Commit Graph

147 Commits

Author SHA1 Message Date
Chuck Jordan ae15a26751 arc: add _tsc_read for 64-bit timestamp
This implementation of _tsc_read returns a 64-bit value that
is derived from the 64-bit tick count multiplied by hwcycles per tick,
and then it adds the current value from the 32-bit timer.
This produces a 64-bit time. There is a bunch of math here, which
could be avoided if the CPU is built with Real-Time-Clock option.
EM Starter Kit SOCs don't have this. I don't think Arduino 101 does
either.

See ZEP-1559

Change-Id: I9f846d170246556ac40fe2f45809e457c6375d8c
Signed-off-by: Chuck Jordan <cjordan@synopsys.com>
2017-02-15 05:55:09 +00:00
Andrew Boie 35fcb2736c arc: enable gen_isr_tables mechanism
Change-Id: I5897e110f554377796bfe38dd5c0f8652c29e5be
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-02-15 04:54:47 +00:00
Benjamin Walsh ee659ae1a1 build: add _ASMLANGUAGE to all asm files
This avoids asm files from having to explicitly define the _ASMLANGUAGE
symbol themselves.

Change-Id: I71f5a169f75d7443a58a0365a41c55b20dae3029
Signed-off-by: Benjamin Walsh <walsh.benj@gmail.com>
2017-01-24 13:34:51 +00:00
Benjamin Walsh a8978aba8f kernel: rename thread states symbols
They are not part of the API, so rename from K_<state> to
_THREAD_<state>.

Change-Id: Iaebb7d3083b80b9769bee5616e0f96ed2abc5c56
Signed-off-by: Benjamin Walsh <walsh.benj@gmail.com>
2017-01-24 13:34:49 +00:00
David B. Kinder ac74d8b652 license: Replace Apache boilerplate with SPDX tag
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>
2017-01-19 03:50:58 +00:00
Benjamin Walsh 3c39e55ab1 arc: fix unaligned variables resulting in unaligned k_cpu_sleep_mode
Force-align all variables defined via asm .word to ensure 4-byte
alignment.

The straddled_tick_on_idle_enter variable was a bool, which resolved in
an one-byte quantity. Changing it to a 32-bit integer. It would have
occupied 4 bytes anyway with alignment.

Fixes ZEP-1549.

Change-Id: If5e0aa1a75dbc73d896b44616f059d221fe191c6
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2017-01-13 01:36:08 +00:00
Chuck Jordan ce368f72a4 arc: i-cache init moved much earlier
I've moved the call for icache_setup from nanoArchInit() to
_PrepC(), because there is a lot of code executed now before
nanoArchInit() is called, and all this time the i-cache would
be off.  It should be turned on as early as possible to make
initialization faster.

Change-Id: I76a809d57a1bf9aacf51e7bb9fe8c8425f37aa13
Signed-off-by: Chuck Jordan <cjordan@synopsys.com>
2017-01-11 15:22:04 +00:00
Benjamin Walsh 168695c7ef kernel/arch: inspect prio/sched_locked together for preemptibility
These two fields in the thread structure control the preemptibility of a
thread.

sched_locked is decremented when the scheduler gets locked, which means
that the scheduler is locked for values 0xff to 0x01, since it can be
locked recursively. A thread is coop if its priority is negative, thus
if the prio field value is 0x80 to 0xff when looked at as an unsigned
value.

By putting them end-to-end, this means that a thread is non-preemptible
if the bundled value is greater than or equal to 0x0080. This is the
only thing the interrupt exit code has to check to decide to try a
reschedule or not.

Change-Id: I902d36c14859d0d7a951a6aa1bea164613821aca
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2017-01-09 20:52:25 +00:00
Benjamin Walsh f955476559 kernel/arch: optimize memory use of some thread fields
Some thread fields were 32-bit wide, when they are not even close to
using that full range of values. They are instead changed to 8-bit fields.

- prio can fit in one byte, limiting the priorities range to -128 to 127

- recursive scheduler locking can be limited to 255; a rollover results
  most probably from a logic error

- flags are split into execution flags and thread states; 8 bits is
  enough for each of them currently, with at worst two states and four
  flags to spare (on x86, on other archs, there are six flags to spare)

Doing this saves 8 bytes per stack. It also sets up an incoming
enhancement when checking if the current thread is preemptible on
interrupt exit.

Change-Id: Ieb5321a5b99f99173b0605dd4a193c3bc7ddabf4
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2017-01-09 20:52:24 +00:00
Benjamin Walsh e6a69cae54 kernel/arch: reverse polarity on sched_locked
This will allow for an enhancement when checking if the thread is
preemptible when exiting an interrupt.

Change-Id: If93ccd1916eacb5e02a4d15b259fb74f9800d6f4
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2017-01-06 17:32:24 +00:00
Anas Nashif c1347b4730 kernel: replace all remaining nanokernel occurances
replace include <nanokernel.h> with <kernel.h> everywhere and also fix
any remaining mentions of nanokernel.

Keep the legacy samples/tests as is.

Change-Id: Iac48447bd191e83f21a719c69dc26233216d08dc
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2016-12-25 14:34:43 -05:00
Benjamin Walsh bfa5653e9a arch: remove instances of fiberRtnValueSet()
Obsolete, replaced by _set_thread_return_value().

Change-Id: I23e9cfc07e43542f0965817edc3552d456fd2ef3
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-12-21 19:50:08 +00:00
Flavio Santes d8083e92ab arch/arc, usb, ztest: Add the ARG_UNUSED macro
Add the ARG_UNUSED macro to avoid compiler warnings.

Change-Id: Ie07f52e742bdb93fb35301bd50cce3865f229623
Signed-off-by: Flavio Santes <flavio.santes@intel.com>
2016-12-21 12:54:54 +00:00
Anas Nashif d687a95611 kernel: move kernel code to kernel/ directly
Also remove mentions of unified kernel in various places in the kernel,
samples and documentation.

Change-Id: Ice43bc73badbe7e14bae40fd6f2a302f6528a77d
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2016-12-19 14:59:35 -05:00
Anas Nashif cb888e6805 kernel: remove nano/micro wording and usage
Also remove some old cflags referencing directories that do not exist
anymore.
Also replace references to legacy APIs in doxygen documentation of
various functions.

Change-Id: I8fce3d1fe0f4defc44e6eb0ae09a4863e33a39db
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2016-12-19 19:58:03 +00:00
Benjamin Walsh 48db0b3443 arch/all: simpler _SysFatalErrorHandler()
- does not pull in printk(), for potential footprint gain
- does not pull in k_thread_abort(), for single-threaded systems

Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
Change-Id: Ibc6a198b81a6cd73117d1e85aa05b92a4501a34d
2016-12-15 16:17:39 -05:00
Benjamin Walsh 8e4a534ea1 kernel: enable and optimize coop-only configurations
Some kernel operations, like scheduler locking can be optmized out,
since coop threads lock the scheduler by their very nature. Also, the
interrupt exit path for all architecture does not have to do any
rescheduling, again by the nature of non-preemptible threads.

Change-Id: I270e926df3ce46e11d77270330f2f4b463971763
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-12-15 16:17:38 -05:00
Benjamin Walsh c3a2bbba16 kernel: add k_cpu_idle/k_cpu_atomic_idle()
nano_cpu_idle/nano_cpu_atomic_idle were not ported to the unified
kernel, and only the old APIs were available. There was no real impact
since, in the unified kernel, only the idle thread should really be
doing power management. However, with a single-threaded kernel, these
functions can be useful again.

The kernel internals now make use of these APIs instead of the legacy
ones.

