/*
* @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(char *pStackMem, unsigned stackSize, _thread_entry_t pEntry,
void *parameter1, void *parameter2, void *parameter3,
int priority, unsigned options)
{
char *stackEnd = pStackMem + stackSize;
struct __esf *pInitCtx;
struct tcs *tcs = (struct tcs *) pStackMem;
#ifdef CONFIG_INIT_STACKS
memset(pStackMem, 0xaa, stackSize);
#endif
/* carve the thread entry struct from the "base" of the stack */
pInitCtx = (struct __esf *)(STACK_ROUND_DOWN(stackEnd) -
sizeof(struct __esf));
pInitCtx->pc = ((uint32_t)_thread_entry) & 0xfffffffe;
pInitCtx->a1 = (uint32_t)pEntry;
pInitCtx->a2 = (uint32_t)parameter1;
pInitCtx->a3 = (uint32_t)parameter2;
pInitCtx->a4 = (uint32_t)parameter3;
pInitCtx->xpsr =
0x01000000UL; /* clear all, thumb bit is 1, even if RO */
tcs->link = NULL;
tcs->flags = priority == -1 ? TASK | PREEMPTIBLE : FIBER;
tcs->prio = priority;
#ifdef CONFIG_THREAD_CUSTOM_DATA
/* Initialize custom data field (value is opaque to kernel) */
tcs->custom_data = NULL;
#endif
#ifdef CONFIG_THREAD_MONITOR
/*
* In debug mode tcs->entry give direct access to the thread entry
* and the corresponding parameters.
*/
tcs->entry = (struct __thread_entry *)(pInitCtx);
#endif
tcs->preempReg.psp = (uint32_t)pInitCtx;
tcs->basepri = 0;
_nano_timeout_tcs_init(tcs);
/* initial values in all other registers/TCS entries are irrelevant */
THREAD_MONITOR_INIT(tcs);
}
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);
}
void _new_thread(char *pStackMem, size_t stackSize,
_thread_entry_t pEntry,
void *parameter1, void *parameter2, void *parameter3,
int priority, unsigned int options)
{
_ASSERT_VALID_PRIO(priority, pEntry);
__ASSERT(!((u32_t)pStackMem & (STACK_ALIGN - 1)),
"stack is not aligned properly\n"
"%d-byte alignment required\n", STACK_ALIGN);
char *stackEnd = pStackMem + stackSize;
struct __esf *pInitCtx;
struct k_thread *thread = (struct k_thread *) pStackMem;
thread = _new_thread_init(pStackMem, stackSize, priority, options);
/* carve the thread entry struct from the "base" of the stack */
pInitCtx = (struct __esf *)(STACK_ROUND_DOWN(stackEnd) -
sizeof(struct __esf));
pInitCtx->pc = ((u32_t)_thread_entry) & 0xfffffffe;
pInitCtx->a1 = (u32_t)pEntry;
pInitCtx->a2 = (u32_t)parameter1;
pInitCtx->a3 = (u32_t)parameter2;
pInitCtx->a4 = (u32_t)parameter3;
pInitCtx->xpsr =
0x01000000UL; /* clear all, thumb bit is 1, even if RO */
#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
thread->callee_saved.psp = (u32_t)pInitCtx;
thread->arch.basepri = 0;
/* swap_return_value can contain garbage */
/*
* initial values in all other registers/thread entries are
* irrelevant.
*/
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);
}
/**
* @brief Check if a memory address range falls within the stack
*
* Given a memory address range, ensure that it falls within the bounds
* of the faulting context's stack.
*
* @param addr Starting address
* @param size Size of the region, or 0 if we just want to see if addr is
* in bounds
* @param cs Code segment of faulting context
* @return true if addr/size region is not within the thread stack
*/
static bool check_stack_bounds(u32_t addr, size_t size, u16_t cs)
{
u32_t start, end;
if (_is_in_isr()) {
/* We were servicing an interrupt */
start = (u32_t)_ARCH_THREAD_STACK_BUFFER(_interrupt_stack);
end = start + CONFIG_ISR_STACK_SIZE;
} else if ((cs & 0x3) != 0 ||
(_current->base.user_options & K_USER) == 0) {
/* Thread was in user mode, or is not a user mode thread.
