Detailed Description

System related APIs and services:

Initialization.
Locks.
Interrupt Handling.
Power Management.
Abnormal Termination.
Realtime counter.

Collaboration diagram for System Management:

Masks of executable integrity checks.
#define	CH_INTEGRITY_RLIST 1U
#define	CH_INTEGRITY_VTLIST 2U
#define	CH_INTEGRITY_REGISTRY 4U
#define	CH_INTEGRITY_PORT 8U

ISRs abstraction macros
#define	CH_IRQ_IS_VALID_PRIORITY(prio)
	Priority level validation macro.
#define	CH_IRQ_IS_VALID_KERNEL_PRIORITY(prio)
	Priority level validation macro.
#define	CH_IRQ_PROLOGUE()
	IRQ handler enter code.
#define	CH_IRQ_EPILOGUE()
	IRQ handler exit code.
#define	CH_IRQ_HANDLER(id)
	Standard normal IRQ handler declaration.

Fast ISRs abstraction macros
#define	CH_FAST_IRQ_HANDLER(id)
	Standard fast IRQ handler declaration.

Time conversion utilities for the realtime counter
#define	S2RTC(freq, sec)
	Seconds to realtime counter.
#define	MS2RTC(freq, msec)
	Milliseconds to realtime counter.
#define	US2RTC(freq, usec)
	Microseconds to realtime counter.
#define	RTC2S(freq, n)
	Realtime counter cycles to seconds.
#define	RTC2MS(freq, n)
	Realtime counter cycles to milliseconds.
#define	RTC2US(freq, n)
	Realtime counter cycles to microseconds.

Macros
#define	CH_SYS_CORE0_MEMORY PORT_CORE0_BSS_SECTION
	Core zero memory affinity macro.
#define	CH_SYS_CORE1_MEMORY PORT_CORE1_BSS_SECTION
	Core one memory affinity macro.
#define	currcore ch_system.instances[port_get_core_id()]
	Access to current core's instance structure.
#define	chSysGetRealtimeCounterX()
	Returns the current value of the system real time counter.
#define	chSysSwitch(ntp, otp)
	Performs a context switch.

Functions
static CH_SYS_CORE0_MEMORY	THD_WORKING_AREA (ch_c0_idle_thread_wa, PORT_IDLE_THREAD_STACK_SIZE)
	Working area for core 0 idle thread.
static CH_SYS_CORE1_MEMORY	THD_WORKING_AREA (ch_c1_idle_thread_wa, PORT_IDLE_THREAD_STACK_SIZE)
	Working area for core 1 idle thread.
void	chSysWaitSystemState (system_state_t state)
	Waits for the system state to be equal to the specified one.
void	chSysInit (void)
	System initialization.
void	chSysHalt (const char *reason)
	Halts the system.
thread_t *	chSysGetIdleThreadX (void)
	Returns a pointer to the idle thread.
bool	chSysIntegrityCheckI (unsigned testmask)
	System integrity check.
void	chSysTimerHandlerI (void)
	Handles time ticks for round robin preemption and timer increments.
syssts_t	chSysGetStatusAndLockX (void)
	Returns the execution status and enters a critical zone.
void	chSysRestoreStatusX (syssts_t sts)
	Restores the specified execution status and leaves a critical zone.
bool	chSysIsCounterWithinX (rtcnt_t cnt, rtcnt_t start, rtcnt_t end)
	Realtime window test.
void	chSysPolledDelayX (rtcnt_t cycles)
	Polled delay.
static void	chSysDisable (void)
	Raises the system interrupt priority mask to the maximum level.
static void	chSysSuspend (void)
	Raises the system interrupt priority mask to system level.
static void	chSysEnable (void)
	Lowers the system interrupt priority mask to user level.
static void	chSysLock (void)
	Enters the kernel lock state.
static void	chSysUnlock (void)
	Leaves the kernel lock state.
static void	chSysLockFromISR (void)
	Enters the kernel lock state from within an interrupt handler.
static void	chSysUnlockFromISR (void)
	Leaves the kernel lock state from within an interrupt handler.
static void	chSysUnconditionalLock (void)
	Unconditionally enters the kernel lock state.
static void	chSysUnconditionalUnlock (void)
	Unconditionally leaves the kernel lock state.
static void	chSysNotifyInstance (os_instance_t *oip)
	Notifies an OS instance to check for reschedule.

