Recent changes have eliminated most use of _Swap() in favor of higher
level scheduler abstractions. We can remove the header too.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
Everywhere the current thread is pended, the code is going to have to
do a _Swap() soon afterward, yet the scheduler API exposed these as
separate steps. Unify this pattern everywhere it appears, which saves
some code bytes and gets _Swap() out of the general scheduler API at
zero cost.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
There was a somewhat promiscuous pattern in the kernel where IPC
mechanisms would do something that might effect the current thread
choice, then check _must_switch_threads() (or occasionally
__must_switch_threads -- don't ask, the distinction is being replaced
by real English words), sometimes _is_in_isr() (but not always, even
in contexts where that looks like it would be a mistake), and then
call _Swap() if everything is OK, otherwise releasing the irq_lock().
Sometimes this was done directly, sometimes via the inverted test,
sometimes (poll, heh) by doing the test when the thread state was
modified and then needlessly passing the result up the call stack to
the point of the _Swap().
And some places were just calling _reschedule_threads(), which did all
this already.
Unify all this madness. The old _reschedule_threads() function has
split into two variants: _reschedule_yield() and
_reschedule_noyield(). The latter is the "normal" one that respects
the cooperative priority of the current thread (i.e. it won't switch
out even if there is a higher priority thread ready -- the current
thread has to pend itself first), the former is used in the handful of
places where code was doing a swap unconditionally, just to preserve
precise behavior across the refactor. I'm not at all convinced it
should exist...
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
This was the only spot where the scheduler-internal
_peek_first_pending_thread() API was used. Given that this kind of
thing is inherently racy (it may not be pending as long as you expect
if a timeout expires, etc...), it would be nice to retire it.
And as it happens all the queue code was using it for was to detect
the case of a non-empty wait_q over which it was looping, which is
trivial to do without API support.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
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>
_Swap() is defined in nano_internal.h. Everything calls _Swap().
Pretty much nothing that called _Swap() included nano_internal.h,
expecting it to be picked up automatically through other headers (as
it happened, from the kernel arch-specific include file). A new
_Swap() is going to need some other symbols in the inline definition,
so I needed to break that cycle. Now nothing sees _Swap() defined
anymore. Put nano_internal.h everywhere it's needed.
Our kernel includes remain a big awful yucky mess. This makes things
more correct but no less ugly. Needs cleanup.
Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
When k_poll is being used k_queue_cancel_wait shall mark the state as
K_POLL_STATE_NOT_READY so other threads will get properly notified with
a NULL pointer return.
Signed-off-by: Luiz Augusto von Dentz <luiz.von.dentz@intel.com>
k_queue_get shall never return NULL when timeout is K_FOREVER which can
happen when a higher priority thread cancel/take an item before the
waiting thread.
Fixes issue #4358
Signed-off-by: Luiz Augusto von Dentz <luiz.von.dentz@intel.com>
All sys_slist_*() functions aren't threadsafe and calls to them
must be protected with irq_lock. This is usually done in a wider
caller context, but k_queue_poll() is called with irq_lock already
relinquished, and is thus subject to hard to detect and explain
race conditions, as e.g. was tracked in #4022.
Signed-off-by: Paul Sokolovsky <paul.sokolovsky@linaro.org>
This is necessary in order for k_queue_get to work properly since that
is used with buffer pools which might be used by multiple threads asking
for buffers.
Jira: ZEP-2553
Signed-off-by: Luiz Augusto von Dentz <luiz.von.dentz@intel.com>
This makes use of POLL_EVENT in case k_poll is enabled which is
preferable over wait_q as that allows objects to be removed for the
data_q at any time.
Signed-off-by: Luiz Augusto von Dentz <luiz.von.dentz@intel.com>
Fixes sparse warnings:
<snip>/zephyr/kernel/timer.c:15:16: warning: symbol '_trace_list_k_timer' was not declared. Should it be static?
<snip>/zephyr/kernel/sem.c:32:14: warning: symbol'_trace_list_k_sem' was not declared. Should it be static?
<snip>/zephyr/kernel/stack.c:24:16: warning: symbol '_trace_list_k_stack' was not declared. Should it be static?
<snip>/zephyr/kernel/queue.c:27:16: warning: symbol '_trace_list_k_queue' was not declared. Should it be static?
<snip>/zephyr/kernel/pipes.c:40:15: warning: symbol '_trace_list_k_pipe' was not declared. Should it be static?
<snip>/zephyr/kernel/mutex.c:46:16: warning: symbol '_trace_list_k_mutex' was not declared. Should it be static?
<snip>/zephyr/kernel/msg_q.c:26:15: warning: symbol '_trace_list_k_msgq' was not declared. Should it be static?
<snip>/zephyr/kernel/mem_slab.c:20:19: warning: symbol '_trace_list_k_mem_slab' was not declared. Should it be static?
