81 lines
2.4 KiB
C
81 lines
2.4 KiB
C
/*
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ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @addtogroup Initialization
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* @{
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*/
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#include <ch.h>
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/**
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* ChibiOS/RT initialization. After executing this function the current
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* instructions stream becomes the main thread.
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* @note Interrupts should be still disabled when \p chSysInit() is invoked
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* and are internally enabled.
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* @note The main thread is created with priority \p NORMALPRIO.
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*/
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void chSysInit(void) {
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static Thread mainthread;
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static WorkingArea(waIdleThread, IDLE_THREAD_STACK_SIZE);
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chSchInit();
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chDbgInit();
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#ifdef CH_USE_VIRTUAL_TIMERS
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chVTInit();
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#endif
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/*
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* Now this instructions flow becomes the main thread.
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*/
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_InitThread(NORMALPRIO, 0, &mainthread);
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mainthread.p_state = PRCURR;
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currp = &mainthread;
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chSysUnlock();
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/*
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* The idle thread is created using the port-provided implementation.
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* This thread has the lowest priority in the system, its role is just to
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* serve interrupts in its context while keeping the lowest energy saving
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* mode compatible with the system status.
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*/
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chThdCreate(IDLEPRIO, 0, waIdleThread, sizeof(waIdleThread), (tfunc_t)_IdleThread, NULL);
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}
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/**
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* Preemption routine, this function must be called into an interrupt
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* handler invoked by a system timer.
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* The frequency of the timer determines the system tick granularity and,
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* together with the \p CH_TIME_QUANTUM macro, the round robin interval.
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*/
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void chSysTimerHandlerI(void) {
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if (rlist.r_preempt > 0)
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rlist.r_preempt--;
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#ifdef CH_USE_SYSTEMTIME
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rlist.r_stime++;
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#endif
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#ifdef CH_USE_VIRTUAL_TIMERS
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chVTDoTickI();
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#endif
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}
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/** @} */
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