Commit graph

16 commits

Author SHA1 Message Date
Peter Mitsis 348eb4c4fb unified: Update kernel.h doxygen comments
Jira: ZEP-981
Change-Id: I3797f5e8824b4a01153f3c1fe0e070d3b107f596
Signed-off-by: Peter Mitsis <peter.mitsis@windriver.com>
2016-10-31 23:56:04 +00:00
Benjamin Walsh b452817b67 kernel: merge _IS_IN_ISR() with _is_in_isr()
They were the same, standardize on the lowercase one.

Change-Id: I8bca080e45f3e0970697d4451e468b9081f96f5f
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-10-27 21:45:03 +00:00
Allan Stephens 743bdb8143 unified: Enable handling of thread options for static threads
Change-Id: I51d2d9cfa0eeb5f974a6cf1db32406399ef57418
Signed-off-by: Allan Stephens <allan.stephens@windriver.com>
2016-10-27 08:36:14 -05:00
Allan Stephens 9f0977791f unified: Cosmetic changes to thread-code comments
Eliminates references to "fibers" and "tasks". Eliminates unnecessary
doxygen tags for internal routines. Miscellaneous other corrections
and improvements.

Change-Id: I0272fa477773c075799b67138bad5debcfd6b01e
Signed-off-by: Allan Stephens <allan.stephens@windriver.com>
2016-10-26 17:03:14 +00:00
Allan Stephens 1be7bca333 kernel: Add interrupt locking to thread monitoring exit API
This is needed because some thread termination paths can be
invoked with no guarantee that thread preemption won't happen.
(It also aligns with the approach taken by the thread monitoring
initialization code.)

Change-Id: I28a384e051775390eb047498cb23fed22910e4df
Signed-off-by: Allan Stephens <allan.stephens@windriver.com>
2016-10-26 17:03:13 +00:00
Allan Stephens 92e75040a2 kernel: Revise thread monitoring exit API naming
Renames _thread_exit() to _thread_monitoring_exit() to make
its purpose clearer. Revises the associated comments and
removes unnecessary doxygen tags.

Change-Id: I010a328d35d2d79d2a29b9d0b6c02097bb655989
Signed-off-by: Allan Stephens <allan.stephens@windriver.com>
2016-10-26 17:03:12 +00:00
Allan Stephens 6c98c4d378 unified: Ensure delays do not time out prematurely
Ensures that all APIs which accept a timeout value wait for at least
the specified amount of time, and do not time out prematurely.

* The kernel now waits for the next system clock tick to occur before
  the timeout interval is considered to have started. (That is, the only
  way to ensure a delay of N tick intervals is to wait for N+1 ticks
  to occur.)

* Gets rid of ticks -> milliseconds -> ticks conversion in task_sleep()
  and fiber_sleep() legacy APIs, since this introduces rounding that
  -- coupled with the previous change -- can alter the number of ticks
  being requested during the sleep operation.

* Corrects work queue API that was incorrectly shown to use a delay
  measured in ticks, rather than milliseconds.

Change-Id: I8b04467237b24fb0364c8f344d872457418c18da
Signed-off-by: Allan Stephens <allan.stephens@windriver.com>
2016-10-21 15:33:29 +00:00
Peter Mitsis b2fd5be4dc unified: Rework K_THREAD_DEFINE()
K_THREAD_DEFINE() can no longer specify a thread group. However, it now
accepts a 'delay' parameter just as k_thread_spawn() does.

To create a statically defined thread that may belong to one or more thread
groups the new internal _MDEF_THREAD_DEFINE() macro is used. It is only used
for legacy purposes.

Threads can not both have a delayed start AND belong to a thread group.

Jira: ZEP-916
Change-Id: Ia6e59ddcb4fc68f1f60f9c6b0f4f227f161ad1bb
Signed-off-by: Peter Mitsis <peter.mitsis@windriver.com>
2016-10-17 17:52:33 +00:00
Benjamin Walsh b4b108de4d 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>
2016-10-14 20:49:36 +00:00
Benjamin Walsh 1a5450bb8e 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>
2016-10-10 21:27:41 +00:00
Benjamin Walsh b7ef0cba5f unified: remove last instances of struct tcs
Change-Id: I956bf0e96266e68ac1743f02a82ffafe77ebb0e8
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-10-10 21:27:38 +00:00
Benjamin Walsh 688973e5ab unified: streamline "timeout add" internal interfaces.
Rename _do_timeout_add to _add_timeout, rename _TIMEOUT_ADD to
_add_thread_timeout to better reflect their functionalities. Have the
latter call the former, remove _do_timeout_add and
_nano_timer_timeout_add.

Change-Id: Ica86bea10d99d72bf78379598a942d277e7002d0
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-10-10 21:27:36 +00:00
Benjamin Walsh 7caef4581d unified: streamline "timeout abort" internal interface
Rename _do_timeout_abort to _abort_timeout, rename _timeout_abort to
_abort_thread_timeout to better reflect their functionalities. Have the
latter call the former, remove _do_timeout_abort and
_nano_timer_timeout_abort.

Change-Id: I0fea9474b19a2eb47a37489eb06c0d1d56886c9c
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
2016-10-10 21:27:34 +00:00
Peter Mitsis a04c0d70e1 unified: Rename k_thread_static_init structure
Renames the k_thread_static_init structure to better follow
Zephyr naming conventions.

Change-Id: I479add2aefa3421ebc0b879e0d04c0c7ffd7f107
Signed-off-by: Peter Mitsis <peter.mitsis@windriver.com>
2016-10-04 19:57:58 +00:00
Peter Mitsis 0ca7cea8f3 unified: Relocate internal thread group APIs
Moves the following internal thread group APIs from the public
kernel.h header file to the more private thread.c source file as
they do not need to be public APIs.
	_k_task_list_start[];
	_k_task_list_end[];
	_FOREACH_STATIC_THREAD()
	is_in_any_group()

Change-Id: I0b731fb0c20a5574cb1b3c1397803af82918d69d
Signed-off-by: Peter Mitsis <peter.mitsis@windriver.com>
2016-10-03 20:17:02 +00:00
Benjamin Walsh 456c6daa9f 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>
2016-09-13 17:12:55 -04:00