diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/chsys.c | 20 | ||||
| -rw-r--r-- | src/include/sys.h | 102 | ||||
| -rw-r--r-- | src/templates/chcore.c | 64 | ||||
| -rw-r--r-- | src/templates/chcore.h | 21 |
4 files changed, 116 insertions, 91 deletions
diff --git a/src/chsys.c b/src/chsys.c index 613e7bfeb..f57180dd7 100644 --- a/src/chsys.c +++ b/src/chsys.c @@ -18,7 +18,7 @@ */ /** - * @addtogroup Initialization + * @addtogroup System * @{ */ @@ -82,7 +82,9 @@ void chSysTimerHandlerI(void) { * @note The use of system mutual exclusion zone is not recommended in * the user code, it is a better idea to use the semaphores or mutexes * instead. - * @see CH_USE_NESTED_LOCKS + * @note The code of this API is may be inlined or not depending on the + * @p CH_OPTIMIZE_SPEED setting. + * @see CH_USE_NESTED_LOCKS, chSysLockInline() */ void chSysLock(void) { @@ -94,7 +96,9 @@ void chSysLock(void) { * @note The use of system mutual exclusion zone is not recommended in * the user code, it is a better idea to use the semaphores or mutexes * instead. - * @see CH_USE_NESTED_LOCKS + * @note The code of this API is may be inlined or not depending on the + * @p CH_OPTIMIZE_SPEED setting. + * @see CH_USE_NESTED_LOCKS, chSysUnlockInline() */ void chSysUnlock(void) { @@ -103,4 +107,14 @@ void chSysUnlock(void) { } #endif /* !CH_OPTIMIZE_SPEED */ +/** + * Abonormal system termination handler. Invoked by the ChibiOS/RT when an + * abnormal unrecoverable condition is met. + */ +void chSysHalt(void) { + + chSysDisable(); + sys_halt(); +} + /** @} */ diff --git a/src/include/sys.h b/src/include/sys.h index 8765c8d49..6c905fe63 100644 --- a/src/include/sys.h +++ b/src/include/sys.h @@ -18,14 +18,77 @@ */
/**
- * @addtogroup Core
+ * @addtogroup System
* @{
*/
#ifndef _SYS_H_
#define _SYS_H_
-#if defined(CH_USE_REENTRANT_LOCKS) || defined(_DOXYGEN_)
+/**
+ * Prints a message on the system console (if any).
+ * @param msg the message to be printed on the system console
+ */
+#define chSysPuts(msg) sys_puts(msg)
+
+/**
+ * Performs a context switch.
+ * This is the most critical code in any port, this function is responsible
+ * for the context switch between 2 threads.
+ * @param otp the thread to be switched out
+ * @param ntp the thread to be switched in
+ * @note The implementation of this code affects <b>directly</b> the context
+ * switch performance so optimize here as much as you can.
+ */
+#define chSysSwitchI(otp, ntp) sys_switch(otp, ntp)
+
+/**
+ * Lowers the system interrupt priority mask to user level.
+ * @note The implementation is architecture dependent, it may just enable the
+ * interrupts.
+ * @note This API is normally invoked only from within @p chSysInit(). + * @note The use of this API is <b>not</b> an alternative to @p chSysUnlock().
+ */
+#define chSysEnable() sys_enable()
+
+/**
+ * Raises the system interrupt priority mask to system level. + * @note The implementation is architecture dependent, it may just enable the
+ * interrupts.
+ * @note This API should only be invoked from the main thread in order to stop
+ * ChibiOS/RT, hardware de/re-initialization should follow. It would then
+ * be possible to re-initialize ChibiOS/RT using @p chSysInit().
+ * @note The use of this API is <b>not</b> an alternative to @p chSysLock().
+ */
+#define chSysDisable() sys_disable()
+
+/**
+ * Enters the ChibiOS/RT system mutual exclusion zone 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.
+ */
+#define chSysLockI() sys_disable_from_isr()
+
+/**
+ * Leaves the ChibiOS/RT system mutual exclusion zone 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.
+ */
+#define chSysUnlockI() sys_disable_from_isr()
+
+#if defined(CH_USE_NESTED_LOCKS) || defined(_DOXYGEN_)
/**
* Enters the ChibiOS/RT system mutual exclusion zone.
* @note The use of system mutual exclusion zone is not recommended in
@@ -57,11 +120,37 @@ if (--currp->p_locks == 0) \
sys_enable(); \
}
-#else /* defined(CH_USE_REENTRANT_LOCKS) || defined(_DOXYGEN_) */
+
+#else /* defined(CH_USE_NESTED_LOCKS) || defined(_DOXYGEN_) */
+
#define chSysLockInline() sys_disable()
#define chSysUnlockInline() sys_enable()
-#endif /* !defined(CH_USE_REENTRANT_LOCKS) && !defined(_DOXYGEN_) */
+#endif /* !defined(CH_USE_NESTED_LOCKS) && !defined(_DOXYGEN_) */
+
+/**
+ * IRQ handler enter code.
