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kernel: enable and optimize coop-only configurations

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Some kernel operations, like scheduler locking can be optmized out,
since coop threads lock the scheduler by their very nature. Also, the
interrupt exit path for all architecture does not have to do any
rescheduling, again by the nature of non-preemptible threads.

Change-Id: I270e926df3ce46e11d77270330f2f4b463971763
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
This commit is contained in:
Benjamin Walsh 2016-12-14 14:34:29 -05:00 • committed by Benjamin Walsh
commit 8e4a534ea1
7 changed files with 50 additions and 0 deletions
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20
kernel/unified/include/ksched.h
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@ -125,19 +125,35 @@ static inline int _is_higher_prio_than_current(struct k_thread *thread)
/* is thread currenlty cooperative ? */
static inline int _is_coop(struct k_thread *thread)
{
#if defined(CONFIG_PREEMPT_ENABLED) && defined(CONFIG_COOP_ENABLED)
return thread->base.prio < 0;
#elif defined(CONFIG_COOP_ENABLED)
return 1;
#elif defined(CONFIG_PREEMPT_ENABLED)
return 0;
#else
#error "Impossible configuration"
#endif
}
/* is thread currently preemptible ? */
static inline int _is_preempt(struct k_thread *thread)
{
#ifdef CONFIG_PREEMPT_ENABLED
return !_is_coop(thread) && !atomic_get(&thread->base.sched_locked);
#else
return 0;
#endif
}
/* is current thread preemptible and we are not running in ISR context */
static inline int _is_current_execution_context_preemptible(void)
{
#ifdef CONFIG_PREEMPT_ENABLED
return !_is_in_isr() && _is_preempt(_current);
#else
return 0;
#endif
}
/* find out if priority is under priority inheritance ceiling */
@ -220,12 +236,14 @@ static inline int _must_switch_threads(void)
*/
static inline void _sched_lock(void)
{
#ifdef CONFIG_PREEMPT_ENABLED
__ASSERT(!_is_in_isr(), "");
atomic_inc(&_current->base.sched_locked);
K_DEBUG("scheduler locked (%p:%d)\n",
_current, _current->base.sched_locked);
#endif
}
/**
@ -236,9 +254,11 @@ static inline void _sched_lock(void)
*/
static inline void _sched_unlock_no_reschedule(void)
{
#ifdef CONFIG_PREEMPT_ENABLED
__ASSERT(!_is_in_isr(), "");
atomic_dec(&_current->base.sched_locked);
#endif
}
static inline void _set_thread_states(struct k_thread *thread, uint32_t states)