int main( int argc, char* argv[] ) {
	// setup COM2/terminal
	bwsetfifo( COM2, OFF );
	
	// setup peripherals and handlers
	kernel_init();

	// Create idle task	
	struct task* idle_task = task_create(&idle_task_entry, PRIORITY_IDLE, -1);
	scheduler_add(idle_task);

	// bootstrap first user task
	struct task* first_task = task_create(&first_task_entry, PRIORITY_HIGHEST, -1);
	scheduler_add(first_task);

	long idleTicks = 0;
	long userTicks = 0;	

	struct task *current_task;
	int request;
	long elapsed;
	
	while (1) {
		current_task = scheduler_get_next();
		if (current_task == 0) {
			break;
		}
		
ACTIVATE:

		// Time the execution of the task
		elapsed = rtc_get_ticks();

		// run the user task
		request = task_activate(current_task);

		elapsed = rtc_get_ticks() - elapsed;

		if (current_task == idle_task) {
			idleTicks += elapsed;
		}
		userTicks += elapsed;
		
		switch (__interrupt_type) {
			case INT_TYPE_HWI:
				// handle the interrupt request and determine if we should preempt the running task
				if (interrupts_handle_irq(current_task) == HWI_CONTINUE && current_task != idle_task) {
					goto ACTIVATE;
				} else {
					scheduler_add(current_task);
				}
				break;
			
			case INT_TYPE_SWI:
				// handle the system call request and determine if we should shutdown
				if (sys_handle_request(current_task, request) == -1) {
					goto shutdown;
				}
				break;
				
			default:
				KASSERT(0, "We got a weird interrupt type... %d", __interrupt_type);
				break;
		}
	}
	
shutdown:
	kernel_shutdown();
	
	// reset the scrolling window, in case it exists!
	bwprintf(COM2, CURSOR_SCROLL, 0, 999);
	bwprintf(COM2, CURSOR_CLEAR_SCREEN);

//	int i;
//	for (i = 0; i < MAX_NUM_TASKS; i++) {
//		task_print(COM2, i);
//	}

	printSensorTicks();

	bwprintf(COM2, "Idle time: %d%%\r\n", ((idleTicks * 100) / userTicks));
	bwprintf(COM2, "Kernel exiting.\r\n");
	return 0;
}
Beispiel #2
0
int task_restart(pid_t pid)
{
  FAR struct tcb_s *rtcb;
  FAR struct task_tcb_s *tcb;
  FAR dq_queue_t *tasklist;
  irqstate_t state;
  int status;

  /* Make sure this task does not become ready-to-run while
   * we are futzing with its TCB
   */

  sched_lock();

  /* Check if the task to restart is the calling task */

  rtcb = this_task();
  if ((pid == 0) || (pid == rtcb->pid))
    {
      /* Not implemented */

      set_errno(ENOSYS);
      return ERROR;
    }

#ifdef CONFIG_SMP
  /* There is currently no capability to restart a task that is actively
   * running on another CPU either.  This is not the calling cast so if it
   * is running, then it could only be running a a different CPU.
   *
   * Also, will need some interlocks to assure that no tasks are rescheduled
   * on any other CPU while we do this.
   */

#warning Missing SMP logic
  if (rtcb->task_state == TSTATE_TASK_RUNNING)
    {
      /* Not implemented */

      set_errno(ENOSYS);
      return ERROR;
    }
#endif

  /* We are restarting some other task than ourselves */
  /* Find for the TCB associated with matching pid  */

  tcb = (FAR struct task_tcb_s *)sched_gettcb(pid);
#ifndef CONFIG_DISABLE_PTHREAD
  if (!tcb || (tcb->cmn.flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_PTHREAD)
#else
  if (!tcb)
#endif
    {
      /* There is no TCB with this pid or, if there is, it is not a task. */

      set_errno(ESRCH);
      return ERROR;
    }

  /* Try to recover from any bad states */

  task_recover((FAR struct tcb_s *)tcb);

  /* Kill any children of this thread */

#ifdef HAVE_GROUP_MEMBERS
  (void)group_killchildren(tcb);
#endif

  /* Remove the TCB from whatever list it is in.  After this point, the TCB
   * should no longer be accessible to the system
   */

#ifdef CONFIG_SMP
  tasklist = TLIST_HEAD(tcb->cmn.task_state, tcb->cmn.cpu);
#else
  tasklist = TLIST_HEAD(tcb->cmn.task_state);
#endif

  state = irqsave();
  dq_rem((FAR dq_entry_t *)tcb, tasklist);
  tcb->cmn.task_state = TSTATE_TASK_INVALID;
  irqrestore(state);

  /* Deallocate anything left in the TCB's queues */

  sig_cleanup((FAR struct tcb_s *)tcb); /* Deallocate Signal lists */

  /* Reset the current task priority  */

  tcb->cmn.sched_priority = tcb->init_priority;

  /* Reset the base task priority and the number of pending reprioritizations */

#ifdef CONFIG_PRIORITY_INHERITANCE
  tcb->cmn.base_priority = tcb->init_priority;
#  if CONFIG_SEM_NNESTPRIO > 0
  tcb->cmn.npend_reprio = 0;
#  endif
#endif

