diff --git a/docs/index.html b/docs/index.html index 87ea4e9f8..bf4fe4e3f 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,172 +1,8 @@ - - - - ChibiOS/RT embedded RTOS homepage - - - - - - - - - - - -
-

ChibiOS/RT embedded RTOS homepage

-
Current -Versions
-1.0.1 stable
-1.1.0 unstable
--
- Project on SourceForge
- Documentation
- Downloads
- Contact me
--
- History
- Description
Current ports
- Design
Performance and Size
- Future
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- Credits
-
- SourceForge.net Logo
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- Support This Project

- - - - - 		-

History

-This RTOS is something I wrote back in 1990 for use on boards -equipped -with M68K processors, the development was made on an Atari ST. The OS -worked well for its intended purpose, Internet was not -widespread at that time so the system had a limited use.
-Recently I decided to release this system, formerly known as mkRTOS, as Free -Software. I cleaned up the code, improved the documentation, ported it -to more modern architectures and it is finally ready.
-

Description

-ChibiOS/RT is designed for embedded applications and it is meant to be -linked with the application code. The design philosophy is to make it -easy to use so I hope that all the APIs are meaningful, easy to -understand and with the parameters you would expect from them.
The -system offers threads, semaphores, mutexes, messages, events, virtual -timers, -queues, I/O channels with timeout capability and much more. The -Priority Inheritance algorithm is implemented through the Mutexes -mechaninsm, the implementation supports any number of threads and -nested mutexes.
-

Current -ports

-Currently the ChibiOS/RT is ported to the following architectures:
-
    -
  • ARM7TDMI-LPC214x, the port to other LPC2000 chips -should be trivial. Both ARM and THUMB modes are supported.
    • -
  • ARM7TDMI-AT91SAM7X256, this port also supports other Atmel -chips: SAM7XC, SAM7S and the various sizes (128, 256, 512) with -minimal changes.
    • -
  • ARM Cortex-M3, ST Microelectronics STM32.
    • -
  • Atmel AVR: AT90CAN128 and ATmega128 demos included.
    • -
  • Texas Instruments MSP430.
    • -
  • x86 as a Win32 process, this port allows to write -your application on the PC without the need of a development -board/simulator/emulator. Communication ports are simulated over -sockets, you can telnet on the simulator ports for the debug. I am -considering to create a similar simulator into a Linux process.
    • -
  • M68K, this was the original target but it is -currently removed from the source tree because currently I have no way -to test it, my old Atari ST is long dead. It should be very easy to -revive the port to the M68K or Coldfire CPUs.
    • -
-In general the port is very easy on architectures that can handle well -linked lists, the kernel is entirely reliant on lists so this -is a -very important efficiency factor. 16 and 32 bits architectures are -always fine, 8 bit architectures should be evaluated case by case but -are not ruled out, something like an H8 would not have problems. You -could port it -to a Z80/Z180 (I considered that too, and made tests using the SDCC -compiler) but the -resulting code is not much efficient because the instruction set is -missing the indirect addressing for 16 bits values that is important -for efficient linked lists traversal. -

Design

-The system was designed to be stable and avoid trouble as much as -possible so some rules were set:
-
    -
  • No arrays or tables, I don't like to have to -configure limits -for data structures, only use lists or other dynamic data structures. -See -the Documentation and -the demos.
    • -
  • No memory allocation inside the kernel, an allocator -can be -troublesome for RT applications. All the data structures are declared -in the application code and not allocated from a shared system heap. -This does not prevent the application code to use an allocator if -needed, it is just the kernel that does not require it.
    • -
  • No weird macros in the user code, everything should -look -and feel like normal C code with a normal main() function.
    • -
  • Encapsulate all the things that need changes while -porting -the OS to new architectures in few template files, fill the code into -the templates and the port is done.

Performance and Size

ChibiOS/RT -has a wide set of APIs but all the subsystems can be included or -removed from the memory image by editing the kernel configuration file -chconf.h. On ARM processors, the kernel size starts at just -1.5KiB depending on the included subsystems and the choosen -compiler optimizations.
As reference, a kernel configured with...
  • System startup code
  • Chip initialization code
  • Multithreading APIs
  • Virtual Timer APIs
  • Semaphore APIs
  • System time + Sleep API
  • Suspend/Resume APIs
  • Small main() program with flashing LEDs demo and 3 threads
...just takes 2.11KiB of program space when compiled using THUMB code and space optimizations. Note that this is quite a typical configuration -not a minimal one. A kernel configured with all the options and -optimized for speed takes about 6KiB. See the documentation about the -many available subsystems.