Variables
ch_system_t	ch_system
	System root object.
CH_SYS_CORE0_MEMORY os_instance_t	ch0
	Core 0 OS instance.
stkalign_t	__main_thread_stack_base__
stkalign_t	__main_thread_stack_end__
const os_instance_config_t	ch_core0_cfg
	Core 0 OS instance configuration.
CH_SYS_CORE1_MEMORY os_instance_t	ch1
	Core 1 OS instance.
stkalign_t	__c1_main_thread_stack_base__
stkalign_t	__c1_main_thread_stack_end__
const os_instance_config_t	ch_core1_cfg
	Core 1 OS instance configuration.

Macro Definition Documentation

◆ CH_INTEGRITY_RLIST

#define CH_INTEGRITY_RLIST 1U

Definition at line 41 of file chsys.h.

Referenced by chSysIntegrityCheckI().

◆ CH_INTEGRITY_VTLIST

#define CH_INTEGRITY_VTLIST 2U

Definition at line 42 of file chsys.h.

Referenced by chSysIntegrityCheckI().

◆ CH_INTEGRITY_REGISTRY

#define CH_INTEGRITY_REGISTRY 4U

Definition at line 43 of file chsys.h.

Referenced by chSysIntegrityCheckI().

◆ CH_INTEGRITY_PORT

#define CH_INTEGRITY_PORT 8U

Definition at line 44 of file chsys.h.

Referenced by chSysIntegrityCheckI().

◆ CH_SYS_CORE0_MEMORY

#define CH_SYS_CORE0_MEMORY PORT_CORE0_BSS_SECTION

Core zero memory affinity macro.

Note: The memory is meant to be reachable by both cores but preferred by core zero.; Only uninitialized variables can be tagged with this attribute.

Definition at line 62 of file chsys.h.

Referenced by THD_WORKING_AREA().

◆ CH_SYS_CORE1_MEMORY

#define CH_SYS_CORE1_MEMORY PORT_CORE1_BSS_SECTION

Core one memory affinity macro.

Note: The memory is meant to be reachable by both cores but preferred by core one.; Only uninitialized variables can be tagged with this attribute.

Definition at line 74 of file chsys.h.

Referenced by THD_WORKING_AREA().

◆ currcore

#define currcore ch_system.instances[port_get_core_id()]

Access to current core's instance structure.

Definition at line 90 of file chsys.h.

Referenced by __dbg_check_disable(), __dbg_check_enable(), __dbg_check_enter_isr(), __dbg_check_leave_isr(), __dbg_check_lock(), __dbg_check_lock_from_isr(), __dbg_check_suspend(), __dbg_check_unlock(), __dbg_check_unlock_from_isr(), __sch_reschedule_ahead(), __sch_reschedule_behind(), __stats_ctxswc(), __stats_increase_irq(), __stats_start_measure_crit_isr(), __stats_start_measure_crit_thd(), __stats_stop_measure_crit_isr(), __stats_stop_measure_crit_thd(), __trace_halt(), __trace_isr_enter(), __trace_isr_leave(), __trace_ready(), __trace_switch(), chDbgCheckClassI(), chDbgCheckClassS(), chRegFirstThread(), chRegNextThread(), chRFCUCollectFaultsI(), chRFCUGetAndClearFaultsI(), chSchDoPreemption(), chSchDoYieldS(), chSchGoSleepS(), chSchGoSleepTimeoutS(), chSchIsPreemptionRequired(), chSchPreemption(), chSchReadyI(), chSchRescheduleS(), chSchSelectFirst(), chSchWakeupS(), chSysGetIdleThreadX(), chSysHalt(), chSysIntegrityCheckI(), chSysUnlock(), chThdCreateStatic(), chThdCreateSuspendedI(), chTraceResumeI(), chTraceSuspendI(), chTraceWriteI(), chVTDoResetI(), chVTDoSetContinuousI(), chVTDoSetI(), chVTDoTickI(), chVTGetRemainingIntervalI(), chVTGetSystemTimeX(), chVTGetTimersStateI(), chVTGetTimeStampI(), and chVTResetTimeStampI().

◆ CH_IRQ_IS_VALID_PRIORITY

#define CH_IRQ_IS_VALID_PRIORITY ( prio )

Value:

PORT_IRQ_IS_VALID_PRIORITY(prio)

Priority level validation macro.

This macro determines if the passed value is a valid priority level for the underlying architecture.

Parameters

[in] prio the priority level

Returns: Priority range result.

Return values

false	if the priority is invalid or if the architecture does not support priorities.
true	if the priority is valid.

Definition at line 116 of file chsys.h.

