git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@621 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
gdisirio
parent
a50a5627b6
commit
a9b4e8fc72
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@ -143,6 +143,16 @@ typedef struct {
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*/
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#define SYS_IRQ_HANDLER
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/**
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* Simulator initialization.
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*/
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#define sys_init() InitCore()
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/**
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* Does nothing in this simulator.
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*/
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#define sys_disable_all()
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/**
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* Does nothing in this simulator.
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*/
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@ -156,17 +166,22 @@ typedef struct {
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/**
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* Does nothing in this simulator.
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*/
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#define sys_disable_from_isr()
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#define sys_lock()
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/**
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* Does nothing in this simulator.
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*/
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#define sys_enable_from_isr()
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#define sys_unlock()
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/**
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* Does nothing in this simulator.
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*/
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#define sys_disable_all()
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#define sys_lock_from_isr()
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/**
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* Does nothing in this simulator.
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*/
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#define sys_unlock_from_isr()
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/**
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* In the simulator this does a polling pass on the simulated interrupt
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@ -279,8 +279,6 @@ static evhandler_t fhandlers[2] = {
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int main(void) {
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EventListener c1fel, c2fel;
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InitCore();
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// Startup ChibiOS/RT.
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chSysInit();
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@ -16,7 +16,7 @@ ALWAYS_DETAILED_SEC = NO
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INLINE_INHERITED_MEMB = NO
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FULL_PATH_NAMES = NO
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STRIP_FROM_PATH = "C:/Documents and Settings/Administrator/"
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STRIP_FROM_INC_PATH =
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STRIP_FROM_INC_PATH =
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SHORT_NAMES = NO
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JAVADOC_AUTOBRIEF = YES
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QT_AUTOBRIEF = NO
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@ -24,7 +24,7 @@ MULTILINE_CPP_IS_BRIEF = NO
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INHERIT_DOCS = NO
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SEPARATE_MEMBER_PAGES = NO
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TAB_SIZE = 2
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ALIASES =
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ALIASES =
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OPTIMIZE_OUTPUT_FOR_C = YES
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OPTIMIZE_OUTPUT_JAVA = NO
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OPTIMIZE_FOR_FORTRAN = NO
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@ -63,14 +63,14 @@ GENERATE_TODOLIST = YES
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GENERATE_TESTLIST = YES
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GENERATE_BUGLIST = YES
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GENERATE_DEPRECATEDLIST = YES
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ENABLED_SECTIONS =
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ENABLED_SECTIONS =
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MAX_INITIALIZER_LINES = 30
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SHOW_USED_FILES = NO
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SHOW_DIRECTORIES = NO
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SHOW_FILES = YES
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SHOW_NAMESPACES = YES
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FILE_VERSION_FILTER =
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LAYOUT_FILE =
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FILE_VERSION_FILTER =
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LAYOUT_FILE =
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#---------------------------------------------------------------------------
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# configuration options related to warning and progress messages
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#---------------------------------------------------------------------------
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@ -80,7 +80,7 @@ WARN_IF_UNDOCUMENTED = YES
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WARN_IF_DOC_ERROR = YES
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WARN_NO_PARAMDOC = YES
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WARN_FORMAT = "$file:$line: $text"
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WARN_LOGFILE =
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WARN_LOGFILE =
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#---------------------------------------------------------------------------
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# configuration options related to the input files
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#---------------------------------------------------------------------------
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@ -88,16 +88,16 @@ INPUT = ../src/include ../src/templates ../src ../docs/ch.txt ../src/lib
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INPUT_ENCODING = UTF-8
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FILE_PATTERNS = *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py *.ddf
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RECURSIVE = YES
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EXCLUDE =
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EXCLUDE =
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EXCLUDE_SYMLINKS = NO
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EXCLUDE_PATTERNS =
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EXCLUDE_SYMBOLS =
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EXAMPLE_PATH =
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EXCLUDE_PATTERNS =
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EXCLUDE_SYMBOLS =
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EXAMPLE_PATH =
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EXAMPLE_PATTERNS = *
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EXAMPLE_RECURSIVE = NO
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IMAGE_PATH = ./img
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INPUT_FILTER =
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FILTER_PATTERNS =
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INPUT_FILTER =
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FILTER_PATTERNS =
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FILTER_SOURCE_FILES = NO
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#---------------------------------------------------------------------------
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# configuration options related to source browsing
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@ -115,33 +115,33 @@ VERBATIM_HEADERS = NO
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#---------------------------------------------------------------------------
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ALPHABETICAL_INDEX = NO
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COLS_IN_ALPHA_INDEX = 5
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IGNORE_PREFIX =
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IGNORE_PREFIX =
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#---------------------------------------------------------------------------
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# configuration options related to the HTML output
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#---------------------------------------------------------------------------
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GENERATE_HTML = YES
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HTML_OUTPUT = html
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HTML_FILE_EXTENSION = .html
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HTML_HEADER =
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HTML_FOOTER =
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HTML_STYLESHEET =
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HTML_HEADER =
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HTML_FOOTER =
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HTML_STYLESHEET =
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HTML_ALIGN_MEMBERS = YES
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HTML_DYNAMIC_SECTIONS = NO
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GENERATE_DOCSET = NO
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DOCSET_FEEDNAME = "Doxygen generated docs"
