_t realprio;
#endif #endif
#if ((CH_CFG_USE_DYNAMIC == TRUE) && (CH_CFG_USE_MEMPOOLS == TRUE)) || \ #if ((CH_CFG_USE_DYNAMIC == TRUE) && (CH_CFG_USE_MEMPOOLS == TRUE)) || \
defined(__DOXYGEN__) defined(__DOXYGEN__)
/** /**
* @brief Memory Pool where the thread workspace is returned. * @brief Memory Pool where the thread workspace is returned.
*/ */
void *mpool; void *mpool;
#endif #endif
#if (CH_DBG_STATISTICS == TRUE) || defined(__DOXYGEN__) #if (CH_DBG_STATISTICS == TRUE) || defined(__DOXYGEN__)
/** /**
* @brief Thread statistics. * @brief Thread statistics.
*/ */
time_measurement_t stats; time_measurement_t stats;
#endif #endif
#if defined(CH_CFG_THREAD_EXTRA_FIELDS) #if defined(CH_CFG_THREAD_EXTRA_FIELDS)
/* Extra fields defined in chconf.h.*/ /* Extra fields defined in chconf.h.*/
@ -308,11 +349,11 @@ typedef struct ch_ready_list {
* @brief Threads ordered queues header. * @brief Threads ordered queues header.
* @note The priority field must be initialized to zero. * @note The priority field must be initialized to zero.
*/ */
ch_priority_queue_t pqueue; ch_priority_queue_t pqueue;
/** /**
* @brief The currently running thread. * @brief The currently running thread.
*/ */
thread_t *current; thread_t *current;
} ready_list_t; } ready_list_t;
/** /**
@ -322,27 +363,27 @@ typedef struct ch_os_instance_config {
/** /**
* @brief Instance name. * @brief Instance name.
*/ */
const char *name; const char *name;
#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE) || \ #if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE) || \
defined(__DOXYGEN__) defined(__DOXYGEN__)
/** /**
* @brief Lower limit of the main function thread stack. * @brief Lower limit of the main function thread stack.
*/ */
stkalign_t *mainthread_base; stkalign_t *mainthread_base;
/** /**
* @brief Upper limit of the main function thread stack. * @brief Upper limit of the main function thread stack.
*/ */
stkalign_t *mainthread_end; stkalign_t *mainthread_end;
#endif #endif
#if (CH_CFG_NO_IDLE_THREAD == FALSE) || defined(__DOXYGEN__) #if (CH_CFG_NO_IDLE_THREAD == FALSE) || defined(__DOXYGEN__)
/** /**
* @brief Lower limit of the dedicated idle thread stack. * @brief Lower limit of the dedicated idle thread stack.
*/ */
stkalign_t *idlethread_base; stkalign_t *idlethread_base;
/** /**
* @brief Upper limit of the dedicated idle thread stack. * @brief Upper limit of the dedicated idle thread stack.
*/ */
stkalign_t *idlethread_end; stkalign_t *idlethread_end;
#endif #endif
} os_instance_config_t; } os_instance_config_t;
@ -353,42 +394,46 @@ struct ch_os_instance {
/** /**
* @brief Ready list header. * @brief Ready list header.
*/ */
ready_list_t rlist; ready_list_t rlist;
/** /**
* @brief Virtual timers delta list header. * @brief Virtual timers delta list header.
*/ */
virtual_timers_list_t vtlist; virtual_timers_list_t vtlist;
#if ((CH_CFG_USE_REGISTRY == TRUE) && (CH_CFG_SMP_MODE == FALSE)) || \ #if ((CH_CFG_USE_REGISTRY == TRUE) && (CH_CFG_SMP_MODE == FALSE)) || \
defined(__DOXYGEN__) defined(__DOXYGEN__)
/** /**
* @brief Registry header. * @brief Registry header.
* @note This field is present only if the SMP mode is disabled. * @note This field is present only if the SMP mode is disabled.
*/ */
ch_queue_t reglist; ch_queue_t reglist;
#endif #endif
/** /**
* @brief Core associated to this instance. * @brief Core associated to this instance.
