Added new kernel hooks (on halt and on systick).

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2136 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 153 insertions, 114 deletions

diff --git a/demos/ARM7-AT91SAM7S-GCC/chconf.h b/demos/ARM7-AT91SAM7S-GCC/chconf.h
index 8cada3cd9..8f2c4b3e3 100644
--- a/demos/ARM7-AT91SAM7S-GCC/chconf.h
+++ b/demos/ARM7-AT91SAM7S-GCC/chconf.h
@@ -18,9 +18,13 @@
 */

 

 /**

- * @file templates/chconf.h

- * @brief Configuration file template.

+ * @file    templates/chconf.h

+ * @brief   Configuration file template.

+ * @details A copy of this file must be placed in each project directory, it

+ *          contains the application specific kernel settings.

+ *

  * @addtogroup config

+ * @details Kernel related settings and hooks.

  * @{

  */

 

@@ -32,7 +36,7 @@
 /*===========================================================================*/

 

 /**

- * @brief System tick frequency.

+ * @brief   System tick frequency.

  * @details Frequency of the system timer that drives the system ticks. This

  *          setting also defines the system tick time unit.

  */

@@ -41,20 +45,22 @@
 #endif

 

 /**

- * @brief Round robin interval.

+ * @brief   Round robin interval.

  * @details This constant is the number of system ticks allowed for the

  *          threads before preemption occurs. Setting this value to zero

- *          disables the round robin mechanism.

+ *          disables the preemption for threads with equal priority and the

+ *          round robin becomes cooperative. Note that higher priority

+ *          threads can still preempt, the kernel is always preemptive.

  *

- * @note Disabling round robin makes the kernel more compact and generally

- *       faster but forbids multiple threads at the same priority level.

+ * @note    Disabling the round robin preemption makes the kernel more compact

+ *          and generally faster.

  */

 #if !defined(CH_TIME_QUANTUM) || defined(__DOXYGEN__)

 #define CH_TIME_QUANTUM                 20

 #endif

 

 /**

- * @brief Nested locks.

+ * @brief   Nested locks.

  * @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()

  *          operations is allowed.<br>

  *          For performance and code size reasons the recommended setting

@@ -62,22 +68,22 @@
  *          You may use this option if you need to merge ChibiOS/RT with

  *          external libraries that require nested lock/unlock operations.

  *

- * @note The default is @p FALSE.

+ * @note T  he default is @p FALSE.

  */

 #if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)

 #define CH_USE_NESTED_LOCKS             FALSE

 #endif

 

 /**

- * @brief Managed RAM size.

+ * @brief   Managed RAM size.

  * @details Size of the RAM area to be managed by the OS. If set to zero

  *          then the whole available RAM is used. The core memory is made

  *          available to the heap allocator and/or can be used directly through

  *          the simplified core memory allocator.

  *

- * @note In order to let the OS manage the whole RAM the linker script must

- *       provide the @p __heap_base__ and @p __heap_end__ symbols.

- * @note Requires @p CH_USE_COREMEM.

+ * @note    In order to let the OS manage the whole RAM the linker script must

+ *          provide the @p __heap_base__ and @p __heap_end__ symbols.

+ * @note    Requires @p CH_USE_COREMEM.

  */

 #if !defined(CH_MEMCORE_SIZE) || defined(__DOXYGEN__)

 #define CH_MEMCORE_SIZE                 0

@@ -88,32 +94,32 @@
 /*===========================================================================*/

 

 /**

- * @brief OS optimization.

+ * @brief   OS optimization.

  * @details If enabled then time efficient rather than space efficient code

  *          is used when two possible implementations exist.

  *

- * @note This is not related to the compiler optimization options.

- * @note The default is @p TRUE.

+ * @note    This is not related to the compiler optimization options.

+ * @note    The default is @p TRUE.

  */

 #if !defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__)

 #define CH_OPTIMIZE_SPEED               TRUE

 #endif

 

 /**

- * @brief Exotic optimization.

+ * @brief   Exotic optimization.

  * @details If defined then a CPU register is used as storage for the global

  *          @p currp variable. Caching this variable in a register greatly

  *          improves both space and time OS efficiency. A side effect is that

  *          one less register has to be saved during the context switch

  *          resulting in lower RAM usage and faster context switch.

