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*****************************************************************************
*** Directories structure ***
*****************************************************************************
./readme.txt - This file.
./license.txt - GPL3 license file.
./src/ - ChibiOS/RT portable kernel source files.
./src/include/ - ChibiOS/RT include files.
./src/lib/ - ChibiOS/RT library code that can be included into
user applications but is not part of the core system.
The code in this directory is meant to be portable,
generic and architecture independent.
./src/templates/ - ChibiOS/RT non portable source templates, new ports
are started by copying the templates into a new
directory under ./demos/ and/or ./ports/.
./ports/ - Architecture specific portable files.
./demos/ - Demo programs for specific architectures/boards.
./ext/ - External libraries or other code not part of
ChibiOS/RT but used in the demo applications.
./test/ - Test code, used by some demos.
./docs/src - Documentation sources.
./docs/Doxyfile - Doxygen project file.
./docs/html/index.html - ChibiOS/RT documentation.
The documentation is also available on the project
web page: http://chibios.sourceforge.net/
./docs/reports - Test reports on the various targets.
*****************************************************************************
*** Current ports/demos ***
*****************************************************************************
Current ports under ./demos:
ARM7-LPC214x-GCC - ChibiOS/RT port for ARM7 LPC2148, the demo targets
the Olimex LPC-P2148 board. This port can be easily
modified for any processor into the LPC2000 family or
other boards. The demo can be compiled using YAGARTO
or any other GCC-based ARM toolchain. Full demo.
ARM7-LPC214x-GCC-min - Minimal demo for LPC214X.
ARM7-LPC214x-G++ - Yet another LPC214X demo but this one is done using
G++ in order to provide a C++ template project to the
ChibiOS/RT users.
ARM7-AT91SAM7X-GCC - Port for Atmel AT91SAM7X256. The demo program targets
the Olimex SAM7-EX256 board.
ARM7-AT91SAM7X-WEB-GCC - Port for Atmel AT91SAM7X256. The web demo program
targets the Olimex SAM7-EX256 board.
ARMCM3-ST32F103-GCC - ARM Cortex-M3 port. The demo targets the Olimex
STM32-P103 board.
AVR-AVRmega128-GCC - Port on AVRmega128. A special thanks to Vladimir for
the work done on the AVR port. The demo program
targets the Olimex AVR-MT-128 mini terminal board.
AVR-AT90CANx-GCC - Port on AVR AT90CAN128, not tested on hardware yet. It
ran correctly in the simulator.
MSP430-MSP430x1611-GCC - Port on Texas Instruments MSP430F1611, the demo
targets the Olimex MSP430-P1611 board.
Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process,
MinGW version.
*****************************************************************************
*** Plans ***
*****************************************************************************
- Evaluate other architectures for a possible ChibiOS/RT port. An important
selection parameter will be the availability of FOSS toolchains. Currently
we are evaluating the MicroBlaze.
- Creation of a reduced ChibiOS/RT kernel targeted to lesser 8bit micros and
educational purposes, the name will probably be ChibiOS/SX, we are still
discussing it.
- File System implementation as side project. Basic requirements: Thread safe,
concurrent accesses, proper buffers cache.
*****************************************************************************
*** Releases ***
*****************************************************************************
*** 1.1.1unstable ***
- FIX: Fixed a problem into the STACK_ALIGN() macro (backported in stable
branch).
- FIX: Fixed a problem with a wrong declaration of the PLL structure in the
file lpc214x.h (backported in stable branch).
- FIX: Fixed a problem with some event APIs not showing in the documentation
(backported in stable branch).
- FIX: Fixed wrong assertions in chThdWait() and chHeapFree() (backported in
stable branch).
- FIX: Fixed a small problem in the chcore.c template file.
- NEW: Mailboxes (asynchronous messages) subsystem and test cases added.
- NEW: Now all the APIs with a timeout specification accept the constant
TIME_ZERO (0) that triggers an immediate timeout when trying to enter a sleep
state. Note that the previous constant TIME_INFINITE now has value -1
instead of zero.
- NEW: Mode flexible debug configuration options, removed the old CH_USE_DEBUG
and CH_USE_TRACE. Replaced with CH_DBG_ENABLE_CHECKS, SCH_DBG_ENABLE_ASSERTS,
CH_DBG_ENABLE_TRACE and CH_DBG_FILL_THREADS.
- NEW: Added a debug option CH_DBG_THREADS_PROFILING for threads profiling.
A field into the Thread structure counts the consumed time. The information
is not used into the kernel, it is meant for debugging.
- NEW: Added a debug option CH_DBG_ENABLE_STACK_CHECK for stack overflow
checking. The check is not performed in the kernel but in the port code.
Currently only the ARM7 and ARMCM3 ports implements it.
- NEW: Unified makefiles for ARM7, ARMCM3 MSP430 projects, the new makefiles
share a common part making them easier to maintain. Also reorganized the
demo-specific part of the makefile, now it is easier to configure and the
option can be overriden from outside.
- CHANGE: Changed the chSemFastWaitS() macro in chSemFastWaitI() and
chSemGetCounter() in chSemGetCounterI().
- CHANGE: Removed the port_puts() function from the port templates. It was not
implemented on all ports.
- Improvements to the test suite, added a new level of indirection that allows
to make tests depend on the configuration options without have to put #ifs
into the test main module. New benchmarks about semaphores and mutexes.
*** 1.1.0unstable ***
- FIX: Modified the default value for the STM32 HSI setup it was 1, it should
be 0x10 (backported in stable branch).
- FIX: Removed an obsolete constant (P_SUSPENDED) from thread.h (backported in
stable branch).
- FIX: Removed unused field mp_grow in the MemoryPool structure (backported in
stable branch).
