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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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 <http://www.gnu.org/licenses/>.
*/
/**
* @file chsys.h
* @brief System related macros and structures.
*
* @addtogroup system
* @{
*/
#ifndef _CHSYS_H_
#define _CHSYS_H_
/**
* @brief Returns a pointer to the idle thread.
* @note The reference counter of the idle thread is not incremented but
* it is not strictly required being the idle thread a static
* object.
*
* @return Pointer to the idle thread,
*/
#define chSysGetIdleThread() ((Thread *)_idle_thread_wa)
/**
* @brief Halts the system.
* @details This function is invoked by the operating system when an
* unrecoverable error is detected, as example because a programming
* error in the application code that triggers an assertion while
* in debug mode.
*/
#if !defined(SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
#define chSysHalt() port_halt()
#else
#define chSysHalt() { \
SYSTEM_HALT_HOOK(); \
port_halt(); \
}
#endif
/**
* @brief Performs a context switch.
*
* @param[in] ntp the thread to be switched in
* @param[in] otp the thread to be switched out
*/
#define chSysSwitchI(ntp, otp) port_switch(ntp, otp)
/**
* @brief Raises the system interrupt priority mask to the maximum level.
* @details 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 chSysDisable() port_disable()
/**
* @brief Raises the system interrupt priority mask to system level.
* @details 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 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 chSysSuspend() port_suspend()
/**
* @brief Lowers the system interrupt priority mask to user level.
* @details 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 chSysEnable() port_enable()
/**
* @brief 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 CH_USE_NESTED_LOCKS || defined(__DOXYGEN__)
#if CH_OPTIMIZE_SPEED || defined(__DOXYGEN__)
#define chSysLock() { \
if (currp->p_locks++ == 0) \
port_lock(); \
}
#endif /* CH_OPTIMIZE_SPEED */
#else /* !CH_USE_NESTED_LOCKS */
#define chSysLock() port_lock()
#endif /* !CH_USE_NESTED_LOCKS */
/**
* @brief 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 CH_USE_NESTED_LOCKS || defined(__DOXYGEN__)
#if CH_OPTIMIZE_SPEED || defined(__DOXYGEN__)
#define chSysUnlock() { \
if (--currp->p_locks == 0) \
port_unlock(); \
}
#endif /* CH_OPTIMIZE_SPEED */
#else /* !CH_USE_NESTED_LOCKS */
#define chSysUnlock() port_unlock()
#endif /* !CH_USE_NESTED_LOCKS */
/**
* @brief 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 exclusion zone.<br>
* It is good practice to invoke this API before invoking any I-class
* syscall from an interrupt handler.
* @note This API must be invoked exclusively from interrupt handlers.
*/
#define chSysLockFromIsr() port_lock_from_isr()
/**
* @brief 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 exclusion zone.<br>
* It is good practice to invoke this API after invoking any I-class
* syscall from an interrupt handler.
* @note This API must be invoked exclusively from interrupt handlers.
*/
#define chSysUnlockFromIsr() port_unlock_from_isr()
/**
* @brief IRQ handler enter code.
* @note Usually IRQ handlers functions are also declared naked.
* @note On some architectures this macro can be empty.
*/
#define CH_IRQ_PROLOGUE() PORT_IRQ_PROLOGUE()
/**
* @brief IRQ handler exit code.
* @note Usually IRQ handlers function are also declared naked.
* @note This macro usually performs the final reschedule by using
* @p chSchRescRequiredI() and @p chSchDoRescheduleI().
*/
#define CH_IRQ_EPILOGUE() PORT_IRQ_EPILOGUE()
/**
* @brief Standard normal IRQ handler declaration.
* @note @p id can be a function name or a vector number depending on the
* port implementation.
*/
#define CH_IRQ_HANDLER(id) PORT_IRQ_HANDLER(id)
/**
* @brief Standard fast IRQ handler declaration.
* @note @p id can be a function name or a vector number depending on the
* port implementation.
* @note Not all architectures support fast interrupts.
*/
#define CH_FAST_IRQ_HANDLER(id) PORT_FAST_IRQ_HANDLER(id)
#ifdef __cplusplus
extern "C" {
#endif
void chSysInit(void);
void chSysTimerHandlerI(void);
#if CH_USE_NESTED_LOCKS && !CH_OPTIMIZE_SPEED
void chSysLock(void);
void chSysUnlock(void);
#endif /* CH_USE_NESTED_LOCKS && !CH_OPTIMIZE_SPEED */
#ifdef __cplusplus
}
#endif
#endif /* _CHSYS_H_ */
/** @} */
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