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< h1 > chsys.c< / h1 > < / div >
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< div class = "contents" >
< a href = "chsys_8c.html" > Go to the documentation of this file.< / a > < div class = "fragment" > < pre class = "fragment" > < a name = "l00001" > < / a > 00001 < span class = "comment" > /*< / span >
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< a name = "l00002" > < / a > 00002 < span class = "comment" > ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.< / span >
< a name = "l00003" > < / a > 00003 < span class = "comment" > < / span >
< a name = "l00004" > < / a > 00004 < span class = "comment" > This file is part of ChibiOS/RT.< / span >
< a name = "l00005" > < / a > 00005 < span class = "comment" > < / span >
< a name = "l00006" > < / a > 00006 < span class = "comment" > ChibiOS/RT is free software; you can redistribute it and/or modify< / span >
< a name = "l00007" > < / a > 00007 < span class = "comment" > it under the terms of the GNU General Public License as published by< / span >
< a name = "l00008" > < / a > 00008 < span class = "comment" > the Free Software Foundation; either version 3 of the License, or< / span >
< a name = "l00009" > < / a > 00009 < span class = "comment" > (at your option) any later version.< / span >
< a name = "l00010" > < / a > 00010 < span class = "comment" > < / span >
< a name = "l00011" > < / a > 00011 < span class = "comment" > ChibiOS/RT is distributed in the hope that it will be useful,< / span >
< a name = "l00012" > < / a > 00012 < span class = "comment" > but WITHOUT ANY WARRANTY; without even the implied warranty of< / span >
< a name = "l00013" > < / a > 00013 < span class = "comment" > MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the< / span >
< a name = "l00014" > < / a > 00014 < span class = "comment" > GNU General Public License for more details.< / span >
< a name = "l00015" > < / a > 00015 < span class = "comment" > < / span >
< a name = "l00016" > < / a > 00016 < span class = "comment" > You should have received a copy of the GNU General Public License< / span >
< a name = "l00017" > < / a > 00017 < span class = "comment" > along with this program. If not, see < http://www.gnu.org/licenses/> .< / span >
< a name = "l00018" > < / a > 00018 < span class = "comment" > < / span >
< a name = "l00019" > < / a > 00019 < span class = "comment" > ---< / span >
< a name = "l00020" > < / a > 00020 < span class = "comment" > < / span >
< a name = "l00021" > < / a > 00021 < span class = "comment" > A special exception to the GPL can be applied should you wish to distribute< / span >
< a name = "l00022" > < / a > 00022 < span class = "comment" > a combined work that includes ChibiOS/RT, without being obliged to provide< / span >
< a name = "l00023" > < / a > 00023 < span class = "comment" > the source code for any proprietary components. See the file exception.txt< / span >
< a name = "l00024" > < / a > 00024 < span class = "comment" > for full details of how and when the exception can be applied.< / span >
< a name = "l00025" > < / a > 00025 < span class = "comment" > */< / span >
< a name = "l00026" > < / a > 00026 < span class = "comment" > < / span >
< a name = "l00027" > < / a > 00027 < span class = "comment" > /**< / span >
< a name = "l00028" > < / a > 00028 < span class = "comment" > * @file chsys.c< / span >
< a name = "l00029" > < / a > 00029 < span class = "comment" > * @brief System related code.< / span >
< a name = "l00030" > < / a > 00030 < span class = "comment" > *< / span >
< a name = "l00031" > < / a > 00031 < span class = "comment" > * @addtogroup system< / span >
< a name = "l00032" > < / a > 00032 < span class = "comment" > * @details System related APIs and services:< / span >
< a name = "l00033" > < / a > 00033 < span class = "comment" > * - Initialization.< / span >
< a name = "l00034" > < / a > 00034 < span class = "comment" > * - Locks.< / span >
< a name = "l00035" > < / a > 00035 < span class = "comment" > * - Interrupt Handling.< / span >
