/* ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, 2011 Giovanni Di Sirio. This file is part of ChibiOS/RT. ChibiOS/RT is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version. ChibiOS/RT is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /** * @page concepts Kernel Concepts * @brief ChibiOS/RT Kernel Concepts * - @ref naming * - @ref api_suffixes * - @ref interrupt_classes * - @ref system_states * - @ref scheduling * - @ref thread_states * - @ref priority * - @ref warea * . * @section naming Naming Conventions * ChibiOS/RT APIs are all named following this convention: * @a ch\\\(). * The possible groups are: @a Sys, @a Sch, @a Time, @a VT, @a Thd, @a Sem, * @a Mtx, @a Cond, @a Evt, @a Msg, @a Reg, @a SequentialStream, @a IO, @a IQ, * @a OQ, @a Dbg, @a Core, @a Heap, @a Pool. * * @section api_suffixes API Name Suffixes * The suffix can be one of the following: * - None, APIs without any suffix can be invoked only from the user * code in the Normal state unless differently specified. See * @ref system_states. * - @anchor I-Class "I", I-Class APIs are invokable only from the * I-Locked or S-Locked states. See @ref system_states. * - @anchor S-Class "S", S-Class APIs are invokable only from the * S-Locked state. See @ref system_states. * . * Examples: @p chThdCreateStatic(), @p chSemSignalI(), @p chIQGetTimeout(). * * @section interrupt_classes Interrupt Classes * In ChibiOS/RT there are three logical interrupt classes: * - Regular Interrupts. Maskable interrupt sources that cannot * preempt (small parts of) the kernel code and are thus able to invoke * operating system APIs from within their handlers. The interrupt handlers * belonging to this class must be written following some rules. See the * @ref system APIs group and the web article * * How to write interrupt handlers. * - Fast Interrupts. Maskable interrupt sources with the ability * to preempt the kernel code and thus have a lower latency and are less * subject to jitter, see the web article * * Response Time and Jitter. * Such sources are not supported on all the architectures.
* Fast interrupts are not allowed to invoke any operating system API from * within their handlers. Fast interrupt sources may, however, pend a lower * priority regular interrupt where access to the operating system is * possible. * - Non Maskable Interrupts. Non maskable interrupt sources are * totally out of the operating system control and have the lowest latency. * Such sources are not supported on all the architectures. * . * The mapping of the above logical classes into physical interrupts priorities * is, of course, port dependent. See the documentation of the various ports * for details. * * @section system_states System States * When using ChibiOS/RT the system can be in one of the following logical * operating states: * - Init. When the system is in this state all the maskable * interrupt sources are disabled. In this state it is not possible to use * any system API except @p chSysInit(). This state is entered after a * physical reset. * - Normal. All the interrupt sources are enabled and the system APIs * are accessible, threads are running. * - Suspended. In this state the fast interrupt sources are enabled but * the regular interrupt sources are not. In this state it is not possible * to use any system API except @p chSysDisable() or @p chSysEnable() in * order to change state. * - Disabled. When the system is in this state both the maskable * regular and fast interrupt sources are disabled. In this state it is not * possible to use any system API except @p chSysSuspend() or * @p chSysEnable() in order to change state. * - Sleep. Architecture-dependent low power mode, the idle thread * goes in this state and waits for interrupts, after servicing the interrupt * the Normal state is restored and the scheduler has a chance to reschedule. * - S-Locked. Kernel locked and regular interrupt sources disabled. * Fast interrupt sources are enabled. @ref S-Class and @ref I-Class APIs are * invokable in this state. * - I-Locked. Kernel locked and regular interrupt sources disabled. * @ref I-Class APIs are invokable from this state. * - Serving Regular Interrupt. No system APIs are accessible but it is * possible to switch to the I-Locked state using @p chSysLockFromIsr() and * then invoke any @ref I-Class API. Interrupt handlers