/**
*
* @brief Test the k_cpu_idle() routine
*
* This tests the k_cpu_idle() routine. The first thing it does is align to
* a tick boundary. The only source of interrupts while the test is running is
* expected to be the tick clock timer which should wake the CPU. Thus after
* each call to k_cpu_idle(), the tick count should be one higher.
*
* @return TC_PASS on success
* @return TC_FAIL on failure
*/
static int test_kernel_cpu_idle(int atomic)
{
int tms; /* current time in millisecond */
int i; /* loop variable */
/* Align to a "ms boundary". */
tms = k_uptime_get_32();
while (tms == k_uptime_get_32()) {
}
tms = k_uptime_get_32();
for (i = 0; i < 5; i++) { /* Repeat the test five times */
if (atomic) {
unsigned int key = irq_lock();
k_cpu_atomic_idle(key);
} else {
k_cpu_idle();
}
/* calculating milliseconds per tick*/
tms += sys_clock_us_per_tick / USEC_PER_MSEC;
if (k_uptime_get_32() < tms) {
return TC_FAIL;
}
}
return TC_PASS;
}
/**
*
* @brief Fatal error handler
*
* This routine implements the corrective action to be taken when the system
* detects a fatal error.
*
* This sample implementation attempts to abort the current thread and allow
* the system to continue executing, which may permit the system to continue
* functioning with degraded capabilities.
*
* System designers may wish to enhance or substitute this sample
* implementation to take other actions, such as logging error (or debug)
* information to a persistent repository and/or rebooting the system.
*
* @param reason fatal error reason
* @param pEsf pointer to exception stack frame
*
* @return This function does not return.
*/
void __weak z_SysFatalErrorHandler(unsigned int reason,
const NANO_ESF *pEsf)
{
ARG_UNUSED(pEsf);
#if !defined(CONFIG_SIMPLE_FATAL_ERROR_HANDLER)
#ifdef CONFIG_STACK_SENTINEL
if (reason == _NANO_ERR_STACK_CHK_FAIL) {
goto hang_system;
}
#endif
if (reason == _NANO_ERR_KERNEL_PANIC) {
goto hang_system;
}
if (k_is_in_isr() || z_is_thread_essential()) {
printk("Fatal fault in %s! Spinning...\n",
k_is_in_isr() ? "ISR" : "essential thread");
goto hang_system;
}
printk("Fatal fault in thread %p! Aborting.\n", _current);
k_thread_abort(_current);
return;
hang_system:
#else
ARG_UNUSED(reason);
#endif
for (;;) {
k_cpu_idle();
}
CODE_UNREACHABLE;
}
/**
*
* @brief Test the k_cpu_idle() routine
*
* This tests the k_cpu_idle() routine. The first thing it does is align to
* a tick boundary. The only source of interrupts while the test is running is
* expected to be the tick clock timer which should wake the CPU. Thus after
* each call to k_cpu_idle(), the tick count should be one higher.
*
* @return TC_PASS on success
* @return TC_FAIL on failure
*/
static int test_kernel_cpu_idle(int atomic)
{
int tms, tms2;; /* current time in millisecond */
int i; /* loop variable */
/* Align to a "ms boundary". */
tms = k_uptime_get_32();
while (tms == k_uptime_get_32()) {
}
tms = k_uptime_get_32();
for (i = 0; i < 5; i++) { /* Repeat the test five times */
if (atomic) {
unsigned int key = irq_lock();
k_cpu_atomic_idle(key);
} else {
k_cpu_idle();
}
/* calculating milliseconds per tick*/
tms += sys_clock_us_per_tick / USEC_PER_MSEC;
tms2 = k_uptime_get_32();
if (tms2 < tms) {
TC_ERROR("Bad ms per tick value computed, got %d which is less than %d\n",
tms2, tms);
return TC_FAIL;
}
}
return TC_PASS;
}
/*
* Common thread entry point function (used by all threads)
*
* This routine invokes the actual thread entry point function and passes
* it three arguments. It also handles graceful termination of the thread
* if the entry point function ever returns.
*
* This routine does not return, and is marked as such so the compiler won't
* generate preamble code that is only used by functions that actually return.
*/
FUNC_NORETURN void _thread_entry(void (*entry)(void *, void *, void *),
void *p1, void *p2, void *p3)
{
entry(p1, p2, p3);
#ifdef CONFIG_MULTITHREADING
if (_is_thread_essential()) {
_NanoFatalErrorHandler(_NANO_ERR_INVALID_TASK_EXIT,
&_default_esf);
}
k_thread_abort(_current);
#else
for (;;) {
k_cpu_idle();
}
#endif
/*
* Compiler can't tell that k_thread_abort() won't return and issues a
* warning unless we tell it that control never gets this far.
*/
CODE_UNREACHABLE;
}
static void _sys_power_save_idle(int32_t ticks __unused)
{
#if defined(CONFIG_TICKLESS_IDLE)
if ((ticks == K_FOREVER) || ticks >= _sys_idle_threshold_ticks) {
/*
* Stop generating system timer interrupts until it's time for
* the next scheduled kernel timer to expire.
*/
_timer_idle_enter(ticks);
}
#endif /* CONFIG_TICKLESS_IDLE */
set_kernel_idle_time_in_ticks(ticks);
#if (defined(CONFIG_SYS_POWER_LOW_POWER_STATE) || \
defined(CONFIG_SYS_POWER_DEEP_SLEEP))
_sys_pm_idle_exit_notify = 1;
/*
* Call the suspend hook function of the soc interface to allow
* entry into a low power state. The function returns
* SYS_PM_NOT_HANDLED if low power state was not entered, in which
* case, kernel does normal idle processing.
*
* This function is entered with interrupts disabled. If a low power
* state was entered, then the hook function should enable inerrupts
* before exiting. This is because the kernel does not do its own idle
* processing in those cases i.e. skips k_cpu_idle(). The kernel's
* idle processing re-enables interrupts which is essential for
* the kernel's scheduling logic.
*/
if (_sys_soc_suspend(ticks) == SYS_PM_NOT_HANDLED) {
_sys_pm_idle_exit_notify = 0;
k_cpu_idle();
}
#else
k_cpu_idle();
#endif
}
void sys_reboot(int type)
{
(void)irq_lock();
sys_clock_disable();
sys_arch_reboot(type);
/* should never get here */
printk("Failed to reboot: spinning endlessly...\n");
for (;;) {
k_cpu_idle();
}
}
