This header does not expose any public APIs, so move it under
kernel/include and change files including it.
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
Give architectures that need it the ability to perform special checks
while e.g. waiting for a spinlock to become available.
Signed-off-by: Nicolas Pitre <npitre@baylibre.com>
When building sample.minimal.mt-no-preempt-no-timers.arm on arm-clang
we get a link error as z_pm_save_idle_exit expects sys_clock_idle_exit
to be defined.
However the sample sets CONFIG_SYS_CLOCK_EXISTS=n so
sys_clock_idle_exit() will not be defined by any driver. So add proper
ifdef protection in z_pm_save_idle_exit to fix this.
Signed-off-by: Kumar Gala <kumar.gala@intel.com>
Warnings being treated as errors when building :
Error this 'for' clause does not guard...
[-Werror=misleading-indentation]
Signed-off-by: Francois Ramu <francois.ramu@st.com>
The requirement for k_yield() to handle "yielding" in the idle thread
was removed a while back, but it missed a spot where we'd try to yield
in the fallback loop on bringup platforms that lack an IPI. This now
crashes, because yield now unconditionally tries to reschedule the
current thread, which doesn't work for idle threads that don't live in
the run queue.
Just make it a busy loop calling swap(), even simpler.
Fixes#50119
Signed-off-by: Andy Ross <andyross@google.com>
In order to bring consistency in-tree, migrate all kernel code to the
new prefix <zephyr/...>. Note that the conversion has been scripted,
refer to zephyrproject-rtos#45388 for more details.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
Instead of returning PM_STATE_ACTIVE for when the cpu didn't enter a
low power state and a different state when it entered, but has
already left the state and is active again, it changes
pm_system_suspend to return true when the cpu has entered a low power
state and false otherwise.
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
The scheduler has historically had an API where an application can
inform the kernel that it will never create a thread that can be
preempted, and the kernel and architecture layer would use that as an
optimization hint to eliminate some code paths.
Those optimizations have dwindled to almost nothing at this point, and
they're now objectively a smaller impact than the special casing that
was required to handle the idle thread (which, obviously, must always
be preemptible).
Fix this by eliminating the idea of "cooperative only" and ensuring
that there will always be at least one preemptible priority with value
>=0. CONFIG_NUM_PREEMPT_PRIORITIES now specifies the number of
user-accessible priorities other than the idle thread.
The only remaining workaround is that some older architectures (and
also SPARC) use the CONFIG_PREEMPT_ENABLED=n state as a hint to skip
thread switching on interrupt exit. So detect exactly those platforms
and implement a minimal workaround in the idle loop (basically "just
call swap()") instead, with a big explanation.
Note that this also fixes a bug in one of the philosophers samples,
where it would ask for 6 cooperative priorities but then use values -7
through -2. It was assuming the kernel would magically create a
cooperative priority for its idle thread, which wasn't correct even
before.
Fixes#34584
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
Remove the config BOOT_TIME_MEASUREMENT and corresponding #ifdef'd code
throughout (kernel/init.c, idle.c, core/common.S , reset.S, ... ) which
hold the extern hooks for z_timestamp_main and z_timestamp_idle in the
removed boot_time test suite.
Signed-off-by: Jennifer Williams <jennifer.m.williams@intel.com>
The clock/timer APIs are not application facing APIs, however, similar
to arch_ and a few other APIs they are available to implement drivers
and add support for new hardware and are documented and available to be
used outside of the clock/kernel subsystems.
Remove the leading z_ and provide them as clock_* APIs for someone
writing a new timer driver to use.
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
pm_system_resume is always implemented when PM is enabled. There is no
need to have this weak function under an ifdef PM.
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
pm_system_resume_from_deep_sleep is not implemented or used
anywhere. Just remove it and keep the code base cleaner.
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
This function is useless and the state variable that it was
controlling is also not necessary because the same logic is being
handled by the variable post_ops_done.\
This reasonably simplifies idle thread logic.
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
While I'm in the idle code, let's clean this loop up. It was a really
bad #ifdef hell:
* Remove the CONFIG_TICKLESS_IDLE_THRESH logic (and the kconfig),
which never did anything but needlessly increase latency.
* Move the needed timeout logic from the main loop into
pm_save_idle(), which eliminates the special case for
!SYS_CLOCK_EXISTS.
