/**
* @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 *tp;
const ThreadConfig *tcp;
/* Port layer initialization.*/
port_init();
/* Iterates through the list of defined threads.*/
for (tp = &nil.threads[0], tcp = nil_thd_configs;
#if WHG_MOD
tp < nil.idlep;
#else /* WHG_MOD */
tp < &nil.threads[NIL_CFG_NUM_THREADS];
#endif /* WHG_MOD */
tp++, tcp++) {
/* Port dependent thread initialization.*/
SETUP_CONTEXT(tcp->wap, tcp->size, tcp->funcp, tcp->arg);
}
/* Runs the highest priority thread, the current one becomes the null
thread.*/
nil.currp = nil.nextp = 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();
}
/**
* @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;
#if CH_DBG_SYSTEM_STATE_CHECK == TRUE
nil.isr_cnt = (cnt_t)0;
nil.lock_cnt = (cnt_t)0;
#endif
/* System initialization hook.*/
CH_CFG_SYSTEM_INIT_HOOK();
/* Iterates through the list of defined threads.*/
tp = &nil.threads[0];
tcp = nil_thd_configs;
while (tp < &nil.threads[CH_CFG_NUM_THREADS]) {
#if CH_DBG_ENABLE_STACK_CHECK
tp->stklimit = (stkalign_t *)tcp->wbase;
#endif
/* Port dependent thread initialization.*/
PORT_SETUP_CONTEXT(tp, tcp->wbase, tcp->wend, tcp->funcp, tcp->arg);
/* Initialization hook.*/
CH_CFG_THREAD_EXT_INIT_HOOK(tp);
tp++;
tcp++;
}
#if CH_DBG_ENABLE_STACK_CHECK
/* The idle thread is a special case because its stack is set up by the
runtime environment.*/
tp->stklimit = THD_IDLE_BASE;
#endif
/* Interrupts partially enabled. It is equivalent to entering the
kernel critical zone.*/
chSysSuspend();
#if CH_DBG_SYSTEM_STATE_CHECK == TRUE
nil.lock_cnt = (cnt_t)1;
#endif
/* Heap initialization, if enabled.*/
#if CH_CFG_USE_HEAP == TRUE
_heap_init();
#endif
/* Port layer initialization last because it depend on some of the
initializations performed before.*/
port_init();
/* Runs the highest priority thread, the current one becomes the idle
thread.*/
nil.current = nil.next = nil.threads;
port_switch(nil.current, tp);
chSysUnlock();
}
/**
* @brief Switches to the first thread on the runnable queue.
* @note Not a user function, it is meant to be invoked by the scheduler
* itself or from within the port layer.
*
* @special
*/
void chSchDoReschedule(void) {
thread_t *otp = nil.current;
nil.current = nil.next;
if (otp == &nil.threads[CH_CFG_NUM_THREADS]) {
CH_CFG_IDLE_LEAVE_HOOK();
}
port_switch(nil.next, otp);
}
/**
* @brief Reschedules if needed.
*
* @sclass
*/
void chSchRescheduleS(void) {
if (chSchIsRescRequiredI()) {
thread_t *otp = nil.current;
nil.current = nil.next;
if (otp == &nil.threads[NIL_CFG_NUM_THREADS]) {
NIL_CFG_IDLE_LEAVE_HOOK();
}
port_switch(nil.next, otp);
}
}
/**
* @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();
}
/**
* @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 Puts the current thread to sleep into the specified state with
* timeout specification.
* @details The thread goes into a sleeping state, if it is not awakened
* explicitly within the specified system time then it is forcibly
* awakened with a @p NIL_MSG_TMO low level message.
*
* @param[in] newstate the new thread state or a semaphore pointer
* @param[in] timeout the number of ticks before the operation timeouts.
* the following special values are allowed:
* - @a TIME_INFINITE no timeout.
* .
* @return The wakeup message.
* @retval NIL_MSG_TMO if a timeout occurred.
*
* @sclass
*/
msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout) {
thread_t *ntp, *otp = nil.current;
chDbgAssert(otp != &nil.threads[NIL_CFG_NUM_THREADS],
"idle cannot sleep");
/* Storing the wait object for the current thread.*/
otp->state = newstate;
#if NIL_CFG_ST_TIMEDELTA > 0
if (timeout != TIME_INFINITE) {
systime_t abstime;
/* TIMEDELTA makes sure to have enough time to reprogram the timer
before the free-running timer counter reaches the selected timeout.*/
if (timeout < (systime_t)NIL_CFG_ST_TIMEDELTA) {
timeout = (systime_t)NIL_CFG_ST_TIMEDELTA;
}
/* Absolute time of the timeout event.*/
abstime = chVTGetSystemTimeX() + timeout;
if (nil.lasttime == nil.nexttime) {
/* Special case, first thread asking for a timeout.*/
port_timer_start_alarm(abstime);
nil.nexttime = abstime;
}
else {
/* Special case, there are already other threads with a timeout
activated, evaluating the order.*/
if (chVTIsTimeWithinX(abstime, nil.lasttime, nil.nexttime)) {
port_timer_set_alarm(abstime);
nil.nexttime = abstime;
}
}
/* Timeout settings.*/
otp->timeout = abstime - nil.lasttime;
}
#else
/* Timeout settings.*/
otp->timeout = timeout;
#endif
/* Scanning the whole threads array.*/
ntp = nil.threads;
while (true) {
/* Is this thread ready to execute?*/
if (NIL_THD_IS_READY(ntp)) {
nil.current = nil.next = ntp;
if (ntp == &nil.threads[NIL_CFG_NUM_THREADS]) {
NIL_CFG_IDLE_ENTER_HOOK();
}
port_switch(ntp, otp);
return nil.current->u1.msg;
}
/* Points to the next thread in lowering priority order.*/
ntp++;
chDbgAssert(ntp <= &nil.threads[NIL_CFG_NUM_THREADS],
"pointer out of range");
}
}