  /* Re-initialize the processor-specific portion of the TCB.  This will
   * reset the entry point and the start-up parameters
   */

  up_initial_state((FAR struct tcb_s *)tcb);

  /* Add the task to the inactive task list */

  dq_addfirst((FAR dq_entry_t *)tcb, (FAR dq_queue_t *)&g_inactivetasks);
  tcb->cmn.task_state = TSTATE_TASK_INACTIVE;

  /* Activate the task */

  status = task_activate((FAR struct tcb_s *)tcb);
  if (status != OK)
    {
      (void)task_delete(pid);
      set_errno(-status);
      return ERROR;
    }

  sched_unlock();
  return OK;
}
Beispiel #3
0
int task_restart(pid_t pid)
{
  FAR _TCB  *rtcb;
  FAR _TCB  *tcb;
  int        status;
  irqstate_t state;

  /* Make sure this task does not become ready-to-run while
   * we are futzing with its TCB
   */

  sched_lock();

  /* Check if the task to restart is the calling task */

  rtcb = (FAR _TCB*)g_readytorun.head;
  if ((pid == 0) || (pid == rtcb->pid))
    {
      /* Not implemented */

      return ERROR;
    }

  /* We are restarting some other task than ourselves */

  else
    {
      /* Find for the TCB associated with matching pid  */

      tcb = sched_gettcb(pid);
      if (!tcb)
        {
          /* There is no TCB with this pid */

          return ERROR;
        }

      /* Remove the TCB from whatever list it is in.  At this point, the
       * TCB should no longer be accessible to the system 
       */

      state = irqsave();
      dq_rem((FAR dq_entry_t*)tcb, (dq_queue_t*)g_tasklisttable[tcb->task_state].list);
      tcb->task_state = TSTATE_TASK_INVALID;
      irqrestore(state);

      /* Deallocate anything left in the TCB's queues */

      sig_cleanup(tcb); /* Deallocate Signal lists */

      /* Reset the current task priority  */

      tcb->sched_priority = tcb->init_priority;

      /* Reset the base task priority and the number of pending reprioritizations */

#ifdef CONFIG_PRIORITY_INHERITANCE
      tcb->base_priority  = tcb->init_priority;
#  if CONFIG_SEM_NNESTPRIO > 0
      tcb->npend_reprio   = 0;
#  endif
#endif

      /* Re-initialize the processor-specific portion of the TCB
       * This will reset the entry point and the start-up parameters
       */

      up_initial_state(tcb);

      /* Add the task to the inactive task list */

      dq_addfirst((FAR dq_entry_t*)tcb, (dq_queue_t*)&g_inactivetasks);
      tcb->task_state = TSTATE_TASK_INACTIVE;

      /* Activate the task */

      status = task_activate(tcb);
      if (status != OK)
        {
          dq_rem((FAR dq_entry_t*)tcb, (dq_queue_t*)&g_inactivetasks);
          sched_releasetcb(tcb);
          return ERROR;
        }
    }

  sched_unlock();
  return OK;
}
Beispiel #4
0
int exec_module(FAR const struct binary_s *binp)
{
  FAR _TCB     *tcb;
#ifndef CONFIG_CUSTOM_STACK
  FAR uint32_t *stack;
#endif
  pid_t         pid;
  int           err;
  int           ret;

  /* Sanity checking */

#ifdef CONFIG_DEBUG
  if (!binp || !binp->entrypt || binp->stacksize <= 0)
    {
      err = EINVAL;
      goto errout;
    }
#endif

  bdbg("Executing %s\n", binp->filename);

  /* Allocate a TCB for the new task. */

  tcb = (FAR _TCB*)kzalloc(sizeof(_TCB));
  if (!tcb)
    {
      err = ENOMEM;
      goto errout;
    }

  /* Allocate the stack for the new task */

#ifndef CONFIG_CUSTOM_STACK
  stack = (FAR uint32_t*)kmalloc(binp->stacksize);
  if (!tcb)
    {
      err = ENOMEM;
      goto errout_with_tcb;
    }

  /* Initialize the task */

  ret = task_init(tcb, binp->filename, binp->priority, stack,
                  binp->stacksize, binp->entrypt, binp->argv);
#else
  /* Initialize the task */

  ret = task_init(tcb, binp->filename, binp->priority, stack,
                  binp->entrypt, binp->argv);
#endif
  if (ret < 0)
    {
      err = errno;
      bdbg("task_init() failed: %d\n", err);
      goto errout_with_stack;
    }

  /* Note that tcb->flags are not modified.  0=normal task */
  /* tcb->flags |= TCB_FLAG_TTYPE_TASK; */

  /* Add the D-Space address as the PIC base address.  By convention, this
   * must be the first allocated address space.
   */

#ifdef CONFIG_PIC
  tcb->dspace = binp->alloc[0];