Behavior (modulo that one kconfig) should be completely unchanged, and
now the inner part of the idle loop looks like:
while (true) {
(void) arch_irq_lock();
if (IS_ENABLED(CONFIG_PM)) {
pm_save_idle();
} else {
k_cpu_idle();
}
}
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
The removal of the abort handling also absconded with an IRQ lock that
is required for reliable operation in the idle loop. Put it back.
Once the idle loop has made a decision to enter idle, any interrupt
that arrives needs to be masked and delivered AFTER the system enters
idle. Otherwise we run the risk of races where the system accepts and
processes an interrupt that should have prevented idle, but then goes
to sleep anyway having already made the decision.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
THIS COMMIT DELIBERATELY BREAKS BISECTABILITY FOR EASE OF REVIEW.
SKIP IF YOU LAND HERE.
Remove the existing implementatoin of k_thread_abort(),
k_thread_join(), and the attendant facilities in the thread subsystem
and idle thread that support them.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
Remove conditionals (PM_DEEP_SLEEP_STATES and PM_SLEEP_STATES) from
power management code. Now these features are always available when
power management is enabled.
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
Migrate the whole pm subsystem to use new power states information
from power_state.h and get states and residency properties from
device tree.
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
PM depends on SYS_CLOCK_EXISTS in Kconfig but several boards have
Kconfig overrides that allow the dependency to be ignored, so
CONFIG_PM=y even though CONFIG_SYS_CLOCK_EXISTS=n. Fix the code so
that the true dependency is reflected in the generated code.
Signed-off-by: Peter Bigot <peter.bigot@nordicsemi.no>
Inside the idle loop, in some configuration, IRQ is unlocked and
then immediately locked again. There is a side effect:
1. IRQ is unlocked in middle of the loop.
2. Another thread (A) can now run so idle thread is un-scheduled.
3. Thread A runs to its end and going through the thread
self-abort path.
4. Idle thread is rescheduled again, and continues to run
the remaining loop when it eventuall calls k_cpu_idle().
The "pending abort" path is not being executed on thread A
at this point.
5. Now, thread A is suspended, and the CPU is in idle waiting
for interrupts (e.g. timeouts).
6. Thread B is waiting to join on thread A. Since thread A has
not been terminated yet so thread B is waiting until
the idle thread runs again and starts executing from
the beginning of while loop.
7. Depending on how many threads are running and how active
the platform is, idle thread may not run again for a while,
resulting in thread B appearing to be stuck.
To avoid this situation, the unlock/lock pair in middle of
the loop is removed so no rescheduling can be done mid-loop.
When there is no thread abort pending, it simply locks IRQ
and calls k_cpu_idle(). This is almost identical to the idle
loop before the thread abort code was introduced (except
the check for cpu->pending_abort).
Fixes#30573
Signed-off-by: Daniel Leung <daniel.leung@intel.com>
Cleanup code for power management and remove some duplication and
isolate power management code from the kernel code.
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
- Remove SYS_ prefix
- shorten POWER_MANAGEMENT to just PM
- DEVICE_POWER_MANAGEMENT -> PM_DEVICE
and use PM_ as the prefix for all PM related Kconfigs
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
Most of kernel files where declaring os module without providing
log level. Because of that default log level was used instead of
CONFIG_KERNEL_LOG_LEVEL.
Signed-off-by: Krzysztof Chruscinski <krzysztof.chruscinski@nordicsemi.no>
Fixes races where threads on another CPU are joining the
exiting thread, since it could still be running when
the joiners wake up on a different CPU.
Fixes problems where the thread object is still being
used by the kernel when the fn_abort() function is called,
preventing the thread object from being recycled or
freed back to a slab pool.
Fixes a race where a thread is aborted from one CPU while
it self-aborts on another CPU, that was currently worked
around with a busy-wait.
Precedent for doing this comes from FreeRTOS, which also
performs final thread cleanup in the idle thread.
Some logic in z_thread_single_abort() rearranged such that
when we release sched_spinlock, the thread object pointer
is never dereferenced by the kernel again; join waiters
or fn_abort() logic may free it immediately.
An assertion added to z_thread_single_abort() to ensure
it never gets called with thread == _current outside of an ISR.
