292 lines
11 KiB
C
292 lines
11 KiB
C
/****************************************************************************
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* sched/os_internal.h
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*
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* Copyright (C) 2007-2013 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef __SCHED_OS_INTERNAL_H
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#define __SCHED_OS_INTERNAL_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdbool.h>
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#include <queue.h>
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#include <sched.h>
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#include <nuttx/kmalloc.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* OS CRASH CODES: All must lie in the range 0-99 */
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enum os_crash_codes_e
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{
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OSERR_NOERROR = 0, /* No error */
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OSERR_NOTIMPLEMENTED, /* Feature is not implemented */
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OSERR_INTERNAL, /* Internal logic error */
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OSERR_UNEXPECTEDISR, /* Received unexpected interrupt */
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OSERR_UNDEFINEDINSN, /* Undefined instruction */
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OSERR_ERREXCEPTION, /* Other CPU-detected errors */
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OSERR_OUTOFMEMORY, /* Insufficient memory */
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OSERR_OUTOFMESSAGES, /* Out of messages */
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OSERR_NOIDLETASK, /* There is no idle task */
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OSERR_MQNONEMPTYCOUNT, /* Expected waiter for non-empty queue */
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OSERR_MQNOTFULLCOUNT, /* Expected waiter for non-full queue */
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OSERR_MQNOWAITER, /* Expected a queue for the waiter */
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OSERR_BADWAITSEM, /* Already waiting for a semaphore */
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OSERR_BADMSGTYPE, /* Tried to free a bad message type */
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OSERR_FAILEDTOADDSIGNAL, /* Failed to add pending signal */
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OSERR_FAILEDTOREMOVESIGNAL, /* Failed to remove pending signal */
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OSERR_TIMEOUTNOTCB, /* Timed out, but not TCB registered */
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OSERR_NOPENDINGSIGNAL, /* Expected a signal to be pending */
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OSERR_BADDELETESTATE, /* Bad state in task deletion */
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OSERR_WDOGNOTFOUND, /* Active watchdog not found */
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OSERR_EXITFROMINTERRUPT, /* Interrupt code attempted to exit */
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OSERR_BADUNBLOCKSTATE, /* Attempt to unblock from bad state */
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OSERR_BADBLOCKSTATE, /* Attempt to block from bad state */
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OSERR_BADREPRIORITIZESTATE /* Attempt to reprioritize in bad state or priority */
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};
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/* Special task IDS. Any negative PID is invalid. */
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#define NULL_TASK_PROCESS_ID (pid_t)0
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#define INVALID_PROCESS_ID (pid_t)-1
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/* Although task IDs can take the (positive, non-zero)
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* range of pid_t, the number of tasks that will be supported
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* at any one time is (artificially) limited by the CONFIG_MAX_TASKS
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* configuration setting. Limiting the number of tasks speeds certain
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* OS functions (this is the only limitation in the number of
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* tasks built into the design).
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*/
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#define MAX_TASKS_MASK (CONFIG_MAX_TASKS-1)
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#define PIDHASH(pid) ((pid) & MAX_TASKS_MASK)
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/* One processor family supported by NuttX has a single, fixed hardware stack.
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* That is the 8051 family. So for that family only, there is a variant form
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* of kernel_thread() that does not take a stack size parameter. The following
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* helper macro is provided to work around the ugliness of that exception.
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*/
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#ifndef CONFIG_CUSTOM_STACK
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# define KERNEL_THREAD(n,p,s,e,a) kernel_thread(n,p,s,e,a)
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#else
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# define KERNEL_THREAD(n,p,s,e,a) kernel_thread(n,p,e,a)
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#endif
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/* A more efficient ways to access the errno */
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#define SET_ERRNO(e) \
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{ _TCB *rtcb = _TCB*)g_readytorun.head; rtcb->pterrno = (e); }
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#define _SET_TCB_ERRNO(t,e) \
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{ (t)->pterrno = (e); }
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/****************************************************************************
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* Public Type Definitions
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****************************************************************************/
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/* This structure defines the format of the hash table that
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* is used to (1) determine if a task ID is unique, and (2)
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* to map a process ID to its corresponding TCB.
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*/
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struct pidhash_s
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{
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FAR _TCB *tcb;
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pid_t pid;
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};
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typedef struct pidhash_s pidhash_t;
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/* This structure defines an element of the g_tasklisttable[].
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* This table is used to map a task_state enumeration to the
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* corresponding task list.
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*/
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struct tasklist_s
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{
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DSEG volatile dq_queue_t *list; /* Pointer to the task list */
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bool prioritized; /* true if the list is prioritized */
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};
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typedef struct tasklist_s tasklist_t;
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/****************************************************************************
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* Global Variables
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****************************************************************************/
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/* Declared in os_start.c ***************************************************/
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/* The state of a task is indicated both by the task_state field of the TCB
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* and by a series of task lists. All of these tasks lists are declared
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* below. Although it is not always necessary, most of these lists are
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* prioritized so that common list handling logic can be used (only the
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* g_readytorun, the g_pendingtasks, and the g_waitingforsemaphore lists need
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* to be prioritized).
