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-rw-r--r--docs/ch.txt15
-rw-r--r--docs/src/atomic.dox12
-rw-r--r--docs/src/interrupts.dox34
-rw-r--r--docs/src/saveram.dox25
-rw-r--r--ports/ARM7-AT91SAM7X/sam7x_emac.c2
-rw-r--r--ports/ARM7-AT91SAM7X/sam7x_serial.c4
-rw-r--r--ports/ARM7-AT91SAM7X/sam7x_serial.h4
-rw-r--r--ports/ARM7-LPC214x/lpc214x_serial.c4
-rw-r--r--ports/ARM7-LPC214x/lpc214x_serial.h4
-rw-r--r--ports/ARM7/chcore.h4
-rw-r--r--ports/ARM7/port.dox2
-rw-r--r--ports/ARMCM3-STM32F103/stm32_serial.c6
-rw-r--r--ports/ARMCM3/chcore.c2
-rw-r--r--ports/ARMCM3/chcore.h4
-rw-r--r--ports/AVR/chcore.h4
-rw-r--r--ports/MSP430/chcore.h5
-rw-r--r--readme.txt1
-rw-r--r--src/include/sys.h6
-rw-r--r--src/templates/chcore.h6
19 files changed, 87 insertions, 57 deletions
diff --git a/docs/ch.txt b/docs/ch.txt
index 5048cf5f6..70aeda6a4 100644
--- a/docs/ch.txt
+++ b/docs/ch.txt
@@ -1,12 +1,14 @@
/**
* @mainpage ChibiOS/RT
* @author Giovanni Di Sirio (gdisirio@users.sourceforge.net).
- * @section Chibi Chibi ?
- * It is the Japanese word for small as in small child. So ChibiOS/RT
- * @htmlonly (<span class="t_nihongo_kanji" xml:lang="ja" lang="ja">&#12385;&#12403;</span>OS/RT) \endhtmlonly
+ *
+ * <h2>Chibi ?</h2>
+ * I didn't want a serious name for this project. It is the Japanese word for
+ * small as in small child. So ChibiOS/RT
+ * @htmlonly (<span class="t_nihongo_kanji" xml:lang="ja" lang="ja">&#12385;&#12403;</span>OS/RT) @endhtmlonly
* means small Real Time Operating System.
* Source <a href="http://en.wikipedia.org/wiki/Chibi" target="_blank">Wikipedia</a>.
- * @section ch_features Features
+ * <h2>Features</h2>
* - Free software, GPL3 licensed.
* - Designed for realtime applications.
* - Easily portable.
@@ -49,7 +51,7 @@
* memory image.
* - Almost totally written in C with little ASM code required for ports.
*
- * Related pages:
+ * <h2>Related pages</h2>
* - @subpage Concepts
* - @subpage Articles
*/
@@ -241,6 +243,7 @@
*
* - @subpage article_atomic
* - @subpage article_saveram
+ * - @subpage article_interrupts
*/
/** @} */
@@ -491,7 +494,7 @@
* <h2>Operation Mode</h2>
* Messages are an easy to use and fast IPC mechanism, threads can both serve
* messages and send messages to other threads, the mechanism allows data to
- * be carryed in both directions. Data is not copyed between the client and
+ * be carried in both directions. Data is not copied between the client and
* server threads but just a pointer passed so the exchange is very time
* efficient.<br>
* Messages are usually processed in FIFO order but it is possible to process
diff --git a/docs/src/atomic.dox b/docs/src/atomic.dox
index 0f678448b..22601d8d9 100644
--- a/docs/src/atomic.dox
+++ b/docs/src/atomic.dox
@@ -30,16 +30,8 @@
chSemSignalI(&sem1);
chSemSignalI(&sem2);
- /*
- * The "if" is required because the chSemWaitS() does not always internally
- * reschedule.
- */
- if (chSemGetCounter(&sem3) <= 0)
- chSemWaitS(&Sem3);
- else {
- chSemFastWaitS(&sem3);
- chSchRescheduleS();
- }
+ chSemWaitS(&Sem3);
+ chSchRescheduleS(); /* Because chSemWaitS() might not reschedule internally.*/
chSysUnlock();
* @endcode
diff --git a/docs/src/interrupts.dox b/docs/src/interrupts.dox
new file mode 100644
index 000000000..8c61eaa6e
--- /dev/null
+++ b/docs/src/interrupts.dox
@@ -0,0 +1,34 @@
+/**
+ * @page article_interrupts Writing interrupt handlers under ChibiOS/RT
+ * @{
+ * Since version 1.1.0 ChbiOS/RT offers a cross-platform system for writing
+ * interrupt handlers. Port-related and compiler-related details are
+ * encapsulated within standard system macros.<br>
+ * An interrupt handler assumes the following general form:
+ * @code
+CH_IRQ_HANDLER(myIRQ) {
+ CH_IRQ_PROLOGUE();
+
+ // IRQ handling code, preemptable if the architecture supports it.
