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  */

 

 /**

- * @page Concepts Concepts

- * @{

- * @brief ChibiOS/RT Concepts and Architecture

- * @section naming Naming Conventions

- * ChibiOS/RT APIs are all named following this convention:

- * @a ch\<group\>\<action\>\<suffix\>().

- * The possible groups are: @a Sys, @a Sch, @a VT, @a Thd, @a Sem, @a Mtx,

- * @a Cond, @a Evt, @a Msg, @a IQ, @a OQ, @a HQ, @a FDD, @a HDD, @a Dbg,

- * @a Heap, @a Pool.

- *

- * @section api_suffixes API Names Suffixes

- * The suffix can be one of the following:

- * - <b>None</b>, APIs without any suffix can be invoked only from the user

- *   code in the <b>Normal</b> state unless differently specified. See

- *   @ref system_states.

- * - <b>"I"</b>, I-Class APIs are invokable only from the <b>I-Locked</b> or

- *   <b>S-Locked</b> states. See @ref system_states.

- * - <b>"S"</b>, S-Class APIs are invokable only from the <b>S-Locked</b>

- *   state. See @ref system_states.

- * Examples: @p chThdCreateStatic(), @p chSemSignalI(), @p chIQGetTimeout().

- *

- * @section interrupt_classes 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 and

- *   @ref article_interrupts.

- * - <b>Fast Interrupts</b>. Maskable interrupt sources with the ability

- *   to preempt the kernel code and thus have a lower latency and are less

- *   subject to jitter, see @ref article_jitter. 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>Init</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>Normal</b>. All the interrupt sources are enabled and the system APIs

- *   are accessible, threads are running.

- * - <b>Suspended</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 chSysDisable() or @p chSysEnable() in

- *   order to change state.

- * - <b>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 chSysSuspend() or

- *   @p chSysEnable() in order to change state.

- * - <b>Sleep</b>. Architecture-dependent low power mode, the idle thread

- *   goes in this state and waits for interrupts, after servicing the interrupt

- *   the Normal state is restored and the scheduler has a chance to reschedule.

- * - <b>S-Locked</b>. Kernel locked and regular interrupt sources disabled.

- *   Fast interrupt sources are enabled. S-Class and I-Class APIs are

- *   invokable in this state.

- * - <b>I-Locked</b>. Kernel locked and regular interrupt sources disabled.

- *   I-Class APIs are invokable 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 chSysLockFromIsr() and

- *   then invoke any I-Class API. Interrupt handlers can be preemptable on some

- *   architectures thus is important to switch to I-Locked state before

- *   invoking system APIs.

- * - <b>Serving Fast Interrupt</b>. System APIs are not accessible.

- * - <b>Serving Non-Maskable Interrupt</b>. System APIs are not accessible.

- * - <b>Halted</b>. All interrupt sources are 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 may have no

- * real associated machine state on some architectures. The following diagram

- * shows the possible transitions between the states:

- *

- * @dot

-  digraph example {

-      rankdir="LR";

-      node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];

-      edge [fontname=Helvetica, fontsize=8];

-      init [label="Init", style="bold"];

-      norm [label="Normal", shape=doublecircle];

-      susp [label="Suspended"];

-      disab [label="Disabled"];

-      slock [label="S-Locked"];

-      ilock [label="I-Locked"];

-      slock [label="S-Locked"];

-      sleep [label="Sleep"];

-      sri [label="SRI"];

-      init -> norm [label="chSysInit()"];

-      norm -> slock [label="chSysLock()", constraint=false];

-      slock -> norm [label="chSysUnlock()"];

-      norm -> susp [label="chSysSuspend()"];

-      susp -> disab [label="chSysDisable()"];

-      norm -> disab [label="chSysDisable()"];

-      susp -> norm [label="chSysEnable()"];

-      disab -> norm [label="chSysEnable()"];

-      slock -> ilock [label="Context Switch", dir="both"];

