git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@621 35acf78f-673a-0410-8e92-d51de3d6d3f4

demos/Win32-MinGW/chcore.h

@@ -143,6 +143,16 @@ typedef struct {
  */
 #define SYS_IRQ_HANDLER
 
+/**
+ * Simulator initialization.
+ */
+#define sys_init() InitCore()
+
+/**
+ * Does nothing in this simulator.
+ */
+#define sys_disable_all()
+
 /**
  * Does nothing in this simulator.
  */
@@ -156,17 +166,22 @@ typedef struct {
 /**
  * Does nothing in this simulator.
  */
-#define sys_disable_from_isr()
+#define sys_lock()
 
 /**
  * Does nothing in this simulator.
  */
-#define sys_enable_from_isr()
+#define sys_unlock()
 
 /**
  * Does nothing in this simulator.
  */
-#define sys_disable_all()
+#define sys_lock_from_isr()
+
+/**
+ * Does nothing in this simulator.
+ */
+#define sys_unlock_from_isr()
 
 /**
  * In the simulator this does a polling pass on the simulated interrupt

demos/Win32-MinGW/main.c

@@ -279,8 +279,6 @@ static evhandler_t fhandlers[2] = {
 int main(void) {
   EventListener c1fel, c2fel;
 
-  InitCore();
-
   // Startup ChibiOS/RT.
   chSysInit();
 

docs/Doxyfile

@@ -206,7 +206,7 @@ EXPAND_ONLY_PREDEF = NO
 SEARCH_INCLUDES = YES
 INCLUDE_PATH = 
 INCLUDE_FILE_PATTERNS = 
-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
+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 
 EXPAND_AS_DEFINED = 
 SKIP_FUNCTION_MACROS = YES
 #---------------------------------------------------------------------------

docs/ch.txt

@@ -62,17 +62,76 @@
  * @{
  * @section naming Naming Conventions
  * ChibiOS/RT APIs are all named following this convention:
- * \a ch\<group\>\<action\>\<suffix\>().
+ * @a ch\<group\>\<action\>\<suffix\>().
- * The possible groups are: \a Sys, \a Sch, \a VT, \a Thd, \a Sem, \a Mtx,
+ * The possible groups are: @a Sys, @a Sch, @a VT, @a Thd, @a Sem, @a Mtx,
- * \a Evt, \a Msg, \a IQ, \a OQ, \a HQ,\a FDD, \a HDD, \a Dbg, \a Heap, \a Pool.
+ * @a Cond, @a Evt, @a Msg, @a IQ, @a OQ, @a HQ, @a FDD, @a HDD, @a Dbg,
+ * @a Heap, @a Pool.
  * The suffix is not present for normal APIs but can be one of
- * the following: "I" for APIs meant to be invoked within the system mutex
+ * the following:
- * zone, "S" for APIs only usable from within the system mutex zone but not
+ * - <b>"I"</b>, I-Class APIs are invokeable only from the I-Locked or S-Locked
- * from interrupt handlers.<br>
+ *   states. See @ref system_states.
- * The APIs without suffix can be invoked only from the user code outsize the
+ * - <b>"S"</b>, S-Class APIs are invokeable only from the S-Locked state. See
- * system mutex zone and not from interrupt handlers unless differently
+ *   @ref system_states.
- * specified.<br>
+ *
- * Examples: \p chThdCreateStatic(), \p chSemSignalI(), \p chIQGetTimeout().
+ * The APIs without suffix can be invoked only from the user code in the Normal
+ * state unless differently specified.<br>
+ * Examples: @p chThdCreateStatic(), @p chSemSignalI(), @p chIQGetTimeout().
+ *
+ * @section interrupts Interrupt Classes
+ * In ChibiOS/RT there are three logical interrupt classes:
+ * - <b>Regular Interrupts</b>. Maskable interrupt sources that cannot
+ *   preempt the kernel code and are thus able to invoke operating system APIs
+ *   from within their handlers. The interrupt handlers belonging to this class
+ *   must be written following some rules. See the @ref System APIs group.
+ * - <b>Fast Interrupts</b>. Maskable interrupt sources with the ability
+ *   to preempt the kernel code and thus have a lower latency. Such sources are
+ *   not supported on all the architectures.<br>
+ *   Fast interrupts are not allowed to invoke any operating system API from
+ *   within their handlers. Fast interrupt sources may however pend a lower
+ *   priority regular interrupt where access to the operating system is
+ *   possible.
+ * - <b>Non Maskable Interrupts</b>. Non maskable interrupt sources are
+ *   totally out of the operating system control and have the lowest latency.
+ *   Such sources are not supported on all the architectures.
+ *
+ * The mapping of the above logical classes into physical interrupts priorities
+ * is, of course, port dependent. See the documentation of the various ports
+ * for details.
+ *
+ * @section system_states System States
+ * 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
+ *   physical reset.
+ * - <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
+ *   possible to use any system API except @p chSysDisable() or chSysEnable().
+ *   This state is entered using @p chSysDisableAll().
+ * - <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
+ * a thread private heap, usually allocated in an array declared in your
- * code, there is not a central threads table or list, this means you can
+ * code. Threads do not use any memory outside the allocated working area
- * have as many threads you want as long you have enough available RAM
+ * except when accessing static shared data.<br><br>
- * memory. The threads do not use any memory outside the allocated working
- * area.<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
+ * 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
+ * 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 order to use the heap APIs the @p CH_USE_HEAP option must be specified
- * in \p chconf.h.
+ * 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
+ * In order to use the Time APIs the @p CH_USE_MEMPOOLS option must be
- * specified in \p chconf.h.
+ * 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
+ * In order to use the Semaphores APIs the @p CH_USE_SEMAPHORES
- * option must be specified in \p chconf.h.<br><br>
+ * 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
+ * In order to use the Event APIs the @p CH_USE_MUTEXES option must be
- * specified in \p chconf.h.<br>
+ * 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
+ * In order to use the Conditional Variables APIs the @p CH_USE_CONDVARS
- * option must be specified in \p chconf.h.<br><br>
+ * 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>
+ * thread invokes a @p chEvtWaitXXX().<br>
- * In order to use the Event APIs the \p CH_USE_EVENTS option must be
+ * In order to use the Event APIs the @p CH_USE_EVENTS option must be
- * specified in \p chconf.h.
+ * 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
+ * In order to use the Messages APIs the @p CH_USE_MESSAGES option must be
- * specified in \p chconf.h.
+ * 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
+ * In order to use the I/O queues the @p CH_USE_QUEUES option must
- * be specified in \p chconf.h.<br>
+ * be specified in @p chconf.h.<br>
- * In order to use the half duplex queues the \p CH_USE_QUEUES_HALFDUPLEX
+ * In order to use the half duplex queues the @p CH_USE_QUEUES_HALFDUPLEX
- * option must be specified in \p chconf.h.
+ * 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.
  */

readme.txt

@@ -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.

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)
+#if defined(CH_USE_NESTED_LOCKS) && !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()
- */
 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
+  if (--currp->p_locks == 0)
-  chSysUnlockInline();
+    sys_unlock();
 }
-#endif /* !CH_OPTIMIZE_SPEED */
+#endif /* defined(CH_USE_NESTED_LOCKS) && !defined(CH_OPTIMIZE_SPEED) */
 
 /** @} */

src/include/sys.h

@@ -50,36 +50,74 @@
 #define chSysSwitchI(otp, ntp) sys_switch(otp, ntp)
 
 /**
- * Lowers the system interrupt priority mask to user level.
+ * Raises the system interrupt priority mask to the maximum level.
- * @note The implementation is architecture dependent, it may just enable the
+ * All the maskable interrupt sources are disabled regardless their hardware
- *       interrupts.
+ * priority.
- * @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..
  * @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
+ * Raises the system interrupt priority mask to system level.
- * handler.
+ * 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
+ * Leaves the kernel lock mode from within an interrupt handler.
- * 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()
+#define chSysUnlockI() sys_unlock_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_) */
 
 /**
  * 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

src/templates/chcore.c

@@ -32,30 +32,24 @@
  */
 
 /**
- * Prints a message on the system console.
+ * Port-related initialization code.
- * @param msg pointer to the message
+ * @note This function is usually empty.
  */
-void sys_puts(char *msg) {
+void sys_init(void){
 }
 
 /**
- * Performs a context switch between two threads.
+ * Kernel-unlock action. Usually this function just disables interrupts but
- * @param otp the thread to be switched out
+ * may perform more actions.
- * @param ntp the thread to be switched in
  */
-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) {
+void sys_unlock(void) {
-}
-
-/**
- * Kernel-lock action. Usually this function just disables interrupts.
- */
-void sys_disable(void) {
 }
 
 /**
@@ -63,7 +57,7 @@ void sys_disable(void) {
  * before invoking I-class APIs from interrupt handlers. The implementation
  * 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) {
+}
+
 /** @} */

src/templates/chcore.h

@@ -129,14 +129,18 @@ typedef struct {
 #ifdef __cplusplus
 extern "C" {
 #endif
-  void sys_puts(char *msg);
+  void sys_init(void);
-  void sys_switch(Thread *otp, Thread *ntp);
+  void sys_disable_all(void);
-  void sys_enable(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