git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@25 35acf78f-673a-0410-8e92-d51de3d6d3f4

demos/LPC214x-GCC/main.c

@@ -23,7 +23,7 @@
 #include "lpc214x_serial.h"
 #include "buzzer.h"
 
-static BYTE8 waThread1[UserStackSize(16)];
+static BYTE8 waThread1[UserStackSize(32)];
 
 static t_msg Thread1(void *arg) {
 
@@ -40,7 +40,7 @@ static t_msg Thread1(void *arg) {
   return 0;
 }
 
-static BYTE8 waThread2[UserStackSize(16)];
+static BYTE8 waThread2[UserStackSize(32)];
 
 static t_msg Thread2(void *arg) {
 
@@ -53,7 +53,7 @@ static t_msg Thread2(void *arg) {
   return 0;
 }
 
-static BYTE8 waThread3[UserStackSize(16)];
+static BYTE8 waThread3[UserStackSize(32)];
 
 static t_msg Thread3(void *arg) {
 

docs/Doxyfile

@@ -4,7 +4,7 @@
 # Project related configuration options
 #---------------------------------------------------------------------------
 PROJECT_NAME           = ChibiOS/RT
-PROJECT_NUMBER         = "0.2.1 alpha"
+PROJECT_NUMBER         = "0.3.0 beta"
 OUTPUT_DIRECTORY       = .
 CREATE_SUBDIRS         = NO
 OUTPUT_LANGUAGE        = English
@@ -26,7 +26,7 @@ ALWAYS_DETAILED_SEC    = NO
 INLINE_INHERITED_MEMB  = NO
 FULL_PATH_NAMES        = NO
 STRIP_FROM_PATH        = "C:/Documents and Settings/Administrator/"
-STRIP_FROM_INC_PATH    =
+STRIP_FROM_INC_PATH    = 
 SHORT_NAMES            = NO
 JAVADOC_AUTOBRIEF      = YES
 MULTILINE_CPP_IS_BRIEF = NO
@@ -34,7 +34,7 @@ DETAILS_AT_TOP         = YES
 INHERIT_DOCS           = NO
 SEPARATE_MEMBER_PAGES  = NO
 TAB_SIZE               = 2
-ALIASES                =
+ALIASES                = 
 OPTIMIZE_OUTPUT_FOR_C  = YES
 OPTIMIZE_OUTPUT_JAVA   = NO
 BUILTIN_STL_SUPPORT    = NO
@@ -64,11 +64,11 @@ GENERATE_TODOLIST      = YES
 GENERATE_TESTLIST      = YES
 GENERATE_BUGLIST       = YES
 GENERATE_DEPRECATEDLIST= YES
-ENABLED_SECTIONS       =
+ENABLED_SECTIONS       = 
 MAX_INITIALIZER_LINES  = 30
 SHOW_USED_FILES        = NO
 SHOW_DIRECTORIES       = NO
-FILE_VERSION_FILTER    =
+FILE_VERSION_FILTER    = 
 #---------------------------------------------------------------------------
 # configuration options related to warning and progress messages
 #---------------------------------------------------------------------------
@@ -78,7 +78,7 @@ WARN_IF_UNDOCUMENTED   = YES
 WARN_IF_DOC_ERROR      = YES
 WARN_NO_PARAMDOC       = NO
 WARN_FORMAT            = "$file:$line: $text"
-WARN_LOGFILE           =
+WARN_LOGFILE           = 
 #---------------------------------------------------------------------------
 # configuration options related to the input files
 #---------------------------------------------------------------------------
@@ -115,15 +115,15 @@ FILE_PATTERNS          = *.c \
                          *.py \
                          *.ddf
