Improvements to the concepts article.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2181 35acf78f-673a-0410-8e92-d51de3d6d3f4master
gdisirio
parent
6c3bddd257
commit
fd9d0b74ca
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@ -36,7 +36,7 @@
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* @a Mtx, @a Cond, @a Evt, @a Msg, @a SequentialStream, @a IO, @a IQ, @a OQ,
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* @a Dbg, @a Core, @a Heap, @a Pool.
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*
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* @section api_suffixes API Names Suffixes
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* @section api_suffixes API Name Suffixes
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* The suffix can be one of the following:
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* - <b>None</b>, APIs without any suffix can be invoked only from the user
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* code in the <b>Normal</b> state unless differently specified. See
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@ -112,58 +112,104 @@
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* real associated machine state on some architectures. The following diagram
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* shows the possible transitions between the states:
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*
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* @if LATEX_PDF
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* @dot
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digraph example {
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rankdir="LR";
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node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];
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edge [fontname=Helvetica, fontsize=8];
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init [label="Init", style="bold"];
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norm [label="Normal", shape=doublecircle];
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susp [label="Suspended"];
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disab [label="Disabled"];
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slock [label="S-Locked"];
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ilock [label="I-Locked"];
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slock [label="S-Locked"];
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sleep [label="Sleep"];
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sri [label="SRI"];
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init -> norm [label="chSysInit()"];
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norm -> slock [label="chSysLock()", constraint=false];
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slock -> norm [label="chSysUnlock()"];
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norm -> susp [label="chSysSuspend()"];
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susp -> disab [label="chSysDisable()"];
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norm -> disab [label="chSysDisable()"];
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susp -> norm [label="chSysEnable()"];
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disab -> norm [label="chSysEnable()"];
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slock -> ilock [label="Context Switch", dir="both"];
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norm -> sri [label="Regular IRQ", style="dotted"];
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sri -> norm [label="Regular IRQ return", fontname=Helvetica, fontsize=8];
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sri -> ilock [label="chSysLockFromIsr()", constraint=false];
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ilock -> sri [label="chSysUnlockFromIsr()", fontsize=8];
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norm -> sleep [label="Idle Thread"];
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sleep -> sri [label="Regular IRQ", style="dotted"];
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size="5, 7";
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rankdir="LR";
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node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];
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edge [fontname=Helvetica, fontsize=8];
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init [label="Init", style="bold"];
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norm [label="Normal", shape=doublecircle];
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susp [label="Suspended"];
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disab [label="Disabled"];
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slock [label="S-Locked"];
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ilock [label="I-Locked"];
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slock [label="S-Locked"];
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sleep [label="Sleep"];
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sri [label="SRI"];
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init -> norm [label="chSysInit()"];
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norm -> slock [label="chSysLock()", constraint=false];
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slock -> norm [label="chSysUnlock()"];
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norm -> susp [label="chSysSuspend()"];
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susp -> disab [label="chSysDisable()"];
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norm -> disab [label="chSysDisable()"];
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susp -> norm [label="chSysEnable()"];
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disab -> norm [label="chSysEnable()"];
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disab -> susp [label="chSysSuspend()"];
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slock -> ilock [label="Context Switch", dir="both"];
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norm -> sri [label="Regular IRQ", style="dotted"];
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sri -> norm [label="Regular IRQ return", fontname=Helvetica, fontsize=8];
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sri -> ilock [label="chSysLockFromIsr()", constraint=false];
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ilock -> sri [label="chSysUnlockFromIsr()", fontsize=8];
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norm -> sleep [label="Idle Thread"];
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sleep -> sri [label="Regular IRQ", style="dotted"];
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}
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* @enddot
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* @else
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* @dot
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digraph example {
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rankdir="LR";
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node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];
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edge [fontname=Helvetica, fontsize=8];
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init [label="Init", style="bold"];
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norm [label="Normal", shape=doublecircle];
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susp [label="Suspended"];
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disab [label="Disabled"];
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slock [label="S-Locked"];
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ilock [label="I-Locked"];
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slock [label="S-Locked"];
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sleep [label="Sleep"];
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sri [label="SRI"];
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init -> norm [label="chSysInit()"];
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norm -> slock [label="chSysLock()", constraint=false];
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slock -> norm [label="chSysUnlock()"];
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norm -> susp [label="chSysSuspend()"];
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susp -> disab [label="chSysDisable()"];
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norm -> disab [label="chSysDisable()"];
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susp -> norm [label="chSysEnable()"];
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disab -> norm [label="chSysEnable()"];
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disab -> susp [label="chSysSuspend()"];
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slock -> ilock [label="Context Switch", dir="both"];
