Merge remote-tracking branch 'kelvin_atomthreads/master'

Conflicts:
	tests/kern1.c
	tests/kern3.c
	tests/kern4.c
	tests/mutex1.c
	tests/mutex2.c
	tests/mutex3.c
	tests/mutex4.c
	tests/mutex5.c
	tests/mutex6.c
	tests/mutex7.c
	tests/mutex8.c
	tests/mutex9.c
	tests/queue2.c
	tests/queue3.c
	tests/queue5.c
	tests/queue6.c
	tests/queue7.c
	tests/queue9.c
	tests/sem1.c
	tests/sem3.c
	tests/sem4.c
	tests/sem5.c
	tests/sem6.c
	tests/sem7.c
	tests/sem8.c
	tests/sem9.c
	tests/timer2.c

kernel/README

@@ -1,11 +1,11 @@
----------------------------------------------------------------------------
-
-Library:      Atomthreads
-Author:       Kelvin Lawson <kelvinl@users.sf.net>
-Website:      http://atomthreads.com
-License:      BSD Revised
-
----------------------------------------------------------------------------
+---------------------------------------------------------------------------
+
+Library:      Atomthreads
+Author:       Kelvin Lawson <info@atomthreads.com>
+Website:      http://atomthreads.com
+License:      BSD Revised
+
+---------------------------------------------------------------------------
 
 KERNEL SOURCES
 
@@ -21,12 +21,12 @@ Each module source file contains detailed documentation including an
 introduction to usage of the module and full descriptions of each API.
 Refer to the sources for further documentation.
 
----------------------------------------------------------------------------
+---------------------------------------------------------------------------
 
 BUILDING THE KERNEL
 
 The kernel is built from the architecture port folder. Build instructions
 are included in the README file for each port.
 
----------------------------------------------------------------------------
+---------------------------------------------------------------------------
 

kernel/atom.h

@@ -30,6 +30,10 @@
 #ifndef __ATOM_H
 #define __ATOM_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "atomtimer.h"
 #include "atomport.h"
 
@@ -62,7 +66,7 @@ typedef struct atom_tcb
 
     /* Details used if thread stack-checking is required */
 #ifdef ATOM_STACK_CHECKING
-    POINTER stack_top;            /* Pointer to top of stack allocation */
+    POINTER stack_bottom;         /* Pointer to bottom of stack allocation */
     uint32_t stack_size;          /* Size of stack allocation in bytes */
 #endif
 
@@ -102,7 +106,7 @@ extern uint8_t atomOSStarted;
 
 
 /* Function prototypes */
-extern uint8_t atomOSInit (void *idle_thread_stack_top, uint32_t stack_size);
+extern uint8_t atomOSInit (void *idle_thread_stack_bottom, uint32_t idle_thread_stack_size, uint8_t idle_thread_stack_check);
 extern void atomOSStart (void);
 
 extern void atomSched (uint8_t timer_tick);
@@ -117,7 +121,7 @@ extern ATOM_TCB *tcbDequeuePriority (ATOM_TCB **tcb_queue_ptr, uint8_t priority)
 
 extern ATOM_TCB *atomCurrentContext (void);
 
-extern uint8_t atomThreadCreate (ATOM_TCB *tcb_ptr, uint8_t priority, void (*entry_point)(uint32_t), uint32_t entry_param, void *stack_top, uint32_t stack_size);
+extern uint8_t atomThreadCreate (ATOM_TCB *tcb_ptr, uint8_t priority, void (*entry_point)(uint32_t), uint32_t entry_param, void *stack_bottom, uint32_t stack_size, uint8_t stack_check);
 extern uint8_t atomThreadStackCheck (ATOM_TCB *tcb_ptr, uint32_t *used_bytes, uint32_t *free_bytes);
 
 extern void archContextSwitch (ATOM_TCB *old_tcb_ptr, ATOM_TCB *new_tcb_ptr);
@@ -126,5 +130,8 @@ extern void archFirstThreadRestore(ATOM_TCB *new_tcb_ptr);
 
 extern void atomTimerTick (void);
 
+#ifdef __cplusplus
+}
+#endif
 
 #endif /* __ATOM_H */

kernel/atomkernel.c

@@ -144,7 +144,6 @@
  */
 
 
-#include <stddef.h>
 #include "atom.h"
 
