415 lines
22 KiB
Plaintext
415 lines
22 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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*****************************************************************************
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*** Current ports/demos ***
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*****************************************************************************
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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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ARM7-AT91SAM7X-GCC - Port for Atmel AT91SAM7X256. The demo program targets
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the Olimex SAM7-EX256 board.
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AVR-AVRmega128-GCC - Port on AVRmega128, experimental. A special thanks to
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Vladimir for the work done on the AVR port. The demo
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program targets the Olimex AVR-MT-128 mini terminal
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board.
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AVR-AT90CANx-GCC - Port on AVR AT90CAN128, not complete yet, scheduled
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for a complete rewrite.
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*****************************************************************************
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*** Plans ***
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*****************************************************************************
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- Finish the work on the AVR ports ASAP.
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- Look into importing *or* implementing a TCP/IP stack and a File System.
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- Start the work on a Cortex-M3 port as soon GCC 4.3.0 will be released and
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incorporated in YAGARTO.
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- Evaluate other architectures for a possible ChibiOS/RT port. An important
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selection parameter will be the availability of FOSS toolchains.
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- Creation of a reduced ChibiOS/RT kernel targeted to lesser 8bit micros and
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educational purposes, the name will probably be ChibiOS/SX, we are still
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discussing it.
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*****************************************************************************
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*** Releases ***
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*****************************************************************************
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*** 0.5.6 ***
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- Code refactory, all the old sized-integer definitions like LONG32, UWORD16
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etc are now replaced by the proper definitions provided by the compiler
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into stdint.h. This has an impact on some API prototypes but we can't
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help it.
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*** 0.5.5 ***
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- Added an AVRmega128 port. The previous AT90CANx port is still present but
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it will be redone after the AVRmega128 port is complete because it will
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share most of it. The demo is very simple, it will be expanded in next
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releases.
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- Reorganized the code of the two ARM7 ports, now all the common ARM7 code
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is in ./ports/ARM7. This will make maintenance and new ARM7 ports much much
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easier.
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- Simplified the directory structure under ./ports.
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- Added to the readme a section with our future plans/ideas.
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- The kernel is *unchanged* compared to version 0.5.3, just the new port and
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the new demo were added.
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*** 0.5.4 ***
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- Port for Atmel AT91SAM7X256 introduced, the port should be useable also on
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SAM7S and SAM7XC but no tests were performed. Other SAM7 processors should
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also be useable with limited changes.
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The demo currently just performs basic operations, will be enhanced in next
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ChibiOS/RT releases, see the demo readme.txt file.
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- Small fix to the thumb mode IRQ code on the LPC214x port, removed some extra
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code.
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- The kernel is *unchanged* compared to version 0.5.3, just the new port and
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the new demo were added.
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*** 0.5.3 ***
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- Removed the chMsgSendTimeout() API, it was conceptually flawed because,
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after sending a message, the sender *has* to wait for the answer or
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the next sender in queue would receive it instead (the messages server has
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no way to know that the sender is gone because a timeout).
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A workaround would make the messages subsystem much heavier and this is
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not acceptable.
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- Removed the test case for chMsgSendTimeout() from the test suite.
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- Space saved by reorganizing the timeout code into a single scheduler
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function chSchGoSleepTimeoutS().
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- Space optimizations in the semaphores code.
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- The API chThdSleepUntil() become a macro saving some more code space.
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- Because all the above changes the kernel code (ARM) is over 700 bytes
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smaller.
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*** 0.5.2 ***
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- Fixed a small problem in the main header file ch.h.
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- Small reordering in the fields of the Thread structure in order to optimize
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the space when messages are not used.
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*** 0.5.1 ***
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- NEW: Priority enqueing for messages can be optionally enabled by specifying
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the P_MSGBYPRIO option when creating a message server thread.
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This change allows the implementation of a priority ceiling protocol into
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message servers threads. Threads serving messages by priority and threads
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serving messages in FIFO orded can exist at the same time in the system.
