diff --git a/ports/ARMCM3-STM32F103/stm32_serial.c b/ports/ARMCM3-STM32F103/stm32_serial.c index 148453b48..fbb1775c9 100644 --- a/ports/ARMCM3-STM32F103/stm32_serial.c +++ b/ports/ARMCM3-STM32F103/stm32_serial.c @@ -1,198 +1,200 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2007 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 . -*/ - -#include - -#include "board.h" -#include "nvic.h" -#include "stm32_serial.h" -#include "stm32lib/stm32f10x_nvic.h" - -#ifdef USE_USART1 -FullDuplexDriver COM1; -static uint8_t ib1[SERIAL_BUFFERS_SIZE]; -static uint8_t ob1[SERIAL_BUFFERS_SIZE]; -#endif - -#ifdef USE_USART2 -FullDuplexDriver COM2; -static uint8_t ib2[SERIAL_BUFFERS_SIZE]; -static uint8_t ob2[SERIAL_BUFFERS_SIZE]; -#endif - -#ifdef USE_USART3 -FullDuplexDriver COM3; -static uint8_t ib3[SERIAL_BUFFERS_SIZE]; -static uint8_t ob3[SERIAL_BUFFERS_SIZE]; -#endif - -static void SetError(uint16_t sr, FullDuplexDriver *com) { - dflags_t sts = 0; - - if (sr & SR_ORE) - sts |= SD_OVERRUN_ERROR; - if (sr & SR_PE) - sts |= SD_PARITY_ERROR; - if (sr & SR_FE) - sts |= SD_FRAMING_ERROR; - if (sr & SR_LBD) - sts |= SD_BREAK_DETECTED; - chSysLock(); - chFDDAddFlagsI(com, sts); - chSysUnlock(); -} - -static void ServeInterrupt(USART_TypeDef *u, FullDuplexDriver *com) { - uint16_t sr = u->SR; - - if (sr & (SR_ORE | SR_FE | SR_PE | SR_LBD)) - SetError(sr, com); - if (sr & SR_RXNE) { - chSysLock(); - chFDDIncomingDataI(com, u->DR); - chSysUnlock(); - } - if (sr & SR_TXE) { - chSysLock(); - msg_t b = chFDDRequestDataI(com); - chSysUnlock(); - if (b < Q_OK) - u->CR1 &= ~CR1_TXEIE; - else - u->DR = b; - } -} - -#ifdef USE_USART1 -/* - * USART1 IRQ service routine. - */ -void VectorD4(void) { - - chSysIRQEnterI(); - ServeInterrupt(USART1, &COM1); - chSysIRQExitI(); -} - -/* - * Invoked by the high driver when one or more bytes are inserted in the - * output queue. - */ -static void OutNotify1(void) { - - USART1->CR1 |= CR1_TXEIE; -} -#endif - -#ifdef USE_USART2 -/* - * USART2 IRQ service routine. - */ -void VectorD8(void) { - - chSysIRQEnterI(); - ServeInterrupt(USART2, &COM2); - chSysIRQExitI(); -} - -/* - * Invoked by the high driver when one or more bytes are inserted in the - * output queue. - */ -static void OutNotify2(void) { - - USART2->CR1 |= CR1_TXEIE; -} -#endif - -#ifdef USE_USART3 -/* - * USART3 IRQ service routine. - */ -void VectorDC(void) { - - chSysIRQEnterI(); - ServeInterrupt(USART3, &COM3); - chSysIRQExitI(); -} - -/* - * Invoked by the high driver when one or more bytes are inserted in the - * output queue. - */ -static void OutNotify3(void) { - - USART3->CR1 |= CR1_TXEIE; -} -#endif - -/* - * USART setup, must be invoked with interrupts disabled. - * NOTE: Does not reset I/O queues. - */ -void SetUSARTI(USART_TypeDef *u, uint32_t speed, uint16_t cr1, - uint16_t cr2, uint16_t cr3) { - - /* - * Baud rate setting. - */ - if (u == USART1) - u->BRR = APB2CLK / speed; - else - u->BRR = APB1CLK / speed; - - /* - * Note that some bits are enforced. - */ - u->CR1 = cr1 | CR1_UE | CR1_PEIE | CR1_RXNEIE | CR1_TE | CR1_RE; - u->CR2 = cr2; - u->CR3 = cr3 | CR3_EIE; -} - -/* - * Serial subsystem initialization. - * NOTE: Handshake pins are not switched to their function because they may have - * another use. Enable them externally if needed. - */ -void InitSerial(uint32_t prio1, uint32_t prio2, uint32_t prio3) { - -#ifdef USE_USART1 - chFDDInit(&COM1, ib1, sizeof ib1, NULL, ob1, sizeof ob1, OutNotify1); - RCC->APB2ENR |= 0x00004000; - SetUSARTI(USART1, 38400, 0, CR2_STOP1_BITS | CR2_LINEN, 0); - GPIOA->CRH = (GPIOA->CRH & 0xFFFFF00F) | 0x000004B0; - NVICEnableVector(USART1_IRQChannel, prio1); -#endif - -#ifdef USE_USART2 - chFDDInit(&COM2, ib2, sizeof ib2, NULL, ob2, sizeof ob2, OutNotify2); - RCC->APB1ENR |= 0x00020000; - SetUSARTI(USART2, 38400, 0, CR2_STOP1_BITS | CR2_LINEN, 0); - GPIOA->CRL = (GPIOA->CRL & 0xFFFF00FF) | 0x00004B00; - NVICEnableVector(USART2_IRQChannel, prio2); -#endif - -#ifdef USE_USART3 - chFDDInit(&COM3, ib3, sizeof ib3, NULL, ob3, sizeof ob3, OutNotify3); - RCC->APB1ENR |= 0x00040000; - SetUSARTI(USART3, 38400, 0, CR2_STOP1_BITS | CR2_LINEN, 0); - GPIOB->CRH = (GPIOB->CRH & 0xFFFF00FF) | 0x00004B00; - NVICEnableVector(USART3_IRQChannel, prio3); -#endif -} +/* + ChibiOS/RT - Copyright (C) 2006-2007 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 . +*/ + +#include + +#include "board.h" +#include "nvic.h" +#include "stm32_serial.h" +#include "stm32lib/stm32f10x_nvic.h" + +#define USART_BITRATE (38400) + +#ifdef USE_USART1 +FullDuplexDriver COM1; +static uint8_t ib1[SERIAL_BUFFERS_SIZE]; +static uint8_t ob1[SERIAL_BUFFERS_SIZE]; +#endif + +#ifdef USE_USART2 +FullDuplexDriver COM2; +static uint8_t ib2[SERIAL_BUFFERS_SIZE]; +static uint8_t ob2[SERIAL_BUFFERS_SIZE]; +#endif + +#ifdef USE_USART3 +FullDuplexDriver COM3; +static uint8_t ib3[SERIAL_BUFFERS_SIZE]; +static uint8_t ob3[SERIAL_BUFFERS_SIZE]; +#endif + +static void SetError(uint16_t sr, FullDuplexDriver *com) { + dflags_t sts = 0; + + if (sr & SR_ORE) + sts |= SD_OVERRUN_ERROR; + if (sr & SR_PE) + sts |= SD_PARITY_ERROR; + if (sr & SR_FE) + sts |= SD_FRAMING_ERROR; + if (sr & SR_LBD) + sts |= SD_BREAK_DETECTED; + chSysLock(); + chFDDAddFlagsI(com, sts); + chSysUnlock(); +} + +static void ServeInterrupt(USART_TypeDef *u, FullDuplexDriver *com) { + uint16_t sr = u->SR; + + if (sr & (SR_ORE | SR_FE | SR_PE | SR_LBD)) + SetError(sr, com); + if (sr & SR_RXNE) { + chSysLock(); + chFDDIncomingDataI(com, u->DR); + chSysUnlock(); + } + if (sr & SR_TXE) { + chSysLock(); + msg_t b = chFDDRequestDataI(com); + chSysUnlock(); + if (b < Q_OK) + u->CR1 &= ~CR1_TXEIE; + else + u->DR = b; + } +} + +#ifdef USE_USART1 +/* + * USART1 IRQ service routine. + */ +void VectorD4(void) { + + chSysIRQEnterI(); + ServeInterrupt(USART1, &COM1); + chSysIRQExitI(); +} + +/* + * Invoked by the high driver when one or more bytes are inserted in the + * output queue. + */ +static void OutNotify1(void) { + + USART1->CR1 |= CR1_TXEIE; +} +#endif + +#ifdef USE_USART2 +/* + * USART2 IRQ service routine. + */ +void VectorD8(void) { + + chSysIRQEnterI(); + ServeInterrupt(USART2, &COM2); + chSysIRQExitI(); +} + +/* + * Invoked by the high driver when one or more bytes are inserted in the + * output queue. + */ +static void OutNotify2(void) { + + USART2->CR1 |= CR1_TXEIE; +} +#endif + +#ifdef USE_USART3 +/* + * USART3 IRQ service routine. + */ +void VectorDC(void) { + + chSysIRQEnterI(); + ServeInterrupt(USART3, &COM3); + chSysIRQExitI(); +} + +/* + * Invoked by the high driver when one or more bytes are inserted in the + * output queue. + */ +static void OutNotify3(void) { + + USART3->CR1 |= CR1_TXEIE; +} +#endif + +/* + * USART setup, must be invoked with interrupts disabled. + * NOTE: Does not reset I/O queues. + */ +void SetUSARTI(USART_TypeDef *u, uint32_t speed, uint16_t cr1, + uint16_t cr2, uint16_t cr3) { + + /* + * Baud rate setting. + */ + if (u == USART1) + u->BRR = APB2CLK / speed; + else + u->BRR = APB1CLK / speed; + + /* + * Note that some bits are enforced. + */ + u->CR1 = cr1 | CR1_UE | CR1_PEIE | CR1_RXNEIE | CR1_TE | CR1_RE; + u->CR2 = cr2; + u->CR3 = cr3 | CR3_EIE; +} + +/* + * Serial subsystem initialization. + * NOTE: Handshake pins are not switched to their function because they may have + * another use. Enable them externally if needed. + */ +void InitSerial(uint32_t prio1, uint32_t prio2, uint32_t prio3) { + +#ifdef USE_USART1 + chFDDInit(&COM1, ib1, sizeof ib1, NULL, ob1, sizeof ob1, OutNotify1); + RCC->APB2ENR |= 0x00004000; + SetUSARTI(USART1, USART_BITRATE, 0, CR2_STOP1_BITS | CR2_LINEN, 0); + GPIOA->CRH = (GPIOA->CRH & 0xFFFFF00F) | 0x000004B0; + NVICEnableVector(USART1_IRQChannel, prio1); +#endif + +#ifdef USE_USART2 + chFDDInit(&COM2, ib2, sizeof ib2, NULL, ob2, sizeof ob2, OutNotify2); + RCC->APB1ENR |= 0x00020000; + SetUSARTI(USART2, USART_BITRATE, 0, CR2_STOP1_BITS | CR2_LINEN, 0); + GPIOA->CRL = (GPIOA->CRL & 0xFFFF00FF) | 0x00004B00; + NVICEnableVector(USART2_IRQChannel, prio2); +#endif + +#ifdef USE_USART3 + chFDDInit(&COM3, ib3, sizeof ib3, NULL, ob3, sizeof ob3, OutNotify3); + RCC->APB1ENR |= 0x00040000; + SetUSARTI(USART3, USART_BITRATE, 0, CR2_STOP1_BITS | CR2_LINEN, 0); + GPIOB->CRH = (GPIOB->CRH & 0xFFFF00FF) | 0x00004B00; + NVICEnableVector(USART3_IRQChannel, prio3); +#endif +} diff --git a/ports/ARMCM3/chcore.c b/ports/ARMCM3/chcore.c index 8c4c74315..aac58f9e6 100644 --- a/ports/ARMCM3/chcore.c +++ b/ports/ARMCM3/chcore.c @@ -1,152 +1,167 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2007 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 . -*/ - -#include -#include - -/* - * System idle thread loop. - */ -__attribute__((weak)) -void _IdleThread(void *p) { - - while (TRUE) { -// asm volatile ("wfi"); - } -} - -/* - * System console message (not implemented). - */ -__attribute__((weak)) -void chSysPuts(char *msg) { -} - -/* - * System halt. - */ -__attribute__((naked, weak)) -void chSysHalt(void) { - - asm volatile ("cpsid i"); - while (TRUE) { - } -} - -__attribute__((naked, weak)) -void threadstart(void) { - - asm volatile ( \ - "blx r1 \n\t" \ - "bl chThdExit \n\t" \ - "bl chSysHalt \n\t" \ - ); -} - -/* - * System Timer vector. - */ -void SysTickVector(void) { - - chSysIRQEnterI(); - chSysLock(); - - chSysTimerHandlerI(); - - chSysUnlock(); - chSysIRQExitI(); -} - -void *retaddr; - -/* - * System invoked context switch. - */ -__attribute__((naked)) -void SVCallVector(Thread *otp, Thread *ntp) { - -#ifdef CH_CURRP_REGISTER_CACHE - asm volatile ("mrs r3, BASEPRI \n\t" \ - "mrs r12, PSP \n\t" \ - "stmdb r12!, {r3-r6,r8-r11, lr} \n\t" \ - "str r12, [r0, #16] \n\t" \ - "ldr r12, [r1, #16] \n\t" \ - "ldmia r12!, {r3-r6,r8-r11, lr} \n\t" \ - "msr PSP, r12 \n\t" \ - "msr BASEPRI, r3 \n\t" \ - "bx lr "); -#else - asm volatile ("mrs r3, BASEPRI \n\t" \ - "mrs r12, PSP \n\t" \ - "stmdb r12!, {r3-r11, lr} \n\t" \ - "str r12, [r0, #16] \n\t" \ - "ldr r12, [r1, #16] \n\t" \ - "ldmia r12!, {r3-r11, lr} \n\t" \ - "msr PSP, r12 \n\t" \ - "msr BASEPRI, r3 \n\t" \ - "bx lr "); -#endif -} - -/* - * Preemption invoked context switch. - */ -__attribute__((naked)) -void PendSVVector(void) { - Thread *otp; - register struct intctx *sp_thd asm("r12"); - - chSysLock(); - asm volatile ("push {lr}"); - if (!chSchRescRequiredI()) { - chSysUnlock(); - asm volatile ("pop {pc}"); - } - - asm volatile ("pop {lr} \n\t" \ - "movs r3, #0 \n\t" \ - "mrs %0, PSP" : "=r" (sp_thd) : ); -#ifdef CH_CURRP_REGISTER_CACHE - asm volatile ("stmdb %0!, {r3-r6,r8-r11, lr}" : - "=r" (sp_thd) : - "r" (sp_thd)); -#else - asm volatile ("stmdb %0!, {r3-r11,lr}" : - "=r" (sp_thd) : - "r" (sp_thd)); -#endif - - (otp = currp)->p_ctx.r13 = sp_thd; - chSchReadyI(otp); - (currp = fifo_remove(&rlist.r_queue))->p_state = PRCURR; - rlist.r_preempt = CH_TIME_QUANTUM; -#ifdef CH_USE_TRACE - chDbgTrace(otp, currp); -#endif - sp_thd = currp->p_ctx.r13; - -#ifdef CH_CURRP_REGISTER_CACHE - asm volatile ("ldmia %0!, {r3-r6,r8-r11, lr}" : : "r" (sp_thd)); -#else - asm volatile ("ldmia %0!, {r3-r11, lr}" : : "r" (sp_thd)); -#endif - asm volatile ("msr PSP, %0 \n\t" \ - "msr BASEPRI, r3 \n\t" \ - "bx lr" : : "r" (sp_thd)); -} +/* + ChibiOS/RT - Copyright (C) 2006-2007 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 . +*/ + +#include +#include + +/* + * System idle thread loop. + */ +__attribute__((weak)) +void _IdleThread(void *p) { + + while (TRUE) { +// asm volatile ("wfi"); + } +} + +/* + * System console message (not implemented). + */ +__attribute__((weak)) +void chSysPuts(char *msg) { +} + +/* + * System halt. + */ +__attribute__((naked, weak)) +void chSysHalt(void) { + + asm volatile ("cpsid i"); + while (TRUE) { + } +} + +/* + * Start a thread by invoking its work function. + * + * Start a thread by calling its work function. If the work function returns, + * call chThdExit and chSysHalt. + */ +__attribute__((naked, weak)) +void threadstart(void) { + + asm volatile ( \ + "blx r1 \n\t" \ + "bl chThdExit \n\t" \ + "bl chSysHalt \n\t" \ + ); +} + +/* + * System Timer vector. + */ +void SysTickVector(void) { + + chSysIRQEnterI(); + chSysLock(); + + chSysTimerHandlerI(); + + chSysUnlock(); + chSysIRQExitI(); +} + +void *retaddr; + +/* + * System invoked context switch. + */ +__attribute__((naked)) +void SVCallVector(Thread *otp, Thread *ntp) { + /* { r0 = otp, r1 = ntp } */ + /* get the BASEPRI in r3 */ + /* get the PSP in r12 */ + /* push the registers on the PSP stack */ + /* stores the modified PSP into the thread context */ + /* fetches the PSP position from the new thread context */ + /* pop the registers from the PSP stack */ + /* set the PSP from r12 */ + /* set the BASEPRI from R3 */ +#ifdef CH_CURRP_REGISTER_CACHE + asm volatile ("mrs r3, BASEPRI \n\t" \ + "mrs r12, PSP \n\t" \ + "stmdb r12!, {r3-r6,r8-r11, lr} \n\t" \ + "str r12, [r0, #16] \n\t" \ + "ldr r12, [r1, #16] \n\t" \ + "ldmia r12!, {r3-r6,r8-r11, lr} \n\t" \ + "msr PSP, r12 \n\t" \ + "msr BASEPRI, r3 \n\t" \ + "bx lr "); +#else + asm volatile ("mrs r3, BASEPRI \n\t" \ + "mrs r12, PSP \n\t" \ + "stmdb r12!, {r3-r11, lr} \n\t" \ + "str r12, [r0, #16] \n\t" \ + "ldr r12, [r1, #16] \n\t" \ + "ldmia r12!, {r3-r11, lr} \n\t" \ + "msr PSP, r12 \n\t" \ + "msr BASEPRI, r3 \n\t" \ + "bx lr "); +#endif +} + +/* + * Preemption invoked context switch. + */ +__attribute__((naked)) +void PendSVVector(void) { + Thread *otp; + register struct intctx *sp_thd asm("r12"); + + chSysLock(); + asm volatile ("push {lr}"); + if (!chSchRescRequiredI()) { + chSysUnlock(); + asm volatile ("pop {pc}"); + } + + asm volatile ("pop {lr} \n\t" \ + "movs r3, #0 \n\t" \ + "mrs %0, PSP" : "=r" (sp_thd) : ); +#ifdef CH_CURRP_REGISTER_CACHE + asm volatile ("stmdb %0!, {r3-r6,r8-r11, lr}" : + "=r" (sp_thd) : + "r" (sp_thd)); +#else + asm volatile ("stmdb %0!, {r3-r11,lr}" : + "=r" (sp_thd) : + "r" (sp_thd)); +#endif + + (otp = currp)->p_ctx.r13 = sp_thd; + chSchReadyI(otp); + (currp = fifo_remove(&rlist.r_queue))->p_state = PRCURR; + /* set the round-robin time quantum */ + rlist.r_preempt = CH_TIME_QUANTUM; +#ifdef CH_USE_TRACE + chDbgTrace(otp, currp); +#endif + sp_thd = currp->p_ctx.r13; + +#ifdef CH_CURRP_REGISTER_CACHE + asm volatile ("ldmia %0!, {r3-r6,r8-r11, lr}" : : "r" (sp_thd)); +#else + asm volatile ("ldmia %0!, {r3-r11, lr}" : : "r" (sp_thd)); +#endif + asm volatile ("msr PSP, %0 \n\t" \ + "msr BASEPRI, r3 \n\t" \ + "bx lr" : : "r" (sp_thd)); +} diff --git a/ports/ARMCM3/chcore.h b/ports/ARMCM3/chcore.h index 9a8f00bee..3136f0d36 100644 --- a/ports/ARMCM3/chcore.h +++ b/ports/ARMCM3/chcore.h @@ -1,120 +1,126 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2007 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 . -*/ - -#ifndef _CHCORE_H_ -#define _CHCORE_H_ - -#define CH_ARCHITECTURE_ARMCM3 - -typedef void *regarm; - -/* - * Interrupt saved context, empty in this architecture. - */ -struct extctx { -}; - -/* - * System saved context. - */ -struct intctx { - regarm basepri; - regarm r4; - regarm r5; - regarm r6; -#ifndef CH_CURRP_REGISTER_CACHE - regarm r7; -#endif - regarm r8; - regarm r9; - regarm r10; - regarm r11; - regarm lr_exc; - regarm r0; - regarm r1; - regarm r2; - regarm r3; - regarm r12; - regarm lr_thd; - regarm pc; - regarm xpsr; -}; - -/* - * Port dependent part of the Thread structure, you may add fields in - * this structure. - */ -typedef struct { - struct intctx *r13; -} Context; - -/* - * Platform dependent part of the \p chThdCreate() API. - */ -#define SETUP_CONTEXT(workspace, wsize, pf, arg) { \ - tp->p_ctx.r13 = (struct intctx *)((uint8_t *)workspace + \ - wsize - \ - sizeof(struct intctx)); \ - tp->p_ctx.r13->basepri = 0; \ - tp->p_ctx.r13->lr_exc = (regarm)0xFFFFFFFD; \ - tp->p_ctx.r13->r0 = arg; \ - tp->p_ctx.r13->r1 = pf; \ - tp->p_ctx.r13->pc = threadstart; \ - tp->p_ctx.r13->xpsr = (regarm)0x01000000; \ -} - -#define chSysLock() { \ - register uint32_t tmp asm ("r3"); \ - asm volatile ("movs %0, #0x10" : "=r" (tmp): ); \ - asm volatile ("msr BASEPRI, %0" : : "r" (tmp)); \ -} -#define chSysUnlock() { \ - register uint32_t tmp asm ("r3"); \ - asm volatile ("movs %0, #0" : "=r" (tmp): ); \ - asm volatile ("msr BASEPRI, %0" : : "r" (tmp)); \ -} -#define chSysSwitchI(otp, ntp) { \ - register Thread *_otp asm ("r0") = (otp); \ - register Thread *_ntp asm ("r1") = (ntp); \ - asm volatile ("svc #0" : : "r" (_otp), "r" (_ntp)); \ -} - -#define INT_REQUIRED_STACK 0 -#define StackAlign(n) ((((n) - 1) | 3) + 1) -#define UserStackSize(n) StackAlign(sizeof(Thread) + \ - sizeof(struct intctx) + \ - sizeof(struct extctx) + \ - (n) + \ - INT_REQUIRED_STACK) -#define WorkingArea(s, n) uint32_t s[UserStackSize(n) >> 2]; - -#define chSysIRQEnterI() -#define chSysIRQExitI() { \ - SCB_ICSR = ICSR_PENDSVSET; \ -} - -/* It should be 8.*/ -#define IDLE_THREAD_STACK_SIZE 0 -void _IdleThread(void *p) __attribute__((noreturn)); - -void chSysHalt(void); -void chSysPuts(char *msg); -void threadstart(void); - -#endif /* _CHCORE_H_ */ +/* + ChibiOS/RT - Copyright (C) 2006-2007 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 . +*/ + +#ifndef _CHCORE_H_ +#define _CHCORE_H_ + +#define CH_ARCHITECTURE_ARMCM3 + +typedef void *regarm; + +/* + * Interrupt saved context, empty in this architecture. + */ +struct extctx { +}; + +/* + * System saved context. + */ +struct intctx { + regarm basepri; + regarm r4; + regarm r5; + regarm r6; +#ifndef CH_CURRP_REGISTER_CACHE + regarm r7; +#endif + regarm r8; + regarm r9; + regarm r10; + regarm r11; + regarm lr_exc; + regarm r0; + regarm r1; + regarm r2; + regarm r3; + regarm r12; + regarm lr_thd; + regarm pc; + regarm xpsr; +}; + +/* + * Port dependent part of the Thread structure, you may add fields in + * this structure. + */ +typedef struct { + struct intctx *r13; +} Context; + +/* + * Platform dependent part of the \p chThdCreate() API. + * + * The top of the workspace is used for the intctx datastructure. + * + */ +#define SETUP_CONTEXT(workspace, wsize, pf, arg) { \ + tp->p_ctx.r13 = (struct intctx *)((uint8_t *)workspace + \ + wsize - \ + sizeof(struct intctx)); \ + tp->p_ctx.r13->basepri = 0; \ + tp->p_ctx.r13->lr_exc = (regarm)0xFFFFFFFD; \ + tp->p_ctx.r13->r0 = arg; \ + tp->p_ctx.r13->r1 = pf; \ + tp->p_ctx.r13->pc = threadstart; \ + tp->p_ctx.r13->xpsr = (regarm)0x01000000; \ +} + +#define chSysLock() { \ + register uint32_t tmp asm ("r3"); \ + asm volatile ("movs %0, #0x10" : "=r" (tmp): ); \ + asm volatile ("msr BASEPRI, %0" : : "r" (tmp)); \ +} +#define chSysUnlock() { \ + register uint32_t tmp asm ("r3"); \ + asm volatile ("movs %0, #0" : "=r" (tmp): ); \ + asm volatile ("msr BASEPRI, %0" : : "r" (tmp)); \ +} +#define chSysSwitchI(otp, ntp) { \ + register Thread *_otp asm ("r0") = (otp); \ + register Thread *_ntp asm ("r1") = (ntp); \ + asm volatile ("svc #0" : : "r" (_otp), "r" (_ntp)); \ +} + +#define INT_REQUIRED_STACK 0 +#define StackAlign(n) ((((n) - 1) | 3) + 1) +#define UserStackSize(n) StackAlign(sizeof(Thread) + \ + sizeof(struct intctx) + \ + sizeof(struct extctx) + \ + (n) + \ + INT_REQUIRED_STACK) +#define WorkingArea(s, n) uint32_t s[UserStackSize(n) >> 2]; + +/* called on each interrupt entry, currently nothing is done */ +#define chSysIRQEnterI() +/* called on each interrupt exit, pends a supervisor handler for + * execution after all higher priority interrupts; PendSVVector() */ +#define chSysIRQExitI() { \ + SCB_ICSR = ICSR_PENDSVSET; \ +} + +/* It should be 8.