git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@95 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 18 insertions, 18 deletions

diff --git a/src/chinit.c b/src/chinit.c
index 4a25567a8..918da1796 100644
--- a/src/chinit.c
+++ b/src/chinit.c
@@ -24,27 +24,17 @@
 

 #include <ch.h>

 

-static Thread idlethread;

 

 /**

  * ChibiOS/RT initialization. After executing this function the current

- * instructions stream becomes the idle thread. The thread must execute the

- * first user thread and then go to sleep into the \p chSysPause() where it

- * will just serve the interrupts while keeping the lowest possible power

- * mode.<br><br>

- * @code

- *   chSysInit();

- *   chThdCreate(...); // Starts one or more user threads.

- *   chSysPause();

- * @endcode

+ * instructions stream becomes the main thread.

  * @note Interrupts should be still disabled when \p chSysInit() is invoked

  *       and are internally enabled.

- * @note The idle thread has absolute priority when exiting from the

- *       \p chSysInit(), this is done to make sure that all the initializations

- *       performed in the \p main() procedure are completed before any thread

- *       starts. The priority is set to \p IDLEPRIO into the \p chSysPause().

+ * @note The main thread is created with priority \p NORMALPRIO.

  */

 void chSysInit(void) {

+  static Thread mainthread;

+  static BYTE8 waIdleThread[UserStackSize(IDLE_THREAD_STACK_SIZE)];

 

   chSchInit();

   chDbgInit();

@@ -52,13 +42,23 @@ void chSysInit(void) {
   chVTInit();

 #endif

   /*

-   * Now this instructions flow becomes the idle thread.

+   * Now this instructions flow becomes the main thread.

    */

-  _InitThread(ABSPRIO, 0, &idlethread);

-  idlethread.p_state = PRCURR;

-  currp = &idlethread;

+  _InitThread(NORMALPRIO, 0, &mainthread);

+  mainthread.p_state = PRCURR;

+  currp = &mainthread;

 

   chSysUnlock();

+

+  /*

+   * The idle thread is created using the port-provided implementation.

+   * This thread has the lowest priority in the system, its role is just to

+   * execute the chSysPause() and serve interrupts in its context.

+   * In ChibiOS/RT at least one thread in the system *must* execute

+   * chThdPause(), it can be done in a dedicated thread or in the main()

+   * function (that would never exit the call).

+   */

+  chThdCreate(IDLEPRIO, 0, waIdleThread, sizeof(waIdleThread), (t_tfunc)_IdleThread, NULL);

 }

 

 /** @} */