About performance, on a 48MHz LPC -ARM7 processor the kernel is capable of context switch time ranging -from 3 to 6 microseconds depending on the code type (ARM/THUMB) and the -choosen compiler/kernel optimizations. In the distribution is included -a spreadsheet with the exact values and the various space/time trade -offs.
The context switch time is *measured* using 2 threads -exchanging messages and doing *real* work, it is not a calculated peak -value. See the demo code, it includes the benchmark. -

Future

-Expect:
    - -
  • Documentation improvements.
    • - -
  • Ports to more architectures/boards when I am able to -put my hands on new hardware/tools.
    • -
  • More demos.
    • -
  • Creation of new subsystems.
    • -
  • Integration with -existing other free projects like: TCP/IP stacks, File Systems etc.
    • -
-

Credits

-ChibiOS/RT is 100% proprietary software free and was created using all the following FOSS projects:
- -
- - \ No newline at end of file + + + + + + + + diff --git a/docs/reports/STM32F103-72.txt b/docs/reports/STM32F103-72.txt index e871e0c13..f7f0bcda0 100644 --- a/docs/reports/STM32F103-72.txt +++ b/docs/reports/STM32F103-72.txt @@ -60,7 +60,7 @@ Settings: SYSCLK=72, ACR=0x12 (2 wait states) --- Result: SUCCESS --------------------------------------------------------------------------- --- Test Case 11.2 (Benchmark, context switch #2, empty ready list) ---- Score : 178664 msgs/S, 357328 ctxswc/S +--- Score : 178663 msgs/S, 357326 ctxswc/S --- Result: SUCCESS --------------------------------------------------------------------------- --- Test Case 11.3 (Benchmark, context switch #3, 4 threads in ready list) @@ -72,7 +72,7 @@ Settings: SYSCLK=72, ACR=0x12 (2 wait states) --- Result: SUCCESS --------------------------------------------------------------------------- --- Test Case 11.5 (Benchmark, threads creation/termination, optimal) ---- Score : 210632 threads/S +--- Score : 210633 threads/S --- Result: SUCCESS --------------------------------------------------------------------------- --- Test Case 11.6 (Benchmark, mass reschedulation, 5 threads) @@ -92,7 +92,7 @@ Settings: SYSCLK=72, ACR=0x12 (2 wait states) --- Result: SUCCESS --------------------------------------------------------------------------- --- Test Case 11.10 (Benchmark, mutexes lock/unlock) ---- Score : 601124 lock+unlock/S +--- Score : 601120 lock+unlock/S --- Result: SUCCESS --------------------------------------------------------------------------- diff --git a/src/chcond.c b/src/chcond.c index fea5bebee..ef58f1ddf 100644 --- a/src/chcond.c +++ b/src/chcond.c @@ -164,8 +164,9 @@ msg_t chCondWaitS(CondVar *cp) { * @param[in] cp pointer to the @p CondVar structure * @param[in] time the number of ticks before the operation timeouts, * the special value @p TIME_INFINITE is allowed. - * It is not possible to specify zero (@p TIME_ZERO) as timeout - * specification. + * It is not possible to specify zero @p TIME_IMMEDIATE + * as timeout specification because it would make no sense + * in this function. * @return The wakep mode. * @retval RDY_OK if the condvar was signaled using chCondSignal(). * @retval RDY_RESET if the condvar was signaled using chCondBroadcast(). @@ -191,8 +192,9 @@ msg_t chCondWaitTimeout(CondVar *cp, systime_t time) { * @param[in] cp pointer to the @p CondVar structure * @param[in] time the number of ticks before the operation timeouts, * the special value @p TIME_INFINITE is allowed. - * It is not possible to specify zero (@p TIME_ZERO) as timeout - * specification. + * It is not possible to specify zero @p TIME_IMMEDIATE + * as timeout specification because it would make no sense + * in this function. * @return The wakep mode. * @retval RDY_OK if the condvar was signaled using chCondSignal(). * @retval RDY_RESET if the condvar was signaled using chCondBroadcast(). diff --git a/src/chevents.c b/src/chevents.c index 5633b7de3..a7089cb13 100644 --- a/src/chevents.c +++ b/src/chevents.c @@ -290,7 +290,7 @@ eventmask_t chEvtWaitAll(eventmask_t ewmask) { * @p ALL_EVENTS enables all the events * @param[in] time the number of ticks before the operation timeouts, * the following special values