* The normal stack buffer is what we will check.
*/
start = _current->stack_info.start;
end = STACK_ROUND_DOWN(_current->stack_info.start +
_current->stack_info.size);
} else {
/* User thread was doing a syscall, check kernel stack bounds */
start = _current->stack_info.start - MMU_PAGE_SIZE;
end = _current->stack_info.start;
}
return (addr <= start) || (addr + size > end);
}
/**
*
* @brief Initialize a new execution thread
*
* This function is utilized to initialize all execution threads (both fiber
* and task). The 'priority' parameter will be set to -1 for the creation of
* task.
*
* This function is called by _new_thread() to initialize tasks.
*
* @param pStackMem pointer to thread stack memory
* @param stackSize size of a stack in bytes
* @param thread priority
* @param options thread options: USE_FP, USE_SSE
*
* @return N/A
*/
static void _new_thread_internal(char *pStackMem, unsigned stackSize,
int priority, unsigned options)
{
unsigned long *pInitialCtx;
/* ptr to the new task's tcs */
struct tcs *tcs = (struct tcs *)pStackMem;
#ifndef CONFIG_FP_SHARING
ARG_UNUSED(options);
#endif /* !CONFIG_FP_SHARING */
tcs->link = (struct tcs *)NULL; /* thread not inserted into list yet */
tcs->prio = priority;
#if (defined(CONFIG_FP_SHARING) || defined(CONFIG_GDB_INFO))
tcs->excNestCount = 0;
#endif /* CONFIG_FP_SHARING || CONFIG_GDB_INFO */
if (priority == -1)
tcs->flags = PREEMPTIBLE | TASK;
else
tcs->flags = FIBER;
#ifdef CONFIG_THREAD_CUSTOM_DATA
/* Initialize custom data field (value is opaque to kernel) */
tcs->custom_data = NULL;
#endif
/*
* The creation of the initial stack for the task has already been done.
* Now all that is needed is to set the ESP. However, we have been passed
* the base address of the stack which is past the initial stack frame.
* Therefore some of the calculations done in the other routines that
* initialize the stack frame need to be repeated.
*/
pInitialCtx = (unsigned long *)STACK_ROUND_DOWN(pStackMem + stackSize);
/*
* We subtract 11 here to account for the thread entry routine
* parameters
* (4 of them), eflags, eip, and the edi/esi/ebx/ebp/eax registers.
*/
pInitialCtx -= 11;
tcs->coopReg.esp = (unsigned long)pInitialCtx;
PRINTK("\nInitial context ESP = 0x%x\n", tcs->coopReg.esp);
#ifdef CONFIG_FP_SHARING
/*
* Indicate if the thread is permitted to use floating point instructions.
*
* The first time the new thread is scheduled by _Swap() it is guaranteed
* to inherit an FPU that is in a "sane" state (if the most recent user of
* the FPU was cooperatively swapped out) or a completely "clean" state
* (if the most recent user of the FPU was pre-empted, or if the new thread
* is the first user of the FPU).
*
* The USE_FP flag bit is set in the struct tcs structure if a thread is
* authorized to use _any_ non-integer capability, whether it's the basic
* x87 FPU/MMX capability, SSE instructions, or a combination of both. The
* USE_SSE flag bit is set only if a thread can use SSE instructions.
*
* Note: Callers need not follow the aforementioned protocol when passing
* in thread options. It is legal for the caller to specify _only_ the
* USE_SSE option bit if a thread will be utilizing SSE instructions (and
* possibly x87 FPU/MMX instructions).
*/
/*
* Implementation Remark:
* Until SysGen reserves SSE_GROUP as 0x10, the following conditional is
* required so that at least systems configured with FLOAT will still operate
* correctly. The issue is that SysGen will utilize group 0x10 user-defined
* groups, and thus tasks placed in the user-defined group will have the
* SSE_GROUP (but not the FPU_GROUP) bit set. This results in both the USE_FP
* and USE_SSE bits being set in the struct tcs. For systems configured only with
* FLOAT, the setting of the USE_SSE is harmless, but the setting of USE_FP is
* wasteful. Thus to ensure that that systems configured only with FLOAT
* behave as expected, the USE_SSE option bit is ignored.
