257 lines
14 KiB
Plaintext
257 lines
14 KiB
Plaintext
*****************************************************************************
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*** Directories structure ***
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*****************************************************************************
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./readme.txt - This file.
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./license.txt - GPL3 license file.
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./src/ - ChibiOS/RT portable kernel source files.
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./src/include/ - ChibiOS/RT include files.
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./src/lib/ - ChibiOS/RT library code that can be included into
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user applications but is not part of the core system.
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The code in this directory is meant to be portable,
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generic and architecture indipendent.
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./src/templates/ - ChibiOS/RT non portable source templates, new ports
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are started by copying the templates into a new
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directory under ./demos/.
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./ports/ - Architecture/compiler specific portable files.
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./demos/ - Demo programs for specific archtectures/boards.
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./test/ - Test code, used by some demos.
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./docs/Doxifile - Doxigen project file.
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./docs/html/index.html - ChibiOS/RT documentation (after running doxigen).
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The documentation is also available on the project
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web page: http://chibios.sourceforge.net/
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Current ports under ./demos:
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Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process,
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MinGW version.
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Win32-MSVS - ChibiOS/RT simulator and demo into a WIN32 process,
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Visual Studio 7 or any later version should work.
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ARM7-LPC214x-GCC - ChibiOS/RT port for ARM7 LPC2148, the demo targets
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the Olimex LPC-P2148 board. This port can be easily
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modified for any processor into the LPC2000 family or
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other boards. The demo can be compiled using YAGARTO
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or any other GCC-based ARM toolchain. Full demo.
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ARM7-LPC214x-GCC-min - Minimal demo for LPC214X.
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AVR-AT90CANx-GCC - Port on AVR AT90CAN128, not complete yet.
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*****************************************************************************
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*** Releases ***
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*****************************************************************************
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*** 0.4.4 ***
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- Added a chDbgAssert() API to the debug subsystem.
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- Cleaned up the kernel source code using chDbgAssert() instead of a lot of
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"#ifdef CH_USE_DEBUG", it is much more readable now.
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- Now the threads working area is filled with a 0x55 when in debug mode, this
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will make easier to track stack usage using a JTAG probe.
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- Added an I/O Queues benchmark to the test suite.
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*** 0.4.3 ***
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- Size optimization in the events code, now the chEvtWait() reuses the
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chEvtWaitTimeout() code if it is enabled.
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- Size optimization in the semaphores code, now the chSemWaitTimeout() just
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invokes the chSemWaitTimeoutS() inside its system mutex zone. Same thing
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done with chSemWait() and chSemWaitS().
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- Size optimization in the queues code.
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- Modified the return type of chSemWait() and chSemWaitS() from void to t_msg,
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this allows to understand if the semaphore was signaled or reset without
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have to access the Thread structure.
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- Added a threads create/exit/wait benchmark to the test suite, the system
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is capable of 81712 threads started/terminated per second on the reference
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LPC2148 board. The figure is inclusive of two context switch operations
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for each thread.
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- Minor improvement in the LPC214x serial driver, unneeded events were
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generated in some rare cases.
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- Fixed a chSysInit() documentation error.
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- Fixed a chEvtWaitTimeout() documentation error.
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- Added a new debug switch: CH_USE_TRACE, previously the trace functionality
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was associated to the CH_USE_DEBUG switch.
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*** 0.4.2 ***
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- Added a minimal ARM7-LPC demo, you can use this one as template in order to
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create your application. It is easier to add subsystems back to the small
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demo than remove stuff from the large one.
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- Introduced support for "pure" THUMB mode, it is activated when all the
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source files are compiled in THUMB mode, the option -mthumb-interworking is
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not used in this scenario and this greatly improves both code size and
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speed.
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It is recommended to either use ARM mode or THUMB mode and not mix them
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unless you know exactly what you are doing. Mixing modes is still supported
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anyway.
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- More optimizations in the scheduler, updated the performance spreadsheet.
