mirror of https://github.com/rusefi/ChibiOS.git
New OS instances module, architectural cleanup.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@14232 27425a3e-05d8-49a3-a47f-9c15f0e5edd8
This commit is contained in:
Giovanni Di Sirio
parent
2ca81e8169
commit
d9b773679c
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@ -56,7 +56,7 @@ void c1_main(void) {
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* system initialization on the other side.
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*/
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chSysWaitSystemState(ch_sys_running);
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chSchObjectInit(&ch1, &ch_core1_cfg);
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chInstanceObjectInit(&ch1, &ch_core1_cfg);
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/* It is alive now.*/
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chSysUnlock();
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@ -52,6 +52,7 @@
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*
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* package OS {
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* class "Port Layer" <<(S,#FF7700) Singleton>> {
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* + {static} port_init()
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* + {static} port_lock()
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* + {static} port_unlock()
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* + {static} port_suspend()
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@ -151,28 +152,32 @@
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* ready_list_t "1" --* os_instance_t : instance\nready list
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*
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* package "Virtual Timers" {
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* class virtual_timer_header_t {
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* # next : virtual_timer_header_t *
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* # prev : virtual_timer_header_t *
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* # delta: sysinterval_t
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* class delta_list_t {
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* - next : delta_list_t *
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* - prev : delta_list_t *
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* - delta : sysinterval_t
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* }
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* class virtual_timer_t {
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* # func : vtfunc_t
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* # par : void *
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* - dlist : delta_list_t
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* - func : vtfunc_t
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* - par : void *
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* + chVTObjectInit()
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* + chVTSet()
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* + chVTReset()
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* }
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* class virtual_timers_list_t {
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* # systime : systime_t
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* # lasttime : systime_t
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* - dlist : delta_list_t
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* - systime : systime_t
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* - lasttime : systime_t
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* - laststamp : uint64_t
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* # __vt_init()
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* }
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* }
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*
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* "Virtual Timers" <..> OS : use
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* virtual_timer_header_t <|-- virtual_timer_t
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* virtual_timer_header_t <|-- virtual_timers_list_t
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* virtual_timer_t *-- "1" delta_list_t
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* virtual_timers_list_t o-- "0..*" virtual_timer_t : active timers
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* virtual_timers_list_t *-- "1" delta_list_t
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*
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* @enduml
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*
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@ -110,6 +110,7 @@
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#include "chsys.h"
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#include "chvt.h"
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#include "chschd.h"
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#include "chinstances.h"
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#include "chthreads.h"
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/* Optional subsystems headers.*/
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@ -0,0 +1,73 @@
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/*
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ChibiOS - Copyright (C) 2006,2007,2008,2009,2010,2011,2012,2013,2014,
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2015,2016,2017,2018,2019,2020,2021 Giovanni Di Sirio.
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This file is part of ChibiOS.
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ChibiOS 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 version 3 of the License.
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ChibiOS 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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* @file rt/include/chinstances.h
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* @brief OS instances macros and structures.
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*
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* @addtogroup instances
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* @{
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*/
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#ifndef CHINSTANCES_H
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#define CHINSTANCES_H
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/*===========================================================================*/
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/* Module constants. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module pre-compile time settings. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module data structures and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module macros. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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/*
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* Scheduler APIs.
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*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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void chInstanceObjectInit(os_instance_t *oip,
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const os_instance_config_t *oicp);
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#ifdef __cplusplus
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}
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#endif
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/*===========================================================================*/
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/* Module inline functions. */
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/*===========================================================================*/
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#endif /* CHINSTANCES_H */
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/** @} */
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@ -18,6 +18,7 @@ KERNSRC := $(CHIBIOS)/os/rt/src/chsys.c \
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$(CHIBIOS)/os/rt/src/chtrace.c \
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$(CHIBIOS)/os/rt/src/chvt.c \
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$(CHIBIOS)/os/rt/src/chschd.c \
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$(CHIBIOS)/os/rt/src/chinstances.c \
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$(CHIBIOS)/os/rt/src/chthreads.c
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ifneq ($(findstring CH_CFG_USE_TM TRUE,$(CHCONF)),)
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KERNSRC += $(CHIBIOS)/os/rt/src/chtm.c
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@ -0,0 +1,179 @@
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/*
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ChibiOS - Copyright (C) 2006,2007,2008,2009,2010,2011,2012,2013,2014,
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2015,2016,2017,2018,2019,2020,2021 Giovanni Di Sirio.
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This file is part of ChibiOS.
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ChibiOS 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 version 3 of the License.
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ChibiOS 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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* @file rt/src/chinstance.c
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* @brief OS instances code.
