602 lines
25 KiB
Plaintext
602 lines
25 KiB
Plaintext
/**
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* @mainpage ChibiOS/RT
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* @author Giovanni Di Sirio (gdisirio@users.sourceforge.net).
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*
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* <h2>Chibi ?</h2>
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* I didn't want a serious name for this project. It is the Japanese word for
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* small as in small child. So ChibiOS/RT
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* @htmlonly (<span class="t_nihongo_kanji" xml:lang="ja" lang="ja">ちび</span>OS/RT) @endhtmlonly
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* means small Real Time Operating System.
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* Source <a href="http://en.wikipedia.org/wiki/Chibi" target="_blank">Wikipedia</a>.
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* <h2>Features</h2>
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* - Free software, GPL3 licensed.
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* - Designed for realtime applications.
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* - Easily portable.
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* - Mixed programming model:
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* - Synchronous, using semaphores/mutexes/condvars and/or messages.
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* - Asynchronous, using event sources.
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* - Mix of the above models, multiple threads listening to multiple event
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* sources while serving message queues.
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* - PC simulator target included, the development can be done on the PC
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* using MinGW.<br>
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* Timers, I/O channels and other HW resources are simulated in a
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* Win32 process and the application code does not need to be aware of it.
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* MinGW demo available.
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* - Preemptive scheduling.
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* - 128 priority levels.
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* - Multiple threads at the same priority level allowed.
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* - Round robin scheduling for threads at the same priority level.
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* - Unlimited number of threads.
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* - Unlimited number of virtual timers.
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* - Unlimited number of semaphores.
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* - Unlimited number of mutexes.
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* - Unlimited number of condvars.
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* - Unlimited number of event sources.
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* - Unlimited number of messages in queue.
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* - Unlimited number of I/O queues.
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* - No static setup at compile time, there is no need to configure a maximum
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* number of all the above resources.
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* - No *need* for a memory allocator, all the kernel structures are static
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* and declaratively allocated.
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* - Threads, Semaphores, Event Sources, Virtual Timers creation/deletion at
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* runtime.
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* - Optional, thread safe, Heap Allocator subsystem.
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* - Optional, thread safe, Memory Pools Allocator subsystem.
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* - Blocking and non blocking I/O channels with timeout and events generation
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* capability.
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* - Minimal system requirements: about 8KiB ROM with all options enabled and
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* speed optimizations on. The size can shrink under 2KiB by disabling the
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* the unused subsystems and optimizing for size.
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* - Small memory footprint, unused subsystems can be excluded by the
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* memory image.
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* - Almost totally written in C with little ASM code required for ports.
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*
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* <h2>Related pages</h2>
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* - @subpage Concepts
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* - @subpage Articles
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*/
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/**
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* @page Concepts Concepts
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* @{
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* @brief ChibiOS/RT Concepts and Architecture
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* @section naming Naming Conventions
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* ChibiOS/RT APIs are all named following this convention:
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* @a ch\<group\>\<action\>\<suffix\>().
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* The possible groups are: @a Sys, @a Sch, @a VT, @a Thd, @a Sem, @a Mtx,
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* @a Cond, @a Evt, @a Msg, @a IQ, @a OQ, @a HQ, @a FDD, @a HDD, @a Dbg,
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* @a Heap, @a Pool.
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*
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* @section api_suffixes API Names Suffixes
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* The suffix is not present for normal APIs but can be one of
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* the following:
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* - <b>None</b>, APIs without any suffix can be invoked only from the user
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* code in the <b>Normal</b> state unless differently specified. See
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* @ref system_states.
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* - <b>"I"</b>, I-Class APIs are invokable only from the <b>I-Locked</b> or
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* <b>S-Locked</b> states. See @ref system_states.
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* - <b>"S"</b>, S-Class APIs are invokable only from the <b>S-Locked</b>
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* state. See @ref system_states.
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* Examples: @p chThdCreateStatic(), @p chSemSignalI(), @p chIQGetTimeout().
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*
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* @section interrupt_classes Interrupt Classes
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* In ChibiOS/RT there are three logical interrupt classes:
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* - <b>Regular Interrupts</b>. Maskable interrupt sources that cannot
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* preempt the kernel code and are thus able to invoke operating system APIs
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* from within their handlers. The interrupt handlers belonging to this class
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* must be written following some rules. See the @ref System APIs group.
