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/*
ChibiOS/RT - Copyright (C) 2006-2007 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/>.
*/
/**
* @addtogroup System
* @{
*/
#include <ch.h>
/**
* ChibiOS/RT initialization. After executing this function the current
* instructions stream becomes the main thread.
* @note Interrupts should be still disabled when \p chSysInit() is invoked
* and are internally enabled.
* @note The main thread is created with priority \p NORMALPRIO.
*/
void chSysInit(void) {
static Thread mainthread;
static WORKING_AREA(idle_wa, IDLE_THREAD_STACK_SIZE);
chSchInit();
chDbgInit();
chVTInit();
#ifdef CH_USE_HEAP
chHeapInit();
#endif
/*
* Now this instructions flow becomes the main thread.
*/
(currp = init_thread(&mainthread, NORMALPRIO))->p_state = PRCURR;
chSysEnable();
/*
* The idle thread is created using the port-provided implementation.
* This thread has the lowest priority in the system, its role is just to
* serve interrupts in its context while keeping the lowest energy saving
* mode compatible with the system status.
*/
chThdCreateStatic(idle_wa, sizeof(idle_wa), IDLEPRIO, (tfunc_t)_idle, NULL);
}
/**
* Handles time ticks for round robin preemption and timer increments.
* Decrements the remaining time quantum of the running thread and preempts
* it when the quantum is used up. Increments system time and manages the
* timers.
* @note The frequency of the timer determines the system tick granularity and,
* together with the \p CH_TIME_QUANTUM macro, the round robin interval.
*/
void chSysTimerHandlerI(void) {
#ifdef CH_USE_ROUNDROBIN
/* running thread has not used up quantum yet? */
if (rlist.r_preempt > 0)
/* decrement remaining quantum */
rlist.r_preempt--;
#endif
chVTDoTickI();
}
#if !defined(CH_OPTIMIZE_SPEED)
/**
* Enters the ChibiOS/RT system mutual exclusion zone.
* @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.
* @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) {
chSysLockInline();
}
/**
* Leaves the ChibiOS/RT system mutual exclusion zone.
* @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.
* @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) {
chDbgAssert(currp->p_locks > 0, "chinit.c, chSysUnlock()");
chSysUnlockInline();
}
#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();
}
/** @} */
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