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Fixes to the documentation, swapped the values of constants TIME_INFINITE and TIME_IMMEDIATE (previously TIME_ZERO). 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@816 35acf78f-673a-0410-8e92-d51de3d6d3f4
master
gdisirio 2009-03-08 08:15:23 +00:00
parent a5d0e87382
commit 8588e9642d
11 changed files with 107 additions and 258 deletions
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178
docs/index.html
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@ -1,172 +1,8 @@
<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html><head> <html>
<meta content="text/html; charset=ISO-8859-1" http-equiv="content-type"> <head>
<title>ChibiOS/RT embedded RTOS homepage</title></head> <meta http-equiv="Refresh" content="0; URL=html/index.html">
<body> </head>
<table style="text-align: left; width: 100%;" border="0" cellpadding="2" cellspacing="2"> <body>
<tbody> </body>
<tr align="center"> </html>
<td colspan="2" rowspan="1">
<h2>ChibiOS/RT embedded RTOS homepage</h2>
</td>
</tr>
<tr>
<td style="text-align: center; vertical-align: top; width: 150px;">Current
Versions<br>
1.0.1 stable<br>
1.1.0 unstable<br>
-<br>
<a href="http://sourceforge.net/projects/chibios/" rel="me" target="_top">Project on SourceForge</a><br>
<a href="html/index.html" target="_top" rel="me">Documentation</a><br>
<a href="http://sourceforge.net/project/showfiles.php?group_id=205897" rel="me" target="_top">Downloads</a><br>
<a href="http://sourceforge.net/users/gdisirio/" rel="me" target="_top">Contact me</a><br>
-<br>
<a href="#History">History</a><br>
<a href="#Description">Description</a><br><a href="index.html#Current_ports">Current ports</a><br>
<a href="#Design">Design</a><br><a href="#Performance_and_Size">Performance and Size</a><br>
<a href="#Future">Future</a><br>
-<br>
<a href="#Credits">Credits</a><br>
<br>
<a href="http://sourceforge.net"><img src="http://sflogo.sourceforge.net/sflogo.php?group_id=205897&amp;type=4" alt="SourceForge.net Logo" border="0" height="37" width="125"></a><br>
<br>
<a href="http://sourceforge.net/donate/index.php?group_id=205897"><img src="http://images.sourceforge.net/images/project-support.jpg" alt="Support This Project" border="0" height="32" width="88"></a><br><br>
<!-- Inizio Codice Shinystat -->
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<noscript>
<a href="http://www.shinystat.com/it" target="_top">
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</td>
<td style="text-align: justify; vertical-align: top;">
<h3><a name="History"></a>History</h3>
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&nbsp;had a limited use.<br>
Recently I decided to release this system, formerly known as <span style="font-style: italic;">mkRTOS</span>, as Free
Software. I cleaned up the code, improved the documentation, ported it
to more modern architectures and it is finally ready.<br>
<h3><a name="Description"></a>Description</h3>
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.<br>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.<br>
<h3><a name="Current_ports"></a>Current
ports</h3>
Currently the ChibiOS/RT is ported to the following architectures:<br>
<ul>
<li>ARM7TDMI-LPC214x, the port to other LPC2000 chips
should be trivial. Both ARM and THUMB modes are supported.</li>
<li>ARM7TDMI-AT91SAM7X256, this port also supports other Atmel
chips: SAM7XC, SAM7S and the various sizes (128, 256, 512) with
minimal changes.</li>
<li>ARM Cortex-M3, ST Microelectronics STM32.</li>
<li>Atmel AVR: AT90CAN128 and ATmega128 demos included.</li>
<li>Texas Instruments MSP430.</li>
<li>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.</li>
<li>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.</li>
</ul>
