| /* |
| * Copyright (c) 2016 Wind River Systems, Inc. |
| * |
| * Licensed under the Apache License, Version 2.0 (the "License"); |
| * you may not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| |
| #include <kernel.h> |
| #include <kernel_structs.h> |
| #include <atomic.h> |
| #include <ksched.h> |
| #include <wait_q.h> |
| #include <misc/util.h> |
| |
| /* the only struct _kernel instance */ |
| struct _kernel _kernel = {0}; |
| |
| /* set the bit corresponding to prio in ready q bitmap */ |
| #ifdef CONFIG_MULTITHREADING |
| static void _set_ready_q_prio_bit(int prio) |
| { |
| int bmap_index = _get_ready_q_prio_bmap_index(prio); |
| uint32_t *bmap = &_ready_q.prio_bmap[bmap_index]; |
| |
| *bmap |= _get_ready_q_prio_bit(prio); |
| } |
| #endif |
| |
| /* clear the bit corresponding to prio in ready q bitmap */ |
| #ifdef CONFIG_MULTITHREADING |
| static void _clear_ready_q_prio_bit(int prio) |
| { |
| int bmap_index = _get_ready_q_prio_bmap_index(prio); |
| uint32_t *bmap = &_ready_q.prio_bmap[bmap_index]; |
| |
| *bmap &= ~_get_ready_q_prio_bit(prio); |
| } |
| #endif |
| |
| #ifdef CONFIG_MULTITHREADING |
| /* |
| * Find the next thread to run when there is no thread in the cache and update |
| * the cache. |
| */ |
| static struct k_thread *_get_ready_q_head(void) |
| { |
| int prio = _get_highest_ready_prio(); |
| int q_index = _get_ready_q_q_index(prio); |
| sys_dlist_t *list = &_ready_q.q[q_index]; |
| |
| __ASSERT(!sys_dlist_is_empty(list), |
| "no thread to run (prio: %d, queue index: %u)!\n", |
| prio, q_index); |
| |
| struct k_thread *thread = |
| (struct k_thread *)sys_dlist_peek_head_not_empty(list); |
| |
| return thread; |
| } |
| #endif |
| |
| /* |
| * Add thread to the ready queue, in the slot for its priority; the thread |
| * must not be on a wait queue. |
| * |
| * This function, along with _move_thread_to_end_of_prio_q(), are the _only_ |
| * places where a thread is put on the ready queue. |
| * |
| * Interrupts must be locked when calling this function. |
| */ |
| |
| void _add_thread_to_ready_q(struct k_thread *thread) |
| { |
| #ifdef CONFIG_MULTITHREADING |
| int q_index = _get_ready_q_q_index(thread->base.prio); |
| sys_dlist_t *q = &_ready_q.q[q_index]; |
| |
| _set_ready_q_prio_bit(thread->base.prio); |
| sys_dlist_append(q, &thread->base.k_q_node); |
| |
| struct k_thread **cache = &_ready_q.cache; |
| |
| *cache = _is_t1_higher_prio_than_t2(thread, *cache) ? thread : *cache; |
| #else |
| sys_dlist_append(&_ready_q.q[0], &thread->base.k_q_node); |
| _ready_q.prio_bmap[0] = 1; |
| _ready_q.cache = thread; |
| #endif |
| } |
| |
| /* |
| * This function, along with _move_thread_to_end_of_prio_q(), are the _only_ |
| * places where a thread is taken off the ready queue. |
| * |
| * Interrupts must be locked when calling this function. |
| */ |
| |
| void _remove_thread_from_ready_q(struct k_thread *thread) |
| { |
| #ifdef CONFIG_MULTITHREADING |
| int q_index = _get_ready_q_q_index(thread->base.prio); |
| sys_dlist_t *q = &_ready_q.q[q_index]; |
| |
| sys_dlist_remove(&thread->base.k_q_node); |
| if (sys_dlist_is_empty(q)) { |
| _clear_ready_q_prio_bit(thread->base.prio); |
| } |
| |
| struct k_thread **cache = &_ready_q.cache; |
| |
| *cache = *cache == thread ? _get_ready_q_head() : *cache; |
| #else |
| _ready_q.prio_bmap[0] = 0; |
| _ready_q.cache = NULL; |
| sys_dlist_remove(&thread->base.k_q_node); |
| #endif |
| } |
| |
