3193 lines
105 KiB
C
3193 lines
105 KiB
C
/***************************************************************************
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* __________ __ ___.
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* Open \______ \ ____ ____ | | _\_ |__ _______ ___
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* Source | _// _ \_/ ___\| |/ /| __ \ / _ \ \/ /
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* Jukebox | | ( <_> ) \___| < | \_\ ( <_> > < <
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* Firmware |____|_ /\____/ \___ >__|_ \|___ /\____/__/\_ \
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* \/ \/ \/ \/ \/
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* $Id$
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*
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* Copyright (C) 2002 by Ulf Ralberg
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
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* KIND, either express or implied.
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*
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****************************************************************************/
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#include "config.h"
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#include <stdbool.h>
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#include "thread.h"
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#include "panic.h"
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#include "sprintf.h"
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#include "system.h"
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#include "kernel.h"
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#include "cpu.h"
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#include "string.h"
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#ifdef RB_PROFILE
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#include <profile.h>
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#endif
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/****************************************************************************
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* ATTENTION!! *
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* See notes below on implementing processor-specific portions! *
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***************************************************************************/
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/* Define THREAD_EXTRA_CHECKS as 1 to enable additional state checks */
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#ifdef DEBUG
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#define THREAD_EXTRA_CHECKS 1 /* Always 1 for DEBUG */
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#else
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#define THREAD_EXTRA_CHECKS 0
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#endif
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/**
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* General locking order to guarantee progress. Order must be observed but
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* all stages are not nescessarily obligatory. Going from 1) to 3) is
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* perfectly legal.
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*
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* 1) IRQ
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* This is first because of the likelyhood of having an interrupt occur that
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* also accesses one of the objects farther down the list. Any non-blocking
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* synchronization done may already have a lock on something during normal
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* execution and if an interrupt handler running on the same processor as
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* the one that has the resource locked were to attempt to access the
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* resource, the interrupt handler would wait forever waiting for an unlock
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* that will never happen. There is no danger if the interrupt occurs on
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* a different processor because the one that has the lock will eventually
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* unlock and the other processor's handler may proceed at that time. Not
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* nescessary when the resource in question is definitely not available to
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* interrupt handlers.
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*
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* 2) Kernel Object
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* 1) May be needed beforehand if the kernel object allows dual-use such as
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* event queues. The kernel object must have a scheme to protect itself from
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* access by another processor and is responsible for serializing the calls
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* to block_thread(_w_tmo) and wakeup_thread both to themselves and to each
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* other. Objects' queues are also protected here.
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*
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* 3) Thread Slot
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* This locks access to the thread's slot such that its state cannot be
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* altered by another processor when a state change is in progress such as
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* when it is in the process of going on a blocked list. An attempt to wake
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* a thread while it is still blocking will likely desync its state with
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* the other resources used for that state.
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*
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* 4) Core Lists
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* These lists are specific to a particular processor core and are accessible
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* by all processor cores and interrupt handlers. The running (rtr) list is
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* the prime example where a thread may be added by any means.
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*/
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/*---------------------------------------------------------------------------
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* Processor specific: core_sleep/core_wake/misc. notes
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*
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* ARM notes:
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* FIQ is not dealt with by the scheduler code and is simply restored if it
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* must by masked for some reason - because threading modifies a register
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* that FIQ may also modify and there's no way to accomplish it atomically.
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* s3c2440 is such a case.
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*
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* Audio interrupts are generally treated at a higher priority than others
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* usage of scheduler code with interrupts higher than HIGHEST_IRQ_LEVEL
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* are not in general safe. Special cases may be constructed on a per-
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* source basis and blocking operations are not available.
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*
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* core_sleep procedure to implement for any CPU to ensure an asychronous
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* wakup never results in requiring a wait until the next tick (up to
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* 10000uS!). May require assembly and careful instruction ordering.
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*
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* 1) On multicore, stay awake if directed to do so by another. If so, goto
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* step 4.
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* 2) If processor requires, atomically reenable interrupts and perform step
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* 3.
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* 3) Sleep the CPU core. If wakeup itself enables interrupts (stop #0x2000
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* on Coldfire) goto step 5.
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* 4) Enable interrupts.
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* 5) Exit procedure.
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*
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* core_wake and multprocessor notes for sleep/wake coordination:
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* If possible, to wake up another processor, the forcing of an interrupt on
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* the woken core by the waker core is the easiest way to ensure a non-
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* delayed wake and immediate execution of any woken threads. If that isn't
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* available then some careful non-blocking synchonization is needed (as on
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* PP targets at the moment).
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*---------------------------------------------------------------------------
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*/
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/* Cast to the the machine pointer size, whose size could be < 4 or > 32
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* (someday :). */
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#define DEADBEEF ((uintptr_t)0xdeadbeefdeadbeefull)
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struct core_entry cores[NUM_CORES] IBSS_ATTR;
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struct thread_entry threads[MAXTHREADS] IBSS_ATTR;
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static const char main_thread_name[] = "main";
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extern uintptr_t stackbegin[];
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extern uintptr_t stackend[];
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static inline void core_sleep(IF_COP_VOID(unsigned int core))
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__attribute__((always_inline));
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void check_tmo_threads(void)
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__attribute__((noinline));
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static inline void block_thread_on_l(struct thread_entry *thread, unsigned state)
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__attribute__((always_inline));
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static void add_to_list_tmo(struct thread_entry *thread)
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__attribute__((noinline));
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static void core_schedule_wakeup(struct thread_entry *thread)
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__attribute__((noinline));
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#if NUM_CORES > 1
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static inline void run_blocking_ops(
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unsigned int core, struct thread_entry *thread)
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__attribute__((always_inline));
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#endif
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static void thread_stkov(struct thread_entry *thread)
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__attribute__((noinline));
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static inline void store_context(void* addr)
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__attribute__((always_inline));
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static inline void load_context(const void* addr)
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__attribute__((always_inline));
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void switch_thread(void)
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__attribute__((noinline));
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/****************************************************************************
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* Processor-specific section
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*/
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#if defined(MAX_PHYS_SECTOR_SIZE) && MEM == 64
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/* Support a special workaround object for large-sector disks */
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#define IF_NO_SKIP_YIELD(...) __VA_ARGS__
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#else
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#define IF_NO_SKIP_YIELD(...)
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#endif
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#if defined(CPU_ARM)
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/*---------------------------------------------------------------------------
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* Start the thread running and terminate it if it returns
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*---------------------------------------------------------------------------
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*/
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static void __attribute__((naked,used)) start_thread(void)
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{
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/* r0 = context */
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asm volatile (
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"ldr sp, [r0, #32] \n" /* Load initial sp */
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"ldr r4, [r0, #40] \n" /* start in r4 since it's non-volatile */
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"mov r1, #0 \n" /* Mark thread as running */
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"str r1, [r0, #40] \n"
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#if NUM_CORES > 1
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"ldr r0, =invalidate_icache \n" /* Invalidate this core's cache. */
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"mov lr, pc \n" /* This could be the first entry into */
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"bx r0 \n" /* plugin or codec code for this core. */
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#endif
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"mov lr, pc \n" /* Call thread function */
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"bx r4 \n"
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); /* No clobber list - new thread doesn't care */
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thread_exit();
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//asm volatile (".ltorg"); /* Dump constant pool */
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}
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/* For startup, place context pointer in r4 slot, start_thread pointer in r5
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* slot, and thread function pointer in context.start. See load_context for
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* what happens when thread is initially going to run. */
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#define THREAD_STARTUP_INIT(core, thread, function) \
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({ (thread)->context.r[0] = (uint32_t)&(thread)->context, \
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(thread)->context.r[1] = (uint32_t)start_thread, \
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(thread)->context.start = (uint32_t)function; })
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/*---------------------------------------------------------------------------
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* Store non-volatile context.
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*---------------------------------------------------------------------------
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*/
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static inline void store_context(void* addr)
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{
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asm volatile(
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"stmia %0, { r4-r11, sp, lr } \n"
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: : "r" (addr)
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);
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}
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/*---------------------------------------------------------------------------
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* Load non-volatile context.
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*---------------------------------------------------------------------------
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*/
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static inline void load_context(const void* addr)
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{
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asm volatile(
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"ldr r0, [%0, #40] \n" /* Load start pointer */
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"cmp r0, #0 \n" /* Check for NULL */
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"ldmneia %0, { r0, pc } \n" /* If not already running, jump to start */
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"ldmia %0, { r4-r11, sp, lr } \n" /* Load regs r4 to r14 from context */
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: : "r" (addr) : "r0" /* only! */
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);
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}
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#if defined (CPU_PP)
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#if NUM_CORES > 1
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extern uintptr_t cpu_idlestackbegin[];
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extern uintptr_t cpu_idlestackend[];
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extern uintptr_t cop_idlestackbegin[];
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extern uintptr_t cop_idlestackend[];
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static uintptr_t * const idle_stacks[NUM_CORES] =
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{
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[CPU] = cpu_idlestackbegin,
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[COP] = cop_idlestackbegin
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};
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#if CONFIG_CPU == PP5002
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/* Bytes to emulate the PP502x mailbox bits */
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struct core_semaphores
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{
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volatile uint8_t intend_wake; /* 00h */
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volatile uint8_t stay_awake; /* 01h */
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volatile uint8_t intend_sleep; /* 02h */
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volatile uint8_t unused; /* 03h */
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};
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static struct core_semaphores core_semaphores[NUM_CORES] IBSS_ATTR;
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#endif /* CONFIG_CPU == PP5002 */
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#endif /* NUM_CORES */
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#if CONFIG_CORELOCK == SW_CORELOCK
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/* Software core locks using Peterson's mutual exclusion algorithm */
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/*---------------------------------------------------------------------------
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* Initialize the corelock structure.
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*---------------------------------------------------------------------------
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*/
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void corelock_init(struct corelock *cl)
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{
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memset(cl, 0, sizeof (*cl));
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}
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#if 1 /* Assembly locks to minimize overhead */
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/*---------------------------------------------------------------------------
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* Wait for the corelock to become free and acquire it when it does.
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*---------------------------------------------------------------------------
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*/
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void corelock_lock(struct corelock *cl) __attribute__((naked));
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void corelock_lock(struct corelock *cl)
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{
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/* Relies on the fact that core IDs are complementary bitmasks (0x55,0xaa) */
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asm volatile (
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"mov r1, %0 \n" /* r1 = PROCESSOR_ID */
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"ldrb r1, [r1] \n"
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"strb r1, [r0, r1, lsr #7] \n" /* cl->myl[core] = core */
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"eor r2, r1, #0xff \n" /* r2 = othercore */
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"strb r2, [r0, #2] \n" /* cl->turn = othercore */
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"1: \n"
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"ldrb r3, [r0, r2, lsr #7] \n" /* cl->myl[othercore] == 0 ? */
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"cmp r3, #0 \n" /* yes? lock acquired */
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"bxeq lr \n"
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"ldrb r3, [r0, #2] \n" /* || cl->turn == core ? */
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"cmp r3, r1 \n"
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"bxeq lr \n" /* yes? lock acquired */
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"b 1b \n" /* keep trying */
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: : "i"(&PROCESSOR_ID)
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);
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(void)cl;
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}
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/*---------------------------------------------------------------------------
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* Try to aquire the corelock. If free, caller gets it, otherwise return 0.
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*---------------------------------------------------------------------------
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*/
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int corelock_try_lock(struct corelock *cl) __attribute__((naked));
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int corelock_try_lock(struct corelock *cl)
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{
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/* Relies on the fact that core IDs are complementary bitmasks (0x55,0xaa) */
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asm volatile (
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"mov r1, %0 \n" /* r1 = PROCESSOR_ID */
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"ldrb r1, [r1] \n"
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"mov r3, r0 \n"
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"strb r1, [r0, r1, lsr #7] \n" /* cl->myl[core] = core */
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"eor r2, r1, #0xff \n" /* r2 = othercore */
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"strb r2, [r0, #2] \n" /* cl->turn = othercore */
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"ldrb r0, [r3, r2, lsr #7] \n" /* cl->myl[othercore] == 0 ? */
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"eors r0, r0, r2 \n" /* yes? lock acquired */
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"bxne lr \n"
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"ldrb r0, [r3, #2] \n" /* || cl->turn == core? */
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"ands r0, r0, r1 \n"
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"streqb r0, [r3, r1, lsr #7] \n" /* if not, cl->myl[core] = 0 */
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"bx lr \n" /* return result */
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: : "i"(&PROCESSOR_ID)
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);
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return 0;
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(void)cl;
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}
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/*---------------------------------------------------------------------------
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* Release ownership of the corelock
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*---------------------------------------------------------------------------
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*/
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void corelock_unlock(struct corelock *cl) __attribute__((naked));
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void corelock_unlock(struct corelock *cl)
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{
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asm volatile (
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"mov r1, %0 \n" /* r1 = PROCESSOR_ID */
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"ldrb r1, [r1] \n"
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"mov r2, #0 \n" /* cl->myl[core] = 0 */
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"strb r2, [r0, r1, lsr #7] \n"
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"bx lr \n"
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: : "i"(&PROCESSOR_ID)
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);
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(void)cl;
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}
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#else /* C versions for reference */
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/*---------------------------------------------------------------------------
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* Wait for the corelock to become free and aquire it when it does.
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*---------------------------------------------------------------------------
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*/
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void corelock_lock(struct corelock *cl)
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{
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const unsigned int core = CURRENT_CORE;
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const unsigned int othercore = 1 - core;
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cl->myl[core] = core;
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cl->turn = othercore;
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for (;;)
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{
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if (cl->myl[othercore] == 0 || cl->turn == core)
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break;
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}
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}
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/*---------------------------------------------------------------------------
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* Try to aquire the corelock. If free, caller gets it, otherwise return 0.
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*---------------------------------------------------------------------------
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*/
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int corelock_try_lock(struct corelock *cl)
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{
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const unsigned int core = CURRENT_CORE;
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const unsigned int othercore = 1 - core;
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cl->myl[core] = core;
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cl->turn = othercore;
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if (cl->myl[othercore] == 0 || cl->turn == core)
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{
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return 1;
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}
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cl->myl[core] = 0;
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return 0;
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}
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/*---------------------------------------------------------------------------
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* Release ownership of the corelock
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*---------------------------------------------------------------------------
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*/
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void corelock_unlock(struct corelock *cl)
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{
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cl->myl[CURRENT_CORE] = 0;
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}
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#endif /* ASM / C selection */
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#endif /* CONFIG_CORELOCK == SW_CORELOCK */
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|
|
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/*---------------------------------------------------------------------------
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* Put core in a power-saving state if waking list wasn't repopulated and if
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* no other core requested a wakeup for it to perform a task.
