[ac7d5ef0] | 1 | /* |
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| 2 | * Thread Handler |
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| 3 | * |
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| 4 | * |
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| 5 | * COPYRIGHT (c) 1989, 1990, 1991, 1992, 1993, 1994. |
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| 6 | * On-Line Applications Research Corporation (OAR). |
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| 7 | * All rights assigned to U.S. Government, 1994. |
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| 8 | * |
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| 9 | * This material may be reproduced by or for the U.S. Government pursuant |
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| 10 | * to the copyright license under the clause at DFARS 252.227-7013. This |
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| 11 | * notice must appear in all copies of this file and its derivatives. |
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| 12 | * |
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[63edbb3f] | 13 | * $Id$ |
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[ac7d5ef0] | 14 | */ |
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| 15 | |
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| 16 | #include <rtems/system.h> |
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[94b3ec59] | 17 | #include <rtems/score/apiext.h> |
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[5e9b32b] | 18 | #include <rtems/score/context.h> |
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| 19 | #include <rtems/score/interr.h> |
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| 20 | #include <rtems/score/isr.h> |
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| 21 | #include <rtems/score/object.h> |
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| 22 | #include <rtems/score/priority.h> |
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| 23 | #include <rtems/score/states.h> |
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| 24 | #include <rtems/score/thread.h> |
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| 25 | #include <rtems/score/threadq.h> |
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| 26 | #include <rtems/score/userext.h> |
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| 27 | #include <rtems/score/wkspace.h> |
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[ac7d5ef0] | 28 | |
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| 29 | /*PAGE |
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| 30 | * |
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| 31 | * _Thread_Handler_initialization |
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| 32 | * |
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| 33 | * This routine initializes all thread manager related data structures. |
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| 34 | * |
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| 35 | * Input parameters: |
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| 36 | * ticks_per_timeslice - clock ticks per quantum |
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[5250ff39] | 37 | * maximum_proxies - number of proxies to initialize |
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[ac7d5ef0] | 38 | * |
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| 39 | * Output parameters: NONE |
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| 40 | */ |
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| 41 | |
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| 42 | void _Thread_Handler_initialization( |
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| 43 | unsigned32 ticks_per_timeslice, |
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[3a4ae6c] | 44 | unsigned32 maximum_extensions, |
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[ac7d5ef0] | 45 | unsigned32 maximum_proxies |
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| 46 | ) |
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| 47 | { |
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| 48 | unsigned32 index; |
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| 49 | |
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| 50 | _Context_Switch_necessary = FALSE; |
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| 51 | _Thread_Executing = NULL; |
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| 52 | _Thread_Heir = NULL; |
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| 53 | _Thread_Allocated_fp = NULL; |
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| 54 | |
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[3a4ae6c] | 55 | _Thread_Maximum_extensions = maximum_extensions; |
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| 56 | |
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[ac7d5ef0] | 57 | _Thread_Ticks_remaining_in_timeslice = ticks_per_timeslice; |
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| 58 | _Thread_Ticks_per_timeslice = ticks_per_timeslice; |
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| 59 | |
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| 60 | _Thread_Ready_chain = _Workspace_Allocate_or_fatal_error( |
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[3a4ae6c] | 61 | (PRIORITY_MAXIMUM + 1) * sizeof(Chain_Control) |
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[ac7d5ef0] | 62 | ); |
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| 63 | |
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[3a4ae6c] | 64 | for ( index=0; index <= PRIORITY_MAXIMUM ; index++ ) |
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[ac7d5ef0] | 65 | _Chain_Initialize_empty( &_Thread_Ready_chain[ index ] ); |
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| 66 | |
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| 67 | _Thread_MP_Handler_initialization( maximum_proxies ); |
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| 68 | } |
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| 69 | |
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| 70 | /*PAGE |
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| 71 | * |
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| 72 | * _Thread_Start_multitasking |
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| 73 | * |
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| 74 | * This kernel routine readies the requested thread, the thread chain |
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| 75 | * is adjusted. A new heir thread may be selected. |
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| 76 | * |
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| 77 | * Input parameters: |
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| 78 | * system_thread - pointer to system initialization thread control block |
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| 79 | * idle_thread - pointer to idle thread control block |
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| 80 | * |
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| 81 | * Output parameters: NONE |
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| 82 | * |
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| 83 | * NOTE: This routine uses the "blocking" heir selection mechanism. |
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| 84 | * This insures the correct heir after a thread restart. |
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| 85 | * |
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| 86 | * INTERRUPT LATENCY: |
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| 87 | * ready chain |
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| 88 | * select heir |
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| 89 | */ |
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| 90 | |
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| 91 | void _Thread_Start_multitasking( |