◆ CH_IRQ_IS_VALID_KERNEL_PRIORITY

#define CH_IRQ_IS_VALID_KERNEL_PRIORITY ( prio )

Value:

PORT_IRQ_IS_VALID_KERNEL_PRIORITY(prio)

Priority level validation macro.

This macro determines if the passed value is a valid priority level that cannot preempt the kernel critical zone.

Parameters

[in] prio the priority level

Returns: Priority range result.

Return values

false	if the priority is invalid or if the architecture does not support priorities.
true	if the priority is valid.

Definition at line 134 of file chsys.h.

◆ CH_IRQ_PROLOGUE

#define CH_IRQ_PROLOGUE ( )

Value:

  PORT_IRQ_PROLOGUE();                                                      \
  CH_CFG_IRQ_PROLOGUE_HOOK();                                               \
  __stats_increase_irq();                                                   \
  __trace_isr_enter(__func__);                                              \
  __dbg_check_enter_isr()

IRQ handler enter code.

Note: Usually IRQ handlers functions are also declared naked.; On some architectures this macro can be empty.

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 147 of file chsys.h.

◆ CH_IRQ_EPILOGUE

#define CH_IRQ_EPILOGUE ( )

Value:

  __dbg_check_leave_isr();                                                  \
  __trace_isr_leave(__func__);                                              \
  CH_CFG_IRQ_EPILOGUE_HOOK();                                               \
  PORT_IRQ_EPILOGUE()

IRQ handler exit code.

Note: Usually IRQ handlers function are also declared naked.; This macro usually performs the final reschedule by using chSchIsPreemptionRequired() and chSchDoReschedule().

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 162 of file chsys.h.

◆ CH_IRQ_HANDLER

#define CH_IRQ_HANDLER ( id )

Value:

PORT_IRQ_HANDLER(id)

Standard normal IRQ handler declaration.

Note: id can be a function name or a vector number depending on the port implementation.

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 175 of file chsys.h.

◆ CH_FAST_IRQ_HANDLER

#define CH_FAST_IRQ_HANDLER ( id )

Value:

PORT_FAST_IRQ_HANDLER(id)

Standard fast IRQ handler declaration.

Note: id can be a function name or a vector number depending on the port implementation.; Not all architectures support fast interrupts.

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 190 of file chsys.h.

◆ S2RTC

#define S2RTC	(		freq,
			sec )

Value:

((freq) * (sec))

Seconds to realtime counter.

Converts from seconds to realtime counter cycles.

Note: The macro assumes that freq >= 1.

Parameters

[in]	freq	clock frequency, in Hz, of the realtime counter
[in]	sec	number of seconds

Returns: The number of cycles.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 208 of file chsys.h.

◆ MS2RTC

#define MS2RTC	(		freq,
			msec )

Value:

(rtcnt_t)((((freq) + 999UL) / 1000UL) * (msec))

rtcnt_t

port_rtcnt_t rtcnt_t

Definition chearly.h:77

Milliseconds to realtime counter.

Converts from milliseconds to realtime counter cycles.

Note: The result is rounded upward to the next millisecond boundary.; The macro assumes that freq >= 1000.

Parameters

[in]	freq	clock frequency, in Hz, of the realtime counter
[in]	msec	number of milliseconds

Returns: The number of cycles.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 222 of file chsys.h.

◆ US2RTC

#define US2RTC	(		freq,
			usec )

Value:

(rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec))

Microseconds to realtime counter.

Converts from microseconds to realtime counter cycles.

Note: The result is rounded upward to the next microsecond boundary.; The macro assumes that freq >= 1000000.

Parameters

[in]	freq	clock frequency, in Hz, of the realtime counter
[in]	usec	number of microseconds

Returns: The number of cycles.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 236 of file chsys.h.

◆ RTC2S

#define RTC2S	(		freq,
			n )

Value:

((((n) - 1UL) / (freq)) + 1UL)

Realtime counter cycles to seconds.

Converts from realtime counter cycles number to seconds.

Note: The result is rounded up to the next second boundary.; The macro assumes that freq >= 1.

Parameters

[in]	freq	clock frequency, in Hz, of the realtime counter
[in]	n	number of cycles

Returns: The number of seconds.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 250 of file chsys.h.

◆ RTC2MS

#define RTC2MS	(		freq,
			n )

Value:

((((n) - 1UL) / ((freq) / 1000UL)) + 1UL)

Realtime counter cycles to milliseconds.

Converts from realtime counter cycles number to milliseconds.

Note: The result is rounded up to the next millisecond boundary.; The macro assumes that freq >= 1000.