are allowed: - * - @a TIME_ZERO immediate timeout. + * - @a TIME_IMMEDIATE immediate timeout. * - @a TIME_INFINITE no timeout. * . * @return The mask of the lowest id served and cleared event. @@ -307,7 +307,7 @@ eventmask_t chEvtWaitOneTimeout(eventmask_t ewmask, systime_t time) { chSysLock(); if ((m = (currp->p_epending & ewmask)) == 0) { - if (TIME_ZERO == time) + if (TIME_IMMEDIATE == time) return (eventmask_t)0; currp->p_ewmask = ewmask; if (chSchGoSleepTimeoutS(PRWTOREVT, time) < RDY_OK) @@ -331,7 +331,7 @@ eventmask_t chEvtWaitOneTimeout(eventmask_t ewmask, systime_t time) { * @p ALL_EVENTS enables all the events * @param[in] time the number of ticks before the operation timeouts, * the following special values are allowed: - * - @a TIME_ZERO immediate timeout. + * - @a TIME_IMMEDIATE immediate timeout. * - @a TIME_INFINITE no timeout. * . * @return The mask of the served and cleared events. @@ -343,7 +343,7 @@ eventmask_t chEvtWaitAnyTimeout(eventmask_t ewmask, systime_t time) { chSysLock(); if ((m = (currp->p_epending & ewmask)) == 0) { - if (TIME_ZERO == time) + if (TIME_IMMEDIATE == time) return (eventmask_t)0; currp->p_ewmask = ewmask; if (chSchGoSleepTimeoutS(PRWTOREVT, time) < RDY_OK) @@ -364,7 +364,7 @@ eventmask_t chEvtWaitAnyTimeout(eventmask_t ewmask, systime_t time) { * @param[in] ewmask mask of the event ids that the function should wait for * @param[in] time the number of ticks before the operation timeouts, * the following special values are allowed: - * - @a TIME_ZERO immediate timeout. + * - @a TIME_IMMEDIATE immediate timeout. * - @a TIME_INFINITE no timeout. * . * @return The mask of the served and cleared events. @@ -375,7 +375,7 @@ eventmask_t chEvtWaitAllTimeout(eventmask_t ewmask, systime_t time) { chSysLock(); if ((currp->p_epending & ewmask) != ewmask) { - if (TIME_ZERO == time) + if (TIME_IMMEDIATE == time) return (eventmask_t)0; currp->p_ewmask = ewmask; if (chSchGoSleepTimeoutS(PRWTANDEVT, time) < RDY_OK) diff --git a/src/chmboxes.c b/src/chmboxes.c index 25c4001ef..743b5a568 100644 --- a/src/chmboxes.c +++ b/src/chmboxes.c @@ -72,7 +72,7 @@ void chMBReset(Mailbox *mbp) { * @param[in] msg the message to be posted on the mailbox * @param[in] time the number of ticks before the operation timeouts, * the following special values are allowed: - * - @a TIME_ZERO immediate timeout. + * - @a TIME_IMMEDIATE immediate timeout. * - @a TIME_INFINITE no timeout. * . * @return The operation status. @@ -98,7 +98,7 @@ msg_t chMBPost(Mailbox *mbp, msg_t msg, systime_t time) { * @param[in] msg the message to be posted on the mailbox * @param[in] time the number of ticks before the operation timeouts, * the following special values are allowed: - * - @a TIME_ZERO immediate timeout. + * - @a TIME_IMMEDIATE immediate timeout. * - @a TIME_INFINITE no timeout. * . * @return The operation status. @@ -131,7 +131,7 @@ msg_t chMBPostS(Mailbox *mbp, msg_t msg, systime_t time) { * @param[in] msg the message to be posted on the mailbox * @param[in] time the number of ticks before the operation timeouts, * the following special values are allowed: - * - @a TIME_ZERO immediate timeout. + * - @a TIME_IMMEDIATE immediate timeout. * - @a TIME_INFINITE no timeout. * . * @return The operation status. @@ -157,7 +157,7 @@ msg_t chMBPostAhead(Mailbox *mbp, msg_t msg, systime_t time) { * @param[in] msg the message to be posted on the mailbox * @param[in] time the number of ticks before the operation timeouts, * the following special values are allowed: - * - @a TIME_ZERO immediate timeout. + * - @a TIME_IMMEDIATE immediate timeout. * - @a TIME_INFINITE no timeout. * . * @return The operation status. @@ -190,7 +190,7 @@ msg_t chMBPostAheadS(Mailbox *mbp, msg_t msg, systime_t time) { * @param[out] msgp pointer to a message variable for the received message * @param[in] time the number of ticks before the operation timeouts, * the following special values are allowed: - * - @a TIME_ZERO immediate timeout. + * - @a TIME_IMMEDIATE immediate timeout. * - @a TIME_INFINITE no timeout. * . * @return The operation status. @@ -216,7 +216,7 @@ msg_t chMBFetch(Mailbox *mbp, msg_t *msgp, systime_t time) { * @param[out] msgp