/* * Copyright (c) 2016 Intel Corporation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ /** * @file * @brief Private nanokernel definitions * * This file contains private nanokernel structures definitions and various * other definitions for the Nios II processor architecture. * * This file is also included by assembly language files which must #define * _ASMLANGUAGE before including this header file. Note that nanokernel * assembly source files obtains structure offset values via "absolute * symbols" in the offsets.o module. */ #ifndef _NANO_PRIVATE_H #define _NANO_PRIVATE_H #ifdef __cplusplus extern "C" { #endif #include #include #include #ifndef _ASMLANGUAGE #include /* public kernel API */ #include <../../../kernel/unified/include/nano_internal.h> #include #include #include #endif /* Bitmask definitions for the struct tcs->flags bit field */ #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) #define INT_ACTIVE 0x002 /* 1 = executing context is interrupt handler */ #define EXC_ACTIVE 0x004 /* 1 = executing context is exception handler */ #define K_FP_REGS 0x010 /* 1 = thread uses floating point registers */ #define K_ESSENTIAL 0x200 /* 1 = system thread that must not abort */ #define NO_METRICS 0x400 /* 1 = _Swap() not to update task metrics */ /* stacks */ #define STACK_ALIGN_SIZE 4 #define STACK_ROUND_UP(x) ROUND_UP(x, STACK_ALIGN_SIZE) #define STACK_ROUND_DOWN(x) ROUND_DOWN(x, STACK_ALIGN_SIZE) #ifndef _ASMLANGUAGE /* * The following structure defines the set of 'non-volatile' or 'callee saved' * integer registers. These registers must be preserved by a called C * function. These are the only registers that need to be saved/restored when * a cooperative context switch occurs. */ struct s_coop { /* General purpose callee-saved registers */ uint32_t r16; uint32_t r17; uint32_t r18; uint32_t r19; uint32_t r20; uint32_t r21; uint32_t r22; uint32_t r23; /* Normally used for the frame pointer but also a general purpose * register if frame pointers omitted */ uint32_t r28; uint32_t ra; /* Return address */ uint32_t sp; /* Stack pointer */ uint32_t key; /* IRQ status before irq_lock() and call to _Swap() */ uint32_t retval; /* Return value of _Swap() */ }; typedef struct s_coop t_coop; /* * The following structure defines the set of caller-saved integer registers. * These registers need not be preserved by a called C function. Given that * they are not preserved across function calls, they must be save/restored * (along with the struct coop regs) when a preemptive context switch occurs. */ struct preempt { /* Nothing here, the exception code puts all the caller-saved registers * onto the stack */ }; /* '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; #ifdef CONFIG_NANO_TIMEOUTS struct _timeout timeout; #endif }; struct tcs { 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; #ifdef CONFIG_NANO_TIMEOUTS struct _timeout timeout; #endif struct preempt preempReg; t_coop coopReg; #ifdef CONFIG_ERRNO int errno_var; #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 #ifdef CONFIG_THREAD_CUSTOM_DATA void *custom_data; /* available for custom use */ #endif atomic_t sched_locked; void *init_data; void (*fn_abort)(void); }; struct ready_q { struct k_thread *cache; uint32_t prio_bmap[1]; sys_dlist_t q[K_NUM_PRIORITIES]; }; struct s_NANO { struct tcs *current; /* currently scheduled thread (fiber or task) */ #if defined(CONFIG_NANO_TIMEOUTS) || defined(CONFIG_NANO_TIMERS) sys_dlist_t timeout_q; #endif #if defined(CONFIG_THREAD_MONITOR) struct tcs *threads; /* singly linked list of ALL fiber+tasks */ #endif struct ready_q ready_q; /* Nios II-specific members */ char *irq_sp; /* Interrupt stack pointer */ uint32_t nested; /* IRQ/exception nest level */ }; typedef struct s_NANO tNANO; extern tNANO _nanokernel; extern char _interrupt_stack[CONFIG_ISR_STACK_SIZE]; /* Arch-specific nanokernel APIs */ void nano_cpu_idle(void); void nano_cpu_atomic_idle(unsigned int key); static ALWAYS_INLINE void nanoArchInit(void) { _nanokernel.irq_sp = _interrupt_stack + CONFIG_ISR_STACK_SIZE; } static ALWAYS_INLINE void fiberRtnValueSet(struct tcs *fiber, unsigned int value) { fiber->coopReg.retval = value; } #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) static inline void _IntLibInit(void) { /* No special initialization of the interrupt subsystem required */ } FUNC_NORETURN void _NanoFatalErrorHandler(unsigned int reason, const NANO_ESF *esf); #define _is_in_isr() (_nanokernel.nested != 0) #ifdef CONFIG_IRQ_OFFLOAD void _irq_do_offload(void); #endif #if ALT_CPU_ICACHE_SIZE > 0 void _nios2_icache_flush_all(void); #else #define _nios2_icache_flush_all() do { } while (0) #endif #if ALT_CPU_DCACHE_SIZE > 0 void _nios2_dcache_flush_all(void); #else #define _nios2_dcache_flush_all() do { } while (0) #endif #endif /* _ASMLANGUAGE */ #endif /* _NANO_PRIVATE_H */