 RECURSIVE              = YES
-EXCLUDE                =
+EXCLUDE                = 
 EXCLUDE_SYMLINKS       = NO
-EXCLUDE_PATTERNS       =
+EXCLUDE_PATTERNS       = 
-EXAMPLE_PATH           =
+EXAMPLE_PATH           = 
 EXAMPLE_PATTERNS       = *
 EXAMPLE_RECURSIVE      = NO
-IMAGE_PATH             =
+IMAGE_PATH             = ./img
-INPUT_FILTER           =
+INPUT_FILTER           = 
-FILTER_PATTERNS        =
+FILTER_PATTERNS        = 
 FILTER_SOURCE_FILES    = NO
 #---------------------------------------------------------------------------
 # configuration options related to source browsing
@@ -141,20 +141,20 @@ VERBATIM_HEADERS       = NO
 #---------------------------------------------------------------------------
 ALPHABETICAL_INDEX     = NO
 COLS_IN_ALPHA_INDEX    = 5
-IGNORE_PREFIX          =
+IGNORE_PREFIX          = 
 #---------------------------------------------------------------------------
 # configuration options related to the HTML output
 #---------------------------------------------------------------------------
 GENERATE_HTML          = YES
 HTML_OUTPUT            = html
 HTML_FILE_EXTENSION    = .html
-HTML_HEADER            =
+HTML_HEADER            = 
-HTML_FOOTER            =
+HTML_FOOTER            = 
-HTML_STYLESHEET        =
+HTML_STYLESHEET        = 
 HTML_ALIGN_MEMBERS     = YES
 GENERATE_HTMLHELP      = NO
-CHM_FILE               =
+CHM_FILE               = 
-HHC_LOCATION           =
+HHC_LOCATION           = 
 GENERATE_CHI           = NO
 BINARY_TOC             = NO
 TOC_EXPAND             = NO
@@ -171,8 +171,8 @@ LATEX_CMD_NAME         = latex
 MAKEINDEX_CMD_NAME     = makeindex
 COMPACT_LATEX          = NO
 PAPER_TYPE             = a4wide
-EXTRA_PACKAGES         =
+EXTRA_PACKAGES         = 
-LATEX_HEADER           =
+LATEX_HEADER           = 
 PDF_HYPERLINKS         = NO
 USE_PDFLATEX           = NO
 LATEX_BATCHMODE        = NO
@@ -184,8 +184,8 @@ GENERATE_RTF           = NO
 RTF_OUTPUT             = rtf
 COMPACT_RTF            = NO
 RTF_HYPERLINKS         = NO
-RTF_STYLESHEET_FILE    =
+RTF_STYLESHEET_FILE    = 
-RTF_EXTENSIONS_FILE    =
+RTF_EXTENSIONS_FILE    = 
 #---------------------------------------------------------------------------
 # configuration options related to the man page output
 #---------------------------------------------------------------------------
@@ -198,8 +198,8 @@ MAN_LINKS              = NO
 #---------------------------------------------------------------------------
 GENERATE_XML           = NO
 XML_OUTPUT             = xml
-XML_SCHEMA             =
+XML_SCHEMA             = 
-XML_DTD                =
+XML_DTD                = 
 XML_PROGRAMLISTING     = YES
 #---------------------------------------------------------------------------
