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unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
/*
* Copyright (c) 2010-2014 Wind River Systems, Inc.
*
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 02:01:01 +01:00
* SPDX-License-Identifier: Apache-2.0
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
*/
/**
* @file
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>
2016-12-18 15:42:55 +01:00
* @brief Kernel initialization module
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
*
kernel: fix all nanokernel usage in comments Also include kernel.h instead of nanokernel.h Change-Id: I65dc5e31b5409b809397296817e2d5e7adf28892 Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2016-12-20 02:25:56 +01:00
* This module contains routines that are used to initialize the kernel.
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
*/
unified: handle MDEF files that declare main() Before, the kernel would run the main() function twice; first as an entry in k_task_list, and then again from _main(). The _main() invocation would be using a potentially insufficient stack size. Now if an MDEF file declares a main() thread, invoke it from _main(), but honor the desired priority and stack size. Issue: ZEP-1145 Change-Id: I1abf38fc038e270059589b11d96fae1b3f265208 Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2016-10-28 21:45:05 +02:00
#include <zephyr.h>
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>
2016-11-08 16:36:50 +01:00
#include <offsets_short.h>
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
#include <kernel.h>
#include <misc/printk.h>
kernel: profiling: Expose an API call to analyze call stacks The main, idle, interrupt and workqueue call stack definitions are not available to applications to call stack_analyze() on, but they often require to be measured empirically to tune their sizes in particular applications and use cases. This exposes a new k_call_stacks_analyze() API call that allows the application to measure the used call stack space for the 4 kernel-defined call stacks. Additionally for the ARC architecture the FIRQ stack is also profiled. Change-id: I0cde149c7366cb6c4bbe8f9b0ab1cc5b56a36ed9 Signed-off-by: Carles Cufi <carles.cufi@nordicsemi.no>
2017-01-10 10:57:38 +01:00
#include <misc/stack.h>
subsys: Add random subsystem Some "random" drivers are not drivers at all: they just implement the function `sys_rand32_get()`. Move those to a random subsystem in preparation for a reorganization. Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2017-10-14 00:45:02 +02:00
#include <random/rand32.h>
linker: move all linker headers to include/linker Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2017-06-17 17:30:47 +02:00
#include <linker/sections.h>
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
#include <toolchain.h>
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>
2016-11-08 16:36:50 +01:00
#include <kernel_structs.h>
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
#include <device.h>
#include <init.h>
linker: move all linker headers to include/linker Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2017-06-17 17:30:47 +02:00
#include <linker/linker-defs.h>
unified: rename sched.h to ksched.h 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>
2016-10-13 16:31:48 +02:00
#include <ksched.h>
kernel: include kernel version in boot banner Make boot banner more informative by adding kernel version string Change-Id: I21865ea3a001fba2c30fe58e6e052aae59fef3e2 Signed-off-by: Mahavir Jain <mjain@marvell.com>
2016-12-02 17:15:49 +01:00
#include <version.h>
kernel: replace .BSS and .DATA setup with standard library calls Use standard library calls like memset/memcpy for setting up BSS and DATA sections during system initialization, this helps to take advantage of architecture specific optimizations from standard library. Change-Id: Ia72b42aa65b44d1df7c22dd1fbc39a44fa001be9 Signed-off-by: Mahavir Jain <mjain@marvell.com>
2016-12-02 17:18:39 +01:00
#include <string.h>
cleanup: Move #include directives Move all #include directives at the very top of the file, before any code. Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2017-08-31 17:02:47 +02:00
#include <misc/dlist.h>
kernel/include: Missed nano_internal.h -> kernel_internal.h spots Update heading naming given recent rename Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-02-08 18:10:46 +01:00
#include <kernel_internal.h>
kernel: Add kswap.h header to unbreak cycles 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>
2018-01-26 00:24:15 +01:00
#include <kswap.h>
kernel: handle early entropy issues We generalize querying the entropy driver directly with a new internal API, which is now used by CONFIG_STACK_RANDOM and stack canary initialization. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2018-05-24 00:25:23 +02:00
#include <entropy.h>
logging: Add log initialization to system startup Log API can be used before user can explicitly initialize the logger. In order to ensure that logger core is ready to buffer log messages it must be initialize as early as possible. Initialization does not include initialization of default backend since driver may not be ready and backend is needed only when log messages are processed. Signed-off-by: Krzysztof Chruscinski <krzysztof.chruscinski@nordicsemi.no>
2018-07-11 12:26:31 +02:00
#include <logging/log_ctrl.h>
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
/* kernel build timestamp items */
#define BUILD_TIMESTAMP "BUILD: " __DATE__ " " __TIME__
/* boot banner items */
boot: add CONFIG_BOOT_DELAY option Introduce a configurable boot delay option (defaulting to none) that happens right after printing a boot delay banner, #before calling main() in kernel/init.c:_main(), before taking timestamps for _main() and once all the infrastructure is in place. Move also the boot banner to happen after this delay. The rationale for this is some boards will boot really fast and print out some test case output in the serial port before the system that is monitoring the serial port is able to read from the serial port. This happens in MCUs whose serial port is embedded in a USB connection which also is used to power the MCU board. When powering it on by powering the USB port, there is a time it takes the host system to detect the USB connection, enumerate the serial port, configure it and load, start and read from the serial port. At this time, it might have printed the output of the serial port. While manually it is possible to press a reset button, on automation setups this adds a lot of overhead and cabling or modifications to the MCU that are easier (and cheaper) to overcome with this delay. Other options (like using a separate serial line) might not be possible or add a lot of cabling and cost, plus it'd also add extra build configuration. Change-Id: I2f4d1ba356de6cefa19b4ef5c9f19f87885d4dfd Signed-off-by: Inaky Perez-Gonzalez <inaky.perez-gonzalez@intel.com>
2017-06-21 02:01:09 +02:00
#if defined(CONFIG_BOOT_DELAY) && CONFIG_BOOT_DELAY > 0
#define BOOT_DELAY_BANNER " (delayed boot " \
STRINGIFY(CONFIG_BOOT_DELAY) "ms)"
static const unsigned int boot_delay = CONFIG_BOOT_DELAY;
#else
#define BOOT_DELAY_BANNER ""
static const unsigned int boot_delay;
#endif
build: use git version and hash for boot banner This uses the version and hash (git describe) and replaces the timestamp currently used in the boot banner. This works much better than using timestamps. It lets us point to the exact commit being used to run a certain application or test. Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2018-04-10 04:53:26 +02:00
#ifdef BUILD_VERSION
#define BOOT_BANNER "Booting Zephyr OS " \
STRINGIFY(BUILD_VERSION) BOOT_DELAY_BANNER
#else
#define BOOT_BANNER "Booting Zephyr OS " \
KERNEL_VERSION_STRING BOOT_DELAY_BANNER
#endif
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
#if !defined(CONFIG_BOOT_BANNER)
#define PRINT_BOOT_BANNER() do { } while (0)
#else
build: use git version and hash for boot banner This uses the version and hash (git describe) and replaces the timestamp currently used in the boot banner. This works much better than using timestamps. It lets us point to the exact commit being used to run a certain application or test. Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2018-04-10 04:53:26 +02:00
#define PRINT_BOOT_BANNER() printk("***** " BOOT_BANNER " *****\n")
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
#endif
/* boot time measurement items */
#ifdef CONFIG_BOOT_TIME_MEASUREMENT
tests: benchmark: boot_time: Reading time stamps made arch agnostic 1. Changed _tsc_read() to k_cycles_get_32(). Thus reading the time stamp will be agnostic of the architecutre used. 2. Changed the variable names from *_tsc to *_time_stamp. JIRA: ZEP-1426 Signed-off-by: Adithya Baglody <adithya.nagaraj.baglody@intel.com>
2017-06-14 11:45:49 +02:00
u64_t __noinit __start_time_stamp; /* timestamp when kernel starts */
u64_t __noinit __main_time_stamp; /* timestamp when main task starts */
u64_t __noinit __idle_time_stamp; /* timestamp when CPU goes idle */
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
#endif
/* init/main and idle threads */
unified: add kconfig option for idle thread stack size Idle thread may need a bigger stack depending on extra work it has to do, like power management or kernel event logging. Change-Id: Iff691d7838036d602bad79799820b68ad55ad00f Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-10-24 18:57:46 +02:00
#define IDLE_STACK_SIZE CONFIG_IDLE_STACK_SIZE
unified: handle MDEF files that declare main() Before, the kernel would run the main() function twice; first as an entry in k_task_list, and then again from _main(). The _main() invocation would be using a potentially insufficient stack size. Now if an MDEF file declares a main() thread, invoke it from _main(), but honor the desired priority and stack size. Issue: ZEP-1145 Change-Id: I1abf38fc038e270059589b11d96fae1b3f265208 Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2016-10-28 21:45:05 +02:00
#define MAIN_STACK_SIZE CONFIG_MAIN_STACK_SIZE
kernel: introduce stack definition macros The existing __stack decorator is not flexible enough for upcoming thread stack memory protection scenarios. Wrap the entire thing in a declaration macro abstraction instead, which can be implemented on a per-arch or per-SOC basis. Issue: ZEP-2185 Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-06-02 21:56:47 +02:00
K_THREAD_STACK_DEFINE(_main_stack, MAIN_STACK_SIZE);
K_THREAD_STACK_DEFINE(_idle_stack, IDLE_STACK_SIZE);
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
kernel: add k_thread_create() API Unline k_thread_spawn(), the struct k_thread can live anywhere and not in the thread's stack region. This will be useful for memory protection scenarios where private kernel structures for a thread are not accessible by that thread, or we want to allow the thread to use all the stack space we gave it. This requires a change to the internal _new_thread() API as we need to provide a separate pointer for the k_thread. By default, we still create internal threads with the k_thread in stack memory. Forthcoming patches will change this, but we first need to make it easier to define k_thread memory of variable size depending on whether we need to store coprocessor state or not. Change-Id: I533bbcf317833ba67a771b356b6bbc6596bf60f5 Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-03-30 22:07:02 +02:00
static struct k_thread _main_thread_s;
static struct k_thread _idle_thread_s;
k_tid_t const _main_thread = (k_tid_t)&_main_thread_s;
k_tid_t const _idle_thread = (k_tid_t)&_idle_thread_s;
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
/*
* storage space for the interrupt stack
*
kernel: fix all nanokernel usage in comments Also include kernel.h instead of nanokernel.h Change-Id: I65dc5e31b5409b809397296817e2d5e7adf28892 Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2016-12-20 02:25:56 +01:00
* Note: This area is used as the system stack during kernel initialization,
* since the kernel hasn't yet set up its own stack areas. The dual purposing
* of this area is safe since interrupts are disabled until the kernel context
* switches to the init thread.
