diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/chsys.c | 32 | ||||
| -rw-r--r-- | src/include/sys.h | 127 | ||||
| -rw-r--r-- | src/templates/chcore.c | 66 | ||||
| -rw-r--r-- | src/templates/chcore.h | 10 |
4 files changed, 120 insertions, 115 deletions
diff --git a/src/chsys.c b/src/chsys.c index 45ce8b0f8..2f4c796a8 100644 --- a/src/chsys.c +++ b/src/chsys.c @@ -52,6 +52,7 @@ static void idle_thread(void *p) { void chSysInit(void) { static Thread mainthread; + sys_init(); chSchInit(); chDbgInit(); chVTInit(); @@ -94,37 +95,20 @@ void chSysTimerHandlerI(void) { chVTDoTickI(); } -#if !defined(CH_OPTIMIZE_SPEED) -/** - * Enters the ChibiOS/RT system mutual exclusion zone. - * @note The use of system mutual exclusion zone is not recommended in - * the user code, it is a better idea to use the semaphores or mutexes - * instead. - * @note The code of this API is may be inlined or not depending on the - * @p CH_OPTIMIZE_SPEED setting. - * @see CH_USE_NESTED_LOCKS, chSysLockInline() - */ +#if defined(CH_USE_NESTED_LOCKS) && !defined(CH_OPTIMIZE_SPEED) void chSysLock(void) { - chSysLockInline(); + chDbgAssert(currp->p_locks >= 0, "chinit.c, chSysLock()"); + if (currp->p_locks++ == 0) + sys_lock(); } -/** - * Leaves the ChibiOS/RT system mutual exclusion zone. - * @note The use of system mutual exclusion zone is not recommended in - * the user code, it is a better idea to use the semaphores or mutexes - * instead. - * @note The code of this API is may be inlined or not depending on the - * @p CH_OPTIMIZE_SPEED setting. - * @see CH_USE_NESTED_LOCKS, chSysUnlockInline() - */ void chSysUnlock(void) { -#ifdef CH_USE_NESTED_LOCKS chDbgAssert(currp->p_locks > 0, "chinit.c, chSysUnlock()"); -#endif - chSysUnlockInline(); + if (--currp->p_locks == 0) + sys_unlock(); } -#endif /* !CH_OPTIMIZE_SPEED */ +#endif /* defined(CH_USE_NESTED_LOCKS) && !defined(CH_OPTIMIZE_SPEED) */ /** @} */ diff --git a/src/include/sys.h b/src/include/sys.h index 5acc863f2..ae38a5639 100644 --- a/src/include/sys.h +++ b/src/include/sys.h @@ -50,36 +50,74 @@ #define chSysSwitchI(otp, ntp) sys_switch(otp, ntp)
/**
- * Lowers the system interrupt priority mask to user level.
- * @note The implementation is architecture dependent, it may just enable the
- * interrupts.
- * @note This API is normally invoked only from within @p chSysInit(). - * @note The use of this API is <b>not</b> an alternative to @p chSysUnlock().
+ * Raises the system interrupt priority mask to the maximum level.
+ * All the maskable interrupt sources are disabled regardless their hardware
+ * priority.
+ * @note The implementation is architecture dependent, it may just disable the
+ * interrupts or be exactly equivalent to @p chSysDisable().
+ * @note Do not invoke this API from within a kernel lock.
*/
-#define chSysEnable() sys_enable()
+#define chSysDisableAll() sys_disable_all()
/**
* Raises the system interrupt priority mask to system level.
+ * The interrupt sources that should not be able to preempt the kernel are
+ * disabled, interrupt sources with higher priority are still enabled.
* @note The implementation is architecture dependent, it may just disable the
* interrupts.
- * @note This API should only be invoked from the main thread in order to stop
- * ChibiOS/RT, hardware de/re-initialization should follow. It would then
- * be possible to re-initialize ChibiOS/RT using @p chSysInit().
- * @note The use of this API is <b>not</b> an alternative to @p chSysLock().
+ * @note Do not invoke this API from within a kernel lock.
+ * @note This API is no replacement for @p chSysLock(), the @p chSysLock()
+ * could do more than just disable the interrupts.
*/
#define chSysDisable() sys_disable()
/**
- * Raises the system interrupt priority mask to the maximum level thus disabling
- * any mask-able interrupt source..
- * @note The implementation is architecture dependent, it may just disable the
- * interrupts or be exactly equivalent to @p chSysDisable().