In general the port is very easy on architectures that can handle well
linked lists, the kernel is entirely reliant on&nbsp;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.
<h3><a name="Design"></a>Design</h3>
The system was designed to be stable and avoid trouble as much as
possible so some rules were set:<br>
<ul>
<li>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&nbsp;<a href="http://chibios.sourceforge.net/html/index.html" target="_top" rel="me">Documentation</a> and
the demos.</li>
<li>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.</li>
<li>No weird macros in the user code, everything should
look
and feel like normal C code with a normal main() function.</li>
<li>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.</li></ul><h3><a name="Performance_and_Size"></a>Performance and Size</h3>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&nbsp;starts at just
1.5KiB&nbsp;depending on the included subsystems and the choosen
compiler optimizations.<br>As reference, a kernel configured with...<br><ul><li>System startup code</li><li>Chip initialization code</li><li>Multithreading APIs</li><li>Virtual Timer APIs</li><li>Semaphore APIs</li><li>System time + Sleep API</li><li>Suspend/Resume APIs</li><li>Small main() program with flashing LEDs demo and 3 threads</li></ul>...just takes 2.11KiB of program space when compiled using THUMB code and space optimizations. Note that this is quite a <span style="font-weight: bold;">typical configuration</span>
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.<br><br>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.<br>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.
<h3><a name="Future"></a>Future</h3>
Expect:<br><ul>
<li>Documentation improvements.</li>
<li>Ports to more architectures/boards when I am able to
put my hands on new hardware/tools.</li>
<li>More demos.</li>
<li>Creation of new subsystems.</li>
<li>Integration with
existing other free projects like: TCP/IP stacks, File Systems etc.</li>
</ul>
<h3><a name="Credits"></a>Credits</h3>
ChibiOS/RT is 100% proprietary software free and was created using all the following FOSS projects:<br>
<ul>
<li>7-Zip, <a href="http://7-zip.org" target="_top">http://7-zip.org</a></li>
<li>GCC and GNU binutils, &nbsp;<a href="http://gcc.gnu.org" target="_top">http://gcc.gnu.org</a></li>
<li>Doxygen, <a href="http://www.doxygen.org" target="_top">http://www.doxygen.org</a></li>
<li>Eclipse, <a href="http://www.eclipse.org" target="_top">http://www.eclipse.org</a></li>
<li>Eclox, <a href="http://eclox.eu" target="_top">http://eclox.eu</a></li>
<li>Freemarker, <a href="http://freemarker.org" target="_top">http://freemarker.org</a></li>
<li>FMPP, <a href="http://fmpp.sourceforge.net" target="_top">http://fmpp.sourceforge.net</a></li>
<li>Graphviz, <a href="http://www.graphviz.org" target="_top">http://www.graphviz.org</a></li>
<li>Inkscape, <a href="http://www.inkscape.org" target="_top">http://www.inkscape.org</a></li>
<li>MinGW, <a href="http://mingw.org" target="_top">http://mingw.org</a></li>
<li>MSPGCC, <a href="http://mspgcc.sourceforge.net" target="_top">http://mspgcc.sourceforge.net</a></li>
<li>NVU, <a href="http://www.nvu.com/" target="_top">http://www.nvu.com</a></li>
<li>OpenOCD, <a href="http://openocd.berlios.de/web" target="_top">http://openocd.berlios.de/web</a></li>
<li>WinARM, <a href="http://www.siwawi.arubi.uni-kl.de/avr_projects/arm_projects" target="_top">http://www.siwawi.arubi.uni-kl.de/avr_projects/arm_projects</a></li>
<li>WinAVR, <a href="http://winavr.sourceforge.net" target="_top">http://winavr.sourceforge.net</a></li>
<li>YAGARTO, <a href="http://www.yagarto.de" target="_top">http://www.yagarto.de</a></li>
</ul>
</td>
</tr>
</tbody>
</table>
</body></html>