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
*/
kernel: introduce stack definition macros The existing __stack decorator is not flexible enough for upcoming thread stack memory protection scenarios. Wrap the entire thing in a declaration macro abstraction instead, which can be implemented on a per-arch or per-SOC basis. Issue: ZEP-2185 Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-06-02 21:56:47 +02:00
K_THREAD_STACK_DEFINE(_interrupt_stack, CONFIG_ISR_STACK_SIZE);
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
kernel: Create idle threads and interrupt stacks for SMP processors Simple implementation that caps at 4 CPUs. Long term we should use some linker magic to define as many as needed and loop over them without needlessly increasing data or code size for the tracking. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-01-29 18:20:18 +01:00
/*
* Similar idle thread & interrupt stack definitions for the
* auxiliary CPUs. The declaration macros aren't set up to define an
* array, so do it with a simple test for up to 4 processors. Should
* clean this up in the future.
*/
#if defined(CONFIG_SMP) && CONFIG_MP_NUM_CPUS > 1
K_THREAD_STACK_DEFINE(_idle_stack1, IDLE_STACK_SIZE);
static struct k_thread _idle_thread1_s;
k_tid_t const _idle_thread1 = (k_tid_t)&_idle_thread1_s;
K_THREAD_STACK_DEFINE(_interrupt_stack1, CONFIG_ISR_STACK_SIZE);
#endif
#if defined(CONFIG_SMP) && CONFIG_MP_NUM_CPUS > 2
K_THREAD_STACK_DEFINE(_idle_stack2, IDLE_STACK_SIZE);
static struct k_thread _idle_thread2_s;
k_tid_t const _idle_thread2 = (k_tid_t)&_idle_thread2_s;
K_THREAD_STACK_DEFINE(_interrupt_stack2, CONFIG_ISR_STACK_SIZE);
#endif
#if defined(CONFIG_SMP) && CONFIG_MP_NUM_CPUS > 3
K_THREAD_STACK_DEFINE(_idle_stack3, IDLE_STACK_SIZE);
static struct k_thread _idle_thread3_s;
k_tid_t const _idle_thread3 = (k_tid_t)&_idle_thread3_s;
K_THREAD_STACK_DEFINE(_interrupt_stack3, CONFIG_ISR_STACK_SIZE);
#endif
unified: merge NANO_TIMERS and NANO_TIMEOUTS with SYS_CLOCK_EXISTS Timers are based off timeouts now, which can only be enabled when the system clock is enabled. So the three are really just one setting now. Keep the NANO_TIMERS and NANO_TIMEOUTS around for now until all middleware that rely on them is updated. They are always enabled when SYS_CLOCK_EXISTS is enabled. Change-Id: Iaef1302ef9ad8fc5640542ab6d7304d67aafcfdc Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-10-06 21:04:23 +02:00
#ifdef CONFIG_SYS_CLOCK_EXISTS
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
#define initialize_timeouts() do { \
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>
2016-11-08 16:36:50 +01:00
sys_dlist_init(&_timeout_q); \
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
} while ((0))
#else
#define initialize_timeouts() do { } while ((0))
#endif
unified: Add tickless idle support for x86 and ARM Change-Id: I42d20355321f431900727768a0836ee18e96b667 Signed-off-by: Peter Mitsis <peter.mitsis@windriver.com>
2016-09-15 18:37:58 +02:00
extern void idle(void *unused1, void *unused2, void *unused3);
coverage: exclude k_call_stacks_analyze from coverage Do not count deprecated functions. Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2018-07-18 16:07:26 +02:00
/* LCOV_EXCL_START */
kernel: profiling: Expose an API call to analyze call stacks The main, idle, interrupt and workqueue call stack definitions are not available to applications to call stack_analyze() on, but they often require to be measured empirically to tune their sizes in particular applications and use cases. This exposes a new k_call_stacks_analyze() API call that allows the application to measure the used call stack space for the 4 kernel-defined call stacks. Additionally for the ARC architecture the FIRQ stack is also profiled. Change-id: I0cde149c7366cb6c4bbe8f9b0ab1cc5b56a36ed9 Signed-off-by: Carles Cufi <carles.cufi@nordicsemi.no>
2017-01-10 10:57:38 +01:00
#if defined(CONFIG_INIT_STACKS) && defined(CONFIG_PRINTK)
x86: page-aligned stacks with guard page Subsequent patches will set this guard page as unmapped, triggering a page fault on access. If this is due to stack overflow, a double fault will be triggered, which we are now capable of handling with a switch to a know good stack. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-07-14 18:38:59 +02:00
extern K_THREAD_STACK_DEFINE(sys_work_q_stack,
CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE);
kernel: profiling: Expose an API call to analyze call stacks The main, idle, interrupt and workqueue call stack definitions are not available to applications to call stack_analyze() on, but they often require to be measured empirically to tune their sizes in particular applications and use cases. This exposes a new k_call_stacks_analyze() API call that allows the application to measure the used call stack space for the 4 kernel-defined call stacks. Additionally for the ARC architecture the FIRQ stack is also profiled. Change-id: I0cde149c7366cb6c4bbe8f9b0ab1cc5b56a36ed9 Signed-off-by: Carles Cufi <carles.cufi@nordicsemi.no>
2017-01-10 10:57:38 +01:00
x86: page-aligned stacks with guard page Subsequent patches will set this guard page as unmapped, triggering a page fault on access. If this is due to stack overflow, a double fault will be triggered, which we are now capable of handling with a switch to a know good stack. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-07-14 18:38:59 +02:00
void k_call_stacks_analyze(void)
{
kernel: profiling: Expose an API call to analyze call stacks The main, idle, interrupt and workqueue call stack definitions are not available to applications to call stack_analyze() on, but they often require to be measured empirically to tune their sizes in particular applications and use cases. This exposes a new k_call_stacks_analyze() API call that allows the application to measure the used call stack space for the 4 kernel-defined call stacks. Additionally for the ARC architecture the FIRQ stack is also profiled. Change-id: I0cde149c7366cb6c4bbe8f9b0ab1cc5b56a36ed9 Signed-off-by: Carles Cufi <carles.cufi@nordicsemi.no>
2017-01-10 10:57:38 +01:00
printk("Kernel stacks:\n");
kernel: introduce stack definition macros The existing __stack decorator is not flexible enough for upcoming thread stack memory protection scenarios. Wrap the entire thing in a declaration macro abstraction instead, which can be implemented on a per-arch or per-SOC basis. Issue: ZEP-2185 Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-06-02 21:56:47 +02:00
STACK_ANALYZE("main ", _main_stack);
STACK_ANALYZE("idle ", _idle_stack);
STACK_ANALYZE("interrupt", _interrupt_stack);
STACK_ANALYZE("workqueue", sys_work_q_stack);
kernel: profiling: Expose an API call to analyze call stacks The main, idle, interrupt and workqueue call stack definitions are not available to applications to call stack_analyze() on, but they often require to be measured empirically to tune their sizes in particular applications and use cases. This exposes a new k_call_stacks_analyze() API call that allows the application to measure the used call stack space for the 4 kernel-defined call stacks. Additionally for the ARC architecture the FIRQ stack is also profiled. Change-id: I0cde149c7366cb6c4bbe8f9b0ab1cc5b56a36ed9 Signed-off-by: Carles Cufi <carles.cufi@nordicsemi.no>
2017-01-10 10:57:38 +01:00
}
x86: page-aligned stacks with guard page Subsequent patches will set this guard page as unmapped, triggering a page fault on access. If this is due to stack overflow, a double fault will be triggered, which we are now capable of handling with a switch to a know good stack. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-07-14 18:38:59 +02:00
#else
void k_call_stacks_analyze(void) { }
#endif
coverage: exclude k_call_stacks_analyze from coverage Do not count deprecated functions. Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2018-07-18 16:07:26 +02:00
/* LCOV_EXCL_STOP */
kernel: profiling: Expose an API call to analyze call stacks The main, idle, interrupt and workqueue call stack definitions are not available to applications to call stack_analyze() on, but they often require to be measured empirically to tune their sizes in particular applications and use cases. This exposes a new k_call_stacks_analyze() API call that allows the application to measure the used call stack space for the 4 kernel-defined call stacks. Additionally for the ARC architecture the FIRQ stack is also profiled. Change-id: I0cde149c7366cb6c4bbe8f9b0ab1cc5b56a36ed9 Signed-off-by: Carles Cufi <carles.cufi@nordicsemi.no>
2017-01-10 10:57:38 +01:00
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
/**
*
* @brief Clear BSS
*
* This routine clears the BSS region, so all bytes are 0.