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DOCSET_BUNDLE_ID = org.doxygen.Project
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GENERATE_HTMLHELP = NO
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CHM_FILE =
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HHC_LOCATION =
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CHM_FILE =
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HHC_LOCATION =
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GENERATE_CHI = NO
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CHM_INDEX_ENCODING =
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CHM_INDEX_ENCODING =
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BINARY_TOC = NO
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TOC_EXPAND = NO
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GENERATE_QHP = NO
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QCH_FILE =
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QCH_FILE =
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QHP_NAMESPACE = org.doxygen.Project
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QHP_VIRTUAL_FOLDER = doc
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QHG_LOCATION =
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QHG_LOCATION =
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DISABLE_INDEX = NO
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ENUM_VALUES_PER_LINE = 4
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GENERATE_TREEVIEW = YES
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@ -156,8 +156,8 @@ LATEX_CMD_NAME = latex
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MAKEINDEX_CMD_NAME = makeindex
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COMPACT_LATEX = NO
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PAPER_TYPE = a4wide
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EXTRA_PACKAGES =
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LATEX_HEADER =
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EXTRA_PACKAGES =
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LATEX_HEADER =
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PDF_HYPERLINKS = YES
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USE_PDFLATEX = YES
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LATEX_BATCHMODE = NO
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@ -169,8 +169,8 @@ GENERATE_RTF = NO
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RTF_OUTPUT = rtf
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COMPACT_RTF = NO
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RTF_HYPERLINKS = NO
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RTF_STYLESHEET_FILE =
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RTF_EXTENSIONS_FILE =
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RTF_STYLESHEET_FILE =
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RTF_EXTENSIONS_FILE =
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#---------------------------------------------------------------------------
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# configuration options related to the man page output
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#---------------------------------------------------------------------------
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@ -183,8 +183,8 @@ MAN_LINKS = NO
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#---------------------------------------------------------------------------
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GENERATE_XML = NO
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XML_OUTPUT = xml
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XML_SCHEMA =
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XML_DTD =
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XML_SCHEMA =
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XML_DTD =
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XML_PROGRAMLISTING = YES
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#---------------------------------------------------------------------------
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# configuration options for the AutoGen Definitions output
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@ -196,7 +196,7 @@ GENERATE_AUTOGEN_DEF = NO
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GENERATE_PERLMOD = NO
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PERLMOD_LATEX = NO
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PERLMOD_PRETTY = YES
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PERLMOD_MAKEVAR_PREFIX =
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PERLMOD_MAKEVAR_PREFIX =
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#---------------------------------------------------------------------------
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# Configuration options related to the preprocessor
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#---------------------------------------------------------------------------
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@ -204,16 +204,16 @@ ENABLE_PREPROCESSING = YES
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MACRO_EXPANSION = NO
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EXPAND_ONLY_PREDEF = NO
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SEARCH_INCLUDES = YES
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INCLUDE_PATH =
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INCLUDE_FILE_PATTERNS =
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PREDEFINED = __JUST_STUBS__ __DOXIGEN__ CH_USE_WAITEXIT CH_USE_SEMAPHORES CH_USE_SEMSW CH_USE_SEMAPHORES_TIMEOUT CH_USE_MUTEXES CH_USE_CONDVARS CH_USE_CONDVARS_TIMEOUT CH_USE_EVENTS CH_USE_EVENTS_TIMEOUT CH_USE_EXIT_EVENT CH_USE_QUEUES CH_USE_QUEUES_TIMEOUT CH_USE_QUEUES_HALFDUPLEX CH_USE_SERIAL_FULLDUPLEX CH_USE_SERIAL_HALFDUPLEX CH_USE_HEAP CH_USE_MEMPOOLS CH_USE_MESSAGES CH_USE_MESSAGES_EVENT CH_USE_MESSAGES_PRIORITY CH_USE_DEBUG CH_USE_TRACE CH_USE_DYNAMIC CH_USE_ROUNDROBIN
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EXPAND_AS_DEFINED =
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INCLUDE_PATH =
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INCLUDE_FILE_PATTERNS =
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PREDEFINED = __DOXYGEN__ CH_USE_WAITEXIT CH_USE_SEMAPHORES CH_USE_SEMSW CH_USE_SEMAPHORES_TIMEOUT CH_USE_MUTEXES CH_USE_CONDVARS CH_USE_CONDVARS_TIMEOUT CH_USE_EVENTS CH_USE_EVENTS_TIMEOUT CH_USE_EXIT_EVENT CH_USE_QUEUES CH_USE_QUEUES_TIMEOUT CH_USE_QUEUES_HALFDUPLEX CH_USE_SERIAL_FULLDUPLEX CH_USE_SERIAL_HALFDUPLEX CH_USE_HEAP CH_USE_MEMPOOLS CH_USE_MESSAGES CH_USE_MESSAGES_EVENT CH_USE_MESSAGES_PRIORITY CH_USE_DEBUG CH_USE_TRACE CH_USE_DYNAMIC CH_USE_ROUNDROBIN
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EXPAND_AS_DEFINED =
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SKIP_FUNCTION_MACROS = YES
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#---------------------------------------------------------------------------
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# Configuration::additions related to external references
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#---------------------------------------------------------------------------
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TAGFILES =
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GENERATE_TAGFILE =
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TAGFILES =
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GENERATE_TAGFILE =
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ALLEXTERNALS = NO
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EXTERNAL_GROUPS = YES
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PERL_PATH = /usr/bin/perl
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@ -221,12 +221,12 @@ PERL_PATH = /usr/bin/perl
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# Configuration options related to the dot tool
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#---------------------------------------------------------------------------
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CLASS_DIAGRAMS = NO
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MSCGEN_PATH =
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MSCGEN_PATH =
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HIDE_UNDOC_RELATIONS = YES
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HAVE_DOT = YES
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DOT_FONTNAME = FreeSans
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DOT_FONTSIZE = 8
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DOT_FONTPATH =
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DOT_FONTPATH =
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CLASS_GRAPH = YES
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COLLABORATION_GRAPH = YES
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GROUP_GRAPHS = YES
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@ -239,8 +239,8 @@ CALLER_GRAPH = NO
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GRAPHICAL_HIERARCHY = YES
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DIRECTORY_GRAPH = NO
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DOT_IMAGE_FORMAT = png
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DOT_PATH =
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DOTFILE_DIRS =
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DOT_PATH =
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DOTFILE_DIRS =
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DOT_GRAPH_MAX_NODES = 20
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MAX_DOT_GRAPH_DEPTH = 3
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DOT_TRANSPARENT = YES
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223
docs/ch.txt
223
docs/ch.txt
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@ -62,17 +62,76 @@
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* @{
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* @section naming Naming Conventions
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* ChibiOS/RT APIs are all named following this convention:
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* \a ch\<group\>\<action\>\<suffix\>().
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* The possible groups are: \a Sys, \a Sch, \a VT, \a Thd, \a Sem, \a Mtx,
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* \a Evt, \a Msg, \a IQ, \a OQ, \a HQ,\a FDD, \a HDD, \a Dbg, \a Heap, \a Pool.