Parameters

[in]	freq	clock frequency, in Hz, of the realtime counter
[in]	n	number of cycles

Returns: The number of milliseconds.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 264 of file chsys.h.

◆ RTC2US

#define RTC2US	(		freq,
			n )

Value:

((((n) - 1UL) / ((freq) / 1000000UL)) + 1UL)

Realtime counter cycles to microseconds.

Converts from realtime counter cycles number to microseconds.

Note: The result is rounded up to the next microsecond boundary.; The macro assumes that freq >= 1000000.

Parameters

[in]	freq	clock frequency, in Hz, of the realtime counter
[in]	n	number of cycles

Returns: The number of microseconds.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 278 of file chsys.h.

◆ chSysGetRealtimeCounterX

#define chSysGetRealtimeCounterX ( )

Value:

(rtcnt_t)port_rt_get_counter_value()

Returns the current value of the system real time counter.

Note: This function is only available if the port layer supports the option PORT_SUPPORTS_RT.

Returns: The value of the system realtime counter of type rtcnt_t.

Function Class:: This is an X-Class API, this function can be invoked from any context.

Definition at line 292 of file chsys.h.

Referenced by chSysPolledDelayX(), chTMChainMeasurementToX(), chTMStartMeasurementX(), chTMStopMeasurementX(), and trace_next().

◆ chSysSwitch

#define chSysSwitch	(		ntp,
			otp )

Value:

                                                                            {                                             \
                                                                            \
  __trace_switch(ntp, otp);                                                 \
  __stats_ctxswc(ntp, otp);                                                 \
  CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp);                                     \
  port_switch(ntp, otp);                                                    \
}

Performs a context switch.

Note: Not a user function, it is meant to be invoked by the scheduler itself or from within the port layer.

Parameters

[in]	ntp	the thread to be switched in
[in]	otp	the thread to be switched out

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 305 of file chsys.h.

Referenced by __sch_reschedule_ahead(), __sch_reschedule_behind(), chSchDoPreemption(), chSchGoSleepS(), and chSchWakeupS().

Function Documentation

◆ THD_WORKING_AREA() [1/2]

CH_SYS_CORE0_MEMORY THD_WORKING_AREA	(	ch_c0_idle_thread_wa	,
		PORT_IDLE_THREAD_STACK_SIZE	)

static

Working area for core 0 idle thread.

References CH_SYS_CORE0_MEMORY.

◆ THD_WORKING_AREA() [2/2]

CH_SYS_CORE1_MEMORY THD_WORKING_AREA	(	ch_c1_idle_thread_wa	,
		PORT_IDLE_THREAD_STACK_SIZE	)

static

Working area for core 1 idle thread.

References CH_SYS_CORE1_MEMORY.

◆ chSysWaitSystemState()

void chSysWaitSystemState ( system_state_t state )

Waits for the system state to be equal to the specified one.

Note: Can be called before chSchObjectInit() in order to wait for system initialization by another core.

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 142 of file chsys.c.

References ch_system::state.

◆ chSysInit()

void chSysInit ( void )

System initialization.

After executing this function the current instructions stream becomes the main thread.

Precondition: Interrupts must disabled before invoking this function.

Postcondition: The main thread is created with priority NORMALPRIO and interrupts are enabled.; the system is in ch_sys_running state.

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 159 of file chsys.c.

References __oslib_init(), __reg_object_init(), __rfcu_object_init(), __tm_calibration_object_init(), ch0, CH_CFG_SYSTEM_INIT_HOOK, ch_core0_cfg, ch_sys_initializing, ch_sys_running, chInstanceObjectInit(), chSysUnlock(), ch_system::instances, PORT_CORES_NUMBER, ch_system::reglist, ch_system::rfcu, ch_system::state, and ch_system::tmc.

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◆ chSysHalt()

void chSysHalt ( const char * reason )

Halts the system.

This function is invoked by the operating system when an unrecoverable error is detected, for example because a programming error in the application code that triggers an assertion while in debug mode.

Note: Can be invoked from any system state.

Parameters

[in] reason pointer to an error string

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 209 of file chsys.c.

References __trace_halt, CH_CFG_SYSTEM_HALT_HOOK, ch_sys_halted, currcore, and ch_system::state.

Referenced by __dbg_check_disable(), __dbg_check_enable(), __dbg_check_enter_isr(), __dbg_check_leave_isr(), __dbg_check_lock(), __dbg_check_lock_from_isr(), __dbg_check_suspend(), __dbg_check_unlock(), __dbg_check_unlock_from_isr(), chDbgCheckClassI(), and chDbgCheckClassS().