- NEW: Added to the STM32 demo makefile an option to build ChibiOS/RT with the
full STM32 FWLib 2.03. **NOTE**, except for the makefile option, the
library is not used by the OS nor required (backported in stable branch).
- NEW: Better separation between the port code and the system APIs, now an
architecture-specific "driver" contains all the port related code.
Port functions/macros are no more directly exposed as APIs to the user code.
- NEW: Added a configuration option to enable nested system locks/unlocks.
- NEW: Improved the interrupt handlers related code. Now interrupts are
handled in a very similar way in every architecture. See the "Concepts"
section and the "Writing interrupt handlers under ChibiOS/RT" article in the
documentation.
- NEW: Added the chEvtSignal() and chEvtSignalI() APIs that allows direct
thread signaling, much more efficient that chEvtBroadcast() when the target
is a known single thread.
- NEW: Added a configuration option that enables the priority enqueuing on
semaphores. It is defaulted to off because usually semaphores are used for
I/O related tasks without hard realtime requirements.
- NEW: Now the all the options in chconf.h and the various driver headers
can be overridden externally, as example from within the Makefile.
The options are no mode a simple define but a define with an assigned
TRUE/FALSE value within an #ifndef block.
- NEW: Idle thread hook macro added to the configuration file.
- NEW: Changed the ARM7 and Cortex-M3 startup files, now the action when
the main() function returns can be overridden by redefining the symbol
MainExitHandler.
- OPT: Improved ARM7 thumb port code, thanks to some GCC tricks involving
registers usage now the kernel is much smaller, faster and most OS APIs
use less RAM in stack frames (note, this is an ARM7 thumb mode specific
optimization).
- CHANGE: Now the API chThdSetPriority() returns the old priority instead
of void.
- CHANGE: Modified the signature of the chMsgSendWithEvent() API, it now uses
a more efficient event signaling method.
- CHANGE: Removed the field p_tid from the Thread structure and the related
code, this improved the thread creation scores (~2%) and saves some RAM.
The trace buffer field cse_tid is now populated with a simple hash of the
thread pointer as thread identifier.
- CHANGE: Renamed the macros chSysIRQEnter() and chSysIRQExit() in
CH_IRQ_PROLOGUE() and CH_IRQ_EPILOGUE() in order to make very clear that
those are not functions but inlined code. Also introduced a new macro
CH_IRQ_HANDLER that should be used when declaring an interrupt handler.
- CHANGE: Renamed several internal initialization functions by removing the
"ch" prefix because could not be considered system APIs.
- Improved ARM7 and Cortex-M3 support, new configuration options.
- Introduced the concept of interrupt classes, see the documentation.
- Introduced the concept of system states, see the documentation.
- Huge improvements to the documentation.
- Articles and notes previously in the wiki now merged in the general
documentation and updated, the wiki entries are obsolete and will be removed.
- New application notes and articles added.
- Added kernel size metrics to the test reports.
- Removed the inclusion graph from the documentation because the little
info they add and the size of all the images. It is possible to configure
Doxygen to have them again (and more graph types).
*** 1.0.0 ***
- License switch, added GPL exception, see exception.txt.
- Full test cycle and test reports updated.
- Renamed some occurrences of "Conditional Variable" in "Condition Variable" in
the documentation.
- FIX: Fixed some images in the documentation because problems when seen in
Internet Explorer.
*** 1.0.0rc3 ***
- FIX: Fixed a nasty regression to the timeout unified code that affected
some APIs since version 0.5.3. See the bug tracker for more details.
Added a test case about this.
- FIX: Removed the API chThdSuspend() there was a conceptual flaw and I want
to think about the whole concept again before introducing something similar
in future. Anyway, it is possible to replicate the functionality using
chSchGoSleepS().
- Fixed typos here and there.
- Updated the states diagram in the documentation.
*** 1.0.0rc2 ***
- FIX: Removed unused variable "retaddr" from the Cortex-M3 port.
- FIX: The macro THD_WA_SIZE was defined wrongly in the file
./src/templates/chcore.h.
- Fixed some errors in the documentation.
*** 1.0.0rc1 ***
- NEW: Added new macros CH_KERNEL_VERSION set to "1.0.0rc1", CH_KERNEL_MAJOR
set to 1, CH_KERNEL_MINOR set to 0, CH_KERNEL_PATCH set to 0.
The macros will be updated to reflect the actual kernel version number.
- NEW: Made all the port-specific configuration settings externally
configurable, see the documentation.
- FIX: Disabled the configuration option CH_USE_MESSAGES_PRIORITY from the
MSP430 demo, the default for this option should be off.
- FIX: Fixed a bug that prevented the THREAD_EXT_FIELDS to be compiled into
the Thread structure.
- FIX: Removed some references to deprecated APIs from the test suite.
- FIX: Set the INT_REQUIRED_STACK configuration value for the ARM7 port to a
safer 0x10, it was previously 0 (correct but trimmed to specific compiler
settings).
- FIX: Set the INT_REQUIRED_STACK configuration value for the AVR port to a
safer 32.
- FIX: Fixed the MinGW demo in order to not use any deprecated construct.
- Removed deprecated threads APIs: chThdCreate() and chThdCreateFast().
- Removed deprecated events APIs: chEvtWait(), chEvtWaitTimeout(), chEvtSend(),
chEvtSendI(), EventMask().
- Removed deprecated configuration feature CH_USE_EXIT_EVENT and the related
API chThdGetExitEventSource(). The feature can be reimplemented in user code
as shown by the MinGW demo.
- Removed deprecated macros: WorkingArea(), UserStackSize(), StackAlign().
- Added usage note into the readme of the MinGW demo.
- Added usage notes for programmers to the ARM7 port documentation about
interrupt handlers.