pointer to a message variable for the received message * @param[in] time the number of ticks before the operation timeouts, * the following special values are allowed: - * - @a TIME_ZERO immediate timeout. + * - @a TIME_IMMEDIATE immediate timeout. * - @a TIME_INFINITE no timeout. * . * @return The operation status. diff --git a/src/chschd.c b/src/chschd.c index 629a659e0..8a5c27857 100644 --- a/src/chschd.c +++ b/src/chschd.c @@ -124,7 +124,7 @@ static void wakeup(void *p) { * @param[in] newstate the new thread state * @param[in] time the number of ticks before the operation timeouts, * the special value @p TIME_INFINITE is allowed. - * It is not possible to specify zero (@p TIME_ZERO) as timeout + * It is not possible to specify @p TIME_IMMEDIATE as timeout * specification. * @return The wakeup message. * @retval RDY_TIMEOUT if a timeout occurs. diff --git a/src/chsem.c b/src/chsem.c index b5717e69c..6c254e836 100644 --- a/src/chsem.c +++ b/src/chsem.c @@ -134,7 +134,7 @@ msg_t chSemWaitS(Semaphore *sp) { * @param[in] sp pointer to a @p Semaphore structure * @param[in] time the number of ticks before the operation timeouts, * the following special values are allowed: - * - @a TIME_ZERO immediate timeout. + * - @a TIME_IMMEDIATE immediate timeout. * - @a TIME_INFINITE no timeout. * @retval RDY_OK if the semaphore was signaled or not taken. * @retval RDY_RESET if the semaphore was reset using @p chSemReset(). @@ -158,7 +158,7 @@ msg_t chSemWaitTimeout(Semaphore *sp, systime_t time) { * @param[in] sp pointer to a @p Semaphore structure * @param[in] time the number of ticks before the operation timeouts, * the following special values are allowed: - * - @a TIME_ZERO immediate timeout. + * - @a TIME_IMMEDIATE immediate timeout. * - @a TIME_INFINITE no timeout. * . * @retval RDY_OK if the semaphore was signaled or not taken. @@ -173,7 +173,7 @@ msg_t chSemWaitTimeoutS(Semaphore *sp, systime_t time) { chDbgCheck(sp != NULL, "chSemWaitTimeoutS"); if (--sp->s_cnt < 0) { - if (TIME_ZERO == time) + if (TIME_IMMEDIATE == time) return RDY_TIMEOUT; sem_insert(currp, &sp->s_queue); currp->p_wtsemp = sp; diff --git a/src/chthreads.c b/src/chthreads.c index 902867a41..a22514f09 100644 --- a/src/chthreads.c +++ b/src/chthreads.c @@ -69,15 +69,16 @@ static void memfill(uint8_t *startp, uint8_t *endp, uint8_t v) { /** * @brief Initializes a new thread. * @details The new thread is initialized but not inserted in the ready list, - * the initial state is @p PRSUSPENDED. + * the initial state is @p PRSUSPENDED. * - * @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 - * @param arg an argument passed to the thread function. It can be @p NULL. + * @param[out] workspace pointer to a working area dedicated to the thread + * stack + * @param[in] wsize size of the working area. + * @param[in] 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[in] pf the thread function + * @param[in] 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 @@ -109,13 +110,14 @@ Thread *chThdInit(void *workspace, size_t wsize, /** * @brief Creates a new thread into a static memory area. * - * @param workspace pointer to a working area dedicated to the thread stack - * @param wsize size of the working area. - * @param prio the priority level for the new thread. Usually the threads are - * created with priority @p NORMALPRIO, priorities + * @param[out] workspace pointer to a working area dedicated to the thread + * stack + * @param[in] wsize size of the working area. + * @param[in] 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 pf the thread function - * @param arg an argument passed to the thread function. It can be @p NULL. + * @param[in] pf the thread function + * @param[in] 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 @@ -131,12 +133,12 @@ Thread *chThdCreateStatic(void *workspace, size_t wsize, /** * @brief Creates a new thread allocating the memory from the heap. * - * @param wsize size of the working area to be allocated - * @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 pf the thread function - * @param arg an argument passed to the thread function. It can be @p NULL. + * @param[in] wsize size of the working area