*
* @return N/A
*/
void _bss_zero(void)
{
kernel: replace .BSS and .DATA setup with standard library calls Use standard library calls like memset/memcpy for setting up BSS and DATA sections during system initialization, this helps to take advantage of architecture specific optimizations from standard library. Change-Id: Ia72b42aa65b44d1df7c22dd1fbc39a44fa001be9 Signed-off-by: Mahavir Jain <mjain@marvell.com>
2016-12-02 17:18:39 +01:00
memset(&__bss_start, 0,
Convert remaining code to using newly introduced integer sized types Convert code to use u{8,16,32,64}_t and s{8,16,32,64}_t instead of C99 integer types. This handles the remaining includes and kernel, plus touching up various points that we skipped because of include dependancies. We also convert the PRI printf formatters in the arch code over to normal formatters. Jira: ZEP-2051 Change-Id: Iecbb12601a3ee4ea936fd7ddea37788a645b08b0 Signed-off-by: Kumar Gala <kumar.gala@linaro.org>
2017-04-21 17:55:34 +02:00
((u32_t) &__bss_end - (u32_t) &__bss_start));
kernel: init: initialize stm32 ccm sections Initialize the ccm_bss section to zero. Copy the ccm_data section from the rom section. Signed-off-by: Erwin Rol <erwin@erwinrol.com>
2017-10-05 01:22:32 +02:00
#ifdef CONFIG_CCM_BASE_ADDRESS
memset(&__ccm_bss_start, 0,
((u32_t) &__ccm_bss_end - (u32_t) &__ccm_bss_start));
#endif
kernel: add early init routines for app RAM Applications will have their own BSS and data sections which will need to be additionally copied. This covers the common C implementation of these functions. Arches which implement their own optimized versions will need to be updated. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-06-19 20:13:19 +02:00
#ifdef CONFIG_APPLICATION_MEMORY
memset(&__app_bss_start, 0,
((u32_t) &__app_bss_end - (u32_t) &__app_bss_start));
#endif
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
}
#ifdef CONFIG_XIP
/**
*
* @brief Copy the data section from ROM to RAM
*
* This routine copies the data section from ROM to RAM.
*
* @return N/A
*/
void _data_copy(void)
{
kernel: replace .BSS and .DATA setup with standard library calls Use standard library calls like memset/memcpy for setting up BSS and DATA sections during system initialization, this helps to take advantage of architecture specific optimizations from standard library. Change-Id: Ia72b42aa65b44d1df7c22dd1fbc39a44fa001be9 Signed-off-by: Mahavir Jain <mjain@marvell.com>
2016-12-02 17:18:39 +01:00
memcpy(&__data_ram_start, &__data_rom_start,
Convert remaining code to using newly introduced integer sized types Convert code to use u{8,16,32,64}_t and s{8,16,32,64}_t instead of C99 integer types. This handles the remaining includes and kernel, plus touching up various points that we skipped because of include dependancies. We also convert the PRI printf formatters in the arch code over to normal formatters. Jira: ZEP-2051 Change-Id: Iecbb12601a3ee4ea936fd7ddea37788a645b08b0 Signed-off-by: Kumar Gala <kumar.gala@linaro.org>
2017-04-21 17:55:34 +02:00
((u32_t) &__data_ram_end - (u32_t) &__data_ram_start));
kernel: init: initialize stm32 ccm sections Initialize the ccm_bss section to zero. Copy the ccm_data section from the rom section. Signed-off-by: Erwin Rol <erwin@erwinrol.com>
2017-10-05 01:22:32 +02:00
#ifdef CONFIG_CCM_BASE_ADDRESS
memcpy(&__ccm_data_start, &__ccm_data_rom_start,
((u32_t) &__ccm_data_end - (u32_t) &__ccm_data_start));
#endif
userspace: compartmentalized app memory organization Summary: revised attempt at addressing issue 6290. The following provides an alternative to using CONFIG_APPLICATION_MEMORY by compartmentalizing data into Memory Domains. Dependent on MPU limitations, supports compartmentalized Memory Domains for 1...N logical applications. This is considered an initial attempt at designing flexible compartmentalized Memory Domains for multiple logical applications and, with the provided python script and edited CMakeLists.txt, provides support for power of 2 aligned MPU architectures. Overview: The current patch uses qualifiers to group data into subsections. The qualifier usage allows for dynamic subsection creation and affords the developer a large amount of flexibility in the grouping, naming, and size of the resulting partitions and domains that are built on these subsections. By additional macro calls, functions are created that help calculate the size, address, and permissions for the subsections and enable the developer to control application data in specified partitions and memory domains. Background: Initial attempts focused on creating a single section in the linker script that then contained internally grouped variables/data to allow MPU/MMU alignment and protection. This did not provide additional functionality beyond CONFIG_APPLICATION_MEMORY as we were unable to reliably group data or determine their grouping via exported linker symbols. Thus, the resulting decision was made to dynamically create subsections using the current qualifier method. An attempt to group the data by object file was tested, but found that this broke applications such as ztest where two object files are created: ztest and main. This also creates an issue of grouping the two object files together in the same memory domain while also allowing for compartmenting other data among threads. Because it is not possible to know a) the name of the partition and thus the symbol in the linker, b) the size of all the data in the subsection, nor c) the overall number of partitions created by the developer, it was not feasible to align the subsections at compile time without using dynamically generated linker script for MPU architectures requiring power of 2 alignment. In order to provide support for MPU architectures that require a power of 2 alignment, a python script is run at build prior to when linker_priv_stacks.cmd is generated. This script scans the built object files for all possible partitions and the names given to them. It then generates a linker file (app_smem.ld) that is included in the main linker.ld file. This app_smem.ld allows the compiler and linker to then create each subsection and align to the next power of 2. Usage: - Requires: app_memory/app_memdomain.h . - _app_dmem(id) marks a variable to be placed into a data section for memory partition id. - _app_bmem(id) marks a variable to be placed into a bss section for memory partition id. - These are seen in the linker.map as "data_smem_id" and "data_smem_idb". - To create a k_mem_partition, call the macro app_mem_partition(part0) where "part0" is the name then used to refer to that partition. This macro only creates a function and necessary data structures for the later "initialization". - To create a memory domain for the partition, the macro app_mem_domain(dom0) is called where "dom0" is the name then used for the memory domain. - To initialize the partition (effectively adding the partition to a linked list), init_part_part0() is called. This is followed by init_app_memory(), which walks all partitions in the linked list and calculates the sizes for each partition. - Once the partition is initialized, the domain can be initialized with init_domain_dom0(part0) which initializes the domain with partition part0. - After the domain has been initialized, the current thread can be added using add_thread_dom0(k_current_get()). - The code used in ztests ans kernel/init has been added under a conditional #ifdef to isolate the code from other tests. The userspace test CMakeLists.txt file has commands to insert the CONFIG_APP_SHARED_MEM definition into the required build targets. Example: /* create partition at top of file outside functions */ app_mem_partition(part0); /* create domain */ app_mem_domain(dom0); _app_dmem(dom0) int var1; _app_bmem(dom0) static volatile int var2; int main() { init_part_part0(); init_app_memory(); init_domain_dom0(part0); add_thread_dom0(k_current_get()); ... } - If multiple partitions are being created, a variadic preprocessor macro can be used as provided in app_macro_support.h: FOR_EACH(app_mem_partition, part0, part1, part2); or, for multiple domains, similarly: FOR_EACH(app_mem_domain, dom0, dom1); Similarly, the init_part_* can also be used in the macro: FOR_EACH(init_part, part0, part1, part2); Testing: - This has been successfully tested on qemu_x86 and the ARM frdm_k64f board. It compiles and builds power of 2 aligned subsections for the linker script on the 96b_carbon boards. These power of 2 alignments have been checked by hand and are viewable in the zephyr.map file that is produced during build. However, due to a shortage of available MPU regions on the 96b_carbon board, we are unable to test this. - When run on the 96b_carbon board, the test suite will enter execution, but each individaul test will fail due to an MPU FAULT. This is expected as the required number of MPU regions exceeds the number allowed due to the static allocation. As the MPU driver does not detect this issue, the fault occurs because the data being accessed has been placed outside the active MPU region. - This now compiles successfully for the ARC boards em_starterkit_em7d and em_starterkit_em7d_v22. However, as we lack ARC hardware to run this build on, we are unable to test this build. Current known issues: 1) While the script and edited CMakeLists.txt creates the ability to align to the next power of 2, this does not address the shortage of available MPU regions on certain devices (e.g. 96b_carbon). In testing the APB and PPB regions were commented out. 2) checkpatch.pl lists several issues regarding the following: a) Complex macros. The FOR_EACH macros as defined in app_macro_support.h are listed as complex macros needing parentheses. Adding parentheses breaks their functionality, and we have otherwise been unable to resolve the reported error. b) __aligned() preferred. The _app_dmem_pad() and _app_bmem_pad() macros give warnings that __aligned() is preferred. Prior iterations had this implementation, which resulted in errors due to "complex macros". c) Trailing semicolon. The macro init_part(name) has a trailing semicolon as the semicolon is needed for the inlined macro call that is generated when this macro expands. Update: updated to alternative CONFIG_APPLCATION_MEMORY. Added config option CONFIG_APP_SHARED_MEM to enable a new section app_smem to contain the shared memory component. This commit seperates the Kconfig definition from the definition used for the conditional code. The change is in response to changes in the way the build system treats definitions. The python script used to generate a linker script for app_smem was also midified to simplify the alignment directives. A default linker script app_smem.ld was added to remove the conditional includes dependency on CONFIG_APP_SHARED_MEM. By addining the default linker script the prebuild stages link properly prior to the python script running Signed-off-by: Joshua Domagalski <jedomag@tycho.nsa.gov> Signed-off-by: Shawn Mosley <smmosle@tycho.nsa.gov>
2018-04-26 16:14:02 +02:00
#ifdef CONFIG_APP_SHARED_MEM
memcpy(&_app_smem_start, &_app_smem_rom_start,
((u32_t) &_app_smem_end - (u32_t) &_app_smem_start));
#endif
kernel: add early init routines for app RAM Applications will have their own BSS and data sections which will need to be additionally copied. This covers the common C implementation of these functions. Arches which implement their own optimized versions will need to be updated. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-06-19 20:13:19 +02:00
#ifdef CONFIG_APPLICATION_MEMORY
memcpy(&__app_data_ram_start, &__app_data_rom_start,
((u32_t) &__app_data_ram_end - (u32_t) &__app_data_ram_start));
#endif
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
}
#endif
/**
*
kernel: Name of static functions should not begin with an underscore Names that begin with an underscore are reserved by the C standard. This patch does not change names of functions defined and implemented in header files. Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-03-07 00:08:55 +01:00
* @brief Mainline for kernel's background thread
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
*
* This routine completes kernel initialization by invoking the remaining
* init functions, then invokes application's main() routine.