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- Fixed a problem with the thread working area declarations, the alignment to
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4 bytes boundary was not enforced. Now it is defined a new macro
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WorkingArea(name, length) that takes care of both the allocation and the
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alignment.
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Example:
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static WorkingArea(waThread1, 32);
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It is expanded as:
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ULONG32 waThread1[UserStackSpace(32) >> 2];
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Now the demos use the new declaration style.
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- Fixed a small problem in sleep functions introduced in 0.4.1.
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*** 0.4.1 ***
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- Modified the initialization code in order to have a dedicated idle thread in
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the system, now the main() function behaves like a normal thread after
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executing chSysInit() and can use all the ChibiOS/RT APIs (it was required
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to run the idle loop in previous versions).
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Now it is also possible to use ChibiOS/RT with a single main() thread and
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just use it for the I/O capabilities, Virtual Timers and events. Now you
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don't have to use multiple threads if you don't really need to.
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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.
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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, unpredictability
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is bad for a RTOS. This option however increases the code size slightly
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because of the alignment gaps.
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- Fine tuning in the scheduler code for improved performance, deeper
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inlining and other small changes, about 5% better scheduler performance.
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- Increased the default system-mode stack size from 128 to 256 bytes because
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some optimizations and the THUMB mode seem to eat more stack space.
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- Included a Makefile in the LPC2148 demo that builds in THUMB mode.
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- Const-ified a parameter in the chEvtWait() and chEvtWaitTimeout() APIs.
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- Removed the CPU register clearing on thread start, it was not really useful,
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it is better to maximize performance instead.
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- Cleaned up the ARM port code. Now it is easier to understand.
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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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*** 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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per second. The benchmark will be useful for fine tuning the compiler
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options and the kernel itself.
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- NEW, implemented a debug subsystem, it supports debug messages and a context
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switch circular trace buffer. The debug code can be enabled/disabled by
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using the CH_USE_DEBUG in chconf.h.
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The trace buffer is meant to be fetched and decoded by an external tool
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(coming soon, it can be accessed using JTAG in the meanwhile).
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- Added new API chThdGetPriority() as a macro.
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- Implemented panic messages when CH_USE_DEBUG is enabled.
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- Added a thread identifier field to the Thread structure, it is used only
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for debug.
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- Global variable stime modified as volatile.
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- API chSysGetTime() reimplemented as a macro.
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- Fixed a regression with the CH_CURRP_REGISTER_CACHE option.
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- Fixed a problem in the LPC2148 interrupt handling code, a spurious
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interrupts fix recommended on the NXP data sheet proved to be a very bad
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idea and not about real spurious interrupts also...
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- Fixed an harmless warning message in buzzer.c.
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*** 0.3.6 ***
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- Added SSP (SPI1) and ext.interrupts definitions to the lpc214x.h file.
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- Added SSP driver for the LPC2148.
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- Added experimental MMC/SD block driver to the LPC2148 demo in order to
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support file systems. The driver features also events generation on card
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insert/remove, hot plugging supported.
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- Added missing chThdSuspend() declararion in threads.h.
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*** 0.3.5 ***
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- Space optimization in events code.
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- Changed the behavior of chEvtWaitTimeout() when the timeout parameter is
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set to zero, now it is consistent with all the other syscalls that have a
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timeout option.
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- Reorganized all the kernel inline definitions into a single file (inline.h).
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- Fixed a minor problem in the interrupt initialization code for the LPC214x
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demo, regrouped the VIC-specific code into vic.c/vic.h.
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- Fixed a bug into the LPC2148 serial driver (limited to the serial port 2).
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- Implemented HW transmit FIFO preloading in the LPC2148 serial driver in
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order to minimize the number of interrupts generated, it is possible to
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disable the feature and return to the old code which is a bit smaller, see
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the configuration parameters in ./ARM7-LPC214x/GCC/lpc214x_serial.h.
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- Some more work done on the AVR port, it is almost complete but not tested
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yet because my JTAG probe broke...
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*** 0.3.4 ***
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- Fixed a problem in chVTSetI().
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- New API, chVTIsArmedI(), it is a macro in delta.h.
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- New API, chThdResumeI(), it is a macro in threads.h. This function is just
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an alias for chSchReadyI() but makes the code more readable.
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- New API, chThdSuspend(). New switch CH_USE_SUSPEND added to chconf.h.
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*** 0.3.3 ***
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- Modified the chVTSetI(), now for the "time" parameter can have value zero
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with meaning "infinite". This allows all the APIs with timeout parameters
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to be invoked with no timeout.
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- Fixes in the documentation.
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- Renamed some APIs in the "Sch" group to have an S suffix instead of I.
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*** 0.3.2 ***
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- Modified the chSysInit() to give the idle thread absolute priority, the
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priority is then lowered to the minimum value into the chSysPause(). This
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is done in order to ensure that the initializations performed into the
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main() procedure are finished before any thread starts.
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- Added chThdSetPriority() new API.
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- Added a generic events generator timer modulee to the library code.
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- Modified the ARM7-LPC214x-GCC demo to show the use of the event timer.
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- Added the "#ifdef __cplusplus" stuff to the header files.
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- Removed an obsolete definition in ./src/templates/chtypes.h.
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*** 0.3.1 ***
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- Test program added to the demos. Telnet the MinGW and MSVS demos and type
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"test" at the "ch>" prompt. On the LPC214x demo the test is activated by
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pressing both the board buttons. The test performs tests on the ChibiOS/RT
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functionalities.
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The test code is also a good example of APIs usage and ChibiOS/RT behavior.
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- Fixed bug in chEvtWaitTimeout(), the timeout code performed an useless
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dequeue operation.
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- Fixed a bug in chSemWaitTimeoutS() and chSemWaitTimeout(), the semaphore
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counter was not atomically updated on a timeout condition.
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- Fixed bug on RT semaphores, the priority queuing was broken.
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- Fixed a bug in the MinGW demo, the chThdExit() code was not correctly
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reported to the thread waiting in chThdWait().
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- Fixed a function declaration in semaphores.h.
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- Lists code moved into chlists.c from various other places optimized and
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reorganized.
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- The list of the threads waiting in chThdWait() is now a single link list,
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this saves some space.
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- Cleaned the template files code, the files contained some obsolete
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declarations.
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- Code optimization in chSemWaitTimeoutS(), chSemWaitTimeout() and
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chSemSignalWait().
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- Code optimization in chEvtSend().
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- Code optimization in chVTDoTickI().
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- Added a Semaphore pointer to the Thread structure, this allows to know on
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which semaphore a thread is waiting on. It takes no space because it is
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located in the union inside the Thread structure. This also allowed a minor
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optimization inside chSemWaitTimeout() and chSemWaitTimeoutS().
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- Changed the priority type to unsigned in order to make it compatible
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with a byte value, this is very important for 8 bits architectures.
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- Modified the MinGW and MSVS demos to use 1ms ticks instead of 10ms as
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before.
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*** 0.3.0 ***
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- ChibiOS/RT goes beta.
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- Diet for the threads code, some simple APIs become macros.
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- Thread Local Storage implemented as a single API: chThdLS().
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The API simply returns a pointer into the thread working area, see the
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documentation on the web site.
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- Moved some documentation and images from the web site into the Doxigen
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generated HTMLs.
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*** 0.2.1 ***
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- Optimizations in the RT semaphores subsystem. The support for this
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subsystem should still be considered experimental and further changes may
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happen in future versions.
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- Bug fix in the virtual timers handling code, now the timers can be re-armed
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from within the callback code in order to create periodic virtual timers.
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- Modified the t_prio type in the demos to be 32bits wide instead of 16bits,
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this results in a better code in critical sections of the kernel.
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*** 0.2.0 ***
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- Introduced support for ARM in thumb mode.
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- Optimized context switching when thumb-interworking is not required, one
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less instruction.
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- Minor fixes to the ARM demo.
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*** 0.1.1 ***
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- Some fixes into the documentation
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- Renamed the makefiles to Makefile, upper case M.
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*** 0.1.0 ***
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- First alpha release
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