Index: apps/codecs.h =================================================================== --- apps/codecs.h (revision 16785) +++ apps/codecs.h (working copy) @@ -228,7 +228,7 @@ #if NUM_CORES > 1 struct thread_entry * (*create_thread)(void (*function)(void), void* stack, - int stack_size, unsigned flags, const char *name + size_t stack_size, unsigned flags, const char *name IF_PRIO(, int priority) IF_COP(, unsigned int core)); Index: apps/pcmbuf.c =================================================================== --- apps/pcmbuf.c (revision 16785) +++ apps/pcmbuf.c (working copy) @@ -116,7 +116,7 @@ static bool pcmbuf_flush; #ifdef HAVE_PRIORITY_SCHEDULING -static int codec_thread_priority = 0; +static int codec_thread_priority = PRIORITY_PLAYBACK; #endif extern struct thread_entry *codec_thread_p; @@ -256,18 +256,21 @@ * will starve if the codec thread's priority is boosted. */ if (boost) { - if (codec_thread_priority == 0) + int priority = (PRIORITY_PLAYBACK - PRIORITY_PLAYBACK_MAX)*pcmbuf_unplayed_bytes + / (2*NATIVE_FREQUENCY) + PRIORITY_PLAYBACK_MAX; + + if (priority != codec_thread_priority) { - codec_thread_priority = thread_set_priority( - codec_thread_p, PRIORITY_REALTIME); - voice_thread_set_priority(PRIORITY_REALTIME); + codec_thread_priority = priority; + thread_set_priority(codec_thread_p, priority); + voice_thread_set_priority(priority); } } - else if (codec_thread_priority != 0) + else if (codec_thread_priority != PRIORITY_PLAYBACK) { - thread_set_priority(codec_thread_p, codec_thread_priority); - voice_thread_set_priority(codec_thread_priority); - codec_thread_priority = 0; + thread_set_priority(codec_thread_p, PRIORITY_PLAYBACK); + voice_thread_set_priority(PRIORITY_PLAYBACK); + codec_thread_priority = PRIORITY_PLAYBACK; } } #endif /* HAVE_PRIORITY_SCHEDULING */ @@ -818,7 +821,7 @@ if (low_latency_mode) { /* 1/4s latency. */ - if (pcmbuf_unplayed_bytes > NATIVE_FREQUENCY * 4 / 4 + if (pcmbuf_unplayed_bytes > NATIVE_FREQUENCY * 4 / 2 && pcm_is_playing()) return false; } Index: apps/plugins/mpegplayer/stream_mgr.c =================================================================== --- apps/plugins/mpegplayer/stream_mgr.c (revision 16785) +++ apps/plugins/mpegplayer/stream_mgr.c (working copy) @@ -987,7 +987,6 @@ stream_mgr.q = &stream_mgr_queue; rb->queue_init(stream_mgr.q, false); - rb->queue_enable_queue_send(stream_mgr.q, &stream_mgr_queue_send); /* sets audiosize and returns buffer pointer */ mem = rb->plugin_get_audio_buffer(&memsize); @@ -1028,6 +1027,9 @@ stream_mgr_thread_stack, sizeof(stream_mgr_thread_stack), 0, "mpgstream_mgr" IF_PRIO(, PRIORITY_SYSTEM) IF_COP(, CPU)); + rb->queue_enable_queue_send(stream_mgr.q, &stream_mgr_queue_send, + stream_mgr.thread); + if (stream_mgr.thread == NULL) { rb->splash(HZ, "Could not create stream manager thread!"); Index: apps/plugins/mpegplayer/audio_thread.c =================================================================== --- apps/plugins/mpegplayer/audio_thread.c (revision 16785) +++ apps/plugins/mpegplayer/audio_thread.c (working copy) @@ -714,13 +714,15 @@ /* Start the audio thread */ audio_str.hdr.q = &audio_str_queue; rb->queue_init(audio_str.hdr.q, false); - rb->queue_enable_queue_send(audio_str.hdr.q, &audio_str_queue_send); /* One-up on the priority since the core DSP over-yields internally */ audio_str.thread = rb->create_thread( audio_thread, audio_stack, audio_stack_size, 0, - "mpgaudio" IF_PRIO(,PRIORITY_PLAYBACK-1) IF_COP(, CPU)); + "mpgaudio" IF_PRIO(,PRIORITY_PLAYBACK-4) IF_COP(, CPU)); + rb->queue_enable_queue_send(audio_str.hdr.q, &audio_str_queue_send, + audio_str.thread); + if (audio_str.thread == NULL) return false; Index: apps/plugins/mpegplayer/disk_buf.c =================================================================== --- apps/plugins/mpegplayer/disk_buf.c (revision 16785) +++ apps/plugins/mpegplayer/disk_buf.c (working copy) @@ -837,7 +837,6 @@ disk_buf.q = &disk_buf_queue; rb->queue_init(disk_buf.q, false); - rb->queue_enable_queue_send(disk_buf.q, &disk_buf_queue_send); disk_buf.state = TSTATE_EOS; disk_buf.status = STREAM_STOPPED; @@ -886,6 +885,9 @@ disk_buf_thread, disk_buf_stack, sizeof(disk_buf_stack), 0, "mpgbuffer" IF_PRIO(, PRIORITY_BUFFERING) IF_COP(, CPU)); + rb->queue_enable_queue_send(disk_buf.q, &disk_buf_queue_send, + disk_buf.thread); + if (disk_buf.thread == NULL) return false; Index: apps/plugins/mpegplayer/video_thread.c =================================================================== --- apps/plugins/mpegplayer/video_thread.c (revision 16785) +++ apps/plugins/mpegplayer/video_thread.c (working copy) @@ -955,7 +955,7 @@ else { /* Just a little left - spin and be accurate */ - rb->priority_yield(); + rb->yield(); if (str_have_msg(&video_str)) goto message_wait; } @@ -998,13 +998,15 @@ video_str.hdr.q = &video_str_queue; rb->queue_init(video_str.hdr.q, false); - rb->queue_enable_queue_send(video_str.hdr.q, &video_str_queue_send); /* We put the video thread on another processor for multi-core targets. */ video_str.thread = rb->create_thread( video_thread, video_stack, VIDEO_STACKSIZE, 0, "mpgvideo" IF_PRIO(,PRIORITY_PLAYBACK) IF_COP(, COP)); + rb->queue_enable_queue_send(video_str.hdr.q, &video_str_queue_send, + video_str.thread); + if (video_str.thread == NULL) return false; Index: apps/playback.c =================================================================== --- apps/playback.c (revision 16785) +++ apps/playback.c (working copy) @@ -2549,9 +2549,7 @@ to send messages. Thread creation will be delayed however so nothing starts running until ready if something yields such as talk_init. */ queue_init(&audio_queue, true); - queue_enable_queue_send(&audio_queue, &audio_queue_sender_list); queue_init(&codec_queue, false); - queue_enable_queue_send(&codec_queue, &codec_queue_sender_list); queue_init(&pcmbuf_queue, false); pcm_init(); @@ -2587,11 +2585,17 @@ codec_thread_name IF_PRIO(, PRIORITY_PLAYBACK) IF_COP(, CPU)); + queue_enable_queue_send(&codec_queue, &codec_queue_sender_list, + codec_thread_p); + audio_thread_p = create_thread(audio_thread, audio_stack, sizeof(audio_stack), CREATE_THREAD_FROZEN, - audio_thread_name IF_PRIO(, PRIORITY_SYSTEM) + audio_thread_name IF_PRIO(, PRIORITY_USER_INTERFACE) IF_COP(, CPU)); + queue_enable_queue_send(&audio_queue, &audio_queue_sender_list, + audio_thread_p); + #ifdef PLAYBACK_VOICE voice_thread_init(); #endif Index: apps/voice_thread.c =================================================================== --- apps/voice_thread.c (revision 16785) +++ apps/voice_thread.c (working copy) @@ -424,12 +424,14 @@ { logf("Starting voice thread"); queue_init(&voice_queue, false); - queue_enable_queue_send(&voice_queue, &voice_queue_sender_list); mutex_init(&voice_mutex); event_init(&voice_event, STATE_SIGNALED | EVENT_MANUAL); voice_thread_p = create_thread(voice_thread, voice_stack, sizeof(voice_stack), CREATE_THREAD_FROZEN, voice_thread_name IF_PRIO(, PRIORITY_PLAYBACK) IF_COP(, CPU)); + + queue_enable_queue_send(&voice_queue, &voice_queue_sender_list, + voice_thread_p); } /* voice_thread_init */ /* Unfreeze the voice thread */ Index: apps/plugin.c =================================================================== --- apps/plugin.c (revision 16785) +++ apps/plugin.c (working copy) @@ -253,15 +253,12 @@ /* kernel/ system */ PREFIX(sleep), yield, -#ifdef HAVE_PRIORITY_SCHEDULING - priority_yield, -#endif ¤t_tick, default_event_handler, default_event_handler_ex, threads, create_thread, - remove_thread, + thread_exit, thread_wait, #if (CONFIG_CODEC == SWCODEC) mutex_init, Index: apps/plugin.h =================================================================== --- apps/plugin.h (revision 16785) +++ apps/plugin.h (working copy) @@ -119,12 +119,12 @@ #define PLUGIN_MAGIC 0x526F634B /* RocK */ /* increase this every time the api struct changes */ -#define PLUGIN_API_VERSION 100 +#define PLUGIN_API_VERSION 101 /* update this to latest version if a change to the api struct breaks backwards compatibility (and please take the opportunity to sort in any new function which are "waiting" at the end of the function table) */ -#define PLUGIN_MIN_API_VERSION 100 +#define PLUGIN_MIN_API_VERSION 101 /* plugin return codes */ enum plugin_status { @@ -351,19 +351,16 @@ /* kernel/ system */ void (*PREFIX(sleep))(int ticks); void (*yield)(void); -#ifdef HAVE_PRIORITY_SCHEDULING - void (*priority_yield)(void); -#endif volatile long* current_tick; long (*default_event_handler)(long event); long (*default_event_handler_ex)(long event, void (*callback)(void *), void *parameter); struct thread_entry* threads; struct thread_entry* (*create_thread)(void (*function)(void), void* stack, - int stack_size, unsigned flags, + size_t stack_size, unsigned flags, const char *name IF_PRIO(, int priority) IF_COP(, unsigned int core)); - void (*remove_thread)(struct thread_entry *thread); + void (*thread_exit)(void); void (*thread_wait)(struct thread_entry *thread); #if CONFIG_CODEC == SWCODEC void (*mutex_init)(struct mutex *m); @@ -405,7 +402,8 @@ int ticks); #if CONFIG_CODEC == SWCODEC void (*queue_enable_queue_send)(struct event_queue *q, - struct queue_sender_list *send); + struct queue_sender_list *send, + struct thread_entry *owner); bool (*queue_empty)(const struct event_queue *q); void (*queue_wait)(struct event_queue *q, struct queue_event *ev); intptr_t (*queue_send)(struct event_queue *q, long id, Index: apps/buffering.c =================================================================== --- apps/buffering.c (revision 16785) +++ apps/buffering.c (working copy) @@ -1446,16 +1446,21 @@ void buffering_init(void) { mutex_init(&llist_mutex); +#ifdef HAVE_PRIORITY_SCHEDULING + /* This behavior not safe atm */ + mutex_set_preempt(&llist_mutex, false); +#endif conf_watermark = BUFFERING_DEFAULT_WATERMARK; queue_init(&buffering_queue, true); - queue_enable_queue_send(&buffering_queue, &buffering_queue_sender_list); - buffering_thread_p = create_thread( buffering_thread, buffering_stack, sizeof(buffering_stack), CREATE_THREAD_FROZEN, buffering_thread_name IF_PRIO(, PRIORITY_BUFFERING) IF_COP(, CPU)); + + queue_enable_queue_send(&buffering_queue, &buffering_queue_sender_list, + buffering_thread_p); } /* Initialise the buffering subsystem */ Index: apps/debug_menu.c =================================================================== --- apps/debug_menu.c (revision 16785) +++ apps/debug_menu.c (working copy) @@ -127,11 +127,6 @@ [STATE_KILLED] = 'K', }; -#if NUM_CORES > 1 - if (status == STATE_BUSY) /* Not a state index */ - return '.'; -#endif - if (status > THREAD_NUM_STATES) status = THREAD_NUM_STATES; @@ -166,15 +161,15 @@ thread_get_name(name, 32, thread); snprintf(buffer, MAX_PATH, - "%2d: " IF_COP("(%d) ") "%c%c " IF_PRIO("%d ") "%2d%% %s", + "%2d: " IF_COP("(%d) ") "%c%c " IF_PRIO("%d %d ") "%2d%% %s", selected_item, IF_COP(thread->core,) #ifdef HAVE_SCHEDULER_BOOSTCTRL - (thread->boosted) ? '+' : + (thread->cpu_boost) ? '+' : #endif ((thread->state == STATE_RUNNING) ? '*' : ' '), thread_status_char(thread->state), - IF_PRIO(thread->priority,) + IF_PRIO(thread->base_priority, thread->priority, ) thread_stack_usage(thread), name); return buffer; Index: apps/main.c =================================================================== --- apps/main.c (revision 16785) +++ apps/main.c (working copy) @@ -270,7 +270,7 @@ static void init(void) { - init_threads(); + kernel_init(); buffer_init(); set_irq_level(0); lcd_init(); Index: firmware/export/kernel.h =================================================================== --- firmware/export/kernel.h (revision 16785) +++ firmware/export/kernel.h (working copy) @@ -76,6 +76,8 @@ #define SYS_SCREENDUMP MAKE_SYS_EVENT(SYS_EVENT_CLS_MISC, 0) #define SYS_CAR_ADAPTER_RESUME MAKE_SYS_EVENT(SYS_EVENT_CLS_MISC, 1) +#define IS_SYSEVENT(ev) ((ev & SYS_EVENT) == SYS_EVENT) + struct queue_event { long id; @@ -87,68 +89,92 @@ { /* If non-NULL, there is a thread waiting for the corresponding event */ /* Must be statically allocated to put in non-cached ram. */ - struct thread_entry *senders[QUEUE_LENGTH]; + struct thread_entry *senders[QUEUE_LENGTH]; /* message->thread map */ + struct thread_entry *list; /* list of senders in map */ /* Send info for last message dequeued or NULL if replied or not sent */ struct thread_entry *curr_sender; +#ifdef HAVE_PRIORITY_SCHEDULING + struct blocker blocker; +#endif }; #endif /* HAVE_EXTENDED_MESSAGING_AND_NAME */ +#ifdef HAVE_PRIORITY_SCHEDULING +#define QUEUE_GET_THREAD(q) \ + (((q)->send == NULL) ? NULL : (q)->send->blocker.thread) +#else +/* Queue without priority enabled have no owner provision _at this time_ */ +#define QUEUE_GET_THREAD(q) \ + (NULL) +#endif + struct event_queue { - struct thread_queue queue; /* Waiter list */ + struct thread_entry *queue; /* waiter list */ struct queue_event events[QUEUE_LENGTH]; /* list of events */ - unsigned int read; /* head of queue */ - unsigned int write; /* tail of queue */ + unsigned int read; /* head of queue */ + unsigned int write; /* tail of queue */ #ifdef HAVE_EXTENDED_MESSAGING_AND_NAME - struct queue_sender_list *send; /* list of threads waiting for - reply to an event */ + struct queue_sender_list *send; /* list of threads waiting for + reply to an event */ +#ifdef HAVE_PRIORITY_SCHEDULING + struct blocker *blocker_p; /* priority inheritance info + for sync message senders */ #endif -#if NUM_CORES > 1 - struct corelock cl; /* inter-core sync */ #endif + IF_COP( struct corelock cl; ) /* multiprocessor sync */ }; +#ifdef HAVE_PRIORITY_SCHEDULING +#define MUTEX_SET_THREAD(m, t) ((m)->blocker.thread = (t)) +#define MUTEX_GET_THREAD(m) ((m)->blocker.thread) +#else +#define MUTEX_SET_THREAD(m, t) ((m)->thread = (t)) +#define MUTEX_GET_THREAD(m) ((m)->thread) +#endif + struct mutex { - struct thread_entry *queue; /* Waiter list */ -#if CONFIG_CORELOCK == SW_CORELOCK - struct corelock cl; /* inter-core sync */ + struct thread_entry *queue; /* waiter list */ + int count; /* lock owner recursion count */ +#ifdef HAVE_PRIORITY_SCHEDULING + struct blocker blocker; /* priority inheritance info + for waiters */ + bool no_preempt; /* don't allow higher-priority thread + to be scheduled even if woken */ +#else + struct thread_entry *thread; #endif - struct