<snip>/zephyr/kernel/mailbox.c:53:15: warning: symbol '_trace_list_k_mbox' was not declared. Should it be static?
Change-Id: I42d55aea9855b9c1dd560852ca033c9a19f1ac21
Signed-off-by: Maciek Borzecki <maciek.borzecki@gmail.com>
Currently, a queue/fifo getter chooses how long to wait for an
element. But there are scenarios when putter would know better,
there should be a way to expire getter's timeout to make it run
again. k_queue_cancel_wait() and k_fifo_cancel_wait() functions
do just that. They cause corresponding *_get() functions to return
with NULL value, as if timeout expired on getter's side (even
K_FOREVER).
This can be used to signal out of band conditions from putter to
getter, e.g. end of processing, error, configuration change, etc.
A specific event would be communicated to getter by other means
(e.g. using existing shared context structures).
Without this call, achieving the same effect would require e.g.
calling k_fifo_put() with a pointer to a special sentinal memory
structure - such structure would need to be allocated somewhere
and somehow, and getter would need to recognize it from a normal
data item. Having cancel_wait() functions offers an elegant
alternative. From this perspective, these calls can be seen as
an equivalent to e.g. k_fifo_put(fifo, NULL), except that such
call won't work in practice.
Change-Id: I47b7f690dc325a80943082bcf5345c41649e7024
Signed-off-by: Paul Sokolovsky <paul.sokolovsky@linaro.org>
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>
This unifies k_fifo and k_lifo APIs thus making it more flexible regarding
where the data elements are inserted.
Change-Id: Icd6e2f62fc8b374c8273bb763409e9e22c40f9f8
Signed-off-by: Luiz Augusto von Dentz <luiz.von.dentz@intel.com>
It was in the static initializers, but was missing from the object
runtime init functions.
Change-Id: I10d519760eabdbe640a19cc5cfa9241c1356b070
Signed-off-by: Benjamin Walsh <walsh.benj@gmail.com>
With the recently added k_poll feature, k_fifo_put_list was forgotten
about. Add the necessary code to wake up a k_poll call when
k_fifo_put_list is called.
Change-Id: Ib9baef5ee2bd00620e2eea5afdd81accc4518bd5
Signed-off-by: Johan Hedberg <johan.hedberg@intel.com>
k_poll() is similar to the POSIX poll() API in spirit in that it allows
a single thread to monitor multiple events without actively polling
them, but rather pending for one or more to become ready. Such events
can be a direct event, or kernel objects (currently only semaphores and
fifos).
When a kernel object being polled on is ready, it is not "given" to the
poller: the poller must then acquire it via the regular API for the
object (e.g. k_sem_take()). Only one thread can poll on a particular
object at one time. These restrictions mean that k_poll() is most
effective when a single thread monitors multiple events that are not
subject for contention. For example, being the sole reader on multiple
fifos, or the only thread being signalled by multiple semaphores, or a
combination of both.
Change-Id: I7035a9baf4aa016fb87afc5f5c0f5f8cb216480f
Signed-off-by: Benjamin Walsh <walsh.benj@gmail.com>
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>
Use a short name for this option CONFIG_OBJECT_TRACING.
Change-Id: Id27de7ef9ca299492b6b7d2324d9f5bcf8059a31
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
Also remove mentions of unified kernel in various places in the kernel,
samples and documentation.
Change-Id: Ice43bc73badbe7e14bae40fd6f2a302f6528a77d
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
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>
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>
Defines an object tracing list for each kernel object type
that supports object tracing, and ensures that both statically
and dynamically defined objects are added to the appropriate list.
Ensure that each static kernel object is grouped together with
the other static objects of the same type. Revise the initialization
function for each kernel type (or create it, if needed) so that
each static object is added to the object tracing list for its
associated type.
Note 1: Threads are handled a bit differently than other kernel
object types. A statically-defined thread is added to the thread
list when the thread is started, not when the kernel initializes.
Also, a thread is removed from the thread list when the thread
terminates or aborts, unlike other types of kernel objects which
are never removed from an object tracing list. (Such support would
require the creation of APIs to "uninitialize" the kernel object.)
Note 2: The list head variables for all kernel object types
are now explicitly defined. However, the list head variable for
the ring buffer type continues to be implicitly defined for the
time being, since it isn't considered to be an core kernel object
type.
Change-Id: Ie24d41023e05b3598dc6b344e6871a9692bba02d
Signed-off-by: Allan Stephens <allan.stephens@windriver.com>
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>
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>
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>
Andy Ross
Luiz Augusto von Dentz
Paul Sokolovsky
Anas Nashif
Maciek Borzecki
Kumar Gala
Benjamin Walsh
Johan Hedberg
David B. Kinder
Benjamin Walsh
Andrew Boie
Allan Stephens