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Diffstat (limited to 'os/kernel/include/chsys.h')
| -rw-r--r-- | os/kernel/include/chsys.h | 247 |
1 files changed, 247 insertions, 0 deletions
diff --git a/os/kernel/include/chsys.h b/os/kernel/include/chsys.h new file mode 100644 index 000000000..a1f59f38e --- /dev/null +++ b/os/kernel/include/chsys.h @@ -0,0 +1,247 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011,2012,2013 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file chsys.h
+ * @brief System related macros and structures.
+ *
+ * @addtogroup system
+ * @{
+ */
+
+#ifndef _CHSYS_H_
+#define _CHSYS_H_
+
+/**
+ * @name Macro Functions
+ * @{
+ */
+#if !CH_NO_IDLE_THREAD || defined(__DOXYGEN__)
+/**
+ * @brief Returns a pointer to the idle thread.
+ * @pre In order to use this function the option @p CH_NO_IDLE_THREAD
+ * must be disabled.
+ * @note The reference counter of the idle thread is not incremented but
+ * it is not strictly required being the idle thread a static
+ * object.
+ *
+ * @return Pointer to the idle thread.
+ *
+ * @api
+ */
+#define chSysGetIdleThread() (rlist.r_queue.p_prev)
+#endif
+
+/**
+ * @brief Halts the system.
+ * @details This function is invoked by the operating system when an
+ * unrecoverable error is detected, for example because a programming
+ * error in the application code that triggers an assertion while
+ * in debug mode.
+ * @note Can be invoked from any system state.
+ *
+ * @special
+ */
+#if !defined(SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
+#define chSysHalt() port_halt()
+#else
+#define chSysHalt() { \
+ SYSTEM_HALT_HOOK(); \
+ port_halt(); \
+}
+#endif
+
+/**
+ * @brief Performs a context switch.
+ * @note Not a user function, it is meant to be invoked by the scheduler
+ * itself or from within the port layer.
+ *
+ * @param[in] ntp the thread to be switched in
+ * @param[in] otp the thread to be switched out
+ *
+ * @special
+ */
+#define chSysSwitch(ntp, otp) { \
+ dbg_trace(otp); \
+ THREAD_CONTEXT_SWITCH_HOOK(ntp, otp); \
+ port_switch(ntp, otp); \
+}
+
+/**
+ * @brief Raises the system interrupt priority mask to the maximum level.
+ * @details All the maskable interrupt sources are disabled regardless their
+ * hardware priority.
+ * @note Do not invoke this API from within a kernel lock.
+ *
+ * @special
+ */
+#define chSysDisable() { \
+ port_disable(); \
+ dbg_check_disable(); \
+}
+
+/**
+ * @brief Raises the system interrupt priority mask to system level.
+ * @details The interrupt sources that should not be able to preempt the kernel
+ * are disabled, interrupt sources with higher priority are still
+ * enabled.
+ * @note Do not invoke this API from within a kernel lock.
+ * @note This API is no replacement for @p chSysLock(), the @p chSysLock()
+ * could do more than just disable the interrupts.
+ *
+ * @special
+ */
+#define chSysSuspend() { \
+ port_suspend(); \
+ dbg_check_suspend(); \
+}
+
+/**
+ * @brief Lowers the system interrupt priority mask to user level.
+ * @details All the interrupt sources are enabled.
+ * @note Do not invoke this API from within a kernel lock.
+ * @note This API is no replacement for @p chSysUnlock(), the
+ * @p chSysUnlock() could do more than just enable the interrupts.
+ *
+ * @special
+ */
+#define chSysEnable() { \
+ dbg_check_enable(); \
+ port_enable(); \
+}
+
+/**
+ * @brief Enters the kernel lock mode.
+ *
+ * @special
+ */
+#define chSysLock() { \
+ port_lock(); \
+ dbg_check_lock(); \
+}
+
+/**
+ * @brief Leaves the kernel lock mode.
+ *
+ * @special
+ */
+#define chSysUnlock() { \
+ dbg_check_unlock(); \
+ port_unlock(); \
+}
+
+/**
+ * @brief Enters the kernel lock mode 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.
+ *
+ * @special
+ */
+#define chSysLockFromIsr() { \
+ port_lock_from_isr(); \
+ dbg_check_lock_from_isr(); \
+}
+
+/**
+ * @brief Leaves the kernel lock mode 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.
+ *
+ * @special
+ */
+#define chSysUnlockFromIsr() { \
+ dbg_check_unlock_from_isr(); \
+ port_unlock_from_isr(); \
+}
+/** @} */
+
+/**
+ * @name ISRs abstraction macros
+ */
+/**
+ * @brief IRQ handler enter code.
+ * @note Usually IRQ handlers functions are also declared naked.
+ * @note On some architectures this macro can be empty.
+ *
+ * @special
+ */
+#define CH_IRQ_PROLOGUE() \
+ PORT_IRQ_PROLOGUE(); \
+ dbg_check_enter_isr();
+
+/**
+ * @brief IRQ handler exit code.
+ * @note Usually IRQ handlers function are also declared naked.
+ * @note This macro usually performs the final reschedule by using
+ * @p chSchIsPreemptionRequired() and @p chSchDoReschedule().
+ *
+ * @special
+ */
+#define CH_IRQ_EPILOGUE() \
+ dbg_check_leave_isr(); \
+ PORT_IRQ_EPILOGUE();
+
+/**
+ * @brief Standard normal IRQ handler declaration.
+ * @note @p id can be a function name or a vector number depending on the
+ * port implementation.
+ *
+ * @special
+ */
+#define CH_IRQ_HANDLER(id) PORT_IRQ_HANDLER(id)
+/** @} */
+
+/**
+ * @name Fast ISRs abstraction macros
+ */
+/**
+ * @brief Standard fast IRQ handler declaration.
+ * @note @p id can be a function name or a vector number depending on the
+ * port implementation.
+ * @note Not all architectures support fast interrupts.
+ *
+ * @special
+ */
+#define CH_FAST_IRQ_HANDLER(id) PORT_FAST_IRQ_HANDLER(id)
+/** @} */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void chSysInit(void);
+ void chSysTimerHandlerI(void);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _CHSYS_H_ */
+
+/** @} */
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