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| 92 | Thread_Control *system_thread, |
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| 93 | Thread_Control *idle_thread |
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| 94 | ) |
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| 95 | { |
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| 96 | |
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| 97 | _Thread_Executing = |
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| 98 | _Thread_Heir = |
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| 99 | _Thread_MP_Receive = system_thread; |
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| 100 | |
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| 101 | /* |
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| 102 | * Scheduling will not work "correctly" until the above |
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| 103 | * statements have been executed. |
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| 104 | */ |
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| 105 | |
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| 106 | _Thread_Ready( system_thread ); |
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| 107 | _Thread_Ready( idle_thread ); |
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| 108 | |
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| 109 | _Context_Switch_necessary = FALSE; |
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| 110 | |
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| 111 | _Context_Switch( &_Thread_BSP_context, &system_thread->Registers ); |
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| 112 | |
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| 113 | } |
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| 114 | |
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| 115 | /*PAGE |
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| 116 | * |
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| 117 | * _Thread_Dispatch |
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| 118 | * |
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| 119 | * This kernel routine determines if a dispatch is needed, and if so |
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| 120 | * dispatches to the heir thread. Once the heir is running an attempt |
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| 121 | * is made to dispatch any ASRs. |
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| 122 | * |
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| 123 | * ALTERNATE ENTRY POINTS: |
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| 124 | * void _Thread_Enable_dispatch(); |
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| 125 | * |
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| 126 | * Input parameters: NONE |
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| 127 | * |
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| 128 | * Output parameters: NONE |
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| 129 | * |
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| 130 | * INTERRUPT LATENCY: |
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| 131 | * dispatch thread |
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| 132 | * no dispatch thread |
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| 133 | */ |
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| 134 | |
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| 135 | #if ( CPU_INLINE_ENABLE_DISPATCH == FALSE ) |
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| 136 | void _Thread_Enable_dispatch( void ) |
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| 137 | { |
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| 138 | if ( --_Thread_Dispatch_disable_level ) |
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| 139 | return; |
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| 140 | _Thread_Dispatch(); |
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| 141 | } |
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| 142 | #endif |
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| 143 | |
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| 144 | void _Thread_Dispatch( void ) |
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| 145 | { |
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[7f6a24ab] | 146 | Thread_Control *executing; |
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| 147 | Thread_Control *heir; |
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| 148 | ISR_Level level; |
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[ac7d5ef0] | 149 | |
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| 150 | executing = _Thread_Executing; |
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| 151 | _ISR_Disable( level ); |
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| 152 | while ( _Context_Switch_necessary == TRUE ) { |
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| 153 | heir = _Thread_Heir; |
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| 154 | _Thread_Dispatch_disable_level = 1; |
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| 155 | _Context_Switch_necessary = FALSE; |
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| 156 | _Thread_Executing = heir; |
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| 157 | _ISR_Enable( level ); |
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| 158 | |
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[3a4ae6c] | 159 | _User_extensions_Thread_switch( executing, heir ); |
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[ac7d5ef0] | 160 | |
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| 161 | _Thread_Ticks_remaining_in_timeslice = _Thread_Ticks_per_timeslice; |
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| 162 | |
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| 163 | /* |
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| 164 | * If the CPU has hardware floating point, then we must address saving |
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| 165 | * and restoring it as part of the context switch. |
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| 166 | * |
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| 167 | * The second conditional compilation section selects the algorithm used |
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| 168 | * to context switch between floating point tasks. The deferred algorithm |
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| 169 | * can be significantly better in a system with few floating point tasks |
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| 170 | * because it reduces the total number of save and restore FP context |
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| 171 | * operations. However, this algorithm can not be used on all CPUs due |
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| 172 | * to unpredictable use of FP registers by some compilers for integer |
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| 173 | * operations. |
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| 174 | */ |
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| 175 | |
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| 176 | #if ( CPU_HARDWARE_FP == TRUE ) |
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| 177 | #if ( CPU_USE_DEFERRED_FP_SWITCH == TRUE ) |
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| 178 | if ( (heir->fp_context != NULL) && !_Thread_Is_allocated_fp( heir ) ) { |
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| 179 | if ( _Thread_Allocated_fp != NULL ) |
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| 180 | _Context_Save_fp( &_Thread_Allocated_fp->fp_context ); |
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| 181 | _Context_Restore_fp( &heir->fp_context ); |
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| 182 | _Thread_Allocated_fp = heir; |
