Commit graph

3196 commits

Author SHA1 Message Date
Andy Ross
85bc0a3fe6 kernel: Cleanup, unify _add_thread_to_ready_q() and _ready_thread()
The scheduler exposed two APIs to do the same thing:
_add_thread_to_ready_q() was a low level primitive that in most cases
was wrapped by _ready_thread(), which also (1) checks that the thread
_is_ready() or exits, (2) flags the thread as "started" to handle the
case of a thread running for the first time out of a waitq timeout,
and (3) signals a logger event.

As it turns out, all existing usage was already checking case #1.
Case #2 can be better handled in the timeout resume path instead of on
every call.  And case #3 was probably wrong to have been skipping
anyway (there were paths that could make a thread runnable without
logging).

Now _add_thread_to_ready_q() is an internal scheduler API, as it
probably always should have been.

This also moves some asserts from the inline _ready_thread() wrapper
to the underlying true function for code size reasons, otherwise the
extra use of the inline added by this patch blows past code size
limits on Quark D2000.

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-03-18 16:58:12 -04:00
Andy Ross
9d367eeb0a xtensa, kernel/sched: Move next switch_handle selection to the scheduler
The xtensa asm2 layer had a function to select the next switch handle
to return into following an exception.  There is no arch-specific code
there, it's just scheduler logic.  Move it to the scheduler where it
belongs.

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-03-18 16:58:12 -04:00
Andrew Boie
83752c1cfe kernel: introduce initial stack randomization
This is a component of address space layout randomization that we can
implement even though we have a physical address space.

Support for upward-growing stacks omitted for now, it's not done
currently on any of our current or planned architectures.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2018-03-16 16:25:22 -07:00
Leandro Pereira
a1ae8453f7 kernel: Name of static functions should not begin with an underscore
Names that begin with an underscore are reserved by the C standard.
This patch does not change names of functions defined and implemented
in header files.

Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-03-10 08:39:10 -05:00
Youvedeep Singh
d60ef8b74a kernel: pthread: correcting pthread_setschedparam.
pthread_setschedparam() uses k_thread_priority_set()
to set pthread priority. There is an error in argument
in k_thread_priority_seti() due to which system correct
priority was not set. Correcting this error.

Signed-off-by: Youvedeep Singh <youvedeep.singh@intel.com>
2018-03-07 08:23:09 -05:00
Youvedeep Singh
648230b51e kernel: POSIX: correcting time calculation in timer_gettime.
timer_gettime() internally uses k_timer_remaining_get()
to get time remaining to expire. Time unit for
k_timer_remaining_get is msec not ticks.

Signed-off-by: Youvedeep Singh <youvedeep.singh@intel.com>
2018-03-07 08:23:09 -05:00
Anas Nashif
6812f52a20 posix: sem_init accepts zero value
We should be able to init a semaphore with 0 count.

Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2018-03-06 22:40:04 -05:00
Punit Vara
a74725f1d3 kernel: Add posix API for semaphore
Add semaphore posix APIs.

Signed-off-by: Punit Vara <punit.vara@intel.com>
2018-03-05 20:51:36 -05:00
Youvedeep Singh
216883ca82 kernel: POSIX: Compatibility layer for POSIX read-write lock APIs.
This patch provides POSIX read-write lock APIs for POSIX 1003.1
PSE52 standard.

Signed-off-by: Youvedeep Singh <youvedeep.singh@intel.com>
2018-03-05 19:27:37 -05:00
Punit Vara
6ce863763d kernel: Remove unnecessary old code
_sem_give_non_preemptible is non preemptible and no need to move thread
to ready queue for any real use case. Remove old code. This is also
not public API

Signed-off-by: Punit Vara <punit.vara@intel.com>
2018-03-05 14:10:50 -08:00
Kumar Gala
8c9fe0d796 kernel: mem_domain: Fix compile issues
Commit 08de658eb ("kernel: mem_domain: Check for overlapping regions
when considering W^X") introduced some compile issues on various
platforms.

The k_mem_partition_attr_t member is attr not attrs.  Also, fix an issue
where sane_partition_domain neesd a pointer to a parition.

Signed-off-by: Kumar Gala <kumar.gala@linaro.org>
2018-03-05 10:47:00 -06:00
Leandro Pereira
08de658eb9 kernel: mem_domain: Use u8_t for number of partitions in struct
During system initialization, the global static variable (to
mem_domain.c) is initialized with the number of maximum partitions per
domain.  This variable is of u8_t type.

