This commit introduces k_sleep() return value, which provides
information about actual sleep time. If the returned value is
not-zero, the thread slept shorter than requested, which is
only possible if the thread has been woken up by k_wakeup() call.
Signed-off-by: Piotr Zięcik <piotr.ziecik@nordicsemi.no>
Can choose the C++ standard (C++98/11/14/17/2a)
Can link with standard C++ library (libstdc++)
Add support of C++ exceptions
Add support of C++ RTTI
Add C++ options to subsys/cpp/Kconfig
Implements new and delete using k_malloc and k_free
if CONFIG_HEAP_MEM_POOL_SIZE is defined
Signed-off-by: Benoit Leforestier <benoit.leforestier@gmail.com>
This patch removes the typecast (void*). This can be better
handled by typecasting to the actual typdef. This fixes the
misra rule of 11.6 for alert.
Part of GH-10042.
Signed-off-by: Adithya Baglody <adithya.nagaraj.baglody@intel.com>
I was pretty careful, but these snuck in. Most of them are due to
overbroad string replacements in comments. The pull request is very
large, and I'm too lazy to find exactly where to back-merge all of
these.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
Now that the API has been fixed up, replace the existing timeout queue
with a much smaller version. The basic algorithm is unchanged:
timeouts are stored in a sorted dlist with each node nolding a delta
time from the previous node in the list; the announce call just walks
this list pulling off the heads as needed. Advantages:
* Properly spinlocked and SMP-aware. The earlier timer implementation
relied on only CPU 0 doing timeout work, and on an irq_lock() being
taken before entry (something that was violated in a few spots).
Now any CPU can wake up for an event (or all of them) and everything
works correctly.
* The *_thread_timeout() API is now expressible as a clean wrapping
(just one liners) around the lower-level interface based on function
pointer callbacks. As a result the timeout objects no longer need
to store backpointers to the thread and wait_q and have shrunk by
33%.
* MUCH smaller, to the tune of hundreds of lines of code removed.
* Future proof, in that all operations on the queue are now fronted by
just two entry points (_add_timeout() and z_clock_announce()) which
can easily be augmented with fancier data structures.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
_timeout_remaining_get() was a function on a struct _timeout, doing
iteration on the timeout list, but it was defined in timer.c (the
higher level abstraction).
Move it to where it belongs. Also have it return ticks instead of ms
to conform to scheme in the rest of the timeout API. And rename it to
a more standard zephyr name.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
The existing timeout API wants to store a wait_q on which the thread
is waiting, but it only uses that value in one spot (and there only as
a boolean flag indicating "this thread is waiting on a wait_q).
As it happens threads can already store their own backpointers to a
wait_q (needed for the SCALABLE scheduler backend), so we should use
that instead.
This patch doesn't actually perform that unification yet. It
reorgnizes things such that the pended_on field is always set at the
point of timeout interaction, and adds a bunch of asserts to make 100%
sure the logic is correct. The next patch will modify the API.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
This flag is an indication to the timer driver that the OS doesn't
care about rollover conditions of the tick count while idling, so the
system doesn't need to wake up once per counter flip[1]. Obviously in
that circumstance values returned from k_uptime_get_32() are going to
be wrong, so the implementation had an assert to check for misuse.
But no one understood that from the docs, so the only place these APIs
were used in practice were as "guards" around code that needed to call
k_uptime_get_32(), even though that's 100% wrong per docs!
Clarify the docs. Remove the incorrect guards. Change the flag to
initialize to true so that uptime isn't broken-by-default in tickless
mode. Also move the implemenations of the functions out of the
header, as there's no good reason for these to need to be inlined.
[1] Which can be significant. A 100MHz ARM using the 24 bit SysTick
counter rolls over at about 6 Hz, and if it had to come out of
idle at that rate it would be a significant power issue that would
swamp the gains from tickless. Obviously systems with slow
counters like nRF or 64 bit ones like RISC-V or x86's TSC aren't
as affected.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
The kernel.h file had a bunch of internal APIs for timeout/clock
handling mixed in. Move these to sys_clock.h, which it always
included (in a weird location, so move THAT to kernel_includes.h with
everything else).
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
k_queue has k_queue_append API which does not check if the element's
address already exists. This creates a problem if the same element
address is appended to queue. This forms circular list showing
unintended behaviour for the application using queue. The proposed
API k_queue_find_and_append takes care of checking if element exists
already before appending. This API is complimentary to k_queue_remove
which checks if the queue element is present before removing.
Signed-off-by: Dhananjay Gundapu Jayakrishnan <dhananjay.jayakrishnan@proglove.de>
Macro _OBJECT_TRACING_NEXT_PTR expands to a member or to nothing.
Macro _OBJECT_TRACING_NEXT_PTR is used in a number of places, like:
struct k_stack {
.. omitted ..