◆ chSysGetIdleThreadX()

thread_t * chSysGetIdleThreadX ( void )

Returns a pointer to the idle thread.

Note: The reference counter of the idle thread is not incremented but it is not strictly required being the idle thread a static object.; This function cannot be called from the idle thread itself, use chThdGetSelfX() in that case.

Returns: Pointer to the idle thread.

Function Class:: This is an X-Class API, this function can be invoked from any context.

Definition at line 248 of file chsys.c.

References chDbgAssert, currcore, ch_thread::hdr, IDLEPRIO, ch_thread::pqueue, ch_priority_queue::prio, and threadref.

Referenced by chSchGoSleepS().

◆ chSysIntegrityCheckI()

bool chSysIntegrityCheckI ( unsigned testmask )

System integrity check.

Performs an integrity check of the important ChibiOS/RT data structures.

Note: The appropriate action in case of failure is to halt the system before releasing the critical zone.; If the system is corrupted then one possible outcome of this function is an exception caused by NULL or corrupted pointers in list elements. Exception vectors must be monitored as well.; This function is not used internally, it is up to the application to define if and where to perform system checking.; Performing all tests at once can be a slow operation and can degrade the system response time. It is suggested to execute one test at time and release the critical zone in between tests.

Parameters

[in] testmask Each bit in this mask is associated to a test to be performed.

Returns: The test result.

Return values

false	The test succeeded.
true	Test failed.

Function Class:: This is an I-Class API, this function can be invoked from within a system lock zone by both threads and interrupt handlers.

Definition at line 280 of file chsys.c.

References CH_INTEGRITY_PORT, CH_INTEGRITY_REGISTRY, CH_INTEGRITY_RLIST, CH_INTEGRITY_VTLIST, chDbgCheckClassI, currcore, ch_virtual_timers_list::dlist, ch_delta_list::next, ch_priority_queue::next, ch_queue::next, ch_ready_list::pqueue, ch_delta_list::prev, ch_priority_queue::prev, ch_queue::prev, REG_HEADER, ch_os_instance::rlist, and ch_os_instance::vtlist.

◆ chSysTimerHandlerI()

void chSysTimerHandlerI ( void )

Handles time ticks for round robin preemption and timer increments.

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 CH_CFG_TIME_QUANTUM macro, the round robin interval.

Function Class:: This is an I-Class API, this function can be invoked from within a system lock zone by both threads and interrupt handlers.

Definition at line 386 of file chsys.c.

References CH_CFG_SYSTEM_TICK_HOOK, chDbgCheckClassI, chThdGetSelfX(), chVTDoTickI(), ch_thread::ticks, and ch_thread::time.

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◆ chSysGetStatusAndLockX()

syssts_t chSysGetStatusAndLockX ( void )

Returns the execution status and enters a critical zone.

This functions enters into a critical zone and can be called from any context. Because its flexibility it is less efficient than chSysLock() which is preferable when the calling context is known.

Postcondition: The system is in a critical zone.

Note: This function is only available if the underlying port supports port_get_lock_status() and port_is_locked().

Returns: The previous system status, the encoding of this status word is architecture-dependent and opaque.

Function Class:: This is an X-Class API, this function can be invoked from any context.

Definition at line 423 of file chsys.c.

References chSysLock(), and chSysLockFromISR().

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◆ chSysRestoreStatusX()

void chSysRestoreStatusX ( syssts_t sts )

Restores the specified execution status and leaves a critical zone.

Note: A call to chSchRescheduleS() is automatically performed if exiting the critical zone and if not in ISR context.; This function is only available if the underlying port supports port_get_lock_status() and port_is_locked().

Parameters

[in] sts the system status to be restored.

Function Class:: This is an X-Class API, this function can be invoked from any context.

Definition at line 448 of file chsys.c.

References chSchRescheduleS(), chSysUnlock(), and chSysUnlockFromISR().

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◆ chSysIsCounterWithinX()

bool chSysIsCounterWithinX	(	rtcnt_t	cnt,
		rtcnt_t	start,
		rtcnt_t	end )

Realtime window test.

This function verifies if the current realtime counter value lies within the specified range or not. The test takes care of the realtime counter wrapping to zero on overflow.

Note: When start==end then the function returns always false because a null time range is specified.; This function is only available if the port layer supports the option PORT_SUPPORTS_RT.