  /* Re-initialize the task's initial state to account for the new PIC base */

  up_initial_state(tcb);
#endif

  /* Assign the address environment to the task */

#ifdef CONFIG_ADDRENV
  ret = up_addrenv_assign(binp->addrenv, tcb);
  if (ret < 0)
    {
      err = -ret;
      bdbg("up_addrenv_assign() failed: %d\n", ret);
      goto errout_with_stack;
    }
#endif

  /* Get the assigned pid before we start the task */

  pid = tcb->pid;

  /* Execute all of the C++ static constructors */

#ifdef CONFIG_BINFMT_CONSTRUCTORS
  ret = exec_ctors(binp);
  if (ret < 0)
    {
      err = -ret;
      bdbg("exec_ctors() failed: %d\n", ret);
      goto errout_with_stack;
    }
#endif

  /* Then activate the task at the provided priority */

  ret = task_activate(tcb);
  if (ret < 0)
    {
      err = errno;
      bdbg("task_activate() failed: %d\n", err);
      goto errout_with_stack;
    }

  return (int)pid;

errout_with_stack:
#ifndef CONFIG_CUSTOM_STACK
  tcb->stack_alloc_ptr = NULL;
  sched_releasetcb(tcb);
  kfree(stack);
#else
  sched_releasetcb(tcb);
#endif
  goto errout;

errout_with_tcb:
  kfree(tcb);
errout:
  errno = err;
  bdbg("returning errno: %d\n", err);
  return ERROR;
}
Beispiel #5
0
int task_restart(pid_t pid)
{
  FAR struct tcb_s *rtcb;
  FAR struct task_tcb_s *tcb;
  FAR dq_queue_t *tasklist;
  irqstate_t flags;
  int errcode;
#ifdef CONFIG_SMP
  int cpu;
#endif
  int ret;

  /* Check if the task to restart is the calling task */

  rtcb = this_task();
  if ((pid == 0) || (pid == rtcb->pid))
    {
      /* Not implemented */

      errcode = ENOSYS;
      goto errout;
    }

  /* We are restarting some other task than ourselves.  Make sure that the
   * task does not change its state while we are executing.  In the single
   * CPU state this could be done by disabling pre-emption.  But we will
   * a little stronger medicine on the SMP case:  The task make be running
   * on another CPU.
   */

  flags = enter_critical_section();

  /* Find for the TCB associated with matching pid  */

  tcb = (FAR struct task_tcb_s *)sched_gettcb(pid);
#ifndef CONFIG_DISABLE_PTHREAD
  if (!tcb || (tcb->cmn.flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_PTHREAD)
#else
  if (!tcb)
#endif
    {
      /* There is no TCB with this pid or, if there is, it is not a task. */

      errcode = ESRCH;
      goto errout_with_lock;
    }

#ifdef CONFIG_SMP
  /* If the task is running on another CPU, then pause that CPU.  We can
   * then manipulate the TCB of the restarted task and when we resume the
   * that CPU, the restart take effect.
   */

  cpu = sched_cpu_pause(&tcb->cmn);
#endif /* CONFIG_SMP */

  /* Try to recover from any bad states */

  task_recover((FAR struct tcb_s *)tcb);

  /* Kill any children of this thread */

#ifdef HAVE_GROUP_MEMBERS
  (void)group_killchildren(tcb);
#endif

  /* Remove the TCB from whatever list it is in.  After this point, the TCB
   * should no longer be accessible to the system
   */

#ifdef CONFIG_SMP
  tasklist = TLIST_HEAD(tcb->cmn.task_state, tcb->cmn.cpu);
#else
  tasklist = TLIST_HEAD(tcb->cmn.task_state);
#endif

  dq_rem((FAR dq_entry_t *)tcb, tasklist);
  tcb->cmn.task_state = TSTATE_TASK_INVALID;

  /* Deallocate anything left in the TCB's queues */

  sig_cleanup((FAR struct tcb_s *)tcb); /* Deallocate Signal lists */

  /* Reset the current task priority  */

  tcb->cmn.sched_priority = tcb->cmn.init_priority;

  /* The task should restart with pre-emption disabled and not in a critical
   * secton.
   */

  tcb->cmn.lockcount = 0;
#ifdef CONFIG_SMP
  tcb->cmn.irqcount  = 0;
#endif

  /* Reset the base task priority and the number of pending reprioritizations */

#ifdef CONFIG_PRIORITY_INHERITANCE
  tcb->cmn.base_priority = tcb->cmn.init_priority;
#  if CONFIG_SEM_NNESTPRIO > 0
  tcb->cmn.npend_reprio = 0;
#  endif
#endif

  /* Re-initialize the processor-specific portion of the TCB.  This will
   * reset the entry point and the start-up parameters
   */

  up_initial_state((FAR struct tcb_s *)tcb);

  /* Add the task to the inactive task list */

  dq_addfirst((FAR dq_entry_t *)tcb, (FAR dq_queue_t *)&g_inactivetasks);
  tcb->cmn.task_state = TSTATE_TASK_INACTIVE;