*
* @return N/A
*/
kernel: Name of static functions should not begin with an underscore Names that begin with an underscore are reserved by the C standard. This patch does not change names of functions defined and implemented in header files. Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-03-07 00:08:55 +01:00
static void bg_thread_main(void *unused1, void *unused2, void *unused3)
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
{
ARG_UNUSED(unused1);
ARG_UNUSED(unused2);
ARG_UNUSED(unused3);
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>
2016-11-08 20:06:55 +01:00
_sys_device_do_config_level(_SYS_INIT_LEVEL_POST_KERNEL);
kernel: handle early entropy issues We generalize querying the entropy driver directly with a new internal API, which is now used by CONFIG_STACK_RANDOM and stack canary initialization. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2018-05-24 00:25:23 +02:00
#if CONFIG_STACK_POINTER_RANDOM
z_stack_adjust_initialized = 1;
#endif
boot: move boot banner and delay before SYS_INIT_LEVEL_APPLICATION Fixes https://github.com/zephyrproject-rtos/zephyr/issues/1280, but also many other failures, where output was garbled due to this. Other similarly affected issues are missing first benchmark (context) in latency benchmark and some net tests. Signed-off-by: Inaky Perez-Gonzalez <inaky.perez-gonzalez@intel.com>
2017-09-08 00:24:39 +02:00
if (boot_delay > 0) {
printk("***** delaying boot " STRINGIFY(CONFIG_BOOT_DELAY)
"ms (per build configuration) *****\n");
kernel: boot_delay: change to busy wait instaed of wait Intention of CONFIG_BOOT_DELAY is to delay booting of system for certain time. Currently it is only delaying start of _main thread as delay is created using k_sleep. This leads to putting _main thread into timeout queue and continue kernel boot. This is causing some of undesirable effects in some of test Automation usecase. This patch changes k_sleep to k_busy_wait which result in delay in OS boot instead of delaying start of _main. Signed-off-by: Youvedeep Singh <youvedeep.singh@intel.com> Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2017-10-24 10:00:33 +02:00
k_busy_wait(CONFIG_BOOT_DELAY * USEC_PER_MSEC);
boot: move boot banner and delay before SYS_INIT_LEVEL_APPLICATION Fixes https://github.com/zephyrproject-rtos/zephyr/issues/1280, but also many other failures, where output was garbled due to this. Other similarly affected issues are missing first benchmark (context) in latency benchmark and some net tests. Signed-off-by: Inaky Perez-Gonzalez <inaky.perez-gonzalez@intel.com>
2017-09-08 00:24:39 +02:00
}
PRINT_BOOT_BANNER();
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>
2016-11-08 20:06:55 +01:00
/* Final init level before app starts */
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
_sys_device_do_config_level(_SYS_INIT_LEVEL_APPLICATION);
#ifdef CONFIG_CPLUSPLUS
/* Process the .ctors and .init_array sections */
extern void __do_global_ctors_aux(void);
extern void __do_init_array_aux(void);
__do_global_ctors_aux();
__do_init_array_aux();
#endif
kernel: init: print boot banner before static threads The boot banner is being printed after static threads have started, for example this is visible with tests using ztest. This puts the banner message before starting any threads. Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2017-08-24 10:27:51 +02:00
_init_static_threads();
kernel: Move SMP initialization to start of main thread The smp_init() call was too early. Device and subsystem initialization doesn't happen until after the main thread starts running. Starting extra CPUs and allowing them to schedule threads before their drivers are alive is a bad idea, even if it works in a unit test. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-04-12 21:10:10 +02:00
#ifdef CONFIG_SMP
smp_init();
#endif
boot: add CONFIG_BOOT_DELAY option Introduce a configurable boot delay option (defaulting to none) that happens right after printing a boot delay banner, #before calling main() in kernel/init.c:_main(), before taking timestamps for _main() and once all the infrastructure is in place. Move also the boot banner to happen after this delay. The rationale for this is some boards will boot really fast and print out some test case output in the serial port before the system that is monitoring the serial port is able to read from the serial port. This happens in MCUs whose serial port is embedded in a USB connection which also is used to power the MCU board. When powering it on by powering the USB port, there is a time it takes the host system to detect the USB connection, enumerate the serial port, configure it and load, start and read from the serial port. At this time, it might have printed the output of the serial port. While manually it is possible to press a reset button, on automation setups this adds a lot of overhead and cabling or modifications to the MCU that are easier (and cheaper) to overcome with this delay. Other options (like using a separate serial line) might not be possible or add a lot of cabling and cost, plus it'd also add extra build configuration. Change-Id: I2f4d1ba356de6cefa19b4ef5c9f19f87885d4dfd Signed-off-by: Inaky Perez-Gonzalez <inaky.perez-gonzalez@intel.com>
2017-06-21 02:01:09 +02:00
unified: Fix boot_time nanokernel benchmark Enables boot time timestamps for unified kernel. Also Splits the source code into microkernel and nanokernel versions instead of having common code. Not only does this make the code for each project easier to read, but it also easily allows the nanokernel version to link against the correct version of main(). Change-Id: Ie0afa2272c3347ebdacc0e3daeebbfe9583fe596 Signed-off-by: Peter Mitsis <peter.mitsis@windriver.com>
2016-10-27 21:19:49 +02:00
#ifdef CONFIG_BOOT_TIME_MEASUREMENT
/* record timestamp for kernel's _main() function */
tests: benchmark: boot_time: Reading time stamps made arch agnostic 1. Changed _tsc_read() to k_cycles_get_32(). Thus reading the time stamp will be agnostic of the architecutre used. 2. Changed the variable names from *_tsc to *_time_stamp. JIRA: ZEP-1426 Signed-off-by: Adithya Baglody <adithya.nagaraj.baglody@intel.com>
2017-06-14 11:45:49 +02:00
extern u64_t __main_time_stamp;
unified: Fix boot_time nanokernel benchmark Enables boot time timestamps for unified kernel. Also Splits the source code into microkernel and nanokernel versions instead of having common code. Not only does this make the code for each project easier to read, but it also easily allows the nanokernel version to link against the correct version of main(). Change-Id: Ie0afa2272c3347ebdacc0e3daeebbfe9583fe596 Signed-off-by: Peter Mitsis <peter.mitsis@windriver.com>
2016-10-27 21:19:49 +02:00
tests: benchmark: boot_time: Reading time stamps made arch agnostic 1. Changed _tsc_read() to k_cycles_get_32(). Thus reading the time stamp will be agnostic of the architecutre used. 2. Changed the variable names from *_tsc to *_time_stamp. JIRA: ZEP-1426 Signed-off-by: Adithya Baglody <adithya.nagaraj.baglody@intel.com>
2017-06-14 11:45:49 +02:00
__main_time_stamp = (u64_t)k_cycle_get_32();
unified: Fix boot_time nanokernel benchmark Enables boot time timestamps for unified kernel. Also Splits the source code into microkernel and nanokernel versions instead of having common code. Not only does this make the code for each project easier to read, but it also easily allows the nanokernel version to link against the correct version of main(). Change-Id: Ie0afa2272c3347ebdacc0e3daeebbfe9583fe596 Signed-off-by: Peter Mitsis <peter.mitsis@windriver.com>
2016-10-27 21:19:49 +02:00
#endif
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
extern void main(void);
unified: handle MDEF files that declare main() Before, the kernel would run the main() function twice; first as an entry in k_task_list, and then again from _main(). The _main() invocation would be using a potentially insufficient stack size. Now if an MDEF file declares a main() thread, invoke it from _main(), but honor the desired priority and stack size. Issue: ZEP-1145 Change-Id: I1abf38fc038e270059589b11d96fae1b3f265208 Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2016-10-28 21:45:05 +02:00
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
main();
kernel: Treat aborting by main() as a fatal system error An application-supplied main() routine is now considered to be essential to system operation. Thus, if main() experiences an error that aborts the main thread a fatal system error is raised. Note: If main() completes its work and does a standard return- to-caller the main thread terminates normally. Change-Id: Icc9499f13578299244a856a246ad2a7d34a72f54 Signed-off-by: Allan Stephens <allan.stephens@windriver.com>
2016-11-09 14:46:56 +01:00
/* Terminate thread normally since it has no more work to do */
kernel/arch: streamline thread user options The K_<thread option> flags/options avaialble to users were hidden in the kernel private header files: move them to include/kernel.h to publicize them. Also, to avoid any future confusion, rename the k_thread.execution_flags field to user_options. Change-Id: I65a6fd5e9e78d4ccf783f3304b607a1e6956aeac Signed-off-by: Benjamin Walsh <walsh.benj@gmail.com>
2017-01-22 19:05:08 +01:00
_main_thread->base.user_options &= ~K_ESSENTIAL;
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
}
void __weak main(void)
{
/* NOP default main() if the application does not provide one. */
}
kernel: Create idle threads and interrupt stacks for SMP processors Simple implementation that caps at 4 CPUs. Long term we should use some linker magic to define as many as needed and loop over them without needlessly increasing data or code size for the tracking. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-01-29 18:20:18 +01:00
#if defined(CONFIG_MULTITHREADING)
static void init_idle_thread(struct k_thread *thr, k_thread_stack_t *stack)
{
kernel: SMP-aware scheduler The scheduler needs a few tweaks to work in SMP mode: 1. The "cache" field just doesn't work. With more than one CPU, caching the highest priority thread isn't useful as you may need N of them at any given time before another thread is returned to the scheduler. You could recalculate it at every change, but that provides no performance benefit. Remove. 2. The "bitmask" designed to prevent the need to individually check priorities is likewise dropped. This could work, but in fact on our only current SMP system and with current K_NUM_PRIOPRITIES values it provides no real benefit. 3. The individual threads now have a "current cpu" and "active" flag so that the choice of the next thread to run can correctly skip threads that are active on other CPUs. The upshot is that a decent amount of code gets #if'd out, and the new SMP implementations for _get_highest_ready_prio() and _get_next_ready_thread() are simpler and smaller, at the expense of having to drop older optimizations. Note that scheduler synchronization is unchanged: all scheduler APIs used to require that an irq_lock() be held, which means that they now require the global spinlock via the same API. This should be a very early candidate for lock granularity attention! Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-01-29 23:55:20 +01:00
#ifdef CONFIG_SMP
thr->base.is_idle = 1;
#endif
kernel: Create idle threads and interrupt stacks for SMP processors Simple implementation that caps at 4 CPUs. Long term we should use some linker magic to define as many as needed and loop over them without needlessly increasing data or code size for the tracking. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-01-29 18:20:18 +01:00
_setup_new_thread(thr, stack,
IDLE_STACK_SIZE, idle, NULL, NULL, NULL,
K_LOWEST_THREAD_PRIO, K_ESSENTIAL);
_mark_thread_as_started(thr);
}
#endif
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
/**
*
kernel: fix all nanokernel usage in comments Also include kernel.h instead of nanokernel.h Change-Id: I65dc5e31b5409b809397296817e2d5e7adf28892 Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2016-12-20 02:25:56 +01:00
* @brief Initializes kernel data structures
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
*
kernel: fix all nanokernel usage in comments Also include kernel.h instead of nanokernel.h Change-Id: I65dc5e31b5409b809397296817e2d5e7adf28892 Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2016-12-20 02:25:56 +01:00
* This routine initializes various kernel data structures, including
* the init and idle threads and any architecture-specific initialization.