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*
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* @addtogroup instances
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* @details OS instances management.
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* @{
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*/
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#include "ch.h"
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/*===========================================================================*/
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/* Module local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module local types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module local variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module local functions. */
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/*===========================================================================*/
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#if (CH_CFG_NO_IDLE_THREAD == FALSE) || defined(__DOXYGEN__)
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/**
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* @brief This function implements the idle thread infinite loop.
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* @details The function puts the processor in the lowest power mode capable
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* to serve interrupts.<br>
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* The priority is internally set to the minimum system value so
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* that this thread is executed only if there are no other ready
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* threads in the system.
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*
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* @param[in] p the thread parameter, unused in this scenario
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*/
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static void __idle_thread(void *p) {
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(void)p;
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while (true) {
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/*lint -save -e522 [2.2] Apparently no side effects because it contains
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an asm instruction.*/
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port_wait_for_interrupt();
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/*lint -restore*/
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CH_CFG_IDLE_LOOP_HOOK();
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}
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}
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#endif /* CH_CFG_NO_IDLE_THREAD == FALSE */
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/*===========================================================================*/
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/* Module exported functions. */
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/*===========================================================================*/
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/**
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* @brief Initializes a system instance.
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* @note The system instance is in I-Lock state after initialization.
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*
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* @param[out] oip pointer to the @p os_instance_t structure
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* @param[in] oicp pointer to the @p os_instance_config_t structure
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*
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* @special
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*/
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void chInstanceObjectInit(os_instance_t *oip,
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const os_instance_config_t *oicp) {
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core_id_t core_id;
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/* Registering into the global system structure.*/
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#if CH_CFG_SMP_MODE == TRUE
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core_id = port_get_core_id();
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#else
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core_id = 0U;
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#endif
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chDbgAssert(ch_system.instances[core_id] == NULL, "instance already registered");
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ch_system.instances[core_id] = oip;
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/* Core associated to this instance.*/
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oip->core_id = core_id;
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/* Keeping a reference to the configuration data.*/
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oip->config = oicp;
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/* Port initialization for the current instance.*/
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port_init(oip);
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/* Ready list initialization.*/
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ch_pqueue_init(&oip->rlist.pqueue);
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#if (CH_CFG_USE_REGISTRY == TRUE) && (CH_CFG_SMP_MODE == FALSE)
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/* Registry initialization when SMP mode is disabled.*/
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ch_queue_init(&oip->reglist);
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#endif
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/* Virtual timers list initialization.*/
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__vt_object_init(&oip->vtlist);
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/* Debug support initialization.*/
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__dbg_object_init(&oip->dbg);
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#if CH_DBG_TRACE_MASK != CH_DBG_TRACE_MASK_DISABLED
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/* Trace buffer initialization.*/
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__trace_init(oip);
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#endif
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/* Statistics initialization.*/
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#if CH_DBG_STATISTICS == TRUE
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__stats_object_init(&oip->kernel_stats);
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#endif
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#if CH_CFG_NO_IDLE_THREAD == FALSE
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/* Now this instructions flow becomes the main thread.*/
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#if CH_CFG_USE_REGISTRY == TRUE
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oip->rlist.current = __thd_object_init(oip, &oip->mainthread,
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(const char *)&ch_debug, NORMALPRIO);
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#else
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oip->rlist.current = __thd_object_init(oip, &oip->mainthread,
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"main", NORMALPRIO);
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#endif
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#else
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/* Now this instructions flow becomes the idle thread.*/
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oip->rlist.current = __thd_object_init(oip, &oip->mainthread,
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"idle", IDLEPRIO);
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#endif
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#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE)
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oip->rlist.current->wabase = oicp->mainthread_base;
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#endif
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/* Setting up the caller as current thread.*/
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oip->rlist.current->state = CH_STATE_CURRENT;
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/* User instance initialization hook.*/
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CH_CFG_OS_INSTANCE_INIT_HOOK(oip);
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#if CH_CFG_NO_IDLE_THREAD == FALSE
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{
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thread_descriptor_t idle_descriptor = {
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.name = "idle",
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.wbase = oicp->idlethread_base,
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.wend = oicp->idlethread_end,
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.prio = IDLEPRIO,
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.funcp = __idle_thread,
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.arg = NULL
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};
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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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(void) chThdCreateI(&idle_descriptor);
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}
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#endif
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}
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/** @} */
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@ -48,31 +48,6 @@
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/* Module local functions. */
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/*===========================================================================*/
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#if (CH_CFG_NO_IDLE_THREAD == FALSE) || defined(__DOXYGEN__)
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/**
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* @brief This function implements the idle thread infinite loop.