< a name = "l00036" > < / a > 00036 < span class = "comment" > * - Power Management.< / span >
< a name = "l00037" > < / a > 00037 < span class = "comment" > * - Abnormal Termination.< / span >
< a name = "l00038" > < / a > 00038 < span class = "comment" > * .< / span >
< a name = "l00039" > < / a > 00039 < span class = "comment" > * @{< / span >
< a name = "l00040" > < / a > 00040 < span class = "comment" > */< / span >
< a name = "l00041" > < / a > 00041
< a name = "l00042" > < / a > 00042 < span class = "preprocessor" > #include " < a class = "code" href = "ch_8h.html" title = "ChibiOS/RT main include file." > ch.h< / a > " < / span >
< a name = "l00043" > < / a > 00043
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< a name = "l00044" > < / a > 00044 < span class = "keyword" > static< / span > < a class = "code" href = "group__core.html#gac8b681d521d3b6c25e7a0304674732c9" title = "Static working area allocation." > WORKING_AREA< / a > (idle_thread_wa, < a class = "code" href = "group__core.html#gaf470de5c7ee71a407e5c7e0c5825af35" title = "Stack size for the system idle thread." > IDLE_THREAD_STACK_SIZE< / a > );
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< a name = "l00045" > < / a > 00045 < span class = "comment" > < / span >
< a name = "l00046" > < / a > 00046 < span class = "comment" > /**< / span >
< a name = "l00047" > < / a > 00047 < span class = "comment" > * @brief This function implements the idle thread infinite loop.< / span >
< a name = "l00048" > < / a > 00048 < span class = "comment" > * @details The function puts the processor in the lowest power mode capable< / span >
< a name = "l00049" > < / a > 00049 < span class = "comment" > * to serve interrupts.< br> < / span >
< a name = "l00050" > < / a > 00050 < span class = "comment" > * The priority is internally set to the minimum system value so< / span >
< a name = "l00051" > < / a > 00051 < span class = "comment" > * that this thread is executed only if there are no other ready< / span >
< a name = "l00052" > < / a > 00052 < span class = "comment" > * threads in the system.< / span >
< a name = "l00053" > < / a > 00053 < span class = "comment" > *< / span >
< a name = "l00054" > < / a > 00054 < span class = "comment" > * @param[in] p the thread parameter, unused in this scenario< / span >
< a name = "l00055" > < / a > 00055 < span class = "comment" > */< / span >
< a name = "l00056" > < / a > 00056 < span class = "keyword" > static< / span > < span class = "keywordtype" > void< / span > idle_thread(< span class = "keywordtype" > void< / span > *p) {
< a name = "l00057" > < / a > 00057
< a name = "l00058" > < / a > 00058 (void)p;
< a name = "l00059" > < / a > 00059 < span class = "keywordflow" > while< / span > (TRUE) {
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< a name = "l00060" > < / a > 00060 < a class = "code" href = "group__core.html#ga1ebf4a8993a4714d7ff98cc56fd343d6" title = "Enters an architecture-dependent IRQ-waiting mode." > port_wait_for_interrupt< / a > ();
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< a name = "l00061" > < / a > 00061 < a class = "code" href = "group__config.html#gae52e2c3230a9e87d16befd547c2f92ef" title = "Idle Loop hook." > IDLE_LOOP_HOOK< / a > ();
< a name = "l00062" > < / a > 00062 }
< a name = "l00063" > < / a > 00063 }
< a name = "l00064" > < / a > 00064 < span class = "comment" > < / span >
< a name = "l00065" > < / a > 00065 < span class = "comment" > /**< / span >
< a name = "l00066" > < / a > 00066 < span class = "comment" > * @brief ChibiOS/RT initialization.< / span >
< a name = "l00067" > < / a > 00067 < span class = "comment" > * @details After executing this function the current instructions stream< / span >
< a name = "l00068" > < / a > 00068 < span class = "comment" > * becomes the main thread.< / span >
< a name = "l00069" > < / a > 00069 < span class = "comment" > * @note Interrupts should be still disabled when @p chSysInit() is invoked< / span >
< a name = "l00070" > < / a > 00070 < span class = "comment" > * and are internally enabled.< / span >
