139 lines
4.2 KiB
C
139 lines
4.2 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 System
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* @{
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*/
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#include <ch.h>
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static WORKING_AREA(idle_thread_wa, IDLE_THREAD_STACK_SIZE);
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/**
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* This function implements the idle thread infinite loop. The function should
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* put the processor in the lowest power mode capable to serve interrupts.
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* The priority is internally set to the minimum system value so that this
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* thread is executed only if there are no other ready threads in the system.
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* @param p the thread parameter, unused in this scenario
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* @note Implementation should declare this function as a weak symbol in order
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* to allow applications to re-implement it.
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*/
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static void idle_thread(void *p) {
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while (TRUE) {
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sys_wait_for_interrupt();
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}
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}
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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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chSchInit();
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chDbgInit();
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chVTInit();
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#ifdef CH_USE_HEAP
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chHeapInit();
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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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(currp = init_thread(&mainthread, NORMALPRIO))->p_state = PRCURR;
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chSysEnable();
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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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chThdCreateStatic(idle_wa, sizeof(idle_thread_wa), IDLEPRIO,
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(tfunc_t)idle_thread, NULL);
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}
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/**
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* Handles time ticks for round robin preemption and timer increments.
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* Decrements the remaining time quantum of the running thread and preempts
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* it when the quantum is used up. Increments system time and manages the
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* timers.
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* @note 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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#ifdef CH_USE_ROUNDROBIN
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/* running thread has not used up quantum yet? */
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if (rlist.r_preempt > 0)
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/* decrement remaining quantum */
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rlist.r_preempt--;
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#endif
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chVTDoTickI();
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}
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/**
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* Abonormal system termination handler. Invoked by the ChibiOS/RT when an
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* abnormal unrecoverable condition is met.
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*/
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void chSysHalt(void) {
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chSysDisable();
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sys_halt();
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}
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#if !defined(CH_OPTIMIZE_SPEED)
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/**
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* Enters the ChibiOS/RT system mutual exclusion zone.
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* @note The use of system mutual exclusion zone is not recommended in
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* the user code, it is a better idea to use the semaphores or mutexes
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* instead.
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* @note The code of this API is may be inlined or not depending on the
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* @p CH_OPTIMIZE_SPEED setting.
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* @see CH_USE_NESTED_LOCKS, chSysLockInline()
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*/
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void chSysLock(void) {
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chSysLockInline();
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}
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/**
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* Leaves the ChibiOS/RT system mutual exclusion zone.
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* @note The use of system mutual exclusion zone is not recommended in
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* the user code, it is a better idea to use the semaphores or mutexes
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* instead.
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* @note The code of this API is may be inlined or not depending on the
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* @p CH_OPTIMIZE_SPEED setting.
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* @see CH_USE_NESTED_LOCKS, chSysUnlockInline()
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*/
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void chSysUnlock(void) {
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chDbgAssert(currp->p_locks > 0, "chinit.c, chSysUnlock()");
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chSysUnlockInline();
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}
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#endif /* !CH_OPTIMIZE_SPEED */
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/** @} */
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