git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@582 35acf78f-673a-0410-8e92-d51de3d6d3f4

6 files changed, 121 insertions, 97 deletions

diff --git a/docs/ch.txt b/docs/ch.txt
index b95e80ff2..a0baed6bb 100644
--- a/docs/ch.txt
+++ b/docs/ch.txt
@@ -421,6 +421,7 @@
 /**

  * @defgroup Kernel Kernel

  * @{

+ * @file ch.h ChibiOS/RT main header file, it includes everything else.

  */

 /** @} */

 

@@ -462,12 +463,12 @@
 /** @} */

 

 /**

- * @defgroup Initialization Initialization

+ * @defgroup System System Management

  * @{

- * Initialization APIs and procedures.

+ * Initialization and system-related APIs and procedures.

  * @ingroup Kernel

- * @file ch.h ChibiOS/RT main include file, it includes everything else.

- * @file chinit.c ChibiOS/RT Initialization code.

+ * @file sys.h ChibiOS/RT system-related header file.

+ * @file chsys.c ChibiOS/RT system-related code.

  */

 /** @} */

 

diff --git a/ports/ARMCM3/chcore.c b/ports/ARMCM3/chcore.c
index 386a7dff9..ee868b1e3 100644
--- a/ports/ARMCM3/chcore.c
+++ b/ports/ARMCM3/chcore.c
@@ -79,8 +79,6 @@ void SysTickVector(void) {
   chSysIRQExitI();
 }
 
-void *retaddr;
-
 /*
  * System invoked context switch.
  */
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