6
docs/reports/STM32F103-72.txt
View File

@ -60,7 +60,7 @@ Settings: SYSCLK=72, ACR=0x12 (2 wait states)
--- Result: SUCCESS --- Result: SUCCESS
--------------------------------------------------------------------------- ---------------------------------------------------------------------------
--- Test Case 11.2 (Benchmark, context switch #2, empty ready list) --- 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 --- Result: SUCCESS
--------------------------------------------------------------------------- ---------------------------------------------------------------------------
--- Test Case 11.3 (Benchmark, context switch #3, 4 threads in ready list) --- 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 --- Result: SUCCESS
--------------------------------------------------------------------------- ---------------------------------------------------------------------------
--- Test Case 11.5 (Benchmark, threads creation/termination, optimal) --- Test Case 11.5 (Benchmark, threads creation/termination, optimal)
--- Score : 210632 threads/S --- Score : 210633 threads/S
--- Result: SUCCESS --- Result: SUCCESS
--------------------------------------------------------------------------- ---------------------------------------------------------------------------
--- Test Case 11.6 (Benchmark, mass reschedulation, 5 threads) --- Test Case 11.6 (Benchmark, mass reschedulation, 5 threads)
@ -92,7 +92,7 @@ Settings: SYSCLK=72, ACR=0x12 (2 wait states)
--- Result: SUCCESS --- Result: SUCCESS
--------------------------------------------------------------------------- ---------------------------------------------------------------------------
--- Test Case 11.10 (Benchmark, mutexes lock/unlock) --- Test Case 11.10 (Benchmark, mutexes lock/unlock)
--- Score : 601124 lock+unlock/S --- Score : 601120 lock+unlock/S
--- Result: SUCCESS --- Result: SUCCESS
--------------------------------------------------------------------------- ---------------------------------------------------------------------------

10
src/chcond.c
View File

@ -164,8 +164,9 @@ msg_t chCondWaitS(CondVar *cp) {
* @param[in] cp pointer to the @p CondVar structure * @param[in] cp pointer to the @p CondVar structure
* @param[in] time the number of ticks before the operation timeouts, * @param[in] time the number of ticks before the operation timeouts,
* the special value @p TIME_INFINITE is allowed. * 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 zero @p TIME_IMMEDIATE
* specification. * as timeout specification because it would make no sense
* in this function.
* @return The wakep mode. * @return The wakep mode.
* @retval RDY_OK if the condvar was signaled using chCondSignal(). * @retval RDY_OK if the condvar was signaled using chCondSignal().
* @retval RDY_RESET if the condvar was signaled using chCondBroadcast(). * @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] cp pointer to the @p CondVar structure
* @param[in] time the number of ticks before the operation timeouts, * @param[in] time the number of ticks before the operation timeouts,
* the special value @p TIME_INFINITE is allowed. * 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 zero @p TIME_IMMEDIATE
* specification. * as timeout specification because it would make no sense
* in this function.
* @return The wakep mode. * @return The wakep mode.
* @retval RDY_OK if the condvar was signaled using chCondSignal(). * @retval RDY_OK if the condvar was signaled using chCondSignal().
* @retval RDY_RESET if the condvar was signaled using chCondBroadcast(). * @retval RDY_RESET if the condvar was signaled using chCondBroadcast().

