/*
* @brief Initialize a new thread from its stack space
*
* The thread control structure is put at the lower address of the stack. An
* initial context, to be "restored" by __return_from_coop(), is put at
* the other end of the stack, and thus reusable by the stack when not
* needed anymore.
*
* The initial context is a basic stack frame that contains arguments for
* _thread_entry() return address, that points at _thread_entry()
* and status register.
*
* <options> is currently unused.
*
* @param pStackmem the pointer to aligned stack memory
* @param stackSize the stack size in bytes
* @param pEntry thread entry point routine
* @param parameter1 first param to entry point
* @param parameter2 second param to entry point
* @param parameter3 third param to entry point
* @param priority thread priority
* @param options thread options: K_ESSENTIAL
*
* @return N/A
*/
void _new_thread(struct k_thread *thread, k_thread_stack_t stack,
size_t stackSize, _thread_entry_t pEntry,
void *parameter1, void *parameter2, void *parameter3,
int priority, unsigned int options)
{
char *pStackMem = K_THREAD_STACK_BUFFER(stack);
_ASSERT_VALID_PRIO(priority, pEntry);
char *stackEnd = pStackMem + stackSize;
struct init_stack_frame *pInitCtx;
_new_thread_init(thread, pStackMem, stackSize, priority, options);
/* carve the thread entry struct from the "base" of the stack */
pInitCtx = (struct init_stack_frame *)(STACK_ROUND_DOWN(stackEnd) -
sizeof(struct init_stack_frame));
pInitCtx->pc = ((u32_t)_thread_entry_wrapper);
pInitCtx->r0 = (u32_t)pEntry;
pInitCtx->r1 = (u32_t)parameter1;
pInitCtx->r2 = (u32_t)parameter2;
pInitCtx->r3 = (u32_t)parameter3;
/*
* For now set the interrupt priority to 15
* we can leave interrupt enable flag set to 0 as
* seti instruction in the end of the _Swap() will
* enable the interrupts based on intlock_key
* value.
*/
#ifdef CONFIG_ARC_STACK_CHECKING
pInitCtx->status32 = _ARC_V2_STATUS32_SC | _ARC_V2_STATUS32_E(_ARC_V2_DEF_IRQ_LEVEL);
thread->arch.stack_base = (u32_t) stackEnd;
#else
pInitCtx->status32 = _ARC_V2_STATUS32_E(_ARC_V2_DEF_IRQ_LEVEL);
#endif
#ifdef CONFIG_THREAD_MONITOR
/*
* In debug mode thread->entry give direct access to the thread entry
* and the corresponding parameters.
*/
thread->entry = (struct __thread_entry *)(pInitCtx);
#endif
/*
* intlock_key is constructed based on ARCv2 ISA Programmer's
* Reference Manual CLRI instruction description:
* dst[31:6] dst[5] dst[4] dst[3:0]
* 26'd0 1 STATUS32.IE STATUS32.E[3:0]
*/
thread->arch.intlock_key = 0x3F;
thread->arch.relinquish_cause = _CAUSE_COOP;
thread->callee_saved.sp =
(u32_t)pInitCtx - ___callee_saved_stack_t_SIZEOF;
/* initial values in all other regs/k_thread entries are irrelevant */
thread_monitor_init(thread);
}
void _new_thread(struct k_thread *thread, k_thread_stack_t *stack,
size_t stack_size, k_thread_entry_t thread_func,
void *arg1, void *arg2, void *arg3,
int priority, unsigned int options)
{
char *stack_memory = K_THREAD_STACK_BUFFER(stack);
_ASSERT_VALID_PRIO(priority, thread_func);
struct __esf *stack_init;
_new_thread_init(thread, stack_memory, stack_size, priority, options);
/* Initial stack frame for thread */
stack_init = (struct __esf *)
STACK_ROUND_DOWN(stack_memory +
stack_size - sizeof(struct __esf));
/* Setup the initial stack frame */
stack_init->a0 = (u32_t)thread_func;
stack_init->a1 = (u32_t)arg1;
stack_init->a2 = (u32_t)arg2;
stack_init->a3 = (u32_t)arg3;
/*
* Following the RISC-V architecture,
* the MSTATUS register (used to globally enable/disable interrupt),
* as well as the MEPC register (used to by the core to save the
* value of the program counter at which an interrupt/exception occcurs)
* need to be saved on the stack, upon an interrupt/exception
* and restored prior to returning from the interrupt/exception.
* This shall allow to handle nested interrupts.
