181 lines
5.0 KiB
C
181 lines
5.0 KiB
C
/*
|
|
* Copyright (c) 2014 Wind River Systems, Inc.
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
/**
|
|
* @file
|
|
* @brief New thread creation for ARCv2
|
|
*
|
|
* Core nanokernel fiber related primitives for the ARCv2 processor
|
|
* architecture.
|
|
*/
|
|
|
|
#include <nanokernel.h>
|
|
#include <toolchain.h>
|
|
#include <nano_private.h>
|
|
#include <offsets.h>
|
|
#include <wait_q.h>
|
|
#ifdef CONFIG_INIT_STACKS
|
|
#include <string.h>
|
|
#endif /* CONFIG_INIT_STACKS */
|
|
/* initial stack frame */
|
|
struct init_stack_frame {
|
|
uint32_t pc;
|
|
uint32_t status32;
|
|
uint32_t r3;
|
|
uint32_t r2;
|
|
uint32_t r1;
|
|
uint32_t r0;
|
|
};
|
|
|
|
tNANO _nanokernel = {0};
|
|
|
|
#if defined(CONFIG_THREAD_MONITOR)
|
|
#define THREAD_MONITOR_INIT(tcs) thread_monitor_init(tcs)
|
|
#else
|
|
#define THREAD_MONITOR_INIT(tcs) \
|
|
do {/* do nothing */ \
|
|
} while ((0))
|
|
#endif
|
|
|
|
#if defined(CONFIG_THREAD_MONITOR)
|
|
/*
|
|
* @brief Initialize thread monitoring support
|
|
*
|
|
* Currently only inserts the new thread in the list of active threads.
|
|
*
|
|
* @return N/A
|
|
*/
|
|
|
|
static ALWAYS_INLINE void thread_monitor_init(struct tcs *tcs)
|
|
{
|
|
unsigned int key;
|
|
|
|
/*
|
|
* Add the newly initialized thread to head of the list of threads. This
|
|
* singly linked list of threads maintains ALL the threads in the system:
|
|
* both tasks and fibers regardless of whether they are runnable.
|
|
*/
|
|
|
|
key = irq_lock();
|
|
tcs->next_thread = _nanokernel.threads;
|
|
_nanokernel.threads = tcs;
|
|
irq_unlock(key);
|
|
}
|
|
#endif /* CONFIG_THREAD_MONITOR */
|
|
|
|
/*
|
|
* @brief Initialize a new thread from its stack space
|
|
*
|
|
* The control structure (TCS) is put at the lower address of the stack. An
|
|
* initial context, to be "restored" by __return_from_coop(), is put at
|
|
* the other end of the stack, and thus reusable by the stack when not
|
|
* needed anymore.
|
|
*
|
|
* The initial context is a basic stack frame that contains arguments for
|
|
* _thread_entry() return address, that points at _thread_entry()
|
|
* and status register.
|
|
*
|
|
* <options> is currently unused.
|
|
*
|
|
* @param pStackmem the pointer to aligned stack memory
|
|
* @param stackSize the stack size in bytes
|
|
* @param pEntry thread entry point routine
|
|
* @param parameter1 first param to entry point
|
|
* @param parameter2 second param to entry point
|
|
* @param parameter3 third param to entry point
|
|
* @param fiber priority, -1 for task
|
|
* @param options is unused (saved for future expansion)
|
|
*
|
|
* @return N/A
|
|
*/
|
|
void _new_thread(char *pStackMem, unsigned stackSize,
|
|
void *uk_task_ptr, _thread_entry_t pEntry,
|
|
void *parameter1, void *parameter2, void *parameter3,
|
|
int priority, unsigned options)
|
|
{
|
|
char *stackEnd = pStackMem + stackSize;
|
|
struct init_stack_frame *pInitCtx;
|
|
|
|
struct tcs *tcs = (struct tcs *) pStackMem;
|
|
|
|
#ifdef CONFIG_INIT_STACKS
|
|
memset(pStackMem, 0xaa, stackSize);
|
|
#endif
|
|
|
|
/* carve the thread entry struct from the "base" of the stack */
|
|
|
|
pInitCtx = (struct init_stack_frame *)(STACK_ROUND_DOWN(stackEnd) -
|
|
sizeof(struct init_stack_frame));
|
|
|
|
pInitCtx->pc = ((uint32_t)_thread_entry_wrapper);
|
|
pInitCtx->r0 = (uint32_t)pEntry;
|
|
pInitCtx->r1 = (uint32_t)parameter1;
|
|
pInitCtx->r2 = (uint32_t)parameter2;
|
|
pInitCtx->r3 = (uint32_t)parameter3;
|
|
/*
|
|
* For now set the interrupt priority to 15
|
|
* we can leave interrupt enable flag set to 0 as
|
|
* seti instruction in the end of the _Swap() will
|
|
* enable the interrupts based on intlock_key
|
|
* value.
|
|
*/
|
|
#ifdef CONFIG_ARC_STACK_CHECKING
|
|
pInitCtx->status32 = _ARC_V2_STATUS32_SC | _ARC_V2_STATUS32_E(_ARC_V2_DEF_IRQ_LEVEL);
|
|
tcs->stack_top = (uint32_t) stackEnd;
|
|
#else
|
|
pInitCtx->status32 = _ARC_V2_STATUS32_E(_ARC_V2_DEF_IRQ_LEVEL);
|
|
#endif
|
|
tcs->link = NULL;
|
|
tcs->flags = priority == -1 ? TASK | PREEMPTIBLE : FIBER;
|
|
tcs->prio = priority;
|
|
|
|
#ifdef CONFIG_THREAD_CUSTOM_DATA
|
|
/* Initialize custom data field (value is opaque to kernel) */
|
|
|
|
tcs->custom_data = NULL;
|
|
#endif
|
|
|
|
#ifdef CONFIG_THREAD_MONITOR
|
|
/*
|
|
* In debug mode tcs->entry give direct access to the thread entry
|
|
* and the corresponding parameters.
|
|
*/
|
|
tcs->entry = (struct __thread_entry *)(pInitCtx);
|
|
#endif
|
|
|
|
#ifdef CONFIG_MICROKERNEL
|
|
tcs->uk_task_ptr = uk_task_ptr;
|
|
#else
|
|
ARG_UNUSED(uk_task_ptr);
|
|
#endif
|
|
|
|
/*
|
|
* intlock_key is constructed based on ARCv2 ISA Programmer's
|
|
* Reference Manual CLRI instruction description:
|
|
* dst[31:6] dst[5] dst[4] dst[3:0]
|
|
* 26'd0 1 STATUS32.IE STATUS32.E[3:0]
|
|
*/
|
|
tcs->intlock_key = 0x3F;
|
|
tcs->relinquish_cause = _CAUSE_COOP;
|
|
tcs->preempReg.sp = (uint32_t)pInitCtx - __tCalleeSaved_SIZEOF;
|
|
|
|
_nano_timeout_tcs_init(tcs);
|
|
|
|
/* initial values in all other registers/TCS entries are irrelevant */
|
|
|
|
THREAD_MONITOR_INIT(tcs);
|
|
}
|