unified/arc: add unified kernel support for ARC arch
- the interrupt (both regular and fast) now does not do rescheduling if the current thread is a coop thread or if the scheduler is not locked - 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: scheduling routines call _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: Ib9690173cbc36c36a9ec67e65590b40d758673de Signed-off-by: Dmitriy Korovkin <dmitriy.korovkin@windriver.com>
This commit is contained in:
parent
05d4b23f22
commit
909bfffda9
8 changed files with 276 additions and 13 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 += thread.o thread_entry_wrapper.o \
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cpu_idle.o fast_irq.o fatal.o fault.o \
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@ -37,6 +37,9 @@ GTEXT(_firq_stack_setup)
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#if CONFIG_RGF_NUM_BANKS != 1
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GDATA(_firq_stack)
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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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SECTION_VAR(NOINIT, _firq_stack)
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.space CONFIG_FIRQ_STACK_SIZE
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@ -138,14 +141,37 @@ SECTION_FUNC(TEXT, _firq_exit)
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* means that another bit is set so an interrupt was interrupted.
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*/
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breq r3, 1, _check_if_current_is_the_task
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breq r3, 1, _firq_check_for_swap
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_firq_return
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#endif
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.balign 4
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_check_if_current_is_the_task:
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#ifdef CONFIG_KERNEL_V2
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_firq_check_for_swap:
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/* coop thread ? do not schedule */
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ld_s r0, [r2, __tTCS_prio_OFFSET]
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brge r0, 0, _firq_reschedule
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_firq_return
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/* scheduler locked ? do not schedule */
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ld_s r0, [r2, __tTCS_sched_locked_OFFSET]
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brle r0, 0, _firq_reschedule
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_firq_return
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/* check if the current thread needs to be rescheduled */
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push_s r2
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push_s r1
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push_s blink
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jl _is_next_thread_current
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pop_s blink
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pop_s r1
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pop_s r2
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brne r0, 0, _firq_reschedule
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_firq_return
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#else
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_firq_check_for_swap:
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/* Check if the current is a task */
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ld_s r0, [r2, __tTCS_flags_OFFSET]
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and.f r0, r0, PREEMPTIBLE
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bnz _check_if_a_fiber_is_ready
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@ -156,6 +182,7 @@ _check_if_a_fiber_is_ready:
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ld_s r0, [r1, __tNANO_fiber_OFFSET] /* incoming fiber in r0 */
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brne r0, 0, _firq_reschedule
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_firq_return
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#endif /* CONFIG_KERNEL_V2 */
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.balign 4
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_firq_reschedule:
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@ -193,11 +220,27 @@ _firq_reschedule:
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st _CAUSE_FIRQ, [r2, __tTCS_relinquish_cause_OFFSET]
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#ifdef CONFIG_KERNEL_V2
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/*
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* Save needed registers to callee saved ones. It is faster than
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* pushing them to stack. It is possible to do since program has
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* just saved them and the calling routine will save them in turn
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* if it uses them.
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*/
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mov_s r13, blink
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mov_s r14, r1
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jl _get_next_ready_thread
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mov_s blink, r13
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mov_s r1, r14
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mov_s r2, r0
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st_s r2, [r1, __tNANO_current_OFFSET]
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#else
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ld_s r2, [r1, __tNANO_fiber_OFFSET]
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st_s r2, [r1, __tNANO_current_OFFSET]
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ld_s r3, [r2, __tTCS_link_OFFSET]
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st_s r3, [r1, __tNANO_fiber_OFFSET]
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#endif
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#ifdef CONFIG_ARC_STACK_CHECKING
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/* Use stack top and down registers from restored context */
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@ -189,7 +189,30 @@ _trap_return:
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#endif
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.balign 4
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#ifdef CONFIG_KERNEL_V2
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_trap_check_for_swap:
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/* coop thread ? do not schedule */
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ld_s r0, [r2, __tTCS_prio_OFFSET]
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brlt r0, 0, _trap_return
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/* scheduler locked ? do not schedule */
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ld_s r0, [r2, __tTCS_sched_locked_OFFSET]
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brgt r0, 0, _trap_return
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/* check if the current thread needs to be rescheduled */
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push_s r2
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push_s r1
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push_s blink
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jl _is_next_thread_current
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pop_s blink
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pop_s r1
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pop_s r2
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brne r0, 0, _trap_return
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/* go on to _trap_reschedule by default */
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#else
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_trap_check_for_swap:
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/* Check if the current is a task */
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ld_s r0, [r2, __tTCS_flags_OFFSET]
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and.f r0, r0, PREEMPTIBLE
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bnz _e_check_if_a_fiber_is_ready
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@ -200,6 +223,7 @@ _e_check_if_a_fiber_is_ready:
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ld_s r0, [r1, __tNANO_fiber_OFFSET] /* incoming fiber in r0 */
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brne r0, 0, _trap_reschedule
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b _trap_return
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#endif /* CONFIG_KERNEL_V2 */
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.balign 4
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_trap_reschedule:
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@ -209,11 +233,29 @@ _trap_reschedule:
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st _CAUSE_RIRQ, [r2, __tTCS_relinquish_cause_OFFSET]
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/* note: Ok to use _CAUSE_RIRQ since everything is saved */
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#ifdef CONFIG_KERNEL_V2
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/*
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* Save needed registers to callee saved ones. It is faster than
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* pushing registers to stack. It is possible to do since program has
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* just saved them and the calling routine will save them in turn
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* if it uses them.