Assertions throughout the code will check ranges and test for overflow
by relying on implicit type conversion.

Use an u8_t instead of u32_t to avoid doubts.  Also, reorder the
k_mem_partition struct to remove the alignment hole created by reducing
sizeof(num_partitions).

Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-03-02 07:08:49 +01:00
Leandro Pereira
db094b8d88 kernel: mem_domain: Check for overlapping regions when considering W^X
Multiple partitions can be added to a domain, and if they overlap, they
can have different attributes.  The previous check would only check for
W^X for individual partitions, and this is insufficient.  Overlapping
partitions could have W^X attributes, but in the end, a memory region
would be writable and executable.

The way this is performed is quite "heavyweight", as it is implemented
in a O(n^2) operation.  The number of partitions per domain is small on
most devices, so this isn't an issue.  CONFIG_EXECUTE_XOR_WRITE is
still an optional feature.

Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-03-02 07:08:49 +01:00
Youvedeep Singh
aa4f495bd7 kernel: POSIX: correcting default thread prio & policy in attr.
This patch does following:-
1. Default scheduling policy should be set to SCHED_RR only when
Preemptive is enabled.
2. Default priority in attr object should equivalent to
K_LOWEST_APPLICATION_THREAD_PRIO. Posix priority corresponding
to K_LOWEST_APPLICATION_THREAD_PRIO is 1.

Signed-off-by: Youvedeep Singh <youvedeep.singh@intel.com>
2018-03-01 14:48:20 -08:00
Youvedeep Singh
8d040f1bcb kernel: POSIX: Compatibility layer for POSIX timer APIs.
This patch provides POSIX timer APIs for POSIX 1003.1 PSE52 standard.

Signed-off-by: Youvedeep Singh <youvedeep.singh@intel.com>
2018-02-21 19:17:28 -05:00
Youvedeep Singh
d50b1fe981 kernel: POSIX: Compatibility layer for POSIX clock APIs.
This patch provides POSIX clock APIs for POSIX 1003.1 PSE52 standard.

Signed-off-by: Youvedeep Singh <youvedeep.singh@intel.com>
2018-02-21 19:17:28 -05:00
Youvedeep Singh
7eabf1025c kernel: POSIX: Compatibility layer for scheduler APIs.
This patch provides scheduler APIs for POSIX 1003.1 PSE52 standard.

Signed-off-by: Youvedeep Singh <youvedeep.singh@intel.com>
2018-02-21 19:17:28 -05:00
Youvedeep Singh
c8aa6570c1 kernel: POSIX: Compatibility layer for pthread APIs.
This patch provides pthread APIs for POSIX 1003.1 PSE52 standard.

Signed-off-by: Youvedeep Singh <youvedeep.singh@intel.com>
2018-02-21 19:17:28 -05:00
Youvedeep Singh
325abfbcf4 kernel: POSIX: Fixing return value of POSIX APIs on error.
As per IEEE 1003.1 POSIX APIs should return ERROR_CODE on error.
But currently these are returning -ERROR_CODE instead of ERROR_CODE.
So fixing the return value.

Signed-off-by: Youvedeep Singh <youvedeep.singh@intel.com>
2018-02-21 19:17:28 -05:00
Leandro Pereira
214c685726 kernel: mem_domain: Pass proper type to ensure_w_xor_x()
The attributes are an u32_t only on ARM and ARC; on x86, it's something
else entirely.  Use the proper type to avoid attributes being
truncated.

Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-02-20 16:47:42 -08:00
Andy Ross
28192fd8ea kernel/kswap.h: Hook event logger from switch-based _Swap
The new generic _Swap() forgot the event logger hook

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-02-16 10:44:29 -05:00
Andy Ross
e922df5069 kernel: Allow k_thread_abort(_current) from ISRs
Traditionally k_thread_abort() of the current thread has done a
synchronous _Swap() to the new context.  Doing this from an ISR has
never worked portably (some architectures can do it, some can't) for
this reason.

But on Xtensa/asm2, exception handlers now run in interrupt context
and it's a very reasonable requirement for them to abort the excepting
thread.

So simply don't swap, but do the rest of the bookeeping, returning to
the calling context.  As a side effect it's now possible to terminate
threads from interrupts, even if they have been interrupted.

