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zephyr/kernel/thread.c
Andy Ross 7832738ae9 kernel/timeout: Make timeout arguments an opaque type 
Add a k_timeout_t type, and use it everywhere that kernel API
functions were accepting a millisecond timeout argument.  Instead of
forcing milliseconds everywhere (which are often not integrally
representable as system ticks), do the conversion to ticks at the
point where the timeout is created.  This avoids an extra unit
conversion in some application code, and allows us to express the
timeout in units other than milliseconds to achieve greater precision.

The existing K_MSEC() et. al. macros now return initializers for a
k_timeout_t.

The K_NO_WAIT and K_FOREVER constants have now become k_timeout_t
values, which means they cannot be operated on as integers.
Applications which have their own APIs that need to inspect these
vs. user-provided timeouts can now use a K_TIMEOUT_EQ() predicate to
test for equality.

Timer drivers, which receive an integer tick count in ther
z_clock_set_timeout() functions, now use the integer-valued
K_TICKS_FOREVER constant instead of K_FOREVER.

For the initial release, to preserve source compatibility, a
CONFIG_LEGACY_TIMEOUT_API kconfig is provided.  When true, the
k_timeout_t will remain a compatible 32 bit value that will work with
any legacy Zephyr application.

Some subsystems present timeout (or timeout-like) values to their own
users as APIs that would re-use the kernel's own constants and
conventions.  These will require some minor design work to adapt to
the new scheme (in most cases just using k_timeout_t directly in their
own API), and they have not been changed in this patch, instead
selecting CONFIG_LEGACY_TIMEOUT_API via kconfig.  These subsystems
include: CAN Bus, the Microbit display driver, I2S, LoRa modem
drivers, the UART Async API, Video hardware drivers, the console
subsystem, and the network buffer abstraction.

k_sleep() now takes a k_timeout_t argument, with a k_msleep() variant
provided that works identically to the original API.

Most of the changes here are just type/configuration management and
documentation, but there are logic changes in mempool, where a loop
that used a timeout numerically has been reworked using a new
z_timeout_end_calc() predicate.  Also in queue.c, a (when POLL was
enabled) a similar loop was needlessly used to try to retry the
k_poll() call after a spurious failure.  But k_poll() does not fail
spuriously, so the loop was removed.

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
2020-03-31 19:40:47 -04:00

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/*
* Copyright (c) 2010-2014 Wind River Systems, Inc.
*
* SPDX-License-Identifier: Apache-2.0
*/
/**
* @file
* @brief Kernel thread support
*
* This module provides general purpose thread support.
*/
#include <kernel.h>
#include <spinlock.h>
#include <sys/math_extras.h>
#include <sys_clock.h>
#include <drivers/timer/system_timer.h>
#include <ksched.h>
#include <wait_q.h>
#include <sys/atomic.h>
#include <syscall_handler.h>
#include <kernel_internal.h>
#include <kswap.h>
#include <init.h>
#include <tracing/tracing.h>
#include <string.h>
#include <stdbool.h>
#include <irq_offload.h>
#include <sys/check.h>
#ifdef CONFIG_THREAD_MONITOR
/* This lock protects the linked list of active threads; i.e. the
* initial _kernel.threads pointer and the linked list made up of
* thread->next_thread (until NULL)
*/
static struct k_spinlock z_thread_monitor_lock;
#endif /* CONFIG_THREAD_MONITOR */
#define _FOREACH_STATIC_THREAD(thread_data) \
Z_STRUCT_SECTION_FOREACH(_static_thread_data, thread_data)
void k_thread_foreach(k_thread_user_cb_t user_cb, void *user_data)
{
#if defined(CONFIG_THREAD_MONITOR)
struct k_thread *thread;
k_spinlock_key_t key;
__ASSERT(user_cb != NULL, "user_cb can not be NULL");
/*
* Lock is needed to make sure that the _kernel.threads is not being
* modified by the user_cb either directly or indirectly.
* The indirect ways are through calling k_thread_create and
* k_thread_abort from user_cb.