Change-Id: Ie8a6396ba378d3ddda27b8dd32fa4711bf53eb36
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-12-15 16:17:38 -05:00
Benjamin Walsh 88b3691415 kernel/arch: enhance the "ready thread" cache
The way the ready thread cache was implemented caused it to not always
be "hot", i.e. there could be some misses, which happened when the
cached thread was taken out of the ready queue. When that happened, it
was not replaced immediately, since doing so could mean that the
replacement might not run because the flow could be interrupted and
another thread could take its place. This was the more conservative
approach that insured that moving a thread to the cache would never be
wasted.

However, this caused two problems:

1. The cache could not be refilled until another thread context-switched
in, since there was no thread in the cache to compare priorities
against.

2. Interrupt exit code would always have to call into C to find what
thread to run when the current thread was not coop and did not have the
scheduler locked. Furthermore, it was possible for this code path to
encounter a cold cache and then it had to find out what thread to run
the long way.

To fix this, filling the cache is now more aggressive, i.e. the next
thread to put in the cache is found even in the case the current cached
thread is context-switched out. This ensures the interrupt exit code is
much faster on the slow path. In addition, since finding the next thread
to run is now always "get it from the cache", which is a simple fetch
from memory (_kernel.ready_q.cache), there is no need to call the more
complex C code.

On the ARM FRDM K64F board, this improvement is seen:

Before:

1- Measure time to switch from ISR back to interrupted task

   switching time is 215 tcs = 1791 nsec

2- Measure time from ISR to executing a different task (rescheduled)

   switch time is 315 tcs = 2625 nsec

After:

1- Measure time to switch from ISR back to interrupted task

   switching time is 130 tcs = 1083 nsec

2- Measure time from ISR to executing a different task (rescheduled)

   switch time is 225 tcs = 1875 nsec

These are the most dramatic improvements, but most of the numbers
generated by the latency_measure test are improved.

Fixes ZEP-1401.

Change-Id: I2eaac147048b1ec71a93bd0a285e743a39533973
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-12-15 15:50:02 -05:00
Julien Delayen 176d184fb8 power: Add ARC core suspend and resume support
When going into DEEP_SLEEP mode, the ARC core now saves
its context. This includes:
- All core registers
- Stack pointer
- Program counter (restored by jumping to the restore code)

The arc reset code now checks if the GPS0 bit 2 is set.
This is similar to the behavior of the x86 core done by
the QMSI bootloader which is setting GPS0 bit 1 in order
to call the restore path instead of cold boot path.

The sample has been adapted in order to support the ARC.

Jira: ZEP-1222

Change-Id: I375f03b16b8a5fd1f07ead55cf7e4947d6290c9f
Signed-off-by: Julien Delayen <julien.delayen@intel.com>
2016-12-15 12:49:33 +00:00
Julien Delayen cd8504cc9c arcv2_irq: Add power management suspend/resume
In order to resume the ARC from deep sleep,
the interrupts need to be restored.

The FIRQ stack needs to be saved and restored
when performing sleep operations.

During early initialization, the sp in the 2nd register bank
is made to refer to _firq_stack.
This allows for the FIRQ handler to use its own stack.
Fast Interrupts cannot be used after sleep if this information
is not restored.

This patch adds the suspend and resume functions.

Jira: ZEP-1223

Change-Id: Ic81980f05aee6c1f7b8c46c743f2648c65b29486
Signed-off-by: Julien Delayen <julien.delayen@intel.com>
2016-12-15 12:49:31 +00:00
Chuck Jordan cd198764ba arc: branch too far when STACK_CHECKING enabled.
A build error was resulting if CONFIG_ARC_STACK_CHECKING is enabled.
There is a breq that was too far. Adding conditional code to
re-arrange the branching so that it can be done.

See ZEP-1116.

Change-Id: Idea85817b2e05617bbaa4450437aa74c5737e213
Signed-off-by: Chuck Jordan <cjordan@synopsys.com>
2016-12-02 22:57:14 +00:00
Benjamin Walsh 4e8a54c1e3 arc: move disabling/invalidation of caches earlier
Too much code might run with a stale icache, before _PrepC(), so move
the invalidation/disabling code earlier. The asm code does the exact
same thing disable_icache() and invalidate_dcache() were doing.

Change-Id: If52f4e4a1de546fb82873c91ead95614a44b106d
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-11-30 23:47:46 +00:00
Benjamin Walsh 6741561ae4 arc: fix missing _firq_stack symbol when INIT_STACKS=y and NUM_BANKS=1
There is no FIRQ stack in the system in this case, so do not initialize
it.

Change-Id: I8bc068ce43ac8a39909994d8cc01ba0c6a17f4ae
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-11-26 14:04:19 +00:00
Benjamin Walsh 069fd3624e kernel: streamline initialization of _thread_base and timeouts
Move _thread_base initialization to _init_thread_base(), remove mention
of "nano" in timeouts init and move timeout init to _init_thread_base().
Initialize all base fields via the _init_thread_base in semaphore groups
code.

Change-Id: I05b70b06261f4776bda6d67f358190428d4a954a
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-11-23 00:27:42 +00:00
Benjamin Walsh 50eb51a745 arc: support interrupt/FIRQ stacks with CONFIG_INIT_STACKS
Use the main stack during very early boot so that we can call memset on
the interrupt and FIRQ stacks. Iniitalize the them before one of them is
used for the rest of the pre-kernel initialization.

Change-Id: Ib57856a66273dda9382e08fa91da5a54847b77c2
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-11-23 00:24:01 +00:00
Benjamin Walsh 83e6df26f9 arc: use one of the interrupt stacks during early init
Same issue as with ARM. ARC can use _Swap() though, because the call to
it is serial, not generating a low-priority exception and interrupts are
locked until the main() thread is context-switched into and the
interrupt stack is released.

Fixes ZEP-1310.

Change-Id: Ie1f27f7ad0502191ca2867b5400d6e0bfb7f0fc6
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-11-23 00:23:59 +00:00
Benjamin Walsh 8fcc7f69da kernel/arch: remove unused uk_task_ptr parameter from _new_thread()
Artifact from microkernel, for handling multiple pending tasks on
nanokernel objects.

Change-Id: I3c2959ea2b87f568736384e6534ce8e275f1098f
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-11-23 00:23:57 +00:00
Benjamin Walsh 669360d5ec kernel: fix thread prio and stack size types in some APIs
Prio should be an int, since values are small integers, not a fixed-size
int32_t. It aligns with the prio parameters of the other APIs.

Stack size should be size_t.

Change-Id: Id29751b86c4ad7a7c2a7ffe446c2a96ae83c77bf
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-11-18 23:08:46 +00:00
Inaky Perez-Gonzalez 11bd718733 fatal error handlers: report which thread croaked
When a thread dies, at least print the pointer to it, so we can debug
better.

Change-Id: Ief6bbc0c221e2d5271c240a4b73df16413aa5e22
Signed-off-by: Inaky Perez-Gonzalez <inaky.perez-gonzalez@intel.com>
2016-11-17 14:36:50 +00:00
Benjamin Walsh f6ca7de09c kernel/arch: consolidate tTCS and TNANO definitions
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>
2016-11-12 07:04:52 -05:00
Chuck Jordan 73c5b2861e arc: trap handler should always check IRQ_ACT
Regardless of the number of interrupt priorities
supported, the exit of the trap handler can check
AUX_IRQ_ACT to see if it interrupted a FIRQ or IRQ.