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
*
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>
2016-11-08 16:36:50 +01:00
* Note that all fields of "_kernel" are set to zero on entry, which may
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
* be all the initialization many of them require.
*
* @return N/A
*/
kernel: Restore CONFIG_MULTITHREADING=n behavior The prepare_multithreading()/switch_to_main_thread() steps were being done unconditionally, when with multhreading disabled we want to jump straight into the main thread on the existing stack. Needless to say, that doesn't work well. Fixes #8361. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-06-13 19:51:42 +02:00
#ifdef CONFIG_MULTITHREADING
unified: cleanup kernel initialization - ensure dummy thread's stack is aligned - rename nano_init() to prepare_multithreading - move _Swap() to main thread into its own function Change-Id: I6c8dbe2a4e034f3db90b55d1a5e30bc73bac3d50 Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-10-05 23:50:54 +02:00
static void prepare_multithreading(struct k_thread *dummy_thread)
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
{
kernel: add support for switching to main thread without _Swap() It's possible that an architecture needs a custom way of switching to the main() task, rather than using _Swap() with a dummy thread. Change-Id: I14e9bc67be35174ff16209bcea27b18a069ff754 Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-11-20 17:04:31 +01:00
#ifdef CONFIG_ARCH_HAS_CUSTOM_SWAP_TO_MAIN
ARG_UNUSED(dummy_thread);
#else
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
/*
* Initialize the current execution thread to permit a level of
kernel: fix all nanokernel usage in comments Also include kernel.h instead of nanokernel.h Change-Id: I65dc5e31b5409b809397296817e2d5e7adf28892 Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2016-12-20 02:25:56 +01:00
* debugging output if an exception should happen during kernel
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
* initialization. However, don't waste effort initializing the
* fields of the dummy thread beyond those needed to identify it as a
* dummy thread.
*/
_current = dummy_thread;
kernel/arch: streamline thread user options The K_<thread option> flags/options avaialble to users were hidden in the kernel private header files: move them to include/kernel.h to publicize them. Also, to avoid any future confusion, rename the k_thread.execution_flags field to user_options. Change-Id: I65a6fd5e9e78d4ccf783f3304b607a1e6956aeac Signed-off-by: Benjamin Walsh <walsh.benj@gmail.com>
2017-01-22 19:05:08 +01:00
dummy_thread->base.user_options = K_ESSENTIAL;
kernel: init: mark initial dummy thread The initial dummy thread context used for the initial __swap to the main thread at early kernel initialization was not marked as a dummy thread as it ought to be. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-05-10 19:31:33 +02:00
dummy_thread->base.thread_state = _THREAD_DUMMY;
init: initialize dummy thread stack info Garbage values here could wreak havoc on the initial switch to main depending on how arch-specific _Swap() manages memory permissions when switching threads. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-08-30 23:25:38 +02:00
#ifdef CONFIG_THREAD_STACK_INFO
dummy_thread->stack_info.start = 0;
dummy_thread->stack_info.size = 0;
#endif
kernel: init: mem_domain structure is initialized for dummy thread. For the dummy thread, contents in the mem_domain structure is insignificant hence setting it to NULL. Signed-off-by: Adithya Baglody <adithya.nagaraj.baglody@intel.com>
2017-11-03 10:36:57 +01:00
#ifdef CONFIG_USERSPACE
dummy_thread->mem_domain_info.mem_domain = 0;
#endif
kernel: add support for switching to main thread without _Swap() It's possible that an architecture needs a custom way of switching to the main() task, rather than using _Swap() with a dummy thread. Change-Id: I14e9bc67be35174ff16209bcea27b18a069ff754 Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-11-20 17:04:31 +01:00
#endif
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
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>
2016-11-08 16:36:50 +01:00
/* _kernel.ready_q is all zeroes */
kernel: Scheduler rewrite This replaces the existing scheduler (but not priority handling) implementation with a somewhat simpler one. Behavior as to thread selection does not change. New features: + Unifies SMP and uniprocessing selection code (with the sole exception of the "cache" trick not being possible in SMP). + The old static multi-queue implementation is gone and has been replaced with a build-time choice of either a "dumb" list implementation (faster and significantly smaller for apps with only a few threads) or a balanced tree queue which scales well to arbitrary numbers of threads and priority levels. This is controlled via the CONFIG_SCHED_DUMB kconfig variable. + The balanced tree implementation is usable symmetrically for the wait_q abstraction, fixing a scalability glitch Zephyr had when many threads were waiting on a single object. This can be selected via CONFIG_WAITQ_FAST. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-05-03 23:51:49 +02:00
_sched_init();
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
kernel: SMP-aware scheduler The scheduler needs a few tweaks to work in SMP mode: 1. The "cache" field just doesn't work. With more than one CPU, caching the highest priority thread isn't useful as you may need N of them at any given time before another thread is returned to the scheduler. You could recalculate it at every change, but that provides no performance benefit. Remove. 2. The "bitmask" designed to prevent the need to individually check priorities is likewise dropped. This could work, but in fact on our only current SMP system and with current K_NUM_PRIOPRITIES values it provides no real benefit. 3. The individual threads now have a "current cpu" and "active" flag so that the choice of the next thread to run can correctly skip threads that are active on other CPUs. The upshot is that a decent amount of code gets #if'd out, and the new SMP implementations for _get_highest_ready_prio() and _get_next_ready_thread() are simpler and smaller, at the expense of having to drop older optimizations. Note that scheduler synchronization is unchanged: all scheduler APIs used to require that an irq_lock() be held, which means that they now require the global spinlock via the same API. This should be a very early candidate for lock granularity attention! Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-01-29 23:55:20 +01:00
#ifndef CONFIG_SMP
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>
2016-12-02 16:37:27 +01:00
/*
* prime the cache with the main thread since:
*
* - the cache can never be NULL
* - the main thread will be the one to run first
* - no other thread is initialized yet and thus their priority fields
* contain garbage, which would prevent the cache loading algorithm
* to work as intended
*/
_ready_q.cache = _main_thread;
kernel: SMP-aware scheduler The scheduler needs a few tweaks to work in SMP mode: 1. The "cache" field just doesn't work. With more than one CPU, caching the highest priority thread isn't useful as you may need N of them at any given time before another thread is returned to the scheduler. You could recalculate it at every change, but that provides no performance benefit. Remove. 2. The "bitmask" designed to prevent the need to individually check priorities is likewise dropped. This could work, but in fact on our only current SMP system and with current K_NUM_PRIOPRITIES values it provides no real benefit. 3. The individual threads now have a "current cpu" and "active" flag so that the choice of the next thread to run can correctly skip threads that are active on other CPUs. The upshot is that a decent amount of code gets #if'd out, and the new SMP implementations for _get_highest_ready_prio() and _get_next_ready_thread() are simpler and smaller, at the expense of having to drop older optimizations. Note that scheduler synchronization is unchanged: all scheduler APIs used to require that an irq_lock() be held, which means that they now require the global spinlock via the same API. This should be a very early candidate for lock granularity attention! Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-01-29 23:55:20 +01:00
#endif
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>
2016-12-02 16:37:27 +01:00
userspace: add thread-level permission tracking Now creating a thread will assign it a unique, monotonically increasing id which is used to reference the permission bitfield in the kernel object metadata. Stub functions in userspace.c now implemented. _new_thread is now wrapped in a common function with pre- and post- architecture thread initialization tasks. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-08-30 23:31:03 +02:00
_setup_new_thread(_main_thread, _main_stack,
kernel: Name of static functions should not begin with an underscore Names that begin with an underscore are reserved by the C standard. This patch does not change names of functions defined and implemented in header files. Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-03-07 00:08:55 +01:00
MAIN_STACK_SIZE, bg_thread_main,
NULL, NULL, NULL,
userspace: add thread-level permission tracking Now creating a thread will assign it a unique, monotonically increasing id which is used to reference the permission bitfield in the kernel object metadata. Stub functions in userspace.c now implemented. _new_thread is now wrapped in a common function with pre- and post- architecture thread initialization tasks. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-08-30 23:31:03 +02:00
CONFIG_MAIN_THREAD_PRIORITY, K_ESSENTIAL);
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
_mark_thread_as_started(_main_thread);
kernel: Cleanup, unify _add_thread_to_ready_q() and _ready_thread() The scheduler exposed two APIs to do the same thing: _add_thread_to_ready_q() was a low level primitive that in most cases was wrapped by _ready_thread(), which also (1) checks that the thread _is_ready() or exits, (2) flags the thread as "started" to handle the case of a thread running for the first time out of a waitq timeout, and (3) signals a logger event. As it turns out, all existing usage was already checking case #1. Case #2 can be better handled in the timeout resume path instead of on every call. And case #3 was probably wrong to have been skipping anyway (there were paths that could make a thread runnable without logging). Now _add_thread_to_ready_q() is an internal scheduler API, as it probably always should have been. This also moves some asserts from the inline _ready_thread() wrapper to the underlying true function for code size reasons, otherwise the extra use of the inline added by this patch blows past code size limits on Quark D2000. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-03-09 21:17:45 +01:00
_ready_thread(_main_thread);
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
