From: arighi Date: Wed, 17 Mar 2010 11:45:15 +0000 (+0000) Subject: Merge branch "preempt" in "trunk". X-Git-Tag: 2.4.0~49 X-Git-Url: https://codewiz.org/gitweb?p=bertos.git;a=commitdiff_plain;h=32d1445272120a254d77ce8d1af1f527da7a2c17 Merge branch "preempt" in "trunk". git-svn-id: https://src.develer.com/svnoss/bertos/trunk@3215 38d2e660-2303-0410-9eaa-f027e97ec537 --- diff --git a/bertos/cfg/cfg_proc.h b/bertos/cfg/cfg_proc.h index 12be30b8..1cd5a191 100644 --- a/bertos/cfg/cfg_proc.h +++ b/bertos/cfg/cfg_proc.h @@ -62,10 +62,10 @@ #define CONFIG_KERN_HEAP 0 /** - * Preemptive process scheduling. WARNING: Experimental, still incomplete! + * Preemptive process scheduling. * * $WIZ$ type = "boolean" - * $WIZ$ supports = "False" + * $WIZ$ conditional_deps = "timer", "idle" */ #define CONFIG_KERN_PREEMPT 0 diff --git a/bertos/cfg/os.h b/bertos/cfg/os.h index 4630377e..2089cc4f 100644 --- a/bertos/cfg/os.h +++ b/bertos/cfg/os.h @@ -39,6 +39,8 @@ #ifndef CFG_OS_H #define CFG_OS_H +#include "cfg/cfg_proc.h" + /* * OS autodetection (Some systems trigger multiple OS definitions) */ @@ -109,6 +111,40 @@ sigismember(&sigs__, SIGALRM) ? false : true; \ }) + #if CONFIG_KERN_PREEMPT + #define DECLARE_ISR_CONTEXT_SWITCH(vect) \ + void vect(UNUSED_ARG(int, arg)); \ + INLINE void __isr_##vect(void); \ + void vect(UNUSED_ARG(int, arg)) \ + { \ + __isr_##vect(); \ + IRQ_PREEMPT_HANDLER(); \ + } \ + INLINE void __isr_##vect(void) + /** + * With task priorities enabled each ISR is used a point to + * check if we need to perform a context switch. + * + * Instead, without priorities a context switch can occur only + * when the running task expires its time quantum. In this last + * case, the context switch can only occur in the timer ISR, + * that must be always declared with the + * DECLARE_ISR_CONTEXT_SWITCH() macro. + */ + #if CONFIG_KERN_PRI + #define DECLARE_ISR(vect) \ + DECLARE_ISR_CONTEXT_SWITCH(vect) + #endif /* CONFIG_KERN_PRI */ + #endif + #ifndef DECLARE_ISR + #define DECLARE_ISR(vect) \ + void vect(UNUSED_ARG(int, arg)) + #endif + #ifndef DECLARE_ISR_CONTEXT_SWITCH + #define DECLARE_ISR_CONTEXT_SWITCH(vect) \ + void vect(UNUSED_ARG(int, arg)) + #endif + #else #define OS_UNIX 0 #define OS_POSIX 0 diff --git a/bertos/cpu/arm/drv/adc_at91.c b/bertos/cpu/arm/drv/adc_at91.c index faa0d181..7fd50ddf 100644 --- a/bertos/cpu/arm/drv/adc_at91.c +++ b/bertos/cpu/arm/drv/adc_at91.c @@ -84,7 +84,7 @@ * ADC ISR. * Simply signal the adc process that convertion is complete. */ - static void ISR_FUNC adc_conversion_end_irq(void) + static DECLARE_ISR(adc_conversion_end_irq) { sig_signal(adc_process, SIG_ADC_COMPLETE); diff --git a/bertos/cpu/arm/drv/ser_at91.c b/bertos/cpu/arm/drv/ser_at91.c index aacb99b6..0ddeee5a 100644 --- a/bertos/cpu/arm/drv/ser_at91.c +++ b/bertos/cpu/arm/drv/ser_at91.c @@ -243,11 +243,11 @@ struct ArmSerial volatile bool sending; }; -static void uart0_irq_dispatcher(void); -static void uart1_irq_dispatcher(void); -static void spi0_irq_handler(void); +static ISR_PROTO(uart0_irq_dispatcher); +static ISR_PROTO(uart1_irq_dispatcher); +static ISR_PROTO(spi0_irq_handler); #if CPU_ARM_SAM7X -static void spi1_irq_handler(void); +static ISR_PROTO(spi1_irq_handler); #endif /* * Callbacks for USART0 @@ -783,8 +783,7 @@ static void uart0_irq_rx(void) /** * Serial IRQ dispatcher for USART0. */ -static void uart0_irq_dispatcher(void) __attribute__ ((interrupt)); -static void uart0_irq_dispatcher(void) +static DECLARE_ISR(uart0_irq_dispatcher) { if (US0_CSR & BV(US_RXRDY)) uart0_irq_rx(); @@ -848,8 +847,7 @@ static void uart1_irq_rx(void) /** * Serial IRQ dispatcher for USART1. */ -static void uart1_irq_dispatcher(void) __attribute__ ((interrupt)); -static void uart1_irq_dispatcher(void) +static DECLARE_ISR(uart1_irq_dispatcher) { if (US1_CSR & BV(US_RXRDY)) uart1_irq_rx(); @@ -864,8 +862,7 @@ static void uart1_irq_dispatcher(void) /** * SPI0 interrupt handler */ -static void spi0_irq_handler(void) __attribute__ ((interrupt)); -static void spi0_irq_handler(void) +static DECLARE_ISR(spi0_irq_handler) { SER_STROBE_ON; @@ -895,8 +892,7 @@ static void spi0_irq_handler(void) /** * SPI1 interrupt handler */ -static void spi1_irq_handler(void) __attribute__ ((interrupt)); -static void spi1_irq_handler(void) +static DECLARE_ISR(spi1_irq_handler) { SER_STROBE_ON; diff --git a/bertos/cpu/arm/drv/spi_dma_at91.c b/bertos/cpu/arm/drv/spi_dma_at91.c index 406e9d87..8576fc07 100644 --- a/bertos/cpu/arm/drv/spi_dma_at91.c +++ b/bertos/cpu/arm/drv/spi_dma_at91.c @@ -75,8 +75,7 @@ INLINE void spi_dma_startTx(void) } } -static void spi0_dma_write_irq_handler(void) __attribute__ ((interrupt)); -static void spi0_dma_write_irq_handler(void) +static DECLARE_ISR(spi0_dma_write_irq_handler) { SPI_DMA_STROBE_ON(); /* Pop sent chars from FIFO */ @@ -143,8 +142,7 @@ static int spi_dma_flush(UNUSED_ARG(struct KFile *, fd)) return 0; } -static void spi0_dma_read_irq_handler(void) __attribute__ ((interrupt)); -static void spi0_dma_read_irq_handler(void) +static DECLARE_ISR(spi0_dma_read_irq_handler) { /* do nothing */ AIC_EOICR = 0; diff --git a/bertos/cpu/arm/drv/stepper_at91.c b/bertos/cpu/arm/drv/stepper_at91.c index fa1b6470..2c2e193d 100644 --- a/bertos/cpu/arm/drv/stepper_at91.c +++ b/bertos/cpu/arm/drv/stepper_at91.c @@ -74,9 +74,9 @@ /* * Forward declaration for interrupt handler */ -static void stepper_tc0_irq(void); -static void stepper_tc1_irq(void); -static void stepper_tc2_irq(void); +static ISR_PROTO(stepper_tc0_irq); +static ISR_PROTO(stepper_tc1_irq); +static ISR_PROTO(stepper_tc2_irq); ///< Static array of timer counter struct for stepper. static struct TimerCounter stepper_timers[CONFIG_TC_STEPPER_MAX_NUM] = @@ -253,7 +253,7 @@ INLINE void stepper_tc_tio_irq(struct TimerCounter * t) /* * Interrupt handler for timer counter TCKL0 */ -static void ISR_FUNC stepper_tc0_irq(void) +DECLARE_ISR(stepper_tc0_irq) { /* * Warning: when we read the status_reg register, we reset it. @@ -277,7 +277,7 @@ static void ISR_FUNC stepper_tc0_irq(void) /* * Interrupt handler for timer counter TCKL1 */ -static void ISR_FUNC stepper_tc1_irq(void) +DECLARE_ISR(stepper_tc1_irq) { /* * Warning: when we read the status_reg register, we reset it. @@ -302,7 +302,7 @@ static void ISR_FUNC stepper_tc1_irq(void) /* * Interrupt handler for timer counter TCKL2 */ -static void ISR_FUNC stepper_tc2_irq(void) +DECLARE_ISR(stepper_tc2_irq) { /* diff --git a/bertos/cpu/arm/drv/sysirq_at91.c b/bertos/cpu/arm/drv/sysirq_at91.c index 410e53f0..d08f79b5 100644 --- a/bertos/cpu/arm/drv/sysirq_at91.c +++ b/bertos/cpu/arm/drv/sysirq_at91.c @@ -93,11 +93,15 @@ STATIC_ASSERT(countof(sysirq_tab) == SYSIRQ_CNT); * This function checks for interrupt enable state of * various sources (system timer, etc..) and calls * the corresponding handler. + * + * \note On ARM all IRQs are handled by the sysirq_dispatcher, so we can't + * differentiate between context-switch and non-context-switch ISR. */ -static void sysirq_dispatcher(void) __attribute__ ((interrupt)); -static void sysirq_dispatcher(void) +static DECLARE_ISR_CONTEXT_SWITCH(sysirq_dispatcher) { - for (unsigned i = 0; i < countof(sysirq_tab); i++) + unsigned int i; + + for (i = 0; i < countof(sysirq_tab); i++) { if (sysirq_tab[i].enabled && sysirq_tab[i].handler) diff --git a/bertos/cpu/arm/drv/timer_at91.c b/bertos/cpu/arm/drv/timer_at91.c index f1c2887e..2508b64b 100644 --- a/bertos/cpu/arm/drv/timer_at91.c +++ b/bertos/cpu/arm/drv/timer_at91.c @@ -50,6 +50,8 @@ /** HW dependent timer initialization */ #if (CONFIG_TIMER == TIMER_ON_PIT) + ISR_PROTO_CONTEXT_SWITCH(timer_handler); + void timer_hw_init(void) { sysirq_init(); diff --git a/bertos/cpu/arm/drv/timer_at91.h b/bertos/cpu/arm/drv/timer_at91.h index 8666893c..68e5561e 100644 --- a/bertos/cpu/arm/drv/timer_at91.h +++ b/bertos/cpu/arm/drv/timer_at91.h @@ -64,9 +64,13 @@ */ #if (CONFIG_TIMER == TIMER_ON_PIT) - void timer_handler(void); + /* + * On ARM all IRQs are handled by the sysirq_dispatcher, so the actual + * timer handler can be treated like any other normal routine. + */ + #define DEFINE_TIMER_ISR void timer_handler(void); \ + void timer_handler(void) - #define DEFINE_TIMER_ISR void timer_handler(void) #define TIMER_TICKS_PER_SEC 1000 #define TIMER_HW_CNT (CPU_FREQ / (16 * TIMER_TICKS_PER_SEC) - 1) diff --git a/bertos/cpu/arm/hw/crtat91sam7_rom.S b/bertos/cpu/arm/hw/crtat91sam7_rom.S index a73b70d5..9bd9d46c 100644 --- a/bertos/cpu/arm/hw/crtat91sam7_rom.S +++ b/bertos/cpu/arm/hw/crtat91sam7_rom.S @@ -83,18 +83,17 @@ #if CPU_ARM_SAM7S_LARGE || CPU_ARM_SAM7X - /** - * With a 18.420MHz cristal, master clock is: - * (((18.420 * PLL_MUL_VAL + 1) / PLL_DIV_VAL) / AT91MCK_PRES) = 48.023MHz - */ + /* + * With a 18.420MHz cristal, master clock is: + * (((18.420 * PLL_MUL_VAL + 1) / PLL_DIV_VAL) / AT91MCK_PRES) = 48.023MHz + */ #define PLL_MUL_VAL 72 /**< Real multiplier value is PLL_MUL_VAL + 1! */ #define PLL_DIV_VAL 14 #define AT91MCK_PRES PMC_PRES_CLK_2 - /** - * Register I/O adresses. - * \{ - */ + /* + * Register I/O adresses. + */ #define MC_BASE 0xFFFFFF00 #define MC_FMR_OFF 0x00000060 #define MC_FWS_2R3W 0x00000100 @@ -137,11 +136,13 @@ #define RSTC_KEY 0xA5000000 #define RSTC_URSTEN (1 << 0) + #define ARM_MODE_USR 0x10 #define ARM_MODE_FIQ 0x11 #define ARM_MODE_IRQ 0x12 #define ARM_MODE_SVC 0x13 #define ARM_MODE_ABORT 0x17 #define ARM_MODE_UNDEF 0x1B + #define ARM_MODE_SYS 0x1F #else #error No register I/O definition for selected ARM CPU @@ -353,7 +354,8 @@ _41: /* * Initialize user stack pointer. */ - ldr r13, =__stack_end + /* msr CPSR_c, #ARM_MODE_SYS | 0xC0 */ + ldr r13, =__stack_end /* diff --git a/bertos/cpu/arm/hw/switch.h b/bertos/cpu/arm/hw/switch.h deleted file mode 100644 index 9ed15b94..00000000 --- a/bertos/cpu/arm/hw/switch.h +++ /dev/null @@ -1,90 +0,0 @@ -/** - * \file - * - * - * \brief Kernel scheduler macros. - * - * \version $Id$ - * - * \author Francesco Sacchi - * \author Stefano Fedrigo - */ - -#ifndef CPU_ARM_HW_SWITCH_H -#define CPU_ARM_HW_SWITCH_H - -#include - -/** - * Interrupt entry point. - * Needed because AT91 uses an Interrupt Controller with auto-vectoring. - */ -#define SCHEDULER_IRQ_ENTRY \ - asm volatile("sub lr, lr, #4 \n\t" /* Adjust LR */ \ - "stmfd sp!, {r0} \n\t" /* Save r0 */ \ - "stmfd sp, {sp}^ \n\t" /* Save user SP */ \ - "sub sp, sp, #4 \n\t" /* Decrement irq SP, writeback is illegal */ \ - "ldmfd sp!, {r0} \n\t" /* Restore user SP immedately in r0 */ \ - "stmfd r0!, {lr} \n\t" /* Store system LR in user stack */ \ - "stmfd r0, {r1-r12,lr}^ \n\t" /* Store registers on user stack (user LR too) */ \ - "sub r0, r0, #52 \n\t" /* Decrement r0, writeback is illegal */ \ - "ldmfd sp!, {r1} \n\t" /* Restore r0 */ \ - "stmfd r0!, {r1} \n\t" /* Store r0 in user stack too */ \ - "mrs r1, spsr \n\t" /* Save SPSR... */ \ - "stmfd r0!, {r1} \n\t" /* ... in user stack */ \ - "ldr r1, =CurrentProcess \n\t" /* Load in r1 &CurrentProcess->stack */ \ - "ldr r1, [r1, %0] \n\t" \ - "str r0, [r1] \n\t" /* Store the process SP */ \ - "sub fp, sp, #4 \n\t" /* Store the process SP */ \ - : /* no output */ \ - : "n" (offsetof(Process, stack)) \ - ) - - -#define SCHEDULER_IRQ_EXIT \ - asm volatile("ldr lr, =CurrentProcess \n\t" /* Load &CurrentProcess->stack */ \ - "ldr lr, [lr, %0] \n\t" \ - "ldr lr, [lr] \n\t" /* Load current process SP */ \ - "ldr r0, =0xFFFFF000 \n\t" /* End of interrupt for AT91 */ \ - "str r0, [r0, #0x130] \n\t" /* */ \ - "ldmfd lr!, {r0} \n\t" /* Pop status reg */ \ - "msr spsr, r0 \n\t" /* ... */ \ - "ldmfd lr, {r0-r12,lr}^ \n\t" /* Restore user regs */ \ - "add lr, lr, #56 \n\t" /* 52 + irq link register (extracted below) */ \ - "stmfd sp!, {lr} \n\t" /* Push user stack pointer in irq stack */ \ - "ldmfd sp, {sp}^ \n\t" /* Restore user SP */ \ - "sub sp, sp, #4 \n\t" /* Align irq SP */ \ - "ldmdb lr, {pc}^ \n\t" /* And return to user space (We use ldmdb cause lr is sp+4) */ \ - : /* no output */ \ - : "n" (offsetof(Process, stack)) \ - ) - -#endif /* CPU_ARM_HW_SWITCH_H */ diff --git a/bertos/cpu/arm/hw/switch_ctx_arm.S b/bertos/cpu/arm/hw/switch_ctx_arm.S index b75a3c10..db4f297f 100644 --- a/bertos/cpu/arm/hw/switch_ctx_arm.S +++ b/bertos/cpu/arm/hw/switch_ctx_arm.S @@ -35,30 +35,65 @@ * * \author Stefano Fedrigo * \author Francesco Sacchi + * \author Andrea Righi */ +#include "cfg/cfg_proc.h" + /* void asm_switch_context(void **new_sp [r0], void **save_sp [r1]) */ .globl asm_switch_context asm_switch_context: - mrs r2, cpsr /* Save status. */ + /* Save registers */ + stmfd sp!, {r4 - r11, lr} + /* Save old stack pointer */ + str sp, [r1] + /* Load new stack pointer */ + ldr sp, [r0] + /* Load new registers */ + ldmfd sp!, {r4 - r11, pc} + +#if CONFIG_KERN_PREEMPT + +/* ARM interrupt mode with IRQ and FIQ disabled */ +#define ARM_IRQ_MODE 0xD2 +/* ARM supervisor mode with IRQ and FIQ disabled */ +#define ARM_SVC_MODE 0xD3 + +.globl asm_irq_switch_context +asm_irq_switch_context: + /* Return if preemption is not needed */ + bl proc_needPreempt + cmp r0, #0 + ldmeqfd sp!, {r0 - r3, ip, pc}^ - stmfd sp!, {r2, r4-r11, lr} /* Save registers. */ + /* Otherwise restore regs used by the ISR */ + ldmfd sp!, {r0 - r3, ip, lr} - str sp, [r1] /* Save old stack pointer. */ - ldr sp, [r0] /* Load new stack pointer */ + /* Save current process context */ + msr cpsr_c, #ARM_SVC_MODE + stmfd sp!, {r0 - r3, ip, lr} - ldmfd sp!, {r2, r4-r11, lr} /* Load new registers. */ - msr cpsr, r2 /* restore flags reg. */ + /* Save lr_irq and spsr_irq in process stack */ + msr cpsr_c, #ARM_IRQ_MODE + mov r0, lr + mrs r1, spsr + msr cpsr_c, #ARM_SVC_MODE + stmfd sp!, {r0, r1} - mov pc, lr + /* Perform the context switch */ + bl proc_preempt + /* Restore lr_irq and spsr_irq from process stack */ + ldmfd sp!, {r0, r1} + msr cpsr_c, #ARM_IRQ_MODE + mov lr, r0 + msr spsr_cxsf, r1 -/* proc_entry trampoline needed because ARM does not pop return addresses -from the stack, but uses lr instead.*/ -.globl asm_proc_entry -asm_proc_entry: - mov lr, pc - /* In r11 we have the real process entry point as set up by CPU_CREATE_NEW_STACK */ - bx r11 - bl proc_exit + /* Restore process regs */ + msr cpsr_c, #ARM_SVC_MODE + ldmfd sp!, {r0 - r3, ip, lr} + /* Exit from ISR */ + msr cpsr_c, #ARM_IRQ_MODE + movs pc, lr +#endif /* CONFIG_KERN_PREEMPT */ diff --git a/bertos/cpu/attr.h b/bertos/cpu/attr.h index c6d83734..832f0618 100644 --- a/bertos/cpu/attr.h +++ b/bertos/cpu/attr.h @@ -42,6 +42,7 @@ #include "detect.h" +#include "cfg/cfg_proc.h" /* CONFIG_KERN_PREEMPT */ #include "cfg/cfg_attr.h" /* CONFIG_FAST_MEM */ @@ -94,6 +95,8 @@ #ifdef __GNUC__ #define NOP asm volatile ("nop") + /* This is a good thing to insert into busy-wait loops. */ + #define PAUSE asm volatile ("rep; nop" ::: "memory") #define BREAKPOINT asm volatile ("int3" ::) #endif @@ -153,11 +156,6 @@ #define FAST_FUNC /**/ #endif - /** - * Function attribute to declare an interrupt service routine. - */ - #define ISR_FUNC __attribute__((interrupt)) - /* * Function attribute to move it into ram memory. */ @@ -239,4 +237,9 @@ #define FAST_RODATA /* */ #endif +#ifndef PAUSE + /// Generic PAUSE implementation. + #define PAUSE {NOP; MEMORY_BARRIER;} +#endif + #endif /* CPU_ATTR_H */ diff --git a/bertos/cpu/avr/drv/ser_avr.c b/bertos/cpu/avr/drv/ser_avr.c index 805c0a66..d6de8243 100644 --- a/bertos/cpu/avr/drv/ser_avr.c +++ b/bertos/cpu/avr/drv/ser_avr.c @@ -645,7 +645,7 @@ struct SerialHardware *ser_hw_getdesc(int unit) #if CONFIG_SER_HWHANDSHAKE /// This interrupt is triggered when the CTS line goes high -SIGNAL(SIG_CTS) +DECLARE_ISR(SIG_CTS) { // Re-enable UDR empty interrupt and TX, then disable CTS interrupt UCSR0B = BV(BIT_RXCIE0) | BV(BIT_UDRIE0) | BV(BIT_RXEN0) | BV(BIT_TXEN0); @@ -658,7 +658,7 @@ SIGNAL(SIG_CTS) /** * Serial 0 TX interrupt handler */ -SIGNAL(USART0_UDRE_vect) +DECLARE_ISR(USART0_UDRE_vect) { SER_STROBE_ON; @@ -706,7 +706,7 @@ SIGNAL(USART0_UDRE_vect) * otherwise we'd stop the serial port with some data * still pending in the buffer. */ -SIGNAL(SIG_UART0_TRANS) +DECLARE_ISR(SIG_UART0_TRANS) { SER_STROBE_ON; @@ -729,7 +729,7 @@ SIGNAL(SIG_UART0_TRANS) /** * Serial 1 TX interrupt handler */ -SIGNAL(USART1_UDRE_vect) +DECLARE_ISR(USART1_UDRE_vect) { SER_STROBE_ON; @@ -767,7 +767,7 @@ SIGNAL(USART1_UDRE_vect) * * \sa port 0 TX complete handler. */ -SIGNAL(USART1_TX_vect) +DECLARE_ISR(USART1_TX_vect) { SER_STROBE_ON; @@ -802,7 +802,7 @@ SIGNAL(USART1_TX_vect) * RXCIE is cleared. Unfortunately the RXC flag is read-only * and can't be cleared by code. */ -SIGNAL(USART0_RX_vect) +DECLARE_ISR(USART0_RX_vect) { SER_STROBE_ON; @@ -850,9 +850,9 @@ SIGNAL(USART0_RX_vect) * is heavily loaded, because an interrupt could be retriggered * when executing the handler prologue before RXCIE is disabled. * - * \see SIGNAL(USART1_RX_vect) + * \see DECLARE_ISR(USART1_RX_vect) */ -SIGNAL(USART1_RX_vect) +DECLARE_ISR(USART1_RX_vect) { SER_STROBE_ON; @@ -893,7 +893,7 @@ SIGNAL(USART1_RX_vect) /** * SPI interrupt handler */ -SIGNAL(SIG_SPI) +DECLARE_ISR(SIG_SPI) { SER_STROBE_ON; diff --git a/bertos/cpu/avr/drv/timer_avr.h b/bertos/cpu/avr/drv/timer_avr.h index 1288057f..a9209bdc 100644 --- a/bertos/cpu/avr/drv/timer_avr.h +++ b/bertos/cpu/avr/drv/timer_avr.h @@ -74,9 +74,9 @@ #define TIMER_PRESCALER 64 #define TIMER_HW_BITS 8 #if CPU_AVR_ATMEGA1281 || CPU_AVR_ATMEGA168 - #define DEFINE_TIMER_ISR SIGNAL(SIG_OUTPUT_COMPARE0A) + #define DEFINE_TIMER_ISR DECLARE_ISR_CONTEXT_SWITCH(TIMER0_COMPA_vect) #else - #define DEFINE_TIMER_ISR SIGNAL(SIG_OUTPUT_COMPARE0) + #define DEFINE_TIMER_ISR DECLARE_ISR_CONTEXT_SWITCH(TIMER0_COMP_vect) #endif #define TIMER_TICKS_PER_SEC 1000 #define TIMER_HW_CNT OCR_DIVISOR @@ -96,7 +96,7 @@ #define TIMER_HW_BITS 8 /** This value is the maximum in overflow based timers. */ #define TIMER_HW_CNT (1 << TIMER_HW_BITS) - #define DEFINE_TIMER_ISR SIGNAL(SIG_OVERFLOW1) + #define DEFINE_TIMER_ISR DECLARE_ISR_CONTEXT_SWITCH(TIMER1_OVF_vect) #define TIMER_TICKS_PER_SEC DIV_ROUND(TIMER_HW_HPTICKS_PER_SEC, TIMER_HW_CNT) /// Type of time expressed in ticks of the hardware high precision timer @@ -113,9 +113,9 @@ #define TIMER_PRESCALER 64 #define TIMER_HW_BITS 8 #if CPU_AVR_ATMEGA1281 || CPU_AVR_ATMEGA168 - #define DEFINE_TIMER_ISR SIGNAL(SIG_OUTPUT_COMPARE2A) + #define DEFINE_TIMER_ISR DECLARE_ISR_CONTEXT_SWITCH(TIMER2_COMPA_vect) #else - #define DEFINE_TIMER_ISR SIGNAL(SIG_OUTPUT_COMPARE2) + #define DEFINE_TIMER_ISR DECLARE_ISR_CONTEXT_SWITCH(TIMER2_COMP_vect) #endif #define TIMER_TICKS_PER_SEC 1000 /** Value for OCR register in output-compare based timers. */ @@ -136,7 +136,7 @@ #define TIMER_HW_BITS 8 /** This value is the maximum in overflow based timers. */ #define TIMER_HW_CNT (1 << TIMER_HW_BITS) - #define DEFINE_TIMER_ISR SIGNAL(SIG_OVERFLOW3) + #define DEFINE_TIMER_ISR DECLARE_ISR_CONTEXT_SWITCH(TIMER3_OVF_vect) #define TIMER_TICKS_PER_SEC DIV_ROUND(TIMER_HW_HPTICKS_PER_SEC, TIMER_HW_CNT) /// Type of time expressed in ticks of the hardware high precision timer diff --git a/bertos/cpu/avr/hw/switch_ctx_avr.S b/bertos/cpu/avr/hw/switch_ctx_avr.S index 50280292..cb10b5f8 100644 --- a/bertos/cpu/avr/hw/switch_ctx_avr.S +++ b/bertos/cpu/avr/hw/switch_ctx_avr.S @@ -47,12 +47,9 @@ asm_switch_context: ; r0 is the TEMP REG and can be used freely. ; r1 is the ZERO REG and must always contain 0. ; -; Stack frame is 19 byte, remember to update +; Stack frame is 18 byte, remember to update ; CPU_SAVED_REGS_CNT if you change pushed regs. - in r0,SREG-__SFR_OFFSET - push r0 -; push r1 ;zero-reg push r2 push r3 push r4 @@ -69,20 +66,9 @@ asm_switch_context: push r15 push r16 push r17 -; push r18 ;caller-save -; push r19 ;caller-save -; push r20 ;caller-save -; push r21 ;caller-save -; push r22 ;caller-save -; push r23 ;caller-save -; push r24 ;caller-save -; push r25 ;caller-save -; push r26 ;caller-save -; push r27 ;caller-save + push r28 push r29 -; push r30 ;caller-save -; push r31 ;caller-save in r18,SPL-__SFR_OFFSET ; r18:r19 = SP in r19,SPH-__SFR_OFFSET @@ -100,25 +86,15 @@ asm_switch_context: ; Two instructions are required to update SP ; so an IRQ can sneak in between them. ; So IRQ *MUST* be disabled and then restored. + in r0, SREG-__SFR_OFFSET cli ; Disable interrupt out SPL-__SFR_OFFSET,r18 ; SP = *new_sp out SPH-__SFR_OFFSET,r19 out SREG-__SFR_OFFSET,r0 ; Restore previous IRQ state -; pop r31 ;caller-save -; pop r30 ;caller-save pop r29 pop r28 -; pop r27 ;caller-save -; pop r26 ;caller-save -; pop r25 ;caller-save -; pop r24 ;caller-save -; pop r23 ;caller-save -; pop r22 ;caller-save -; pop r21 ;caller-save -; pop r20 ;caller-save -; pop r19 ;caller-save -; pop r18 ;caller-save + pop r17 pop r16 pop r15 @@ -135,8 +111,5 @@ asm_switch_context: pop r4 pop r3 pop r2 -; pop r1 ;zero-reg - pop r0 - out SREG-__SFR_OFFSET,r0 ret diff --git a/bertos/cpu/frame.h b/bertos/cpu/frame.h index 8cb7a813..dbb20a1e 100644 --- a/bertos/cpu/frame.h +++ b/bertos/cpu/frame.h @@ -51,52 +51,27 @@ #include /* for uintXX_t */ #if CPU_X86 + #if CPU_X86_32 - #define CPU_SAVED_REGS_CNT 7 - #define CPU_STACK_GROWS_UPWARD 0 - #define CPU_SP_ON_EMPTY_SLOT 0 + #define CPU_SAVED_REGS_CNT 4 + #define CPU_STACK_GROWS_UPWARD 0 + #define CPU_SP_ON_EMPTY_SLOT 0 + + #elif CPU_X86_64 + + #define CPU_SAVED_REGS_CNT 8 + #define CPU_STACK_GROWS_UPWARD 0 + #define CPU_SP_ON_EMPTY_SLOT 0 + #else + #error "unknown CPU" + #endif #elif CPU_ARM - #define CPU_SAVED_REGS_CNT 10 + #define CPU_SAVED_REGS_CNT 8 #define CPU_STACK_GROWS_UPWARD 0 #define CPU_SP_ON_EMPTY_SLOT 0 - - EXTERN_C void asm_proc_entry(void); - /** - * Initialization value for registers in stack frame. - * For the CPSR register, the initial value is set to: - * - All flags (N, Z, C, V) set to 0. - * - IRQ and FIQ enabled. - * - ARM state. - * - CPU in Supervisor Mode (SVC). - */ - #define CPU_CREATE_NEW_STACK(stack, entry, exit) \ - do { \ - /* LR (asm proc_entry trampoline) */ \ - CPU_PUSH_CALL_FRAME(stack, asm_proc_entry); \ - /* R11 (Process entry point) DO NOT CHANGE: asm_proc_entry expects \ - * to find the actual process entry point in R11 */ \ - CPU_PUSH_CALL_FRAME(stack, entry); \ - /* R10 */ \ - CPU_PUSH_WORD(stack, 0x10101010); \ - /* R9 */ \ - CPU_PUSH_WORD(stack, 0x09090909); \ - /* R8 */ \ - CPU_PUSH_WORD(stack, 0x08080808); \ - /* R7 */ \ - CPU_PUSH_WORD(stack, 0x07070707); \ - /* R6 */ \ - CPU_PUSH_WORD(stack, 0x06060606); \ - /* R5 */ \ - CPU_PUSH_WORD(stack, 0x05050505); \ - /* R4 */ \ - CPU_PUSH_WORD(stack, 0x04040404); \ - /* CPSR */ \ - CPU_PUSH_WORD(stack, 0x00000013); \ - } while (0) - #elif CPU_PPC #define CPU_SAVED_REGS_CNT 1 @@ -111,18 +86,10 @@ #elif CPU_AVR - #define CPU_SAVED_REGS_CNT 19 + #define CPU_SAVED_REGS_CNT 18 #define CPU_STACK_GROWS_UPWARD 0 #define CPU_SP_ON_EMPTY_SLOT 1 - /** - * Initialization value for registers in stack frame. - * The register index is not directly corrispondent to CPU - * register numbers. Index 0 is the SREG register: the initial - * value is all 0 but the interrupt bit (bit 7). - */ - #define CPU_REG_INIT_VALUE(reg) (reg == 0 ? 