git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@583 35acf78f-673a-0410-8e92-d51de3d6d3f4

4 files changed, 85 insertions, 28 deletions

diff --git a/src/chsys.c b/src/chsys.c
index f57180dd7..0f5f7fa39 100644
--- a/src/chsys.c
+++ b/src/chsys.c
@@ -24,6 +24,24 @@
 
 #include <ch.h>
 
+static WORKING_AREA(idle_thread_wa, IDLE_THREAD_STACK_SIZE);
+
+/**
+ * This function implements the idle thread infinite loop. The function should
+ * put the processor in the lowest power mode capable to serve interrupts.
+ * The priority is internally set to the minimum system value so that this
+ * thread is executed only if there are no other ready threads in the system.
+ * @param p the thread parameter, unused in this scenario
+ * @note Implementation should declare this function as a weak symbol in order
+ *       to allow applications to re-implement it.
+ */
+static void idle_thread(void *p) {
+
+  while (TRUE) {
+    sys_wait_for_interrupt();
+  }
+}
+
 /**
  * ChibiOS/RT initialization. After executing this function the current
  * instructions stream becomes the main thread.
@@ -33,7 +51,6 @@
  */
 void chSysInit(void) {
   static Thread mainthread;
-  static WORKING_AREA(idle_wa, IDLE_THREAD_STACK_SIZE);
 
   chSchInit();
   chDbgInit();
@@ -54,7 +71,8 @@ void chSysInit(void) {
    * 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);
+  chThdCreateStatic(idle_wa, sizeof(idle_thread_wa), IDLEPRIO,
+                    (tfunc_t)idle_thread, NULL);
 }
 
 /**
@@ -76,6 +94,16 @@ void chSysTimerHandlerI(void) {
   chVTDoTickI();
 }
 
+/**
+ * Abonormal system termination handler. Invoked by the ChibiOS/RT when an
+ * abnormal unrecoverable condition is met.
+ */
+void chSysHalt(void) {
+
+  chSysDisable();
+  sys_halt();
+}
+
 #if !defined(CH_OPTIMIZE_SPEED)
 /**
  * Enters the ChibiOS/RT system mutual exclusion zone.
@@ -107,14 +135,4 @@ 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 6c905fe63..7cc94ce82 100644
--- a/src/include/sys.h
+++ b/src/include/sys.h
@@ -86,7 +86,7 @@
  *       syscall from an interrupt handler.

  * @note This API must be invoked exclusively from interrupt handlers.

  */

-#define chSysUnlockI() sys_disable_from_isr()

+#define chSysUnlockI() sys_enable_from_isr()

 

 #if defined(CH_USE_NESTED_LOCKS) || defined(_DOXYGEN_)

 /**

@@ -133,7 +133,7 @@
  * @note Usually IRQ handlers functions are also declared naked.

  * @note On some architectures this macro can be empty.

  */

-#define chSysIRQEnterI() sys_irq_prologue()

+#define chSysIRQEnterI() SYS_IRQ_PROLOGUE()

 

 /**

  * IRQ handler exit code.

@@ -141,7 +141,7 @@
  * @note This macro usually performs the final reschedulation by using

  *       \p chSchRescRequiredI() and \p chSchDoRescheduleI().

  */

-#define chSysIRQExitI() sys_irq_epilogue()

+#define chSysIRQExitI() SYS_IRQ_EPILOGUE()

 

 /**

  * Standard modifier for IRQ handler functions.
diff --git a/src/templates/chcore.c b/src/templates/chcore.c
index dbcf26ced..496ffc8fa 100644
--- a/src/templates/chcore.c
+++ b/src/templates/chcore.c
@@ -26,21 +26,36 @@
 

 /*

  * This file is a template of the system driver functions provided by a port.

+ * Some of the following functions may be implemented as macros in chcore.h if

+ * the implementer decides there is an advantage in doing so, as example

+ * because performance concerns.

  */

 

-/**

- * This function implements the idle thread infinite loop. The function should

- * put the processor in the lowest power mode capable to serve interrupts.

- * The priority is internally set to the minimum system value so that this

- * thread is executed only if there are no other ready threads in the system.

- * @param p the thread parameter, unused in this scenario

- * @note Implementation should declare this function as a weak symbol in order

- *       to allow applications to re-implement it.

- */

-void _idle(void *p) {

+void sys_puts(char *msg) {

+}

+

+void sys_switch(Thread *otp, Thread *ntp) {

+}

+

+void sys_enable(void) {

+}

+

+void sys_disable(void) {

+}

+

+void sys_disable_from_isr(void) {

+}

+

+void sys_enable_from_isr(void) {

+}

+

+void sys_wait_for_interrupt(void) {

+}

+

+void sys_halt(void) {

 

-  while (TRUE)

-    ;

+  while(TRUE) {

+  }

 }

 

 /** @} */

diff --git a/src/templates/chcore.h b/src/templates/chcore.h
index a1bc48db1..46d30a3aa 100644
--- a/src/templates/chcore.h
+++ b/src/templates/chcore.h
@@ -106,10 +106,34 @@ typedef struct {
  */

 #define WORKING_AREA(s, n) stkalign_t s[THD_WA_SIZE(n) / sizeof(stkalign_t)];

 

+/**

+ * IRQ prologue code, inserted at the start of all IRQ handlers enabled to

+ * invoke system APIs.
+ */

+#define SYS_IRQ_PROLOGUE()

+

+/**

+ * IRQ epilogue code, inserted at the start of all IRQ handlers enabled to

+ * invoke system APIs.

+ */

+#define SYS_IRQ_EPILOGUE()

+

+/**

+ * IRQ handler function modifier.
+ */

+#define SYS_IRQ_HANDLER

+

 #ifdef __cplusplus

 extern "C" {

 #endif

-  void _idle(void *p);

+  void sys_puts(char *msg);

+  void sys_switch(Thread *otp, Thread *ntp);

+  void sys_enable(void);

+  void sys_disable(void);

+  void sys_disable_from_isr(void);

+  void sys_enable_from_isr(void);

+  void sys_wait_for_interrupt(void);

+  void sys_halt(void);

 #ifdef __cplusplus

 }

 #endif