thread_entry *thread; /* thread that owns lock */ - int count; /* lock owner recursion count */ - unsigned char locked; /* locked semaphore */ + IF_COP( struct corelock cl; ) /* multiprocessor sync */ + unsigned char locked; /* locked semaphore */ }; #if NUM_CORES > 1 struct spinlock { - struct corelock cl; /* inter-core sync */ - struct thread_entry *thread; /* lock owner */ - int count; /* lock owner recursion count */ + struct thread_entry *thread; /* lock owner */ + int count; /* lock owner recursion count */ + struct corelock cl; /* multiprocessor sync */ }; #endif #ifdef HAVE_SEMAPHORE_OBJECTS struct semaphore { - struct thread_entry *queue; /* Waiter list */ -#if CONFIG_CORELOCK == SW_CORELOCK - struct corelock cl; /* inter-core sync */ -#endif - int count; /* # of waits remaining before unsignaled */ - int max; /* maximum # of waits to remain signaled */ + struct thread_entry *queue; /* Waiter list */ + int count; /* # of waits remaining before unsignaled */ + int max; /* maximum # of waits to remain signaled */ + IF_COP( struct corelock cl; ) /* multiprocessor sync */ }; #endif #ifdef HAVE_EVENT_OBJECTS struct event { - struct thread_entry *queues[2]; /* waiters for each state */ -#if CONFIG_CORELOCK == SW_CORELOCK - struct corelock cl; /* inter-core sync */ -#endif - unsigned char automatic; /* event performs auto-reset */ - unsigned char state; /* state: 1 = signaled */ + struct thread_entry *queues[2]; /* waiters for each state */ + unsigned char automatic; /* event performs auto-reset */ + unsigned char state; /* state: 1 = signaled */ + IF_COP( struct corelock cl; ) /* multiprocessor sync */ }; #endif @@ -208,7 +234,9 @@ int ticks); extern void queue_post(struct event_queue *q, long id, intptr_t data); #ifdef HAVE_EXTENDED_MESSAGING_AND_NAME -extern void queue_enable_queue_send(struct event_queue *q, struct queue_sender_list *send); +extern void queue_enable_queue_send(struct event_queue *q, + struct queue_sender_list *send, + struct thread_entry *owner); extern intptr_t queue_send(struct event_queue *q, long id, intptr_t data); extern void queue_reply(struct event_queue *q, intptr_t retval); extern bool queue_in_queue_send(struct event_queue *q); @@ -223,6 +251,11 @@ extern void mutex_init(struct mutex *m); extern void mutex_lock(struct mutex *m); extern void mutex_unlock(struct mutex *m); +#ifdef HAVE_PRIORITY_SCHEDULING +/* Temporary function to disable mutex preempting a thread on unlock */ +static inline void mutex_set_preempt(struct mutex *m, bool preempt) + { m->no_preempt = !preempt; } +#endif #if NUM_CORES > 1 extern void spinlock_init(struct spinlock *l); extern void spinlock_lock(struct spinlock *l); @@ -240,6 +273,5 @@ extern void event_wait(struct event *e, unsigned int for_state); extern void event_set_state(struct event *e, unsigned int state); #endif /* HAVE_EVENT_OBJECTS */ -#define IS_SYSEVENT(ev) ((ev & SYS_EVENT) == SYS_EVENT) #endif /* _KERNEL_H_ */ Index: firmware/export/system.h =================================================================== --- firmware/export/system.h (revision 16785) +++ firmware/export/system.h (working copy) @@ -159,6 +159,20 @@ #define H_TO_BE32(x) (x) #endif +/* Get the byte offset of a type's member */ +#define OFFSETOF(type, membername) ((off_t)&((type *)0)->membername) + +/* Get the type pointer from one of its members */ +#define TYPE_FROM_MEMBER(type, memberptr, membername) \ + ((type *)((intptr_t)(memberptr) - OFFSETOF(type, membername))) + +/* returns index of first set bit + 1 or 0 if no bits are set */ +int find_first_set_bit(uint32_t val); + +static inline __attribute__((always_inline)) +uint32_t isolate_first_bit(uint32_t val) + { return val & -val; } + /* gcc 3.4 changed the format of the constraints */ #if (__GNUC__ >= 3) && (__GNUC_MINOR__ > 3) || (__GNUC__ >= 4) #define I_CONSTRAINT "I08" Index: firmware/export/thread.h =================================================================== --- firmware/export/thread.h (revision 16785) +++ firmware/export/thread.h (working copy) @@ -26,21 +26,35 @@ /* Priority scheduling (when enabled with HAVE_PRIORITY_SCHEDULING) works * by giving high priority threads more CPU time than less priority threads - * when they need it. - * + * when they need it. Priority is differential such that the priority + * difference between a lower priority runnable thread and the highest priority + * runnable thread determines the amount of aging nescessary for the lower + * priority thread to be scheduled in order to prevent starvation. + * * If software playback codec pcm buffer is going down to critical, codec - * can change it own priority to REALTIME to override user interface and + * can gradually raise its own priority to override user interface and * prevent playback skipping. */ +#define PRIORITY_RESERVED_HIGH 0 /* Reserved */ +#define PRIORITY_RESERVED_LOW 32 /* Reserved */ #define HIGHEST_PRIORITY 1 /* The highest possible thread priority */ -#define LOWEST_PRIORITY 100 /* The lowest possible thread priority */ -#define PRIORITY_REALTIME 1 -#define PRIORITY_USER_INTERFACE 4 /* The main thread */ -#define PRIORITY_RECORDING 4 /* Recording thread */ -#define PRIORITY_PLAYBACK 4 /* or REALTIME when needed */ -#define PRIORITY_BUFFERING 4 /* Codec buffering thread */ -#define PRIORITY_SYSTEM 6 /* All other firmware threads */ -#define PRIORITY_BACKGROUND 8 /* Normal application threads */ +#define LOWEST_PRIORITY 31 /* The lowest possible thread priority */ +/* Realtime range reserved for threads that will not allow threads of lower + * priority to age and run (future expansion) */ +#define PRIORITY_REALTIME_1 1 +#define PRIORITY_REALTIME_2 2 +#define PRIORITY_REALTIME_3 3 +#define PRIORITY_REALTIME_4 4 +#define PRIORITY_REALTIME 4 /* Lowest realtime range */ +#define PRIORITY_USER_INTERFACE 16 /* The main thread */ +#define PRIORITY_RECORDING 16 /* Recording thread */ +#define PRIORITY_PLAYBACK 16 /* Variable between this and MAX */ +#define PRIORITY_PLAYBACK_MAX 5 /* Maximum allowable playback priority */ +#define PRIORITY_BUFFERING 16 /* Codec buffering thread */ +#define PRIORITY_SYSTEM 18 /* All other firmware threads */ +#define PRIORITY_BACKGROUND 20 /* Normal application threads */ +#define NUM_PRIORITIES 32 +#define PRIORITY_IDLE 32 /* Priority representative of no tasks */ /* TODO: Only a minor tweak to create_thread would be needed to let * thread slots be caller allocated - no essential threading functionality @@ -59,80 +73,40 @@ #define DEFAULT_STACK_SIZE 0x400 /* Bytes */ -/** - * "Busy" values that can be swapped into a variable to indicate - * that the variable or object pointed to is in use by another processor - * core. When accessed, the busy value is swapped-in while the current - * value is atomically returned. If the swap returns the busy value, - * the processor should retry the operation until some other value is - * returned. When modification is finished, the new value should be - * written which unlocks it and updates it atomically. - * - * Procedure: - * while ((curr_value = swap(&variable, BUSY_VALUE)) == BUSY_VALUE); - * - * Modify/examine object at mem location or variable. Create "new_value" - * as suitable. - * - * variable = new_value or curr_value; - * - * To check a value for busy and perform an operation if not: - * curr_value = swap(&variable, BUSY_VALUE); - * - * if (curr_value != BUSY_VALUE) - * { - * Modify/examine object at mem location or variable. Create "new_value" - * as suitable. - * variable = new_value or curr_value; - * } - * else - * { - * Do nothing - already busy - * } - * - * Only ever restore when an actual value is returned or else it could leave - * the variable locked permanently if another processor unlocked in the - * meantime. The next access attempt would deadlock for all processors since - * an abandoned busy status would be left behind. - */ -#define STATE_BUSYuptr ((void*)UINTPTR_MAX) -#define STATE_BUSYu8 UINT8_MAX -#define STATE_BUSYi INT_MIN - #ifndef SIMULATOR /* Need to keep structures inside the header file because debug_menu * needs them. */ #ifdef CPU_COLDFIRE struct regs { - unsigned int macsr; /* 0 - EMAC status register */ - unsigned int d[6]; /* 4-24 - d2-d7 */ - unsigned int a[5]; /* 28-44 - a2-a6 */ - void *sp; /* 48 - Stack pointer (a7) */ - void *start; /* 52 - Thread start address, or NULL when started */ + uint32_t macsr; /* 0 - EMAC status register */ + uint32_t d[6]; /* 4-24 - d2-d7 */ + uint32_t a[5]; /* 28-44 - a2-a6 */ + uint32_t sp; /* 48 - Stack pointer (a7) */ + uint32_t start; /* 52 - Thread start address, or NULL when started */ }; #elif CONFIG_CPU == SH7034 struct regs { - unsigned int r[7]; /* 0-24 - Registers r8 thru r14 */ - void *sp; /* 28 - Stack pointer (r15) */ - void *pr; /* 32 - Procedure register */ - void *start; /* 36 - Thread start address, or NULL when started */ + uint32_t r[7]; /* 0-24 - Registers r8 thru r14 */ + uint32_t sp; /* 28 - Stack pointer (r15) */ + uint32_t pr; /* 32 - Procedure register */ + uint32_t start; /* 36 - Thread start address, or NULL when started */ }; #elif defined(CPU_ARM) struct regs { - unsigned int r[8]; /* 0-28 - Registers r4-r11 */ - void *sp; /* 32 - Stack pointer (r13) */ - unsigned int lr; /* 36 - r14 (lr) */ - void *start; /* 40 - Thread start address, or NULL when started */ + uint32_t r[8]; /* 0-28 - Registers r4-r11 */ + uint32_t sp; /* 32 - Stack pointer (r13) */ + uint32_t lr; /* 36 - r14 (lr) */ + uint32_t start; /* 40 - Thread start address, or NULL when started */ }; #endif /* CONFIG_CPU */ #else struct regs { void *t; /* Simulator OS thread */ - void *c; /* Condition for blocking and sync */ + void *s; /* Semaphore for blocking and wakeup */ void (*start)(void); /* Start function */ }; #endif /* !SIMULATOR */ @@ -154,13 +128,13 @@ thread_thaw is called with its ID */ THREAD_NUM_STATES, TIMEOUT_STATE_FIRST = STATE_SLEEPING, -#if NUM_CORES > 1 - STATE_BUSY = STATE_BUSYu8, /* Thread slot is being examined */ -#endif }; #if NUM_CORES > 1 -#define THREAD_DESTRUCT ((const char *)0x84905617) +/* Pointer value for name field to indicate thread is being killed. Using + * an alternate STATE_* won't work since that would interfere with operation + * while the thread is still running. */ +#define THREAD_DESTRUCT ((const char *)~(intptr_t)0) #endif /* Link information for lists thread is in */ @@ -188,7 +162,7 @@ /* Use native atomic swap/exchange instruction */ struct corelock { - unsigned char locked; + volatile unsigned char locked; } __attribute__((packed)); #define corelock_init(cl) \ @@ -207,15 +181,36 @@ #define corelock_unlock(cl) #endif /* core locking selection */ -struct thread_queue +#ifdef HAVE_PRIORITY_SCHEDULING +struct blocker { - struct thread_entry *queue; /* list of threads waiting - - _must_ be first member */ -#if CONFIG_CORELOCK == SW_CORELOCK - struct corelock cl; /* lock for atomic list operations */ -#endif + struct thread_entry *thread; /* thread blocking other threads + (aka. object owner) */ + int priority; /* highest priority waiter */ + struct thread_entry * (*wakeup_protocol)(struct thread_entry *thread); }; +/* Choices of wakeup protocol */ + +/* For transfer of object ownership by one thread to another thread by + * the owning thread itself (mutexes) */ +struct thread_entry * + wakeup_priority_protocol_transfer(struct thread_entry *thread); + +/* For release by owner where ownership doesn't change - other threads, + * interrupts, timeouts, etc. (mutex timeout, queues) */ +struct thread_entry * + wakeup_priority_protocol_release(struct thread_entry *thread); + + +struct priority_distribution +{ + uint8_t hist[NUM_PRIORITIES]; /* Histogram: Frequency for each priority */ + uint32_t mask; /* Bitmask of hist entries that are not zero */ +}; + +#endif /* HAVE_PRIORITY_SCHEDULING */ + /* Information kept in each thread slot * members are arranged according to size - largest first - in order * to ensure both alignment and packing at the same time. @@ -224,88 +219,83 @@ { struct regs context; /* Register context at switch - _must_ be first member */ - void *stack; /* Pointer to top of stack */ + uintptr_t *stack; /* Pointer to top of stack */ const char *name; /* Thread name */ long tmo_tick; /* Tick when thread should be woken from - timeout */ + timeout - + states: STATE_SLEEPING/STATE_BLOCKED_W_TMO */ struct thread_list l; /* Links for blocked/waking/running - circular linkage in both directions */ struct thread_list tmo; /* Links for timeout list - - Self-pointer-terminated in reverse direction, - NULL-terminated in forward direction */ - struct thread_queue *bqp; /* Pointer to list variable in kernel + Circular in reverse direction, NULL-terminated in + forward direction - + states: STATE_SLEEPING/STATE_BLOCKED_W_TMO */ + struct thread_entry **bqp; /* Pointer to list variable in kernel object where thread is blocked - used - for implicit unblock and explicit wake */ -#if CONFIG_CORELOCK == SW_CORELOCK - struct thread_entry **bqnlp; /* Pointer to list variable in kernel - object where thread is blocked - non-locked - operations will be used */ + for implicit unblock and explicit wake + states: STATE_BLOCKED/STATE_BLOCKED_W_TMO */ +#if NUM_CORES > 1 + struct corelock *obj_cl; /* Object corelock where thead is blocked - + states: STATE_BLOCKED/STATE_BLOCKED_W_TMO */ #endif struct thread_entry *queue; /* List of threads waiting for thread to be removed */ #ifdef HAVE_EXTENDED_MESSAGING_AND_NAME - intptr_t retval; /* Return value from a blocked operation */ + #define HAVE_WAKEUP_EXT_CB + void (*wakeup_ext_cb)(struct thread_entry *thread); /* Callback that + performs special steps needed when being + forced off of an object's wait queue that + go beyond the standard wait queue removal + and priority disinheritance */ + /* Only enabled when using queue_send for now */ #endif +#if defined(HAVE_EXTENDED_MESSAGING_AND_NAME) || NUM_CORES > 1 + intptr_t retval; /* Return value from a blocked operation/ + misc. use */ +#endif #ifdef HAVE_PRIORITY_SCHEDULING - long last_run; /* Last tick when started */ + /* Priority summary of owned objects that support inheritance */ + struct blocker *blocker; /* Pointer to blocker when this thread is blocked + on an object that supports PIP - + states: STATE_BLOCKED/STATE_BLOCKED_W_TMO */ + struct priority_distribution pdist; /* Priority summary of owned objects + that have blocked threads and thread's own + base priority */ + int skip_count; /* Number of times skipped if higher priority + thread was running */ #endif unsigned short stack_size; /* Size of stack in bytes */ #ifdef HAVE_PRIORITY_SCHEDULING - unsigned char priority; /* Current priority */ - unsigned char priority_x; /* Inherited priority - right now just a - runtime guarantee flag */ + unsigned char base_priority; /* Base priority (set explicitly during + creation or thread_set_priority) */ + unsigned char priority; /* Scheduled priority (higher of base or + all threads blocked by this one) */ #endif unsigned char state; /* Thread slot state (STATE_*) */ +#ifdef HAVE_SCHEDULER_BOOSTCTRL + unsigned char cpu_boost; /* CPU frequency boost flag */ +#endif #if NUM_CORES > 1 unsigned char core; /* The core to which thread belongs */ + struct corelock waiter_cl; /* Corelock for thread_wait */ + struct corelock slot_cl; /* Corelock to lock thread slot */ #endif -#ifdef HAVE_SCHEDULER_BOOSTCTRL - unsigned char boosted; /* CPU frequency boost flag */ -#endif -#if CONFIG_CORELOCK == SW_CORELOCK - struct corelock cl; /* Corelock to lock thread slot */ -#endif }; #if NUM_CORES > 1 /* Operations to be performed just before stopping a thread and starting a new one if specified before calling switch_thread */ -#define TBOP_UNLOCK_LIST 0x01 /* Set a pointer variable address var_ptrp */ -#if CONFIG_CORELOCK == CORELOCK_SWAP -#define TBOP_SET_VARi 0x02 /* Set an int at address var_ip */ -#define TBOP_SET_VARu8 0x03 /* Set an unsigned char at address var_u8p */ -#define TBOP_VAR_TYPE_MASK 0x03 /* Mask for variable type*/ -#endif /* CONFIG_CORELOCK */ -#define TBOP_UNLOCK_CORELOCK 0x04 -#define TBOP_UNLOCK_THREAD 0x08 /* Unlock a thread's slot */ -#define TBOP_UNLOCK_CURRENT 0x10 /* Unlock the current thread's slot */ -#define TBOP_SWITCH_CORE 0x20 /* Call the core switch preparation routine */ +enum +{ + TBOP_CLEAR = 0, /* No operation to do */ + TBOP_UNLOCK_CORELOCK, /* Unlock a corelock variable */ + TBOP_SWITCH_CORE, /* Call the core switch preparation routine */ +}; struct thread_blk_ops { -#if CONFIG_CORELOCK != SW_CORELOCK - union - { - int var_iv; /* int variable value to set */ - uint8_t var_u8v; /* unsigned char valur to set */ - struct thread_entry *list_v; /* list pointer queue value to set */ - }; -#endif - union - { -#if CONFIG_CORELOCK != SW_CORELOCK - int *var_ip; /* pointer to int variable */ - uint8_t *var_u8p; /* pointer to unsigned char varuable */ -#endif - struct thread_queue *list_p; /* pointer to list variable */ - }; -#if CONFIG_CORELOCK == SW_CORELOCK - struct corelock *cl_p; /* corelock to unlock */ - struct thread_entry *thread; /* thread to unlock */ -#elif CONFIG_CORELOCK == CORELOCK_SWAP - unsigned char state; /* new thread state (performs unlock) */ -#endif /* SOFTWARE_CORELOCK */ - unsigned char flags; /* TBOP_* flags */ + struct corelock *cl_p; /* pointer to corelock */ + unsigned char flags; /* TBOP_* flags */ }; #endif /* NUM_CORES > 1 */ @@ -316,28 +306,30 @@ { /* "Active" lists - core is constantly active on these and are never locked and interrupts do not access them */ - struct thread_entry *running; /* threads that are running */ + struct thread_entry *running; /* threads that are running (RTR) */ struct thread_entry *timeout; /* threads that are on a timeout before running again */ - /* "Shared" lists - cores interact in a synchronized manner - access - is locked between cores and interrupts */ - struct thread_queue waking; /* intermediate locked list that - hold threads other core should wake up - on next task switch */ + struct thread_entry *block_task; /* Task going off running list */ +#ifdef HAVE_PRIORITY_SCHEDULING + struct priority_distribution rtr; /* Summary of running and ready-to-run + threads */ +#endif long next_tmo_check; /* soonest time to check tmo threads */ #if NUM_CORES > 1 struct thread_blk_ops blk_ops; /* operations to perform when blocking a thread */ -#endif /* NUM_CORES */ #ifdef HAVE_PRIORITY_SCHEDULING - unsigned char highest_priority; + struct corelock rtr_cl; /* Lock for rtr list */ #endif +#endif /* NUM_CORES */ }; #ifdef HAVE_PRIORITY_SCHEDULING #define IF_PRIO(...) __VA_ARGS__ +#define IFN_PRIO(...) #else #define IF_PRIO(...) +#define IFN_PRIO(...) __VA_ARGS__ #endif /* Macros generate better code than an inline function is this case */ @@ -464,13 +456,18 @@ void core_idle(void); void core_wake(IF_COP_VOID(unsigned int core)); +/* Initialize the scheduler */ +void init_threads(void); + +/* Allocate a thread in the scheduler */ #define CREATE_THREAD_FROZEN 0x00000001 /* Thread is frozen at create time */ struct thread_entry* - create_thread(void (*function)(void), void* stack, int stack_size, + create_thread(void (*function)(void), void* stack, size_t stack_size, unsigned flags, const char *name IF_PRIO(, int priority) IF_COP(, unsigned int core)); +/* Set and clear the CPU frequency boost flag for the calling thread */ #ifdef HAVE_SCHEDULER_BOOSTCTRL void trigger_cpu_boost(void); void cancel_cpu_boost(void); @@ -478,86 +475,52 @@ #define trigger_cpu_boost() #define cancel_cpu_boost() #endif +/* Make a frozed thread runnable (when started with CREATE_THREAD_FROZEN). + * Has no effect on a thread not frozen. */ void thread_thaw(struct thread_entry *thread); +/* Wait for a thread to exit */ void thread_wait(struct thread_entry *thread); +/* Exit the current thread */ +void thread_exit(void); +#if defined(DEBUG) || defined(ROCKBOX_HAS_LOGF) +#define ALLOW_REMOVE_THREAD +/* Remove a thread from the scheduler */ void remove_thread(struct thread_entry *thread); -void switch_thread(struct thread_entry *old); +#endif + +/* Switch to next runnable thread */ +void switch_thread(void); +/* Blocks a thread for at least the specified number of ticks (0 = wait until + * next tick) */ void sleep_thread(int ticks); +/* Indefinitely blocks the current thread on a thread queue */ +void block_thread(struct thread_entry *current); +/* Blocks the current thread on a thread queue until explicitely woken or + * the timeout is reached */ +void block_thread_w_tmo(struct thread_entry *current, int timeout); -/** - * Setup to allow using thread queues as locked or non-locked without speed - * sacrifices in both core locking types. - * - * The blocking/waking function inline two different version of the real - * function into the stubs when a software or other separate core locking - * mechanism is employed. - * - * When a simple test-and-set or similar instruction is available, locking - * has no cost and so one version is used and the internal worker is called - * directly. - * - * CORELOCK_NONE is treated the same as when an atomic instruction can be - * used. - */ +/* Return bit flags for thread wakeup */ +#define THREAD_NONE 0x0 /* No thread woken up (exclusive) */ +#define THREAD_OK 0x1 /* A thread was woken up */ +#define THREAD_SWITCH 0x2 /* Task switch recommended (one or more of + higher priority than current were woken) */ -/* Blocks the current thread on a thread queue */ -#if CONFIG_CORELOCK == SW_CORELOCK -void block_thread(struct thread_queue *tq); -void block_thread_no_listlock(struct thread_entry **list); -#else -void _block_thread(struct thread_queue *tq); -static inline void block_thread(struct thread_queue *tq) - { _block_thread(tq); } -static inline void block_thread_no_listlock(struct thread_entry **list) - { _block_thread((struct thread_queue *)list); } -#endif /* CONFIG_CORELOCK */ - -/* Blocks the current thread on a thread queue for a max amount of time - * There is no "_no_listlock" version because timeout blocks without sync on - * the blocking queues is not permitted since either core could access the - * list at any time to do an implicit wake. In other words, objects with - * timeout support require lockable queues. */ -void block_thread_w_tmo(struct thread_queue *tq, int timeout); - -/* Wakes up the thread at the head of the queue */ -#define THREAD_WAKEUP_NONE ((struct thread_entry *)NULL) -#define THREAD_WAKEUP_MISSING ((struct thread_entry *)(NULL+1)) -#if CONFIG_CORELOCK == SW_CORELOCK -struct thread_entry * wakeup_thread(struct thread_queue *tq); -struct thread_entry * wakeup_thread_no_listlock(struct thread_entry **list); -#else -struct thread_entry * _wakeup_thread(struct thread_queue *list); -static inline struct thread_entry * wakeup_thread(struct thread_queue *tq) - { return _wakeup_thread(tq); } -static inline struct thread_entry * wakeup_thread_no_listlock(struct thread_entry **list) - { return _wakeup_thread((struct thread_queue *)list); } -#endif /* CONFIG_CORELOCK */ - -/* Initialize a thread_queue object. */ -static inline void thread_queue_init(struct thread_queue *tq) - { tq->queue = NULL; IF_SWCL(corelock_init(&tq->cl);) } /* A convenience function for waking an entire queue of threads. */ -static inline void thread_queue_wake(struct thread_queue *tq) - { while (wakeup_thread(tq) != NULL); } -/* The no-listlock version of thread_queue_wake() */ -static inline void thread_queue_wake_no_listlock(struct thread_entry **list) - { while (wakeup_thread_no_listlock(list) != NULL); } +unsigned int thread_queue_wake(struct thread_entry **list); +/* Wakeup a thread at the head of a list */ +unsigned int wakeup_thread(struct thread_entry **list); + #ifdef HAVE_PRIORITY_SCHEDULING int thread_set_priority(struct thread_entry *thread, int priority); int thread_get_priority(struct thread_entry *thread); -/* Yield that guarantees thread execution once per round regardless of - thread's scheduler priority - basically a transient realtime boost - without altering the scheduler's thread precedence. */ -void priority_yield(void); -#else -#define priority_yield yield #endif /* HAVE_PRIORITY_SCHEDULING */ #if NUM_CORES > 1 unsigned int switch_core(unsigned int new_core); #endif struct thread_entry * thread_get_current(void); -void init_threads(void); + +/* Debugging info - only! */ int thread_stack_usage(const struct thread_entry *thread); #if NUM_CORES > 1 int idle_stack_usage(unsigned int core); Index: firmware/export/config.h =================================================================== --- firmware/export/config.h (revision 16785) +++ firmware/export/config.h (working copy) @@ -371,10 +371,20 @@ #endif /* define for all cpus from ARM family */ +#if (CONFIG_CPU == IMX31L) +#define CPU_ARM +#define ARM_ARCH 6 /* ARMv6 */ +#endif + +#if defined(CPU_TCC77X) || defined(CPU_TCC780X) +#define CPU_ARM +#define ARM_ARCH 5 /* ARMv5 */ +#endif + #if defined(CPU_PP) || (CONFIG_CPU == PNX0101) || (CONFIG_CPU == S3C2440) \ - || (CONFIG_CPU == DSC25) || (CONFIG_CPU == IMX31L) || (CONFIG_CPU == DM320) \ - || defined(CPU_TCC77X) || defined(CPU_TCC780X) + || (CONFIG_CPU == DSC25) || (CONFIG_CPU == DM320) #define CPU_ARM +#define ARM_ARCH 4 /* ARMv4 */ #endif /* Determine if accesses should be strictly long aligned. */ Index: firmware/kernel.c =================================================================== --- firmware/kernel.c (revision 16785) +++ firmware/kernel.c (working copy) @@ -20,21 +20,30 @@ #include #include "config.h" #include "kernel.h" +#ifdef SIMULATOR +#include "system-sdl.h" +#include "debug.h" +#endif #include "thread.h" #include "cpu.h" #include "system.h" #include "panic.h" /* Make this nonzero to enable more elaborate checks on objects */ -#ifdef DEBUG -#define KERNEL_OBJECT_CHECKS 1 /* Always 1 for DEBUG */ +#if defined(DEBUG) || defined(SIMULATOR) +#define KERNEL_OBJECT_CHECKS 1 /* Always 1 for DEBUG and sim*/ #else #define KERNEL_OBJECT_CHECKS 0 #endif #if KERNEL_OBJECT_CHECKS +#ifdef SIMULATOR #define KERNEL_ASSERT(exp, msg...) \ + ({ if (!({ exp; })) { DEBUGF(msg); exit(-1); } }) +#else +#define KERNEL_ASSERT(exp, msg...) \ ({ if (!({ exp; })) panicf(msg); }) +#endif #else #define KERNEL_ASSERT(exp, msg...) ({}) #endif @@ -52,9 +61,7 @@ { int count; struct event_queue *queues[MAX_NUM_QUEUES]; -#if NUM_CORES > 1 - struct corelock cl; -#endif + IF_COP( struct corelock cl; ) } all_queues NOCACHEBSS_ATTR; /**************************************************************************** @@ -77,6 +84,334 @@ } } +/**************************************************************************** + * Timer tick + ****************************************************************************/ +#if CONFIG_CPU == SH7034 +void tick_start(unsigned int interval_in_ms) +{ + unsigned long count; + + count = CPU_FREQ * interval_in_ms / 1000 / 8; + + if(count > 0x10000) + { + panicf("Error! The tick interval is too long (%d ms)\n", + interval_in_ms); + return; + } + + /* We are using timer 0 */ + + TSTR &= ~0x01; /* Stop the timer */ + TSNC &= ~0x01; /* No synchronization */ + TMDR &= ~0x01; /* Operate normally */ + + TCNT0 = 0; /* Start counting at 0 */ + GRA0 = (unsigned short)(count - 1); + TCR0 = 0x23; /* Clear at GRA match, sysclock/8 */ + + /* Enable interrupt on level 1 */ + IPRC = (IPRC & ~0x00f0) | 0x0010; + + TSR0 &= ~0x01; + TIER0 = 0xf9; /* Enable GRA match interrupt */ + + TSTR |= 0x01; /* Start timer 1 */ +} + +void IMIA0(void) __attribute__ ((interrupt_handler)); +void IMIA0(void) +{ + int i; + + /* Run through the list of tick tasks */ + for(i = 0;i < MAX_NUM_TICK_TASKS;i++) + { + if(tick_funcs[i]) + { + tick_funcs[i](); + } + } + + current_tick++; + + TSR0 &= ~0x01; +} +#elif defined(CPU_COLDFIRE) +void tick_start(unsigned int interval_in_ms) +{ + unsigned long count; + int prescale; + + count = CPU_FREQ/2 * interval_in_ms / 1000 / 16; + + if(count > 0x10000) + { + panicf("Error! The tick interval is too long (%d ms)\n", + interval_in_ms); + return; + } + + prescale = cpu_frequency / CPU_FREQ; + /* Note: The prescaler is later adjusted on-the-fly on CPU frequency + changes within timer.c */ + + /* We are using timer 0 */ + + TRR0 = (unsigned short)(count - 1); /* The reference count */ + TCN0 = 0; /* reset the timer */ + TMR0 = 0x001d | ((unsigned short)(prescale - 1) << 8); + /* restart, CLK/16, enabled, prescaler */ + + TER0 = 0xff; /* Clear all events */ + + ICR1 = 0x8c; /* Interrupt on level 3.0 */ + IMR &= ~0x200; +} + +void TIMER0(void) __attribute__ ((interrupt_handler)); +void TIMER0(void) +{ + int i; + + /* Run