git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@666 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
gdisirio
parent
b094fe9dc1
commit
bae98eb8d8
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@ -3,21 +3,21 @@
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* @{
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* Response time jitter is one of the most sneaky source of problems when
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* designing a real time system. When using a RTOS like ChibiOS/RT one must
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* be aware of what Jitter is and how it can affect the performance of the
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* be aware of what the jitter is and how it can affect the performance of the
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* system.<br>
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* A good place to start is this
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* <a href="http://en.wikipedia.org/wiki/Jitter">Wikipedia article</a>.
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*
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* <h2>Jitter Sources</h2>
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* Under ChibiOS/RT (or any other similar RTOS) there are several jitter
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* possible sources:
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* Under ChibiOS/RT (or any other similar RTOS) there are several possible
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* jitter sources:
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* -# Hardware interrupts latency.
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* -# Interrupts service time and priority.
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* -# Kernel lock zones.
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* -# Higher priority threads activity.
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*
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* <h2>Jitter mitigation countermeasures</h2>
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* For each of the previously described jitter source there are possible
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* For each of the previously described jitter sources there are possible
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* mitigation actions.
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*
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* <h3>Hardware interrupts latency</h3>
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@ -49,13 +49,14 @@
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* As example, in the ARM port, FIQ sources are not affected by the
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* kernel-generated jitter. The Cortex-M3 port is even better thanks to its
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* hardware-assisted interrupt architecture allowing handlers preemption,
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* late switch, tail chaining etc. See the notes about the various @ref Ports.
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* late arriving, tail chaining etc. See the notes about the various
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* @ref Ports.
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*
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* <h3>Kernel lock zones</h3>
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* The OS kernel protects some critical internal data structure by disabling
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* (fully in simple architecture, to some extent in more advanced
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* microcontrollers) the interrupt sources. Because of this the kernel itself
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* is a jitter source, a good OS design minimizes the jitter generated by the
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* is a jitter cause, a good OS design minimizes the jitter generated by the
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* kernel by both using adequate data structure, algorithms and good coding
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* practices.<br>
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* A good OS design is not the whole story, some OS primitives may generate
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@ -72,6 +73,6 @@
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* by carefully assigning priorities to the various threads and carefully
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* designing mutual exclusion zones.<br>
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* The use of the proper synchronization mechanism (semaphores, mutexes, events,
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* messages and so on) also helps to improve the system performance.
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* messages and so on) also helps to improve the overall system performance.
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*/
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/** @} */
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@ -197,7 +197,10 @@ struct context {
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* Disables the IRQ sources and keeps the FIQ sources enabled.
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*/
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#ifdef THUMB
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#define port_lock() _port_lock_thumb()
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//#define port_lock() _port_lock_thumb()
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#define port_lock() { \
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asm volatile ("bl _port_lock_thumb" : : : "r3", "lr"); \
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}
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#else /* THUMB */
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#define port_lock() asm volatile ("msr CPSR_c, #0x9F")
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#endif /* !THUMB */
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@ -206,7 +209,10 @@ struct context {
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* Enables both the IRQ and FIQ sources.
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*/
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#ifdef THUMB
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#define port_unlock() _port_unlock_thumb()
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//#define port_unlock() _port_unlock_thumb()
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#define port_unlock() { \
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asm volatile ("bl _port_unlock_thumb" : : : "r3", "lr"); \
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}
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#else /* THUMB */
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#define port_unlock() asm volatile ("msr CPSR_c, #0x1F")
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#endif /* !THUMB */
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@ -227,7 +233,10 @@ struct context {
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* LPC214x datasheet.
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*/
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#ifdef THUMB
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#define port_disable() _port_disable_thumb()
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//#define port_disable() _port_disable_thumb()
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#define port_disable() { \
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asm volatile ("bl _port_disable_thumb" : : : "r3", "lr"); \
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}
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#else /* THUMB */
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#define port_disable() { \
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asm volatile ("mrs r3, CPSR \n\t" \
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@ -242,7 +251,9 @@ struct context {
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* Disables the IRQ sources and enables the FIQ sources.
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*/
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#ifdef THUMB
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#define port_suspend() _port_suspend_thumb()
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#define port_suspend() { \
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asm volatile ("bl _port_suspend_thumb" : : : "r3", "lr"); \
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}
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#else /* THUMB */
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#define port_suspend() asm volatile ("msr CPSR_c, #0x9F")
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#endif /* !THUMB */
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@ -251,7 +262,9 @@ struct context {
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* Enables both the IRQ and FIQ sources.
