4 * This file is part of BeRTOS.
6 * Bertos is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
11 * This program is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
16 * You should have received a copy of the GNU General Public License
17 * along with this program; if not, write to the Free Software
18 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
20 * As a special exception, you may use this file as part of a free software
21 * library without restriction. Specifically, if other files instantiate
22 * templates or use macros or inline functions from this file, or you compile
23 * this file and link it with other files to produce an executable, this
24 * file does not by itself cause the resulting executable to be covered by
25 * the GNU General Public License. This exception does not however
26 * invalidate any other reasons why the executable file might be covered by
27 * the GNU General Public License.
29 * Copyright 2001, 2004 Develer S.r.l. (http://www.develer.com/)
30 * Copyright 1999, 2000, 2001, 2008 Bernie Innocenti <bernie@codewiz.org>
33 * \brief Simple realtime multitasking scheduler.
34 * Context switching is only done cooperatively.
37 * \author Bernie Innocenti <bernie@codewiz.org>
38 * \author Stefano Fedrigo <aleph@develer.com>
44 #include "cfg/cfg_arch.h" /* ARCH_EMUL */
45 #include "cfg/cfg_kern.h"
46 #include <cfg/module.h>
49 #include <cpu/types.h>
51 #include <cpu/frame.h>
53 #include <string.h> /* memset() */
57 * The scheduer tracks ready processes by enqueuing them in the
60 * \note Access to the list must occur while interrupts are disabled.
62 REGISTER List ProcReadyList;
65 * Holds a pointer to the TCB of the currently running process.
67 * \note User applications should use proc_current() to retrieve this value.
69 REGISTER Process *CurrentProcess;
71 #if (ARCH & ARCH_EMUL)
73 * In hosted environments, we must emulate the stack on the real process stack.
75 * Access to this list must be protected by PROC_ATOMIC().
77 extern List StackFreeList;
80 /** The main process (the one that executes main()). */
81 struct Process MainProcess;
84 static void proc_init_struct(Process *proc)
86 /* Avoid warning for unused argument. */
89 #if CONFIG_KERN_SIGNALS
102 LIST_INIT(&ProcReadyList);
105 * We "promote" the current context into a real process. The only thing we have
106 * to do is create a PCB and make it current. We don't need to setup the stack
107 * pointer because it will be written the first time we switch to another process.
109 proc_init_struct(&MainProcess);
110 CurrentProcess = &MainProcess;
112 #if CONFIG_KERN_MONITOR
114 monitor_add(CurrentProcess, "main");
117 #if CONFIG_KERN_PREEMPT
126 * Create a new process, starting at the provided entry point.
128 * \return Process structure of new created process
129 * if successful, NULL otherwise.
131 struct Process *proc_new_with_name(UNUSED(const char *, name), void (*entry)(void), iptr_t data, size_t stack_size, cpustack_t *stack_base)
134 const size_t PROC_SIZE_WORDS = ROUND2(sizeof(Process), sizeof(cpustack_t)) / sizeof(cpustack_t);
136 bool free_stack = false;
138 TRACEMSG("name=%s", name);
140 #if (ARCH & ARCH_EMUL)
141 /* Ignore stack provided by caller and use the large enough default instead. */
142 PROC_ATOMIC(stack_base = (cpustack_t *)list_remHead(&StackFreeList));
144 stack_size = CONFIG_KERN_MINSTACKSIZE;
145 #elif CONFIG_KERN_HEAP
146 /* Did the caller provide a stack for us? */
149 /* Did the caller specify the desired stack size? */
151 stack_size = CONFIG_KERN_MINSTACKSIZE;
