572 lines
21 KiB
Plaintext
572 lines
21 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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* @section Chibi Chibi ?
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* It is the Japanese word for 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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* @section ch_features Features
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* <ul>
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* <li>Free software, GPL3 licensed.</li>
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* <li>Designed for realtime applications.</li>
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* <li>Easily portable.</li>
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* <li>Mixed programming model:</li>
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* <ul>
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* <li>Synchronous, using semaphores/mutexes and/or messages.</li>
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* <li>Asynchronous, using event sources.</li>
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* <li>Mix of the above models, multiple threads listening to multiple event
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* sources while serving message queues.</li>
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* </ul>
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* <li>PC simulator target included, the development can be done on the PC
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* using MinGW or VS.
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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 and VS demos available and ready to go, use them as templates for
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* your application.</li>
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* <li>Preemptive scheduling.</li>
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* <li>128 priority levels.</li>
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* <li>Multiple threads at the same priorily level allowed.</li>
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* <li>Round robin scheduling for threads at the same priority level.</li>
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* <li>Unlimited number of threads.</li>
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* <li>Unlimited number of virtual timers.</li>
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* <li>Unlimited number of semaphores.</li>
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* <li>Unlimited number of mutexes.</li>
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* <li>Unlimited number of event sources.</li>
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* <li>Unlimited number of messages in queue.</li>
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* <li>Unlimited number of I/O queues.</li>
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* <li>No static setup at compile time, there is no need to configure a maximum
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* number of all the above resources.</li>
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* <li>No *need* for a memory allocator, all the kernel structures are static
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* and declaratively allocated.</li>
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* <li>Threads, Semaphores, Event Sources, Virtual Timers creation/deletion at
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* runtime.</li>
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* <li>Optional, thread safe, Heap Allocator subsystem.</li>
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* <li>Optional, thread safe, Memory Pools Allocator subsystem.</li>
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* <li>Blocking and non blocking I/O channels with timeout and events generation
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* capability.</li>
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* <li>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.</li>
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* <li>Small memory footprint, unused subsystems can be excluded by the
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* memory image.</li>
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* <li>Almost totally written in C with little ASM code required for ports.</li>
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* </ul>
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*
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* ChibiOS/RT architecture:<br><br>
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* @subpage Concepts
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*/
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/**
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* @page Concepts Concepts
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* @{
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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 Evt, \a Msg, \a IQ, \a OQ, \a HQ,\a FDD, \a HDD, \a Dbg.
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* The suffix is not present for normal APIs but can be one of
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* the following: "I" for APIs meant to be invoked within the system mutex
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* zone, "S" for APIs only useable from within the system mutex zone but not
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* from interrupt handlers.<br>
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* The APIs without suffix can be invoked only from the user code outsize the
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* system mutex zone and not from interrupt handlers unless differently
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* specified.<br>
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* Examples: \p chThdCreate(), \p chSemSignalI(), \p chIQGetTimeout().
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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.
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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 states Threads States Diagram
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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 warea Thread Working Area
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* Each thread has its own stack, a Thread structure and a registers dump
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* structure. All the structures are allocated into a "Thread working area",
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* a thread private heap, usually allocated in a char array declared in your
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* code, there is not a central threads table or list, this means you can
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* have as many threads you want as long you have enough available RAM
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* memory. The threads do not use any memory outside the allocated working
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* area.<br>
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* @image html workspace.png
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* <br>
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* Note that the registers dump is only present when the Thread is not
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* running, the context switching is done by pushing the registers on the
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* stack of the switched-out thread and popping the registers of the
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* switched-in thread from its stack.
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*
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* @section sysmutex System Mutex Zone
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* It is the code within the OS that cannot be preempted, this code is
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* everything between the \p chSysLock() and \p chSysUnlock() API calls.
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* The implementation of the APIs in most cases just enables/disables the
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* interrupts. Of course the code in the system mutex zone must be as short
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* and efficient possible as it affects the RT performance of the whole
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* system. The worst case response time is affected by the longest code
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* path in the system mutex zone or interrupt handler.