0x80 : 0) - #else #error No CPU_... defined. #endif @@ -137,7 +104,7 @@ /// Default for macro not defined in the right arch section #ifndef CPU_REG_INIT_VALUE - #define CPU_REG_INIT_VALUE(reg) 0 + #define CPU_REG_INIT_VALUE(reg) (reg) #endif /* @@ -263,12 +230,11 @@ */ #ifndef CPU_CREATE_NEW_STACK - #define CPU_CREATE_NEW_STACK(stack, entry, exit) \ + #define CPU_CREATE_NEW_STACK(stack) \ do { \ size_t i; \ /* Initialize process stack frame */ \ - CPU_PUSH_CALL_FRAME(stack, exit); \ - CPU_PUSH_CALL_FRAME(stack, entry); \ + CPU_PUSH_CALL_FRAME(stack, proc_entry); \ /* Push a clean set of CPU registers for asm_switch_context() */ \ for (i = 0; i < CPU_SAVED_REGS_CNT; i++) \ CPU_PUSH_WORD(stack, CPU_REG_INIT_VALUE(i)); \ diff --git a/bertos/cpu/irq.h b/bertos/cpu/irq.h index 011524b8..83b04964 100644 --- a/bertos/cpu/irq.h +++ b/bertos/cpu/irq.h @@ -44,7 +44,10 @@ #include "detect.h" #include "types.h" +#include + #include /* for uintXX_t */ +#include "cfg/cfg_proc.h" /* CONFIG_KERN_PREEMPT */ #if CPU_I196 #define IRQ_DISABLE disable_interrupt() @@ -149,6 +152,111 @@ #define IRQ_ENABLED() ((CPU_READ_FLAGS() & 0xc0) != 0xc0) + #if CONFIG_KERN_PREEMPT + EXTERN_C void asm_irq_switch_context(void); + + /** + * At the beginning of any ISR immediately ajust the + * return address and store all the caller-save + * registers (the ISR may change these registers that + * are shared with the user-context). + */ + #define IRQ_ENTRY() asm volatile ( \ + "sub lr, lr, #4\n\t" \ + "stmfd sp!, {r0-r3, ip, lr}\n\t") + #define IRQ_EXIT() asm volatile ( \ + "b asm_irq_switch_context\n\t") + /** + * Function attribute to declare an interrupt service + * routine. + * + * An ISR function must be declared as naked because we + * want to add our IRQ_ENTRY() prologue and IRQ_EXIT() + * epilogue code to handle the context switch and save + * all the registers (not only the callee-save). + * + */ + #define ISR_FUNC __attribute__((naked)) + + /** + * The compiler cannot establish which + * registers actually need to be saved, because + * the interrupt can happen at any time, so the + * "normal" prologue and epilogue used for a + * generic function call are not suitable for + * the ISR. + * + * Using a naked function has the drawback that + * the stack is not automatically adjusted at + * this point, like a "normal" function call. + * + * So, an ISR can _only_ contain other function + * calls and they can't use the stack in any + * other way. + * + * NOTE: we need to explicitly disable IRQs after + * IRQ_ENTRY(), because the IRQ status flag is not + * masked by the hardware and an IRQ ack inside the ISR + * may cause the triggering of another IRQ before + * exiting from the current ISR. + * + * The respective IRQ_ENABLE is not necessary, because + * IRQs will be automatically re-enabled when restoring + * the context of the user task. + */ + #define DECLARE_ISR_CONTEXT_SWITCH(func) \ + void ISR_FUNC func(void); \ + static void __isr_##func(void); \ + void ISR_FUNC func(void) \ + { \ + IRQ_ENTRY(); \ + IRQ_DISABLE; \ + __isr_##func(); \ + IRQ_EXIT(); \ + } \ + static void __isr_##func(void) + /** + * Interrupt service routine prototype: can be used for + * forward declarations. + */ + #define ISR_PROTO_CONTEXT_SWITCH(func) \ + void ISR_FUNC func(void) + /** + * With task priorities enabled each ISR is used a point to + * check if we need to perform a context switch. + * + * Instead, without priorities a context switch can occur only + * when the running task expires its time quantum. In this last + * case, the context switch can only occur in the timer + * ISR, that must be always declared with the + * DECLARE_ISR_CONTEXT_SWITCH() macro. + */ + #if CONFIG_KERN_PRI + #define DECLARE_ISR(func) \ + DECLARE_ISR_CONTEXT_SWITCH(func) + + #define ISR_PROTO(func) \ + ISR_PROTO_CONTEXT_SWITCH(func) + #endif /* !CONFIG_KERN_PRI */ + #endif /* CONFIG_KERN_PREEMPT */ + + #ifndef DECLARE_ISR + #define DECLARE_ISR(func) \ + void __attribute__((interrupt)) func(void) + #endif + #ifndef DECLARE_ISR_CONTEXT_SWITCH + #define DECLARE_ISR_CONTEXT_SWITCH(func) \ + void __attribute__((interrupt)) func(void) + #endif + #ifndef ISR_PROTO + #define ISR_PROTO(func) \ + void __attribute__((interrupt)) func(void) + #endif + #ifndef ISR_PROTO_CONTEXT_SWITCH + #define ISR_PROTO_CONTEXT_SWITCH(func) \ + void __attribute__((interrupt)) func(void) + #endif + #endif /* !__IAR_SYSTEMS_ICC_ */ #elif CPU_PPC @@ -218,18 +326,61 @@ ); \ (bool)(sreg & 0x80); \ }) + #if CONFIG_KERN_PREEMPT + #define DECLARE_ISR_CONTEXT_SWITCH(vect) \ + INLINE void __isr_##vect(void); \ + ISR(vect) \ + { \ + __isr_##vect(); \ + IRQ_PREEMPT_HANDLER(); \ + } \ + INLINE void __isr_##vect(void) + + /** + * Interrupt service routine prototype: can be used for + * forward declarations. + */ + #define ISR_PROTO(vect) ISR(vect) + + /** + * With task priorities enabled each ISR is used a point to + * check if we need to perform a context switch. + * + * Instead, without priorities a context switch can occur only + * when the running task expires its time quantum. In this last + * case, the context switch can only occur in the timer ISR, + * that must be always declared with the + * DECLARE_ISR_CONTEXT_SWITCH() macro. + */ + #if CONFIG_KERN_PRI + #define DECLARE_ISR(func) \ + DECLARE_ISR_CONTEXT_SWITCH(func) + + #define ISR_PROTO(func) \ + ISR_PROTO_CONTEXT_SWITCH(func) + #endif /* !CONFIG_KERN_PRI */ + #endif + + #ifndef DECLARE_ISR + #define ISR_PROTO(vect) ISR(vect) + #endif + #ifndef DECLARE_ISR + #define DECLARE_ISR(vect) ISR(vect) + #endif + #ifndef DECLARE_ISR_CONTEXT_SWITCH + #define DECLARE_ISR_CONTEXT_SWITCH(vect) ISR(vect) + #endif + #ifndef ISR_PROTO + #define ISR_PROTO(func) ISR(vect) + #endif + #ifndef ISR_PROTO_CONTEXT_SWITCH + #define ISR_PROTO_CONTEXT_SWITCH(func) ISR(vect) + #endif + #else #error No CPU_... defined. #endif -#ifndef IRQ_ENTRY - #define IRQ_ENTRY() /* NOP */ -#endif - -#ifndef IRQ_EXIT - #define IRQ_EXIT() /* NOP */ -#endif - #ifdef IRQ_RUNNING /// Ensure callee is running within an interrupt #define ASSERT_IRQ_CONTEXT() ASSERT(IRQ_RUNNING()) @@ -252,6 +403,22 @@ #define IRQ_ASSERT_DISABLED() do {} while(0) #endif + +#ifndef IRQ_PREEMPT_HANDLER + #if CONFIG_KERN_PREEMPT + /** + * Handle preemptive context switch inside timer IRQ. + */ + INLINE void IRQ_PREEMPT_HANDLER(void) + { + if (proc_needPreempt()) + proc_preempt(); + } + #else + #define IRQ_PREEMPT_HANDLER() /* Nothing */ + #endif +#endif + /** * Execute \a CODE atomically with respect to interrupts. * diff --git a/bertos/cpu/power.h b/bertos/cpu/power.h index 93c40c03..d73eb621 100644 --- a/bertos/cpu/power.h +++ b/bertos/cpu/power.h @@ -67,7 +67,8 @@ INLINE void cpu_relax(void) { #if CONFIG_KERN - proc_yield(); + if (proc_preemptAllowed()) + proc_yield(); #endif #if CONFIG_WATCHDOG diff --git a/bertos/cpu/types.h b/bertos/cpu/types.h index 252d77a9..bb4aa79f 100644 --- a/bertos/cpu/types.h +++ b/bertos/cpu/types.h @@ -207,6 +207,11 @@ /*\}*/ +#ifndef INT_MAX + #define INT_MAX ((int)((unsigned int)~0 >> 1)) + #define INT_MIN (-INT_MAX - 1) +#endif + /* Sanity checks for the above definitions */ STATIC_ASSERT(sizeof(char) == SIZEOF_CHAR); STATIC_ASSERT(sizeof(short) == SIZEOF_SHORT); diff --git a/bertos/drv/timer.c b/bertos/drv/timer.c index 60494413..4ace035c 100644 --- a/bertos/drv/timer.c +++ b/bertos/drv/timer.c @@ -52,6 +52,8 @@ #include #include // cpu_relax() +#include // proc_decQuantun() + /* * Include platform-specific binding code if we're hosted. * Try the CPU specific one for bare-metal environments. @@ -240,30 +242,34 @@ void synctimer_poll(List *queue) /** * Wait for the specified amount of timer ticks. + * + * \note Sleeping while preemption is disabled fallbacks to a busy wait sleep. */ void timer_delayTicks(ticks_t delay) { /* We shouldn't sleep with interrupts disabled */ IRQ_ASSERT_ENABLED(); -#if defined(CONFIG_KERN_SIGNALS) && CONFIG_KERN_SIGNALS +#if CONFIG_KERN_SIGNALS Timer t; - ASSERT(!sig_check(SIG_SINGLE)); - timer_setSignal(&t, proc_current(), SIG_SINGLE); - timer_setDelay(&t, delay); - timer_add(&t); - sig_wait(SIG_SINGLE); - -#else /* !CONFIG_KERN_SIGNALS */ - - ticks_t start = timer_clock(); - - /* Busy wait */ - while (timer_clock() - start < delay) - cpu_relax(); - + if (proc_preemptAllowed()) + { + ASSERT(!sig_check(SIG_SINGLE)); + timer_setSignal(&t, proc_current(), SIG_SINGLE); + timer_setDelay(&t, delay); + timer_add(&t); + sig_wait(SIG_SINGLE); + } + else #endif /* !CONFIG_KERN_SIGNALS */ + { + ticks_t start = timer_clock(); + + /* Busy wait */ + while (timer_clock() - start < delay) + cpu_relax(); + } } @@ -315,7 +321,6 @@ void timer_delayHp(hptime_t delay) } #endif /* CONFIG_TIMER_UDELAY */ - /** * Timer interrupt handler. Find soft timers expired and * trigger corresponding events. @@ -346,6 +351,9 @@ DEFINE_TIMER_ISR /* Update the master ms counter */ ++_clock; + /* Update the current task's quantum (if enabled). */ + proc_decQuantum(); + #if CONFIG_TIMER_EVENTS timer_poll(&timers_queue); #endif diff --git a/bertos/emul/switch_i386.S b/bertos/emul/switch_i386.S index 5032b31c..b605c15e 100644 --- a/bertos/emul/switch_i386.S +++ b/bertos/emul/switch_i386.S @@ -46,22 +46,16 @@ /* void asm_switch_context(void ** new_sp [sp+4], void ** save_sp [sp+8]) */ .globl SWITCH_CONTEXT SWITCH_CONTEXT: - pushl %eax - pushl %ebx - pushl %ecx - pushl %edx - pushl %esi - pushl %edi pushl %ebp + pushl %edi + pushl %esi + pushl %ebx movl 0x24(%esp),%ebp /* ebp = save_sp */ movl %esp,(%ebp) /* *save_sp = esp */ movl 0x20(%esp),%ebp /* ebp = new_sp */ movl (%ebp),%esp /* esp = *new_sp */ - popl %ebp - popl %edi - popl %esi - popl %edx - popl %ecx popl %ebx - popl %eax + popl %esi + popl %edi + popl %ebp ret diff --git a/bertos/emul/switch_x86_64.s b/bertos/emul/switch_x86_64.s index 1632c816..de0f8f65 100644 --- a/bertos/emul/switch_x86_64.s +++ b/bertos/emul/switch_x86_64.s @@ -39,20 +39,22 @@ /* void asm_switch_context(void **new_sp [%rdi], void **save_sp [%rsi]) */ .globl asm_switch_context asm_switch_context: - pushq %rax - pushq %rbx - pushq %rcx - pushq %rdx - pushq %rsi - pushq %rdi pushq %rbp + pushq %rdi + pushq %rsi + pushq %rbx + pushq %r8 + pushq %r9 + pushq %r10 + pushq %r11 movq %rsp,(%rsi) /* *save_sp = rsp */ movq (%rdi),%rsp /* rsp = *new_sp */ - popq %rbp - popq %rdi - popq %rsi - popq %rdx - popq %rcx + popq %r11 + popq %r10 + popq %r9 + popq %r8 popq %rbx - popq %rax + popq %rsi + popq %rdi + popq %rbp ret diff --git a/bertos/emul/timer_posix.h b/bertos/emul/timer_posix.h index a8043dfc..e782da6e 100644 --- a/bertos/emul/timer_posix.h +++ b/bertos/emul/timer_posix.h @@ -41,7 +41,7 @@ // HW dependent timer initialization -#define DEFINE_TIMER_ISR void timer_isr(UNUSED_ARG(int, arg)) +#define DEFINE_TIMER_ISR DECLARE_ISR_CONTEXT_SWITCH(timer_isr) /** Most Linux kernels can't do better than this (CONFIG_HZ=250). */ #define TIMER_TICKS_PER_SEC 250 diff --git a/bertos/emul/timer_qt.h b/bertos/emul/timer_qt.h index 70650bae..1f37c6c9 100644 --- a/bertos/emul/timer_qt.h +++ b/bertos/emul/timer_qt.h @@ -41,7 +41,7 @@ // HW dependent timer initialization -#define DEFINE_TIMER_ISR void timer_isr(void) +#define DEFINE_TIMER_ISR DECLARE_ISR_CONTEXT_SWITCH(timer_isr) #define TIMER_TICKS_PER_SEC 250 #define TIMER_HW_CNT (1<<31) /* We assume 32bit integers here */ diff --git a/bertos/kern/coop.c b/bertos/kern/coop.c index 9b736166..be3d6dfd 100644 --- a/bertos/kern/coop.c +++ b/bertos/kern/coop.c @@ -67,13 +67,13 @@ static void proc_schedule(void) { cpu_flags_t flags; - ATOMIC(LIST_ASSERT_VALID(&ProcReadyList)); + ATOMIC(LIST_ASSERT_VALID(&proc_ready_list)); ASSERT_USER_CONTEXT(); IRQ_ASSERT_ENABLED(); /* Poll on the ready queue for the first ready process */ IRQ_SAVE_DISABLE(flags); - while (!(CurrentProcess = (struct Process *)list_remHead(&ProcReadyList))) + while (!