*/ +#define IDLE_THREAD_STACK_SIZE 0 +void _IdleThread(void *p) __attribute__((noreturn)); + +void chSysHalt(void); +void chSysPuts(char *msg); +void threadstart(void); + +#endif /* _CHCORE_H_ */ diff --git a/ports/ARMCM3/crt0.s b/ports/ARMCM3/crt0.s index 47a89c632..0f2f4667d 100644 --- a/ports/ARMCM3/crt0.s +++ b/ports/ARMCM3/crt0.s @@ -1,93 +1,94 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2007 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 . -*/ - -/* - * Generic ARM-CortexM3 startup file for ChibiOS/RT. - */ - -.set CONTROL_MODE_PRIVILEGED, 0 -.set CONTROL_MODE_UNPRIVILEGED, 1 -.set CONTROL_USE_MSP, 0 -.set CONTROL_USE_PSP, 2 - -.text -.balign 2 -.syntax unified -.thumb - -/* - * Reset handler. - */ -.thumb_func -.global ResetHandler -ResetHandler: - /* - * Stack pointers initialization. - */ - ldr r0, =__ram_end__ - ldr r1, =__main_stack_size__ - sub r0, r0, r1 - msr PSP, r0 -// ldr r1, =__process_stack_size__ -// sub r0, r0, r1 - /* - * Data initialization. - * NOTE: It assumes that the DATA size is a multiple of 4. - */ - ldr r1, =_textdata - ldr r2, =_data - ldr r3, =_edata -dloop: - cmp r2, r3 - ittt lo - ldrlo r0, [r1], #4 - strlo r0, [r2], #4 - blo dloop - /* - * BSS initialization. - * NOTE: It assumes that the BSS size is a multiple of 4. - */ - movs r0, #0 - ldr r1, =_bss_start - ldr r2, =_bss_end -bloop: - cmp r1, r2 - itt lo - strlo r0, [r1], #4 - blo bloop - /* - * Switches to the Process Stack and disables the interrupts globally. - */ - movs r0, #CONTROL_MODE_PRIVILEGED | CONTROL_USE_PSP - msr CONTROL, r0 - isb - movs r0, #0x10 - msr BASEPRI, r0 - cpsie i - /* - * Application-provided HW initialization routine. - */ - bl hwinit - /* - * main(0, NULL). - */ - movs r0, #0 - mov r1, r0 - bl main - bl chSysHalt +/* + ChibiOS/RT - Copyright (C) 2006-2007 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 . +*/ + +/* + * Generic ARM-CortexM3 startup file for ChibiOS/RT. + */ + +.set CONTROL_MODE_PRIVILEGED, 0 +.set CONTROL_MODE_UNPRIVILEGED, 1 +.set CONTROL_USE_MSP, 0 +.set CONTROL_USE_PSP, 2 + +.text +.balign 2 +.syntax unified +.thumb + +/* + * Reset handler. + */ +.thumb_func +.global ResetHandler +ResetHandler: + /* + * Stack pointers initialization. + */ + ldr r0, =__ram_end__ + ldr r1, =__main_stack_size__ + sub r0, r0, r1 + /* { r0 = main stack low address } */ + msr PSP, r0 +// ldr r1, =__process_stack_size__ +// sub r0, r0, r1 + /* + * Data initialization. + * NOTE: It assumes that the DATA size is a multiple of 4. + */ + ldr r1, =_textdata + ldr r2, =_data + ldr r3, =_edata +dloop: + cmp r2, r3 + ittt lo + ldrlo r0, [r1], #4 + strlo r0, [r2], #4 + blo dloop + /* + * BSS initialization. + * NOTE: It assumes that the BSS size is a multiple of 4. + */ + movs r0, #0 + ldr r1, =_bss_start + ldr r2, =_bss_end +bloop: + cmp r1, r2 + itt lo + strlo r0, [r1], #4 + blo bloop + /* + * Switches to the Process Stack and disables the interrupts globally. + */ + movs r0, #CONTROL_MODE_PRIVILEGED | CONTROL_USE_PSP + msr CONTROL, r0 + isb + movs r0, #0x10 + msr BASEPRI, r0 + cpsie i + /* + * Application-provided HW initialization routine. + */ + bl hwinit + /* + * main(0, NULL). + */ + movs r0, #0 + mov r1, r0 + bl main + bl chSysHalt diff --git a/readme.txt b/readme.txt index 8d5db6ccc..e6371dbee 100644 --- a/readme.txt +++ b/readme.txt @@ -74,6 +74,12 @@ Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process, *** Releases *** ***************************************************************************** +*** 0.6.8 *** +- FIX: Fixed a bug in the priority inheritance mechanism, the bug was only a + problems when the CH_USE_MESSAGES_PRIORITY was enabled, this option is + disabled by default in ChibiOS/RT so it should not affect any user. +- Merged the documentation fixes submitted by Leon Woestenberg (thank you). + *** 0.6.7 *** - NEW: New chThdCreateFast() API, it is a simplified form of chThdCreate() that allows even faster threads creation. The new API does not support diff --git a/src/chinit.c b/src/chinit.c index 5b2c0cd24..b8d36a6e5 100644 --- a/src/chinit.c +++ b/src/chinit.c @@ -1,81 +1,86 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2007 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 . -*/ - -/** - * @addtogroup Initialization - * @{ - */ - -#include - -/** - * ChibiOS/RT initialization. After executing this function the current - * instructions stream becomes the main thread. - * @note Interrupts should be still disabled when \p chSysInit() is invoked - * and are internally enabled. - * @note The main thread is created with priority \p NORMALPRIO. - */ -void chSysInit(void) { - static Thread mainthread; - static WorkingArea(waIdleThread, IDLE_THREAD_STACK_SIZE); - - chSchInit(); - chDbgInit(); -#ifdef CH_USE_VIRTUAL_TIMERS - chVTInit(); -#endif - /* - * Now this instructions flow becomes the main thread. - */ - init_thread(NORMALPRIO, 0, &mainthread); - mainthread.p_state = PRCURR; - currp = &mainthread; - - chSysUnlock(); - - /* - * The idle thread is created using the port-provided implementation. - * This thread has the lowest priority in the system, its role is just to - * serve interrupts in its context while keeping the lowest energy saving - * mode compatible with the system status. - */ - chThdCreateFast(IDLEPRIO, waIdleThread, - sizeof(waIdleThread), (tfunc_t)_IdleThread); -} - -/** - * Preemption routine, this function must be called into an interrupt - * handler invoked by a system timer. - * The frequency of the timer determines the system tick granularity and, - * together with the \p CH_TIME_QUANTUM macro, the round robin interval. - */ -void chSysTimerHandlerI(void) { - - if (rlist.r_preempt > 0) - rlist.r_preempt--; -#ifdef CH_USE_SYSTEMTIME - rlist.r_stime++; -#endif - -#ifdef CH_USE_VIRTUAL_TIMERS - chVTDoTickI(); -#endif -} - -/** @} */ +/* + ChibiOS/RT - Copyright (C) 2006-2007 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 . +*/ + +/** + * @addtogroup Initialization + * @{ + */ + +#include + +/** + * ChibiOS/RT initialization. After executing this function the current + * instructions stream becomes the main thread. + * @note Interrupts should be still disabled when \p chSysInit() is invoked + * and are internally enabled. + * @note The main thread is created with priority \p NORMALPRIO. + */ +void chSysInit(void) { + static Thread mainthread; + static WorkingArea(waIdleThread, IDLE_THREAD_STACK_SIZE); + + chSchInit(); + chDbgInit(); +#ifdef CH_USE_VIRTUAL_TIMERS + chVTInit(); +#endif + /* + * Now this instructions flow becomes the main thread. + */ + init_thread(NORMALPRIO, 0, &mainthread); + mainthread.p_state = PRCURR; + currp = &mainthread; + + chSysUnlock(); + + /* + * The idle thread is created using the port-provided implementation. + * This thread has the lowest priority in the system, its role is just to + * serve interrupts in its context while keeping the lowest energy saving + * mode compatible with the system status. + */ + chThdCreateFast(IDLEPRIO, waIdleThread, + sizeof(waIdleThread), (tfunc_t)_IdleThread); +} + +/** + * Handles time ticks for round robin preemption and timer increments. + * + * Decrements the remaining time quantum of the running thread and preempts + * it when the quantum is used up. Increments system time and manages the + * timers. + * + * @note The frequency of the timer determines the system tick granularity and, + * together with the \p CH_TIME_QUANTUM macro, the round robin interval. + */ +void chSysTimerHandlerI(void) { + /* running thread has not used up quantum yet? */ + if (rlist.r_preempt > 0) + /* decrement remaining quantum */ + rlist.r_preempt--; +#ifdef CH_USE_SYSTEMTIME + rlist.r_stime++; +#endif + +#ifdef CH_USE_VIRTUAL_TIMERS + chVTDoTickI(); +#endif +} + +/** @} */ diff --git a/src/chmtx.c b/src/chmtx.c index a6379836d..2e95afca6 100644 --- a/src/chmtx.c +++ b/src/chmtx.c @@ -1,243 +1,260 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2007 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 . -*/ - -/** - * @addtogroup Mutexes - * @{ - */ - -#include - -#ifdef CH_USE_MUTEXES - -/** - * Initializes s \p Mutex structure. - * @param mp pointer to a \p Mutex structure - */ -void chMtxInit(Mutex *mp) { - - fifo_init(&mp->m_queue); - mp->m_owner = NULL; -} - -/** - * Locks the specified mutex. - * @param mp pointer to the \p Mutex structure - */ -void chMtxLock(Mutex *mp) { - - chSysLock(); - - chMtxLockS(mp); - - chSysUnlock(); -} - -/** - * Locks the specified mutex. - * @param mp pointer to the \p Mutex structure - * @note This function must be called within a \p chSysLock() / \p chSysUnlock() - * block. - */ -void chMtxLockS(Mutex *mp) { - - if (mp->m_owner != NULL) { - /* - * Inheritance, explores the thread-mutex dependances adjusting - * the priority of all the affected threads. - */ - Thread *tp = mp->m_owner; - while (tp->p_prio < currp->p_prio) { - tp->p_prio = currp->p_prio; - /* - * The following states need priority queues reordering. - */ - switch (tp->p_state) { - case PRWTMTX: - prio_insert(dequeue(tp), &tp->p_wtmtxp->m_queue); - tp = tp->p_wtmtxp->m_owner; - continue; -#ifdef CH_USE_MESSAGES_PRIORITY - case PRSNDMSG: - if (tp->p_flags & P_MSGBYPRIO) - prio_insert(dequeue(tp), &tp->p_wtthdp->p_msgqueue); -#endif - case PRREADY: - chSchReadyI(dequeue(tp)); - } - break; - } - /* - * Goes to sleep on the mutex. - */ - prio_insert(currp, &mp->m_queue); - currp->p_wtmtxp = mp; - chSchGoSleepS(PRWTMTX); - chDbgAssert(mp->m_owner == NULL, "chmtx.c, chMtxLockS()"); - } - /* - * The mutex is now inserted in the owned mutexes list. - */ - mp->m_owner = currp; - mp->m_next = currp->p_mtxlist; - currp->p_mtxlist = mp; -} - -/** - * Tries to lock a mutex. This function does not have any overhead related to - * the priority inheritance mechanism because it does not try to enter a sleep - * state on the mutex. - * @param mp pointer to the \p Mutex structure - * @return \p TRUE if the mutex was successfully acquired else \p FALSE - */ -bool_t chMtxTryLock(Mutex *mp) { - bool_t b; - - chSysLock(); - - b = chMtxTryLockS(mp); - - chSysUnlock(); - return b; -} - -/** - * Tries to lock a mutex. This function does not have any overhead related to - * the priority inheritance mechanism because it does not try to enter a sleep - * state on the mutex. - * @param mp pointer to the \p Mutex structure - * @return \p TRUE if the mutex was successfully acquired else \p FALSE - * @note This function must be called within a \p chSysLock() / \p chSysUnlock() - * block. - */ -bool_t chMtxTryLockS(Mutex *mp) { - - if (mp->m_owner != NULL) - return FALSE; - mp->m_owner = currp; - mp->m_next = currp->p_mtxlist; - currp->p_mtxlist = mp; - return TRUE; -} - -/** - * Unlocks the next owned mutex in reverse lock order. - */ -void chMtxUnlock(void) { - Mutex *mp; - - chSysLock(); - - chDbgAssert((currp->p_mtxlist != NULL) && (currp->p_mtxlist->m_owner == currp), - "chmtx.c, chMtxUnlock()"); - - /* - * Removes the top Mutex from the owned mutexes list and marks it as not owned. - */ - mp = currp->p_mtxlist; - currp->p_mtxlist = mp->m_next; - mp->m_owner = NULL; - /* - * If a thread is waiting on the mutex then the hard part begins. - */ - if (chMtxQueueNotEmptyS(mp)) { - Thread *tp = fifo_remove(&mp->m_queue); - /* - * Recalculates the optimal thread priority by scanning the owned mutexes list. - */ - tprio_t newprio = currp->p_realprio; - mp = currp->p_mtxlist; - while (mp != NULL) { - if (chMtxQueueNotEmptyS(mp) && (mp->m_queue.p_next->p_prio > newprio)) - newprio = mp->m_queue.p_next->p_prio; - mp = mp->m_next; - } - currp->p_prio = newprio; - chSchWakeupS(tp, RDY_OK); - } - - chSysUnlock(); -} - -/** - * Unlocks the next owned mutex in reverse lock order. - * @note This function must be called within a \p chSysLock() / \p chSysUnlock() - * block. - * @note This function does not reschedule internally. - */ -void chMtxUnlockS(void) { - Mutex *mp; - - chDbgAssert((currp->p_mtxlist != NULL) && (currp->p_mtxlist->m_owner == currp), - "chmtx.c, chMtxUnlockS()"); - - /* - * Removes the top Mutex from the owned mutexes list and marks it as not owned. - */ - mp = currp->p_mtxlist; - currp->p_mtxlist = mp->m_next; - mp->m_owner = NULL; - /* - * If a thread is waiting on the mutex then the hard part begins. - */ - if (chMtxQueueNotEmptyS(mp)) { - Thread *tp = fifo_remove(&mp->m_queue); - /* - * Recalculates the optimal thread priority by scanning the owned mutexes list. - */ - tprio_t newprio = currp->p_realprio; - mp = currp->p_mtxlist; - while (mp != NULL) { - if (chMtxQueueNotEmptyS(mp) && (mp->m_queue.p_next->p_prio > newprio)) - newprio = mp->m_queue.p_next->p_prio; - mp = mp->m_next; - } - currp->p_prio = newprio; - chSchReadyI(tp); - } -} - -/** - * Unlocks all the mutexes owned by the invoking thread, this is MUCH MORE - * efficient than releasing the mutexes one by one and not just because the - * call overhead, this function does not have any overhead related to the - * priority inheritance mechanism. - */ -void chMtxUnlockAll(void) { - - chSysLock(); - - if (currp->p_mtxlist != NULL) { - do { - Mutex *mp = currp->p_mtxlist; - currp->p_mtxlist = mp->m_next; - mp->m_owner = NULL; - if (chMtxQueueNotEmptyS(mp)) - chSchReadyI(fifo_remove(&mp->m_queue)); - } while (currp->p_mtxlist != NULL); - currp->p_prio = currp->p_realprio; - chSchRescheduleS(); - } - - chSysUnlock(); -} - -#endif /* CH_USE_MUTEXES */ - -/** @} */ +/* + ChibiOS/RT - Copyright (C) 2006-2007 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 . +*/ + +/** + * @addtogroup Mutexes + * @{ + */ + +#include + +#ifdef CH_USE_MUTEXES + +/** + * Initializes s \p Mutex structure. + * @param mp pointer to a \p Mutex structure + */ +void chMtxInit(Mutex *mp) { + + fifo_init(&mp->m_queue); + mp->m_owner = NULL; +} + +/** + * Locks the specified mutex. + * @param mp pointer to the \p Mutex structure + */ +void chMtxLock(Mutex *mp) { + + chSysLock(); + + chMtxLockS(mp); + + chSysUnlock(); +} + +/** + * Locks the specified mutex. + * + * @param mp pointer to the \p Mutex structure + * @note This function must be called within a \p chSysLock() / \p chSysUnlock() + * block. + */ +void chMtxLockS(Mutex *mp) { + /* the mutex is already locked? */ + if (mp->m_owner != NULL) { + /* + * Priority inheritance protocol; explores the thread-mutex dependencies + * boosting the priority of all the affected threads to equal the priority + * of the running thread requesting the mutex. + */ + Thread *tp = mp->m_owner; + /* { tp is the thread currently owning the mutex } */ + /* the running thread has higher priority than tp? */ + while (tp->p_prio < currp->p_prio) { + /* make priority of thread tp match the running thread's priority */ + tp->p_prio = currp->p_prio; + /* + * The following states need priority queues reordering. + */ + switch (tp->p_state) { + /* thread tp is waiting on a mutex? */ + case PRWTMTX: + /* requeue tp with its new priority on the mutex wait queue */ + prio_insert(dequeue(tp), &tp->p_wtmtxp->m_queue); + /* boost the owner of this mutex if needed */ + tp = tp->p_wtmtxp->m_owner; + continue; +#ifdef CH_USE_MESSAGES_PRIORITY + case PRSNDMSG: + if (tp->p_flags & P_MSGBYPRIO) + /* requeue tp with its new priority on (?) */ + prio_insert(dequeue(tp), &tp->p_wtthdp->p_msgqueue); + break; +#endif + /* thread tp is ready? */ + case PRREADY: + /* requeue tp with its new priority on the ready list */ + chSchReadyI(dequeue(tp)); + } + break; + } + /* + * Goes to sleep on the mutex. + */ + prio_insert(currp, &mp->m_queue); + currp->p_wtmtxp = mp; + chSchGoSleepS(PRWTMTX); + chDbgAssert(mp->m_owner == NULL, "chmtx.c, chMtxLockS()"); + } + /* + * The mutex is now inserted in the owned mutexes list. + */ + mp->m_owner = currp; + mp->m_next = currp->p_mtxlist; + currp->p_mtxlist = mp; +} + +/** + * Tries to lock a mutex. This function does not have any overhead related to + * the priority inheritance mechanism because it does not try to enter a sleep + * state on the mutex. + * @param mp pointer to the \p Mutex structure + * @return \p TRUE if the mutex was successfully acquired else \p FALSE + */ +bool_t chMtxTryLock(Mutex *mp) { + bool_t b; + + chSysLock(); + + b = chMtxTryLockS(mp); + + chSysUnlock(); + return b; +} + +/** + * Tries to lock a mutex. This function does not have any overhead related to + * the priority inheritance mechanism because it does not try to enter a sleep + * state on the mutex. + * @param mp pointer to the \p Mutex structure + * @return \p TRUE if the mutex was successfully acquired else \p FALSE + * @note This function must be called within a \p chSysLock() / \p chSysUnlock() + * block. + */ +bool_t chMtxTryLockS(Mutex *mp) { + + if (mp->m_owner != NULL) + return FALSE; + mp->m_owner = currp; + mp->m_next = currp->p_mtxlist; + currp->p_mtxlist = mp; + return TRUE; +} + +/** + * Unlocks the next owned mutex in reverse lock order. + */ +void chMtxUnlock(void) { + Mutex *mp; + + chSysLock(); + + chDbgAssert((currp->p_mtxlist != NULL) && (currp->p_mtxlist->m_owner == currp), + "chmtx.c, chMtxUnlock()"); + + /* + * Removes the top Mutex from the owned mutexes list and marks it as not owned. + */ + mp = currp->p_mtxlist; + currp->p_mtxlist = mp->m_next; + mp->m_owner = NULL; + /* + * If a thread is waiting on the mutex then the hard part begins. + */ + if (chMtxQueueNotEmptyS(mp)) { + /* get the highest priority thread waiting for the unlocked mutex */ + Thread *tp = fifo_remove(&mp->m_queue); + /* + * Recalculates the optimal thread priority by scanning the owned mutexes list. + */ + tprio_t newprio = currp->p_realprio; + /* iterate mp over all the (other) mutexes the current thread still owns */ + mp = currp->p_mtxlist; + while (mp != NULL) { + /* mutex mp has a higher priority thread pending? */ + if (chMtxQueueNotEmptyS(mp) && (mp->m_queue.p_next->p_prio > newprio)) + /* boost current thread's priority to waiting thread */ + newprio = mp->m_queue.p_next->p_prio; + mp = mp->m_next; + } + /* (possibly) boost the priority of the current thread */ + currp->p_prio = newprio; + /* awaken the highest priority thread waiting for the unlocked mutex */ + chSchWakeupS(tp, RDY_OK); + } + chSysUnlock(); +} + +/** + * Unlocks the next owned mutex in reverse lock order. + * @note This function must be called within a \p chSysLock() / \p chSysUnlock() + * block. + * @note This function does not reschedule internally. + */ +void chMtxUnlockS(void) { + Mutex *mp; + + chDbgAssert((currp->p_mtxlist != NULL) && (currp->p_mtxlist->m_owner == currp), + "chmtx.c, chMtxUnlockS()"); + + /* + * Removes the top Mutex from the owned mutexes list and marks it as not owned. + */ + mp = currp->p_mtxlist; + currp->p_mtxlist = mp->m_next; + mp->m_owner = NULL; + /* + * If a thread is waiting on the mutex then the hard part begins. + */ + if (chMtxQueueNotEmptyS(mp)) { + Thread *tp = fifo_remove(&mp->m_queue); + /* + * Recalculates the optimal thread priority by scanning the owned mutexes list. + */ + tprio_t newprio = currp->p_realprio; + mp = currp->p_mtxlist; + while (mp != NULL) { + if (chMtxQueueNotEmptyS(mp) && (mp->m_queue.p_next->p_prio > newprio)) + newprio = mp->m_queue.p_next->p_prio; + mp = mp->m_next; + } + currp->p_prio = newprio; + chSchReadyI(tp); + } +} + +/** + * Unlocks all the mutexes owned by the invoking thread, this is MUCH MORE + * efficient than releasing the mutexes one by one and not just because the + * call overhead, this function does not have any overhead related to the + * priority inheritance mechanism. + */ +void chMtxUnlockAll(void) { + + chSysLock(); + + if (currp->p_mtxlist != NULL) { + do { + Mutex *mp = currp->p_mtxlist; + currp->p_mtxlist = mp->m_next; + mp->m_owner = NULL; + if (chMtxQueueNotEmptyS(mp)) + chSchReadyI(fifo_remove(&mp->m_queue)); + } while (currp->p_mtxlist != NULL); + currp->p_prio = currp->p_realprio; + chSchRescheduleS(); + } + + chSysUnlock(); +} + +#endif /* CH_USE_MUTEXES */ + +/** @} */ diff --git a/src/chschd.c b/src/chschd.c index 70c867535..6a82eb1d8 100644 --- a/src/chschd.c +++ b/src/chschd.c @@ -1,193 +1,215 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2007 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 . -*/ - -/** - * @addtogroup Scheduler - * @{ - */ - -#include - -/** @cond never */ -ReadyList rlist; -/** @endcond */ - -/** - * Scheduler initialization. - * @note Internally invoked by the \p chSysInit(). - */ -void chSchInit(void) { - - fifo_init(&rlist.r_queue); - rlist.r_prio = NOPRIO; - rlist.r_preempt = CH_TIME_QUANTUM; -#ifdef CH_USE_SYSTEMTIME - rlist.r_stime = 0; -#endif -} - -/** - * Inserts a thread in the Ready List. - * @param tp the Thread to be made ready - * @return the Thread pointer - * @note The function must be called in the system mutex zone. - * @note The function does not reschedule, the \p chSchRescheduleS() should - * be called soon after. - * @note The function is not meant to be used in the user code directly. - */ -#ifdef CH_OPTIMIZE_SPEED -/* NOTE: it is inlined in this module only.*/ -INLINE Thread *chSchReadyI(Thread *tp) { -#else -Thread *chSchReadyI(Thread *tp) { -#endif - Thread *cp; - - tp->p_state = PRREADY; - cp = rlist.r_queue.p_next; - while (cp->p_prio >= tp->p_prio) - cp = cp->p_next; - /* Insertion on p_prev.