+ * @note Usually IRQ handlers functions are also declared naked.
+ * @note On some architectures this macro can be empty.
+ */
+#define chSysIRQEnterI() sys_irq_prologue()
+
+/**
+ * IRQ handler exit code.
+ * @note Usually IRQ handlers function are also declared naked.
+ * @note This macro usually performs the final reschedulation by using
+ * \p chSchRescRequiredI() and \p chSchDoRescheduleI().
+ */
+#define chSysIRQExitI() sys_irq_epilogue()
+
+/**
+ * Standard modifier for IRQ handler functions. + */
+#define CH_IRQ_HANDLER SYS_IRQ_HANDLER
+
+/*
+ * Inlined code when CH_OPTIMIZE_SPEED is defined. + */
#if defined(CH_OPTIMIZE_SPEED)
#define chSysLock() chSysLockInline()
#define chSysUnlock chSysUnlockInline()
@@ -72,6 +161,11 @@ extern "C" { #endif
void chSysInit(void);
void chSysTimerHandlerI(void);
+ void chSysHalt(void);
+#if !defined(CH_OPTIMIZE_SPEED)
+ void chSysLock(void);
+ void chSysUnlock(void);
+#endif /* !defined(CH_OPTIMIZE_SPEED) */
#ifdef __cplusplus
}
#endif
diff --git a/src/templates/chcore.c b/src/templates/chcore.c index 5a887d6ed..dbcf26ced 100644 --- a/src/templates/chcore.c +++ b/src/templates/chcore.c @@ -25,9 +25,7 @@ #include <ch.h>
/*
- * This file is just a template, it contains the function prototypes and the
- * doxigen documentation. The implementation of the following functions is
- * architecture/compiler specific.
+ * This file is a template of the system driver functions provided by a port.
*/
/**
@@ -45,64 +43,4 @@ void _idle(void *p) { ;
}
-/**
- * Abonormal system termination handler. Invoked by the ChibiOS/RT when an
- * abnormal unrecoverable condition is met.
- */
-void chSysHalt(void) {
-
- chSysLock();
-
- while (TRUE)
- ;
-}
-
-/**
- * Enables the interrupts, it is only invoked once into \p chSysInit().
- */
-void chSysEnable(void) {
-}
-
-/**
- * Enters the ChibiOS/RT system mutual exclusion zone. The implementation is
- * architecture dependent, on single core systems usually this function usually
- * just disables the interrupts.
- * @note The code in the system mutual exclusion zone must be as light and
- * fast as possible, the system performance is affected by this.
- * @note The use of system mutual exclusion zones are not recommended in
- * the user code, it is a better idea to use the Semaphores instead.
- */
-void chSysLock(void) {
-}
-
-/**
- * Leaves the ChibiOS/RT system mutual exclusion zone. The implementation is
- * architecture dependent, on single core systems usually this function usually
- * just enables the interrupts.
- * @note The code in the system mutual exclusion zone must be as light and
- * fast as possible, the system performance is affected by this.
- * @note The use of system mutual exclusion zones are not recommended in
- * the user code, it is a better idea to use the Semaphores instead.
- */
-void chSysUnlock(void) {
-}
-
-/**
- * Performs a context switch.
- * This is the most critical code in any port, this function is responsible
- * for the context switch between 2 threads.
- * @param otp the thread to be switched out
- * @param ntp the thread to be switched in
- * @note The implementation of this code affects <b>directly</b> the context
- * switch performance so optimize here as much as you can.
- */
-void chSysSwitchI(Thread *otp, Thread *ntp) {}
-
-/**
- * Prints a message on the system console (if any).
- * @param msg the message to be printed on the system console
- */
-void chSysPuts(char *msg) {
-}
-
/** @} */
diff --git a/src/templates/chcore.h b/src/templates/chcore.h index e551f3a61..a1bc48db1 100644 --- a/src/templates/chcore.h +++ b/src/templates/chcore.h @@ -106,31 +106,10 @@ typedef struct { */
#define WORKING_AREA(s, n) stkalign_t s[THD_WA_SIZE(n) / sizeof(stkalign_t)];
-/**
- * IRQ handler enter code.
- * @note Usually IRQ handlers functions are also declared naked.
- * @note On some architectures this macro can be empty.
- */
-#define chSysIRQEnterI()
-
-/**
- * IRQ handler exit code.
- * @note Usually IRQ handlers function are also declared naked.
- * @note This macro usually performs the final reschedulation by using
- * \p chSchRescRequiredI() and \p chSchDoRescheduleI().
- */
-#define chSysIRQExitI()
-
#ifdef __cplusplus
extern "C" {
#endif
void _idle(void *p);
- void chSysHalt(void);
- void chSysEnable(void);
- void chSysLock(void);
- void chSysUnlock(void);
- void chSysSwitchI(Thread *otp, Thread *ntp);
- void chSysPuts(char *msg);
#ifdef __cplusplus
}
#endif
|