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ChibiOS_2.0.8/docs/src/architecture.dox
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ChibiOS_2.0.8/docs/src/architecture.dox
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/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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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* @page architecture Architecture
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* @brief ChibiOS/RT General Architecture
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* - @ref components
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* - @ref dependencies
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* - @ref kernel_arch
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* - @ref hal_arch
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* .
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* @section components Components
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* ChibiOS/RT is composed of several major components, each component can be
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* composed of one of more subsystems. The main components are:
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* - <b>Kernel</b>, this is the platform independent part of the OS kernel.
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* - <b>HAL</b>, this component contains a set of abstract device drivers
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* that offer a common I/O API to the application across all the support
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* platforms. The HAL code is totally portable across platforms.
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* - <b>Port</b>, this is the platform dependent part of the OS kernel. This
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* component is responsible of the system startup, interrupts abstraction,
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* lock/unlock primitives, context switch related structures and code.<br>
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* The component usually contains very little code because the OS is very
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* portable but the quality of the implementation of the Port component
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* affects heavily the performance of the ported OS. It is probably the
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* most critical part of the whole OS.
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* - <b>Platform</b>, this component contains a set of device drivers
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* implementations.
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* - <b>Various</b>, a library of various extra components that do not belong
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* to any particular component but can make life easier while developing an
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* embedded application.
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* .
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* @section dependencies Dependencies
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* The following diagram shows the relationships among the various components
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* that compose the system:<br><br>
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* @dot
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digraph example {
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node [shape=rectangle, fontname=Helvetica, fontsize=8,
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fixedsize="true", width="1.0", height="0.25"];
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edge [fontname=Helvetica, fontsize=8];
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Application [label="Application"];
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HAL [label="HAL"];
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Platform [label="Platform"];
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Kernel [label="Kernel"];
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Port [label="Port"];
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HW [label="Hardware", style="filled", width="3.0", height="0.3"];
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Application -> Kernel;
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Application -> HAL;
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Application -> HW [label=" (not recommended)"];
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HAL -> Platform;
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HAL -> Kernel;
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Platform -> Kernel;
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Platform -> HW;
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Kernel -> Port;
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Port -> HW;
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}
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* @enddot
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*
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* @section kernel_arch Kernel Architecture
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* The kernel itself is very modular and is composed of several subsystems,
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* most subsystems are optional and can be switched of in the kernel
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* configuration file @p chconf.h.<br>
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* The current kernel subsystems are divided in five categories:
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* - @ref base, this category contains the mandatory kernel
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* subsystems:
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* - @ref system, low level locks, initialization.
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* - @ref time, virtual timers and time APIs.
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* - @ref scheduler, scheduler APIs, all the higher level synchronization
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* mechanism are implemented through this subsystem, it is very flexible
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* but not recommended for direct use in user code.
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* - @ref threads, thread-related APIs.
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* .
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* Base services diagram:<br><br>
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* @dot
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digraph example {
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node [shape=rectangle, fontname=Helvetica, fontsize=8,
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fixedsize="true", width="1.0", height="0.25"];
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edge [fontname=Helvetica, fontsize=8];
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Threads -> Scheduler;
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Scheduler-> System;
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Scheduler-> Timers;
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System-> Timers;
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}
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* @enddot
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* - @ref synchronization, this category contains the synchronization-related
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* subsystems, each one of the provided mechanism can be configured out of
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* the kernel if not needed.
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* - @ref semaphores, counter semaphores subsystem.
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* - @ref mutexes, mutexes subsystem with support to the priority inheritance
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* algorithm (fully implemented, any depht).
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* - @ref condvars, condition variables, together with mutexes the condition
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* variables allow the implementation of monitor constructs.
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* - @ref events, event sources and event flags with flexible support for
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* and/or conditions and automatic dispatching to handler functions.
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* - @ref messages, lightweight synchronous messages.
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* - @ref mailboxes, asynchronous messages queues.
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* .
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* All the synchronization mechanisms are built on top of the Scheduler APIs
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* except Mailboxes that are build on top of Semaphores and Condition
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* Variables that implicitly refer to Mutexes:<br><br>
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* @dot
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digraph example {
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node [shape=rectangle, fontname=Helvetica, fontsize=8,
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fixedsize="true", width="1.0", height="0.25"];
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edge [fontname=Helvetica, fontsize=8];
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Semaphores -> Scheduler;
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Mutexes -> Scheduler;
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Condvars -> Scheduler;
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Condvars -> Mutexes;
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Events -> Scheduler;
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Messages -> Scheduler;
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Mailboxes -> Semaphores;
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}
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* @enddot
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* - @ref memory, memory management, multiple non-alternative schemes are
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* available:
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* - @ref memcore, centralized core memory manager, this subsystems is used
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* by the other allocators in order to get chunks of memory in a consistent
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* way.
