unified/x86: add unified kernel support for x86 arch
The x86 architecture port is fitted with support for the unified kernel,
namely:
- the interrupt exit code now calls _Swap() if the current
thread is not a coop thread and if the scheduler is not locked
- there is no 'task' fields in the _nanokernel anymore: _Swap()
now calls _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
- 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)
- 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).
- Floating point support.
Note that, in _Swap(), the register holding the thread to be swapped in has
been changed from %ecx to %eax in both the legacy kernel and the unified kernel
to take advantage of the fact that the return value of _get_next_ready_thread()
is stored in %eax, and this avoids moving it to %ecx.
Work by: Dmitriy Korovkin <dmitriy.korovkin@windriver.com>
Allan Stephens <allan.stephens@windriver.com>
Benjamin Walsh <benjamin.walsh@windriver.com>
Change-Id: I4ce2bd47bcdc62034c669b5e889fc0f29480c43b
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
This commit is contained in:
Benjamin Walsh
parent
b9a0d90a5f
commit
983cbe398c
9 changed files with 245 additions and 44 deletions
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@ -1,5 +1,9 @@
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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)/kernel/microkernel/include
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endif
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ifeq ($(COMPILER)$(CONFIG_X86_IAMCU),clang)
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# We rely on GAS for assembling, so don't use the integrated assembler
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@ -19,7 +23,9 @@ obj-y += cpuhalt.o \
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obj-$(CONFIG_IRQ_OFFLOAD) += irq_offload.o
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obj-$(CONFIG_FP_SHARING) += float.o
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ifneq ($(CONFIG_KERNEL_V2),y)
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obj-$(CONFIG_MICROKERNEL) += strtask.o
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endif
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obj-$(CONFIG_GDT_DYNAMIC) += gdt.o
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obj-$(CONFIG_REBOOT_RST_CNT) += reboot_rst_cnt.o
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@ -76,10 +76,12 @@
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* system to enable FP resource sharing on its behalf.
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*/
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#if !defined(CONFIG_KERNEL_V2)
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#ifdef CONFIG_MICROKERNEL
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#include <microkernel.h>
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#include <micro_private_types.h>
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#endif /* CONFIG_MICROKERNEL */
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#endif
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#include <nano_private.h>
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#include <toolchain.h>
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@ -265,6 +267,20 @@ void _FpEnable(struct tcs *tcs, unsigned int options)
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irq_unlock(imask);
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}
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#ifdef CONFIG_KERNEL_V2
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/**
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*
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* @brief Enable preservation of non-integer context information
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*
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* This routine allows a thread to permit any thread (including itself) to
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* safely share the system's floating point registers with other threads.
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*
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* See the description of _FpEnable() for further details.
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*
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* @return N/A
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*/
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FUNC_ALIAS(_FpEnable, k_float_enable, void);
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#else
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/**
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*
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* @brief Enable preservation of non-integer context information
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@ -290,6 +306,7 @@ FUNC_ALIAS(_FpEnable, fiber_float_enable, void);
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* @return N/A
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*/
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FUNC_ALIAS(_FpEnable, task_float_enable, void);
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#endif /* CONFIG_KERNEL_V2 */
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/**
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*
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@ -350,6 +367,23 @@ void _FpDisable(struct tcs *tcs)
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irq_unlock(imask);
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}
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#ifdef CONFIG_KERNEL_V2
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/**
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*
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* @brief Disable preservation of non-integer context information
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*
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* This routine allows a thread to disallow any thread (including itself) from
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* safely sharing any of the system's floating point registers with other
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* threads.
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*
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* WARNING
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* This routine should only be used to disable floating point support for
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* a thread that currently has such support enabled.
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*
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* @return N/A
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*/
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FUNC_ALIAS(_FpDisable, k_float_disable, void);
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#else
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/**
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*
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* @brief Disable preservation of non-integer context
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@ -382,7 +416,7 @@ FUNC_ALIAS(_FpDisable, fiber_float_disable, void);
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* @return N/A
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*/
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FUNC_ALIAS(_FpDisable, task_float_disable, void);
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#endif /* CONFIG_KERNEL_V2 */
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/**
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*
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@ -407,7 +441,7 @@ void _FpNotAvailableExcHandler(NANO_ESF * pEsf)
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ARG_UNUSED(pEsf);
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/*
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* Assume the exception did not occur in the thread of an ISR.
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* Assume the exception did not occur in an ISR.
