nios2: port to unified kernel
With this patch we introduce unified kernel support for NIOS II.
Not all test cases have been ported, but the following command
currently succeeds with 43/43 passing test cases:
$ sanitycheck --arch=nios2 -xKERNEL_TYPE=unified \
--tag=unified_capable
Issue: ZEP-934
Change-Id: Id8effa0369a6a22c4d0a789fa2a8e108af0e0786
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
This commit is contained in:
Andrew Boie
Benjamin Walsh
parent
9f0977791f
commit
431607c20a
10 changed files with 212 additions and 54 deletions
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@ -1,6 +1,10 @@
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ifeq ($(CONFIG_KERNEL_V2),y)
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ccflags-y += -I$(srctree)/kernel/unified/include
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else
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ccflags-y += -I$(srctree)/kernel/nanokernel/include
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ccflags-y +=-I$(srctree)/arch/$(ARCH)/include
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ccflags-y += -I$(srctree)/kernel/microkernel/include
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endif
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ccflags-y +=-I$(srctree)/arch/$(ARCH)/include
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obj-y += reset.o irq_manage.o fatal.o swap.o thread.o \
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cpu_idle.o irq_offload.o prep_c.o crt0.o \
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@ -25,6 +25,9 @@ GTEXT(_exception)
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/* import */
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GTEXT(_Fault)
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GTEXT(_Swap)
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#ifdef CONFIG_KERNEL_V2
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GTEXT(_is_next_thread_current)
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#endif
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#ifdef CONFIG_IRQ_OFFLOAD
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GTEXT(_irq_do_offload)
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GTEXT(_offload_routine)
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@ -125,6 +128,24 @@ on_irq_stack:
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movhi r10, %hi(_nanokernel)
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ori r10, r10, %lo(_nanokernel)
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ldw r11, __tNANO_current_OFFSET(r10)
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#ifdef CONFIG_KERNEL_V2
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/* Determine whether the exception of the ISR requires context
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* switch
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*/
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/* Do not reschedule coop threads (threads that have negative prio) */
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ldw r12, __tTCS_prio_OFFSET(r11)
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blt r12, zero, no_reschedule
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/* Do not reschedule if scheduler is locked */
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ldw r12, __tTCS_sched_locked_OFFSET(r11)
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bne r12, zero, no_reschedule
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/* Call into the kernel to see if a scheduling decision is necessary */
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call _is_next_thread_current
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bne r2, zero, no_reschedule
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#else
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/* Determine whether the execution of the ISR requires a context
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* switch. If the interrupted thread is PREEMPTIBLE (a task) and
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* _nanokernel.fiber is non-NULL, a _Swap() needs to occur.
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@ -133,7 +154,6 @@ on_irq_stack:
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/* Check (_nanokernel.current->flags & PREEMPTIBLE), if not
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* goto no_reschedule
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*/
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ldw r11, __tNANO_current_OFFSET(r10)
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ldw r12, __tTCS_flags_OFFSET(r11)
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movi r13, PREEMPTIBLE
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and r12, r13, r12
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@ -142,6 +162,7 @@ on_irq_stack:
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/* Check _nanokernel.fiber != NULL, if NULL goto no_reschedule */
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ldw r11, __tNANO_fiber_OFFSET(r10)
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beq r11, zero, no_reschedule
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#endif /* CONFIG_KERNEL_V2 */
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/*
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* A context reschedule is required: keep the volatile registers of
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@ -234,7 +234,11 @@ FUNC_NORETURN void _SysFatalErrorHandler(unsigned int reason,
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if (curCtx == NANO_CTX_TASK) {
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extern FUNC_NORETURN void _TaskAbort(void);
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printk("Fatal task error! Aborting task.\n");
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#ifdef CONFIG_KERNEL_V2
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k_thread_abort(_current);
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#else
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_TaskAbort();
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#endif
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} else