 # configuration options for the AutoGen Definitions output
@@ -211,16 +211,16 @@ GENERATE_AUTOGEN_DEF   = NO
 GENERATE_PERLMOD       = NO
 PERLMOD_LATEX          = NO
 PERLMOD_PRETTY         = YES
-PERLMOD_MAKEVAR_PREFIX =
+PERLMOD_MAKEVAR_PREFIX = 
 #---------------------------------------------------------------------------
-# Configuration options related to the preprocessor
+# Configuration options related to the preprocessor   
 #---------------------------------------------------------------------------
 ENABLE_PREPROCESSING   = YES
 MACRO_EXPANSION        = NO
 EXPAND_ONLY_PREDEF     = NO
 SEARCH_INCLUDES        = YES
-INCLUDE_PATH           =
+INCLUDE_PATH           = 
-INCLUDE_FILE_PATTERNS  =
+INCLUDE_FILE_PATTERNS  = 
 PREDEFINED             = __JUST_STUBS__ \
                          __DOXIGEN__ \
                          CH_USE_VIRTUAL_TIMERS \
@@ -242,18 +242,18 @@ PREDEFINED             = __JUST_STUBS__ \
                          CH_USE_MESSAGES \
                          CH_USE_MESSAGES_TIMEOUT \
                          CH_USE_MESSAGES_EVENT
-EXPAND_AS_DEFINED      =
+EXPAND_AS_DEFINED      = 
 SKIP_FUNCTION_MACROS   = YES
 #---------------------------------------------------------------------------
-# Configuration::additions related to external references
+# Configuration::additions related to external references   
 #---------------------------------------------------------------------------
-TAGFILES               =
+TAGFILES               = 
-GENERATE_TAGFILE       =
+GENERATE_TAGFILE       = 
 ALLEXTERNALS           = NO
 EXTERNAL_GROUPS        = YES
 PERL_PATH              = /usr/bin/perl
 #---------------------------------------------------------------------------
-# Configuration options related to the dot tool
+# Configuration options related to the dot tool   
 #---------------------------------------------------------------------------
 CLASS_DIAGRAMS         = NO
 HIDE_UNDOC_RELATIONS   = YES
@@ -270,8 +270,8 @@ CALLER_GRAPH           = NO
 GRAPHICAL_HIERARCHY    = YES
 DIRECTORY_GRAPH        = YES
 DOT_IMAGE_FORMAT       = png
-DOT_PATH               =
+DOT_PATH               = 
-DOTFILE_DIRS           =
+DOTFILE_DIRS           = 
 MAX_DOT_GRAPH_WIDTH    = 1024
 MAX_DOT_GRAPH_HEIGHT   = 1024
 MAX_DOT_GRAPH_DEPTH    = 1000
@@ -280,6 +280,6 @@ DOT_MULTI_TARGETS      = NO
 GENERATE_LEGEND        = YES
 DOT_CLEANUP            = YES
 #---------------------------------------------------------------------------
-# Configuration::additions related to the search engine
+# Configuration::additions related to the search engine   
 #---------------------------------------------------------------------------
 SEARCHENGINE           = NO