through the list of tick tasks */ + for(i = 0;i < MAX_NUM_TICK_TASKS;i++) + { + if(tick_funcs[i]) + { + tick_funcs[i](); + } + } + + current_tick++; + + TER0 = 0xff; /* Clear all events */ +} + +#elif defined(CPU_PP) + +#ifndef BOOTLOADER +void TIMER1(void) +{ + int i; + + /* Run through the list of tick tasks (using main core) */ + TIMER1_VAL; /* Read value to ack IRQ */ + + /* Run through the list of tick tasks using main CPU core - + wake up the COP through its control interface to provide pulse */ + for (i = 0;i < MAX_NUM_TICK_TASKS;i++) + { + if (tick_funcs[i]) + { + tick_funcs[i](); + } + } + +#if NUM_CORES > 1 + /* Pulse the COP */ + core_wake(COP); +#endif /* NUM_CORES */ + + current_tick++; +} +#endif + +/* Must be last function called init kernel/thread initialization */ +void tick_start(unsigned int interval_in_ms) +{ +#ifndef BOOTLOADER + TIMER1_CFG = 0x0; + TIMER1_VAL; + /* enable timer */ + TIMER1_CFG = 0xc0000000 | (interval_in_ms*1000 - 1); + /* unmask interrupt source */ + CPU_INT_EN = TIMER1_MASK; +#else + /* We don't enable interrupts in the bootloader */ + (void)interval_in_ms; +#endif +} + +#elif CONFIG_CPU == PNX0101 + +void timer_handler(void) +{ + int i; + + /* Run through the list of tick tasks */ + for(i = 0;i < MAX_NUM_TICK_TASKS;i++) + { + if(tick_funcs[i]) + tick_funcs[i](); + } + + current_tick++; + + TIMER0.clr = 0; +} + +void tick_start(unsigned int interval_in_ms) +{ + TIMER0.ctrl &= ~0x80; /* Disable the counter */ + TIMER0.ctrl |= 0x40; /* Reload after counting down to zero */ + TIMER0.load = 3000000 * interval_in_ms / 1000; + TIMER0.ctrl &= ~0xc; /* No prescaler */ + TIMER0.clr = 1; /* Clear the interrupt request */ + + irq_set_int_handler(IRQ_TIMER0, timer_handler); + irq_enable_int(IRQ_TIMER0); + + TIMER0.ctrl |= 0x80; /* Enable the counter */ +} +#endif + +int tick_add_task(void (*f)(void)) +{ + int i; + int oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); + + /* Add a task if there is room */ + for(i = 0;i < MAX_NUM_TICK_TASKS;i++) + { + if(tick_funcs[i] == NULL) + { + tick_funcs[i] = f; + set_irq_level(oldlevel); + return 0; + } + } + set_irq_level(oldlevel); + panicf("Error! tick_add_task(): out of tasks"); + return -1; +} + +int tick_remove_task(void (*f)(void)) +{ + int i; + int oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); + + /* Remove a task if it is there */ + for(i = 0;i < MAX_NUM_TICK_TASKS;i++) + { + if(tick_funcs[i] == f) + { + tick_funcs[i] = NULL; + set_irq_level(oldlevel); + return 0; + } + } + + set_irq_level(oldlevel); + return -1; +} + +/**************************************************************************** + * Tick-based interval timers/one-shots - be mindful this is not really + * intended for continuous timers but for events that need to run for a short + * time and be cancelled without further software intervention. + ****************************************************************************/ +#ifdef INCLUDE_TIMEOUT_API +static struct timeout *tmo_list = NULL; /* list of active timeout events */ + +/* timeout tick task - calls event handlers when they expire + * Event handlers may alter ticks, callback and data during operation. + */ +static void timeout_tick(void) +{ + unsigned long tick = current_tick; + struct timeout *curr, *next; + + for (curr = tmo_list; curr != NULL; curr = next) + { + next = (struct timeout *)curr->next; + + if (TIME_BEFORE(tick, curr->expires)) + continue; + + /* this event has expired - call callback */ + if (curr->callback(curr)) + *(long *)&curr->expires = tick + curr->ticks; /* reload */ + else + timeout_cancel(curr); /* cancel */ + } +} + +/* Cancels a timeout callback - can be called from the ISR */ +void timeout_cancel(struct timeout *tmo) +{ + int oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); + + if (tmo_list != NULL) + { + struct timeout *curr = tmo_list; + struct timeout *prev = NULL; + + while (curr != tmo && curr != NULL) + { + prev = curr; + curr = (struct timeout *)curr->next; + } + + if (curr != NULL) + { + /* in list */ + if (prev == NULL) + tmo_list = (struct timeout *)curr->next; + else + *(const struct timeout **)&prev->next = curr->next; + + if (tmo_list == NULL) + tick_remove_task(timeout_tick); /* last one - remove task */ + } + /* not in list or tmo == NULL */ + } + + set_irq_level(oldlevel); +} + +/* Adds a timeout callback - calling with an active timeout resets the + interval - can be called from the ISR */ +void timeout_register(struct timeout *tmo, timeout_cb_type callback, + int ticks, intptr_t data) +{ + int oldlevel; + struct timeout *curr; + + if (tmo == NULL) + return; + + oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); + + /* see if this one is already registered */ + curr = tmo_list; + while (curr != tmo && curr != NULL) + curr = (struct timeout *)curr->next; + + if (curr == NULL) + { + /* not found - add it */ + if (tmo_list == NULL) + tick_add_task(timeout_tick); /* first one - add task */ + + *(struct timeout **)&tmo->next = tmo_list; + tmo_list = tmo; + } + + tmo->callback = callback; + tmo->ticks = ticks; + tmo->data = data; + *(long *)&tmo->expires = current_tick + ticks; + + set_irq_level(oldlevel); +} + +#endif /* INCLUDE_TIMEOUT_API */ + +/**************************************************************************** + * Thread stuff + ****************************************************************************/ void sleep(int ticks) { #if CONFIG_CPU == S3C2440 && defined(BOOTLOADER) @@ -96,9 +431,11 @@ #elif defined(CPU_PP) && defined(BOOTLOADER) unsigned stop = USEC_TIMER + ticks * (1000000/HZ); while (TIME_BEFORE(USEC_TIMER, stop)) - switch_thread(NULL); + switch_thread(); #else + set_irq_level(HIGHEST_IRQ_LEVEL); sleep_thread(ticks); + switch_thread(); #endif } @@ -107,7 +444,7 @@ #if ((CONFIG_CPU == S3C2440 || defined(ELIO_TPJ1022)) && defined(BOOTLOADER)) /* Some targets don't like yielding in the bootloader */ #else - switch_thread(NULL); + switch_thread(); #endif } @@ -116,43 +453,50 @@ ****************************************************************************/ #ifdef HAVE_EXTENDED_MESSAGING_AND_NAME -/* Moves waiting thread's descriptor to the current sender when a - message is dequeued */ -static void queue_fetch_sender(struct queue_sender_list *send, - unsigned int i) -{ - struct thread_entry **spp = &send->senders[i]; +/**************************************************************************** + * Sender thread queue structure that aids implementation of priority + * inheritance on queues because the send list structure is the same as + * for all other kernel objects: + * + * Example state: + * E0 added with queue_send and removed by thread via queue_wait(_w_tmo) + * E3 was posted with queue_post + * 4 events remain enqueued (E1-E4) + * + * rd wr + * q->events[]: | XX | E1 | E2 | E3 | E4 | XX | + * q->send->senders[]: | NULL | T1 | T2 | NULL | T3 | NULL | + * \/ \/ \/ + * q->send->list: >->|T0|<->|T1|<->|T2|<-------->|T3|<-< + * q->send->curr_sender: /\ + * + * Thread has E0 in its own struct queue_event. + * + ****************************************************************************/ - if(*spp) - { - send->curr_sender = *spp; - *spp = NULL; - } -} - /* Puts the specified return value in the waiting thread's return value * and wakes the thread. - * 1) A sender should be confirmed to exist before calling which makes it - * more efficent to reject the majority of cases that don't need this - called. - * 2) Requires interrupts disabled since queue overflows can cause posts - * from interrupt handlers to wake threads. Not doing so could cause - * an attempt at multiple wakes or other problems. + * + * A sender should be confirmed to exist before calling which makes it + * more efficent to reject the majority of cases that don't need this + * called. */ static void queue_release_sender(struct thread_entry **sender, intptr_t retval) { - (*sender)->retval = retval; - wakeup_thread_no_listlock(sender); - /* This should _never_ happen - there must never be multiple - threads in this list and it is a corrupt state */ - KERNEL_ASSERT(*sender == NULL, "queue->send slot ovf: %08X", (int)*sender); + struct thread_entry *thread = *sender; + + *sender = NULL; /* Clear slot. */ + thread->wakeup_ext_cb = NULL; /* Clear callback. */ + thread->retval = retval; /* Assign thread-local return value. */ + *thread->bqp = thread; /* Move blocking queue head to thread since + wakeup_thread wakes the first thread in + the list. */ + wakeup_thread(thread->bqp); } /* Releases any waiting threads that are queued with queue_send - * reply with 0. - * Disable IRQs and lock before calling since it uses - * queue_release_sender. */ static void queue_release_all_senders(struct event_queue *q) { @@ -172,25 +516,103 @@ } } +/* Callback to do extra forced removal steps from sender list in addition + * to the normal blocking queue removal and priority dis-inherit */ +static void queue_remove_sender_thread_cb(struct thread_entry *thread) +{ + *((struct thread_entry **)thread->retval) = NULL; + thread->wakeup_ext_cb = NULL; + thread->retval = 0; +} + /* Enables queue_send on the specified queue - caller allocates the extra - data structure. Only queues which are taken to be owned by a thread should - enable this. Public waiting is not permitted. */ + * data structure. Only queues which are taken to be owned by a thread should + * enable this however an official owner is not compulsory but must be + * specified for priority inheritance to operate. + * + * Use of queue_wait(_w_tmo) by multiple threads on a queue using synchronous + * messages results in an undefined order of message replies. + */ void queue_enable_queue_send(struct event_queue *q, - struct queue_sender_list *send) + struct queue_sender_list *send, + struct thread_entry *owner) { int oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); corelock_lock(&q->cl); - q->send = NULL; - if(send != NULL) + if(send != NULL && q->send == NULL) { memset(send, 0, sizeof(*send)); +#ifdef HAVE_PRIORITY_SCHEDULING + send->blocker.wakeup_protocol = wakeup_priority_protocol_release; + send->blocker.priority = PRIORITY_IDLE; + send->blocker.thread = owner; + if(owner != NULL) + q->blocker_p = &send->blocker; +#endif q->send = send; } corelock_unlock(&q->cl); set_irq_level(oldlevel); + + (void)owner; } + +/* Unblock a blocked thread at a given event index */ +static inline void queue_do_unblock_sender(struct queue_sender_list *send, + unsigned int i) +{ + if(send) + { + struct thread_entry **spp = &send->senders[i]; + + if(*spp) + { + queue_release_sender(spp, 0); + } + } +} + +/* Perform the auto-reply sequence */ +static inline void queue_do_auto_reply(struct queue_sender_list *send) +{ + if(send && send->curr_sender) + { + /* auto-reply */ + queue_release_sender(&send->curr_sender, 0); + } +} + +/* Moves waiting thread's refrence from the senders array to the + * current_sender which represents the thread waiting for a reponse to the + * last message removed from the queue. This also protects the thread from + * being bumped due to overflow which would not be a valid action since its + * message _is_ being processed at this point. */ +static inline void queue_do_fetch_sender(struct queue_sender_list *send, + unsigned int rd) +{ + if(send) + { + struct thread_entry **spp = &send->senders[rd]; + + if(*spp) + { + /* Move thread reference from array to the next thread + that queue_reply will release */ + send->curr_sender = *spp; + (*spp)->retval = (intptr_t)spp; + *spp = NULL; + } + /* else message was posted asynchronously with queue_post */ + } +} +#else +/* Empty macros for when synchoronous sending is not made */ +#define queue_release_all_senders(q) +#define queue_do_unblock_sender(send, i) +#define queue_do_auto_reply(send) +#define queue_do_fetch_sender(send, rd) #endif /* HAVE_EXTENDED_MESSAGING_AND_NAME */ /* Queue must not be available for use during this call */ @@ -204,11 +626,12 @@ } corelock_init(&q->cl); - thread_queue_init(&q->queue); - q->read = 0; - q->write = 0; + q->queue = NULL; + q->read = 0; + q->write = 0; #ifdef HAVE_EXTENDED_MESSAGING_AND_NAME - q->send = NULL; /* No message sending by default */ + q->send = NULL; /* No message sending by default */ + IF_PRIO( q->blocker_p = NULL; ) #endif if(register_queue) @@ -254,14 +677,20 @@ corelock_unlock(&all_queues.cl); - /* Release threads waiting on queue head */ + /* Release thread(s) waiting on queue head */ thread_queue_wake(&q->queue); #ifdef HAVE_EXTENDED_MESSAGING_AND_NAME - /* Release waiting threads for reply and reply to any dequeued - message waiting for one. */ - queue_release_all_senders(q); - queue_reply(q, 0); + if(q->send) + { + /* Release threads waiting for replies */ + queue_release_all_senders(q); + + /* Reply to any dequeued message waiting for one */ + queue_do_auto_reply(q->send); + + q->send = NULL; + } #endif q->read = 0; @@ -279,33 +708,32 @@ int oldlevel; unsigned int rd; +#ifdef HAVE_PRIORITY_SCHEDULING + KERNEL_ASSERT(QUEUE_GET_THREAD(q) == NULL || + QUEUE_GET_THREAD(q) == thread_get_current(), + "queue_wait->wrong thread\n"); +#endif + oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); corelock_lock(&q->cl); -#ifdef HAVE_EXTENDED_MESSAGING_AND_NAME - if(q->send && q->send->curr_sender) - { - /* auto-reply */ - queue_release_sender(&q->send->curr_sender, 0); - } -#endif + /* auto-reply */ + queue_do_auto_reply(q->send); if (q->read == q->write) { + struct thread_entry *current = cores[CURRENT_CORE].running; + do { -#if CONFIG_CORELOCK == CORELOCK_NONE -#elif CONFIG_CORELOCK == SW_CORELOCK - const unsigned int core = CURRENT_CORE; - cores[core].blk_ops.flags = TBOP_UNLOCK_CORELOCK; - cores[core].blk_ops.cl_p = &q->cl; -#elif CONFIG_CORELOCK == CORELOCK_SWAP - const unsigned int core = CURRENT_CORE; - cores[core].blk_ops.flags = TBOP_SET_VARu8; - cores[core].blk_ops.var_u8p = &q->cl.locked; - cores[core].blk_ops.var_u8v = 0; -#endif /* CONFIG_CORELOCK */ - block_thread(&q->queue); + IF_COP( current->obj_cl = &q->cl; ) + current->bqp = &q->queue; + + block_thread(current); + + corelock_unlock(&q->cl); + switch_thread(); + oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); corelock_lock(&q->cl); } @@ -316,13 +744,8 @@ rd = q->read++ & QUEUE_LENGTH_MASK; *ev = q->events[rd]; -#ifdef HAVE_EXTENDED_MESSAGING_AND_NAME - if(q->send && q->send->senders[rd]) - { - /* Get data for a waiting thread if one */ - queue_fetch_sender(q->send, rd); - } -#endif + /* Get data for a waiting thread if one */ + queue_do_fetch_sender(q->send, rd); corelock_unlock(&q->cl); set_irq_level(oldlevel); @@ -332,31 +755,30 @@ { int oldlevel; +#ifdef HAVE_EXTENDED_MESSAGING_AND_NAME + KERNEL_ASSERT(QUEUE_GET_THREAD(q) == NULL || + QUEUE_GET_THREAD(q) == thread_get_current(), + "queue_wait_w_tmo->wrong thread\n"); +#endif + oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); corelock_lock(&q->cl); -#ifdef HAVE_EXTENDED_MESSAGING_AND_NAME - if (q->send && q->send->curr_sender) - { - /* auto-reply */ - queue_release_sender(&q->send->curr_sender, 0); - } -#endif + /* Auto-reply */ + queue_do_auto_reply(q->send); if (q->read == q->write && ticks > 0) { -#if CONFIG_CORELOCK == CORELOCK_NONE -#elif CONFIG_CORELOCK == SW_CORELOCK - const unsigned int core = CURRENT_CORE; - cores[core].blk_ops.flags = TBOP_UNLOCK_CORELOCK; - cores[core].blk_ops.cl_p = &q->cl; -#elif CONFIG_CORELOCK == CORELOCK_SWAP - const unsigned int core = CURRENT_CORE; - cores[core].blk_ops.flags = TBOP_SET_VARu8; - cores[core].blk_ops.var_u8p = &q->cl.locked; - cores[core].blk_ops.var_u8v = 0; -#endif - block_thread_w_tmo(&q->queue, ticks); + struct thread_entry *current = cores[CURRENT_CORE].running; + + IF_COP( current->obj_cl = &q->cl; ) + current->bqp = &q->queue; + + block_thread_w_tmo(current, ticks); + corelock_unlock(&q->cl); + + switch_thread(); + oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); corelock_lock(&q->cl); } @@ -367,14 +789,8 @@ { unsigned int rd = q->read++ & QUEUE_LENGTH_MASK; *ev = q->events[rd]; - -#ifdef HAVE_EXTENDED_MESSAGING_AND_NAME - if(q->send && q->send->senders[rd]) - { - /* Get data for a waiting thread if one */ - queue_fetch_sender(q->send, rd); - } -#endif + /* Get data for a waiting thread if one */ + queue_do_fetch_sender(q->send, rd); } else { @@ -398,19 +814,9 @@ q->events[wr].id = id; q->events[wr].data = data; -#ifdef HAVE_EXTENDED_MESSAGING_AND_NAME - if(q->send) - { - struct thread_entry **spp = &q->send->senders[wr]; + /* overflow protect - unblock any thread waiting at this index */ + queue_do_unblock_sender(q->send, wr); - if (*spp) - { - /* overflow protect - unblock any thread waiting at this index */ - queue_release_sender(spp, 0); - } - } -#endif - /* Wakeup a waiting thread if any */ wakeup_thread(&q->queue); @@ -436,8 +842,9 @@ if(q->send) { - const unsigned int core = CURRENT_CORE; - struct thread_entry **spp = &q->send->senders[wr]; + struct queue_sender_list *send = q->send; + struct thread_entry **spp = &send->senders[wr]; + struct thread_entry *current = cores[CURRENT_CORE].running; if(*spp) { @@ -448,17 +855,20 @@ /* Wakeup a waiting thread if any */ wakeup_thread(&q->queue); -#if CONFIG_CORELOCK == CORELOCK_NONE -#elif CONFIG_CORELOCK == SW_CORELOCK - cores[core].blk_ops.flags = TBOP_UNLOCK_CORELOCK; - cores[core].blk_ops.cl_p = &q->cl; -#elif CONFIG_CORELOCK == CORELOCK_SWAP - cores[core].blk_ops.flags = TBOP_SET_VARu8; - cores[core].blk_ops.var_u8p = &q->cl.locked; - cores[core].blk_ops.var_u8v = 0; -#endif - block_thread_no_listlock(spp); - return cores[core].running->retval; + /* Save thread in slot, add to list and wait for reply */ + *spp = current; + IF_COP( current->obj_cl = &q->cl; ) + IF_PRIO( current->blocker = q->blocker_p; ) + current->wakeup_ext_cb = queue_remove_sender_thread_cb; + current->retval = (intptr_t)spp; + current->bqp = &send->list; + + block_thread(current); + + corelock_unlock(&q->cl); + switch_thread(); + + return current->retval; } /* Function as queue_post if sending is not enabled */ @@ -497,37 +907,22 @@ { if(q->send && q->send->curr_sender) { -#if NUM_CORES > 1 int oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); corelock_lock(&q->cl); /* Double-check locking */ - if(q->send && q->send->curr_sender) + IF_COP( if(q->send && q->send->curr_sender) ) { -#endif - queue_release_sender(&q->send->curr_sender, retval); + } -#if NUM_CORES > 1 - } corelock_unlock(&q->cl); set_irq_level(oldlevel); -#endif } } -#endif /* HAVE_EXTENDED_MESSAGING_AND_NAME */ -/* Poll queue to see if a message exists - careful in using the result if - * queue_remove_from_head is called when messages are posted - possibly use - * queue_wait_w_tmo(&q, 0) in that case or else a removed message that - * unsignals the queue may cause an unwanted block */ -bool queue_empty(const struct event_queue* q) -{ - return ( q->read == q->write ); -} - bool queue_peek(struct event_queue *q, struct queue_event *ev) { - if (q->read == q->write) + if(q->read == q->write) return false; bool have_msg = false; @@ -535,7 +930,7 @@ int oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); corelock_lock(&q->cl); - if (q->read != q->write) + if(q->read != q->write) { *ev = q->events[q->read & QUEUE_LENGTH_MASK]; have_msg = true; @@ -546,7 +941,17 @@ return have_msg; } +#endif /* HAVE_EXTENDED_MESSAGING_AND_NAME */ +/* Poll queue to see if a message exists - careful in using the result if + * queue_remove_from_head is called when messages are posted - possibly use + * queue_wait_w_tmo(&q, 0) in that case or else a removed message that + * unsignals the queue may cause an unwanted block */ +bool queue_empty(const struct event_queue* q) +{ + return ( q->read == q->write ); +} + void queue_clear(struct event_queue* q) { int oldlevel; @@ -554,11 +959,9 @@ oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); corelock_lock(&q->cl); -#ifdef HAVE_EXTENDED_MESSAGING_AND_NAME /* Release all threads waiting in the queue for a reply - dequeued sent message will be handled by owning thread */ queue_release_all_senders(q); -#endif q->read = 0; q->write = 0; @@ -583,18 +986,9 @@ break; } -#ifdef HAVE_EXTENDED_MESSAGING_AND_NAME - if(q->send) - { - struct thread_entry **spp = &q->send->senders[rd]; + /* Release any thread waiting on this message */ + queue_do_unblock_sender(q->send, rd); - if (*spp) - { - /* Release any thread waiting on this message */ - queue_release_sender(spp, 0); - } - } -#endif q->read++; } @@ -636,397 +1030,72 @@ } /**************************************************************************** - * Timer tick + * Simple mutex functions ;) ****************************************************************************/ -#if CONFIG_CPU == SH7034 -void tick_start(unsigned int interval_in_ms) -{ - unsigned long count; - count = CPU_FREQ * interval_in_ms / 1000 / 8; - - if(count > 0x10000) - { - panicf("Error! The tick interval is too long (%d ms)\n", - interval_in_ms); - return; - } - - /* We are using timer 0 */ - - TSTR &= ~0x01; /* Stop the timer */ - TSNC &= ~0x01; /* No synchronization */ - TMDR &= ~0x01; /* Operate normally */ - - TCNT0 = 0; /* Start counting at 0 */ - GRA0 = (unsigned short)(count - 1); - TCR0 = 0x23; /* Clear at GRA match, sysclock/8 */ - - /* Enable interrupt on level 1 */ - IPRC = (IPRC & ~0x00f0) | 0x0010; - - TSR0 &= ~0x01; - TIER0 = 0xf9; /* Enable GRA match interrupt */ - - TSTR |= 0x01; /* Start timer 1 */ -} - -void IMIA0(void) __attribute__ ((interrupt_handler)); -void IMIA0(void) -{ - int i; - - /* Run through the list of tick tasks */ - for(i = 0;i < MAX_NUM_TICK_TASKS;i++) - { - if(tick_funcs[i]) - { - tick_funcs[i](); - } - } - - current_tick++; - - TSR0 &= ~0x01; -} -#elif defined(CPU_COLDFIRE) -void tick_start(unsigned int interval_in_ms) -{ - unsigned long count; - int prescale; - - count = CPU_FREQ/2 * interval_in_ms / 1000 / 16; - - if(count > 0x10000) - { - panicf("Error! The tick interval is too long (%d ms)\n", - interval_in_ms); - return; - } - - prescale = cpu_frequency / CPU_FREQ; - /* Note: The prescaler is later adjusted on-the-fly on CPU frequency - changes within timer.c */ - - /* We are using timer 0 */ - - TRR0 = (unsigned short)(count - 1); /* The reference count */ - TCN0 = 0; /* reset the timer */ - TMR0 = 0x001d | ((unsigned short)(prescale - 1) << 8); - /* restart, CLK/16, enabled, prescaler */ - - TER0 = 0xff; /* Clear all events */ - - ICR1 = 0x8c; /* Interrupt on level 3.0 */ - IMR &= ~0x200; -} - -void TIMER0(void) __attribute__ ((interrupt_handler)); -void TIMER0(void) -{ - int i; - - /* Run through the list of tick tasks */ - for(i = 0;i < MAX_NUM_TICK_TASKS;i++) - { - if(tick_funcs[i]) - { - tick_funcs[i](); - } - } - - current_tick++; - - TER0 = 0xff; /* Clear all events */ -} - -#elif defined(CPU_PP) - -#ifndef BOOTLOADER -void TIMER1(void) -{ - int i; - - /* Run through the list of tick tasks (using main core) */ - TIMER1_VAL; /* Read value to ack IRQ */ - - /* Run through the list of tick tasks using main CPU core - - wake up the COP through its control interface to provide pulse */ - for (i = 0;i < MAX_NUM_TICK_TASKS;i++) - { - if (tick_funcs[i]) - { - tick_funcs[i](); - } - } - -#if NUM_CORES > 1 - /* Pulse the COP */ - core_wake(COP); -#endif /* NUM_CORES */ - - current_tick++; -} -#endif - -/* Must be last function called init kernel/thread initialization */ -void tick_start(unsigned int interval_in_ms) -{ -#ifndef BOOTLOADER - TIMER1_CFG = 0x0; - TIMER1_VAL; - /* enable timer */ - TIMER1_CFG = 0xc0000000 | (interval_in_ms*1000 - 1); - /* unmask interrupt source */ - CPU_INT_EN = TIMER1_MASK; -#else - /* We don't enable interrupts in the bootloader */ - (void)interval_in_ms; -#endif -} - -#elif CONFIG_CPU == PNX0101 - -void timer_handler(void) -{ - int i; - - /* Run through the list of tick tasks */ - for(i = 0;i < MAX_NUM_TICK_TASKS;i++) - { - if(tick_funcs[i]) - tick_funcs[i](); - } - - current_tick++; - - TIMER0.clr = 0; -} - -void tick_start(unsigned int interval_in_ms) -{ - TIMER0.ctrl &= ~0x80; /* Disable the counter */ - TIMER0.ctrl |= 0x40; /* Reload after counting down to zero */ - TIMER0.load = 3000000 * interval_in_ms / 1000; - TIMER0.ctrl &= ~0xc; /* No prescaler */ - TIMER0.clr = 1; /* Clear the interrupt request */ - - irq_set_int_handler(IRQ_TIMER0, timer_handler); - irq_enable_int(IRQ_TIMER0); - - TIMER0.ctrl |= 0x80; /* Enable the counter */ -} -#endif - -int tick_add_task(void (*f)(void)) -{ - int i; - int oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); - - /* Add a task if there is room */ - for(i = 0;i < MAX_NUM_TICK_TASKS;i++) - { - if(tick_funcs[i] == NULL) - { - tick_funcs[i] = f; - set_irq_level(oldlevel); - return 0; - } - } - set_irq_level(oldlevel); - panicf("Error! tick_add_task(): out of tasks"); - return -1; -} - -int tick_remove_task(void (*f)(void)) -{ - int i; - int oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); - - /* Remove a task if it is there */ - for(i = 0;i < MAX_NUM_TICK_TASKS;i++) - { - if(tick_funcs[i] == f) - { - tick_funcs[i] = NULL; - set_irq_level(oldlevel); - return 0; - } - } - - set_irq_level(oldlevel); - return -1; -} - -/**************************************************************************** - * Tick-based interval timers/one-shots - be mindful this is not really - * intended for continuous timers but for events that need to run for a short - * time and be cancelled without further software intervention. - ****************************************************************************/ -#ifdef INCLUDE_TIMEOUT_API -static struct timeout *tmo_list = NULL; /* list of active timeout events */ - -/* timeout tick task - calls event handlers when they expire - * Event handlers may alter ticks, callback and data during operation. - */ -static void timeout_tick(void) -{ - unsigned long tick = current_tick; - struct timeout *curr, *next; - - for (curr = tmo_list; curr != NULL; curr = next) - { - next = (struct timeout *)curr->next; - - if (TIME_BEFORE(tick, curr->expires)) - continue; - - /* this event has expired - call callback */ - if (curr->callback(curr)) - *(long *)&curr->expires = tick + curr->ticks; /* reload */ - else - timeout_cancel(curr); /* cancel */ - } -} - -/* Cancels a timeout callback - can be called from the ISR */ -void timeout_cancel(struct timeout *tmo) -{ - int oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); - - if (tmo_list != NULL) - { - struct timeout *curr = tmo_list; - struct timeout *prev = NULL; - - while (curr != tmo && curr != NULL) - { - prev = curr; - curr = (struct timeout *)curr->next; - } - - if (curr != NULL) - { - /* in list */ - if (prev == NULL) - tmo_list = (struct timeout *)curr->next; - else - *(const struct timeout **)&prev->next = curr->next; - - if (tmo_list == NULL) - tick_remove_task(timeout_tick); /* last one - remove task */ - } - /* not in list or tmo == NULL */ - } - - set_irq_level(oldlevel); -} - -/* Adds a timeout callback - calling with an active timeout resets the - interval - can be called from the ISR */ -void timeout_register(struct timeout *tmo, timeout_cb_type callback, - int ticks, intptr_t data) -{ - int oldlevel; - struct timeout *curr; - - if (tmo == NULL) - return; - - oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); - - /* see if this one is already registered */ - curr = tmo_list; - while (curr != tmo && curr != NULL) - curr = (struct timeout *)curr->next; - - if (curr == NULL) - { - /* not found - add it */ - if (tmo_list == NULL) - tick_add_task(timeout_tick); /* first one - add task */ - - *(struct timeout **)&tmo->next = tmo_list; - tmo_list = tmo; - } - - tmo->callback = callback; - tmo->ticks = ticks; - tmo->data = data; - *(long *)&tmo->expires = current_tick + ticks; - - set_irq_level(oldlevel); -} - -#endif /* INCLUDE_TIMEOUT_API */ - -/**************************************************************************** - * Simple mutex functions ;) - ****************************************************************************/ +/* Initialize a mutex object - call before any use and do not call again once + * the object is available to other threads */ void mutex_init(struct mutex *m) { + corelock_init(&m->cl); m->queue = NULL; - m->thread = NULL; m->count = 0; m->locked = 0; -#if CONFIG_CORELOCK == SW_CORELOCK - corelock_init(&m->cl); + MUTEX_SET_THREAD(m, NULL); +#ifdef HAVE_PRIORITY_SCHEDULING + m->blocker.priority = PRIORITY_IDLE; + m->blocker.wakeup_protocol = wakeup_priority_protocol_transfer; + m->no_preempt = false; #endif } +/* Gain ownership of a mutex object or block until it becomes free */ void