  *

- * @note This option is only usable with the GCC compiler and is only useful

- *       on processors with many registers like ARM cores.

- * @note If this option is enabled then ALL the libraries linked to the

- *       ChibiOS/RT code <b>must</b> be recompiled with the GCC option @p

- *       -ffixed-@<reg@>.

- * @note This option must be enabled in the Makefile, it is listed here for

- *       documentation only.

+ * @note    This option is only usable with the GCC compiler and is only useful

+ *          on processors with many registers like ARM cores.

+ * @note    If this option is enabled then ALL the libraries linked to the

+ *          ChibiOS/RT code <b>must</b> be recompiled with the GCC option @p

+ *          -ffixed-@<reg@>.

+ * @note    This option must be enabled in the Makefile, it is listed here for

+ *          documentation only.

  */

 #if defined(__DOXYGEN__)

 #define CH_CURRP_REGISTER_CACHE         "reg"

@@ -124,209 +130,220 @@
 /*===========================================================================*/

 

 /**

- * @brief Threads synchronization APIs.

+ * @brief   Threads registry APIs.

+ * @details If enabled then the registry APIs are included in the kernel.

+ *

+ * @note    The default is @p TRUE.

+ */

+#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)

+#define CH_USE_REGISTRY                 TRUE

+#endif

+

+/**

+ * @brief   Threads synchronization APIs.

  * @details If enabled then the @p chThdWait() function is included in

  *          the kernel.

  *

- * @note The default is @p TRUE.

+ * @note    The default is @p TRUE.

  */

 #if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__)

 #define CH_USE_WAITEXIT                 TRUE

 #endif

 

 /**

- * @brief Semaphores APIs.

+ * @brief   Semaphores APIs.

  * @details If enabled then the Semaphores APIs are included in the kernel.

  *

- * @note The default is @p TRUE.

+ * @note    The default is @p TRUE.

  */

 #if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__)

 #define CH_USE_SEMAPHORES               TRUE

 #endif

 

 /**

- * @brief Semaphores queuing mode.

+ * @brief   Semaphores queuing mode.

  * @details If enabled then the threads are enqueued on semaphores by

  *          priority rather than in FIFO order.

  *

- * @note The default is @p FALSE. Enable this if you have special requirements.

- * @note Requires @p CH_USE_SEMAPHORES.

+ * @note    The default is @p FALSE. Enable this if you have special requirements.

+ * @note    Requires @p CH_USE_SEMAPHORES.

  */

 #if !defined(CH_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)

 #define CH_USE_SEMAPHORES_PRIORITY      FALSE

 #endif

 

 /**

- * @brief Atomic semaphore API.

- * @details If enabled then the semaphores the @p chSemWaitSignal() API

+ * @brief   Atomic semaphore API.

+ * @details If enabled then the semaphores the @p chSemSignalWait() API

  *          is included in the kernel.

  *

- * @note The default is @p TRUE.

- * @note Requires @p CH_USE_SEMAPHORES.

+ * @note    The default is @p TRUE.

+ * @note    Requires @p CH_USE_SEMAPHORES.

  */

 #if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)

 #define CH_USE_SEMSW                    TRUE

 #endif

 

 /**

- * @brief Mutexes APIs.

+ * @brief   Mutexes APIs.

  * @details If enabled then the mutexes APIs are included in the kernel.

  *

- * @note The default is @p TRUE.

+ * @note    The default is @p TRUE.

  */

 #if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__)

 #define CH_USE_MUTEXES                  TRUE

 #endif

 

 /**

- * @brief Conditional Variables APIs.

+ * @brief   Conditional Variables APIs.

  * @details If enabled then the conditional variables APIs are included

  *          in the kernel.

  *

- * @note The default is @p TRUE.

- * @note Requires @p CH_USE_MUTEXES.

+ * @note    The default is @p TRUE.

+ * @note    Requires @p CH_USE_MUTEXES.

  */

 #if !defined(CH_USE_CONDVARS) || defined(__DOXYGEN__)

 #define CH_USE_CONDVARS                 TRUE

 #endif

 

 /**

- * @brief Conditional Variables APIs with timeout.

+ * @brief   Conditional Variables APIs with timeout.

  * @details If enabled then the conditional variables APIs with timeout

  *          specification are included in the kernel.

  *

- * @note The default is @p TRUE.

