Verify the thread priorities are within the bounds when starting a new
thread and when changing the priority of a thread.
Change-Id: I007b3b249e4b80235b6439cbee44cad2f31973bb
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
Symbols now use the K_ prefix which is now standard for the
unified kernel. Legacy support for these symbols is retained
to allow existing applications to build successfully.
Change-Id: I3ff12c96f729b535eecc940502892cbaa52526b6
Signed-off-by: Allan Stephens <allan.stephens@windriver.com>
This change is required to support unified kernel.
Change-Id: I47bd644239eb3e624c7a5cb456eedad5aca79e8e
Signed-off-by: Piotr Mienkowski <piotr.mienkowski@gmail.com>
The unified kernel expect the default return value from a _Swap() call
to be set to -EAGAIN by the architecture code. Cortex-M3/M4 does this in
the SVC call handler, and it was missing from the Cortex-M0/M0+ before
pending PendSV.
Change-Id: I3316901186ab409f49043eb4f1972c4b0dd9a4a2
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
Adds standard prefix to symbolic option that flags a thread
as essential to system operation.
Change-Id: Ia904a81ce343fdd1cd44caaaeae641d822777f9b
Signed-off-by: Allan Stephens <allan.stephens@windriver.com>
All M7 features common to M3/M4 are working. New features like Tightly
Coupled Memory (TCM) are not yet supported.
Change-Id: I5f7b292e70843aec415728f24c973bb003014f4b
Jira: ZEP-977
Signed-off-by: Piotr Mienkowski <Piotr.Mienkowski@schmid-telecom.ch>
Existing code wasn't removing a thread from the kernel's list
of active threads if the thread terminated or aborted. (It did
remove it if the delayed starting of a thread was cancelled.)
Change-Id: Icc97917e33765696480d0e9bf31e882ef555d095
Signed-off-by: Allan Stephens <allan.stephens@windriver.com>
Gets rid of unnecessary THREAD_MONITOR_INIT() macro, to be
consistent with the approach taken by _thread_monitor_exit().
Aligns x86 code with the approach used on other architectures.
Revises the associated comments and removes unnecessary
doxygen tags.
Change-Id: Ied1aebcd476afb82f61862b77264efb8a7dc66c9
Signed-off-by: Allan Stephens <allan.stephens@windriver.com>
Renames _thread_exit() to _thread_monitoring_exit() to make
its purpose clearer. Revises the associated comments and
removes unnecessary doxygen tags.
Change-Id: I010a328d35d2d79d2a29b9d0b6c02097bb655989
Signed-off-by: Allan Stephens <allan.stephens@windriver.com>
Not disabling SysTick as it is optional by the spec.
SVC not used as there is no priority-based interrupt masking (only
PendSV is used).
Largely based on a previous work done by Euan Mutch <euan@abelon.com>.
Jira: ZEP-783
Change-Id: I38e29bfcf0624c1aea5f9fd7a74230faa1b59e8b
Signed-off-by: Ricardo Salveti <ricardo.salveti@linaro.org>
Build breaks when enabling CONFIG_NEWLIB_LIBC because it has its own
sched.h file.
This is a bad symptom of a greater issue: the build system passes many
'-I<path>' options to the compiler, and that allows including header
files by simply specifying their names (when located somewhere else than
<zephyr>/include/) and can cause clashes when several files in different
locations have the same name, like in this case.
Fixes ZEP-1062.
Change-Id: I81d1d69ee6669a609cd0c420b1b8f870d17dcb67
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
Builtin might not be available for ARMv6 (Cortex-M0/M0+) depending on
the toolchain used (not available by Zephyr's SDK GCC), so move the
atomic operations selection to the Cortex-M family Kconfig file.
Change-Id: I20a5a0c5fdd2bcff2d304139f5a7e8502fdb1cb3
Signed-off-by: Ricardo Salveti <ricardo.salveti@linaro.org>
The unified kernel calls a function (_get_next_ready_thread) to fetch
the next thread to run: it thus must save caller-saved registers that
are expected to hold a value before calling such function.