#ifdef CONFIG_SMP
  /* Resume the paused CPU (if any) */

  if (cpu >= 0)
    {
      ret = up_cpu_resume(cpu);
      if (ret < 0)
        {
          errcode = -ret;
          goto errout_with_lock;
        }
    }
#endif /* CONFIG_SMP */

  leave_critical_section(flags);

  /* Activate the task. */

  ret = task_activate((FAR struct tcb_s *)tcb);
  if (ret != OK)
    {
      (void)task_terminate(pid, true);
      errcode = -ret;
      goto errout_with_lock;
    }

  return OK;

errout_with_lock:
  leave_critical_section(flags);
errout:
  set_errno(errcode);
  return ERROR;
}
Beispiel #6
0
pid_t task_vforkstart(FAR struct task_tcb_s *child)
{
  struct tcb_s *parent = this_task();
  pid_t pid;
  int rc;
  int ret;

  sinfo("Starting Child TCB=%p, parent=%p\n", child, this_task());
  DEBUGASSERT(child);

  /* Duplicate the original argument list in the forked child TCB */

  ret = vfork_argsetup(parent, child);
  if (ret < 0)
    {
      task_vforkabort(child, -ret);
      return ERROR;
    }

  /* Now we have enough in place that we can join the group */

#ifdef HAVE_TASK_GROUP
  ret = group_initialize(child);
  if (ret < 0)
    {
      task_vforkabort(child, -ret);
      return ERROR;
    }
#endif

  /* Get the assigned pid before we start the task */

  pid = (int)child->cmn.pid;

  /* Eliminate a race condition by disabling pre-emption.  The child task
   * can be instantiated, but cannot run until we call waitpid().  This
   * assures us that we cannot miss the the death-of-child signal (only
   * needed in the SMP case).
   */

  sched_lock();

  /* Activate the task */

  ret = task_activate((FAR struct tcb_s *)child);
  if (ret < OK)
    {
      task_vforkabort(child, -ret);
      sched_unlock();
      return ERROR;
    }

  /* The child task has not yet ran because pre-emption is disabled.
   * The child task has the same priority as the parent task, so that
   * would typically be the case anyway.  However, in the SMP
   * configuration, the child thread might have already ran on
   * another CPU if pre-emption were not disabled.
   *
   * It is a requirement that the parent environment be stable while
   * vfork runs; the child thread is still dependent on things in the
   * parent thread... like the pointers into parent thread's stack
   * which will still appear in the child's registers and environment.
   *
   * We assure that by waiting for the child thread to exit before
   * returning to the parent thread.  NOTE that pre-emption will be
   * re-enabled while we are waiting, giving the child thread the
   * opportunity to run.
   */

  rc = 0;

#ifdef CONFIG_DEBUG_FEATURES
  ret = waitpid(pid, &rc, 0);
  if (ret < 0)
    {
      serr("ERROR: waitpid failed: %d\n", errno);
    }
#else
  (void)waitpid(pid, &rc, 0);
#endif

  sched_unlock();
  return pid;
}
Beispiel #7
0
static int thread_create(FAR const char *name, uint8_t ttype, int priority,
                         int stack_size, main_t entry, FAR char * const argv[])
{
  FAR struct task_tcb_s *tcb;
  pid_t pid;
  int errcode;
  int ret;

  /* Allocate a TCB for the new task. */

  tcb = (FAR struct task_tcb_s *)kmm_zalloc(sizeof(struct task_tcb_s));
  if (!tcb)
    {
      sdbg("ERROR: Failed to allocate TCB\n");
      errcode = ENOMEM;
      goto errout;
    }

  /* Allocate a new task group with privileges appropriate for the parent
   * thread type.
   */

#ifdef HAVE_TASK_GROUP
  ret = group_allocate(tcb, ttype);
  if (ret < 0)
    {
      errcode = -ret;
      goto errout_with_tcb;
    }
#endif

  /* Associate file descriptors with the new task */

#if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0
  ret = group_setuptaskfiles(tcb);
  if (ret < OK)
    {
      errcode = -ret;
      goto errout_with_tcb;
    }
#endif

  /* Allocate the stack for the TCB */

  ret = up_create_stack((FAR struct tcb_s *)tcb, stack_size, ttype);
  if (ret < OK)
    {
      errcode = -ret;
      goto errout_with_tcb;
    }

  /* Initialize the task control block */

  ret = task_schedsetup(tcb, priority, task_start, entry, ttype);
  if (ret < OK)
    {
      errcode = -ret;
      goto errout_with_tcb;
    }

  /* Setup to pass parameters to the new task */

  (void)task_argsetup(tcb, name, argv);

  /* Now we have enough in place that we can join the group */

#ifdef HAVE_TASK_GROUP
  ret = group_initialize(tcb);
  if (ret < 0)
    {
      errcode = -ret;
      goto errout_with_tcb;
    }
#endif

  /* Get the assigned pid before we start the task */

  pid = (int)tcb->cmn.pid;

  /* Activate the task */

  ret = task_activate((FAR struct tcb_s *)tcb);
  if (ret < OK)
    {
      errcode = get_errno();