 
@@ -370,25 +369,31 @@ static void atomThreadSwitch(ATOM_TCB *old_tcb, ATOM_TCB *new_tcb)
  * new thread may be scheduled in before the function returns.
  *
  * Optionally prefills the thread stack with a known value to enable stack
- * usage checking (if the ATOM_STACK_CHECKING macro is defined).
+ * usage checking (if the ATOM_STACK_CHECKING macro is defined and
+ * stack_check parameter is set to TRUE).
  *
  * @param[in] tcb_ptr Pointer to the thread's TCB storage
  * @param[in] priority Priority of the thread (0 to 255)
  * @param[in] entry_point Thread entry point
  * @param[in] entry_param Parameter passed to thread entry point
- * @param[in] stack_top Top of the stack area
+ * @param[in] stack_bottom Bottom of the stack area
  * @param[in] stack_size Size of the stack area in bytes
+ * @param[in] stack_check TRUE to enable stack checking for this thread
  *
  * @retval ATOM_OK Success
  * @retval ATOM_ERR_PARAM Bad parameters
  * @retval ATOM_ERR_QUEUE Error putting the thread on the ready queue
  */
-uint8_t atomThreadCreate (ATOM_TCB *tcb_ptr, uint8_t priority, void (*entry_point)(uint32_t), uint32_t entry_param, void *stack_top, uint32_t stack_size)
+uint8_t atomThreadCreate (ATOM_TCB *tcb_ptr, uint8_t priority, void (*entry_point)(uint32_t), uint32_t entry_param, void *stack_bottom, uint32_t stack_size, uint8_t stack_check)
 {
     CRITICAL_STORE;
     uint8_t status;
+    uint8_t *stack_top;
+#ifdef ATOM_STACK_CHECKING
+	int32_t count;
+#endif
 
-    if ((tcb_ptr == NULL) || (entry_point == NULL) || (stack_top == NULL)
+    if ((tcb_ptr == NULL) || (entry_point == NULL) || (stack_bottom == NULL)
         || (stack_size == 0))
     {
         /* Bad parameters */
@@ -412,6 +417,13 @@ uint8_t atomThreadCreate (ATOM_TCB *tcb_ptr, uint8_t priority, void (*entry_poin
         tcb_ptr->entry_point = entry_point;
         tcb_ptr->entry_param = entry_param;
 
+        /**
+         * Calculate a pointer to the topmost stack entry, suitably aligned
+         * for the architecture. This may discard the top few bytes if the
+         * stack size is not a multiple of the stack entry/alignment size.
+         */
+        stack_top = (uint8_t *)stack_bottom + (stack_size & ~(STACK_ALIGN_SIZE - 1)) - STACK_ALIGN_SIZE;
+
         /**
          * Additional processing only required if stack-checking is
          * enabled. Incurs a slight overhead on each thread creation
@@ -419,25 +431,29 @@ uint8_t atomThreadCreate (ATOM_TCB *tcb_ptr, uint8_t priority, void (*entry_poin
          * compiled out if not desired.
          */
 #ifdef ATOM_STACK_CHECKING
-
-        /* Store the stack details for use by the stack-check function */
-        tcb_ptr->stack_top = stack_top;
-        tcb_ptr->stack_size = stack_size;
-
-        /**
-         * Prefill the stack with a known value. This is used later in
-         * calls to atomThreadStackCheck() to get an indication of how
-         * much stack has been used during runtime.
-         */
-        while (stack_size > 0)
+        /* Set up stack-checking if enabled for this thread */
+        if (stack_check)
         {
-            /* Initialise all stack bytes from bottom up to 0x5A */
-            *((uint8_t *)stack_top - (stack_size - 1)) = STACK_CHECK_BYTE;
-            stack_size--;
+            /* Store the stack details for use by the stack-check function */
+            tcb_ptr->stack_bottom = stack_bottom;
+            tcb_ptr->stack_size = stack_size;
+
+            /**
+             * Prefill the stack with a known value. This is used later in
+             * calls to atomThreadStackCheck() to get an indication of how
+             * much stack has been used during runtime.
+             */
+		    count = (int32_t)stack_size;
+            while (count > 0)
+            {
+                /* Initialise all stack bytes from top down to 0x5A */
+                *((uint8_t *)stack_bottom + (count - 1)) = STACK_CHECK_BYTE;
+                count--;
+            }
         }
 #else
-        /* Avoid compiler warnings due to unused stack_size variable */
-        stack_size = stack_size;
+        /* Avoid compiler warning due to unused parameter */
+        stack_check = stack_check;
 #endif
 
         /**
@@ -529,10 +545,10 @@ uint8_t atomThreadStackCheck (ATOM_TCB *tcb_ptr, uint32_t *used_bytes, uint32_t
     else
     {
         /**
-         * Starting at the far end, count the unmodified areas until a
+         * Starting at the bottom end, count the unmodified areas until a
          * modified byte is found.
          */
-        stack_ptr = (uint8_t *)tcb_ptr->stack_top - (tcb_ptr->stack_size - 1);
+        stack_ptr = (uint8_t *)tcb_ptr->stack_bottom;
         for (i = 0; i < tcb_ptr->stack_size; i++)
         {
             /* Loop until a modified byte is found */
@@ -648,13 +664,14 @@ ATOM_TCB *atomCurrentContext (void)
  * operating system facilities are being initialised. They are normally
  * enabled by the archFirstThreadRestore() routine in the architecture port.
  *
- * @param[in] idle_thread_stack_top Ptr to top of stack area for idle thread
+ * @param[in] idle_thread_stack_bottom Ptr to bottom of stack for idle thread
  * @param[in] idle_thread_stack_size Size of idle thread stack in bytes
+ * @param[in] idle_thread_stack_check TRUE if stack checking required on idle thread
  *
  * @retval ATOM_OK Success
  * @retval ATOM_ERROR Initialisation error
  */
-uint8_t atomOSInit (void *idle_thread_stack_top, uint32_t idle_thread_stack_size)
+uint8_t atomOSInit (void *idle_thread_stack_bottom, uint32_t idle_thread_stack_size, uint8_t idle_thread_stack_check)
 {
     uint8_t status;
 