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* - <b>Fast Interrupts</b>. Maskable interrupt sources with the ability
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* to preempt the kernel code and thus have a lower latency. Such sources are
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* not supported on all the architectures.<br>
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* Fast interrupts are not allowed to invoke any operating system API from
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* within their handlers. Fast interrupt sources may however pend a lower
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* priority regular interrupt where access to the operating system is
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* possible.
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* - <b>Non Maskable Interrupts</b>. Non maskable interrupt sources are
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* totally out of the operating system control and have the lowest latency.
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* Such sources are not supported on all the architectures.
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*
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* The mapping of the above logical classes into physical interrupts priorities
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* is, of course, port dependent. See the documentation of the various ports
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* for details.
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*
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* @section system_states System States
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* When using ChibiOS/RT the system can be in one of the following logical
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* operating states:
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* - <b>Initialization</b>. When the system is in this state all the maskable
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* interrupt sources are disabled. In this state it is not possible to use
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* any system API except @p chSysInit(). This state is entered after a
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* physical reset.
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* - <b>Normal</b>. All the interrupt sources are enabled and the system APIs
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* are accessible, threads are running.
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* - <b>Suspended</b>. In this state the fast interrupt sources are enabled but
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* the regular interrupt sources are not. In this state it is not possible
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* to use any system API except @p chSysDisable() or @p chSysEnable() in
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* order to change state.
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* - <b>Disabled</b>. When the system is in this state both the maskable
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* regular and fast interrupt sources are disabled. In this state it is not
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* possible to use any system API except @p chSysSuspend() or
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* @p chSysEnable() in order to change state.
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* - <b>Sleep</b>. Architecture-dependent low power mode, the idle thread
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* goes in this state and waits for interrupts, after servicing the interrupt
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* the Normal state is restored and the scheduler has a chance to reschedule.
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* - <b>S-Locked</b>. Kernel locked and regular interrupt sources disabled.
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* Fast interrupt sources are enabled. S-Class and I-Class APIs are
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* invokable in this state.
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* - <b>I-Locked</b>. Kernel locked and regular interrupt sources disabled.
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* I-Class APIs are invokable from this state.
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* - <b>Serving Regular Interrupt</b>. No system APIs are accessible but it is
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* possible to switch to the I-Locked state using @p chSysLockI() and then
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* invoke any I-Class API. Interrupt handlers can be preemptable on some
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* architectures thus is important to switch to I-Locked state before
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* invoking system APIs.
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* - <b>Serving Fast Interrupt</b>. System APIs are not accessible.
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* - <b>Serving Non-Maskable Interrupt</b>. System APIs are not accessible.
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* - <b>Halted</b>. All interrupt sources are disabled and system stopped into
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* an infinite loop. This state can be reached if the debug mode is activated
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* <b>and</b> an error is detected <b>or</b> after explicitly invoking
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* @p chSysHalt().
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*
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* Note that the above state are just <b>Logical States</b> that may have no
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* real associated machine state on some architectures. The following diagram
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* shows the possible transitions between the states:
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*
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* @dot
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digraph example {
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rankdir="LR";
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node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.75", height="0.75"];
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init [label="Initialization", style="bold"];
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norm [label="Normal", shape=doublecircle];
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susp [label="Suspended"];
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disab [label="Disabled"];
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slock [label="S-Locked"];
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ilock [label="I-Locked"];
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slock [label="S-Locked"];
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sleep [label="Sleep"];
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sri [label="SRI"];
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sfi [label="SFI"];
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init -> norm [label="chSysInit()", fontname=Helvetica, fontsize=8];
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norm -> slock [label="chSysLock()", fontname=Helvetica, fontsize=8, constraint=false];
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slock -> norm [label="chSysUnlock()", fontname=Helvetica, fontsize=8];
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norm -> susp [label="chSysSuspend()", fontname=Helvetica, fontsize=8];
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susp -> disab [label="chSysDisable()", fontname=Helvetica, fontsize=8];
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norm -> disab [label="chSysDisable()", fontname=Helvetica, fontsize=8];
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susp -> norm [label="chSysEnable()", fontname=Helvetica, fontsize=8];
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disab -> norm [label="chSysEnable()", fontname=Helvetica, fontsize=8];
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slock -> ilock [dir="both", label="Context Switch", fontname=Helvetica, fontsize=8];
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norm -> sri [style="dotted", label="Regular IRQ", fontname=Helvetica, fontsize=8];
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norm -> sfi [style="dotted", label="Fast IRQ", fontname=Helvetica, fontsize=8];
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susp -> sfi [style="dotted", label="Fast IRQ", fontname=Helvetica, fontsize=8];
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sri -> norm [label="Regular IRQ return", fontname=Helvetica, fontsize=8];
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sfi -> norm [label="Fast IRQ return", fontname=Helvetica, fontsize=8];
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sfi -> susp [label="Fast IRQ return", fontname=Helvetica, fontsize=8];
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sri -> ilock [label="chSysLockI()", fontname=Helvetica, fontsize=8, constraint=false];
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ilock -> sri [label="chSysUnlockI()", fontname=Helvetica, fontsize=8];
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norm -> sleep [label="Idle Thread", fontname=Helvetica, fontsize=8];
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sleep -> sri [style="dotted", label="Regular IRQ", fontname=Helvetica, fontsize=8];
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sleep -> sfi [style="dotted", label="Fast IRQ", fontname=Helvetica, fontsize=8];
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}
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* @enddot
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* Note, the Halted and SNMI states can be reached from any state and are not
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* shown for simplicity.