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| 183 | } |
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| 184 | #else |
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| 185 | if ( executing->fp_context != NULL ) |
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| 186 | _Context_Save_fp( &executing->fp_context ); |
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| 187 | |
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| 188 | if ( heir->fp_context != NULL ) |
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| 189 | _Context_Restore_fp( &heir->fp_context ); |
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| 190 | #endif |
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| 191 | #endif |
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| 192 | |
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| 193 | _Context_Switch( &executing->Registers, &heir->Registers ); |
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| 194 | |
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| 195 | executing = _Thread_Executing; |
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[3a4ae6c] | 196 | |
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[ac7d5ef0] | 197 | _ISR_Disable( level ); |
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| 198 | } |
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| 199 | |
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| 200 | _Thread_Dispatch_disable_level = 0; |
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| 201 | |
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[3a4ae6c] | 202 | _ISR_Enable( level ); |
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[ac7d5ef0] | 203 | |
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[94b3ec59] | 204 | if ( executing->do_post_task_switch_extension ) { |
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| 205 | executing->do_post_task_switch_extension = FALSE; |
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| 206 | _API_extensions_Run_postswitch(); |
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| 207 | } |
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[3a4ae6c] | 208 | |
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[ac7d5ef0] | 209 | } |
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| 210 | |
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[7f6a24ab] | 211 | /*PAGE |
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| 212 | * |
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| 213 | * _Thread_Initialize |
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| 214 | * |
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| 215 | * XXX |
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| 216 | */ |
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| 217 | |
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| 218 | boolean _Thread_Initialize( |
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| 219 | Objects_Information *information, |
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| 220 | Thread_Control *the_thread, |
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| 221 | void *stack_area, /* NULL if to be allocated */ |
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| 222 | unsigned32 stack_size, /* insure it is >= min */ |
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| 223 | boolean is_fp, /* TRUE if thread uses FP */ |
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| 224 | Priority_Control priority, |
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[3a4ae6c] | 225 | boolean is_preemptible, |
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| 226 | boolean is_timeslice, |
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| 227 | unsigned32 isr_level, |
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[7f6a24ab] | 228 | Objects_Name name |
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| 229 | |
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| 230 | ) |
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| 231 | { |
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| 232 | unsigned32 actual_stack_size; |
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| 233 | void *stack; |
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| 234 | void *fp_area; |
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[3a4ae6c] | 235 | void *extensions_area; |
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[7f6a24ab] | 236 | |
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| 237 | /* |
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| 238 | * Allocate and Initialize the stack for this thread. |
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| 239 | */ |
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| 240 | |
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| 241 | if ( !_Stack_Is_enough( stack_size ) ) |
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[3a4ae6c] | 242 | actual_stack_size = STACK_MINIMUM_SIZE; |
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[7f6a24ab] | 243 | else |
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| 244 | actual_stack_size = stack_size; |
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| 245 | |
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| 246 | actual_stack_size = _Stack_Adjust_size( actual_stack_size ); |
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| 247 | stack = stack_area; |
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| 248 | |
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| 249 | if ( !stack ) { |
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| 250 | stack = _Workspace_Allocate( actual_stack_size ); |
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| 251 | |
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| 252 | if ( !stack ) |
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| 253 | return FALSE; |
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| 254 | |
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| 255 | the_thread->Start.stack = stack; |
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| 256 | } else |
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| 257 | the_thread->Start.stack = NULL; |
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| 258 | |
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| 259 | _Stack_Initialize( |
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| 260 | &the_thread->Start.Initial_stack, |
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| 261 | stack, |
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| 262 | actual_stack_size |
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| 263 | ); |
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| 264 | |
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| 265 | /* |
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| 266 | * Allocate the floating point area for this thread |
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| 267 | */ |
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| 268 | |
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| 269 | if ( is_fp ) { |
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| 270 | |
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| 271 | fp_area = _Workspace_Allocate( CONTEXT_FP_SIZE ); |
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| 272 | if ( !fp_area ) { |
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[3a4ae6c] | 273 | if ( the_thread->Start.stack ) |
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| 274 | (void) _Workspace_Free( the_thread->Start.stack ); |
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[7f6a24ab] | 275 | return FALSE; |
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| 276 | } |
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| 277 | fp_area = _Context_Fp_start( fp_area, 0 ); |
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| 278 | |
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| 279 | } else |