- Port-specific settings added to the documentation.
- Added source browser to the documentation.
- Fixes and improvements through the documentation.
*** 0.8.3 ***
- NEW: Introduced new API chThdSleepS() as a macro, no real changes in the
kernel code.
- FIX: The MinGW simulated demo now works again after breaking in 0.8.2
because the changes to the macro names.
- FIX: Adjusted the test suite stack sizes for the MinGW simulated demo, now
the demo passes all the tests.
- FIX: Added fflush(stdout) to the MinGW simulation code output in order to
make the Eclipse console work correctly.
- FIX: Renamed the MinGW demo main source from demo.c to main.c in order to
follow the pattern of all the other demos.
- FIX: Added debug switches to the MinGW simulated demo, not it is possible to
debug the demo (and the kernel) inside Eclipse without a physical board.
- Removed lots of old deprecated constructs from the MinGW simulated demo.
There are still some, the demo will need some rework before version 1.0.0.
- Updated the C++ wrapper with the latest APIs changes and fixed some bugs.
- Small fixes to the documentation.
*** 0.8.2 ***
- FIX: Included the files that were missing from version 0.8.1 distribution.
- FIX: Duplicated sections in the documentation removed.
- FIX: Minor problem in Cortex-M3 and AVR ports when the kernel is compiled
using G++.
- NEW: Added chPoolAllocI() and chPoolFreeI() APIs in order to allow the use
of memory pools from interrupt handlers and timer callbacks.
- CHANGE: Simplified the code for chThdWait(), it is now both smaller and
faster. Added an important usage note to the documentation of this API.
- CHANGE: The macros WorkingArea(), UserStackSize() and StackAlign() are now
deprecated and will be removed in version 1.0.0. Use the new equivalents
WORKING_AREA(), THD_WA_SIZE() and STACK_ALIGN() instead.
- CHANGE: Renamed the default idle thread function from _IdleThread() to
_idle().
- Added to the LPC2148 and STM32 load scripts the options "ALIGN(16)
SUBALIGN(16)" to the flash loading section in order to enforce the alignment
for both the code and read only data. This is done in order to obtain more
accurate timings from benchmarks, those families have 16 bytes
prefetch buffers and are very sensitive to alignment changes.
You can remove those options in order to save some flash space if accurate
response time is not on top of your priorities, it mainly depends on your
requirements.
*** 0.8.1 ***
- FIX: Fixed a regression in version 0.8.0, the configuration switch
CH_USE_EVENTS_TIMEOUT was redefined as CH_USE_EVENT_TIMEOUT and this broke
the code using events timeouts (the LPC2148 C++ demo).
*** 0.8.0 ***
- NEW: Added condvars mechanism on top of the mutexes subsystem.
- NEW: Improved events subsystems, now it is also possible to use it just as
"event flags" without have to use event handler callbacks.
Some new APIs were introduced:
* chEvtWaitOne() - Wait for a single event.
* chEvtWaitAny() - Wait with OR condition.
* chEvtWaitAll() - Wait with AND condition.
* chEvtDispatch() - Invokes the event handlers associated to a mask.
* chEvtPend() - Quickly self-pends some events.
* chEvtRegisterMask() - Registers a set of flags on a single source.
* EVENT_MASK() - Replaces the old EventMask() macro.
All the "wait"-type APIs have a timeout-capable variant.
- CHANGE: The old EventMask(), chEvtWait() and chEvtWaitTimeout() APIs are
now deprecated and will be removed in version 1.0.0.
- CHANGE: Modified chDbgAssert() to syntax check the condition even when the
CH_USE_DEBUG is disabled, it produces no code but allows to check the
optional code without have to compile twice.
- FIX: Fixed a warning generated by the chEvtIsListening() macro.
- Added new test cases to the test suite about condvars and the new events
APIs.
- Added a new benchmark to the test suite (timers set/reset performance).
- Renamed the macro fifo_init() to queue_init() because it is used to init
both FIFO queues and priority queues.
- Fixes and improvements to the documentation.
- Cleaned demo applications of old events code.
*** 0.7.3 ***
- FIX: Fixed a bug in chThdSleepUntil(), this API is no more a macro now.
- NEW: New chThdSleepSeconds(), chThdSleepMilliseconds() and
chThdSleepMicroseconds() utility macros.
- CHANGE: Zero is no more a valid time specification for the chVTSetI() API.
- CHANGE: Removed the files chsleep.c and sleep.h.
- CHANGE: Renamed the files chdelta.c and delta.h to chvt.c and vt.h. All the
system time related functions and macros are now there.
- CHANGE: Renamed the structure DeltaList to VTList, it includes the system
time counter too now.
- CHANGE: Removed the CH_USE_SYSTEMTIME and CH_USE_VIRTUAL_TIMER configuration
options in order to make the chconf.h file simpler. The related subsystems
are almost always required and are now always included.
- Small optimization to the MSP430 serial driver.
- Improvements to the test code, now a failed assert terminates the test case.
- Added dependency informations handling to the MSP430 demo Makefile.
- Removed the performance spreadsheet (it was *very* old) and added a
directory containing the test reports ./docs/reports. Each report shows the
results from the latest test run on each target.
- Small fixes to the documentation.
*** 0.7.2 ***
- NEW: Added a serial driver to the MSP430 port, the MSP430 port now has been
tested on hardware and passes the test suite.
- NEW: Added to the MSP demo program the option to run from the internal DCO
or from an external xtal. The default is the internal DCO.
- NEW: Added macros to convert from seconds, milliseconds and microseconds to
system ticks. This improves application code portability among different
ports.
- CHANGE: Modified the test suite to use the new time conversion macros.