*/
key = k_spin_lock(&z_thread_monitor_lock);
_FOREACH_STATIC_THREAD(thread_data) {
user_cb(thread_data->init_thread, user_data);
}
for (thread = _kernel.threads; thread; thread = thread->next_thread) {
user_cb(thread, user_data);
}
k_spin_unlock(&z_thread_monitor_lock, key);
#endif
}
void k_thread_foreach_unlocked(k_thread_user_cb_t user_cb, void *user_data)
{
#if defined(CONFIG_THREAD_MONITOR)
struct k_thread *thread;
k_spinlock_key_t key;
__ASSERT(user_cb != NULL, "user_cb can not be NULL");
key = k_spin_lock(&z_thread_monitor_lock);
_FOREACH_STATIC_THREAD(thread_data) {
k_spin_unlock(&z_thread_monitor_lock, key);
user_cb(thread_data->init_thread, user_data);
key = k_spin_lock(&z_thread_monitor_lock);
}
for (thread = _kernel.threads; thread; thread = thread->next_thread) {
k_spin_unlock(&z_thread_monitor_lock, key);
user_cb(thread, user_data);
key = k_spin_lock(&z_thread_monitor_lock);
}
k_spin_unlock(&z_thread_monitor_lock, key);
#endif
}
bool k_is_in_isr(void)
{
return arch_is_in_isr();
}
/*
* This function tags the current thread as essential to system operation.
* Exceptions raised by this thread will be treated as a fatal system error.
*/
void z_thread_essential_set(void)
{
_current->base.user_options |= K_ESSENTIAL;
}
/*
* This function tags the current thread as not essential to system operation.
* Exceptions raised by this thread may be recoverable.
* (This is the default tag for a thread.)
*/
void z_thread_essential_clear(void)
{
_current->base.user_options &= ~K_ESSENTIAL;
}
/*
* This routine indicates if the current thread is an essential system thread.
*
* Returns true if current thread is essential, false if it is not.
*/
bool z_is_thread_essential(void)
{
return (_current->base.user_options & K_ESSENTIAL) == K_ESSENTIAL;
}
#ifdef CONFIG_SYS_CLOCK_EXISTS
void z_impl_k_busy_wait(u32_t usec_to_wait)
{
#if !defined(CONFIG_ARCH_HAS_CUSTOM_BUSY_WAIT)
/* use 64-bit math to prevent overflow when multiplying */
u32_t cycles_to_wait = (u32_t)(
(u64_t)usec_to_wait *
(u64_t)sys_clock_hw_cycles_per_sec() /
(u64_t)USEC_PER_SEC
);
u32_t start_cycles = k_cycle_get_32();
for (;;) {
u32_t current_cycles = k_cycle_get_32();
/* this handles the rollover on an unsigned 32-bit value */
if ((current_cycles - start_cycles) >= cycles_to_wait) {
break;
}
}
#else
arch_busy_wait(usec_to_wait);
#endif /* CONFIG_ARCH_HAS_CUSTOM_BUSY_WAIT */
}
#ifdef CONFIG_USERSPACE
static inline void z_vrfy_k_busy_wait(u32_t usec_to_wait)
{
z_impl_k_busy_wait(usec_to_wait);
}
#include <syscalls/k_busy_wait_mrsh.c>
#endif /* CONFIG_USERSPACE */
#endif /* CONFIG_SYS_CLOCK_EXISTS */
#ifdef CONFIG_THREAD_CUSTOM_DATA
void z_impl_k_thread_custom_data_set(void *value)
{
_current->custom_data = value;
}
#ifdef CONFIG_USERSPACE
static inline void z_vrfy_k_thread_custom_data_set(void *data)
{
z_impl_k_thread_custom_data_set(data);
}
#include <syscalls/k_thread_custom_data_set_mrsh.c>
#endif
void *z_impl_k_thread_custom_data_get(void)
{
return _current->custom_data;
}
#ifdef CONFIG_USERSPACE
static inline void *z_vrfy_k_thread_custom_data_get(void)
{
return z_impl_k_thread_custom_data_get();
}
#include <syscalls/k_thread_custom_data_get_mrsh.c>
#endif /* CONFIG_USERSPACE */
#endif /* CONFIG_THREAD_CUSTOM_DATA */
#if defined(CONFIG_THREAD_MONITOR)
/*
* Remove a thread from the kernel's list of active threads.