Parameters

[in]	cnt	the counter value to be tested
[in]	start	the start of the time window (inclusive)
[in]	end	the end of the time window (non inclusive)

Return values

true	current time within the specified time window.
false	current time not within the specified time window.

Function Class:: This is an X-Class API, this function can be invoked from any context.

Definition at line 481 of file chsys.c.

Referenced by chSysPolledDelayX().

◆ chSysPolledDelayX()

void chSysPolledDelayX ( rtcnt_t cycles )

Polled delay.

Note: The real delay is always few cycles in excess of the specified value.; This function is only available if the port layer supports the option PORT_SUPPORTS_RT.

Parameters

[in] cycles number of cycles

Function Class:: This is an X-Class API, this function can be invoked from any context.

Definition at line 498 of file chsys.c.

References chSysGetRealtimeCounterX, and chSysIsCounterWithinX().

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◆ chSysDisable()

void chSysDisable ( void )

inlinestatic

Raises the system interrupt priority mask to the maximum level.

All the maskable interrupt sources are disabled regardless their hardware priority.

Note: Do not invoke this API from within a kernel lock.; This API is no replacement for chSysLock()and chSysUnock() which could do more than just disable interrupts.

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 362 of file chsys.h.

References __dbg_check_disable.

◆ chSysSuspend()

void chSysSuspend ( void )

inlinestatic

Raises the system interrupt priority mask to system level.

The interrupt sources that should not be able to preempt the kernel are disabled, interrupt sources with higher priority are still enabled.

Note: Do not invoke this API from within a kernel lock.; This API is no replacement for chSysLock() which could do more than just disable interrupts.

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 379 of file chsys.h.

References __dbg_check_suspend.

◆ chSysEnable()

void chSysEnable ( void )

inlinestatic

Lowers the system interrupt priority mask to user level.

All the interrupt sources are enabled.

Note: Do not invoke this API from within a kernel lock.; This API is no replacement for chSysUnlock() which could do more than just enable interrupts.

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 394 of file chsys.h.

References __dbg_check_enable.

◆ chSysLock()

void chSysLock ( void )

inlinestatic

Enters the kernel lock state.

Note: The exact behavior of this function is port-dependent and could not be limited to disabling interrupts.

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 407 of file chsys.h.

References __dbg_check_lock, and __stats_start_measure_crit_thd().

Referenced by chBSemSignal(), chCacheGetObject(), chCacheReleaseObject(), chCondBroadcast(), chCondSignal(), chCondWait(), chCondWaitTimeout(), chCoreAllocFromBase(), chCoreAllocFromTop(), chEvtAddEvents(), chEvtBroadcastFlags(), chEvtGetAndClearEvents(), chEvtGetAndClearFlags(), chEvtRegisterMaskWithFlags(), chEvtSignal(), chEvtUnregister(), chEvtWaitAll(), chEvtWaitAllTimeout(), chEvtWaitAny(), chEvtWaitAnyTimeout(), chEvtWaitOne(), chEvtWaitOneTimeout(), chGuardedPoolAllocTimeout(), chGuardedPoolFree(), chMBFetchTimeout(), chMBPostAheadTimeout(), chMBPostTimeout(), chMBReset(), chMsgPoll(), chMsgRelease(), chMsgSend(), chMsgWait(), chMsgWaitTimeout(), chMtxLock(), chMtxTryLock(), chMtxUnlock(), chMtxUnlockAll(), chPipeReadTimeout(), chPipeReset(), chPipeWriteTimeout(), chPoolAlloc(), chPoolFree(), chRegFirstThread(), chRegNextThread(), chSemResetWithMessage(), chSemSignal(), chSemSignalWait(), chSemWait(), chSemWaitTimeout(), chSysGetStatusAndLockX(), chSysUnconditionalLock(), chThdAddRef(), chThdCreate(), chThdCreateFromHeap(), chThdCreateFromMemoryPool(), chThdCreateStatic(), chThdCreateSuspended(), chThdExit(), chThdRelease(), chThdResume(), chThdSetPriority(), chThdSleep(), chThdSleepUntil(), chThdSleepUntilWindowed(), chThdStart(), chThdTerminate(), chThdWait(), chThdYield(), chTraceResume(), chTraceSuspend(), chTraceWrite(), chVTGetSystemTime(), chVTGetTimeStamp(), chVTIsArmed(), chVTReset(), chVTResetTimeStamp(), chVTSet(), chVTSetContinuous(), and lru_get_last_s().

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◆ chSysUnlock()

void chSysUnlock ( void )

inlinestatic

Leaves the kernel lock state.