< a name = "l00071" > < / a > 00071 < span class = "comment" > * @note The main thread is created with priority @p NORMALPRIO.< / span >
< a name = "l00072" > < / a > 00072 < span class = "comment" > */< / span >
< a name = "l00073" > < / a > < a class = "code" href = "group__system.html#gafe2c7de6567e98e487e009e81e3be10b" > 00073< / a > < span class = "keywordtype" > void< / span > < a class = "code" href = "group__system.html#gafe2c7de6567e98e487e009e81e3be10b" title = "ChibiOS/RT initialization." > chSysInit< / a > (< span class = "keywordtype" > void< / span > ) {
< a name = "l00074" > < / a > 00074 < span class = "keyword" > static< / span > < a class = "code" href = "struct_thread.html" title = "Structure representing a thread." > Thread< / a > mainthread;
< a name = "l00075" > < / a > 00075
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< a name = "l00076" > < / a > 00076 < a class = "code" href = "group__core.html#gad8478867d6441d9d94f92819688f15c1" title = "Port-related initialization code." > port_init< / a > ();
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< a name = "l00077" > < / a > 00077 < a class = "code" href = "group__scheduler.html#gab258cc2856e5f6bb125907cc23358fbd" title = "Scheduler initialization." > scheduler_init< / a > ();
< a name = "l00078" > < / a > 00078 < a class = "code" href = "group__time.html#ga3f64863d042de0de89233bfeabe39b62" title = "Virtual Timers initialization." > vt_init< / a > ();
< a name = "l00079" > < / a > 00079 < span class = "preprocessor" > #if CH_USE_MEMCORE< / span >
< a name = "l00080" > < / a > 00080 < span class = "preprocessor" > < / span > < a class = "code" href = "group__memcore.html#ga4dc59d68e345710573420dca5daa241c" title = "Low level memory manager initialization." > core_init< / a > ();
< a name = "l00081" > < / a > 00081 < span class = "preprocessor" > #endif< / span >
< a name = "l00082" > < / a > 00082 < span class = "preprocessor" > < / span > < span class = "preprocessor" > #if CH_USE_HEAP< / span >
< a name = "l00083" > < / a > 00083 < span class = "preprocessor" > < / span > < a class = "code" href = "group__heaps.html#ga7e7a6625a49b6a560a47ae7575575264" title = "Initializes the default heap." > heap_init< / a > ();
< a name = "l00084" > < / a > 00084 < span class = "preprocessor" > #endif< / span >
< a name = "l00085" > < / a > 00085 < span class = "preprocessor" > < / span > < span class = "preprocessor" > #if CH_DBG_ENABLE_TRACE< / span >
< a name = "l00086" > < / a > 00086 < span class = "preprocessor" > < / span > < a class = "code" href = "group__debug.html#ga5ef5d43e7c59f0ee9c490ea4e423c008" title = "Trace circular buffer subsystem initialization." > trace_init< / a > ();
< a name = "l00087" > < / a > 00087 < span class = "preprocessor" > #endif< / span >
< a name = "l00088" > < / a > 00088 < span class = "preprocessor" > < / span >
< a name = "l00089" > < / a > 00089 < span class = "comment" > /* Now this instructions flow becomes the main thread.*/< / span >
< a name = "l00090" > < / a > 00090 < a class = "code" href = "group__scheduler.html#ga226bd98a30b2db31dbb1ecc572c18da2" title = "Current thread pointer change macro." > setcurrp< / a > (< a class = "code" href = "group__threads.html#ga4f6ae58bb3cedfc03aacde6d49e49d35" title = "Initializes a thread structure." > init_thread< / a > (& mainthread, < a class = "code" href = "group__scheduler.html#gad6a6b28f0c1cf8e0da714ef771fb90a0" title = "Normal user priority." > NORMALPRIO< / a > ));
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< a name = "l00091" > < / a > 00091 < a class = "code" href = "group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title = "Current thread pointer access macro." > currp< / a > -> p_state = THD_STATE_CURRENT;
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< a name = "l00092" > < / a > 00092 < a class = "code" href = "group__system.html#ga2f54701f43490a5de272cc3d32962b51" title = "Lowers the system interrupt priority mask to user level." > chSysEnable< / a > ();