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*/
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/* This is the list of all tasks that are ready to run. The head of this
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* list is the currently active task; the tail of this list is always the
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* IDLE task.
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*/
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extern volatile dq_queue_t g_readytorun;
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/* This is the list of all tasks that are ready-to-run, but cannot be placed
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* in the g_readytorun list because: (1) They are higher priority than the
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* currently active task at the head of the g_readytorun list, and (2) the
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* currently active task has disabled pre-emption.
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*/
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extern volatile dq_queue_t g_pendingtasks;
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/* This is the list of all tasks that are blocked waiting for a semaphore */
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extern volatile dq_queue_t g_waitingforsemaphore;
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/* This is the list of all tasks that are blocked waiting for a signal */
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#ifndef CONFIG_DISABLE_SIGNALS
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extern volatile dq_queue_t g_waitingforsignal;
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#endif
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/* This is the list of all tasks that are blocked waiting for a message
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* queue to become non-empty.
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*/
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#ifndef CONFIG_DISABLE_MQUEUE
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extern volatile dq_queue_t g_waitingformqnotempty;
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#endif
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/* This is the list of all tasks that are blocked waiting for a message
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* queue to become non-full.
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*/
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#ifndef CONFIG_DISABLE_MQUEUE
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extern volatile dq_queue_t g_waitingformqnotfull;
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#endif
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/* This is the list of all tasks that are blocking waiting for a page fill */
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#ifdef CONFIG_PAGING
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extern volatile dq_queue_t g_waitingforfill;
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#endif
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/* This the list of all tasks that have been initialized, but not yet
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* activated. NOTE: This is the only list that is not prioritized.
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*/
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extern volatile dq_queue_t g_inactivetasks;
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/* This is the list of dayed memory deallocations that need to be handled
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* within the IDLE loop. These deallocations get queued by sched_free()
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* if the OS attempts to deallocate memory while it is within an interrupt
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* handler.
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*/
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extern volatile sq_queue_t g_delayeddeallocations;
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/* This is the value of the last process ID assigned to a task */
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extern volatile pid_t g_lastpid;
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/* The following hash table is used for two things:
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*
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* 1. This hash table greatly speeds the determination of a new unique
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* process ID for a task, and
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* 2. Is used to quickly map a process ID into a TCB.
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*
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* It has the side effects of using more memory and limiting the number
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* of tasks to CONFIG_MAX_TASKS.
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*/
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extern pidhash_t g_pidhash[CONFIG_MAX_TASKS];
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/* This is a table of task lists. This table is indexed by the task state
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* enumeration type (tstate_t) and provides a pointer to the associated
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* static task list (if there is one) as well as a boolean indication as to
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* if the list is an ordered list or not.
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*/
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extern const tasklist_t g_tasklisttable[NUM_TASK_STATES];
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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int os_bringup(void);
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#ifdef CONFIG_SCHED_CHILD_STATUS
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void weak_function task_initialize(void);
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#endif
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void task_start(void);
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int task_schedsetup(FAR _TCB *tcb, int priority, start_t start,
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main_t main, uint8_t ttype);
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int task_argsetup(FAR _TCB *tcb, FAR const char *name, FAR const char *argv[]);
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void task_exithook(FAR _TCB *tcb, int status);
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int task_deletecurrent(void);
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#ifndef CONFIG_CUSTOM_STACK
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int kernel_thread(FAR const char *name, int priority, int stack_size,
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main_t entry, FAR const char *argv[]);
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#else
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int kernel_thread(FAR const char *name, int priority, main_t entry,
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FAR const char *argv[]);
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#endif
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bool sched_addreadytorun(FAR _TCB *rtrtcb);
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bool sched_removereadytorun(FAR _TCB *rtrtcb);
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bool sched_addprioritized(FAR _TCB *newTcb, DSEG dq_queue_t *list);
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bool sched_mergepending(void);
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void sched_addblocked(FAR _TCB *btcb, tstate_t task_state);
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void sched_removeblocked(FAR _TCB *btcb);
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int sched_setpriority(FAR _TCB *tcb, int sched_priority);
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#ifdef CONFIG_PRIORITY_INHERITANCE
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int sched_reprioritize(FAR _TCB *tcb, int sched_priority);
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#else
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# define sched_reprioritize(tcb,sched_priority) sched_setpriority(tcb,sched_priority)
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#endif
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FAR _TCB *sched_gettcb(pid_t pid);
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bool sched_verifytcb(FAR _TCB *tcb);
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int sched_releasetcb(FAR _TCB *tcb);
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void sched_garbagecollection(void);
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#endif /* __SCHED_OS_INTERNAL_H */
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