- CHANGE: Modified the CM3 startup file in order to implement an early
initialization phase: hwinit0, the late initialization phase is now named
hwinit1. The demo now initializes the PLL before initializing the BSS and
DATA segments, this greatly optimizes the system start up time.
- NEW: Unified ARM7 startup file, it is shared by the LPC and SAM7 demo
projects. The new startup file implements early and late initialization
phases as described above for the CM3 startup file.
The architecture specific vector tables are now encapsulated into the
vectors.s files.
- Modified the STM32 demo makefile to use the latest YAGARTO toolchain as
default (arm-elf-gcc).
- Documentation improvements, added collaboration diagrams and call graphs.
Added a documentation-related readme under ./docs.
*** 0.7.1 ***
- NEW: New chThdInit() and chThdCreateStatic() APIs now replace the old
chThdCreate() and chThdCreateFast() that are thus marked as deprecated.
The new APIs use one less parameter and are faster.
- NEW: New dynamic chThdCreateFromHeap() and chthdCreateFromMemoryPool() APIs.
The dynamic APIs are only included if the CH_USE_DYNAMIC option is specified
into the project configuration file.
- NEW: Added an THREAD_EXT_EXIT macro in chconf.h to add finalization code to
the chThdExit() API.
- CHANGE: chThdCreateFast() is now a macro that uses chThdCreateStatic().
- CHANGE: chThdWait() now releases the memory allocated by
chThdCreateFromHeap() and chthdCreateFromMemoryPool(). Threads created
through the static APIs are not affected thus the behavior is backward
compatible.
- CHANGE: Modified the chThdResume() API to return the resumed thread pointer
instead of void. This allowed few optimization into the threads creation
code.
- CHANGE: The chThdGetExitEventSource() API and the CH_USE_EXIT_EVENT
configuration option and the are now deprecated. Use the THREAD_EXT_EXIT
finalization macro in order to implement a similar functionality if needed.
- FIX: The chThdCreate() had a regression in 0.7.0, the mode parameter was
ignored.
- FIX: Removed duplicated call to chHeapInit() into chSysInit().
- FIX: Fixed a syntax error in chheap.c triggered by the CH_USE_DEBUG option.
- Added new test cases to the test suite for the new dynamic APIs.
- Documentation fixes.
*** 0.7.0 ***
- NEW: Memory Heap Allocator functionality added. The allocator implements a
first-fit strategy but there is an option that allow it to wrap the compiler
provided malloc() that may implement a different strategy. The heap
allocator is thread-safe and can use both a mutex or a semaphore as
internal synchronization primitive.
- NEW: Memory Pools functionality added, this mechanism allows constant-time
allocation/freeing of constant-size objects. It can be used to dynamically
allocate kernel objects like Semaphores, Mutexes, Threads etc fully in real
time, of course it is also possible to manage application-defined objects.
The pool allocator is thread-safe.
It is worth remembering that the kernel is still entirely static, it does
not use the allocation services internally, it is up to the application
code to use the allocators in order to use dynamic system objects.
Both the allocators can be disabled and removed from the memory image.
- NEW: Added option macros in chconf.h to add custom fields and initialization
code to the Thread structure.
- FIX: Corrected the wrong definition of the chThdResumeI() macro.
- FIX: The API chSemWaitTimeout() was missing in the documentation.
- CHANGE: Modified the chMtxUnlock() and chMtxUnlockS() APIs to return the
pointer to the released mutex instead of void.
- CHANGE: Now the chThdResume() API asserts that the thread is in PRSUSPEND
state rather than test it.
- CHANGE: Removed the CH_USE_TERMINATE, CH_USE_SLEEP, CH_USE_SUSPEND and
CH_USE_RESUME configuration options in order to make the chconf.h file
simpler. The related functions are very small and almost always required.
- CHANGE: The P_MSGBYPRIO thread option has been removed, now the threads
always serve messages in priority order if the CH_USE_MESSAGES_PRIORITY
configuration option is active.
- Added new test cases to the test suite.
*** 0.6.10 ***
- FIX: Fixed a case-sensitiveness error in lpc214x_ssp.c, it affected only
linux/unix users.
- FIX: Fixed a regression introduced in version 0.6.9, the queues benchmark
test case was missing from the tests list.
- NEW: Added an option to the ARM7 ports, by specifying -DREENTRANT_LOCKS in
the makefile options makes the chSysLock() and chSysUnlock() become
reentrant. The code becomes a bit larger and slower, use it only if your
application really needs to invoke system API under lock.
- NEW: Added an option to the ARM7 and CM3 makefiles to strip any unused code
and data from the binary file (the default is on).
*** 0.6.9 ***
- NEW: Added an option to exclude the support for the round robin scheduling,
this can save some extra program space and makes the context switch a bit
faster if the feature is not required. Threads at the same priority level
are still supported when the feature is disabled but the scheduling among
them becomes cooperative.
- OPT: Improved reschedulation time by reordering the sequence of operations,
now during enqueuing the ready list contains one less element. This change
also slightly improves the interrupt latency.
- OPT: Optimization to the chSemReset(), reversed the order of dequeuing.
- FIX: Fixed a bug in the chThdSetPriority() API.
- FIX: Modified the structure names into nvic.h in order to not make them
collide with external libraries.
- Added a benchmark to the test suit that measures the mass reschedulation
performance.
- Added a test_terminate_threads() function to the test framework.
- Made the Cortex-M3 port preemption code more readable.
- Added a ENABLE_WFI_IDLE option to the chcore.h file in the Cortex-M3 port,
setting this option to 1 enables the kernel to enter a low power mode when
executing the idle thread. Be careful however, this option can be not
compatible with some JTAG probes, it is better to enable it only on final
builds and not when debugging.