12
src/chevents.c
View File

@ -290,7 +290,7 @@ eventmask_t chEvtWaitAll(eventmask_t ewmask) {
* @p ALL_EVENTS enables all the events * @p ALL_EVENTS enables all the events
* @param[in] time the number of ticks before the operation timeouts, * @param[in] time the number of ticks before the operation timeouts,
* the following special values are allowed: * the following special values are allowed:
* - @a TIME_ZERO immediate timeout. * - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout. * - @a TIME_INFINITE no timeout.
* . * .
* @return The mask of the lowest id served and cleared event. * @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(); chSysLock();
if ((m = (currp->p_epending & ewmask)) == 0) { if ((m = (currp->p_epending & ewmask)) == 0) {
if (TIME_ZERO == time) if (TIME_IMMEDIATE == time)
return (eventmask_t)0; return (eventmask_t)0;
currp->p_ewmask = ewmask; currp->p_ewmask = ewmask;
if (chSchGoSleepTimeoutS(PRWTOREVT, time) < RDY_OK) 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 * @p ALL_EVENTS enables all the events
* @param[in] time the number of ticks before the operation timeouts, * @param[in] time the number of ticks before the operation timeouts,
* the following special values are allowed: * the following special values are allowed:
* - @a TIME_ZERO immediate timeout. * - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout. * - @a TIME_INFINITE no timeout.
* . * .
* @return The mask of the served and cleared events. * @return The mask of the served and cleared events.
@ -343,7 +343,7 @@ eventmask_t chEvtWaitAnyTimeout(eventmask_t ewmask, systime_t time) {
chSysLock(); chSysLock();
if ((m = (currp->p_epending & ewmask)) == 0) { if ((m = (currp->p_epending & ewmask)) == 0) {
if (TIME_ZERO == time) if (TIME_IMMEDIATE == time)
return (eventmask_t)0; return (eventmask_t)0;
currp->p_ewmask = ewmask; currp->p_ewmask = ewmask;
if (chSchGoSleepTimeoutS(PRWTOREVT, time) < RDY_OK) 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] ewmask mask of the event ids that the function should wait for
* @param[in] time the number of ticks before the operation timeouts, * @param[in] time the number of ticks before the operation timeouts,
* the following special values are allowed: * the following special values are allowed:
* - @a TIME_ZERO immediate timeout. * - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout. * - @a TIME_INFINITE no timeout.
* . * .
* @return The mask of the served and cleared events. * @return The mask of the served and cleared events.
@ -375,7 +375,7 @@ eventmask_t chEvtWaitAllTimeout(eventmask_t ewmask, systime_t time) {
chSysLock(); chSysLock();
if ((currp->p_epending & ewmask) != ewmask) { if ((currp->p_epending & ewmask) != ewmask) {
if (TIME_ZERO == time) if (TIME_IMMEDIATE == time)
return (eventmask_t)0; return (eventmask_t)0;
currp->p_ewmask = ewmask; currp->p_ewmask = ewmask;
if (chSchGoSleepTimeoutS(PRWTANDEVT, time) < RDY_OK) if (chSchGoSleepTimeoutS(PRWTANDEVT, time) < RDY_OK)

12
src/chmboxes.c
View File

@ -72,7 +72,7 @@ void chMBReset(Mailbox *mbp) {
* @param[in] msg the message to be posted on the mailbox * @param[in] msg the message to be posted on the mailbox
* @param[in] time the number of ticks before the operation timeouts, * @param[in] time the number of ticks before the operation timeouts,
* the following special values are allowed: * the following special values are allowed:
* - @a TIME_ZERO immediate timeout. * - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout. * - @a TIME_INFINITE no timeout.
* . * .
* @return The operation status. * @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] msg the message to be posted on the mailbox
* @param[in] time the number of ticks before the operation timeouts, * @param[in] time the number of ticks before the operation timeouts,
* the following special values are allowed: * the following special values are allowed:
* - @a TIME_ZERO immediate timeout. * - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout. * - @a TIME_INFINITE no timeout.
* . * .
* @return The operation status. * @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] msg the message to be posted on the mailbox
* @param[in] time the number of ticks before the operation timeouts, * @param[in] time the number of ticks before the operation timeouts,
* the following special values are allowed: * the following special values are allowed:
* - @a TIME_ZERO immediate timeout. * - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout. * - @a TIME_INFINITE no timeout.
* . * .
* @return The operation status. * @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] msg the message to be posted on the mailbox
* @param[in] time the number of ticks before the operation timeouts, * @param[in] time the number of ticks before the operation timeouts,
* the following special values are allowed: * the following special values are allowed:
* - @a TIME_ZERO immediate timeout. * - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout. * - @a TIME_INFINITE no timeout.
* . * .
* @return The operation status. * @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[out] msgp pointer to a message variable for the received message
* @param[in] time the number of ticks before the operation timeouts, * @param[in] time the number of ticks before the operation timeouts,
* the following special values are allowed: * the following special values are allowed:
* - @a TIME_ZERO immediate timeout. * - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout. * - @a TIME_INFINITE no timeout.
* . * .
* @return The operation status. * @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[out] msgp pointer to a message variable for the received message
* @param[in] time the number of ticks before the operation timeouts, * @param[in] time the number of ticks before the operation timeouts,
* the following special values are allowed: * the following special values are allowed:
* - @a TIME_ZERO immediate timeout. * - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout. * - @a TIME_INFINITE no timeout.
* . * .
* @return The operation status. * @return The operation status.