| /* reschedule threads if the scheduler is not locked */ |
| /* not callable from ISR */ |
| /* must be called with interrupts locked */ |
| void _reschedule_threads(int key) |
| { |
| #ifdef CONFIG_PREEMPT_ENABLED |
| K_DEBUG("rescheduling threads\n"); |
| |
| if (_must_switch_threads()) { |
| K_DEBUG("context-switching out %p\n", _current); |
| _Swap(key); |
| } else { |
| irq_unlock(key); |
| } |
| #else |
| irq_unlock(key); |
| #endif |
| } |
| |
| void k_sched_lock(void) |
| { |
| #ifdef CONFIG_PREEMPT_ENABLED |
| __ASSERT(_current->base.sched_locked != 1, ""); |
| __ASSERT(!_is_in_isr(), ""); |
| |
| --_current->base.sched_locked; |
| |
| K_DEBUG("scheduler locked (%p:%d)\n", |
| _current, _current->base.sched_locked); |
| #endif |
| } |
| |
| void k_sched_unlock(void) |
| { |
| #ifdef CONFIG_PREEMPT_ENABLED |
| __ASSERT(_current->base.sched_locked != 0, ""); |
| __ASSERT(!_is_in_isr(), ""); |
| |
| int key = irq_lock(); |
| |
| ++_current->base.sched_locked; |
| |
| K_DEBUG("scheduler unlocked (%p:%d)\n", |
| _current, _current->base.sched_locked); |
| |
| _reschedule_threads(key); |
| #endif |
| } |
| |
| /* convert milliseconds to ticks */ |
| |
| #ifdef _NON_OPTIMIZED_TICKS_PER_SEC |
| int32_t _ms_to_ticks(int32_t ms) |
| { |
| int64_t ms_ticks_per_sec = (int64_t)ms * sys_clock_ticks_per_sec; |
| |
| return (int32_t)ceiling_fraction(ms_ticks_per_sec, MSEC_PER_SEC); |
| } |
| #endif |
| |
| /* pend the specified thread: it must *not* be in the ready queue */ |
| /* must be called with interrupts locked */ |
| void _pend_thread(struct k_thread *thread, _wait_q_t *wait_q, int32_t timeout) |
| { |
| #ifdef CONFIG_MULTITHREADING |
| sys_dlist_t *wait_q_list = (sys_dlist_t *)wait_q; |
| sys_dnode_t *node; |
| |
| SYS_DLIST_FOR_EACH_NODE(wait_q_list, node) { |
| struct k_thread *pending = (struct k_thread *)node; |
| |
| if (_is_t1_higher_prio_than_t2(thread, pending)) { |
| sys_dlist_insert_before(wait_q_list, node, |
| &thread->base.k_q_node); |
| goto inserted; |
| } |
| } |
| |
| sys_dlist_append(wait_q_list, &thread->base.k_q_node); |
| |
| inserted: |
| _mark_thread_as_pending(thread); |
| |
| if (timeout != K_FOREVER) { |
| int32_t ticks = _TICK_ALIGN + _ms_to_ticks(timeout); |
| |
| _add_thread_timeout(thread, wait_q, ticks); |
| } |
| #endif |
| } |
| |
| /* pend the current thread */ |
| /* must be called with interrupts locked */ |
| void _pend_current_thread(_wait_q_t *wait_q, int32_t timeout) |
| { |
| _remove_thread_from_ready_q(_current); |
| _pend_thread(_current, wait_q, timeout); |
| } |
| |
| /* |
| * Check if there is a thread of higher prio than the current one. Should only |
| * be called if we already know that the current thread is preemptible. |
| */ |
| int __must_switch_threads(void) |
| { |
| #ifdef CONFIG_PREEMPT_ENABLED |
| K_DEBUG("current prio: %d, highest prio: %d\n", |
| _current->base.prio, _get_highest_ready_prio()); |
| |
| extern void _dump_ready_q(void); |
| _dump_ready_q(); |
| |
| return _is_prio_higher(_get_highest_ready_prio(), _current->base.prio); |
| #else |
| return 0; |
| #endif |
| } |
| |
| int k_thread_priority_get(k_tid_t thread) |
| { |
| return thread->base.prio; |
| } |
| |
| void k_thread_priority_set(k_tid_t tid, int prio) |
| { |
| /* |
| * Use NULL, since we cannot know what the entry point is (we do not |
| * keep track of it) and idle cannot change its priority. |
| */ |
| _ASSERT_VALID_PRIO(prio, NULL); |
| __ASSERT(!_is_in_isr(), ""); |