The callee-saved registers are available after saving them in the
outgoing thread's stack, so use some of those instead to reduce the
number of registers to save before calling _get_next_ready_thread. Also,
save caller-saved registers in callee-saved registers instead of on the
stack to reduce memory accesses.
This issue did not show up previously, probably because
_get_next_ready_thread did not use the regsiters that had to be saved,
but an upcoming optimization to that function stomps on them.
Change-Id: I27dcededace846e623c3870d907f0d4c464173bf
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
Not used anymore as the support for dynamic IRQs was removed by
commit 844e212.
Change-Id: I624bbd777b2dbcbf905cedc61e63cef21e8a0bce
Signed-off-by: Ricardo Salveti <ricardo.salveti@linaro.org>
Add _arch_irq_is_enabled external interrupt API to find out
if an IRQ is enabled.
Change-id: I8ccbaa6d4640c1ab8369d2d35c01a2cfbb02f6cd
Signed-off-by: Vinayak Chettimada <vinayak.kariappa.chettimada@nordicsemi.no>
Do not clear pending IRQ when enabling an IRQ on ARM
architectures. Peripherals and S/W ISRs may be required to
be deferred until they are enabled later and the pended
IRQ should be retained for the ISR to be vectored to when
enabled.
Change-id: I808183018d8a2cc58390a1de3b4797b2bb7c6ec9
Signed-off-by: Vinayak Chettimada <vinayak.kariappa.chettimada@nordicsemi.no>
The ARM architecture port is fitted with support for the unified kernel,
namely:
- the interrupt/exception exit code now pends PendSV if the current
thread is not a coop thread and if the scheduler is not locked
- fiber_abort is replaced by k_thread_abort(), which takes a thread ID
as a parameter (i.e. does not only operate on the current thread)
- the _nanokernel.flags cache of _current.flags is not used anymore
(could be a source of bugs) and is not needed in the scheduling algo
- there is no 'task' field in the _nanokernel anymore: PendSV not calls
_get_next_ready_thread instead
- the _nanokernel.fiber field is replaced by a more sophisticated
ready_q, based on the microkernel's priority-bitmap-based one
- thread initialization initializes new fields in the tcs, and does not
initialize obsolete ones
- nano_private includes nano_internal.h from the unified directory
- The FIBER, TASK and PREEMPTIBLE flags do not exist anymore: the thread
priority drives the behaviour
- the tcs uses a dlist for queuing in both ready and wait queues instead
of a custom singly-linked list
- other new fields in the tcs include a schedule-lock count, a
back-pointer to init data (when the task is static) and a pointer to
swap data, needed when a thread pending on _Swap() must be passed more
then just one value (e.g. k_stack_pop() needs an error code and data)
- the 'fiber' and 'task' fields of _nanokernel are replaced with an O(1)
ready queue (taken from the microkernel)
- fiberRtnValueSet() is aliased to _set_thread_return_value since it
also operates on preempt threads now
- _set_thread_return_value_with_data() sets the swap_data field in
addition to a return value from _Swap()
- convenience aliases are created for shorter names:
- _current is defined as _nanokernel.current
- _ready_q is defined as _nanokernel.ready_q
- _Swap() sets the threads's return code to -EAGAIN before swapping out
to prevent timeouts to have to set it (solves hard issues in some
kernel objects).
Change-Id: I36c03c362bc2908dae064ec67e6b8469fc573983
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
They use data that is unavailable to the unified kernel, and are not
used anymore really. For now, only compile them when CONFIG_GDB_INFO=y,
and never enable CONFIG_GDB_INFO when building the unified kernel.
These files should go away when the unified kernel is made the only
kernel type.
Change-Id: I0a2a917dd453ecaae729125008756e0f676df16d
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
Zephyr uses the last priority level for the PendSV exception, but
sharing prio can still be useful on systems with a reduced set of
priorities, like Cortex-M0/M0+.
Change-Id: I767527419dcd8f67c2b406756b9208afd3b96de0
Signed-off-by: Ricardo Salveti <ricardo.salveti@linaro.org>
The toolchain headers included an abstraction for defining symbol
names in assembly context in the situation where we're using a
DOS-style assembler that automatically prepends an underscore to
symbol names.