(current_process = (struct Process *)list_remHead(&proc_ready_list))) { /* * Make sure we physically reenable interrupts here, no matter what @@ -82,7 +82,7 @@ static void proc_schedule(void) * process will ever wake up. * * During idle-spinning, an interrupt can occur and it may - * modify \p ProcReadyList. To ensure that compiler reload this + * modify \p proc_ready_list. To ensure that compiler reload this * variable every while cycle we call CPU_MEMORY_BARRIER. * The memory barrier ensure that all variables used in this context * are reloaded. @@ -101,7 +101,7 @@ static void proc_schedule(void) void proc_switch(void) { /* Remember old process to save its context later */ - Process * const old_process = CurrentProcess; + Process * const old_process = current_process; proc_schedule(); @@ -109,14 +109,14 @@ void proc_switch(void) * Optimization: don't switch contexts when the active * process has not changed. */ - if (CurrentProcess != old_process) + if (current_process != old_process) { cpu_stack_t *dummy; #if CONFIG_KERN_MONITOR LOG_INFO("Switch from %p(%s) to %p(%s)\n", old_process, proc_name(old_process), - CurrentProcess, proc_currentName()); + current_process, proc_currentName()); #endif /* Save context of old process and switch to new process. If there is no @@ -126,18 +126,17 @@ void proc_switch(void) * TODO: Instead of physically clearing the process at exit time, a zombie * list should be created. */ - asm_switch_context(&CurrentProcess->stack, old_process ? &old_process->stack : &dummy); + asm_switch_context(¤t_process->stack, old_process ? &old_process->stack : &dummy); } /* This RET resumes the execution on the new process */ } - /** * Co-operative context switch */ void proc_yield(void) { - ATOMIC(SCHED_ENQUEUE(CurrentProcess)); + ATOMIC(SCHED_ENQUEUE(current_process)); proc_switch(); } diff --git a/bertos/kern/idle.c b/bertos/kern/idle.c index 810560a1..7ba8d617 100644 --- a/bertos/kern/idle.c +++ b/bertos/kern/idle.c @@ -38,11 +38,15 @@ #include "idle.h" #include "proc.h" +#include // cpu_relax() #include +#include // INT_MIN +#include -// below there's a TRACE so we need a big stack -PROC_DEFINE_STACK(idle_stack, KERN_MINSTACKSIZE * 2); +struct Process *idle_proc; + +static PROC_DEFINE_STACK(idle_stack, KERN_MINSTACKSIZE); /** * The idle process @@ -60,14 +64,21 @@ static NORETURN void idle(void) { for (;;) { - TRACE; - //monitor_report(); - proc_yield(); // FIXME: CPU_IDLE + PAUSE; + proc_switch(); } } void idle_init(void) { - struct Process *idle_proc = proc_new(idle, NULL, sizeof(idle_stack), idle_stack); - proc_setPri(idle_proc, (int)~0); + /* + * Idle will be added to the ProcReadyList, but immediately removed + * after the first cpu_relax() execution. + * + * XXX: it would be better to never add idle_proc to the ProcReadyList, + * e.g., changing the prototype of proc_new() (or introducing a + * proc_new_nostart()) to allow the creation of "sleeping" tasks. + */ + idle_proc = proc_new(idle, NULL, sizeof(idle_stack), idle_stack); + proc_setPri(idle_proc, INT_MIN); } diff --git a/bertos/kern/idle.h b/bertos/kern/idle.h index bad98feb..ca2fafc6 100644 --- a/bertos/kern/idle.h +++ b/bertos/kern/idle.h @@ -37,5 +37,7 @@ #ifndef KERN_IDLE_H #define KERN_IDLE_H +extern struct Process *idle_proc; + void idle_init(void); #endif /* KERN_IDLE_H */ diff --git a/bertos/kern/irq.c b/bertos/kern/irq.c index 479ad67b..85608147 100644 --- a/bertos/kern/irq.c +++ b/bertos/kern/irq.c @@ -48,7 +48,6 @@ #include // FIXME: move POSIX stuff to irq_posix.h - MOD_DEFINE(irq) // FIXME @@ -57,32 +56,7 @@ static void (*irq_handlers[100])(void); /* signal handler */ void irq_entry(int signum) { -#if CONFIG_KERN_PREEMPT - Process * const old_process = CurrentProcess; -#endif - irq_handlers[signum](); - -#if CONFIG_KERN_PREEMPT - ASSERT2(CurrentProcess, "no idle proc?"); - - if (old_process != CurrentProcess) - { - IRQ_DISABLE; - - TRACEMSG("switching from %p:%s to %p:%s", - old_process, old_process ? old_process->monitor.name : "---", - CurrentProcess, proc_currentName()); - - if (old_process) - swapcontext(&old_process->context, &CurrentProcess->context); - else - setcontext(&CurrentProcess->context); - - IRQ_ENABLE; - } - TRACEMSG("resuming %p:%s", CurrentProcess, CurrentProcess->monitor.name); -#endif // CONFIG_KERN_PREEMPT } void irq_register(int irq, void (*callback)(void)) diff --git a/bertos/kern/monitor.c b/bertos/kern/monitor.c index 5995fc53..8da30677 100644 --- a/bertos/kern/monitor.c +++ b/bertos/kern/monitor.c @@ -118,12 +118,12 @@ void monitor_report(void) Node *node; int i; + proc_forbid(); kprintf("%-9s%-9s%-9s%-9s%s\n", "TCB", "SPbase", "SPsize", "SPfree", "Name"); for (i = 0; i < 56; i++) kputchar('-'); kputchar('\n'); - proc_forbid(); FOREACH_NODE(node, &MonitorProcs) { Process *p = containerof(node, Process, monitor.link); diff --git a/bertos/kern/msg_test.c b/bertos/kern/msg_test.c index 1e4ed210..bcb20ea2 100644 --- a/bertos/kern/msg_test.c +++ b/bertos/kern/msg_test.c @@ -271,12 +271,6 @@ int msg_testSetup(void) { kdbg_init(); - #if CONFIG_KERN_PREEMPT - kprintf("Init Interrupt (preempt mode).."); - irq_init(); - kprintf("Done.\n"); - #endif - kprintf("Init Timer.."); timer_init(); kprintf("Done.\n"); diff --git a/bertos/kern/mtask.c b/bertos/kern/mtask.c new file mode 100644 index 00000000..ee51e838 --- /dev/null +++ b/bertos/kern/mtask.c @@ -0,0 +1,50 @@ +/** + * \file + * + * + * \brief Choose the multitasking scheduler. + * + * \author Francesco Sacchi + */ + + +#include "cfg/cfg_proc.h" + +/* + * Choose which file to compile depending on + * the multitasking type. + */ +#if CONFIG_KERN_PREEMPT + #include "preempt.c" +#else + #include "coop.c" +#endif + diff --git a/bertos/kern/preempt.c b/bertos/kern/preempt.c index 48a1278e..19c43d3c 100644 --- a/bertos/kern/preempt.c +++ b/bertos/kern/preempt.c @@ -27,21 +27,61 @@ * the GNU General Public License. * * Copyright 2008 Bernie Innocenti + * Copyright 2009 Andrea Righi * --> * * \brief Simple preemptive multitasking scheduler. * - * All voluntary and preemptive context switching happens on exit from - * a common interrupt (signal) dispatcher. Preemption on quantum timeout - * is regulated by a soft-timer. Other kinds of preemption could happen - * if an interrupt sends a signal to a higher priority process (but this - * is still unimplemented). + * Preemption is explicitly regulated at the exit of each interrupt service + * routine (ISR). Each task obtains a time quantum as soon as it is scheduled + * on the CPU and its quantum is decremented at each clock tick. The frequency + * of the timer determines the system tick granularity and CONFIG_KERN_QUANTUM + * the time sharing interval. * - * In the POSIX implementaiton, context switching is done by the portable - * SVR4 swapcontext() facility. + * When the quantum expires the handler proc_needPreempt() checks if the + * preemption is enabled and in this case proc_schedule() is called, that + * possibly replaces the current running thread with a different one. + * + * The preemption can be disabled or enabled via proc_forbid() and + * proc_permit() primitives. This is implemented using a global atomic counter. + * When the counter is greater than 0 the task cannot be preempted; only when + * the counter reaches 0 the task can be preempted again. + * + * Preemption-disabled sections may be nested. The preemption will be + * re-enabled when the outermost preemption-disabled section completes. + * + * The voluntary preemption still happens via proc_switch() or proc_yield(). + * The first one assumes the current process has been already added to a + * private wait queue (e.g., on a semaphore or a signal), while the second one + * takes care of adding the process into the ready queue. + * + * Context switch is done by CPU-dependent support routines. In case of a + * voluntary preemption the context switch routine must take care of + * saving/restoring only the callee-save registers (the voluntary-preemption is + * actually a function call). The kernel-preemption always happens inside a + * signal/interrupt context and it must take care of saving all registers. For + * this, in the entry point of each ISR the caller-save registers must be + * saved. In the ISR exit point, if the context switch must happen, we switch + * to user-context and call the same voluntary context switch routine that take + * care of saving/restoring also the callee-save registers. On resume from the + * switch, the interrupt exit point moves back to interrupt-context, resumes + * the caller-save registers (saved in the ISR entry point) and return from the + * interrupt-context. + * + * \note Thread priority (if enabled by CONFIG_KERN_PRI) defines the order in + * the \p proc_ready_list and the capability to deschedule a running process. A + * low-priority thread can't preempt a high-priority thread. + * + * A high-priority process can preempt a low-priority process immediately (it + * will be descheduled and replaced in the interrupt exit point). Processes + * running at the same priority can be descheduled when they expire the time + * quantum. + * + * \note Sleeping while preemption is disabled fallbacks to a busy-wait sleep. + * Voluntary preemption when preemption is disabled raises a kernel bug. * - * \version $Id$ * \author Bernie Innocenti + * \author Andrea Righi */ #include "cfg/cfg_proc.h" @@ -50,115 +90,145 @@ #include "proc_p.h" #include "proc.h" -#include "idle.h" #include #include +#include // idle_proc #include // CPU_IDLE #include // IRQ_DISABLE()... -#include +#include #include #include // CONFIG_DEPEND() // Check config dependencies -CONFIG_DEPEND(CONFIG_KERN_PREEMPT, CONFIG_KERN && CONFIG_TIMER_EVENTS && CONFIG_KERN_IRQ); +CONFIG_DEPEND(CONFIG_KERN_PREEMPT, CONFIG_KERN); MOD_DEFINE(preempt) -/// Global preemption disabling nesting counter -cpu_atomic_t _preempt_forbid_cnt; +/** + * CPU dependent context switching routines. + * + * Saving and restoring the context on the stack is done by a CPU-dependent + * support routine which usually needs to be written in assembly. + */ +EXTERN_C void asm_switch_context(cpu_stack_t **new_sp, cpu_stack_t **save_sp); -static Timer preempt_timer; +/* Global preemption nesting counter */ +cpu_atomic_t preempt_count; +/* + * The time sharing interval: when a process is scheduled on a CPU it gets an + * amount of CONFIG_KERN_QUANTUM clock ticks. When these ticks expires and + * preemption is enabled a new process is selected to run. + */ +int _proc_quantum; -void proc_schedule(void) +/** + * Call the scheduler and eventually replace the current running process. + */ +static void proc_schedule(void) { - IRQ_DISABLE; - - ASSERT(proc_preemptAllowed()); - LIST_ASSERT_VALID(&ProcReadyList); - CurrentProcess = (struct Process *)list_remHead(&ProcReadyList); - ASSERT2(CurrentProcess, "no idle proc?"); - - IRQ_ENABLE; + Process *old_process = current_process; + + IRQ_ASSERT_DISABLED(); + + /* Poll on the ready queue for the first ready process */ + LIST_ASSERT_VALID(&proc_ready_list); + current_process = (Process *)list_remHead(&proc_ready_list); + if (UNLIKELY(!current_process)) + current_process = idle_proc; + _proc_quantum = CONFIG_KERN_QUANTUM; + /* + * Optimization: don't switch contexts when the active process has not + * changed. + */ + if (LIKELY(old_process != current_process)) + { + cpu_stack_t *dummy; + + /* + * Save context of old process and switch to new process. If + * there is no old process, we save the old stack pointer into + * a dummy variable that we ignore. In fact, this happens only + * when the old process has just exited. + * + * \todo Instead of physically clearing the process at exit + * time, a zombie list should be created. + */ + asm_switch_context(¤t_process->stack, + old_process ? &old_process->stack : &dummy); + } - TRACEMSG("launching %p:%s", CurrentProcess, proc_currentName()); + /* This RET resumes the execution on the new process */ + LOG_INFO("resuming %p:%s\n", current_process, proc_currentName()); } -void