docs/ch.txt

@@ -47,8 +47,77 @@
  *     memory image.</li>
  * <li>Almost totally written in C with little ASM code required for ports.</li>
  * </ul>
+ *
+ * ChibiOS/RT architecture:<br><br>
+ * @subpage Concepts
  */
 
+/**
+ * @page Concepts Concepts
+ * @{
+ * @section naming Naming Conventions
+ * ChibiOS/RT APIs are all named following this convention:
+ * \a ch\<group\>\<action\>\<suffix\>().
+ * The possible groups are: \a Sys, \a Sch, \a VT, \a Thd, \a Sem, \a Evt,
+ * \a Msg, \a IQ, \a OQ, \a HQ,\a FDD, \a HDD.
+ * The suffix is not present for normal APIs but can be one of
+ * the following: "I" for APIs meant to be invoked from an interrupt handler
+ * or within the system mutex zone but not from user code, "S" for APIs only
+ * useable from within the system mutex zone but not from interrupt handlers
+ * or user code. The APIs without suffix can be invoked only from the user
+ * code.<br>
+ * Examples: \p chThdCreate(), \p chSemSignalI(), \p chIQGetTimeout().
+ *
+ * @section scheduling Scheduling
+ * The strategy is very simple the currently ready thread with the highest
+ * priority is executed. If more than one thread with equal priority are
+ * eligible for execution then they are executed in a round-robin way, the
+ * CPU time slice constant is configurable. The ready list is a double linked
+ * list of threads ordered by priority.
+ * @image html readylist.png
+ * Note that the currently running thread is not in the ready list, the list
+ * only contains the threads ready to be executed but still actually waiting.
+ *
+ * @section warea Thread Working Area
+ * Each thread has its own stack, a Thread structure and a registers dump
+ * structure. All the structures are allocated into a "Thread working area",
+ * a thread private heap, usually allocated in a char array declared in your
+ * code, there is not a central threads table or list, this means you can
+ * have as many threads you want as long you have enough available RAM
+ * memory. The threads do not use any memory outside the allocated working
+ * area.<br>
+
+ * @image html workspace.png
+ * <br>
+ * Note that the registers dump is only present when the Thread is not
+ * running, the context switching is done by pushing the registers on the
+ * stack of the switched-out thread and popping the registers of the
+ * switched-in thread from its stack.
+ *
+ * @section sysmutex System Mutex Zone
+ * It is the code within the OS that cannot be preempted, this code is
+ * everything between the \p chSysLock() and \p chSysUnlock() API calls.
+ * The implementation of the APIs in most cases just enables/disables the
+ * interrupts. Of course the code in the system mutex zone must be as short
+ * and efficient possible as it affects the RT performance of the whole
+ * system. The worst case response time is affected by the longest code
+ * path in the system mutex zone or interrupt handler.
+ * @code
+ * // User code, not critical, preemption possible.
+ * chSysLock();
+ * ...
+ * // System critical code, preemption delayed.
+ * ...
+ * chSysUnlock();
+ * // User code, preemption possible again.
+ * @endcode
+ * Applications usually do not need to put code into the system mutex zone
+ * unless you are implementing device drivers or special synchronization
+ * primitives, everything else can be implemented by using semaphores,
+ * messages or events.
+ */
+/** @} */
+
 /**
  * @defgroup Kernel Kernel
  * @{

readme.txt

@@ -32,6 +32,15 @@ LPC214x-GCC         - ChibiOS/RT port for ARM7 LPC2148, the demo targets the
 *** Releases                                                              ***
 *****************************************************************************
 
+*** 0.3.0 ***
+- ChibiOS/RT goes beta.
+- Diet for the threads code, some simple APIs become macros.
+- Thread Local Storage implemented as a single API: chThdLS().
+  The API simply returns a pointer into the thread working area, see the
+  documentation on the web site.
+- Moved some documentation and images from the web site into the Doxigen
+  generated HTMLs.
+
 *** 0.2.1 ***
 - Optimizations in the RT semaphores subsystem. The support for this
   subsystem should still be considered experimental and further changes may

src/chsleep.c

@@ -62,11 +62,11 @@ t_time chSysGetTime(void) {
  *       option is enabled in \p chconf.h.
  */
 void chThdSleepUntil(t_time time) {
-  VirtualTimer t;
+  VirtualTimer vt;
 
   chSysLock();
 
-  chVTSetI(&t, (t_time)(time - stime), (t_vtfunc)chSchReadyI, currp);
+  chVTSetI(&vt, (t_time)(time - stime), (t_vtfunc)chSchReadyI, currp);
   chSchGoSleepI(PRSLEEP);
 
   chSysUnlock();

src/chthreads.c

@@ -129,17 +129,6 @@ Thread *chThdCreate(t_prio prio, t_tmode mode, void *workspace,
   return tp;
 }
 
-/**
- * Verifies if the specified thread is in the \p PREXIT state.
- * @param tp the pointer to the thread
- * @return \p TRUE if the thread is ended else \p FALSE. \p TRUE ensures that
- *         a subsequent call to \p chThdWait() would not block.
- */
-BOOL chThdTerminated(Thread *tp) {
-
-  return tp->p_state == PREXIT;
-}
-
 #ifdef CH_USE_RESUME
 /**
  * Resumes a thread created with the \p P_SUSPENDED option.
@@ -176,17 +165,6 @@ void chThdTerminate(Thread *tp) {
 
   chSysUnlock();
 }
-
-/**
- * Verifies if the current thread has a termination request pending.
- * @return \p TRUE if the termination was requested. The thread should terminate
- *         as soon it is ready to do so.
- */
-BOOL chThdShouldTerminate(void) {
-
-  return currp->p_flags & P_TERMINATE ? TRUE : FALSE;
-}
-
 #endif
 