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*
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* @section scheduling Scheduling
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* The strategy is very simple the currently ready thread with the highest
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* priority is executed. If more than one thread with equal priority are
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* eligible for execution then they are executed in a round-robin way, the
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* CPU time slice constant is configurable. The ready list is a double linked
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* list of threads ordered by priority.<br><br>
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* @image html readylist.png
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* Note that the currently running thread is not in the ready list, the list
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* only contains the threads ready to be executed but still actually waiting.
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*
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* @section thread_states Threads States
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* The image shows how threads can change their state in ChibiOS/RT.<br>
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* @image html states.png
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*
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* @section priority Priority Levels
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* Priorities in ChibiOS/RT are a contiguous numerical range but the initial
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* and final values are not enforced.<br>
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* The following table describes the various priority boundaries (from lowest
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* to highest):
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* - @p IDLEPRIO, this is the lowest priority level and is reserved for the
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* idle thread, no other threads should share this priority level. This is
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* the lowest numerical value of the priorities space.
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* - @p LOWPRIO, the lowest priority level that can be assigned to an user
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* thread.
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* - @p NORMALPRIO, this is the central priority level for user threads. It is
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* advisable to assign priorities to threads as values relative to
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* @p NORMALPRIO, as example NORMALPRIO-1 or NORMALPRIO+4, this ensures the
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* portability of code should the numerical range change in future
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* implementations.
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* - @p HIGHPRIO, the highest priority level that can be assigned to an user
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* thread.
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* - @p ABSPRO, absolute maximum software priority level, it can be higher than
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* @p HIGHPRIO but the numerical values above @p HIGHPRIO up to @p ABSPRIO
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* (inclusive) are reserved. This is the highest numerical value of the
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* priorities space.
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*
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* @section warea Thread Working Area
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* Each thread has its own stack, a Thread structure and some preemption
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* areas. All the structures are allocated into a "Thread working area",
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* a thread private heap, usually allocated in an array declared in your
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* code. Threads do not use any memory outside the allocated working area
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* except when accessing static shared data.<br><br>
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* @image html workspace.png
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* <br>
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* Note that the preemption area is only present when the thread is not
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* running (switched out), the context switching is done by pushing the
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* registers on the stack of the switched-out thread and popping the registers
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* of the switched-in thread from its stack.
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* The preemption area can be divided in up to three structures:
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* - External context.
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* - Interrupt stack.
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* - Internal context.
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*
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* See the @ref Core documentation for details, the area may change on
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* the various ports and some structures may not be present (or be zero-sized).
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*/
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/** @} */
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/**
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* @page Articles Articles
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* @{
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* @brief ChibiOS/RT Articles and Code Examples
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*
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* - @subpage article_atomic
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* - @subpage article_saveram
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* - @subpage article_interrupts
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*/
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/** @} */
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/**
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* @defgroup Ports Ports
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* @{
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* This section describes the technical details for the various supported
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* ChibiOS/RT ports.
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*/
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/** @} */
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/**
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* @defgroup Kernel Kernel
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* @{
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* @file ch.h ChibiOS/RT main include file, it includes everything else.
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*/
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/** @} */
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/**
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* @defgroup Config Configuration
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* @{
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* In @p chconf.h are defined the required subsystems for your application.