*/
void z_thread_monitor_exit(struct k_thread *thread)
{
k_spinlock_key_t key = k_spin_lock(&z_thread_monitor_lock);
if (thread == _kernel.threads) {
_kernel.threads = _kernel.threads->next_thread;
} else {
struct k_thread *prev_thread;
prev_thread = _kernel.threads;
while ((prev_thread != NULL) &&
(thread != prev_thread->next_thread)) {
prev_thread = prev_thread->next_thread;
}
if (prev_thread != NULL) {
prev_thread->next_thread = thread->next_thread;
}
}
k_spin_unlock(&z_thread_monitor_lock, key);
}
#endif
int z_impl_k_thread_name_set(struct k_thread *thread, const char *value)
{
#ifdef CONFIG_THREAD_NAME
if (thread == NULL) {
thread = _current;
}
strncpy(thread->name, value, CONFIG_THREAD_MAX_NAME_LEN);
thread->name[CONFIG_THREAD_MAX_NAME_LEN - 1] = '\0';
sys_trace_thread_name_set(thread);
return 0;
#else
ARG_UNUSED(thread);
ARG_UNUSED(value);
return -ENOSYS;
#endif /* CONFIG_THREAD_NAME */
}
#ifdef CONFIG_USERSPACE
static inline int z_vrfy_k_thread_name_set(struct k_thread *t, const char *str)
{
#ifdef CONFIG_THREAD_NAME
size_t len;
int err;
if (t != NULL) {
if (Z_SYSCALL_OBJ(t, K_OBJ_THREAD) != 0) {
return -EINVAL;
}
}
len = z_user_string_nlen(str, CONFIG_THREAD_MAX_NAME_LEN, &err);
if (err != 0) {
return -EFAULT;
}
if (Z_SYSCALL_MEMORY_READ(str, len) != 0) {
return -EFAULT;
}
return z_impl_k_thread_name_set(t, str);
#else
return -ENOSYS;
#endif /* CONFIG_THREAD_NAME */
}
#include <syscalls/k_thread_name_set_mrsh.c>
#endif /* CONFIG_USERSPACE */
const char *k_thread_name_get(struct k_thread *thread)
{
#ifdef CONFIG_THREAD_NAME
return (const char *)thread->name;
#else
ARG_UNUSED(thread);
return NULL;
#endif /* CONFIG_THREAD_NAME */
}
int z_impl_k_thread_name_copy(k_tid_t thread_id, char *buf, size_t size)
{
#ifdef CONFIG_THREAD_NAME
strncpy(buf, thread_id->name, size);
return 0;
#else
ARG_UNUSED(thread_id);
ARG_UNUSED(buf);
ARG_UNUSED(size);
return -ENOSYS;
#endif /* CONFIG_THREAD_NAME */
}
const char *k_thread_state_str(k_tid_t thread_id)
{
switch (thread_id->base.thread_state) {
case 0:
return "";
break;
case _THREAD_DUMMY:
return "dummy";
break;
case _THREAD_PENDING:
return "pending";
break;
case _THREAD_PRESTART:
return "prestart";
break;
case _THREAD_DEAD:
return "dead";
break;
case _THREAD_SUSPENDED:
return "suspended";
break;
case _THREAD_ABORTING:
return "aborting";
break;
case _THREAD_QUEUED:
return "queued";
break;
}
return "unknown";
}
#ifdef CONFIG_USERSPACE
static inline int z_vrfy_k_thread_name_copy(k_tid_t thread,
char *buf, size_t size)
{
#ifdef CONFIG_THREAD_NAME
size_t len;
struct z_object *ko = z_object_find(thread);
/* Special case: we allow reading the names of initialized threads
* even if we don't have permission on them
*/
if (thread == NULL || ko->type != K_OBJ_THREAD ||
(ko->flags & K_OBJ_FLAG_INITIALIZED) == 0) {
return -EINVAL;
}
if (Z_SYSCALL_MEMORY_WRITE(buf, size) != 0) {
return -EFAULT;
}
len = strlen(thread->name);
if (len + 1 > size) {
return -ENOSPC;
}
return z_user_to_copy((void *)buf, thread->name, len + 1);
#else
ARG_UNUSED(thread);
ARG_UNUSED(buf);
ARG_UNUSED(size);
return -ENOSYS;
#endif /* CONFIG_THREAD_NAME */
}
#include <syscalls/k_thread_name_copy_mrsh.c>
#endif /* CONFIG_USERSPACE */
#ifdef CONFIG_STACK_SENTINEL
/* Check that the stack sentinel is still present
*
* The stack sentinel feature writes a magic value to the lowest 4 bytes of
* the thread's stack when the thread is initialized. This value gets checked
* in a few places:
*
* 1) In k_yield() if the current thread is not swapped out
* 2) After servicing a non-nested interrupt
* 3) In z_swap(), check the sentinel in the outgoing thread
*
* Item 2 requires support in arch/ code.