 /**
@@ -234,31 +212,4 @@ t_msg chThdWait(Thread *tp) {
 }
 #endif /* CH_USE_WAITEXIT */
 
-#ifdef CH_USE_EXIT_EVENT
-/**
- * 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:<br>
- *       <ul>
- *       <li>Create the thread suspended, register on the event source
- *           and then resume the thread (recommended).</li>
- *       <li>Create the thread with a lower priority then register on it.
- *           This does not work if the hardware is capable of multiple
- *           physical threads.</li>
- *       </ul>
- * @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.
- */
-EventSource *chThdGetExitEventSource(Thread *tp) {
-
-  return &tp->p_exitesource;
-}
-#endif /* CH_USE_EXIT_EVENT */
-
 /** @} */

src/include/threads.h

@@ -182,19 +182,55 @@ static INLINE void enqueue(Thread *tp, ThreadsQueue *tqp) {
 /*
  * Threads APIs.
  */
-#define chThdSelf() currp
 Thread *chThdCreate(t_prio prio, t_tmode mode, void *workspace,
                     t_size wsize, t_tfunc pf, void *arg);
 void chThdResume(Thread *tp);
-void chThdTerminate(Thread *tp);
-BOOL chThdShouldTerminate(void);
-BOOL chThdTerminated(Thread *tp);
 void chThdExit(t_msg msg);
+
+/** Returns the pointer to the \p Thread currently in execution.*/
+#define chThdSelf() currp
+
+/** 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)
+
+#ifdef CH_USE_TERMINATE
+/**
+ * Verifies if the current thread has a termination request pending.
+ */
+#define chThdShouldTerminate() (currp->p_flags & P_TERMINATE)
+
+void chThdTerminate(Thread *tp);
+#endif
+
 #ifdef CH_USE_WAITEXIT
 t_msg chThdWait(Thread *tp);
 #endif
+
 #ifdef CH_USE_EXIT_EVENT
-EventSource *chThdGetExitEventSource(Thread *tp);
+/**
+ * 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:<br>
+ *       <ul>
+ *       <li>Create the thread suspended, register on the event source
+ *           and then resume the thread (recommended).</li>
+ *       <li>Create the thread with a lower priority then register on it.
+ *           This does not work if the hardware is capable of multiple
+ *           physical threads.</li>
+ *       </ul>
+ * @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)
 #endif
 
 #endif  /* _THREADS_H_ */

src/templates/chcore.c

@@ -37,7 +37,7 @@
 void chSysPause(void) {}
 
 /**
- * Abonormal system termination handler. Invoked by the ChobiOS/RT when an
+ * Abonormal system termination handler. Invoked by the ChibiOS/RT when an
  * abnormal unrecoverable condition is met.
  */
 void chSysHalt(void) {}

src/templates/chcore.h

@@ -39,7 +39,7 @@ struct stackregs {
 }
 
 /**
- * Enters the ChobiOS/RT system mutual exclusion zone, the implementation is
+ * Enters the ChibiOS/RT system mutual exclusion zone, the implementation is
  * architecture dependent, on single core systems usually this function
  * just disables the interrupts.
  * @note The code in the system mutual exclusion zone must be as light and
@@ -50,7 +50,7 @@ struct stackregs {
 #define chSysLock()
 
 /**
- * Leaves the ChobiOS/RT system mutual exclusion zone, the implementation is
+ * Leaves the ChibiOS/RT system mutual exclusion zone, the implementation is
  * architecture dependent, on single core systems usually this function
  * just enables the interrupts.
  * @note The code in the system mutual exclusion zone must be as light and