git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@93 35acf78f-673a-0410-8e92-d51de3d6d3f4
gdisirio
parent
3fe3d0d6a9
commit
da365c95e4
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@ -62,12 +62,15 @@ UDEFS =
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UADEFS =
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# List ARM-mode C source files here
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ASRC = chcore.c main.c buzzer.c mmcsd.c ../../src/lib/evtimer.c ../../test/test.c \
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../../ports/ARM7-LPC214x/GCC/vic.c ../../ports/ARM7-LPC214x/GCC/lpc214x_serial.c \
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../../ports/ARM7-LPC214x/GCC/lpc214x_ssp.c \
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ASRC = chcore.c \
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../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \
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../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c \
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../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c ../../src/chserial.c
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../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c ../../src/chserial.c \
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../../ports/ARM7-LPC214x/GCC/vic.c ../../ports/ARM7-LPC214x/GCC/lpc214x_serial.c \
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../../ports/ARM7-LPC214x/GCC/lpc214x_ssp.c \
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../../src/lib/evtimer.c ../../test/test.c \
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buzzer.c mmcsd.c main.c
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# List THUMB-mode C sources here
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# NOTE: If any module is compiled in thumb mode then -mthumb-interwork is
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@ -99,7 +102,7 @@ TOPT = -mthumb -D THUMB
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# increases the code size.
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OPT = -O2 -ggdb -fomit-frame-pointer -fno-strict-aliasing
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#OPT += -ffixed-r7
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#OPT += -falign-functions=16
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OPT += -falign-functions=16
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# Define warning options here
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WARN = -Wall -Wstrict-prototypes
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@ -67,12 +67,13 @@ ASRC = chcore.c
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# List THUMB-mode C sources here
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# NOTE: If any module is compiled in thumb mode then -mthumb-interwork is
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# enabled for all modules and that lowers performance.
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TSRC = main.c buzzer.c mmcsd.c ../../src/lib/evtimer.c ../../test/test.c \
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TSRC = ../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \
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../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c \
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../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c ../../src/chserial.c \
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../../ports/ARM7-LPC214x/GCC/vic.c ../../ports/ARM7-LPC214x/GCC/lpc214x_serial.c \
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../../ports/ARM7-LPC214x/GCC/lpc214x_ssp.c \
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../../src/chinit.c ../../src/chdebug.c ../../src/chlists.c ../../src/chdelta.c \
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../../src/chschd.c ../../src/chthreads.c ../../src/chsem.c ../../src/chevents.c \
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../../src/chmsg.c ../../src/chsleep.c ../../src/chqueues.c ../../src/chserial.c
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../../src/lib/evtimer.c ../../test/test.c \
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buzzer.c mmcsd.c main.c
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# List ASM source files here
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ASMSRC = crt0.s chcore2.s
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@ -99,7 +100,7 @@ TOPT = -mthumb -D THUMB
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# increases the code size.
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OPT = -O2 -ggdb -fomit-frame-pointer -fno-strict-aliasing
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#OPT += -ffixed-r7
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#OPT += -falign-functions=16
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OPT += -falign-functions=16
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# Define warning options here
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WARN = -Wall -Wstrict-prototypes
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@ -25,8 +25,13 @@
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#include "buzzer.h"
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#include "evtimer.h"
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static BYTE8 waThread1[UserStackSize(32)];
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static BYTE8 waIdleThread[UserStackSize(16)];
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static t_msg IdleThread(void *arg) {
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chSysPause();
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}
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static BYTE8 waThread1[UserStackSize(32)];
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static t_msg Thread1(void *arg) {
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while (TRUE) {
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@ -43,7 +48,6 @@ static t_msg Thread1(void *arg) {
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}
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static BYTE8 waThread2[UserStackSize(32)];
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static t_msg Thread2(void *arg) {
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while (TRUE) {
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@ -94,7 +98,7 @@ static void RemoveHandler(t_eventid id) {
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PlaySoundWait(1000, 100);
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}
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static BYTE8 waThread3[UserStackSize(256)];
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/*static BYTE8 waThread3[UserStackSize(256)];*/
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static EvTimer evt;
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static t_evhandler evhndl[] = {
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TimerHandler,
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@ -102,7 +106,7 @@ static t_evhandler evhndl[] = {
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RemoveHandler
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};
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static t_msg Thread3(void *arg) {
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/*static t_msg Thread3(void *arg) {
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struct EventListener el0, el1, el2;
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evtInit(&evt, 500);
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@ -114,20 +118,51 @@ static t_msg Thread3(void *arg) {
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while (TRUE)
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chEvtWait(ALL_EVENTS, evhndl);
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return 0;
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}
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}*/
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int main(int argc, char **argv) {
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struct EventListener el0, el1, el2;
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chSysInit();
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/*
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* If a button is pressed during the reset then the blinking leds are not
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* started in order to make accurate benchmarks.
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* The main() function becomes a thread here, ChibiOS/RT goes live.
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*/
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chSysInit();
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/*
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* This thread has the lowest priority in the system, its role is just to
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* execute the chSysPause() and serve interrupts in its context.
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* In ChibiOS/RT at least one thread in the system *must* execute
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* chThdPause(), it can be done in a dedicated thread or in the main()
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* function (that would never exit the call).