Note: The exact behavior of this function is port-dependent and could not be limited to enabling interrupts.

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 421 of file chsys.h.

References __dbg_check_unlock, __stats_stop_measure_crit_thd(), chDbgAssert, and currcore.

Referenced by chBSemSignal(), chCacheGetObject(), chCacheReleaseObject(), chCondBroadcast(), chCondSignal(), chCondWait(), chCondWaitTimeout(), chCoreAllocFromBase(), chCoreAllocFromTop(), chEvtAddEvents(), chEvtBroadcastFlags(), chEvtGetAndClearEvents(), chEvtGetAndClearFlags(), chEvtRegisterMaskWithFlags(), chEvtSignal(), chEvtUnregister(), chEvtWaitAll(), chEvtWaitAllTimeout(), chEvtWaitAny(), chEvtWaitAnyTimeout(), chEvtWaitOne(), chEvtWaitOneTimeout(), chGuardedPoolAllocTimeout(), chGuardedPoolFree(), chMBFetchTimeout(), chMBPostAheadTimeout(), chMBPostTimeout(), chMBReset(), chMsgPoll(), chMsgRelease(), chMsgSend(), chMsgWait(), chMsgWaitTimeout(), chMtxLock(), chMtxTryLock(), chMtxUnlock(), chMtxUnlockAll(), chPipeReadTimeout(), chPipeReset(), chPipeWriteTimeout(), chPoolAlloc(), chPoolFree(), chRegFirstThread(), chRegNextThread(), chSemResetWithMessage(), chSemSignal(), chSemSignalWait(), chSemWait(), chSemWaitTimeout(), chSysInit(), chSysRestoreStatusX(), chSysUnconditionalUnlock(), chThdAddRef(), chThdCreate(), chThdCreateFromHeap(), chThdCreateFromMemoryPool(), chThdCreateStatic(), chThdCreateSuspended(), chThdRelease(), chThdResume(), chThdSetPriority(), chThdSleep(), chThdSleepUntil(), chThdSleepUntilWindowed(), chThdStart(), chThdTerminate(), chThdWait(), chThdYield(), chTraceResume(), chTraceSuspend(), chTraceWrite(), chVTGetSystemTime(), chVTGetTimeStamp(), chVTIsArmed(), chVTReset(), chVTResetTimeStamp(), chVTSet(), chVTSetContinuous(), and lru_get_last_s().

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◆ chSysLockFromISR()

void chSysLockFromISR ( void )

inlinestatic

Enters the kernel lock state 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.
It is good practice to invoke this API before invoking any I-class syscall from an interrupt handler.; The exact behavior of this function is port-dependent and could not be limited to disabling interrupts.; This API must be invoked exclusively from interrupt handlers.

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 451 of file chsys.h.

References __dbg_check_lock_from_isr, and __stats_start_measure_crit_isr().

Referenced by __sch_wakeup(), chSysGetStatusAndLockX(), and chVTDoTickI().

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◆ chSysUnlockFromISR()

void chSysUnlockFromISR ( void )

inlinestatic

Leaves the kernel lock state 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.
It is good practice to invoke this API after invoking any I-class syscall from an interrupt handler.; The exact behavior of this function is port-dependent and could not be limited to enabling interrupts.; This API must be invoked exclusively from interrupt handlers.

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 473 of file chsys.h.

References __dbg_check_unlock_from_isr, and __stats_stop_measure_crit_isr().

Referenced by __sch_wakeup(), chSysRestoreStatusX(), and chVTDoTickI().

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◆ chSysUnconditionalLock()

void chSysUnconditionalLock ( void )

inlinestatic

Unconditionally enters the kernel lock state.

Note: Can be called without previous knowledge of the current lock state. The final state is "s-locked".; This function is only available if the underlying port supports port_get_lock_status() and port_is_locked().

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 490 of file chsys.h.

References chSysLock().

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◆ chSysUnconditionalUnlock()

void chSysUnconditionalUnlock ( void )

inlinestatic

Unconditionally leaves the kernel lock state.

Note: Can be called without previous knowledge of the current lock state. The final state is "normal".; This function is only available if the underlying port supports port_get_lock_status() and port_is_locked().

Function Class:: Special function, this function has special requirements see the notes.

Definition at line 506 of file chsys.h.

References chSysUnlock().

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◆ chSysNotifyInstance()

void chSysNotifyInstance ( os_instance_t * oip )

inlinestatic

Notifies an OS instance to check for reschedule.