< a name = "l00093" > < / a > 00093
< a name = "l00094" > < / a > 00094 < span class = "comment" > /* This thread has the lowest priority in the system, its role is just to< / span >
< a name = "l00095" > < / a > 00095 < span class = "comment" > serve interrupts in its context while keeping the lowest energy saving< / span >
< a name = "l00096" > < / a > 00096 < span class = "comment" > mode compatible with the system status.*/< / span >
< a name = "l00097" > < / a > 00097 < a class = "code" href = "group__threads.html#ga048e588238dd336c6059133b3d0c3435" title = "Creates a new thread into a static memory area." > chThdCreateStatic< / a > (idle_thread_wa, < span class = "keyword" > sizeof< / span > (idle_thread_wa), < a class = "code" href = "group__scheduler.html#gacfbd3f4098069329a23d7ec54a7fb8ab" title = "Idle thread priority." > IDLEPRIO< / a > ,
< a name = "l00098" > < / a > 00098 (< a class = "code" href = "group__threads.html#gabfe59aa7d2ed1b8e57a2ce17bcbc1189" title = "Thread function." > tfunc_t< / a > )idle_thread, NULL);
< a name = "l00099" > < / a > 00099 }
< a name = "l00100" > < / a > 00100 < span class = "comment" > < / span >
< a name = "l00101" > < / a > 00101 < span class = "comment" > /**< / span >
< a name = "l00102" > < / a > 00102 < span class = "comment" > * @brief Handles time ticks for round robin preemption and timer increments.< / span >
< a name = "l00103" > < / a > 00103 < span class = "comment" > * @details Decrements the remaining time quantum of the running thread< / span >
< a name = "l00104" > < / a > 00104 < span class = "comment" > * and preempts it when the quantum is used up. Increments system< / span >
< a name = "l00105" > < / a > 00105 < span class = "comment" > * time and manages the timers.< / span >
< a name = "l00106" > < / a > 00106 < span class = "comment" > *< / span >
< a name = "l00107" > < / a > 00107 < span class = "comment" > * @note The frequency of the timer determines the system tick granularity< / span >
< a name = "l00108" > < / a > 00108 < span class = "comment" > * and, together with the @p CH_TIME_QUANTUM macro, the round robin< / span >
< a name = "l00109" > < / a > 00109 < span class = "comment" > * interval.< / span >
< a name = "l00110" > < / a > 00110 < span class = "comment" > */< / span >
< a name = "l00111" > < / a > < a class = "code" href = "group__system.html#ga1e42ee112f4a5d2c95be07d523c247be" > 00111< / a > < span class = "keywordtype" > void< / span > < a class = "code" href = "group__system.html#ga1e42ee112f4a5d2c95be07d523c247be" title = "Handles time ticks for round robin preemption and timer increments." > chSysTimerHandlerI< / a > (< span class = "keywordtype" > void< / span > ) {
< a name = "l00112" > < / a > 00112
< a name = "l00113" > < / a > 00113 < span class = "preprocessor" > #if CH_TIME_QUANTUM > 0< / span >
< a name = "l00114" > < / a > 00114 < span class = "preprocessor" > < / span > < span class = "comment" > /* Running thread has not used up quantum yet? */< / span >
< a name = "l00115" > < / a > 00115 < span class = "keywordflow" > if< / span > (< a class = "code" href = "group__scheduler.html#ga752cd9dbf0dc458b8b532182836ca38d" title = "Ready list header." > rlist< / a > .r_preempt > 0)
< a name = "l00116" > < / a > 00116 < span class = "comment" > /* Decrement remaining quantum.*/< / span >
< a name = "l00117" > < / a > 00117 < a class = "code" href = "group__scheduler.html#ga752cd9dbf0dc458b8b532182836ca38d" title = "Ready list header." > rlist< / a > .r_preempt--;
< a name = "l00118" > < / a > 00118 < span class = "preprocessor" > #endif< / span >
< a name = "l00119" > < / a > 00119 < span class = "preprocessor" > < / span > < span class = "preprocessor" > #if CH_DBG_THREADS_PROFILING< / span >
< a name = "l00120" > < / a > 00120 < span class = "preprocessor" > < / span > < a class = "code" href = "group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title = "Current thread pointer access macro." > currp< / a > -> p_time++;
< a name = "l00121" > < / a > 00121 < span class = "preprocessor" > #endif< / span >
< a name = "l00122" > < / a > 00122 < span class = "preprocessor" > < / span > < a class = "code" href = "group__time.html#ga3cc8210175b310d62e2043f752ccafee" title = "Virtual timers ticker." > chVTDoTickI< / a > ();
< a name = "l00123" > < / a > 00123 }
< a name = "l00124" > < / a > 00124
< a name = "l00125" > < / a > 00125 < span class = "preprocessor" > #if CH_USE_NESTED_LOCKS & & !CH_OPTIMIZE_SPEED< / span >
< a name = "l00126" > < / a > 00126 < span class = "preprocessor" > < / span > < span class = "keywordtype" > void< / span > < a class = "code" href = "group__system.html#ga9f6573c0763d1e4e97c63c62edad6e42" title = "Enters the kernel lock mode." > chSysLock< / a > (< span class = "keywordtype" > void< / span > ) {
< a name = "l00127" > < / a > 00127
< a name = "l00128" > < / a > 00128 < a class = "code" href = "group__debug.html#ga43d50c69eb730d0f024eb832d61f30c9" title = "Condition assertion." > chDbgAssert< / a > (< a class = "code" href = "group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title = "Current thread pointer access macro." > currp< / a > -> p_locks > = 0,
< a name = "l00129" > < / a > 00129 < span class = "stringliteral" > " chSysLock(), #1" < / span > ,
< a name = "l00130" > < / a > 00130 < span class = "stringliteral" > " negative nesting counter" < / span > );
< a name = "l00131" > < / a > 00131 < span class = "keywordflow" > if< / span > (< a class = "code" href = "group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title = "Current thread pointer access macro." > currp< / a > -> p_locks++ == 0)
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< a name = "l00132" > < / a > 00132 < a class = "code" href = "group__core.html#gad9aed313dfdafb6e9c58691af424fcb4" title = "Kernel-lock action." > port_lock< / a > ();
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< a name = "l00133" > < / a > 00133 }
< a name = "l00134" > < / a > 00134
< a name = "l00135" > < / a > 00135 < span class = "keywordtype" > void< / span > < a class = "code" href = "group__system.html#ga5a257fa58a09815eb64a45e2dfbdc22e" title = "Leaves the kernel lock mode." > chSysUnlock< / a > (< span class = "keywordtype" > void< / span > ) {
< a name = "l00136" > < / a > 00136
< a name = "l00137" > < / a > 00137 < a class = "code" href = "group__debug.html#ga43d50c69eb730d0f024eb832d61f30c9" title = "Condition assertion." > chDbgAssert< / a > (< a class = "code" href = "group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title = "Current thread pointer access macro." > currp< / a > -> p_locks > 0,
< a name = "l00138" > < / a > 00138 < span class = "stringliteral" > " chSysUnlock(), #1" < / span > ,
< a name = "l00139" > < / a > 00139 < span class = "stringliteral" > " non-positive nesting counter" < / span > );
< a name = "l00140" > < / a > 00140 < span class = "keywordflow" > if< / span > (--< a class = "code" href = "group__scheduler.html#ga1a5fddde56420e8accd0c09c1abb32a7" title = "Current thread pointer access macro." > currp< / a > -> p_locks == 0)
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< a name = "l00141" > < / a > 00141 < a class = "code" href = "group__core.html#ga242f36ee65eb9b19258654f7a3b63f87" title = "Kernel-unlock action." > port_unlock< / a > ();
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< a name = "l00142" > < / a > 00142 }
< a name = "l00143" > < / a > 00143 < span class = "preprocessor" > #endif < / span > < span class = "comment" > /* CH_USE_NESTED_LOCKS & & !CH_OPTIMIZE_SPEED */< / span >
< a name = "l00144" > < / a > 00144 < span class = "comment" > < / span >
< a name = "l00145" > < / a > 00145 < span class = "comment" > /** @} */< / span >
< / pre > < / div > < / div >
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Generated on Sun Nov 28 2010 14:09:48 for ChibiOS/RT by < a href = "http://www.doxygen.org/index.html" > < img src = "doxygen.png" alt = "doxygen" align = "middle" border = "0" > < / a > 1.7.1< / small > < / address >
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