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norm -> sri [label="Regular IRQ", style="dotted"];
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sri -> norm [label="Regular IRQ return", fontname=Helvetica, fontsize=8];
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sri -> ilock [label="chSysLockFromIsr()", constraint=false];
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ilock -> sri [label="chSysUnlockFromIsr()", fontsize=8];
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norm -> sleep [label="Idle Thread"];
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sleep -> sri [label="Regular IRQ", style="dotted"];
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}
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* @enddot
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* @endif
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* Note, the <b>SFI</b>, <b>Halted</b> and <b>SNMI</b> states were not shown
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* because those are reachable from most states:
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*
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* @dot
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digraph example {
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rankdir="LR";
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node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];
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edge [fontname=Helvetica, fontsize=8];
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any1 [label="Any State\nexcept *"];
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any2 [label="Any State"];
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sfi [label="SFI"];
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halt [label="Halted"];
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SNMI [label="SNMI"];
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any1 -> sfi [style="dotted", label="Fast IRQ"];
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sfi -> any1 [label="Fast IRQ return"];
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any2 -> halt [label="chSysHalt()"];
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any2 -> SNMI [label="Synchronous NMI"];
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any2 -> SNMI [label="Asynchronous NMI", style="dotted"];
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SNMI -> any2 [label="NMI return"];
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halt -> SNMI [label="Asynchronous NMI", style="dotted"];
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SNMI -> halt [label="NMI return"];
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size="5, 7";
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rankdir="LR";
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node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];
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edge [fontname=Helvetica, fontsize=8];
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any1 [label="Any State\nexcept *"];
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sfi [label="SFI"];
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any1 -> sfi [style="dotted", label="Fast IRQ"];
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sfi -> any1 [label="Fast IRQ return"];
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}
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* @enddot
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* @dot
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digraph example {
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size="5, 7";
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rankdir="LR";
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node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];
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edge [fontname=Helvetica, fontsize=8];
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any2 [label="Any State"];
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halt [label="Halted"];
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SNMI [label="SNMI"];
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any2 -> halt [label="chSysHalt()"];
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any2 -> SNMI [label="Synchronous NMI"];
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any2 -> SNMI [label="Asynchronous NMI", style="dotted"];
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SNMI -> any2 [label="NMI return"];
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halt -> SNMI [label="Asynchronous NMI", style="dotted"];
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SNMI -> halt [label="NMI return"];
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}
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* @enddot
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* @attention * except: <b>Init</b>, <b>Halt</b>, <b>SNMI</b>, <b>Disabled</b>.
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@ -174,6 +220,44 @@
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* eligible for execution then they are executed in a round-robin way, the
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* CPU time slice constant is configurable. The ready list is a double linked
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* list of threads ordered by priority.<br><br>
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* @if LATEX_PDF
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* @dot
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digraph example {
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size="5, 7";
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rankdir="LR";
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node [shape=square, fontname=Helvetica, fontsize=8,
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fixedsize="true", width="0.6", height="0.5"];
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edge [fontname=Helvetica, fontsize=8];
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subgraph cluster_running {
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node [shape=square, fontname=Helvetica, fontsize=8,
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fixedsize="true", width="0.6", height="0.5"];
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currp [label="'currp'\npointer", style="bold"];
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T4 [label="Tuser(4)\nprio=100"];
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label = "Currently Running Thread";
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penwidth = 0;
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}
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subgraph cluster_rlist {
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node [shape=square, fontname=Helvetica, fontsize=8,
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fixedsize="true", width="0.6", height="0.5"];
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rh [label="ready list\nheader\nprio=0", style="bold"];
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Ti [label="Tidle\nprio=1"];
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Tm [label="Tmain\nprio=64"];
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T1 [label="Tuser(1)\nprio=32"];
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T2 [label="Tuser(2)\nprio=32"];
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T3 [label="Tuser(3)\nprio=80"];
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label = "Threads Ready for Execution";
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penwidth = 0;
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}
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currp -> T4
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rh -> Ti -> T1 -> T2 -> Tm -> T3 -> rh [label="p_next"];
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rh -> T3 -> Tm -> T2 -> T1 -> Ti -> rh [label="p_prev"];
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}
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* @enddot
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* @else
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* @dot
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digraph example {
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rankdir="LR";
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@ -209,35 +293,63 @@
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rh -> T3 -> Tm -> T2 -> T1 -> Ti -> rh [label="p_prev"];
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}
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* @enddot
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* @endif
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* <br>
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* Note that the currently running thread is not in the ready list, the list
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* only contains the threads ready to be executed but still actually waiting.
