/**
* @brief Initializes the kernel.
* @details Initializes the kernel structures, the current instructions flow
* becomes the idle thread upon return. The idle thread must not
* invoke any kernel primitive able to change state to not runnable.
* @note This function assumes that the @p nil global variable has been
* zeroed by the runtime environment. If this is not the case then
* make sure to clear it before calling this function.
*
* @special
*/
void chSysInit(void) {
thread_t *tp;
const thread_config_t *tcp;
/* Port layer initialization.*/
port_init();
/* System initialization hook.*/
NIL_CFG_SYSTEM_INIT_HOOK();
/* Iterates through the list of defined threads.*/
tp = &nil.threads[0];
tcp = nil_thd_configs;
while (tp < &nil.threads[NIL_CFG_NUM_THREADS]) {
#if NIL_CFG_ENABLE_STACK_CHECK
tp->stklim = (stkalign_t *)tcp->wbase;
#endif
/* Port dependent thread initialization.*/
PORT_SETUP_CONTEXT(tp, tcp->wend, tcp->funcp, tcp->arg);
/* Initialization hook.*/
NIL_CFG_THREAD_EXT_INIT_HOOK(tp);
tp++;
tcp++;
}
#if NIL_CFG_ENABLE_STACK_CHECK
/* The idle thread is a special case because its stack is set up by the
runtime environment.*/
tp->stklim = THD_IDLE_BASE;
#endif
/* Runs the highest priority thread, the current one becomes the null
thread.*/
nil.current = nil.next = nil.threads;
port_switch(nil.current, tp);
/* Interrupts enabled for the idle thread.*/
chSysEnable();
}
/**
* @brief Initializes the kernel.
* @details Initializes the kernel structures, the current instructions flow
* becomes the idle thread upon return. The idle thread must not
* invoke any kernel primitive able to change state to not runnable.
*
* @special
*/
void nilSysInit(void) {
thread_ref_t tr;
const thread_config_t *tcp;
/* Port layer initialization.*/
port_init();
/* Iterates through the list of defined threads.*/
for (tr = &nil.threads[0], tcp = nil_thd_configs;
#if WHG_MOD
tr < nil.idlep;
#else /* WHG_MOD */
tr < &nil.threads[NIL_CFG_NUM_THREADS];
#endif /* WHG_MOD */
tr++, tcp++) {
tr->state = NIL_THD_READY;
tr->timeout = 0;
/* Port dependent thread initialization.*/
SETUP_CONTEXT(tr, tcp->wap, tcp->size, tcp->funcp, tcp->arg);
/* Initialization hook.*/
#if defined(NIL_CFG_THREAD_EXT_INIT_HOOK)
NIL_CFG_THREAD_EXT_INIT_HOOK(tr);
#endif
}
/* Runs the highest priority thread, the current one becomes the null
thread.*/
nil.current = nil.next = nil.threads;
#if WHG_MOD
port_switch(nil.threads, nil.idlep);
#else /* WHG_MOD */
port_switch(nil.threads, &nil.threads[NIL_CFG_NUM_THREADS]);
#endif /* WHG_MOD */
/* Interrupts enabled for the idle thread.*/
nilSysEnable();
}