+
+ chSysLockI();
+ // Invocation of some I-Class system API, never preemptable.
+ chSysUnlockI().
+
+ // More IRQ handling code, again preemptable.
+
+ CH_IRQ_EPILOGUE();
+}
+ * @endcode
+ * Note that only interrupt handlers that have to invoke system I-Class APIs
+ * must be written in this form, handlers unrelated to the OS activity can
+ * omit the macros.
+ * Another note about the handler name "myIRQ", in some ports it must be a
+ * vector number rather than a function name, it could also be a name from
+ * within a predefined set, see the notes about the various ports.
+ * <h2>Important Notes</h2>
+ * - There is an important application note about ARM7 interrupt handlers,
+ * please read about it in the ARM7 port section: @ref ARM7_IH
+ */
+/** @} */
+ \ No newline at end of file
diff --git a/docs/src/saveram.dox b/docs/src/saveram.dox
index fec810c81..324bdb9a3 100644
--- a/docs/src/saveram.dox
+++ b/docs/src/saveram.dox
@@ -9,23 +9,21 @@
* Consider the following code:
* @code
#include <ch.h>
-
+
static WORKING_AREA(waMyThread, 64);
-
+
static t_msg MyThread(void *arg) {
-
while (!chThdShoudTerminate()) {
/* Do thread inner work */
}
return 1;
}
-
+
main() {
chSysInit();
...
- chThdCreate(NORMALPRIO, 0, waMyThread, sizeof(waMyThread), MyThread, NULL);
+ chThdCreateStatic(waMyThread, sizeof(waMyThread), NORMALPRIO, MyThread, NULL);
...
- chSysPause();
}
* @endcode
* The resulting ASM code for the thread function would be something like this:
@@ -40,23 +38,22 @@ MyThread:
* saved by modifying the code as follow, using some advanced GCC extensions:
* @code
#include <ch.h>
-
-static BYTE8 waMyThread[UserStackSize(64)];
-
-__attribute__((noreturn)) void MyThread(void *arg) {
-
+
+static WORKING_AREA(waMyThread, 64);
+
+__attribute__((noreturn))
+static void MyThread(void *arg) {
while (!chThdShoudTerminate()) {
/* Do thread inner work */
}
chThdExit(1);
}
-
+
main() {
chSysInit();
...
- chThdCreate(NORMALPRIO, 0, waMyThread, sizeof(waMyThread), (t_tfunc)MyThread, NULL);
+ chThdCreateStatic(waMyThread, sizeof(waMyThread), NORMALPRIO, MyThread, NULL);
...
- chSysPause();
}
* @endcode
* This will make GCC believe that the function cannot return and there is no
diff --git a/ports/ARM7-AT91SAM7X/sam7x_emac.c b/ports/ARM7-AT91SAM7X/sam7x_emac.c
index 05701b369..21c7808b0 100644
--- a/ports/ARM7-AT91SAM7X/sam7x_emac.c
+++ b/ports/ARM7-AT91SAM7X/sam7x_emac.c
@@ -124,7 +124,7 @@ static void ServeInterrupt(void) {
AT91C_BASE_AIC->AIC_EOICR = 0;
}
-CH_IRQ_HANDLER void EMACIrqHandler(void) {
+CH_IRQ_HANDLER(EMACIrqHandler) {
CH_IRQ_PROLOGUE();
diff --git a/ports/ARM7-AT91SAM7X/sam7x_serial.c b/ports/ARM7-AT91SAM7X/sam7x_serial.c
index 023b98527..c13701847 100644
--- a/ports/ARM7-AT91SAM7X/sam7x_serial.c
+++ b/ports/ARM7-AT91SAM7X/sam7x_serial.c
@@ -74,7 +74,7 @@ static void ServeInterrupt(AT91PS_USART u, FullDuplexDriver *com) {
AT91C_BASE_AIC->AIC_EOICR = 0;
}
-CH_IRQ_HANDLER void USART0IrqHandler(void) {
+CH_IRQ_HANDLER(USART0IrqHandler) {
CH_IRQ_PROLOGUE();