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* @a ch\<group\>\<action\>\<suffix\>().
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* The possible groups are: @a Sys, @a Sch, @a VT, @a Thd, @a Sem, @a Mtx,
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* @a Cond, @a Evt, @a Msg, @a IQ, @a OQ, @a HQ, @a FDD, @a HDD, @a Dbg,
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* @a Heap, @a Pool.
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* The suffix is not present for normal APIs but can be one of
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* the following: "I" for APIs meant to be invoked within the system mutex
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* zone, "S" for APIs only usable from within the system mutex zone but not
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* from interrupt handlers.<br>
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* The APIs without suffix can be invoked only from the user code outsize the
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* system mutex zone and not from interrupt handlers unless differently
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* specified.<br>
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* Examples: \p chThdCreateStatic(), \p chSemSignalI(), \p chIQGetTimeout().
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* the following:
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* - <b>"I"</b>, I-Class APIs are invokeable only from the I-Locked or S-Locked
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* states. See @ref system_states.
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* - <b>"S"</b>, S-Class APIs are invokeable only from the S-Locked state. See
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* @ref system_states.
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*
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* The APIs without suffix can be invoked only from the user code in the Normal
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* state unless differently specified.<br>
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* Examples: @p chThdCreateStatic(), @p chSemSignalI(), @p chIQGetTimeout().
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*
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* @section interrupts Interrupt Classes
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* In ChibiOS/RT there are three logical interrupt classes:
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* - <b>Regular Interrupts</b>. Maskable interrupt sources that cannot
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* preempt the kernel code and are thus able to invoke operating system APIs
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* from within their handlers. The interrupt handlers belonging to this class
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* must be written following some rules. See the @ref System APIs group.
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* - <b>Fast Interrupts</b>. Maskable interrupt sources with the ability
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* to preempt the kernel code and thus have a lower latency. Such sources are
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* not supported on all the architectures.<br>
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* Fast interrupts are not allowed to invoke any operating system API from
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* within their handlers. Fast interrupt sources may however pend a lower
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* priority regular interrupt where access to the operating system is
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* possible.
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* - <b>Non Maskable Interrupts</b>. Non maskable interrupt sources are
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* totally out of the operating system control and have the lowest latency.
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* Such sources are not supported on all the architectures.
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*
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* The mapping of the above logical classes into physical interrupts priorities
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* is, of course, port dependent. See the documentation of the various ports
|
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* for details.
|
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*
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* @section system_states System States
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* When using ChibiOS/RT the system can be in one of the following logical
|
||||
* operating states:
|
||||
* - <b>Initialization</b>. When the system is in this state all the maskable
|
||||
* interrupt sources are disabled. In this state it is not possible to use
|
||||
* any system API except @p chSysInit(). This state is entered after a
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* physical reset.
|
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* - <b>All Disabled</b>. When the system is in this state both the maskable
|
||||
* regular and fast interrupt sources are disabled. In this state it is not
|
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* possible to use any system API except @p chSysDisable() or chSysEnable().
|
||||
* This state is entered using @p chSysDisableAll().
|
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* - <b>Disabled</b>. In this state the fast interrupt sources are enabled but
|
||||
* the regular interrupt sources are not. In this state it is not possible
|
||||
* to use any system API except @p chSysDisableAll() or chSysEnable().
|
||||
* - <b>Normal</b>. All the interrupt sources are enabled and the system APIs
|
||||
* are accessible, threads are running.
|
||||
* - <b>S-Locked</b>. Kernel locked and regular interrupt sources disabled.
|
||||
* Fast interrupt sources are enabled. I-Class and S-Class APIs are
|
||||
* invokeable in this state.
|
||||
* - <b>I-Locked</b>. Kernel locked and regular interrupt sources disabled.
|
||||
* I-Class and APIs are invokeable from this state.
|
||||
* - <b>Serving Regular Interrupt</b>. No system APIs are accessible but it is
|
||||
* possible to switch to the I-Locked state using @p chSysLockI() and then
|
||||
* invoke any I-Class API.
|
||||
* - <b>Serving Fast Interrupt</b>. No system APIs are accessible.
|
||||
* - <b>Serving Non-Maskable Interrupt</b>. No systemAPIs are accessible.
|
||||
* - <b>Halted</b>. All interrupt sources disabled and system stopped into an
|
||||
* infinite loop. This state can be reached if the debug mode is activated
|
||||
* <b>and</b> an error is detected <b>or</b> after explicitly invoking
|
||||
* @p chSysHalt().
|
||||
*
|
||||
* Note that the above state are just <b>Logical States</b> that can have no
|
||||
* real machine state associated. The following diagram shows the possible
|
||||
* transitions between the states:
|
||||
*
|
||||
* @section scheduling Scheduling
|
||||
* The strategy is very simple the currently ready thread with the highest
|
||||
|
|
@ -84,18 +143,38 @@
|
|||
* Note that the currently running thread is not in the ready list, the list
|
||||
* only contains the threads ready to be executed but still actually waiting.
|
||||
*
|
||||
* @section states Threads States Diagram
|
||||
* @section thread_states Threads States
|
||||
* The image shows how threads can change their state in ChibiOS/RT.<br>
|
||||
* @image html states.png
|
||||
*
|
||||
* @section priority Priority Levels
|
||||
* Priorities in ChibiOS/RT are a contiguous numerical range but the initial
|
||||
* and final values are not enforced.<br>
|
||||
* The following table describes the various priority boundaries (from lowest
|
||||
* to highest):
|
||||
* - @p IDLEPRIO, this is the lowest priority level and is reserved for the
|
||||
* idle thread, no other threads should share this priority level. This is
|
||||
* the lowest numerical value of the priorities space.
|
||||
* - @p LOWPRIO, the lowest priority level that can be assigned to an user
|
||||
* thread.
|
||||
* - @p NORMALPRIO, this is the central priority level for user threads. It is
|
||||
* advisable to assign priorities to threads as values relative to
|
||||
* @p NORMALPRIO, as example NORMALPRIO-1 or NORMALPRIO+4, this ensures the
|
||||
* portability of code should the numerical range change in future
|
||||
* implementations.