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* @ingroup Kernel
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* @file chconf.h ChibiOS/RT configuration file.
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*/
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/** @} */
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/**
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* @defgroup Core Generic Port Code Templates
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* @{
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* Non portable code templates.
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* @ingroup Kernel
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* @file src/templates/chcore.c Non portable code template file.
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* @file src/templates/chcore.h Non portable macros and structures template file.
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*/
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/** @} */
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/**
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* @defgroup Types Types
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* @{
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* System types and macros.
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* @ingroup Kernel
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* @file templates/chtypes.h System types and code modifiers.
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*/
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/** @} */
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/**
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* @defgroup System System Management
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* @{
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* Initialization, Locks, Interrupt Handling, Power Management, Abnormal
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* Termination.
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* @ingroup Kernel
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* @file sys.h System related macros and structures.
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* @file chsys.c System related code.
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*/
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/** @} */
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/**
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* @defgroup Inline Inline
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* @{
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* System inline-able code.
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* @ingroup Kernel
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* @file inline.h Inline versions of some critical system routines.
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*/
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/** @} */
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/**
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* @defgroup Debug Debug
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* @{
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* Debug APIs and procedures.
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* @ingroup Kernel
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* @file debug.h Debug macros and structures.
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* @file chdebug.c ChibiOS/RT Debug code.
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*/
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/** @} */
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/**
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* @defgroup Scheduler Scheduler
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* @{
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* ChibiOS/RT scheduler.
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* @ingroup Kernel
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* @file chschd.c Scheduler code.
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* @file scheduler.h Scheduler macros and structures.
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*/
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/** @} */
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/**
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* @defgroup ThreadLists Thread Lists and Queues
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* @{
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* ChibiOS/RT thread lists and queues utilities.
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* @ingroup Kernel
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* @file chlists.c Lists and queues code.
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* @file lists.h Lists and queues macros and structures.
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*/
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/** @} */
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/**
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* @defgroup Threads Threads
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* @{
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* Threads creation and termination APIs.
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* @file threads.h Threads structures, macros and functions.
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* @file chthreads.c Threads code.
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*/
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/** @} */
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/**
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* @defgroup Time Time and Virtual Timers
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* @{
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* Time and Virtual Timers related APIs.
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* @file include/vt.h Time macros and structures.
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* @file chvt.c Time functions.
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*/
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/** @} */
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/**
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* @defgroup Heap Heap
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* @{
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* Heap Allocator related APIs.
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* <h2>Operation mode</h2>
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* The heap allocator implements a first-fit strategy and its APIs are
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* functionally equivalent to the usual @p malloc() and @p free(). The main
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* difference is that the heap APIs are thread safe.<br>
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* By enabling the @p CH_USE_MALLOC_HEAP option the heap manager will use the
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* runtime-provided @p malloc() and @p free() as backend for the heap APIs
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* instead of the system provided allocator.<br>
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* In order to use the heap APIs the @p CH_USE_HEAP option must be specified
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* in @p chconf.h.
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* @file include/heap.h Heap macros and structures.
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* @file chheap.c Heap functions.
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*/
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/** @} */
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/**
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* @defgroup MemoryPools Memory Pools
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* @{
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* Memory Pools related APIs.
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* <h2>Operation mode</h2>
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* The Memory Pools APIs allow to allocate/free fixed size objects in
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* <b>constant time</b> and reliably without memory fragmentation problems.<br>
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* In order to use the Time APIs the @p CH_USE_MEMPOOLS option must be
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* specified in @p chconf.h.
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* @file include/mempools.h Memory Pools macros and structures.
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* @file chmempools.c Memory Pools functions.
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*/
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/** @} */
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/**
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* @defgroup Semaphores Semaphores
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* @{
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* Semaphores and threads synchronization.
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* <h2>Operation mode</h2>
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* A semaphore is a threads synchronization object, some operations
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* are defined on semaphores:
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* - <b>Signal</b>: The semaphore counter is increased and if the result
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* is non-positive then a waiting thread is removed from the semaphore
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* queue and made ready for execution.
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* - <b>Wait</b>: The semaphore counter is decreased and if the result
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* becomes negative the thread is queued in the semaphore and suspended.
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* - <b>Reset</b>: The semaphore counter is reset to a non-negative value
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* and all the threads in the queue are released.