@@ -83,7 +83,7 @@ CH_IRQ_HANDLER void USART0IrqHandler(void) {
CH_IRQ_EPILOGUE();
}
-CH_IRQ_HANDLER void USART1IrqHandler(void) {
+CH_IRQ_HANDLER(USART1IrqHandler) {
CH_IRQ_PROLOGUE();
diff --git a/ports/ARM7-AT91SAM7X/sam7x_serial.h b/ports/ARM7-AT91SAM7X/sam7x_serial.h
index 4eac6e22f..f526f7840 100644
--- a/ports/ARM7-AT91SAM7X/sam7x_serial.h
+++ b/ports/ARM7-AT91SAM7X/sam7x_serial.h
@@ -30,9 +30,9 @@
extern "C" {
#endif
void InitSerial(int prio0, int prio1);
- void UART0IrqHandler(void);
- void UART1IrqHandler(void);
void SetUSARTI(AT91PS_USART u, int speed, int mode);
+ CH_IRQ_HANDLER(UART0IrqHandler);
+ CH_IRQ_HANDLER(UART1IrqHandler);
#ifdef __cplusplus
}
#endif
diff --git a/ports/ARM7-LPC214x/lpc214x_serial.c b/ports/ARM7-LPC214x/lpc214x_serial.c
index ececd30c4..527f99f59 100644
--- a/ports/ARM7-LPC214x/lpc214x_serial.c
+++ b/ports/ARM7-LPC214x/lpc214x_serial.c
@@ -109,7 +109,7 @@ static void ServeInterrupt(UART *u, FullDuplexDriver *com) {
}
}
-CH_IRQ_HANDLER void UART0IrqHandler(void) {
+CH_IRQ_HANDLER(UART0IrqHandler) {
CH_IRQ_PROLOGUE();
@@ -119,7 +119,7 @@ CH_IRQ_HANDLER void UART0IrqHandler(void) {
CH_IRQ_EPILOGUE();
}
-CH_IRQ_HANDLER void UART1IrqHandler(void) {
+CH_IRQ_HANDLER(UART1IrqHandler) {
CH_IRQ_PROLOGUE();
diff --git a/ports/ARM7-LPC214x/lpc214x_serial.h b/ports/ARM7-LPC214x/lpc214x_serial.h
index e3afda35f..d7844a49d 100644
--- a/ports/ARM7-LPC214x/lpc214x_serial.h
+++ b/ports/ARM7-LPC214x/lpc214x_serial.h
@@ -41,9 +41,9 @@
extern "C" {
#endif
void InitSerial(int vector1, int vector2);
- void UART0IrqHandler(void);
- void UART1IrqHandler(void);
void SetUARTI(UART *u, int speed, int lcr, int fcr);
+ CH_IRQ_HANDLER(UART0IrqHandler);
+ CH_IRQ_HANDLER(UART1IrqHandler);
#ifdef __cplusplus
}
#endif
diff --git a/ports/ARM7/chcore.h b/ports/ARM7/chcore.h
index 20255d652..1e99f7e16 100644
--- a/ports/ARM7/chcore.h
+++ b/ports/ARM7/chcore.h
@@ -184,9 +184,9 @@ struct context {
#endif /* !THUMB */
/**
- * IRQ handler function modifier.
+ * IRQ handler function declaration.
*/
-#define PORT_IRQ_HANDLER __attribute__((naked))
+#define PORT_IRQ_HANDLER(id) __attribute__((naked)) void id(void)
/**
* This function is empty in this port.
diff --git a/ports/ARM7/port.dox b/ports/ARM7/port.dox
index 9a9f319a6..fce2f9cd7 100644
--- a/ports/ARM7/port.dox
+++ b/ports/ARM7/port.dox
@@ -85,7 +85,7 @@
* registers.<br>
* Example:
* @code
- * CH_IRQ_HANDLER void irq_handler(void) {
+ * CH_IRQ_HANDLER(irq_handler) {
* CH_IRQ_PROLOGUE();
*
* serve_interrupt();
diff --git a/ports/ARMCM3-STM32F103/stm32_serial.c b/ports/ARMCM3-STM32F103/stm32_serial.c
index c17d7a56c..d54291b75 100644
--- a/ports/ARMCM3-STM32F103/stm32_serial.c
+++ b/ports/ARMCM3-STM32F103/stm32_serial.c
@@ -85,7 +85,7 @@ static void ServeInterrupt(USART_TypeDef *u, FullDuplexDriver *com) {
/*
* USART1 IRQ service routine.
*/
-CH_IRQ_HANDLER void VectorD4(void) {
+CH_IRQ_HANDLER(VectorD4) {
CH_IRQ_PROLOGUE();
@@ -108,7 +108,7 @@ static void OutNotify1(void) {
/*
* USART2 IRQ service routine.