*/ - tp->p_prev = (tp->p_next = cp)->p_prev; - tp->p_prev->p_next = cp->p_prev = tp; - return tp; -} - -/** - * Puts the current thread to sleep into the specified state, the next highest - * priority thread becomes running. The threads states are described into - * \p threads.h - * @param newstate the new thread state - * @note The function must be called in the system mutex zone. - * @note The function is not meant to be used in the user code directly. - */ -void chSchGoSleepS(tstate_t newstate) { - Thread *otp; - - (otp = currp)->p_state = newstate; - (currp = fifo_remove(&rlist.r_queue))->p_state = PRCURR; - rlist.r_preempt = CH_TIME_QUANTUM; -#ifdef CH_USE_TRACE - chDbgTrace(otp, currp); -#endif - chSysSwitchI(otp, currp); -} - -#ifdef CH_USE_VIRTUAL_TIMERS -/* - * Timeout wakeup callback. - */ -static void wakeup(void *p) { - -#ifdef CH_USE_SEMAPHORES - if (((Thread *)p)->p_state == PRWTSEM) - chSemFastSignalI(((Thread *)p)->p_wtsemp); -#endif - chSchReadyI(p)->p_rdymsg = RDY_TIMEOUT; -} - -/** - * Puts the current thread to sleep into the specified state, the next highest - * priority thread becomes running. The thread is automatically awakened after - * the specified time elapsed. - * @param newstate the new thread state - * @param time the number of ticks before the operation timouts - * @return the wakeup message, it is \p RDY_TIMEOUT if a timeout occurs - * @note The function must be called in the system mutex zone. - * @note The function is not meant to be used in the user code directly. - */ -msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) { - VirtualTimer vt; - - chVTSetI(&vt, time, wakeup, currp); - chSchGoSleepS(newstate); - if (chVTIsArmedI(&vt)) - chVTResetI(&vt); - return currp->p_rdymsg; -} -#endif /* CH_USE_VIRTUAL_TIMERS */ - -/** - * Wakeups a thread, the thread is inserted into the ready list or made - * running directly depending on its relative priority compared to the current - * thread. - * @param ntp the Thread to be made ready - * @param msg message to the awakened thread - * @note The function must be called in the system mutex zone. - * @note The function is not meant to be used in the user code directly. - * @note It is equivalent to a \p chSchReadyI() followed by a - * \p chSchRescheduleS() but much more efficient. - */ -void chSchWakeupS(Thread *ntp, msg_t msg) { - - ntp->p_rdymsg = msg; - if (ntp->p_prio <= currp->p_prio) - chSchReadyI(ntp); - else { - Thread *otp = currp; - chSchReadyI(otp); - (currp = ntp)->p_state = PRCURR; - rlist.r_preempt = CH_TIME_QUANTUM; -#ifdef CH_USE_TRACE - chDbgTrace(otp, ntp); -#endif - chSysSwitchI(otp, ntp); - } -} - -/** - * Performs a reschedulation. It is meant to be called if - * \p chSchRescRequired() evaluates to \p TRUE. - */ -void chSchDoRescheduleI(void) { - Thread *otp = currp; - - chSchReadyI(otp); - (currp = fifo_remove(&rlist.r_queue))->p_state = PRCURR; - rlist.r_preempt = CH_TIME_QUANTUM; -#ifdef CH_USE_TRACE - chDbgTrace(otp, currp); -#endif - chSysSwitchI(otp, currp); -} - -/** - * If a thread with an higher priority than the current thread is in the - * ready list then it becomes running. - * @note The function must be called in the system mutex zone. - */ -void chSchRescheduleS(void) { - - if (firstprio(&rlist.r_queue) > currp->p_prio) - chSchDoRescheduleI(); -} - -/** - * Evaluates if a reschedulation is required. - * @return \p TRUE if there is a thread that should go in running state - * immediatly else \p FALSE. - */ -bool_t chSchRescRequiredI(void) { - tprio_t p1 = firstprio(&rlist.r_queue); - tprio_t p2 = currp->p_prio; - - return rlist.r_preempt ? p1 > p2 : p1 >= p2; -} - -/** @} */ +/* + ChibiOS/RT - Copyright (C) 2006-2007 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 . +*/ + +/** + * @addtogroup Scheduler + * @{ + */ + +#include + +/** @cond never */ +ReadyList rlist; +/** @endcond */ + +/** + * Scheduler initialization. + * @note Internally invoked by the \p chSysInit(). + */ +void chSchInit(void) { + + fifo_init(&rlist.r_queue); + rlist.r_prio = NOPRIO; + rlist.r_preempt = CH_TIME_QUANTUM; +#ifdef CH_USE_SYSTEMTIME + rlist.r_stime = 0; +#endif +} + +/** + * Inserts a thread in the Ready List. + * + * @param tp the Thread to be made ready + * @return the Thread pointer + * @note The function must be called in the system mutex zone. + * @note The function does not reschedule, the \p chSchRescheduleS() should + * be called soon after. + * @note The function is not meant to be used in the user code directly. + */ +#ifdef CH_OPTIMIZE_SPEED +/* NOTE: it is inlined in this module only.*/ +INLINE Thread *chSchReadyI(Thread *tp) { +#else +Thread *chSchReadyI(Thread *tp) { +#endif + Thread *cp; + + tp->p_state = PRREADY; + cp = rlist.r_queue.p_next; + while (cp->p_prio >= tp->p_prio) + cp = cp->p_next; + /* Insertion on p_prev.*/ + tp->p_prev = (tp->p_next = cp)->p_prev; + tp->p_prev->p_next = cp->p_prev = tp; + return tp; +} + +/** + * Puts the current thread to sleep into the specified state, the next highest + * priority thread becomes running. The threads states are described into + * \p threads.h + * @param newstate the new thread state + * @note The function must be called in the system mutex zone. + * @note The function is not meant to be used in the user code directly. + */ +void chSchGoSleepS(tstate_t newstate) { + Thread *otp; + + (otp = currp)->p_state = newstate; + (currp = fifo_remove(&rlist.r_queue))->p_state = PRCURR; + rlist.r_preempt = CH_TIME_QUANTUM; +#ifdef CH_USE_TRACE + chDbgTrace(otp, currp); +#endif + chSysSwitchI(otp, currp); +} + +#ifdef CH_USE_VIRTUAL_TIMERS +/* + * Timeout wakeup callback. + */ +static void wakeup(void *p) { + +#ifdef CH_USE_SEMAPHORES + if (((Thread *)p)->p_state == PRWTSEM) + chSemFastSignalI(((Thread *)p)->p_wtsemp); +#endif + chSchReadyI(p)->p_rdymsg = RDY_TIMEOUT; +} + +/** + * Put the current thread to sleep. + * + * Puts the current thread to sleep into the specified state. The next highest + * priority thread becomes running. The thread put to sleep is awakened after + * the specified time has elapsed. + * + * @param newstate the new thread state + * @param time the number of ticks before the operation timouts + * @return the wakeup message, it is \p RDY_TIMEOUT if a timeout occurs + * @note The function must be called in the system mutex zone. + * @note The function is not meant to be used in the user code directly. + */ +msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) { + VirtualTimer vt; + + chVTSetI(&vt, time, wakeup, currp); + chSchGoSleepS(newstate); + if (chVTIsArmedI(&vt)) + chVTResetI(&vt); + return currp->p_rdymsg; +} +#endif /* CH_USE_VIRTUAL_TIMERS */ + +/** + * Wakes up a thread. + * + * Wakes up a thread. The thread is inserted into the ready list or immediately + * made running depending on its relative priority compared to the current + * thread. + * @param ntp the Thread to be made ready + * @param msg message to the awakened thread + * @note The function must be called in the system mutex zone. + * @note The function is not meant to be used in the user code directly. + * @note It is equivalent to a \p chSchReadyI() followed by a + * \p chSchRescheduleS() but much more efficient. + */ +void chSchWakeupS(Thread *ntp, msg_t msg) { + ntp->p_rdymsg = msg; + /* the woken thread has equal or lower priority than the running thread? */ + if (ntp->p_prio <= currp->p_prio) + /* put the woken thread on the ready queue */ + chSchReadyI(ntp); + /* the woken thread has higher priority than the running thread */ + else { + /* put the running thread on the ready queue */ + Thread *otp = currp; + chSchReadyI(otp); + (currp = ntp)->p_state = PRCURR; + rlist.r_preempt = CH_TIME_QUANTUM; +#ifdef CH_USE_TRACE + chDbgTrace(otp, ntp); +#endif + /* switch the thread context */ + chSysSwitchI(otp, ntp); + } +} + +/** + * Switch to the first thread on the runnable queue. + * + * Intended to be called if \p chSchRescRequired() evaluates to \p TRUE. + */ +void chSchDoRescheduleI(void) { + /* put the running thread on the ready queue */ + Thread *otp = currp; + chSchReadyI(otp); + /* pick the first thread from the ready queue */ + (currp = fifo_remove(&rlist.r_queue))->p_state = PRCURR; + rlist.r_preempt = CH_TIME_QUANTUM; +#ifdef CH_USE_TRACE + chDbgTrace(otp, currp); +#endif + /* switch thread context */ + chSysSwitchI(otp, currp); +} + +/** + * Reschedule only if a higher priority thread is runnable. + * + * If a thread with a higher priority than the current thread is in the + * ready list then make the higher priority thread running. + * + * @note The function must be called in the system mutex zone. + */ +void chSchRescheduleS(void) { + /* first thread in the runnable queue has higher priority than the running + * thread? */ + if (firstprio(&rlist.r_queue) > currp->p_prio) + chSchDoRescheduleI(); +} + +/** + * Evaluates if rescheduling is required. + * + * @return \p TRUE if there is a thread that should go in running state + * immediately else \p FALSE. + */ +bool_t chSchRescRequiredI(void) { + tprio_t p1 = firstprio(&rlist.r_queue); + tprio_t p2 = currp->p_prio; + /* If the running thread has not reached its time quantum, reschedule only + * if the first thread on the ready queue has a higher priority. + * Otherwise, if the running thread has used up its time quantum, reschedule + * if the first thread on the ready queue has equal or higher priority. + */ + return rlist.r_preempt ? p1 > p2 : p1 >= p2; +} + +/** @} */ diff --git a/src/chthreads.c b/src/chthreads.c index e19e04acf..990b9bdba 100644 --- a/src/chthreads.c +++ b/src/chthreads.c @@ -1,282 +1,287 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2007 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 . -*/ - -/** - * @addtogroup Threads - * @{ - */ - -#include - -/* - * Initializes a thread structure. - */ -void init_thread(tprio_t prio, tmode_t mode, Thread *tp) { - static tid_t nextid = 0; - - tp->p_tid = nextid++; - tp->p_flags = mode; - tp->p_prio = prio; -#ifdef CH_USE_MUTEXES - tp->p_realprio = prio; - tp->p_mtxlist = NULL; -#endif -#ifdef CH_USE_WAITEXIT - list_init(&tp->p_waiting); -#endif -#ifdef CH_USE_MESSAGES - fifo_init(&tp->p_msgqueue); -#endif -#ifdef CH_USE_EVENTS - tp->p_epending = 0; -#endif -#ifdef CH_USE_EXIT_EVENT - chEvtInit(&tp->p_exitesource); -#endif -} - -#ifdef CH_USE_DEBUG -static void memfill(uint8_t *p, uint32_t n, uint8_t v) { - - while (n) - *p++ = v, n--; -} -#endif - -/** - * Creates a new thread. - * @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 mode the creation option flags for the thread. The following options - * can be OR'ed in this parameter:
- *
    - *
  • \p P_SUSPENDED, the thread is created in the - * \p PRSUSPENDED state and a subsequent call to - * \p chThdResume() will make it ready for - * execution.
    • - *
  • \p P_TERMINATED, this flag is usually set - * by the \p chThdTerminate() function and it is not - * normally used as parameter for this function. The - * result would be to create a thread with a termination - * request already pending.