*
* If the check fails, the thread will be terminated appropriately through
* the system fatal error handler.
*/
void z_check_stack_sentinel(void)
{
u32_t *stack;
if ((_current->base.thread_state & _THREAD_DUMMY) != 0) {
return;
}
stack = (u32_t *)_current->stack_info.start;
if (*stack != STACK_SENTINEL) {
/* Restore it so further checks don't trigger this same error */
*stack = STACK_SENTINEL;
z_except_reason(K_ERR_STACK_CHK_FAIL);
}
}
#endif
#ifdef CONFIG_MULTITHREADING
void z_impl_k_thread_start(struct k_thread *thread)
{
z_sched_start(thread);
}
#ifdef CONFIG_USERSPACE
static inline void z_vrfy_k_thread_start(struct k_thread *thread)
{
Z_OOPS(Z_SYSCALL_OBJ(thread, K_OBJ_THREAD));
return z_impl_k_thread_start(thread);
}
#include <syscalls/k_thread_start_mrsh.c>
#endif
#endif
#ifdef CONFIG_MULTITHREADING
static void schedule_new_thread(struct k_thread *thread, k_timeout_t delay)
{
#ifdef CONFIG_SYS_CLOCK_EXISTS
if (K_TIMEOUT_EQ(delay, K_NO_WAIT)) {
k_thread_start(thread);
} else {
#ifdef CONFIG_LEGACY_TIMEOUT_API
delay = _TICK_ALIGN + k_ms_to_ticks_ceil32(delay);
#endif
z_add_thread_timeout(thread, delay);
}
#else
ARG_UNUSED(delay);
k_thread_start(thread);
#endif
}
#endif
#if !CONFIG_STACK_POINTER_RANDOM
static inline size_t adjust_stack_size(size_t stack_size)
{
return stack_size;
}
#else
int z_stack_adjust_initialized;
static inline size_t adjust_stack_size(size_t stack_size)
{
size_t random_val;
if (!z_stack_adjust_initialized) {
z_early_boot_rand_get((u8_t *)&random_val, sizeof(random_val));
} else {
sys_rand_get((u8_t *)&random_val, sizeof(random_val));
}
/* Don't need to worry about alignment of the size here,
* arch_new_thread() is required to do it.
*
* FIXME: Not the best way to get a random number in a range.
* See #6493
*/
const size_t fuzz = random_val % CONFIG_STACK_POINTER_RANDOM;
if (unlikely(fuzz * 2 > stack_size)) {
return stack_size;
}
return stack_size - fuzz;
}
#if defined(CONFIG_STACK_GROWS_UP)
/* This is so rare not bothering for now */
#error "Stack pointer randomization not implemented for upward growing stacks"
#endif /* CONFIG_STACK_GROWS_UP */
#endif /* CONFIG_STACK_POINTER_RANDOM */
void z_new_thread_init(struct k_thread *thread,
char *pStack, size_t stackSize,
int prio, unsigned int options)
{
#if !defined(CONFIG_INIT_STACKS) && !defined(CONFIG_THREAD_STACK_INFO)
ARG_UNUSED(pStack);
ARG_UNUSED(stackSize);
#endif
#ifdef CONFIG_INIT_STACKS
memset(pStack, 0xaa, stackSize);
#endif
#ifdef CONFIG_STACK_SENTINEL
/* Put the stack sentinel at the lowest 4 bytes of the stack area.