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* Semaphores can be used as guards for mutual exclusion code zones but
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* also have other uses, queues guards and counters as example.<br>
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* In order to use the Semaphores APIs the @p CH_USE_SEMAPHORES
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* option must be specified in @p chconf.h.<br><br>
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* @file semaphores.h Semaphores macros and structures.
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* @file chsem.c Semaphores code.
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*/
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/** @} */
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/**
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* @defgroup Mutexes Mutexes
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* @{
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* Mutexes and threads synchronization.
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* <h2>Operation mode</h2>
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* A mutex is a threads synchronization object, some operations are defined
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* on mutexes:
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* - <b>Lock</b>: The mutex is checked, if the mutex is not owned by some
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* other thread then it is locked else the current thread is queued on the
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* mutex in a list ordered by priority.
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* - <b>Unlock</b>: The mutex is released by the owner and the highest
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* priority thread waiting in the queue, if any, is resumed and made owner
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* of the mutex.
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* In order to use the Event APIs the @p CH_USE_MUTEXES option must be
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* specified in @p chconf.h.<br>
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*
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* <h2>Constraints</h2>
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* In ChibiOS/RT the Unlock operations are always performed in Lock-reverse
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* order. The Unlock API does not even have a parameter, the mutex to unlock
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* is taken from an internal stack of owned mutexes.
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* This both improves the performance and is required by the priority
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* inheritance mechanism.
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*
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* <h2>The priority inversion problem</h2>
|
|
* The mutexes in ChibiOS/RT implements the <b>full</b> priority
|
|
* inheritance mechanism in order handle the priority inversion problem.<br>
|
|
* When a thread is queued on a mutex, any thread, directly or indirectly,
|
|
* holding the mutex gains the same priority of the waiting thread (if their
|
|
* priority was not already equal or higher). The mechanism works with any
|
|
* number of nested mutexes and any number of involved threads. The algorithm
|
|
* complexity (worst case) is N with N equal to the number of nested mutexes.
|
|
* @file mutexes.h Mutexes macros and structures.
|
|
* @file chmtx.c Mutexes functions.
|
|
*/
|
|
/** @} */
|
|
|
|
/**
|
|
* @defgroup CondVars Conditional Variables
|
|
* @{
|
|
* Conditional Variables and threads synchronization.
|
|
* <h2>Operation mode</h2>
|
|
* The condition variable is a synchronization object meant to be used inside
|
|
* a zone protected by a @p Mutex. Mutexes and CondVars together can implement
|
|
* a Monitor construct.<br>
|
|
* In order to use the Conditional Variables APIs the @p CH_USE_CONDVARS
|
|
* option must be specified in @p chconf.h.<br><br>
|
|
* @file condvars.h Conditional Variables macros and structures.
|
|
* @file chcond.c Conditional Variables code.
|
|
*/
|
|
/** @} */
|
|
|
|
/**
|
|
* @defgroup Events Events
|
|
* @{
|
|
* Event Sources and Event Listeners.
|
|
* <h2>Operation mode</h2>
|
|
* An Event Source is a special object that can be signaled by a thread or
|
|
* an interrupt service routine. Signaling an Event Source has the effect
|
|
* that all the threads registered on the Event Source will receive
|
|
* and serve the event.<br>
|
|
* An unlimited number of Event Sources can exists in a system and each
|
|
* thread can listen on an unlimited number of them.<br>
|
|
* Note that the events can be asynchronously generated but are synchronously
|
|
* served, a thread can serve event by calling a @p chEvtWaitXXX()
|
|
* API. If an event is generated while a listening thread is not ready to
|
|
* serve it then the event becomes "pending" and will be served as soon the
|
|
* thread invokes a @p chEvtWaitXXX().<br>
|
|
* In order to use the Event APIs the @p CH_USE_EVENTS option must be
|
|
* specified in @p chconf.h.
|
|
* @file events.h Events macros and structures.
|
|
* @file chevents.c Events functions.
|
|
*/
|
|
/** @} */
|
|
|
|
/**
|
|
* @defgroup Messages Messages
|
|
* @{
|
|
* Synchronous inter-thread Messages.
|
|
* <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 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
|
|
* them in priority order by specifying CH_USE_MESSAGES_PRIORITY
|
|
* in @p chconf.h.<br>
|
|
* Threads do not need to allocate space for message queues, the mechanism
|
|
* just requires two extra pointers in the @p Thread structure (the message
|
|
* queue header).<br>
|
|
* In order to use the Messages APIs the @p CH_USE_MESSAGES option must be
|
|
* specified in @p chconf.h.
