179 lines
6.6 KiB
C
179 lines
6.6 KiB
C
/*
|
|
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
|
|
|
|
This file is part of ChibiOS/RT.
|
|
|
|
ChibiOS/RT is free software; you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation; either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
ChibiOS/RT is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
/**
|
|
* @file chsys.h
|
|
* @brief System related macros and structures.
|
|
*
|
|
* @addtogroup system
|
|
* @{
|
|
*/
|
|
|
|
#ifndef _CHSYS_H_
|
|
#define _CHSYS_H_
|
|
|
|
/**
|
|
* @brief Halts the system.
|
|
* @details This function is invoked by the operating system when an
|
|
* unrecoverable error is detected, as example because a programming
|
|
* error in the application code that triggers an assertion while
|
|
* in debug mode.
|
|
*/
|
|
#define chSysHalt() port_halt()
|
|
|
|
/**
|
|
* @brief Performs a context switch.
|
|
*
|
|
* @param[in] otp the thread to be switched out
|
|
* @param[in] ntp the thread to be switched in
|
|
*/
|
|
#define chSysSwitchI(otp, ntp) port_switch(otp, ntp)
|
|
|
|
/**
|
|
* @brief Raises the system interrupt priority mask to the maximum level.
|
|
* @details All the maskable interrupt sources are disabled regardless their
|
|
* hardware priority.
|
|
* @note The implementation is architecture dependent, it may just disable
|
|
* the interrupts or be exactly equivalent to @p chSysDisable().
|
|
* @note Do not invoke this API from within a kernel lock.
|
|
*/
|
|
#define chSysDisable() port_disable()
|
|
|
|
/**
|
|
* @brief Raises the system interrupt priority mask to system level.
|
|
* @details The interrupt sources that should not be able to preempt the kernel
|
|
* are disabled, interrupt sources with higher priority are still
|
|
* enabled.
|
|
* @note The implementation is architecture dependent, it may just disable
|
|
* the interrupts.
|
|
* @note Do not invoke this API from within a kernel lock.
|
|
* @note This API is no replacement for @p chSysLock(), the @p chSysLock()
|
|
* could do more than just disable the interrupts.
|
|
*/
|
|
#define chSysSuspend() port_suspend()
|
|
|
|
/**
|
|
* @brief Lowers the system interrupt priority mask to user level.
|
|
* @details All the interrupt sources are enabled.
|
|
* @note The implementation is architecture dependent, it may just enable
|
|
* the interrupts.
|
|
* @note Do not invoke this API from within a kernel lock.
|
|
* @note This API is no replacement for @p chSysUnlock(), the
|
|
* @p chSysUnlock() could do more than just enable the interrupts.
|
|
*/
|
|
#define chSysEnable() port_enable()
|
|
|
|
/**
|
|
* @brief Enters the kernel lock mode.
|
|
* @note The use of kernel lock mode is not recommended in the user code,
|
|
* it is a better idea to use the semaphores or mutexes instead.
|
|
* @see CH_USE_NESTED_LOCKS
|
|
*/
|
|
#if CH_USE_NESTED_LOCKS || defined(__DOXYGEN__)
|
|
#if CH_OPTIMIZE_SPEED || defined(__DOXYGEN__)
|
|
#define chSysLock() { \
|
|
if (currp->p_locks++ == 0) \
|
|
port_lock(); \
|
|
}
|
|
#endif /* CH_OPTIMIZE_SPEED */
|
|
#else /* !CH_USE_NESTED_LOCKS */
|
|
#define chSysLock() port_lock()
|
|
#endif /* !CH_USE_NESTED_LOCKS */
|
|
|
|
/**
|
|
* @brief Leaves the kernel lock mode.
|
|
* @note The use of kernel lock mode is not recommended in the user code,
|
|
* it is a better idea to use the semaphores or mutexes instead.
|
|
* @see CH_USE_NESTED_LOCKS
|
|
*/
|
|
#if CH_USE_NESTED_LOCKS || defined(__DOXYGEN__)
|
|
#if CH_OPTIMIZE_SPEED || defined(__DOXYGEN__)
|
|
#define chSysUnlock() { \
|
|
if (--currp->p_locks == 0) \
|
|
port_unlock(); \
|
|
}
|
|
#endif /* CH_OPTIMIZE_SPEED */
|
|
#else /* !CH_USE_NESTED_LOCKS */
|
|
#define chSysUnlock() port_unlock()
|
|
#endif /* !CH_USE_NESTED_LOCKS */
|
|
|
|
/**
|
|
* @brief Enters the kernel lock mode from within an interrupt handler.
|
|
* @note This API may do nothing on some architectures, it is required
|
|
* because on ports that support preemptable interrupt handlers
|
|
* it is required to raise the interrupt mask to the same level of
|
|
* the system mutual exclusion zone.<br>
|
|
* It is good practice to invoke this API before invoking any I-class
|
|
* syscall from an interrupt handler.
|
|
* @note This API must be invoked exclusively from interrupt handlers.
|
|
*/
|
|
#define chSysLockFromIsr() port_lock_from_isr()
|
|
|
|
/**
|
|
* @brief Leaves the kernel lock mode from within an interrupt handler.
|
|
*
|
|
* @note This API may do nothing on some architectures, it is required
|
|
* because on ports that support preemptable interrupt handlers
|
|
* it is required to raise the interrupt mask to the same level of
|
|
* the system mutual exclusion zone.<br>
|
|
* It is good practice to invoke this API after invoking any I-class
|
|
* syscall from an interrupt handler.
|
|
* @note This API must be invoked exclusively from interrupt handlers.
|
|
*/
|
|
#define chSysUnlockFromIsr() port_unlock_from_isr()
|
|
|
|
/**
|
|
* @brief IRQ handler enter code.
|
|
* @note Usually IRQ handlers functions are also declared naked.
|
|
* @note On some architectures this macro can be empty.
|
|
*/
|
|
#define CH_IRQ_PROLOGUE() PORT_IRQ_PROLOGUE()
|
|
|
|
/**
|
|
* @brief IRQ handler exit code.
|
|
* @note Usually IRQ handlers function are also declared naked.
|
|
* @note This macro usually performs the final reschedulation by using
|
|
* @p chSchRescRequiredI() and @p chSchDoRescheduleI().
|
|
*/
|
|
#define CH_IRQ_EPILOGUE() PORT_IRQ_EPILOGUE()
|
|
|
|
/**
|
|
* @brief Standard IRQ handler declaration.
|
|
* @note @p id can be a function name or a vector number depending on the
|
|
* port implementation.
|
|
*/
|
|
#define CH_IRQ_HANDLER(id) PORT_IRQ_HANDLER(id)
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
void chSysInit(void);
|
|
void chSysTimerHandlerI(void);
|
|
#if CH_USE_NESTED_LOCKS && !CH_OPTIMIZE_SPEED
|
|
void chSysLock(void);
|
|
void chSysUnlock(void);
|
|
#endif /* CH_USE_NESTED_LOCKS && !CH_OPTIMIZE_SPEED */
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* _CHSYS_H_ */
|
|
|
|
/** @} */
|