* We periodically check that it's still present and kill the thread
* if it isn't.
*/
*((u32_t *)pStack) = STACK_SENTINEL;
#endif /* CONFIG_STACK_SENTINEL */
/* Initialize various struct k_thread members */
z_init_thread_base(&thread->base, prio, _THREAD_PRESTART, options);
/* static threads overwrite it afterwards with real value */
thread->init_data = NULL;
thread->fn_abort = NULL;
#ifdef CONFIG_THREAD_CUSTOM_DATA
/* Initialize custom data field (value is opaque to kernel) */
thread->custom_data = NULL;
#endif
#ifdef CONFIG_THREAD_NAME
thread->name[0] = '\0';
#endif
#if defined(CONFIG_USERSPACE)
thread->mem_domain_info.mem_domain = NULL;
#endif /* CONFIG_USERSPACE */
#if defined(CONFIG_THREAD_STACK_INFO)
thread->stack_info.start = (uintptr_t)pStack;
thread->stack_info.size = (u32_t)stackSize;
#endif /* CONFIG_THREAD_STACK_INFO */
}
/*
* Note:
* The caller must guarantee that the stack_size passed here corresponds
* to the amount of stack memory available for the thread.
*/
void z_setup_new_thread(struct k_thread *new_thread,
k_thread_stack_t *stack, size_t stack_size,
k_thread_entry_t entry,
void *p1, void *p2, void *p3,
int prio, u32_t options, const char *name)
{
#ifdef CONFIG_USERSPACE
z_object_init(new_thread);
z_object_init(stack);
new_thread->stack_obj = stack;
/* Any given thread has access to itself */
k_object_access_grant(new_thread, new_thread);
#endif
stack_size = adjust_stack_size(stack_size);
z_waitq_init(&new_thread->base.join_waiters);
#ifdef CONFIG_THREAD_USERSPACE_LOCAL_DATA
#ifndef CONFIG_THREAD_USERSPACE_LOCAL_DATA_ARCH_DEFER_SETUP
/* reserve space on top of stack for local data */
stack_size = STACK_ROUND_DOWN(stack_size
- sizeof(*new_thread->userspace_local_data));
#endif
#endif
arch_new_thread(new_thread, stack, stack_size, entry, p1, p2, p3,
prio, options);
#ifdef CONFIG_USE_SWITCH
/* switch_handle must be non-null except when inside z_swap()
* for synchronization reasons. Historically some notional
* USE_SWITCH architectures have actually ignored the field
*/
__ASSERT(new_thread->switch_handle != NULL,
"arch layer failed to initialize switch_handle");
#endif
#ifdef CONFIG_THREAD_USERSPACE_LOCAL_DATA
#ifndef CONFIG_THREAD_USERSPACE_LOCAL_DATA_ARCH_DEFER_SETUP
/* don't set again if the arch's own code in arch_new_thread() has
* already set the pointer.