can be preemptable on * some architectures thus is important to switch to I-Locked state before * invoking system APIs. * - Serving Fast Interrupt. System APIs are not accessible. * - Serving Non-Maskable Interrupt. System APIs are not accessible. * - Halted. All interrupt sources are disabled and system stopped into * an infinite loop. This state can be reached if the debug mode is activated * and an error is detected or after explicitly invoking * @p chSysHalt(). * . * Note that the above states are just Logical States that may have no * real associated machine state on some architectures. The following diagram * shows the possible transitions between the states: * * @if LATEX_PDF * @dot digraph example { size="5, 7"; rankdir="LR"; node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"]; edge [fontname=Helvetica, fontsize=8]; init [label="Init", style="bold"]; norm [label="Normal", shape=doublecircle]; susp [label="Suspended"]; disab [label="Disabled"]; slock [label="S-Locked"]; ilock [label="I-Locked"]; slock [label="S-Locked"]; sleep [label="Sleep"]; sri [label="SRI"]; init -> norm [label="chSysInit()"]; norm -> slock [label="chSysLock()", constraint=false]; slock -> norm [label="chSysUnlock()"]; norm -> susp [label="chSysSuspend()"]; susp -> disab [label="chSysDisable()"]; norm -> disab [label="chSysDisable()"]; susp -> norm [label="chSysEnable()"]; disab -> norm [label="chSysEnable()"]; disab -> susp [label="chSysSuspend()"]; slock -> ilock [label="Context Switch", dir="both"]; norm -> sri [label="Regular IRQ", style="dotted"]; sri -> norm [label="Regular IRQ return", fontname=Helvetica, fontsize=8]; sri -> ilock [label="chSysLockFromIsr()", constraint=false]; ilock -> sri [label="chSysUnlockFromIsr()", fontsize=8]; norm -> sleep [label="Idle Thread"]; sleep -> sri [label="Regular IRQ", style="dotted"]; } * @enddot * @else * @dot digraph example { rankdir="LR"; node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"]; edge [fontname=Helvetica, fontsize=8]; init [label="Init", style="bold"]; norm [label="Normal", shape=doublecircle]; susp [label="Suspended"]; disab [label="Disabled"]; slock [label="S-Locked"]; ilock [label="I-Locked"]; slock [label="S-Locked"]; sleep [label="Sleep"]; sri [label="SRI"]; init -> norm [label="chSysInit()"]; norm -> slock [label="chSysLock()", constraint=false]; slock -> norm [label="chSysUnlock()"]; norm -> susp [label="chSysSuspend()"]; susp -> disab [label="chSysDisable()"]; norm -> disab [label="chSysDisable()"]; susp -> norm [label="chSysEnable()"]; disab -> norm [label="chSysEnable()"]; disab -> susp [label="chSysSuspend()"]; slock -> ilock [label="Context Switch", dir="both"]; norm -> sri [label="Regular IRQ", style="dotted"]; sri -> norm [label="Regular IRQ return", fontname=Helvetica, fontsize=8]; sri -> ilock [label="chSysLockFromIsr()", constraint=false]; ilock -> sri [label="chSysUnlockFromIsr()", fontsize=8]; norm -> sleep [label="Idle Thread"]; sleep -> sri [label="Regular IRQ", style="dotted"]; } * @enddot * @endif * Note, the SFI, Halted and SNMI states were not shown * because those are reachable from most states: * * @dot digraph example { size="5, 7"; rankdir="LR"; node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"]; edge [fontname=Helvetica, fontsize=8]; any1 [label="Any State\nexcept *"]; sfi [label="SFI"]; any1 -> sfi [style="dotted", label="Fast IRQ"]; sfi -> any1 [label="Fast IRQ return"]; } * @enddot * @dot digraph example { size="5, 7"; rankdir="LR"; node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"]; edge [fontname=Helvetica, fontsize=8]; any2 [label="Any State"]; halt [label="Halted"]; SNMI [label="SNMI"]; any2 -> halt [label="chSysHalt()"]; any2 -> SNMI [label="Synchronous NMI"]; any2 -> SNMI [label="Asynchronous NMI", style="dotted"]; SNMI -> any2 [label="NMI return"]; halt -> SNMI [label="Asynchronous NMI", style="dotted"]; SNMI -> halt [label="NMI return"]; } * @enddot * @attention * except: Init, Halt, SNMI, Disabled. * * @section scheduling Scheduling * The strategy is very simple the currently ready thread with the highest * priority is executed. If more than one thread with equal priority are * eligible for execution then they are executed in a round-robin way, the * CPU time slice constant is configurable. The ready list is a double linked * list of threads ordered by priority.

