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unified/arc: add unified kernel support for ARC arch

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- 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:
Dmitriy Korovkin 2016-09-30 11:02:37 -04:00 • committed by Anas Nashif
commit 909bfffda9
8 changed files with 276 additions and 13 deletions
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17
arch/arc/core/thread.c
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@ -96,8 +96,8 @@ static ALWAYS_INLINE void thread_monitor_init(struct tcs *tcs)
* @param parameter1 first param to entry point
* @param parameter2 second param to entry point
* @param parameter3 third param to entry point
* @param fiber priority, -1 for task
* @param options is unused (saved for future expansion)
* @param priority thread priority
* @param options thread options: ESSENTIAL
*
* @return N/A
*/
@ -138,8 +138,19 @@ void _new_thread(char *pStackMem, unsigned stackSize,
#else
pInitCtx->status32 = _ARC_V2_STATUS32_E(_ARC_V2_DEF_IRQ_LEVEL);
#endif
#ifdef CONFIG_KERNEL_V2
/* k_q_node initialized upon first insertion in a list */
tcs->flags = options | K_PRESTART;
tcs->sched_locked = 0;
/* static threads overwrite them afterwards with real values */
tcs->init_data = NULL;
tcs->fn_abort = NULL;
#else
tcs->link = NULL;
tcs->flags = priority == -1 ? TASK | PREEMPTIBLE : FIBER;
#endif
tcs->prio = priority;
#ifdef CONFIG_THREAD_CUSTOM_DATA
@ -156,7 +167,7 @@ void _new_thread(char *pStackMem, unsigned stackSize,
tcs->entry = (struct __thread_entry *)(pInitCtx);
#endif
#ifdef CONFIG_MICROKERNEL
#if !defined(CONFIG_KERNEL_V2) && defined(CONFIG_MICROKERNEL)
tcs->uk_task_ptr = uk_task_ptr;
#else
ARG_UNUSED(uk_task_ptr);