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*/
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chThdCreate(IDLEPRIO, 0, waIdleThread, sizeof(waIdleThread), IdleThread, NULL);
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/*
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* If a button is pressed during the reset then the blinking leds threads
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* are not started in order to make accurate benchmarks.
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*/
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if ((IO0PIN & 0x00018000) == 0x00018000) {
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chThdCreate(NORMALPRIO, 0, waThread1, sizeof(waThread1), Thread1, NULL);
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chThdCreate(NORMALPRIO, 0, waThread2, sizeof(waThread2), Thread2, NULL);
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}
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chThdCreate(NORMALPRIO, 0, waThread3, sizeof(waThread3), Thread3, NULL);
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chSysPause();
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/*
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* Allows the other threads to run by lowering the priority, remember,
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* the priority is set to the maximum in the \p chSysInit().
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*/
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chThdSetPriority(NORMALPRIO);
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/*
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* Normal main() activity, in this demo it server events incoming from
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* various sources.
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*/
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evtInit(&evt, 500); /* Initializes an event timer object. */
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evtRegister(&evt, &el0, 0); /* Registers on the timer event source. */
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evtStart(&evt); /* Starts the event timer. */
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mmcStartPolling(); /* Starts the MMC connector polling. */
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chEvtRegister(&MMCInsertEventSource, &el1, 1);
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chEvtRegister(&MMCRemoveEventSource, &el2, 2);
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while (TRUE) /* Just serve events. */
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chEvtWait(ALL_EVENTS, evhndl);
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return 0;
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}
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15
readme.txt
15
readme.txt
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@ -38,6 +38,21 @@ AVR-AT90CANx-GCC - Port on AVR AT90CAN128, not complete yet.
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*** Releases ***
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*****************************************************************************
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*** 0.4.1 ***
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- Cleaned up the LPC2148 demo in main.c, it is now well documented and
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explains everything, I assumed too much stuff to be "obvious".
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- Included a Makefile in the LPC2148 demo that builds in THUMB mode.
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- Added a spreadsheet in the documentation that describes the advantages
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and disadvantages of the various optimization options (both GCC options and
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ChibiOS/RT options), very interesting read IMO. No .xls available, ODF only.
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- The GCC option +falign-functions=16 is now default in the Makefile, it is
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required because of the MAM unit into the LPC chips, without this option
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the code performance is less predictable and can change of some % points
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depending on how the code is aligned in the flash memory, unpredictabilty
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is bad for a RTOS. This option however increases the code size slightly
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because of alignment gaps.
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- Fine tuning in the scheduler code for improved performance.
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*** 0.4.0 ***
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- NEW, added a benchmark functionality to the test suite. The benchmark
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measures the kernel throughput as messages per second and context switches
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13
src/chschd.c
13
src/chschd.c
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@ -27,7 +27,6 @@
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/** @cond never*/
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static ReadyList rlist;
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static t_cnt preempt;
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#ifndef CH_CURRP_REGISTER_CACHE
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Thread *currp;
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@ -47,7 +46,7 @@ void chSchInit(void) {
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fifo_init(&rlist.r_queue);
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rlist.r_prio = ABSPRIO;
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preempt = CH_TIME_QUANTUM;
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rlist.r_preempt = CH_TIME_QUANTUM;
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#ifdef CH_USE_SYSTEMTIME
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stime = 0;
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#endif
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@ -89,7 +88,7 @@ static void nextready(void) {
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Thread *otp = currp;
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(currp = fifo_remove(&rlist.r_queue))->p_state = PRCURR;
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preempt = CH_TIME_QUANTUM;
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rlist.r_preempt = CH_TIME_QUANTUM;
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#ifdef CH_USE_DEBUG
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chDbgTrace(otp, currp);
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#endif
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@ -131,7 +130,7 @@ void chSchWakeupS(Thread *ntp, t_msg msg) {
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chSchReadyI(otp);
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(currp = ntp)->p_state = PRCURR;
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ntp->p_rdymsg = msg;
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preempt = CH_TIME_QUANTUM;
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rlist.r_preempt = CH_TIME_QUANTUM;
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#ifdef CH_USE_DEBUG
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chDbgTrace(otp, ntp);
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#endif
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@ -172,7 +171,7 @@ BOOL chSchRescRequiredI(void) {
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if (isempty(&rlist.r_queue))
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return FALSE;
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if (preempt) {
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if (rlist.r_preempt) {
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if (firstprio(&rlist.r_queue) <= currp->p_prio)
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return FALSE;
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}
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@ -191,8 +190,8 @@ BOOL chSchRescRequiredI(void) {
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*/
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void chSchTimerHandlerI(void) {
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if (preempt)
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preempt--;
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if (rlist.r_preempt)
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rlist.r_preempt--;
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#ifdef CH_USE_SYSTEMTIME
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stime++;
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@ -38,8 +38,9 @@
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* Ready list header.
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*/
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typedef struct {
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ThreadsQueue r_queue;
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t_prio r_prio;
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ThreadsQueue r_queue;
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t_prio r_prio;
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t_cnt r_preempt;
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} ReadyList;
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/*
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