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*/
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#ifdef THUMB
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#define port_enable() _port_enable_thumb()
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#define port_enable() { \
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asm volatile ("bl _port_enable_thumb" : : : "r3", "lr"); \
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}
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#else /* THUMB */
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#define port_enable() asm volatile ("msr CPSR_c, #0x1F")
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#endif /* !THUMB */
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@ -273,11 +286,6 @@ extern "C" {
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void port_puts(char *msg);
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void port_halt(void);
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#ifdef THUMB
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void _port_lock_thumb(void);
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void _port_unlock_thumb(void);
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void _port_disable_thumb(void);
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void _port_suspend_thumb(void);
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void _port_enable_thumb(void);
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void _port_switch_thumb(Thread *otp, Thread *ntp);
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#else /* THUMB */
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void _port_switch_arm(Thread *otp, Thread *ntp);
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@ -44,27 +44,28 @@
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.balign 16
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.code 16
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.thumb_func
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.global _port_disable_all_thumb
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_port_disable_all_thumb:
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mov r0, pc
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bx r0
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.global _port_disable_thumb
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_port_disable_thumb:
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mov r3, pc
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bx r3
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.code 32
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mrs r0, CPSR
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orr r0, #I_BIT
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msr CPSR_c, r0
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orr r0, #F_BIT
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msr CPSR_c, r0
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mrs r3, CPSR
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orr r3, #I_BIT
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msr CPSR_c, r3
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orr r3, #F_BIT
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msr CPSR_c, r3
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bx lr
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.balign 16
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.code 16
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.thumb_func
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.global _port_suspend_thumb
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_port_disable_thumb:
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_port_suspend_thumb:
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.thumb_func
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.global _port_lock_thumb
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_port_lock_thumb:
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mov r0, pc
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bx r0
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mov r3, pc
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bx r3
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.code 32
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msr CPSR_c, #MODE_SYS | I_BIT
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bx lr
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.thumb_func
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.global _port_enable_thumb
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_port_enable_thumb:
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.thumb_func
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.global _port_unlock_thumb
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_port_unlock_thumb:
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mov r0, pc
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bx r0
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mov r3, pc
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bx r3
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.code 32
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msr CPSR_c, #MODE_SYS
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bx lr
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30
readme.txt
30
readme.txt
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@ -77,6 +77,10 @@ Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process,
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- NEW: Added a configuration option to enable nested system locks/unlocks.
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- NEW: Improved the interrupt handlers related code. Now interrupts are
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handled in a very similar way in every architecture.
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- OPT: Improved ARM7 thumb port code, thanks to some GCC tricks involving
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registers usage now the kernel is much smaller, much faster and most OS APIs
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use less RAM in stack frames (note, this is an ARM7 thumb mode specific
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optimization).
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- CHANGE: Renamed the macros chSysIRQEnter() and chSysIRQExit() in
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CH_IRQ_PROLOGUE() and CH_IRQ_EPILOGUE() in order to make very clear that
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those are not functions but inlined code. Also introduced a new macro
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@ -86,7 +90,7 @@ Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process,
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- Introduced the concept of system states, see the documentation.
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- Huge improvements to the ports documentation.
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- Articles and notes previously in the wiki now merged in the general
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documentation, the wiki entries are obsolete and will be removed.
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documentation and updated, the wiki entries are obsolete and will be removed.
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- New application notes and articles added.
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*** 1.0.0rc2 ***
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@ -355,7 +359,7 @@ Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process,
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- OPT: Removed an unrequired initialization and made other small optimizations
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to the chThdCreate().
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- OPT: Improvements to the test framework, now a virtual timer is used instead
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of software loops into the bechmarks in order to have more stable results.
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of software loops into the benchmarks in order to have more stable results.
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- New benchmark added to the test suite.
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- Added the C++ wrapper entries to the documentation.
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- Fixed the documentation entry for the chThdCreate() API.
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@ -432,7 +436,7 @@ Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process,
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- Fixes in various headers to make some macros compatible with both C and C++.
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- Fixed a regression in the LPC214x minimal demo that broke interrupt
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handling.
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- Some fixes to the doxigen documentation.
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- Some fixes to the doxygen documentation.
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- More work done on the ARM-CM3 port but it is still not complete.
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*** 0.6.1 ***
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@ -450,7 +454,7 @@ Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process,
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- Started work on ARM Cortex-M3 architecture. The target chip is the STM32F103
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on a Olimex STM32-P103 board.
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- Added a threads state diagram to the documentation.
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- Various fixes to the doxigen documentation.