2
src/chschd.c
View File

@ -124,7 +124,7 @@ static void wakeup(void *p) {
* @param[in] newstate the new thread state * @param[in] newstate the new thread state
* @param[in] time the number of ticks before the operation timeouts, * @param[in] time the number of ticks before the operation timeouts,
* the special value @p TIME_INFINITE is allowed. * 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. * specification.
* @return The wakeup message. * @return The wakeup message.
* @retval RDY_TIMEOUT if a timeout occurs. * @retval RDY_TIMEOUT if a timeout occurs.

6
src/chsem.c
View File

@ -134,7 +134,7 @@ msg_t chSemWaitS(Semaphore *sp) {
* @param[in] sp pointer to a @p Semaphore structure * @param[in] sp pointer to a @p Semaphore structure
* @param[in] time the number of ticks before the operation timeouts, * @param[in] time the number of ticks before the operation timeouts,
* the following special values are allowed: * the following special values are allowed:
* - @a TIME_ZERO immediate timeout. * - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout. * - @a TIME_INFINITE no timeout.
* @retval RDY_OK if the semaphore was signaled or not taken. * @retval RDY_OK if the semaphore was signaled or not taken.
* @retval RDY_RESET if the semaphore was reset using @p chSemReset(). * @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] sp pointer to a @p Semaphore structure
* @param[in] time the number of ticks before the operation timeouts, * @param[in] time the number of ticks before the operation timeouts,
* the following special values are allowed: * the following special values are allowed:
* - @a TIME_ZERO immediate timeout. * - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout. * - @a TIME_INFINITE no timeout.
* . * .
* @retval RDY_OK if the semaphore was signaled or not taken. * @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"); chDbgCheck(sp != NULL, "chSemWaitTimeoutS");
if (--sp->s_cnt < 0) { if (--sp->s_cnt < 0) {
if (TIME_ZERO == time) if (TIME_IMMEDIATE == time)
return RDY_TIMEOUT; return RDY_TIMEOUT;
sem_insert(currp, &sp->s_queue); sem_insert(currp, &sp->s_queue);
currp->p_wtsemp = sp; currp->p_wtsemp = sp;