    • - *
- * @param workspace pointer to a working area dedicated to the thread stack - * @param wsize size of the working area. - * @param pf the thread function. Returning from this function automatically - * terminates the thread. - * @param 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 - * returning from its main function. - */ -Thread *chThdCreate(tprio_t prio, tmode_t mode, void *workspace, - size_t wsize, tfunc_t pf, void *arg) { - Thread *tp = workspace; - - chDbgAssert((wsize >= UserStackSize(0)) && (prio <= HIGHPRIO) && - (workspace != NULL) && (pf != NULL), - "chthreads.c, chThdCreate()"); -#ifdef CH_USE_DEBUG - memfill(workspace, wsize, MEM_FILL_PATTERN); -#endif - SETUP_CONTEXT(workspace, wsize, pf, arg); - init_thread(prio, mode, tp); -#ifdef CH_USE_RESUME - if (tp->p_flags & P_SUSPENDED) - tp->p_state = PRSUSPENDED; - else { -#endif - chSysLock(); - chSchWakeupS(tp, RDY_OK); - chSysUnlock(); -#ifdef CH_USE_RESUME - } -#endif - return tp; -} - -/** - * Creates a new thread. - * @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. Returning from this function automatically - * terminates the thread. - * @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 - * returning from its main function. - */ -Thread *chThdCreateFast(tprio_t prio, void *workspace, - size_t wsize, tfunc_t pf) { - Thread *tp = workspace; - - chDbgAssert((wsize >= UserStackSize(0)) && (prio <= HIGHPRIO) && - (workspace != NULL) && (pf != NULL), - "chthreads.c, chThdCreateFast()"); -#ifdef CH_USE_DEBUG - memfill(workspace, wsize, MEM_FILL_PATTERN); -#endif - SETUP_CONTEXT(workspace, wsize, pf, NULL); - init_thread(prio, 0, tp); - chSysLock(); - chSchWakeupS(tp, RDY_OK); - chSysUnlock(); - return tp; -} - -/** - * Changes the thread priority, reschedules if necessary. - * @param newprio the new priority of the invoking thread - */ -void chThdSetPriority(tprio_t newprio) { - - chDbgAssert(newprio <= HIGHPRIO, "chthreads.c, chThdSetPriority()") - chSysLock(); - -#ifdef CH_USE_MUTEXES - if (currp->p_prio != currp->p_realprio) { - if (newprio > currp->p_prio) - currp->p_prio = newprio; - } - else - currp->p_prio = newprio; - currp->p_realprio = newprio; -#else - currp->p_prio = newprio; -#endif - chSchRescheduleS(); - - chSysUnlock(); -} - -#ifdef CH_USE_SUSPEND -/** - * Suspends the invoking thread. - * - * @param tpp pointer to a \p Thread pointer, the \p Thread pointer is set - * to point to the suspended process before it enters the - * \p PRSUSPENDED state, it is set to \p NULL after it is resumed. - * This allows to implement a "test and resume" on the variable - * into interrupt handlers. - * @note The function is available only if the \p CH_USE_SUSPEND - * option is enabled in \p chconf.h. - */ -void chThdSuspend(Thread **tpp) { - - chSysLock(); - - chDbgAssert(*tpp == NULL, "chthreads.c, chThdSuspend()"); - *tpp = currp; - chSchGoSleepS(PRSUSPENDED); - *tpp = NULL; - - chSysUnlock(); -} -#endif /* CH_USE_SUSPEND */ - -#ifdef CH_USE_RESUME -/** - * Resumes a thread created with the \p P_SUSPENDED option or suspended with - * \p chThdSuspend(). - * @param tp the pointer to the thread - * @note The function has no effect on threads in any other state than - * \p PRSUSPENDED. - * @note The function is available only if the \p CH_USE_RESUME - * option is enabled in \p chconf.h. - */ -void chThdResume(Thread *tp) { - - chSysLock(); - - if ((tp)->p_state == PRSUSPENDED) - chSchWakeupS(tp, RDY_OK); - - chSysUnlock(); -} -#endif - -#ifdef CH_USE_TERMINATE -/** - * Requests a thread termination. - * @param 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. - */ -void chThdTerminate(Thread *tp) { - - chSysLock(); - - tp->p_flags |= P_TERMINATE; - - chSysUnlock(); -} -#endif - -/** - * 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(). - */ -void chThdExit(msg_t msg) { - - chSysLock(); - - currp->p_exitcode = msg; -#ifdef CH_USE_WAITEXIT - while (notempty(&currp->p_waiting)) - chSchReadyI(list_remove(&currp->p_waiting)); -#endif -#ifdef CH_USE_EXIT_EVENT - chEvtSendI(&currp->p_exitesource); -#endif - chSchGoSleepS(PREXIT); -} - -#ifdef CH_USE_WAITEXIT -/** - * Blocks the execution of the invoking thread until the specified thread - * terminates then the exit code is returned. - * @param tp the pointer to the thread - * @return the exit code - * @note The function is available only if the \p CH_USE_WAITEXIT - * option is enabled in \p chconf.h. - */ -msg_t chThdWait(Thread *tp) { - msg_t msg; - - chSysLock(); - - if (tp->p_state != PREXIT) { - list_insert(currp, &tp->p_waiting); - chSchGoSleepS(PRWAIT); - } - msg = tp->p_exitcode; - - chSysUnlock(); - return msg; -} -#endif /* CH_USE_WAITEXIT */ - -/** @} */ +/* + ChibiOS/RT - Copyright (C) 2006-2007 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 . +*/ + +/** + * @addtogroup Threads + * @{ + */ + +#include + +/* + * Initializes a thread structure. + */ +void init_thread(tprio_t prio, tmode_t mode, Thread *tp) { + static tid_t nextid = 0; + + tp->p_tid = nextid++; + tp->p_flags = mode; + tp->p_prio = prio; +#ifdef CH_USE_MUTEXES + /* realprio is the thread's own, non-inherited, priority */ + tp->p_realprio = prio; + tp->p_mtxlist = NULL; +#endif +#ifdef CH_USE_WAITEXIT + list_init(&tp->p_waiting); +#endif +#ifdef CH_USE_MESSAGES + fifo_init(&tp->p_msgqueue); +#endif +#ifdef CH_USE_EVENTS + tp->p_epending = 0; +#endif +#ifdef CH_USE_EXIT_EVENT + chEvtInit(&tp->p_exitesource); +#endif +} + +#ifdef CH_USE_DEBUG +static void memfill(uint8_t *p, uint32_t n, uint8_t v) { + + while (n) + *p++ = v, n--; +} +#endif + +/** + * Creates a new thread. + * @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 mode the creation option flags for the thread. The following options + * can be OR'ed in this parameter:
+ *
    + *
  • \p P_SUSPENDED, the thread is created in the + * \p PRSUSPENDED state and a subsequent call to + * \p chThdResume() will make it ready for + * execution.
    • + *
  • \p P_TERMINATED, this flag is usually set + * by the \p chThdTerminate() function and it is not + * normally used as parameter for this function. The + * result would be to create a thread with a termination + * request already pending.
    • + *
+ * @param workspace pointer to a working area dedicated to the thread stack + * @param wsize size of the working area. + * @param pf the thread function. Returning from this function automatically + * terminates the thread. + * @param 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 + * returning from its main function. + */ +Thread *chThdCreate(tprio_t prio, tmode_t mode, void *workspace, + size_t wsize, tfunc_t pf, void *arg) { + /* thread structure is layed out in the lower part of the thread workspace */ + Thread *tp = workspace; + + chDbgAssert((wsize >= UserStackSize(0)) && (prio <= HIGHPRIO) && + (workspace != NULL) && (pf != NULL), + "chthreads.c, chThdCreate()"); +#ifdef CH_USE_DEBUG + memfill(workspace, wsize, MEM_FILL_PATTERN); +#endif + SETUP_CONTEXT(workspace, wsize, pf, arg); + init_thread(prio, mode, tp); +#ifdef CH_USE_RESUME + if (tp->p_flags & P_SUSPENDED) + tp->p_state = PRSUSPENDED; + else { +#endif + chSysLock(); + chSchWakeupS(tp, RDY_OK); + chSysUnlock(); +#ifdef CH_USE_RESUME + } +#endif + return tp; +} + +/** + * Creates a new thread. + * @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. Returning from this function automatically + * terminates the thread. + * @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 + * returning from its main function. + */ +Thread *chThdCreateFast(tprio_t prio, void *workspace, + size_t wsize, tfunc_t pf) { + Thread *tp = workspace; + + chDbgAssert((wsize >= UserStackSize(0)) && (prio <= HIGHPRIO) && + (workspace != NULL) && (pf != NULL), + "chthreads.c, chThdCreateFast()"); +#ifdef CH_USE_DEBUG + memfill(workspace, wsize, MEM_FILL_PATTERN); +#endif + SETUP_CONTEXT(workspace, wsize, pf, NULL); + init_thread(prio, 0, tp); + chSysLock(); + chSchWakeupS(tp, RDY_OK); + chSysUnlock(); + return tp; +} + +/** + * Changes the running thread priority, reschedules if necessary. + * + * @param newprio the new priority of the running thread + */ +void chThdSetPriority(tprio_t newprio) { + + chDbgAssert(newprio <= HIGHPRIO, "chthreads.c, chThdSetPriority()") + chSysLock(); + +#ifdef CH_USE_MUTEXES + if (currp->p_prio != currp->p_realprio) { + if (newprio > currp->p_prio) + currp->p_prio = newprio; + } + else + currp->p_prio = newprio; + currp->p_realprio = newprio; +#else + currp->p_prio = newprio; +#endif + chSchRescheduleS(); + + chSysUnlock(); +} + +#ifdef CH_USE_SUSPEND +/** + * Suspends the invoking thread. + * + * @param tpp pointer to a \p Thread pointer, the \p Thread pointer is set + * to point to the suspended process before it enters the + * \p PRSUSPENDED state, it is set to \p NULL after it is resumed. + * This allows to implement a "test and resume" on the variable + * into interrupt handlers. + * @note The function is available only if the \p CH_USE_SUSPEND + * option is enabled in \p chconf.h. + */ +void chThdSuspend(Thread **tpp) { + + chSysLock(); + + chDbgAssert(*tpp == NULL, "chthreads.c, chThdSuspend()"); + *tpp = currp; + chSchGoSleepS(PRSUSPENDED); + *tpp = NULL; + + chSysUnlock(); +} +#endif /* CH_USE_SUSPEND */ + +#ifdef CH_USE_RESUME +/** + * Resumes a thread created with the \p P_SUSPENDED option or suspended with + * \p chThdSuspend(). + * @param tp the pointer to the thread + * @note The function has no effect on threads in any other state than + * \p PRSUSPENDED. + * @note The function is available only if the \p CH_USE_RESUME + * option is enabled in \p chconf.h. + */ +void chThdResume(Thread *tp) { + + chSysLock(); + + if ((tp)->p_state == PRSUSPENDED) + chSchWakeupS(tp, RDY_OK); + + chSysUnlock(); +} +#endif + +#ifdef CH_USE_TERMINATE +/** + * Requests a thread termination. + * @param 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. + */ +void chThdTerminate(Thread *tp) { + + chSysLock(); + + tp->p_flags |= P_TERMINATE; + + chSysUnlock(); +} +#endif + +/** + * 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(). + */ +void chThdExit(msg_t msg) { + + chSysLock(); + + currp->p_exitcode = msg; +#ifdef CH_USE_WAITEXIT + while (notempty(&currp->p_waiting)) + chSchReadyI(list_remove(&currp->p_waiting)); +#endif +#ifdef CH_USE_EXIT_EVENT + chEvtSendI(&currp->p_exitesource); +#endif + chSchGoSleepS(PREXIT); +} + +#ifdef CH_USE_WAITEXIT +/** + * Blocks the execution of the invoking thread until the specified thread + * terminates then the exit code is returned. + * + * @param tp the pointer to the thread + * @return the exit code + * @note The function is available only if the \p CH_USE_WAITEXIT + * option is enabled in \p chconf.h. + */ +msg_t chThdWait(Thread *tp) { + msg_t msg; + + chSysLock(); + + if (tp->p_state != PREXIT) { + list_insert(currp, &tp->p_waiting); + chSchGoSleepS(PRWAIT); + } + msg = tp->p_exitcode; + + chSysUnlock(); + return msg; +} +#endif /* CH_USE_WAITEXIT */ + +/** @} */ diff --git a/src/include/queues.h b/src/include/queues.h index 5c480e8cf..0a373b5ea 100644 --- a/src/include/queues.h +++ b/src/include/queues.h @@ -1,184 +1,184 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2007 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 . -*/ - -/** - * @addtogroup IOQueues - * @{ - */ - -#ifndef _QUEUES_H_ -#define _QUEUES_H_ - -/** Queue notification callback type.*/ -typedef void (*qnotify_t)(void); - -/** Returned by the queue functions if the operation is successful.*/ -#define Q_OK RDY_OK -/** Returned by the queue functions if a timeout occurs.*/ -#define Q_TIMEOUT RDY_TIMEOUT -/** Returned by the queue functions if the queue is reset.*/ -#define Q_RESET RDY_RESET -/** Returned by the queue functions if the queue is empty.*/ -#define Q_EMPTY -3 -/** Returned by the queue functions if the queue is full.*/ -#define Q_FULL -4 - -#ifdef CH_USE_QUEUES -/** - * I/O queue structure, it is used by both Input and Output Queues, - * the difference is on how the semaphore is initialized. - */ -typedef struct { - /** Pointer to the queue buffer.*/ - uint8_t *q_buffer; - /** Pointer to the first location after the buffer.*/ - uint8_t *q_top; - /** Write pointer.*/ - uint8_t *q_wrptr; - /** Read pointer.*/ - uint8_t *q_rdptr; - /** Counter semaphore.*/ - Semaphore q_sem; - /** Data notification callback.