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*---------------------------------------------------------------------------
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*/
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#ifdef CPU_PP502x
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#if NUM_CORES == 1
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static inline void core_sleep(void)
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{
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sleep_core(CURRENT_CORE);
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enable_irq();
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}
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#else
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static inline void core_sleep(unsigned int core)
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{
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#if 1
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asm volatile (
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"mov r0, #4 \n" /* r0 = 0x4 << core */
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"mov r0, r0, lsl %[c] \n"
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"str r0, [%[mbx], #4] \n" /* signal intent to sleep */
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"ldr r1, [%[mbx], #0] \n" /* && !(MBX_MSG_STAT & (0x10<<core)) ? */
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"tst r1, r0, lsl #2 \n"
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"moveq r1, #0x80000000 \n" /* Then sleep */
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"streq r1, [%[ctl], %[c], lsl #2] \n"
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"moveq r1, #0 \n" /* Clear control reg */
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"streq r1, [%[ctl], %[c], lsl #2] \n"
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"orr r1, r0, r0, lsl #2 \n" /* Signal intent to wake - clear wake flag */
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"str r1, [%[mbx], #8] \n"
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"1: \n" /* Wait for wake procedure to finish */
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"ldr r1, [%[mbx], #0] \n"
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"tst r1, r0, lsr #2 \n"
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"bne 1b \n"
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:
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: [ctl]"r"(&CPU_CTL), [mbx]"r"(MBX_BASE), [c]"r"(core)
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: "r0", "r1");
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#else /* C version for reference */
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/* Signal intent to sleep */
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MBX_MSG_SET = 0x4 << core;
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|
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/* Something waking or other processor intends to wake us? */
|
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if ((MBX_MSG_STAT & (0x10 << core)) == 0)
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{
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sleep_core(core);
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wake_core(core);
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}
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|
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/* Signal wake - clear wake flag */
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MBX_MSG_CLR = 0x14 << core;
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|
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/* Wait for other processor to finish wake procedure */
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while (MBX_MSG_STAT & (0x1 << core));
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#endif /* ASM/C selection */
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enable_irq();
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}
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#endif /* NUM_CORES */
|
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#elif CONFIG_CPU == PP5002
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#if NUM_CORES == 1
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static inline void core_sleep(void)
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{
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sleep_core(CURRENT_CORE);
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enable_irq();
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}
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#else
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|
/* PP5002 has no mailboxes - emulate using bytes */
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|
static inline void core_sleep(unsigned int core)
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{
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#if 1
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asm volatile (
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"mov r0, #1 \n" /* Signal intent to sleep */
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"strb r0, [%[sem], #2] \n"
|
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"ldrb r0, [%[sem], #1] \n" /* && stay_awake == 0? */
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"cmp r0, #0 \n"
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"bne 2f \n"
|
|
/* Sleep: PP5002 crashes if the instruction that puts it to sleep is
|
|
* located at 0xNNNNNNN0. 4/8/C works. This sequence makes sure
|
|
* that the correct alternative is executed. Don't change the order
|
|
* of the next 4 instructions! */
|
|
"tst pc, #0x0c \n"
|
|
"mov r0, #0xca \n"
|
|
"strne r0, [%[ctl], %[c], lsl #2] \n"
|
|
"streq r0, [%[ctl], %[c], lsl #2] \n"
|
|
"nop \n" /* nop's needed because of pipeline */
|
|
"nop \n"
|
|
"nop \n"
|
|
"2: \n"
|
|
"mov r0, #0 \n" /* Clear stay_awake and sleep intent */
|
|
"strb r0, [%[sem], #1] \n"
|
|
"strb r0, [%[sem], #2] \n"
|
|
"1: \n" /* Wait for wake procedure to finish */
|
|
"ldrb r0, [%[sem], #0] \n"
|
|
"cmp r0, #0 \n"
|
|
"bne 1b \n"
|
|
:
|
|
: [sem]"r"(&core_semaphores[core]), [c]"r"(core),
|
|
[ctl]"r"(&CPU_CTL)
|
|
: "r0"
|
|
);
|
|
#else /* C version for reference */
|
|
/* Signal intent to sleep */
|
|
core_semaphores[core].intend_sleep = 1;
|
|
|
|
/* Something waking or other processor intends to wake us? */
|
|
if (core_semaphores[core].stay_awake == 0)
|
|
{
|
|
sleep_core(core);
|
|
}
|
|
|
|
/* Signal wake - clear wake flag */
|
|
core_semaphores[core].stay_awake = 0;
|
|
core_semaphores[core].intend_sleep = 0;
|
|
|
|
/* Wait for other processor to finish wake procedure */
|
|
while (core_semaphores[core].intend_wake != 0);
|
|
|
|
/* Enable IRQ */
|
|
#endif /* ASM/C selection */
|
|
enable_irq();
|
|
}
|
|
#endif /* NUM_CORES */
|
|
#endif /* PP CPU type */
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Wake another processor core that is sleeping or prevent it from doing so
|
|
* if it was already destined. FIQ, IRQ should be disabled before calling.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
#if NUM_CORES == 1
|
|
/* Shared single-core build debugging version */
|
|
void core_wake(void)
|
|
{
|
|
/* No wakey - core already wakey */
|
|
}
|
|
#elif defined (CPU_PP502x)
|
|
void core_wake(unsigned int othercore)
|
|
{
|
|
#if 1
|
|
/* avoid r0 since that contains othercore */
|
|
asm volatile (
|
|
"mrs r3, cpsr \n" /* Disable IRQ */
|
|
"orr r1, r3, #0x80 \n"
|
|
"msr cpsr_c, r1 \n"
|
|
"mov r2, #0x11 \n" /* r2 = (0x11 << othercore) */
|
|
"mov r2, r2, lsl %[oc] \n" /* Signal intent to wake othercore */
|
|
"str r2, [%[mbx], #4] \n"
|
|
"1: \n" /* If it intends to sleep, let it first */
|
|
"ldr r1, [%[mbx], #0] \n" /* (MSG_MSG_STAT & (0x4 << othercore)) != 0 ? */
|
|
"eor r1, r1, #0xc \n"
|
|
"tst r1, r2, lsr #2 \n"
|
|
"ldr r1, [%[ctl], %[oc], lsl #2] \n" /* && (PROC_CTL(othercore) & PROC_SLEEP) == 0 ? */
|
|
"tsteq r1, #0x80000000 \n"
|
|
"beq 1b \n" /* Wait for sleep or wake */
|
|
"tst r1, #0x80000000 \n" /* If sleeping, wake it */
|
|
"movne r1, #0x0 \n"
|
|
"strne r1, [%[ctl], %[oc], lsl #2] \n"
|
|
"mov r1, r2, lsr #4 \n"
|
|
"str r1, [%[mbx], #8] \n" /* Done with wake procedure */
|
|
"msr cpsr_c, r3 \n" /* Restore IRQ */
|
|
:
|
|
: [ctl]"r"(&PROC_CTL(CPU)), [mbx]"r"(MBX_BASE),
|
|
[oc]"r"(othercore)
|
|
: "r1", "r2", "r3");
|
|
#else /* C version for reference */
|
|
/* Disable interrupts - avoid reentrancy from the tick */
|
|
int oldlevel = disable_irq_save();
|
|
|
|
/* Signal intent to wake other processor - set stay awake */
|
|
MBX_MSG_SET = 0x11 << othercore;
|
|
|
|
/* If it intends to sleep, wait until it does or aborts */
|
|
while ((MBX_MSG_STAT & (0x4 << othercore)) != 0 &&
|
|
(PROC_CTL(othercore) & PROC_SLEEP) == 0);
|
|
|
|
/* If sleeping, wake it up */
|
|
if (PROC_CTL(othercore) & PROC_SLEEP)
|
|
PROC_CTL(othercore) = 0;
|
|
|
|
/* Done with wake procedure */
|
|
MBX_MSG_CLR = 0x1 << othercore;
|
|
restore_irq(oldlevel);
|
|
#endif /* ASM/C selection */
|
|
}
|
|
#elif CONFIG_CPU == PP5002
|
|
/* PP5002 has no mailboxes - emulate using bytes */
|
|
void core_wake(unsigned int othercore)
|
|
{
|
|
#if 1
|
|
/* avoid r0 since that contains othercore */
|
|
asm volatile (
|
|
"mrs r3, cpsr \n" /* Disable IRQ */
|
|
"orr r1, r3, #0x80 \n"
|
|
"msr cpsr_c, r1 \n"
|
|
"mov r1, #1 \n" /* Signal intent to wake other core */
|
|
"orr r1, r1, r1, lsl #8 \n" /* and set stay_awake */
|
|
"strh r1, [%[sem], #0] \n"
|
|
"mov r2, #0x8000 \n"
|
|
"1: \n" /* If it intends to sleep, let it first */
|
|
"ldrb r1, [%[sem], #2] \n" /* intend_sleep != 0 ? */
|
|
"cmp r1, #1 \n"
|
|
"ldr r1, [%[st]] \n" /* && not sleeping ? */
|
|
"tsteq r1, r2, lsr %[oc] \n"
|
|
"beq 1b \n" /* Wait for sleep or wake */
|
|
"tst r1, r2, lsr %[oc] \n"
|
|
"ldrne r2, =0xcf004054 \n" /* If sleeping, wake it */
|
|
"movne r1, #0xce \n"
|
|
"strne r1, [r2, %[oc], lsl #2] \n"
|
|
"mov r1, #0 \n" /* Done with wake procedure */
|
|
"strb r1, [%[sem], #0] \n"
|
|
"msr cpsr_c, r3 \n" /* Restore IRQ */
|
|
:
|
|
: [sem]"r"(&core_semaphores[othercore]),
|
|
[st]"r"(&PROC_STAT),
|
|
[oc]"r"(othercore)
|
|
: "r1", "r2", "r3"
|
|
);
|
|
#else /* C version for reference */
|
|
/* Disable interrupts - avoid reentrancy from the tick */
|
|
int oldlevel = disable_irq_save();
|
|
|
|
/* Signal intent to wake other processor - set stay awake */
|
|
core_semaphores[othercore].intend_wake = 1;
|
|
core_semaphores[othercore].stay_awake = 1;
|
|
|
|
/* If it intends to sleep, wait until it does or aborts */
|
|
while (core_semaphores[othercore].intend_sleep != 0 &&
|
|
(PROC_STAT & PROC_SLEEPING(othercore)) == 0);
|
|
|
|
/* If sleeping, wake it up */
|
|
if (PROC_STAT & PROC_SLEEPING(othercore))
|
|
wake_core(othercore);
|
|
|
|
/* Done with wake procedure */
|
|
core_semaphores[othercore].intend_wake = 0;
|
|
restore_irq(oldlevel);
|
|
#endif /* ASM/C selection */
|
|
}
|
|
#endif /* CPU type */
|
|
|
|
#if NUM_CORES > 1
|
|
/*---------------------------------------------------------------------------
|
|
* Switches to a stack that always resides in the Rockbox core.
|
|
*
|
|
* Needed when a thread suicides on a core other than the main CPU since the
|
|
* stack used when idling is the stack of the last thread to run. This stack
|
|
* may not reside in the core firmware in which case the core will continue
|
|
* to use a stack from an unloaded module until another thread runs on it.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static inline void switch_to_idle_stack(const unsigned int core)
|
|
{
|
|
asm volatile (
|
|
"str sp, [%0] \n" /* save original stack pointer on idle stack */
|
|
"mov sp, %0 \n" /* switch stacks */
|
|
: : "r"(&idle_stacks[core][IDLE_STACK_WORDS-1]));
|
|
(void)core;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Perform core switch steps that need to take place inside switch_thread.
|
|
*
|
|
* These steps must take place while before changing the processor and after
|
|
* having entered switch_thread since switch_thread may not do a normal return
|
|
* because the stack being used for anything the compiler saved will not belong
|
|
* to the thread's destination core and it may have been recycled for other
|
|
* purposes by the time a normal context load has taken place. switch_thread
|
|
* will also clobber anything stashed in the thread's context or stored in the
|
|
* nonvolatile registers if it is saved there before the call since the
|
|
* compiler's order of operations cannot be known for certain.
|
|
*/
|
|
static void core_switch_blk_op(unsigned int core, struct thread_entry *thread)
|
|
{
|
|
/* Flush our data to ram */
|
|
flush_icache();
|
|
/* Stash thread in r4 slot */
|
|
thread->context.r[0] = (uint32_t)thread;
|
|
/* Stash restart address in r5 slot */
|
|
thread->context.r[1] = thread->context.start;
|
|
/* Save sp in context.sp while still running on old core */
|
|
thread->context.sp = idle_stacks[core][IDLE_STACK_WORDS-1];
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Machine-specific helper function for switching the processor a thread is
|
|
* running on. Basically, the thread suicides on the departing core and is
|
|
* reborn on the destination. Were it not for gcc's ill-behavior regarding
|
|
* naked functions written in C where it actually clobbers non-volatile
|
|
* registers before the intended prologue code, this would all be much
|
|
* simpler. Generic setup is done in switch_core itself.
|
|
*/
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* This actually performs the core switch.
|
|
*/
|
|
static void __attribute__((naked))
|
|
switch_thread_core(unsigned int core, struct thread_entry *thread)
|
|
{
|
|
/* Pure asm for this because compiler behavior isn't sufficiently predictable.