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*
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* @section thread_states Threads States
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* @section thread_states Thread States
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* The image shows how threads can change their state in ChibiOS/RT.<br>
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* @if LATEX_PDF
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* @dot
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digraph example {
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/*rankdir="LR";*/
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node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];
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edge [fontname=Helvetica, fontsize=8];
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start [label="Start", style="bold"];
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run [label="Running"];
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ready [label="Ready"];
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suspend [label="Suspended"];
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sleep [label="Sleeping"];
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stop [label="Stop", style="bold"];
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start -> suspend [label="chThdInit()", constraint=false];
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start -> run [label="chThdCreate()"];
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start -> ready [label="chThdCreate()"];
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run -> ready [label="Reschedule", dir="both"];
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suspend -> run [label="chThdResume()"];
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suspend -> ready [label="chThdResume()"];
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run -> sleep [label="chSchGoSleepS()"];
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sleep -> run [label="chSchWakepS()"];
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sleep -> ready [label="chSchWakepS()"];
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run -> stop [label="chThdExit()"];
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size="5, 7";
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rankdir="LR";
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node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];
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edge [fontname=Helvetica, fontsize=8];
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start [label="Start", style="bold"];
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run [label="Running"];
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ready [label="Ready"];
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suspend [label="Suspended"];
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sleep [label="Sleeping"];
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stop [label="Stop", style="bold"];
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start -> suspend [label="chThdInit()", constraint=false];
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start -> run [label="chThdCreate()"];
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start -> ready [label="chThdCreate()"];
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run -> ready [label="Reschedule", dir="both"];
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suspend -> run [label="chThdResume()"];
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suspend -> ready [label="chThdResume()"];
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run -> sleep [label="chSchGoSleepS()"];
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sleep -> run [label="chSchWakepuS()"];
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sleep -> ready [label="chSchWakepuS()"];
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run -> stop [label="chThdExit()"];
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}
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* @enddot
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* @else
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* @dot
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digraph example {
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rankdir="LR";
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node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];
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edge [fontname=Helvetica, fontsize=8];
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start [label="Start", style="bold"];
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run [label="Running"];
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ready [label="Ready"];
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suspend [label="Suspended"];
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sleep [label="Sleeping"];
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stop [label="Stop", style="bold"];
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start -> suspend [label="chThdInit()", constraint=false];
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start -> run [label="chThdCreate()"];
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start -> ready [label="chThdCreate()"];
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run -> ready [label="Reschedule", dir="both"];
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suspend -> run [label="chThdResume()"];
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suspend -> ready [label="chThdResume()"];
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run -> sleep [label="chSchGoSleepS()"];
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sleep -> run [label="chSchWakepuS()"];
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sleep -> ready [label="chSchWakepuS()"];
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run -> stop [label="chThdExit()"];
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}
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* @enddot
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* @endif
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*
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* @section priority Priority Levels
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* Priorities in ChibiOS/RT are a contiguous numerical range but the initial
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@ -261,13 +373,17 @@
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* (inclusive) are reserved. This is the highest numerical value of the
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* priorities space.
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* .
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* @section warea Threads Working Area
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* @section warea Thread Working Area
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* Each thread has its own stack, a Thread structure and some preemption
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* areas. All the structures are allocated into a "Thread Working Area",
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* a thread private heap, usually statically declared in your code.
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* Threads do not use any memory outside the allocated working area
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* except when accessing static shared data.<br><br>
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* @if LATEX_PDF
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* @image latex workspace.eps
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* @else
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* @image html workspace.png
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* @endif
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* <br>
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* Note that the preemption area is only present when the thread is not
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* running (switched out), the context switching is done by pushing the
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