- * @note Requires @p CH_USE_CONDVARS.

+ * @note    The default is @p TRUE.

+ * @note    Requires @p CH_USE_CONDVARS.

  */

 #if !defined(CH_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)

 #define CH_USE_CONDVARS_TIMEOUT         TRUE

 #endif

 

 /**

- * @brief Events Flags APIs.

+ * @brief   Events Flags APIs.

  * @details If enabled then the event flags APIs are included in the kernel.

  *

- * @note The default is @p TRUE.

+ * @note    The default is @p TRUE.

  */

 #if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__)

 #define CH_USE_EVENTS                   TRUE

 #endif

 

 /**

- * @brief Events Flags APIs with timeout.

+ * @brief   Events Flags APIs with timeout.

  * @details If enabled then the events APIs with timeout specification

  *          are included in the kernel.

  *

- * @note The default is @p TRUE.

- * @note Requires @p CH_USE_EVENTS.

+ * @note    The default is @p TRUE.

+ * @note    Requires @p CH_USE_EVENTS.

  */

 #if !defined(CH_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)

 #define CH_USE_EVENTS_TIMEOUT           TRUE

 #endif

 

 /**

- * @brief Synchronous Messages APIs.

+ * @brief   Synchronous Messages APIs.

  * @details If enabled then the synchronous messages APIs are included

  *          in the kernel.

  *

- * @note The default is @p TRUE.

+ * @note    The default is @p TRUE.

  */

 #if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__)

 #define CH_USE_MESSAGES                 TRUE

 #endif

 

 /**

- * @brief Synchronous Messages queuing mode.

+ * @brief   Synchronous Messages queuing mode.

  * @details If enabled then messages are served by priority rather than in

  *          FIFO order.

  *

- * @note The default is @p FALSE. Enable this if you have special requirements.

- * @note Requires @p CH_USE_MESSAGES.

+ * @note    The default is @p FALSE. Enable this if you have special requirements.

+ * @note    Requires @p CH_USE_MESSAGES.

  */

 #if !defined(CH_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)

 #define CH_USE_MESSAGES_PRIORITY        FALSE

 #endif

 

 /**

- * @brief Mailboxes APIs.

+ * @brief   Mailboxes APIs.

  * @details If enabled then the asynchronous messages (mailboxes) APIs are

  *          included in the kernel.

  *

- * @note The default is @p TRUE.

- * @note Requires @p CH_USE_SEMAPHORES.

+ * @note    The default is @p TRUE.

+ * @note    Requires @p CH_USE_SEMAPHORES.

  */

 #if !defined(CH_USE_MAILBOXES) || defined(__DOXYGEN__)

 #define CH_USE_MAILBOXES                TRUE

 #endif

 

 /**

- * @brief I/O Queues APIs.

+ * @brief   I/O Queues APIs.

  * @details If enabled then the I/O queues APIs are included in the kernel.

  *

- * @note The default is @p TRUE.

- * @note Requires @p CH_USE_SEMAPHORES.

+ * @note    The default is @p TRUE.

+ * @note    Requires @p CH_USE_SEMAPHORES.

  */

 #if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)

 #define CH_USE_QUEUES                   TRUE

 #endif

 

 /**

- * @brief Core Memory Manager APIs.

+ * @brief   Core Memory Manager APIs.

  * @details If enabled then the core memory manager APIs are included

  *          in the kernel.

  *

- * @note The default is @p TRUE.

+ * @note    The default is @p TRUE.

  */

 #if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__)

 #define CH_USE_MEMCORE                  TRUE

 #endif

 

 /**

- * @brief Heap Allocator APIs.

+ * @brief   Heap Allocator APIs.

  * @details If enabled then the memory heap allocator APIs are included

  *          in the kernel.

  *

- * @note The default is @p TRUE.

- * @note Requires @p CH_USE_COREMEM and either @p CH_USE_MUTEXES or

- *       @p CH_USE_SEMAPHORES.

- * @note Mutexes are recommended.

+ * @note    The default is @p TRUE.

+ * @note    Requires @p CH_USE_COREMEM and either @p CH_USE_MUTEXES or

+ *          @p CH_USE_SEMAPHORES.

+ * @note    Mutexes are recommended.

