/**
*
* @brief Initializes nanokernel data structures
*
* This routine initializes various nanokernel data structures, including
* the background (or idle) task and any architecture-specific initialization.
*
* Note that all fields of "_nanokernel" are set to zero on entry, which may
* be all the initialization many of them require.
*
* @return N/A
*/
static void nano_init(struct tcs *dummyOutContext)
{
/*
* Initialize the current execution thread to permit a level of debugging
* output if an exception should happen during nanokernel initialization.
* However, don't waste effort initializing the fields of the dummy thread
* beyond those needed to identify it as a dummy thread.
*/
_nanokernel.current = dummyOutContext;
/*
* Do not insert dummy execution context in the list of fibers, so that it
* does not get scheduled back in once context-switched out.
*/
dummyOutContext->link = (struct tcs *)NULL;
dummyOutContext->flags = FIBER | ESSENTIAL;
dummyOutContext->prio = 0;
/*
* The interrupt library needs to be initialized early since a series of
* handlers are installed into the interrupt table to catch spurious
* interrupts. This must be performed before other nanokernel subsystems
* install bonafide handlers, or before hardware device drivers are
* initialized.
*/
_IntLibInit();
/*
* Initialize the thread control block (TCS) for the main task (either
* background or idle task). The entry point for this thread is '_main'.
*/
_nanokernel.task = (struct tcs *) main_task_stack;
_new_thread(main_task_stack, /* pStackMem */
CONFIG_MAIN_STACK_SIZE, /* stackSize */
(_thread_entry_t)_main, /* pEntry */
(_thread_arg_t)0, /* parameter1 */
(_thread_arg_t)0, /* parameter2 */
(_thread_arg_t)0, /* parameter3 */
-1, /* priority */
0 /* options */
);
/* indicate that failure of this task may be fatal to the entire system */
_nanokernel.task->flags |= ESSENTIAL;
initialize_nano_timeouts();
/* perform any architecture-specific initialization */
nanoArchInit();
}
void create_thread(thread_func_t f, void * arg)
{
// __asm enter // or __asm push ebp; mov esp, ebp
thread_list * new_thread;
if( myEvent == 0){
initTimer();
}
new_thread = _new_thread(f, arg);
if(sys.threads == 0){
thread_list * main_thread = _new_thread(0,0);
sys.threads = sys.current = main_thread;
}
_insert_thread(new_thread, sys.threads->prev);
sys.current = new_thread;
start_thread(& new_thread->thread);
sys.current = sys.threads;
// Thanks there is leave here, then the esp is correct
// // __asm leave // or __asm mov ebp esp; pop ebp
}
k_tid_t k_thread_spawn(char *stack, size_t stack_size,
void (*entry)(void *, void *, void*),
void *p1, void *p2, void *p3,
int prio, u32_t options, s32_t delay)
{
__ASSERT(!_is_in_isr(), "");
struct k_thread *new_thread = (struct k_thread *)stack;
_new_thread(stack, stack_size, entry, p1, p2, p3, prio, options);
schedule_new_thread(new_thread, delay);
return new_thread;
}
void _fiber_start(char *pStack,
unsigned stackSize, /* stack size in bytes */
nano_fiber_entry_t pEntry,
int parameter1,
int parameter2,
unsigned priority,
unsigned options)
{
struct tcs *tcs;
unsigned int imask;
tcs = (struct tcs *) pStack;
_new_thread(pStack,
stackSize,
(_thread_entry_t)pEntry,
(void *)parameter1,
(void *)parameter2,
(void *)0,
priority,
options);
/*
* _new_thread() has already set the flags depending on the 'options'
* and 'priority' parameters passed to it
*/
/* lock interrupts to prevent corruption of the runnable fiber list */
imask = irq_lock();
/* make the newly crafted TCS a runnable fiber */
_nano_fiber_ready(tcs);
/*
* Simply return to the caller if the current thread is FIBER,
* otherwise swap into the newly created fiber
*/
if ((_nanokernel.current->flags & TASK) == TASK) {
_Swap(imask);
} else {
irq_unlock(imask);
}
}