@@ -668,8 +685,9 @@ uint8_t atomOSInit (void *idle_thread_stack_top, uint32_t idle_thread_stack_size
                  IDLE_THREAD_PRIORITY,
                  atomIdleThread,
                  0,
-                 idle_thread_stack_top,
-                 idle_thread_stack_size);
+                 idle_thread_stack_bottom,
+                 idle_thread_stack_size,
+				 idle_thread_stack_check);
 
     /* Return status */
     return (status);

kernel/atommutex.c

@@ -101,7 +101,6 @@
  */
 
 
-#include <stdio.h>
 #include "atom.h"
 #include "atommutex.h"
 #include "atomtimer.h"

kernel/atommutex.h

@@ -29,6 +29,10 @@
 #ifndef __ATOM_MUTEX_H
 #define __ATOM_MUTEX_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef struct atom_mutex
 {
     ATOM_TCB *  suspQ;  /* Queue of threads suspended on this mutex */
@@ -41,4 +45,8 @@ extern uint8_t atomMutexDelete (ATOM_MUTEX *mutex);
 extern uint8_t atomMutexGet (ATOM_MUTEX *mutex, int32_t timeout);
 extern uint8_t atomMutexPut (ATOM_MUTEX *mutex);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* __ATOM_MUTEX_H */

kernel/atomport-template.h

@@ -34,6 +34,15 @@
 /* Required number of system ticks per second (normally 100 for 10ms tick) */
 #define SYSTEM_TICKS_PER_SEC            100
 
+/**
+ * Definition of NULL.
+ * If stddef.h is available on the platform it is simplest to include it
+ * from this header, otherwise define below.
+ */
+#define NULL      ((void *)(0))
+
+/* Size of each stack entry / stack alignment size (e.g. 8 bits) */
+#define STACK_ALIGN_SIZE                sizeof(unsigned char)
 
 /**
  * Architecture-specific types.
@@ -51,7 +60,12 @@
 #define POINTER   void *
 
 
-/* Critical region protection */
+/**
+ * Critical region protection: this should disable interrupts
+ * to protect OS data structures during modification. It must
+ * allow nested calls, which means that interrupts should only
+ * be re-enabled when the outer CRITICAL_END() is reached.
+ */
 #define CRITICAL_STORE      uint8_t sreg
 #define CRITICAL_START()    sreg = SREG; cli();
 #define CRITICAL_END()      SREG = sreg

kernel/atomqueue.c

@@ -91,7 +91,6 @@
  */
  
 
-#include <stdio.h>
 #include <string.h>
 
 #include "atom.h"

kernel/atomqueue.h

@@ -29,6 +29,10 @@
 #ifndef __ATOM_QUEUE_H
 #define __ATOM_QUEUE_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef struct atom_queue
 {
     ATOM_TCB *  putSuspQ;       /* Queue of threads waiting to send */
@@ -46,4 +50,8 @@ extern uint8_t atomQueueDelete (ATOM_QUEUE *qptr);
 extern uint8_t atomQueueGet (ATOM_QUEUE *qptr, int32_t timeout, uint8_t *msgptr);
 extern uint8_t atomQueuePut (ATOM_QUEUE *qptr, int32_t timeout, uint8_t *msgptr);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* __ATOM_QUEUE_H */

kernel/atomsem.c

@@ -88,7 +88,6 @@
  */
 
 
-#include <stdio.h>
 #include "atom.h"
 #include "atomsem.h"
 #include "atomtimer.h"

kernel/atomsem.h

@@ -30,6 +30,10 @@
 #ifndef __ATOM_SEM_H
 #define __ATOM_SEM_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef struct atom_sem
 {
     ATOM_TCB *  suspQ;  /* Queue of threads suspended on this semaphore */
@@ -42,4 +46,8 @@ extern uint8_t atomSemGet (ATOM_SEM *sem, int32_t timeout);
 extern uint8_t atomSemPut (ATOM_SEM *sem);
 extern uint8_t atomSemResetCount (ATOM_SEM *sem, uint8_t count);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* __ATOM_SEM_H */

kernel/atomtimer.c

@@ -67,7 +67,6 @@
  */
 
 
-#include <stdio.h>
 #include "atom.h"
 
 

kernel/atomtimer.h

@@ -30,6 +30,10 @@
 #ifndef __ATOM_TIMER_H
 #define __ATOM_TIMER_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "atomport.h"
 
 
@@ -58,4 +62,8 @@ extern uint8_t atomTimerDelay (uint32_t ticks);
 extern uint32_t atomTimeGet (void);
 extern void atomTimeSet (uint32_t new_time);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* __ATOM_TIMER_H */