Now that other work has eliminated the two cases where we had to do a
reschedule "but yield even if we are cooperative", we can squash both
down to a single _reschedule() function which does almost exactly what
legacy _Swap() did, but wrapped as a proper scheduler API.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
There was a somewhat promiscuous pattern in the kernel where IPC
mechanisms would do something that might effect the current thread
choice, then check _must_switch_threads() (or occasionally
__must_switch_threads -- don't ask, the distinction is being replaced
by real English words), sometimes _is_in_isr() (but not always, even
in contexts where that looks like it would be a mistake), and then
call _Swap() if everything is OK, otherwise releasing the irq_lock().
Sometimes this was done directly, sometimes via the inverted test,
sometimes (poll, heh) by doing the test when the thread state was
modified and then needlessly passing the result up the call stack to
the point of the _Swap().
And some places were just calling _reschedule_threads(), which did all
this already.
Unify all this madness. The old _reschedule_threads() function has
split into two variants: _reschedule_yield() and
_reschedule_noyield(). The latter is the "normal" one that respects
the cooperative priority of the current thread (i.e. it won't switch
out even if there is a higher priority thread ready -- the current
thread has to pend itself first), the former is used in the handful of
places where code was doing a swap unconditionally, just to preserve
precise behavior across the refactor. I'm not at all convinced it
should exist...
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
The xtensa-asm2 work included a patch that added nano_internal.h
includes in lots of places that needed to have _Swap defined, because
it had to break a cycle and this no longer got pulled in from the arch
headers.
Unfortunately those new includes created new and more amusing cycles
elsewhere which led to breakage on other platforms.
Break out the _Swap definition (only) into a separate header and use
that instead. Cleaner. Seems not to have any more hidden gotchas.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
Previously, this was only done if an essential thread self-exited,
and was a runtime check that generated a kernel panic.
Now if any thread has k_thread_abort() called on it, and that thread
is essential to the system operation, this check is made. It is now
an assertion.
_NANO_ERR_INVALID_TASK_EXIT checks and printouts removed since this
is now an assertion.
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
This patch updates the ARM core to use struct k_thread instead of struct
tcs. Struct tcs has been deprecated with Zephyr 1.6.
Change-Id: I1219add0bbcca4b963ffe02cd4519eca355c7719
Signed-off-by: Vincenzo Frascino <vincenzo.frascino@linaro.org>
Replace the existing Apache 2.0 boilerplate header with an SPDX tag
throughout the zephyr code tree. This patch was generated via a
script run over the master branch.
Also updated doc/porting/application.rst that had a dependency on
line numbers in a literal include.
Manually updated subsys/logging/sys_log.c that had a malformed
header in the original file. Also cleanup several cases that already
had a SPDX tag and we either got a duplicate or missed updating.
Jira: ZEP-1457
Change-Id: I6131a1d4ee0e58f5b938300c2d2fc77d2e69572c
Signed-off-by: David B. Kinder <david.b.kinder@intel.com>
Signed-off-by: Kumar Gala <kumar.gala@linaro.org>
There was a lot of duplication between architectures for the definition
of threads and the "nanokernel" guts. These have been consolidated.
Now, a common file kernel/unified/include/kernel_structs.h holds the
common definitions. Architectures provide two files to complement it:
kernel_arch_data.h and kernel_arch_func.h. The first one contains at
least the struct _thread_arch and struct _kernel_arch data structures,
as well as the struct _callee_saved and struct _caller_saved register
layouts. The second file contains anything that needs what is provided
by the common stuff in kernel_structs.h. Those two files are only meant
to be included in kernel_structs.h in very specific locations.
The thread data structure has been separated into three major parts:
common struct _thread_base and struct k_thread, and arch-specific struct
_thread_arch. The first and third ones are included in the second.
The struct s_NANO data structure has been split into two: common struct
_kernel and arch-specific struct _kernel_arch. The latter is included in
the former.
Offsets files have also changed: nano_offsets.h has been renamed
kernel_offsets.h and is still included by the arch-specific offsets.c.
Also, since the thread and kernel data structures are now made of
sub-structures, offsets have to be added to make up the full offset.
Some of these additions have been consolidated in shorter symbols,
available from kernel/unified/include/offsets_short.h, which includes an
arch-specific offsets_arch_short.h. Most of the code include
offsets_short.h now instead of offsets.h.
Change-Id: I084645cb7e6db8db69aeaaf162963fe157045d5a
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
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>
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>
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>
Andy Ross