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Improvements to the concepts article. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2181 35acf78f-673a-0410-8e92-d51de3d6d3f4
master
gdisirio 2010-09-18 10:08:34 +00:00
parent 6c3bddd257
commit fd9d0b74ca
1 changed files with 181 additions and 65 deletions
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docs/src/concepts.dox
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@ -36,7 +36,7 @@
* @a Mtx, @a Cond, @a Evt, @a Msg, @a SequentialStream, @a IO, @a IQ, @a OQ, * @a Mtx, @a Cond, @a Evt, @a Msg, @a SequentialStream, @a IO, @a IQ, @a OQ,
* @a Dbg, @a Core, @a Heap, @a Pool. * @a Dbg, @a Core, @a Heap, @a Pool.
* *
* @section api_suffixes API Names Suffixes * @section api_suffixes API Name Suffixes
* The suffix can be one of the following: * The suffix can be one of the following:
* - <b>None</b>, APIs without any suffix can be invoked only from the user * - <b>None</b>, APIs without any suffix can be invoked only from the user
* code in the <b>Normal</b> state unless differently specified. See * code in the <b>Normal</b> state unless differently specified. See
@ -112,58 +112,104 @@
* real associated machine state on some architectures. The following diagram * real associated machine state on some architectures. The following diagram
* shows the possible transitions between the states: * shows the possible transitions between the states:
* *
* @if LATEX_PDF
* @dot * @dot
digraph example { digraph example {
rankdir="LR"; size="5, 7";
node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"]; rankdir="LR";
edge [fontname=Helvetica, fontsize=8]; node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];
init [label="Init", style="bold"]; edge [fontname=Helvetica, fontsize=8];
norm [label="Normal", shape=doublecircle]; init [label="Init", style="bold"];
susp [label="Suspended"]; norm [label="Normal", shape=doublecircle];
disab [label="Disabled"]; susp [label="Suspended"];
slock [label="S-Locked"]; disab [label="Disabled"];
ilock [label="I-Locked"]; slock [label="S-Locked"];
slock [label="S-Locked"]; ilock [label="I-Locked"];
sleep [label="Sleep"]; slock [label="S-Locked"];
sri [label="SRI"]; sleep [label="Sleep"];
init -> norm [label="chSysInit()"]; sri [label="SRI"];
norm -> slock [label="chSysLock()", constraint=false]; init -> norm [label="chSysInit()"];
slock -> norm [label="chSysUnlock()"]; norm -> slock [label="chSysLock()", constraint=false];
norm -> susp [label="chSysSuspend()"]; slock -> norm [label="chSysUnlock()"];
susp -> disab [label="chSysDisable()"]; norm -> susp [label="chSysSuspend()"];
norm -> disab [label="chSysDisable()"]; susp -> disab [label="chSysDisable()"];
susp -> norm [label="chSysEnable()"]; norm -> disab [label="chSysDisable()"];
disab -> norm [label="chSysEnable()"]; susp -> norm [label="chSysEnable()"];
slock -> ilock [label="Context Switch", dir="both"]; disab -> norm [label="chSysEnable()"];
norm -> sri [label="Regular IRQ", style="dotted"]; disab -> susp [label="chSysSuspend()"];
sri -> norm [label="Regular IRQ return", fontname=Helvetica, fontsize=8]; slock -> ilock [label="Context Switch", dir="both"];
sri -> ilock [label="chSysLockFromIsr()", constraint=false]; norm -> sri [label="Regular IRQ", style="dotted"];
ilock -> sri [label="chSysUnlockFromIsr()", fontsize=8]; sri -> norm [label="Regular IRQ return", fontname=Helvetica, fontsize=8];
norm -> sleep [label="Idle Thread"]; sri -> ilock [label="chSysLockFromIsr()", constraint=false];
sleep -> sri [label="Regular IRQ", style="dotted"]; ilock -> sri [label="chSysUnlockFromIsr()", fontsize=8];
norm -> sleep [label="Idle Thread"];
sleep -> sri [label="Regular IRQ", style="dotted"];
} }
* @enddot * @enddot
* @else
* @dot
digraph example {
rankdir="LR";
node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];
edge [fontname=Helvetica, fontsize=8];
init [label="Init", style="bold"];
norm [label="Normal", shape=doublecircle];
susp [label="Suspended"];
disab [label="Disabled"];
slock [label="S-Locked"];
ilock [label="I-Locked"];
slock [label="S-Locked"];
sleep [label="Sleep"];
sri [label="SRI"];
init -> norm [label="chSysInit()"];
norm -> slock [label="chSysLock()", constraint=false];
slock -> norm [label="chSysUnlock()"];