_OBJECT_TRACING_NEXT_PTR(k_stack);
u8_t flags;
};
When the macro expands to nothing, a lonesome semi would remain. This is
illegal in C99, but permitted in GCC with GNU extensions.
Rather than expand to empty, we now expand to a zero-length array.
This means we can retain the trailing semis across structs wherein the
macro is used.
Note that zero-length array (foo[0]) != flexible array member (foo[]):
* zero-length array: Is GNU+Clang extension. Anywhere in struct.
* flexible array member: Is C99. Only in end of struct.
Thus we have really only traded-off one portability issue for
another, more acceptable, one at least.
Signed-off-by: Mark Ruvald Pedersen <mped@oticon.com>
Change APIs that essentially return a boolean expression - 0 for
false and 1 for true - to return a bool.
MISRA-C rule 14.4
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
Some minor style fixes and rewording of the documentation
for ARM MPU region types.
Signed-off-by: Ioannis Glaropoulos <Ioannis.Glaropoulos@nordicsemi.no>
Added k_thread_name_set() and enable thread name setting when declaring
static threads. This is enabled only when THREAD_MONITOR is used. System
threads get a name by default.
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
Any word started with underscore followed by and uppercase letter or a
second underscore is a reserved word according with C99.
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
The following 2 improvements are contained in this patch:
- When converting from ms to ticks, instead of using hardware cycles
per tick, use hardware cycles per second. This ensures that the
multiplication is done before the division, increasing precision.
- When converting from ticks to ms, instead of using cycles per tick
and cycles per sec, use ticks per sec. This too increases the
precision.
The concept is to make the dividend as large as possible compared to the
divisor in order to lose as little precision as possible.
Fixes#8898Fixes#9459Fixes#9466Fixes#9468
Signed-off-by: Vinayak Kariappa Chettimada <vich@nordicsemi.no>
Signed-off-by: Carles Cufi <carles.cufi@nordicsemi.no>
Previously (as introduced in 48fadfe62), if k_poll() waited on a
queue (or subclass like fifo), and wait was cancelled on queue's
side using k_queue_cancel_wait(), k_poll returned -EINTR. But it
did not set event->state field (to anything else but
K_POLL_STATE_NOT_READY), so in case of waiting on multiple queues,
it was not possible to differentiate which of them was cancelled.
This in particular broke detection of network socket EOF conditions
in POSIX poll() implementation.
This situation is now resolved with introduction of explicit
K_POLL_STATE_CANCELLED state, which is now set for cancelled queue
(-EINTR return remains the same).
This change also elaborates docstring for the functions mentioned, to
document this behavior.
Fixes: #9032
Signed-off-by: Paul Sokolovsky <paul.sokolovsky@linaro.org>
Define generic interface and hooks for tracing to replace
kernel_event_logger and existing tracing facilities with something more
common.
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
This enables reserving little space on the top of stack to store
data local to thread when CONFIG_USERSPACE. The first customer
of this is errno.
Note that ARC, due to how it lays out the user stack and
privilege stack, sets the pointer itself rather than
relying on the common way.
Fixes: #9067
Signed-off-by: Daniel Leung <daniel.leung@intel.com>
Bitwise operators should be used only with unsigned integer operands
because the result os bitwise operations on signed integers are
implementation-defined.
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
Commit 2b8cf4c98e ("include: kernel: Fix documentation for
TICKLESS_KERNEL API's")' defined a macro to fix documentation when
TKCKLESS_KERNEL is not available but this macro does not return the
same the functions returns, so its use may result in compilation
error.
Another point to consider is that if one is using this function
without it be enabled is better to return a proper error like ENOTSUP
explicitly saying that this is not supported.
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
The value of sys_clock_ticks_per_sec is obtained using
simple integer division with rounding toward zero. As result
using this variable in _ms_to_ticks() introduces some error.
This commit eliminates sys_clock_ticks_per_sec from equation
used in _ms_to_ticks() removing introduced error.
Also, this commit fixes#8895.
Signed-off-by: Piotr Zięcik <piotr.ziecik@nordicsemi.no>
Because errno.h is defined in terms of a syscall we can get into trouble
when one syscall/<FOO.h> ends up include another syscall/<BAR.h>.
Moving errno.h from kernel_includes.h to kernel.h breaks the possible
inclusion issue on some ARM platforms (which arm_mpu.h ends up include
soc.h which ends up include kernel_includes.h which would include
errno.h).
Signed-off-by: Kumar Gala <kumar.gala@linaro.org>
This commit enables accurate (based on 64-bit math) tick <-> ms
conversion if system clock rate is determined at runtime.
Signed-off-by: Piotr Zięcik <piotr.ziecik@nordicsemi.no>
The errno "variable" is required to be thread-specific.
It gets defined to a macro which dereferences a pointer
returned by a kernel function.