| |
| struct k_thread *thread = (struct k_thread *)tid; |
| int key = irq_lock(); |
| |
| _thread_priority_set(thread, prio); |
| _reschedule_threads(key); |
| } |
| |
| /* |
| * Interrupts must be locked when calling this function. |
| * |
| * This function, along with _add_thread_to_ready_q() and |
| * _remove_thread_from_ready_q(), are the _only_ places where a thread is |
| * taken off or put on the ready queue. |
| */ |
| void _move_thread_to_end_of_prio_q(struct k_thread *thread) |
| { |
| #ifdef CONFIG_MULTITHREADING |
| int q_index = _get_ready_q_q_index(thread->base.prio); |
| sys_dlist_t *q = &_ready_q.q[q_index]; |
| |
| if (sys_dlist_is_tail(q, &thread->base.k_q_node)) { |
| return; |
| } |
| |
| sys_dlist_remove(&thread->base.k_q_node); |
| sys_dlist_append(q, &thread->base.k_q_node); |
| |
| struct k_thread **cache = &_ready_q.cache; |
| |
| *cache = *cache == thread ? _get_ready_q_head() : *cache; |
| #endif |
| } |
| |
| void k_yield(void) |
| { |
| __ASSERT(!_is_in_isr(), ""); |
| |
| int key = irq_lock(); |
| |
| _move_thread_to_end_of_prio_q(_current); |
| |
| if (_current == _get_next_ready_thread()) { |
| irq_unlock(key); |
| } else { |
| _Swap(key); |
| } |
| } |
| |
| void k_sleep(int32_t duration) |
| { |
| #ifdef CONFIG_MULTITHREADING |
| /* volatile to guarantee that irq_lock() is executed after ticks is |
| * populated |
| */ |
| volatile int32_t ticks; |
| unsigned int key; |
| |
| __ASSERT(!_is_in_isr(), ""); |
| __ASSERT(duration != K_FOREVER, ""); |
| |
| K_DEBUG("thread %p for %d ns\n", _current, duration); |
| |
| /* wait of 0 ms is treated as a 'yield' */ |
| if (duration == 0) { |
| k_yield(); |
| return; |
| } |
| |
| ticks = _TICK_ALIGN + _ms_to_ticks(duration); |
| key = irq_lock(); |
| |
| _remove_thread_from_ready_q(_current); |
| _add_thread_timeout(_current, NULL, ticks); |
| |
| _Swap(key); |
| #endif |
| } |
| |
| void k_wakeup(k_tid_t thread) |
| { |
| int key = irq_lock(); |
| |
| /* verify first if thread is not waiting on an object */ |
| if (_is_thread_pending(thread)) { |
| irq_unlock(key); |
| return; |
| } |
| |
| if (_abort_thread_timeout(thread) == _INACTIVE) { |
| irq_unlock(key); |
| return; |
| } |
| |
| _ready_thread(thread); |
| |
| if (_is_in_isr()) { |
| irq_unlock(key); |
| } else { |
| _reschedule_threads(key); |
| } |
| } |
| |
| k_tid_t k_current_get(void) |
| { |
| return _current; |
| } |
| |
| /* debug aid */ |
| void _dump_ready_q(void) |
| { |
| K_DEBUG("bitmaps: "); |
| for (int bitmap = 0; bitmap < K_NUM_PRIO_BITMAPS; bitmap++) { |
| K_DEBUG("%x", _ready_q.prio_bmap[bitmap]); |
| } |
| K_DEBUG("\n"); |
| for (int prio = 0; prio < K_NUM_PRIORITIES; prio++) { |
| K_DEBUG("prio: %d, head: %p\n", |
| prio - CONFIG_NUM_COOP_PRIORITIES, |
| sys_dlist_peek_head(&_ready_q.q[prio])); |
| } |
| } |
| |
| #ifdef CONFIG_TIMESLICING |
| extern int32_t _time_slice_duration; /* Measured in ms */ |
| extern int32_t _time_slice_elapsed; /* Measured in ms */ |
| extern int _time_slice_prio_ceiling; |
| |
| void k_sched_time_slice_set(int32_t duration_in_ms, int prio) |
| { |
| __ASSERT(duration_in_ms >= 0, ""); |
| __ASSERT((prio >= 0) && (prio < CONFIG_NUM_PREEMPT_PRIORITIES), ""); |
| |
| _time_slice_duration = duration_in_ms; |
| _time_slice_elapsed = 0; |
| _time_slice_prio_ceiling = prio; |
| } |
| #endif /* CONFIG_TIMESLICING */ |
| |
| int k_is_preempt_thread(void) |
| { |
| return !_is_in_isr() && _is_preempt(_current); |
| } |