+ * Lowers the system interrupt priority mask to user level.
+ * All the interrupt sources are enabled.
+ * @note The implementation is architecture dependent, it may just enable the
+ * interrupts.
+ * @note Do not invoke this API from within a kernel lock.
+ * @note This API is no replacement for @p chSysUnlock(), the @p chSysUnlock()
+ * could do more than just enable the interrupts.
*/
-#define chSysDisableAll() sys_disable_all()
+#define chSysEnable() sys_enable()
/**
- * Enters the ChibiOS/RT system mutual exclusion zone from within an interrupt
- * handler.
+ * Enters the kernel lock mode.
+ * @note The use of kernel lock mode is not recommended in the user code, it is
+ * a better idea to use the semaphores or mutexes instead.
+ * @see CH_USE_NESTED_LOCKS
+ */
+#if defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
+#if defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
+#define chSysLock() { \
+ if (currp->p_locks++ == 0) \
+ sys_lock(); \
+}
+#endif /* defined(CH_OPTIMIZE_SPEED) */
+#else /* !defined(CH_USE_NESTED_LOCKS) */
+#define chSysLock() sys_lock()
+#endif /* !defined(CH_USE_NESTED_LOCKS) */
+
+/**
+ * Leaves the kernel lock mode.
+ * @note The use of kernel lock mode is not recommended in the user code, it is
+ * a better idea to use the semaphores or mutexes instead.
+ * @see CH_USE_NESTED_LOCKS
+ */
+#if defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
+#if defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
+#define chSysUnlock() { \
+ if (--currp->p_locks == 0) \
+ sys_unlock(); \
+}
+#endif /* defined(CH_OPTIMIZE_SPEED) */
+#else /* !defined(CH_USE_NESTED_LOCKS) */
+#define chSysUnlock() sys_unlock()
+#endif /* !defined(CH_USE_NESTED_LOCKS) */
+
+/**
+ * Enters the kernel lock mode from within an interrupt handler.
* @note This API may do nothing on some architectures, it is required because
* on ports that support preemptable interrupt handlers it is required to
* raise the interrupt mask to the same level of the system mutual
@@ -88,11 +126,10 @@ * syscall from an interrupt handler.
* @note This API must be invoked exclusively from interrupt handlers.
*/
-#define chSysLockI() sys_disable_from_isr()
+#define chSysLockI() sys_lock_from_isr()
/**
- * Leaves the ChibiOS/RT system mutual exclusion zone from within an interrupt
- * handler.
+ * Leaves the kernel lock mode from within an interrupt handler.
* @note This API may do nothing on some architectures, it is required because
* on ports that support preemptable interrupt handlers it is required to
* raise the interrupt mask to the same level of the system mutual
@@ -101,47 +138,7 @@ * syscall from an interrupt handler.
* @note This API must be invoked exclusively from interrupt handlers.
*/
-#define chSysUnlockI() sys_enable_from_isr()
-
-#if defined(CH_USE_NESTED_LOCKS) || defined(_DOXYGEN_)
-/**
- * Enters the ChibiOS/RT system mutual exclusion zone.
- * @note The use of system mutual exclusion zone is not recommended in
- * the user code, it is a better idea to use the semaphores or mutexes
- * instead.
- * @note The code of this API is always inlined regardless the
- * @p CH_OPTIMIZE_SPEED setting. This function is meant to be used in
- * places where the performance is always preferred.
- * @see CH_USE_NESTED_LOCKS
- */
-#define chSysLockInline() { \
- if (currp->p_locks == 0) { \
- currp->p_locks++; \
- sys_disable(); \
- } \
-}
-
-/**
- * Leaves the ChibiOS/RT system mutual exclusion zone.
- * @note The use of system mutual exclusion zone is not recommended in
- * the user code, it is a better idea to use the semaphores or mutexes
- * instead.
- * @note The code of this API is always inlined regardless the
- * @p CH_OPTIMIZE_SPEED setting. This function is meant to be used in
- * places where the performance is always preferred.
- * @see CH_USE_NESTED_LOCKS
- */
-#define chSysUnlockInline() { \
- if (--currp->p_locks == 0) \
- sys_enable(); \
-}
-
-#else /* defined(CH_USE_NESTED_LOCKS) || defined(_DOXYGEN_) */
-
-#define chSysLockInline() sys_disable()
-#define chSysUnlockInline() sys_enable()
-
-#endif /* !defined(CH_USE_NESTED_LOCKS) && !defined(_DOXYGEN_) */
+#define chSysUnlockI() sys_unlock_from_isr()
/**
* IRQ handler enter code.