|
||||
* - @p HIGHPRIO, the highest priority level that can be assigned to an user
|
||||
* thread.
|
||||
* - @p ABSPRO, absolute maximum software priority level, it can be higher than
|
||||
* @p HIGHPRIO but the numerical values above @p HIGHPRIO up to @p ABSPRIO
|
||||
* (inclusive) are reserved. This is the highest numerical value of the
|
||||
* priorities space.
|
||||
*
|
||||
* @section warea Thread Working Area
|
||||
* Each thread has its own stack, a Thread structure and some preemption
|
||||
* areas. All the structures are allocated into a "Thread working area",
|
||||
* a thread private heap, usually allocated in a char array declared in your
|
||||
* code, there is not a central threads table or list, this means you can
|
||||
* have as many threads you want as long you have enough available RAM
|
||||
* memory. The threads do not use any memory outside the allocated working
|
||||
* area.<br><br>
|
||||
* a thread private heap, usually allocated in an array declared in your
|
||||
* code. Threads do not use any memory outside the allocated working area
|
||||
* except when accessing static shared data.<br><br>
|
||||
* @image html workspace.png
|
||||
* <br>
|
||||
* Note that the preemption area is only present when the thread is not
|
||||
|
|
@ -109,28 +188,6 @@
|
|||
*
|
||||
* See the @ref Core documentation for details, the area may change on
|
||||
* the various ports and some structures may not be present (or be zero-sized).
|
||||
*
|
||||
* @section sysmutex System Mutex Zone
|
||||
* It is the code within the OS that cannot be preempted, this code is
|
||||
* everything between the \p chSysLock() and \p chSysUnlock() API calls.
|
||||
* The implementation of the APIs in most cases just enables/disables the
|
||||
* interrupts. Of course the code in the system mutex zone must be as short
|
||||
* and efficient possible as it affects the RT performance of the whole
|
||||
* system. The worst case response time is affected by the longest code
|
||||
* path in the system mutex zone or interrupt handler.
|
||||
* @code
|
||||
* // User code, not critical, preemption possible.
|
||||
* chSysLock();
|
||||
* ...
|
||||
* // System critical code, preemption delayed.
|
||||
* ...
|
||||
* chSysUnlock();
|
||||
* // User code, preemption possible again.
|
||||
* @endcode
|
||||
* Applications usually do not need to put code into the system mutex zone
|
||||
* unless you are implementing device drivers or special synchronization
|
||||
* primitives, everything else can be implemented by using semaphores,
|
||||
* mutexes, messages or events.
|
||||
*/
|
||||
/** @} */
|
||||
|
||||
|
|
@ -163,7 +220,7 @@
|
|||
* <p>
|
||||
* The ARM7 port makes some assumptions on the application code organization:
|
||||
* <ul>
|
||||
* <li>The \p main() function is invoked in system mode.</li>
|
||||
* <li>The @p main() function is invoked in system mode.</li>
|
||||
* <li>Each thread has a private user/system stack, the system has a single
|
||||
* interrupt stack where all the interrupts are processed.</li>
|
||||
* <li>The threads are started in system mode.</li>
|
||||
|
|
@ -186,7 +243,7 @@
|
|||
* because in the ARM7 port all the OS interrupt handlers are declared
|
||||
* naked).<br>
|
||||
* Function-trashed registers (R0-R3,R12,LR,SR) are saved/restored by the
|
||||
* system macros \p chSysIRQEnterI() and \p chSysIRQExitI().<br>
|
||||
* system macros @p chSysIRQEnterI() and @p chSysIRQExitI().<br>
|
||||
* The easiest way to ensure this is to just invoke a function from within
|
||||
* the interrupt handler, the function code will save all the required
|
||||
* registers.<br>
|
||||
|
|
@ -280,7 +337,7 @@
|
|||
* The ARM Cortex-M3 port is organized as follow:
|
||||
* </p>
|
||||
* <ul>
|
||||
* <li>The \p main() function is invoked in thread-privileged mode.</li>
|
||||
* <li>The @p main() function is invoked in thread-privileged mode.</li>
|
||||
* <li>Each thread has a private process stack, the system has a single main
|
||||
* stack where all the interrupts and exceptions are processed.</li>
|
||||
* <li>Only the 4 MSb of the priority level are used, the 4 LSb are assumed
|
||||
|
|
@ -359,7 +416,7 @@
|
|||
* <ul>
|
||||
* <li>The AVR does not have a dedicated interrupt stack, make sure to reserve
|
||||
* enough stack space for interrupts in each thread stack. This can be done
|
||||
* by modifying the \p INT_REQUIRED_STACK macro into
|
||||
* by modifying the @p INT_REQUIRED_STACK macro into
|
||||
* <b>./ports/AVR/chcore.h</b>.</li>
|
||||
* </ul>
|
||||
* @ingroup Ports
|
||||
|
|
@ -393,7 +450,7 @@
|
|||
* <ul>
|
||||
* <li>The MSP430 does not have a dedicated interrupt stack, make sure to reserve
|
||||
* enough stack space for interrupts in each thread stack. This can be done
|
||||
* by modifying the \p INT_REQUIRED_STACK macro into
|
||||
* by modifying the @p INT_REQUIRED_STACK macro into
|
||||
* <b>./ports/MSP430/chcore.h</b>.</li>
|
||||
* </ul>
|
||||
* @ingroup Ports
|
||||
|
|
@ -421,13 +478,14 @@
|
|||
/**
|
||||
* @defgroup Kernel Kernel
|
||||
* @{
|
||||
* @file ch.h ChibiOS/RT main include file, it includes everything else.
|
||||
*/
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @defgroup Config Configuration
|
||||
* @{
|
||||
* In \p chconf.h are defined the required subsystems for your application.
|
||||
* In @p chconf.h are defined the required subsystems for your application.
|
||||
* @ingroup Kernel
|
||||
* @file chconf.h ChibiOS/RT configuration file.
|
||||
*/
|
||||
|
|
@ -452,6 +510,17 @@
|
|||
*/
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @defgroup System System Management
|
||||
* @{
|
||||
* Initialization, Locks, Interrupt Handling, Power Management, Abnormal
|
||||
* Termination.
|
||||
* @ingroup Kernel
|
||||
* @file sys.h System related macros and structures.
|
||||
* @file chsys.c System related code.
|
||||
*/
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @defgroup Inline Inline
|
||||
* @{
|
||||
|
|
@ -461,16 +530,6 @@
|
|||
*/
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @defgroup Initialization Initialization
|
||||
* @{
|
||||
* Initialization APIs and procedures.
|
||||
* @ingroup Kernel
|
||||
* @file ch.h ChibiOS/RT main include file, it includes everything else.
|
||||
* @file chinit.c ChibiOS/RT Initialization code.
|
||||
*/
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @defgroup Debug Debug
|
||||
* @{
|
||||
|
|
@ -525,13 +584,13 @@
|
|||
* Heap Allocator related APIs.
|
||||
* <b>Operation mode</b><br><br>
|
||||
* The heap allocator implements a first-fit strategy and its APIs are
|
||||
* functionally equivalent to the usual \p malloc() and \p free(). The main
|
||||
* functionally equivalent to the usual @p malloc() and @p free(). The main
|
||||
* difference is that the heap APIs are thread safe.<br>
|
||||
* By enabling the \p CH_USE_MALLOC_HEAP option the heap manager will use the
|
||||
* runtime-provided \p malloc() and \p free() as backend for the heap APIs
|
||||
* By enabling the @p CH_USE_MALLOC_HEAP option the heap manager will use the
|
||||
* runtime-provided @p malloc() and @p free() as backend for the heap APIs
|
||||
* instead of the system provided allocator.<br>
|
||||
* In order to use the heap APIs the \p CH_USE_HEAP option must be specified
|
||||
* in \p chconf.h.
|
||||
* In order to use the heap APIs the @p CH_USE_HEAP option must be specified
|
||||
* in @p chconf.h.
|
||||
* @file include/heap.h Heap macros and structures.
|
||||
* @file chheap.c Heap functions.
|
||||
*/
|
||||
|
|
@ -544,8 +603,8 @@
|
|||
* <b>Operation mode</b><br><br>
|
||||
* The Memory Pools APIs allow to allocate/free fixed size objects in
|
||||
* <b>constant time</b> and reliably without memory fragmentation problems.<br>
|
||||
* In order to use the Time APIs the \p CH_USE_MEMPOOLS option must be
|
||||
* specified in \p chconf.h.
|
||||
* In order to use the Time APIs the @p CH_USE_MEMPOOLS option must be
|
||||
* specified in @p chconf.h.
|
||||
* @file include/mempools.h Memory Pools macros and structures.
|
||||
* @file chmempools.c Memory Pools functions.
|
||||
*/
|
||||
|
|
@ -572,8 +631,8 @@
|
|||
* </ul>
|
||||
* Semaphores can be used as guards for mutual exclusion code zones but
|
||||
* also have other uses, queues guards and counters as example.<br>
|
||||
* In order to use the Semaphores APIs the \p CH_USE_SEMAPHORES
|
||||
* option must be specified in \p chconf.h.<br><br>
|
||||
* In order to use the Semaphores APIs the @p CH_USE_SEMAPHORES
|
||||
* option must be specified in @p chconf.h.<br><br>
|
||||
* @file semaphores.h Semaphores macros and structures.
|
||||
* @file chsem.c Semaphores code.
|
||||
*/
|
||||
|
|
@ -596,8 +655,8 @@
|
|||
* of the mutex.
|
||||
* </li>
|
||||
* </ul>
|
||||
* In order to use the Event APIs the \p CH_USE_MUTEXES option must be
|
||||
* specified in \p chconf.h.<br>
|
||||
* In order to use the Event APIs the @p CH_USE_MUTEXES option must be
|
||||
* specified in @p chconf.h.<br>
|
||||
*
|
||||
* <b>Constraints</b><br><br>
|
||||
* In ChibiOS/RT the Unlock operations are always performed in Lock-reverse
|
||||
|
|
@ -625,10 +684,10 @@
|
|||
* Conditional Variables and threads synchronization.
|
||||
* <b>Operation mode</b><br><br>
|
||||
* The condition variable is a synchronization object meant to be used inside
|
||||
* a zone protected by a \p Mutex. Mutexes and CondVars together can implement
|
||||
* a zone protected by a @p Mutex. Mutexes and CondVars together can implement
|
||||
* a Monitor construct.<br>
|
||||
* In order to use the Conditional Variables APIs the \p CH_USE_CONDVARS
|
||||
* option must be specified in \p chconf.h.<br><br>
|
||||
* In order to use the Conditional Variables APIs the @p CH_USE_CONDVARS
|
||||
* option must be specified in @p chconf.h.<br><br>
|
||||
* @file condvars.h Conditional Variables macros and structures.
|
||||
* @file chcond.c Conditional Variables code.
|
||||
*/
|
||||
|
|
@ -646,12 +705,12 @@
|
|||
* An unlimited number of Event Sources can exists in a system and each
|
||||
* thread can listen on an unlimited number of them.<br>
|
||||
* Note that the events can be asynchronously generated but are synchronously
|
||||
* served, a thread can serve event by calling a \p chEvtWaitXXX()
|
||||
* served, a thread can serve event by calling a @p chEvtWaitXXX()
|
||||
* API. If an event is generated while a listening thread is not ready to
|
||||
* serve it then the event becomes "pending" and will be served as soon the
|
||||
* thread invokes a \p chEvtWaitXXX().<br>
|
||||
* In order to use the Event APIs the \p CH_USE_EVENTS option must be
|
||||
* specified in \p chconf.h.
|
||||
* thread invokes a @p chEvtWaitXXX().<br>
|
||||
* In order to use the Event APIs the @p CH_USE_EVENTS option must be
|
||||
* specified in @p chconf.h.
|
||||
* @file events.h Events macros and structures.
|
||||
* @file chevents.c Events functions.
|
||||
*/
|
||||
|
|
@ -669,12 +728,12 @@
|
|||
* efficient.<br>
|
||||
* Messages are usually processed in FIFO order but it is possible to process
|
||||
* them in priority order by specifying CH_USE_MESSAGES_PRIORITY
|
||||
* in \p chconf.h.<br>
|
||||
* in @p chconf.h.<br>
|
||||
* Threads do not need to allocate space for message queues, the mechanism
|
||||
* just requires two extra pointers in the \p Thread structure (the message
|
||||
* just requires two extra pointers in the @p Thread structure (the message
|
||||
* queue header).<br>
|
||||
* In order to use the Messages APIs the \p CH_USE_MESSAGES option must be
|
||||
* specified in \p chconf.h.
|
||||
* In order to use the Messages APIs the @p CH_USE_MESSAGES option must be
|
||||
* specified in @p chconf.h.
|
||||
* @file messages.h Messages macros and structures.
|
||||
* @file chmsg.c Messages functions.
|
||||
*/
|
||||
|
|
@ -702,10 +761,10 @@
|
|||
* operations can happen at the same time. Full duplex queues
|
||||
* are implemented by pairing an input queue and an output queue together.
|
||||
* </ul>
|
||||
* In order to use the I/O queues the \p CH_USE_QUEUES option must
|
||||
* be specified in \p chconf.h.<br>
|
||||
* In order to use the half duplex queues the \p CH_USE_QUEUES_HALFDUPLEX
|
||||
* option must be specified in \p chconf.h.
|
||||
* In order to use the I/O queues the @p CH_USE_QUEUES option must
|
||||
* be specified in @p chconf.h.<br>
|
||||
* In order to use the half duplex queues the @p CH_USE_QUEUES_HALFDUPLEX
|
||||
* option must be specified in @p chconf.h.
|
||||
* @file queues.h I/O Queues macros and structures.
|
||||
* @file chqueues.c I/O Queues code.
|
||||
*/
|
||||
|
|
@ -721,9 +780,9 @@
|
|||
* The module also contains functions that make the implementation of the
|
||||
* interrupt service routines much easier.<br>
|
||||
* In order to use the serial full duplex driver the
|
||||
* \p CH_USE_SERIAL_FULLDUPLEX option must be specified in \p chconf.h.<br>
|
||||
* @p CH_USE_SERIAL_FULLDUPLEX option must be specified in @p chconf.h.<br>
|
||||
* In order to use the serial half duplex driver the
|
||||
* \p CH_USE_SERIAL_HALFDUPLEX option must be specified in \p chconf.h.
|
||||
* @p CH_USE_SERIAL_HALFDUPLEX option must be specified in @p chconf.h.
|
||||
* @file serial.h Serial Drivers macros and structures.
|
||||
* @file chserial.c Serial Drivers code.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -80,11 +80,13 @@ Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process,
|
|||
Port functions 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 for every architecture.
|
||||
handled in a very similar way in every architecture.
|
||||
- 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.
|
||||
- Introduced the concept of interrupt classes, see the documentation.
|
||||
- Introduced the concept of system state, see the documentation.
|
||||
|
||||
*** 1.0.0rc2 ***
|
||||
- FIX: Removed unused variable "retaddr" from the Cortex-M3 port.
|
||||
|
|
|
|||
32
src/chsys.c
32
src/chsys.c
|
|
@ -52,6 +52,7 @@ static void idle_thread(void *p) {
|
|||
void chSysInit(void) {
|
||||
static Thread mainthread;
|
||||
|
||||
sys_init();
|
||||
chSchInit();
|
||||
chDbgInit();
|
||||
chVTInit();
|
||||
|
|
@ -94,37 +95,20 @@ void chSysTimerHandlerI(void) {
|
|||
chVTDoTickI();
|
||||
}
|
||||
|
||||
#if !defined(CH_OPTIMIZE_SPEED)
|
||||
/**
|
||||
* Enters the ChibiOS/RT system mutual exclusion zone.
|
||||
* @note The use of system mutual exclusion zone is not recommended in
|
||||
* the user code, it is a better idea to use the semaphores or mutexes
|
||||
* instead.
|
||||
* @note The code of this API is may be inlined or not depending on the
|
||||
* @p CH_OPTIMIZE_SPEED setting.
|
||||
* @see CH_USE_NESTED_LOCKS, chSysLockInline()
|
||||
*/
|
||||
#if defined(CH_USE_NESTED_LOCKS) && !defined(CH_OPTIMIZE_SPEED)
|
||||
void chSysLock(void) {
|
||||
|
||||
chSysLockInline();
|
||||
chDbgAssert(currp->p_locks >= 0, "chinit.c, chSysLock()");
|
||||
if (currp->p_locks++ == 0)
|
||||
sys_lock();
|
||||
}
|
||||
|
||||
/**
|
||||
* Leaves the ChibiOS/RT system mutual exclusion zone.
|
||||
* @note The use of system mutual exclusion zone is not recommended in
|
||||
* the user code, it is a better idea to use the semaphores or mutexes
|
||||
* instead.
|
||||
* @note The code of this API is may be inlined or not depending on the
|
||||
* @p CH_OPTIMIZE_SPEED setting.
|
||||
* @see CH_USE_NESTED_LOCKS, chSysUnlockInline()
|
||||
*/
|
||||
void chSysUnlock(void) {
|
||||
|
||||
#ifdef CH_USE_NESTED_LOCKS
|
||||
chDbgAssert(currp->p_locks > 0, "chinit.c, chSysUnlock()");
|
||||
#endif
|
||||
chSysUnlockInline();
|
||||
if (--currp->p_locks == 0)
|
||||
sys_unlock();
|
||||
}
|
||||
#endif /* !CH_OPTIMIZE_SPEED */
|
||||
#endif /* defined(CH_USE_NESTED_LOCKS) && !defined(CH_OPTIMIZE_SPEED) */
|
||||
|
||||
/** @} */
|
||||
|
|
|
|||
|
|
@ -50,36 +50,74 @@
|
|||
#define chSysSwitchI(otp, ntp) sys_switch(otp, ntp)
|
||||
|
||||
/**
|
||||
* Lowers the system interrupt priority mask to user level.
|
||||
* @note The implementation is architecture dependent, it may just enable the
|
||||
* interrupts.
|
||||
* @note This API is normally invoked only from within @p chSysInit().
|
||||
* @note The use of this API is <b>not</b> an alternative to @p chSysUnlock().
|
||||
*/
|
||||
#define chSysEnable() sys_enable()
|
||||
|
||||
/**
|
||||
* Raises the system interrupt priority mask to system level.
|
||||
* @note The implementation is architecture dependent, it may just disable the
|
||||
* interrupts.
|
||||
* @note This API should only be invoked from the main thread in order to stop
|
||||
* ChibiOS/RT, hardware de/re-initialization should follow. It would then
|
||||
* be possible to re-initialize ChibiOS/RT using @p chSysInit().
|
||||
* @note The use of this API is <b>not</b> an alternative to @p chSysLock().
|
||||
*/
|
||||
#define chSysDisable() sys_disable()
|
||||
|
||||
/**
|
||||
* Raises the system interrupt priority mask to the maximum level thus disabling
|
||||
* any mask-able interrupt source..
|
||||
* Raises the system interrupt priority mask to the maximum level.
|
||||
* All the maskable interrupt sources are disabled regardless their hardware
|
||||
* priority.
|
||||
* @note The implementation is architecture dependent, it may just disable the
|
||||
* interrupts or be exactly equivalent to @p chSysDisable().
|
||||
* @note Do not invoke this API from within a kernel lock.
|
||||
*/
|
||||
#define chSysDisableAll() sys_disable_all()
|
||||
|
||||
/**
|
||||
* Enters the ChibiOS/RT system mutual exclusion zone from within an interrupt
|
||||
* handler.
|
||||
* Raises the system interrupt priority mask to system level.
|
||||
* The interrupt sources that should not be able to preempt the kernel are
|
||||
* disabled, interrupt sources with higher priority are still enabled.
|
||||
* @note The implementation is architecture dependent, it may just disable the
|
||||
* interrupts.
|
||||
* @note Do not invoke this API from within a kernel lock.
|
||||
* @note This API is no replacement for @p chSysLock(), the @p chSysLock()
|
||||
* could do more than just disable the interrupts.
|
||||
*/
|
||||
#define chSysDisable() sys_disable()
|
||||
|
||||
/**
|
||||
* Lowers the system interrupt priority mask to user level.
|
||||
* All the interrupt sources are enabled.
|
||||
* @note The implementation is architecture dependent, it may just enable the
|
||||
* interrupts.
|
||||
* @note Do not invoke this API from within a kernel lock.
|
||||
* @note This API is no replacement for @p chSysUnlock(), the @p chSysUnlock()
|
||||
* could do more than just enable the interrupts.
|
||||
*/
|
||||
#define chSysEnable() sys_enable()
|
||||
|
||||
/**
|
||||
* Enters the kernel lock mode.
|
||||
* @note The use of kernel lock mode is not recommended in the user code, it is
|
||||
* a better idea to use the semaphores or mutexes instead.
|
||||
* @see CH_USE_NESTED_LOCKS
|
||||
*/
|
||||
#if defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
|
||||
#if defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
|
||||
#define chSysLock() { \
|
||||
if (currp->p_locks++ == 0) \
|
||||
sys_lock(); \
|
||||
}
|
||||
#endif /* defined(CH_OPTIMIZE_SPEED) */
|
||||
#else /* !defined(CH_USE_NESTED_LOCKS) */
|
||||
#define chSysLock() sys_lock()
|
||||
#endif /* !defined(CH_USE_NESTED_LOCKS) */
|
||||
|
||||
/**
|
||||
* Leaves the kernel lock mode.
|
||||
* @note The use of kernel lock mode is not recommended in the user code, it is
|
||||
* a better idea to use the semaphores or mutexes instead.
|
||||
* @see CH_USE_NESTED_LOCKS
|
||||
*/
|
||||
#if defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
|
||||
#if defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
|
||||
#define chSysUnlock() { \
|
||||
if (--currp->p_locks == 0) \
|
||||
sys_unlock(); \
|
||||
}
|
||||
#endif /* defined(CH_OPTIMIZE_SPEED) */
|
||||
#else /* !defined(CH_USE_NESTED_LOCKS) */
|
||||
#define chSysUnlock() sys_unlock()
|
||||
#endif /* !defined(CH_USE_NESTED_LOCKS) */
|
||||
|
||||
/**
|
||||
* Enters the kernel lock mode from within an interrupt handler.
|
||||
* @note This API may do nothing on some architectures, it is required because
|
||||
* on ports that support preemptable interrupt handlers it is required to
|
||||
* raise the interrupt mask to the same level of the system mutual
|
||||
|
|
@ -88,11 +126,10 @@
|
|||
* syscall from an interrupt handler.
|
||||
* @note This API must be invoked exclusively from interrupt handlers.
|
||||
*/
|
||||
#define chSysLockI() sys_disable_from_isr()
|
||||
#define chSysLockI() sys_lock_from_isr()
|
||||
|
||||
/**
|
||||
* Leaves the ChibiOS/RT system mutual exclusion zone from within an interrupt
|
||||
* handler.
|
||||
* Leaves the kernel lock mode from within an interrupt handler.
|
||||
* @note This API may do nothing on some architectures, it is required because
|
||||
* on ports that support preemptable interrupt handlers it is required to
|
||||
* raise the interrupt mask to the same level of the system mutual
|
||||
|
|
@ -101,47 +138,7 @@
|
|||
* syscall from an interrupt handler.
|
||||
* @note This API must be invoked exclusively from interrupt handlers.
|
||||
*/
|
||||
#define chSysUnlockI() sys_enable_from_isr()
|
||||
|
||||
#if defined(CH_USE_NESTED_LOCKS) || defined(_DOXYGEN_)
|
||||
/**
|
||||
* Enters the ChibiOS/RT system mutual exclusion zone.
|
||||
* @note The use of system mutual exclusion zone is not recommended in
|
||||
* the user code, it is a better idea to use the semaphores or mutexes
|
||||
* instead.
|
||||
* @note The code of this API is always inlined regardless the
|
||||
* @p CH_OPTIMIZE_SPEED setting. This function is meant to be used in
|
||||
* places where the performance is always preferred.
|
||||
* @see CH_USE_NESTED_LOCKS
|
||||
*/
|
||||
#define chSysLockInline() { \
|
||||
if (currp->p_locks == 0) { \
|
||||
currp->p_locks++; \
|
||||
sys_disable(); \
|
||||
} \
|
||||
}
|
||||
|
||||
/**
|
||||
* Leaves the ChibiOS/RT system mutual exclusion zone.
|
||||
* @note The use of system mutual exclusion zone is not recommended in
|
||||
* the user code, it is a better idea to use the semaphores or mutexes
|
||||
* instead.
|
||||
* @note The code of this API is always inlined regardless the
|
||||
* @p CH_OPTIMIZE_SPEED setting. This function is meant to be used in
|
||||
* places where the performance is always preferred.
|
||||
* @see CH_USE_NESTED_LOCKS
|
||||
*/
|
||||
#define chSysUnlockInline() { \
|
||||
if (--currp->p_locks == 0) \
|
||||
sys_enable(); \
|
||||
}
|
||||
|
||||
#else /* defined(CH_USE_NESTED_LOCKS) || defined(_DOXYGEN_) */
|
||||
|
||||
#define chSysLockInline() sys_disable()
|
||||
#define chSysUnlockInline() sys_enable()
|
||||
|
||||
#endif /* !defined(CH_USE_NESTED_LOCKS) && !defined(_DOXYGEN_) */
|
||||
#define chSysUnlockI() sys_unlock_from_isr()
|
||||
|
||||
/**
|
||||
* IRQ handler enter code.
|
||||
|
|
@ -163,14 +160,6 @@
|
|||
*/
|
||||
#define CH_IRQ_HANDLER SYS_IRQ_HANDLER
|
||||
|
||||
/*
|
||||
* Inlined code when CH_OPTIMIZE_SPEED is defined.
|
||||
*/
|
||||
#if defined(CH_OPTIMIZE_SPEED)
|
||||
#define chSysLock() chSysLockInline()
|
||||
#define chSysUnlock() chSysUnlockInline()
|
||||
#endif /* defined(CH_OPTIMIZE_SPEED) */
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -32,38 +32,32 @@
|
|||
*/
|
||||
|
||||
/**
|
||||
* Prints a message on the system console.
|
||||
* @param msg pointer to the message
|
||||
* Port-related initialization code.
|
||||
* @note This function is usually empty.
|
||||
*/
|
||||
void sys_puts(char *msg) {
|
||||
void sys_init(void){
|
||||
}
|
||||
|
||||
/**
|
||||
* Performs a context switch between two threads.
|
||||
* @param otp the thread to be switched out
|
||||
* @param ntp the thread to be switched in
|
||||
* Kernel-unlock action. Usually this function just disables interrupts but
|
||||
* may perform more actions.
|
||||
*/
|
||||
void sys_switch(Thread *otp, Thread *ntp) {
|
||||
void sys_lock(void) {
|
||||
}
|
||||
|
||||
/**
|
||||
* Kernel-unlock action. Usually this function just enables interrupts.
|
||||
* Kernel-unlock action. Usually this function just disables interrupts but
|
||||
* may perform more actions.
|
||||
*/
|
||||
void sys_enable(void) {
|
||||
}
|
||||
|
||||
/**
|
||||
* Kernel-lock action. Usually this function just disables interrupts.
|
||||
*/
|
||||
void sys_disable(void) {
|
||||
void sys_unlock(void) {
|
||||
}
|
||||
|
||||
/**
|
||||
* Kernel-lock action from an interrupt handler. This function is invoked
|
||||
* before invoking I-class APIs from interrupt handlers. The implementation
|
||||
* is architecture dependent, in its simplest form it is void.
|
||||
* is architecture dependent, in its simplest form it is void.
|
||||
*/
|
||||
void sys_disable_from_isr(void) {
|
||||
void sys_lock_from_isr(void) {
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -71,7 +65,26 @@ void sys_disable_from_isr(void) {
|
|||
* after invoking I-class APIs from interrupt handlers. The implementation
|
||||
* is architecture dependent, in its simplest form it is void.
|
||||
*/
|
||||
void sys_enable_from_isr(void) {
|
||||
void sys_unlock_from_isr(void) {
|
||||
}
|
||||
|
||||
/**
|
||||
* Disables all the interrupt sources.
|
||||
* @note Of course non maskable interrupt sources are not included.
|
||||
*/
|
||||
void sys_disable_all() {
|
||||
}
|
||||
|
||||
/**
|
||||
* Disables the interrupt sources that are not supposed to preempt the kernel.
|
||||
*/
|
||||
void sys_disable(void) {
|
||||
}
|
||||
|
||||
/**
|
||||
* Enables all the interrupt sources.
|
||||
*/
|
||||
void sys_enable(void) {
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -90,9 +103,24 @@ void sys_wait_for_interrupt(void) {
|
|||
*/
|
||||
void sys_halt(void) {
|
||||
|
||||
sys_disable();
|
||||
sys_disable_all();
|
||||
while (TRUE) {
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Performs a context switch between two threads.
|
||||
* @param otp the thread to be switched out
|
||||
* @param ntp the thread to be switched in
|
||||
*/
|
||||
void sys_switch(Thread *otp, Thread *ntp) {
|
||||
}
|
||||
|
||||
/**
|
||||
* Prints a message on the system console.
|
||||
* @param msg pointer to the message
|
||||
*/
|
||||
void sys_puts(char *msg) {
|
||||
}
|
||||
|
||||
/** @} */
|
||||
|
|
|
|||
|
|
@ -129,14 +129,18 @@ typedef struct {
|
|||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
void sys_puts(char *msg);
|
||||
void sys_switch(Thread *otp, Thread *ntp);
|
||||
void sys_enable(void);
|
||||
void sys_init(void);
|
||||
void sys_disable_all(void);
|
||||
void sys_disable(void);
|
||||
void sys_enable(void);
|
||||
void sys_lock(void);
|
||||
void sys_unlock(void);
|
||||
void sys_disable_from_isr(void);
|
||||
void sys_enable_from_isr(void);
|
||||
void sys_wait_for_interrupt(void);
|
||||
void sys_halt(void);
|
||||
void sys_switch(Thread *otp, Thread *ntp);
|
||||
void sys_puts(char *msg);
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Reference in New Issue