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| 280 | fp_area = NULL; |
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| 281 | |
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| 282 | the_thread->fp_context = fp_area; |
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| 283 | the_thread->Start.fp_context = fp_area; |
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| 284 | |
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[3a4ae6c] | 285 | |
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[7f6a24ab] | 286 | /* |
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[3a4ae6c] | 287 | * Allocate the floating point area for this thread |
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[7f6a24ab] | 288 | */ |
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| 289 | |
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[3a4ae6c] | 290 | if ( _Thread_Maximum_extensions ) { |
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| 291 | extensions_area = _Workspace_Allocate( |
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| 292 | (_Thread_Maximum_extensions + 1) * sizeof( void * ) |
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| 293 | ); |
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| 294 | |
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| 295 | if ( !extensions_area ) { |
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| 296 | if ( fp_area ) |
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| 297 | (void) _Workspace_Free( fp_area ); |
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| 298 | |
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| 299 | if ( the_thread->Start.stack ) |
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| 300 | (void) _Workspace_Free( the_thread->Start.stack ); |
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| 301 | |
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| 302 | return FALSE; |
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| 303 | } |
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| 304 | } else |
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| 305 | extensions_area = NULL; |
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| 306 | |
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| 307 | the_thread->extensions = extensions_area; |
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[7f6a24ab] | 308 | |
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| 309 | /* |
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| 310 | * General initialization |
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| 311 | */ |
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| 312 | |
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[3a4ae6c] | 313 | the_thread->Start.is_preemptible = is_preemptible; |
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| 314 | the_thread->Start.is_timeslice = is_timeslice; |
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| 315 | the_thread->Start.isr_level = isr_level; |
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| 316 | |
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[7f6a24ab] | 317 | the_thread->current_state = STATES_DORMANT; |
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| 318 | the_thread->resource_count = 0; |
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| 319 | the_thread->real_priority = priority; |
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| 320 | the_thread->Start.initial_priority = priority; |
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| 321 | |
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| 322 | _Thread_Set_priority( the_thread, priority ); |
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| 323 | |
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| 324 | /* |
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| 325 | * Open the object |
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| 326 | */ |
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| 327 | |
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| 328 | _Objects_Open( information, &the_thread->Object, name ); |
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| 329 | |
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| 330 | /* |
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| 331 | * Invoke create extensions |
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| 332 | */ |
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| 333 | |
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[3a4ae6c] | 334 | if ( !_User_extensions_Thread_create( the_thread ) ) { |
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| 335 | |
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| 336 | if ( extensions_area ) |
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| 337 | (void) _Workspace_Free( extensions_area ); |
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| 338 | |
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| 339 | if ( fp_area ) |
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| 340 | (void) _Workspace_Free( fp_area ); |
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| 341 | |
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| 342 | if ( the_thread->Start.stack ) |
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| 343 | (void) _Workspace_Free( the_thread->Start.stack ); |
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| 344 | |
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| 345 | return FALSE; |
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| 346 | } |
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[7f6a24ab] | 347 | |
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| 348 | return TRUE; |
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[3a4ae6c] | 349 | |
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[7f6a24ab] | 350 | } |
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| 351 | |
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| 352 | /* |
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| 353 | * _Thread_Start |
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| 354 | * |
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| 355 | * DESCRIPTION: |
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| 356 | * |
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| 357 | * XXX |
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| 358 | */ |
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| 359 | |
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| 360 | boolean _Thread_Start( |
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| 361 | Thread_Control *the_thread, |
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| 362 | Thread_Start_types the_prototype, |
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| 363 | void *entry_point, |
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| 364 | void *pointer_argument, |
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| 365 | unsigned32 numeric_argument |
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| 366 | ) |
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| 367 | { |
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| 368 | if ( _States_Is_dormant( the_thread->current_state ) ) { |
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| 369 | |
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| 370 | the_thread->Start.entry_point = entry_point; |
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| 371 | |
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| 372 | the_thread->Start.prototype = the_prototype; |
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| 373 | the_thread->Start.pointer_argument = pointer_argument; |
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| 374 | the_thread->Start.numeric_argument = numeric_argument; |
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| 375 | |
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| 376 | _Thread_Load_environment( the_thread ); |