|
|
* Stack access also isn't permitted until restoring the original stack and
|
|
* context. */
|
|
asm volatile (
|
|
"stmfd sp!, { r4-r12, lr } \n" /* Stack all non-volatile context on current core */
|
|
"ldr r2, =idle_stacks \n" /* r2 = &idle_stacks[core][IDLE_STACK_WORDS] */
|
|
"ldr r2, [r2, r0, lsl #2] \n"
|
|
"add r2, r2, %0*4 \n"
|
|
"stmfd r2!, { sp } \n" /* save original stack pointer on idle stack */
|
|
"mov sp, r2 \n" /* switch stacks */
|
|
"adr r2, 1f \n" /* r2 = new core restart address */
|
|
"str r2, [r1, #40] \n" /* thread->context.start = r2 */
|
|
"ldr pc, =switch_thread \n" /* r0 = thread after call - see load_context */
|
|
"1: \n"
|
|
"ldr sp, [r0, #32] \n" /* Reload original sp from context structure */
|
|
"mov r1, #0 \n" /* Clear start address */
|
|
"str r1, [r0, #40] \n"
|
|
"ldr r0, =invalidate_icache \n" /* Invalidate new core's cache */
|
|
"mov lr, pc \n"
|
|
"bx r0 \n"
|
|
"ldmfd sp!, { r4-r12, pc } \n" /* Restore non-volatile context to new core and return */
|
|
".ltorg \n" /* Dump constant pool */
|
|
: : "i"(IDLE_STACK_WORDS)
|
|
);
|
|
(void)core; (void)thread;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Do any device-specific inits for the threads and synchronize the kernel
|
|
* initializations.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static void core_thread_init(unsigned int core)
|
|
{
|
|
if (core == CPU)
|
|
{
|
|
/* Wake up coprocessor and let it initialize kernel and threads */
|
|
#ifdef CPU_PP502x
|
|
MBX_MSG_CLR = 0x3f;
|
|
#endif
|
|
wake_core(COP);
|
|
/* Sleep until COP has finished */
|
|
sleep_core(CPU);
|
|
}
|
|
else
|
|
{
|
|
/* Wake the CPU and return */
|
|
wake_core(CPU);
|
|
}
|
|
}
|
|
#endif /* NUM_CORES */
|
|
|
|
#elif CONFIG_CPU == S3C2440
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Put core in a power-saving state if waking list wasn't repopulated.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static inline void core_sleep(void)
|
|
{
|
|
/* FIQ also changes the CLKCON register so FIQ must be disabled
|
|
when changing it here */
|
|
asm volatile (
|
|
"mrs r0, cpsr \n"
|
|
"orr r2, r0, #0x40 \n" /* Disable FIQ */
|
|
"bic r0, r0, #0x80 \n" /* Prepare IRQ enable */
|
|
"msr cpsr_c, r2 \n"
|
|
"mov r1, #0x4c000000 \n" /* CLKCON = 0x4c00000c */
|
|
"ldr r2, [r1, #0xc] \n" /* Set IDLE bit */
|
|
"orr r2, r2, #4 \n"
|
|
"str r2, [r1, #0xc] \n"
|
|
"msr cpsr_c, r0 \n" /* Enable IRQ, restore FIQ */
|
|
"mov r2, #0 \n" /* wait for IDLE */
|
|
"1: \n"
|
|
"add r2, r2, #1 \n"
|
|
"cmp r2, #10 \n"
|
|
"bne 1b \n"
|
|
"orr r2, r0, #0xc0 \n" /* Disable IRQ, FIQ */
|
|
"msr cpsr_c, r2 \n"
|
|
"ldr r2, [r1, #0xc] \n" /* Reset IDLE bit */
|
|
"bic r2, r2, #4 \n"
|
|
"str r2, [r1, #0xc] \n"
|
|
"msr cpsr_c, r0 \n" /* Enable IRQ, restore FIQ */
|
|
: : : "r0", "r1", "r2");
|
|
}
|
|
#elif defined(CPU_TCC780X) || defined(CPU_TCC77X)
|
|
static inline void core_sleep(void)
|
|
{
|
|
/* Single core only for now. Use the generic ARMv5 wait for IRQ */
|
|
asm volatile (
|
|
"mov r0, #0 \n"
|
|
"mcr p15, 0, r0, c7, c0, 4 \n" /* Wait for interrupt */
|
|
: : : "r0"
|
|
);
|
|
enable_irq();
|
|
}
|
|
#elif CONFIG_CPU == IMX31L
|
|
static inline void core_sleep(void)
|
|
{
|
|
asm volatile (
|
|
"mov r0, #0 \n"
|
|
"mcr p15, 0, r0, c7, c0, 4 \n" /* Wait for interrupt */
|
|
: : : "r0"
|
|
);
|
|
enable_irq();
|
|
}
|
|
#elif CONFIG_CPU == DM320
|
|
static inline void core_sleep(void)
|
|
{
|
|
asm volatile (
|
|
"mov r0, #0 \n"
|
|
"mcr p15, 0, r0, c7, c0, 4 \n" /* Wait for interrupt */
|
|
: : : "r0"
|
|
);
|
|
enable_irq();
|
|
}
|
|
#else
|
|
static inline void core_sleep(void)
|
|
{
|
|
#warning core_sleep not implemented, battery life will be decreased
|
|
enable_irq();
|
|
}
|
|
#endif /* CONFIG_CPU == */
|
|
|
|
#elif defined(CPU_COLDFIRE)
|
|
/*---------------------------------------------------------------------------
|
|
* Start the thread running and terminate it if it returns
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
void start_thread(void); /* Provide C access to ASM label */
|
|
static void __attribute__((used)) __start_thread(void)
|
|
{
|
|
/* a0=macsr, a1=context */
|
|
asm volatile (
|
|
"start_thread: \n" /* Start here - no naked attribute */
|
|
"move.l %a0, %macsr \n" /* Set initial mac status reg */
|
|
"lea.l 48(%a1), %a1 \n"
|
|
"move.l (%a1)+, %sp \n" /* Set initial stack */
|
|
"move.l (%a1), %a2 \n" /* Fetch thread function pointer */
|
|
"clr.l (%a1) \n" /* Mark thread running */
|
|
"jsr (%a2) \n" /* Call thread function */
|
|
);
|
|
thread_exit();
|
|
}
|
|
|
|
/* Set EMAC unit to fractional mode with saturation for each new thread,
|
|
* since that's what'll be the most useful for most things which the dsp
|
|
* will do. Codecs should still initialize their preferred modes
|
|
* explicitly. Context pointer is placed in d2 slot and start_thread
|
|
* pointer in d3 slot. thread function pointer is placed in context.start.
|
|
* See load_context for what happens when thread is initially going to
|
|
* run.
|
|
*/
|
|
#define THREAD_STARTUP_INIT(core, thread, function) \
|
|
({ (thread)->context.macsr = EMAC_FRACTIONAL | EMAC_SATURATE, \
|
|
(thread)->context.d[0] = (uint32_t)&(thread)->context, \
|
|
(thread)->context.d[1] = (uint32_t)start_thread, \
|
|
(thread)->context.start = (uint32_t)(function); })
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Store non-volatile context.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static inline void store_context(void* addr)
|
|
{
|
|
asm volatile (
|
|
"move.l %%macsr,%%d0 \n"
|
|
"movem.l %%d0/%%d2-%%d7/%%a2-%%a7,(%0) \n"
|
|
: : "a" (addr) : "d0" /* only! */
|
|
);
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Load non-volatile context.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static inline void load_context(const void* addr)
|
|
{
|
|
asm volatile (
|
|
"move.l 52(%0), %%d0 \n" /* Get start address */
|
|
"beq.b 1f \n" /* NULL -> already running */
|
|
"movem.l (%0), %%a0-%%a2 \n" /* a0=macsr, a1=context, a2=start_thread */
|
|
"jmp (%%a2) \n" /* Start the thread */
|
|
"1: \n"
|
|
"movem.l (%0), %%d0/%%d2-%%d7/%%a2-%%a7 \n" /* Load context */
|
|
"move.l %%d0, %%macsr \n"
|
|
: : "a" (addr) : "d0" /* only! */
|
|
);
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Put core in a power-saving state if waking list wasn't repopulated.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static inline void core_sleep(void)
|
|
{
|
|
/* Supervisor mode, interrupts enabled upon wakeup */
|
|
asm volatile ("stop #0x2000");
|
|
};
|
|
|
|
#elif CONFIG_CPU == SH7034
|
|
/*---------------------------------------------------------------------------
|
|
* Start the thread running and terminate it if it returns
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
void start_thread(void); /* Provide C access to ASM label */
|
|
static void __attribute__((used)) __start_thread(void)
|
|
{
|
|
/* r8 = context */
|
|
asm volatile (
|
|
"_start_thread: \n" /* Start here - no naked attribute */
|
|
"mov.l @(4, r8), r0 \n" /* Fetch thread function pointer */
|
|
"mov.l @(28, r8), r15 \n" /* Set initial sp */
|
|
"mov #0, r1 \n" /* Start the thread */
|
|
"jsr @r0 \n"
|
|
"mov.l r1, @(36, r8) \n" /* Clear start address */
|
|
);
|
|
thread_exit();
|
|
}
|
|
|
|
/* Place context pointer in r8 slot, function pointer in r9 slot, and
|
|
* start_thread pointer in context_start */
|
|
#define THREAD_STARTUP_INIT(core, thread, function) \
|
|
({ (thread)->context.r[0] = (uint32_t)&(thread)->context, \
|
|
(thread)->context.r[1] = (uint32_t)(function), \
|
|
(thread)->context.start = (uint32_t)start_thread; })
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Store non-volatile context.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static inline void store_context(void* addr)
|
|
{
|
|
asm volatile (
|
|
"add #36, %0 \n" /* Start at last reg. By the time routine */
|
|
"sts.l pr, @-%0 \n" /* is done, %0 will have the original value */
|
|
"mov.l r15,@-%0 \n"
|
|
"mov.l r14,@-%0 \n"
|
|
"mov.l r13,@-%0 \n"
|
|
"mov.l r12,@-%0 \n"
|
|
"mov.l r11,@-%0 \n"
|
|
"mov.l r10,@-%0 \n"
|
|
"mov.l r9, @-%0 \n"
|
|
"mov.l r8, @-%0 \n"
|
|
: : "r" (addr)
|
|
);
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Load non-volatile context.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static inline void load_context(const void* addr)
|
|
{
|
|
asm volatile (
|
|
"mov.l @(36, %0), r0 \n" /* Get start address */
|
|
"tst r0, r0 \n"
|
|
"bt .running \n" /* NULL -> already running */
|
|
"jmp @r0 \n" /* r8 = context */
|
|
".running: \n"
|
|
"mov.l @%0+, r8 \n" /* Executes in delay slot and outside it */
|
|
"mov.l @%0+, r9 \n"
|
|
"mov.l @%0+, r10 \n"
|
|
"mov.l @%0+, r11 \n"
|
|
"mov.l @%0+, r12 \n"
|
|
"mov.l @%0+, r13 \n"
|
|
"mov.l @%0+, r14 \n"
|
|
"mov.l @%0+, r15 \n"
|
|
"lds.l @%0+, pr \n"
|
|
: : "r" (addr) : "r0" /* only! */
|
|
);
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Put core in a power-saving state.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static inline void core_sleep(void)
|
|
{
|
|
asm volatile (
|
|
"and.b #0x7f, @(r0, gbr) \n" /* Clear SBY (bit 7) in SBYCR */
|
|
"mov #0, r1 \n" /* Enable interrupts */
|
|
"ldc r1, sr \n" /* Following instruction cannot be interrupted */
|
|
"sleep \n" /* Execute standby */
|
|
: : "z"(&SBYCR-GBR) : "r1");
|
|
}
|
|
|
|
#elif CPU_MIPS == 32
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Start the thread running and terminate it if it returns
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
|
|
void start_thread(void); /* Provide C access to ASM label */
|
|
static void __attribute__((used)) _start_thread(void)
|
|
{
|
|
|
|
/* $t1 = context */
|
|
asm volatile (
|
|
"start_thread: \n"
|
|
".set noreorder \n"
|
|
".set noat \n"
|
|
"lw $8, 4($9) \n" /* Fetch thread function pointer ($8 = $t0, $9 = $t1) */
|
|
"lw $29, 40($9) \n" /* Set initial sp(=$29) */
|
|
"sw $0, 48($9) \n" /* Clear start address */
|
|
"jalr $8 \n" /* Start the thread */
|
|
"nop \n"
|
|
".set at \n"
|
|
".set reorder \n"
|
|
);
|
|
thread_exit();
|
|
|
|
}
|
|
|
|
/* Place context pointer in $s0 slot, function pointer in $s1 slot, and
|
|
* start_thread pointer in context_start */
|
|
#define THREAD_STARTUP_INIT(core, thread, function) \
|
|
({ (thread)->context.r[0] = (uint32_t)&(thread)->context, \
|
|
(thread)->context.r[1] = (uint32_t)(function), \
|
|
(thread)->context.start = (uint32_t)start_thread; })
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Store non-volatile context.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static inline void store_context(void* addr)
|
|
{
|
|
asm volatile (
|
|
".set noreorder \n"
|
|
".set noat \n"
|
|
"move $8, %0 \n"
|
|
"sw $16, 0($8) \n" /* $s0 */
|
|
"sw $17, 4($8) \n" /* $s1 */
|
|
"sw $18, 8($8) \n" /* $s2 */
|
|
"sw $19, 12($8) \n" /* $s3 */
|
|
"sw $20, 16($8) \n" /* $s4 */
|
|
"sw $21, 20($8) \n" /* $s5 */
|
|
"sw $22, 24($8) \n" /* $s6 */
|
|
"sw $23, 28($8) \n" /* $s7 */
|
|
"sw $28, 32($8) \n" /* gp */
|
|
"sw $30, 36($8) \n" /* fp */
|
|
"sw $29, 40($8) \n" /* sp */
|
|
"sw $31, 44($8) \n" /* ra */
|
|
".set at \n"
|
|
".set reorder \n"
|
|
: : "r" (addr) : "t0"
|
|
);
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Load non-volatile context.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static inline void load_context(const void* addr)
|
|
{
|
|
asm volatile (
|
|
".set noat \n"
|
|
".set noreorder \n"
|
|
"lw $8, 48(%0) \n" /* Get start address ($8 = $t0) */
|
|
"beqz $8, running \n" /* NULL -> already running */
|
|
"nop \n"
|
|
"move $9, %0 \n" /* $t1 = context */
|
|
"jr $8 \n"
|
|
"nop \n"
|
|
"running: \n"
|
|
"move $8, %0 \n"
|
|
"lw $16, 0($8) \n" /* $s0 */
|
|
"lw $17, 4($8) \n" /* $s1 */
|
|
