429 lines
16 KiB
Plaintext
429 lines
16 KiB
Plaintext
/*
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ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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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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*
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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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* @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>
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* The mutexes in ChibiOS/RT implements the <b>full</b> priority
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* inheritance mechanism in order handle the priority inversion problem.<br>
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* When a thread is queued on a mutex, any thread, directly or indirectly,
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* holding the mutex gains the same priority of the waiting thread (if their
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* priority was not already equal or higher). The mechanism works with any
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* number of nested mutexes and any number of involved threads. The algorithm
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* complexity (worst case) is N with N equal to the number of nested mutexes.
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* @file mutexes.h Mutexes macros and structures.
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* @file chmtx.c Mutexes functions.
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*/
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/** @} */
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/**
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* @defgroup CondVars Condition Variables
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* @{
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* Condition Variables and threads synchronization.
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* <h2>Operation mode</h2>
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* The condition variable is a synchronization object meant to be used inside
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* a zone protected by a @p Mutex. Mutexes and CondVars together can implement
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* a Monitor construct.<br>
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* In order to use the Condition Variables APIs the @p CH_USE_CONDVARS
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* option must be specified in @p chconf.h.<br><br>
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* @file condvars.h Condition Variables macros and structures.
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* @file chcond.c Condition Variables code.
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*/
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/** @} */
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/**
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* @defgroup Events Events
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* @{
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* Event Sources and Event Listeners.
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* <h2>Operation mode</h2>
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* An Event Source is a special object that can be signaled by a thread or
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* an interrupt service routine. Signaling an Event Source has the effect
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* that all the threads registered on the Event Source will receive
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* and serve the event.<br>
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* An unlimited number of Event Sources can exists in a system and each
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* thread can listen on an unlimited number of them.<br>
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* Note that the events can be asynchronously generated but are synchronously
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* served, a thread can serve event by calling a @p chEvtWaitXXX()
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* API. If an event is generated while a listening thread is not ready to
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* serve it then the event becomes "pending" and will be served as soon the
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* thread invokes a @p chEvtWaitXXX().<br>
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* In order to use the Event APIs the @p CH_USE_EVENTS option must be
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* specified in @p chconf.h.
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* @file events.h Events macros and structures.
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* @file chevents.c Events functions.
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*/
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/** @} */
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/**
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* @defgroup Messages Messages
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* @{
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* Synchronous inter-thread Messages.
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* <h2>Operation Mode</h2>
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* Messages are an easy to use and fast IPC mechanism, threads can both serve
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* messages and send messages to other threads, the mechanism allows data to
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* be carried in both directions. Data is not copied between the client and
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* server threads but just a pointer passed so the exchange is very time
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* efficient.<br>
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* Messages are usually processed in FIFO order but it is possible to process
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* them in priority order by specifying CH_USE_MESSAGES_PRIORITY
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* in @p chconf.h.<br>
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* Threads do not need to allocate space for message queues, the mechanism
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* just requires two extra pointers in the @p Thread structure (the message
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* queue header).<br>
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* In order to use the Messages APIs the @p CH_USE_MESSAGES option must be
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* specified in @p chconf.h.
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* @file messages.h Messages macros and structures.
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* @file chmsg.c Messages functions.
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*/
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/** @} */
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/**
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* @defgroup IOQueues I/O Queues
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* @{
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* ChibiOS/RT supports several kinds of queues. The queues are mostly used
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* in serial-like device drivers. The device drivers are usually designed to
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* have a lower side (lower driver, it is usually an interrupt service
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* routine) and an upper side (upper driver, accessed by the application
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* threads).<br>
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* There are several kind of queues:<br>
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* - <b>Input queue</b>, unidirectional queue where the writer is the
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* lower side and the reader is the upper side.
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* - <b>Output queue</b>, unidirectional queue where the writer is the
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* upper side and the reader is the lower side.
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* - <b>Half duplex queue</b>, bidirectional queue where the buffer is shared
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* between a receive and a transmit queues. This means that concurrent
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* buffered input and output operations are not possible, this is perfectly
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* acceptable for a lot of applications however, as example an RS485 driver.
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* - <b>Full duplex queue</b>, bidirectional queue where read and write
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* operations can happen at the same time. Full duplex queues
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* are implemented by pairing an input queue and an output queue together.
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* In order to use the I/O queues the @p CH_USE_QUEUES option must
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* be specified in @p chconf.h.<br>
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* In order to use the half duplex queues the @p CH_USE_QUEUES_HALFDUPLEX
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* option must be specified in @p chconf.h.
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* @file queues.h I/O Queues macros and structures.
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* @file chqueues.c I/O Queues code.
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*/
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/** @} */
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/**
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* @defgroup Serial Serial Drivers
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* @{
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* This module implements a generic full duplex serial driver and a generic
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* half duplex serial driver. It uses the I/O Queues for communication between
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* the upper and the lower driver and events to notify the application about
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* incoming data, outcoming data and other I/O events.
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* The module also contains functions that make the implementation of the
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* interrupt service routines much easier.<br>
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* In order to use the serial full duplex driver the
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* @p CH_USE_SERIAL_FULLDUPLEX option must be specified in @p chconf.h.<br>
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* In order to use the serial half duplex driver the
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* @p CH_USE_SERIAL_HALFDUPLEX option must be specified in @p chconf.h.
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* @file serial.h Serial Drivers macros and structures.
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* @file chserial.c Serial Drivers code.
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*/
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/** @} */
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/**
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* @defgroup utilities_library Utilities Library
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* @{
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* @brief Utilities Library.
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* @details This is a collection of useful library code that is not part of
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* the base kernel services.
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* <h2>Notes</h2>
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* The library code does not follow the same naming convention of the
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* system APIs in order to make very clear that it is not "core" code.<br>
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* The main difference is that library code is not formally tested in the
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* test suite but through usage in the various demo application.
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*/
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/** @} */
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/**
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* @defgroup CPlusPlusLibrary C++ Wrapper
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* @{
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* C++ wrapper module. This module allows to use the ChibiOS/RT functionalities
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* from C++ as classes and objects rather the traditional "C" APIs.
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*
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* @ingroup utilities_library
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* @file ch.hpp C++ wrapper classes and definitions.
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* @file ch.cpp C++ wrapper code.
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*/
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/** @} */
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/**
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* @defgroup event_timer Events Generator Timer
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* @{
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* @brief Event Generator Timer.
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* @details This timer generates an event at regular intervals. The
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* listening threads can use the event to perform time related activities.
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* Multiple threads can listen to the same timer.
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*
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* @ingroup utilities_library
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* @file evtimer.c Events Generator Timer code.
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* @file evtimer.h Events Generator Timer structures and macros.
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*/
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/** @} */
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