*
* Given that context switching is performed via a system call exception
* within the RISCV32 architecture implementation, initially set:
* 1) MSTATUS to SOC_MSTATUS_DEF_RESTORE in the thread stack to enable
* interrupts when the newly created thread will be scheduled;
* 2) MEPC to the address of the _thread_entry_wrapper in the thread
* stack.
* Hence, when going out of an interrupt/exception/context-switch,
* after scheduling the newly created thread:
* 1) interrupts will be enabled, as the MSTATUS register will be
* restored following the MSTATUS value set within the thread stack;
* 2) the core will jump to _thread_entry_wrapper, as the program
* counter will be restored following the MEPC value set within the
* thread stack.
*/
stack_init->mstatus = SOC_MSTATUS_DEF_RESTORE;
stack_init->mepc = (u32_t)_thread_entry_wrapper;
thread->callee_saved.sp = (u32_t)stack_init;
thread_monitor_init(thread);
}
/**
* @brief Create a new kernel execution thread
*
* Initializes the k_thread object and sets up initial stack frame.
*
* @param thread pointer to thread struct memory, including any space needed
* for extra coprocessor context
* @param stack the pointer to aligned stack memory
* @param stack_size the stack size in bytes
* @param entry thread entry point routine
* @param arg1 first param to entry point
* @param arg2 second param to entry point
* @param arg3 third param to entry point
* @param priority thread priority
* @param options thread options: K_ESSENTIAL, K_FP_REGS, K_SSE_REGS
*
* Note that in this arch we cheat quite a bit: we use as stack a normal
* pthreads stack and therefore we ignore the stack size
*
*/
void _new_thread(struct k_thread *thread, k_thread_stack_t *stack,
size_t stack_size, k_thread_entry_t thread_func,
void *arg1, void *arg2, void *arg3,
int priority, unsigned int options)
{
char *stack_memory = K_THREAD_STACK_BUFFER(stack);
_ASSERT_VALID_PRIO(priority, thread_func);
posix_thread_status_t *thread_status;
_new_thread_init(thread, stack_memory, stack_size, priority, options);
/* We store it in the same place where normal archs store the
* "initial stack frame"
*/
thread_status = (posix_thread_status_t *)
STACK_ROUND_DOWN(stack_memory + stack_size
- sizeof(*thread_status));
/* _thread_entry() arguments */
thread_status->entry_point = thread_func;
thread_status->arg1 = arg1;
thread_status->arg2 = arg2;
thread_status->arg3 = arg3;
#if defined(CONFIG_ARCH_HAS_THREAD_ABORT)
thread_status->aborted = 0;
#endif
thread->callee_saved.thread_status = (u32_t)thread_status;
posix_new_thread(thread_status);
thread_monitor_init(thread);
}
void _new_thread(struct k_thread *thread, k_thread_stack_t stack,
size_t stackSize,
void (*pEntry)(void *, void *, void *),
void *p1, void *p2, void *p3,
int priority, unsigned int options)
{
char *pStack = K_THREAD_STACK_BUFFER(stack);
/* Align stack end to maximum alignment requirement. */
char *stackEnd = (char *)ROUND_DOWN(pStack + stackSize, 16);
#if XCHAL_CP_NUM > 0
u32_t *cpSA;
char *cpStack;
#endif
_new_thread_init(thread, pStack, stackSize, priority, options);
#ifdef CONFIG_DEBUG
printk("\nstackPtr = %p, stackSize = %d\n", pStack, stackSize);
printk("stackEnd = %p\n", stackEnd);
#endif
#if XCHAL_CP_NUM > 0
/* Ensure CP state descriptor is correctly initialized */
cpStack = thread->arch.preempCoprocReg.cpStack; /* short hand alias */
memset(cpStack, 0, XT_CP_ASA); /* Set to zero to avoid bad surprises */
/* Coprocessor's stack is allocated just after the k_thread */
cpSA = (u32_t *)(thread->arch.preempCoprocReg.cpStack + XT_CP_ASA);
/* Coprocessor's save area alignment is at leat 16 bytes */
*cpSA = ROUND_UP(cpSA + 1,
(XCHAL_TOTAL_SA_ALIGN < 16 ? 16 : XCHAL_TOTAL_SA_ALIGN));
#ifdef CONFIG_DEBUG
printk("cpStack = %p\n", thread->arch.preempCoprocReg.cpStack);
printk("cpAsa = %p\n",
*(void **)(thread->arch.preempCoprocReg.cpStack + XT_CP_ASA));
#endif
#endif
/* Thread's first frame alignment is granted as both operands are
* aligned
*/
XtExcFrame *pInitCtx =
(XtExcFrame *)(stackEnd - (XT_XTRA_SIZE - XT_CP_SIZE));
#ifdef CONFIG_DEBUG
printk("pInitCtx = %p\n", pInitCtx);
#endif
/* Explicitly initialize certain saved registers */
/* task entrypoint */
pInitCtx->pc = (u32_t)_thread_entry;
/* physical top of stack frame */
pInitCtx->a1 = (u32_t)pInitCtx + XT_STK_FRMSZ;
/* user exception exit dispatcher */
pInitCtx->exit = (u32_t)_xt_user_exit;
/* Set initial PS to int level 0, EXCM disabled, user mode.
