ChibiOS 2.6.8, until I can figure out where to get it from git.

2026-09-08 07:49:04 +00:00 · 2015-07-08 08:40:23 -07:00
parent dc6fee8370
commit e1eea8e08a
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+/*
+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+                 2011,2012,2013 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/>.
+
+                                      ---
+
+    A special exception to the GPL can be applied should you wish to distribute
+    a combined work that includes ChibiOS/RT, without being obliged to provide
+    the source code for any proprietary components. See the file exception.txt
+    for full details of how and when the exception can be applied.
+*/
+
+/**
+ * @file    chsys.c
+ * @brief   System related code.
+ *
+ * @addtogroup system
+ * @details System related APIs and services:
+ *          - Initialization.
+ *          - Locks.
+ *          - Interrupt Handling.
+ *          - Power Management.
+ *          - Abnormal Termination.
+ *          .
+ * @{
+ */
+
+#include "ch.h"
+
+#if !CH_NO_IDLE_THREAD || defined(__DOXYGEN__)
+/**
+ * @brief   Idle thread working area.
+ */
+WORKING_AREA(_idle_thread_wa, PORT_IDLE_THREAD_STACK_SIZE);
+
+/**
+ * @brief   This function implements the idle thread infinite loop.
+ * @details The function puts the processor in the lowest power mode capable
+ *          to serve interrupts.<br>
+ *          The priority is internally set to the minimum system value so
+ *          that this thread is executed only if there are no other ready
+ *          threads in the system.
+ *
+ * @param[in] p the thread parameter, unused in this scenario
+ */
+void _idle_thread(void *p) {
+
+  (void)p;
+  chRegSetThreadName("idle");
+  while (TRUE) {
+    port_wait_for_interrupt();
+    IDLE_LOOP_HOOK();
+  }
+}
+#endif /* CH_NO_IDLE_THREAD */
+
+/**
+ * @brief   ChibiOS/RT initialization.
+ * @details After executing this function the current instructions stream
+ *          becomes the main thread.
+ * @pre     Interrupts must be still disabled when @p chSysInit() is invoked
+ *          and are internally enabled.
+ * @post    The main thread is created with priority @p NORMALPRIO.
+ * @note    This function has special, architecture-dependent, requirements,
+ *          see the notes into the various port reference manuals.
+ *
+ * @special
+ */
+void chSysInit(void) {
+  static Thread mainthread;
+#if CH_DBG_ENABLE_STACK_CHECK
+  extern stkalign_t __main_thread_stack_base__;
+#endif
+
+  port_init();
+  _scheduler_init();
+  _vt_init();
+#if CH_USE_MEMCORE
+  _core_init();
+#endif
+#if CH_USE_HEAP
+  _heap_init();
+#endif
+#if CH_DBG_ENABLE_TRACE
+  _trace_init();
+#endif
+
+  /* Now this instructions flow becomes the main thread.*/
+  setcurrp(_thread_init(&mainthread, NORMALPRIO));
+  currp->p_state = THD_STATE_CURRENT;
+#if CH_DBG_ENABLE_STACK_CHECK
+  /* This is a special case because the main thread Thread structure is not
+     adjacent to its stack area.*/
+  currp->p_stklimit = &__main_thread_stack_base__;
+#endif
+  chSysEnable();
+
+  /* Note, &ch_debug points to the string "main" if the registry is
+     active, else the parameter is ignored.*/
+  chRegSetThreadName((const char *)&ch_debug);
+
+#if !CH_NO_IDLE_THREAD
+  /* This thread has the lowest priority in the system, its role is just to
+     serve interrupts in its context while keeping the lowest energy saving
+     mode compatible with the system status.*/
+  chThdCreateStatic(_idle_thread_wa, sizeof(_idle_thread_wa), IDLEPRIO,
+                    (tfunc_t)_idle_thread, NULL);
+#endif
+}
+
+/**
+ * @brief   Handles time ticks for round robin preemption and timer increments.
+ * @details Decrements the remaining time quantum of the running thread
+ *          and preempts it when the quantum is used up. Increments system
+ *          time and manages the timers.
+ * @note    The frequency of the timer determines the system tick granularity
+ *          and, together with the @p CH_TIME_QUANTUM macro, the round robin
+ *          interval.
+ *
+ * @iclass
+ */
+void chSysTimerHandlerI(void) {
+
+  chDbgCheckClassI();
+
+#if CH_TIME_QUANTUM > 0
+  /* Running thread has not used up quantum yet? */
+  if (currp->p_preempt > 0)
+    /* Decrement remaining quantum.*/
+    currp->p_preempt--;
+#endif
+#if CH_DBG_THREADS_PROFILING
+  currp->p_time++;
+#endif
+  chVTDoTickI();
+#if defined(SYSTEM_TICK_EVENT_HOOK)
+  SYSTEM_TICK_EVENT_HOOK();
+#endif
+}
+
+/** @} */