Change-Id: I0b84d8298d3e6e437c934c01db4535fa8fe29458
Signed-off-by: Chuck Jordan <cjordan@synopsys.com>
2016-11-11 21:37:18 +00:00
Andrew Boie 56f561e15e arches: use new kernel APIs
Change-Id: I4b6f5264d5295ebf4278991a1f4e2141bef6602f
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2016-11-09 20:49:40 +00:00
Andrew Boie 0b474eef9c kernel: deprecate old init levels
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>
2016-11-09 17:59:44 +00:00
Benjamin Walsh 3cc2ba9f9c kernel: add __ASSERT() for thread priorities
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>
2016-11-08 20:27:31 -05:00
Benjamin Walsh 5986ec040b arc: fix race condition when returning from interrupt
A race condition would happend if a FIRQ interrupted a
return-from-interrupt from a RIRQ at the wrong moment: if a decision was
already taken which thread to context switch in and the FIRQ woke up
another thread of higher priority, the ready queue would be corrupted.

The solution is to lock interrupts at the moment the interrupt return
code starts looking at the kernel queues. Interrupts do not need to be
unlocked before exiting: the return-from-interrupt (rtie) instruction
will restore the correct interrupt locking state for the thread being
context switched in.

Change-Id: I777665c2faeca7b1f2a77ddd9ee2a520080bae88
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-11-08 22:50:14 +00:00
Andrew Boie 9b0ec51098 arc: remove CONFIG_NANOKERNEL code
Change-Id: I1978c067d422aebb52d736ac747443a06bd437c3
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2016-11-08 22:02:46 +00:00
Chuck Jordan 381cb25f63 arc: cache.h support added for em7d and em11d SOC
An implementation to flush multiple d-cache lines has been added
per the top-level cache.h API. ZEP-1153 was opened to express
the need for MORE i-cache and d-cache APIs. For example, the current
cache.h API doesn't provide a means to invalidate d-cache lines
and has nothing for i-cache.

I've also modified some of the i-cache related aux registers to have
better names so that they won't be confused with d-cache.
These changes are for
ZEP-1176.

Change-Id: If4c5410451cc40dcd5618fc871093c8febf7e061
Signed-off-by: Chuck Jordan <cjordan@synopsys.com>
2016-11-07 18:53:49 +00:00
Andrew Boie 8871cf0994 arc: remove support for legacy kernels
Change-Id: Id3d8285dc39428752758ee47fb1b826f05b1f3e0
Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2016-11-04 11:45:14 -07:00
Allan Stephens a3f3de3741 unified: Rename ESSENTIAL to K_ESSENTIAL
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>
2016-11-04 00:47:08 +00:00
Chuck Jordan 8b1958a36a arc: Don't need CONFIG_NUM_REGULAR_IRQ_PRIO_LEVELS
We can derive NUM_REGULAR_IRQ_PRIO_LEVELS by subtracting 1
from CONFIG_IRQ_PRIO_LEVELS if FIRQ is present (which is currently
always the case). If FIRQ is not present, the value will be equal
to CONFIG_IRQ_PRIO_LEVELS since all interrupts will be regular.

Change-Id: Ibefc939e3771bf0adf712127db0d36cb49bf732b
Signed-off-by: Chuck Jordan <cjordan@synopsys.com>
2016-10-31 23:56:56 +00:00
Dmitriy Korovkin 3c7dda3897 unified/arc: Fix scheduler algorithm bug
Fix the error in thread rescheduling:

Fix Fast IRQ exit routine error when it reschedules threads if
(prio >= 0) || (sched_locked == 0) || (next_thread == _current),
while the correct condition for thread rescheduling is:
(prio >= 0) && (sched_locked == 0) && (next_thread != _current),

Fix regular IRQ error when the regular IRQ exit routine rescheduled
threads when (next_thread == _current) instead of
(next_thread != current).

Increased IDLE_STACK_SIZE for ARC architecture, to hold saved
registers.