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*/
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mov_s r13, blink
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mov_s r14, r0
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mov_s r15, r1
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jl _get_next_ready_thread
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mov_s r2, r0
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mov_s r1, r15
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mov_s r0, r14
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mov_s blink, r13
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st_s r2, [r1, __tNANO_current_OFFSET]
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#else
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ld_s r2, [r1, __tNANO_fiber_OFFSET]
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st_s r2, [r1, __tNANO_current_OFFSET]
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ld_s r3, [r2, __tTCS_link_OFFSET]
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st_s r3, [r1, __tNANO_fiber_OFFSET]
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#endif /* CONFIG_KERNEL_V2 */
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/* clear AE bit to forget this was an exception */
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lr r3, [_ARC_V2_STATUS32]
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@ -35,6 +35,9 @@
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GTEXT(_rirq_enter)
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GTEXT(_rirq_exit)
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GTEXT(_rirq_common_interrupt_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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#if CONFIG_NUM_IRQ_PRIO_LEVELS > 2
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#error "NUM_IRQ_PRIO_LEVELS>2 is not supported."
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@ -118,6 +121,41 @@ SECTION_FUNC(TEXT, _rirq_exit)
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* b) needs to load it to restore the interrupted context.
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*/
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#ifdef CONFIG_KERNEL_V2
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/* coop thread ? do not schedule */
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ld_s r0, [r2, __tTCS_prio_OFFSET]
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cmp_s r0, 0
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blt.d _rirq_no_reschedule
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ld sp, [r2, __tTCS_preempReg_OFFSET + __tPreempt_sp_OFFSET]
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/* scheduler locked ? do not schedule */
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ld_s r0, [r2, __tTCS_sched_locked_OFFSET]
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brgt.d r0, 0, _rirq_no_reschedule
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ld sp, [r2, __tTCS_preempReg_OFFSET + __tPreempt_sp_OFFSET]
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push_s r2
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push_s r1
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/* check if the current thread needs to be rescheduled */
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push_s blink
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jl _is_next_thread_current
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pop_s blink
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pop_s r1
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pop_s r2
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breq.d r0, 0, _rirq_no_reschedule
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ld sp, [r2, __tTCS_preempReg_OFFSET + __tPreempt_sp_OFFSET]
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/*
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* Get the next scheduled thread. On _get_next_ready_thread
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* return it is stored in r0.