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* (In other words, CPU cycles will not be consumed to perform
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* error checking to ensure the exception was not generated in an ISR.)
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*/
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@ -415,7 +449,7 @@ void _FpNotAvailableExcHandler(NANO_ESF * pEsf)
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PRINTK("_FpNotAvailableExcHandler() exception handler has been "
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"invoked\n");
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/* Enable the highest level of FP capability configured into the kernel */
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/* Enable highest level of FP capability configured into the kernel */
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#ifdef CONFIG_SSE
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enableOption = USE_SSE;
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@ -45,6 +45,10 @@
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GTEXT(_Swap)
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#ifdef CONFIG_KERNEL_V2
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GTEXT(__must_switch_threads)
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#endif
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#ifdef CONFIG_SYS_POWER_MANAGEMENT
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#if defined(CONFIG_NANOKERNEL) && defined(CONFIG_TICKLESS_IDLE)
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GTEXT(_power_save_idle_exit)
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@ -334,17 +338,40 @@ _IntExitWithCli:
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jne nestedInterrupt /* 'iret' if nested case */
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movl __tNANO_current_OFFSET (%ecx), %edx
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#ifdef CONFIG_KERNEL_V2
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/*
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* Determine whether the execution of the ISR requires a context
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* switch. If the thread is preemptible, scheduler is not locked and
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* a higher priority thread exists, a _Swap() needs to occur.
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*/
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/* do not reschedule coop threads (negative priority) */
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cmpl $0, __tTCS_prio_OFFSET (%edx)
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jl noReschedule
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/* do not reschedule if scheduler is locked */
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cmpl $0, __tTCS_sched_locked_OFFSET (%edx)
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jg noReschedule
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/* reschedule only if the scheduler says that we must do so */
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call __must_switch_threads
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cmpl $0, %eax
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je noReschedule
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#else
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/*
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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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*/
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movl __tNANO_current_OFFSET (%ecx), %eax
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testl $PREEMPTIBLE, __tTCS_flags_OFFSET(%eax)
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testl $PREEMPTIBLE, __tTCS_flags_OFFSET(%edx)
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je noReschedule
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cmpl $0, __tNANO_fiber_OFFSET (%ecx)
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je noReschedule
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#endif
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/*
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* Set the INT_ACTIVE bit in the tTCS to allow the upcoming call to
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@ -358,7 +385,11 @@ _IntExitWithCli:
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*/
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#if defined(CONFIG_FP_SHARING) || defined(CONFIG_GDB_INFO)
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orl $INT_ACTIVE, __tTCS_flags_OFFSET(%eax)
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#ifdef CONFIG_KERNEL_V2
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/* reload _nanokernel.current: __must_switch_threads may clobber it */
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movl _nanokernel + __tNANO_current_OFFSET, %edx
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#endif
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orl $INT_ACTIVE, __tTCS_flags_OFFSET(%edx)
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#endif
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/*
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@ -369,7 +400,7 @@ _IntExitWithCli:
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* a switch to the new thread.
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*/
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popl %esp /* switch back to kernel stack */
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popl %esp /* switch back to outgoing thread's stack */
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#ifdef CONFIG_DEBUG_INFO
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popl %ebp /* Discard saved ESP */
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@ -21,6 +21,7 @@
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* Intel-specific parts of start_task(). Only FP functionality currently.
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*/
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#if !defined(CONFIG_KERNEL_V2)
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#ifdef CONFIG_MICROKERNEL
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#include <start_task_arch.h>
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@ -78,3 +79,4 @@ void _StartTaskArch(struct k_task *X, unsigned int *pOpt)
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}
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#endif /* CONFIG_MICROKERNEL */
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#endif
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@ -39,6 +39,11 @@
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/* externs */
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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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/**
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*
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@ -84,7 +89,7 @@
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* list (_nanokernel.fiber). If there are no runnable fibers, then schedule
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* the task (_nanokernel.task). The _nanokernel.task field will never be NULL.
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*
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* @return may contain a return value setup by a call to fiberRtnValueSet()
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* @return -EAGAIN, or a return value set by a call to fiberRtnValueSet()
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*
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* C function prototype:
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*
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@ -115,13 +120,18 @@ SECTION_FUNC(TEXT, _Swap)
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pushl %ebx
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pushl %ebp
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#if CONFIG_KERNEL_V2
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/*
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* Leave slot for eax register when _Swap() needs to return a value;
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* pre-populate slot with ebx's value in case _Swap() does not return
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* a value.