*
* Clearly, even with the following conditional, systems configured with
* SSE will not behave as expected since tasks may still be inadvertantly
* have the USE_SSE+USE_FP sets even though they are integer only.
*
* Once the generator tool has been updated to reserve the SSE_GROUP, the
* correct code to use is:
*
* options &= USE_FP | USE_SSE;
*
*/
#ifdef CONFIG_SSE
options &= USE_FP | USE_SSE;
#else
options &= USE_FP;
#endif
if (options != 0) {
tcs->flags |= (options | USE_FP);
}
#endif /* CONFIG_FP_SHARING */
PRINTK("\nstruct tcs * = 0x%x", tcs);
#if defined(CONFIG_THREAD_MONITOR)
{
unsigned int imask;
/*
* Add the newly initialized thread to head of the list of threads.
* This singly linked list of threads maintains ALL the threads in the
* system: both tasks and fibers regardless of whether they are
* runnable.
*/
imask = irq_lock();
tcs->next_thread = _nanokernel.threads;
_nanokernel.threads = tcs;
irq_unlock(imask);
}
#endif /* CONFIG_THREAD_MONITOR */
_nano_timeout_tcs_init(tcs);
}
/**
*
* @brief Create a new kernel execution thread
*
* This function is utilized to create execution threads for both fiber
* threads and kernel tasks.
*
* The "thread control block" (TCS) is carved from the "end" of the specified
* thread stack memory.
*
* @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: USE_FP, USE_SSE
*
*
* @return opaque pointer to initialized TCS structure
*/
void _new_thread(char *pStackMem, unsigned stackSize, _thread_entry_t pEntry,
void *parameter1, void *parameter2, void *parameter3,
int priority, unsigned options)
{
unsigned long *pInitialThread;
#ifdef CONFIG_INIT_STACKS
memset(pStackMem, 0xaa, stackSize);
#endif
/* carve the thread entry struct from the "base" of the stack */
pInitialThread =
(unsigned long *)STACK_ROUND_DOWN(pStackMem + stackSize);
/*
* Create an initial context on the stack expected by the _Swap()
* primitive.
* Given that both task and fibers execute at privilege 0, the
* setup for both threads are equivalent.
*/
/* push arguments required by _thread_entry() */
*--pInitialThread = (unsigned long)parameter3;
*--pInitialThread = (unsigned long)parameter2;
*--pInitialThread = (unsigned long)parameter1;
*--pInitialThread = (unsigned long)pEntry;
/* push initial EFLAGS; only modify IF and IOPL bits */
*--pInitialThread = (EflagsGet() & ~EFLAGS_MASK) | EFLAGS_INITIAL;
#ifdef CONFIG_GDB_INFO
/*
* Arrange for the _thread_entry_wrapper() function to be called
* to adjust the stack before _thread_entry() is invoked.
*/
*--pInitialThread = (unsigned long)_thread_entry_wrapper;
#else /* CONFIG_GDB_INFO */
*--pInitialThread = (unsigned long)_thread_entry;
#endif /* CONFIG_GDB_INFO */
/*
* note: stack area for edi, esi, ebx, ebp, and eax registers can be
* left
* uninitialized, since _thread_entry() doesn't care about the values
* of these registers when it begins execution
*/
/*
* For kernel tasks and fibers the thread the thread control struct (TCS)
* is located at the "low end" of memory set aside for the thread's stack.
