Device dependencies are not always required, so make them optional via
CONFIG_DEVICE_DEPS. When enabled, the gen_device_deps script will run so
that dependencies are collected and part of the final image. Related
APIs will be also made available. Since device dependencies are used in
just a few places (power domains), disable the feature by default. When
not enabled, a second linking pass will not be required.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
The option can now be set by projects. This change will also allow to
make it dependent on a future CONFIG_DEVICE_DEPS option.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
Rename the Kconfig option to be in line with recent renamings in device
handles/dependencies.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
Introduce a new API for barrier operations starting with a general
skeleton and the implementation for barrier_data_memory_fence_full().
Select a built-in or an arch-based implementation according to new
Kconfig symbols CONFIG_BARRIER_OPERATIONS_BUILTIN and
CONFIG_BARRIER_OPERATIONS_ARCH.
The built-in implementation falls back on the compiler built-in
function using __ATOMIC_SEQ_CST as it is done for the atomic APIs
already.
Signed-off-by: Carlo Caione <ccaione@baylibre.com>
The ACE 2.0 LNL platform has 5 HIFI4 cores. Change number
of cores to enable 5th core on the platform.
Signed-off-by: Jaroslaw Stelter <Jaroslaw.Stelter@intel.com>
The following testcases fail with qemu_cortex_r5 caused by main stack
overflow.
tests/kernel/workq/work_queue/kernel.workqueue
tests/ztest/base/testing.ztest.base.verbose_0_userspace
The main stack size is 512 for qemu_cortex_r5(a Cortex-A/R aarch32
platform) with CONFIG_ZTEST=y. The Cortex-M platforms are already set to
1024. Likely 512 will fail for most aarch32 platforms soon.
Fix the issue by increasing the CONFIG_MAIN_STACK_SIZE to 1024.
Also, remove 'default 1024 if TEST_ARM_CORTEX_M' since Cortex-M is no
longer an exception of default 1024.
Signed-off-by: Jaxson Han <jaxson.han@arm.com>
The BOOT_DELAY option does nothing in code if MULTITHREADING is not
enabled. Move the dependency to Kconfig instead.
Signed-off-by: Jordan Yates <jordan.yates@data61.csiro.au>
Continue to phase out MP_NUM_CPUS, change Kconfig to be
MP_MAX_NUM_CPUS and make MP_MAX_NUM_CPUS the main Kconfig symbol.
Signed-off-by: Kumar Gala <kumar.gala@intel.com>
Introduce a Kconfig (MP_MAX_NUM_CPUS) and an api arch_num_cpus() to
allow for systems that might determine the number of CPUs available to
Zephyr at runtime.
CONFIG_MP_MAX_NUM_CPUS is intented to be use for any array initialization
and such that need to occur at build time. For most systems
arch_num_cpus() will just report the value of CONFIG_MP_MAX_NUM_CPUS.
The intent is to phase out CONFIG_NP_NUM_CPUS.
Signed-off-by: Kumar Gala <kumar.gala@intel.com>
This new implementation of pipes has a number of advantages over the
previous.
1. The schedule locking is eliminated both making it safer for SMP
and allowing for pipes to be used from ISR context.
2. The code used to be structured to have separate code for copying
to/from a wating thread's buffer and the pipe buffer. This had
unnecessary duplication that has been replaced with a simpler
scatter-gather copy model.
3. The manner in which the "working list" is generated has also been
simplified. It no longer tries to use the thread's queuing node.
Instead, the k_pipe_desc structure (whose instances are on the
part of the k_thread structure) has been extended to contain
additional fields including a node for use with a linked list. As
this impacts the k_thread structure, pipes are now configurable
in the kernel via CONFIG_PIPES.
Fixes#47061
Signed-off-by: Peter Mitsis <peter.mitsis@intel.com>
Add a minimal EFI console driver to support printf, this console driver
only supports console output. Otherwise the printf will not work.
Signed-off-by: Enjia Mai <enjia.mai@intel.com>
Use a new environment variable,
ZEPHYR_TOOLCHAIN_SUPPORTS_THREAD_LOCAL_STORAGE, to set the value for
TOOLCHAIN_SUPPORTS_THREAD_LOCAL_STORAGE instead of setting it to 'n' for
all non-Zephyr toolchains. In particular, the Debian arm-none-eabi
toolchain has TLS support and with this option, can be used to build
Zephyr with thread local variables.
Signed-off-by: Keith Packard <keithp@keithp.com>
For a library which already provides a multi-thread aware errno, use
that instead of creating our own internal value.