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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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pushl _k_neg_eagain
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#else
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pushl %ebx
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#endif
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/* save esp into tTCS structure */
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@ -134,18 +144,21 @@ SECTION_FUNC(TEXT, _Swap)
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call _sys_k_event_logger_context_switch
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#endif
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#ifdef CONFIG_KERNEL_V2
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call _get_next_ready_thread
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#else
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/*
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* Determine what thread needs to be swapped in.
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* Note that the %edi still contains &_nanokernel.
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*/
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movl __tNANO_fiber_OFFSET (%edi), %ecx
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testl %ecx, %ecx
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movl __tNANO_fiber_OFFSET (%edi), %eax
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testl %eax, %eax
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jz swapTask /* Jump if no ready fibers */
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/* remove the head 'TCS *' from the runnable fiber list */
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movl __tTCS_link_OFFSET (%ecx), %ebx
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movl __tTCS_link_OFFSET (%eax), %ebx
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movl %ebx, __tNANO_fiber_OFFSET (%edi)
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jmp restoreContext
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@ -156,13 +169,14 @@ SECTION_FUNC(TEXT, _Swap)
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*/
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swapTask:
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movl __tNANO_task_OFFSET (%edi), %ecx
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movl __tNANO_task_OFFSET (%edi), %eax
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#endif
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/* fall through to 'restoreContext' */
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/*
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* At this point, the %ecx register contains the 'tTCS *' of
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* At this point, the %eax register contains the 'tTCS *' of
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* the TASK or FIBER to be swapped in, and %edi still
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* contains &_nanokernel.
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*/
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@ -193,7 +207,7 @@ restoreContext:
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* out preemptively.
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*/
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testl $USE_FP, __tTCS_flags_OFFSET (%ecx)
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testl $USE_FP, __tTCS_flags_OFFSET (%eax)
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je restoreContext_NoFloatSwap
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@ -204,7 +218,7 @@ restoreContext:
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*/
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movl __tNANO_current_fp_OFFSET (%edi), %ebx
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cmpl %ebx, %ecx
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cmpl %ebx, %eax
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je restoreContext_NoFloatSwap
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@ -269,21 +283,21 @@ restoreContext_NoFloatSave:
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* thread was previously preemptively context switched out.
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*/
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testl $INT_OR_EXC_MASK, __tTCS_flags_OFFSET (%ecx)
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testl $INT_OR_EXC_MASK, __tTCS_flags_OFFSET (%eax)
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je restoreContext_NoFloatRestore
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#ifdef CONFIG_SSE
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testl $USE_SSE, __tTCS_flags_OFFSET (%ecx)
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testl $USE_SSE, __tTCS_flags_OFFSET (%eax)
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je x87FloatRestore
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fxrstor __tTCS_preempFloatReg_OFFSET (%ecx)
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fxrstor __tTCS_preempFloatReg_OFFSET (%eax)
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jmp floatRestoreDone
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x87FloatRestore:
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#endif /* CONFIG_SSE */
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frstor __tTCS_preempFloatReg_OFFSET (%ecx)
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frstor __tTCS_preempFloatReg_OFFSET (%eax)
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/* fall through to 'floatRestoreDone' */
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@ -292,7 +306,7 @@ restoreContext_NoFloatRestore:
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/* record that the incoming thread "owns" the non-integer registers */
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movl %ecx, __tNANO_current_fp_OFFSET (%edi)
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movl %eax, __tNANO_current_fp_OFFSET (%edi)
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/*
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@ -309,7 +323,7 @@ restoreContext_NoFloatSwap:
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* instructions
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*/
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testl $USE_FP, __tTCS_flags_OFFSET (%ecx)
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testl $USE_FP, __tTCS_flags_OFFSET (%eax)
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jne CROHandlingDone
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/*
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@ -332,11 +346,11 @@ CROHandlingDone:
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/* update _nanokernel.current to reflect incoming thread */
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movl %ecx, __tNANO_current_OFFSET (%edi)
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movl %eax, __tNANO_current_OFFSET (%edi)
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/* recover task/fiber stack pointer from tTCS */
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movl __tTCS_coopReg_OFFSET + __tCoopReg_esp_OFFSET (%ecx), %esp
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movl __tTCS_coopReg_OFFSET + __tCoopReg_esp_OFFSET (%eax), %esp
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/* load return value from a possible fiberRtnValueSet() */
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@ -351,15 +365,12 @@ CROHandlingDone:
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popl %edi
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/*
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* For a non-preemptive context switch, it is checked that the volatile
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* integer registers have the following values:
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* %eax may contain one of these values:
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*
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* 1. ECX - points to the task's own TCS structure.
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* 2. EDX - contains the flags field of the task's own TCS structure.
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* 3. EAX - may contain one of the two values:
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* (a) the return value for _Swap() that was set up by a
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* call to fiberRtnValueSet()
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* (b) same value as EBX, which is non-volatile
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* - the return value for _Swap() that was set up by a call to
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* fiberRtnValueSet()
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* - in legacy kernel, same value as %ebx, which is non-volatile
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* - in unified kernel, -EINVAL
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*/
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/* Utilize the 'eflags' parameter to _Swap() */
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@ -26,6 +26,15 @@
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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> /* to get access to '_current' */
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#endif
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/* override PRINTK from nano_private.h */
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#if defined(CONFIG_KERNEL_V2) && defined(PRINTK)
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#undef PRINTK
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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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@ -66,7 +75,11 @@ 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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@ -22,10 +22,12 @@
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* processor architecture.
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*/
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#if !defined(CONFIG_KERNEL_V2)
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#ifdef CONFIG_MICROKERNEL
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#include <microkernel.h>
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#include <micro_private_types.h>
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#endif /* CONFIG_MICROKERNEL */
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#endif
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#ifdef CONFIG_INIT_STACKS
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#include <string.h>
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#endif /* CONFIG_INIT_STACKS */
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|
|
@ -59,13 +61,14 @@ void _thread_entry_wrapper(_thread_entry_t, _thread_arg_t,
|
|||
*
|
||||
* @param pStackMem pointer to thread stack memory
|
||||
* @param stackSize size of a stack in bytes
|
||||
* @param thread priority
|
||||
* @param options thread options: USE_FP, USE_SSE
|
||||
* @param priority thread priority
|
||||
* @param options thread options: ESSENTIAL, USE_FP, USE_SSE
|
||||
*
|
||||
* @return N/A
|
||||
*/
|
||||
static void _new_thread_internal(char *pStackMem, unsigned stackSize,
|
||||
void *uk_task_ptr, int priority, unsigned options)
|
||||
void *uk_task_ptr, int priority,
|
||||
unsigned options)
|
||||
{
|
||||
unsigned long *pInitialCtx;
|
||||
/* ptr to the new task's tcs */
|
||||
|
|
@ -75,17 +78,32 @@ static void _new_thread_internal(char *pStackMem, unsigned stackSize,
|
|||
ARG_UNUSED(options);
|
||||
#endif /* !CONFIG_FP_SHARING */
|
||||
|
||||
tcs->link = (struct tcs *)NULL; /* thread not inserted into list yet */
|
||||
tcs->prio = priority;
|
||||
#if (defined(CONFIG_FP_SHARING) || defined(CONFIG_GDB_INFO))
|
||||
tcs->excNestCount = 0;
|
||||
#endif /* CONFIG_FP_SHARING || CONFIG_GDB_INFO */
|
||||
|
||||
#ifdef CONFIG_KERNEL_V2
|
||||
/* k_q_node initialized upon first insertion in a list */
|
||||
#ifdef CONFIG_FP_SHARING
|
||||
/* ensure USE_FP is set when USE_SSE is set */
|
||||
if (options & USE_SSE) {
|
||||
options |= USE_FP;
|
||||
}
|
||||
#endif
|
||||
tcs->flags = options | K_PRESTART;
|
||||
tcs->sched_locked = 0;
|
||||
|
||||
/* static threads overwrite it afterwards with real value */
|
||||
tcs->init_data = NULL;
|
||||
tcs->fn_abort = NULL;
|
||||
#else
|
||||
if (priority == -1)
|
||||
tcs->flags = PREEMPTIBLE | TASK;
|
||||
else
|
||||
tcs->flags = FIBER;
|
||||
tcs->link = (struct tcs *)NULL; /* thread not inserted into list yet */
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_THREAD_CUSTOM_DATA
|
||||
/* Initialize custom data field (value is opaque to kernel) */
|
||||
|
|
@ -93,7 +111,7 @@ static void _new_thread_internal(char *pStackMem, unsigned stackSize,
|
|||
tcs->custom_data = NULL;
|
||||
#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);
|
||||
|
|
@ -130,6 +148,7 @@ static void _new_thread_internal(char *pStackMem, unsigned stackSize,
|
|||
tcs->coopReg.esp = (unsigned long)pInitialCtx;
|
||||
PRINTK("\nInitial context ESP = 0x%x\n", tcs->coopReg.esp);
|
||||
|
||||
#ifndef CONFIG_KERNEL_V2
|
||||
#ifdef CONFIG_FP_SHARING
|
||||
/*
|
||||
* Indicate if the thread is permitted to use floating point instructions.