We aren't. Zephyr is an ELF platform. None of our toolchains do
this. Nothing sets the "TOOL_PREPENDS_UNDERSCORE" macro from within
the project, and it surely isn't an industry standard. Yank it out.
Now we can write assembler labels in natural syntax, and a few other
things fall out to simplify too.
(NOTE: these headers contain assembly code and will fail checkpatch.
That is an expected false positive.)
Change-Id: Ic89e74422b52fe50b3b7306a0347d7a560259581
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
Completing the terminology change started with change 4008
by updating the Kconfig files processed to produce the
online documentation, plus header files processed by
doxygen. References to 'platform' are change to 'board'
Change-Id: Id0ed3dc1439a0ea0a4bd19d4904889cf79bec33e
Jira: ZEP-534
Signed-off-by: David B. Kinder <david.b.kinder@intel.com>
Add a Kconfig option to select between the Hard and Soft Float ABIs. We
also default to the Hard Float ABI as this is what older SDK versions
supported.
JIRA: ZEP-555
Change-Id: I2180c98cd7556ab49f5ca9b46b31add2c11bd07b
Signed-off-by: Kumar Gala <kumar.gala@linaro.org>
Arches now select whether they want to use the GCC built-ins,
their own assembly implementation, or the generic C code.
At the moment, the SDK compilers only support builtins for ARM
and X86. ZEP-557 opened to investigate further.
Change-Id: I53e411b4967d87f737338379bd482bd653f19422
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
Used by ARC, ARM, Nios II. x86 has alternate code done in assembly.
Linker scripts had some alarming comments about data/BSS overlap,
but the beginning of BSS is aligned so this can't happen even if
the end of data isn't.
The common code doesn't use fake pointer values for the number of
words in these sections, don't compute or export them.
Change-Id: I4291c2a6d0222d0a3e95c140deae7539ebab3cc3
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
Adds Kconfig options CPU_HAS_FPU, FLOAT and FP_SHARING for the arm
architecture.
NOTE: All SOCs in the MK64F12 family have an FPU so that makes it a
convenient location to enable the hidden CPU_HAS_FPU option.
Change-Id: I71771d24f20f52079314bb8db9bf8a0aa827ab41
Signed-off-by: Peter Mitsis <peter.mitsis@windriver.com>
Enable floating point in the Cortex-M4 processor.
Change-Id: Ibadae12b9197d6486fd5c6a3d4e177fa9e1c71bc
Signed-off-by: Peter Mitsis <peter.mitsis@windriver.com>
Saves and loads the non-volatile FP registers (s16-s31) when switching
between threads.
Change-Id: Ib3190452d9a70d722032ac83176eb4fbb92aca3d
Signed-off-by: Peter Mitsis <peter.mitsis@windriver.com>
Adds the preemptive floating point registers to the ARM's thread
control structure.
Change-Id: I65fbee6303091ce0658bbc442c4707d306b68e92
Signed-off-by: Peter Mitsis <peter.mitsis@windriver.com>
Updates the exception stack frame structure to include floating point
registers.
Change-Id: I0fef784cf4d91dda245180abd75bfd9221825fba
Signed-off-by: Peter Mitsis <peter.mitsis@windriver.com>
The ReST parser dislikes enumerations with no empty lines in
between. Whatever.
Change-Id: I480c08fe5b69f0d0f3ebfacdc64fc9e3ec94da21
Signed-off-by: Inaky Perez-Gonzalez <inaky.perez-gonzalez@intel.com>
Fibers initialize this back pointer to NULL as they are (by definition)
not microkernel tasks. Microkernel tasks initialize it to their
corresponding 'ktask_t'.
However for nanokernel systems, the back pointer is always NULL. This
is because there is only one task in a nanokernel system (the background
task) and it can not pend on a nanokernel object--it must poll.
Change-Id: I9840fecc44224bef63d09d587d703720cf33ad57
Signed-off-by: Peter Mitsis <peter.mitsis@windriver.com>
We really should have more faith in the compiler, it generates
code to implement this exactly like the arch-specific assembly
versions, and on ARM is actually 4 bytes shorter.
