Optimizations, documentation reformatting.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@14223 27425a3e-05d8-49a3-a47f-9c15f0e5edd8

os/common/ports/ARMv6-M-RP2/chcore.c

@@ -178,10 +178,6 @@ CH_IRQ_HANDLER(Vector80) {
  * @notapi
  */
 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.*/
   port_timer_enable(oip);
@@ -189,11 +185,11 @@ void port_init(os_instance_t *oip) {
 #if CH_CFG_SMP_MODE== TRUE
   /* FIFO handlers for each core.*/
   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_EnableIRQ(15);
   }
-  else if (core_id == 1U) {
+  else if (oip->core_id == 1U) {
     NVIC_SetPriority(16, CORTEX_MINIMUM_PRIORITY);
     NVIC_EnableIRQ(16);
   }

os/rt/include/chobjects.h

@@ -68,20 +68,36 @@ typedef struct ch_delta_list delta_list_t;
  * @brief   Virtual Timer delta list element and header structure.
  */
 struct ch_delta_list {
-  delta_list_t          *next;      /**< @brief Next timer in the list.     */
-  delta_list_t          *prev;      /**< @brief Previous timer in the list. */
-  sysinterval_t         delta;      /**< @brief Time delta before timeout.  */
+  /**
+   * @brief   Next timer in the list.
+   */
+  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.
  */
 typedef struct ch_virtual_timer {
-  delta_list_t          dlist;      /**< @brief Delta list element.         */
-  vtfunc_t              func;       /**< @brief Timer callback function
-                                                pointer.                    */
-  void                  *par;       /**< @brief Timer callback function
-                                                parameter.                  */
+  /**
+   * @brief   Delta list element.
+   */
+  delta_list_t                  dlist;
+  /**
+   * @brief   Timer callback function pointer.
+   */
+  vtfunc_t                      func;
+  /**
+   * @brief   Timer callback function parameter.
+   */
+  void                          *par;
 } virtual_timer_t;
 
 /**
@@ -91,19 +107,27 @@ typedef struct ch_virtual_timer {
  *          timer is often used in the code.
  */
 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__)
-  volatile systime_t    systime;    /**< @brief System Time counter.        */
+  /**
+   * @brief   System Time counter.
+   */
+  volatile systime_t            systime;
 #endif
 #if (CH_CFG_ST_TIMEDELTA > 0) || defined(__DOXYGEN__)
   /**
    * @brief   System time of the last tick event.
    */
-  systime_t             lasttime;   /**< @brief System time of the last
-                                                tick event.                 */
+  systime_t                     lasttime;
 #endif
 #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
 } virtual_timers_list_t;
 
@@ -116,7 +140,10 @@ typedef thread_t * thread_reference_t;
  * @brief   Type of a 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;
 
 /**
@@ -126,18 +153,32 @@ typedef struct ch_threads_queue {
  *          by shrinking this structure.
  */
 struct ch_thread {
+  /**
+   * @brief   Shared list headers.
+   */
   union {
-    ch_list_t           list;       /**< @brief Threads lists element.      */
-    ch_queue_t          queue;      /**< @brief Threads queues element.     */
-    ch_priority_queue_t pqueue;     /**< @brief Threads ordered queues
-                                         element.                           */
+    /**
+     * @brief   Threads lists element.
+     */
+    ch_list_t                   list;
+    /**
+     * @brief   Threads queues element.
+     */
+    ch_queue_t                  queue;
+    /**
+     * @brief   Threads ordered queues element.
+     */
+    ch_priority_queue_t         pqueue;
   } hdr;
   /**
    * @brief   Processor context.
    */
   struct port_context           ctx;
 #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
   /**
    * @brief   OS instance owner of this thread.
@@ -370,6 +411,10 @@ struct ch_os_instance {
    * @brief   Core associated to this instance.
    */
   core_id_t                     core_id;
+  /**
+   * @brief   Pointer to the instance configuration data.
+   */
+  const os_instance_config_t    *config;
   /**
    * @brief   Main thread descriptor.
    */

os/rt/src/chschd.c

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