*/
new_thread->userspace_local_data =
(struct _thread_userspace_local_data *)
(Z_THREAD_STACK_BUFFER(stack) + stack_size);
#endif
#endif
#ifdef CONFIG_THREAD_MONITOR
new_thread->entry.pEntry = entry;
new_thread->entry.parameter1 = p1;
new_thread->entry.parameter2 = p2;
new_thread->entry.parameter3 = p3;
k_spinlock_key_t key = k_spin_lock(&z_thread_monitor_lock);
new_thread->next_thread = _kernel.threads;
_kernel.threads = new_thread;
k_spin_unlock(&z_thread_monitor_lock, key);
#endif
#ifdef CONFIG_THREAD_NAME
if (name != NULL) {
strncpy(new_thread->name, name,
CONFIG_THREAD_MAX_NAME_LEN - 1);
/* Ensure NULL termination, truncate if longer */
new_thread->name[CONFIG_THREAD_MAX_NAME_LEN - 1] = '\0';
}
#endif
#ifdef CONFIG_SCHED_CPU_MASK
new_thread->base.cpu_mask = -1;
#endif
#ifdef CONFIG_ARCH_HAS_CUSTOM_SWAP_TO_MAIN
/* _current may be null if the dummy thread is not used */
if (!_current) {
new_thread->resource_pool = NULL;
return;
}
#endif
#ifdef CONFIG_USERSPACE
/* New threads inherit any memory domain membership by the parent */
if (_current->mem_domain_info.mem_domain != NULL) {
k_mem_domain_add_thread(_current->mem_domain_info.mem_domain,
new_thread);
}
if ((options & K_INHERIT_PERMS) != 0U) {
z_thread_perms_inherit(_current, new_thread);
}
#endif
#ifdef CONFIG_SCHED_DEADLINE
new_thread->base.prio_deadline = 0;
#endif
new_thread->resource_pool = _current->resource_pool;
sys_trace_thread_create(new_thread);
}
#ifdef CONFIG_MULTITHREADING
k_tid_t z_impl_k_thread_create(struct k_thread *new_thread,
k_thread_stack_t *stack,
size_t stack_size, k_thread_entry_t entry,
void *p1, void *p2, void *p3,
int prio, u32_t options, k_timeout_t delay)
{
__ASSERT(!arch_is_in_isr(), "Threads may not be created in ISRs");
/* Special case, only for unit tests */
#if defined(CONFIG_TEST) && defined(CONFIG_ARCH_HAS_USERSPACE) && !defined(CONFIG_USERSPACE)
__ASSERT((options & K_USER) == 0,
"Platform is capable of user mode, and test thread created with K_USER option,"
" but neither CONFIG_TEST_USERSPACE nor CONFIG_USERSPACE is set\n");
#endif
z_setup_new_thread(new_thread, stack, stack_size, entry, p1, p2, p3,
prio, options, NULL);
if (!K_TIMEOUT_EQ(delay, K_FOREVER)) {
schedule_new_thread(new_thread, delay);
}
return new_thread;
}
#ifdef CONFIG_USERSPACE
k_tid_t z_vrfy_k_thread_create(struct k_thread *new_thread,
k_thread_stack_t *stack,
size_t stack_size, k_thread_entry_t entry,
void *p1, void *p2, void *p3,
int prio, u32_t options, k_timeout_t delay)
{
size_t total_size, stack_obj_size;
struct z_object *stack_object;
/* The thread and stack objects *must* be in an uninitialized state */
Z_OOPS(Z_SYSCALL_OBJ_NEVER_INIT(new_thread, K_OBJ_THREAD));
stack_object = z_object_find(stack);
Z_OOPS(Z_SYSCALL_VERIFY_MSG(z_obj_validation_check(stack_object, stack,
K_OBJ_THREAD_STACK_ELEMENT,
_OBJ_INIT_FALSE) == 0,
"bad stack object"));
/* Verify that the stack size passed in is OK by computing the total
* size and comparing it with the size value in the object metadata
*/
Z_OOPS(Z_SYSCALL_VERIFY_MSG(!size_add_overflow(K_THREAD_STACK_RESERVED,
stack_size, &total_size),
"stack size overflow (%zu+%zu)",
stack_size,
K_THREAD_STACK_RESERVED));
/* Testing less-than-or-equal since additional room may have been
* allocated for alignment constraints
*/
#ifdef CONFIG_GEN_PRIV_STACKS