"lw $18, 8($8) \n" /* $s2 */
|
|
"lw $19, 12($8) \n" /* $s3 */
|
|
"lw $20, 16($8) \n" /* $s4 */
|
|
"lw $21, 20($8) \n" /* $s5 */
|
|
"lw $22, 24($8) \n" /* $s6 */
|
|
"lw $23, 28($8) \n" /* $s7 */
|
|
"lw $28, 32($8) \n" /* gp */
|
|
"lw $30, 36($8) \n" /* fp */
|
|
"lw $29, 40($8) \n" /* sp */
|
|
"lw $31, 44($8) \n" /* ra */
|
|
".set at \n"
|
|
".set reorder \n"
|
|
: : "r" (addr) : "t0" /* only! */
|
|
);
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Put core in a power-saving state.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static inline void core_sleep(void)
|
|
{
|
|
#if CONFIG_CPU == JZ4732
|
|
REG_CPM_LCR &= ~CPM_LCR_LPM_MASK;
|
|
REG_CPM_LCR |= CPM_LCR_LPM_SLEEP;
|
|
#endif
|
|
asm volatile(".set mips32r2 \n"
|
|
"mfc0 $8, $12 \n" /* mfc $t0, $12 */
|
|
"move $9, $8 \n" /* move $t1, $t0 */
|
|
"la $10, 0x8000000 \n" /* la $t2, 0x8000000 */
|
|
"or $8, $8, $10 \n" /* Enable reduced power mode */
|
|
"mtc0 $8, $12 \n"
|
|
"wait \n"
|
|
"mtc0 $9, $12 \n"
|
|
".set mips0 \n"
|
|
::: "t0", "t1", "t2"
|
|
);
|
|
#if CONFIG_CPU == JZ4732
|
|
REG_CPM_LCR &= ~CPM_LCR_LPM_MASK;
|
|
REG_CPM_LCR |= CPM_LCR_LPM_IDLE;
|
|
#endif
|
|
}
|
|
|
|
|
|
#endif /* CONFIG_CPU == */
|
|
|
|
/*
|
|
* End Processor-specific section
|
|
***************************************************************************/
|
|
|
|
#if THREAD_EXTRA_CHECKS
|
|
static void thread_panicf(const char *msg, struct thread_entry *thread)
|
|
{
|
|
IF_COP( const unsigned int core = thread->core; )
|
|
static char name[32];
|
|
thread_get_name(name, 32, thread);
|
|
panicf ("%s %s" IF_COP(" (%d)"), msg, name IF_COP(, core));
|
|
}
|
|
static void thread_stkov(struct thread_entry *thread)
|
|
{
|
|
thread_panicf("Stkov", thread);
|
|
}
|
|
#define THREAD_PANICF(msg, thread) \
|
|
thread_panicf(msg, thread)
|
|
#define THREAD_ASSERT(exp, msg, thread) \
|
|
({ if (!({ exp; })) thread_panicf((msg), (thread)); })
|
|
#else
|
|
static void thread_stkov(struct thread_entry *thread)
|
|
{
|
|
IF_COP( const unsigned int core = thread->core; )
|
|
static char name[32];
|
|
thread_get_name(name, 32, thread);
|
|
panicf("Stkov %s" IF_COP(" (%d)"), name IF_COP(, core));
|
|
}
|
|
#define THREAD_PANICF(msg, thread)
|
|
#define THREAD_ASSERT(exp, msg, thread)
|
|
#endif /* THREAD_EXTRA_CHECKS */
|
|
|
|
/* Thread locking */
|
|
#if NUM_CORES > 1
|
|
#define LOCK_THREAD(thread) \
|
|
({ corelock_lock(&(thread)->slot_cl); })
|
|
#define TRY_LOCK_THREAD(thread) \
|
|
({ corelock_try_lock(&thread->slot_cl); })
|
|
#define UNLOCK_THREAD(thread) \
|
|
({ corelock_unlock(&(thread)->slot_cl); })
|
|
#define UNLOCK_THREAD_AT_TASK_SWITCH(thread) \
|
|
({ unsigned int _core = (thread)->core; \
|
|
cores[_core].blk_ops.flags |= TBOP_UNLOCK_CORELOCK; \
|
|
cores[_core].blk_ops.cl_p = &(thread)->slot_cl; })
|
|
#else
|
|
#define LOCK_THREAD(thread) \
|
|
({ })
|
|
#define TRY_LOCK_THREAD(thread) \
|
|
({ })
|
|
#define UNLOCK_THREAD(thread) \
|
|
({ })
|
|
#define UNLOCK_THREAD_AT_TASK_SWITCH(thread) \
|
|
({ })
|
|
#endif
|
|
|
|
/* RTR list */
|
|
#define RTR_LOCK(core) \
|
|
({ corelock_lock(&cores[core].rtr_cl); })
|
|
#define RTR_UNLOCK(core) \
|
|
({ corelock_unlock(&cores[core].rtr_cl); })
|
|
|
|
#ifdef HAVE_PRIORITY_SCHEDULING
|
|
#define rtr_add_entry(core, priority) \
|
|
prio_add_entry(&cores[core].rtr, (priority))
|
|
|
|
#define rtr_subtract_entry(core, priority) \
|
|
prio_subtract_entry(&cores[core].rtr, (priority))
|
|
|
|
#define rtr_move_entry(core, from, to) \
|
|
prio_move_entry(&cores[core].rtr, (from), (to))
|
|
#else
|
|
#define rtr_add_entry(core, priority)
|
|
#define rtr_add_entry_inl(core, priority)
|
|
#define rtr_subtract_entry(core, priority)
|
|
#define rtr_subtract_entry_inl(core, priotity)
|
|
#define rtr_move_entry(core, from, to)
|
|
#define rtr_move_entry_inl(core, from, to)
|
|
#endif
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Thread list structure - circular:
|
|
* +------------------------------+
|
|
* | |
|
|
* +--+---+<-+---+<-+---+<-+---+<-+
|
|
* Head->| T | | T | | T | | T |
|
|
* +->+---+->+---+->+---+->+---+--+
|
|
* | |
|
|
* +------------------------------+
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Adds a thread to a list of threads using "insert last". Uses the "l"
|
|
* links.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static void add_to_list_l(struct thread_entry **list,
|
|
struct thread_entry *thread)
|
|
{
|
|
struct thread_entry *l = *list;
|
|
|
|
if (l == NULL)
|
|
{
|
|
/* Insert into unoccupied list */
|
|
thread->l.prev = thread;
|
|
thread->l.next = thread;
|
|
*list = thread;
|
|
return;
|
|
}
|
|
|
|
/* Insert last */
|
|
thread->l.prev = l->l.prev;
|
|
thread->l.next = l;
|
|
l->l.prev->l.next = thread;
|
|
l->l.prev = thread;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Removes a thread from a list of threads. Uses the "l" links.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static void remove_from_list_l(struct thread_entry **list,
|
|
struct thread_entry *thread)
|
|
{
|
|
struct thread_entry *prev, *next;
|
|
|
|
next = thread->l.next;
|
|
|
|
if (thread == next)
|
|
{
|
|
/* The only item */
|
|
*list = NULL;
|
|
return;
|
|
}
|
|
|
|
if (thread == *list)
|
|
{
|
|
/* List becomes next item */
|
|
*list = next;
|
|
}
|
|
|
|
prev = thread->l.prev;
|
|
|
|
/* Fix links to jump over the removed entry. */
|
|
next->l.prev = prev;
|
|
prev->l.next = next;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Timeout list structure - circular reverse (to make "remove item" O(1)),
|
|
* NULL-terminated forward (to ease the far more common forward traversal):
|
|
* +------------------------------+
|
|
* | |
|
|
* +--+---+<-+---+<-+---+<-+---+<-+
|
|
* Head->| T | | T | | T | | T |
|
|
* +---+->+---+->+---+->+---+-X
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Add a thread from the core's timout list by linking the pointers in its
|
|
* tmo structure.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static void add_to_list_tmo(struct thread_entry *thread)
|
|
{
|
|
struct thread_entry *tmo = cores[IF_COP_CORE(thread->core)].timeout;
|
|
THREAD_ASSERT(thread->tmo.prev == NULL,
|
|
"add_to_list_tmo->already listed", thread);
|
|
|
|
thread->tmo.next = NULL;
|
|
|
|
if (tmo == NULL)
|
|
{
|
|
/* Insert into unoccupied list */
|
|
thread->tmo.prev = thread;
|
|
cores[IF_COP_CORE(thread->core)].timeout = thread;
|
|
return;
|
|
}
|
|
|
|
/* Insert Last */
|
|
thread->tmo.prev = tmo->tmo.prev;
|
|
tmo->tmo.prev->tmo.next = thread;
|
|
tmo->tmo.prev = thread;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Remove a thread from the core's timout list by unlinking the pointers in
|
|
* its tmo structure. Sets thread->tmo.prev to NULL to indicate the timeout
|
|
* is cancelled.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static void remove_from_list_tmo(struct thread_entry *thread)
|
|
{
|
|
struct thread_entry **list = &cores[IF_COP_CORE(thread->core)].timeout;
|
|
struct thread_entry *prev = thread->tmo.prev;
|
|
struct thread_entry *next = thread->tmo.next;
|
|
|
|
THREAD_ASSERT(prev != NULL, "remove_from_list_tmo->not listed", thread);
|
|
|
|
if (next != NULL)
|
|
next->tmo.prev = prev;
|
|
|
|
if (thread == *list)
|
|
{
|
|
/* List becomes next item and empty if next == NULL */
|
|
*list = next;
|
|
/* Mark as unlisted */
|
|
thread->tmo.prev = NULL;
|
|
}
|
|
else
|
|
{
|
|
if (next == NULL)
|
|
(*list)->tmo.prev = prev;
|
|
prev->tmo.next = next;
|
|
/* Mark as unlisted */
|
|
thread->tmo.prev = NULL;
|
|
}
|
|
}
|
|
|
|
|
|
#ifdef HAVE_PRIORITY_SCHEDULING
|
|
/*---------------------------------------------------------------------------
|
|
* Priority distribution structure (one category for each possible priority):
|
|
*
|
|
* +----+----+----+ ... +-----+
|
|
* hist: | F0 | F1 | F2 | | F31 |
|
|
* +----+----+----+ ... +-----+
|
|
* mask: | b0 | b1 | b2 | | b31 |
|
|
* +----+----+----+ ... +-----+
|
|
*
|
|
* F = count of threads at priority category n (frequency)
|
|
* b = bitmask of non-zero priority categories (occupancy)
|
|
*
|
|
* / if H[n] != 0 : 1
|
|
* b[n] = |
|
|
* \ else : 0
|
|
*
|
|
*---------------------------------------------------------------------------
|
|
* Basic priority inheritance priotocol (PIP):
|
|
*
|
|
* Mn = mutex n, Tn = thread n
|
|
*
|
|
* A lower priority thread inherits the priority of the highest priority
|
|
* thread blocked waiting for it to complete an action (such as release a
|
|
* mutex or respond to a message via queue_send):
|
|
*
|
|
* 1) T2->M1->T1
|
|
*
|
|
* T1 owns M1, T2 is waiting for M1 to realease M1. If T2 has a higher
|
|
* priority than T1 then T1 inherits the priority of T2.
|
|
*
|
|
* 2) T3
|
|
* \/
|
|
* T2->M1->T1
|
|
*
|
|
* Situation is like 1) but T2 and T3 are both queued waiting for M1 and so
|
|
* T1 inherits the higher of T2 and T3.
|
|
*
|
|
* 3) T3->M2->T2->M1->T1
|
|
*
|
|
* T1 owns M1, T2 owns M2. If T3 has a higher priority than both T1 and T2,
|
|
* then T1 inherits the priority of T3 through T2.
|
|
*
|
|
* Blocking chains can grow arbitrarily complex (though it's best that they
|
|
* not form at all very often :) and build-up from these units.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Increment frequency at category "priority"
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static inline unsigned int prio_add_entry(
|
|
struct priority_distribution *pd, int priority)
|
|
{
|
|
unsigned int count;
|
|
/* Enough size/instruction count difference for ARM makes it worth it to
|
|
* use different code (192 bytes for ARM). Only thing better is ASM. */
|
|
#ifdef CPU_ARM
|
|
count = pd->hist[priority];
|
|
if (++count == 1)
|
|
pd->mask |= 1 << priority;
|
|
pd->hist[priority] = count;
|
|
#else /* This one's better for Coldfire */
|
|
if ((count = ++pd->hist[priority]) == 1)
|
|
pd->mask |= 1 << priority;
|
|
#endif
|
|
|
|
return count;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Decrement frequency at category "priority"
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static inline unsigned int prio_subtract_entry(
|
|
struct priority_distribution *pd, int priority)
|
|
{
|
|
unsigned int count;
|
|
|
|
#ifdef CPU_ARM
|
|
count = pd->hist[priority];
|
|
if (--count == 0)
|
|
pd->mask &= ~(1 << priority);
|
|
pd->hist[priority] = count;
|
|
#else
|
|
if ((count = --pd->hist[priority]) == 0)
|
|
pd->mask &= ~(1 << priority);
|
|
#endif
|
|
|
|
return count;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Remove from one category and add to another
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static inline void prio_move_entry(
|
|
struct priority_distribution *pd, int from, int to)
|
|
{
|
|
uint32_t mask = pd->mask;
|
|
|
|
#ifdef CPU_ARM
|
|
unsigned int count;
|
|
|
|
count = pd->hist[from];
|
|
if (--count == 0)
|
|
mask &= ~(1 << from);
|
|
pd->hist[from] = count;
|
|
|
|
count = pd->hist[to];
|
|
if (++count == 1)
|
|
mask |= 1 << to;
|
|
pd->hist[to] = count;
|
|
#else
|
|
if (--pd->hist[from] == 0)
|
|
mask &= ~(1 << from);
|
|
|
|
if (++pd->hist[to] == 1)
|
|
mask |= 1 << to;
|
|
#endif
|
|
|
|
pd->mask = mask;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Change the priority and rtr entry for a running thread
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static inline void set_running_thread_priority(
|
|
struct thread_entry *thread, int priority)
|
|
{
|
|
const unsigned int core = IF_COP_CORE(thread->core);
|
|
RTR_LOCK(core);
|
|
rtr_move_entry(core, thread->priority, priority);
|
|
thread->priority = priority;
|
|
RTR_UNLOCK(core);
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Finds the highest priority thread in a list of threads. If the list is
|
|
* empty, the PRIORITY_IDLE is returned.
