Prio should be an int, since values are small integers, not a fixed-size
int32_t. It aligns with the prio parameters of the other APIs.
Stack size should be size_t.
Change-Id: Id29751b86c4ad7a7c2a7ffe446c2a96ae83c77bf
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.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>
Oversight. These functions are used extensively in the kernel guts, but
are also supposed to be an API.
k_sched_lock used to be implemented as a static inline. However, until
the header files are cleaned-up, and everything, including applications
get access to the kernel internal data structures, it must be
implemented as a function. To reduce the cost to the internals of the
kernel, the new internal _sched_lock() contains the same implemetation,
but is inlined.
Change-Id: If2f61d7714f87d81ddbeed69fedd111b8ce01376
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
A thread defined via a legacy MDEF that belongs to the FPU or
SSE task group must set the thread option bits for FP or SSE
register use prior to being spawned.
If this is not done, and the kernel is configured for SSE support,
the kernel will auto-enable the thread's use of floating point
so that the thread saves SSE register context info even if it
belongs to just the FPU task group, which could cause the thread
to overflow its stack.
Note that this change only increases footprint for x86-based
applications that enable floating point register sharing.
Change-Id: Idfe4d20bcd7bc42b4cee6ac40ad7987e2a45ccf6
Signed-off-by: Allan Stephens <allan.stephens@windriver.com>
Adds standard prefix to symbolic option that flags a thread
as essential to system operation.
Change-Id: Ia904a81ce343fdd1cd44caaaeae641d822777f9b
Signed-off-by: Allan Stephens <allan.stephens@windriver.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>
They were the same, standardize on the lowercase one.
Change-Id: I8bca080e45f3e0970697d4451e468b9081f96f5f
Signed-off-by: Benjamin Walsh <benjamin.walsh@windriver.com>
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>
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>
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>
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>
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>
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>
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>
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>
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>
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>
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>