      /* The TCB was added to the active task list by task_schedsetup() */

      dq_rem((FAR dq_entry_t*)tcb, (dq_queue_t*)&g_inactivetasks);
      goto errout_with_tcb;
    }

  return pid;

errout_with_tcb:
  sched_releasetcb((FAR struct tcb_s *)tcb, ttype);

errout:
  set_errno(errcode);
  return ERROR;
}
Beispiel #8
0
int task_restart(pid_t pid)
{
  FAR struct tcb_s *rtcb;
  FAR struct task_tcb_s *tcb;
  irqstate_t state;
  int status;

  /* Make sure this task does not become ready-to-run while
   * we are futzing with its TCB
   */

  sched_lock();

  /* Check if the task to restart is the calling task */

  rtcb = (FAR struct tcb_s *)g_readytorun.head;
  if ((pid == 0) || (pid == rtcb->pid))
    {
      /* Not implemented */

      set_errno(ENOSYS);
      return ERROR;
    }

  /* We are restarting some other task than ourselves */

  else
    {
      /* Find for the TCB associated with matching pid  */

      tcb = (FAR struct task_tcb_s *)sched_gettcb(pid);
#ifndef CONFIG_DISABLE_PTHREAD
      if (!tcb || (tcb->cmn.flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_PTHREAD)
#else
      if (!tcb)
#endif
        {
          /* There is no TCB with this pid or, if there is, it is not a
           * task.
           */

          set_errno(ESRCH);
          return ERROR;
        }

      /* Try to recover from any bad states */

      task_recover((FAR struct tcb_s *)tcb);

      /* Kill any children of this thread */

#if HAVE_GROUP_MEMBERS
      (void)group_killchildren(tcb);
#endif

      /* Remove the TCB from whatever list it is in.  At this point, the
       * TCB should no longer be accessible to the system
       */

      state = irqsave();
      dq_rem((FAR dq_entry_t*)tcb,
             (dq_queue_t*)g_tasklisttable[tcb->cmn.task_state].list);
      tcb->cmn.task_state = TSTATE_TASK_INVALID;
      irqrestore(state);

      /* Deallocate anything left in the TCB's queues */

      sig_cleanup((FAR struct tcb_s *)tcb); /* Deallocate Signal lists */

      /* Reset the current task priority  */

      tcb->cmn.sched_priority = tcb->init_priority;

      /* Reset the base task priority and the number of pending reprioritizations */

#ifdef CONFIG_PRIORITY_INHERITANCE
      tcb->cmn.base_priority = tcb->init_priority;
#  if CONFIG_SEM_NNESTPRIO > 0
      tcb->cmn.npend_reprio = 0;
#  endif
#endif

      /* Re-initialize the processor-specific portion of the TCB
       * This will reset the entry point and the start-up parameters
       */

      up_initial_state((FAR struct tcb_s *)tcb);

      /* Add the task to the inactive task list */

      dq_addfirst((FAR dq_entry_t*)tcb, (dq_queue_t*)&g_inactivetasks);
      tcb->cmn.task_state = TSTATE_TASK_INACTIVE;

      /* Activate the task */

      status = task_activate((FAR struct tcb_s *)tcb);
      if (status != OK)
        {
          (void)task_delete(pid);
          set_errno(-status);
          return ERROR;
        }
    }

  sched_unlock();
  return OK;
}
Beispiel #9
0
int main(void) {
	struct task *next;

	/* Set the CPU speed */
	uint32_t skuid = read32(DEVICEID_BASE + DEVICEID_SKUID_OFFSET);
	uint32_t cpuspeed_id = skuid & DEVICEID_SKUID_CPUSPEED_MASK;
	uint32_t clksel_val = (1<<19) | 12;
	if(cpuspeed_id == DEVICEID_SKUID_CPUSPEED_720)
		clksel_val |= (720 << 8);
	else if(cpuspeed_id == DEVICEID_SKUID_CPUSPEED_600)
		clksel_val |= (600 << 8);
	else
		panic("Unsupported CPU!");
	write32(CM_MPU_BASE + PRM_CLKSEL1_PLL_MPU_OFFSET, clksel_val);

	/* Basic hardware initialization */
	init_cpumodes(); // set up CPU modes for interrupt handling
	intc_init(); // initialize interrupt controller
	gpio_init(); // initialize gpio interrupt system

	/* Start up hardware */
	timers_init(); // must come first, since it initializes the watchdog
	eth_init();
	uart_init();

	/* For some reason, turning on the caches causes the kernel to hang after finishing
	   the third invocation. Maybe we have to clear the caches here, or enable the MMU. */
	printk("mmu init\n");
	prep_pagetable();
	init_mmu();

	printk("cache init\n");
	init_cache();

	/* Initialize other interrupts */
	init_interrupts();

	/* Initialize task queues */
	init_tasks();

	/* Initialize idle task */
	syscall_spawn(NULL, 7, idle_task, NULL, 0, SPAWN_DAEMON);

	pmu_enable();
	trace_init();

	printk("userspace init\n");