*** 0.6.8 ***
- FIX: Fixed a bug in the priority inheritance mechanism, the bug was only a
problems when the CH_USE_MESSAGES_PRIORITY was enabled, this option is
disabled by default in ChibiOS/RT so it should not affect any user.
- CHANGE: The function chEvtSend() and chEvtSendI() are now renamed in
chEvtBroadcast() and chEvtBroadcastI(), the old names are still available
but are deprecated.
- Made the default BASEPRI levels (CM3 port) configurable into chcore.h.
- Many improvements to the documentation.
- All the fixes and changes in this release were suggested/submitted by
Leon Woestenberg (thank you).
*** 0.6.7 ***
- NEW: New chThdCreateFast() API, it is a simplified form of chThdCreate()
that allows even faster threads creation. The new API does not support
the "mode" and "arg" parameters (still available in the old API).
- OPT: Removed an unrequired initialization and made other small optimizations
to the chThdCreate().
- OPT: Improvements to the test framework, now a virtual timer is used instead
of software loops into the benchmarks in order to have more stable results.
- New benchmark added to the test suite.
- Added the C++ wrapper entries to the documentation.
- Fixed the documentation entry for the chThdCreate() API.
- Removed redundant ifdefs from the ch.h header.
*** 0.6.6 ***
- NEW: Improved test suite, now the suite is divided in modules and the code
is much easier to understand. The new framework simplifies the inclusion of
new test cases and makes possible to verify the exact sequence and the
timing of test events.
- NEW: New API chSysInTimeWindow() that checks if the current system time is
within the specified time window.
- FIX: Mutex test #1 in the test suite corrected, it failed to... fail.
- FIX: Fixed a problem in the STM32 port USART1 driver.
- FIX: Fixed a problem in the MMC/SD driver in the LPC2148 demo.
- Added the definitions for packed structures to the chtypes.h files.
- Improvements to the makefiles, now each source group has its own .mk include
file. Now it is no more required to rewrite everything in each makefile.
*** 0.6.5 ***
- NEW: Web server demo for the AT91SAM7X256, the demo integrates the uIP
stack and its demo applications.
- NEW: EMAC driver added to the AT91SAM7X port.
- FIX: Small fix to the ARM7 startup files. It used a short jump in the reset
vector and that could fail in some memory configurations.
- Documentation improvements.
*** 0.6.4 ***
- NEW: MSP430 port, the port code compiles correctly but it is not tested yet.
The port requires the MSPGCC toolchain.
- NEW: Added a CH_ARCHITECTURE_xxx define to the various chcore.h files, it
allows to write port-dependent code.
- NEW: Added to the documentation the technical notes about the currently
supported ports.
- FIX: In the ARM7 and ARMCM3 ports chanced the bool_t base type from int8_t
to int32_t, this produces a bit faster and smaller code.
It is nowhere required the bool_t type to be one byte sized.
- FIX: Small fixes to the template files, there were some leftovers of the old
type names.
- FIX: Modified the ARM demos makefiles in order to make them more compatible
with GCC 4.3.0, it seems the new GCC assumes -mthumb-interworking and
-mabi=apcs by default, at least the builds I tested did so, now the makefiles
explicitly assert -mno-thumb-interworking and -mabi=apcs-gnu in order to
produce better code.
- Added an Ethernet driver for AT91SAM7X EMAC, not complete yet, it will be
required by a uIP web server demo under ChibiOS/RT coming in some next
release.
*** 0.6.3 ***
- NEW: ARM Cortex-M3 port completed. The demo program targets the STM32F103
chip from ST Microelectronics on an Olimex STM32-P103 board.
- FIX: Fixed a minor error in ./ports/ARM7-LPC214x/vic.h, it should not affect
anything.
- FIX: Minor fix: in chThdCreate() a working area size equal to
UserStackSize(0) was asserted as an error when in debug mode. It is now
allowed.
- FIX: Increased the stack size for the threads in the test suite to 128 bytes
because THUMB/THUMB2 modes seem to use a lot more stack than ARM mode.
*** 0.6.2 ***
- NEW: Added C++ wrapper around the ChibiOS/RT core APIs, now it is possible
to use the OS in a fully object oriented application. The wrapper offers
classes that encapsulate threads, semaphores, mutexes, timers etc. Normal C
APIs are still accessible from C++ code as usual.
- NEW: Added a new LPC2148 demo using the new C++ wrapper, it is a good
example of C++ used for an embedded application. The demo does not use RTTI
nor standard libraries so the resulting code is very compact.
- Enhanced the chSemSignalWait() API to return the wakeup message just like
the other "Wait" semaphore functions do.
- Fixed a minor problem in the ARM7 port, the extctx structure definition was
missing one field, the effect was to allocate stacks 4 bytes shorter than
the declared size.
- Fixed a compile time error into the chThdSleepUntil() macro.
- Fixes in various headers to make some macros compatible with both C and C++.
- Fixed a regression in the LPC214x minimal demo that broke interrupt
handling.
- Some fixes to the doxygen documentation.
- More work done on the ARM-CM3 port but it is still not complete.
*** 0.6.1 ***
- Removed some redundant checks from the scheduler code: improved threads
flyback time, reduced interrupts service time.
- Nice scheduler speed improvement obtained by removing the 2nd parameter to
the chSchReadyI() API and manually assigning the message value only where
is really needed (very few points in the code).
- More space savings and speed improvements obtained by removing the
-fno-strict-aliasing option from the makefiles, now the kernel compiles
without any warning even without this option.
- Removed the -falign-functions=16 option from the AT91SAM7X demo makefiles,
the Atmel chip does not require it, the option is still present on the
LPC21xx demos. This saves significant program space.
