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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 System
* @{
*/
#ifndef _SYS_H_
#define _SYS_H_
/**
* Prints a message on the system console (if any).
* @param msg the message to be printed on the system console
*/
#define chSysPuts(msg) sys_puts(msg)
/**
* Performs a context switch.
* This is the most critical code in any port, this function is responsible
* for the context switch between 2 threads.
* @param otp the thread to be switched out
* @param ntp the thread to be switched in
* @note The implementation of this code affects <b>directly</b> the context
* switch performance so optimize here as much as you can.
*/
#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().
*/
#define chSysEnable() sys_enable()
/**
* Raises the system interrupt priority mask to system level.
* @note The implementation is architecture dependent, it may just enable 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().
*/
#define chSysDisable() sys_disable()
/**
* Enters the ChibiOS/RT system mutual exclusion zone 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 chSysLockI() sys_disable_from_isr()
/**
* Leaves the ChibiOS/RT system mutual exclusion zone 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 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_) */
/**
* IRQ handler enter code.
* @note Usually IRQ handlers functions are also declared naked.
* @note On some architectures this macro can be empty.
*/
#define chSysIRQEnterI() SYS_IRQ_PROLOGUE()
/**
* IRQ handler exit code.
* @note Usually IRQ handlers function are also declared naked.
* @note This macro usually performs the final reschedulation by using
* \p chSchRescRequiredI() and \p chSchDoRescheduleI().
*/
#define chSysIRQExitI() SYS_IRQ_EPILOGUE()
/**
* Standard modifier for IRQ handler functions.
*/
#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
void chSysInit(void);
void chSysTimerHandlerI(void);
void chSysHalt(void);
#if !defined(CH_OPTIMIZE_SPEED)
void chSysLock(void);
void chSysUnlock(void);
#endif /* !defined(CH_OPTIMIZE_SPEED) */
#ifdef __cplusplus
}
#endif
#endif /* _SYS_H_ */
/** @} */
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