|
|
*
|
|
* It is possible to use the struct priority_distribution within an object
|
|
* instead of scanning the remaining threads in the list but as a compromise,
|
|
* the resulting per-object memory overhead is saved at a slight speed
|
|
* penalty under high contention.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static int find_highest_priority_in_list_l(
|
|
struct thread_entry * const thread)
|
|
{
|
|
if (thread != NULL)
|
|
{
|
|
/* Go though list until the ending up at the initial thread */
|
|
int highest_priority = thread->priority;
|
|
struct thread_entry *curr = thread;
|
|
|
|
do
|
|
{
|
|
int priority = curr->priority;
|
|
|
|
if (priority < highest_priority)
|
|
highest_priority = priority;
|
|
|
|
curr = curr->l.next;
|
|
}
|
|
while (curr != thread);
|
|
|
|
return highest_priority;
|
|
}
|
|
|
|
return PRIORITY_IDLE;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Register priority with blocking system and bubble it down the chain if
|
|
* any until we reach the end or something is already equal or higher.
|
|
*
|
|
* NOTE: A simultaneous circular wait could spin deadlock on multiprocessor
|
|
* targets but that same action also guarantees a circular block anyway and
|
|
* those are prevented, right? :-)
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static struct thread_entry *
|
|
blocker_inherit_priority(struct thread_entry *current)
|
|
{
|
|
const int priority = current->priority;
|
|
struct blocker *bl = current->blocker;
|
|
struct thread_entry * const tstart = current;
|
|
struct thread_entry *bl_t = bl->thread;
|
|
|
|
/* Blocker cannot change since the object protection is held */
|
|
LOCK_THREAD(bl_t);
|
|
|
|
for (;;)
|
|
{
|
|
struct thread_entry *next;
|
|
int bl_pr = bl->priority;
|
|
|
|
if (priority >= bl_pr)
|
|
break; /* Object priority already high enough */
|
|
|
|
bl->priority = priority;
|
|
|
|
/* Add this one */
|
|
prio_add_entry(&bl_t->pdist, priority);
|
|
|
|
if (bl_pr < PRIORITY_IDLE)
|
|
{
|
|
/* Not first waiter - subtract old one */
|
|
prio_subtract_entry(&bl_t->pdist, bl_pr);
|
|
}
|
|
|
|
if (priority >= bl_t->priority)
|
|
break; /* Thread priority high enough */
|
|
|
|
if (bl_t->state == STATE_RUNNING)
|
|
{
|
|
/* Blocking thread is a running thread therefore there are no
|
|
* further blockers. Change the "run queue" on which it
|
|
* resides. */
|
|
set_running_thread_priority(bl_t, priority);
|
|
break;
|
|
}
|
|
|
|
bl_t->priority = priority;
|
|
|
|
/* If blocking thread has a blocker, apply transitive inheritance */
|
|
bl = bl_t->blocker;
|
|
|
|
if (bl == NULL)
|
|
break; /* End of chain or object doesn't support inheritance */
|
|
|
|
next = bl->thread;
|
|
|
|
if (next == tstart)
|
|
break; /* Full-circle - deadlock! */
|
|
|
|
UNLOCK_THREAD(current);
|
|
|
|
#if NUM_CORES > 1
|
|
for (;;)
|
|
{
|
|
LOCK_THREAD(next);
|
|
|
|
/* Blocker could change - retest condition */
|
|
if (bl->thread == next)
|
|
break;
|
|
|
|
UNLOCK_THREAD(next);
|
|
next = bl->thread;
|
|
}
|
|
#endif
|
|
current = bl_t;
|
|
bl_t = next;
|
|
}
|
|
|
|
UNLOCK_THREAD(bl_t);
|
|
|
|
return current;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Readjust priorities when waking a thread blocked waiting for another
|
|
* in essence "releasing" the thread's effect on the object owner. Can be
|
|
* performed from any context.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
struct thread_entry *
|
|
wakeup_priority_protocol_release(struct thread_entry *thread)
|
|
{
|
|
const int priority = thread->priority;
|
|
struct blocker *bl = thread->blocker;
|
|
struct thread_entry * const tstart = thread;
|
|
struct thread_entry *bl_t = bl->thread;
|
|
|
|
/* Blocker cannot change since object will be locked */
|
|
LOCK_THREAD(bl_t);
|
|
|
|
thread->blocker = NULL; /* Thread not blocked */
|
|
|
|
for (;;)
|
|
{
|
|
struct thread_entry *next;
|
|
int bl_pr = bl->priority;
|
|
|
|
if (priority > bl_pr)
|
|
break; /* Object priority higher */
|
|
|
|
next = *thread->bqp;
|
|
|
|
if (next == NULL)
|
|
{
|
|
/* No more threads in queue */
|
|
prio_subtract_entry(&bl_t->pdist, bl_pr);
|
|
bl->priority = PRIORITY_IDLE;
|
|
}
|
|
else
|
|
{
|
|
/* Check list for highest remaining priority */
|
|
int queue_pr = find_highest_priority_in_list_l(next);
|
|
|
|
if (queue_pr == bl_pr)
|
|
break; /* Object priority not changing */
|
|
|
|
/* Change queue priority */
|
|
prio_move_entry(&bl_t->pdist, bl_pr, queue_pr);
|
|
bl->priority = queue_pr;
|
|
}
|
|
|
|
if (bl_pr > bl_t->priority)
|
|
break; /* thread priority is higher */
|
|
|
|
bl_pr = find_first_set_bit(bl_t->pdist.mask);
|
|
|
|
if (bl_pr == bl_t->priority)
|
|
break; /* Thread priority not changing */
|
|
|
|
if (bl_t->state == STATE_RUNNING)
|
|
{
|
|
/* No further blockers */
|
|
set_running_thread_priority(bl_t, bl_pr);
|
|
break;
|
|
}
|
|
|
|
bl_t->priority = bl_pr;
|
|
|
|
/* If blocking thread has a blocker, apply transitive inheritance */
|
|
bl = bl_t->blocker;
|
|
|
|
if (bl == NULL)
|
|
break; /* End of chain or object doesn't support inheritance */
|
|
|
|
next = bl->thread;
|
|
|
|
if (next == tstart)
|
|
break; /* Full-circle - deadlock! */
|
|
|
|
UNLOCK_THREAD(thread);
|
|
|
|
#if NUM_CORES > 1
|
|
for (;;)
|
|
{
|
|
LOCK_THREAD(next);
|
|
|
|
/* Blocker could change - retest condition */
|
|
if (bl->thread == next)
|
|
break;
|
|
|
|
UNLOCK_THREAD(next);
|
|
next = bl->thread;
|
|
}
|
|
#endif
|
|
thread = bl_t;
|
|
bl_t = next;
|
|
}
|
|
|
|
UNLOCK_THREAD(bl_t);
|
|
|
|
#if NUM_CORES > 1
|
|
if (thread != tstart)
|
|
{
|
|
/* Relock original if it changed */
|
|
LOCK_THREAD(tstart);
|
|
}
|
|
#endif
|
|
|
|
return cores[CURRENT_CORE].running;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Transfer ownership to a thread waiting for an objects and transfer
|
|
* inherited priority boost from other waiters. This algorithm knows that
|
|
* blocking chains may only unblock from the very end.
|
|
*
|
|
* Only the owning thread itself may call this and so the assumption that
|
|
* it is the running thread is made.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
struct thread_entry *
|
|
wakeup_priority_protocol_transfer(struct thread_entry *thread)
|
|
{
|
|
/* Waking thread inherits priority boost from object owner */
|
|
struct blocker *bl = thread->blocker;
|
|
struct thread_entry *bl_t = bl->thread;
|
|
struct thread_entry *next;
|
|
int bl_pr;
|
|
|
|
THREAD_ASSERT(thread_get_current() == bl_t,
|
|
"UPPT->wrong thread", thread_get_current());
|
|
|
|
LOCK_THREAD(bl_t);
|
|
|
|
bl_pr = bl->priority;
|
|
|
|
/* Remove the object's boost from the owning thread */
|
|
if (prio_subtract_entry(&bl_t->pdist, bl_pr) == 0 &&
|
|
bl_pr <= bl_t->priority)
|
|
{
|
|
/* No more threads at this priority are waiting and the old level is
|
|
* at least the thread level */
|
|
int priority = find_first_set_bit(bl_t->pdist.mask);
|
|
|
|
if (priority != bl_t->priority)
|
|
{
|
|
/* Adjust this thread's priority */
|
|
set_running_thread_priority(bl_t, priority);
|
|
}
|
|
}
|
|
|
|
next = *thread->bqp;
|
|
|
|
if (next == NULL)
|
|
{
|
|
/* Expected shortcut - no more waiters */
|
|
bl_pr = PRIORITY_IDLE;
|
|
}
|
|
else
|
|
{
|
|
if (thread->priority <= bl_pr)
|
|
{
|
|
/* Need to scan threads remaining in queue */
|
|
bl_pr = find_highest_priority_in_list_l(next);
|
|
}
|
|
|
|
if (prio_add_entry(&thread->pdist, bl_pr) == 1 &&
|
|
bl_pr < thread->priority)
|
|
{
|
|
/* Thread priority must be raised */
|
|
thread->priority = bl_pr;
|
|
}
|
|
}
|
|
|
|
bl->thread = thread; /* This thread pwns */
|
|
bl->priority = bl_pr; /* Save highest blocked priority */
|
|
thread->blocker = NULL; /* Thread not blocked */
|
|
|
|
UNLOCK_THREAD(bl_t);
|
|
|
|
return bl_t;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* No threads must be blocked waiting for this thread except for it to exit.
|
|
* The alternative is more elaborate cleanup and object registration code.
|
|
* Check this for risk of silent data corruption when objects with
|
|
* inheritable blocking are abandoned by the owner - not precise but may
|
|
* catch something.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static void check_for_obj_waiters(const char *function, struct thread_entry *thread)
|
|
{
|
|
/* Only one bit in the mask should be set with a frequency on 1 which
|
|
* represents the thread's own base priority */
|
|
uint32_t mask = thread->pdist.mask;
|
|
if ((mask & (mask - 1)) != 0 ||
|
|
thread->pdist.hist[find_first_set_bit(mask)] > 1)
|
|
{
|
|
unsigned char name[32];
|
|
thread_get_name(name, 32, thread);
|
|
panicf("%s->%s with obj. waiters", function, name);
|
|
}
|
|
}
|
|
#endif /* HAVE_PRIORITY_SCHEDULING */
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Move a thread back to a running state on its core.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static void core_schedule_wakeup(struct thread_entry *thread)
|
|
{
|
|
const unsigned int core = IF_COP_CORE(thread->core);
|
|
|
|
RTR_LOCK(core);
|
|
|
|
thread->state = STATE_RUNNING;
|
|
|
|
add_to_list_l(&cores[core].running, thread);
|
|
rtr_add_entry(core, thread->priority);
|
|
|
|
RTR_UNLOCK(core);
|
|
|
|
#if NUM_CORES > 1
|
|
if (core != CURRENT_CORE)
|
|
core_wake(core);
|
|
#endif
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Check the core's timeout list when at least one thread is due to wake.
|
|
* Filtering for the condition is done before making the call. Resets the
|
|
* tick when the next check will occur.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
void check_tmo_threads(void)
|
|
{
|
|
const unsigned int core = CURRENT_CORE;
|
|
const long tick = current_tick; /* snapshot the current tick */
|
|
long next_tmo_check = tick + 60*HZ; /* minimum duration: once/minute */
|
|
struct thread_entry *next = cores[core].timeout;
|
|
|
|
/* If there are no processes waiting for a timeout, just keep the check
|
|
tick from falling into the past. */
|
|
|
|
/* Break the loop once we have walked through the list of all
|
|
* sleeping processes or have removed them all. */
|
|
while (next != NULL)
|
|
{
|
|
/* Check sleeping threads. Allow interrupts between checks. */
|
|
enable_irq();
|
|
|
|
struct thread_entry *curr = next;
|
|
|
|
next = curr->tmo.next;
|
|
|
|
/* Lock thread slot against explicit wakeup */
|
|
disable_irq();
|
|
LOCK_THREAD(curr);
|
|
|
|
unsigned state = curr->state;
|
|
|
|
if (state < TIMEOUT_STATE_FIRST)
|
|
{
|
|
/* Cleanup threads no longer on a timeout but still on the
|
|
* list. */
|
|
remove_from_list_tmo(curr);
|
|
}
|
|
else if (TIME_BEFORE(tick, curr->tmo_tick))
|
|
{
|
|
/* Timeout still pending - this will be the usual case */
|
|
if (TIME_BEFORE(curr->tmo_tick, next_tmo_check))
|
|
{
|
|
/* Earliest timeout found so far - move the next check up
|
|
to its time */
|
|
next_tmo_check = curr->tmo_tick;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* Sleep timeout has been reached so bring the thread back to
|
|
* life again. */
|
|
if (state == STATE_BLOCKED_W_TMO)
|
|
{
|
|
#if NUM_CORES > 1
|
|
/* Lock the waiting thread's kernel object */
|
|
struct corelock *ocl = curr->obj_cl;
|
|
|
|
if (corelock_try_lock(ocl) == 0)
|
|
{
|
|
/* Need to retry in the correct order though the need is
|
|
* unlikely */
|
|
UNLOCK_THREAD(curr);
|
|
corelock_lock(ocl);
|
|
LOCK_THREAD(curr);
|
|
|
|
if (curr->state != STATE_BLOCKED_W_TMO)
|
|
{
|
|
/* Thread was woken or removed explicitely while slot
|
|
* was unlocked */
|
|
corelock_unlock(ocl);
|
|
remove_from_list_tmo(curr);
|
|
UNLOCK_THREAD(curr);
|
|
continue;
|
|
}
|
|
}
|
|
#endif /* NUM_CORES */
|
|
|
|
remove_from_list_l(curr->bqp, curr);
|
|
|
|
#ifdef HAVE_WAKEUP_EXT_CB
|
|
if (curr->wakeup_ext_cb != NULL)
|
|
curr->wakeup_ext_cb(curr);
|
|
#endif
|
|
|
|
#ifdef HAVE_PRIORITY_SCHEDULING
|
|
if (curr->blocker != NULL)
|
|
wakeup_priority_protocol_release(curr);
|
|
#endif
|
|
corelock_unlock(ocl);
|
|
}
|
|
/* else state == STATE_SLEEPING */
|
|
|
|
remove_from_list_tmo(curr);
|
|
|
|
RTR_LOCK(core);
|
|
|
|
curr->state = STATE_RUNNING;
|
|
|
|
add_to_list_l(&cores[core].running, curr);
|
|
rtr_add_entry(core, curr->priority);
|
|
|
|
RTR_UNLOCK(core);
|
|
}
|
|
|
|
UNLOCK_THREAD(curr);
|
|
}
|
|
|
|
cores[core].next_tmo_check = next_tmo_check;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Performs operations that must be done before blocking a thread but after
|
|
* the state is saved.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
#if NUM_CORES > 1
|
|
static inline void run_blocking_ops(
|
|
unsigned int core, struct thread_entry *thread)
|
|
{
|
|
struct thread_blk_ops *ops = &cores[core].blk_ops;
|
|
const unsigned flags = ops->flags;
|
|
|
|
if (flags == TBOP_CLEAR)
|
|
return;
|
|
|
|
switch (flags)
|
|
{
|
|
case TBOP_SWITCH_CORE:
|
|
core_switch_blk_op(core, thread);
|
|
/* Fall-through */
|
|
case TBOP_UNLOCK_CORELOCK:
|
|
corelock_unlock(ops->cl_p);
|
|
break;
|
|
}
|
|
|
|
ops->flags = TBOP_CLEAR;
|
|
}
|
|
#endif /* NUM_CORES > 1 */
|
|
|
|
#ifdef RB_PROFILE
|
|
void profile_thread(void)
|
|
{
|
|
profstart(cores[CURRENT_CORE].running - threads);
|
|
}
|
|
#endif
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Prepares a thread to block on an object's list and/or for a specified
|
|
* duration - expects object and slot to be appropriately locked if needed
|
|
* and interrupts to be masked.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static inline void block_thread_on_l(struct thread_entry *thread,
|
|
unsigned state)
|
|
{
|
|
/* If inlined, unreachable branches will be pruned with no size penalty
|
|
because state is passed as a constant parameter. */
|
|
const unsigned int core = IF_COP_CORE(thread->core);
|
|
|
|
/* Remove the thread from the list of running threads. */
|
|
RTR_LOCK(core);
|
|
remove_from_list_l(&cores[core].running, thread);
|
|
rtr_subtract_entry(core, thread->priority);
|
|
RTR_UNLOCK(core);
|
|
|
|
/* Add a timeout to the block if not infinite */
|
|
switch (state)
|
|
{
|
|
case STATE_BLOCKED:
|
|
case STATE_BLOCKED_W_TMO:
|
|
/* Put the thread into a new list of inactive threads. */
|
|
add_to_list_l(thread->bqp, thread);
|
|
|
|
if (state == STATE_BLOCKED)
|
|
break;
|
|
|
|
/* Fall-through */
|
|
case STATE_SLEEPING:
|
|
/* If this thread times out sooner than any other thread, update
|
|
next_tmo_check to its timeout */
|
|
if (TIME_BEFORE(thread->tmo_tick, cores[core].next_tmo_check))
|
|
{
|
|
cores[core].next_tmo_check = thread->tmo_tick;
|
|
}
|
|
|
|
if (thread->tmo.prev == NULL)
|
|
{
|
|
add_to_list_tmo(thread);
|
|
}
|
|
/* else thread was never removed from list - just keep it there */
|
|
break;
|
|
}
|
|
|
|
/* Remember the the next thread about to block. */
|
|
cores[core].block_task = thread;
|
|
|
|
/* Report new state. */
|
|
thread->state = state;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Switch thread in round robin fashion for any given priority. Any thread
|
|
* that removed itself from the running list first must specify itself in
|
|
* the paramter.