*/ - qnotify_t q_notify; -} Queue; - -/** Returns the queue's buffer size.*/ -#define chQSize(q) \ - ((q)->q_top - (q)->q_buffer) - -/** Returns the used space if used on an Input Queue and the empty space if - * used on an Output Queue.*/ -#define chQSpace(q) \ - ((q)->q_sem.s_cnt) - -/** Evaluates to TRUE if the specified Input Queue is empty.*/ -#define chIQIsEmpty(q) \ - (chQSpace(q) <= 0) - -/** Evaluates to TRUE if the specified Input Queue is full.*/ -#define chIQIsFull(q) \ - (chQSpace(q) >= chQSize(q)) - -/** Evaluates to TRUE if the specified Output Queue is empty.*/ -#define chOQIsEmpty(q) \ - (chQSpace(q) >= chQSize(q)) - -/** Evaluates to TRUE if the specified Output Queue is full.*/ -#define chOQIsFull(q) \ - (chQSpace(q) <= 0) - -#ifdef __cplusplus -extern "C" { -#endif - /* - * Input Queues functions. An Input Queue is usually written into by an - * interrupt handler and read from a thread. - */ - void chIQInit(Queue *qp, uint8_t *buffer, size_t size, qnotify_t inotify); - void chIQReset(Queue *qp); - msg_t chIQPutI(Queue *qp, uint8_t b); - msg_t chIQGet(Queue *qp); - size_t chIQRead(Queue *qp, uint8_t *buffer, size_t n); -#ifdef CH_USE_QUEUES_TIMEOUT - msg_t chIQGetTimeout(Queue *qp, systime_t time); -#endif - - /* - * Output Queues functions. An Output Queue is usually written into by a - * thread and read from an interrupt handler. - */ - void chOQInit(Queue *queue, uint8_t *buffer, size_t size, qnotify_t onotify); - void chOQReset(Queue *queue); - void chOQPut(Queue *queue, uint8_t b); - msg_t chOQGetI(Queue *queue); - size_t chOQWrite(Queue *queue, uint8_t *buffer, size_t n); -#ifdef __cplusplus -} -#endif -#endif /* CH_USE_QUEUES */ - -#ifdef CH_USE_QUEUES_HALFDUPLEX -/** - * Half duplex queue structure. - */ -typedef struct { - /** Pointer to the queue buffer.*/ - uint8_t *hdq_buffer; - /** Pointer to the first location after the buffer.*/ - uint8_t *hdq_top; - /** Write pointer.*/ - uint8_t *hdq_wrptr; - /** Read pointer.*/ - uint8_t *hdq_rdptr; - /** Input counter semaphore.*/ - Semaphore hdq_isem; - /** Output counter semaphore.*/ - Semaphore hdq_osem; - /** Input data notification callback.*/ - qnotify_t hdq_inotify; - /** Output data notification callback.*/ - qnotify_t hdq_onotify; -} HalfDuplexQueue; - -/** Returns the queue's buffer size.*/ -#define chHDQSize(q) \ - ((q)->hdq_top - (q)->hdq_buffer) - -/** Returns the queue space when in transmission mode.*/ -#define chHDQEmptySpace(q) \ - ((q)->hdq_osem.s_cnt) - -/** Returns the number of the bytes in the queue when in receive mode.*/ -#define chHDQFilledSpace(q) \ - ((q)->hdq_isem.s_cnt) - -/** Evaluates to TRUE if the queue is in transmit mode.*/ -#define chHDQIsTransmitting(q) \ - (chHDQEmptySpace(q) < chHDQSize(q)) - -/** Evaluates to TRUE if the queue is in receive mode.*/ -#define chHDQIsReceiving(q) \ - (chHDQEmptySpaceQ(q) >= chHDQSize(q)) - -/** Evaluates to TRUE if the receive queue is full.*/ -#define chHDQIsFullReceive(q) \ - (chHDQFilledSpace(q) >= chHDQSize(q)) - -#ifdef __cplusplus -extern "C" { -#endif - void chHDQInit(HalfDuplexQueue *qp, uint8_t *buffer, size_t size, - qnotify_t inotify, qnotify_t onotify); - msg_t chHDQGetReceive(HalfDuplexQueue *qp); - void chHDQPutTransmit(HalfDuplexQueue *qp, uint8_t b); - msg_t chHDQGetTransmitI(HalfDuplexQueue *qp); - msg_t chHDQPutReceiveI(HalfDuplexQueue *qp, uint8_t b); -#ifdef CH_USE_QUEUES_TIMEOUT - msg_t chHDQGetReceiveTimeout(HalfDuplexQueue *qp, systime_t time); -#endif -#ifdef __cplusplus -} -#endif - -#endif /* CH_USE_QUEUES_HALFDUPLEX */ - -#endif /* _QUEUES_H_ */ - -/** @} */ +/* + ChibiOS/RT - Copyright (C) 2006-2007 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 . +*/ + +/** + * @addtogroup IOQueues + * @{ + */ + +#ifndef _QUEUES_H_ +#define _QUEUES_H_ + +/** Queue notification callback type. */ +typedef void (*qnotify_t)(void); + +/** Returned by the queue functions if the operation is successful. */ +#define Q_OK RDY_OK +/** Returned by the queue functions if a timeout occurs. */ +#define Q_TIMEOUT RDY_TIMEOUT +/** Returned by the queue functions if the queue is reset. */ +#define Q_RESET RDY_RESET +/** Returned by the queue functions if the queue is empty. */ +#define Q_EMPTY -3 +/** Returned by the queue functions if the queue is full. */ +#define Q_FULL -4 + +#ifdef CH_USE_QUEUES +/** + * I/O queue structure, it is used by both Input and Output Queues, + * the difference is on how the semaphore is initialized. + */ +typedef struct { + /** Pointer to the queue buffer. */ + uint8_t *q_buffer; + /** Pointer to the first location after the buffer. */ + uint8_t *q_top; + /** Write pointer. */ + uint8_t *q_wrptr; + /** Read pointer. */ + uint8_t *q_rdptr; + /** Counter semaphore. */ + Semaphore q_sem; + /** Data notification callback. */ + qnotify_t q_notify; +} Queue; + +/** Returns the queue's buffer size. */ +#define chQSize(q) \ + ((q)->q_top - (q)->q_buffer) + +/** Returns the used space if used on an Input Queue and the empty space if + * used on an Output Queue. */ +#define chQSpace(q) \ + ((q)->q_sem.s_cnt) + +/** Evaluates to TRUE if the specified Input Queue is empty. */ +#define chIQIsEmpty(q) \ + (chQSpace(q) <= 0) + +/** Evaluates to TRUE if the specified Input Queue is full. */ +#define chIQIsFull(q) \ + (chQSpace(q) >= chQSize(q)) + +/** Evaluates to TRUE if the specified Output Queue is empty. */ +#define chOQIsEmpty(q) \ + (chQSpace(q) >= chQSize(q)) + +/** Evaluates to TRUE if the specified Output Queue is full. */ +#define chOQIsFull(q) \ + (chQSpace(q) <= 0) + +#ifdef __cplusplus +extern "C" { +#endif + /* + * Input Queues functions. An Input Queue is usually written into by an + * interrupt handler and read from a thread. + */ + void chIQInit(Queue *qp, uint8_t *buffer, size_t size, qnotify_t inotify); + void chIQReset(Queue *qp); + msg_t chIQPutI(Queue *qp, uint8_t b); + msg_t chIQGet(Queue *qp); + size_t chIQRead(Queue *qp, uint8_t *buffer, size_t n); +#ifdef CH_USE_QUEUES_TIMEOUT + msg_t chIQGetTimeout(Queue *qp, systime_t time); +#endif + + /* + * Output Queues functions. An Output Queue is usually written into by a + * thread and read from an interrupt handler. + */ + void chOQInit(Queue *queue, uint8_t *buffer, size_t size, qnotify_t onotify); + void chOQReset(Queue *queue); + void chOQPut(Queue *queue, uint8_t b); + msg_t chOQGetI(Queue *queue); + size_t chOQWrite(Queue *queue, uint8_t *buffer, size_t n); +#ifdef __cplusplus +} +#endif +#endif /* CH_USE_QUEUES */ + +#ifdef CH_USE_QUEUES_HALFDUPLEX +/** + * Half duplex queue structure. + */ +typedef struct { + /** Pointer to the queue buffer. */ + uint8_t *hdq_buffer; + /** Pointer to the first location after the buffer. */ + uint8_t *hdq_top; + /** Write pointer.*/ + uint8_t *hdq_wrptr; + /** Read pointer.*/ + uint8_t *hdq_rdptr; + /** Input counter semaphore. */ + Semaphore hdq_isem; + /** Output counter semaphore. */ + Semaphore hdq_osem; + /** Input data notification callback. */ + qnotify_t hdq_inotify; + /** Output data notification callback. */ + qnotify_t hdq_onotify; +} HalfDuplexQueue; + +/** Returns the queue's buffer size. */ +#define chHDQSize(q) \ + ((q)->hdq_top - (q)->hdq_buffer) + +/** Returns the queue space when in transmission mode. */ +#define chHDQEmptySpace(q) \ + ((q)->hdq_osem.s_cnt) + +/** Returns the number of the bytes in the queue when in receive mode. */ +#define chHDQFilledSpace(q) \ + ((q)->hdq_isem.s_cnt) + +/** Evaluates to TRUE if the queue is in transmit mode. */ +#define chHDQIsTransmitting(q) \ + (chHDQEmptySpace(q) < chHDQSize(q)) + +/** Evaluates to TRUE if the queue is in receive mode. */ +#define chHDQIsReceiving(q) \ + (chHDQEmptySpaceQ(q) >= chHDQSize(q)) + +/** Evaluates to TRUE if the receive queue is full. */ +#define chHDQIsFullReceive(q) \ + (chHDQFilledSpace(q) >= chHDQSize(q)) + +#ifdef __cplusplus +extern "C" { +#endif + void chHDQInit(HalfDuplexQueue *qp, uint8_t *buffer, size_t size, + qnotify_t inotify, qnotify_t onotify); + msg_t chHDQGetReceive(HalfDuplexQueue *qp); + void chHDQPutTransmit(HalfDuplexQueue *qp, uint8_t b); + msg_t chHDQGetTransmitI(HalfDuplexQueue *qp); + msg_t chHDQPutReceiveI(HalfDuplexQueue *qp, uint8_t b); +#ifdef CH_USE_QUEUES_TIMEOUT + msg_t chHDQGetReceiveTimeout(HalfDuplexQueue *qp, systime_t time); +#endif +#ifdef __cplusplus +} +#endif + +#endif /* CH_USE_QUEUES_HALFDUPLEX */ + +#endif /* _QUEUES_H_ */ + +/** @} */ diff --git a/src/include/scheduler.h b/src/include/scheduler.h index 0235a7c97..3a6486efe 100644 --- a/src/include/scheduler.h +++ b/src/include/scheduler.h @@ -1,80 +1,82 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2007 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 . -*/ - -/** - * @addtogroup Scheduler - * @{ - */ - -#ifndef _SCHEDULER_H_ -#define _SCHEDULER_H_ - -/** Normal \p chSchReadyI() message.*/ -#define RDY_OK 0 -/** Returned if the thread was made ready because a timeout.*/ -#define RDY_TIMEOUT -1 -/** Returned if the thread was made ready because a reset.*/ -#define RDY_RESET -2 - -#define firstprio(rlp) ((rlp)->p_next->p_prio) - -/** - * Ready list header. - */ -typedef struct { - ThreadsQueue r_queue; - tprio_t r_prio; - cnt_t r_preempt; -#ifndef CH_CURRP_REGISTER_CACHE - Thread *r_current; -#endif -#ifdef CH_USE_SYSTEMTIME - volatile systime_t r_stime; -#endif -} ReadyList; - -extern ReadyList rlist; - -/* - * Scheduler APIs. - */ -#ifdef __cplusplus -extern "C" { -#endif - void chSchInit(void); - Thread *chSchReadyI(Thread *tp); - void chSchGoSleepS(tstate_t newstate); - msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time); - void chSchWakeupS(Thread *tp, msg_t msg); - void chSchDoRescheduleI(void); - void chSchRescheduleS(void); - bool_t chSchRescRequiredI(void); -#ifdef __cplusplus -} -#endif - -#ifdef CH_CURRP_REGISTER_CACHE -register Thread *currp asm(CH_CURRP_REGISTER_CACHE); -#else -#define currp rlist.r_current -#endif - -#endif /* _SCHEDULER_H_ */ - -/** @} */ +/* + ChibiOS/RT - Copyright (C) 2006-2007 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 . +*/ + +/** + * @addtogroup Scheduler + * @{ + */ + +#ifndef _SCHEDULER_H_ +#define _SCHEDULER_H_ + +/** Normal \p chSchReadyI() message. */ +#define RDY_OK 0 +/** Returned when the thread was made ready because of a timeout. */ +#define RDY_TIMEOUT -1 +/** Returned when the thread was made ready because of a reset. */ +#define RDY_RESET -2 + +/** The priority of the first thread on the given ready list. */ +#define firstprio(rlp) ((rlp)->p_next->p_prio) + +/** + * Ready list header. + */ +typedef struct { + ThreadsQueue r_queue; + tprio_t r_prio; + cnt_t r_preempt; +#ifndef CH_CURRP_REGISTER_CACHE + /** the currently running thread */ + Thread *r_current; +#endif +#ifdef CH_USE_SYSTEMTIME + volatile systime_t r_stime; +#endif +} ReadyList; + +extern ReadyList rlist; + +/* + * Scheduler APIs. + */ +#ifdef __cplusplus +extern "C" { +#endif + void chSchInit(void); + Thread *chSchReadyI(Thread *tp); + void chSchGoSleepS(tstate_t newstate); + msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time); + void chSchWakeupS(Thread *tp, msg_t msg); + void chSchDoRescheduleI(void); + void chSchRescheduleS(void); + bool_t chSchRescRequiredI(void); +#ifdef __cplusplus +} +#endif + +#ifdef CH_CURRP_REGISTER_CACHE +register Thread *currp asm(CH_CURRP_REGISTER_CACHE); +#else +#define currp rlist.r_current +#endif + +#endif /* _SCHEDULER_H_ */ + +/** @} */ diff --git a/src/include/threads.h b/src/include/threads.h index 5bfd51423..b7b1a3e29 100644 --- a/src/include/threads.h +++ b/src/include/threads.h @@ -1,241 +1,242 @@ -/* - ChibiOS/RT - Copyright (C) 2006-2007 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 . -*/ - -/** - * @addtogroup Threads - * @{ - */ - -#ifndef _THREADS_H_ -#define _THREADS_H_ - -/** - * Structure representing a thread. - * @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 - * shrinking the \p Thread structure. - */ -struct Thread { - /** Next \p Thread in the threads list.*/ - Thread *p_next; - /* End of the fields shared with the ThreadsList structure. */ - /** Previous \p Thread in the threads list.*/ - Thread *p_prev; - /* End of the fields shared with the ThreadsQueue structure. */ - /** The thread priority.*/ - tprio_t p_prio; - /* End of the fields shared with the ReadyList structure. */ - /** Thread identifier. */ - tid_t p_tid; - /** Current thread state.