  */

 #if !defined(CH_USE_HEAP) || defined(__DOXYGEN__)

 #define CH_USE_HEAP                     TRUE

 #endif

 

 /**

- * @brief C-runtime allocator.

+ * @brief   C-runtime allocator.

  * @details If enabled the the heap allocator APIs just wrap the C-runtime

  *          @p malloc() and @p free() functions.

  *

- * @note The default is @p FALSE.

- * @note Requires @p CH_USE_HEAP.

- * @note The C-runtime may or may not require @p CH_USE_COREMEM, see the

- *       appropriate documentation.

+ * @note    The default is @p FALSE.

+ * @note    Requires @p CH_USE_HEAP.

+ * @note    The C-runtime may or may not require @p CH_USE_COREMEM, see the

+ *          appropriate documentation.

  */

 #if !defined(CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)

 #define CH_USE_MALLOC_HEAP              FALSE

 #endif

 

 /**

- * @brief Memory Pools Allocator APIs.

+ * @brief   Memory Pools Allocator APIs.

  * @details If enabled then the memory pools allocator APIs are included

  *          in the kernel.

  *

- * @note The default is @p TRUE.

+ * @note    The default is @p TRUE.

  */

 #if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__)

 #define CH_USE_MEMPOOLS                 TRUE

 #endif

 

 /**

- * @brief Dynamic Threads APIs.

+ * @brief   Dynamic Threads APIs.

  * @details If enabled then the dynamic threads creation APIs are included

  *          in the kernel.

  *

- * @note The default is @p TRUE.

- * @note Requires @p CH_USE_WAITEXIT.

+ * @note    The default is @p TRUE.

+ * @note    Requires @p CH_USE_WAITEXIT.

+ * @note    Requires @p CH_USE_HEAP and/or @p CH_USE_MEMPOOLS.

  */

 #if !defined(CH_USE_DYNAMIC) || defined(__DOXYGEN__)

 #define CH_USE_DYNAMIC                  TRUE

@@ -337,71 +354,73 @@
 /*===========================================================================*/

 

 /**

- * @brief Debug option, parameters checks.

+ * @brief   Debug option, parameters checks.

  * @details If enabled then the checks on the API functions input

  *          parameters are activated.

  *

- * @note The default is @p FALSE.

+ * @note    The default is @p FALSE.

  */

 #if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)

 #define CH_DBG_ENABLE_CHECKS            FALSE

 #endif

 

 /**

- * @brief Debug option, consistency checks.

+ * @brief   Debug option, consistency checks.

  * @details If enabled then all the assertions in the kernel code are

  *          activated. This includes consistency checks inside the kernel,

  *          runtime anomalies and port-defined checks.

  *

- * @note The default is @p FALSE.

+ * @note    The default is @p FALSE.

  */

 #if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)

 #define CH_DBG_ENABLE_ASSERTS           FALSE

 #endif

 

 /**

- * @brief Debug option, trace buffer.

+ * @brief   Debug option, trace buffer.

  * @details If enabled then the context switch circular trace buffer is

  *          activated.

  *

- * @note The default is @p FALSE.

+ * @note    The default is @p FALSE.

  */

 #if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)

 #define CH_DBG_ENABLE_TRACE             FALSE

 #endif

 

 /**

- * @brief Debug option, stack checks.

+ * @brief   Debug option, stack checks.

  * @details If enabled then a runtime stack check is performed.

  *

- * @note The default is @p FALSE.

- * @note The stack check is performed in a architecture/port dependent way. It

- *       may not be implemented or some ports.

+ * @note    The default is @p FALSE.

+ * @note    The stack check is performed in a architecture/port dependent way.

+ *          It may not be implemented or some ports.

+ * @note    The default failure mode is to halt the system with the global

+ *          @p panic_msg variable set to @p NULL.

  */

 #if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)

 #define CH_DBG_ENABLE_STACK_CHECK       FALSE

 #endif

 

 /**

- * @brief Debug option, stacks initialization.

+ * @brief   Debug option, stacks initialization.

  * @details If enabled then the threads working area is filled with a byte

  *          value when a thread is created. This can be useful for the

  *          runtime measurement of the used stack.

  *

- * @note The default is @p FALSE.

+ * @note    The default is @p FALSE.

  */

 #if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)

 #define CH_DBG_FILL_THREADS             FALSE

 #endif

 

 /**

- * @brief Debug option, threads profiling.