Change-Id: I1d87a968e231e13822844b7564567e6ca310cde2
Signed-off-by: Dmitriy Korovkin <dmitriy.korovkin@windriver.com>
2016-10-28 17:46:54 +00:00
Allan Stephens 743bdb8143 unified: Enable handling of thread options for static threads
Change-Id: I51d2d9cfa0eeb5f974a6cf1db32406399ef57418
Signed-off-by: Allan Stephens <allan.stephens@windriver.com>
2016-10-27 08:36:14 -05:00
Allan Stephens 2220f25f0a kernel: Standardize thread monitoring initialization
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>
2016-10-26 17:03:12 +00:00
Dmitriy Korovkin dc76dbf2ef unified: Add tickless idle support for ARC
Change-Id: I89684e7bee379be0a18f64e4f2c39ae132fe7e6d
Signed-off-by: Dmitriy Korovkin <dmitriy.korovkin@windriver.com>
2016-10-22 01:27:01 +00:00
Dmitriy Korovkin 909bfffda9 unified/arc: add unified kernel support for ARC arch
- the interrupt (both regular and fast) now does not do rescheduling
  if the current thread is a coop thread or if the scheduler is not locked

- 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: scheduling routines
  call _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: Ib9690173cbc36c36a9ec67e65590b40d758673de
Signed-off-by: Dmitriy Korovkin <dmitriy.korovkin@windriver.com>
2016-10-22 01:27:00 +00:00
Dmitriy Korovkin 05d4b23f22 arc: Fix RGF_NUM_BANKS==1 and NUM_IRQ_PRIO_LEVELS>1 problem
Define _firq_scratch_restore, needed when CONFIG_RGF_NUM_BANKS==1
outside of CONFIG_NUM_IRQ_PRIO_LEVELS > 1 clause.

Change-Id: I82eef11a005a35f38a064ce3ce1d6521d6428958
Signed-off-by: Dmitriy Korovkin <dmitriy.korovkin@windriver.com>
2016-10-22 01:27:00 +00:00
Chuck Jordan ff303948d5 arc: Support FIRQ handling when CONFIG_RGF_NUM_BANKS==1
For the EM Starterkit, one SOC I will soon be adding is EM7D.
This SOC has FIRQ, but only has one register bank.
Thus the interrupt handling for FIRQ needs to be different
when CONFIG_RGF_NUM_BANKS==1. The handler must instead push
registers onto the stack in the same stack frame layout that RIRQ uses.
This allows for context switch to be easily done since its compatible.
The common interrupt entry point _isr_enter must save r0 before using
it, because in the FIRQ 1-bank case, it would be destroyed otherwise.
So a global variable named saved_r0 has been added for this reason.
The stack cannot be used to save r0, because it first has to determine
whether its FIRQ or RIRQ here. This change has been tested on the
EM Starterkit with EM7D SOC changes -- coming soon. To make the review
easier, these 3 files are submitted first.

Also, exceptions will no longer use the _firq_stack.
This stack is not needed in the 1-bank case, but an exception stack
is needed. I've added a new stack called _exception_stack,
and made it be 512B, which should be enough for one exception.
See ZEP-966

Change-Id: I6f228b840da7c4db440dd1cfef4ae25336c87f0d
Signed-off-by: Chuck Jordan <cjordan@synopsys.com>
2016-10-18 20:26:29 +00:00
Chuck Jordan df4c0acd2d arc: Fix comment about IRQ call stack
The code density registers are NOT saved on the stack.
This is controlled by bit 13 in AUX_IRQ_CTRL, which didn't even have a symbol
defined for it. I've also added _ARC_V2_AUX_IRQ_CTRL_LP for bit 13.

Change-Id: Ie80853b72bed4e60a5cf1cf0a8c905a3d86180d9
Signed-off-by: Chuck Jordan <cjordan@synopsys.com>
2016-10-07 20:50:26 +00:00
Qiu Peiyang 2a2291d430 remove unused whitespace in arch/arc/core/fault_s.S
commit  e57b21c78c ("irq: Use lowest priority not a
hard-coded priority 2") introduce a wrong whitespace,
not complying with coding style. Remove it.

Change-Id: Ie7e48843e5da6cb3417773ef8a57cf9a166c70d6
Signed-off-by: Qiu Peiyang <peiyangx.qiu@intel.com>
2016-09-25 20:35:09 -04:00