mutex_lock(struct mutex *m) { const unsigned int core = CURRENT_CORE; - struct thread_entry *const thread = cores[core].running; + struct thread_entry *current = cores[core].running; - if(thread == m->thread) + if(current == MUTEX_GET_THREAD(m)) { + /* current thread already owns this mutex */ m->count++; return; } - /* Repeat some stuff here or else all the variation is too difficult to - read */ -#if CONFIG_CORELOCK == CORELOCK_SWAP - /* peek at lock until it's no longer busy */ - unsigned int locked; - while ((locked = xchg8(&m->locked, STATE_BUSYu8)) == STATE_BUSYu8); - if(locked == 0) - { - m->thread = thread; - m->locked = 1; - return; - } + /* lock out other cores */ + corelock_lock(&m->cl); - /* Block until the lock is open... */ - cores[core].blk_ops.flags = TBOP_SET_VARu8; - cores[core].blk_ops.var_u8p = &m->locked; - cores[core].blk_ops.var_u8v = 1; -#else - corelock_lock(&m->cl); - if (m->locked == 0) + if(m->locked == 0) { + /* lock is open */ + MUTEX_SET_THREAD(m, current); m->locked = 1; - m->thread = thread; corelock_unlock(&m->cl); return; } - /* Block until the lock is open... */ -#if CONFIG_CORELOCK == SW_CORELOCK - cores[core].blk_ops.flags = TBOP_UNLOCK_CORELOCK; - cores[core].blk_ops.cl_p = &m->cl; -#endif -#endif /* CONFIG_CORELOCK */ + /* block until the lock is open... */ + IF_COP( current->obj_cl = &m->cl; ) + IF_PRIO( current->blocker = &m->blocker; ) + current->bqp = &m->queue; - block_thread_no_listlock(&m->queue); + set_irq_level(HIGHEST_IRQ_LEVEL); + block_thread(current); + + corelock_unlock(&m->cl); + + /* ...and turn control over to next thread */ + switch_thread(); } +/* Release ownership of a mutex object - only owning thread must call this */ void mutex_unlock(struct mutex *m) { /* unlocker not being the owner is an unlocking violation */ - KERNEL_ASSERT(m->thread == cores[CURRENT_CORE].running, - "mutex_unlock->wrong thread (recurse)"); + KERNEL_ASSERT(MUTEX_GET_THREAD(m) == thread_get_current(), + "mutex_unlock->wrong thread (%s != %s)\n", + MUTEX_GET_THREAD(m)->name, + thread_get_current()->name); if(m->count > 0) { @@ -1035,37 +1104,33 @@ return; } -#if CONFIG_CORELOCK == SW_CORELOCK /* lock out other cores */ corelock_lock(&m->cl); -#elif CONFIG_CORELOCK == CORELOCK_SWAP - /* wait for peeker to move on */ - while (xchg8(&m->locked, STATE_BUSYu8) == STATE_BUSYu8); -#endif /* transfer to next queued thread if any */ - - /* This can become busy using SWP but is safe since only one thread - will be changing things at a time. Allowing timeout waits will - change that however but not now. There is also a hazard the thread - could be killed before performing the wakeup but that's just - irresponsible. :-) */ - m->thread = m->queue; - - if(m->thread == NULL) + if(m->queue == NULL) { - m->locked = 0; /* release lock */ -#if CONFIG_CORELOCK == SW_CORELOCK + /* no threads waiting - open the lock */ + MUTEX_SET_THREAD(m, NULL); + m->locked = 0; corelock_unlock(&m->cl); -#endif + return; } - else /* another thread is waiting - remain locked */ + else { - wakeup_thread_no_listlock(&m->queue); -#if CONFIG_CORELOCK == SW_CORELOCK + const int oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); + /* Tranfer of owning thread is handled in the wakeup protocol + * if priorities are enabled otherwise just set it from the + * queue head. */ + IFN_PRIO( MUTEX_SET_THREAD(m, m->queue); ) + IF_PRIO( unsigned int result = ) wakeup_thread(&m->queue); + set_irq_level(oldlevel); + corelock_unlock(&m->cl); -#elif CONFIG_CORELOCK == CORELOCK_SWAP - m->locked = 1; + +#ifdef HAVE_PRIORITY_SCHEDULING + if((result & THREAD_SWITCH) && !m->no_preempt) + switch_thread(); #endif } } @@ -1083,28 +1148,32 @@ void spinlock_lock(struct spinlock *l) { - struct thread_entry *const thread = cores[CURRENT_CORE].running; + const unsigned int core = CURRENT_CORE; + struct thread_entry *current = cores[core].running; - if (l->thread == thread) + if(l->thread == current) { + /* current core already owns it */ l->count++; return; } + /* lock against other processor cores */ corelock_lock(&l->cl); - l->thread = thread; + /* take ownership */ + l->thread = current; } void spinlock_unlock(struct spinlock *l) { /* unlocker not being the owner is an unlocking violation */ - KERNEL_ASSERT(l->thread == cores[CURRENT_CORE].running, - "spinlock_unlock->wrong thread"); + KERNEL_ASSERT(l->thread == thread_get_current(), + "spinlock_unlock->wrong thread\n"); - if (l->count > 0) + if(l->count > 0) { - /* this thread still owns lock */ + /* this core still owns lock */ l->count--; return; } @@ -1124,76 +1193,62 @@ void semaphore_init(struct semaphore *s, int max, int start) { KERNEL_ASSERT(max > 0 && start >= 0 && start <= max, - "semaphore_init->inv arg"); + "semaphore_init->inv arg\n"); s->queue = NULL; s->max = max; s->count = start; -#if CONFIG_CORELOCK == SW_CORELOCK corelock_init(&s->cl); -#endif } void semaphore_wait(struct semaphore *s) { -#if CONFIG_CORELOCK == CORELOCK_NONE || CONFIG_CORELOCK == SW_CORELOCK + struct thread_entry *current; + corelock_lock(&s->cl); + if(--s->count >= 0) { + /* wait satisfied */ corelock_unlock(&s->cl); return; } -#elif CONFIG_CORELOCK == CORELOCK_SWAP - int count; - while ((count = xchg32(&s->count, STATE_BUSYi)) == STATE_BUSYi); - if(--count >= 0) - { - s->count = count; - return; - } -#endif - /* too many waits - block until dequeued */ -#if CONFIG_CORELOCK == SW_CORELOCK - const unsigned int core = CURRENT_CORE; - cores[core].blk_ops.flags = TBOP_UNLOCK_CORELOCK; - cores[core].blk_ops.cl_p = &s->cl; -#elif CONFIG_CORELOCK == CORELOCK_SWAP - const unsigned int core = CURRENT_CORE; - cores[core].blk_ops.flags = TBOP_SET_VARi; - cores[core].blk_ops.var_ip = &s->count; - cores[core].blk_ops.var_iv = count; -#endif - block_thread_no_listlock(&s->queue); + /* too many waits - block until dequeued... */ + current = cores[CURRENT_CORE].running; + + IF_COP( current->obj_cl = &s->cl; ) + current->bqp = &s->queue; + + set_irq_level(HIGHEST_IRQ_LEVEL); + block_thread(current); + + corelock_unlock(&s->cl); + + /* ...and turn control over to next thread */ + switch_thread(); } void semaphore_release(struct semaphore *s) { -#if CONFIG_CORELOCK == CORELOCK_NONE || CONFIG_CORELOCK == SW_CORELOCK + IF_PRIO( unsigned int result = THREAD_NONE; ) + corelock_lock(&s->cl); - if (s->count < s->max) + + if(s->count < s->max && ++s->count <= 0) { - if (++s->count <= 0) - { -#elif CONFIG_CORELOCK == CORELOCK_SWAP - int count; - while ((count = xchg32(&s->count, STATE_BUSYi)) == STATE_BUSYi); - if(count < s->max) - { - if(++count <= 0) - { -#endif /* CONFIG_CORELOCK */ - - /* there should be threads in this queue */ - KERNEL_ASSERT(s->queue != NULL, "semaphore->wakeup"); - /* a thread was queued - wake it up */ - wakeup_thread_no_listlock(&s->queue); - } + /* there should be threads in this queue */ + KERNEL_ASSERT(s->queue != NULL, "semaphore->wakeup\n"); + /* a thread was queued - wake it up */ + int oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); + IF_PRIO( result = ) wakeup_thread(&s->queue); + set_irq_level(oldlevel); } -#if CONFIG_CORELOCK == SW_CORELOCK corelock_unlock(&s->cl); -#elif CONFIG_CORELOCK == CORELOCK_SWAP - s->count = count; + +#ifdef HAVE_PRIORITY_SCHEDULING + if(result & THREAD_SWITCH) + switch_thread(); #endif } #endif /* HAVE_SEMAPHORE_OBJECTS */ @@ -1208,117 +1263,107 @@ e->queues[STATE_SIGNALED] = NULL; e->state = flags & STATE_SIGNALED; e->automatic = (flags & EVENT_AUTOMATIC) ? 1 : 0; -#if CONFIG_CORELOCK == SW_CORELOCK corelock_init(&e->cl); -#endif } void event_wait(struct event *e, unsigned int for_state) { - unsigned int last_state; -#if CONFIG_CORELOCK == CORELOCK_NONE || CONFIG_CORELOCK == SW_CORELOCK + struct thread_entry *current; + corelock_lock(&e->cl); - last_state = e->state; -#elif CONFIG_CORELOCK == CORELOCK_SWAP - while ((last_state = xchg8(&e->state, STATE_BUSYu8)) == STATE_BUSYu8); -#endif if(e->automatic != 0) { /* wait for false always satisfied by definition or if it just changed to false */ - if(last_state == STATE_SIGNALED || for_state == STATE_NONSIGNALED) + if(e->state == STATE_SIGNALED || for_state == STATE_NONSIGNALED) { /* automatic - unsignal */ e->state = STATE_NONSIGNALED; -#if CONFIG_CORELOCK == SW_CORELOCK corelock_unlock(&e->cl); -#endif return; } /* block until state matches */ } - else if(for_state == last_state) + else if(for_state == e->state) { /* the state being waited for is the current state */ -#if CONFIG_CORELOCK == SW_CORELOCK corelock_unlock(&e->cl); -#elif CONFIG_CORELOCK == CORELOCK_SWAP - e->state = last_state; -#endif return; } - { - /* current state does not match wait-for state */ -#if CONFIG_CORELOCK == SW_CORELOCK - const unsigned int core = CURRENT_CORE; - cores[core].blk_ops.flags = TBOP_UNLOCK_CORELOCK; - cores[core].blk_ops.cl_p = &e->cl; -#elif CONFIG_CORELOCK == CORELOCK_SWAP - const unsigned int core = CURRENT_CORE; - cores[core].blk_ops.flags = TBOP_SET_VARu8; - cores[core].blk_ops.var_u8p = &e->state; - cores[core].blk_ops.var_u8v = last_state; -#endif - block_thread_no_listlock(&e->queues[for_state]); - } + /* block until state matches what callers requests */ + current = cores[CURRENT_CORE].running; + + IF_COP( current->obj_cl = &e->cl; ) + current->bqp = &e->queues[for_state]; + + set_irq_level(HIGHEST_IRQ_LEVEL); + block_thread(current); + + corelock_unlock(&e->cl); + + /* turn control over to next thread */ + switch_thread(); } void event_set_state(struct event *e, unsigned int state) { - unsigned int last_state; -#if CONFIG_CORELOCK == CORELOCK_NONE || CONFIG_CORELOCK == SW_CORELOCK + unsigned int result; + int oldlevel; + corelock_lock(&e->cl); - last_state = e->state; -#elif CONFIG_CORELOCK == CORELOCK_SWAP - while ((last_state = xchg8(&e->state, STATE_BUSYu8)) == STATE_BUSYu8); -#endif - if(last_state == state) + if(e->state == state) { /* no change */ -#if CONFIG_CORELOCK == SW_CORELOCK corelock_unlock(&e->cl); -#elif CONFIG_CORELOCK == CORELOCK_SWAP - e->state = last_state; -#endif return; } + IF_PRIO( result = THREAD_OK; ) + + oldlevel = set_irq_level(HIGHEST_IRQ_LEVEL); + if(state == STATE_SIGNALED) { if(e->automatic != 0) { - struct thread_entry *thread; - /* no thread should have ever blocked for unsignaled */ + /* no thread should have ever blocked for nonsignaled */ KERNEL_ASSERT(e->queues[STATE_NONSIGNALED] == NULL, - "set_event_state->queue[NS]:S"); + "set_event_state->queue[NS]:S\n"); /* pass to next thread and keep unsignaled - "pulse" */ - thread = wakeup_thread_no_listlock(&e->queues[STATE_SIGNALED]); - e->state = thread != NULL ? STATE_NONSIGNALED : STATE_SIGNALED; + result = wakeup_thread(&e->queues[STATE_SIGNALED]); + e->state = (result & THREAD_OK) ? STATE_NONSIGNALED : STATE_SIGNALED; } else { /* release all threads waiting for signaled */ - thread_queue_wake_no_listlock(&e->queues[STATE_SIGNALED]); e->state = STATE_SIGNALED; + IF_PRIO( result = ) + thread_queue_wake(&e->queues[STATE_SIGNALED]); } } else { - /* release all threads waiting for unsignaled */ + /* release all threads waiting for nonsignaled */ /* no thread should have ever blocked if automatic */ KERNEL_ASSERT(e->queues[STATE_NONSIGNALED] == NULL || - e->automatic == 0, "set_event_state->queue[NS]:NS"); + e->automatic == 0, "set_event_state->queue[NS]:NS\n"); - thread_queue_wake_no_listlock(&e->queues[STATE_NONSIGNALED]); e->state = STATE_NONSIGNALED; + IF_PRIO( result = ) + thread_queue_wake(&e->queues[STATE_NONSIGNALED]); } -#if CONFIG_CORELOCK == SW_CORELOCK + set_irq_level(oldlevel); + corelock_unlock(&e->cl); + +#ifdef HAVE_PRIORITY_SCHEDULING + if(result & THREAD_SWITCH) + switch_thread(); #endif } #endif /* HAVE_EVENT_OBJECTS */ Index: firmware/SOURCES =================================================================== --- firmware/SOURCES (revision 16785) +++ firmware/SOURCES (working copy) @@ -9,11 +9,11 @@ #ifdef ROCKBOX_HAS_LOGF logf.c #endif /* ROCKBOX_HAS_LOGF */ +kernel.c #ifndef SIMULATOR #ifdef RB_PROFILE profile.c #endif /* RB_PROFILE */ -kernel.c rolo.c thread.c timer.c @@ -274,6 +274,10 @@ #ifndef SIMULATOR target/coldfire/crt0.S +#ifdef HAVE_PRIORITY_SCHEDULING +common/ffs.c +target/coldfire/ffs-coldfire.S +#endif target/coldfire/memcpy-coldfire.S target/coldfire/memmove-coldfire.S target/coldfire/memset-coldfire.S @@ -299,6 +303,9 @@ #ifndef SIMULATOR target/arm/memset-arm.S target/arm/memset16-arm.S +#ifdef HAVE_PRIORITY_SCHEDULING +target/arm/ffs-arm.S +#endif #if CONFIG_I2C == I2C_PP5024 || CONFIG_I2C == I2C_PP5020 || CONFIG_I2C == I2C_PP5002 target/arm/i2c-pp.c #elif CONFIG_I2C == I2C_PNX0101 @@ -345,6 +352,9 @@ #else +#ifdef HAVE_PRIORITY_SCHEDULING +common/ffs.c +#endif common/memcpy.c common/memmove.c common/memset.c Index: firmware/target/arm/ffs-arm.S =================================================================== --- firmware/target/arm/ffs-arm.S (revision 0) +++ firmware/target/arm/ffs-arm.S (revision 0) @@ -0,0 +1,74 @@ +/*************************************************************************** + * __________ __ ___. + * Open \______ \ ____ ____ | | _\_ |__ _______ ___ + * Source | _// _ \_/ ___\| |/ /| __ \ / _ \ \/ / + * Jukebox | | ( <_> ) \___| < | \_\ ( <_> > < < + * Firmware |____|_ /\____/ \___ >__|_ \|___ /\____/__/\_ \ + * \/ \/ \/ \/ \/ + * $Id$ + * + * Copyright (C) 2008 by Michael Sevakis + * + * All files in this archive are subject to the GNU General Public License. + * See the file COPYING in the source tree root for full license agreement. + * + * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY + * KIND, either express or implied. + * + ****************************************************************************/ + #include "config.h" + +/**************************************************************************** + * int find_first_set_bit(uint32_t val); + * + * Find the index of the least significant set bit in the 32-bit word. + * + * return values: + * 0 - bit 0 is set + * 1 - bit 1 is set + * ... + * 31 - bit 31 is set + * 32 - no bits set + ****************************************************************************/ + .align 2 + .global find_first_set_bit + .type find_first_set_bit,%function +find_first_set_bit: + @ Standard trick to isolate bottom bit in r0 or 0 if r0 = 0 on entry + rsb r2, r0, #0 @ r1 = r0 & -r0 + ands r1, r0, r2 @ + + @ now r1 has at most one set bit, call this X + +#if ARM_ARCH >= 5 + clz r0, r1 @ Get lead 0's count + rsbne r0, r0, #31 @ lead 0's -> bit index + bx lr @ +#else + @ this is the ffs algorithm devised by D.Seal and posted to + @ comp.sys.arm on 16 Feb 1994. + @ + @ Output modified to suit Rockbox purposes. + + adr r2, L_ffs_table + orrne r1, r1, r1, lsl #4 @ r1 = X * 0x11 + orrne r1, r1, r1, lsl #6 @ r1 = X * 0x451 + rsbne r1, r1, r1, lsl #16 @ r1 = X * 0x0450fbaf + + @ now lookup in table indexed on top 6 bits of r1 + ldrb r0, [ r2, r1, lsr #26 ] @ + bx lr @ + +L_ffs_table: + @ 0 1 2 3 4 5 6 7 + @---------------------------------------------- + .byte 32, 0, 1, 12, 2, 6, 0, 13 @ 0- 7 + .byte 3, 0, 7, 0, 0, 0, 0, 14 @ 8-15 + .byte 10, 4, 0, 0, 8, 0, 0, 25 @ 16-23 + .byte 0, 0, 0, 0, 0, 21, 27, 15 @ 24-31 + .byte 31, 11, 5, 0, 0, 0, 0, 0 @ 32-39 + .byte 9, 0, 0, 24, 0, 0, 20, 26 @ 40-47 + .byte 30, 0, 0, 0, 0, 23, 0, 19 @ 48-55 + .byte 29, 0, 22, 18, 28, 17, 16, 0 @ 56-63 +#endif + .size find_first_set_bit, .