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This feature can be enabled or disabled by toggling the option
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CH_USE_MESSAGES_PRIORITY into the chconf.h file (disabled by default, old
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behavior).
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Note: This option brings a small overhead when sending a message regardless
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if in FIFO or priority order, if you dont need priority ordering for your
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messages it is better to keep the feature disabled in chconf.h.
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- Added to the ARM demos load scripts the capability to load code in RAM
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instead flash, the function must be marked as:
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__attribute__((section(".ramtext")))
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The option -mlong-calls should be specified in the makefile too or the
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function declared with the "long-call" attribute.
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- Fixed the MSVC demo project files.
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- Fixed some syntax incompatibilites between GCC and MSVC into chmtx.c.
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*** 0.5.0 ***
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- NEW: Mutexes, the new mechanism provides a complete implementation of the
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"priority inheritance" algorithm as a tool for work around the priority
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inversion problem.
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The Mutexes are not meant to replace the Semaphores that still are the best
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synchronization mechanism between interrupt handlers and high level
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code, something that Mutexes cannot do.
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Soon an article will be added to the wiki describing pro and cons of the
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various mechanisms and the correct use cases.
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- RT Semaphores subsystem removed, the Mutexes implements a better solution
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for the same problem.
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- Fixed a bug in the round robin scheduling mode, see the bug tracker for
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details and a fix for previous versions.
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- More performance improvements to the scheduler. The ready list insertion
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sequence is now reversed, it is scanned starting from the highest priority
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end. This has an important side effect into the chSchWakeupS() that makes
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most of the ready list insertions happen in constant time (extraction is
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done always in constant time).
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The worst case is always proportional to the number of threads in the ready
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list but the normal case is much more often constant than linear. See the
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new benchmarks added to the test suite.
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- Added mutexes test cases and new benchmarks to the test suite.
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- Modified the test suite in order to have each test case to have the same
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alignment enforced on functions. This is done to reduce MAM/Cache alignment
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effects on the measurement.
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- IRQ entry/exit code is now encapsulated into two new macros, see chcore.h
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for details.
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- All the asm code previously in chcore2.s is now inline asm code in chcore.c
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(ARM port), chcore2.s removed.
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- Moved all the board specific definitions/code into two new files: board.c
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and board.h. Moved all the files no more board-dependent under ports/
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(ARM port).
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- Improved the kernel performance in THUMB mode by better exploiting MAM
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locality in some critical functions. The context switch benchmark shows
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5% improved speed.
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*** 0.4.5 ***
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- Moved the serial IRQ handlers and VIC vectors initialization inside the
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serial drivers. Now the serial-related code is all inside the driver.
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- Moved all the other interrupt handlers from chcore2.s into chcore.c as
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inline asm code. The interrupt code now is faster because one less call
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level.
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- Fixed a minor problem in chSysHalt() now it disables FIQ too and makes sure
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to keep the processor in the state it had when it was halted.
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Note: This is not a kernel bug but something specific with the ARM port, the
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other ports are not affected.
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- Fixed the macro chThdResumeI(), it had a regression.
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*** 0.4.4 ***
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- Fixed a very important bug in the preemption ARM code, important enough to
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make this update *mandatory*.
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Note: This is not a kernel bug but something specific with the ARM port, the
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other ports are not affected.
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- Fixed a nasty bug in the pure THUMB mode threads trampoline code (chcore2.s,
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threadstart), it failed on THUMB threads returning with a "bx" instruction.
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The bug did not affect ARM mode or THUMB with interworking mode.
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Note: This is not a kernel bug but something specific with the ARM port, the
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other ports are not affected.
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- Fixed a bug in chIQGetTimeout(), interrupts were not re-enabled when exiting
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the function because a timeout. The problem affected that API only.
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- Fixed a potential problem in chSysInit(), it should not affect any past
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application.
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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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- Removed the chSchTimerHandlerI() routine from chschd.c and moved it into
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chinit.c renaming it chSysTimerHandlerI() because it is not part of the
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scheduler.
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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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