norm -> susp [label="chSysSuspend()"];
susp -> disab [label="chSysDisable()"];
norm -> disab [label="chSysDisable()"];
susp -> norm [label="chSysEnable()"];
disab -> norm [label="chSysEnable()"];
disab -> susp [label="chSysSuspend()"];
slock -> ilock [label="Context Switch", dir="both"];
norm -> sri [label="Regular IRQ", style="dotted"];
sri -> norm [label="Regular IRQ return", fontname=Helvetica, fontsize=8];
sri -> ilock [label="chSysLockFromIsr()", constraint=false];
ilock -> sri [label="chSysUnlockFromIsr()", fontsize=8];
norm -> sleep [label="Idle Thread"];
sleep -> sri [label="Regular IRQ", style="dotted"];
}
* @enddot
* @endif
* Note, the <b>SFI</b>, <b>Halted</b> and <b>SNMI</b> states were not shown * Note, the <b>SFI</b>, <b>Halted</b> and <b>SNMI</b> states were not shown
* because those are reachable from most states: * because those are reachable from most states:
* *
* @dot * @dot
digraph example { digraph example {
rankdir="LR"; size="5, 7";
node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"]; rankdir="LR";
edge [fontname=Helvetica, fontsize=8]; node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];
any1 [label="Any State\nexcept *"]; edge [fontname=Helvetica, fontsize=8];
any2 [label="Any State"]; any1 [label="Any State\nexcept *"];
sfi [label="SFI"]; sfi [label="SFI"];
halt [label="Halted"]; any1 -> sfi [style="dotted", label="Fast IRQ"];
SNMI [label="SNMI"]; sfi -> any1 [label="Fast IRQ return"];
any1 -> sfi [style="dotted", label="Fast IRQ"]; }
sfi -> any1 [label="Fast IRQ return"]; * @enddot
any2 -> halt [label="chSysHalt()"]; * @dot
any2 -> SNMI [label="Synchronous NMI"]; digraph example {
any2 -> SNMI [label="Asynchronous NMI", style="dotted"]; size="5, 7";
SNMI -> any2 [label="NMI return"]; rankdir="LR";
halt -> SNMI [label="Asynchronous NMI", style="dotted"]; node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];
SNMI -> halt [label="NMI return"]; edge [fontname=Helvetica, fontsize=8];
any2 [label="Any State"];
halt [label="Halted"];
SNMI [label="SNMI"];
any2 -> halt [label="chSysHalt()"];
any2 -> SNMI [label="Synchronous NMI"];
any2 -> SNMI [label="Asynchronous NMI", style="dotted"];
SNMI -> any2 [label="NMI return"];
halt -> SNMI [label="Asynchronous NMI", style="dotted"];
SNMI -> halt [label="NMI return"];
} }
* @enddot * @enddot
* @attention * except: <b>Init</b>, <b>Halt</b>, <b>SNMI</b>, <b>Disabled</b>. * @attention * except: <b>Init</b>, <b>Halt</b>, <b>SNMI</b>, <b>Disabled</b>.
@ -174,6 +220,44 @@
* eligible for execution then they are executed in a round-robin way, the * 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 * CPU time slice constant is configurable. The ready list is a double linked
* list of threads ordered by priority.<br><br> * list of threads ordered by priority.<br><br>
* @if LATEX_PDF
* @dot
digraph example {
size="5, 7";
rankdir="LR";
node [shape=square, fontname=Helvetica, fontsize=8,
fixedsize="true", width="0.6", height="0.5"];
edge [fontname=Helvetica, fontsize=8];
subgraph cluster_running {
node [shape=square, fontname=Helvetica, fontsize=8,
fixedsize="true", width="0.6", height="0.5"];
currp [label="'currp'\npointer", style="bold"];
T4 [label="Tuser(4)\nprio=100"];
label = "Currently Running Thread";
penwidth = 0;
}
subgraph cluster_rlist {
node [shape=square, fontname=Helvetica, fontsize=8,
fixedsize="true", width="0.6", height="0.5"];
rh [label="ready list\nheader\nprio=0", style="bold"];
Ti [label="Tidle\nprio=1"];
Tm [label="Tmain\nprio=64"];
T1 [label="Tuser(1)\nprio=32"];
T2 [label="Tuser(2)\nprio=32"];
T3 [label="Tuser(3)\nprio=80"];
label = "Threads Ready for Execution";
penwidth = 0;
}
currp -> T4
rh -> Ti -> T1 -> T2 -> Tm -> T3 -> rh [label="p_next"];
rh -> T3 -> Tm -> T2 -> T1 -> Ti -> rh [label="p_prev"];
}
* @enddot
* @else
* @dot * @dot
digraph example { digraph example {
rankdir="LR"; rankdir="LR";
@ -209,35 +293,63 @@
rh -> T3 -> Tm -> T2 -> T1 -> Ti -> rh [label="p_prev"]; rh -> T3 -> Tm -> T2 -> T1 -> Ti -> rh [label="p_prev"];
} }
* @enddot * @enddot
* @endif
* <br> * <br>
* Note that the currently running thread is not in the ready list, the list * 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. * only contains the threads ready to be executed but still actually waiting.