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* - @ref heaps, central heap manager using a first fit strategy, it also
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* allow the creation of multiple heaps in order to handle non uniform
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* memory areas.
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* - @ref pools, very fast fixed size objects allocator.
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* - @ref threads (dynamic), usually threads are static objects in ChibiOS/RT
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* but there is the option for dynamic threads management, please see the
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* article @ref article_lifecycle.
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* .
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* The various allocators follow a precise hierarchy:<br><br>
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* @dot
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digraph example {
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node [shape=rectangle, fontname=Helvetica, fontsize=8,
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fixedsize="true", width="1.0", height="0.25"];
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edge [fontname=Helvetica, fontsize=8];
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Core [label="Core Allocator"];
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Dynamic [label="Dynamic Threads"];
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Heaps [label="Dynamic Heaps"];
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Pools [label="Memory Pools"];
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C [label="C-runtime"];
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Dynamic -> Heaps;
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Dynamic -> Pools;
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Heaps -> Core;
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Pools -> Core;
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C -> Core;
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}
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* @enddot
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* Please also see the article @ref article_manage_memory.
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* - @ref io_support, the kernel also provides mechanisms and abstract data
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* interfaces that can be used by non-kernel components, the HAL as example.
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* - @ref data_streams, abstract streams interface.
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* - @ref io_channels, abstract I/O channels that inherits from the abstract
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* stream interface.
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* - @ref io_queues, generic, byte wide, I/O queues APIs.
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* .
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* - @ref debug, debug services and APIs. The @ref registry susystem can be
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* seen as part of the debug category even if it finds use in non-debug
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* roles.
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* .
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* @section hal_arch HAL Architecture
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* The HAL is a collection of abstract device drivers, it relies on the
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* Platform component for the low level implementation on specific
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* hardware.<br>
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* The current internal HAL organization is the following:<br><br>
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* @dot
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digraph example {
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rankdir="LR";
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node [shape=rectangle, fontname=Helvetica, fontsize=8,
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fixedsize="true", width="1.0", height="0.25"];
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edge [fontname=Helvetica, fontsize=8];
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subgraph cluster_HAL {
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node [shape=rectangle, fontname=Helvetica, fontsize=8,
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fixedsize="true", width="0.6", height="0.25"];
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ADC [label="ADC"];
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CAN [label="CAN"];
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HAL [label="HAL"];
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MAC [label="MAC"];
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PAL [label="PAL"];
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PWM [label="PWM"];
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SER [label="SER"];
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SPI [label="SPI"];
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MMC_SD [label="MMC/SD"];
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color = blue;
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label = "HAL";
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}
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subgraph cluster_Platform {
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node [shape=rectangle, fontname=Helvetica, fontsize=8,
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fixedsize="true", width="0.6", height="0.25"];
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ADC_LLD [label="ADC_LLD"];
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CAN_LLD [label="CAN_LLD"];
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HAL_LLD [label="HAL_LLD"];
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MAC_LLD [label="MAC_LLD"];
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PAL_LLD [label="PAL_LLD"];
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PWM_LLD [label="PWM_LLD"];
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SER_LLD [label="SER_LLD"];
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SPI_LLD [label="SPI_LLD"];
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color = blue;
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label = "Platform";
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}
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node [shape=rectangle, fontname=Helvetica, fontsize=8,
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fixedsize="true", width="1", height="0.5"];
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edge [fontname=Helvetica, fontsize=8];
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Application [label="Application"];
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HW [label="Hardware", style="filled"];
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ADC -> ADC_LLD;
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CAN -> CAN_LLD;
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HAL -> HAL_LLD;
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MAC -> MAC_LLD;
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PAL -> PAL_LLD;
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PWM -> PWM_LLD;
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SER -> SER_LLD;
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SPI -> SPI_LLD;
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MMC_SD -> SPI [constraint=false];
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Application -> ADC;
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Application -> CAN;
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Application -> HAL;
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Application -> MAC;
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Application -> PAL;
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Application -> PWM;
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Application -> SER;
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Application -> SPI;
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Application -> MMC_SD;
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ADC_LLD -> HW;
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CAN_LLD -> HW;
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HAL_LLD -> HW;
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MAC_LLD -> HW;
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PAL_LLD -> HW;
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PWM_LLD -> HW;
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SER_LLD -> HW;
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SPI_LLD -> HW;
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}
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* @enddot
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* <br>
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* See @ref IO for details about the various HAL subsystems.
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*/
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