|
|
*
|
|
* INTERNAL: Intended for use by kernel and not for programs.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
void switch_thread(void)
|
|
{
|
|
|
|
const unsigned int core = CURRENT_CORE;
|
|
struct thread_entry *block = cores[core].block_task;
|
|
struct thread_entry *thread = cores[core].running;
|
|
|
|
/* Get context to save - next thread to run is unknown until all wakeups
|
|
* are evaluated */
|
|
if (block != NULL)
|
|
{
|
|
cores[core].block_task = NULL;
|
|
|
|
#if NUM_CORES > 1
|
|
if (thread == block)
|
|
{
|
|
/* This was the last thread running and another core woke us before
|
|
* reaching here. Force next thread selection to give tmo threads or
|
|
* other threads woken before this block a first chance. */
|
|
block = NULL;
|
|
}
|
|
else
|
|
#endif
|
|
{
|
|
/* Blocking task is the old one */
|
|
thread = block;
|
|
}
|
|
}
|
|
|
|
#ifdef RB_PROFILE
|
|
profile_thread_stopped(thread - threads);
|
|
#endif
|
|
|
|
/* Begin task switching by saving our current context so that we can
|
|
* restore the state of the current thread later to the point prior
|
|
* to this call. */
|
|
store_context(&thread->context);
|
|
|
|
/* Check if the current thread stack is overflown */
|
|
if (thread->stack[0] != DEADBEEF)
|
|
thread_stkov(thread);
|
|
|
|
#if NUM_CORES > 1
|
|
/* Run any blocking operations requested before switching/sleeping */
|
|
run_blocking_ops(core, thread);
|
|
#endif
|
|
|
|
#ifdef HAVE_PRIORITY_SCHEDULING
|
|
IF_NO_SKIP_YIELD( if (thread->skip_count != -1) )
|
|
/* Reset the value of thread's skip count */
|
|
thread->skip_count = 0;
|
|
#endif
|
|
|
|
for (;;)
|
|
{
|
|
/* If there are threads on a timeout and the earliest wakeup is due,
|
|
* check the list and wake any threads that need to start running
|
|
* again. */
|
|
if (!TIME_BEFORE(current_tick, cores[core].next_tmo_check))
|
|
{
|
|
check_tmo_threads();
|
|
}
|
|
|
|
disable_irq();
|
|
RTR_LOCK(core);
|
|
|
|
thread = cores[core].running;
|
|
|
|
if (thread == NULL)
|
|
{
|
|
/* Enter sleep mode to reduce power usage - woken up on interrupt
|
|
* or wakeup request from another core - expected to enable
|
|
* interrupts. */
|
|
RTR_UNLOCK(core);
|
|
core_sleep(IF_COP(core));
|
|
}
|
|
else
|
|
{
|
|
#ifdef HAVE_PRIORITY_SCHEDULING
|
|
/* Select the new task based on priorities and the last time a
|
|
* process got CPU time relative to the highest priority runnable
|
|
* task. */
|
|
struct priority_distribution *pd = &cores[core].rtr;
|
|
int max = find_first_set_bit(pd->mask);
|
|
|
|
if (block == NULL)
|
|
{
|
|
/* Not switching on a block, tentatively select next thread */
|
|
thread = thread->l.next;
|
|
}
|
|
|
|
for (;;)
|
|
{
|
|
int priority = thread->priority;
|
|
int diff;
|
|
|
|
/* This ridiculously simple method of aging seems to work
|
|
* suspiciously well. It does tend to reward CPU hogs (under
|
|
* yielding) but that's generally not desirable at all. On the
|
|
* plus side, it, relatively to other threads, penalizes excess
|
|
* yielding which is good if some high priority thread is
|
|
* performing no useful work such as polling for a device to be
|
|
* ready. Of course, aging is only employed when higher and lower
|
|
* priority threads are runnable. The highest priority runnable
|
|
* thread(s) are never skipped. */
|
|
if (priority <= max ||
|
|
IF_NO_SKIP_YIELD( thread->skip_count == -1 || )
|
|
(diff = priority - max, ++thread->skip_count > diff*diff))
|
|
{
|
|
cores[core].running = thread;
|
|
break;
|
|
}
|
|
|
|
thread = thread->l.next;
|
|
}
|
|
#else
|
|
/* Without priority use a simple FCFS algorithm */
|
|
if (block == NULL)
|
|
{
|
|
/* Not switching on a block, select next thread */
|
|
thread = thread->l.next;
|
|
cores[core].running = thread;
|
|
}
|
|
#endif /* HAVE_PRIORITY_SCHEDULING */
|
|
|
|
RTR_UNLOCK(core);
|
|
enable_irq();
|
|
break;
|
|
}
|
|
}
|
|
|
|
/* And finally give control to the next thread. */
|
|
load_context(&thread->context);
|
|
|
|
#ifdef RB_PROFILE
|
|
profile_thread_started(thread - threads);
|
|
#endif
|
|
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Sleeps a thread for at least a specified number of ticks with zero being
|
|
* a wait until the next tick.
|
|
*
|
|
* INTERNAL: Intended for use by kernel and not for programs.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
void sleep_thread(int ticks)
|
|
{
|
|
struct thread_entry *current = cores[CURRENT_CORE].running;
|
|
|
|
LOCK_THREAD(current);
|
|
|
|
/* Set our timeout, remove from run list and join timeout list. */
|
|
current->tmo_tick = current_tick + ticks + 1;
|
|
block_thread_on_l(current, STATE_SLEEPING);
|
|
|
|
UNLOCK_THREAD(current);
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Indefinitely block a thread on a blocking queue for explicit wakeup.
|
|
*
|
|
* INTERNAL: Intended for use by kernel objects and not for programs.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
void block_thread(struct thread_entry *current)
|
|
{
|
|
/* Set the state to blocked and take us off of the run queue until we
|
|
* are explicitly woken */
|
|
LOCK_THREAD(current);
|
|
|
|
/* Set the list for explicit wakeup */
|
|
block_thread_on_l(current, STATE_BLOCKED);
|
|
|
|
#ifdef HAVE_PRIORITY_SCHEDULING
|
|
if (current->blocker != NULL)
|
|
{
|
|
/* Object supports PIP */
|
|
current = blocker_inherit_priority(current);
|
|
}
|
|
#endif
|
|
|
|
UNLOCK_THREAD(current);
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Block a thread on a blocking queue for a specified time interval or until
|
|
* explicitly woken - whichever happens first.
|
|
*
|
|
* INTERNAL: Intended for use by kernel objects and not for programs.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
void block_thread_w_tmo(struct thread_entry *current, int timeout)
|
|
{
|
|
/* Get the entry for the current running thread. */
|
|
LOCK_THREAD(current);
|
|
|
|
/* Set the state to blocked with the specified timeout */
|
|
current->tmo_tick = current_tick + timeout;
|
|
|
|
/* Set the list for explicit wakeup */
|
|
block_thread_on_l(current, STATE_BLOCKED_W_TMO);
|
|
|
|
#ifdef HAVE_PRIORITY_SCHEDULING
|
|
if (current->blocker != NULL)
|
|
{
|
|
/* Object supports PIP */
|
|
current = blocker_inherit_priority(current);
|
|
}
|
|
#endif
|
|
|
|
UNLOCK_THREAD(current);
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Explicitly wakeup a thread on a blocking queue. Only effects threads of
|
|
* STATE_BLOCKED and STATE_BLOCKED_W_TMO.
|
|
*
|
|
* This code should be considered a critical section by the caller meaning
|
|
* that the object's corelock should be held.
|
|
*
|
|
* INTERNAL: Intended for use by kernel objects and not for programs.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
unsigned int wakeup_thread(struct thread_entry **list)
|
|
{
|
|
struct thread_entry *thread = *list;
|
|
unsigned int result = THREAD_NONE;
|
|
|
|
/* Check if there is a blocked thread at all. */
|
|
if (thread == NULL)
|
|
return result;
|
|
|
|
LOCK_THREAD(thread);
|
|
|
|
/* Determine thread's current state. */
|
|
switch (thread->state)
|
|
{
|
|
case STATE_BLOCKED:
|
|
case STATE_BLOCKED_W_TMO:
|
|
remove_from_list_l(list, thread);
|
|
|
|
result = THREAD_OK;
|
|
|
|
#ifdef HAVE_PRIORITY_SCHEDULING
|
|
struct thread_entry *current;
|
|
struct blocker *bl = thread->blocker;
|
|
|
|
if (bl == NULL)
|
|
{
|
|
/* No inheritance - just boost the thread by aging */
|
|
IF_NO_SKIP_YIELD( if (thread->skip_count != -1) )
|
|
thread->skip_count = thread->priority;
|
|
current = cores[CURRENT_CORE].running;
|
|
}
|
|
else
|
|
{
|
|
/* Call the specified unblocking PIP */
|
|
current = bl->wakeup_protocol(thread);
|
|
}
|
|
|
|
if (current != NULL && thread->priority < current->priority
|
|
IF_COP( && thread->core == current->core ))
|
|
{
|
|
/* Woken thread is higher priority and exists on the same CPU core;
|
|
* recommend a task switch. Knowing if this is an interrupt call
|
|
* would be helpful here. */
|
|
result |= THREAD_SWITCH;
|
|
}
|
|
#endif /* HAVE_PRIORITY_SCHEDULING */
|
|
|
|
core_schedule_wakeup(thread);
|
|
break;
|
|
|
|
/* Nothing to do. State is not blocked. */
|
|
#if THREAD_EXTRA_CHECKS
|
|
default:
|
|
THREAD_PANICF("wakeup_thread->block invalid", thread);
|
|
case STATE_RUNNING:
|
|
case STATE_KILLED:
|
|
break;
|
|
#endif
|
|
}
|
|
|
|
UNLOCK_THREAD(thread);
|
|
return result;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Wakeup an entire queue of threads - returns bitwise-or of return bitmask
|
|
* from each operation or THREAD_NONE of nothing was awakened. Object owning
|
|
* the queue must be locked first.
|
|
*
|
|
* INTERNAL: Intended for use by kernel objects and not for programs.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
unsigned int thread_queue_wake(struct thread_entry **list)
|
|
{
|
|
unsigned result = THREAD_NONE;
|
|
|
|
for (;;)
|
|
{
|
|
unsigned int rc = wakeup_thread(list);
|
|
|
|
if (rc == THREAD_NONE)
|
|
break; /* No more threads */
|
|
|
|
result |= rc;
|
|
}
|
|
|
|
return result;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Find an empty thread slot or MAXTHREADS if none found. The slot returned
|
|
* will be locked on multicore.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static struct thread_entry * find_empty_thread_slot(void)
|
|
{
|
|
/* Any slot could be on an interrupt-accessible list */
|
|
IF_COP( int oldlevel = disable_irq_save(); )
|
|
struct thread_entry *thread = NULL;
|
|
int n;
|
|
|
|
for (n = 0; n < MAXTHREADS; n++)
|
|
{
|
|
/* Obtain current slot state - lock it on multicore */
|
|
struct thread_entry *t = &threads[n];
|
|
LOCK_THREAD(t);
|
|
|
|
if (t->state == STATE_KILLED IF_COP( && t->name != THREAD_DESTRUCT ))
|
|
{
|
|
/* Slot is empty - leave it locked and caller will unlock */
|
|
thread = t;
|
|
break;
|
|
}
|
|
|
|
/* Finished examining slot - no longer busy - unlock on multicore */
|
|
UNLOCK_THREAD(t);
|
|
}
|
|
|
|
IF_COP( restore_irq(oldlevel); ) /* Reenable interrups - this slot is
|
|
not accesible to them yet */
|
|
return thread;
|
|
}
|
|
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Place the current core in idle mode - woken up on interrupt or wake
|
|
* request from another core.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
void core_idle(void)
|
|
{
|
|
IF_COP( const unsigned int core = CURRENT_CORE; )
|
|
disable_irq();
|
|
core_sleep(IF_COP(core));
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Create a thread. If using a dual core architecture, specify which core to
|
|
* start the thread on.