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| 377 | |
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| 378 | _Thread_Ready( the_thread ); |
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| 379 | |
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[3a4ae6c] | 380 | _User_extensions_Thread_start( the_thread ); |
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[7f6a24ab] | 381 | |
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| 382 | return TRUE; |
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| 383 | } |
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| 384 | |
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| 385 | return FALSE; |
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| 386 | |
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| 387 | } |
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| 388 | |
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| 389 | /* |
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| 390 | * _Thread_Restart |
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| 391 | * |
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| 392 | * DESCRIPTION: |
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| 393 | * |
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| 394 | * XXX |
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| 395 | */ |
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| 396 | |
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| 397 | boolean _Thread_Restart( |
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| 398 | Thread_Control *the_thread, |
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| 399 | void *pointer_argument, |
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| 400 | unsigned32 numeric_argument |
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| 401 | ) |
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| 402 | { |
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| 403 | if ( !_States_Is_dormant( the_thread->current_state ) ) { |
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| 404 | |
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| 405 | _Thread_Set_transient( the_thread ); |
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| 406 | the_thread->resource_count = 0; |
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[3a4ae6c] | 407 | the_thread->is_preemptible = the_thread->Start.is_preemptible; |
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| 408 | the_thread->is_timeslice = the_thread->Start.is_timeslice; |
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[7f6a24ab] | 409 | |
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| 410 | the_thread->Start.pointer_argument = pointer_argument; |
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| 411 | the_thread->Start.numeric_argument = numeric_argument; |
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| 412 | |
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| 413 | if ( !_Thread_queue_Extract_with_proxy( the_thread ) ) { |
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| 414 | |
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| 415 | if ( _Watchdog_Is_active( &the_thread->Timer ) ) |
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| 416 | (void) _Watchdog_Remove( &the_thread->Timer ); |
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| 417 | } |
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| 418 | |
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| 419 | if ( the_thread->current_priority != the_thread->Start.initial_priority ) { |
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| 420 | the_thread->real_priority = the_thread->Start.initial_priority; |
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| 421 | _Thread_Set_priority( the_thread, the_thread->Start.initial_priority ); |
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| 422 | } |
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| 423 | |
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| 424 | _Thread_Load_environment( the_thread ); |
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| 425 | |
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| 426 | _Thread_Ready( the_thread ); |
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| 427 | |
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[3a4ae6c] | 428 | _User_extensions_Thread_restart( the_thread ); |
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[7f6a24ab] | 429 | |
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| 430 | if ( _Thread_Is_executing ( the_thread ) ) |
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| 431 | _Thread_Restart_self(); |
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| 432 | |
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| 433 | return TRUE; |
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| 434 | } |
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| 435 | |
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| 436 | return FALSE; |
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| 437 | } |
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| 438 | |
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| 439 | /* |
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| 440 | * _Thread_Close |
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| 441 | * |
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| 442 | * DESCRIPTION: |
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| 443 | * |
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| 444 | * XXX |
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| 445 | */ |
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| 446 | |
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| 447 | void _Thread_Close( |
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| 448 | Objects_Information *information, |
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| 449 | Thread_Control *the_thread |
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| 450 | ) |
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| 451 | { |
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| 452 | _Objects_Close( information, &the_thread->Object ); |
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| 453 | |
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| 454 | _Thread_Set_state( the_thread, STATES_TRANSIENT ); |
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| 455 | |
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| 456 | if ( !_Thread_queue_Extract_with_proxy( the_thread ) ) { |
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| 457 | |
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| 458 | if ( _Watchdog_Is_active( &the_thread->Timer ) ) |
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| 459 | (void) _Watchdog_Remove( &the_thread->Timer ); |
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| 460 | } |
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| 461 | |
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[3a4ae6c] | 462 | _User_extensions_Thread_delete( the_thread ); |
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[7f6a24ab] | 463 | |
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| 464 | #if ( CPU_USE_DEFERRED_FP_SWITCH == TRUE ) |
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| 465 | if ( _Thread_Is_allocated_fp( the_thread ) ) |
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| 466 | _Thread_Deallocate_fp(); |
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| 467 | #endif |
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| 468 | the_thread->fp_context = NULL; |
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| 469 | |
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[d434b8d6] | 470 | if ( the_thread->Start.fp_context ) |
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[7f6a24ab] | 471 | (void) _Workspace_Free( the_thread->Start.fp_context ); |
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| 472 | |