Signed-off-by: Keith Packard <keithp@keithp.com>
Do not allow changing the CPU which a thread is pinned when it is
already being executed. This allows further optimizations in some
platforms with incoherent memory since we can safely assume that the
thread will run in the same CPU and avoid invalidate / flush the
cache during context switches.
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
Add API to add devices to a power domain in runtime. The number of
devices that can be added is defined in build time.
The script gen_handles.py will check the number defined in
`CONFIG_PM_DEVICE_POWER_DOMAIN_DYNAMIC` to resize the handles vector,
adding empty slots in the supported sector to be used later.
Signed-off-by: Flavio Ceolin <flavio.ceolin@intel.com>
Zephyr's timeslice implementation has always been somewhat primitive.
You get a global timeslice that applies broadly to the whole bottom of
the priority space, with no ability (beyond that one priority
threshold) to tune it to work on certain threads, etc...
This adds an (optionally configurable) API that allows timeslicing to
be controlled on a per-thread basis: any thread at any priority can be
set to timeslice, for a configurable per-thread slice time, and at the
end of its slice a callback can be provided that can take action.
This allows the application to implement things like responsiveness
heuristics, "fair" scheduling algorithms, etc... without requiring
that facility in the core kernel.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
According to Kconfig guidelines, boolean prompts must not start with
"Enable...". The following command has been used to automate the changes
in this patch:
sed -i "s/bool \"[Ee]nables\? \(\w\)/bool \"\U\1/g" **/Kconfig*
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
This moves CONFIG_MMU and its children from arch/Kconfig into
kernel/Kconfig. These are used to enable kernel support of MMU
so they should be under kernel/.
Signed-off-by: Daniel Leung <daniel.leung@intel.com>
Add maximum timeout used for conversion to Kconfig. Option is used
to determine which conversion algorithm to use: faster but overflowing
earlier or slower without early overflow.
Signed-off-by: Krzysztof Chruscinski <krzysztof.chruscinski@nordicsemi.no>
When the new Kconfig option CONFIG_SCHED_THREAD_USAGE_ANALYSIS
is enabled, additional timing stats are collected during context
switches. This extra information allows a developer to obtain the
the current, longest, average and total lengths of the time that
a thread has been scheduled to execute.
A developer can in turn use this information to tune their app and/or
alter their scheduling policies.
Signed-off-by: Peter Mitsis <peter.mitsis@intel.com>
With `gen_handles.py` now running on the first pre-built image,
`zephyr_pre0.elf` there is no requirement for the device handle arrays
to remain the same size after processing.
Remove the padding generated in `gen_handles.py`, as well as the
temporary option `CONFIG_DEVICE_HANDLE_PADDING` which was added to work
around this issue.
Signed-off-by: Jordan Yates <jordan.yates@data61.csiro.au>
Clean up RUNTIME_STATS to separate the API from the individual data
backends. Use the SCHED_THREAD_USAGE tracking instead of the original
for execution_cycles. Move the kconfig for that into the runtime
stats menu, since it's part of the family now.
Also remove a lot of needless #if's around the declarations. Unused
structs and uncalled functions don't need to be explicitly hidden. An
attempt to access a non-existent field (e.g. "execution_cycles" if
that isn't configured) provides all the build time validation we need.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
On older architectures, we don't have the
architecture-independent/scheduler-internal hooks (which require
USE_SWITCH) but there is a hook shared by the tracing layer we can use.
This is sort of a layering violation (stat tracking is a core feature,
tracing is supposed to be optional), but simple and lightweight. And
eventually it will go away as these architectures migrate.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
This is an alternate backend that does what THREAD_RUNTIME_STATS is
doing currently, but with a few advantages:
* Correctly synchronized: you can't race against a running thread
(potentially on another CPU!) while querying its usage.
* Realtime results: you get the right answer always, up to timer
precision, even if a thread has been running for a while
uninterrupted and hasn't updated its total.
* Portable, no need for per-architecture code at all for the simple
case. (It leverages the USE_SWITCH layer to do this, so won't work
on older architectures)
* Faster/smaller: minimizes use of 64 bit math; lower overhead in
thread struct (keeps the scratch "started" time in the CPU struct
instead). One 64 bit counter per thread and a 32 bit scratch
register in the CPU struct.
* Standalone. It's a core (but optional) scheduler feature, no
dependence on para-kernel configuration like the tracing
infrastructure.
* More precise: allows architectures to optionally call a trivial
zero-argument/no-result cdecl function out of interrupt entry to
avoid accounting for ISR runtime in thread totals. No configuration
needed here, if it's called then you get proper ISR accounting, and
if not you don't.