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- Various fixes to the doxygen documentation.
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*** 0.6.0 ***
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- Code refactory, all the old sized-integer definitions like LONG32, UWORD16
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@ -487,9 +491,9 @@ Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process,
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the new demo were added.
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*** 0.5.4 ***
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- Port for Atmel AT91SAM7X256 introduced, the port should be useable also on
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- Port for Atmel AT91SAM7X256 introduced, the port should be usable also on
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SAM7S and SAM7XC but no tests were performed. Other SAM7 processors should
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also be useable with limited changes.
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also be usable with limited changes.
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The demo currently just performs basic operations, will be enhanced in next
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ChibiOS/RT releases, see the demo readme.txt file.
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- Small fix to the thumb mode IRQ code on the LPC214x port, removed some extra
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@ -522,12 +526,12 @@ Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process,
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the P_MSGBYPRIO option when creating a message server thread.
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This change allows the implementation of a priority ceiling protocol into
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message servers threads. Threads serving messages by priority and threads
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serving messages in FIFO orded can exist at the same time in the system.
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serving messages in FIFO order can exist at the same time in the system.
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This feature can be enabled or disabled by toggling the option
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CH_USE_MESSAGES_PRIORITY into the chconf.h file (disabled by default, old
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behavior).
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Note: This option brings a small overhead when sending a message regardless
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if in FIFO or priority order, if you dont need priority ordering for your
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if in FIFO or priority order, if you don't need priority ordering for your
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messages it is better to keep the feature disabled in chconf.h.
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- Added to the ARM demos load scripts the capability to load code in RAM
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instead flash, the function must be marked as:
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@ -535,7 +539,7 @@ Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process,
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The option -mlong-calls should be specified in the makefile too or the
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function declared with the "long-call" attribute.
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- Fixed the MSVC demo project files.
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- Fixed some syntax incompatibilites between GCC and MSVC into chmtx.c.
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- Fixed some syntax incompatibilities between GCC and MSVC into chmtx.c.
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*** 0.5.0 ***
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- NEW: Mutexes, the new mechanism provides a complete implementation of the
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@ -664,7 +668,7 @@ Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process,
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- Added a spreadsheet in the documentation that describes the advantages
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and disadvantages of the various optimization options (both GCC options and
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ChibiOS/RT options), very interesting read IMO.
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- The GCC option +falign-functions=16 is now default in the Makefile, it is
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- The GCC option -falign-functions=16 is now default in the Makefile, it is
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required because of the MAM unit into the LPC chips, without this option
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the code performance is less predictable and can change of some % points
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depending on how the code is aligned in the flash memory, unpredictability
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@ -710,7 +714,7 @@ Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process,
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- Added experimental MMC/SD block driver to the LPC2148 demo in order to
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support file systems. The driver features also events generation on card
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insert/remove, hot plugging supported.
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- Added missing chThdSuspend() declararion in threads.h.
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- Added missing chThdSuspend() declaration in threads.h.
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*** 0.3.5 ***
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- Space optimization in events code.
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@ -748,7 +752,7 @@ Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process,
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is done in order to ensure that the initializations performed into the
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main() procedure are finished before any thread starts.
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- Added chThdSetPriority() new API.
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- Added a generic events generator timer modulee to the library code.
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- Added a generic events generator timer module to the library code.
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- Modified the ARM7-LPC214x-GCC demo to show the use of the event timer.
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- Added the "#ifdef __cplusplus" stuff to the header files.
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- Removed an obsolete definition in ./src/templates/chtypes.h.
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@ -792,7 +796,7 @@ Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process,
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- Thread Local Storage implemented as a single API: chThdLS().
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The API simply returns a pointer into the thread working area, see the
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documentation on the web site.
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- Moved some documentation and images from the web site into the Doxigen
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- Moved some documentation and images from the web site into the Doxygen
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generated HTMLs.
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*** 0.2.1 ***
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@ -32,7 +32,7 @@
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#if defined(CH_USE_CONDVARS) && defined(CH_USE_MUTEXES)
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/**
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* CondVar structure.
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* @brief CondVar structure.
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*/
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typedef struct CondVar {
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ThreadsQueue c_queue;
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|
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@ -33,7 +33,7 @@
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typedef struct EventListener EventListener;
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/**
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* Event Listener structure.
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* @brief Event Listener structure.
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*/
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struct EventListener {
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/** Next Event Listener registered on the Event Source.*/
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@ -45,7 +45,7 @@ struct EventListener {
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};
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/**
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* Event Source structure.
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* @brief Event Source structure.
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*/
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typedef struct EventSource {
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/** First Event Listener registered on the Event Source.*/
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|
|
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@ -32,7 +32,7 @@ typedef struct Thread Thread;
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#define notempty(p) ((p)->p_next != (Thread *)(p))
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/**
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* Generic threads queue header and element.
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* @brief Generic threads queue header and element.
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* @extends ThreadsList
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*/
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typedef struct {
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@ -43,17 +43,22 @@ typedef struct {
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} ThreadsQueue;
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/**
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* Generic threads single link list, it works like a stack.
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* @brief Generic threads single link list.
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* @details This list behaves like a stack.
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*/
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typedef struct {
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/** Last pushed @p Thread on the stack list, or @p ThreadList when empty. */
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Thread *p_next;
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} ThreadsList;
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/*
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* Threads Lists functions and macros.
|
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/**
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* Queue initialization.
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*/
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#define queue_init(tqp) ((tqp)->p_next = (tqp)->p_prev = (Thread *)(tqp));
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/**
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* List initialization.
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*/
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#define list_init(tlp) ((tlp)->p_next = (Thread *)(tlp))
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#ifndef CH_OPTIMIZE_SPEED
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|
|
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|
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@ -28,7 +28,7 @@
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#ifdef CH_USE_MUTEXES
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/**
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* Mutex structure.
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* @brief Mutex structure.
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*/
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typedef struct Mutex {
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/** Queue of the threads sleeping on this Mutex.*/
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|
|
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|
@ -41,7 +41,8 @@ typedef void (*qnotify_t)(void);
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#ifdef CH_USE_QUEUES
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/**
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* I/O queue structure, it is used by both Input and Output Queues,
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* @brief I/O queue structure.
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* @details This structure is used by both Input and Output Queues,
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* the difference is on how the semaphore is initialized.
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*/
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typedef struct {
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@ -116,7 +117,7 @@ extern "C" {
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#ifdef CH_USE_QUEUES_HALFDUPLEX
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/**
|
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* Half duplex queue structure.
|
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* @brief Half duplex queue structure.
|
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*/
|
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typedef struct {
|
||||
/** Pointer to the queue buffer. */
|
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|
|
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|
|
@ -53,7 +53,8 @@
|
|||
#define firstprio(rlp) ((rlp)->p_next->p_prio)
|
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|
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/**
|
||||
* Ready list header.
|
||||
* @brief Ready list header.
|
||||
*
|
||||
* @extends ThreadsQueue
|
||||
*/
|
||||
typedef struct {
|
||||
|
|
|
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|
|
@ -28,7 +28,7 @@
|
|||
#ifdef CH_USE_SEMAPHORES
|
||||
|
||||
/**
|
||||
* Semaphore structure.
|
||||
* @brief Semaphore structure.
|
||||
*/
|
||||
typedef struct Semaphore {
|
||||
/** Queue of the threads sleeping on this Semaphore.*/
|
||||
|
|
|
|||
|
|
@ -46,7 +46,7 @@ typedef uint16_t dflags_t;
|
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#ifdef CH_USE_SERIAL_FULLDUPLEX
|
||||
|
||||
/**
|
||||
* Full Duplex Serial Driver main structure.
|
||||
* @brief Full Duplex Serial Driver main structure.
|
||||
*/
|
||||
typedef struct {
|
||||
|
||||
|
|
@ -111,7 +111,7 @@ extern "C" {
|
|||
#ifdef CH_USE_SERIAL_HALFDUPLEX
|
||||
|
||||
/**
|
||||
* Full Duplex Serial Driver main structure.
|
||||
* @brief Full Duplex Serial Driver main structure.
|
||||
*/
|
||||
typedef struct {
|
||||
|
||||
|
|
|
|||
|
|
@ -26,7 +26,8 @@
|
|||
#define _THREADS_H_
|
||||
|
||||
/**
|
||||
* Structure representing a thread.
|
||||
* @brief Structure representing a thread.
|
||||
*
|
||||
* @extends ThreadsQueue
|
||||
* @note Not all the listed fields are always needed, by switching off some
|
||||
* not needed ChibiOS/RT subsystems it is possible to save RAM space by
|
||||
|
|
|
|||
|
|
@ -48,7 +48,7 @@ typedef void (*vtfunc_t)(void *);
|
|||
typedef struct VirtualTimer VirtualTimer;
|
||||
|
||||
/**
|
||||
* Virtual Timer descriptor structure.
|
||||
* @brief Virtual Timer descriptor structure.