* Also set entry point argument arg.
*/
#ifdef __XTENSA_CALL0_ABI__
pInitCtx->a2 = (u32_t)pEntry;
pInitCtx->a3 = (u32_t)p1;
pInitCtx->a4 = (u32_t)p2;
pInitCtx->a5 = (u32_t)p3;
pInitCtx->ps = PS_UM | PS_EXCM;
#else
/* For windowed ABI set also WOE and CALLINC
* (pretend task is 'call4')
*/
pInitCtx->a6 = (u32_t)pEntry;
pInitCtx->a7 = (u32_t)p1;
pInitCtx->a8 = (u32_t)p2;
pInitCtx->a9 = (u32_t)p3;
pInitCtx->ps = PS_UM | PS_EXCM | PS_WOE | PS_CALLINC(1);
#endif
thread->callee_saved.topOfStack = pInitCtx;
thread->arch.flags = 0;
#ifdef CONFIG_THREAD_MONITOR
/*
* In debug mode thread->entry give direct access to the thread entry
* and the corresponding parameters.
*/
thread->entry = (struct __thread_entry *)(pInitCtx);
#endif
/* initial values in all other registers/k_thread entries are
* irrelevant
*/
thread_monitor_init(thread);
}
static void nrf5_rx_thread(void *arg1, void *arg2, void *arg3)
{
struct device *dev = (struct device *)arg1;
struct nrf5_802154_data *nrf5_radio = NRF5_802154_DATA(dev);
struct net_buf *frag = NULL;
enum net_verdict ack_result;
struct net_pkt *pkt;
u8_t pkt_len;
ARG_UNUSED(arg2);
ARG_UNUSED(arg3);
while (1) {
pkt = NULL;
SYS_LOG_DBG("Waiting for frame");
k_sem_take(&nrf5_radio->rx_wait, K_FOREVER);
SYS_LOG_DBG("Frame received");
pkt = net_pkt_get_reserve_rx(0, K_NO_WAIT);
if (!pkt) {
SYS_LOG_ERR("No pkt available");
goto out;
}
#if defined(CONFIG_IEEE802154_NRF5_RAW)
/**
* Reserve 1 byte for length
*/
net_pkt_set_ll_reserve(pkt, 1);
#endif
frag = net_pkt_get_frag(pkt, K_NO_WAIT);
if (!frag) {
SYS_LOG_ERR("No frag available");
goto out;
}
net_pkt_frag_insert(pkt, frag);
/* rx_mpdu contains length, psdu, fcs|lqi
* The last 2 bytes contain LQI or FCS, depending if
* automatic CRC handling is enabled or not, respectively.
*/
#if defined(CONFIG_IEEE802154_NRF5_RAW)
pkt_len = nrf5_radio->rx_psdu[0];
#else
pkt_len = nrf5_radio->rx_psdu[0] - NRF5_FCS_LENGTH;
#endif
/* Skip length (first byte) and copy the payload */
memcpy(frag->data, nrf5_radio->rx_psdu + 1, pkt_len);
net_buf_add(frag, pkt_len);
nrf_drv_radio802154_buffer_free(nrf5_radio->rx_psdu);
ack_result = ieee802154_radio_handle_ack(nrf5_radio->iface,
pkt);
if (ack_result == NET_OK) {
SYS_LOG_DBG("ACK packet handled");
goto out;
}
SYS_LOG_DBG("Caught a packet (%u) (LQI: %u)",
pkt_len, nrf5_radio->lqi);
if (net_recv_data(nrf5_radio->iface, pkt) < 0) {
SYS_LOG_DBG("Packet dropped by NET stack");
goto out;
}
net_analyze_stack("nRF5 rx stack",
K_THREAD_STACK_BUFFER(nrf5_radio->rx_stack),
K_THREAD_STACK_SIZEOF(nrf5_radio->rx_stack));
continue;
out:
if (pkt) {
net_pkt_unref(pkt);
}
}
}