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*/
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push_s r2
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push_s r1
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push_s blink
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jl _get_next_ready_thread
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pop_s blink
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pop_s r1
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pop_s r2
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#else
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ld_s r0, [r2, __tTCS_flags_OFFSET]
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and.f r0, r0, PREEMPTIBLE
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bz.d _rirq_no_reschedule
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cmp r0, 0
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bz.d _rirq_no_reschedule
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ld sp, [r2, __tTCS_preempReg_OFFSET + __tPreempt_sp_OFFSET]
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#endif /* CONFIG_KERNEL_V2 */
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.balign 4
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_rirq_reschedule:
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/* incoming fiber is in r0: it becomes the new 'current' */
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mov r2, r0
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st_s r2, [r1, __tNANO_current_OFFSET]
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#if !defined(CONFIG_KERNEL_V2)
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ld_s r3, [r2, __tTCS_link_OFFSET]
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st_s r3, [r1, __tNANO_fiber_OFFSET]
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#endif
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_rirq_common_interrupt_swap:
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/* r2 contains pointer to new thread */
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GTEXT(_Swap)
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#ifdef CONFIG_KERNEL_V2
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GTEXT(_get_next_ready_thread)
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GDATA(_k_neg_eagain)
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#endif
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GDATA(_nanokernel)
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/**
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st_s r0, [r2, __tTCS_intlock_key_OFFSET]
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st _CAUSE_COOP, [r2, __tTCS_relinquish_cause_OFFSET]
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#ifdef CONFIG_KERNEL_V2
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/*
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* Carve space for the return value. Setting it to a defafult of
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* -EAGAIN eliminates the need for the timeout code to set it.
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* If another value is ever needed, it can be modified with
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* fiberRtnValueSet().
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*/
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ld r3, [_k_neg_eagain]
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st_s r3, [r2, __tTCS_return_value_OFFSET]
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#endif /* CONFIG_KERNEL_V2 */
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/*
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* Save status32 and blink on the stack before the callee-saved registers.
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* This is the same layout as the start of an IRQ stack frame.
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_save_callee_saved_regs
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/* find out incoming thread (fiber or task) */
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#ifdef CONFIG_KERNEL_V2
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/*
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* Save needed registers to callee saved ones. It is faster than
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* pushing them to stack. It is possible to do since program has
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* just saved them and the calling routine will save them in turn
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* if it uses them.
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*/
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mov_s r13, blink
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mov_s r14, r0
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mov_s r15, r1
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jl _get_next_ready_thread
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mov_s r2, r0
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mov_s r1, r15
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mov_s r0, r14
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mov_s blink, r13
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#else
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ld_s r2, [r1, __tNANO_fiber_OFFSET]
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breq r2, 0, _swap_to_the_task
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ld_s r2, [r1, __tNANO_task_OFFSET]
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/* fall through */
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#endif /* CONFIG_KERNEL_V2 */
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.balign 4
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_finish_swapping_to_thread:
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/* entering here, r2 contains the new current thread */
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#if 0
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#if 0 && !defined(CONFIG_KERNEL_V2)
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/* don't save flags in tNANO: slower, error-prone, and might not even give
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* a speed boost where it's supposed to */
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ld_s r3, [r2, __tTCS_flags_OFFSET]
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@ -25,6 +25,10 @@
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#include <toolchain.h>
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#include <sections.h>
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#ifdef CONFIG_KERNEL_V2
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#include <nano_private.h>
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#endif