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-02-16 10:44:29 -05:00
Andy Ross
245b54ed56 kernel/include: Missed nano_internal.h -> kernel_internal.h spots
Update heading naming given recent rename

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-02-16 10:44:29 -05:00
Andy Ross
564f59060c kernel: SMP timer integration
In SMP, the system timer is used for timeslicing on auxiliary CPUs,
but the base system timekeeping via _nano_sys_clock_tick_announce() is
still done on CPU0 only (because the framework isn't prepared for
asynchronous notification yet).  Skip processing on CPU1+.

Also, due to a hardware interaction* that is difficult to work around,
timer initialization on the auxiliary CPUs is done at the very end of
the CPU bringup, just before the swap into the scheduler.  A
smp_timer_init() API has been added for this purpose.

* On ESP-32, enabling the timer seems to result in a near-synchronous
  interrupt being delivered despite my best attempts to keep it
  masked, then blowing things up because the CPU record isn't set up
  to handle it yet.

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-02-16 10:44:29 -05:00
Andy Ross
bdcd18a744 kernel: Enable SMP
Now that all the pieces are in place, enable SMP for real:

Initialize the CPU records, launch the CPUs at the end of kernel
initialization, have them wait for a flag to release them into the
scheduler, then enter into the runnable threads via _Swap().

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-02-16 10:44:29 -05:00
Andy Ross
85557b011e kernel: Simplified idle for SMP auxiliary CPUs
A pure timer-based idle won't work well in SMP.  Without an IPI to
wake up idle CPUs out of the scheduler they will sleep far too long
and the main CPU will do all the scheduling of wake-up-and-sleep
processes.  Instead just have the auxilary CPUs do a traditional
busy-wait scheduler in their idle loop.

We will need to revisit an architecture that allows both
wait-for-timer-interrupt idle and SMP.

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-02-16 10:44:29 -05:00
Andy Ross
2724fd11cb kernel: SMP-aware scheduler
The scheduler needs a few tweaks to work in SMP mode:

1. The "cache" field just doesn't work.  With more than one CPU,
   caching the highest priority thread isn't useful as you may need N
   of them at any given time before another thread is returned to the
   scheduler.  You could recalculate it at every change, but that
   provides no performance benefit.  Remove.

2. The "bitmask" designed to prevent the need to individually check
   priorities is likewise dropped.  This could work, but in fact on
   our only current SMP system and with current K_NUM_PRIOPRITIES
   values it provides no real benefit.

3. The individual threads now have a "current cpu" and "active" flag
   so that the choice of the next thread to run can correctly skip
   threads that are active on other CPUs.

The upshot is that a decent amount of code gets #if'd out, and the new
SMP implementations for _get_highest_ready_prio() and
_get_next_ready_thread() are simpler and smaller, at the expense of
having to drop older optimizations.

Note that scheduler synchronization is unchanged: all scheduler APIs
used to require that an irq_lock() be held, which means that they now
require the global spinlock via the same API.  This should be a very
early candidate for lock granularity attention!

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-02-16 10:44:29 -05:00
Andy Ross
364cbae412 kernel: Make irq_{un}lock() APIs into a global spinlock in SMP mode
In SMP mode, the idea of a single "IRQ lock" goes away.  Long term,
all usage needs to migrate to spinlocks (which become simple IRQ locks
in the uniprocessor case).  For the near term, we can ease the
migration (at the expense of performance) by providing a compatibility
implementation around a single global lock.

Note that one complication is that the older lock was recursive, while
spinlocks will deadlock if you try to lock them twice.  So we
implement a simple "count" semantic to handle multiple locks.

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-02-16 10:44:29 -05:00
Andy Ross
780ba23eb8 kernel: Create idle threads and interrupt stacks for SMP processors
Simple implementation that caps at 4 CPUs.  Long term we should use
some linker magic to define as many as needed and loop over them
without needlessly increasing data or code size for the tracking.

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-02-16 10:44:29 -05:00
Andy Ross
e694656345 kernel: Move per-cpu _kernel_t fields into separate struct
When in SMP mode, the nested/irq_stack/current fields are specific to
the current CPU and not to the kernel as a whole, so we need an array
of these.  Place them in a _cpu_t struct and implement a
_arch_curr_cpu() function to retrieve the pointer.