-      norm -> sri [label="Regular IRQ", style="dotted"];

-      sri -> norm [label="Regular IRQ return", fontname=Helvetica, fontsize=8];

-      sri -> ilock [label="chSysLockFromIsr()", constraint=false];

-      ilock -> sri [label="chSysUnlockFromIsr()", fontsize=8];

-      norm -> sleep [label="Idle Thread"];

-      sleep -> sri [label="Regular IRQ", style="dotted"];

-  }

- * @enddot

- * Note, the <b>SFI</b>, <b>Halted</b> and <b>SNMI</b> states were not shown

- * because those are reachable from most states:

- *

- * @dot

-  digraph example {

-      rankdir="LR";

-      node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];

-      edge [fontname=Helvetica, fontsize=8];

-      any1 [label="Any State\nexcept *"];

-      any2 [label="Any State"];

-      sfi [label="SFI"];

-      halt [label="Halted"];

-      SNMI [label="SNMI"];

-      any1 -> sfi [style="dotted", label="Fast IRQ"];

-      sfi -> any1 [label="Fast IRQ return"];

-      any2 -> halt [label="chSysHalt()"];

-      any2 -> SNMI [label="Synchronous NMI"];

-      any2 -> SNMI [label="Asynchronous NMI", style="dotted"];

-      SNMI -> any2 [label="NMI return"];

-      halt -> SNMI [label="Asynchronous NMI", style="dotted"];

-      SNMI -> halt [label="NMI return"];

-  }

- * @enddot

- * @attention * except: <b>Init</b>, <b>Halt</b>, <b>SNMI</b>, <b>Disabled</b>.

- *

- * @section scheduling Scheduling

- * The strategy is very simple the currently ready thread with the highest

- * priority is executed. If more than one thread with equal priority are

- * eligible for execution then they are executed in a round-robin way, the

- * CPU time slice constant is configurable. The ready list is a double linked

- * list of threads ordered by priority.<br><br>

- * @image html readylist.png

- * 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 thread_states Threads States

- * The image shows how threads can change their state in ChibiOS/RT.<br>

- * @dot

-  digraph example {

-      /*rankdir="LR";*/

-      node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];

-      edge [fontname=Helvetica, fontsize=8];

-      start [label="Start", style="bold"];

-      run [label="Running"];

-      ready [label="Ready"];

-      suspend [label="Suspended"];

-      sleep [label="Sleeping"];

-      stop [label="Stop", style="bold"];

-      start -> suspend [label="chThdInit()", constraint=false];

-      start -> run [label="chThdCreate()"];

-      start -> ready [label="chThdCreate()"];

-      run -> ready [label="Reschedulation", dir="both"];

-      suspend -> run [label="chThdResume()"];

-      suspend -> ready [label="chThdResume()"];

-      run -> sleep [label="chSchGoSleepS()"];

-      sleep -> run [label="chSchWakepS()"];

-      sleep -> ready [label="chSchWakepS()"];

-      run -> stop [label="chThdExit()"];

-  }

- * @enddot

- *

- * @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 statically declared in your code.

- * Threads do not use any memory outside the allocated working area

- * except when accessing static shared data.<br><br>

- * @image html workspace.png

- * <br>

- * Note that the preemption area is only present when the thread is not

- * running (switched out), the context switching is done by pushing the

- * registers on the stack of the switched-out thread and popping the registers

- * of the switched-in thread from its stack.

- * The preemption area can be divided in up to three structures:

- * - External Context.

- * - Interrupt Stack.

- * - Internal Context.

- *

- * 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).

- */

-/** @} */

-

-/**

- * @page Articles Articles

- * @{

- * ChibiOS/RT Articles and Code Examples:

- * - @subpage article_atomic

- * - @subpage article_saveram

- * - @subpage article_interrupts

- * - @subpage article_jitter

- * - @subpage article_timing

- */

-/** @} */

-

-/**

  * @defgroup Ports Ports

  * @{

  * This section describes the technical details for the various supported