kernel: introduce single-threaded kernel For very constrained systems, like bootloaders. Only the main thread is available, so a main() function must be provided. Kernel objects where pending is in play will not behave as expected, since the main thread cannot pend, it being the only thread in the system. Usage of objects should be limited to using K_NO_WAIT as the timeout parameter, effectively polling on the object. Change-Id: Iae0261daa98bff388dc482797cde69f94e2e95cc Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-12-14 21:24:12 +01:00
#ifdef CONFIG_MULTITHREADING
kernel: Create idle threads and interrupt stacks for SMP processors Simple implementation that caps at 4 CPUs. Long term we should use some linker magic to define as many as needed and loop over them without needlessly increasing data or code size for the tracking. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-01-29 18:20:18 +01:00
init_idle_thread(_idle_thread, _idle_stack);
kernel: Scheduler rewrite This replaces the existing scheduler (but not priority handling) implementation with a somewhat simpler one. Behavior as to thread selection does not change. New features: + Unifies SMP and uniprocessing selection code (with the sole exception of the "cache" trick not being possible in SMP). + The old static multi-queue implementation is gone and has been replaced with a build-time choice of either a "dumb" list implementation (faster and significantly smaller for apps with only a few threads) or a balanced tree queue which scales well to arbitrary numbers of threads and priority levels. This is controlled via the CONFIG_SCHED_DUMB kconfig variable. + The balanced tree implementation is usable symmetrically for the wait_q abstraction, fixing a scalability glitch Zephyr had when many threads were waiting on a single object. This can be selected via CONFIG_WAITQ_FAST. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-05-03 23:51:49 +02:00
_kernel.cpus[0].idle_thread = _idle_thread;
kernel: Create idle threads and interrupt stacks for SMP processors Simple implementation that caps at 4 CPUs. Long term we should use some linker magic to define as many as needed and loop over them without needlessly increasing data or code size for the tracking. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-01-29 18:20:18 +01:00
#endif
#if defined(CONFIG_SMP) && CONFIG_MP_NUM_CPUS > 1
init_idle_thread(_idle_thread1, _idle_stack1);
kernel: Scheduler rewrite This replaces the existing scheduler (but not priority handling) implementation with a somewhat simpler one. Behavior as to thread selection does not change. New features: + Unifies SMP and uniprocessing selection code (with the sole exception of the "cache" trick not being possible in SMP). + The old static multi-queue implementation is gone and has been replaced with a build-time choice of either a "dumb" list implementation (faster and significantly smaller for apps with only a few threads) or a balanced tree queue which scales well to arbitrary numbers of threads and priority levels. This is controlled via the CONFIG_SCHED_DUMB kconfig variable. + The balanced tree implementation is usable symmetrically for the wait_q abstraction, fixing a scalability glitch Zephyr had when many threads were waiting on a single object. This can be selected via CONFIG_WAITQ_FAST. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-05-03 23:51:49 +02:00
_kernel.cpus[1].idle_thread = _idle_thread1;
kernel: Enable SMP Now that all the pieces are in place, enable SMP for real: Initialize the CPU records, launch the CPUs at the end of kernel initialization, have them wait for a flag to release them into the scheduler, then enter into the runnable threads via _Swap(). Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-01-17 20:34:50 +01:00
_kernel.cpus[1].id = 1;
_kernel.cpus[1].irq_stack = K_THREAD_STACK_BUFFER(_interrupt_stack1)
+ CONFIG_ISR_STACK_SIZE;
kernel: Create idle threads and interrupt stacks for SMP processors Simple implementation that caps at 4 CPUs. Long term we should use some linker magic to define as many as needed and loop over them without needlessly increasing data or code size for the tracking. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-01-29 18:20:18 +01:00
#endif
#if defined(CONFIG_SMP) && CONFIG_MP_NUM_CPUS > 2
init_idle_thread(_idle_thread2, _idle_stack2);
kernel: Scheduler rewrite This replaces the existing scheduler (but not priority handling) implementation with a somewhat simpler one. Behavior as to thread selection does not change. New features: + Unifies SMP and uniprocessing selection code (with the sole exception of the "cache" trick not being possible in SMP). + The old static multi-queue implementation is gone and has been replaced with a build-time choice of either a "dumb" list implementation (faster and significantly smaller for apps with only a few threads) or a balanced tree queue which scales well to arbitrary numbers of threads and priority levels. This is controlled via the CONFIG_SCHED_DUMB kconfig variable. + The balanced tree implementation is usable symmetrically for the wait_q abstraction, fixing a scalability glitch Zephyr had when many threads were waiting on a single object. This can be selected via CONFIG_WAITQ_FAST. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-05-03 23:51:49 +02:00
_kernel.cpus[2].idle_thread = _idle_thread2;
kernel: Enable SMP Now that all the pieces are in place, enable SMP for real: Initialize the CPU records, launch the CPUs at the end of kernel initialization, have them wait for a flag to release them into the scheduler, then enter into the runnable threads via _Swap(). Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-01-17 20:34:50 +01:00
_kernel.cpus[2].id = 2;
_kernel.cpus[2].irq_stack = K_THREAD_STACK_BUFFER(_interrupt_stack2)
+ CONFIG_ISR_STACK_SIZE;
kernel: Create idle threads and interrupt stacks for SMP processors Simple implementation that caps at 4 CPUs. Long term we should use some linker magic to define as many as needed and loop over them without needlessly increasing data or code size for the tracking. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-01-29 18:20:18 +01:00
#endif
#if defined(CONFIG_SMP) && CONFIG_MP_NUM_CPUS > 3
init_idle_thread(_idle_thread3, _idle_stack3);
kernel: Scheduler rewrite This replaces the existing scheduler (but not priority handling) implementation with a somewhat simpler one. Behavior as to thread selection does not change. New features: + Unifies SMP and uniprocessing selection code (with the sole exception of the "cache" trick not being possible in SMP). + The old static multi-queue implementation is gone and has been replaced with a build-time choice of either a "dumb" list implementation (faster and significantly smaller for apps with only a few threads) or a balanced tree queue which scales well to arbitrary numbers of threads and priority levels. This is controlled via the CONFIG_SCHED_DUMB kconfig variable. + The balanced tree implementation is usable symmetrically for the wait_q abstraction, fixing a scalability glitch Zephyr had when many threads were waiting on a single object. This can be selected via CONFIG_WAITQ_FAST. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-05-03 23:51:49 +02:00
_kernel.cpus[3].idle_thread = _idle_thread3;
kernel: Enable SMP Now that all the pieces are in place, enable SMP for real: Initialize the CPU records, launch the CPUs at the end of kernel initialization, have them wait for a flag to release them into the scheduler, then enter into the runnable threads via _Swap(). Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-01-17 20:34:50 +01:00
_kernel.cpus[3].id = 3;
_kernel.cpus[3].irq_stack = K_THREAD_STACK_BUFFER(_interrupt_stack3)
+ CONFIG_ISR_STACK_SIZE;
kernel: introduce single-threaded kernel For very constrained systems, like bootloaders. Only the main thread is available, so a main() function must be provided. Kernel objects where pending is in play will not behave as expected, since the main thread cannot pend, it being the only thread in the system. Usage of objects should be limited to using K_NO_WAIT as the timeout parameter, effectively polling on the object. Change-Id: Iae0261daa98bff388dc482797cde69f94e2e95cc Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-12-14 21:24:12 +01:00
#endif
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
initialize_timeouts();
}
unified: cleanup kernel initialization - ensure dummy thread's stack is aligned - rename nano_init() to prepare_multithreading - move _Swap() to main thread into its own function Change-Id: I6c8dbe2a4e034f3db90b55d1a5e30bc73bac3d50 Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-10-05 23:50:54 +02:00
static void switch_to_main_thread(void)
{
kernel: add support for switching to main thread without _Swap() It's possible that an architecture needs a custom way of switching to the main() task, rather than using _Swap() with a dummy thread. Change-Id: I14e9bc67be35174ff16209bcea27b18a069ff754 Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-11-20 17:04:31 +01:00
#ifdef CONFIG_ARCH_HAS_CUSTOM_SWAP_TO_MAIN
kernel: add k_thread_create() API Unline k_thread_spawn(), the struct k_thread can live anywhere and not in the thread's stack region. This will be useful for memory protection scenarios where private kernel structures for a thread are not accessible by that thread, or we want to allow the thread to use all the stack space we gave it. This requires a change to the internal _new_thread() API as we need to provide a separate pointer for the k_thread. By default, we still create internal threads with the k_thread in stack memory. Forthcoming patches will change this, but we first need to make it easier to define k_thread memory of variable size depending on whether we need to store coprocessor state or not. Change-Id: I533bbcf317833ba67a771b356b6bbc6596bf60f5 Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-03-30 22:07:02 +02:00
_arch_switch_to_main_thread(_main_thread, _main_stack, MAIN_STACK_SIZE,
kernel: Name of static functions should not begin with an underscore Names that begin with an underscore are reserved by the C standard. This patch does not change names of functions defined and implemented in header files. Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-03-07 00:08:55 +01:00
bg_thread_main);
kernel: add support for switching to main thread without _Swap() It's possible that an architecture needs a custom way of switching to the main() task, rather than using _Swap() with a dummy thread. Change-Id: I14e9bc67be35174ff16209bcea27b18a069ff754 Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-11-20 17:04:31 +01:00
#else
unified: cleanup kernel initialization - ensure dummy thread's stack is aligned - rename nano_init() to prepare_multithreading - move _Swap() to main thread into its own function Change-Id: I6c8dbe2a4e034f3db90b55d1a5e30bc73bac3d50 Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-10-05 23:50:54 +02:00
/*
* Context switch to main task (entry function is _main()): the
* current fake thread is not on a wait queue or ready queue, so it
* will never be rescheduled in.