When not in SMP mode, the first CPU's fields are defined as a unioned
with the first _cpu_t record.  This permits compatibility with legacy
assembly on other platforms.  Long term, all users, including
uniprocessor architectures, should be updated to use the new scheme.

Fundamentally this is just renaming: the structure layout and runtime
code do not change on any existing platforms and won't until someone
defines a second CPU.

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-02-16 10:44:29 -05:00
Andy Ross
9c62cc677d kernel: Add kswap.h header to unbreak cycles
The xtensa-asm2 work included a patch that added nano_internal.h
includes in lots of places that needed to have _Swap defined, because
it had to break a cycle and this no longer got pulled in from the arch
headers.

Unfortunately those new includes created new and more amusing cycles
elsewhere which led to breakage on other platforms.

Break out the _Swap definition (only) into a separate header and use
that instead.  Cleaner.  Seems not to have any more hidden gotchas.

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-02-16 10:44:29 -05:00
Andy Ross
d3376f2781 kernel, esp32: Add SMP kconfig flag and MP_NUM_CPUS variable
Simply define the Kconfig variables in this patch so they can be used
in later patches.  Define MP_NUM_CPUS correctly on esp32.  No code
changes.

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-02-16 10:44:29 -05:00
Andy Ross
2c1449bc81 kernel, xtensa: Switch-specific thread return value
When using _arch_switch() context switching, the thread return value
is a generic hook and not provided by the architecture.

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-02-16 10:44:29 -05:00
Andy Ross
042d8ecca9 kernel: Add alternative _arch_switch context switch primitive
The existing __swap() mechanism is too high level for some
applications because of its scheduler-awareness.  This introduces a
new _arch_switch() mechanism, which is a simpler primitive that looks
like:

    void _arch_switch(void *handle, void **old_handle_out);

The new thread handle (typically just a stack pointer) is specified
explicitly instead of being picked up from the scheduler by
per-architecture code, and on return the "old" thread handle that got
switched out is returned through the pointer.

The new primitive (currently available only on xtensa) is selected
when CONFIG_USE_SWITCH is "y".  A new C _Swap() implementation based
on this primitive is then added which operates compatibly.

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-02-16 10:44:29 -05:00
Andy Ross
8ac9c082e6 kernel: Move some macros
K_NUM_PRIORITIES and K_NUM_PRIO_BITMAPS were defined in
nano_internal.h, but used in only a handful of places.  Move to
kernel_structs.h (somewhat higher up in the hierarchy) to help with
include file cycle-breaking.  Arguably they are a better fit there
anyway.

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-02-16 10:44:29 -05:00
Andy Ross
32a444c54e kernel: Fix nano_internal.h inclusion
_Swap() is defined in nano_internal.h.  Everything calls _Swap().
Pretty much nothing that called _Swap() included nano_internal.h,
expecting it to be picked up automatically through other headers (as
it happened, from the kernel arch-specific include file).  A new
_Swap() is going to need some other symbols in the inline definition,
so I needed to break that cycle.  Now nothing sees _Swap() defined
anymore.  Put nano_internal.h everywhere it's needed.

Our kernel includes remain a big awful yucky mess.  This makes things
more correct but no less ugly.  Needs cleanup.

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-02-16 10:44:29 -05:00
Anas Nashif
8949233390 kconfig: fix more help spacing issues
Fix Kconfig help sections and add spacing to be consistent across all
Kconfig file. In a previous run we missed a few.

Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2018-02-15 23:20:55 -05:00
Leandro Pereira
b55eb03e40 kernel: device: Only compare strings if pointer comparison fails
Split the search into two loops: in the common scenario, where device
names are stored in ROM (and are referenced by the user with CONFIG_*
macros), only cheap pointer comparisons will be performed.

Reserve string comparisons for a fallback second pass.

Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-02-15 17:31:59 -08:00
Ramakrishna Pallala
85fb583ed2 kernel: device: Remove the redundant device name check
Remove the redundant device name match check in device_get_binding().

Signed-off-by: Ramakrishna Pallala <ramakrishna.pallala@intel.com>
2018-02-14 10:07:24 -05:00
Leandro Pereira
e7b6c8f322 kernel: mem_domain: Break down assertions
Instead of composing expressions with a logical AND, break down it into
multiple assertions.  Smaller assertions are easier to read.  While at
it, compare pointers against the NULL value, and numbers against 0
instead of relying on implicit conversion to boolean-ish values.

Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-02-14 10:07:10 -05:00
Leandro Pereira
53a7cf9a74 kernel: mem_domain: Fix assertion in k_mem_domain_add_partition()
Without the parenthesis, the code was asserting this expression:

    start + (size > start)

Where it should be this instead:

    (start + size) > start

For a quick sanity check when adding these two unsigned values together.

Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-02-14 10:07:10 -05:00
Andy Ross
03c1d28e6e work_q: Correctly clear pending flag in delayed work queue, update docs
As discovered in https://github.com/zephyrproject-rtos/zephyr/issues/5952

...a duplicate call to k_delayed_work_submit_to_queue() on a work item
whose timeout had expired but which had not yet executed (i.e. it was
pending in the queue for the active work queue thread) would fail,
because the cancellation step wouldn't clear the PENDING bit, causing
the resubmission to see the object in an invalid state.  Trivially
fixed by adding a bit clear.

It also turns out that the behavior of the code doesn't match the
docs, which state that a PENDING work item is not supposed to be
cancelled at all.  Fix the docs to remove that.

And on yet further review, it turns out that there's no way to make a
test like the one in the linked bug threadsafe.  The work queue does
no synchronization by design, so if the user code does no external
synchronization it might very well clobber the running handler.  Added
a sentence to the docs to reflect this gotcha.

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-02-13 18:08:57 -05:00
Ramakrishna Pallala
3f2f1223ac kernel: thread: Remove unused _k_thread_single_start()
Remove unused _k_thread_single_start() as this logic is
now moved to _impl_k_thread_start().

Signed-off-by: Ramakrishna Pallala <ramakrishna.pallala@intel.com>
2018-02-13 17:26:21 -05:00
Andy Gross
1c047c9bef arm: userspace: Add ARM userspace infrastructure
This patch adds support for userspace on ARM architectures.  Arch
specific calls for transitioning threads to user mode, system calls,
and associated handlers.

Signed-off-by: Andy Gross <andy.gross@linaro.org>
2018-02-13 12:42:37 -08:00
Erwin Rol
1dc41d19b3 kernel: init: initialize stm32 ccm sections
Initialize the ccm_bss section to zero.
Copy the ccm_data section from the rom section.

Signed-off-by: Erwin Rol <erwin@erwinrol.com>
2018-02-13 12:36:22 -06:00
Andrew Boie
ce6c8f347b dma: add system calls for dma_start/dma_stop
As per current policy of requiring supervisor mode to register
callbacks, dma_config() is omitted.

A note added about checking the channel ID for start/stop, current
implementations already do this but best make it explicitly
documented.

Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2018-02-12 19:24:25 -05:00
Ramakrishna Pallala
301acb8e1b kernel: include: rename nano_internal.h to kernel_internal.h
Rename the nano_internal.h to kernel_internal.h and modify the
header file name accordingly wherever it is used.

Signed-off-by: Ramakrishna Pallala <ramakrishna.pallala@intel.com>
2018-01-31 10:07:21 -06:00
Holman Greenhand
8375fb7646 kernel: Allow late processing of timeouts
This change proposes to handle the case where the handle_timeouts
function is called after a number of ticks greater than the first
timeout delta of the _timeout_q list. In the current implementation if
the case occurs, after subtracting the number of ticks the
delta_ticks_from_prev field becomes negative and the first timeout is
never processed. It is therefore necessary to treat this case and to
prevent delta_ticks_from_prev from becoming negative. Moreover, the lag
produced by the initial delay must also be applied to following timeouts
by browsing the list until it was entirely consumed.

Fixes #5401

Signed-off-by: Holman Greenhand <greenhandholman@gmail.com>
2018-01-29 23:18:13 -05:00
Adithya Baglody
10db82bfed kernel: thread: Repeated thread abort crashes.
When CONFIG_THREAD_MONITOR is enabled, repeated thread abort
calls on a dead thread will cause the _thread_monitor_exit to
crash.

Signed-off-by: Adithya Baglody <adithya.nagaraj.baglody@intel.com>
2018-01-24 18:18:53 +05:30
Johan Hedberg
47a28a9612 mempool: Remove unnecessary call to get_pool()
The pointer that get_pool() returns is already stored in the 'p'
variable.

Signed-off-by: Johan Hedberg <johan.hedberg@intel.com>
2018-01-12 08:05:08 -05:00