	/* Initialize first user program */
	syscall_spawn(NULL, 6, init_task, NULL, 0, 0);

	while (nondaemon_count > 0) {
		next = schedule();
		task_activate(next);
		check_stack(next);
	}

	pmu_disable();
	intc_reset();
	eth_deinit();
	deinit_mmu();
	return 0;
}
Beispiel #10
0
int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
                   pthread_startroutine_t start_routine, pthread_addr_t arg)
{
  FAR _TCB *ptcb;
  FAR join_t *pjoin;
  int status;
  int priority;
#if CONFIG_RR_INTERVAL > 0
  int policy;
#endif
  pid_t pid;

  /* If attributes were not supplied, use the default attributes */

  if (!attr)
    {
      attr = &g_default_pthread_attr;
    }

  /* Allocate a TCB for the new task. */

  ptcb = (FAR _TCB*)kzalloc(sizeof(_TCB));
  if (!ptcb)
    {
      return ENOMEM;
    }

  /* Associate file descriptors with the new task */

  status = sched_setuppthreadfiles(ptcb);
  if (status != OK)
    {
      sched_releasetcb(ptcb);
      return status;
    }

  /* Share the parent's envionment */

  (void)env_share(ptcb);

  /* Allocate a detachable structure to support pthread_join logic */

  pjoin = (FAR join_t*)kzalloc(sizeof(join_t));
  if (!pjoin)
    {
      sched_releasetcb(ptcb);
      return ENOMEM;
    }

  /* Allocate the stack for the TCB */

  status = up_create_stack(ptcb, attr->stacksize);
  if (status != OK)
    {
      sched_releasetcb(ptcb);
      sched_free(pjoin);
      return ENOMEM;
    }

  /* Should we use the priority and scheduler specified in the
   * pthread attributes?  Or should we use the current thread's
   * priority and scheduler?
   */

  if (attr->inheritsched == PTHREAD_INHERIT_SCHED)
    {
      /* Get the priority for this thread. */

      struct sched_param param;
      status = sched_getparam(0, &param);
      if (status == OK)
        {
          priority = param.sched_priority;
        }
      else
        {
          priority = SCHED_FIFO;
        }

      /* Get the scheduler policy for this thread */

#if CONFIG_RR_INTERVAL > 0
      policy = sched_getscheduler(0);
      if (policy == ERROR)
        {
          policy = SCHED_FIFO;
        }
#endif
    }
  else
    {
      /* Use the priority and scheduler from the attributes */

      priority = attr->priority;
#if CONFIG_RR_INTERVAL > 0
      policy   = attr->policy;
#endif
    }

  /* Mark this task as a pthread (this setting will be needed in
   * task_schedsetup() when up_initial_state() is called.
   */

  ptcb->flags |= TCB_FLAG_TTYPE_PTHREAD;

  /* Initialize the task control block */

  status  = task_schedsetup(ptcb, priority, pthread_start,
                            (main_t)start_routine);
  if (status != OK)
    {

      sched_releasetcb(ptcb);
      sched_free(pjoin);
      return EBUSY;
    }

  /* Configure the TCB for a pthread receiving on parameter
   * passed by value
   */

  pthread_argsetup(ptcb, arg);

  /* Attach the join info to the TCB. */

  ptcb->joininfo = (void*)pjoin;

  /* If round robin scheduling is selected, set the appropriate flag
   * in the TCB.
   */

#if CONFIG_RR_INTERVAL > 0
  if (policy == SCHED_RR)
    {
      ptcb->flags    |= TCB_FLAG_ROUND_ROBIN;
      ptcb->timeslice = CONFIG_RR_INTERVAL / MSEC_PER_TICK;
    }
#endif

  /* Get the assigned pid before we start the task (who knows what
   * could happen to ptcb after this!).  Copy this ID into the join structure
   * as well.
   */

  pid = (int)ptcb->pid;
  pjoin->thread = (pthread_t)pid;

  /* Initialize the semaphores in the join structure to zero. */

  status = sem_init(&pjoin->data_sem, 0, 0);
  if (status == OK)
    {
      status = sem_init(&pjoin->exit_sem, 0, 0);
    }

  /* Activate the task */

  sched_lock();
  if (status == OK)
    {
      status = task_activate(ptcb);
    }

  if (status == OK)
    {
      /* Wait for the task to actually get running and to register
       * its join_t
       */

      (void)pthread_takesemaphore(&pjoin->data_sem);

      /* Return the thread information to the caller */

      if (thread) *thread = (pthread_t)pid;
      if (!pjoin->started) status = ERROR;

      sched_unlock();
      (void)sem_destroy(&pjoin->data_sem);
    }
  else
    {
      sched_unlock();
      dq_rem((FAR dq_entry_t*)ptcb, (dq_queue_t*)&g_inactivetasks);
      (void)sem_destroy(&pjoin->data_sem);
      (void)sem_destroy(&pjoin->exit_sem);
      sched_releasetcb(ptcb);
      sched_free(pjoin);
      return EIO;
    }

  return OK;
}
Beispiel #11
0
static int thread_create(const char *name, uint8_t type, int priority,
                         main_t entry, const char **argv)
#endif
{
  FAR _TCB *tcb;
  pid_t pid;
  int ret;