*/
_Swap(irq_lock());
kernel: add support for switching to main thread without _Swap() It's possible that an architecture needs a custom way of switching to the main() task, rather than using _Swap() with a dummy thread. Change-Id: I14e9bc67be35174ff16209bcea27b18a069ff754 Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-11-20 17:04:31 +01:00
#endif
unified: cleanup kernel initialization - ensure dummy thread's stack is aligned - rename nano_init() to prepare_multithreading - move _Swap() to main thread into its own function Change-Id: I6c8dbe2a4e034f3db90b55d1a5e30bc73bac3d50 Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-10-05 23:50:54 +02:00
}
kernel: Restore CONFIG_MULTITHREADING=n behavior The prepare_multithreading()/switch_to_main_thread() steps were being done unconditionally, when with multhreading disabled we want to jump straight into the main thread on the existing stack. Needless to say, that doesn't work well. Fixes #8361. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-06-13 19:51:42 +02:00
#endif /* CONFIG_MULTITHREDING */
unified: cleanup kernel initialization - ensure dummy thread's stack is aligned - rename nano_init() to prepare_multithreading - move _Swap() to main thread into its own function Change-Id: I6c8dbe2a4e034f3db90b55d1a5e30bc73bac3d50 Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-10-05 23:50:54 +02:00
kernel: handle early entropy issues We generalize querying the entropy driver directly with a new internal API, which is now used by CONFIG_STACK_RANDOM and stack canary initialization. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2018-05-24 00:25:23 +02:00
u32_t z_early_boot_rand32_get(void)
kernel: init: Use entropy API directly to initialize stack canary Some sys_rand32_get() implementation will use shared state and protect that using some synchronization primitive such as a mutex or a semaphore. It's too early in the boot process to use any of them, which causes some issues. Use the entropy API directly to set up the stack canaries. This doesn't completely solve the problem, as some drivers will use the same synchronization primitives anyway. Some drivers (e.g. the NRF5 entropy driver) provide an API to be used by ISRs that might be suitable here, but not all drivers do that. Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-05-23 22:38:52 +02:00
{
#ifdef CONFIG_ENTROPY_HAS_DRIVER
struct device *entropy = device_get_binding(CONFIG_ENTROPY_NAME);
int rc;
kernel: handle early entropy issues We generalize querying the entropy driver directly with a new internal API, which is now used by CONFIG_STACK_RANDOM and stack canary initialization. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2018-05-24 00:25:23 +02:00
u32_t retval;
kernel: init: Use entropy API directly to initialize stack canary Some sys_rand32_get() implementation will use shared state and protect that using some synchronization primitive such as a mutex or a semaphore. It's too early in the boot process to use any of them, which causes some issues. Use the entropy API directly to set up the stack canaries. This doesn't completely solve the problem, as some drivers will use the same synchronization primitives anyway. Some drivers (e.g. the NRF5 entropy driver) provide an API to be used by ISRs that might be suitable here, but not all drivers do that. Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-05-23 22:38:52 +02:00
if (entropy == NULL) {
goto sys_rand32_fallback;
}
kernel: Use IS-specific entropy function when available During the early boot process, in prepare_multithreading(), the kernel structures and scheduler are not ready yet. In order to obtain entropy for early works such as stack randomization, optionally use when present the ISR-specific function that some drivers will provide. Signed-off-by: Carles Cufi <carles.cufi@nordicsemi.no>
2018-05-24 20:12:23 +02:00
/* Try to see if driver provides an ISR-specific API */
rc = entropy_get_entropy_isr(entropy, (u8_t *)&retval,
sizeof(retval), ENTROPY_BUSYWAIT);
if (rc == -ENOTSUP) {
/* Driver does not provide an ISR-specific API, assume it can
* be called from ISR context
*/
rc = entropy_get_entropy(entropy, (u8_t *)&retval,
sizeof(retval));
}
if (rc >= 0) {
kernel: handle early entropy issues We generalize querying the entropy driver directly with a new internal API, which is now used by CONFIG_STACK_RANDOM and stack canary initialization. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2018-05-24 00:25:23 +02:00
return retval;
kernel: init: Use entropy API directly to initialize stack canary Some sys_rand32_get() implementation will use shared state and protect that using some synchronization primitive such as a mutex or a semaphore. It's too early in the boot process to use any of them, which causes some issues. Use the entropy API directly to set up the stack canaries. This doesn't completely solve the problem, as some drivers will use the same synchronization primitives anyway. Some drivers (e.g. the NRF5 entropy driver) provide an API to be used by ISRs that might be suitable here, but not all drivers do that. Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-05-23 22:38:52 +02:00
}
kernel: Use IS-specific entropy function when available During the early boot process, in prepare_multithreading(), the kernel structures and scheduler are not ready yet. In order to obtain entropy for early works such as stack randomization, optionally use when present the ISR-specific function that some drivers will provide. Signed-off-by: Carles Cufi <carles.cufi@nordicsemi.no>
2018-05-24 20:12:23 +02:00
/* Fall through to fallback */
kernel: init: Use entropy API directly to initialize stack canary Some sys_rand32_get() implementation will use shared state and protect that using some synchronization primitive such as a mutex or a semaphore. It's too early in the boot process to use any of them, which causes some issues. Use the entropy API directly to set up the stack canaries. This doesn't completely solve the problem, as some drivers will use the same synchronization primitives anyway. Some drivers (e.g. the NRF5 entropy driver) provide an API to be used by ISRs that might be suitable here, but not all drivers do that. Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-05-23 22:38:52 +02:00
sys_rand32_fallback:
kernel: init: use C implementation for STACK_CANARY_INIT Due to a limitation on XCC, the inline assembly does not produce the expected instructions. This results in a wrong code sequence. On the other hand, plain C code works well. The note about compilers seems to not be an issue on any of our currently supported compilers. Change-Id: I9d2ab0fbf8a48d9dad51da3fd54453f205516d74 Signed-off-by: Mazen NEIFER <mazen@nestwave.com> Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-02-07 10:01:12 +01:00
#endif
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
kernel: init: Use entropy API directly to initialize stack canary Some sys_rand32_get() implementation will use shared state and protect that using some synchronization primitive such as a mutex or a semaphore. It's too early in the boot process to use any of them, which causes some issues. Use the entropy API directly to set up the stack canaries. This doesn't completely solve the problem, as some drivers will use the same synchronization primitives anyway. Some drivers (e.g. the NRF5 entropy driver) provide an API to be used by ISRs that might be suitable here, but not all drivers do that. Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-05-23 22:38:52 +02:00
/* FIXME: this assumes sys_rand32_get() won't use any synchronization
* primitive, like semaphores or mutexes. It's too early in the boot
* process to use any of them. Ideally, only the path where entropy
* devices are available should be built, this is only a fallback for
* those devices without a HWRNG entropy driver.
*/
kernel: handle early entropy issues We generalize querying the entropy driver directly with a new internal API, which is now used by CONFIG_STACK_RANDOM and stack canary initialization. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2018-05-24 00:25:23 +02:00
return sys_rand32_get();
kernel: init: Use entropy API directly to initialize stack canary Some sys_rand32_get() implementation will use shared state and protect that using some synchronization primitive such as a mutex or a semaphore. It's too early in the boot process to use any of them, which causes some issues. Use the entropy API directly to set up the stack canaries. This doesn't completely solve the problem, as some drivers will use the same synchronization primitives anyway. Some drivers (e.g. the NRF5 entropy driver) provide an API to be used by ISRs that might be suitable here, but not all drivers do that. Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-05-23 22:38:52 +02:00
}
kernel: handle early entropy issues We generalize querying the entropy driver directly with a new internal API, which is now used by CONFIG_STACK_RANDOM and stack canary initialization. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2018-05-24 00:25:23 +02:00
#ifdef CONFIG_STACK_CANARIES
extern uintptr_t __stack_chk_guard;
kernel: init: Use entropy API directly to initialize stack canary Some sys_rand32_get() implementation will use shared state and protect that using some synchronization primitive such as a mutex or a semaphore. It's too early in the boot process to use any of them, which causes some issues. Use the entropy API directly to set up the stack canaries. This doesn't completely solve the problem, as some drivers will use the same synchronization primitives anyway. Some drivers (e.g. the NRF5 entropy driver) provide an API to be used by ISRs that might be suitable here, but not all drivers do that. Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-05-23 22:38:52 +02:00
#endif /* CONFIG_STACK_CANARIES */
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
/**
*
kernel: fix all nanokernel usage in comments Also include kernel.h instead of nanokernel.h Change-Id: I65dc5e31b5409b809397296817e2d5e7adf28892 Signed-off-by: Anas Nashif <anas.nashif@intel.com>
2016-12-20 02:25:56 +01:00
* @brief Initialize kernel
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
*
* This routine is invoked when the system is ready to run C code. The
* processor must be running in 32-bit mode, and the BSS must have been
* cleared/zeroed.