proc_preempt(UNUSED_ARG(void *, param)) +/** + * Check if we need to schedule another task + */ +int proc_needPreempt(void) { - if (proc_preemptAllowed()) - { - IRQ_DISABLE; - - #if CONFIG_KERN_PRI - Process *rival = (Process *)LIST_HEAD(&ProcReadyList); - if (rival && rival->link.pri >= CurrentProcess->link.pri) - { - #endif - - TRACEMSG("preempting %p:%s", CurrentProcess, proc_currentName()); - -// FIXME: this still breaks havoc, probably because of some reentrancy issue -#if 0 - SCHED_ENQUEUE(CurrentProcess); - proc_schedule(); -#endif - #if CONFIG_KERN_PRI - } - #endif - - IRQ_ENABLE; - } + if (UNLIKELY(current_process == NULL)) + return 0; + if (!proc_preemptAllowed()) + return 0; + return _proc_quantum ? prio_next() > prio_curr() : + prio_next() >= prio_curr(); +} - timer_setDelay(&preempt_timer, CONFIG_KERN_QUANTUM); - timer_add(&preempt_timer); +/** + * Preempt the current task. + */ +void proc_preempt(void) +{ + IRQ_ASSERT_DISABLED(); + ASSERT(current_process); + + /* Perform the kernel preemption */ + LOG_INFO("preempting %p:%s\n", current_process, proc_currentName()); + /* We are inside a IRQ context, so ATOMIC is not needed here */ + if (current_process != idle_proc) + SCHED_ENQUEUE(current_process); + proc_schedule(); } +/** + * Give the control of the CPU to another process. + * + * \note Assume the current process has been already added to a wait queue. + * + * \warning This should be considered an internal kernel function, even if it + * is allowed, usage from application code is strongly discouraged. + */ void proc_switch(void) { - ATOMIC(LIST_ASSERT_VALID(&ProcReadyList)); - TRACEMSG("%p:%s", CurrentProcess, proc_currentName()); - ATOMIC(LIST_ASSERT_VALID(&ProcReadyList)); - - /* Sleeping with IRQs disabled or preemption forbidden is illegal */ - IRQ_ASSERT_ENABLED(); ASSERT(proc_preemptAllowed()); - // Will invoke proc_switch() in interrupt context - kill(0, SIGUSR1); + ATOMIC(proc_schedule()); } +/** + * Voluntarily release the CPU. + */ void proc_yield(void) { - TRACEMSG("%p:%s", CurrentProcess, proc_currentName()); - - IRQ_DISABLE; - SCHED_ENQUEUE(CurrentProcess); - IRQ_ENABLE; - - proc_switch(); -} + /* + * Voluntary preemption while preemption is disabled is considered + * illegal, as not very useful in practice. + * + * ASSERT if it happens. + */ + ASSERT(proc_preemptAllowed()); -void proc_entry(void (*user_entry)(void)) -{ - user_entry(); - proc_exit(); + ATOMIC( + SCHED_ENQUEUE(current_process); + proc_schedule(); + ); } void preempt_init(void) { - MOD_CHECK(irq); - MOD_CHECK(timer); - - irq_register(SIGUSR1, proc_schedule); - - timer_setSoftint(&preempt_timer, proc_preempt, NULL); - timer_setDelay(&preempt_timer, CONFIG_KERN_QUANTUM); - timer_add(&preempt_timer); - idle_init(); - MOD_INIT(preempt); } diff --git a/bertos/kern/preempt.h b/bertos/kern/preempt.h new file mode 100644 index 00000000..49e6c437 --- /dev/null +++ b/bertos/kern/preempt.h @@ -0,0 +1,58 @@ +/** + * \file + * + * + * \brief Preeptive kernel funtion interfaces. + * + * \author Francesco Sacchi + */ + +#ifndef KERN_PREEMPT_H +#define KERN_PREEMPT_H + +#include + +#if CONFIG_KERN_PREEMPT + void preempt_init(void); + void proc_preempt(void); + int proc_needPreempt(void); + + INLINE void proc_decQuantum(void) + { + extern int _proc_quantum; + if (_proc_quantum > 0) + _proc_quantum--; + } +#else /* !CONFIG_KERN_PREEMPT */ + #define proc_decQuantum() /* NOP */ +#endif /* CONFIG_KERN_PREEMPT */ + +#endif /* KERN_PREEMPT_H */ diff --git a/bertos/kern/proc.c b/bertos/kern/proc.c index f121d026..794918a5 100644 --- a/bertos/kern/proc.c +++ b/bertos/kern/proc.c @@ -44,7 +44,6 @@ #define LOG_FORMAT KERN_LOG_FORMAT #include -#include "cfg/cfg_arch.h" // ARCH_EMUL #include "cfg/cfg_monitor.h" #include // ROUND_UP2 #include @@ -67,34 +66,37 @@ * * \note Access to the list must occur while interrupts are disabled. */ -REGISTER List ProcReadyList; +REGISTER List proc_ready_list; /* * Holds a pointer to the TCB of the currently running process. * * \note User applications should use proc_current() to retrieve this value. */ -REGISTER Process *CurrentProcess; +REGISTER Process *current_process; + +/** The main process (the one that executes main()). */ +static struct Process main_process; + +#if CONFIG_KERN_HEAP + +/** + * Local heap dedicated to allocate the memory used by the processes. + */ +static HEAP_DEFINE_BUF(heap_buf, KERN_MINSTACKSIZE * 128); +static Heap proc_heap; -#if (ARCH & ARCH_EMUL) /* - * In some hosted environments, we must emulate the stack on the real - * process stack to satisfy consistency checks in system libraries and - * because some ABIs place trampolines on the stack. + * Keep track of zombie processes (processes that are exiting and need to + * release some resources). * - * Access to this list must be protected by PROC_ATOMIC(). + * \note Access to the list must occur while kernel preemption is disabled. */ -List StackFreeList; +static List zombie_list; -#define NPROC 10 -cpu_stack_t proc_stacks[NPROC][(64 * 1024) / sizeof(cpu_stack_t)]; -#endif - -/** The main process (the one that executes main()). */ -struct Process MainProcess; +#endif /* CONFIG_KERN_HEAP */ - -static void proc_init_struct(Process *proc) +static void proc_initStruct(Process *proc) { /* Avoid warning for unused argument. */ (void)proc; @@ -111,32 +113,29 @@ static void proc_init_struct(Process *proc) #if CONFIG_KERN_PRI proc->link.pri = 0; #endif - } MOD_DEFINE(proc); void proc_init(void) { - LIST_INIT(&ProcReadyList); + LIST_INIT(&proc_ready_list); -#if ARCH & ARCH_EMUL - LIST_INIT(&StackFreeList); - for (int i = 0; i < NPROC; i++) - ADDTAIL(&StackFreeList, (Node *)proc_stacks[i]); +#if CONFIG_KERN_HEAP + LIST_INIT(&zombie_list); + heap_init(&proc_heap, heap_buf, sizeof(heap_buf)); #endif - /* * We "promote" the current context into a real process. The only thing we have * to do is create a PCB and make it current. We don't need to setup the stack * pointer because it will be written the first time we switch to another process. */ - proc_init_struct(&MainProcess); - CurrentProcess = &MainProcess; + proc_initStruct(&main_process); + current_process = &main_process; #if CONFIG_KERN_MONITOR monitor_init(); - monitor_add(CurrentProcess, "main"); + monitor_add(current_process, "main"); #endif #if CONFIG_KERN_PREEMPT @@ -146,6 +145,50 @@ void proc_init(void) MOD_INIT(proc); } + +#if CONFIG_KERN_HEAP + +/** + * Free all the resources of all zombie processes previously added to the zombie + * list. + */ +static void proc_freeZombies(void) +{ + Process *proc; + + while (1) + { + PROC_ATOMIC(proc = (Process *)list_remHead(&zombie_list)); + if (proc == NULL) + return; + + if (proc->flags & PF_FREESTACK) + PROC_ATOMIC(heap_freemem(&proc_heap, proc->stack_base, + proc->stack_size)); + } +} + +/** + * Enqueue a process in the zombie list. + */ +static void proc_addZombie(Process *proc) +{ + Node *node; +#if CONFIG_KERN_PREEMPT + ASSERT(!proc_preemptAllowed()); +#endif + +#if CONFIG_KERN_PRI + node = &(proc)->link.link; +#else + node = &(proc)->link; +#endif + LIST_ASSERT_VALID(&zombie_list); + ADDTAIL(&zombie_list, node); +} + +#endif /* CONFIG_KERN_HEAP */ + /** * Create a new process, starting at the provided entry point. * @@ -164,18 +207,26 @@ struct Process *proc_new_with_name(UNUSED_ARG(const char *, name), void (*entry) { Process *proc; const size_t PROC_SIZE_WORDS = ROUND_UP2(sizeof(Process), sizeof(cpu_stack_t)) / sizeof(cpu_stack_t); + LOG_INFO("name=%s", name); #if CONFIG_KERN_HEAP bool free_stack = false; -#endif - LOG_INFO("name=%s", name); -#if (ARCH & ARCH_EMUL) - /* Ignore stack provided by caller and use the large enough default instead. */ - PROC_ATOMIC(stack_base = (cpu_stack_t *)list_remHead(&StackFreeList)); - ASSERT(stack_base); + /* + * Free up resources of a zombie process. + * + * We're implementing a kind of lazy garbage collector here for + * efficiency reasons: we can avoid to introduce overhead into another + * kernel task dedicated to free up resources (e.g., idle) and we're + * not introducing any overhead into the scheduler after a context + * switch (that would be *very* bad, because the scheduler runs with + * IRQ disabled). + * + * In this way we are able to release the memory of the zombie tasks + * without disabling IRQs and without introducing any significant + * overhead in any other kernel task. + */ + proc_freeZombies(); - stack_size = KERN_MINSTACKSIZE; -#elif CONFIG_KERN_HEAP /* Did the caller provide a stack for us? */ if (!stack_base) { @@ -184,19 +235,21 @@ struct Process *proc_new_with_name(UNUSED_ARG(const char *, name), void (*entry) stack_size = KERN_MINSTACKSIZE; /* Allocate stack dinamically */ - if (!(stack_base = heap_alloc(stack_size))) + PROC_ATOMIC(stack_base = + (cpu_stack_t *)heap_allocmem(&proc_heap, stack_size)); + if (stack_base == NULL) return NULL; free_stack = true; } -#else // !ARCH_EMUL && !CONFIG_KERN_HEAP +#else // CONFIG_KERN_HEAP /* Stack must have been provided by the user */ ASSERT_VALID_PTR(stack_base); ASSERT(stack_size); -#endif // !ARCH_EMUL && !CONFIG_KERN_HEAP +#endif // CONFIG_KERN_HEAP #if CONFIG_KERN_MONITOR /* @@ -230,10 +283,10 @@ struct Process *proc_new_with_name(UNUSED_ARG(const char *, name), void (*entry) ASSERT((uintptr_t)proc->stack % sizeof(cpu_aligned_stack_t) == 0); stack_size -= PROC_SIZE_WORDS * sizeof(cpu_stack_t); - proc_init_struct(proc); + proc_initStruct(proc); proc->user_data = data; -#if CONFIG_KERN_HEAP | CONFIG_KERN_MONITOR | (ARCH & ARCH_EMUL) +#if CONFIG_KERN_HEAP | CONFIG_KERN_MONITOR proc->stack_base = stack_base; proc->stack_size = stack_size; #if CONFIG_KERN_HEAP @@ -241,24 +294,12 @@ struct Process *proc_new_with_name(UNUSED_ARG(const char *, name), void (*entry) proc->flags |= PF_FREESTACK; #endif #endif + proc->user_entry = entry; + CPU_CREATE_NEW_STACK(proc->stack); - #if CONFIG_KERN_PREEMPT - - getcontext(&proc->context); - proc->context.uc_stack.ss_sp = proc->stack; - proc->context.uc_stack.ss_size = stack_size - 1; - proc->context.uc_link = NULL; - makecontext(&proc->context, (void (*)(void))proc_entry, 1, entry); - - #else // !CONFIG_KERN_PREEMPT - - CPU_CREATE_NEW_STACK(proc->stack, entry, proc_exit); - - #endif // CONFIG_KERN_PREEMPT - - #if CONFIG_KERN_MONITOR - monitor_add(proc, name); - #endif +#if CONFIG_KERN_MONITOR + monitor_add(proc, name); +#endif /* Add to ready list */ ATOMIC(SCHED_ENQUEUE(proc)); @@ -273,12 +314,12 @@ struct Process *proc_new_with_name(UNUSED_ARG(const char *, name), void (*entry) */ const char *proc_name(struct Process *proc) { - #if CONFIG_KERN_MONITOR - return proc ? proc->monitor.name : ""; - #else - (void)proc; - return "---"; - #endif +#if CONFIG_KERN_MONITOR + return proc ? proc->monitor.name : ""; +#else + (void)proc; + return "---"; +#endif } /// Return the name of the currently running process @@ -320,58 +361,65 @@ void proc_rename(struct Process *proc, const char *name) */ void proc_setPri(struct Process *proc, int pri) { - if (proc->link.pri == pri) - return; + if (proc->link.pri == pri) + return; - proc->link.pri = pri; + proc->link.pri = pri; - if (proc != CurrentProcess) - { - proc_forbid(); - ATOMIC(sched_reenqueue(proc)); - proc_permit(); - } + if (proc != current_process) + ATOMIC(sched_reenqueue(proc)); } #endif // CONFIG_KERN_PRI +INLINE void proc_run(void) +{ + void (*entry)(void) = current_process->user_entry; + + LOG_INFO("New process starting at %p", entry); + entry(); +} + +/** + * Entry point for all the processes. + */ +void proc_entry(void) +{ + /* + * Return from a context switch assumes interrupts are disabled, so + * we need to explicitly re-enable them as soon as possible. + */ + IRQ_ENABLE; + /* Call the actual process's entry point */ + proc_run(); + proc_exit(); +} + /** * Terminate the current process */ void proc_exit(void) { - LOG_INFO("%p:%s", CurrentProcess, proc_currentName()); + LOG_INFO("%p:%s", current_process, proc_currentName()); #if CONFIG_KERN_MONITOR - monitor_remove(CurrentProcess); + monitor_remove(current_process); #endif + proc_forbid(); #if CONFIG_KERN_HEAP /* - * The following code is BROKEN. - * We are freeing our own stack before entering proc_schedule() - * BAJO: A correct fix would be to rearrange the scheduler with - * an additional parameter which frees the old stack/process - * after a context switch. + * Set the task as zombie, its resources will be freed in proc_new() in + * a lazy way, when another process will be created. */ - if (CurrentProcess->flags & PF_FREESTACK) - heap_free(CurrentProcess->stack_base, CurrentProcess->stack_size); - heap_free(CurrentProcess); + proc_addZombie(current_process); #endif + current_process = NULL; + proc_permit(); -#if (ARCH & ARCH_EMUL) - /* Reinsert process stack in free list */ - PROC_ATOMIC(ADDHEAD(&StackFreeList, (Node *)CurrentProcess->stack_base)); - - /* - * NOTE: At this point the first two words of what used - * to be our stack contain a list node. From now on, we - * rely on the compiler not reading/writing the stack. - */ -#endif /* ARCH_EMUL */ - - CurrentProcess = NULL; proc_switch(); - /* not reached */ + + /* never reached */ + ASSERT(0); } @@ -380,5 +428,5 @@ void proc_exit(void) */ iptr_t proc_currentUserData(void) { - return CurrentProcess->user_data; + return current_process->user_data; } diff --git a/bertos/kern/proc.h b/bertos/kern/proc.h index db269398..8570d801 100644 --- a/bertos/kern/proc.h +++ b/bertos/kern/proc.h @@ -37,7 +37,7 @@ * * $WIZ$ module_name = "kernel" * $WIZ$ module_configuration = "bertos/cfg/cfg_proc.h" - * $WIZ$ module_depends = "switch_ctx", "coop" + * $WIZ$ module_depends = "switch_ctx", "mtask" * $WIZ$ module_supports = "not atmega103" */ @@ -85,14 +85,13 @@ typedef struct Process uint16_t flags; /**< Flags */ #endif -#if CONFIG_KERN_HEAP | CONFIG_KERN_MONITOR | (ARCH & ARCH_EMUL) +#if CONFIG_KERN_HEAP | CONFIG_KERN_MONITOR cpu_stack_t *stack_base; /**< Base of process stack */ size_t stack_size; /**< Size of process stack */ #endif -#if CONFIG_KERN_PREEMPT - ucontext_t context; -#endif + /* The actual process entry point */ + void (*user_entry)(void); #if CONFIG_KERN_MONITOR struct ProcMonitor @@ -128,7 +127,7 @@ struct Process *proc_new_with_name(const char *name, void (*entry)(void), iptr_t * \param data Pointer to user data. * \param size Length of the stack. * \param stack Pointer to the memory area to be used as a stack. - * + * * \return Process structure of new created process * if successful, NULL otherwise. */ @@ -179,8 +178,8 @@ int proc_testTearDown(void); */ INLINE struct Process *proc_current(void) { - extern struct Process *CurrentProcess; - return CurrentProcess; + extern struct Process *current_process; + return current_process; } #if CONFIG_KERN_PRI @@ -191,30 +190,28 @@ INLINE struct Process *proc_current(void) } #endif -/** - * Disable preemptive task switching. - * - * The scheduler maintains a global nesting counter. Task switching is - * effectively re-enabled only when the number of calls to proc_permit() - * matches the number of calls to proc_forbid(). - * - * \note Calling functions that could sleep while task switching is disabled - * is dangerous and unsupported. - * - * \note calling proc_forbid() from within an interrupt is illegal and - * meaningless. - * - * \note proc_permit() expands inline to 1-2 asm instructions, so it's a - * very efficient locking primitive in simple but performance-critical - * situations. In all other cases, semaphores offer a more flexible and - * fine-grained locking primitive. - * - * \sa proc_permit() - */ -INLINE void proc_forbid(void) -{ - #if CONFIG_KERN_PREEMPT - extern cpu_atomic_t _preempt_forbid_cnt; +#if CONFIG_KERN_PREEMPT + + /** + * Disable preemptive task switching. + * + * The scheduler maintains a global nesting counter. Task switching is + * effectively re-enabled only when the number of calls to proc_permit() + * matches the number of calls to proc_forbid(). + * + * \note Calling functions that could sleep while task switching is disabled + * is dangerous and unsupported. + * + * \note proc_permit() expands inline to 1-2 asm instructions, so it's a + * very efficient locking primitive in simple but performance-critical + * situations. In all other cases, semaphores offer a more flexible and + * fine-grained locking primitive. + * + * \sa proc_permit() + */ + INLINE void proc_forbid(void) + { + extern cpu_atomic_t preempt_count; /* * We don't need to protect the counter against other processes. * The reason why is a bit subtle. @@ -238,58 +235,54 @@ INLINE void proc_forbid(void) * "preempt_forbid_cnt != 0" means that no task switching is * possible. */ - ++_preempt_forbid_cnt; + ++preempt_count; /* - * Make sure _preempt_forbid_cnt is flushed to memory so the - * preemption softirq will see the correct value from now on. + * Make sure preempt_count is flushed to memory so the preemption + * softirq will see the correct value from now on. */ MEMORY_BARRIER; - #endif -} + } -/** - * Re-enable preemptive task switching. - * - * \sa proc_forbid() - */ -INLINE void proc_permit(void) -{ - #if CONFIG_KERN_PREEMPT + /** + * Re-enable preemptive task switching. + * + * \sa proc_forbid() + */ + INLINE void proc_permit(void) + { + extern cpu_atomic_t preempt_count; /* * This is to ensure any global state changed by the process gets * flushed to memory before task switching is re-enabled. */ MEMORY_BARRIER; - extern cpu_atomic_t _preempt_forbid_cnt; /* No need to protect against interrupts here. */ - ASSERT(_preempt_forbid_cnt != 0); - --_preempt_forbid_cnt; - + ASSERT(preempt_count > 0); + --preempt_count; /* - * This ensures _preempt_forbid_cnt is flushed to memory immediately - * so the preemption interrupt sees the correct value. + * This ensures preempt_count is flushed to memory immediately so the + * preemption interrupt sees the correct value. */ MEMORY_BARRIER; + } - #endif -} - -/** - * \return true if preemptive task switching is allowed. - * \note This accessor is needed because _preempt_forbid_cnt - * must be absoultely private. - */ -INLINE bool proc_preemptAllowed(void) -{ - #if CONFIG_KERN_PREEMPT - extern cpu_atomic_t _preempt_forbid_cnt; - return (_preempt_forbid_cnt == 0); - #else - return true; - #endif -} + /** + * \return true if preemptive task switching is allowed. + * \note This accessor is needed because preempt_count + * must be absoultely private. + */ + INLINE bool proc_preemptAllowed(void) + { + extern cpu_atomic_t preempt_count; + return (preempt_count == 0); + } +#else /* CONFIG_KERN_PREEMPT */ + #define proc_forbid() /* NOP */ + #define proc_permit() /* NOP */ + #define proc_preemptAllowed() (true) +#endif /* CONFIG_KERN_PREEMPT */ /** Deprecated, use the proc_preemptAllowed() macro. */ #define proc_allowed() proc_preemptAllowed() @@ -326,9 +319,28 @@ INLINE bool proc_preemptAllowed(void) /* We need a large stack because system libraries are bloated */ #define KERN_MINSTACKSIZE 65536 #else - #define KERN_MINSTACKSIZE \ - (sizeof(Process) + CPU_SAVED_REGS_CNT * 2 * sizeof(cpu_stack_t) \ - + 32 * sizeof(int)) + #if CONFIG_KERN_PREEMPT + /* + * A preemptible kernel needs a larger stack compared to the + * cooperative case. A task can be interrupted anytime in each + * node of the call graph, at any level of depth. This may + * result in a higher stack consumption, to call the ISR, save + * the current user context and to execute the kernel + * preemption routines implemented as ISR prologue and + * epilogue. All these calls are nested into the process stack. + * + * So, to reduce the risk of stack overflow/underflow problems + * add a x2 to the portion stack reserved to the user process. + */ + #define KERN_MINSTACKSIZE \ + (sizeof(Process) + CPU_SAVED_REGS_CNT * 2 * sizeof(cpu_stack_t) \ + + 32 * sizeof(int) * 2) + #else + #define KERN_MINSTACKSIZE \ + (sizeof(Process) + CPU_SAVED_REGS_CNT * 2 * sizeof(cpu_stack_t) \ + + 32 * sizeof(int)) + #endif /* CONFIG_KERN_PREEMPT */ + #endif #ifndef CONFIG_KERN_MINSTACKSIZE @@ -350,8 +362,8 @@ INLINE bool proc_preemptAllowed(void) * \param size Stack size in bytes. It must be at least KERN_MINSTACKSIZE. */ #define PROC_DEFINE_STACK(name, size) \ - STATIC_ASSERT((size) >= KERN_MINSTACKSIZE); \ - cpu_stack_t name[((size) + sizeof(cpu_stack_t) - 1) / sizeof(cpu_stack_t)]; + cpu_stack_t name[((size) + sizeof(cpu_stack_t) - 1) / sizeof(cpu_stack_t)]; \ + STATIC_ASSERT((size) >= KERN_MINSTACKSIZE) /* Memory fill codes to help debugging */ #if CONFIG_KERN_MONITOR diff --git a/bertos/kern/proc_p.h b/bertos/kern/proc_p.h index a5c7dbe3..f1b5aa34 100644 --- a/bertos/kern/proc_p.h +++ b/bertos/kern/proc_p.h @@ -48,11 +48,8 @@ #include /* for cpu_stack_t */ #include // IRQ_ASSERT_DISABLED() -#if CONFIG_KERN_PREEMPT - #include // XXX -#endif - #include // struct Process +#include // idle_proc /** @@ -64,19 +61,30 @@ /** Track running processes. */ -extern REGISTER Process *CurrentProcess; +extern REGISTER Process *current_process; /** * Track ready processes. * * Access to this list must be performed with interrupts disabled */ -extern REGISTER List ProcReadyList; +extern REGISTER List proc_ready_list; #if CONFIG_KERN_PRI - #define SCHED_ENQUEUE_INTERNAL(proc) LIST_ENQUEUE(&ProcReadyList, &(proc)->link) + #define prio_next() (LIST_EMPTY(&proc_ready_list) ? idle_proc->link.pri : \ + ((PriNode *)LIST_HEAD(&proc_ready_list))->pri) + #define prio_curr() (current_process->link.pri) + + #define SCHED_ENQUEUE_INTERNAL(proc) \ + LIST_ENQUEUE(&proc_ready_list, &(proc)->link) + #define SCHED_ENQUEUE_HEAD_INTERNAL(proc) \ + LIST_ENQUEUE_HEAD(&proc_ready_list, &(proc)->link) #else - #define SCHED_ENQUEUE_INTERNAL(proc) ADDTAIL(&ProcReadyList, &(proc)->link) + #define prio_next() 0 + #define prio_curr() 0 + + #define SCHED_ENQUEUE_INTERNAL(proc) ADDTAIL(&proc_ready_list, &(proc)->link) + #define SCHED_ENQUEUE_HEAD_INTERNAL(proc) ADDHEAD(&proc_ready_list, &(proc)->link) #endif /** @@ -90,10 +98,17 @@ extern REGISTER List ProcReadyList; */ #define SCHED_ENQUEUE(proc) do { \ IRQ_ASSERT_DISABLED(); \ - LIST_ASSERT_VALID(&ProcReadyList); \ + LIST_ASSERT_VALID(&proc_ready_list); \ SCHED_ENQUEUE_INTERNAL(proc); \ } while (0) +#define SCHED_ENQUEUE_HEAD(proc) do { \ + IRQ_ASSERT_DISABLED(); \ + LIST_ASSERT_VALID(&proc_ready_list); \ + SCHED_ENQUEUE_HEAD_INTERNAL(proc); \ + } while (0) + + #if CONFIG_KERN_PRI /** * Changes the priority of an already enqueued process. @@ -108,10 +123,10 @@ extern REGISTER List ProcReadyList; INLINE void sched_reenqueue(struct Process *proc) { IRQ_ASSERT_DISABLED(); - LIST_ASSERT_VALID(&ProcReadyList); + LIST_ASSERT_VALID(&proc_ready_list); Node *n; PriNode *pos = NULL; - FOREACH_NODE(n, &ProcReadyList) + FOREACH_NODE(n, &proc_ready_list) { if (n == &proc->link.link) { @@ -125,18 +140,14 @@ INLINE void sched_reenqueue(struct Process *proc) if (pos) { REMOVE(&proc->link.link); - LIST_ENQUEUE(&ProcReadyList, &proc->link); + LIST_ENQUEUE(&proc_ready_list, &proc->link); } } #endif //CONFIG_KERN_PRI /// Schedule another process *without* adding the current one to the ready list. void proc_switch(void); - -#if CONFIG_KERN_PREEMPT -void proc_entry(void (*user_entry)(void)); -void preempt_init(void); -#endif +void proc_entry(void); #if CONFIG_KERN_MONITOR /** Initialize the monitor */ diff --git a/bertos/kern/proc_test.c b/bertos/kern/proc_test.c index ad30f711..5b5bf3ff 100644 --- a/bertos/kern/proc_test.c +++ b/bertos/kern/proc_test.c @@ -26,110 +26,229 @@ * invalidate any