  /* Allocate a TCB for the new task. */

  tcb = (FAR _TCB*)kzalloc(sizeof(_TCB));
  if (!tcb)
    {
      goto errout;
    }

  /* Associate file descriptors with the new task */

#if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0
  ret = sched_setuptaskfiles(tcb);
  if (ret != OK)
    {
      goto errout_with_tcb;
    }
#endif

  /* Clone the parent's task environment */

  (void)env_dup(tcb);

  /* Allocate the stack for the TCB */

#ifndef CONFIG_CUSTOM_STACK
  ret = up_create_stack(tcb, stack_size);
  if (ret != OK)
    {
      goto errout_with_tcb;
    }
#endif

  /* Mark the type of this thread (this setting will be needed in
   * task_schedsetup() when up_initial_state() is called.
   */

  tcb->flags |= type;

  /* Initialize the task control block */

  ret = task_schedsetup(tcb, priority, task_start, entry);
  if (ret != OK)
    {
      goto errout_with_tcb;
    }

  /* Setup to pass parameters to the new task */

  (void)task_argsetup(tcb, name, argv);

  /* Get the assigned pid before we start the task */

  pid = (int)tcb->pid;

  /* Activate the task */

  ret = task_activate(tcb);
  if (ret != OK)
    {
      /* The TCB was added to the active task list by task_schedsetup() */

      dq_rem((FAR dq_entry_t*)tcb, (dq_queue_t*)&g_inactivetasks);
      goto errout_with_tcb;
    }

  return pid;

errout_with_tcb:
  sched_releasetcb(tcb);

errout:
  errno = ENOMEM;
  return ERROR;
}
int pthread_create(FAR pthread_t *thread, FAR const pthread_attr_t *attr,
                   pthread_startroutine_t start_routine, pthread_addr_t arg)
{
  FAR struct pthread_tcb_s *ptcb;
  FAR struct join_s *pjoin;
  struct sched_param param;
  int policy;
  int errcode;
  pid_t pid;
  int ret;
#ifdef HAVE_TASK_GROUP
  bool group_joined = false;
#endif

  /* If attributes were not supplied, use the default attributes */

  if (!attr)
    {
      attr = &g_default_pthread_attr;
    }

  /* Allocate a TCB for the new task. */

  ptcb = (FAR struct pthread_tcb_s *)kmm_zalloc(sizeof(struct pthread_tcb_s));
  if (!ptcb)
    {
      sdbg("ERROR: Failed to allocate TCB\n");
      return ENOMEM;
    }

#ifdef HAVE_TASK_GROUP
  /* Bind the parent's group to the new TCB (we have not yet joined the
   * group).
   */

  ret = group_bind(ptcb);
  if (ret < 0)
    {
      errcode = ENOMEM;
      goto errout_with_tcb;
    }
#endif

#ifdef CONFIG_ARCH_ADDRENV
  /* Share the address environment of the parent task group. */

  ret = up_addrenv_attach(ptcb->cmn.group,
                          (FAR struct tcb_s *)g_readytorun.head);
  if (ret < 0)
    {
      errcode = -ret;
      goto errout_with_tcb;
    }
#endif

  /* Allocate a detachable structure to support pthread_join logic */

  pjoin = (FAR struct join_s *)kmm_zalloc(sizeof(struct join_s));
  if (!pjoin)
    {
      sdbg("ERROR: Failed to allocate join\n");
      errcode = ENOMEM;
      goto errout_with_tcb;
    }

  /* Allocate the stack for the TCB */

  ret = up_create_stack((FAR struct tcb_s *)ptcb, attr->stacksize,
                        TCB_FLAG_TTYPE_PTHREAD);
  if (ret != OK)
    {
      errcode = ENOMEM;
      goto errout_with_join;
    }

  /* Should we use the priority and scheduler specified in the pthread
   * attributes?  Or should we use the current thread's priority and
   * scheduler?
   */

  if (attr->inheritsched == PTHREAD_INHERIT_SCHED)
    {
      /* Get the priority (and any other scheduling parameters) for this
       * thread.
       */

      ret = sched_getparam(0, &param);
      if (ret == ERROR)
        {
          errcode = get_errno();
          goto errout_with_join;
        }

      /* Get the scheduler policy for this thread */

      policy = sched_getscheduler(0);
      if (policy == ERROR)
        {
          errcode = get_errno();
          goto errout_with_join;
        }
    }
  else
    {
      /* Use the scheduler policy and policy the attributes */

      policy                             = attr->policy;
      param.sched_priority               = attr->priority;

#ifdef CONFIG_SCHED_SPORADIC
      param.sched_ss_low_priority        = attr->low_priority;
      param.sched_ss_max_repl            = attr->max_repl;
      param.sched_ss_repl_period.tv_sec  = attr->repl_period.tv_sec;
      param.sched_ss_repl_period.tv_nsec = attr->repl_period.tv_nsec;
      param.sched_ss_init_budget.tv_sec  = attr->budget.tv_sec;
      param.sched_ss_init_budget.tv_nsec = attr->budget.tv_nsec;
#endif
    }

