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nios2: port to unified kernel

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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 2016-10-25 11:47:52 -07:00 • committed by Benjamin Walsh
commit 431607c20a
10 changed files with 212 additions and 54 deletions
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101
arch/nios2/include/nano_private.h
View file

@ -39,21 +39,40 @@ extern "C" {
#include <arch/cpu.h>
#ifndef _ASMLANGUAGE
#ifdef CONFIG_KERNEL_V2
#include <kernel.h> /* public kernel API */
#include <../../../kernel/unified/include/nano_internal.h>
#else
#include <nanokernel.h> /* public nanokernel API */
#include <../../../kernel/nanokernel/include/nano_internal.h>
#endif
#include <stdint.h>
#include <misc/util.h>
#include <misc/dlist.h>
#endif
/* Bitmask definitions for the struct tcs->flags bit field */
#ifdef CONFIG_KERNEL_V2
#define K_STATIC 0x00000800
#define K_READY 0x00000000 /* Thread is ready to run */
#define K_TIMING 0x00001000 /* Thread is waiting on a timeout */
#define K_PENDING 0x00002000 /* Thread is waiting on an object */
#define K_PRESTART 0x00004000 /* Thread has not yet started */
#define K_DEAD 0x00008000 /* Thread has terminated */
#define K_SUSPENDED 0x00010000 /* Thread is suspended */
#define K_DUMMY 0x00020000 /* Not a real thread */
#define K_EXECUTION_MASK (K_TIMING | K_PENDING | K_PRESTART | \
K_DEAD | K_SUSPENDED | K_DUMMY)
#else
#define FIBER 0x000
#define TASK 0x001 /* 1 = task, 0 = fiber */
#define PREEMPTIBLE 0x020 /* 1 = preemptible thread */
#endif
#define INT_ACTIVE 0x002 /* 1 = executing context is interrupt handler */
#define EXC_ACTIVE 0x004 /* 1 = executing context is exception handler */
#define USE_FP 0x010 /* 1 = thread uses floating point unit */
#define PREEMPTIBLE 0x020 /* 1 = preemptible thread */
#define ESSENTIAL 0x200 /* 1 = system thread that must not abort */
#define NO_METRICS 0x400 /* 1 = _Swap() not to update task metrics */
@ -107,36 +126,78 @@ struct preempt {
*/
};
#ifdef CONFIG_KERNEL_V2
/* 'struct tcs_base' must match the beginning of 'struct tcs' */
struct tcs_base {
sys_dnode_t k_q_node;
uint32_t flags;
int prio; /* thread priority used to sort linked list */
void *swap_data;
#ifdef CONFIG_NANO_TIMEOUTS
struct _timeout timeout;
#endif
};
#endif
struct tcs {
#ifdef CONFIG_KERNEL_V2
sys_dnode_t k_q_node; /* node object in any kernel queue */
int flags;
int prio; /* thread priority used to sort linked list */
void *swap_data;
#ifdef CONFIG_NANO_TIMEOUTS
struct _timeout timeout;
#endif
#else
struct tcs *link; /* node in singly-linked list
* _nanokernel.fibers
*/
uint32_t flags; /* bitmask of flags above */
int prio; /* fiber priority, -1 for a task */
#endif /* CONFIG_KERNEL_V2 */
struct preempt preempReg;
t_coop coopReg;
#ifdef CONFIG_ERRNO
int errno_var;
#endif
#ifdef CONFIG_NANO_TIMEOUTS
#if !defined(CONFIG_KERNEL_V2) && defined(CONFIG_NANO_TIMEOUTS)
struct _nano_timeout nano_timeout;
#endif
#if defined(CONFIG_THREAD_MONITOR)
struct __thread_entry *entry; /* thread entry and parameters description */
struct tcs *next_thread; /* next item in list of ALL fiber+tasks */
#endif
#ifdef CONFIG_MICROKERNEL
#if !defined(CONFIG_KERNEL_V2) && defined(CONFIG_MICROKERNEL)
void *uk_task_ptr;
#endif
#ifdef CONFIG_THREAD_CUSTOM_DATA
void *custom_data; /* available for custom use */
#endif
#ifdef CONFIG_KERNEL_V2
atomic_t sched_locked;
void *init_data;
void (*fn_abort)(void);
#endif
};
#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);