- Started work on ARM Cortex-M3 architecture. The target chip is the STM32F103
on a Olimex STM32-P103 board.
- Added a threads state diagram to the documentation.
- Various fixes to the doxygen documentation.
*** 0.6.0 ***
- Code refactory, all the old sized-integer definitions like LONG32, UWORD16
etc are now replaced by the proper definitions provided by the compiler
into stdint.h.
- Code refactory, the previous system types style using a t_ in front of the
name has been replaced with the standard trailing _t. The system now uses
the size_t type defined into stddef.h. Some type names were modified in
order to not match commonly used type names.
- The above changes have an impact on some API prototypes but we can't help
it, the changes were required because the type names were a concern for
some users.
- Implemented a serial driver in the AVR port.
- Implemented a simple HD44780 LCD driver into the AVRmega128 demo.
- Reworked the AVR AT90CAN128 port to share the common AVR code.
- Modified the test suite to be compatible with 8 bit micros.
- MSVC demo dropped, it is still possible to use the MinGW demo as simulator
in Win32.
- Fixed a minor error in sam7x_serial.h and lpc214x_serial.h.
- The kernel is *unchanged* compared to version 0.5.3 except for the type
names but the change is important enough to make this a recommended update.
*** 0.5.5 ***
- Added an AVRmega128 port. The previous AT90CANx port is still present but
it will be redone after the AVRmega128 port is complete because it will
share most of it. The demo is very simple, it will be expanded in next
releases.
- Reorganized the code of the two ARM7 ports, now all the common ARM7 code
is in ./ports/ARM7. This will make maintenance and new ARM7 ports much much
easier.
- Simplified the directory structure under ./ports.
- Added to the readme a section with our future plans/ideas.
- The kernel is *unchanged* compared to version 0.5.3, just the new port and
the new demo were added.
*** 0.5.4 ***
- Port for Atmel AT91SAM7X256 introduced, the port should be usable also on
SAM7S and SAM7XC but no tests were performed. Other SAM7 processors should
also be usable with limited changes.
The demo currently just performs basic operations, will be enhanced in next
ChibiOS/RT releases, see the demo readme.txt file.
- Small fix to the thumb mode IRQ code on the LPC214x port, removed some extra
code.
- The kernel is *unchanged* compared to version 0.5.3, just the new port and
the new demo were added.
*** 0.5.3 ***
- Removed the chMsgSendTimeout() API, it was conceptually flawed because,
after sending a message, the sender *has* to wait for the answer or
the next sender in queue would receive it instead (the messages server has
no way to know that the sender is gone because a timeout).
A workaround would make the messages subsystem much heavier and this is
not acceptable.
- Removed the test case for chMsgSendTimeout() from the test suite.
- Space saved by reorganizing the timeout code into a single scheduler
function chSchGoSleepTimeoutS().
- Space optimizations in the semaphores code.
- The API chThdSleepUntil() become a macro saving some more code space.
- Because all the above changes the kernel code (ARM) is over 700 bytes
smaller.
*** 0.5.2 ***
- Fixed a small problem in the main header file ch.h.
- Small reordering in the fields of the Thread structure in order to optimize
the space when messages are not used.
*** 0.5.1 ***
- NEW: Priority enqueing for messages can be optionally enabled by specifying
the P_MSGBYPRIO option when creating a message server thread.
This change allows the implementation of a priority ceiling protocol into
message servers threads. Threads serving messages by priority and threads
serving messages in FIFO order can exist at the same time in the system.
This feature can be enabled or disabled by toggling the option
CH_USE_MESSAGES_PRIORITY into the chconf.h file (disabled by default, old
behavior).
Note: This option brings a small overhead when sending a message regardless
if in FIFO or priority order, if you don't need priority ordering for your
messages it is better to keep the feature disabled in chconf.h.
- Added to the ARM demos load scripts the capability to load code in RAM
instead flash, the function must be marked as:
__attribute__((section(".ramtext")))
The option -mlong-calls should be specified in the makefile too or the
function declared with the "long-call" attribute.
- Fixed the MSVC demo project files.
- Fixed some syntax incompatibilities between GCC and MSVC into chmtx.c.
*** 0.5.0 ***
- NEW: Mutexes, the new mechanism provides a complete implementation of the
"priority inheritance" algorithm as a tool for work around the priority
inversion problem.
The Mutexes are not meant to replace the Semaphores that still are the best
synchronization mechanism between interrupt handlers and high level
code, something that Mutexes cannot do.
Soon an article will be added to the wiki describing pro and cons of the
various mechanisms and the correct use cases.
- RT Semaphores subsystem removed, the Mutexes implements a better solution
for the same problem.
- Fixed a bug in the round robin scheduling mode, see the bug tracker for
details and a fix for previous versions.
- More performance improvements to the scheduler. The ready list insertion
sequence is now reversed, it is scanned starting from the highest priority
end. This has an important side effect into the chSchWakeupS() that makes
most of the ready list insertions happen in constant time (extraction is
done always in constant time).
The worst case is always proportional to the number of threads in the ready
list but the normal case is much more often constant than linear. See the
new benchmarks added to the test suite.
- Added mutexes test cases and new benchmarks to the test suite.
- Modified the test suite in order to have each test case to have the same
alignment enforced on functions. This is done to reduce MAM/Cache alignment
effects on the measurement.
- IRQ entry/exit code is now encapsulated into two new macros, see chcore.h
for details.
- All the asm code previously in chcore2.s is now inline asm code in chcore.c
(ARM port), chcore2.s removed.
- Moved all the board specific definitions/code into two new files: board.c
and board.h. Moved all the files no more board-dependent under ports/
(ARM port).
- Improved the kernel performance in THUMB mode by better exploiting MAM
locality in some critical functions. The context switch benchmark shows
5% improved speed.