* *
* @section thread_states Threads States * @section thread_states Thread States
* The image shows how threads can change their state in ChibiOS/RT.<br> * The image shows how threads can change their state in ChibiOS/RT.<br>
* @if LATEX_PDF
* @dot * @dot
digraph example { digraph example {
/*rankdir="LR";*/ size="5, 7";
node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"]; rankdir="LR";
edge [fontname=Helvetica, fontsize=8]; node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];
start [label="Start", style="bold"]; edge [fontname=Helvetica, fontsize=8];
run [label="Running"]; start [label="Start", style="bold"];
ready [label="Ready"]; run [label="Running"];
suspend [label="Suspended"]; ready [label="Ready"];
sleep [label="Sleeping"]; suspend [label="Suspended"];
stop [label="Stop", style="bold"]; sleep [label="Sleeping"];
start -> suspend [label="chThdInit()", constraint=false]; stop [label="Stop", style="bold"];
start -> run [label="chThdCreate()"]; start -> suspend [label="chThdInit()", constraint=false];
start -> ready [label="chThdCreate()"]; start -> run [label="chThdCreate()"];
run -> ready [label="Reschedule", dir="both"]; start -> ready [label="chThdCreate()"];
suspend -> run [label="chThdResume()"]; run -> ready [label="Reschedule", dir="both"];
suspend -> ready [label="chThdResume()"]; suspend -> run [label="chThdResume()"];
run -> sleep [label="chSchGoSleepS()"]; suspend -> ready [label="chThdResume()"];
sleep -> run [label="chSchWakepS()"]; run -> sleep [label="chSchGoSleepS()"];
sleep -> ready [label="chSchWakepS()"]; sleep -> run [label="chSchWakepuS()"];
run -> stop [label="chThdExit()"]; sleep -> ready [label="chSchWakepuS()"];
run -> stop [label="chThdExit()"];
} }
* @enddot * @enddot
* @else
* @dot
digraph example {
rankdir="LR";
node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];
edge [fontname=Helvetica, fontsize=8];
start [label="Start", style="bold"];
run [label="Running"];
ready [label="Ready"];
suspend [label="Suspended"];
sleep [label="Sleeping"];
stop [label="Stop", style="bold"];
start -> suspend [label="chThdInit()", constraint=false];
start -> run [label="chThdCreate()"];
start -> ready [label="chThdCreate()"];
run -> ready [label="Reschedule", dir="both"];
suspend -> run [label="chThdResume()"];
suspend -> ready [label="chThdResume()"];
run -> sleep [label="chSchGoSleepS()"];
sleep -> run [label="chSchWakepuS()"];
sleep -> ready [label="chSchWakepuS()"];
run -> stop [label="chThdExit()"];
}
* @enddot
* @endif
* *
* @section priority Priority Levels * @section priority Priority Levels
* Priorities in ChibiOS/RT are a contiguous numerical range but the initial * Priorities in ChibiOS/RT are a contiguous numerical range but the initial
@ -261,13 +373,17 @@
* (inclusive) are reserved. This is the highest numerical value of the * (inclusive) are reserved. This is the highest numerical value of the
* priorities space. * priorities space.
* . * .
* @section warea Threads Working Area * @section warea Thread Working Area
* Each thread has its own stack, a Thread structure and some preemption * Each thread has its own stack, a Thread structure and some preemption
* areas. All the structures are allocated into a "Thread Working Area", * areas. All the structures are allocated into a "Thread Working Area",
* a thread private heap, usually statically declared in your code. * a thread private heap, usually statically declared in your code.
* Threads do not use any memory outside the allocated working area * Threads do not use any memory outside the allocated working area
* except when accessing static shared data.<br><br> * except when accessing static shared data.<br><br>
* @if LATEX_PDF
* @image latex workspace.eps
* @else
* @image html workspace.png * @image html workspace.png
* @endif
* <br> * <br>
* Note that the preemption area is only present when the thread is not * Note that the preemption area is only present when the thread is not
* running (switched out), the context switching is done by pushing the * running (switched out), the context switching is done by pushing the