to be allocated + * @param[in] 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[in] pf the thread function + * @param[in] 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. * @retval NULL if the memory cannot be allocated. @@ -163,14 +165,14 @@ Thread *chThdCreateFromHeap(size_t wsize, tprio_t prio, #if CH_USE_DYNAMIC && CH_USE_WAITEXIT && CH_USE_MEMPOOLS /** * @brief Creates a new thread allocating the memory from the specified Memory - * Pool. + * Pool. * - * @param mp the memory pool - * @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 pf the thread function - * @param arg an argument passed to the thread function. It can be @p NULL. + * @param[in] mp the memory pool + * @param[in] 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[in] pf the thread function + * @param[in] 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 or @p NULL if the memory cannot * be allocated. @@ -200,9 +202,9 @@ Thread *chThdCreateFromMemoryPool(MemoryPool *mp, tprio_t prio, /** * @brief Changes the running thread priority level then reschedules if - * necessary. + * necessary. * - * @param newprio the new priority level of the running thread + * @param[in] newprio the new priority level of the running thread * @return The old priority level. * @note The function returns the real thread priority regardless of the * actual priority that could be higher than the real priority because @@ -232,7 +234,7 @@ tprio_t chThdSetPriority(tprio_t newprio) { /** * @brief Resumes a suspended thread. * - * @param tp the pointer to the thread + * @param[in] tp the pointer to the thread * @return The pointer to the thread. * @note This call is supposed to resume threads created with @p chThdInit(). * It should not be used on threads suspended using @p chThdSuspend(). @@ -251,7 +253,7 @@ Thread *chThdResume(Thread *tp) { /** * @brief Requests a thread termination. * - * @param tp the pointer to the thread + * @param[in] 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. @@ -266,10 +268,14 @@ void chThdTerminate(Thread *tp) { /** * @brief Suspends the invoking thread for the specified time. * - * @param time the delay in system ticks + * @param[in] time the delay in system ticks, the values @p TIME_IMMEDIATE and + * @p TIME_INFINITE are not allowed */ void chThdSleep(systime_t time) { + chDbgCheck((time != TIME_IMMEDIATE) && (time != TIME_INFINITE), + "chThdSleep"); + chSysLock(); chThdSleepS(time); chSysUnlock(); @@ -277,9 +283,9 @@ void chThdSleep(systime_t time) { /** * @brief Suspends the invoking thread until the system time arrives to the - * specified value. + * specified value. * - * @param time the absolute system time + * @param[in] time the absolute system time */ void chThdSleepUntil(systime_t time) { @@ -292,8 +298,8 @@ void chThdSleepUntil(systime_t time) { /** * @brief 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(). + * @param[in] msg the thread exit code. The code can be retrieved by using + * @p chThdWait(). */ void chThdExit(msg_t msg) { Thread *tp = currp; @@ -311,18 +317,19 @@ void chThdExit(msg_t msg) { #if CH_USE_WAITEXIT /** * @brief Blocks the execution of the invoking thread until the specified - * thread terminates then the exit code is returned. + * thread terminates then the exit code is returned. * @details The memory used by the exited thread is handled in different ways - * depending on the API that spawned the thread: - * - If the thread was spawned by @p chThdCreateStatic() or by @p chThdInit() - * then nothing happens and the thread working area is not released or - * modified in any way. This is the default, totally static, behavior. - * - If the thread was spawned by @p chThdCreateFromHeap() then the working - * area is returned to the system heap. - * - If the thread was spawned by @p chThdCreateFromMemoryPool() then the - * working area is returned to the owning memory pool. - * - * @param tp the thread pointer + * depending on the API that spawned the thread: + * - If the thread was spawned by @p chThdCreateStatic() or by + * @p chThdInit() then nothing happens and the thread working area + * is not released or modified in any way. This is the default, + * totally