*** 0.4.5 ***
- Moved the serial IRQ handlers and VIC vectors initialization inside the
serial drivers. Now the serial-related code is all inside the driver.
- Moved all the other interrupt handlers from chcore2.s into chcore.c as
inline asm code. The interrupt code now is faster because one less call
level.
- Fixed a minor problem in chSysHalt() now it disables FIQ too and makes sure
to keep the processor in the state it had when it was halted.
Note: This is not a kernel bug but something specific with the ARM port, the
other ports are not affected.
- Fixed the macro chThdResumeI(), it had a regression.
*** 0.4.4 ***
- Fixed a very important bug in the preemption ARM code, important enough to
make this update *mandatory*.
Note: This is not a kernel bug but something specific with the ARM port, the
other ports are not affected.
- Fixed a nasty bug in the pure THUMB mode threads trampoline code (chcore2.s,
threadstart), it failed on THUMB threads returning with a "bx" instruction.
The bug did not affect ARM mode or THUMB with interworking mode.
Note: This is not a kernel bug but something specific with the ARM port, the
other ports are not affected.
- Fixed a bug in chIQGetTimeout(), interrupts were not re-enabled when exiting
the function because a timeout. The problem affected that API only.
- Fixed a potential problem in chSysInit(), it should not affect any past
application.
- Added a chDbgAssert() API to the debug subsystem.
- Cleaned up the kernel source code using chDbgAssert() instead of a lot of
"#ifdef CH_USE_DEBUG", it is much more readable now.
- Now the threads working area is filled with a 0x55 when in debug mode, this
will make easier to track stack usage using a JTAG probe.
- Added an I/O Queues benchmark to the test suite.
- Removed the chSchTimerHandlerI() routine from chschd.c and moved it into
chinit.c renaming it chSysTimerHandlerI() because it is not part of the
scheduler.
*** 0.4.3 ***
- Size optimization in the events code, now the chEvtWait() reuses the
chEvtWaitTimeout() code if it is enabled.
- Size optimization in the semaphores code, now the chSemWaitTimeout() just
invokes the chSemWaitTimeoutS() inside its system mutex zone. Same thing
done with chSemWait() and chSemWaitS().
- Size optimization in the queues code.
- Modified the return type of chSemWait() and chSemWaitS() from void to t_msg,
this allows to understand if the semaphore was signaled or reset without
have to access the Thread structure.
- Added a threads create/exit/wait benchmark to the test suite, the system
is capable of 81712 threads started/terminated per second on the reference
LPC2148 board. The figure is inclusive of two context switch operations
for each thread.
- Minor improvement in the LPC214x serial driver, unneeded events were
generated in some rare cases.
- Fixed a chSysInit() documentation error.
- Fixed a chEvtWaitTimeout() documentation error.
- Added a new debug switch: CH_USE_TRACE, previously the trace functionality
was associated to the CH_USE_DEBUG switch.
*** 0.4.2 ***
- Added a minimal ARM7-LPC demo, you can use this one as template in order to
create your application. It is easier to add subsystems back to the small
demo than remove stuff from the large one.
- Introduced support for "pure" THUMB mode, it is activated when all the
source files are compiled in THUMB mode, the option -mthumb-interworking is
not used in this scenario and this greatly improves both code size and
speed.
It is recommended to either use ARM mode or THUMB mode and not mix them
unless you know exactly what you are doing. Mixing modes is still supported
anyway.
- More optimizations in the scheduler, updated the performance spreadsheet.
- Fixed a problem with the thread working area declarations, the alignment to
4 bytes boundary was not enforced. Now it is defined a new macro
WorkingArea(name, length) that takes care of both the allocation and the
alignment.
Example:
static WorkingArea(waThread1, 32);
It is expanded as:
ULONG32 waThread1[UserStackSpace(32) >> 2];
Now the demos use the new declaration style.
- Fixed a small problem in sleep functions introduced in 0.4.1.
*** 0.4.1 ***
- Modified the initialization code in order to have a dedicated idle thread in
the system, now the main() function behaves like a normal thread after
executing chSysInit() and can use all the ChibiOS/RT APIs (it was required
to run the idle loop in previous versions).
Now it is also possible to use ChibiOS/RT with a single main() thread and
just use it for the I/O capabilities, Virtual Timers and events. Now you
don't have to use multiple threads if you don't really need to.
- Added a spreadsheet in the documentation that describes the advantages
and disadvantages of the various optimization options (both GCC options and
ChibiOS/RT options), very interesting read IMO.
- The GCC option -falign-functions=16 is now default in the Makefile, it is
required because of the MAM unit into the LPC chips, without this option
the code performance is less predictable and can change of some % points
depending on how the code is aligned in the flash memory, unpredictability
is bad for a RTOS. This option however increases the code size slightly
because of the alignment gaps.
- Fine tuning in the scheduler code for improved performance, deeper
inlining and other small changes, about 5% better scheduler performance.
- Increased the default system-mode stack size from 128 to 256 bytes because
some optimizations and the THUMB mode seem to eat more stack space.
- Included a Makefile in the LPC2148 demo that builds in THUMB mode.
- Const-ified a parameter in the chEvtWait() and chEvtWaitTimeout() APIs.
- Removed the CPU register clearing on thread start, it was not really useful,
it is better to maximize performance instead.
- Cleaned up the ARM port code. Now it is easier to understand.
- Cleaned up the LPC2148 demo in main.c, it is now well documented and
explains everything, I assumed too much stuff to be "obvious".
*** 0.4.0 ***
- NEW, added a benchmark functionality to the test suite. The benchmark
measures the kernel throughput as messages per second and context switches
per second. The benchmark will be useful for fine tuning the compiler
options and the kernel itself.