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#endif /* CONFIG_MICROKERNEL */
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{
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@ -80,6 +80,8 @@ void _enter_irq(uint32_t ipending)
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{
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int index;
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_nanokernel.nested++;
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#ifdef CONFIG_IRQ_OFFLOAD
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_irq_do_offload();
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#endif
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@ -97,5 +99,7 @@ void _enter_irq(uint32_t ipending)
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ite = &_sw_isr_table[index];
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ite->isr(ite->arg);
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}
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_nanokernel.nested--;
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}
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@ -25,6 +25,10 @@ GTEXT(_thread_entry_wrapper)
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/* imports */
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GTEXT(_sys_k_event_logger_context_switch)
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#ifdef CONFIG_KERNEL_V2
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GTEXT(_get_next_ready_thread)
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GTEXT(_k_neg_eagain)
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#endif
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/* unsigned int _Swap(unsigned int key)
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*
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@ -61,6 +65,14 @@ SECTION_FUNC(exception.other, _Swap)
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*/
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stw r4, __tTCS_coopReg_OFFSET + __t_coop_key_OFFSET(r11)
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#ifdef CONFIG_KERNEL_V2
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/* Populate default return value */
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movhi r5, %hi(_k_neg_eagain)
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ori r5, r5, %lo(_k_neg_eagain)
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ldw r4, (r5)
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stw r4, __tTCS_coopReg_OFFSET + __t_coop_retval_OFFSET(r11)
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#endif /* CONFIG_KERNEL_V2 */
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#if CONFIG_KERNEL_EVENT_LOGGER_CONTEXT_SWITCH
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call _sys_k_event_logger_context_switch
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/* Restore caller-saved r10. We could have stuck its value
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@ -68,51 +80,65 @@ SECTION_FUNC(exception.other, _Swap)
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*/
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movhi r10, %hi(_nanokernel)
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ori r10, r10, %lo(_nanokernel)
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#endif
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#endif /* CONFIG_KERNEL_EVENT_LOGGER_CONTEXT_SWITCH */
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#ifdef CONFIG_KERNEL_V2
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/* Assign to _nanokernel.current the return value of
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* _get_next_ready_thread()
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*/
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call _get_next_ready_thread
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movhi r10, %hi(_nanokernel)
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ori r10, r10, %lo(_nanokernel)
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stw r2, __tNANO_current_OFFSET(r10)
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#else
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/* Find the next context to run. Choose _nanokernel.fiber
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* if non-NULL */
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ldw r11, __tNANO_fiber_OFFSET(r10)
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beq r11, zero, not_fiber
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ldw r2, __tNANO_fiber_OFFSET(r10)
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beq r2, zero, not_fiber
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/* _nanokernel.fiber = _nanokernel.fiber->link */
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ldw r14, __tTCS_link_OFFSET(r11)
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ldw r14, __tTCS_link_OFFSET(r2)
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stw r14, __tNANO_fiber_OFFSET(r10)
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br next_chosen
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not_fiber:
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/* Fiber was NULL, we'll choose nanokernel.task */
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ldw r11, __tNANO_task_OFFSET(r10)
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ldw r2, __tNANO_task_OFFSET(r10)
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next_chosen:
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/* Set _nanokernel.current to value we chose for r11 */
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stw r11, __tNANO_current_OFFSET(r10)
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/* Set _nanokernel.current to value we chose for r2 */
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stw r2, __tNANO_current_OFFSET(r10)
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#endif /* CONFIG_KERNEL_V2 */
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/* At this point r2 points to the next thread to be swapped in */
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/* Restore callee-saved registers and switch to the incoming