+ * @brief   Debug option, threads profiling.

  * @details If enabled then a field is added to the @p Thread structure that

  *          counts the system ticks occurred while executing the thread.

  *

- * @note The default is @p TRUE.

- * @note This debug option is defaulted to TRUE because it is required by

- *       some test cases into the test suite.

+ * @note    The default is @p TRUE.

+ * @note    This debug option is defaulted to TRUE because it is required by

+ *          some test cases into the test suite.

  */

 #if !defined(CH_DBG_THREADS_PROFILING) || defined(__DOXYGEN__)

 #define CH_DBG_THREADS_PROFILING        TRUE

@@ -412,50 +431,70 @@
 /*===========================================================================*/

 

 /**

- * @brief Threads descriptor structure hook.

+ * @brief   Threads descriptor structure hook.

  * @details User fields added to the end of the @p Thread structure.

  */

-#if !defined(THREAD_EXT_FIELDS) || defined(__DOXYGEN__)

-#define THREAD_EXT_FIELDS                                               \

-struct {                                                                \

-  /* Add threads custom fields here.*/                                  \

-};

+#if !defined(THREAD_EXT_FIELDS_HOOK) || defined(__DOXYGEN__)

+#define THREAD_EXT_FIELDS_HOOK                                              \

+  /* Add threads custom fields here.*/

 #endif

 

 /**

- * @brief Threads initialization hook.

+ * @brief   Threads initialization hook.

  * @details User initialization code added to the @p chThdInit() API.

  *

- * @note It is invoked from within @p chThdInit() and implicitily from all

- *       the threads creation APIs.

+ * @note    It is invoked from within @p chThdInit() and implicitily from all

+ *          the threads creation APIs.

  */

-#if !defined(THREAD_EXT_INIT) || defined(__DOXYGEN__)

-#define THREAD_EXT_INIT(tp) {                                           \

-  /* Add threads initialization code here.*/                            \

+#if !defined(THREAD_EXT_INIT_HOOK) || defined(__DOXYGEN__)

+#define THREAD_EXT_INIT_HOOK(tp) {                                          \

+  /* Add threads initialization code here.*/                                \

 }

 #endif

 

 /**

- * @brief Threads finalization hook.

+ * @brief   Threads finalization hook.

  * @details User finalization code added to the @p chThdExit() API.

  *

- * @note It is inserted into lock zone.

- * @note It is also invoked when the threads simply return in order to

- *       terminate.

+ * @note    It is inserted into lock zone.

+ * @note    It is also invoked when the threads simply return in order to

+ *          terminate.

  */

-#if !defined(THREAD_EXT_EXIT) || defined(__DOXYGEN__)

-#define THREAD_EXT_EXIT(tp) {                                           \

-  /* Add threads finalization code here.*/                              \

+#if !defined(THREAD_EXT_EXIT_HOOK) || defined(__DOXYGEN__)

+#define THREAD_EXT_EXIT_HOOK(tp) {                                          \

+  /* Add threads finalization code here.*/                                  \

 }

 #endif

 

 /**

- * @brief Idle Loop hook.

+ * @brief   Idle Loop hook.

  * @details This hook is continuously invoked by the idle thread loop.

  */

 #if !defined(IDLE_LOOP_HOOK) || defined(__DOXYGEN__)

-#define IDLE_LOOP_HOOK() {                                              \

-  /* Idle loop code here.*/                                             \

+#define IDLE_LOOP_HOOK() {                                                  \

+  /* Idle loop code here.*/                                                 \

+}

+#endif

+

+/**

+ * @brief   System tick event hook.

+ * @details This hook is invoked in the system tick handler immediately

+ *          after processing the virtual timers queue.

+ */

+#if !defined(SYSTEM_TICK_EVENT_HOOK) || defined(__DOXYGEN__)

+#define SYSTEM_TICK_EVENT_HOOK() {                                          \

+  /* System tick event code here.*/                                         \

+}

+#endif

+

+/**

+ * @brief   System halt hook.

+ * @details This hook is invoked in case to a system halting error before

+ *          the system is halted.

+ */

+#if !defined(SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)

+#define SYSTEM_HALT_HOOK() {                                                \

+  /* System halt code here.*/                                               \

 }

 #endif