*
* @return Does not return
*/
FUNC_NORETURN void _Cstart(void)
{
kernel: Restore CONFIG_MULTITHREADING=n behavior The prepare_multithreading()/switch_to_main_thread() steps were being done unconditionally, when with multhreading disabled we want to jump straight into the main thread on the existing stack. Needless to say, that doesn't work well. Fixes #8361. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-06-13 19:51:42 +02:00
#ifdef CONFIG_MULTITHREADING
kernel: add support for switching to main thread without _Swap() It's possible that an architecture needs a custom way of switching to the main() task, rather than using _Swap() with a dummy thread. Change-Id: I14e9bc67be35174ff16209bcea27b18a069ff754 Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-11-20 17:04:31 +01:00
#ifdef CONFIG_ARCH_HAS_CUSTOM_SWAP_TO_MAIN
kernel: introduce stack definition macros The existing __stack decorator is not flexible enough for upcoming thread stack memory protection scenarios. Wrap the entire thing in a declaration macro abstraction instead, which can be implemented on a per-arch or per-SOC basis. Issue: ZEP-2185 Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-06-02 21:56:47 +02:00
struct k_thread *dummy_thread = NULL;
kernel: add support for switching to main thread without _Swap() It's possible that an architecture needs a custom way of switching to the main() task, rather than using _Swap() with a dummy thread. Change-Id: I14e9bc67be35174ff16209bcea27b18a069ff754 Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-11-20 17:04:31 +01:00
#else
kernel: introduce object validation mechanism All system calls made from userspace which involve pointers to kernel objects (including device drivers) will need to have those pointers validated; userspace should never be able to crash the kernel by passing it garbage. The actual validation with _k_object_validate() will be in the system call receiver code, which doesn't exist yet. - CONFIG_USERSPACE introduced. We are somewhat far away from having an end-to-end implementation, but at least need a Kconfig symbol to guard the incoming code with. Formal documentation doesn't exist yet either, but will appear later down the road once the implementation is mostly finalized. - In the memory region for RAM, the data section has been moved last, past bss and noinit. This ensures that inserting generated tables with addresses of kernel objects does not change the addresses of those objects (which would make the table invalid) - The DWARF debug information in the generated ELF binary is parsed to fetch the locations of all kernel objects and pass this to gperf to create a perfect hash table of their memory addresses. - The generated gperf code doesn't know that we are exclusively working with memory addresses and uses memory inefficently. A post-processing script process_gperf.py adjusts the generated code before it is compiled to work with pointer values directly and not strings containing them. - _k_object_init() calls inserted into the init functions for the set of kernel object types we are going to support so far Issue: ZEP-2187 Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-08-22 22:15:23 +02:00
/* Normally, kernel objects are not allowed on the stack, special case
* here since this is just being used to bootstrap the first _Swap()
*/
char dummy_thread_memory[sizeof(struct k_thread)];
struct k_thread *dummy_thread = (struct k_thread *)&dummy_thread_memory;
kernel: Rework SMP irq_lock() compatibility layer This was wrong in two ways, one subtle and one awful. The subtle problem was that the IRQ lock isn't actually globally recursive, it gets reset when you context switch (i.e. a _Swap() implicitly releases and reacquires it). So the recursive count I was keeping needs to be per-thread or else we risk deadlock any time we swap away from a thread holding the lock. And because part of my brain apparently knew this, there was an "optimization" in the code that tested the current count vs. zero outside the lock, on the argument that if it was non-zero we must already hold the lock. Which would be true of a per-thread counter, but NOT a global one: the other CPU may be holding that lock, and this test will tell you *you* do. The upshot is that a recursive irq_lock() would almost always SUCCEED INCORRECTLY when there was lock contention. That this didn't break more things is amazing to me. The rework is actually simpler than the original, thankfully. Though there are some further subtleties: * The lock state implied by irq_lock() allows the lock to be implicitly released on context switch (i.e. you can _Swap() with the lock held at a recursion level higher than 1, which needs to allow other processes to run). So return paths into threads from _Swap() and interrupt/exception exit need to check and restore the global lock state, spinning as needed. * The idle loop design specifies a k_cpu_idle() function that is on common architectures expected to enable interrupts (for obvious reasons), but there is no place to put non-arch code to wire it into the global lock accounting. So on SMP, even CPU0 needs to use the "dumb" spinning idle loop. Finally this patch contains a simple bugfix too, found by inspection: the interrupt return code used when CONFIG_SWITCH is enabled wasn't correctly setting the active flag on the threads, opening up the potential for a race that might result in a thread being scheduled on two CPUs simultaneously. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-04-12 21:50:05 +02:00
memset(dummy_thread_memory, 0, sizeof(dummy_thread_memory));
kernel: Restore CONFIG_MULTITHREADING=n behavior The prepare_multithreading()/switch_to_main_thread() steps were being done unconditionally, when with multhreading disabled we want to jump straight into the main thread on the existing stack. Needless to say, that doesn't work well. Fixes #8361. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-06-13 19:51:42 +02:00
#endif
kernel: add support for switching to main thread without _Swap() It's possible that an architecture needs a custom way of switching to the main() task, rather than using _Swap() with a dummy thread. Change-Id: I14e9bc67be35174ff16209bcea27b18a069ff754 Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-11-20 17:04:31 +01:00
#endif
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
/*
kernel: prepare threads after PRE_KERNEL* prepare_multithreading() was done very early as it had a call to initialize the interrupt subsystem. This was causing problems with stack pointer randomization as any HW-based entropy drivers had not been initialized. Move the call to initialize the interrupt system out of prepare_multithreading(), which now really does just prepare the system to start threads. This is now done after the PRE_KERNEL phases. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2018-05-22 02:16:20 +02:00
* The interrupt library needs to be initialized early since a series
* of handlers are installed into the interrupt table to catch
* spurious interrupts. This must be performed before other kernel
* subsystems install bonafide handlers, or before hardware device
* drivers are initialized.
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
*/
kernel: prepare threads after PRE_KERNEL* prepare_multithreading() was done very early as it had a call to initialize the interrupt subsystem. This was causing problems with stack pointer randomization as any HW-based entropy drivers had not been initialized. Move the call to initialize the interrupt system out of prepare_multithreading(), which now really does just prepare the system to start threads. This is now done after the PRE_KERNEL phases. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2018-05-22 02:16:20 +02:00
_IntLibInit();
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
logging: Add log initialization to system startup Log API can be used before user can explicitly initialize the logger. In order to ensure that logger core is ready to buffer log messages it must be initialize as early as possible. Initialization does not include initialization of default backend since driver may not be ready and backend is needed only when log messages are processed. Signed-off-by: Krzysztof Chruscinski <krzysztof.chruscinski@nordicsemi.no>
2018-07-11 12:26:31 +02:00
if (IS_ENABLED(CONFIG_LOG)) {
log_core_init();
}
init: run kernel_arch_init() earlier This was in prepare_multithreading(), which was moved to after driver initialization and not before it. The function now really just prepares system threads. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2018-05-23 22:30:34 +02:00
/* perform any architecture-specific initialization */
kernel_arch_init();
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>
2016-11-08 20:06:55 +01:00
/* perform basic hardware initialization */
_sys_device_do_config_level(_SYS_INIT_LEVEL_PRE_KERNEL_1);
_sys_device_do_config_level(_SYS_INIT_LEVEL_PRE_KERNEL_2);
kernel: init: use C implementation for STACK_CANARY_INIT Due to a limitation on XCC, the inline assembly does not produce the expected instructions. This results in a wrong code sequence. On the other hand, plain C code works well. The note about compilers seems to not be an issue on any of our currently supported compilers. Change-Id: I9d2ab0fbf8a48d9dad51da3fd54453f205516d74 Signed-off-by: Mazen NEIFER <mazen@nestwave.com> Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-02-07 10:01:12 +01:00
#ifdef CONFIG_STACK_CANARIES
kernel: handle early entropy issues We generalize querying the entropy driver directly with a new internal API, which is now used by CONFIG_STACK_RANDOM and stack canary initialization. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2018-05-24 00:25:23 +02:00
__stack_chk_guard = z_early_boot_rand32_get();
kernel: init: use C implementation for STACK_CANARY_INIT Due to a limitation on XCC, the inline assembly does not produce the expected instructions. This results in a wrong code sequence. On the other hand, plain C code works well. The note about compilers seems to not be an issue on any of our currently supported compilers. Change-Id: I9d2ab0fbf8a48d9dad51da3fd54453f205516d74 Signed-off-by: Mazen NEIFER <mazen@nestwave.com> Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2017-02-07 10:01:12 +01:00
#endif
kernel: init: Use entropy API directly to initialize stack canary Some sys_rand32_get() implementation will use shared state and protect that using some synchronization primitive such as a mutex or a semaphore. It's too early in the boot process to use any of them, which causes some issues. Use the entropy API directly to set up the stack canaries. This doesn't completely solve the problem, as some drivers will use the same synchronization primitives anyway. Some drivers (e.g. the NRF5 entropy driver) provide an API to be used by ISRs that might be suitable here, but not all drivers do that. Signed-off-by: Leandro Pereira <leandro.pereira@intel.com>
2018-05-23 22:38:52 +02:00
kernel: Restore CONFIG_MULTITHREADING=n behavior The prepare_multithreading()/switch_to_main_thread() steps were being done unconditionally, when with multhreading disabled we want to jump straight into the main thread on the existing stack. Needless to say, that doesn't work well. Fixes #8361. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-06-13 19:51:42 +02:00
#ifdef CONFIG_MULTITHREADING
kernel: prepare threads after PRE_KERNEL* prepare_multithreading() was done very early as it had a call to initialize the interrupt subsystem. This was causing problems with stack pointer randomization as any HW-based entropy drivers had not been initialized. Move the call to initialize the interrupt system out of prepare_multithreading(), which now really does just prepare the system to start threads. This is now done after the PRE_KERNEL phases. Signed-off-by: Andrew Boie <andrew.p.boie@intel.com>
2018-05-22 02:16:20 +02:00
prepare_multithreading(dummy_thread);
unified: cleanup kernel initialization - ensure dummy thread's stack is aligned - rename nano_init() to prepare_multithreading - move _Swap() to main thread into its own function Change-Id: I6c8dbe2a4e034f3db90b55d1a5e30bc73bac3d50 Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-10-05 23:50:54 +02:00
switch_to_main_thread();
kernel: Restore CONFIG_MULTITHREADING=n behavior The prepare_multithreading()/switch_to_main_thread() steps were being done unconditionally, when with multhreading disabled we want to jump straight into the main thread on the existing stack. Needless to say, that doesn't work well. Fixes #8361. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2018-06-13 19:51:42 +02:00
#else
bg_thread_main(NULL, NULL, NULL);
while (1) {
}
#endif
unified: initial unified kernel implementation 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>
2016-09-03 00:55:39 +02:00
/*
* Compiler can't tell that the above routines won't return and issues
* a warning unless we explicitly tell it that control never gets this
* far.
*/
CODE_UNREACHABLE;
}
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