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* thread's stack
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*/
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ldw r16, __tTCS_coopReg_OFFSET + __t_coop_r16_OFFSET(r11)
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ldw r17, __tTCS_coopReg_OFFSET + __t_coop_r17_OFFSET(r11)
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ldw r18, __tTCS_coopReg_OFFSET + __t_coop_r18_OFFSET(r11)
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ldw r19, __tTCS_coopReg_OFFSET + __t_coop_r19_OFFSET(r11)
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ldw r20, __tTCS_coopReg_OFFSET + __t_coop_r20_OFFSET(r11)
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ldw r21, __tTCS_coopReg_OFFSET + __t_coop_r21_OFFSET(r11)
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ldw r22, __tTCS_coopReg_OFFSET + __t_coop_r22_OFFSET(r11)
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ldw r23, __tTCS_coopReg_OFFSET + __t_coop_r23_OFFSET(r11)
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ldw r28, __tTCS_coopReg_OFFSET + __t_coop_r28_OFFSET(r11)
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ldw ra, __tTCS_coopReg_OFFSET + __t_coop_ra_OFFSET(r11)
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ldw sp, __tTCS_coopReg_OFFSET + __t_coop_sp_OFFSET(r11)
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ldw r16, __tTCS_coopReg_OFFSET + __t_coop_r16_OFFSET(r2)
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ldw r17, __tTCS_coopReg_OFFSET + __t_coop_r17_OFFSET(r2)
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ldw r18, __tTCS_coopReg_OFFSET + __t_coop_r18_OFFSET(r2)
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ldw r19, __tTCS_coopReg_OFFSET + __t_coop_r19_OFFSET(r2)
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ldw r20, __tTCS_coopReg_OFFSET + __t_coop_r20_OFFSET(r2)
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ldw r21, __tTCS_coopReg_OFFSET + __t_coop_r21_OFFSET(r2)
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ldw r22, __tTCS_coopReg_OFFSET + __t_coop_r22_OFFSET(r2)
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ldw r23, __tTCS_coopReg_OFFSET + __t_coop_r23_OFFSET(r2)
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ldw r28, __tTCS_coopReg_OFFSET + __t_coop_r28_OFFSET(r2)
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ldw ra, __tTCS_coopReg_OFFSET + __t_coop_ra_OFFSET(r2)
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ldw sp, __tTCS_coopReg_OFFSET + __t_coop_sp_OFFSET(r2)
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/* Load return value into r2 (return value register). garbage
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/* We need to irq_unlock(current->coopReg.key);
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* key was supplied as argument to _Swap(). Fetch it.
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*/
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ldw r3, __tTCS_coopReg_OFFSET + __t_coop_key_OFFSET(r2)
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/* Load return value into r2 (return value register). -EAGAIN
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* unless someone previously called fiberRtnValueSet(). Do this
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* before we potentially unlock interrupts.
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*/
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ldw r2, __tTCS_coopReg_OFFSET + __t_coop_retval_OFFSET(r11)
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ldw r2, __tTCS_coopReg_OFFSET + __t_coop_retval_OFFSET(r2)
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/* irq_unlock(fiber->coopReg.key);
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* key was supplied as argument to _Swap()
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*/
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ldw r3, __tTCS_coopReg_OFFSET + __t_coop_key_OFFSET(r11)
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/* Now do irq_unlock(current->coopReg.key) */
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#if (ALT_CPU_NUM_OF_SHADOW_REG_SETS > 0) || \
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(defined ALT_CPU_EIC_PRESENT) || \
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(defined ALT_CPU_MMU_PRESENT) || \
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@ -14,7 +14,14 @@
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* limitations under the License.
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*/
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#include <nanokernel.h>
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#ifdef CONFIG_KERNEL_V2
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#include <kernel.h> /* public kernel API */
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#include <../../../kernel/unified/include/nano_internal.h>
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#else
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#include <nanokernel.h> /* public nanokernel API */
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#include <../../../kernel/nanokernel/include/nano_internal.h>
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#endif
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#include <nano_private.h>
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#include <wait_q.h>
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#include <string.h>
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@ -44,9 +51,7 @@ static ALWAYS_INLINE void thread_monitor_init(struct tcs *tcs)
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* to _thread_entry() since this arch puts the first four arguments
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* in r4-r7 and not on the stack
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*/
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void _thread_entry_wrapper(_thread_entry_t, _thread_arg_t,
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_thread_arg_t, _thread_arg_t);
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void _thread_entry_wrapper(_thread_entry_t, void *, void *, void *);
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struct init_stack_frame {
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/* top of the stack / most recently pushed */
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@ -55,9 +60,9 @@ struct init_stack_frame {
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* into argument registers before calling _thread_entry()
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*/
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_thread_entry_t entry_point;
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_thread_arg_t arg1;
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_thread_arg_t arg2;
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_thread_arg_t arg3;
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void *arg1;
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void *arg2;
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void *arg3;
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/* least recently pushed */
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};
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@ -65,8 +70,7 @@ struct init_stack_frame {
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void _new_thread(char *stack_memory, unsigned stack_size,
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void *uk_task_ptr, _thread_entry_t thread_func,
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_thread_arg_t arg1, _thread_arg_t arg2,
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_thread_arg_t arg3,
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void *arg1, void *arg2, void *arg3,
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int priority, unsigned options)
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{
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struct tcs *tcs;
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@ -87,22 +91,31 @@ void _new_thread(char *stack_memory, unsigned stack_size,
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/* Initialize various struct tcs members */
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tcs = (struct tcs *)stack_memory;
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tcs->link = (struct tcs *)NULL;
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tcs->prio = priority;
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#ifdef CONFIG_KERNEL_V2
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/* k_q_node initialized upon first insertion in a list */
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tcs->flags = options | K_PRESTART;
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tcs->sched_locked = 0;
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/* static threads overwrite it afterwards with real value */
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tcs->init_data = NULL;
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tcs->fn_abort = NULL;
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#else
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if (priority == -1) {
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tcs->flags = PREEMPTIBLE | TASK;
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} else {
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tcs->flags = FIBER;
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}
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tcs->link = (struct tcs *)NULL; /* thread not inserted into list yet */
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#endif /* CONFIG_KERNEL_V2 */
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#ifdef CONFIG_THREAD_CUSTOM_DATA
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/* Initialize custom data field (value is opaque to kernel) */
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tcs->custom_data = NULL;
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#endif
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#ifdef CONFIG_MICROKERNEL
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#if !defined(CONFIG_KERNEL_V2) && defined(CONFIG_MICROKERNEL)
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tcs->uk_task_ptr = uk_task_ptr;
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#else
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ARG_UNUSED(uk_task_ptr);
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@ -39,21 +39,40 @@ 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> /* public kernel API */
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#include <../../../kernel/unified/include/nano_internal.h>
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#else
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#include <nanokernel.h> /* public nanokernel API */
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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/util.h>
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#include <misc/dlist.h>
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#endif
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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 PREEMPTIBLE 0x020 /* 1 = preemptible thread */
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#endif
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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 PREEMPTIBLE 0x020 /* 1 = preemptible thread */
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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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@ -107,36 +126,78 @@ struct preempt {
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*/
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};
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#ifdef 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; /* thread priority used to sort linked list */
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void *swap_data;
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#ifdef CONFIG_NANO_TIMEOUTS
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struct _timeout timeout;
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#endif
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};
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#endif
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struct tcs {
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#ifdef CONFIG_KERNEL_V2
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sys_dnode_t k_q_node; /* node object in any kernel queue */
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int flags;
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int prio; /* thread priority used to sort linked list */
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void *swap_data;
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#ifdef CONFIG_NANO_TIMEOUTS
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struct _timeout timeout;
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#endif
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#else
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struct tcs *link; /* node in singly-linked list
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* _nanokernel.fibers
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*/
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uint32_t flags; /* bitmask of flags above */
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int prio; /* fiber priority, -1 for a task */
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#endif /* CONFIG_KERNEL_V2 */
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struct preempt preempReg;
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t_coop coopReg;
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#ifdef CONFIG_ERRNO
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int errno_var;
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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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#if defined(CONFIG_THREAD_MONITOR)
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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_MICROKERNEL
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#if !defined(CONFIG_KERNEL_V2) && defined(CONFIG_MICROKERNEL)
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void *uk_task_ptr;
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#endif
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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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#ifdef CONFIG_KERNEL_V2
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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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};
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|
||||
#ifdef CONFIG_KERNEL_V2
|
||||
struct ready_q {
|
||||
struct k_thread *cache;
|
||||
uint32_t prio_bmap[1];
|
||||
sys_dlist_t q[K_NUM_PRIORITIES];
|
||||
};
|
||||
#endif
|
||||
|
||||
|
||||
struct s_NANO {
|
||||
#if !defined(CONFIG_KERNEL_V2)
|
||||
struct tcs *fiber; /* singly linked list of runnable fibers */
|
||||
struct tcs *task; /* current task the nanokernel knows about */
|
||||
#endif
|
||||
struct tcs *current; /* currently scheduled thread (fiber or task) */
|
||||
|
||||
#if defined(CONFIG_NANO_TIMEOUTS) || defined(CONFIG_NANO_TIMERS)
|
||||
|
|
@ -148,7 +209,9 @@ struct s_NANO {
|
|||
#if defined(CONFIG_THREAD_MONITOR)
|
||||
struct tcs *threads; /* singly linked list of ALL fiber+tasks */
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_KERNEL_V2
|
||||
struct ready_q ready_q;
|
||||
#endif
|
||||
/* Nios II-specific members */
|
||||
|
||||
char *irq_sp; /* Interrupt stack pointer */
|
||||
|
|
@ -175,6 +238,22 @@ static ALWAYS_INLINE void fiberRtnValueSet(struct tcs *fiber,
|
|||
fiber->coopReg.retval = value;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_KERNEL_V2
|
||||
#define _current _nanokernel.current
|
||||
#define _ready_q _nanokernel.ready_q
|
||||
#define _timeout_q _nanokernel.timeout_q
|
||||
#define _set_thread_return_value fiberRtnValueSet
|
||||
static ALWAYS_INLINE void
|
||||
_set_thread_return_value_with_data(struct k_thread *thread, unsigned int value,
|
||||
void *data)
|
||||
{
|
||||
_set_thread_return_value(thread, value);
|
||||
thread->swap_data = data;
|
||||
}
|
||||
#define _IDLE_THREAD_PRIO (CONFIG_NUM_PREEMPT_PRIORITIES)
|
||||
#endif /* CONFIG_KERNEL_V2 */
|
||||
|
||||
|
||||
static inline void _IntLibInit(void)
|
||||
{
|
||||
/* No special initialization of the interrupt subsystem required */
|
||||
|
|
@ -184,18 +263,8 @@ FUNC_NORETURN void _NanoFatalErrorHandler(unsigned int reason,
|
|||
const NANO_ESF *esf);
|
||||
|
||||
|
||||
static ALWAYS_INLINE int _IS_IN_ISR(void)
|
||||
{
|
||||
char *sp = (char *)_nios2_read_sp();
|
||||
|
||||
/* Make sure we're on the interrupt stack somewhere */
|
||||
if (sp < _interrupt_stack ||
|
||||
sp >= (char *)(STACK_ROUND_DOWN(_interrupt_stack +
|
||||
CONFIG_ISR_STACK_SIZE))) {
|
||||
return 0;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
#define _IS_IN_ISR() (_nanokernel.nested != 0)
|
||||
#define _is_in_isr() (_nanokernel.nested != 0)
|
||||
|
||||
#ifdef CONFIG_IRQ_OFFLOAD
|
||||
void _irq_do_offload(void);
|
||||
|
|
|
|||
|
|
@ -242,6 +242,17 @@ SECTIONS
|
|||
_k_event_list_end = .;
|
||||
} GROUP_DATA_LINK_IN(RAMABLE_REGION, ROMABLE_REGION)
|
||||
|
||||
SECTION_DATA_PROLOGUE(_k_memory_pool, (OPTIONAL),)
|
||||
{
|
||||
*(._k_memory_pool.struct*)
|
||||
KEEP(*(SORT_BY_NAME("._k_memory_pool.struct*")))
|
||||
|
||||
_k_mem_pool_start = .;
|
||||
*(._k_memory_pool.*)
|
||||
KEEP(*(SORT_BY_NAME("._k_memory_pool*")))
|
||||
_k_mem_pool_end = .;
|
||||
} GROUP_DATA_LINK_IN(RAMABLE_REGION, ROMABLE_REGION)
|
||||
|
||||
SECTION_DATA_PROLOGUE(_DATA_SECTION_NAME,,)
|
||||
{
|
||||
|
||||
|
|
|
|||
|
|
@ -1774,7 +1774,11 @@ __asm__(".macro _build_mem_pool name, min_size, max_size, n_max\n\t"
|
|||
static void __attribute__ ((used)) __k_mem_pool_quad_block_size_define(void)
|
||||
{
|
||||
__asm__(".globl __memory_pool_quad_block_size\n\t"
|
||||
#ifdef CONFIG_NIOS2
|
||||
"__memory_pool_quad_block_size = %0\n\t"
|
||||
#else
|
||||
"__memory_pool_quad_block_size = %c0\n\t"
|
||||
#endif
|
||||
:
|
||||
: "n"(sizeof(struct k_mem_pool_quad_block)));
|
||||
}
|
||||
|
|
|
|||
|
|
@ -4,6 +4,8 @@ qemu_cortex_m3
|
|||
qemu_x86
|
||||
--platform
|
||||
qemu_x86_iamcu
|
||||
--platform
|
||||
qemu_nios2
|
||||
--tag
|
||||
unified_capable
|
||||
-x
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue