git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@644 35acf78f-673a-0410-8e92-d51de3d6d3f4

19 files changed, 87 insertions, 57 deletions

diff --git a/docs/ch.txt b/docs/ch.txt
index 5048cf5f6..70aeda6a4 100644
--- a/docs/ch.txt
+++ b/docs/ch.txt
@@ -1,12 +1,14 @@
 /**

  * @mainpage ChibiOS/RT

  * @author Giovanni Di Sirio (gdisirio@users.sourceforge.net).

- * @section Chibi Chibi ?

- * It is the Japanese word for small as in small child. So ChibiOS/RT

- * @htmlonly (<span class="t_nihongo_kanji" xml:lang="ja" lang="ja">&#12385;&#12403;</span>OS/RT) \endhtmlonly

+ *

+ * <h2>Chibi ?</h2>

+ * I didn't want a serious name for this project. It is the Japanese word for

+ * small as in small child. So ChibiOS/RT

+ * @htmlonly (<span class="t_nihongo_kanji" xml:lang="ja" lang="ja">&#12385;&#12403;</span>OS/RT) @endhtmlonly

  * means small Real Time Operating System.

  * Source <a href="http://en.wikipedia.org/wiki/Chibi" target="_blank">Wikipedia</a>.

- * @section ch_features Features

+ * <h2>Features</h2>

  * - Free software, GPL3 licensed.

  * - Designed for realtime applications.

  * - Easily portable.

@@ -49,7 +51,7 @@
  *   memory image.

  * - Almost totally written in C with little ASM code required for ports.

  *

- * Related pages:

+ * <h2>Related pages</h2>

  * - @subpage Concepts

  * - @subpage Articles

  */

@@ -241,6 +243,7 @@
  *

  * - @subpage article_atomic

  * - @subpage article_saveram

+ * - @subpage article_interrupts

  */

 /** @} */

 

@@ -491,7 +494,7 @@
  * <h2>Operation Mode</h2>

  * Messages are an easy to use and fast IPC mechanism, threads can both serve

  * messages and send messages to other threads, the mechanism allows data to

- * be carryed in both directions. Data is not copyed between the client and

+ * be carried in both directions. Data is not copied between the client and

  * server threads but just a pointer passed so the exchange is very time

  * efficient.<br>

  * Messages are usually processed in FIFO order but it is possible to process

diff --git a/docs/src/atomic.dox b/docs/src/atomic.dox
index 0f678448b..22601d8d9 100644
--- a/docs/src/atomic.dox
+++ b/docs/src/atomic.dox
@@ -30,16 +30,8 @@
  

   chSemSignalI(&sem1);

   chSemSignalI(&sem2);

-  /*

-   * The "if" is required because the chSemWaitS() does not always internally

-   * reschedule.

-   */

-  if (chSemGetCounter(&sem3) <= 0)

-    chSemWaitS(&Sem3);

-  else {

-    chSemFastWaitS(&sem3);

-    chSchRescheduleS();

-  }

+  chSemWaitS(&Sem3);

+  chSchRescheduleS(); /* Because chSemWaitS() might not reschedule internally.*/

  

   chSysUnlock();

  * @endcode

diff --git a/docs/src/interrupts.dox b/docs/src/interrupts.dox
new file mode 100644
index 000000000..8c61eaa6e
--- /dev/null
+++ b/docs/src/interrupts.dox
@@ -0,0 +1,34 @@
+/**

+ * @page article_interrupts Writing interrupt handlers under ChibiOS/RT

+ * @{

+ * Since version 1.1.0 ChbiOS/RT offers a cross-platform system for writing

+ * interrupt handlers. Port-related and compiler-related details are

+ * encapsulated within standard system macros.<br>

+ * An interrupt handler assumes the following general form:

+ * @code

+CH_IRQ_HANDLER(myIRQ) {

+  CH_IRQ_PROLOGUE();

+  

+  // IRQ handling code, preemptable if the architecture supports it.

+  

+  chSysLockI();

+  // Invocation of some I-Class system API, never preemptable.

+  chSysUnlockI().

+  

+  // More IRQ handling code, again preemptable.

+

+  CH_IRQ_EPILOGUE();

+}

+ * @endcode

+ * Note that only interrupt handlers that have to invoke system I-Class APIs

+ * must be written in this form, handlers unrelated to the OS activity can

+ * omit the macros.

+ * Another note about the handler name "myIRQ", in some ports it must be a

+ * vector number rather than a function name, it could also be a name from

+ * within a predefined set, see the notes about the various ports.

