git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@580 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 106 insertions, 0 deletions

diff --git a/src/chsys.c b/src/chsys.c
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+++ b/src/chsys.c
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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 WORKING_AREA(idle_wa, IDLE_THREAD_STACK_SIZE);
+
+  chSchInit();
+  chDbgInit();
+  chVTInit();
+#ifdef CH_USE_HEAP
+  chHeapInit();
+#endif
+  /*
+   * Now this instructions flow becomes the main thread.
+   */
+  (currp = init_thread(&mainthread, NORMALPRIO))->p_state = PRCURR;
+
+  chSysEnable();
+
+  /*
+   * 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.
+   */
+  chThdCreateStatic(idle_wa, sizeof(idle_wa), IDLEPRIO, (tfunc_t)_idle, NULL);
+}
+
+/**
+ * Handles time ticks for round robin preemption and timer increments.
+ * Decrements the remaining time quantum of the running thread and preempts
+ * it when the quantum is used up. Increments system time and manages the
+ * timers.
+ * @note 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) {
+
+#ifdef CH_USE_ROUNDROBIN
+  /* running thread has not used up quantum yet? */
+  if (rlist.r_preempt > 0)
+    /* decrement remaining quantum */
+    rlist.r_preempt--;
+#endif
+  chVTDoTickI();
+}
+
+#if !defined(CH_OPTIMIZE_SPEED)
+/**
+ * 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.
+ * @see CH_USE_NESTED_LOCKS
+ */
+void chSysLock(void) {
+
+  chSysLockInline();
+}
+
+/**
+ * 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.
+ * @see CH_USE_NESTED_LOCKS
+ */
+void chSysUnlock(void) {
+
+  chDbgAssert(currp->p_locks > 0, "chinit.c, chSysUnlock()");
+  chSysUnlockInline();
+}
+#endif /* !CH_OPTIMIZE_SPEED */
+
+/** @} */