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ChibiOS 2.6.8, until I can figure out where to get it from git.
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Jared Boone
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1929 changed files with 575326 additions and 0 deletions
254
firmware/chibios/os/kernel/include/chsys.h
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254
firmware/chibios/os/kernel/include/chsys.h
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/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
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2011,2012,2013 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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---
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes ChibiOS/RT, without being obliged to provide
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the source code for any proprietary components. See the file exception.txt
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for full details of how and when the exception can be applied.
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*/
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/**
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* @file chsys.h
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* @brief System related macros and structures.
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*
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* @addtogroup system
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* @{
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*/
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#ifndef _CHSYS_H_
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#define _CHSYS_H_
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/**
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* @name Macro Functions
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* @{
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*/
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#if !CH_NO_IDLE_THREAD || defined(__DOXYGEN__)
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/**
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* @brief Returns a pointer to the idle thread.
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* @pre In order to use this function the option @p CH_NO_IDLE_THREAD
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* must be disabled.
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* @note The reference counter of the idle thread is not incremented but
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* it is not strictly required being the idle thread a static
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* object.
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*
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* @return Pointer to the idle thread.
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*
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* @api
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*/
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#define chSysGetIdleThread() (rlist.r_queue.p_prev)
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#endif
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/**
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* @brief Halts the system.
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* @details This function is invoked by the operating system when an
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* unrecoverable error is detected, for example because a programming
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* error in the application code that triggers an assertion while
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* in debug mode.
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* @note Can be invoked from any system state.
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*
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* @special
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*/
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#if !defined(SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
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#define chSysHalt() port_halt()
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#else
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#define chSysHalt() { \
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SYSTEM_HALT_HOOK(); \
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port_halt(); \
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}
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#endif
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/**
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* @brief Performs a context switch.
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* @note Not a user function, it is meant to be invoked by the scheduler
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* itself or from within the port layer.
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*
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* @param[in] ntp the thread to be switched in
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* @param[in] otp the thread to be switched out
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*
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* @special
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*/
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#define chSysSwitch(ntp, otp) { \
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dbg_trace(otp); \
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THREAD_CONTEXT_SWITCH_HOOK(ntp, otp); \
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port_switch(ntp, otp); \
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}
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/**
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* @brief Raises the system interrupt priority mask to the maximum level.
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* @details All the maskable interrupt sources are disabled regardless their
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* hardware priority.
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* @note Do not invoke this API from within a kernel lock.
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*
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* @special
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*/
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#define chSysDisable() { \
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port_disable(); \
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dbg_check_disable(); \
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}
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/**
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* @brief Raises the system interrupt priority mask to system level.
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* @details The interrupt sources that should not be able to preempt the kernel
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* are disabled, interrupt sources with higher priority are still
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* enabled.
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* @note Do not invoke this API from within a kernel lock.
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* @note This API is no replacement for @p chSysLock(), the @p chSysLock()
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* could do more than just disable the interrupts.
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*
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* @special
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*/
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#define chSysSuspend() { \
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port_suspend(); \
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dbg_check_suspend(); \
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}
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/**
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* @brief Lowers the system interrupt priority mask to user level.
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* @details All the interrupt sources are enabled.
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* @note Do not invoke this API from within a kernel lock.
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* @note This API is no replacement for @p chSysUnlock(), the
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* @p chSysUnlock() could do more than just enable the interrupts.
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*
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* @special
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*/
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#define chSysEnable() { \
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dbg_check_enable(); \
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port_enable(); \
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}
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/**
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* @brief Enters the kernel lock mode.
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*
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* @special
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*/
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#define chSysLock() { \
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port_lock(); \
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dbg_check_lock(); \
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}
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/**
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* @brief Leaves the kernel lock mode.
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*
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* @special
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*/
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#define chSysUnlock() { \
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dbg_check_unlock(); \
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port_unlock(); \
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}
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/**
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* @brief Enters the kernel lock mode from within an interrupt handler.
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* @note This API may do nothing on some architectures, it is required
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* because on ports that support preemptable interrupt handlers
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* it is required to raise the interrupt mask to the same level of
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* the system mutual exclusion zone.<br>
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* It is good practice to invoke this API before invoking any I-class
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* syscall from an interrupt handler.
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* @note This API must be invoked exclusively from interrupt handlers.
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*
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* @special
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*/
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#define chSysLockFromIsr() { \
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port_lock_from_isr(); \
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dbg_check_lock_from_isr(); \
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}
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/**
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* @brief Leaves the kernel lock mode from within an interrupt handler.
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*
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* @note This API may do nothing on some architectures, it is required
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* because on ports that support preemptable interrupt handlers
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* it is required to raise the interrupt mask to the same level of
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* the system mutual exclusion zone.<br>
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* It is good practice to invoke this API after invoking any I-class
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* syscall from an interrupt handler.
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* @note This API must be invoked exclusively from interrupt handlers.
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*
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* @special
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*/
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#define chSysUnlockFromIsr() { \
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dbg_check_unlock_from_isr(); \
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port_unlock_from_isr(); \
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}
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/** @} */
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/**
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* @name ISRs abstraction macros
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*/
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/**
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* @brief IRQ handler enter code.
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* @note Usually IRQ handlers functions are also declared naked.
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* @note On some architectures this macro can be empty.
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*
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* @special
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*/
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#define CH_IRQ_PROLOGUE() \
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PORT_IRQ_PROLOGUE(); \
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dbg_check_enter_isr();
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/**
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* @brief IRQ handler exit code.
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* @note Usually IRQ handlers function are also declared naked.
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* @note This macro usually performs the final reschedule by using
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* @p chSchIsPreemptionRequired() and @p chSchDoReschedule().
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*
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* @special
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*/
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#define CH_IRQ_EPILOGUE() \
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dbg_check_leave_isr(); \
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PORT_IRQ_EPILOGUE();
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/**
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* @brief Standard normal IRQ handler declaration.
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* @note @p id can be a function name or a vector number depending on the
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* port implementation.
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*
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* @special
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*/
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#define CH_IRQ_HANDLER(id) PORT_IRQ_HANDLER(id)
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/** @} */
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/**
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* @name Fast ISRs abstraction macros
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*/
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/**
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* @brief Standard fast IRQ handler declaration.
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* @note @p id can be a function name or a vector number depending on the
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* port implementation.
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* @note Not all architectures support fast interrupts.
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*
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* @special
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*/
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#define CH_FAST_IRQ_HANDLER(id) PORT_FAST_IRQ_HANDLER(id)
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/** @} */
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#ifdef __cplusplus
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extern "C" {
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#endif
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void chSysInit(void);
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void chSysTimerHandlerI(void);
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#ifdef __cplusplus
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}
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#endif
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#endif /* _CHSYS_H_ */
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/** @} */
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