1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
|
/*
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) port_puts(msg)
/**
* Halts the system. 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).
*/
#define chSysHalt() port_halt()
/**
* 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) port_switch(otp, ntp)
/**
* Raises the system interrupt priority mask to the maximum level.
* 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()
/**
* Raises the system interrupt priority mask to system level.
* 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()
/**
* Lowers the system interrupt priority mask to user level.
* 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()
/**
* 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 defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
#if defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
#define chSysLock() { \
if (currp->p_locks++ == 0) \
port_lock(); \
}
#endif /* defined(CH_OPTIMIZE_SPEED) */
#else /* !defined(CH_USE_NESTED_LOCKS) */
#define chSysLock() port_lock()
#endif /* !defined(CH_USE_NESTED_LOCKS) */
/**
* 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 defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
#if defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
#define chSysUnlock() { \
if (--currp->p_locks == 0) \
port_unlock(); \
}
#endif /* defined(CH_OPTIMIZE_SPEED) */
#else /* !defined(CH_USE_NESTED_LOCKS) */
#define chSysUnlock() port_unlock()
#endif /* !defined(CH_USE_NESTED_LOCKS) */
/**
* 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 chSysLockI() port_lock_from_isr()
/**
* 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 chSysUnlockI() port_unlock_from_isr()
/**
* 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()
/**
* 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 CH_IRQ_EPILOGUE() PORT_IRQ_EPILOGUE()
/**
* Standard modifier for IRQ handler functions.
*/
#define CH_IRQ_HANDLER PORT_IRQ_HANDLER
#ifdef __cplusplus
extern "C" {
#endif
void chSysInit(void);
void chSysTimerHandlerI(void);
#if !defined(CH_OPTIMIZE_SPEED)
void chSysLock(void);
void chSysUnlock(void);
#endif /* !defined(CH_OPTIMIZE_SPEED) */
#ifdef __cplusplus
}
#endif
#endif /* _SYS_H_ */
/** @} */
|