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| 473 | if ( the_thread->Start.stack ) |
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| 474 | (void) _Workspace_Free( the_thread->Start.stack ); |
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[3a4ae6c] | 475 | |
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| 476 | if ( the_thread->extensions ) |
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| 477 | (void) _Workspace_Free( the_thread->extensions ); |
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[b3ac6a8d] | 478 | |
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| 479 | the_thread->Start.stack = NULL; |
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| 480 | the_thread->extensions = NULL; |
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[7f6a24ab] | 481 | } |
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| 482 | |
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[ac7d5ef0] | 483 | /*PAGE |
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| 484 | * |
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| 485 | * _Thread_Ready |
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| 486 | * |
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| 487 | * This kernel routine readies the requested thread, the thread chain |
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| 488 | * is adjusted. A new heir thread may be selected. |
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| 489 | * |
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| 490 | * Input parameters: |
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| 491 | * the_thread - pointer to thread control block |
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| 492 | * |
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| 493 | * Output parameters: NONE |
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| 494 | * |
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| 495 | * NOTE: This routine uses the "blocking" heir selection mechanism. |
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| 496 | * This insures the correct heir after a thread restart. |
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| 497 | * |
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| 498 | * INTERRUPT LATENCY: |
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| 499 | * ready chain |
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| 500 | * select heir |
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| 501 | */ |
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| 502 | |
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| 503 | void _Thread_Ready( |
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| 504 | Thread_Control *the_thread |
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| 505 | ) |
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| 506 | { |
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| 507 | ISR_Level level; |
---|
| 508 | Thread_Control *heir; |
---|
| 509 | |
---|
| 510 | _ISR_Disable( level ); |
---|
| 511 | |
---|
| 512 | the_thread->current_state = STATES_READY; |
---|
| 513 | |
---|
| 514 | _Priority_Add_to_bit_map( &the_thread->Priority_map ); |
---|
| 515 | |
---|
| 516 | _Chain_Append_unprotected( the_thread->ready, &the_thread->Object.Node ); |
---|
| 517 | |
---|
| 518 | _ISR_Flash( level ); |
---|
| 519 | |
---|
| 520 | _Thread_Calculate_heir(); |
---|
| 521 | |
---|
| 522 | heir = _Thread_Heir; |
---|
| 523 | |
---|
[3a4ae6c] | 524 | if ( !_Thread_Is_executing( heir ) && _Thread_Executing->is_preemptible ) |
---|
[ac7d5ef0] | 525 | _Context_Switch_necessary = TRUE; |
---|
| 526 | |
---|
| 527 | _ISR_Enable( level ); |
---|
| 528 | } |
---|
| 529 | |
---|
| 530 | /*PAGE |
---|
| 531 | * |
---|
| 532 | * _Thread_Clear_state |
---|
| 533 | * |
---|
| 534 | * This kernel routine clears the appropriate states in the |
---|
| 535 | * requested thread. The thread ready chain is adjusted if |
---|
| 536 | * necessary and the Heir thread is set accordingly. |
---|
| 537 | * |
---|
| 538 | * Input parameters: |
---|
| 539 | * the_thread - pointer to thread control block |
---|
| 540 | * state - state set to clear |
---|
| 541 | * |
---|
| 542 | * Output parameters: NONE |
---|
| 543 | * |
---|
| 544 | * INTERRUPT LATENCY: |
---|
| 545 | * priority map |
---|
| 546 | * select heir |
---|
| 547 | */ |
---|
| 548 | |
---|
| 549 | void _Thread_Clear_state( |
---|
| 550 | Thread_Control *the_thread, |
---|
| 551 | States_Control state |
---|
| 552 | ) |
---|
| 553 | { |
---|
| 554 | ISR_Level level; |
---|
| 555 | |
---|
| 556 | _ISR_Disable( level ); |
---|
| 557 | the_thread->current_state = |
---|
| 558 | _States_Clear( state, the_thread->current_state ); |
---|
| 559 | |
---|
| 560 | if ( _States_Is_ready( the_thread->current_state ) ) { |
---|
| 561 | |
---|
| 562 | _Priority_Add_to_bit_map( &the_thread->Priority_map ); |
---|
| 563 | |
---|
| 564 | _Chain_Append_unprotected( the_thread->ready, &the_thread->Object.Node ); |
---|
| 565 | |
---|
| 566 | _ISR_Flash( level ); |
---|
| 567 | |
---|
| 568 | if ( the_thread->current_priority < _Thread_Heir->current_priority ) { |
---|
| 569 | _Thread_Heir = the_thread; |
---|
[3a4ae6c] | 570 | if ( _Thread_Executing->is_preemptible || |
---|
[3a5dbdc] | 571 | the_thread->current_priority == 0 ) |
---|
[ac7d5ef0] | 572 | _Context_Switch_necessary = TRUE; |
---|
| 573 | } |
---|
| 574 | } |
---|
| 575 | _ISR_Enable( level ); |
---|
| 576 | } |
---|
| 577 | |
---|
| 578 | /*PAGE |
---|
| 579 | * |
---|
| 580 | * _Thread_Set_state |
---|
| 581 | * |
---|
| 582 | * This kernel routine sets the requested state in the THREAD. The |
---|
| 583 | * THREAD chain is adjusted if necessary. |
---|
| 584 | * |
---|
| 585 | * Input parameters: |
---|
| 586 | * the_thread - pointer to thread control block |
---|
| 587 | * state - state to be set |
---|
| 588 | * |
---|
| 589 | * Output parameters: NONE |
---|
| 590 | * |
---|
| 591 | * INTERRUPT LATENCY: |
---|
| 592 | * ready chain |
---|
| 593 | * select map |
---|
| 594 | */ |
---|
| 595 | |
---|
| 596 | void _Thread_Set_state( |
---|
| 597 | Thread_Control *the_thread, |
---|
| 598 | States_Control state |
---|
| 599 | ) |
---|
| 600 | { |
---|
| 601 | ISR_Level level; |
---|
| 602 | Chain_Control *ready; |
---|
| 603 | |
---|
| 604 | ready = the_thread->ready; |
---|
| 605 | _ISR_Disable( level ); |
---|
| 606 | if ( !_States_Is_ready( the_thread->current_state ) ) { |
---|
| 607 | the_thread->current_state = |
---|
| 608 | _States_Set( state, the_thread->current_state ); |
---|
| 609 | _ISR_Enable( level ); |
---|
| 610 | return; |
---|
| 611 | } |
---|
| 612 | |
---|
| 613 | the_thread->current_state = state; |
---|
| 614 | |
---|
| 615 | if ( _Chain_Has_only_one_node( ready ) ) { |
---|
| 616 | |
---|
| 617 | _Chain_Initialize_empty( ready ); |
---|
| 618 | _Priority_Remove_from_bit_map( &the_thread->Priority_map ); |
---|
| 619 | |
---|
| 620 | } else |
---|
| 621 | _Chain_Extract_unprotected( &the_thread->Object.Node ); |
---|
| 622 | |
---|
| 623 | _ISR_Flash( level ); |
---|
| 624 | |
---|
| 625 | if ( _Thread_Is_heir( the_thread ) ) |
---|
| 626 | _Thread_Calculate_heir(); |
---|
| 627 | |
---|
| 628 | if ( _Thread_Is_executing( the_thread ) ) |
---|
| 629 | _Context_Switch_necessary = TRUE; |
---|
| 630 | |
---|
| 631 | _ISR_Enable( level ); |
---|
| 632 | } |
---|
| 633 | |
---|
| 634 | /*PAGE |
---|
| 635 | * |
---|
| 636 | * _Thread_Set_transient |
---|
| 637 | * |
---|
| 638 | * This kernel routine places the requested thread in the transient state |
---|
| 639 | * which will remove it from the ready queue, if necessary. No |
---|
| 640 | * rescheduling is necessary because it is assumed that the transient |
---|
| 641 | * state will be cleared before dispatching is enabled. |
---|
| 642 | * |
---|
| 643 | * Input parameters: |
---|
| 644 | * the_thread - pointer to thread control block |
---|
| 645 | * |
---|
| 646 | * Output parameters: NONE |
---|
| 647 | * |
---|
| 648 | * INTERRUPT LATENCY: |
---|
| 649 | * only case |