@@ -163,14 +160,6 @@ */
#define CH_IRQ_HANDLER SYS_IRQ_HANDLER
-/*
- * Inlined code when CH_OPTIMIZE_SPEED is defined. - */
-#if defined(CH_OPTIMIZE_SPEED)
-#define chSysLock() chSysLockInline()
-#define chSysUnlock() chSysUnlockInline()
-#endif /* defined(CH_OPTIMIZE_SPEED) */
-
#ifdef __cplusplus
extern "C" {
#endif
diff --git a/src/templates/chcore.c b/src/templates/chcore.c index 65d8e155d..84f0b7418 100644 --- a/src/templates/chcore.c +++ b/src/templates/chcore.c @@ -32,38 +32,32 @@ */
/**
- * Prints a message on the system console. - * @param msg pointer to the message + * Port-related initialization code.
+ * @note This function is usually empty. */
-void sys_puts(char *msg) {
-}
-
-/**
- * Performs a context switch between two threads.
- * @param otp the thread to be switched out
- * @param ntp the thread to be switched in - */
-void sys_switch(Thread *otp, Thread *ntp) {
+void sys_init(void){
}
/**
- * Kernel-unlock action. Usually this function just enables interrupts. + * Kernel-unlock action. Usually this function just disables interrupts but
+ * may perform more actions. */
-void sys_enable(void) {
+void sys_lock(void) {
}
/**
- * Kernel-lock action. Usually this function just disables interrupts.
+ * Kernel-unlock action. Usually this function just disables interrupts but
+ * may perform more actions.
*/
-void sys_disable(void) {
+void sys_unlock(void) {
}
/**
* Kernel-lock action from an interrupt handler. This function is invoked
* before invoking I-class APIs from interrupt handlers. The implementation
- * is architecture dependent, in its simplest form it is void. + * is architecture dependent, in its simplest form it is void.
*/
-void sys_disable_from_isr(void) {
+void sys_lock_from_isr(void) {
}
/**
@@ -71,7 +65,26 @@ void sys_disable_from_isr(void) { * after invoking I-class APIs from interrupt handlers. The implementation
* is architecture dependent, in its simplest form it is void.
*/
-void sys_enable_from_isr(void) {
+void sys_unlock_from_isr(void) {
+}
+
+/**
+ * Disables all the interrupt sources.
+ * @note Of course non maskable interrupt sources are not included. + */
+void sys_disable_all() {
+}
+
+/**
+ * Disables the interrupt sources that are not supposed to preempt the kernel. + */
+void sys_disable(void) {
+}
+
+/**
+ * Enables all the interrupt sources. + */
+void sys_enable(void) {
}
/**
@@ -90,9 +103,24 @@ void sys_wait_for_interrupt(void) { */
void sys_halt(void) {
- sys_disable();
+ sys_disable_all();
while (TRUE) {
}
}
+/**
+ * Performs a context switch between two threads.
+ * @param otp the thread to be switched out
+ * @param ntp the thread to be switched in
+ */
+void sys_switch(Thread *otp, Thread *ntp) {
+}
+
+/**
+ * Prints a message on the system console.
+ * @param msg pointer to the message
+ */
+void sys_puts(char *msg) {
+}
+
/** @} */
diff --git a/src/templates/chcore.h b/src/templates/chcore.h index d8d3614c8..dec2deee7 100644 --- a/src/templates/chcore.h +++ b/src/templates/chcore.h @@ -129,14 +129,18 @@ typedef struct { #ifdef __cplusplus
extern "C" {
#endif
- void sys_puts(char *msg);
- void sys_switch(Thread *otp, Thread *ntp);
- void sys_enable(void);
+ void sys_init(void);
+ void sys_disable_all(void);
void sys_disable(void);
+ void sys_enable(void);
+ void sys_lock(void);
+ void sys_unlock(void);
void sys_disable_from_isr(void);
void sys_enable_from_isr(void);
void sys_wait_for_interrupt(void);
void sys_halt(void);
+ void sys_switch(Thread *otp, Thread *ntp);
+ void sys_puts(char *msg);
#ifdef __cplusplus
}
#endif
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