|
|
*
|
|
* Return ID if context area could be allocated, else NULL.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
struct thread_entry*
|
|
create_thread(void (*function)(void), void* stack, size_t stack_size,
|
|
unsigned flags, const char *name
|
|
IF_PRIO(, int priority)
|
|
IF_COP(, unsigned int core))
|
|
{
|
|
unsigned int i;
|
|
unsigned int stack_words;
|
|
uintptr_t stackptr, stackend;
|
|
struct thread_entry *thread;
|
|
unsigned state;
|
|
int oldlevel;
|
|
|
|
thread = find_empty_thread_slot();
|
|
if (thread == NULL)
|
|
{
|
|
return NULL;
|
|
}
|
|
|
|
oldlevel = disable_irq_save();
|
|
|
|
/* Munge the stack to make it easy to spot stack overflows */
|
|
stackptr = ALIGN_UP((uintptr_t)stack, sizeof (uintptr_t));
|
|
stackend = ALIGN_DOWN((uintptr_t)stack + stack_size, sizeof (uintptr_t));
|
|
stack_size = stackend - stackptr;
|
|
stack_words = stack_size / sizeof (uintptr_t);
|
|
|
|
for (i = 0; i < stack_words; i++)
|
|
{
|
|
((uintptr_t *)stackptr)[i] = DEADBEEF;
|
|
}
|
|
|
|
/* Store interesting information */
|
|
thread->name = name;
|
|
thread->stack = (uintptr_t *)stackptr;
|
|
thread->stack_size = stack_size;
|
|
thread->queue = NULL;
|
|
#ifdef HAVE_WAKEUP_EXT_CB
|
|
thread->wakeup_ext_cb = NULL;
|
|
#endif
|
|
#ifdef HAVE_SCHEDULER_BOOSTCTRL
|
|
thread->cpu_boost = 0;
|
|
#endif
|
|
#ifdef HAVE_PRIORITY_SCHEDULING
|
|
memset(&thread->pdist, 0, sizeof(thread->pdist));
|
|
thread->blocker = NULL;
|
|
thread->base_priority = priority;
|
|
thread->priority = priority;
|
|
thread->skip_count = priority;
|
|
prio_add_entry(&thread->pdist, priority);
|
|
#endif
|
|
|
|
#if NUM_CORES > 1
|
|
thread->core = core;
|
|
|
|
/* Writeback stack munging or anything else before starting */
|
|
if (core != CURRENT_CORE)
|
|
{
|
|
flush_icache();
|
|
}
|
|
#endif
|
|
|
|
/* Thread is not on any timeout list but be a bit paranoid */
|
|
thread->tmo.prev = NULL;
|
|
|
|
state = (flags & CREATE_THREAD_FROZEN) ?
|
|
STATE_FROZEN : STATE_RUNNING;
|
|
|
|
thread->context.sp = (typeof (thread->context.sp))stackend;
|
|
|
|
/* Load the thread's context structure with needed startup information */
|
|
THREAD_STARTUP_INIT(core, thread, function);
|
|
|
|
thread->state = state;
|
|
|
|
if (state == STATE_RUNNING)
|
|
core_schedule_wakeup(thread);
|
|
|
|
UNLOCK_THREAD(thread);
|
|
|
|
restore_irq(oldlevel);
|
|
|
|
return thread;
|
|
}
|
|
|
|
#ifdef HAVE_SCHEDULER_BOOSTCTRL
|
|
/*---------------------------------------------------------------------------
|
|
* Change the boost state of a thread boosting or unboosting the CPU
|
|
* as required.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
static inline void boost_thread(struct thread_entry *thread, bool boost)
|
|
{
|
|
if ((thread->cpu_boost != 0) != boost)
|
|
{
|
|
thread->cpu_boost = boost;
|
|
cpu_boost(boost);
|
|
}
|
|
}
|
|
|
|
void trigger_cpu_boost(void)
|
|
{
|
|
struct thread_entry *current = cores[CURRENT_CORE].running;
|
|
boost_thread(current, true);
|
|
}
|
|
|
|
void cancel_cpu_boost(void)
|
|
{
|
|
struct thread_entry *current = cores[CURRENT_CORE].running;
|
|
boost_thread(current, false);
|
|
}
|
|
#endif /* HAVE_SCHEDULER_BOOSTCTRL */
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Block the current thread until another thread terminates. A thread may
|
|
* wait on itself to terminate which prevents it from running again and it
|
|
* will need to be killed externally.
|
|
* Parameter is the ID as returned from create_thread().
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
void thread_wait(struct thread_entry *thread)
|
|
{
|
|
struct thread_entry *current = cores[CURRENT_CORE].running;
|
|
|
|
if (thread == NULL)
|
|
thread = current;
|
|
|
|
/* Lock thread-as-waitable-object lock */
|
|
corelock_lock(&thread->waiter_cl);
|
|
|
|
/* Be sure it hasn't been killed yet */
|
|
if (thread->state != STATE_KILLED)
|
|
{
|
|
IF_COP( current->obj_cl = &thread->waiter_cl; )
|
|
current->bqp = &thread->queue;
|
|
|
|
disable_irq();
|
|
block_thread(current);
|
|
|
|
corelock_unlock(&thread->waiter_cl);
|
|
|
|
switch_thread();
|
|
return;
|
|
}
|
|
|
|
corelock_unlock(&thread->waiter_cl);
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Exit the current thread. The Right Way to Do Things (TM).
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
void thread_exit(void)
|
|
{
|
|
const unsigned int core = CURRENT_CORE;
|
|
struct thread_entry *current = cores[core].running;
|
|
|
|
/* Cancel CPU boost if any */
|
|
cancel_cpu_boost();
|
|
|
|
disable_irq();
|
|
|
|
corelock_lock(¤t->waiter_cl);
|
|
LOCK_THREAD(current);
|
|
|
|
#if defined (ALLOW_REMOVE_THREAD) && NUM_CORES > 1
|
|
if (current->name == THREAD_DESTRUCT)
|
|
{
|
|
/* Thread being killed - become a waiter */
|
|
UNLOCK_THREAD(current);
|
|
corelock_unlock(¤t->waiter_cl);
|
|
thread_wait(current);
|
|
THREAD_PANICF("thread_exit->WK:*R", current);
|
|
}
|
|
#endif
|
|
|
|
#ifdef HAVE_PRIORITY_SCHEDULING
|
|
check_for_obj_waiters("thread_exit", current);
|
|
#endif
|
|
|
|
if (current->tmo.prev != NULL)
|
|
{
|
|
/* Cancel pending timeout list removal */
|
|
remove_from_list_tmo(current);
|
|
}
|
|
|
|
/* Switch tasks and never return */
|
|
block_thread_on_l(current, STATE_KILLED);
|
|
|
|
#if NUM_CORES > 1
|
|
/* Switch to the idle stack if not on the main core (where "main"
|
|
* runs) - we can hope gcc doesn't need the old stack beyond this
|
|
* point. */
|
|
if (core != CPU)
|
|
{
|
|
switch_to_idle_stack(core);
|
|
}
|
|
|
|
flush_icache();
|
|
#endif
|
|
current->name = NULL;
|
|
|
|
/* Signal this thread */
|
|
thread_queue_wake(¤t->queue);
|
|
corelock_unlock(¤t->waiter_cl);
|
|
/* Slot must be unusable until thread is really gone */
|
|
UNLOCK_THREAD_AT_TASK_SWITCH(current);
|
|
switch_thread();
|
|
/* This should never and must never be reached - if it is, the
|
|
* state is corrupted */
|
|
THREAD_PANICF("thread_exit->K:*R", current);
|
|
}
|
|
|
|
#ifdef ALLOW_REMOVE_THREAD
|
|
/*---------------------------------------------------------------------------
|
|
* Remove a thread from the scheduler. Not The Right Way to Do Things in
|
|
* normal programs.
|
|
*
|
|
* Parameter is the ID as returned from create_thread().
|
|
*
|
|
* Use with care on threads that are not under careful control as this may
|
|
* leave various objects in an undefined state.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
void remove_thread(struct thread_entry *thread)
|
|
{
|
|
#if NUM_CORES > 1
|
|
/* core is not constant here because of core switching */
|
|
unsigned int core = CURRENT_CORE;
|
|
unsigned int old_core = NUM_CORES;
|
|
struct corelock *ocl = NULL;
|
|
#else
|
|
const unsigned int core = CURRENT_CORE;
|
|
#endif
|
|
struct thread_entry *current = cores[core].running;
|
|
|
|
unsigned state;
|
|
int oldlevel;
|
|
|
|
if (thread == NULL)
|
|
thread = current;
|
|
|
|
if (thread == current)
|
|
thread_exit(); /* Current thread - do normal exit */
|
|
|
|
oldlevel = disable_irq_save();
|
|
|
|
corelock_lock(&thread->waiter_cl);
|
|
LOCK_THREAD(thread);
|
|
|
|
state = thread->state;
|
|
|
|
if (state == STATE_KILLED)
|
|
{
|
|
goto thread_killed;
|
|
}
|
|
|
|
#if NUM_CORES > 1
|
|
if (thread->name == THREAD_DESTRUCT)
|
|
{
|
|
/* Thread being killed - become a waiter */
|
|
UNLOCK_THREAD(thread);
|
|
corelock_unlock(&thread->waiter_cl);
|
|
restore_irq(oldlevel);
|
|
thread_wait(thread);
|
|
return;
|
|
}
|
|
|
|
thread->name = THREAD_DESTRUCT; /* Slot can't be used for now */
|
|
|
|
#ifdef HAVE_PRIORITY_SCHEDULING
|
|
check_for_obj_waiters("remove_thread", thread);
|
|
#endif
|
|
|
|
if (thread->core != core)
|
|
{
|
|
/* Switch cores and safely extract the thread there */
|
|
/* Slot HAS to be unlocked or a deadlock could occur which means other
|
|
* threads have to be guided into becoming thread waiters if they
|
|
* attempt to remove it. */
|
|
unsigned int new_core = thread->core;
|
|
|
|
corelock_unlock(&thread->waiter_cl);
|
|
|
|
UNLOCK_THREAD(thread);
|
|
restore_irq(oldlevel);
|
|
|
|
old_core = switch_core(new_core);
|
|
|
|
oldlevel = disable_irq_save();
|
|
|
|
corelock_lock(&thread->waiter_cl);
|
|
LOCK_THREAD(thread);
|
|
|
|
state = thread->state;
|
|
core = new_core;
|
|
/* Perform the extraction and switch ourselves back to the original
|
|
processor */
|
|
}
|
|
#endif /* NUM_CORES > 1 */
|
|
|
|
if (thread->tmo.prev != NULL)
|
|
{
|
|
/* Clean thread off the timeout list if a timeout check hasn't
|
|
* run yet */
|
|
remove_from_list_tmo(thread);
|
|
}
|
|
|
|
#ifdef HAVE_SCHEDULER_BOOSTCTRL
|
|
/* Cancel CPU boost if any */
|
|
boost_thread(thread, false);
|
|
#endif
|
|
|
|
IF_COP( retry_state: )
|
|
|
|
switch (state)
|
|
{
|
|
case STATE_RUNNING:
|
|
RTR_LOCK(core);
|
|
/* Remove thread from ready to run tasks */
|
|
remove_from_list_l(&cores[core].running, thread);
|
|
rtr_subtract_entry(core, thread->priority);
|
|
RTR_UNLOCK(core);
|
|
break;
|
|
case STATE_BLOCKED:
|
|
case STATE_BLOCKED_W_TMO:
|
|
/* Remove thread from the queue it's blocked on - including its
|
|
* own if waiting there */
|
|
#if NUM_CORES > 1
|
|
if (&thread->waiter_cl != thread->obj_cl)
|
|
{
|
|
ocl = thread->obj_cl;
|
|
|
|
if (corelock_try_lock(ocl) == 0)
|
|
{
|
|
UNLOCK_THREAD(thread);
|
|
corelock_lock(ocl);
|
|
LOCK_THREAD(thread);
|
|
|
|
if (thread->state != state)
|
|
{
|
|
/* Something woke the thread */
|
|
state = thread->state;
|
|
corelock_unlock(ocl);
|
|
goto retry_state;
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
remove_from_list_l(thread->bqp, thread);
|
|
|
|
#ifdef HAVE_WAKEUP_EXT_CB
|
|
if (thread->wakeup_ext_cb != NULL)
|
|
thread->wakeup_ext_cb(thread);
|
|
#endif
|
|
|
|
#ifdef HAVE_PRIORITY_SCHEDULING
|
|
if (thread->blocker != NULL)
|
|
{
|
|
/* Remove thread's priority influence from its chain */
|
|
wakeup_priority_protocol_release(thread);
|
|
}
|
|
#endif
|
|
|
|
#if NUM_CORES > 1
|
|
if (ocl != NULL)
|
|
corelock_unlock(ocl);
|
|
#endif
|
|
break;
|
|
/* Otherwise thread is frozen and hasn't run yet */
|
|
}
|
|
|
|
thread->state = STATE_KILLED;
|
|
|
|
/* If thread was waiting on itself, it will have been removed above.
