From 00c6f5ea40f97385dce7ab7b9d20bc0cb909ad23 Mon Sep 17 00:00:00 2001
From: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>
Date: Sat, 6 Oct 2007 09:53:07 +0000
Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@40
 35acf78f-673a-0410-8e92-d51de3d6d3f4

---
 src/chinit.c           | 10 +++++++---
 src/chthreads.c        | 21 +++++++++++++++++++++
 src/include/threads.h  |  1 +
 src/templates/chcore.c | 18 ++++++++++++++++--
 4 files changed, 45 insertions(+), 5 deletions(-)

(limited to 'src')

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.
-- 
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