*/
_new_thread_internal(pStackMem, stackSize, priority, options);
}
void _NewContext(
char *pStackMem, /* pointer to aligned stack memory */
unsigned stackSize, /* size of stack in bytes */
_ContextEntry pEntry, /* context entry point function */
void *parameter1, /* first parameter to context entry point function */
void *parameter2, /* second parameter to context entry point function */
void *parameter3, /* third parameter to context entry point function */
int priority, /* context priority */
unsigned options /* context options: USE_FP, USE_SSE */
)
{
unsigned long *pInitialContext;
#ifdef CONFIG_INIT_STACKS
k_memset(pStackMem, 0xaa, stackSize);
#endif
/* carve the context entry struct from the "base" of the stack */
pInitialContext =
(unsigned long *)STACK_ROUND_DOWN(pStackMem + stackSize);
/*
* Create an initial context on the stack expected by the _Swap()
* primitive.
* Given that both task and fiber contexts execute at privilege 0, the
* setup for both contexts are equivalent.
*/
/* push arguments required by _context_entry() */
*--pInitialContext = (unsigned long)parameter3;
*--pInitialContext = (unsigned long)parameter2;
*--pInitialContext = (unsigned long)parameter1;
*--pInitialContext = (unsigned long)pEntry;
/* push initial EFLAGS; only modify IF and IOPL bits */
*--pInitialContext = (EflagsGet() & ~EFLAGS_MASK) | EFLAGS_INITIAL;
#ifdef CONFIG_GDB_INFO
/*
* Arrange for the _ContextEntryWrapper() function to be called
* to adjust the stack before _context_entry() is invoked.
*/
*--pInitialContext = (unsigned long)_ContextEntryWrapper;
#else /* CONFIG_GDB_INFO */
*--pInitialContext = (unsigned long)_context_entry;
#endif /* CONFIG_GDB_INFO */
/*
* note: stack area for edi, esi, ebx, ebp, and eax registers can be
* left
* uninitialized, since _context_entry() doesn't care about the values
* of these registers when it begins execution
*/
/*
* For kernel tasks and fibers the context the context control struct
* (CCS)
* is located at the "low end" of memory set aside for the context's
* stack
*/
_NewContextInternal(pStackMem, stackSize, priority, options);
}
void _new_thread(char *pStackMem, size_t stackSize,
_thread_entry_t pEntry,
void *parameter1, void *parameter2, void *parameter3,
int priority, unsigned options)
{
_ASSERT_VALID_PRIO(priority, pEntry);
__ASSERT(!((uint32_t)pStackMem & (STACK_ALIGN - 1)),
"stack is not aligned properly\n"
"%d-byte alignment required\n", STACK_ALIGN);
char *stackEnd = pStackMem + stackSize;
struct __esf *pInitCtx;
struct tcs *tcs = (struct tcs *) pStackMem;
#ifdef CONFIG_INIT_STACKS
memset(pStackMem, 0xaa, stackSize);
#endif
/* carve the thread entry struct from the "base" of the stack */
pInitCtx = (struct __esf *)(STACK_ROUND_DOWN(stackEnd) -
sizeof(struct __esf));
pInitCtx->pc = ((uint32_t)_thread_entry) & 0xfffffffe;
pInitCtx->a1 = (uint32_t)pEntry;
pInitCtx->a2 = (uint32_t)parameter1;
pInitCtx->a3 = (uint32_t)parameter2;
pInitCtx->a4 = (uint32_t)parameter3;
pInitCtx->xpsr =
0x01000000UL; /* clear all, thumb bit is 1, even if RO */
_init_thread_base(&tcs->base, priority, K_PRESTART, options);
/* static threads overwrite it afterwards with real value */
tcs->init_data = NULL;
tcs->fn_abort = NULL;
#ifdef CONFIG_THREAD_CUSTOM_DATA
/* Initialize custom data field (value is opaque to kernel) */
tcs->custom_data = NULL;
#endif
#ifdef CONFIG_THREAD_MONITOR
/*
* In debug mode tcs->entry give direct access to the thread entry
* and the corresponding parameters.
*/
tcs->entry = (struct __thread_entry *)(pInitCtx);
#endif
tcs->callee_saved.psp = (uint32_t)pInitCtx;
tcs->arch.basepri = 0;
/* swap_return_value can contain garbage */
/* initial values in all other registers/TCS entries are irrelevant */
thread_monitor_init(tcs);
}
