unified/arm: add unified kernel support for ARM arch
The ARM architecture port is fitted with support for the unified kernel, namely: - the interrupt/exception exit code now pends PendSV if the current thread is not a coop thread and if the scheduler is not locked - fiber_abort is replaced by k_thread_abort(), which takes a thread ID as a parameter (i.e. does not only operate on the current thread) - the _nanokernel.flags cache of _current.flags is not used anymore (could be a source of bugs) and is not needed in the scheduling algo - there is no 'task' field in the _nanokernel anymore: PendSV not calls _get_next_ready_thread instead - the _nanokernel.fiber field is replaced by a more sophisticated ready_q, based on the microkernel's priority-bitmap-based one - thread initialization initializes new fields in the tcs, and does not initialize obsolete ones - nano_private includes nano_internal.h from the unified directory - The FIBER, TASK and PREEMPTIBLE flags do not exist anymore: the thread priority drives the behaviour - the tcs uses a dlist for queuing in both ready and wait queues instead of a custom singly-linked list - other new fields in the tcs include a schedule-lock count, a back-pointer to init data (when the task is static) and a pointer to swap data, needed when a thread pending on _Swap() must be passed more then just one value (e.g. k_stack_pop() needs an error code and data) - the 'fiber' and 'task' fields of _nanokernel are replaced with an O(1) ready queue (taken from the microkernel) - fiberRtnValueSet() is aliased to _set_thread_return_value since it also operates on preempt threads now - _set_thread_return_value_with_data() sets the swap_data field in addition to a return value from _Swap() - convenience aliases are created for shorter names: - _current is defined as _nanokernel.current - _ready_q is defined as _nanokernel.ready_q - _Swap() sets the threads's return code to -EAGAIN before swapping out to prevent timeouts to have to set it (solves hard issues in some kernel objects). Change-Id: I36c03c362bc2908dae064ec67e6b8469fc573983 Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
This commit is contained in:
Benjamin Walsh
parent
d4006c9ad4
commit
3cf3778d31
9 changed files with 239 additions and 11 deletions
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@ -39,9 +39,15 @@ extern "C" {
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#include <arch/cpu.h>
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#ifndef _ASMLANGUAGE
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#ifdef CONFIG_KERNEL_V2
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#include <kernel.h>
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#include <../../../kernel/unified/include/nano_internal.h>
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#else
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#include <../../../kernel/nanokernel/include/nano_internal.h>
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#endif
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#include <stdint.h>
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#include <misc/dlist.h>
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#include <atomic.h>
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#endif
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#ifndef _ASMLANGUAGE
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@ -93,17 +99,32 @@ typedef struct preempt tPreempt;
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/* Bitmask definitions for the struct tcs.flags bit field */
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#ifdef CONFIG_KERNEL_V2
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#define K_STATIC 0x00000800
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#define K_READY 0x00000000 /* Thread is ready to run */
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#define K_TIMING 0x00001000 /* Thread is waiting on a timeout */
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#define K_PENDING 0x00002000 /* Thread is waiting on an object */
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#define K_PRESTART 0x00004000 /* Thread has not yet started */
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#define K_DEAD 0x00008000 /* Thread has terminated */
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#define K_SUSPENDED 0x00010000 /* Thread is suspended */
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#define K_DUMMY 0x00020000 /* Not a real thread */
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#define K_EXECUTION_MASK (K_TIMING | K_PENDING | K_PRESTART | \
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K_DEAD | K_SUSPENDED | K_DUMMY)
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#else
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#define FIBER 0x000
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#define TASK 0x001 /* 1 = task, 0 = fiber */
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#define INT_ACTIVE 0x002 /* 1 = executing context is interrupt handler */
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#define EXC_ACTIVE 0x004 /* 1 = executing context is exception handler */
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#define USE_FP 0x010 /* 1 = thread uses floating point unit */
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#define INT_ACTIVE 0x002 /* 1 = executino context is interrupt handler */
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#define EXC_ACTIVE 0x004 /* 1 = executino context is exception handler */
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#define PREEMPTIBLE \
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0x020 /* 1 = preemptible thread \
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* NOTE: the value must be < 0x100 to be able to \
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* use a small thumb instr with immediate \
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* when loading PREEMPTIBLE in a GPR \
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*/
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#endif
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#define USE_FP 0x010 /* 1 = thread uses floating point unit */
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#define ESSENTIAL 0x200 /* 1 = system thread that must not abort */
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#define NO_METRICS 0x400 /* 1 = _Swap() not to update task metrics */
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@ -140,11 +161,28 @@ struct preemp_float {
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};
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#endif
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#if CONFIG_KERNEL_V2
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/* 'struct tcs_base' must match the beginning of 'struct tcs' */
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struct tcs_base {
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sys_dnode_t k_q_node;
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uint32_t flags;
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int prio;
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void *swap_data;
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};
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#endif
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struct tcs {
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#if CONFIG_KERNEL_V2
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sys_dnode_t k_q_node; /* node object in any kernel queue */
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uint32_t flags;
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int prio;
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void *swap_data;
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#else
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struct tcs *link; /* singly-linked list in _nanokernel.fibers */
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uint32_t flags;
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uint32_t basepri;
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int prio;
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#endif
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uint32_t basepri;
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#ifdef CONFIG_THREAD_CUSTOM_DATA
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void *custom_data; /* available for custom use */
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#endif
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@ -154,15 +192,25 @@ struct tcs {
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struct __thread_entry *entry; /* thread entry and parameters description */
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struct tcs *next_thread; /* next item in list of ALL fiber+tasks */
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#endif
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#ifdef CONFIG_NANO_TIMEOUTS
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#if !defined(CONFIG_KERNEL_V2) && defined(CONFIG_NANO_TIMEOUTS)
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struct _nano_timeout nano_timeout;
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#endif
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#ifdef CONFIG_ERRNO
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int errno_var;
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#endif
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#if !defined(CONFIG_KERNEL_V2)
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#ifdef CONFIG_MICROKERNEL
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void *uk_task_ptr;
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#endif
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#endif
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#ifdef CONFIG_KERNEL_V2
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#ifdef CONFIG_NANO_TIMEOUTS
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struct _timeout timeout;
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#endif
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atomic_t sched_locked;
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void *init_data;
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void (*fn_abort)(void);
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#endif
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#ifdef CONFIG_FLOAT
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/*
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* No cooperative floating point register set structure exists for
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@ -173,11 +221,22 @@ struct tcs {
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#endif
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};
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#ifdef CONFIG_KERNEL_V2
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struct ready_q {
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uint32_t prio_bmap[1];
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sys_dlist_t q[K_NUM_PRIORITIES];
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};
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#endif
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struct s_NANO {
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#if !defined(CONFIG_KERNEL_V2)
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struct tcs *fiber; /* singly linked list of runnable fiber */
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struct tcs *task; /* pointer to runnable task */
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#endif
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struct tcs *current; /* currently scheduled thread (fiber or task) */
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#if !defined(CONFIG_KERNEL_V2)
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int flags; /* struct tcs->flags of 'current' thread */
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#endif
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#if defined(CONFIG_THREAD_MONITOR)
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struct tcs *threads; /* singly linked list of ALL fiber+tasks */
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@ -195,6 +254,9 @@ struct s_NANO {
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sys_dlist_t timeout_q;
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int32_t task_timeout;
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#endif
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#ifdef CONFIG_KERNEL_V2
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struct ready_q ready_q;
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#endif
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};
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typedef struct s_NANO tNANO;
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@ -207,7 +269,9 @@ extern void _FaultInit(void);
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extern void _CpuIdleInit(void);
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static ALWAYS_INLINE void nanoArchInit(void)
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{
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#if !defined(CONFIG_KERNEL_V2)
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_nanokernel.flags = FIBER;
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#endif
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_InterruptStackSetup();
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_ExcSetup();
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_FaultInit();
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@ -235,9 +299,25 @@ static ALWAYS_INLINE void fiberRtnValueSet(struct tcs *fiber,
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pEsf->a1 = value;
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}
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#ifdef CONFIG_KERNEL_V2
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#define _current _nanokernel.current
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#define _ready_q _nanokernel.ready_q
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#define _timeout_q _nanokernel.timeout_q
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#define _set_thread_return_value fiberRtnValueSet
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static ALWAYS_INLINE void
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_set_thread_return_value_with_data(struct k_thread *thread, unsigned int value,
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void *data)
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{
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_set_thread_return_value(thread, value);
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thread->swap_data = data;
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}
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#define _IDLE_THREAD_PRIO (CONFIG_NUM_PREEMPT_PRIORITIES)
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#endif /* CONFIG_KERNEL_V2 */
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extern void nano_cpu_atomic_idle(unsigned int);
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#define _IS_IN_ISR() _IsInIsr()
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#define _is_in_isr() _IsInIsr()
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extern void _IntLibInit(void);
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