The numbers of timeouts that expire on a given tick is arbitrary. When
handling them, interrupts were locked, which prevented higher-priority
interrupts from preempting the system clock timer handler.
Instead of looping on the list of timeouts, which needs interrupts being
locked since it can be manipulated at interrupt level, timeouts are
dequeued one by one, unlocking interrupts between each, and put on a
local 'expired' queue that is drained subsequently, with interrupts
unlocked. This scheme uses the fact that no timeout can be prepended
onto the timeout queue while expired timeouts are getting removed from
it, since adding a timeout of 0 is prohibited.
Timer handlers now run with interrupts unlocked: the previous behaviour
added potentially horrible non-determinism to the handling of timeouts.
Change-Id: I709085134029ea2ad73e167dc915b956114e14c2
Signed-off-by: Benjamin Walsh <walsh.benj@gmail.com>
These tick computation can take a significant amount of time, and there
is no reason to do them with interrupts locked.
Change-Id: I2d8803ec6025b827e9450fa493084bbf8be98bad
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
Use _INACTIVE instead of hardcoding -1.
_EXPIRED is defined as -2 and will be used for an improvement so that
interrupts are not locked for a non-deterministic amount of time while
handling expired timeouts.
_abort_timeout/_abort_thread_timeout return _INACTIVE instead of -1 if
the timeout has already been disabled.
Change-Id: If99226ff316a62c27b2a2e4e874388c3c44a8aeb
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
Factor out the code for evaluating the remaining time for _timeout
structs so that it can also be used for other objects besides k_timer
structs (like k_delayed_work, coming in a subsequent patch).
Change-Id: I243a7b29fb2831f06e95086a31f0d3a6c37dad67
Signed-off-by: Johan Hedberg <johan.hedberg@intel.com>
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>
PRIMARY, SECONDARY, NANOKERNEL, MICROKERNEL init levels are now
deprecated.
New init levels introduced: PRE_KERNEL_1, PRE_KERNEL_2, POST_KERNEL
to replace them.
Most existing code has instances of PRIMARY replaced with PRE_KERNEL_1,
SECONDARY with POST_KERNEL as SECONDARY has had a longstanding bug
where the documentation specified SECONDARY ran before the kernel started
up, but actually ran afterwards.
Change-Id: I771bc634e9caf7f17dbf214a270bc9967eed7d32
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
It is now possible to specify the expiry and stop functions
of a statically-defined timer, just as can be done for a
dynamically-defined timer.
[Part of fix to ZEP-1186]
Change-Id: Ibb9096f3fdafdc6c904184587f86ecd52accdd66
Signed-off-by: Allan Stephens <allan.stephens@windriver.com>
Defines an object tracing list for each kernel object type
that supports object tracing, and ensures that both statically
and dynamically defined objects are added to the appropriate list.
Ensure that each static kernel object is grouped together with
the other static objects of the same type. Revise the initialization
function for each kernel type (or create it, if needed) so that
each static object is added to the object tracing list for its
associated type.
Note 1: Threads are handled a bit differently than other kernel
object types. A statically-defined thread is added to the thread
list when the thread is started, not when the kernel initializes.
Also, a thread is removed from the thread list when the thread
terminates or aborts, unlike other types of kernel objects which
are never removed from an object tracing list. (Such support would
require the creation of APIs to "uninitialize" the kernel object.)
Note 2: The list head variables for all kernel object types
are now explicitly defined. However, the list head variable for
the ring buffer type continues to be implicitly defined for the
time being, since it isn't considered to be an core kernel object
type.
Change-Id: Ie24d41023e05b3598dc6b344e6871a9692bba02d
Signed-off-by: Allan Stephens <allan.stephens@windriver.com>
Ensures that all APIs which accept a timeout value wait for at least
the specified amount of time, and do not time out prematurely.
* The kernel now waits for the next system clock tick to occur before
the timeout interval is considered to have started. (That is, the only
way to ensure a delay of N tick intervals is to wait for N+1 ticks
to occur.)
* Gets rid of ticks -> milliseconds -> ticks conversion in task_sleep()
and fiber_sleep() legacy APIs, since this introduces rounding that
-- coupled with the previous change -- can alter the number of ticks
being requested during the sleep operation.
* Corrects work queue API that was incorrectly shown to use a delay
measured in ticks, rather than milliseconds.
Change-Id: I8b04467237b24fb0364c8f344d872457418c18da
Signed-off-by: Allan Stephens <allan.stephens@windriver.com>
Provides users with a more compact and intuitive API for kernel
timers.