stack_obj_size = stack_object->data.stack_data->size;
#else
stack_obj_size = stack_object->data.stack_size;
#endif
Z_OOPS(Z_SYSCALL_VERIFY_MSG(total_size <= stack_obj_size,
"stack size %zu is too big, max is %zu",
total_size, stack_obj_size));
/* User threads may only create other user threads and they can't
* be marked as essential
*/
Z_OOPS(Z_SYSCALL_VERIFY(options & K_USER));
Z_OOPS(Z_SYSCALL_VERIFY(!(options & K_ESSENTIAL)));
/* Check validity of prio argument; must be the same or worse priority
* than the caller
*/
Z_OOPS(Z_SYSCALL_VERIFY(_is_valid_prio(prio, NULL)));
Z_OOPS(Z_SYSCALL_VERIFY(z_is_prio_lower_or_equal(prio,
_current->base.prio)));
z_setup_new_thread(new_thread, stack, stack_size,
entry, p1, p2, p3, prio, options, NULL);
if (!K_TIMEOUT_EQ(delay, K_FOREVER)) {
schedule_new_thread(new_thread, delay);
}
return new_thread;
}
#include <syscalls/k_thread_create_mrsh.c>
#endif /* CONFIG_USERSPACE */
#endif /* CONFIG_MULTITHREADING */
#ifdef CONFIG_MULTITHREADING
#ifdef CONFIG_USERSPACE
static void grant_static_access(void)
{
Z_STRUCT_SECTION_FOREACH(z_object_assignment, pos) {
for (int i = 0; pos->objects[i] != NULL; i++) {
k_object_access_grant(pos->objects[i],
pos->thread);
}
}
}
#endif /* CONFIG_USERSPACE */
void z_init_static_threads(void)
{
_FOREACH_STATIC_THREAD(thread_data) {
z_setup_new_thread(
thread_data->init_thread,
thread_data->init_stack,
thread_data->init_stack_size,
thread_data->init_entry,
thread_data->init_p1,
thread_data->init_p2,
thread_data->init_p3,
thread_data->init_prio,
thread_data->init_options,
thread_data->init_name);
thread_data->init_thread->init_data = thread_data;
}
#ifdef CONFIG_USERSPACE
grant_static_access();
#endif
/*
* Non-legacy static threads may be started immediately or
* after a previously specified delay. Even though the
* scheduler is locked, ticks can still be delivered and
* processed. Take a sched lock to prevent them from running
* until they are all started.
*
* Note that static threads defined using the legacy API have a
* delay of K_FOREVER.
*/
k_sched_lock();
_FOREACH_STATIC_THREAD(thread_data) {
if (thread_data->init_delay != K_TICKS_FOREVER) {
schedule_new_thread(thread_data->init_thread,
K_MSEC(thread_data->init_delay));
}
}
k_sched_unlock();
}
#endif
void z_init_thread_base(struct _thread_base *thread_base, int priority,
u32_t initial_state, unsigned int options)
{
/* k_q_node is initialized upon first insertion in a list */
thread_base->user_options = (u8_t)options;
thread_base->thread_state = (u8_t)initial_state;
thread_base->prio = priority;
thread_base->sched_locked = 0U;
#ifdef CONFIG_SMP
thread_base->is_idle = 0;
#endif
/* swap_data does not need to be initialized */
z_init_thread_timeout(thread_base);
}
FUNC_NORETURN void k_thread_user_mode_enter(k_thread_entry_t entry,
void *p1, void *p2, void *p3)
{
_current->base.user_options |= K_USER;
z_thread_essential_clear();
#ifdef CONFIG_THREAD_MONITOR
_current->entry.pEntry = entry;
_current->entry.parameter1 = p1;
_current->entry.parameter2 = p2;
_current->entry.parameter3 = p3;
#endif
#ifdef CONFIG_USERSPACE
arch_user_mode_enter(entry, p1, p2, p3);
#else
/* XXX In this case we do not reset the stack */
z_thread_entry(entry, p1, p2, p3);
#endif
}
/* These spinlock assertion predicates are defined here because having
* them in spinlock.h is a giant header ordering headache.