*/ - tstate_t p_state; - /** Mode flags.*/ - tmode_t p_flags; - /** Machine dependent processor context.*/ - Context p_ctx; - /* - * The following fields are merged in unions because they are all - * state-specific fields. This trick saves some extra space for each - * thread in the system. - */ - union { - /** Thread wakeup code (only valid when exiting the \p PRREADY state).*/ - msg_t p_rdymsg; - /** The thread exit code (only while in \p PREXIT state).*/ - msg_t p_exitcode; -#ifdef CH_USE_SEMAPHORES - /** Semaphore where the thread is waiting on (only in \p PRWTSEM state).*/ - Semaphore *p_wtsemp; -#endif -#ifdef CH_USE_MUTEXES - /** Mutex where the thread is waiting on (only in \p PRWTMTX state).*/ - Mutex *p_wtmtxp; -#endif -#ifdef CH_USE_MESSAGES - /** Destination thread for message send (only in \p PRSNDMSG state).*/ - Thread *p_wtthdp; -#endif -#ifdef CH_USE_EVENTS - /** Enabled events mask (only while in \p PRWTEVENT state).*/ - eventmask_t p_ewmask; -#endif -#ifdef CH_USE_TRACE - /** Kernel object where the thread is waiting on. It is only valid when - the thread is some sleeping states.*/ - void *p_wtobjp; -#endif - }; - /* - * Start of the optional fields. - */ -#ifdef CH_USE_WAITEXIT - /** The list of the threads waiting for this thread termination.*/ - ThreadsList p_waiting; -#endif -#ifdef CH_USE_EXIT_EVENT - /** The thread termination \p EventSource.*/ - EventSource p_exitesource; -#endif -#ifdef CH_USE_MESSAGES - ThreadsQueue p_msgqueue; - msg_t p_msg; -#endif -#ifdef CH_USE_EVENTS - /** Pending events mask.*/ - eventmask_t p_epending; -#endif -#ifdef CH_USE_MUTEXES - /** Owner mutexes list, \p NULL terminated.*/ - Mutex *p_mtxlist; - tprio_t p_realprio; -#endif -}; - -/** Thread state: Thread in the ready list.*/ -#define PRREADY 0 -/** Thread state: Current.*/ -#define PRCURR 1 -/** Thread state: Thread created in suspended state.*/ -#define PRSUSPENDED 2 -/** Thread state: Waiting on a semaphore.*/ -#define PRWTSEM 3 -/** Thread state: Waiting on a mutex.*/ -#define PRWTMTX 4 -/** Thread state: Waiting in \p chThdSleep() or \p chThdSleepUntil().*/ -#define PRSLEEP 5 -/** Thread state: Waiting in \p chThdWait().*/ -#define PRWAIT 6 -/** Thread state: Waiting in \p chEvtWait().*/ -#define PRWTEVENT 7 -/** Thread state: Waiting in \p chMsgSend().*/ -#define PRSNDMSG 8 -/** Thread state: Waiting in \p chMsgWait().*/ -#define PRWTMSG 9 -/** Thread state: After termination.*/ -#define PREXIT 10 - -#ifdef CH_USE_TERMINATE -/** Thread option: Termination requested flag.*/ -#define P_TERMINATE 1 -#endif -#ifdef CH_USE_RESUME -/** Thread option: Create suspended thread.*/ -#define P_SUSPENDED 2 -#endif -#ifdef CH_USE_MESSAGES_PRIORITY -/** Thread option: Serve messages by priority instead of FIFO order.*/ -#define P_MSGBYPRIO 4 -#endif - -/** Pseudo priority used by the ready list header, do not use.*/ -#define NOPRIO 0 -/** Idle thread priority.*/ -#define IDLEPRIO 1 -/** Lowest user priority.*/ -#define LOWPRIO 2 -/** Normal user priority.*/ -#define NORMALPRIO 64 -/** Highest user priority.*/ -#define HIGHPRIO 127 -/** Greatest possible priority.*/ -#define ABSPRIO 255 - -/* Not an API, don't use into the application code.*/ -void init_thread(tprio_t prio, tmode_t mode, Thread *tp); - -/** Thread function.*/ -typedef msg_t (*tfunc_t)(void *); - -/* - * Threads APIs. - */ -#ifdef __cplusplus -extern "C" { -#endif - Thread *chThdCreate(tprio_t prio, tmode_t mode, void *workspace, - size_t wsize, tfunc_t pf, void *arg); - Thread *chThdCreateFast(tprio_t prio, void *workspace, - size_t wsize, tfunc_t pf); - void chThdSetPriority(tprio_t newprio); - void chThdExit(msg_t msg); -#ifdef CH_USE_RESUME - void chThdResume(Thread *tp); -#endif -#ifdef CH_USE_SUSPEND - void chThdSuspend(Thread **tpp); -#endif -#ifdef CH_USE_TERMINATE - void chThdTerminate(Thread *tp); -#endif -#ifdef CH_USE_WAITEXIT - msg_t chThdWait(Thread *tp); -#endif -#ifdef __cplusplus -} -#endif - -/** Returns the pointer to the \p Thread currently in execution.*/ -#define chThdSelf() currp - -/** Returns the thread priority.*/ -#define chThdGetPriority() (currp->p_prio) - -/** Returns the pointer to the \p Thread local storage area, if any.*/ -#define chThdLS() (void *)(currp + 1) - -/** Verifies if the specified thread is in the \p PREXIT state.*/ -#define chThdTerminated(tp) ((tp)->p_state == PREXIT) - -/** - * Verifies if the current thread has a termination request pending. - */ -#define chThdShouldTerminate() (currp->p_flags & P_TERMINATE) - -/** - * Returns the exit event source for the specified thread. The source is - * signaled when the thread terminates. - * @param tp the pointer to the thread - * @note When registering on a thread termination make sure the thread - * is still alive, if you do that after the thread termination - * then you would miss the event. There are two ways to ensure - * this:
- *
    - *
  • Create the thread suspended, register on the event source - * and then resume the thread (recommended).
    • - *
  • Create the thread with a lower priority then register on it. - * This does not work if the hardware is capable of multiple - * physical threads.
    • - *
- * @note You dont need to unregister from a terminated thread because - * the event source becomes inactive. - * @note The function is available only if the \p CH_USE_EXIT_EVENT - * option is enabled in \p chconf.h. - */ -#define chThdGetExitEventSource(tp) (&(tp)->p_exitesource) - -/** - * Resumes a thread created with the \p P_SUSPENDED option or suspended with - * \p chThdSuspend(). - * @param tp the pointer to the thread - */ -#define chThdResumeI(tp) chSchReadyI((tp), RDY_OK) - -#endif /* _THREADS_H_ */ - -/** @} */ +/* + ChibiOS/RT - Copyright (C) 2006-2007 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 . +*/ + +/** + * @addtogroup Threads + * @{ + */ + +#ifndef _THREADS_H_ +#define _THREADS_H_ + +/** + * Structure representing a thread. + * @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 + * shrinking the \p Thread structure. + */ +struct Thread { + /** Next \p Thread in the threads list.*/ + Thread *p_next; + /* End of the fields shared with the ThreadsList structure. */ + /** Previous \p Thread in the threads list.*/ + Thread *p_prev; + /* End of the fields shared with the ThreadsQueue structure. */ + /** The thread priority.*/ + tprio_t p_prio; + /* End of the fields shared with the ReadyList structure. */ + /** Thread identifier. */ + tid_t p_tid; + /** Current thread state.*/ + tstate_t p_state; + /** Mode flags. */ + tmode_t p_flags; + /** Machine dependent processor context.*/ + Context p_ctx; + /* + * The following fields are merged in unions because they are all + * state-specific fields. This trick saves some extra space for each + * thread in the system. + */ + union { + /** Thread wakeup code (only valid when exiting the \p PRREADY state). */ + msg_t p_rdymsg; + /** The thread exit code (only while in \p PREXIT state).*/ + msg_t p_exitcode; +#ifdef CH_USE_SEMAPHORES + /** Semaphore where the thread is waiting on (only in \p PRWTSEM state). */ + Semaphore *p_wtsemp; +#endif +#ifdef CH_USE_MUTEXES + /** Mutex where the thread is waiting on (only in \p PRWTMTX state). */ + Mutex *p_wtmtxp; +#endif +#ifdef CH_USE_MESSAGES + /** Destination thread for message send (only in \p PRSNDMSG state). */ + Thread *p_wtthdp; +#endif +#ifdef CH_USE_EVENTS + /** Enabled events mask (only while in \p PRWTEVENT state). */ + eventmask_t p_ewmask; +#endif +#ifdef CH_USE_TRACE + /** Kernel object where the thread is waiting on. It is only valid when + the thread is some sleeping states. */ + void *p_wtobjp; +#endif + }; + /* + * Start of the optional fields. + */ +#ifdef CH_USE_WAITEXIT + /** The list of the threads waiting for this thread termination.*/ + ThreadsList p_waiting; +#endif +#ifdef CH_USE_EXIT_EVENT + /** The thread termination \p EventSource.*/ + EventSource p_exitesource; +#endif +#ifdef CH_USE_MESSAGES + ThreadsQueue p_msgqueue; + msg_t p_msg; +#endif +#ifdef CH_USE_EVENTS + /** Pending events mask.*/ + eventmask_t p_epending; +#endif +#ifdef CH_USE_MUTEXES + /** List of mutexes owned by this thread, \p NULL terminated.*/ + Mutex *p_mtxlist; + /** Thread's own, non-inherited, priority */ + tprio_t p_realprio; +#endif +}; + +/** Thread state: Thread in the ready list.*/ +#define PRREADY 0 +/** Thread state: Current.*/ +#define PRCURR 1 +/** Thread state: Thread created in suspended state.*/ +#define PRSUSPENDED 2 +/** Thread state: Waiting on a semaphore.*/ +#define PRWTSEM 3 +/** Thread state: Waiting on a mutex.*/ +#define PRWTMTX 4 +/** Thread state: Waiting in \p chThdSleep() or \p chThdSleepUntil().*/ +#define PRSLEEP 5 +/** Thread state: Waiting in \p chThdWait().*/ +#define PRWAIT 6 +/** Thread state: Waiting in \p chEvtWait().*/ +#define PRWTEVENT 7 +/** Thread state: Waiting in \p chMsgSend().*/ +#define PRSNDMSG 8 +/** Thread state: Waiting in \p chMsgWait().*/ +#define PRWTMSG 9 +/** Thread state: After termination.*/ +#define PREXIT 10 + +#ifdef CH_USE_TERMINATE +/** Thread option: Termination requested flag.*/ +#define P_TERMINATE 1 +#endif +#ifdef CH_USE_RESUME +/** Thread option: Create suspended thread.*/ +#define P_SUSPENDED 2 +#endif +#ifdef CH_USE_MESSAGES_PRIORITY +/** Thread option: Serve messages by priority instead of FIFO order.*/ +#define P_MSGBYPRIO 4 +#endif + +/** Pseudo priority used by the ready list header, do not use.*/ +#define NOPRIO 0 +/** Idle thread priority.*/ +#define IDLEPRIO 1 +/** Lowest user priority.*/ +#define LOWPRIO 2 +/** Normal user priority.*/ +#define NORMALPRIO 64 +/** Highest user priority.*/ +#define HIGHPRIO 127 +/** Greatest possible priority.*/ +#define ABSPRIO 255 + +/* Not an API, don't use into the application code.*/ +void init_thread(tprio_t prio, tmode_t mode, Thread *tp); + +/** Thread function.*/ +typedef msg_t (*tfunc_t)(void *); + +/* + * Threads APIs. + */ +#ifdef __cplusplus +extern "C" { +#endif + Thread *chThdCreate(tprio_t prio, tmode_t mode, void *workspace, + size_t wsize, tfunc_t pf, void *arg); + Thread *chThdCreateFast(tprio_t prio, void *workspace, + size_t wsize, tfunc_t pf); + void chThdSetPriority(tprio_t newprio); + void chThdExit(msg_t msg); +#ifdef CH_USE_RESUME + void chThdResume(Thread *tp); +#endif +#ifdef CH_USE_SUSPEND + void chThdSuspend(Thread **tpp); +#endif +#ifdef CH_USE_TERMINATE + void chThdTerminate(Thread *tp); +#endif +#ifdef CH_USE_WAITEXIT + msg_t chThdWait(Thread *tp); +#endif +#ifdef __cplusplus +} +#endif + +/** Returns the pointer to the \p Thread currently in execution.*/ +#define chThdSelf() currp + +/** Returns the thread priority.*/ +#define chThdGetPriority() (currp->p_prio) + +/** Returns the pointer to the \p Thread local storage area, if any.*/ +#define chThdLS() (void *)(currp + 1) + +/** Verifies if the specified thread is in the \p PREXIT state.*/ +#define chThdTerminated(tp) ((tp)->p_state == PREXIT) + +/** + * Verifies if the current thread has a termination request pending. + */ +#define chThdShouldTerminate() (currp->p_flags & P_TERMINATE) + +/** + * Returns the exit event source for the specified thread. The source is + * signaled when the thread terminates. + * @param tp the pointer to the thread + * @note When registering on a thread termination make sure the thread + * is still alive, if you do that after the thread termination + * then you would miss the event. There are two ways to ensure + * this:
+ *
    + *
  • Create the thread suspended, register on the event source + * and then resume the thread (recommended).
    • + *
  • Create the thread with a lower priority then register on it. + * This does not work if the hardware is capable of multiple + * physical threads.
    • + *
+ * @note You dont need to unregister from a terminated thread because + * the event source becomes inactive. + * @note The function is available only if the \p CH_USE_EXIT_EVENT + * option is enabled in \p chconf.h. + */ +#define chThdGetExitEventSource(tp) (&(tp)->p_exitesource) + +/** + * Resumes a thread created with the \p P_SUSPENDED option or suspended with + * \p chThdSuspend(). + * @param tp the pointer to the thread + */ +#define chThdResumeI(tp) chSchReadyI((tp), RDY_OK) + +#endif /* _THREADS_H_ */ + +/** @} */