FUNC_NO_FP used to disable the usual C preamble to update the
frame/stack pointers, which is how the sizes are still the same
or less. It's debatable how useful the occasional use of
FUNC_NO_FP is in practice since it hinders debugging and in a
production build frame pointers should be globally disabled, but
we can address that later.
Change-Id: I6c4b64ab3e3a9b6f91d52fa8c92e6e79a986fc77
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
Of the 3 related functions;
_thread_essential_set()
_thread_essential_clear()
_is_thread_essential()
The first two are parameter-less and always operate on
"_nanokernel.current". The last one takes a 'thread' parameter but will
operate on _nanokernel.current if the parameter is NULL. All calls to
_is_thread_essential() pass NULL!
This change makes the 3 functions consistent by removing the parameter
to the 3rd function. This should also be marginally more efficient,
though consistency was the motivation. This change corrects the doc
preamble to all 3 functions.
(These functions would probably be better as inlines. Also, the choice
of when to use wrappers seems a bit arbitrary. E.g. there's nothing
for setting/testing the "FIBER" flag.)
Change-Id: Ie3589f8a28b227c6d7a3a31b664d3b3e6e9c6d17
Signed-off-by: Geoff Thorpe <geoff.thorpe@nxp.com>
Use SOC_FAMILY and SOC_SERIES to identify soc families and series
and to point to the correct linker files and files related to a
specific SoC.
Change-Id: I8b1a7339f37d6ea4161d03073d36557a40c0b4a6
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
GCC enables unaligned memory access for ARMv6 and above.
Once unaligned memory access is allowed, there's no need
for the unaligned memory access trap.
The change prevents the situation when the compiler
generates code that uses unaligned memory access, but
the CPU generates an exception when this code runs.
Change-Id: Id33f2264c631772e5c561e76fb579d8b7bc26e1e
Signed-off-by: Dmitriy Korovkin <dmitriy.korovkin@windriver.com>
Changed names of Kconfig flags, variables, functions, files and
return codes consistent with names used in the RFC. Updated
relevant comments to match the changes.
Origin: Original
Change-Id: Ie7941032d7ad7af61fc02928f74538745e7966e8
Signed-off-by: Ramesh Thomas <ramesh.thomas@intel.com>
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
Use of `ldr` triggers unaligned memory access when loading SVC
instruction to r0. This is caused by the fact that SVC is a 16-bit
instruction, hence with a 2 byte offset, we are performing an non-word
aligned access. Prevent this by using `ldrh` to load a halfwords rather
than full words.
Change-Id: Ieae60c2ce86c6cfe15c89627d3a450797ce7e714
Signed-off-by: Maciej Borzecki <maciek.borzecki@gmail.com>
Make kconfig look the same for all architectures.
JIRA: ZEP-107
Change-Id: Ia8100194ec333fc07a1dff4f6f90364ce8bef4d3
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
The nmi_on_reset.S functions are used by all ARM platforms. It
makes no sense to repeat the same code for all platforms. Moving
the code from each SOC implementation to arch/arm/core.
The same treatment for the NMI_INIT() macro. Moving it from a per
SOC implementation to the include/arch/arm/cortex_m/nmi.h.
Change-Id: I574d8880a44046cc7b9e1b635e80d6e83657b8c1
Signed-off-by: Dan Kalowsky <daniel.kalowsky@intel.com>
The thread monitor allows to iterate over the thread context
structures for each existing thread (fiber/task) in the system.
Thread context structures do not expose thread entry information
directly. Although all the information can be scavenged from memory
stacks. Besides, accessing the information depends on the stack
implementation for each architecture.
By extending the tcs we allow a direct access to the thread
entry point and its parameters, only when thread monitor is
enabled.
It also allows a task to access its kernel task structure
through the first parameter of the thread.
This allows a debugger application to access the information directly
from the thread context structures list.
Change-Id: I0a435942b80eddffdf405016ac4056eb7aa1239c
Signed-off-by: Juan Manuel Cruz <juan.m.cruz.alcaraz@intel.com>
This table was still being added to ROM even if
CONFIG_SW_ISR_TABLE=n.
Change-Id: Ia0de1349960af1c62e88344b3d5b6655b638219b
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
Anas Nashif