153 /* Allocate stack dinamically */
154 if (!(stack_base = heap_alloc(stack_size)))
160 #else // !ARCH_EMUL && !CONFIG_KERN_HEAP
162 /* Stack must have been provided by the user */
163 ASSERT_VALID_PTR(stack_base);
166 #endif // !ARCH_EMUL && !CONFIG_KERN_HEAP
168 #if CONFIG_KERN_MONITOR
169 /* Fill-in the stack with a special marker to help debugging */
170 memset(stack_base, CONFIG_KERN_STACKFILLCODE, stack_size);
173 /* Initialize the process control block */
174 if (CPU_STACK_GROWS_UPWARD)
176 proc = (Process *)stack_base;
177 proc->stack = stack_base + PROC_SIZE_WORDS;
178 if (CPU_SP_ON_EMPTY_SLOT)
183 proc = (Process *)(stack_base + stack_size / sizeof(cpustack_t) - PROC_SIZE_WORDS);
184 proc->stack = (cpustack_t *)proc;
185 if (CPU_SP_ON_EMPTY_SLOT)
189 proc_init_struct(proc);
190 proc->user_data = data;
192 #if CONFIG_KERN_HEAP | CONFIG_KERN_MONITOR | (ARCH & ARCH_EMUL)
193 proc->stack_base = stack_base;
194 proc->stack_size = stack_size;
197 proc->flags |= PF_FREESTACK;
201 #if CONFIG_KERN_PREEMPT
203 getcontext(&proc->context);
204 proc->context.uc_stack.ss_sp = proc->stack;
205 proc->context.uc_stack.ss_size = stack_size - PROC_SIZE_WORDS - 1;
206 proc->context.uc_link = NULL;
207 makecontext(&proc->context, (void (*)(void))proc_entry, 1, entry);
209 #else // !CONFIG_KERN_PREEMPT
213 /* Initialize process stack frame */
214 CPU_PUSH_CALL_FRAME(proc->stack, proc_exit);
215 CPU_PUSH_CALL_FRAME(proc->stack, entry);
217 /* Push a clean set of CPU registers for asm_switch_context() */
218 for (i = 0; i < CPU_SAVED_REGS_CNT; i++)
219 CPU_PUSH_WORD(proc->stack, CPU_REG_INIT_VALUE(i));
221 #endif // CONFIG_KERN_PREEMPT
223 #if CONFIG_KERN_MONITOR
224 monitor_add(proc, name);
227 /* Add to ready list */
228 ATOMIC(SCHED_ENQUEUE(proc));
234 * Return the name of the specified process.
236 * NULL is a legal argument and will return the name "<NULL>".
238 const char *proc_name(struct Process *proc)
240 #if CONFIG_KERN_MONITOR
241 return proc ? proc->monitor.name : "<NULL>";
248 /// Return the name of the currently running process
249 const char *proc_currentName(void)
251 return proc_name(proc_current());
255 void proc_rename(struct Process *proc, const char *name)
257 #if CONFIG_KERN_MONITOR
258 monitor_rename(proc, name);
260 (void)proc; (void)name;
265 * Terminate the current process
269 TRACEMSG("%p:%s", CurrentProcess, proc_currentName());
271 #if CONFIG_KERN_MONITOR
272 monitor_remove(CurrentProcess);
277 * The following code is BROKEN.
278 * We are freeing our own stack before entering proc_schedule()
279 * BAJO: A correct fix would be to rearrange the scheduler with
280 * an additional parameter which frees the old stack/process
281 * after a context switch.
283 if (CurrentProcess->flags & PF_FREESTACK)
284 heap_free(CurrentProcess->stack_base, CurrentProcess->stack_size);
285 heap_free(CurrentProcess);
288 #if (ARCH & ARCH_EMUL)
289 #warning This is wrong
290 /* Reinsert process stack in free list */
291 PROC_ATOMIC(ADDHEAD(&StackFreeList, (Node *)(CurrentProcess->stack
292 - (CONFIG_PROC_DEFSTACKSIZE / sizeof(cpustack_t)))));
295 * NOTE: At this point the first two words of what used
296 * to be our stack contain a list node. From now on, we
297 * rely on the compiler not reading/writing the stack.
299 #endif /* ARCH_EMUL */
301 CurrentProcess = NULL;
308 * Get the pointer to the current process
310 struct Process *proc_current(void)
312 return CurrentProcess;
316 * Get the pointer to the user data of the current process
318 iptr_t proc_currentUserData(void)
320 return CurrentProcess->user_data;