|
|
* The wrong order would result in waking the thread first and deadlocking
|
|
* since the slot is already locked. */
|
|
thread_queue_wake(&thread->queue);
|
|
|
|
thread->name = NULL;
|
|
|
|
thread_killed: /* Thread was already killed */
|
|
/* Removal complete - safe to unlock and reenable interrupts */
|
|
corelock_unlock(&thread->waiter_cl);
|
|
UNLOCK_THREAD(thread);
|
|
restore_irq(oldlevel);
|
|
|
|
#if NUM_CORES > 1
|
|
if (old_core < NUM_CORES)
|
|
{
|
|
/* Did a removal on another processor's thread - switch back to
|
|
native core */
|
|
switch_core(old_core);
|
|
}
|
|
#endif
|
|
}
|
|
#endif /* ALLOW_REMOVE_THREAD */
|
|
|
|
#ifdef HAVE_PRIORITY_SCHEDULING
|
|
/*---------------------------------------------------------------------------
|
|
* Sets the thread's relative base priority for the core it runs on. Any
|
|
* needed inheritance changes also may happen.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
int thread_set_priority(struct thread_entry *thread, int priority)
|
|
{
|
|
int old_base_priority = -1;
|
|
|
|
/* A little safety measure */
|
|
if (priority < HIGHEST_PRIORITY || priority > LOWEST_PRIORITY)
|
|
return -1;
|
|
|
|
if (thread == NULL)
|
|
thread = cores[CURRENT_CORE].running;
|
|
|
|
/* Thread could be on any list and therefore on an interrupt accessible
|
|
one - disable interrupts */
|
|
int oldlevel = disable_irq_save();
|
|
|
|
LOCK_THREAD(thread);
|
|
|
|
/* Make sure it's not killed */
|
|
if (thread->state != STATE_KILLED)
|
|
{
|
|
int old_priority = thread->priority;
|
|
|
|
old_base_priority = thread->base_priority;
|
|
thread->base_priority = priority;
|
|
|
|
prio_move_entry(&thread->pdist, old_base_priority, priority);
|
|
priority = find_first_set_bit(thread->pdist.mask);
|
|
|
|
if (old_priority == priority)
|
|
{
|
|
/* No priority change - do nothing */
|
|
}
|
|
else if (thread->state == STATE_RUNNING)
|
|
{
|
|
/* This thread is running - change location on the run
|
|
* queue. No transitive inheritance needed. */
|
|
set_running_thread_priority(thread, priority);
|
|
}
|
|
else
|
|
{
|
|
thread->priority = priority;
|
|
|
|
if (thread->blocker != NULL)
|
|
{
|
|
/* Bubble new priority down the chain */
|
|
struct blocker *bl = thread->blocker; /* Blocker struct */
|
|
struct thread_entry *bl_t = bl->thread; /* Blocking thread */
|
|
struct thread_entry * const tstart = thread; /* Initial thread */
|
|
const int highest = MIN(priority, old_priority); /* Higher of new or old */
|
|
|
|
for (;;)
|
|
{
|
|
struct thread_entry *next; /* Next thread to check */
|
|
int bl_pr; /* Highest blocked thread */
|
|
int queue_pr; /* New highest blocked thread */
|
|
#if NUM_CORES > 1
|
|
/* Owner can change but thread cannot be dislodged - thread
|
|
* may not be the first in the queue which allows other
|
|
* threads ahead in the list to be given ownership during the
|
|
* operation. If thread is next then the waker will have to
|
|
* wait for us and the owner of the object will remain fixed.
|
|
* If we successfully grab the owner -- which at some point
|
|
* is guaranteed -- then the queue remains fixed until we
|
|
* pass by. */
|
|
for (;;)
|
|
{
|
|
LOCK_THREAD(bl_t);
|
|
|
|
/* Double-check the owner - retry if it changed */
|
|
if (bl->thread == bl_t)
|
|
break;
|
|
|
|
UNLOCK_THREAD(bl_t);
|
|
bl_t = bl->thread;
|
|
}
|
|
#endif
|
|
bl_pr = bl->priority;
|
|
|
|
if (highest > bl_pr)
|
|
break; /* Object priority won't change */
|
|
|
|
/* This will include the thread being set */
|
|
queue_pr = find_highest_priority_in_list_l(*thread->bqp);
|
|
|
|
if (queue_pr == bl_pr)
|
|
break; /* Object priority not changing */
|
|
|
|
/* Update thread boost for this object */
|
|
bl->priority = queue_pr;
|
|
prio_move_entry(&bl_t->pdist, bl_pr, queue_pr);
|
|
bl_pr = find_first_set_bit(bl_t->pdist.mask);
|
|
|
|
if (bl_t->priority == bl_pr)
|
|
break; /* Blocking thread priority not changing */
|
|
|
|
if (bl_t->state == STATE_RUNNING)
|
|
{
|
|
/* Thread not blocked - we're done */
|
|
set_running_thread_priority(bl_t, bl_pr);
|
|
break;
|
|
}
|
|
|
|
bl_t->priority = bl_pr;
|
|
bl = bl_t->blocker; /* Blocking thread has a blocker? */
|
|
|
|
if (bl == NULL)
|
|
break; /* End of chain */
|
|
|
|
next = bl->thread;
|
|
|
|
if (next == tstart)
|
|
break; /* Full-circle */
|
|
|
|
UNLOCK_THREAD(thread);
|
|
|
|
thread = bl_t;
|
|
bl_t = next;
|
|
} /* for (;;) */
|
|
|
|
UNLOCK_THREAD(bl_t);
|
|
}
|
|
}
|
|
}
|
|
|
|
UNLOCK_THREAD(thread);
|
|
|
|
restore_irq(oldlevel);
|
|
|
|
return old_base_priority;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Returns the current base priority for a thread.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
int thread_get_priority(struct thread_entry *thread)
|
|
{
|
|
/* Simple, quick probe. */
|
|
if (thread == NULL)
|
|
thread = cores[CURRENT_CORE].running;
|
|
|
|
return thread->base_priority;
|
|
}
|
|
#endif /* HAVE_PRIORITY_SCHEDULING */
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Starts a frozen thread - similar semantics to wakeup_thread except that
|
|
* the thread is on no scheduler or wakeup queue at all. It exists simply by
|
|
* virtue of the slot having a state of STATE_FROZEN.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
void thread_thaw(struct thread_entry *thread)
|
|
{
|
|
int oldlevel = disable_irq_save();
|
|
LOCK_THREAD(thread);
|
|
|
|
if (thread->state == STATE_FROZEN)
|
|
core_schedule_wakeup(thread);
|
|
|
|
UNLOCK_THREAD(thread);
|
|
restore_irq(oldlevel);
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Return the ID of the currently executing thread.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
struct thread_entry * thread_get_current(void)
|
|
{
|
|
return cores[CURRENT_CORE].running;
|
|
}
|
|
|
|
#if NUM_CORES > 1
|
|
/*---------------------------------------------------------------------------
|
|
* Switch the processor that the currently executing thread runs on.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
unsigned int switch_core(unsigned int new_core)
|
|
{
|
|
const unsigned int core = CURRENT_CORE;
|
|
struct thread_entry *current = cores[core].running;
|
|
|
|
if (core == new_core)
|
|
{
|
|
/* No change - just return same core */
|
|
return core;
|
|
}
|
|
|
|
int oldlevel = disable_irq_save();
|
|
LOCK_THREAD(current);
|
|
|
|
if (current->name == THREAD_DESTRUCT)
|
|
{
|
|
/* Thread being killed - deactivate and let process complete */
|
|
UNLOCK_THREAD(current);
|
|
restore_irq(oldlevel);
|
|
thread_wait(current);
|
|
/* Should never be reached */
|
|
THREAD_PANICF("switch_core->D:*R", current);
|
|
}
|
|
|
|
/* Get us off the running list for the current core */
|
|
RTR_LOCK(core);
|
|
remove_from_list_l(&cores[core].running, current);
|
|
rtr_subtract_entry(core, current->priority);
|
|
RTR_UNLOCK(core);
|
|
|
|
/* Stash return value (old core) in a safe place */
|
|
current->retval = core;
|
|
|
|
/* If a timeout hadn't yet been cleaned-up it must be removed now or
|
|
* the other core will likely attempt a removal from the wrong list! */
|
|
if (current->tmo.prev != NULL)
|
|
{
|
|
remove_from_list_tmo(current);
|
|
}
|
|
|
|
/* Change the core number for this thread slot */
|
|
current->core = new_core;
|
|
|
|
/* Do not use core_schedule_wakeup here since this will result in
|
|
* the thread starting to run on the other core before being finished on
|
|
* this one. Delay the list unlock to keep the other core stuck
|
|
* until this thread is ready. */
|
|
RTR_LOCK(new_core);
|
|
|
|
rtr_add_entry(new_core, current->priority);
|
|
add_to_list_l(&cores[new_core].running, current);
|
|
|
|
/* Make a callback into device-specific code, unlock the wakeup list so
|
|
* that execution may resume on the new core, unlock our slot and finally
|
|
* restore the interrupt level */
|
|
cores[core].blk_ops.flags = TBOP_SWITCH_CORE;
|
|
cores[core].blk_ops.cl_p = &cores[new_core].rtr_cl;
|
|
cores[core].block_task = current;
|
|
|
|
UNLOCK_THREAD(current);
|
|
|
|
/* Alert other core to activity */
|
|
core_wake(new_core);
|
|
|
|
/* Do the stack switching, cache_maintenence and switch_thread call -
|
|
requires native code */
|
|
switch_thread_core(core, current);
|
|
|
|
/* Finally return the old core to caller */
|
|
return current->retval;
|
|
}
|
|
#endif /* NUM_CORES > 1 */
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Initialize threading API. This assumes interrupts are not yet enabled. On
|
|
* multicore setups, no core is allowed to proceed until create_thread calls
|
|
* are safe to perform.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
void init_threads(void)
|
|
{
|
|
const unsigned int core = CURRENT_CORE;
|
|
struct thread_entry *thread;
|
|
|
|
/* CPU will initialize first and then sleep */
|
|
thread = find_empty_thread_slot();
|
|
|
|
if (thread == NULL)
|
|
{
|
|
/* WTF? There really must be a slot available at this stage.
|
|
* This can fail if, for example, .bss isn't zero'ed out by the loader
|
|
* or threads is in the wrong section. */
|
|
THREAD_PANICF("init_threads->no slot", NULL);
|
|
}
|
|
|
|
/* Initialize initially non-zero members of core */
|
|
cores[core].next_tmo_check = current_tick; /* Something not in the past */
|
|
|
|
/* Initialize initially non-zero members of slot */
|
|
UNLOCK_THREAD(thread); /* No sync worries yet */
|
|
thread->name = main_thread_name;
|
|
thread->state = STATE_RUNNING;
|
|
IF_COP( thread->core = core; )
|
|
#ifdef HAVE_PRIORITY_SCHEDULING
|
|
corelock_init(&cores[core].rtr_cl);
|
|
thread->base_priority = PRIORITY_USER_INTERFACE;
|
|
prio_add_entry(&thread->pdist, PRIORITY_USER_INTERFACE);
|
|
thread->priority = PRIORITY_USER_INTERFACE;
|
|
rtr_add_entry(core, PRIORITY_USER_INTERFACE);
|
|
#endif
|
|
corelock_init(&thread->waiter_cl);
|
|
corelock_init(&thread->slot_cl);
|
|
|
|
add_to_list_l(&cores[core].running, thread);
|
|
|
|
if (core == CPU)
|
|
{
|
|
thread->stack = stackbegin;
|
|
thread->stack_size = (uintptr_t)stackend - (uintptr_t)stackbegin;
|
|
#if NUM_CORES > 1 /* This code path will not be run on single core targets */
|
|
/* Wait for other processors to finish their inits since create_thread
|
|
* isn't safe to call until the kernel inits are done. The first
|
|
* threads created in the system must of course be created by CPU. */
|
|
core_thread_init(CPU);
|
|
}
|
|
else
|
|
{
|
|
/* Initial stack is the idle stack */
|
|
thread->stack = idle_stacks[core];
|
|
thread->stack_size = IDLE_STACK_SIZE;
|
|
/* After last processor completes, it should signal all others to
|
|
* proceed or may signal the next and call thread_exit(). The last one
|
|
* to finish will signal CPU. */
|
|
core_thread_init(core);
|
|
/* Other cores do not have a main thread - go idle inside switch_thread
|
|
* until a thread can run on the core. */
|
|
thread_exit();
|
|
#endif /* NUM_CORES */
|
|
}
|
|
}
|
|
|
|
/* Shared stack scan helper for thread_stack_usage and idle_stack_usage */
|
|
#if NUM_CORES == 1
|
|
static inline int stack_usage(uintptr_t *stackptr, size_t stack_size)
|
|
#else
|
|
static int stack_usage(uintptr_t *stackptr, size_t stack_size)
|
|
#endif
|
|
{
|
|
unsigned int stack_words = stack_size / sizeof (uintptr_t);
|
|
unsigned int i;
|
|
int usage = 0;
|
|
|
|
for (i = 0; i < stack_words; i++)
|
|
{
|
|
if (stackptr[i] != DEADBEEF)
|
|
{
|
|
usage = ((stack_words - i) * 100) / stack_words;
|
|
break;
|
|
}
|
|
}
|
|
|
|
return usage;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Returns the maximum percentage of stack a thread ever used while running.
|
|
* NOTE: Some large buffer allocations that don't use enough the buffer to
|
|
* overwrite stackptr[0] will not be seen.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
int thread_stack_usage(const struct thread_entry *thread)
|
|
{
|
|
return stack_usage(thread->stack, thread->stack_size);
|
|
}
|
|
|
|
#if NUM_CORES > 1
|
|
/*---------------------------------------------------------------------------
|
|
* Returns the maximum percentage of the core's idle stack ever used during
|
|
* runtime.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
int idle_stack_usage(unsigned int core)
|
|
{
|
|
return stack_usage(idle_stacks[core], IDLE_STACK_SIZE);
|
|
}
|
|
#endif
|
|
|
|
/*---------------------------------------------------------------------------
|
|
* Fills in the buffer with the specified thread's name. If the name is NULL,
|
|
* empty, or the thread is in destruct state a formatted ID is written
|
|
* instead.
|
|
*---------------------------------------------------------------------------
|
|
*/
|
|
void thread_get_name(char *buffer, int size,
|
|
struct thread_entry *thread)
|
|
{
|
|
if (size <= 0)
|
|
return;
|
|
|
|
*buffer = '\0';
|
|
|
|
if (thread)
|
|
{
|
|
/* Display thread name if one or ID if none */
|
|
const char *name = thread->name;
|
|
const char *fmt = "%s";
|
|
if (name == NULL IF_COP(|| name == THREAD_DESTRUCT) || *name == '\0')
|
|
{
|
|
name = (const char *)thread;
|
|
fmt = "%08lX";
|
|
}
|
|
snprintf(buffer, size, fmt, name);
|
|
}
|
|
}
|