git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@40 35acf78f-673a-0410-8e92-d51de3d6d3f4

4 files changed, 45 insertions, 5 deletions

diff --git a/src/chinit.c b/src/chinit.c
index b86626fa6..55a69b1fc 100644
--- a/src/chinit.c
+++ b/src/chinit.c
@@ -37,8 +37,12 @@ static Thread idlethread;
  *   chThdCreate(...); // Starts one or more user threads.

  *   chSysPause();

  * @endcode

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

- *       are internally enabled.

+ * @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().

  */

 void chSysInit(void) {

 

@@ -49,7 +53,7 @@ void chSysInit(void) {
   /*

    * Now this instructions flow becomes the idle thread.

    */

-  _InitThread(IDLEPRIO, 0, &idlethread);

+  _InitThread(ABSPRIO, 0, &idlethread);

   idlethread.p_state = PRCURR;

   currp = &idlethread;

 

diff --git a/src/chthreads.c b/src/chthreads.c
index 608dabe89..28b276db5 100644
--- a/src/chthreads.c
+++ b/src/chthreads.c
@@ -100,6 +100,27 @@ Thread *chThdCreate(t_prio prio, t_tmode mode, void *workspace,
   return tp;

 }

 

+/**

+ * Changes the thread priority, reschedules if necessary.

+ * @param newprio the new priority of the invoking thread

+ */

+void chThdSetPriority(t_prio newprio) {

+

+  chSysLock();

+

+#ifdef CH_USE_RT_SEMAPHORES

+  if (currp->p_rtcnt)

+    currp->p_prio = newprio + MEPRIO;

+  else

+    currp->p_prio = newprio;

+#else

+  currp->p_prio = newprio;

+#endif

+  chSchRescheduleI();

+

+  chSysUnlock();

+}

+

 #ifdef CH_USE_RESUME

 /**

  * Resumes a thread created with the \p P_SUSPENDED option.

diff --git a/src/include/threads.h b/src/include/threads.h
index 2ed92fa39..0440b6007 100644
--- a/src/include/threads.h
+++ b/src/include/threads.h
@@ -191,6 +191,7 @@ extern "C" {
 #endif

   Thread *chThdCreate(t_prio prio, t_tmode mode, void *workspace,

                       t_size wsize, t_tfunc pf, void *arg);

+  void chThdSetPriority(t_prio newprio);

   void chThdResume(Thread *tp);

   void chThdExit(t_msg msg);

 #ifdef CH_USE_TERMINATE

diff --git a/src/templates/chcore.c b/src/templates/chcore.c
index f39441ed5..bc8c68b90 100644
--- a/src/templates/chcore.c
+++ b/src/templates/chcore.c
@@ -33,14 +33,28 @@
 /**

  * 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.

  */

-void chSysPause(void) {}

+void chSysPause(void) {

+

+  chThdSetPriority(IDLEPRIO);

+

+  while (TRUE)

+    ;

+}

 

 /**

  * Abonormal system termination handler. Invoked by the ChibiOS/RT when an

  * abnormal unrecoverable condition is met.

  */

-void chSysHalt(void) {}

+void chSysHalt(void) {

+

+  chSysLock();

+

+  while (TRUE)

+    ;

+}

 

 /**

  * Context switch.