81
src/chthreads.c
View File

@ -71,13 +71,14 @@ static void memfill(uint8_t *startp, uint8_t *endp, uint8_t v) {
* @details The new thread is initialized but not inserted in the ready list, * @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 * @param[out] workspace pointer to a working area dedicated to the thread
* created with priority @p NORMALPRIO, priorities * 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. * can range from @p LOWPRIO to @p HIGHPRIO.
* @param workspace pointer to a working area dedicated to the thread stack * @param[in] pf the thread function
* @param wsize size of the working area. * @param[in] arg an argument passed to the thread function. It can be @p NULL.
* @param pf the thread function
* @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 * @return The pointer to the @p Thread structure allocated for the
* thread into the working space area. * thread into the working space area.
* @note A thread can terminate by calling @p chThdExit() or by simply * @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. * @brief Creates a new thread into a static memory area.
* *
* @param workspace pointer to a working area dedicated to the thread stack * @param[out] workspace pointer to a working area dedicated to the thread
* @param wsize size of the working area. * stack
* @param prio the priority level for the new thread. Usually the threads are * @param[in] wsize size of the working area.
* created with priority @p NORMALPRIO, priorities * @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. * can range from @p LOWPRIO to @p HIGHPRIO.
* @param pf the thread function * @param[in] pf the thread function
* @param arg an argument passed to the thread function. It can be @p NULL. * @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 * @return The pointer to the @p Thread structure allocated for the
* thread into the working space area. * thread into the working space area.
* @note A thread can terminate by calling @p chThdExit() or by simply * @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. * @brief Creates a new thread allocating the memory from the heap.
* *
* @param wsize size of the working area to be allocated * @param[in] wsize size of the working area to be allocated
* @param prio the priority level for the new thread. Usually the threads are * @param[in] prio the priority level for the new thread. Usually the threads
* created with priority @p NORMALPRIO, priorities * are created with priority @p NORMALPRIO, priorities
* can range from @p LOWPRIO to @p HIGHPRIO. * can range from @p LOWPRIO to @p HIGHPRIO.
* @param pf the thread function * @param[in] pf the thread function
* @param arg an argument passed to the thread function. It can be @p NULL. * @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 * @return The pointer to the @p Thread structure allocated for the
* thread into the working space area. * thread into the working space area.
* @retval NULL if the memory cannot be allocated. * @retval NULL if the memory cannot be allocated.
@ -165,12 +167,12 @@ Thread *chThdCreateFromHeap(size_t wsize, tprio_t prio,
* @brief Creates a new thread allocating the memory from the specified Memory * @brief Creates a new thread allocating the memory from the specified Memory
* Pool. * Pool.
* *
* @param mp the memory pool * @param[in] mp the memory pool
* @param prio the priority level for the new thread. Usually the threads are * @param[in] prio the priority level for the new thread. Usually the threads
* created with priority @p NORMALPRIO, priorities * are created with priority @p NORMALPRIO, priorities
* can range from @p LOWPRIO to @p HIGHPRIO. * can range from @p LOWPRIO to @p HIGHPRIO.
* @param pf the thread function * @param[in] pf the thread function
* @param arg an argument passed to the thread function. It can be @p NULL. * @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 * @return The pointer to the @p Thread structure allocated for the
* thread into the working space area or @p NULL if the memory cannot * thread into the working space area or @p NULL if the memory cannot
* be allocated. * be allocated.
@ -202,7 +204,7 @@ Thread *chThdCreateFromMemoryPool(MemoryPool *mp, tprio_t prio,
* @brief Changes the running thread priority level then reschedules if * @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. * @return The old priority level.
* @note The function returns the real thread priority regardless of the * @note The function returns the real thread priority regardless of the
* actual priority that could be higher than the real priority because * 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. * @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. * @return The pointer to the thread.
* @note This call is supposed to resume threads created with @p chThdInit(). * @note This call is supposed to resume threads created with @p chThdInit().
* It should not be used on threads suspended using @p chThdSuspend(). * It should not be used on threads suspended using @p chThdSuspend().
@ -251,7 +253,7 @@ Thread *chThdResume(Thread *tp) {
/** /**
* @brief Requests a thread termination. * @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 * @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 * its @p p_flags field. The thread can read this status by
* invoking @p chThdShouldTerminate() and then terminate cleanly. * invoking @p chThdShouldTerminate() and then terminate cleanly.
@ -266,10 +268,14 @@ void chThdTerminate(Thread *tp) {
/** /**
* @brief Suspends the invoking thread for the specified time. * @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) { void chThdSleep(systime_t time) {
chDbgCheck((time != TIME_IMMEDIATE) && (time != TIME_INFINITE),
"chThdSleep");
chSysLock(); chSysLock();
chThdSleepS(time); chThdSleepS(time);
chSysUnlock(); chSysUnlock();
@ -279,7 +285,7 @@ void chThdSleep(systime_t time) {
* @brief Suspends the invoking thread until the system time arrives to the * @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) { void chThdSleepUntil(systime_t time) {
@ -292,7 +298,7 @@ void chThdSleepUntil(systime_t time) {
/** /**
* @brief Terminates the current thread by specifying an exit status code. * @brief Terminates the current thread by specifying an exit status code.
* *
* @param msg the thread exit code. The code can be retrieved by using * @param[in] msg the thread exit code. The code can be retrieved by using
* @p chThdWait(). * @p chThdWait().
*/ */
void chThdExit(msg_t msg) { void chThdExit(msg_t msg) {
@ -314,15 +320,16 @@ void chThdExit(msg_t msg) {
* 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 * @details The memory used by the exited thread is handled in different ways
* depending on the API that spawned the thread: * depending on the API that spawned the thread:
* - If the thread was spawned by @p chThdCreateStatic() or by @p chThdInit() * - If the thread was spawned by @p chThdCreateStatic() or by
* then nothing happens and the thread working area is not released or * @p chThdInit() then nothing happens and the thread working area
* modified in any way. This is the default, totally static, behavior. * is not released or modified in any way. This is the default,
* - If the thread was spawned by @p chThdCreateFromHeap() then the working * totally static, behavior.
* area is returned to the system heap. * - If the thread was spawned by @p chThdCreateFromHeap() then
* - If the thread was spawned by @p chThdCreateFromMemoryPool() then the * the working area is returned to the system heap.
* working area is returned to the owning memory pool. * - If the thread was spawned by @p chThdCreateFromMemoryPool()
* * then the working area is returned to the owning memory pool.
* @param tp the thread pointer * .
* @param[in] tp the thread pointer
* @return The exit code from the terminated thread * @return The exit code from the terminated thread
* @note After invoking @p chThdWait() the thread pointer becomes invalid and * @note After invoking @p chThdWait() the thread pointer becomes invalid and
* must not be used as parameter for further system calls. * must not be used as parameter for further system calls.

