From a62d4be68b91be7d18162f705080ddb78d276f2a Mon Sep 17 00:00:00 2001 From: Andrew Boie Date: Thu, 3 Nov 2016 13:18:26 -0700 Subject: [PATCH] nios2: remove support for legacy kernels Change-Id: If16533a478e5cd10f924eb6abe4b25c9902733c5 Signed-off-by: Andrew Boie --- arch/nios2/core/Makefile | 7 +---- arch/nios2/core/exception.S | 21 --------------- arch/nios2/core/fatal.c | 9 +------ arch/nios2/core/swap.S | 24 ----------------- arch/nios2/core/thread.c | 21 +-------------- arch/nios2/include/nano_private.h | 44 ++----------------------------- 6 files changed, 5 insertions(+), 121 deletions(-) diff --git a/arch/nios2/core/Makefile b/arch/nios2/core/Makefile index d8ad02e2bfe..e0a9fd9066c 100644 --- a/arch/nios2/core/Makefile +++ b/arch/nios2/core/Makefile @@ -1,10 +1,5 @@ -ifeq ($(CONFIG_KERNEL_V2),y) ccflags-y += -I$(srctree)/kernel/unified/include -else -ccflags-y += -I$(srctree)/kernel/nanokernel/include -ccflags-y += -I$(srctree)/kernel/microkernel/include -endif -ccflags-y +=-I$(srctree)/arch/$(ARCH)/include +ccflags-y += -I$(srctree)/arch/$(ARCH)/include obj-y += reset.o irq_manage.o fatal.o swap.o thread.o \ cpu_idle.o irq_offload.o prep_c.o crt0.o \ diff --git a/arch/nios2/core/exception.S b/arch/nios2/core/exception.S index 96e6e7e4b53..8704f333320 100644 --- a/arch/nios2/core/exception.S +++ b/arch/nios2/core/exception.S @@ -25,9 +25,7 @@ GTEXT(_exception) /* import */ GTEXT(_Fault) GTEXT(_Swap) -#ifdef CONFIG_KERNEL_V2 GTEXT(_is_next_thread_current) -#endif #ifdef CONFIG_IRQ_OFFLOAD GTEXT(_irq_do_offload) GTEXT(_offload_routine) @@ -129,7 +127,6 @@ on_irq_stack: ori r10, r10, %lo(_nanokernel) ldw r11, __tNANO_current_OFFSET(r10) -#ifdef CONFIG_KERNEL_V2 /* Determine whether the exception of the ISR requires context * switch */ @@ -145,24 +142,6 @@ on_irq_stack: /* Call into the kernel to see if a scheduling decision is necessary */ call _is_next_thread_current bne r2, zero, no_reschedule -#else - /* Determine whether the execution of the ISR requires a context - * switch. If the interrupted thread is PREEMPTIBLE (a task) and - * _nanokernel.fiber is non-NULL, a _Swap() needs to occur. - */ - - /* Check (_nanokernel.current->flags & PREEMPTIBLE), if not - * goto no_reschedule - */ - ldw r12, __tTCS_flags_OFFSET(r11) - movi r13, PREEMPTIBLE - and r12, r13, r12 - beq r12, zero, no_reschedule - - /* Check _nanokernel.fiber != NULL, if NULL goto no_reschedule */ - ldw r11, __tNANO_fiber_OFFSET(r10) - beq r11, zero, no_reschedule -#endif /* CONFIG_KERNEL_V2 */ /* * A context reschedule is required: keep the volatile registers of diff --git a/arch/nios2/core/fatal.c b/arch/nios2/core/fatal.c index a09e96b619c..f4818259015 100644 --- a/arch/nios2/core/fatal.c +++ b/arch/nios2/core/fatal.c @@ -230,18 +230,11 @@ FUNC_NORETURN void _SysFatalErrorHandler(unsigned int reason, ARG_UNUSED(pEsf); if ((curCtx != NANO_CTX_ISR) && !_is_thread_essential()) { -#ifdef CONFIG_MICROKERNEL if (curCtx == NANO_CTX_TASK) { extern FUNC_NORETURN void _TaskAbort(void); printk("Fatal task error! Aborting task.\n"); -#ifdef CONFIG_KERNEL_V2 k_thread_abort(_current); -#else - _TaskAbort(); -#endif - } else -#endif /* CONFIG_MICROKERNEL */ - { + } else { printk("Fatal fiber error! Aborting fiber.\n"); fiber_abort(); } diff --git a/arch/nios2/core/swap.S b/arch/nios2/core/swap.S index 19c4e428ce0..0cc5aa5f3c7 100644 --- a/arch/nios2/core/swap.S +++ b/arch/nios2/core/swap.S @@ -25,10 +25,8 @@ GTEXT(_thread_entry_wrapper) /* imports */ GTEXT(_sys_k_event_logger_context_switch) -#ifdef CONFIG_KERNEL_V2 GTEXT(_get_next_ready_thread) GTEXT(_k_neg_eagain) -#endif /* unsigned int _Swap(unsigned int key) * @@ -65,13 +63,11 @@ SECTION_FUNC(exception.other, _Swap) */ stw r4, __tTCS_coopReg_OFFSET + __t_coop_key_OFFSET(r11) -#ifdef CONFIG_KERNEL_V2 /* Populate default return value */ movhi r5, %hi(_k_neg_eagain) ori r5, r5, %lo(_k_neg_eagain) ldw r4, (r5) stw r4, __tTCS_coopReg_OFFSET + __t_coop_retval_OFFSET(r11) -#endif /* CONFIG_KERNEL_V2 */ #if CONFIG_KERNEL_EVENT_LOGGER_CONTEXT_SWITCH call _sys_k_event_logger_context_switch @@ -82,7 +78,6 @@ SECTION_FUNC(exception.other, _Swap) ori r10, r10, %lo(_nanokernel) #endif /* CONFIG_KERNEL_EVENT_LOGGER_CONTEXT_SWITCH */ -#ifdef CONFIG_KERNEL_V2 /* Assign to _nanokernel.current the return value of * _get_next_ready_thread() */ @@ -90,25 +85,6 @@ SECTION_FUNC(exception.other, _Swap) movhi r10, %hi(_nanokernel) ori r10, r10, %lo(_nanokernel) stw r2, __tNANO_current_OFFSET(r10) -#else - /* Find the next context to run. Choose _nanokernel.fiber - * if non-NULL */ - ldw r2, __tNANO_fiber_OFFSET(r10) - beq r2, zero, not_fiber - - /* _nanokernel.fiber = _nanokernel.fiber->link */ - ldw r14, __tTCS_link_OFFSET(r2) - stw r14, __tNANO_fiber_OFFSET(r10) - br next_chosen - -not_fiber: - /* Fiber was NULL, we'll choose nanokernel.task */ - ldw r2, __tNANO_task_OFFSET(r10) - -next_chosen: - /* Set _nanokernel.current to value we chose for r2 */ - stw r2, __tNANO_current_OFFSET(r10) -#endif /* CONFIG_KERNEL_V2 */ /* At this point r2 points to the next thread to be swapped in */ diff --git a/arch/nios2/core/thread.c b/arch/nios2/core/thread.c index 21d75444716..8b99bbb3495 100644 --- a/arch/nios2/core/thread.c +++ b/arch/nios2/core/thread.c @@ -14,13 +14,8 @@ * limitations under the License. */ -#ifdef CONFIG_KERNEL_V2 #include /* public kernel API */ #include <../../../kernel/unified/include/nano_internal.h> -#else -#include /* public nanokernel API */ -#include <../../../kernel/nanokernel/include/nano_internal.h> -#endif #include #include @@ -93,7 +88,6 @@ void _new_thread(char *stack_memory, unsigned stack_size, tcs = (struct tcs *)stack_memory; tcs->prio = priority; -#ifdef CONFIG_KERNEL_V2 /* k_q_node initialized upon first insertion in a list */ tcs->flags = options | K_PRESTART; tcs->sched_locked = 0; @@ -101,26 +95,13 @@ void _new_thread(char *stack_memory, unsigned stack_size, /* 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; - } - ARG_UNUSED(options); - tcs->link = (struct tcs *)NULL; /* thread not inserted into list yet */ -#endif /* CONFIG_KERNEL_V2 */ #ifdef CONFIG_THREAD_CUSTOM_DATA /* Initialize custom data field (value is opaque to kernel) */ tcs->custom_data = NULL; #endif - -#if !defined(CONFIG_KERNEL_V2) && defined(CONFIG_MICROKERNEL) - tcs->uk_task_ptr = uk_task_ptr; -#else ARG_UNUSED(uk_task_ptr); -#endif + tcs->coopReg.sp = (uint32_t)iframe; tcs->coopReg.ra = (uint32_t)_thread_entry_wrapper; tcs->coopReg.key = NIOS2_STATUS_PIE_MSK; diff --git a/arch/nios2/include/nano_private.h b/arch/nios2/include/nano_private.h index 9c5a5231dde..4ba3515037d 100644 --- a/arch/nios2/include/nano_private.h +++ b/arch/nios2/include/nano_private.h @@ -39,20 +39,14 @@ extern "C" { #include #ifndef _ASMLANGUAGE -#ifdef CONFIG_KERNEL_V2 #include /* public kernel API */ #include <../../../kernel/unified/include/nano_internal.h> -#else -#include /* public nanokernel API */ -#include <../../../kernel/nanokernel/include/nano_internal.h> -#endif #include #include #include #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 */ @@ -64,11 +58,6 @@ extern "C" { #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 */ @@ -127,7 +116,6 @@ 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; @@ -138,11 +126,9 @@ struct tcs_base { 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 */ @@ -150,68 +136,42 @@ struct tcs { #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 -#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 -#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) sys_dlist_t timeout_q; -#ifndef CONFIG_KERNEL_V2 - int32_t task_timeout; -#endif #endif #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 */ @@ -238,11 +198,11 @@ 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) @@ -250,8 +210,8 @@ _set_thread_return_value_with_data(struct k_thread *thread, unsigned int value, _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)