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23
docs/ch.txt
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@ -79,7 +79,7 @@
* priority is executed. If more than one thread with equal priority are * priority is executed. If more than one thread with equal priority are
* eligible for execution then they are executed in a round-robin way, the * eligible for execution then they are executed in a round-robin way, the
* CPU time slice constant is configurable. The ready list is a double linked * CPU time slice constant is configurable. The ready list is a double linked
* list of threads ordered by priority. * list of threads ordered by priority.<br><br>
* @image html readylist.png * @image html readylist.png
* Note that the currently running thread is not in the ready list, the list * Note that the currently running thread is not in the ready list, the list
* only contains the threads ready to be executed but still actually waiting. * only contains the threads ready to be executed but still actually waiting.
@ -89,19 +89,26 @@
* @image html states.png * @image html states.png
* *
* @section warea Thread Working Area * @section warea Thread Working Area
* Each thread has its own stack, a Thread structure and a registers dump * Each thread has its own stack, a Thread structure and some preemption
* structure. All the structures are allocated into a "Thread working area", * areas. All the structures are allocated into a "Thread working area",
* a thread private heap, usually allocated in a char array declared in your * a thread private heap, usually allocated in a char array declared in your
* code, there is not a central threads table or list, this means you can * code, there is not a central threads table or list, this means you can
* have as many threads you want as long you have enough available RAM * have as many threads you want as long you have enough available RAM
* memory. The threads do not use any memory outside the allocated working * memory. The threads do not use any memory outside the allocated working
* area.<br> * area.<br><br>
* @image html workspace.png * @image html workspace.png
* <br> * <br>
* Note that the registers dump is only present when the Thread is not * Note that the preemption areas only present when the Thread is not
* running, the context switching is done by pushing the registers on the * running (switched out), the context switching is done by pushing the
* stack of the switched-out thread and popping the registers of the * registers on the stack of the switched-out thread and popping the registers
* switched-in thread from its stack. * of the switched-in thread from its stack.
* The preemption areas can be divided in up to three structures:
* - External Context.
* - Interrupt Stack.
* - Internal Context.
*
* See the @ref Core documentation for details, the areas may change on
* the various ports and some structures may not be present (or be zero-sized).
* *
* @section sysmutex System Mutex Zone * @section sysmutex System Mutex Zone
* It is the code within the OS that cannot be preempted, this code is * It is the code within the OS that cannot be preempted, this code is

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9
src/templates/chcore.c
View File

@ -88,12 +88,19 @@ void chSysUnlock(void) {
} }
/** /**
* Context switch. * 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.
*/ */
void chSysSwitchI(Thread *otp, Thread *ntp) {} void chSysSwitchI(Thread *otp, Thread *ntp) {}
/** /**
* Prints a message on the system console (if any). * Prints a message on the system console (if any).
* @param msg the message to be printed on the system console
*/ */
void chSysPuts(char *msg) { void chSysPuts(char *msg) {
} }

18
src/templates/chcore.h
View File

@ -32,27 +32,39 @@
/** /**
* Base type for stack alignment. * Base type for stack alignment.
* This type is used only for stack alignment reasons thus can be anything from
* a char to a double.
*/ */
typedef uint8_t stkalign_t; typedef uint8_t stkalign_t;
/** /**
* Interrupt saved context. * Interrupt saved context.
* This structure represents the stack frame saved during a preemption-capable
* interrupt handler.
*/ */
struct extctx { struct extctx {
}; };
/** /**
* System saved context. * System saved context.
* This structure represents the inner stack frame during a context switching.
*/ */
struct intctx { struct intctx {
}; };
/**
* Platform dependent part of the @p Thread structure.
* This structure usually contains just the saved stack pointer defined as a
* pointer to a @p intctx structure.
*/
typedef struct { typedef struct {
struct intctx *sp; struct intctx *sp;
} Context; } Context;
/** /**
* Platform dependent part of the \p chThdCreate() API. * Platform dependent part of the \p chThdCreate() API.
* This code usually setup the context switching frame represented by a
* @p intctx structure.
*/ */
#define SETUP_CONTEXT(workspace, wsize, pf, arg) \ #define SETUP_CONTEXT(workspace, wsize, pf, arg) \
{ \ { \
@ -60,12 +72,18 @@ typedef struct {
/** /**
* Stack size for the system idle thread. * Stack size for the system idle thread.
* This size depends on the idle thread implementation, usually the idle
* thread should take no more space than those reserved
* by @p INT_REQUIRED_STACK.
*/ */
#define IDLE_THREAD_STACK_SIZE 0 #define IDLE_THREAD_STACK_SIZE 0
/** /**
* Per-thread stack overhead for interrupts servicing, it is used in the * Per-thread stack overhead for interrupts servicing, it is used in the
* calculation of the correct working area size. * calculation of the correct working area size.
* This value can be zero on those architecture where there is a separate
* interrupt stack and the stack space between @p intctx and @p extctx is
* known to be zero.
*/ */
#define INT_REQUIRED_STACK 0 #define INT_REQUIRED_STACK 0