- NEW, implemented a debug subsystem, it supports debug messages and a context
switch circular trace buffer. The debug code can be enabled/disabled by
using the CH_USE_DEBUG in chconf.h.
The trace buffer is meant to be fetched and decoded by an external tool
(coming soon, it can be accessed using JTAG in the meanwhile).
- Added new API chThdGetPriority() as a macro.
- Implemented panic messages when CH_USE_DEBUG is enabled.
- Added a thread identifier field to the Thread structure, it is used only
for debug.
- Global variable stime modified as volatile.
- API chSysGetTime() reimplemented as a macro.
- Fixed a regression with the CH_CURRP_REGISTER_CACHE option.
- Fixed a problem in the LPC2148 interrupt handling code, a spurious
interrupts fix recommended on the NXP data sheet proved to be a very bad
idea and not about real spurious interrupts also...
- Fixed an harmless warning message in buzzer.c.
*** 0.3.6 ***
- Added SSP (SPI1) and ext.interrupts definitions to the lpc214x.h file.
- Added SSP driver for the LPC2148.
- Added experimental MMC/SD block driver to the LPC2148 demo in order to
support file systems. The driver features also events generation on card
insert/remove, hot plugging supported.
- Added missing chThdSuspend() declaration in threads.h.
*** 0.3.5 ***
- Space optimization in events code.
- Changed the behavior of chEvtWaitTimeout() when the timeout parameter is
set to zero, now it is consistent with all the other syscalls that have a
timeout option.
- Reorganized all the kernel inline definitions into a single file (inline.h).
- Fixed a minor problem in the interrupt initialization code for the LPC214x
demo, regrouped the VIC-specific code into vic.c/vic.h.
- Fixed a bug into the LPC2148 serial driver (limited to the serial port 2).
- Implemented HW transmit FIFO preloading in the LPC2148 serial driver in
order to minimize the number of interrupts generated, it is possible to
disable the feature and return to the old code which is a bit smaller, see
the configuration parameters in ./ARM7-LPC214x/GCC/lpc214x_serial.h.
- Some more work done on the AVR port, it is almost complete but not tested
yet because my JTAG probe broke...
*** 0.3.4 ***
- Fixed a problem in chVTSetI().
- New API, chVTIsArmedI(), it is a macro in delta.h.
- New API, chThdResumeI(), it is a macro in threads.h. This function is just
an alias for chSchReadyI() but makes the code more readable.
- New API, chThdSuspend(). New switch CH_USE_SUSPEND added to chconf.h.
*** 0.3.3 ***
- Modified the chVTSetI(), now for the "time" parameter can have value zero
with meaning "infinite". This allows all the APIs with timeout parameters
to be invoked with no timeout.
- Fixes in the documentation.
- Renamed some APIs in the "Sch" group to have an S suffix instead of I.
*** 0.3.2 ***
- Modified the chSysInit() to give the idle thread absolute priority, the
priority is then lowered to the minimum value into the chSysPause(). This
is done in order to ensure that the initializations performed into the
main() procedure are finished before any thread starts.
- Added chThdSetPriority() new API.
- Added a generic events generator timer module to the library code.
- Modified the ARM7-LPC214x-GCC demo to show the use of the event timer.
- Added the "#ifdef __cplusplus" stuff to the header files.
- Removed an obsolete definition in ./src/templates/chtypes.h.
*** 0.3.1 ***
- Test program added to the demos. Telnet the MinGW and MSVS demos and type
"test" at the "ch>" prompt. On the LPC214x demo the test is activated by
pressing both the board buttons. The test performs tests on the ChibiOS/RT
functionalities.
The test code is also a good example of APIs usage and ChibiOS/RT behavior.
- Fixed bug in chEvtWaitTimeout(), the timeout code performed an useless
dequeue operation.
- Fixed a bug in chSemWaitTimeoutS() and chSemWaitTimeout(), the semaphore
counter was not atomically updated on a timeout condition.
- Fixed bug on RT semaphores, the priority queuing was broken.
- Fixed a bug in the MinGW demo, the chThdExit() code was not correctly
reported to the thread waiting in chThdWait().
- Fixed a function declaration in semaphores.h.
- Lists code moved into chlists.c from various other places optimized and
reorganized.
- The list of the threads waiting in chThdWait() is now a single link list,
this saves some space.
- Cleaned the template files code, the files contained some obsolete
declarations.
- Code optimization in chSemWaitTimeoutS(), chSemWaitTimeout() and
chSemSignalWait().
- Code optimization in chEvtSend().
- Code optimization in chVTDoTickI().
- Added a Semaphore pointer to the Thread structure, this allows to know on
which semaphore a thread is waiting on. It takes no space because it is
located in the union inside the Thread structure. This also allowed a minor
optimization inside chSemWaitTimeout() and chSemWaitTimeoutS().
- Changed the priority type to unsigned in order to make it compatible
with a byte value, this is very important for 8 bits architectures.
- Modified the MinGW and MSVS demos to use 1ms ticks instead of 10ms as
before.
*** 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 Doxygen
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
happen in future versions.
- Bug fix in the virtual timers handling code, now the timers can be re-armed
from within the callback code in order to create periodic virtual timers.
- Modified the t_prio type in the demos to be 32bits wide instead of 16bits,
this results in a better code in critical sections of the kernel.
*** 0.2.0 ***
- Introduced support for ARM in thumb mode.
- Optimized context switching when thumb-interworking is not required, one
less instruction.
- Minor fixes to the ARM demo.
*** 0.1.1 ***
- Some fixes into the documentation
- Renamed the makefiles to Makefile, upper case M.
*** 0.1.0 ***
- First alpha release
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