An OS instance is notified to check if a reschedule is required, the implementation is port-dependent.

Parameters

[in] oip pointer to the instance to be notified

Definition at line 522 of file chsys.h.

Referenced by chSchReadyI(), and chSchWakeupS().

Variable Documentation

◆ ch_system

ch_system_t ch_system

System root object.

Definition at line 45 of file chsys.c.

◆ ch0

CH_SYS_CORE0_MEMORY os_instance_t ch0

Core 0 OS instance.

Definition at line 50 of file chsys.c.

Referenced by chSysInit().

◆ __main_thread_stack_base__

stkalign_t __main_thread_stack_base__

extern

◆ __main_thread_stack_end__

stkalign_t __main_thread_stack_end__

Definition at line 61 of file chsys.c.

◆ ch_core0_cfg

const os_instance_config_t ch_core0_cfg

Initial value:

= {
  .name             = "c0",
 
  .mainthread_base  = &__main_thread_stack_base__,
  .mainthread_end   = &__main_thread_stack_end__,
 
  .idlethread_base  = THD_WORKING_AREA_BASE(ch_c0_idle_thread_wa),
  .idlethread_end   = THD_WORKING_AREA_END(ch_c0_idle_thread_wa)
 
}

Core 0 OS instance configuration.

Definition at line 67 of file chsys.c.

Referenced by chSysInit().

◆ ch1

CH_SYS_CORE1_MEMORY os_instance_t ch1

Core 1 OS instance.

Definition at line 86 of file chsys.c.

◆ __c1_main_thread_stack_base__

stkalign_t __c1_main_thread_stack_base__

extern

◆ __c1_main_thread_stack_end__

stkalign_t __c1_main_thread_stack_end__

Definition at line 97 of file chsys.c.

◆ ch_core1_cfg

const os_instance_config_t ch_core1_cfg

Initial value:

= {
  .name             = "c1",
 
  .mainthread_base  = &__c1_main_thread_stack_base__,
  .mainthread_end   = &__c1_main_thread_stack_end__,
 
  .idlethread_base  = THD_WORKING_AREA_BASE(ch_c1_idle_thread_wa),
  .idlethread_end   = THD_WORKING_AREA_END(ch_c1_idle_thread_wa)
 
}

Core 1 OS instance configuration.

Definition at line 103 of file chsys.c.

Detailed Description

Masks of executable integrity checks.

ISRs abstraction macros

Fast ISRs abstraction macros

Time conversion utilities for the realtime counter

Macros

Functions

Variables

Macro Definition Documentation

◆ CH_INTEGRITY_RLIST

◆ CH_INTEGRITY_VTLIST

◆ CH_INTEGRITY_REGISTRY

◆ CH_INTEGRITY_PORT

◆ CH_SYS_CORE0_MEMORY

◆ CH_SYS_CORE1_MEMORY

◆ currcore

◆ CH_IRQ_IS_VALID_PRIORITY

◆ CH_IRQ_IS_VALID_KERNEL_PRIORITY

◆ CH_IRQ_PROLOGUE

◆ CH_IRQ_EPILOGUE

◆ CH_IRQ_HANDLER

◆ CH_FAST_IRQ_HANDLER

◆ S2RTC

◆ MS2RTC

◆ US2RTC

◆ RTC2S

◆ RTC2MS

◆ RTC2US

◆ chSysGetRealtimeCounterX

◆ chSysSwitch

Function Documentation

◆ THD_WORKING_AREA() [1/2]

◆ THD_WORKING_AREA() [2/2]

◆ chSysWaitSystemState()

◆ chSysInit()

◆ chSysHalt()

◆ chSysGetIdleThreadX()

◆ chSysIntegrityCheckI()

◆ chSysTimerHandlerI()

◆ chSysGetStatusAndLockX()

◆ chSysRestoreStatusX()

◆ chSysIsCounterWithinX()

◆ chSysPolledDelayX()

◆ chSysDisable()

◆ chSysSuspend()

◆ chSysEnable()

◆ chSysLock()

◆ chSysUnlock()

◆ chSysLockFromISR()

◆ chSysUnlockFromISR()

◆ chSysUnconditionalLock()

◆ chSysUnconditionalUnlock()

◆ chSysNotifyInstance()

Variable Documentation

◆ ch_system

◆ ch0

◆ __main_thread_stack_base__

◆ __main_thread_stack_end__

◆ ch_core0_cfg

◆ ch1

◆ __c1_main_thread_stack_base__

◆ __c1_main_thread_stack_end__

◆ ch_core1_cfg