---|
| 650 | */ |
---|
| 651 | |
---|
| 652 | void _Thread_Set_transient( |
---|
| 653 | Thread_Control *the_thread |
---|
| 654 | ) |
---|
| 655 | { |
---|
| 656 | ISR_Level level; |
---|
| 657 | unsigned32 old_state; |
---|
| 658 | Chain_Control *ready; |
---|
| 659 | |
---|
| 660 | ready = the_thread->ready; |
---|
| 661 | _ISR_Disable( level ); |
---|
| 662 | |
---|
| 663 | old_state = the_thread->current_state; |
---|
| 664 | the_thread->current_state = _States_Set( STATES_TRANSIENT, old_state ); |
---|
| 665 | |
---|
| 666 | if ( _States_Is_ready( old_state ) ) { |
---|
| 667 | if ( _Chain_Has_only_one_node( ready ) ) { |
---|
| 668 | |
---|
| 669 | _Chain_Initialize_empty( ready ); |
---|
| 670 | _Priority_Remove_from_bit_map( &the_thread->Priority_map ); |
---|
| 671 | |
---|
| 672 | } else |
---|
| 673 | _Chain_Extract_unprotected( &the_thread->Object.Node ); |
---|
| 674 | } |
---|
| 675 | |
---|
| 676 | _ISR_Enable( level ); |
---|
| 677 | |
---|
| 678 | } |
---|
| 679 | |
---|
| 680 | /*PAGE |
---|
| 681 | * |
---|
| 682 | * _Thread_Reset_timeslice |
---|
| 683 | * |
---|
| 684 | * This routine will remove the running thread from the ready chain |
---|
| 685 | * and place it immediately at the rear of this chain and then the |
---|
| 686 | * timeslice counter is reset. The heir THREAD will be updated if |
---|
| 687 | * the running is also the currently the heir. |
---|
| 688 | * |
---|
| 689 | * Input parameters: NONE |
---|
| 690 | * |
---|
| 691 | * Output parameters: NONE |
---|
| 692 | * |
---|
| 693 | * INTERRUPT LATENCY: |
---|
| 694 | * ready chain |
---|
| 695 | * select heir |
---|
| 696 | */ |
---|
| 697 | |
---|
| 698 | void _Thread_Reset_timeslice( void ) |
---|
| 699 | { |
---|
| 700 | ISR_Level level; |
---|
| 701 | Thread_Control *executing; |
---|
| 702 | Chain_Control *ready; |
---|
| 703 | |
---|
| 704 | executing = _Thread_Executing; |
---|
| 705 | ready = executing->ready; |
---|
| 706 | _ISR_Disable( level ); |
---|
| 707 | if ( _Chain_Has_only_one_node( ready ) ) { |
---|
| 708 | _Thread_Ticks_remaining_in_timeslice = _Thread_Ticks_per_timeslice; |
---|
| 709 | _ISR_Enable( level ); |
---|
| 710 | return; |
---|
| 711 | } |
---|
| 712 | _Chain_Extract_unprotected( &executing->Object.Node ); |
---|
| 713 | _Chain_Append_unprotected( ready, &executing->Object.Node ); |
---|
| 714 | |
---|
| 715 | _ISR_Flash( level ); |
---|
| 716 | |
---|
| 717 | if ( _Thread_Is_heir( executing ) ) |
---|
| 718 | _Thread_Heir = (Thread_Control *) ready->first; |
---|
| 719 | |
---|
| 720 | _Context_Switch_necessary = TRUE; |
---|
| 721 | |
---|
| 722 | _ISR_Enable( level ); |
---|
| 723 | } |
---|
| 724 | |
---|
| 725 | /*PAGE |
---|
| 726 | * |
---|
| 727 | * _Thread_Tickle_timeslice |
---|
| 728 | * |
---|
| 729 | * This scheduler routine determines if timeslicing is enabled |
---|
| 730 | * for the currently executing thread and, if so, updates the |
---|
| 731 | * timeslice count and checks for timeslice expiration. |
---|
| 732 | * |
---|
| 733 | * Input parameters: NONE |
---|
| 734 | * |
---|
| 735 | * Output parameters: NONE |
---|
| 736 | */ |
---|
| 737 | |
---|
| 738 | void _Thread_Tickle_timeslice( void ) |
---|
| 739 | { |
---|
[3a4ae6c] | 740 | if ( !_Thread_Executing->is_timeslice || |
---|
| 741 | !_Thread_Executing->is_preemptible || |
---|
| 742 | !_States_Is_ready( _Thread_Executing->current_state ) ) |
---|
| 743 | return; |
---|
| 744 | |
---|
| 745 | if ( --_Thread_Ticks_remaining_in_timeslice == 0 ) { |
---|
[ac7d5ef0] | 746 | _Thread_Reset_timeslice(); |
---|
| 747 | } |
---|
| 748 | } |
---|
| 749 | |
---|
| 750 | /*PAGE |
---|
| 751 | * |
---|
| 752 | * _Thread_Yield_processor |
---|
| 753 | * |
---|
| 754 | * This kernel routine will remove the running THREAD from the ready chain |
---|
| 755 | * and place it immediatly at the rear of this chain. Reset timeslice |
---|
| 756 | * and yield the processor functions both use this routine, therefore if |
---|
| 757 | * reset is TRUE and this is the only thread on the chain then the |
---|
| 758 | * timeslice counter is reset. The heir THREAD will be updated if the |
---|
| 759 | * running is also the currently the heir. |
---|
| 760 | * |
---|
| 761 | * Input parameters: NONE |
---|
| 762 | * |
---|
| 763 | * Output parameters: NONE |
---|
| 764 | * |
---|
| 765 | * INTERRUPT LATENCY: |
---|
| 766 | * ready chain |
---|
| 767 | * select heir |
---|
| 768 | */ |
---|
| 769 | |
---|
| 770 | void _Thread_Yield_processor( void ) |
---|
| 771 | { |
---|
| 772 | ISR_Level level; |
---|
| 773 | Thread_Control *executing; |
---|
| 774 | Chain_Control *ready; |
---|
| 775 | |
---|
| 776 | executing = _Thread_Executing; |
---|
| 777 | ready = executing->ready; |
---|
| 778 | _ISR_Disable( level ); |
---|
| 779 | if ( !_Chain_Has_only_one_node( ready ) ) { |
---|
| 780 | _Chain_Extract_unprotected( &executing->Object.Node ); |
---|
| 781 | _Chain_Append_unprotected( ready, &executing->Object.Node ); |
---|
| 782 | |
---|
| 783 | _ISR_Flash( level ); |
---|
| 784 | |
---|
| 785 | if ( _Thread_Is_heir( executing ) ) |
---|
| 786 | _Thread_Heir = (Thread_Control *) ready->first; |
---|
| 787 | _Context_Switch_necessary = TRUE; |
---|
| 788 | } |
---|
| 789 | else if ( !_Thread_Is_heir( executing ) ) |
---|
| 790 | _Context_Switch_necessary = TRUE; |
---|
| 791 | |
---|
| 792 | _ISR_Enable( level ); |
---|
| 793 | } |
---|
| 794 | |
---|
| 795 | /*PAGE |
---|
| 796 | * |
---|
| 797 | * _Thread_Load_environment |
---|
| 798 | * |
---|
| 799 | * Load starting environment for another thread from its start area in the |
---|
| 800 | * thread. Only called from t_restart and t_start. |
---|
| 801 | * |
---|
| 802 | * Input parameters: |
---|
| 803 | * the_thread - thread control block pointer |
---|
| 804 | * |
---|
| 805 | * Output parameters: NONE |
---|
| 806 | */ |
---|
| 807 | |
---|
| 808 | void _Thread_Load_environment( |
---|
| 809 | Thread_Control *the_thread |
---|
| 810 | ) |
---|
| 811 | { |
---|
[9700578] | 812 | boolean is_fp = FALSE; |
---|
| 813 | |
---|
[ac7d5ef0] | 814 | if ( the_thread->Start.fp_context ) { |
---|
| 815 | the_thread->fp_context = the_thread->Start.fp_context; |
---|
| 816 | _Context_Initialize_fp( &the_thread->fp_context ); |
---|
[9700578] | 817 | is_fp = TRUE; |
---|
[ac7d5ef0] | 818 | } |
---|
| 819 | |
---|
[94b3ec59] | 820 | the_thread->do_post_task_switch_extension = FALSE; |
---|
[3a4ae6c] | 821 | the_thread->is_preemptible = the_thread->Start.is_preemptible; |
---|
| 822 | the_thread->is_timeslice = the_thread->Start.is_timeslice; |
---|
| 823 | |
---|
[ac7d5ef0] | 824 | _Context_Initialize( |
---|
| 825 | &the_thread->Registers, |
---|
| 826 | the_thread->Start.Initial_stack.area, |
---|
| 827 | the_thread->Start.Initial_stack.size, |
---|
[3a4ae6c] | 828 | the_thread->Start.isr_level, |
---|
[9700578] | 829 | _Thread_Handler, |
---|
| 830 | is_fp |
---|
[ac7d5ef0] | 831 | ); |
---|
| 832 | |
---|
| 833 | } |
---|
| 834 | |
---|
| 835 | /*PAGE |
---|
| 836 | * |
---|
| 837 | * _Thread_Handler |
---|
| 838 | * |
---|
| 839 | * This routine is the default thread exitted error handler. It is |
---|
| 840 | * returned to when a thread exits. The configured fatal error handler |
---|
| 841 | * is invoked to process the exit. |
---|
| 842 | * |
---|
| 843 | * Input parameters: NONE |
---|
| 844 | * |
---|
| 845 | * Output parameters: NONE |
---|
| 846 | */ |
---|
| 847 | |
---|
| 848 | void _Thread_Handler( void ) |
---|
| 849 | { |
---|
| 850 | Thread_Control *executing; |
---|
| 851 | |
---|
| 852 | executing = _Thread_Executing; |
---|
| 853 | |
---|
| 854 | /* |
---|
[7979e35] | 855 | * Take care that 'begin' extensions get to complete before |
---|
| 856 | * 'switch' extensions can run. This means must keep dispatch |
---|
| 857 | * disabled until all 'begin' extensions complete. |
---|
[ac7d5ef0] | 858 | */ |
---|
[7979e35] | 859 | |
---|
[3a4ae6c] | 860 | _User_extensions_Thread_begin( executing ); |
---|
[7979e35] | 861 | |
---|
| 862 | /* |
---|