In user mode, we cannot simply read/write the thread struct.
We do not have thread-local storage mechanism, so for now
use the lowest address of the thread stack to store this
value, since this is guaranteed to be read/writable by
a user thread.
The downside of this approach is potential stack corruption
if the stack pointer goes down this far but does not exceed
the location, since a fault won't be generated in this case.
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
This commit moves the _ms_to_ticks() and __ticks_to_ms() functions
close to each other in order to improve code readability.
Signed-off-by: Piotr Zięcik <piotr.ziecik@nordicsemi.no>
The kernel incorrectly assumed, that system timer frequency is always
divisible without remainder by couple "natural" tick rates (like 100).
As result on some SoCs, time calculations was not correct, producing
strange effects (invalid sleep times, incorrect k_uptime_get() etc.).
This commit enables accurate, but costly (using 64-bit math) tick <-> ms
conversion if the selected tick interval is not exact due to hardware
limitations.
Also, this commit fixes tests in which removed _ms_per_tick were used.
Signed-off-by: Piotr Zięcik <piotr.ziecik@nordicsemi.no>
This commit removes fixed list of "good" sys_clock_ticks_per_sec values
which usage results in integer _ms_per_tick value.
Instead of using the list, simply check if MSEC_PER_SEC could be divided
without remainder by sys_clock_ticks_per_sec.
Signed-off-by: Piotr Zięcik <piotr.ziecik@nordicsemi.no>
This commit moves all implementations of the _ms_to_ticks() into
single file. Also, the function is now inline even if
_NEED_PRECISE_TICK_MS_CONVERSION is defined.
Signed-off-by: Piotr Zięcik <piotr.ziecik@nordicsemi.no>
Make these "choice" items instead of a single boolean that implies the
element unset.
Also renames WAITQ_FAST to WAITQ_SCALABLE, as the rbtree is really
only "fast" for large queue sizes (it's constant factor overhead is
bigger than a list's!)
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
This is a public macro which calculates the size to be allocated for
stacks inside a stack array. This is necessitated because of some
internal padding (e.g. for MPU scenarios). This is particularly
useful when a reference to K_THREAD_STACK_ARRAY_DEFINE needs to be
made from within a struct.
Signed-off-by: Rajavardhan Gundi <rajavardhan.gundi@intel.com>
This commit creates a new header file (kernel_include.h) that
contains all header files to be included by kernel_init.h.
Signed-off-by: Ioannis Glaropoulos <Ioannis.Glaropoulos@nordicsemi.no>
The _THREAD_POLLING bit in thread_state was never actually a
legitimate thread "state". It is a clever synchronization trick
introduced to allow the thread to release the irq_lock while looping
over the input event array without dropping events.
Instead, make that flag a word in the "poller" struct that lives on
the stack of the thread calling k_poll. The disadvantage is the 4
bytes of thread space needed. Advantages:
+ Cleaner API, it's now internal to poll instead of being globally
visible.
+ The thread_state bit space is just one byte, and was almost full
already.
+ Smaller code to write/test a full word and not a bitfield
+ Words are atomic, so no need for one of irq lock/unlock pairs.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
The original implementation of CONFIG_THREAD_MONITOR would
try to leverage a thread's initial stack layout to provide
the entry function with arguments for any given thread.
This is problematic:
- Some arches do not have a initial stack layout suitable for
this
- Some arches never enabled this at all (riscv32, nios2)
- Some arches did not enable this properly
- Dropping to user mode would erase or provide incorrect
information.
Just spend a few extra bytes to store this stuff directly
in the k_thread struct and get rid of all the arch-specific
code for this.
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
k_work_init() was not initializing all fields in the k_work struct.
Mainly, the atomic_clear_bit() function call was reading a possibly
uninitialized value, clearing a bit, and assigning it back to the
`flags` member. The `_reserved` member was never initialized.
With the struct now initialized with the _K_WORK_INITIALIZER() macro,
initialization is consistent regardless of how a `struct k_work` is
initialized.
This fixes the Valgrind issues found in #7478.
Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
It's not possible to enforce that K_THREAD_STACK_SIZEOF()
returns the original number passed to K_THREAD_STACK_DEFINE().
Some arches need to round this number up in order to satisfy
alignment constraints.
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
We want the struct to be packed to conserve space, but the
perms field needs to always be on a 4-byte boundary since
we do bitfield operations on it, arches like ARC require
that the sys_bitfield_* operations be aligned to a 4 byte
boundary.
Instances of struct _k_object will now be 4-byte aligned
if in an array (which they are), even though the members
are still packed.
Fixes: #7776
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
Add requirement ID place holders based on APIS. The requirements will
appear as a list in doxygen documentation. The IDs will be expanded with
more details somewhere else, probably a requirement catalog on GH or
some other requirement management tool. This is still TBD.
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