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#ifdef CONFIG_PRINTK
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#include <misc/printk.h>
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#define PRINTK(...) printk(__VA_ARGS__)
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#endif
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#ifdef CONFIG_MICROKERNEL
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extern void _TaskAbort(void);
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static inline void nonEssentialTaskAbort(void)
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{
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PRINTK("Fatal fault in task ! Aborting task.\n");
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#if defined(CONFIG_KERNEL_V2)
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k_thread_abort(_current);
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#else
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extern void _TaskAbort(void);
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_TaskAbort();
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#endif
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}
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#define NON_ESSENTIAL_TASK_ABORT() nonEssentialTaskAbort()
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#else
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@ -96,8 +96,8 @@ static ALWAYS_INLINE void thread_monitor_init(struct tcs *tcs)
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* @param parameter1 first param to entry point
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* @param parameter2 second param to entry point
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* @param parameter3 third param to entry point
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* @param fiber priority, -1 for task
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* @param options is unused (saved for future expansion)
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* @param priority thread priority
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* @param options thread options: ESSENTIAL
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*
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* @return N/A
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*/
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#else
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pInitCtx->status32 = _ARC_V2_STATUS32_E(_ARC_V2_DEF_IRQ_LEVEL);
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#endif
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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 them afterwards with real values */
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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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tcs->link = NULL;
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tcs->flags = priority == -1 ? TASK | PREEMPTIBLE : FIBER;
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#endif
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tcs->prio = priority;
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#ifdef CONFIG_THREAD_CUSTOM_DATA
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tcs->entry = (struct __thread_entry *)(pInitCtx);
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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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@ -40,8 +40,13 @@ extern "C" {
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#include <vector_table.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 <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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@ -134,13 +139,28 @@ typedef struct callee_saved tCalleeSaved;
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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 */
|
||||
#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 */
|
||||
#endif
|
||||
|
||||
#define USE_FP 0x010 /* 1 = thread uses floating point unit */
|
||||
#define ESSENTIAL 0x200 /* 1 = system thread that must not abort */
|
||||
#define NO_METRICS 0x400 /* 1 = _Swap() not to update task metrics */
|
||||
|
||||
|
@ -162,15 +182,38 @@ typedef struct callee_saved tCalleeSaved;
|
|||
|
||||
#ifndef _ASMLANGUAGE
|
||||
|
||||
#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;
|
||||
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 */
|
||||
uint32_t flags;
|
||||
int prio;
|
||||
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 */
|
||||
uint32_t intlock_key; /* interrupt key when relinquishing control */
|
||||
int relinquish_cause; /* one of the _CAUSE_xxxx definitions above */
|
||||
unsigned int return_value;/* return value from _Swap */
|
||||
int prio; /* fiber priority, -1 for a task */
|
||||
#ifdef CONFIG_THREAD_CUSTOM_DATA
|
||||
void *custom_data; /* available for custom use */
|
||||
#endif
|
||||
|
@ -180,7 +223,7 @@ struct tcs {
|
|||
struct __thread_entry *entry; /* thread entry and parameters description */
|
||||
struct tcs *next_thread; /* next item in list of ALL fiber+tasks */
|
||||
#endif
|
||||
#ifdef CONFIG_NANO_TIMEOUTS
|
||||
#if !defined(CONFIG_KERNEL_V2) && defined(CONFIG_NANO_TIMEOUTS)
|
||||
struct _nano_timeout nano_timeout;
|
||||
#endif
|
||||
#ifdef CONFIG_ERRNO
|
||||
|
@ -189,14 +232,29 @@ struct tcs {
|
|||
#ifdef CONFIG_ARC_STACK_CHECKING
|
||||
uint32_t stack_top;
|
||||
#endif
|
||||
#ifdef CONFIG_MICROKERNEL
|
||||
#if !defined(CONFIG_KERNEL_V2) && defined(CONFIG_MICROKERNEL)
|
||||
void *uk_task_ptr;
|
||||
#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) */
|
||||
|
||||
#ifdef CONFIG_THREAD_MONITOR
|
||||
|
@ -224,6 +282,9 @@ struct s_NANO {
|
|||
int32_t task_timeout;
|
||||
#endif
|
||||
#endif
|
||||
#ifdef CONFIG_KERNEL_V2
|
||||
struct ready_q ready_q;
|
||||
#endif
|
||||
};
|
||||
|
||||
typedef struct s_NANO tNANO;
|
||||
|
@ -255,13 +316,28 @@ static ALWAYS_INLINE void fiberRtnValueSet(struct tcs *fiber, unsigned int value
|
|||
fiber->return_value = 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 */
|
||||
|
||||
/**
|
||||
*
|
||||
* @brief Indicates if kernel is handling interrupt
|
||||
*
|
||||
* @return 1 if interrupt handler is executed, 0 otherwise
|
||||
*/
|
||||
static ALWAYS_INLINE int _IS_IN_ISR(void)
|
||||
static ALWAYS_INLINE int _is_in_isr(void)
|
||||
{
|
||||
uint32_t act = _arc_v2_aux_reg_read(_ARC_V2_AUX_IRQ_ACT);
|
||||
#if CONFIG_IRQ_OFFLOAD
|
||||
|
@ -274,6 +350,8 @@ static ALWAYS_INLINE int _IS_IN_ISR(void)
|
|||
return ((act & 0xffff) != 0);
|
||||
}
|
||||
|
||||
#define _IS_IN_ISR _is_in_isr
|
||||
|
||||
/**
|
||||
*
|
||||
* @bried Indicates the interrupt number of the highest priority
|
||||
|
|
Loading…
Add table
Add a link
Reference in a new issue