diff --git a/demos/STM32/RT-STM32F407-DISCOVERY/Makefile b/demos/STM32/RT-STM32F407-DISCOVERY/Makefile index eb2f10684..175b7d24d 100644 --- a/demos/STM32/RT-STM32F407-DISCOVERY/Makefile +++ b/demos/STM32/RT-STM32F407-DISCOVERY/Makefile @@ -65,7 +65,7 @@ endif # Enables the use of FPU on Cortex-M4 (no, softfp, hard). ifeq ($(USE_FPU),) - USE_FPU = no + USE_FPU = hard endif # diff --git a/doc/reports/STM32F407-168-GCC-FPU.txt b/doc/reports/STM32F407-168-GCC-FPU.txt new file mode 100644 index 000000000..68421c9ff --- /dev/null +++ b/doc/reports/STM32F407-168-GCC-FPU.txt @@ -0,0 +1,158 @@ +*************************************************************************** +Options: -O2 -fomit-frame-pointer -falign-functions=16 +Settings: SYSCLK=168, ACR=0x705 (5 wait states) +*************************************************************************** + +*** ChibiOS/RT test suite +*** +*** Kernel: 3.0.0dev +*** Compiled: Oct 26 2014 - 10:54:30 +*** Compiler: GCC 4.7.4 20140401 (release) [ARM/embedded-4_7-branch revision 209195] +*** Architecture: ARMv7-ME +*** Core Variant: Cortex-M4F +*** Port Info: Advanced kernel mode +*** Platform: STM32F407 High Performance with DSP and FPU +*** Test Board: STMicroelectronics STM32F4-Discovery + +---------------------------------------------------------------------------- +--- Test Case 1.1 (Threads, enqueuing test #1) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 1.2 (Threads, enqueuing test #2) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 1.3 (Threads, priority change) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 1.4 (Threads, delays) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 2.1 (Semaphores, enqueuing) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 2.2 (Semaphores, timeout) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 2.3 (Semaphores, atomic signal-wait) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 2.4 (Binary Semaphores, functionality) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 3.1 (Mutexes, priority enqueuing test) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 3.2 (Mutexes, priority return) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 3.3 (Mutexes, status) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 3.4 (CondVar, signal test) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 3.5 (CondVar, broadcast test) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 3.6 (CondVar, boost test) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 4.1 (Messages, loop) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 5.1 (Mailboxes, queuing and timeouts) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 6.1 (Events, registration and dispatch) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 6.2 (Events, wait and broadcast) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 6.3 (Events, timeouts) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 7.1 (Heap, allocation and fragmentation test) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 8.1 (Memory Pools, queue/dequeue) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 9.1 (Dynamic APIs, threads creation from heap) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 9.2 (Dynamic APIs, threads creation from memory pool) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 9.3 (Dynamic APIs, registry and references) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 10.1 (Queues, input queues) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 10.2 (Queues, output queues) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.1 (Benchmark, messages #1) +--- Score : 604311 msgs/S, 1208622 ctxswc/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.2 (Benchmark, messages #2) +--- Score : 513757 msgs/S, 1027514 ctxswc/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.3 (Benchmark, messages #3) +--- Score : 513757 msgs/S, 1027514 ctxswc/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.4 (Benchmark, context switch) +--- Score : 1686320 ctxswc/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.5 (Benchmark, threads, full cycle) +--- Score : 394363 threads/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.6 (Benchmark, threads, create only) +--- Score : 543685 threads/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.7 (Benchmark, mass reschedule, 5 threads) +--- Score : 164867 reschedules/S, 989202 ctxswc/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.8 (Benchmark, round robin context switching) +--- Score : 1181012 ctxswc/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.9 (Benchmark, I/O Queues throughput) +--- Score : 1873164 bytes/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.10 (Benchmark, virtual timers set/reset) +--- Score : 1343996 timers/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.11 (Benchmark, semaphores wait/signal) +--- Score : 3199988 wait+signal/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.12 (Benchmark, mutexes lock/unlock) +--- Score : 1856348 lock+unlock/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.13 (Benchmark, RAM footprint) +--- System: 732 bytes +--- Thread: 68 bytes +--- Timer : 20 bytes +--- Semaph: 12 bytes +--- EventS: 4 bytes +--- EventL: 20 bytes +--- Mutex : 16 bytes +--- CondV.: 8 bytes +--- Queue : 36 bytes +--- MailB.: 40 bytes +--- Result: SUCCESS +---------------------------------------------------------------------------- + +Final result: SUCCESS diff --git a/doc/reports/STM32F407-168-GCC.txt b/doc/reports/STM32F407-168-GCC.txt new file mode 100644 index 000000000..c375cc2a6 --- /dev/null +++ b/doc/reports/STM32F407-168-GCC.txt @@ -0,0 +1,158 @@ +*************************************************************************** +Options: -O2 -fomit-frame-pointer -falign-functions=16 +Settings: SYSCLK=168, ACR=0x705 (5 wait states) +*************************************************************************** + +*** ChibiOS/RT test suite +*** +*** Kernel: 3.0.0dev +*** Compiled: Oct 26 2014 - 10:50:20 +*** Compiler: GCC 4.7.4 20140401 (release) [ARM/embedded-4_7-branch revision 209195] +*** Architecture: ARMv7-ME +*** Core Variant: Cortex-M4 +*** Port Info: Advanced kernel mode +*** Platform: STM32F407 High Performance with DSP and FPU +*** Test Board: STMicroelectronics STM32F4-Discovery + +---------------------------------------------------------------------------- +--- Test Case 1.1 (Threads, enqueuing test #1) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 1.2 (Threads, enqueuing test #2) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 1.3 (Threads, priority change) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 1.4 (Threads, delays) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 2.1 (Semaphores, enqueuing) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 2.2 (Semaphores, timeout) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 2.3 (Semaphores, atomic signal-wait) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 2.4 (Binary Semaphores, functionality) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 3.1 (Mutexes, priority enqueuing test) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 3.2 (Mutexes, priority return) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 3.3 (Mutexes, status) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 3.4 (CondVar, signal test) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 3.5 (CondVar, broadcast test) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 3.6 (CondVar, boost test) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 4.1 (Messages, loop) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 5.1 (Mailboxes, queuing and timeouts) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 6.1 (Events, registration and dispatch) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 6.2 (Events, wait and broadcast) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 6.3 (Events, timeouts) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 7.1 (Heap, allocation and fragmentation test) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 8.1 (Memory Pools, queue/dequeue) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 9.1 (Dynamic APIs, threads creation from heap) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 9.2 (Dynamic APIs, threads creation from memory pool) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 9.3 (Dynamic APIs, registry and references) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 10.1 (Queues, input queues) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 10.2 (Queues, output queues) +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.1 (Benchmark, messages #1) +--- Score : 799993 msgs/S, 1599986 ctxswc/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.2 (Benchmark, messages #2) +--- Score : 648644 msgs/S, 1297288 ctxswc/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.3 (Benchmark, messages #3) +--- Score : 648644 msgs/S, 1297288 ctxswc/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.4 (Benchmark, context switch) +--- Score : 2559992 ctxswc/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.5 (Benchmark, threads, full cycle) +--- Score : 467963 threads/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.6 (Benchmark, threads, create only) +--- Score : 691353 threads/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.7 (Benchmark, mass reschedule, 5 threads) +--- Score : 206135 reschedules/S, 1236810 ctxswc/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.8 (Benchmark, round robin context switching) +--- Score : 1551960 ctxswc/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.9 (Benchmark, I/O Queues throughput) +--- Score : 1873164 bytes/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.10 (Benchmark, virtual timers set/reset) +--- Score : 1343998 timers/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.11 (Benchmark, semaphores wait/signal) +--- Score : 3199988 wait+signal/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.12 (Benchmark, mutexes lock/unlock) +--- Score : 1856348 lock+unlock/S +--- Result: SUCCESS +---------------------------------------------------------------------------- +--- Test Case 11.13 (Benchmark, RAM footprint) +--- System: 460 bytes +--- Thread: 68 bytes +--- Timer : 20 bytes +--- Semaph: 12 bytes +--- EventS: 4 bytes +--- EventL: 20 bytes +--- Mutex : 16 bytes +--- CondV.: 8 bytes +--- Queue : 36 bytes +--- MailB.: 40 bytes +--- Result: SUCCESS +---------------------------------------------------------------------------- + +Final result: SUCCESS diff --git a/os/rt/include/ch.h b/os/rt/include/ch.h index f26832e4d..5e67aa202 100644 --- a/os/rt/include/ch.h +++ b/os/rt/include/ch.h @@ -62,11 +62,8 @@ #define CH_KERNEL_PATCH 0 /** @} */ -/* Required forward declaration, knowledge of this type is required by all - modules.*/ -typedef struct thread thread_t; - /* Core headers.*/ +#include "chsystypes.h" #include "chtypes.h" #include "chconf.h" #include "chcore.h" diff --git a/os/rt/include/chschd.h b/os/rt/include/chschd.h index 2be90cd27..8a7a59aae 100644 --- a/os/rt/include/chschd.h +++ b/os/rt/include/chschd.h @@ -69,48 +69,19 @@ /*===========================================================================*/ /** - * @extends threads_queue_t - * - * @brief Type of a thread structure. + * @brief Generic threads single link list, it works like a stack. */ -typedef struct thread thread_t; +struct ch_threads_list { + thread_t *p_next; /**< @brief Next in the list/queue. */ +}; /** - * @extends threads_list_t - * - * @brief Type of a generic threads bidirectional linked list header and element. + * @brief Generic threads bidirectional linked list header and element. */ -typedef struct { +struct ch_threads_queue{ thread_t *p_next; /**< @brief Next in the list/queue. */ thread_t *p_prev; /**< @brief Previous in the queue. */ -} threads_queue_t; - -/** - * @brief Type of a generic threads single link list, it works like a stack. - */ -typedef struct { - thread_t *p_next; /**< @brief Next in the list/queue. */ -} threads_list_t; - -/** - * @extends threads_queue_t - * - * @brief Ready list header. - */ -typedef struct { - threads_queue_t r_queue; /**< @brief Threads queue. */ - tprio_t r_prio; /**< @brief This field must be - initialized to zero. */ - struct context r_ctx; /**< @brief Not used, present because - offsets. */ -#if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__) - thread_t *r_newer; /**< @brief Newer registry element. */ - thread_t *r_older; /**< @brief Older registry element. */ -#endif - /* End of the fields shared with the thread_t structure.*/ - thread_t *r_current; /**< @brief The currently running - thread. */ -} ready_list_t; +}; /** * @brief Structure representing a thread. @@ -118,7 +89,7 @@ typedef struct { * not needed ChibiOS/RT subsystems it is possible to save RAM space * by shrinking this structure. */ -struct thread { +struct ch_thread { thread_t *p_next; /**< @brief Next in the list/queue. */ /* End of the fields shared with the threads_list_t structure.*/ thread_t *p_prev; /**< @brief Previous in the queue. */ @@ -256,22 +227,12 @@ struct thread { #endif }; -/** - * @brief Type of a Virtual Timer callback function. - */ -typedef void (*vtfunc_t)(void *); - -/** - * @brief Type of a Virtual Timer structure. - */ -typedef struct virtual_timer virtual_timer_t; - /** * @extends virtual_timers_list_t * * @brief Virtual Timer descriptor structure. */ -struct virtual_timer { +struct ch_virtual_timer { virtual_timer_t *vt_next; /**< @brief Next timer in the list. */ virtual_timer_t *vt_prev; /**< @brief Previous timer in the list. */ systime_t vt_delta; /**< @brief Time delta before timeout. */ @@ -287,7 +248,7 @@ struct virtual_timer { * in order to make the unlink time constant, the reset of a virtual * timer is often used in the code. */ -typedef struct { +struct ch_virtual_timers_list { virtual_timer_t *vt_next; /**< @brief Next timer in the delta list. */ virtual_timer_t *vt_prev; /**< @brief Last timer in the delta @@ -303,14 +264,32 @@ typedef struct { systime_t vt_lasttime;/**< @brief System time of the last tick event. */ #endif -} virtual_timers_list_t; +}; + +/** + * @extends threads_queue_t + */ +struct ch_ready_list { + threads_queue_t r_queue; /**< @brief Threads queue. */ + tprio_t r_prio; /**< @brief This field must be + initialized to zero. */ + struct context r_ctx; /**< @brief Not used, present because + offsets. */ +#if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__) + thread_t *r_newer; /**< @brief Newer registry element. */ + thread_t *r_older; /**< @brief Older registry element. */ +#endif + /* End of the fields shared with the thread_t structure.*/ + thread_t *r_current; /**< @brief The currently running + thread. */ +}; /** * @brief System data structure. * @note This structure contain all the data areas used by the OS except * stacks. */ -typedef struct ch_system { +struct ch_system { /** * @brief Ready list header. */ @@ -357,7 +336,7 @@ typedef struct ch_system { */ ch_trace_buffer_t dbg_trace_buffer; #endif -} ch_system_t; +}; /*===========================================================================*/ /* Module macros. */ diff --git a/os/rt/include/chsystypes.h b/os/rt/include/chsystypes.h new file mode 100644 index 000000000..6cf0c147b --- /dev/null +++ b/os/rt/include/chsystypes.h @@ -0,0 +1,116 @@ +/* + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, + 2011,2012,2013,2014 Giovanni Di Sirio. + + This file is part of ChibiOS/RT. + + ChibiOS/RT is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS/RT is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +/** + * @file chsystypes.h + * @brief System types header. + * + * @addtogroup scheduler + * @{ + */ + +#ifndef _CHSYSTYPES_H_ +#define _CHSYSTYPES_H_ + +/*===========================================================================*/ +/* Module constants. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +/** + * @extends threads_queue_t + * + * @brief Type of a thread structure. + */ +typedef struct ch_thread thread_t; + +/** + * @brief Type of a generic threads single link list, it works like a stack. + */ +typedef struct ch_threads_list threads_list_t; + +/** + * @extends threads_list_t + * + * @brief Type of a generic threads bidirectional linked list header and element. + */ +typedef struct ch_threads_queue threads_queue_t; + +/** + * @extends threads_queue_t + * + * @brief Type of a ready list header. + */ +typedef struct ch_ready_list ready_list_t; + +/** + * @brief Type of a Virtual Timer callback function. + */ +typedef void (*vtfunc_t)(void *); + +/** + * @brief Type of a Virtual Timer structure. + */ +typedef struct ch_virtual_timer virtual_timer_t; + +/** + * @brief Type of virtual timers list header. + */ +typedef struct ch_virtual_timers_list virtual_timers_list_t; + +/** + * @brief Type of system data structure. + */ +typedef struct ch_system ch_system_t; + +/*===========================================================================*/ +/* Module macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + +#ifdef __cplusplus +} +#endif + +/*===========================================================================*/ +/* Module inline functions. */ +/*===========================================================================*/ + +#endif /* _CHSYSTYPES_H_ */ + +/** @} */