*/
-CH_IRQ_HANDLER void VectorD8(void) {
+CH_IRQ_HANDLER(VectorD8) {
CH_IRQ_PROLOGUE();
@@ -131,7 +131,7 @@ static void OutNotify2(void) {
/*
* USART3 IRQ service routine.
*/
-CH_IRQ_HANDLER void VectorDC(void) {
+CH_IRQ_HANDLER(VectorDC) {
CH_IRQ_PROLOGUE();
diff --git a/ports/ARMCM3/chcore.c b/ports/ARMCM3/chcore.c
index 61741c216..91971b866 100644
--- a/ports/ARMCM3/chcore.c
+++ b/ports/ARMCM3/chcore.c
@@ -71,7 +71,7 @@ void threadstart(void) {
* This interrupt is used as system tick.
* @note The timer is initialized in the board setup code.
*/
-CH_IRQ_HANDLER void SysTickVector(void) {
+CH_IRQ_HANDLER(SysTickVector) {
CH_IRQ_PROLOGUE();
diff --git a/ports/ARMCM3/chcore.h b/ports/ARMCM3/chcore.h
index 505668698..638995f1c 100644
--- a/ports/ARMCM3/chcore.h
+++ b/ports/ARMCM3/chcore.h
@@ -207,9 +207,9 @@ struct context {
}
/**
- * IRQ handler function modifier.
+ * IRQ handler function declaration.
*/
-#define PORT_IRQ_HANDLER
+#define PORT_IRQ_HANDLER(id) void id(void)
/**
* This function is empty in this port.
diff --git a/ports/AVR/chcore.h b/ports/AVR/chcore.h
index 141255d8b..ab2d2f6d5 100644
--- a/ports/AVR/chcore.h
+++ b/ports/AVR/chcore.h
@@ -188,10 +188,10 @@ asm ("" : : : "r18", "r19", "r20", "r21", "r22", "r23", "r24", \
}
/**
- * IRQ handler function modifier. Note, it just aliases the WinAVR "ISR"
+ * IRQ handler function declaration. Note, it just aliases the WinAVR "ISR"
* macro.
*/
-#define PORT_IRQ_HANDLER ISR
+#define PORT_IRQ_HANDLER(id) ISR(id)
/**
* This function is empty in this port.
diff --git a/ports/MSP430/chcore.h b/ports/MSP430/chcore.h
index 08240835a..ee184be53 100644
--- a/ports/MSP430/chcore.h
+++ b/ports/MSP430/chcore.h
@@ -155,10 +155,9 @@ struct context {
}
/**
- * IRQ handler function modifier. Note, it just aliases the WinMSP "interrupt"
- * macro.
+ * IRQ handler function modifier.
*/
-#define PORT_IRQ_HANDLER interrupt
+#define PORT_IRQ_HANDLER(id) interrupt void id(void)
/**
* This function is empty in this port.
diff --git a/readme.txt b/readme.txt
index 422dd426f..4e95317ea 100644
--- a/readme.txt
+++ b/readme.txt
@@ -87,6 +87,7 @@ Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process,
- Huge improvements to the ports documentation.
- Articles and notes previously in the wiki now merged in the general
documentation, the wiki entries are obsolete and will be removed.
+- New application notes and articles added.
*** 1.0.0rc2 ***
- FIX: Removed unused variable "retaddr" from the Cortex-M3 port.
diff --git a/src/include/sys.h b/src/include/sys.h
index 29f049f47..0e08452d9 100644
--- a/src/include/sys.h
+++ b/src/include/sys.h
@@ -156,9 +156,11 @@
#define CH_IRQ_EPILOGUE() PORT_IRQ_EPILOGUE()
/**
- * Standard modifier for IRQ handler functions.
+ * Standard IRQ handler declaration.
+ * @note @p id can be a function name or a vector number depending on the
+ * port implementation.
*/
-#define CH_IRQ_HANDLER PORT_IRQ_HANDLER
+#define CH_IRQ_HANDLER(id) PORT_IRQ_HANDLER(id)
#ifdef __cplusplus
extern "C" {
diff --git a/src/templates/chcore.h b/src/templates/chcore.h
index 7c3fe4f0d..97f3f05e7 100644
--- a/src/templates/chcore.h
+++ b/src/templates/chcore.h
@@ -122,9 +122,11 @@ struct context {
#define PORT_IRQ_EPILOGUE()
/**
- * IRQ handler function modifier.
+ * IRQ handler function declaration.
+ * @note @p id can be a function name or a vector number depending on the
+ * port implementation.
*/
-#define PORT_IRQ_HANDLER
+#define PORT_IRQ_HANDLER(id) void id(void)
#ifdef __cplusplus
extern "C" {
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-10 09:54:40 +0000