other reasons why the executable file might be covered by * the GNU General Public License. * - * Copyright 2008 Develer S.r.l. (http://www.develer.com/) + * Copyright 2009 Develer S.r.l. (http://www.develer.com/) * --> * * - * \brief Test kernel process. + * \brief Test kernel preemption. * - * \version $Id$ - * \author Daniele Basile + * This testcase spawns TASKS parallel threads that runs for TIME seconds. They + * continuously spin updating a global counter (one counter for each thread). + * + * At exit each thread checks if the others have been che chance to update + * their own counter. If not, it means the preemption didn't occur and the + * testcase returns an error message. + * + * Otherwise, if all the threads have been able to update their own counter it + * means preemption successfully occurs, since there is no active sleep inside + * each thread's implementation. + * + * \author Andrea Righi * * $test$: cp bertos/cfg/cfg_proc.h $cfgdir/ * $test$: echo "#undef CONFIG_KERN" >> $cfgdir/cfg_proc.h * $test$: echo "#define CONFIG_KERN 1" >> $cfgdir/cfg_proc.h * $test$: echo "#undef CONFIG_KERN_PRI" >> $cfgdir/cfg_proc.h * $test$: echo "#define CONFIG_KERN_PRI 1" >> $cfgdir/cfg_proc.h + * $test$: echo "#undef CONFIG_KERN_PREEMPT" >> $cfgdir/cfg_proc.h + * $test$: echo "#define CONFIG_KERN_PREEMPT 1" >> $cfgdir/cfg_proc.h * $test$: cp bertos/cfg/cfg_monitor.h $cfgdir/ - * $test$: echo "#undef CONFIG_KERN_MONITOR" >> $cfgdir/cfg_monitor.h - * $test$: echo "#define CONFIG_KERN_MONITOR 1" >> $cfgdir/cfg_monitor.h + * $test$: sed -i "s/CONFIG_KERN_MONITOR 0/CONFIG_KERN_MONITOR 1/" $cfgdir/cfg_monitor.h * $test$: cp bertos/cfg/cfg_signal.h $cfgdir/ * $test$: echo "#undef CONFIG_KERN_SIGNALS" >> $cfgdir/cfg_signal.h * $test$: echo "#define CONFIG_KERN_SIGNALS 1" >> $cfgdir/cfg_signal.h + * */ +#include // sprintf +#include // memset + #include #include #include #include #include +#include +enum +{ + TEST_OK = 1, + TEST_FAIL = 2, +}; -// Global settings for the test. -#define DELAY 5 - -// Settings for the test process. -//Process 1 -#define INC_PROC_T1 1 -#define DELAY_PROC_T1 INC_PROC_T1*DELAY -//Process 2 -#define INC_PROC_T2 3 -#define DELAY_PROC_T2 INC_PROC_T2*DELAY -//Process 3 -#define INC_PROC_T3 5 -#define DELAY_PROC_T3 INC_PROC_T3*DELAY -//Process 4 -#define INC_PROC_T4 7 -#define DELAY_PROC_T4 INC_PROC_T4*DELAY -//Process 5 -#define INC_PROC_T5 11 -#define DELAY_PROC_T5 INC_PROC_T5*DELAY -//Process 6 -#define INC_PROC_T6 13 -#define DELAY_PROC_T6 INC_PROC_T6*DELAY -//Process 7 -#define INC_PROC_T7 17 -#define DELAY_PROC_T7 INC_PROC_T7*DELAY -//Process 8 -#define INC_PROC_T8 19 -#define DELAY_PROC_T8 INC_PROC_T8*DELAY - -//Global count for each process. -unsigned int t1_count = 0; -unsigned int t2_count = 0; -unsigned int t3_count = 0; -unsigned int t4_count = 0; -unsigned int t5_count = 0; -unsigned int t6_count = 0; -unsigned int t7_count = 0; -unsigned int t8_count = 0; - -/* - * These macros generate the code needed to create the test process functions. - */ -#define PROC_TEST(num) static void proc_test##num(void) \ -{ \ - for (int i = 0; i < INC_PROC_T##num; ++i) \ - { \ - t##num##_count++; \ - kputs("> Process[" #num "]\n"); \ - timer_delay(DELAY_PROC_T##num); \ - } \ -} +/* Number of tasks to spawn */ +#define TASKS 8 + +static char name[TASKS][32]; -#define PROC_TEST_STACK(num) PROC_DEFINE_STACK(proc_test##num##_stack, KERN_MINSTACKSIZE); -#define PROC_TEST_INIT(num) proc_new(proc_test##num, NULL, sizeof(proc_test##num##_stack), proc_test##num##_stack); +static unsigned int done[TASKS]; -// Define process -PROC_TEST(1) -PROC_TEST(2) -PROC_TEST(3) -PROC_TEST(4) -PROC_TEST(5) -PROC_TEST(6) -PROC_TEST(7) -PROC_TEST(8) +#define WORKER_STACK_SIZE KERN_MINSTACKSIZE * 3 + +/* Base time delay for processes using timer_delay() */ +#define DELAY 5 // Define process stacks for test. -PROC_TEST_STACK(1) -PROC_TEST_STACK(2) -PROC_TEST_STACK(3) -PROC_TEST_STACK(4) -PROC_TEST_STACK(5) -PROC_TEST_STACK(6) -PROC_TEST_STACK(7) -PROC_TEST_STACK(8) +static cpu_stack_t worker_stack[TASKS][WORKER_STACK_SIZE / sizeof(cpu_stack_t)]; + +static int prime_numbers[] = +{ + 1, 3, 5, 7, 11, 13, 17, 19, + 23, 29, 31, 37, 41, 43, 47, 53, +}; + +STATIC_ASSERT(TASKS <= countof(prime_numbers)); + +static void worker(void) +{ + long pid = (long)proc_currentUserData(); + long tot = prime_numbers[pid - 1]; + unsigned int my_count = 0; + int i; + + for (i = 0; i < tot; i++) + { + my_count++; + PROC_ATOMIC(kprintf("> %s[%ld] running\n", __func__, pid)); + timer_delay(tot * DELAY); + } + done[pid - 1] = 1; + PROC_ATOMIC(kprintf("> %s[%ld] completed\n", __func__, pid)); +} + +static int worker_test(void) +{ + long i; + + // Init the test processes + kputs("Run Proc test..\n"); + for (i = 0; i < TASKS; i++) + { + sprintf(&name[i][0], "worker_%ld", i + 1); + proc_new_with_name(name[i], worker, (iptr_t)(i + 1), + WORKER_STACK_SIZE, &worker_stack[i][0]); + } + kputs("> Main: Processes started\n"); + while (1) + { + for (i = 0; i < TASKS; i++) + { + if (!done[i]) + break; + } + if (i == TASKS) + break; + monitor_report(); + timer_delay(93); + } + kputs("> Main: process test finished..ok!\n"); + return 0; +} + +#if CONFIG_KERN_PREEMPT +/* Time to run each preemptible thread (in seconds) */ +#define TIME 10 + +static char preempt_name[TASKS][32]; + +static cpu_atomic_t barrier[TASKS]; +static cpu_atomic_t main_barrier; + +static unsigned int preempt_counter[TASKS]; +static unsigned int preempt_done[TASKS]; + +static cpu_stack_t preempt_worker_stack[TASKS][WORKER_STACK_SIZE / sizeof(cpu_stack_t)]; + +static void preempt_worker(void) +{ + long pid = (long)proc_currentUserData(); + unsigned int *my_count = &preempt_counter[pid - 1]; + ticks_t start, stop; + int i; + + barrier[pid - 1] = 1; + /* Synchronize on the main barrier */ + while (!main_barrier) + proc_yield(); + PROC_ATOMIC(kprintf("> %s[%ld] running\n", __func__, pid)); + start = timer_clock(); + stop = ms_to_ticks(TIME * 1000); + while (timer_clock() - start < stop) + { + IRQ_ASSERT_ENABLED(); + (*my_count)++; + /* be sure to wrap to a value different than 0 */ + if (UNLIKELY(*my_count == (unsigned int)~0)) + *my_count = 1; + } + PROC_ATOMIC(kprintf("> %s[%ld] completed: (counter = %d)\n", + __func__, pid, *my_count)); + for (i = 0; i < TASKS; i++) + if (!preempt_counter[i]) + { + preempt_done[pid - 1] = TEST_FAIL; + return; + } + preempt_done[pid - 1] = TEST_OK; +} + +static int preempt_worker_test(void) +{ + unsigned long score = 0; + long i; + + // Init the test processes + kputs("Run Preemption test..\n"); + for (i = 0; i < TASKS; i++) + { + sprintf(&preempt_name[i][0], "preempt_worker_%ld", i + 1); + proc_new_with_name(preempt_name[i], preempt_worker, (iptr_t)(i + 1), + WORKER_STACK_SIZE, &preempt_worker_stack[i][0]); + } + kputs("> Main: Processes created\n"); + /* Synchronize on start */ + while (1) + { + for (i = 0; i < TASKS; i++) + if (!barrier[i]) + break; + if (i == TASKS) + break; + proc_yield(); + } + /* Now all threads have been created, start them all */ + main_barrier = 1; + MEMORY_BARRIER; + kputs("> Main: Processes started\n"); + while (1) + { + for (i = 0; i < TASKS; i++) + { + if (!preempt_done[i]) + break; + else if (preempt_done[i] == TEST_FAIL) + { + kputs("> Main: process test finished..fail!\n"); + return -1; + } + } + if (i == TASKS) + break; + monitor_report(); + timer_delay(1000); + } + for (i = 0; i < TASKS; i++) + score += preempt_counter[i]; + kputs("> Main: process test finished..ok!\n"); + kprintf("> Score: %lu\n", score); + return 0; +} +#endif /* CONFIG_KERN_PREEMPT */ + +#if CONFIG_KERN_SIGNALS & CONFIG_KERN_PRI + +#define PROC_PRI_TEST_STACK(num) PROC_DEFINE_STACK(proc_test##num##_stack, KERN_MINSTACKSIZE); // Define params to test priority #define PROC_PRI_TEST(num) static void proc_pri_test##num(void) \ @@ -140,68 +259,33 @@ PROC_TEST_STACK(8) } // Default priority is 0 -#define PROC_PRI_TEST_INIT(num, proc) \ -do { \ - struct Process *p = proc_new(proc_pri_test##num, (proc), sizeof(proc_test##num##_stack), proc_test##num##_stack); \ - proc_setPri(p, num + 1); \ +#define PROC_PRI_TEST_INIT(num, proc) \ +do { \ + struct Process *p = proc_new(proc_pri_test##num, (proc), \ + sizeof(proc_test##num##_stack), \ + proc_test##num##_stack); \ + proc_setPri(p, num + 1); \ } while (0) -PROC_TEST_STACK(0) +PROC_PRI_TEST_STACK(0) +PROC_PRI_TEST_STACK(1) +PROC_PRI_TEST_STACK(2) + PROC_PRI_TEST(0) PROC_PRI_TEST(1) PROC_PRI_TEST(2) - -/** - * Process scheduling test - */ -int proc_testRun(void) +static int prio_worker_test(void) { - int ret_value = 0; - kprintf("Run Process test..\n"); - - //Init the process tests - PROC_TEST_INIT(1) - PROC_TEST_INIT(2) - PROC_TEST_INIT(3) - PROC_TEST_INIT(4) - PROC_TEST_INIT(5) - PROC_TEST_INIT(6) - PROC_TEST_INIT(7) - PROC_TEST_INIT(8) - kputs("> Main: Processes created\n"); - - for (int i = 0; i < 30; ++i) - { - kputs("> Main\n"); - timer_delay(93); - monitor_report(); - } - - if( t1_count == INC_PROC_T1 && - t2_count == INC_PROC_T2 && - t3_count == INC_PROC_T3 && - t4_count == INC_PROC_T4 && - t5_count == INC_PROC_T5 && - t6_count == INC_PROC_T6 && - t7_count == INC_PROC_T7 && - t8_count == INC_PROC_T8) - { - kputs("> Main: process test finished..ok!\n"); - ret_value = 0; - } - else - { - kputs("> Main: process test..fail!\n"); - ret_value = -1; - } + struct Process *curr = proc_current(); + int orig_pri = curr->link.pri; + int ret = 0; -#if CONFIG_KERN_SIGNALS & CONFIG_KERN_PRI // test process priority // main process must have the higher priority to check signals received proc_setPri(proc_current(), 10); - struct Process *curr = proc_current(); + kputs("Run Priority test..\n"); // the order in which the processes are created is important! PROC_PRI_TEST_INIT(0, curr); PROC_PRI_TEST_INIT(1, curr); @@ -210,48 +294,71 @@ int proc_testRun(void) // signals must be: USER2, 1, 0 in order sigmask_t signals = sig_wait(SIG_USER0 | SIG_USER1 | SIG_USER2); if (!(signals & SIG_USER2)) - goto priority_fail; - + { + ret = -1; + goto out; + } signals = sig_wait(SIG_USER0 | SIG_USER1 | SIG_USER2); if (!(signals & SIG_USER1)) - goto priority_fail; - + { + ret = -1; + goto out; + } signals = sig_wait(SIG_USER0 | SIG_USER1 | SIG_USER2); if (!(signals & SIG_USER0)) - goto priority_fail; - + { + ret = -1; + goto out; + } // All processes must have quit by now, but just in case... signals = sig_waitTimeout(SIG_USER0 | SIG_USER1 | SIG_USER2, 200); if (signals & (SIG_USER0 | SIG_USER1 | SIG_USER2)) - goto priority_fail; - + { + ret = -1; + goto out; + } if (signals & SIG_TIMEOUT) { kputs("Priority test successfull.\n"); } +out: + proc_setPri(proc_current(), orig_pri); + if (ret != 0) + kputs("Priority test failed.\n"); + return ret; +} +#endif /* CONFIG_KERN_SIGNALS & CONFIG_KERN_PRI */ - return ret_value; - -priority_fail: - kputs("Priority test failed.\n"); - return -1; - -#endif - - return ret_value; - +/** + * Process scheduling test + */ +int proc_testRun(void) +{ +#if CONFIG_KERN_PREEMPT + // Clear shared data (this is needed when this testcase is embedded in + // the demo application). + memset(preempt_counter, 0, sizeof(preempt_counter)); + memset(preempt_done, 0, sizeof(preempt_done)); + memset(barrier, 0, sizeof(barrier)); + main_barrier = 0; +#endif /* CONFIG_KERN_PREEMPT */ + memset(done, 0, sizeof(done)); + + /* Start tests */ + worker_test(); +#if CONFIG_KERN_PREEMPT + preempt_worker_test(); +#endif /* CONFIG_KERN_PREEMPT */ +#if CONFIG_KERN_SIGNALS & CONFIG_KERN_PRI + prio_worker_test(); +#endif /* CONFIG_KERN_SIGNALS & CONFIG_KERN_PRI */ + return 0; } int proc_testSetup(void) { kdbg_init(); - #if CONFIG_KERN_PREEMPT - kprintf("Init Interrupt (preempt mode).."); - irq_init(); - kprintf("Done.