*/
#ifdef CONFIG_SPIN_VALIDATE
bool z_spin_lock_valid(struct k_spinlock *l)
{
uintptr_t thread_cpu = l->thread_cpu;
if (thread_cpu) {
if ((thread_cpu & 3) == _current_cpu->id) {
return false;
}
}
return true;
}
bool z_spin_unlock_valid(struct k_spinlock *l)
{
if (l->thread_cpu != (_current_cpu->id | (uintptr_t)_current)) {
return false;
}
l->thread_cpu = 0;
return true;
}
void z_spin_lock_set_owner(struct k_spinlock *l)
{
l->thread_cpu = _current_cpu->id | (uintptr_t)_current;
}
#endif /* CONFIG_SPIN_VALIDATE */
int z_impl_k_float_disable(struct k_thread *thread)
{
#if defined(CONFIG_FLOAT) && defined(CONFIG_FP_SHARING)
return arch_float_disable(thread);
#else
return -ENOSYS;
#endif /* CONFIG_FLOAT && CONFIG_FP_SHARING */
}
#ifdef CONFIG_USERSPACE
static inline int z_vrfy_k_float_disable(struct k_thread *thread)
{
Z_OOPS(Z_SYSCALL_OBJ(thread, K_OBJ_THREAD));
return z_impl_k_float_disable(thread);
}
#include <syscalls/k_float_disable_mrsh.c>
#endif /* CONFIG_USERSPACE */
#ifdef CONFIG_IRQ_OFFLOAD
static K_SEM_DEFINE(offload_sem, 1, 1);
void irq_offload(irq_offload_routine_t routine, void *parameter)
{
k_sem_take(&offload_sem, K_FOREVER);
arch_irq_offload(routine, parameter);
k_sem_give(&offload_sem);
}
#endif
#if defined(CONFIG_INIT_STACKS) && defined(CONFIG_THREAD_STACK_INFO)
#ifdef CONFIG_STACK_GROWS_UP
#error "Unsupported configuration for stack analysis"
#endif
int z_impl_k_thread_stack_space_get(const struct k_thread *thread,
size_t *unused_ptr)
{
const u8_t *start = (u8_t *)thread->stack_info.start;
size_t size = thread->stack_info.size;
size_t unused = 0;
const u8_t *checked_stack = start;
/* Take the address of any local variable as a shallow bound for the
* stack pointer. Addresses above it are guaranteed to be
* accessible.
*/
const u8_t *stack_pointer = (const u8_t *)&start;
/* If we are currently running on the stack being analyzed, some
* memory management hardware will generate an exception if we
* read unused stack memory.
*
* This never happens when invoked from user mode, as user mode
* will always run this function on the privilege elevation stack.
*/
if ((stack_pointer > start) && (stack_pointer <= (start + size)) &&
IS_ENABLED(CONFIG_NO_UNUSED_STACK_INSPECTION)) {
/* TODO: We could add an arch_ API call to temporarily
* disable the stack checking in the CPU, but this would
* need to be properly managed wrt context switches/interrupts
*/
return -ENOTSUP;
}
if (IS_ENABLED(CONFIG_STACK_SENTINEL)) {
/* First 4 bytes of the stack buffer reserved for the
* sentinel value, it won't be 0xAAAAAAAA for thread
* stacks.
*
* FIXME: thread->stack_info.start ought to reflect
* this!
*/
checked_stack += 4;
size -= 4;
}
for (size_t i = 0; i < size; i++) {
if ((checked_stack[i]) == 0xaaU) {
unused++;
} else {
break;
}
}
*unused_ptr = unused;
return 0;
}
#ifdef CONFIG_USERSPACE
int z_vrfy_k_thread_stack_space_get(const struct k_thread *thread,
size_t *unused_ptr)
{
size_t unused;
int ret;
ret = Z_SYSCALL_OBJ(thread, K_OBJ_THREAD);
CHECKIF(ret != 0) {
return ret;
}
ret = z_impl_k_thread_stack_space_get(thread, &unused);
CHECKIF(ret != 0) {
return ret;
}
ret = z_user_to_copy(unused_ptr, &unused, sizeof(size_t));
CHECKIF(ret != 0) {
return ret;
}
return 0;
}
#include <syscalls/k_thread_stack_space_get_mrsh.c>
#endif /* CONFIG_USERSPACE */
#endif /* CONFIG_INIT_STACKS && CONFIG_THREAD_STACK_INFO */
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