-find_first_set_bit Property changes on: firmware/target/arm/ffs-arm.S ___________________________________________________________________ Name: svn:keywords + Author Date Id Revision Name: svn:eol-style + native Index: firmware/target/arm/i2c-pp.c =================================================================== --- firmware/target/arm/i2c-pp.c (revision 16785) +++ firmware/target/arm/i2c-pp.c (working copy) @@ -45,7 +45,7 @@ if (!(I2C_STATUS & I2C_BUSY)) { return 0; } - priority_yield(); + yield(); } return -1; Index: firmware/target/arm/sandisk/ata-c200_e200.c =================================================================== --- firmware/target/arm/sandisk/ata-c200_e200.c (revision 16785) +++ firmware/target/arm/sandisk/ata-c200_e200.c (working copy) @@ -198,7 +198,7 @@ if (TIME_AFTER(time, next_yield)) { long ty = USEC_TIMER; - priority_yield(); + yield(); timeout += USEC_TIMER - ty; next_yield = ty + MIN_YIELD_PERIOD; } @@ -317,7 +317,7 @@ us = USEC_TIMER; if (TIME_AFTER(us, next_yield)) { - priority_yield(); + yield(); timeout += USEC_TIMER - us; next_yield = us + MIN_YIELD_PERIOD; } Index: firmware/target/arm/s3c2440/gigabeat-fx/ata-meg-fx.c =================================================================== --- firmware/target/arm/s3c2440/gigabeat-fx/ata-meg-fx.c (revision 16785) +++ firmware/target/arm/s3c2440/gigabeat-fx/ata-meg-fx.c (working copy) @@ -128,7 +128,7 @@ /* Wait for transfer to complete */ while((DSTAT0 & 0x000fffff)) - priority_yield(); + yield(); /* Dump cache for the buffer */ } #endif Index: firmware/target/coldfire/ffs-coldfire.S =================================================================== --- firmware/target/coldfire/ffs-coldfire.S (revision 0) +++ firmware/target/coldfire/ffs-coldfire.S (revision 0) @@ -0,0 +1,62 @@ +/*************************************************************************** + * __________ __ ___. + * Open \______ \ ____ ____ | | _\_ |__ _______ ___ + * Source | _// _ \_/ ___\| |/ /| __ \ / _ \ \/ / + * Jukebox | | ( <_> ) \___| < | \_\ ( <_> > < < + * Firmware |____|_ /\____/ \___ >__|_ \|___ /\____/__/\_ \ + * \/ \/ \/ \/ \/ + * $Id$ + * + * Copyright (C) 2008 by Michael Sevakis + * + * All files in this archive are subject to the GNU General Public License. + * See the file COPYING in the source tree root for full license agreement. + * + * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY + * KIND, either express or implied. + * + ****************************************************************************/ + #include "config.h" + +/**************************************************************************** + * int find_first_set_bit(uint32_t val); + * + * Find the index of the least significant set bit in the 32-bit word. + * + * return values: + * 0 - bit 0 is set + * 1 - bit 1 is set + * ... + * 31 - bit 31 is set + * 32 - no bits set + ****************************************************************************/ + .text + .align 2 + .global find_first_set_bit + .type find_first_set_bit,@function +find_first_set_bit: + | this is a coldfire version of the ffs algorithm devised by D.Seal + | and posted to comp.sys.arm on 16 Feb 1994. + | + | Output modified to suit rockbox purposes. + + | Standard trick to isolate bottom bit in r0 or 0 if r0 = 0 on entry + move.l 4(%sp), %d1 | %d1 = %d1 & -%d1 + lea.l L_ffs_table, %a0 | %a0 = table address + move.l %d1, %d0 | + neg.l %d1 | + and.l %d0, %d1 | + + | now %d1 has at most one set bit, call this X + + move.l #0x0450fbaf, %d0 | %d0 = multiplier + mulu.l %d0, %d1 | %d1 = X * 0x0450fbaf + + | now lookup in table indexed on top 6 bits of %d0 + moveq.l #26, %d0 | %d0 = final shift count + lsr.l %d0, %d1 | + clr.l %d0 | + move.b (%a0, %d1.l), %d0 | + rts | + + .size find_first_set_bit, .-find_first_set_bit Property changes on: firmware/target/coldfire/ffs-coldfire.S ___________________________________________________________________ Name: svn:keywords + Author Date Id Revision Name: svn:eol-style + native Index: firmware/common/ffs.c =================================================================== --- firmware/common/ffs.c (revision 0) +++ firmware/common/ffs.c (revision 0) @@ -0,0 +1,54 @@ +/*************************************************************************** + * __________ __ ___. + * Open \______ \ ____ ____ | | _\_ |__ _______ ___ + * Source | _// _ \_/ ___\| |/ /| __ \ / _ \ \/ / + * Jukebox | | ( <_> ) \___| < | \_\ ( <_> > < < + * Firmware |____|_ /\____/ \___ >__|_ \|___ /\____/__/\_ \ + * \/ \/ \/ \/ \/ + * $Id$ + * + * Copyright (C) 2008 by Michael Sevakis + * + * All files in this archive are subject to the GNU General Public License. + * See the file COPYING in the source tree root for full license agreement. + * + * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY + * KIND, either express or implied. + * + ****************************************************************************/ +#include "config.h" +#include + +/* find_first_set_bit() - this is a C version of the ffs algorithm devised + * by D.Seal and posted to comp.sys.arm on 16 Feb 1994. + * + * Find the index of the least significant set bit in the word. + * return values: + * 0 - bit 0 is set + * 1 - bit 1 is set + * ... + * 31 - bit 31 is set + * 32 - no bits set + */ + +/* Table shared with assembly code */ +const uint8_t L_ffs_table[64] ICONST_ATTR = +{ +/* 0 1 2 3 4 5 6 7 */ +/* ----------------------------------------- */ + 32, 0, 1, 12, 2, 6, 0, 13, /* 0- 7 */ + 3, 0, 7, 0, 0, 0, 0, 14, /* 8-15 */ + 10, 4, 0, 0, 8, 0, 0, 25, /* 16-23 */ + 0, 0, 0, 0, 0, 21, 27, 15, /* 24-31 */ + 31, 11, 5, 0, 0, 0, 0, 0, /* 32-39 */ + 9, 0, 0, 24, 0, 0, 20, 26, /* 40-47 */ + 30, 0, 0, 0, 0, 23, 0, 19, /* 48-55 */ + 29, 0, 22, 18, 28, 17, 16, 0, /* 56-63 */ +}; + +#if !defined(CPU_COLDFIRE) +int find_first_set_bit(uint32_t val) +{ + return L_ffs_table[((val & -val)*0x0450fbaf) >> 26]; +} +#endif Property changes on: firmware/common/ffs.c ___________________________________________________________________ Name: svn:keywords + Author Date Id Revision Name: svn:eol-style + native Index: firmware/thread.c =================================================================== --- firmware/thread.c (revision 16785) +++ firmware/thread.c (working copy) @@ -28,6 +28,10 @@ #ifdef RB_PROFILE #include #endif +/**************************************************************************** + * ATTENTION!! * + * See notes below on implementing processor-specific portions! * + ***************************************************************************/ /* Define THREAD_EXTRA_CHECKS as 1 to enable additional state checks */ #ifdef DEBUG @@ -59,9 +63,7 @@ * event queues. The kernel object must have a scheme to protect itself from * access by another processor and is responsible for serializing the calls * to block_thread(_w_tmo) and wakeup_thread both to themselves and to each - * other. If a thread blocks on an object it must fill-in the blk_ops members - * for its core to unlock _after_ the thread's context has been saved and the - * unlocking will be done in reverse from this heirarchy. + * other. Objects' queues are also protected here. * * 3) Thread Slot * This locks access to the thread's slot such that its state cannot be @@ -70,80 +72,73 @@ * a thread while it is still blocking will likely desync its state with * the other resources used for that state. * - * 4) Lists - * Usually referring to a list (aka. queue) that a thread will be blocking - * on that belongs to some object and is shareable amongst multiple - * processors. Parts of the scheduler may have access to them without actually - * locking the kernel object such as when a thread is blocked with a timeout - * (such as calling queue_wait_w_tmo). Of course the kernel object also gets - * it lists locked when the thread blocks so that all object list access is - * synchronized. Failure to do so would corrupt the list links. - * - * 5) Core Lists + * 4) Core Lists * These lists are specific to a particular processor core and are accessible - * by all processor cores and interrupt handlers. They are used when an - * operation may only be performed by the thread's own core in a normal - * execution context. The wakeup list is the prime example where a thread - * may be added by any means and the thread's own core will remove it from - * the wakeup list and put it on the running list (which is only ever - * accessible by its own processor). + * by all processor cores and interrupt handlers. The running (rtr) list is + * the prime example where a thread may be added by any means. */ -#define DEADBEEF ((unsigned int)0xdeadbeef) -/* Cast to the the machine int type, whose size could be < 4. */ + +/*--------------------------------------------------------------------------- + * Processor specific: core_sleep/core_wake/misc. notes + * + * ARM notes: + * FIQ is not dealt with by the scheduler code and is simply restored if it + * must by masked for some reason - because threading modifies a register + * that FIQ may also modify and there's no way to accomplish it atomically. + * s3c2440 is such a case. + * + * Audio interrupts are generally treated at a higher priority than others + * usage of scheduler code with interrupts higher than HIGHEST_IRQ_LEVEL + * are not in general safe. Special cases may be constructed on a per- + * source basis and blocking operations are not available. + * + * core_sleep procedure to implement for any CPU to ensure an asychronous + * wakup never results in requiring a wait until the next tick (up to + * 10000uS!). May require assembly and careful instruction ordering. + * + * 1) On multicore, stay awake if directed to do so by another. If so, goto + * step 4. + * 2) If processor requires, atomically reenable interrupts and perform step + * 3. + * 3) Sleep the CPU core. If wakeup itself enables interrupts (stop #0x2000 + * on Coldfire) goto step 5. + * 4) Enable interrupts. + * 5) Exit procedure. + * + * core_wake and multprocessor notes for sleep/wake coordination: + * If possible, to wake up another processor, the forcing of an interrupt on + * the woken core by the waker core is the easiest way to ensure a non- + * delayed wake and immediate execution of any woken threads. If that isn't + * available then some careful non-blocking synchonization is needed (as on + * PP targets at the moment). + *--------------------------------------------------------------------------- + */ + +/* Cast to the the machine pointer size, whose size could be < 4 or > 32 + * (someday :). */ +#define DEADBEEF ((uintptr_t)0xdeadbeefdeadbeefull) struct core_entry cores[NUM_CORES] IBSS_ATTR; struct thread_entry threads[MAXTHREADS] IBSS_ATTR; static const char main_thread_name[] = "main"; -extern int stackbegin[]; -extern int stackend[]; +extern uintptr_t stackbegin[]; +extern uintptr_t stackend[]; -/* core_sleep procedure to implement for any CPU to ensure an asychronous wakup - * never results in requiring a wait until the next tick (up to 10000uS!). May - * require assembly and careful instruction ordering. - * - * 1) On multicore, stay awake if directed to do so by another. If so, goto step 4. - * 2) If processor requires, atomically reenable interrupts and perform step 3. - * 3) Sleep the CPU core. If wakeup itself enables interrupts (stop #0x2000 on Coldfire) - * goto step 5. - * 4) Enable interrupts. - * 5) Exit procedure. - */ static inline void core_sleep(IF_COP_VOID(unsigned int core)) __attribute__((always_inline)); -static void check_tmo_threads(void) +void check_tmo_threads(void) __attribute__((noinline)); -static inline void block_thread_on_l( - struct thread_queue *list, struct thread_entry *thread, unsigned state) +static inline void block_thread_on_l(struct thread_entry *thread, unsigned state) __attribute__((always_inline)); -static inline void block_thread_on_l_no_listlock( - struct thread_entry **list, struct thread_entry *thread, unsigned state) - __attribute__((always_inline)); - -static inline void _block_thread_on_l( - struct thread_queue *list, struct thread_entry *thread, - unsigned state IF_SWCL(, const bool single)) - __attribute__((always_inline)); - -IF_SWCL(static inline) struct thread_entry * _wakeup_thread( - struct thread_queue *list IF_SWCL(, const bool nolock)) - __attribute__((IFN_SWCL(noinline) IF_SWCL(always_inline))); - -IF_SWCL(static inline) void _block_thread( - struct thread_queue *list IF_SWCL(, const bool nolock)) - __attribute__((IFN_SWCL(noinline) IF_SWCL(always_inline))); - static void add_to_list_tmo(struct thread_entry *thread) __attribute__((noinline)); static void core_schedule_wakeup(struct thread_entry *thread) __attribute__((noinline)); -static inline void core_perform_wakeup(IF_COP_VOID(unsigned int core)) - __attribute__((always_inline)); - #if NUM_CORES > 1 static inline void run_blocking_ops( unsigned int core, struct thread_entry *thread) @@ -159,10 +154,9 @@ static inline void load_context(const void* addr) __attribute__((always_inline)); -void switch_thread(struct thread_entry *old) +void switch_thread(void) __attribute__((noinline)); - /**************************************************************************** * Processor-specific section */ @@ -172,8 +166,7 @@ * Start