Some logic has been added to ensure z_thread_single_abort()
tasks don't run more than once.
Fixes: #26486
Related to: #23063#23062
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
Promote the private z_arch_* namespace, which specifies
the interface between the core kernel and the
architecture code, to a new top-level namespace named
arch_*.
This allows our documentation generation to create
online documentation for this set of interfaces,
and this set of interfaces is worth treating in a
more formal way anyway.
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
This commit refactors kernel and arch headers to establish a boundary
between private and public interface headers.
The refactoring strategy used in this commit is detailed in the issue
This commit introduces the following major changes:
1. Establish a clear boundary between private and public headers by
removing "kernel/include" and "arch/*/include" from the global
include paths. Ideally, only kernel/ and arch/*/ source files should
reference the headers in these directories. If these headers must be
used by a component, these include paths shall be manually added to
the CMakeLists.txt file of the component. This is intended to
discourage applications from including private kernel and arch
headers either knowingly and unknowingly.
- kernel/include/ (PRIVATE)
This directory contains the private headers that provide private
kernel definitions which should not be visible outside the kernel
and arch source code. All public kernel definitions must be added
to an appropriate header located under include/.
- arch/*/include/ (PRIVATE)
This directory contains the private headers that provide private
architecture-specific definitions which should not be visible
outside the arch and kernel source code. All public architecture-
specific definitions must be added to an appropriate header located
under include/arch/*/.
- include/ AND include/sys/ (PUBLIC)
This directory contains the public headers that provide public
kernel definitions which can be referenced by both kernel and
application code.
- include/arch/*/ (PUBLIC)
This directory contains the public headers that provide public
architecture-specific definitions which can be referenced by both
kernel and application code.
2. Split arch_interface.h into "kernel-to-arch interface" and "public
arch interface" divisions.
- kernel/include/kernel_arch_interface.h
* provides private "kernel-to-arch interface" definition.
* includes arch/*/include/kernel_arch_func.h to ensure that the
interface function implementations are always available.
* includes sys/arch_interface.h so that public arch interface
definitions are automatically included when including this file.
- arch/*/include/kernel_arch_func.h
* provides architecture-specific "kernel-to-arch interface"
implementation.
* only the functions that will be used in kernel and arch source
files are defined here.
- include/sys/arch_interface.h
* provides "public arch interface" definition.
* includes include/arch/arch_inlines.h to ensure that the
architecture-specific public inline interface function
implementations are always available.
- include/arch/arch_inlines.h
* includes architecture-specific arch_inlines.h in
include/arch/*/arch_inline.h.
- include/arch/*/arch_inline.h
* provides architecture-specific "public arch interface" inline
function implementation.
* supersedes include/sys/arch_inline.h.
3. Refactor kernel and the existing architecture implementations.
- Remove circular dependency of kernel and arch headers. The
following general rules should be observed:
* Never include any private headers from public headers
* Never include kernel_internal.h in kernel_arch_data.h
* Always include kernel_arch_data.h from kernel_arch_func.h
* Never include kernel.h from kernel_struct.h either directly or
indirectly. Only add the kernel structures that must be referenced
from public arch headers in this file.
- Relocate syscall_handler.h to include/ so it can be used in the
public code. This is necessary because many user-mode public codes
reference the functions defined in this header.
- Relocate kernel_arch_thread.h to include/arch/*/thread.h. This is
necessary to provide architecture-specific thread definition for
'struct k_thread' in kernel.h.
- Remove any private header dependencies from public headers using
the following methods:
* If dependency is not required, simply omit
* If dependency is required,
- Relocate a portion of the required dependencies from the
private header to an appropriate public header OR
- Relocate the required private header to make it public.
This commit supersedes #20047, addresses #19666, and fixes#3056.
Signed-off-by: Stephanos Ioannidis <root@stephanos.io>
These are renamed to z_timestamp_main and z_timestamp_idle,
and now specified in kernel_internal.h.
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
An #endif and the brace terminating a compound statement were
transposed, causing compilation errors with the above-specified
combination of configuration options.
Signed-off-by: Charles E. Youse <charles.youse@intel.com>
Corrected the define of SMP_FALLBACK to prevent llvm warning.
llvm issues a warning as the behaviour of using defined(x) inside a
macro expansion is undefined (https://reviews.llvm.org/D15866).
Signed-off-by: Jan Van Winkel <jan.van_winkel@dxplore.eu>
Now that we have a working IPI framework, there's no reason for the
default spin loop for the SMP idle thread. Just use the default
platform idle and send an IPI when a new thread is readied.
Long term, this can be optimized if necessary (e.g. only send the IPI
to idling CPUs, or check priorities, etc...), but for a 2-cpu system
this is a very reasonable default.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
The boot time measurement sample was giving bogus values on x86: an
assumption was made that the system timer is in sync with the CPU TSC,
which is not the case on most x86 boards.
Boot time measurements are no longer permitted unless the timer source
is the local APIC. To avoid issues of TSC scaling, the startup datum
has been forced to 0, which is in line with the ARM implementation
(which is the only other platform which supports this feature).
Cleanups along the way:
As the datum is now assumed zero, some variables are removed and
calculations simplified. The global variables involved in boot time
measurements are moved to the kernel.h header rather than being
redeclared in every place they are referenced. Since none of the
measurements actually use 64-bit precision, the samples are reduced
to 32-bit quantities.
In addition, this feature has been enabled in long mode.
Fixes: #19144
Signed-off-by: Charles E. Youse <charles.youse@intel.com>
move power.h to power/power.h and
create a shim for backward-compatibility.
No functional changes to the headers.
A warning in the shim can be controlled with CONFIG_COMPAT_INCLUDES.
Related to #16539
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
Move internal and architecture specific headers from include/drivers to
subfolder for timer:
include/drivers/timer
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
This commit cleans up names of system power management functions by
assuring that:
- all functions start with 'sys_pm_' prefix
- API functions which should not be exposed to the user start with '_'
- name of the function hints at its purpose
Signed-off-by: Piotr Mienkowski <piotr.mienkowski@gmail.com>
There exists SoCs, e.g. STM32L4, where one of the low power modes
reduces CPU frequency and supply voltage but does not stop the CPU. Such
power modes are currently not supported by Zephyr.
To facilitate adding support for such class of power modes in the future
and to ensure the naming convention makes it clear that the currently
supported power modes stop the CPU this commit renames Low Power States
to Slep States and updates the documentation.
Signed-off-by: Piotr Mienkowski <piotr.mienkowski@gmail.com>
Update reserved function names starting with one underscore, replacing
them as follows:
'_k_' with 'z_'
'_K_' with 'Z_'
'_handler_' with 'z_handl_'
'_Cstart' with 'z_cstart'
'_Swap' with 'z_swap'
This renaming is done on both global and those static function names
in kernel/include and include/. Other static function names in kernel/
are renamed by removing the leading underscore. Other function names
not starting with any prefix listed above are renamed starting with
a 'z_' or 'Z_' prefix.
Function names starting with two or three leading underscores are not
automatcally renamed since these names will collide with the variants
with two or three leading underscores.
Various generator scripts have also been updated as well as perf,
linker and usb files. These are
drivers/serial/uart_handlers.c
include/linker/kobject-text.ld
kernel/include/syscall_handler.h
scripts/gen_kobject_list.py
scripts/gen_syscall_header.py
Signed-off-by: Patrik Flykt <patrik.flykt@intel.com>
This commit changes the names of SYS_POWER_DEEP_SLEEP* Kconfig
options in order to match SYS_POWER_LOW_POWER_STATE* naming
scheme.
Signed-off-by: Piotr Zięcik <piotr.ziecik@nordicsemi.no>
The SYS_POWER_LOW_POWER_STATE_SUPPORTED and SYS_POWER_LOW_POWER_STATE
suggests one low power state but these options control multiple
low power state. This commit uses plural in the names to indicate
that.
Signed-off-by: Piotr Zięcik <piotr.ziecik@nordicsemi.no>
The power management framework used two different abstractions
to describe power states. The SYS_PM_* given coarse information
what kind of power state (low power or deep sleep) was used,
while the SYS_POWER_STATE_* abstraction provided information
about particular power mode.
This commit removes the SYS_PM_* abstraction as the same
information is already carried in SYS_POWER_STATE_*.
Signed-off-by: Piotr Zięcik <piotr.ziecik@nordicsemi.no>
Anas Nashif