|
||||
|
|
@ -184,6 +203,7 @@ static void _new_thread_internal(char *pStackMem, unsigned stackSize,
|
|||
tcs->flags |= (options | USE_FP);
|
||||
}
|
||||
#endif /* CONFIG_FP_SHARING */
|
||||
#endif /* CONFIG_KERNEL_V2 */
|
||||
|
||||
PRINTK("\nstruct tcs * = 0x%x", tcs);
|
||||
|
||||
|
|
@ -305,7 +325,7 @@ __asm__("\t.globl _thread_entry\n"
|
|||
* @param parameter2 second param to entry point
|
||||
* @param parameter3 third param to entry point
|
||||
* @param priority thread priority
|
||||
* @param options thread options: USE_FP, USE_SSE
|
||||
* @param options thread options: ESSENTIAL, USE_FP, USE_SSE
|
||||
*
|
||||
*
|
||||
* @return opaque pointer to initialized TCS structure
|
||||
|
|
|
|||
|
|
@ -40,8 +40,13 @@
|
|||
#include <exception.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>
|
||||
/*
|
||||
* This pulls in the code shared with the IDT generator that actually
|
||||
|
|
@ -67,13 +72,28 @@
|
|||
* nanokernel/x86/arch.h.
|
||||
*/
|
||||
|
||||
#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 0
|
||||
#define TASK 0x1 /* 1 = task, 0 = fiber */
|
||||
#define PREEMPTIBLE 0x100 /* 1 = preemptible thread */
|
||||
#endif
|
||||
|
||||
#define INT_ACTIVE 0x2 /* 1 = executing context is interrupt handler */
|
||||
#define EXC_ACTIVE 0x4 /* 1 = executing context is exception handler */
|
||||
#define USE_FP 0x10 /* 1 = thread uses floating point unit */
|
||||
#define USE_SSE 0x20 /* 1 = thread uses SSEx instructions */
|
||||
#define PREEMPTIBLE 0x100 /* 1 = preemptible thread */
|
||||
#define ESSENTIAL 0x200 /* 1 = system thread that must not abort */
|
||||
#define NO_METRICS 0x400 /* 1 = _Swap() not to update task metrics */
|
||||
#define NO_METRICS_BIT_OFFSET 0xa /* Bit position of NO_METRICS */
|
||||
|
|
@ -613,6 +633,16 @@ typedef struct s_preempFloatReg {
|
|||
} floatRegsUnion;
|
||||
} tPreempFloatReg;
|
||||
|
||||
#if 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;
|
||||
};
|
||||
#endif
|
||||
|
||||
/*
|
||||
* The thread control stucture definition. It contains the
|
||||
* various fields to manage a _single_ thread. The TCS will be aligned
|
||||
|
|
@ -627,6 +657,12 @@ struct tcs {
|
|||
* nanokernel FIFO).
