blob: bef193aa8e86d890ba0ea65de2a84ee1a8b434f3 [file] [log] [blame]
/*
* Copyright (c) 2016 Wind River Systems, Inc.
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr/kernel.h>
#include <zephyr/toolchain.h>
#include <zephyr/linker/sections.h>
#include <zephyr/drivers/timer/system_timer.h>
#include <zephyr/pm/pm.h>
#include <stdbool.h>
#include <zephyr/logging/log.h>
/* private kernel APIs */
#include <ksched.h>
#include <kswap.h>
#include <wait_q.h>
LOG_MODULE_DECLARE(os, CONFIG_KERNEL_LOG_LEVEL);
void z_pm_save_idle_exit(void)
{
#ifdef CONFIG_PM
/* Some CPU low power states require notification at the ISR
* to allow any operations that needs to be done before kernel
* switches task or processes nested interrupts.
* This can be simply ignored if not required.
*/
pm_system_resume();
#endif /* CONFIG_PM */
#ifdef CONFIG_SYS_CLOCK_EXISTS
sys_clock_idle_exit();
#endif /* CONFIG_SYS_CLOCK_EXISTS */
}
void idle(void *unused1, void *unused2, void *unused3)
{
ARG_UNUSED(unused1);
ARG_UNUSED(unused2);
ARG_UNUSED(unused3);
__ASSERT_NO_MSG(_current->base.prio >= 0);
while (true) {
/* SMP systems without a working IPI can't actual
* enter an idle state, because they can't be notified
* of scheduler changes (i.e. threads they should
* run). They just spin instead, with a minimal
* relaxation loop to prevent hammering the scheduler
* lock and/or timer driver. This is intended as a
* fallback configuration for new platform bringup.
*/
if (IS_ENABLED(CONFIG_SMP) && !IS_ENABLED(CONFIG_SCHED_IPI_SUPPORTED)) {
for (volatile int i = 0; i < 100000; i++) {
/* Empty loop */
}
z_swap_unlocked();
}
/* Note weird API: k_cpu_idle() is called with local
* CPU interrupts masked, and returns with them
* unmasked. It does not take a spinlock or other
* higher level construct.
*/
(void) arch_irq_lock();
#ifdef CONFIG_PM
_kernel.idle = z_get_next_timeout_expiry();
/*
* Call the suspend hook function of the soc interface
* to allow entry into a low power state. The function
* returns false if low power state was not entered, in
* which case, kernel does normal idle processing.
*
* This function is entered with interrupts disabled.
* If a low power state was entered, then the hook
* function should enable interrupts before exiting.
* This is because the kernel does not do its own idle
* processing in those cases i.e. skips k_cpu_idle().
* The kernel's idle processing re-enables interrupts
* which is essential for the kernel's scheduling
* logic.
*/
if (k_is_pre_kernel() || !pm_system_suspend(_kernel.idle)) {
k_cpu_idle();
}
#else
k_cpu_idle();
#endif /* CONFIG_PM */
#if !defined(CONFIG_PREEMPT_ENABLED)
# if !defined(CONFIG_USE_SWITCH) || defined(CONFIG_SPARC)
/* A legacy mess: the idle thread is by definition
* preemptible as far as the modern scheduler is
* concerned, but older platforms use
* CONFIG_PREEMPT_ENABLED=n as an optimization hint
* that interrupt exit always returns to the
* interrupted context. So in that setup we need to
* explicitly yield in the idle thread otherwise
* nothing else will run once it starts.
*/
if (_kernel.ready_q.cache != _current) {
z_swap_unlocked();
}
# endif /* !defined(CONFIG_USE_SWITCH) || defined(CONFIG_SPARC) */
#endif /* !defined(CONFIG_PREEMPT_ENABLED) */
}
}
void __weak arch_spin_relax(void)
{
__ASSERT(!arch_irq_unlocked(arch_irq_lock()),
"this is meant to be called with IRQs disabled");
arch_nop();
}