|
||||
* @extends DeltaList
|
||||
*/
|
||||
struct VirtualTimer {
|
||||
|
|
@ -66,7 +66,7 @@ struct VirtualTimer {
|
|||
};
|
||||
|
||||
/**
|
||||
* Delta List header.
|
||||
* @brief Virtual timers list header.
|
||||
* @note The delta list is implemented as a double link bidirectional list in
|
||||
* order to make the unlink time constant, the reset of a virtual timer
|
||||
* is often used in the code.
|
||||
|
|
|
|||
|
|
@ -281,12 +281,12 @@ namespace chibios_rt {
|
|||
|
||||
#ifdef CH_USE_SEMAPHORES
|
||||
/**
|
||||
* @brief Class encapsulating a @p Semaphore.
|
||||
* @brief Class encapsulating a semaphore.
|
||||
*/
|
||||
class Semaphore {
|
||||
public:
|
||||
/**
|
||||
* @brief Embedded @p Semaphore structure.
|
||||
* @brief Embedded @p ::Semaphore structure.
|
||||
*/
|
||||
struct ::Semaphore sem;
|
||||
|
||||
|
|
@ -349,12 +349,12 @@ namespace chibios_rt {
|
|||
|
||||
#ifdef CH_USE_MUTEXES
|
||||
/**
|
||||
* @brief Class encapsulating a @p Mutex.
|
||||
* @brief Class encapsulating a mutex.
|
||||
*/
|
||||
class Mutex {
|
||||
public:
|
||||
/**
|
||||
* @brief Embedded @p Mutex structure.
|
||||
* @brief Embedded @p ::Mutex structure.
|
||||
*/
|
||||
struct ::Mutex mutex;
|
||||
|
||||
|
|
@ -398,12 +398,12 @@ namespace chibios_rt {
|
|||
|
||||
#ifdef CH_USE_CONDVARS
|
||||
/**
|
||||
* @brief Class encapsulating a @p CondVar.
|
||||
* @brief Class encapsulating a conditional variable.
|
||||
*/
|
||||
class CondVar {
|
||||
public:
|
||||
/**
|
||||
* @brief Embedded @p CondVar structure.
|
||||
* @brief Embedded @p ::CondVar structure.
|
||||
*/
|
||||
struct ::CondVar condvar;
|
||||
|
||||
|
|
@ -453,12 +453,12 @@ namespace chibios_rt {
|
|||
|
||||
#ifdef CH_USE_EVENTS
|
||||
/**
|
||||
* @brief Class encapsulating an @p EventSource.
|
||||
* @brief Class encapsulating an event source.
|
||||
*/
|
||||
class Event {
|
||||
public:
|
||||
/**
|
||||
* @brief Embedded @p EventSource structure.
|
||||
* @brief Embedded @p ::EventSource structure.
|
||||
*/
|
||||
struct ::EventSource event;
|
||||
|
||||
|
|
|
|||
|
|
@ -26,7 +26,7 @@
|
|||
#define _EVTIMER_H_
|
||||
|
||||
/**
|
||||
* Event timer structure.
|
||||
* @brief Event timer structure.
|
||||
*/
|
||||
typedef struct {
|
||||
VirtualTimer et_vt;
|
||||
|
|
|
|||
|
|
@ -38,24 +38,25 @@
|
|||
typedef uint8_t stkalign_t;
|
||||
|
||||
/**
|
||||
* Interrupt saved context.
|
||||
* This structure represents the stack frame saved during a preemption-capable
|
||||
* interrupt handler.
|
||||
* @brief Interrupt saved context.
|
||||
* @details This structure represents the stack frame saved during a
|
||||
* preemption-capable interrupt handler.
|
||||
*/
|
||||
struct extctx {
|
||||
};
|
||||
|
||||
/**
|
||||
* System saved context.
|
||||
* This structure represents the inner stack frame during a context switching.
|
||||
* @brief System saved context.
|
||||
* @details This structure represents the inner stack frame during a context
|
||||
* switching.
|
||||
*/
|
||||
struct intctx {
|
||||
};
|
||||
|
||||
/**
|
||||
* Platform dependent part of the @p Thread structure.
|
||||
* This structure usually contains just the saved stack pointer defined as a
|
||||
* pointer to a @p intctx structure.
|
||||
* @brief Platform dependent part of the @p Thread structure.
|
||||
* @details This structure usually contains just the saved stack pointer
|
||||
* defined as a pointer to a @p intctx structure.
|
||||
*/
|
||||
struct context {
|
||||
struct intctx *sp;
|
||||
|
|
|
|||
Loading…
Reference in New Issue