For right now, pending unification, it's added side-by-side with the
older API and left as a z_*() internal symbol.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
Threads may wait on an event object such that any events posted to
that event object may wake a waiting thread if the posting satisfies
the waiting threads' event conditions.
The configuration option CONFIG_EVENTS is used to control the inclusion
of events in a system as their use increases the size of
'struct k_thread'.
Signed-off-by: Peter Mitsis <peter.mitsis@intel.com>
When CONFIG_USERSPACE is enabled, the ELF file from linker pass 1 is
used to create a hash table that identifies kernel objects by address.
We therefore can't allow the size of any object in the pass 2 ELF to
change in a way that would change those addresses, or we would create
a garbage hash table.
Simultaneously (and regardless of CONFIG_USERSPACE's value),
gen_handles.py must transform arrays of handles from their pass 1
values to their pass 2 values; see the file's docstring for more
details on that transformation.
The way this works is that gen_handles.py just pads out each pass 2
array so its length is the same as its pass 1 value. The padding value
is a repeated run of DEVICE_HANDLE_ENDS values. This value is the
terminator which we look for at runtime in places like
device_required_handles_get(), so there must be at least one, and we
error out in gen_handles.py if there's no room in the pass 2 array for
at least one such value. (If there is extra room, we just keep
inserting extra DEVICE_HANDLE_ENDS values to pad the array to its
original length.)
However, it is possible that a device has more direct dependencies in
the pass 2 handles array than its corresponding devicetree node had in
the pass 1 array. When this happens, users have no recourse, so that's
a potential showstopper.
To work around this possibility for now, add a new config option,
CONFIG_DEVICE_HANDLE_PADDING, whose value defaults to 0.
When nonzero, it is a count of padding handles that are inserted into
each device handles array. When gen_handles.py errors out due to lack
of room, its error message now tells the user how much to increase
CONFIG_DEVICE_HANDLE_PADDING by to work around the problem.
It looks like a real fix for this is to allocate kernel objects whose
addresses are required for hash tables in CONFIG_USERSPACE=y
configurations *before* the handle arrays. The handle arrays could
then be resized as needed in pass 2, which saves ROM by avoiding
unnecessary padding, and would avoid the need for
CONFIG_DEVICE_HANDLE_PADDING altogether.
However, this 'real fix' is not available and we are facing a deadline
to get a temporary solution in for Zephyr v2.7.0, so this is a good
enough workaround for now.
Signed-off-by: Martí Bolívar <marti.bolivar@nordicsemi.no>
Some SMP applications have threading designs where every thread
created is always assigned to a specific CPU, and never want to
schedule them symmetrically across CPUs under any circumstance.
In this situation, it's possible to optimize the run queue design a
bit to put a separate queue in each CPU struct instead of having a
single global one. This is probably good for a few cycles per
scheduling event (maybe a bit more on architectures where cache
locality can be exploited) in circumstances where there is more than
one runnable thread. It's a mild optimization, but a basically simple
one.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
There are no reference for either K_NUM_PRIORITIES or
K_NUM_PRIO_BITMAPS, with the former being dropped in:
1acd8c2996 kernel: Scheduler rewrite
Dropping both of these, and also the two comments about extra priorities
taking extra RAM space, as those do not seem to apply either.
Signed-off-by: Fabio Baltieri <fabiobaltieri@google.com>
If single thread builds are not supported by the
architecture, the MULTITHREADING option should be
prompt-less to block any modifications to it. We
also introduce an explicit ARCH-level Kconfig that
reflects whether the ARCH is capable of single-thread
Zephyr builds.
Signed-off-by: Ioannis Glaropoulos <Ioannis.Glaropoulos@nordicsemi.no>
The scheduler has historically had an API where an application can
inform the kernel that it will never create a thread that can be
preempted, and the kernel and architecture layer would use that as an
optimization hint to eliminate some code paths.
Those optimizations have dwindled to almost nothing at this point, and
they're now objectively a smaller impact than the special casing that
was required to handle the idle thread (which, obviously, must always
be preemptible).
Fix this by eliminating the idea of "cooperative only" and ensuring
that there will always be at least one preemptible priority with value
>=0. CONFIG_NUM_PREEMPT_PRIORITIES now specifies the number of
user-accessible priorities other than the idle thread.
The only remaining workaround is that some older architectures (and
also SPARC) use the CONFIG_PREEMPT_ENABLED=n state as a hint to skip
thread switching on interrupt exit. So detect exactly those platforms
and implement a minimal workaround in the idle loop (basically "just
call swap()") instead, with a big explanation.
Note that this also fixes a bug in one of the philosophers samples,
where it would ask for 6 cooperative priorities but then use values -7
through -2. It was assuming the kernel would magically create a
cooperative priority for its idle thread, which wasn't correct even
before.
Fixes#34584
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
Usually Zephyr boots all secondary CPUs as a part of system
boot. Some applications however need an ability to boot on
the main CPU only and enable secondary CPUs selectively at
run-time. Add a Kconfig option to support this behaviour.
When booting CPUs on demand applications also need helpers
to initialise a dummy thread and begin threaded execution
on those CPUs, add two such helpers.
Signed-off-by: Guennadi Liakhovetski <guennadi.liakhovetski@linux.intel.com>
This adds a new kconfig CONFIG_TIMING_FUNCTIONS_NEED_AT_BOOT so
that the timing subsystem can be initialized at boot, instead of
being #ifdef under thread runtime statistics. This will allow
other part of kernel and other subsystems to utilize the timing
functions.
Signed-off-by: Daniel Leung <daniel.leung@intel.com>
both thread monitor and thread names are not EXPERIMENTAL any more. They
have been used across the tree and lots depend on those features
already.
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
This feature predated the tickless kernel and has been in legacy mode
for a while. We now have no drivers or systems that do not support
tickless, so remove this option and cleanup the code to only use
tickless.
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
The only user of arch_mem_domain_destroy was the deprecated
k_mem_domain_destroy function which has now been removed. So remove
arch_mem_domain_destroy as well.
Signed-off-by: Kumar Gala <kumar.gala@linaro.org>
The xtensa atomics layer was written with hand-coded assembly that had
to be called as functions. That's needlessly slow, given that the low
level primitives are a two-instruction sequence. Ideally the compiler
should see this as an inline to permit it to better optimize around
the needed barriers.
There was also a bug with the atomic_cas function, which had a loop
internally instead of returning the old value synchronously on a
failed swap. That's benign right now because our existing spin lock
does nothing but retry it in a tight loop anyway, but it's incorrect
per spec and would have caused a contention hang with more elaborate
algorithms (for example a spinlock with backoff semantics).
Remove the old implementation and replace with a much smaller inline C
one based on just two assembly primitives.
This patch also contains a little bit of refactoring to address the
scheme has been split out into a separate header for each, and the
ATOMIC_OPERATIONS_CUSTOM kconfig has been renamed to
ATOMIC_OPERATIONS_ARCH to better capture what it means.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
While I'm in the idle code, let's clean this loop up. It was a really
bad #ifdef hell:
* Remove the CONFIG_TICKLESS_IDLE_THRESH logic (and the kconfig),
which never did anything but needlessly increase latency.
* Move the needed timeout logic from the main loop into
pm_save_idle(), which eliminates the special case for
!SYS_CLOCK_EXISTS.
Behavior (modulo that one kconfig) should be completely unchanged, and
now the inner part of the idle loop looks like:
while (true) {
(void) arch_irq_lock();
if (IS_ENABLED(CONFIG_PM)) {
pm_save_idle();
} else {
k_cpu_idle();
}
}
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
Now that the old API has been reimplemented with the new API remove
the old implementation and its tests.
Signed-off-by: Peter Bigot <peter.bigot@nordicsemi.no>
Switch the default and clean up some test workarounds. This will enable
final conversions necessary to transition to the new API.
Signed-off-by: Peter Bigot <peter.bigot@nordicsemi.no>
This commit provides a complete reimplementation of the work queue
infrastructure intended to eliminate the race conditions and feature
gaps in the existing implementation.
Both bare and delayable work structures are supported. Items can be
submitted; delayable items can be scheduled for submission at a future
time. Items can be delayed, queued, and running all at the same time.
A running item can also be canceling.
The new implementation:
* replaces "pending" with "busy" which identifies the active states;
* supports canceling delayed and submitted items;
* prevents resubmission of a item being canceled until cancellation
completes;
* supports waiting for cancellation to complete;
* supports flushing a work item (waiting for the last submission to
complete without preventing resubmission);
* supports waiting for a queue to drain (only allows resubmission from
the work thread);
* supports stopping a work queue in conjunction with draining it;
* prevents handler-reentrancy during resubmission.
Signed-off-by: Peter Bigot <peter.bigot@nordicsemi.no>
Attempts to reimplement the existing work API using a new work
implementation failed, primarily due to heavy use of whitebox testing
in validating the original API. Add a temporary Kconfig that will
select between the two implementations so we can use the same
identifiers but select which implementation they reference.
This commit just adds the selection infrastructure and uses it to
conditionalize the existing implementation in anticipation of the new
one in the next commit.
Signed-off-by: Peter Bigot <peter.bigot@nordicsemi.no>