Provides legacy support for microkernel timers and nanokernel
timers by building on the new kernel timer infrastructure.
Each timer type requires only a small amount of additional
wrapper code, as well as the addition of a single pointer
field to the underlying timer structure, all of which will be
easily removed when support for the legacy APIs is discontinued.
Change-Id: I282dfaf1ed08681703baabf21e4dbc3516ee7463
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>
Gets rid of official support for dynamic timer allocation
in the unified kernel, since users can easily define and
initialize timers at any time. Legacy support for dynamic
timers is maintained for backwards compatibility reasons
for the time being ...
Change-Id: I12b3e25914fe11e3886065bee4e96fb96f59b299
Signed-off-by: Allan Stephens <allan.stephens@windriver.com>
Rename remaining functions to fit with kernel naming convention for
internal interfaces. Use struct k_thread instead of struct tcs.
Change-Id: I28cd7f6f4d7ddaeb825c8d2999242d8d2dd93f31
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
Rename _do_timeout_add to _add_timeout, rename _TIMEOUT_ADD to
_add_thread_timeout to better reflect their functionalities. Have the
latter call the former, remove _do_timeout_add and
_nano_timer_timeout_add.
Change-Id: Ica86bea10d99d72bf78379598a942d277e7002d0
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
Rename _do_timeout_abort to _abort_timeout, rename _timeout_abort to
_abort_thread_timeout to better reflect their functionalities. Have the
latter call the former, remove _do_timeout_abort and
_nano_timer_timeout_abort.
Change-Id: I0fea9474b19a2eb47a37489eb06c0d1d56886c9c
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
Summary of what this includes:
initialization:
Copy from nano_init.c, with the following changes:
- the main thread is the continuation of the init thread, but an idle
thread is created as well
- _main() initializes threads in groups and starts the EXE group
- the ready queues are initialized
- the main thread is marked as non-essential once the system init is
done
- a weak main() symbol is provided if the application does not provide a
main() function
scheduler:
Not an exhaustive list, but basically provide primitives for:
- adding/removing a thread to/from a wait queue
- adding/removing a thread to/from the ready queue
- marking thread as ready
- locking/unlocking the scheduler
- instead of locking interrupts
- getting/setting thread priority
- checking what state (coop/preempt) a thread is currenlty running in
- rescheduling threads
- finding what thread is the next to run
- yielding/sleeping/aborting sleep
- finding the current thread
threads:
- Add operationns on threads, such as creating and starting them.
standardized handling of kernel object return codes:
- Kernel objects now cause _Swap() to return the following values:
0 => operation successful
-EAGAIN => operation timed out
-Exxxxx => operation failed for another reason
- The thread's swap_data field can be used to return any additional
information required to complete the operation, such as the actual
result of a successful operation.
timeouts:
- same as nano timeouts, renamed to simply 'timeouts'
- the kernel is still tick-based, but objects take timeout values in
ms for forward compatibility with a tickless kernel.
semaphores:
- Port of the nanokernel semaphores, which have the same basic behaviour
as the microkernel ones. Semaphore groups are not yet implemented.
- These semaphores are enhanced in that they accept an initial count and a
count limit. This allows configuring them as binary semaphores, and also
provisioning them without having to "give" the semaphore multiple times
before using them.
mutexes:
- Straight port of the microkernel mutexes. An init function is added to
allow defining them at runtime.
pipes:
- straight port
timers:
- amalgamation of nano and micro timers, with all functionalities
intact.
events:
- re-implementation, using semaphores and workqueues.
mailboxes:
- straight port
message queues:
- straight port of microkernel FIFOs
memory maps:
- straight port
workqueues:
- Basically, have all APIs follow the k_ naming rule, and use the _timeout
subsystem from the unified kernel directory, and not the _nano_timeout
one.
stacks:
- Port of the nanokernel stacks. They can now have multiple threads
pending on them and threads can wait with a timeout.
LIFOs:
- Straight port of the nanokernel LIFOs.
FIFOs:
- Straight port of the nanokernel FIFOs.
Work by: Dmitriy Korovkin <dmitriy.korovkin@windriver.com>
Peter Mitsis <peter.mitsis@windriver.com>
Allan Stephens <allan.stephens@windriver.com>
Benjamin Walsh <benjamin.walsh@windriver.com>
Change-Id: Id3cadb3694484ab2ca467889cfb029be3cd3a7d6
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
Benjamin Walsh