|
||||
*/
|
||||
|
||||
#if 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;
|
||||
#else
|
||||
struct tcs *link;
|
||||
|
||||
/*
|
||||
|
|
@ -638,6 +674,8 @@ struct tcs {
|
|||
*/
|
||||
|
||||
int flags;
|
||||
int prio; /* thread priority used to sort linked list */
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Storage space for integer registers. These must also remain near
|
||||
|
|
@ -656,7 +694,6 @@ struct tcs {
|
|||
void *esfPtr; /* pointer to exception stack frame saved by */
|
||||
/* outermost exception wrapper */
|
||||
#endif /* CONFIG_GDB_INFO */
|
||||
int prio; /* thread priority used to sort linked list */
|
||||
#if (defined(CONFIG_FP_SHARING) || defined(CONFIG_GDB_INFO))
|
||||
/*
|
||||
* Nested exception count to maintain setting of EXC_ACTIVE flag across
|
||||
|
|
@ -670,7 +707,7 @@ struct tcs {
|
|||
void *custom_data; /* available for custom use */
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_NANO_TIMEOUTS
|
||||
#if !defined(CONFIG_KERNEL_V2) && defined(CONFIG_NANO_TIMEOUTS)
|
||||
struct _nano_timeout nano_timeout;
|
||||
#endif
|
||||
|
||||
|
|
@ -678,9 +715,20 @@ struct tcs {
|
|||
int errno_var;
|
||||
#endif
|
||||
|
||||
#if !defined(CONFIG_KERNEL_V2)
|
||||
#ifdef CONFIG_MICROKERNEL
|
||||
void *uk_task_ptr;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_KERNEL_V2
|
||||
#ifdef CONFIG_NANO_TIMEOUTS
|
||||
struct _timeout timeout;
|
||||
#endif
|
||||
atomic_t sched_locked;
|
||||
void *init_data;
|
||||
void (*fn_abort)(void);
|
||||
#endif
|
||||
|
||||
/*
|
||||
* The location of all floating point related structures/fields MUST be
|
||||
|
|
@ -700,14 +748,25 @@ struct tcs {
|
|||
tPreempFloatReg preempFloatReg; /* volatile float register storage */
|
||||
};
|
||||
|
||||
|
||||
#ifdef CONFIG_KERNEL_V2
|
||||
struct ready_q {
|
||||
uint32_t prio_bmap[1];
|
||||
sys_dlist_t q[K_NUM_PRIORITIES];
|
||||
};
|
||||
#endif
|
||||
|
||||
|
||||
/*
|
||||
* The nanokernel structure definition. It contains various fields to
|
||||
* manage _all_ the threads in the nanokernel (system level).
|
||||
*/
|
||||
|
||||
typedef struct s_NANO {
|
||||
#if !defined(CONFIG_KERNEL_V2)
|
||||
struct tcs *fiber; /* singly linked list of runnable fibers */
|
||||
struct tcs *task; /* pointer to runnable task */
|
||||
#endif
|
||||
struct tcs *current; /* currently scheduled thread (fiber or task) */
|
||||
#if defined(CONFIG_THREAD_MONITOR)
|
||||
struct tcs *threads; /* singly linked list of ALL fiber+tasks */
|
||||
|
|
@ -740,6 +799,9 @@ typedef struct s_NANO {
|
|||
sys_dlist_t timeout_q;
|
||||
int32_t task_timeout;
|
||||
#endif
|
||||
#ifdef CONFIG_KERNEL_V2
|
||||
struct ready_q ready_q;
|
||||
#endif
|
||||
} tNANO;
|
||||
|
||||
/* stack alignment related macros: STACK_ALIGN_SIZE is defined above */
|
||||
|
|
@ -819,6 +881,21 @@ static inline void fiberRtnValueSet(struct tcs *fiber, unsigned int value)
|
|||
*(unsigned int *)(fiber->coopReg.esp) = 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 */
|
||||
|
||||
/* function prototypes */
|
||||
|
||||
extern void nano_cpu_atomic_idle(unsigned int imask);
|
||||
|
|
@ -846,6 +923,7 @@ extern unsigned char _idt_base_address[];
|
|||
#endif
|
||||
|
||||
#define _IS_IN_ISR() (_nanokernel.nested != 0)
|
||||
#define _is_in_isr() (_nanokernel.nested != 0)
|
||||
|
||||
#endif /* _ASMLANGUAGE */
|
||||
|
||||
|
|
|
|||
|
|
@ -428,6 +428,10 @@ extern void _arch_irq_enable(unsigned int irq);
|
|||
extern void _arch_irq_disable(unsigned int irq);
|
||||
|
||||
#ifdef CONFIG_FP_SHARING
|
||||
#ifdef CONFIG_KERNEL_V2
|
||||
extern void k_float_enable(k_tid_t thread_id, unsigned int options);
|
||||
extern void k_float_disable(k_tid_t thread_id);
|
||||
#else
|
||||
/**
|
||||
* @brief Enable floating point hardware resources sharing
|
||||
* Dynamically enable/disable the capability of a thread to share floating
|
||||
|
|
@ -440,6 +444,8 @@ extern void task_float_enable(nano_thread_id_t thread_id,
|
|||
unsigned int options);
|
||||
extern void fiber_float_disable(nano_thread_id_t thread_id);
|
||||
extern void task_float_disable(nano_thread_id_t thread_id);
|
||||
|
||||
#endif /* CONFIG_KERNEL_V2 */
|
||||
#endif /* CONFIG_FP_SHARING */
|
||||
|
||||
#include <stddef.h> /* for size_t */
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue