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ChibiOS
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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@582 35acf78f-673a-0410-8e92-d51de3d6d3f4

This commit is contained in:
gdisirio 2009-01-05 14:05:30 +00:00
parent a2ebdce0c7
commit bbabbf4ac2
6 changed files with 121 additions and 97 deletions
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9
docs/ch.txt
View File

@ -421,6 +421,7 @@
/**
* @defgroup Kernel Kernel
* @{
* @file ch.h ChibiOS/RT main header file, it includes everything else.
*/
/** @} */
@ -462,12 +463,12 @@
/** @} */
/**
* @defgroup Initialization Initialization
* @defgroup System System Management
* @{
* Initialization APIs and procedures.
* Initialization and system-related APIs and procedures.
* @ingroup Kernel
* @file ch.h ChibiOS/RT main include file, it includes everything else.
* @file chinit.c ChibiOS/RT Initialization code.
* @file sys.h ChibiOS/RT system-related header file.
* @file chsys.c ChibiOS/RT system-related code.
*/
/** @} */

2
ports/ARMCM3/chcore.c
View File

@ -79,8 +79,6 @@ void SysTickVector(void) {
chSysIRQExitI();
}
void *retaddr;
/*
* System invoked context switch.
*/

20
src/chsys.c
View File

@ -18,7 +18,7 @@
*/
/**
* @addtogroup Initialization
* @addtogroup System
* @{
*/
@ -82,7 +82,9 @@ void chSysTimerHandlerI(void) {
* @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.
* @see CH_USE_NESTED_LOCKS
* @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) {
@ -94,7 +96,9 @@ void chSysLock(void) {
* @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.
* @see CH_USE_NESTED_LOCKS
* @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) {
@ -103,4 +107,14 @@ void chSysUnlock(void) {
}
#endif /* !CH_OPTIMIZE_SPEED */
/**
* Abonormal system termination handler. Invoked by the ChibiOS/RT when an
* abnormal unrecoverable condition is met.
*/
void chSysHalt(void) {
chSysDisable();
sys_halt();
}
/** @} */

102
src/include/sys.h
View File

@ -18,14 +18,77 @@
*/
/**
* @addtogroup Core
* @addtogroup System
* @{
*/
#ifndef _SYS_H_
#define _SYS_H_
#if defined(CH_USE_REENTRANT_LOCKS) || defined(_DOXYGEN_)
/**
* Prints a message on the system console (if any).
* @param msg the message to be printed on the system console
*/
#define chSysPuts(msg) sys_puts(msg)
/**
* Performs a context switch.
* This is the most critical code in any port, this function is responsible
* for the context switch between 2 threads.
* @param otp the thread to be switched out
* @param ntp the thread to be switched in
* @note The implementation of this code affects <b>directly</b> the context
* switch performance so optimize here as much as you can.
*/
#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 enable 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()
/**
* Enters the ChibiOS/RT system mutual exclusion zone 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
* exclusion zone.<br>
* It is good practice to invoke this API before invoking any I-class
* syscall from an interrupt handler.
* @note This API must be invoked exclusively from interrupt handlers.
*/
#define chSysLockI() sys_disable_from_isr()
/**
* Leaves the ChibiOS/RT system mutual exclusion zone 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
* exclusion zone.<br>
* It is good practice to invoke this API after invoking any I-class
* syscall from an interrupt handler.
* @note This API must be invoked exclusively from interrupt handlers.
*/
#define chSysUnlockI() sys_disable_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
@ -57,11 +120,37 @@
if (--currp->p_locks == 0) \
sys_enable(); \
}
#else /* defined(CH_USE_REENTRANT_LOCKS) || defined(_DOXYGEN_) */
#else /* defined(CH_USE_NESTED_LOCKS) || defined(_DOXYGEN_) */
#define chSysLockInline() sys_disable()
#define chSysUnlockInline() sys_enable()
#endif /* !defined(CH_USE_REENTRANT_LOCKS) && !defined(_DOXYGEN_) */
#endif /* !defined(CH_USE_NESTED_LOCKS) && !defined(_DOXYGEN_) */
/**
* IRQ handler enter code.
* @note Usually IRQ handlers functions are also declared naked.
* @note On some architectures this macro can be empty.
*/
#define chSysIRQEnterI() sys_irq_prologue()
/**
* IRQ handler exit code.
* @note Usually IRQ handlers function are also declared naked.
* @note This macro usually performs the final reschedulation by using
* \p chSchRescRequiredI() and \p chSchDoRescheduleI().
*/
#define chSysIRQExitI() sys_irq_epilogue()
/**
* Standard modifier for IRQ handler functions.
*/
#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()
@ -72,6 +161,11 @@ extern "C" {
#endif
void chSysInit(void);
void chSysTimerHandlerI(void);
void chSysHalt(void);
#if !defined(CH_OPTIMIZE_SPEED)
void chSysLock(void);
void chSysUnlock(void);
#endif /* !defined(CH_OPTIMIZE_SPEED) */
#ifdef __cplusplus
}
#endif

64
src/templates/chcore.c
View File

@ -25,9 +25,7 @@
#include <ch.h>
/*
* This file is just a template, it contains the function prototypes and the
* doxigen documentation. The implementation of the following functions is
* architecture/compiler specific.
* This file is a template of the system driver functions provided by a port.
*/
/**
@ -45,64 +43,4 @@ void _idle(void *p) {
;
}
/**
* Abonormal system termination handler. Invoked by the ChibiOS/RT when an
* abnormal unrecoverable condition is met.
*/
void chSysHalt(void) {
chSysLock();
while (TRUE)
;
}
/**
* Enables the interrupts, it is only invoked once into \p chSysInit().
*/
void chSysEnable(void) {
}
/**
* Enters the ChibiOS/RT system mutual exclusion zone. The implementation is
* architecture dependent, on single core systems usually this function usually
* just disables the interrupts.
* @note The code in the system mutual exclusion zone must be as light and
* fast as possible, the system performance is affected by this.
* @note The use of system mutual exclusion zones are not recommended in
* the user code, it is a better idea to use the Semaphores instead.
*/
void chSysLock(void) {
}
/**
* Leaves the ChibiOS/RT system mutual exclusion zone. The implementation is
* architecture dependent, on single core systems usually this function usually
* just enables the interrupts.
* @note The code in the system mutual exclusion zone must be as light and
* fast as possible, the system performance is affected by this.
* @note The use of system mutual exclusion zones are not recommended in
* the user code, it is a better idea to use the Semaphores instead.
*/
void chSysUnlock(void) {
}
/**
* Performs a context switch.
* This is the most critical code in any port, this function is responsible
* for the context switch between 2 threads.
* @param otp the thread to be switched out
* @param ntp the thread to be switched in
* @note The implementation of this code affects <b>directly</b> the context
* switch performance so optimize here as much as you can.
*/
void chSysSwitchI(Thread *otp, Thread *ntp) {}
/**
* Prints a message on the system console (if any).
* @param msg the message to be printed on the system console
*/
void chSysPuts(char *msg) {
}
/** @} */

21
src/templates/chcore.h
View File

@ -106,31 +106,10 @@ typedef struct {
*/
#define WORKING_AREA(s, n) stkalign_t s[THD_WA_SIZE(n) / sizeof(stkalign_t)];
/**
* IRQ handler enter code.
* @note Usually IRQ handlers functions are also declared naked.
* @note On some architectures this macro can be empty.
*/
#define chSysIRQEnterI()
/**
* IRQ handler exit code.
* @note Usually IRQ handlers function are also declared naked.
* @note This macro usually performs the final reschedulation by using
* \p chSchRescRequiredI() and \p chSchDoRescheduleI().
*/
#define chSysIRQExitI()
#ifdef __cplusplus
extern "C" {
#endif
void _idle(void *p);
void chSysHalt(void);
void chSysEnable(void);
void chSysLock(void);
void chSysUnlock(void);
void chSysSwitchI(Thread *otp, Thread *ntp);
void chSysPuts(char *msg);
#ifdef __cplusplus
}
#endif