static, behavior. + * - If the thread was spawned by @p chThdCreateFromHeap() then + * the working area is returned to the system heap. + * - If the thread was spawned by @p chThdCreateFromMemoryPool() + * then the working area is returned to the owning memory pool. + * . + * @param[in] tp the thread pointer * @return The exit code from the terminated thread * @note After invoking @p chThdWait() the thread pointer becomes invalid and * must not be used as parameter for further system calls. diff --git a/src/chvt.c b/src/chvt.c index f37ddd423..76ab6a7f3 100644 --- a/src/chvt.c +++ b/src/chvt.c @@ -43,13 +43,15 @@ void vt_init(void) { /** * @brief Enables a virtual timer. * - * @param vtp the @p VirtualTimer structure pointer - * @param time the number of time ticks, the values @p TIME_ZERO and - * @p TIME_INFINITE are not allowed - * @param vtfunc the timer callback function. After invoking the callback - * the timer is disabled and the structure can be disposed or - * reused. - * @param par a parameter that will be passed to the callback function + * @param[out] vtp the @p VirtualTimer structure pointer + * @param[in] time the number of time ticks, the value @p TIME_INFINITE is not + * allowed. The value @p TIME_IMMEDIATE is allowed but + * interpreted as a normal time specification not as an + * immediate timeout specification. + * @param[in] vtfunc the timer callback function. After invoking the callback + * the timer is disabled and the structure can be disposed or + * reused. + * @param[in] par a parameter that will be passed to the callback function * @note The associated function is invoked by an interrupt handler within * the I-Locked state, see @ref system_states. */ @@ -57,7 +59,7 @@ void chVTSetI(VirtualTimer *vtp, systime_t time, vtfunc_t vtfunc, void *par) { VirtualTimer *p; chDbgCheck((vtp != NULL) && (vtfunc != NULL) && - (time != TIME_ZERO) && (time != TIME_INFINITE), "chVTSetI"); + (time != TIME_IMMEDIATE) && (time != TIME_INFINITE), "chVTSetI"); vtp->vt_par = par; vtp->vt_func = vtfunc; @@ -77,7 +79,7 @@ void chVTSetI(VirtualTimer *vtp, systime_t time, vtfunc_t vtfunc, void *par) { /** * @brief Disables a Virtual Timer. * - * @param vtp the @p VirtualTimer structure pointer + * @param[in] vtp the @p VirtualTimer structure pointer * @note The timer MUST be active when this function is invoked. */ void chVTResetI(VirtualTimer *vtp) { @@ -96,8 +98,10 @@ void chVTResetI(VirtualTimer *vtp) { /** * @brief Checks if the current system time is within the specified time window. * - * @param start the start of the time window (inclusive) - * @param end the end of the time window (non inclusive) + * @param[in] start the start of the time window (inclusive) + * @param[in] end the end of the time window (non inclusive) + * @retval TRUE current time within the specified time window. + * @retval FALSE current time not within the specified time window. */ bool_t chSysInTimeWindow(systime_t start, systime_t end) { diff --git a/src/include/scheduler.h b/src/include/scheduler.h index 565496dd3..648cb7bc5 100644 --- a/src/include/scheduler.h +++ b/src/include/scheduler.h @@ -44,16 +44,16 @@ /** * Zero time specification for some syscalls with a timeout * specification. - * @note Not all functions accept @p TIME_ZERO as timeout parameter, see the - * specific documentation. + * @note Not all functions accept @p TIME_IMMEDIATE as timeout parameter, + * see the specific function documentation. */ -#define TIME_ZERO ((systime_t)0) +#define TIME_IMMEDIATE ((systime_t)-1) /** * Infinite time specification for all the syscalls with a timeout * specification. */ -#define TIME_INFINITE ((systime_t)-1) +#define TIME_INFINITE ((systime_t)0) /** The priority of the first thread on the given ready list. */ #define firstprio(rlp) ((rlp)->p_next->p_prio) diff --git a/test/testsem.c b/test/testsem.c index 07fd40840..2482f1295 100644 --- a/test/testsem.c +++ b/test/testsem.c @@ -83,7 +83,7 @@ static void sem2_execute(void) { systime_t target_time; msg_t msg; - msg= chSemWaitTimeout(&sem1, TIME_ZERO); + msg= chSemWaitTimeout(&sem1, TIME_IMMEDIATE); test_assert(msg == RDY_TIMEOUT, "#1"); target_time = chSysGetTime() + MS2ST(5 * 500);