|
|
* @file messages.h Messages macros and structures.
|
|
* @file chmsg.c Messages functions.
|
|
*/
|
|
/** @} */
|
|
|
|
/**
|
|
* @defgroup IOQueues I/O Queues
|
|
* @{
|
|
* ChibiOS/RT supports several kinds of queues. The queues are mostly used
|
|
* in serial-like device drivers. The device drivers are usually designed to
|
|
* have a lower side (lower driver, it is usually an interrupt service
|
|
* routine) and an upper side (upper driver, accessed by the application
|
|
* threads).<br>
|
|
* There are several kind of queues:<br>
|
|
* - <b>Input queue</b>, unidirectional queue where the writer is the
|
|
* lower side and the reader is the upper side.
|
|
* - <b>Output queue</b>, unidirectional queue where the writer is the
|
|
* upper side and the reader is the lower side.
|
|
* - <b>Half duplex queue</b>, bidirectional queue where the buffer is shared
|
|
* between a receive and a transmit queues. This means that concurrent
|
|
* buffered input and output operations are not possible, this is perfectly
|
|
* acceptable for a lot of applications however, as example an RS485 driver.
|
|
* - <b>Full duplex queue</b>, bidirectional queue where read and write
|
|
* operations can happen at the same time. Full duplex queues
|
|
* are implemented by pairing an input queue and an output queue together.
|
|
* In order to use the I/O queues the @p CH_USE_QUEUES option must
|
|
* be specified in @p chconf.h.<br>
|
|
* In order to use the half duplex queues the @p CH_USE_QUEUES_HALFDUPLEX
|
|
* option must be specified in @p chconf.h.
|
|
* @file queues.h I/O Queues macros and structures.
|
|
* @file chqueues.c I/O Queues code.
|
|
*/
|
|
/** @} */
|
|
|
|
/**
|
|
* @defgroup Serial Serial Drivers
|
|
* @{
|
|
* This module implements a generic full duplex serial driver and a generic
|
|
* half duplex serial driver. It uses the I/O Queues for communication between
|
|
* the upper and the lower driver and events to notify the application about
|
|
* incoming data, outcoming data and other I/O events.
|
|
* The module also contains functions that make the implementation of the
|
|
* interrupt service routines much easier.<br>
|
|
* In order to use the serial full duplex driver the
|
|
* @p CH_USE_SERIAL_FULLDUPLEX option must be specified in @p chconf.h.<br>
|
|
* In order to use the serial half duplex driver the
|
|
* @p CH_USE_SERIAL_HALFDUPLEX option must be specified in @p chconf.h.
|
|
* @file serial.h Serial Drivers macros and structures.
|
|
* @file chserial.c Serial Drivers code.
|
|
*/
|
|
/** @} */
|
|
|
|
/**
|
|
* @defgroup utilities_library Utilities Library
|
|
* @{
|
|
* @brief Utilities Library.
|
|
* @details This is a collection of useful library code that is not part of
|
|
* the base kernel services.
|
|
* <h2>Notes</h2>
|
|
* The library code does not follow the same naming convention of the
|
|
* system APIs in order to make very clear that it is not "core" code.<br>
|
|
* The main difference is that library code is not formally tested in the
|
|
* test suite but through usage in the various demo application.
|
|
*/
|
|
/** @} */
|
|
|
|
/**
|
|
* @defgroup CPlusPlusLibrary C++ Wrapper
|
|
* @{
|
|
* C++ wrapper module. This module allows to use the ChibiOS/RT functionalities
|
|
* from C++ as classes and objects rather the traditional "C" APIs.
|
|
*
|
|
* @ingroup utilities_library
|
|
* @file ch.hpp C++ wrapper classes and definitions.
|
|
* @file ch.cpp C++ wrapper code.
|
|
*/
|
|
/** @} */
|
|
|
|
/**
|
|
* @defgroup event_timer Events Generator Timer
|
|
* @{
|
|
* @brief Event Generator Timer.
|
|
* @details This timer generates an event at regular intervals. The
|
|
* listening threads can use the event to perform time related activities.
|
|
* Multiple threads can listen to the same timer.
|
|
*
|
|
* @ingroup utilities_library
|
|
* @file evtimer.c Events Generator Timer code.
|
|
* @file evtimer.h Events Generator Timer structures and macros.
|
|
*/
|
|
/** @} */
|
|
|