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/*
ChibiOS/RT - Copyright (C) 2006-2007 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/>.
*/
/**
* @addtogroup Initialization
* @{
*/
#include <ch.h>
/**
* ChibiOS/RT initialization. After executing this function the current
* instructions stream becomes the main thread.
* @note Interrupts should be still disabled when \p chSysInit() is invoked
* and are internally enabled.
* @note The main thread is created with priority \p NORMALPRIO.
*/
void chSysInit(void) {
static Thread mainthread;
static WorkingArea(waIdleThread, IDLE_THREAD_STACK_SIZE);
chSchInit();
chDbgInit();
#ifdef CH_USE_VIRTUAL_TIMERS
chVTInit();
#endif
/*
* Now this instructions flow becomes the main thread.
*/
_InitThread(NORMALPRIO, 0, &mainthread);
mainthread.p_state = PRCURR;
currp = &mainthread;
chSysUnlock();
/*
* The idle thread is created using the port-provided implementation.
* This thread has the lowest priority in the system, its role is just to
* serve interrupts in its context while keeping the lowest energy saving
* mode compatible with the system status.
*/
chThdCreate(IDLEPRIO, 0, waIdleThread, sizeof(waIdleThread), (t_tfunc)_IdleThread, NULL);
}
/**
* Preemption routine, this function must be called into an interrupt
* handler invoked by a system timer.
* The frequency of the timer determines the system tick granularity and,
* together with the \p CH_TIME_QUANTUM macro, the round robin interval.
*/
void chSysTimerHandlerI(void) {
rlist.r_preempt--;
#ifdef CH_USE_SYSTEMTIME
rlist.r_stime++;
#endif
#ifdef CH_USE_VIRTUAL_TIMERS
chVTDoTickI();
#endif
}
/** @} */
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