22
src/chvt.c
View File

@ -43,13 +43,15 @@ void vt_init(void) {
/** /**
* @brief Enables a virtual timer. * @brief Enables a virtual timer.
* *
* @param vtp the @p VirtualTimer structure pointer * @param[out] vtp the @p VirtualTimer structure pointer
* @param time the number of time ticks, the values @p TIME_ZERO and * @param[in] time the number of time ticks, the value @p TIME_INFINITE is not
* @p TIME_INFINITE are not allowed * allowed. The value @p TIME_IMMEDIATE is allowed but
* @param vtfunc the timer callback function. After invoking the callback * 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 * the timer is disabled and the structure can be disposed or
* reused. * reused.
* @param par a parameter that will be passed to the callback function * @param[in] par a parameter that will be passed to the callback function
* @note The associated function is invoked by an interrupt handler within * @note The associated function is invoked by an interrupt handler within
* the I-Locked state, see @ref system_states. * 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; VirtualTimer *p;
chDbgCheck((vtp != NULL) && (vtfunc != NULL) && 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_par = par;
vtp->vt_func = vtfunc; 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. * @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. * @note The timer MUST be active when this function is invoked.
*/ */
void chVTResetI(VirtualTimer *vtp) { 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. * @brief Checks if the current system time is within the specified time window.
* *
* @param start the start of the time window (inclusive) * @param[in] start the start of the time window (inclusive)
* @param end the end of the time window (non 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) { bool_t chSysInTimeWindow(systime_t start, systime_t end) {

8
src/include/scheduler.h
View File

@ -44,16 +44,16 @@
/** /**
* Zero time specification for some syscalls with a timeout * Zero time specification for some syscalls with a timeout
* specification. * specification.
* @note Not all functions accept @p TIME_ZERO as timeout parameter, see the * @note Not all functions accept @p TIME_IMMEDIATE as timeout parameter,
* specific documentation. * 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 * Infinite time specification for all the syscalls with a timeout
* specification. * specification.
*/ */
#define TIME_INFINITE ((systime_t)-1) #define TIME_INFINITE ((systime_t)0)
/** The priority of the first thread on the given ready list. */ /** The priority of the first thread on the given ready list. */
#define firstprio(rlp) ((rlp)->p_next->p_prio) #define firstprio(rlp) ((rlp)->p_next->p_prio)

2
test/testsem.c
View File

@ -83,7 +83,7 @@ static void sem2_execute(void) {
systime_t target_time; systime_t target_time;
msg_t msg; msg_t msg;
msg= chSemWaitTimeout(&sem1, TIME_ZERO); msg= chSemWaitTimeout(&sem1, TIME_IMMEDIATE);
test_assert(msg == RDY_TIMEOUT, "#1"); test_assert(msg == RDY_TIMEOUT, "#1");
target_time = chSysGetTime() + MS2ST(5 * 500); target_time = chSysGetTime() + MS2ST(5 * 500);