#ifdef CONFIG_SCHED_SPORADIC
  if (policy == SCHED_SPORADIC)
    {
      FAR struct sporadic_s *sporadic;
      int repl_ticks;
      int budget_ticks;

      /* Convert timespec values to system clock ticks */

      (void)clock_time2ticks(&param.sched_ss_repl_period, &repl_ticks);
      (void)clock_time2ticks(&param.sched_ss_init_budget, &budget_ticks);

      /* The replenishment period must be greater than or equal to the
       * budget period.
       */

      if (repl_ticks < budget_ticks)
        {
          errcode = EINVAL;
          goto errout_with_join;
        }

      /* Initialize the sporadic policy */

      ret = sched_sporadic_initialize(&ptcb->cmn);
      if (ret >= 0)
        {
          sporadic               = ptcb->cmn.sporadic;
          DEBUGASSERT(sporadic != NULL);

          /* Save the sporadic scheduling parameters */

          sporadic->hi_priority  = param.sched_priority;
          sporadic->low_priority = param.sched_ss_low_priority;
          sporadic->max_repl     = param.sched_ss_max_repl;
          sporadic->repl_period  = repl_ticks;
          sporadic->budget       = budget_ticks;

          /* And start the first replenishment interval */

          ret = sched_sporadic_start(&ptcb->cmn);
        }

      /* Handle any failures */

      if (ret < 0)
        {
          errcode = -ret;
          goto errout_with_join;
        }
    }
#endif

  /* Initialize the task control block */

  ret = pthread_schedsetup(ptcb, param.sched_priority, pthread_start,
                           start_routine);
  if (ret != OK)
    {
      errcode = EBUSY;
      goto errout_with_join;
    }

  /* Configure the TCB for a pthread receiving on parameter
   * passed by value
   */

  pthread_argsetup(ptcb, arg);

#ifdef HAVE_TASK_GROUP
  /* Join the parent's task group */

  ret = group_join(ptcb);
  if (ret < 0)
    {
      errcode = ENOMEM;
      goto errout_with_join;
    }

  group_joined = true;
#endif

  /* Attach the join info to the TCB. */

  ptcb->joininfo = (FAR void *)pjoin;

  /* Set the appropriate scheduling policy in the TCB */

  ptcb->cmn.flags &= ~TCB_FLAG_POLICY_MASK;
  switch (policy)
    {
      default:
        DEBUGPANIC();
      case SCHED_FIFO:
        ptcb->cmn.flags    |= TCB_FLAG_SCHED_FIFO;
        break;

#if CONFIG_RR_INTERVAL > 0
      case SCHED_RR:
        ptcb->cmn.flags    |= TCB_FLAG_SCHED_RR;
        ptcb->cmn.timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
        break;
#endif

#ifdef CONFIG_SCHED_SPORADIC
      case SCHED_SPORADIC:
        ptcb->cmn.flags    |= TCB_FLAG_SCHED_SPORADIC;
        break;
#endif

#if 0 /* Not supported */
      case SCHED_OTHER:
        ptcb->cmn.flags    |= TCB_FLAG_SCHED_OTHER;
        break;
#endif
    }

  /* Get the assigned pid before we start the task (who knows what
   * could happen to ptcb after this!).  Copy this ID into the join structure
   * as well.
   */

  pid = (int)ptcb->cmn.pid;
  pjoin->thread = (pthread_t)pid;

  /* Initialize the semaphores in the join structure to zero. */

  ret = sem_init(&pjoin->data_sem, 0, 0);
  if (ret == OK)
    {
      ret = sem_init(&pjoin->exit_sem, 0, 0);
    }

  /* Activate the task */

  sched_lock();
  if (ret == OK)
    {
      ret = task_activate((FAR struct tcb_s *)ptcb);
    }

  if (ret == OK)
    {
      /* Wait for the task to actually get running and to register
       * its join structure.
       */

      (void)pthread_takesemaphore(&pjoin->data_sem);

      /* Return the thread information to the caller */

      if (thread)
       {
         *thread = (pthread_t)pid;
       }

      if (!pjoin->started)
        {
          ret = EINVAL;
        }

      sched_unlock();
      (void)sem_destroy(&pjoin->data_sem);
    }
  else
    {
      sched_unlock();
      dq_rem((FAR dq_entry_t *)ptcb, (FAR dq_queue_t *)&g_inactivetasks);
      (void)sem_destroy(&pjoin->data_sem);
      (void)sem_destroy(&pjoin->exit_sem);

      errcode = EIO;
      goto errout_with_join;
    }

  return ret;

errout_with_join:
  sched_kfree(pjoin);
  ptcb->joininfo = NULL;

errout_with_tcb:
#ifdef HAVE_TASK_GROUP
  /* Clear group binding */

  if (ptcb && !group_joined)
    {
      ptcb->cmn.group = NULL;
    }
#endif

  sched_releasetcb((FAR struct tcb_s *)ptcb, TCB_FLAG_TTYPE_PTHREAD);
  return errcode;
}