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* @code
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* // User code, not critical, preemption possible.
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* chSysLock();
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* ...
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* // System critical code, preemption delayed.
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* ...
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* chSysUnlock();
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* // User code, preemption possible again.
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* @endcode
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* Applications usually do not need to put code into the system mutex zone
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* unless you are implementing device drivers or special synchronization
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* primitives, everything else can be implemented by using semaphores,
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* mutexes, messages or events.
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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 ARM7 ARM7TDMI
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* @{
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* <p>
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* The ARM7 port makes some assumptions on the application code organization:
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* <ul>
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* <li>The \p main() function is invoked in system mode.</li>
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* <li>Each thread has a private user/system stack, the system has a single
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* interrupt stack where all the interrupts are processed.</li>
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* <li>The threads are started in system mode.</li>
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* <li>The threads code can run in system mode or user mode, however the
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* code running in user mode cannot invoke the ChibiOS/RT APIs directly
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* because privileged instructions are used inside.<br>
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* The kernel APIs can be eventually invoked by using a SWI entry point
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* that handles the switch in system mode and the return in user mode.</li>
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* <li>Other modes are not preempt-able because the system code assumes the
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* threads running in system mode. When running in supervisor or other
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* modes make sure that the interrupts are globally disabled.</li>
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* <li>Interrupts nesting is not supported in the ARM7 code because their
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* implementation, even if possible, is not really efficient in this
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* architecture.</li>
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* <li>FIQ sources can preempt the kernel (by design) so it is not possible to
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* invoke the kernel APIs from inside a FIQ handler.</li>
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* </ul>
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* </p>
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* <p>
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* The ARM7 port is shared by multiple demos targeted to various implementations:
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* </p>
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* @ingroup Ports
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*/
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/** @} */
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/**
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* @defgroup LPC214x LPC214x Support
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* @{
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* <p>
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* The LPC214x support includes:
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* <ul>
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* <li>VIC support code.</li>
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* <li>Buffered, interrupt driven, serial driver.</li>
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* <li>SSP driver.</li>
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* <li>A MMC/SD demo driver.</li>
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* <li>A buzzer demo driver.</li>
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* <li>A minimal demo, useful as project template.</li>
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* <li>A demo supporting the kernel test suite.</li>
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* <li>A C++ demo supporting the kernel test suite.</li>
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* </ul>
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* </p>
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* @ingroup ARM7
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*/
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/** @} */
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/**
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* @defgroup AT91SAM7X AT91SAM7X Support
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* @{
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* <p>
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* The AT91SAM7X support includes:
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* <ul>
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* <li>Buffered, interrupt driven, serial driver.</li>
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* <li>A demo supporting the kernel test suite.</li>
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* </ul>
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* </p>
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* @ingroup ARM7
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*/
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/** @} */
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/**
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* @defgroup ARMCM3 ARM Cortex-M3
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* @{
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* <p>
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* The ARM Cortex-M3 port is organized as follow:
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* </p>
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* <ul>
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* <li>The \p main() function is invoked in thread-privileged mode.</li>
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* <li>Each thread has a private process stack, the system has a single main
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* stack where all the interrupts and exceptions are processed.</li>
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* <li>Only the 4 MSb of the priority level are used, the 4 LSb are assumed
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* to be zero.</li>
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* <li>The threads are started in thread-privileged mode with BASEPRI level
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* 0x00 (disabled).</li>
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* <li>The kernel raises its BASEPRI level to 0x10 in order to protect the
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* system mutex zones. Note that exceptions with level 0x00 can preempt
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* the kernel, such exception handlers cannot invoke kernel APIs directly.</li>
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* <li>Interrupt nesting and the other advanced NVIC features are supported.</li>
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* <li>The SVC instruction and vector, with parameter #0, is internally used
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* for commanded context switching.<br>
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* It is possible to share the SVC handler at the cost of slower context
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* switching.</li>
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* <li>The PendSV vector is internally used for preemption context switching.</li>
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* </ul>
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* @ingroup Ports
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*/
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/** @} */
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/**
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* @defgroup STM32F103 STM32F103 Support
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* @{