\n"); - #endif - kprintf("Init Timer.."); timer_init(); kprintf("Done.\n"); diff --git a/bertos/kern/sem.c b/bertos/kern/sem.c index ac4e7d96..53ef4cc1 100644 --- a/bertos/kern/sem.c +++ b/bertos/kern/sem.c @@ -82,9 +82,9 @@ bool sem_attempt(struct Semaphore *s) proc_forbid(); sem_verify(s); - if ((!s->owner) || (s->owner == CurrentProcess)) + if ((!s->owner) || (s->owner == current_process)) { - s->owner = CurrentProcess; + s->owner = current_process; s->nest_count++; result = true; } @@ -117,10 +117,10 @@ void sem_obtain(struct Semaphore *s) sem_verify(s); /* Is the semaphore already locked by another process? */ - if (UNLIKELY(s->owner && (s->owner != CurrentProcess))) + if (UNLIKELY(s->owner && (s->owner != current_process))) { /* Append calling process to the wait queue */ - ADDTAIL(&s->wait_queue, (Node *)CurrentProcess); + ADDTAIL(&s->wait_queue, (Node *)current_process); /* * We will wake up only when the current owner calls @@ -135,7 +135,7 @@ void sem_obtain(struct Semaphore *s) ASSERT(LIST_EMPTY(&s->wait_queue)); /* The semaphore was free: lock it */ - s->owner = CurrentProcess; + s->owner = current_process; s->nest_count++; proc_permit(); } @@ -160,7 +160,7 @@ void sem_release(struct Semaphore *s) proc_forbid(); sem_verify(s); - ASSERT(s->owner == CurrentProcess); + ASSERT(s->owner == current_process); /* * Decrement nesting count and check if the semaphore diff --git a/bertos/kern/sem_test.c b/bertos/kern/sem_test.c index cf927d0f..555f755d 100644 --- a/bertos/kern/sem_test.c +++ b/bertos/kern/sem_test.c @@ -184,12 +184,6 @@ int sem_testSetup(void) sem_init(&sem); kprintf("Done.\n"); - #if CONFIG_KERN_PREEMPT - kprintf("Init Interrupt (preempt mode).."); - irq_init(); - kprintf("Done.\n"); - #endif - kprintf("Init Timer.."); timer_init(); kprintf("Done.\n"); diff --git a/bertos/kern/signal.c b/bertos/kern/signal.c index dbe1261f..19941f94 100644 --- a/bertos/kern/signal.c +++ b/bertos/kern/signal.c @@ -125,8 +125,8 @@ sigmask_t sig_check(sigmask_t sigs) cpu_flags_t flags; IRQ_SAVE_DISABLE(flags); - result = CurrentProcess->sig_recv & sigs; - CurrentProcess->sig_recv &= ~sigs; + result = current_process->sig_recv & sigs; + current_process->sig_recv &= ~sigs; IRQ_RESTORE(flags); return result; @@ -140,7 +140,6 @@ sigmask_t sig_check(sigmask_t sigs) sigmask_t sig_wait(sigmask_t sigs) { sigmask_t result; - cpu_flags_t flags; /* Sleeping with IRQs disabled or preemption forbidden is illegal */ IRQ_ASSERT_ENABLED(); @@ -155,17 +154,16 @@ sigmask_t sig_wait(sigmask_t sigs) * In this case, we'd deadlock with the signal bit already set * and the process never being reinserted into the ready list. */ - // FIXME: just use IRQ_DISABLE() here - IRQ_SAVE_DISABLE(flags); + IRQ_DISABLE; /* Loop until we get at least one of the signals */ - while (!(result = CurrentProcess->sig_recv & sigs)) + while (!(result = current_process->sig_recv & sigs)) { /* * Tell "them" that we want to be awaken when any of these * signals arrives. */ - CurrentProcess->sig_wait = sigs; + current_process->sig_wait = sigs; /* * Go to sleep and proc_switch() to another process. @@ -173,9 +171,9 @@ sigmask_t sig_wait(sigmask_t sigs) * We re-enable IRQs because proc_switch() does not * guarantee to save and restore the interrupt mask. */ - IRQ_RESTORE(flags); + IRQ_ENABLE; proc_switch(); - IRQ_SAVE_DISABLE(flags); + IRQ_DISABLE; /* * When we come back here, the wait mask must have been @@ -183,14 +181,14 @@ sigmask_t sig_wait(sigmask_t sigs) * one of the signals we were expecting must have been * delivered to us. */ - ASSERT(!CurrentProcess->sig_wait); - ASSERT(CurrentProcess->sig_recv & sigs); + ASSERT(!current_process->sig_wait); + ASSERT(current_process->sig_recv & sigs); } /* Signals found: clear them and return */ - CurrentProcess->sig_recv &= ~sigs; + current_process->sig_recv &= ~sigs; - IRQ_RESTORE(flags); + IRQ_ENABLE; return result; } @@ -249,9 +247,14 @@ void sig_signal(Process *proc, sigmask_t sigs) /* Check if process needs to be awoken */ if (proc->sig_recv & proc->sig_wait) { - /* Wake up process and enqueue in ready list */ + /* + * Wake up process and enqueue in ready list. + * + * Move this process to the head of the ready list, so that it + * will be chosen at the next scheduling point. + */ proc->sig_wait = 0; - SCHED_ENQUEUE(proc); + SCHED_ENQUEUE_HEAD(proc); } IRQ_RESTORE(flags); diff --git a/bertos/kern/signal_test.c b/bertos/kern/signal_test.c index d489f62c..484c0338 100644 --- a/bertos/kern/signal_test.c +++ b/bertos/kern/signal_test.c @@ -166,12 +166,6 @@ int signal_testSetup(void) { kdbg_init(); - #if CONFIG_KERN_PREEMPT - kprintf("Init Interrupt (preempt mode).."); - irq_init(); - kprintf("Done.\n"); - #endif - kprintf("Init Timer.."); timer_init(); kprintf("Done.\n"); diff --git a/bertos/struct/heap.h b/bertos/struct/heap.h index b58bbed1..d76678b2 100644 --- a/bertos/struct/heap.h +++ b/bertos/struct/heap.h @@ -71,7 +71,8 @@ typedef struct Heap * \param size Heap size in bytes. */ #define HEAP_DEFINE_BUF(name, size) \ - heap_buf_t name[((size) + sizeof(heap_buf_t) - 1) / sizeof(heap_buf_t)]; + heap_buf_t name[((size) + sizeof(heap_buf_t) - 1) / sizeof(heap_buf_t)]; \ + STATIC_ASSERT(sizeof(name) % sizeof(heap_buf_t) == 0) /// Initialize \a heap within the buffer pointed by \a memory which is of \a size bytes void heap_init(struct Heap* heap, void* memory, size_t size); diff --git a/bertos/struct/list.h b/bertos/struct/list.h index f9dc9294..b970b7cf 100644 --- a/bertos/struct/list.h +++ b/bertos/struct/list.h @@ -276,9 +276,24 @@ typedef struct _PriNode /** * Insert a priority node in a priority queue. * - * The new node is inserted immediately before the - * first node with lower priority or appended to - * the tail if no such node exists. + * The new node is inserted immediately before the first node with the same + * priority or appended to the tail if no such node exists. + */ +#define LIST_ENQUEUE_HEAD(list, node) \ + do { \ + PriNode *ln; \ + LIST_ASSERT_NOT_CONTAINS((list),(node)); \ + FOREACH_NODE(ln, (list)) \ + if (ln->pri <= (node)->pri) \ + break; \ + INSERT_BEFORE(&(node)->link, &ln->link); \ + } while (0) + +/** + * Insert a priority node in a priority queue. + * + * The new node is inserted immediately before the first node with lower + * priority or appended to the tail if no such node exists. */ #define LIST_ENQUEUE(list, node) \ do { \ diff --git a/examples/at91sam7/at91sam7s.mk b/examples/at91sam7/at91sam7s.mk index 5826e92a..02046f3a 100644 --- a/examples/at91sam7/at91sam7s.mk +++ b/examples/at91sam7/at91sam7s.mk @@ -25,9 +25,11 @@ at91sam7s_CSRC = \ bertos/mware/event.c \ bertos/mware/formatwr.c \ bertos/mware/hex.c \ + bertos/mware/sprintf.c \ bertos/kern/kfile.c \ bertos/kern/proc.c \ - bertos/kern/coop.c \ + bertos/kern/mtask.c \ + bertos/kern/idle.c \ bertos/kern/proc_test.c \ bertos/kern/monitor.c \ bertos/kern/signal.c \ @@ -41,9 +43,8 @@ at91sam7s_CPPASRC = \ at91sam7s_PREFIX = arm-none-eabi- at91sam7s_CPPAFLAGS = -O0 -g -gdwarf-2 -g -gen-debug -at91sam7s_CPPFLAGS = -O0 -D'ARCH=0' -D__ARM_AT91SAM7S256__ -D'CPU_FREQ=(48023000UL)' -D'WIZ_AUTOGEN' -g3 -gdwarf-2 -fverbose-asm -Iexamples/at91sam7 -Ibertos/cpu/arm +at91sam7s_CPPFLAGS = -O0 -D'ARCH=0' -D__ARM_AT91SAM7S256__ -D'CPU_FREQ=(48023000UL)' -D'WIZ_AUTOGEN' -g3 -gdwarf-2 -fverbose-asm -Iexamples/at91sam7 -Ibertos/cpu/arm -fomit-frame-pointer at91sam7s_LDFLAGS = -nostartfiles -T bertos/cpu/arm/scripts/at91sam7_256_rom.ld -Wl,--no-warn-mismatch - at91sam7s_CPU = arm7tdmi at91sam7s_PROGRAMMER_CPU = at91sam7 diff --git a/examples/at91sam7/at91sam7x.mk b/examples/at91sam7/at91sam7x.mk index 2946d06f..82d8aceb 100644 --- a/examples/at91sam7/at91sam7x.mk +++ b/examples/at91sam7/at91sam7x.mk @@ -25,9 +25,12 @@ at91sam7x_CSRC = \ bertos/mware/event.c \ bertos/mware/formatwr.c \ bertos/mware/hex.c \ + bertos/mware/sprintf.c \ + bertos/struct/heap.c \ bertos/kern/kfile.c \ bertos/kern/proc.c \ - bertos/kern/coop.c \ + bertos/kern/mtask.c \ + bertos/kern/idle.c \ bertos/kern/proc_test.c \ bertos/kern/monitor.c \ bertos/kern/signal.c \ @@ -41,7 +44,7 @@ at91sam7x_CPPASRC = \ at91sam7x_PREFIX = arm-none-eabi- at91sam7x_CPPAFLAGS = -O0 -g -gdwarf-2 -g -gen-debug -at91sam7x_CPPFLAGS = -O0 -D'ARCH=0' -D__ARM_AT91SAM7X256__ -D'CPU_FREQ=(48023000UL)' -D'WIZ_AUTOGEN' -g3 -gdwarf-2 -fverbose-asm -Iexamples/at91sam7 -Ibertos/cpu/arm +at91sam7x_CPPFLAGS = -O0 -D'ARCH=0' -D__ARM_AT91SAM7X256__ -D'CPU_FREQ=(48023000UL)' -D'WIZ_AUTOGEN' -g3 -gdwarf-2 -fverbose-asm -Iexamples/at91sam7 -Ibertos/cpu/arm -fomit-frame-pointer at91sam7x_LDFLAGS = -nostartfiles -T bertos/cpu/arm/scripts/at91sam7_256_rom.ld -Wl,--no-warn-mismatch at91sam7x_CPU = arm7tdmi diff --git a/examples/at91sam7/cfg/cfg_proc.h b/examples/at91sam7/cfg/cfg_proc.h index 9f5f3a25..d7483835 100644 --- a/examples/at91sam7/cfg/cfg_proc.h +++ b/examples/at91sam7/cfg/cfg_proc.h @@ -65,13 +65,13 @@ * * $WIZ$ type = "boolean" */ -#define CONFIG_KERN_PREEMPT 0 +#define CONFIG_KERN_PREEMPT 1 /** * Priority-based scheduling policy. * $WIZ$ type = "boolean" */ -#define CONFIG_KERN_PRI 0 +#define CONFIG_KERN_PRI 1 /** * Time sharing quantum (a prime number prevents interference effects) [ms]. diff --git a/examples/demo/cfg/cfg_proc.h b/examples/demo/cfg/cfg_proc.h index 745634da..a35de093 100644 --- a/examples/demo/cfg/cfg_proc.h +++ b/examples/demo/cfg/cfg_proc.h @@ -60,11 +60,11 @@ #define CONFIG_KERN_HEAP 0 /** - * Preemptive process scheduling. WARNING: Experimental, still incomplete! + * Preemptive process scheduling. * * $WIZ$ type = "boolean" */ -#define CONFIG_KERN_PREEMPT 0 +#define CONFIG_KERN_PREEMPT 1 /** * Priority-based scheduling policy. diff --git a/examples/demo/cfg/cfg_timer.h b/examples/demo/cfg/cfg_timer.h new file mode 100644 index 00000000..1cff78b8 --- /dev/null +++ b/examples/demo/cfg/cfg_timer.h @@ -0,0 +1,68 @@ +/** + * \file + * + * + * \brief Configuration file for timer module. + * + * \version $Id$ + * + * \author Daniele Basile + */ + +#ifndef CFG_TIMER_H +#define CFG_TIMER_H + +/** + * Hardware timer selection for drv/timer.c. + * $WIZ$ type = "enum" + * $WIZ$ value_list = "timer_select" + */ +#define CONFIG_TIMER TIMER_DEFAULT + +/** + * Debug timer interrupt using a strobe pin. + * $WIZ$ type = "boolean" + */ +#define CONFIG_TIMER_STROBE 0 + +/** + * Enable asynchronous timers. + * $WIZ$ type = "boolean" + */ +#define CONFIG_TIMER_EVENTS 1 + +/** + * Support hi-res timer_usleep(). + * $WIZ$ type = "boolean" + */ +#define CONFIG_TIMER_UDELAY 1 + +#endif /* CFG_TIMER_H */ diff --git a/examples/demo/demo.c b/examples/demo/demo.c index 5a6f5077..559152a7 100644 --- a/examples/demo/demo.c +++ b/examples/demo/demo.c @@ -301,9 +301,6 @@ int main(int argc, char *argv[]) { emul_init(&argc, argv); - #if CONFIG_KERN_PREEMPT - irq_init(); - #endif timer_init(); buz_init(); kbd_init(); diff --git a/examples/demo/demo.mk b/examples/demo/demo.mk index db4f82e7..a71bb193 100644 --- a/examples/demo/demo.mk +++ b/examples/demo/demo.mk @@ -55,9 +55,10 @@ demo_CSRC = \ bertos/mware/observer.c \ bertos/mware/resource.c \ bertos/mware/sprintf.c \ + bertos/struct/heap.c \ bertos/kern/idle.c \ + bertos/kern/mtask.c \ bertos/kern/irq.c \ - bertos/kern/coop.c \ bertos/kern/proc.c \ bertos/kern/proc_test.c \ bertos/kern/sem.c \ diff --git a/test/run_tests.sh b/test/run_tests.sh index ed6ee007..367b98bb 100755 --- a/test/run_tests.sh +++ b/test/run_tests.sh @@ -34,13 +34,13 @@ SRC_LIST=" bertos/drv/kdebug.c bertos/drv/timer.c bertos/fs/battfs.c - bertos/kern/coop.c bertos/kern/idle.c bertos/kern/kfile.c bertos/kern/monitor.c bertos/kern/proc.c bertos/kern/signal.c bertos/kern/sem.c + bertos/kern/mtask.c bertos/mware/event.c bertos/mware/formatwr.c bertos/mware/hex.c