the thread running and terminate it if it returns *--------------------------------------------------------------------------- */ -static void start_thread(void) __attribute__((naked,used)); -static void start_thread(void) +static void __attribute__((naked,used)) start_thread(void) { /* r0 = context */ asm volatile ( @@ -188,19 +181,18 @@ #endif "mov lr, pc \n" /* Call thread function */ "bx r4 \n" - "mov r0, #0 \n" /* remove_thread(NULL) */ - "ldr pc, =remove_thread \n" - ".ltorg \n" /* Dump constant pool */ ); /* No clobber list - new thread doesn't care */ + thread_exit(); + //asm volatile (".ltorg"); /* Dump constant pool */ } /* For startup, place context pointer in r4 slot, start_thread pointer in r5 * slot, and thread function pointer in context.start. See load_context for * what happens when thread is initially going to run. */ #define THREAD_STARTUP_INIT(core, thread, function) \ - ({ (thread)->context.r[0] = (unsigned int)&(thread)->context, \ - (thread)->context.r[1] = (unsigned int)start_thread, \ - (thread)->context.start = (void *)function; }) + ({ (thread)->context.r[0] = (uint32_t)&(thread)->context, \ + (thread)->context.r[1] = (uint32_t)start_thread, \ + (thread)->context.start = (uint32_t)function; }) /*--------------------------------------------------------------------------- * Store non-volatile context. @@ -232,11 +224,11 @@ #if defined (CPU_PP) #if NUM_CORES > 1 -extern int cpu_idlestackbegin[]; -extern int cpu_idlestackend[]; -extern int cop_idlestackbegin[]; -extern int cop_idlestackend[]; -static int * const idle_stacks[NUM_CORES] NOCACHEDATA_ATTR = +extern uintptr_t cpu_idlestackbegin[]; +extern uintptr_t cpu_idlestackend[]; +extern uintptr_t cop_idlestackbegin[]; +extern uintptr_t cop_idlestackend[]; +static uintptr_t * const idle_stacks[NUM_CORES] NOCACHEDATA_ATTR = { [CPU] = cpu_idlestackbegin, [COP] = cop_idlestackbegin @@ -253,7 +245,7 @@ }; static struct core_semaphores core_semaphores[NUM_CORES] NOCACHEBSS_ATTR; -#endif +#endif /* CONFIG_CPU == PP5002 */ #endif /* NUM_CORES */ @@ -401,15 +393,15 @@ * no other core requested a wakeup for it to perform a task. *--------------------------------------------------------------------------- */ +#ifdef CPU_PP502x #if NUM_CORES == 1 -/* Shared single-core build debugging version */ static inline void core_sleep(void) { PROC_CTL(CURRENT_CORE) = PROC_SLEEP; nop; nop; nop; - set_interrupt_status(IRQ_FIQ_ENABLED, IRQ_FIQ_STATUS); + set_irq_level(IRQ_ENABLED); } -#elif defined (CPU_PP502x) +#else static inline void core_sleep(unsigned int core) { #if 1 @@ -429,8 +421,8 @@ "ldr r1, [%[mbx], #0] \n" "tst r1, r0, lsr #2 \n" "bne 1b \n" - "mrs r1, cpsr \n" /* Enable interrupts */ - "bic r1, r1, #0xc0 \n" + "mrs r1, cpsr \n" /* Enable IRQ */ + "bic r1, r1, #0x80 \n" "msr cpsr_c, r1 \n" : : [ctl]"r"(&PROC_CTL(CPU)), [mbx]"r"(MBX_BASE), [c]"r"(core) @@ -452,11 +444,36 @@ /* Wait for other processor to finish wake procedure */ while (MBX_MSG_STAT & (0x1 << core)); - /* Enable IRQ, FIQ */ - set_interrupt_status(IRQ_FIQ_ENABLED, IRQ_FIQ_STATUS); + /* Enable IRQ */ + set_irq_level(IRQ_ENABLED); #endif /* ASM/C selection */ } +#endif /* NUM_CORES */ #elif CONFIG_CPU == PP5002 +#if NUM_CORES == 1 +static inline void core_sleep(void) +{ + asm volatile ( + /* Sleep: PP5002 crashes if the instruction that puts it to sleep is + * located at 0xNNNNNNN0. 4/8/C works. This sequence makes sure + * that the correct alternative is executed. Don't change the order + * of the next 4 instructions! */ + "tst pc, #0x0c \n" + "mov r0, #0xca \n" + "strne r0, [%[ctl]] \n" + "streq r0, [%[ctl]] \n" + "nop \n" /* nop's needed because of pipeline */ + "nop \n" + "nop \n" + "mrs r0, cpsr \n" /* Enable IRQ */ + "bic r0, r0, #0x80 \n" + "msr cpsr_c, r0 \n" + : + : [ctl]"r"(&PROC_CTL(CURRENT_CORE)) + : "r0" + ); +} +#else /* PP5002 has no mailboxes - emulate using bytes */ static inline void core_sleep(unsigned int core) { @@ -486,8 +503,8 @@ "ldrb r0, [%[sem], #0] \n" "cmp r0, #0 \n" "bne 1b \n" - "mrs r0, cpsr \n" /* Enable interrupts */ - "bic r0, r0, #0xc0 \n" + "mrs r0, cpsr \n" /* Enable IRQ */ + "bic r0, r0, #0x80 \n" "msr cpsr_c, r0 \n" : : [sem]"r"(&core_semaphores[core]), [c]"r"(core), @@ -512,11 +529,12 @@ /* Wait for other processor to finish wake procedure */ while (core_semaphores[core].intend_wake != 0); - /* Enable IRQ, FIQ */ - set_interrupt_status(IRQ_FIQ_ENABLED, IRQ_FIQ_STATUS); + /* Enable IRQ */ + set_irq_level(IRQ_ENABLED); #endif /* ASM/C selection */ } -#endif /* CPU type */ +#endif /* NUM_CORES */ +#endif /* PP CPU type */ /*--------------------------------------------------------------------------- * Wake another processor core that is sleeping or prevent it from doing so @@ -553,7 +571,7 @@ "strne r1, [%[ctl], %[oc], lsl #2] \n" "mov r1, r2, lsr #4 \n" "str r1, [%[mbx], #8] \n" /* Done with wake procedure */ - "msr cpsr_c, r3 \n" /* Restore int status */ + "msr cpsr_c, r3 \n" /* Restore IRQ */ : : [ctl]"r"(&PROC_CTL(CPU)), [mbx]"r"(MBX_BASE), [oc]"r"(othercore) @@ -604,7 +622,7 @@ "strne r1, [r2, %[oc], lsl #2] \n" "mov r1, #0 \n" /* Done with wake procedure */ "strb r1, [%[sem], #0] \n" - "msr cpsr_c, r3 \n" /* Restore int status */ + "msr cpsr_c, r3 \n" /* Restore IRQ */ : : [sem]"r"(&core_semaphores[othercore]), [st]"r"(&PROC_STAT), @@ -640,8 +658,8 @@ * * Needed when a thread suicides on a core other than the main CPU since the * stack used when idling is the stack of the last thread to run. This stack - * may not reside in the core in which case the core will continue to use a - * stack from an unloaded module until another thread runs on it. + * may not reside in the core firmware in which case the core will continue + * to use a stack from an unloaded module until another thread runs on it. *--------------------------------------------------------------------------- */ static inline void switch_to_idle_stack(const unsigned int core) @@ -670,11 +688,11 @@ /* Flush our data to ram */ flush_icache(); /* Stash thread in r4 slot */ - thread->context.r[0] = (unsigned int)thread; + thread->context.r[0] = (uint32_t)thread; /* Stash restart address in r5 slot */ - thread->context.r[1] = (unsigned int)thread->context.start; + thread->context.r[1] = thread->context.start; /* Save sp in context.sp while still running on old core */ - thread->context.sp = (void*)idle_stacks[core][IDLE_STACK_WORDS-1]; + thread->context.sp = idle_stacks[core][IDLE_STACK_WORDS-1]; } /*--------------------------------------------------------------------------- @@ -689,9 +707,8 @@ /*--------------------------------------------------------------------------- * This actually performs the core switch. */ -static void switch_thread_core(unsigned int core, struct thread_entry *thread) - __attribute__((naked)); -static void switch_thread_core(unsigned int core, struct thread_entry *thread) +static void __attribute__((naked)) + switch_thread_core(unsigned int core, struct thread_entry *thread) { /* Pure asm for this because compiler behavior isn't sufficiently predictable. * Stack access also isn't permitted until restoring the original stack and @@ -705,7 +722,6 @@ "mov sp, r2 \n" /* switch stacks */ "adr r2, 1f \n" /* r2 = new core restart address */ "str r2, [r1, #40] \n" /* thread->context.start = r2 */ - "mov r0, r1 \n" /* switch_thread(thread) */ "ldr pc, =switch_thread \n" /* r0 = thread after call - see load_context */ "1: \n" "ldr sp, [r0, #32] \n" /* Reload original sp from context structure */ @@ -733,13 +749,15 @@ /* FIQ also changes the CLKCON register so FIQ must be disabled when changing it here */ asm volatile ( - "mrs r0, cpsr \n" /* Prepare IRQ, FIQ enable */ - "bic r0, r0, #0xc0 \n" + "mrs r0, cpsr \n" + "orr r2, r0, #0x40 \n" /* Disable FIQ */ + "bic r0, r0, #0x80 \n" /* Prepare IRQ enable */ + "msr cpsr_c, r2 \n" "mov r1, #0x4c000000 \n" /* CLKCON = 0x4c00000c */ "ldr r2, [r1, #0xc] \n" /* Set IDLE bit */ "orr r2, r2, #4 \n" "str r2, [r1, #0xc] \n" - "msr cpsr_c, r0 \n" /* Enable IRQ, FIQ */ + "msr cpsr_c, r0 \n" /* Enable IRQ, restore FIQ */ "mov r2, #0 \n" /* wait for IDLE */ "1: \n" "add r2, r2, #1 \n" @@ -750,13 +768,14 @@ "ldr r2, [r1, #0xc] \n" /* Reset IDLE bit */ "bic r2, r2, #4 \n" "str r2, [r1, #0xc] \n" - "msr cpsr_c, r0 \n" /* Enable IRQ, FIQ */ + "msr cpsr_c, r0 \n" /* Enable IRQ, restore FIQ */ : : : "r0", "r1", "r2"); } #elif defined(CPU_TCC77X) static inline void core_sleep(void) { #warning TODO: Implement core_sleep + set_irq_level(IRQ_ENABLED); } #elif defined(CPU_TCC780X) static inline void core_sleep(void) @@ -765,8 +784,8 @@ asm volatile ( "mov r0, #0 \n" "mcr p15, 0, r0, c7, c0, 4 \n" /* Wait for interrupt */ - "mrs r0, cpsr \n" /* Unmask IRQ/FIQ at core level */ - "bic r0, r0, #0xc0 \n" + "mrs r0, cpsr \n" /* Unmask IRQ at core level */ + "bic r0, r0, #0x80 \n" "msr cpsr_c, r0 \n" : : : "r0" ); @@ -777,8 +796,8 @@ asm volatile ( "mov r0, #0 \n" "mcr p15, 0, r0, c7, c0, 4 \n" /* Wait for interrupt */ - "mrs r0, cpsr \n" /* Unmask IRQ/FIQ at core level */ - "bic r0, r0, #0xc0 \n" + "mrs r0, cpsr \n" /* Unmask IRQ at core level */ + "bic r0, r0, #0x80 \n" "msr cpsr_c, r0 \n" : : : "r0" ); @@ -787,6 +806,7 @@ static inline void core_sleep(void) { #warning core_sleep not implemented, battery life will be decreased + set_irq_level(0); } #endif /* CONFIG_CPU == */ @@ -796,8 +816,7 @@ *--------------------------------------------------------------------------- */ void start_thread(void); /* Provide C access to ASM label */ -static void __start_thread(void) __attribute__((used)); -static void __start_thread(void) +static void __attribute__((used)) __start_thread(void) { /* a0=macsr, a1=context */ asm volatile ( @@ -808,9 +827,8 @@ "move.l (%a1), %a2 \n" /* Fetch thread function pointer */ "clr.l (%a1) \n" /* Mark thread running */ "jsr (%a2) \n" /* Call thread function */ - "clr.l -(%sp) \n" /* remove_thread(NULL) */ - "jsr remove_thread \n" ); + thread_exit(); } /* Set EMAC unit to fractional mode with saturation for each new thread, @@ -823,9 +841,9 @@ */ #define THREAD_STARTUP_INIT(core, thread, function) \ ({ (thread)->context.macsr = EMAC_FRACTIONAL | EMAC_SATURATE, \ - (thread)->context.d[0] = (unsigned int)&(thread)->context, \ - (thread)->context.d[1] = (unsigned int)start_thread, \ - (thread)->context.start = (void *)(function); }) + (thread)->context.d[0] = (uint32_t)&(thread)->context, \ + (thread)->context.d[1] = (uint32_t)start_thread, \ + (thread)->context.start = (uint32_t)(function); }) /*--------------------------------------------------------------------------- * Store non-volatile context. @@ -874,8 +892,7 @@ *--------------------------------------------------------------------------- */ void start_thread(void); /* Provide C access to ASM label */ -static void __start_thread(void) __attribute__((used)); -static void __start_thread(void) +static void __attribute__((used)) __start_thread(void) { /* r8 = context */ asm volatile ( @@ -885,20 +902,16 @@ "mov #0, r1 \n" /* Start the thread */ "jsr @r0 \n" "mov.l r1, @(36, r8) \n" /* Clear start address */ - "mov.l 1f, r0 \n" /* remove_thread(NULL) */ - "jmp @r0 \n" - "mov #0, r4 \n" - "1: \n" - ".long _remove_thread \n" ); + thread_exit(); } /* Place context pointer in r8 slot, function pointer in r9 slot, and * start_thread pointer in context_start */ #define THREAD_STARTUP_INIT(core, thread, function) \ - ({ (thread)->context.r[0] = (unsigned int)&(thread)->context, \ - (thread)->context.r[1] = (unsigned int)(function), \ - (thread)->context.start = (void*)start_thread; }) + ({ (thread)->context.r[0] = (uint32_t)&(thread)->context, \ + (thread)->context.r[1] = (uint32_t)(function), \ + (thread)->context.start = (uint32_t)start_thread; }) /*--------------------------------------------------------------------------- * Store non-volatile context. @@ -947,7 +960,7 @@ } /*--------------------------------------------------------------------------- - * Put core in a power-saving state if waking list wasn't repopulated. + * Put core in a power-saving state. *--------------------------------------------------------------------------- */ static inline void core_sleep(void) @@ -969,9 +982,7 @@ #if THREAD_EXTRA_CHECKS static void thread_panicf(const char *msg, struct thread_entry *thread) { -#if NUM_CORES > 1 - const unsigned int core = thread->core; -#endif + IF_COP( const unsigned int core = thread->core; ) static char name[32]; thread_get_name(name, 32, thread); panicf ("%s %s" IF_COP(" (%d)"), msg, name IF_COP(, core)); @@ -987,9 +998,7 @@ #else static void thread_stkov(struct thread_entry *thread) { -#if NUM_CORES > 1 - const unsigned int core = thread->core; -#endif + IF_COP( const unsigned int core = thread->core; ) static char name[32]; thread_get_name(name, 32, thread); panicf("Stkov %s" IF_COP(" (%d)"), name IF_COP(, core)); @@ -998,111 +1007,67 @@ #define THREAD_ASSERT(exp, msg, thread) #endif /* THREAD_EXTRA_CHECKS */ -/*--------------------------------------------------------------------------- - * Lock a list pointer and returns its value - *--------------------------------------------------------------------------- - */ -#if CONFIG_CORELOCK == SW_CORELOCK -/* Separate locking function versions */ - /* Thread locking */ -#define GET_THREAD_STATE(thread) \ - ({ corelock_lock(&(thread)->cl); (thread)->state; }) -#define TRY_GET_THREAD_STATE(thread) \ - ({ corelock_try_lock(&thread->cl) ? thread->state : STATE_BUSY; }) -#define UNLOCK_THREAD(thread, state) \ - ({ corelock_unlock(&(thread)->cl); }) -#define UNLOCK_THREAD_SET_STATE(thread, _state) \ - ({ (thread)->state = (_state); corelock_unlock(&(thread)->cl); }) +#if NUM_CORES > 1 +#define LOCK_THREAD(thread) \ + ({ corelock_lock(&(thread)->slot_cl); }) +#define TRY_LOCK_THREAD(thread) \ + ({ corelock_try_lock(&thread->slot_cl); }) +#define UNLOCK_THREAD(thread) \ + ({ corelock_unlock(&(thread)->slot_cl); }) +#define UNLOCK_THREAD_AT_TASK_SWITCH(thread) \ + ({ unsigned int _core = (thread)->core; \ + cores[_core].blk_ops.flags |= TBOP_UNLOCK_CORELOCK; \ + cores[_core].blk_ops.cl_p = &(thread)->slot_cl; }) +#else +#define LOCK_THREAD(thread) \ + ({ }) +#define TRY_LOCK_THREAD(thread) \ + ({ }) +#define UNLOCK_THREAD(thread) \ + ({ }) +#define UNLOCK_THREAD_AT_TASK_SWITCH(thread) \ + ({ }) +#end