+ * <h2>Important Notes</h2>

+ * - There is an important application note about ARM7 interrupt handlers,

+ *   please read about it in the ARM7 port section: @ref ARM7_IH

+ */

+/** @} */

+ 
\ No newline at end of file
diff --git a/docs/src/saveram.dox b/docs/src/saveram.dox
index fec810c81..324bdb9a3 100644
--- a/docs/src/saveram.dox
+++ b/docs/src/saveram.dox
@@ -9,23 +9,21 @@
  * Consider the following code: 

  * @code

 #include <ch.h>

- 

+

 static WORKING_AREA(waMyThread, 64);

- 

+

 static t_msg MyThread(void *arg) {

- 

   while (!chThdShoudTerminate()) {

     /* Do thread inner work */

   }

   return 1;

 }

- 

+

 main() {

   chSysInit();

   ...

-  chThdCreate(NORMALPRIO, 0, waMyThread, sizeof(waMyThread), MyThread, NULL);

+  chThdCreateStatic(waMyThread, sizeof(waMyThread), NORMALPRIO, MyThread, NULL);

   ...

-  chSysPause();

 }

  * @endcode

  * The resulting ASM code for the thread function would be something like this:

@@ -40,23 +38,22 @@ MyThread:
  * saved by modifying the code as follow, using some advanced GCC extensions: 

  * @code

 #include <ch.h>

- 

-static BYTE8 waMyThread[UserStackSize(64)];

- 

-__attribute__((noreturn)) void MyThread(void *arg) {

- 

+

+static WORKING_AREA(waMyThread, 64);

+

+__attribute__((noreturn))

+static void MyThread(void *arg) {

   while (!chThdShoudTerminate()) {

     /* Do thread inner work */

   }

   chThdExit(1);

 }

- 

+

 main() {

   chSysInit();

   ...

-  chThdCreate(NORMALPRIO, 0, waMyThread, sizeof(waMyThread), (t_tfunc)MyThread, NULL);

+  chThdCreateStatic(waMyThread, sizeof(waMyThread), NORMALPRIO, MyThread, NULL);

   ...

-  chSysPause();

 }

  * @endcode

  * This will make GCC believe that the function cannot return and there is no

diff --git a/ports/ARM7-AT91SAM7X/sam7x_emac.c b/ports/ARM7-AT91SAM7X/sam7x_emac.c
index 05701b369..21c7808b0 100644
--- a/ports/ARM7-AT91SAM7X/sam7x_emac.c
+++ b/ports/ARM7-AT91SAM7X/sam7x_emac.c
@@ -124,7 +124,7 @@ static void ServeInterrupt(void) {
   AT91C_BASE_AIC->AIC_EOICR = 0;

 }

 

-CH_IRQ_HANDLER void EMACIrqHandler(void) {

+CH_IRQ_HANDLER(EMACIrqHandler) {

 

   CH_IRQ_PROLOGUE();

 

diff --git a/ports/ARM7-AT91SAM7X/sam7x_serial.c b/ports/ARM7-AT91SAM7X/sam7x_serial.c
index 023b98527..c13701847 100644
--- a/ports/ARM7-AT91SAM7X/sam7x_serial.c
+++ b/ports/ARM7-AT91SAM7X/sam7x_serial.c
@@ -74,7 +74,7 @@ static void ServeInterrupt(AT91PS_USART u, FullDuplexDriver *com) {
   AT91C_BASE_AIC->AIC_EOICR = 0;

 }

 

-CH_IRQ_HANDLER void USART0IrqHandler(void) {

+CH_IRQ_HANDLER(USART0IrqHandler) {

 

   CH_IRQ_PROLOGUE();

 

@@ -83,7 +83,7 @@ CH_IRQ_HANDLER void USART0IrqHandler(void) {
   CH_IRQ_EPILOGUE();

 }

 

-CH_IRQ_HANDLER void USART1IrqHandler(void) {

+CH_IRQ_HANDLER(USART1IrqHandler) {

 

   CH_IRQ_PROLOGUE();

 

diff --git a/ports/ARM7-AT91SAM7X/sam7x_serial.h b/ports/ARM7-AT91SAM7X/sam7x_serial.h
index 4eac6e22f..f526f7840 100644
--- a/ports/ARM7-AT91SAM7X/sam7x_serial.h
+++ b/ports/ARM7-AT91SAM7X/sam7x_serial.h
@@ -30,9 +30,9 @@
 extern "C" {

 #endif

   void InitSerial(int prio0, int prio1);

-  void UART0IrqHandler(void);

-  void UART1IrqHandler(void);

   void SetUSARTI(AT91PS_USART u, int speed, int mode);

+  CH_IRQ_HANDLER(UART0IrqHandler);

+  CH_IRQ_HANDLER(UART1IrqHandler);

 #ifdef __cplusplus

 }

 #endif

diff --git a/ports/ARM7-LPC214x/lpc214x_serial.c b/ports/ARM7-LPC214x/lpc214x_serial.c
index ececd30c4..527f99f59 100644
--- a/ports/ARM7-LPC214x/lpc214x_serial.c
+++ b/ports/ARM7-LPC214x/lpc214x_serial.c
@@ -109,7 +109,7 @@ static void ServeInterrupt(UART *u, FullDuplexDriver *com) {
   }

 }

 

-CH_IRQ_HANDLER void UART0IrqHandler(void) {

+CH_IRQ_HANDLER(UART0IrqHandler) {

 

   CH_IRQ_PROLOGUE();

 

@@ -119,7 +119,7 @@ CH_IRQ_HANDLER void UART0IrqHandler(void) {
   CH_IRQ_EPILOGUE();

 }

 

-CH_IRQ_HANDLER void UART1IrqHandler(void) {

+CH_IRQ_HANDLER(UART1IrqHandler) {

 

   CH_IRQ_PROLOGUE();

 

diff --git a/ports/ARM7-LPC214x/lpc214x_serial.h b/ports/ARM7-LPC214x/lpc214x_serial.h
index e3afda35f..d7844a49d 100644
--- a/ports/ARM7-LPC214x/lpc214x_serial.h
+++ b/ports/ARM7-LPC214x/lpc214x_serial.h
@@ -41,9 +41,9 @@
 extern "C" {

 #endif

   void InitSerial(int vector1, int vector2);

-  void UART0IrqHandler(void);

-  void UART1IrqHandler(void);

   void SetUARTI(UART *u, int speed, int lcr, int fcr);

+  CH_IRQ_HANDLER(UART0IrqHandler);

+  CH_IRQ_HANDLER(UART1IrqHandler);

 #ifdef __cplusplus

 }

 #endif

diff --git a/ports/ARM7/chcore.h b/ports/ARM7/chcore.h
index 20255d652..1e99f7e16 100644
--- a/ports/ARM7/chcore.h
+++ b/ports/ARM7/chcore.h
@@ -184,9 +184,9 @@ struct context {
 #endif /* !THUMB */

 

 /**

- * IRQ handler function modifier.

+ * IRQ handler function declaration.

  */

-#define PORT_IRQ_HANDLER __attribute__((naked))

+#define PORT_IRQ_HANDLER(id) __attribute__((naked)) void id(void)

 

 /**

  * This function is empty in this port.

diff --git a/ports/ARM7/port.dox b/ports/ARM7/port.dox
index 9a9f319a6..fce2f9cd7 100644
--- a/ports/ARM7/port.dox
+++ b/ports/ARM7/port.dox
@@ -85,7 +85,7 @@
  * registers.<br>

  * Example:

  * @code

- * CH_IRQ_HANDLER void irq_handler(void) {

+ * CH_IRQ_HANDLER(irq_handler) {

  *   CH_IRQ_PROLOGUE();

  *

  *   serve_interrupt();

diff --git a/ports/ARMCM3-STM32F103/stm32_serial.c b/ports/ARMCM3-STM32F103/stm32_serial.c
index c17d7a56c..d54291b75 100644
--- a/ports/ARMCM3-STM32F103/stm32_serial.c
+++ b/ports/ARMCM3-STM32F103/stm32_serial.c
@@ -85,7 +85,7 @@ static void ServeInterrupt(USART_TypeDef *u, FullDuplexDriver *com) {
 /*
  * USART1 IRQ service routine.
  */
-CH_IRQ_HANDLER void VectorD4(void) {
+CH_IRQ_HANDLER(VectorD4) {
 
   CH_IRQ_PROLOGUE();
 
@@ -108,7 +108,7 @@ static void OutNotify1(void) {
 /*
  * USART2 IRQ service routine.
  */
-CH_IRQ_HANDLER void VectorD8(void) {
+CH_IRQ_HANDLER(VectorD8) {
 
   CH_IRQ_PROLOGUE();
 
@@ -131,7 +131,7 @@ static void OutNotify2(void) {
 /*
  * USART3 IRQ service routine.
  */
-CH_IRQ_HANDLER void VectorDC(void) {
+CH_IRQ_HANDLER(VectorDC) {
 
   CH_IRQ_PROLOGUE();
 
diff --git a/ports/ARMCM3/chcore.c b/ports/ARMCM3/chcore.c
index 61741c216..91971b866 100644
--- a/ports/ARMCM3/chcore.c
+++ b/ports/ARMCM3/chcore.c
@@ -71,7 +71,7 @@ void threadstart(void) {
  * This interrupt is used as system tick.

  * @note The timer is initialized in the board setup code.

  */

-CH_IRQ_HANDLER void SysTickVector(void) {

+CH_IRQ_HANDLER(SysTickVector) {

 

   CH_IRQ_PROLOGUE();

 

diff --git a/ports/ARMCM3/chcore.h b/ports/ARMCM3/chcore.h
index 505668698..638995f1c 100644
--- a/ports/ARMCM3/chcore.h
+++ b/ports/ARMCM3/chcore.h
@@ -207,9 +207,9 @@ struct context {
 }

 

 /**

- * IRQ handler function modifier.

+ * IRQ handler function declaration.

  */

-#define PORT_IRQ_HANDLER

+#define PORT_IRQ_HANDLER(id) void id(void)

 

 /**

  * This function is empty in this port.

diff --git a/ports/AVR/chcore.h b/ports/AVR/chcore.h
index 141255d8b..ab2d2f6d5 100644
--- a/ports/AVR/chcore.h
+++ b/ports/AVR/chcore.h
@@ -188,10 +188,10 @@ asm ("" : : : "r18", "r19", "r20", "r21", "r22", "r23", "r24",          \
 }

 

 /**

- * IRQ handler function modifier. Note, it just aliases the WinAVR "ISR"

+ * IRQ handler function declaration. Note, it just aliases the WinAVR "ISR"

  * macro.
  */

-#define PORT_IRQ_HANDLER ISR

+#define PORT_IRQ_HANDLER(id) ISR(id)

 

 /**

  * This function is empty in this port.

diff --git a/ports/MSP430/chcore.h b/ports/MSP430/chcore.h
index 08240835a..ee184be53 100644
--- a/ports/MSP430/chcore.h
+++ b/ports/MSP430/chcore.h
@@ -155,10 +155,9 @@ struct context {
 }

 

 /**

- * IRQ handler function modifier. Note, it just aliases the WinMSP "interrupt"

- * macro.

+ * IRQ handler function modifier.

  */

-#define PORT_IRQ_HANDLER interrupt

+#define PORT_IRQ_HANDLER(id) interrupt void id(void)

 

 /**

  * This function is empty in this port.

diff --git a/readme.txt b/readme.txt
index 422dd426f..4e95317ea 100644
--- a/readme.txt
+++ b/readme.txt
@@ -87,6 +87,7 @@ Win32-MinGW            - ChibiOS/RT simulator and demo into a WIN32 process,
 - Huge improvements to the ports documentation.

 - Articles and notes previously in the wiki now merged in the general

   documentation, the wiki entries are obsolete and will be removed.

+- New application notes and articles added.

 

 *** 1.0.0rc2 ***

 - FIX: Removed unused variable "retaddr" from the Cortex-M3 port.

diff --git a/src/include/sys.h b/src/include/sys.h
index 29f049f47..0e08452d9 100644
--- a/src/include/sys.h
+++ b/src/include/sys.h
@@ -156,9 +156,11 @@
 #define CH_IRQ_EPILOGUE() PORT_IRQ_EPILOGUE()

 

 /**

- * Standard modifier for IRQ handler functions.
+ * Standard IRQ handler declaration.
+ * @note @p id can be a function name or a vector number depending on the

+ *       port implementation.

  */

-#define CH_IRQ_HANDLER PORT_IRQ_HANDLER

+#define CH_IRQ_HANDLER(id) PORT_IRQ_HANDLER(id)

 

 #ifdef __cplusplus

 extern "C" {

diff --git a/src/templates/chcore.h b/src/templates/chcore.h
index 7c3fe4f0d..97f3f05e7 100644
--- a/src/templates/chcore.h
+++ b/src/templates/chcore.h
@@ -122,9 +122,11 @@ struct context {
 #define PORT_IRQ_EPILOGUE()

 

 /**

- * IRQ handler function modifier.
+ * IRQ handler function declaration.

+ * @note @p id can be a function name or a vector number depending on the

+ *       port implementation.
  */

-#define PORT_IRQ_HANDLER

+#define PORT_IRQ_HANDLER(id) void id(void)

 

 #ifdef __cplusplus

 extern "C" {