* @if LATEX_PDF * @dot digraph example { size="5, 7"; rankdir="LR"; node [shape=square, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.6", height="0.5"]; edge [fontname=Helvetica, fontsize=8]; subgraph cluster_running { node [shape=square, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.6", height="0.5"]; currp [label="'currp'\npointer", style="bold"]; T4 [label="Tuser(4)\nprio=100"]; label = "Currently Running Thread"; penwidth = 0; } subgraph cluster_rlist { node [shape=square, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.6", height="0.5"]; rh [label="ready list\nheader\nprio=0", style="bold"]; Ti [label="Tidle\nprio=1"]; Tm [label="Tmain\nprio=64"]; T1 [label="Tuser(1)\nprio=32"]; T2 [label="Tuser(2)\nprio=32"]; T3 [label="Tuser(3)\nprio=80"]; label = "Threads Ready for Execution"; penwidth = 0; } currp -> T4 rh -> Ti -> T1 -> T2 -> Tm -> T3 -> rh [label="p_next"]; rh -> T3 -> Tm -> T2 -> T1 -> Ti -> rh [label="p_prev"]; } * @enddot * @else * @dot digraph example { rankdir="LR"; node [shape=square, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.6", height="0.5"]; edge [fontname=Helvetica, fontsize=8]; subgraph cluster_running { node [shape=square, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.6", height="0.5"]; currp [label="'currp'\npointer", style="bold"]; T4 [label="Tuser(4)\nprio=100"]; label = "Currently Running Thread"; penwidth = 0; } subgraph cluster_rlist { node [shape=square, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.6", height="0.5"]; rh [label="ready list\nheader\nprio=0", style="bold"]; Ti [label="Tidle\nprio=1"]; Tm [label="Tmain\nprio=64"]; T1 [label="Tuser(1)\nprio=32"]; T2 [label="Tuser(2)\nprio=32"]; T3 [label="Tuser(3)\nprio=80"]; label = "Threads Ready for Execution"; penwidth = 0; } currp -> T4 rh -> Ti -> T1 -> T2 -> Tm -> T3 -> rh [label="p_next"]; rh -> T3 -> Tm -> T2 -> T1 -> Ti -> rh [label="p_prev"]; } * @enddot * @endif *
* Note that the currently running thread is not in the ready list, the list * only contains the threads ready to be executed but still actually waiting. * * @section thread_states Thread States * The image shows how threads can change their state in ChibiOS/RT.
* @if LATEX_PDF * @dot digraph example { rankdir="LR"; node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"]; size="5, 7"; edge [fontname=Helvetica, fontsize=8]; start [label="Start", style="bold"]; run [label="Running"]; ready [label="Ready"]; suspend [label="Suspended"]; sleep [label="Sleeping"]; stop [label="Stop", style="bold"]; start -> suspend [label="\n chThdCreateI()", constraint=false, dir=back]; start -> run [label="chThdCreate()"]; start -> ready [label="chThdCreate()"]; run -> ready [label="Reschedule", dir="both"]; suspend -> run [label="chThdResume()"]; suspend -> ready [label="chThdResume()"]; run -> sleep [label="chSchGoSleepS()"]; sleep -> run [label="chSchWakepuS()"]; sleep -> ready [label="chSchWakepuS()"]; run -> stop [label="chThdExit()"]; } * @enddot * @else * @dot digraph example { rankdir="LR"; node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"]; edge [fontname=Helvetica, fontsize=8]; start [label="Start", style="bold"]; run [label="Running"]; ready [label="Ready"]; suspend [label="Suspended"]; sleep [label="Sleeping"]; stop [label="Stop", style="bold"]; start -> suspend [label="\n chThdCreateI()", constraint=false, dir=back]; start -> run [label="chThdCreate()"]; start -> ready [label="chThdCreate()"]; run -> ready [label="Reschedule", dir="both"]; suspend -> run [label="chThdResume()"]; suspend -> ready [label="chThdResume()"]; run -> sleep [label="chSchGoSleepS()"]; sleep -> run [label="chSchWakepuS()"]; sleep -> ready [label="chSchWakepuS()"]; run -> stop [label="chThdExit()"]; } * @enddot * @endif * * @section priority Priority Levels * Priorities in ChibiOS/RT are a contiguous numerical range but the initial * and final values are not enforced.
* The following table describes the various priority boundaries (from lowest * to highest): * - @p IDLEPRIO, this is the lowest priority level and is reserved for the * idle thread, no other threads should share this priority level. This is * the lowest numerical value of the priorities space. * - @p LOWPRIO, the lowest priority level that can be assigned to an user * thread. * - @p NORMALPRIO, this is the central priority level for user threads. It is * advisable to assign priorities to threads as values relative to * @p NORMALPRIO, as example NORMALPRIO-1 or NORMALPRIO+4, this ensures the * portability of code should the numerical range change in future * implementations. * - @p HIGHPRIO, the highest priority level that can be assigned to an user * thread. * - @p ABSPRO, absolute maximum software priority level, it can be higher than * @p HIGHPRIO but the numerical values above @p HIGHPRIO up to @p ABSPRIO * (inclusive) are reserved. This is the highest numerical value of the * priorities space. * . * @section warea Thread Working Area * Each thread has its own stack, a Thread structure and some preemption * areas. All the structures are allocated into a "Thread Working Area", * a thread private heap, usually statically declared in your code. * Threads do not use any memory outside the allocated working area * except when accessing static shared data.

* @if LATEX_PDF * @image latex workspace.eps * @else * @image html workspace.png * @endif *
* Note that the preemption area is only present when the thread is not * running (switched out), the context switching is done by pushing the * registers on the stack of the switched-out thread and popping the registers * of the switched-in thread from its stack. * The preemption area can be divided in up to three structures: * - External Context. * - Interrupt Stack. * - Internal Context. * . * See the port documentation for details, the area may change on * the various ports and some structures may not be present (or be zero-sized). */