/**
* @brief ChibiOS/RT initialization.
* @details After executing this function the current instructions stream
* becomes the main thread.
* @pre Interrupts must disabled before invoking this function.
* @post The main thread is created with priority @p NORMALPRIO and
* interrupts are enabled.
*
* @special
*/
void chSysInit(void) {
#if CH_DBG_ENABLE_STACK_CHECK == TRUE
extern stkalign_t __main_thread_stack_base__;
#endif
port_init();
_scheduler_init();
_vt_init();
#if CH_CFG_USE_TM == TRUE
_tm_init();
#endif
#if CH_CFG_USE_MEMCORE == TRUE
_core_init();
#endif
#if CH_CFG_USE_HEAP == TRUE
_heap_init();
#endif
#if CH_DBG_STATISTICS == TRUE
_stats_init();
#endif
#if CH_DBG_ENABLE_TRACE == TRUE
_dbg_trace_init();
#endif
#if CH_CFG_NO_IDLE_THREAD == FALSE
/* Now this instructions flow becomes the main thread.*/
setcurrp(_thread_init(&ch.mainthread, NORMALPRIO));
#else
/* Now this instructions flow becomes the idle thread.*/
setcurrp(_thread_init(&ch.mainthread, IDLEPRIO));
#endif
currp->p_state = CH_STATE_CURRENT;
#if CH_DBG_ENABLE_STACK_CHECK == TRUE
/* This is a special case because the main thread thread_t 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_CFG_NO_IDLE_THREAD == FALSE
/* 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.*/
(void) chThdCreateStatic(ch.idle_thread_wa, sizeof(ch.idle_thread_wa),
IDLEPRIO, (tfunc_t)_idle_thread, NULL);
#endif
}
/**
* @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();
chRegSetThreadName("main");
#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 ChibiOS/RT initialization.
* @details After executing this function the current instructions stream
* becomes the main thread.
* @pre Interrupts must disabled before invoking this function.
* @post The main thread is created with priority @p NORMALPRIO and
* interrupts are enabled.
*
* @special
*/
void chSysInit(void) {
extern stkalign_t __main_thread_stack_base__;
_scheduler_init();
_vt_init();
#if CH_DBG_SYSTEM_STATE_CHECK == TRUE
ch.dbg.isr_cnt = (cnt_t)0;
ch.dbg.lock_cnt = (cnt_t)0;
#endif
#if CH_CFG_USE_TM == TRUE
_tm_init();
#endif
#if CH_CFG_USE_MEMCORE == TRUE
_core_init();
#endif
#if CH_CFG_USE_HEAP == TRUE
_heap_init();
#endif
#if CH_DBG_STATISTICS == TRUE
_stats_init();
#endif
#if CH_DBG_TRACE_MASK != CH_DBG_TRACE_MASK_NONE
_dbg_trace_init();
#endif
#if CH_CFG_NO_IDLE_THREAD == FALSE
/* Now this instructions flow becomes the main thread.*/
#if CH_CFG_USE_REGISTRY == TRUE
currp = _thread_init(&ch.mainthread, (const char *)&ch_debug, NORMALPRIO);
#else
currp = _thread_init(&ch.mainthread, "main", NORMALPRIO);
#endif
#else
/* Now this instructions flow becomes the idle thread.*/
currp = _thread_init(&ch.mainthread, "idle", IDLEPRIO);
#endif
/* Setting up the base address of the static main thread stack.*/
currp->stklimit = &__main_thread_stack_base__;
/* Setting up the caller as current thread.*/
currp->state = CH_STATE_CURRENT;
/* Port layer initialization last because it depend on some of the
initializations performed before.*/
port_init();
#if CH_DBG_STATISTICS == TRUE
/* Starting measurement for this thread.*/
chTMStartMeasurementX(&currp->stats);
#endif
/* It is alive now.*/
chSysEnable();
#if CH_CFG_NO_IDLE_THREAD == FALSE
{
static const thread_descriptor_t idle_descriptor = {
"idle",
THD_WORKING_AREA_BASE(ch_idle_thread_wa),
THD_WORKING_AREA_END(ch_idle_thread_wa),
IDLEPRIO,
_idle_thread,
NULL
};
/* 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.*/
(void) chThdCreate(&idle_descriptor);
}
#endif
}