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* @details The function puts the processor in the lowest power mode capable
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* to serve interrupts.<br>
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* The priority is internally set to the minimum system value so
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* that this thread is executed only if there are no other ready
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* threads in the system.
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*
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* @param[in] p the thread parameter, unused in this scenario
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*/
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static void __idle_thread(void *p) {
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(void)p;
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while (true) {
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/*lint -save -e522 [2.2] Apparently no side effects because it contains
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an asm instruction.*/
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port_wait_for_interrupt();
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/*lint -restore*/
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CH_CFG_IDLE_LOOP_HOOK();
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}
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}
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#endif /* CH_CFG_NO_IDLE_THREAD == FALSE */
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/**
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* @brief Inserts a thread in the Ready List placing it behind its peers.
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* @details The thread is positioned behind all threads with higher or equal
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@ -284,105 +259,6 @@ void ch_sch_prio_insert(ch_queue_t *tp, ch_queue_t *qp) {
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}
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#endif /* CH_CFG_OPTIMIZE_SPEED */
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/**
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* @brief Initializes a system instance.
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* @note The system instance is in I-Lock state after initialization.
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*
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* @param[out] oip pointer to the @p os_instance_t structure
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* @param[in] oicp pointer to the @p os_instance_config_t structure
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*
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* @special
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*/
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void chSchObjectInit(os_instance_t *oip,
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const os_instance_config_t *oicp) {
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core_id_t core_id;
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/* Registering into the global system structure.*/
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#if CH_CFG_SMP_MODE == TRUE
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core_id = port_get_core_id();
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#else
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core_id = 0U;
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#endif
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chDbgAssert(ch_system.instances[core_id] == NULL, "instance already registered");
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ch_system.instances[core_id] = oip;
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/* Core associated to this instance.*/
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oip->core_id = core_id;
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/* Keeping a reference to the configuration data.*/
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oip->config = oicp;
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/* Port initialization for the current instance.*/
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port_init(oip);
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/* Ready list initialization.*/
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ch_pqueue_init(&oip->rlist.pqueue);
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#if (CH_CFG_USE_REGISTRY == TRUE) && (CH_CFG_SMP_MODE == FALSE)
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/* Registry initialization when SMP mode is disabled.*/
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ch_queue_init(&oip->reglist);
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#endif
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/* Virtual timers list initialization.*/
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__vt_object_init(&oip->vtlist);
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/* Debug support initialization.*/
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__dbg_object_init(&oip->dbg);
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#if CH_DBG_TRACE_MASK != CH_DBG_TRACE_MASK_DISABLED
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/* Trace buffer initialization.*/
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__trace_init(oip);
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#endif
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/* Statistics initialization.*/
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#if CH_DBG_STATISTICS == TRUE
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__stats_object_init(&oip->kernel_stats);
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#endif
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#if CH_CFG_NO_IDLE_THREAD == FALSE
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/* Now this instructions flow becomes the main thread.*/
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#if CH_CFG_USE_REGISTRY == TRUE
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oip->rlist.current = __thd_object_init(oip, &oip->mainthread,
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(const char *)&ch_debug, NORMALPRIO);
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#else
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oip->rlist.current = __thd_object_init(oip, &oip->mainthread,
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"main", NORMALPRIO);
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#endif
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#else
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/* Now this instructions flow becomes the idle thread.*/
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oip->rlist.current = __thd_object_init(oip, &oip->mainthread,
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"idle", IDLEPRIO);
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#endif
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#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE)
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oip->rlist.current->wabase = oicp->mainthread_base;
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#endif
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/* Setting up the caller as current thread.*/
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oip->rlist.current->state = CH_STATE_CURRENT;
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/* User instance initialization hook.*/
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CH_CFG_OS_INSTANCE_INIT_HOOK(oip);
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#if CH_CFG_NO_IDLE_THREAD == FALSE
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{
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thread_descriptor_t idle_descriptor = {
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.name = "idle",
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.wbase = oicp->idlethread_base,
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.wend = oicp->idlethread_end,
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.prio = IDLEPRIO,
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.funcp = __idle_thread,
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.arg = NULL
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};
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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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(void) chThdCreateI(&idle_descriptor);
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}
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#endif
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}
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/**
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* @brief Inserts a thread in the Ready List placing it behind its peers.
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* @details The thread is positioned behind all threads with higher or equal
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|
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|
|
@ -180,7 +180,7 @@ void chSysInit(void) {
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__oslib_init();
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/* Initializing default OS instance.*/
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chSchObjectInit(&ch0, &ch_core0_cfg);
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chInstanceObjectInit(&ch0, &ch_core0_cfg);
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/* It is alive now.*/
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ch_system.state = ch_sys_running;
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|
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