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* <p>
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* The STM32F103 support includes:
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* <ul>
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* <li>Buffered, interrupt driven, serial driver.</li>
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* <li>A demo supporting the kernel test suite.</li>
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* </ul>
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* </p>
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* @ingroup ARMCM3
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*/
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/** @} */
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/**
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* @defgroup AVR MegaAVR
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* @{
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* <p>
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* Notes about the AVR port:
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* </p>
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* <ul>
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* <li>The AVR does not have a dedicated interrupt stack, make sure to reserve
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* enough stack space for interrupts in each thread stack. This can be done
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* by modifying the \p INT_REQUIRED_STACK macro into \p ports/AVR/chcore.h.</li>
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* </ul>
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* @ingroup Ports
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*/
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/** @} */
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/**
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* @defgroup MSP430 MSP430
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* @{
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* <p>
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* Notes about the MSP430 port:
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* </p>
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* <ul>
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* <li>In the current version the MSP430 port is still untested.</li>
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* <li>The MSP430 does not have a dedicated interrupt stack, make sure to reserve
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* enough stack space for interrupts in each thread stack. This can be done
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* by modifying the \p INT_REQUIRED_STACK macro into \p ports/MSP430/chcore.h.</li>
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* </ul>
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* @ingroup 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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*/
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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 Core
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* @{
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* Non portable code.
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* @ingroup Kernel
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* @file chcore.c Non portable code.
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*/
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/** @} */
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/**
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* @defgroup Initialization Initialization
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* @{
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* Initialization APIs and procedures.
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* @ingroup Kernel
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* @file ch.h ChibiOS/RT main include file, it includes everything else.
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* @file chinit.c ChibiOS/RT Initialization code.
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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 VirtualTimers Virtual Timers
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* @{
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* Virtual Timers APIs.
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* @file src/chdelta.c Virtual Timers code.
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* @file delta.h Virtual Timers macros and structures.
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*/
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/** @} */
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/**
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* @defgroup Time Time
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* @{
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* Time related APIs.
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* @file include/sleep.h Time macros and structures.
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* @file chsleep.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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* <b>Operation mode</b><br><br>
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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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* <b>Operation mode</b><br><br>
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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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* <b>Operation mode</b><br><br>
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* A semaphore is a threads synchronization object, some operations
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* are defined on semaphores:<br>
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* <ul>
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* <li><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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* </li>
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* <li><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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* </li>
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* <li><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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* </li>
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* </ul>
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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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* <b>Operation mode</b><br><br>
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* A mutex is a threads synchronization object, some operations are defined
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* on mutexes:<br>
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* <ul>
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* <li><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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* </li>
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* <li><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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* </li>
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* </ul>
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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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* <b>Constraints</b><br><br>
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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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* <b>The priority inversion problem</b><br><br>
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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 Events Events
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* @{
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* Event Sources and Event Listeners.<br>
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* <b>Operation mode</b><br><br>
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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
|
|
* 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 the \p chEvtWait()
|
|
* 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 the \p chEvtWait().<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 Messages.<br>
|
|
* <b>Operation Mode</b><br><br>
|
|
* 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 carryed in both directions. Data is not copyed 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>
|
|
* <ul>
|
|
* <li><b>Input queue</b>, monodirectional queue where the writer is the
|
|
* lower side and the reader is the upper side.</li>
|
|
* <li><b>Output queue</b>, monodirectional queue where the writer is the
|
|
* upper side and the reader is the lower side.</li>
|
|
* <li><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.
|
|
* <li><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.
|
|
* </ul>
|
|
* 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 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.
|
|
* @file ch.hpp C++ wrapper classes and definitions.
|
|
* @file ch.cpp C++ wrapper code.
|
|
*/
|
|
/** @} */
|