void *fiber_delayed_start(char *stack, unsigned int stack_size_in_bytes,
nano_fiber_entry_t entry_point, int param1,
int param2, unsigned int priority,
unsigned int options, int32_t timeout_in_ticks)
{
unsigned int key;
struct tcs *tcs;
tcs = (struct tcs *)stack;
_new_thread(stack, stack_size_in_bytes, (_thread_entry_t)entry_point,
(void *)param1, (void *)param2, (void *)0, priority, options);
key = irq_lock();
_nano_timeout_add(tcs, NULL, timeout_in_ticks);
irq_unlock(key);
return tcs;
}
void _init_static_threads(void)
{
unsigned int key;
_FOREACH_STATIC_THREAD(thread_data) {
_task_group_adjust(thread_data);
_new_thread(
thread_data->init_stack,
thread_data->init_stack_size,
thread_data->init_entry,
thread_data->init_p1,
thread_data->init_p2,
thread_data->init_p3,
thread_data->init_prio,
thread_data->init_options);
thread_data->thread->init_data = thread_data;
}
_sched_lock();
/* Start all (legacy) threads that are part of the EXE task group */
_k_thread_group_op(K_TASK_GROUP_EXE, _k_thread_single_start);
/*
* Non-legacy static threads may be started immediately or after a
* previously specified delay. Even though the scheduler is locked,
* ticks can still be delivered and processed. Lock interrupts so
* that the countdown until execution begins from the same tick.
*
* Note that static threads defined using the legacy API have a
* delay of K_FOREVER.
*/
key = irq_lock();
_FOREACH_STATIC_THREAD(thread_data) {
if (thread_data->init_delay != K_FOREVER) {
schedule_new_thread(thread_data->thread,
thread_data->init_delay);
}
}
irq_unlock(key);
k_sched_unlock();
}
/**
*
* @brief Initializes kernel data structures
*
* This routine initializes various kernel data structures, including
* the init and idle threads and any architecture-specific initialization.
*
* Note that all fields of "_kernel" are set to zero on entry, which may
* be all the initialization many of them require.
*
* @return N/A
*/
static void prepare_multithreading(struct k_thread *dummy_thread)
{
#ifdef CONFIG_ARCH_HAS_CUSTOM_SWAP_TO_MAIN
ARG_UNUSED(dummy_thread);
#else
/*
* Initialize the current execution thread to permit a level of
* debugging output if an exception should happen during kernel
* initialization. However, don't waste effort initializing the
* fields of the dummy thread beyond those needed to identify it as a
* dummy thread.
*/
_current = dummy_thread;
dummy_thread->base.user_options = K_ESSENTIAL;
dummy_thread->base.thread_state = _THREAD_DUMMY;
#endif
/* _kernel.ready_q is all zeroes */
/*
* The interrupt library needs to be initialized early since a series
* of handlers are installed into the interrupt table to catch
* spurious interrupts. This must be performed before other kernel
* subsystems install bonafide handlers, or before hardware device
* drivers are initialized.
*/
_IntLibInit();
/* ready the init/main and idle threads */
for (int ii = 0; ii < K_NUM_PRIORITIES; ii++) {
sys_dlist_init(&_ready_q.q[ii]);
}
/*
* prime the cache with the main thread since:
*
* - the cache can never be NULL
* - the main thread will be the one to run first
* - no other thread is initialized yet and thus their priority fields
* contain garbage, which would prevent the cache loading algorithm
* to work as intended
*/
_ready_q.cache = _main_thread;
_new_thread(_main_thread, _main_stack,
MAIN_STACK_SIZE, _main, NULL, NULL, NULL,
CONFIG_MAIN_THREAD_PRIORITY, K_ESSENTIAL);
_mark_thread_as_started(_main_thread);
_add_thread_to_ready_q(_main_thread);
#ifdef CONFIG_MULTITHREADING
_new_thread(_idle_thread, _idle_stack,
IDLE_STACK_SIZE, idle, NULL, NULL, NULL,
K_LOWEST_THREAD_PRIO, K_ESSENTIAL);
_mark_thread_as_started(_idle_thread);
_add_thread_to_ready_q(_idle_thread);
#endif
initialize_timeouts();
/* perform any architecture-specific initialization */
kernel_arch_init();
}