*/ */
core_id_t core_id; core_id_t core_id;
/**
* @brief Pointer to the instance configuration data.
*/
const os_instance_config_t *config;
/** /**
* @brief Main thread descriptor. * @brief Main thread descriptor.
*/ */
thread_t mainthread; thread_t mainthread;
/** /**
* @brief System debug. * @brief System debug.
*/ */
system_debug_t dbg; system_debug_t dbg;
#if (CH_DBG_TRACE_MASK != CH_DBG_TRACE_MASK_DISABLED) || defined(__DOXYGEN__) #if (CH_DBG_TRACE_MASK != CH_DBG_TRACE_MASK_DISABLED) || defined(__DOXYGEN__)
/** /**
* @brief Trace buffer. * @brief Trace buffer.
*/ */
trace_buffer_t trace_buffer; trace_buffer_t trace_buffer;
#endif #endif
#if (CH_DBG_STATISTICS == TRUE) || defined(__DOXYGEN__) #if (CH_DBG_STATISTICS == TRUE) || defined(__DOXYGEN__)
/** /**
* @brief Global kernel statistics. * @brief Global kernel statistics.
*/ */
kernel_stats_t kernel_stats; kernel_stats_t kernel_stats;
#endif #endif
#if defined(PORT_INSTANCE_EXTRA_FIELDS) || defined(__DOXYGEN__) #if defined(PORT_INSTANCE_EXTRA_FIELDS) || defined(__DOXYGEN__)
/* Extra fields from port layer.*/ /* Extra fields from port layer.*/
@ -405,16 +450,16 @@ typedef struct ch_system {
/** /**
* @brief Operating system state. * @brief Operating system state.
*/ */
system_state_t state; system_state_t state;
/** /**
* @brief Initialized OS instances or @p NULL. * @brief Initialized OS instances or @p NULL.
*/ */
os_instance_t *instances[PORT_CORES_NUMBER]; os_instance_t *instances[PORT_CORES_NUMBER];
#if (CH_CFG_USE_TM == TRUE) || defined(__DOXYGEN__) #if (CH_CFG_USE_TM == TRUE) || defined(__DOXYGEN__)
/** /**
* @brief Time measurement calibration data. * @brief Time measurement calibration data.
*/ */
tm_calibration_t tmc; tm_calibration_t tmc;
#endif #endif
#if ((CH_CFG_USE_REGISTRY == TRUE) && (CH_CFG_SMP_MODE == TRUE)) || \ #if ((CH_CFG_USE_REGISTRY == TRUE) && (CH_CFG_SMP_MODE == TRUE)) || \
defined(__DOXYGEN__) defined(__DOXYGEN__)
@ -422,7 +467,7 @@ typedef struct ch_system {
* @brief Registry header. * @brief Registry header.
* @note This field is present only if the SMP mode is enabled. * @note This field is present only if the SMP mode is enabled.
*/ */
ch_queue_t reglist; ch_queue_t reglist;
#endif #endif
#if defined(PORT_SYSTEM_EXTRA_FIELDS) || defined(__DOXYGEN__) #if defined(PORT_SYSTEM_EXTRA_FIELDS) || defined(__DOXYGEN__)
/* Extra fields from port layer.*/ /* Extra fields from port layer.*/

5
os/rt/src/chschd.c
View File

@ -305,8 +305,13 @@ void chSchObjectInit(os_instance_t *oip,
#endif #endif
chDbgAssert(ch_system.instances[core_id] == NULL, "instance already registered"); chDbgAssert(ch_system.instances[core_id] == NULL, "instance already registered");
ch_system.instances[core_id] = oip; ch_system.instances[core_id] = oip;
/* Core associated to this instance.*/
oip->core_id = core_id; oip->core_id = core_id;
/* Keeping a reference to the configuration data.*/
oip->config = oicp;
/* Port initialization for the current instance.*/ /* Port initialization for the current instance.*/
port_init(oip); port_init(oip);