| 863 | * At this point, the dispatch disable level BETTER be 1. |
---|
| 864 | */ |
---|
[ac7d5ef0] | 865 | |
---|
[7979e35] | 866 | _Thread_Enable_dispatch(); |
---|
| 867 | |
---|
[3a4ae6c] | 868 | switch ( executing->Start.prototype ) { |
---|
[7f6a24ab] | 869 | case THREAD_START_NUMERIC: |
---|
| 870 | (*executing->Start.entry_point)( executing->Start.numeric_argument ); |
---|
| 871 | break; |
---|
| 872 | case THREAD_START_POINTER: |
---|
| 873 | (*executing->Start.entry_point)( executing->Start.pointer_argument ); |
---|
| 874 | break; |
---|
| 875 | case THREAD_START_BOTH_POINTER_FIRST: |
---|
| 876 | (*executing->Start.entry_point)( |
---|
| 877 | executing->Start.pointer_argument, |
---|
| 878 | executing->Start.numeric_argument |
---|
| 879 | ); |
---|
| 880 | break; |
---|
| 881 | case THREAD_START_BOTH_NUMERIC_FIRST: |
---|
| 882 | (*executing->Start.entry_point)( |
---|
| 883 | executing->Start.numeric_argument, |
---|
| 884 | executing->Start.pointer_argument |
---|
| 885 | ); |
---|
| 886 | break; |
---|
| 887 | } |
---|
[ac7d5ef0] | 888 | |
---|
[3a4ae6c] | 889 | _User_extensions_Thread_exitted( executing ); |
---|
[ac7d5ef0] | 890 | |
---|
[3a4ae6c] | 891 | _Internal_error_Occurred( |
---|
| 892 | INTERNAL_ERROR_CORE, |
---|
| 893 | TRUE, |
---|
| 894 | INTERNAL_ERROR_THREAD_EXITTED |
---|
| 895 | ); |
---|
[ac7d5ef0] | 896 | } |
---|
| 897 | |
---|
| 898 | /*PAGE |
---|
| 899 | * |
---|
| 900 | * _Thread_Delay_ended |
---|
| 901 | * |
---|
| 902 | * This routine processes a thread whose delay period has ended. |
---|
| 903 | * It is called by the watchdog handler. |
---|
| 904 | * |
---|
| 905 | * Input parameters: |
---|
| 906 | * id - thread id |
---|
| 907 | * |
---|
| 908 | * Output parameters: NONE |
---|
| 909 | */ |
---|
| 910 | |
---|
| 911 | void _Thread_Delay_ended( |
---|
| 912 | Objects_Id id, |
---|
| 913 | void *ignored |
---|
| 914 | ) |
---|
| 915 | { |
---|
[45819022] | 916 | Thread_Control *the_thread; |
---|
| 917 | Objects_Locations location; |
---|
[ac7d5ef0] | 918 | |
---|
| 919 | the_thread = _Thread_Get( id, &location ); |
---|
| 920 | switch ( location ) { |
---|
| 921 | case OBJECTS_ERROR: |
---|
| 922 | case OBJECTS_REMOTE: /* impossible */ |
---|
| 923 | break; |
---|
| 924 | case OBJECTS_LOCAL: |
---|
| 925 | _Thread_Unblock( the_thread ); |
---|
| 926 | _Thread_Unnest_dispatch(); |
---|
| 927 | break; |
---|
| 928 | } |
---|
| 929 | } |
---|
| 930 | |
---|
| 931 | /*PAGE |
---|
| 932 | * |
---|
| 933 | * _Thread_Change_priority |
---|
| 934 | * |
---|
| 935 | * This kernel routine changes the priority of the thread. The |
---|
| 936 | * thread chain is adjusted if necessary. |
---|
| 937 | * |
---|
| 938 | * Input parameters: |
---|
| 939 | * the_thread - pointer to thread control block |
---|
| 940 | * new_priority - ultimate priority |
---|
| 941 | * |
---|
| 942 | * Output parameters: NONE |
---|
| 943 | * |
---|
| 944 | * INTERRUPT LATENCY: |
---|
| 945 | * ready chain |
---|
| 946 | * select heir |
---|
| 947 | */ |
---|
| 948 | |
---|
| 949 | void _Thread_Change_priority( |
---|
[7f6a24ab] | 950 | Thread_Control *the_thread, |
---|
| 951 | Priority_Control new_priority |
---|
[ac7d5ef0] | 952 | ) |
---|
| 953 | { |
---|
| 954 | ISR_Level level; |
---|
| 955 | |
---|
| 956 | _Thread_Set_transient( the_thread ); |
---|
| 957 | |
---|
| 958 | if ( the_thread->current_priority != new_priority ) |
---|
| 959 | _Thread_Set_priority( the_thread, new_priority ); |
---|
| 960 | |
---|
| 961 | _ISR_Disable( level ); |
---|
| 962 | |
---|
| 963 | the_thread->current_state = |
---|
| 964 | _States_Clear( STATES_TRANSIENT, the_thread->current_state ); |
---|
| 965 | |
---|
| 966 | if ( ! _States_Is_ready( the_thread->current_state ) ) { |
---|
| 967 | _ISR_Enable( level ); |
---|
| 968 | return; |
---|
| 969 | } |
---|
| 970 | |
---|
| 971 | _Priority_Add_to_bit_map( &the_thread->Priority_map ); |
---|
| 972 | _Chain_Append_unprotected( the_thread->ready, &the_thread->Object.Node ); |
---|
| 973 | |
---|
| 974 | _ISR_Flash( level ); |
---|
| 975 | |
---|
| 976 | _Thread_Calculate_heir(); |
---|
| 977 | |
---|
| 978 | if ( !_Thread_Is_executing_also_the_heir() && |
---|
[3a4ae6c] | 979 | _Thread_Executing->is_preemptible ) |
---|
[ac7d5ef0] | 980 | _Context_Switch_necessary = TRUE; |
---|
| 981 | |
---|
| 982 | _ISR_Enable( level ); |
---|
| 983 | } |
---|
| 984 | |
---|
| 985 | /*PAGE |
---|
| 986 | * |
---|
| 987 | * _Thread_Set_priority |
---|
| 988 | * |
---|
| 989 | * This directive enables and disables several modes of |
---|
| 990 | * execution for the requesting thread. |
---|
| 991 | * |
---|
| 992 | * Input parameters: |
---|
| 993 | * the_thread - pointer to thread priority |
---|
| 994 | * new_priority - new priority |
---|
| 995 | * |
---|
| 996 | * Output: NONE |
---|
| 997 | */ |
---|
| 998 | |
---|
| 999 | void _Thread_Set_priority( |
---|
[7f6a24ab] | 1000 | Thread_Control *the_thread, |
---|
| 1001 | Priority_Control new_priority |
---|
[ac7d5ef0] | 1002 | ) |
---|
| 1003 | { |
---|
| 1004 | the_thread->current_priority = new_priority; |
---|
| 1005 | the_thread->ready = &_Thread_Ready_chain[ new_priority ]; |
---|
| 1006 | |
---|
| 1007 | _Priority_Initialize_information( &the_thread->Priority_map, new_priority ); |
---|
| 1008 | } |
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| 1009 | |
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| 1010 | /*PAGE |
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| 1011 | * |
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[3a4ae6c] | 1012 | * _Thread_Evaluate_mode |
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[ac7d5ef0] | 1013 | * |
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[3a4ae6c] | 1014 | * XXX |
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[ac7d5ef0] | 1015 | */ |
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| 1016 | |
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[3a4ae6c] | 1017 | boolean _Thread_Evaluate_mode( void ) |
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[ac7d5ef0] | 1018 | { |
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[3a4ae6c] | 1019 | Thread_Control *executing; |
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[ac7d5ef0] | 1020 | |
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[3a4ae6c] | 1021 | executing = _Thread_Executing; |
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[ac7d5ef0] | 1022 | |
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| 1023 | if ( !_States_Is_ready( executing->current_state ) || |
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[3a4ae6c] | 1024 | ( !_Thread_Is_heir( executing ) && executing->is_preemptible ) ) { |
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| 1025 | _Context_Switch_necessary = TRUE; |
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| 1026 | return TRUE; |
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| 1027 | } |
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[ac7d5ef0] | 1028 | |
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[3a4ae6c] | 1029 | return FALSE; |
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[ac7d5ef0] | 1030 | } |
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| 1031 | |
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| 1032 | /*PAGE |
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| 1033 | * |
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| 1034 | * _Thread_Get |
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| 1035 | * |
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| 1036 | * NOTE: If we are not using static inlines, this must be a real |
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| 1037 | * subroutine call. |
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[5250ff39] | 1038 | * |
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| 1039 | * NOTE: XXX... This routine may be able to be optimized. |
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[ac7d5ef0] | 1040 | */ |
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| 1041 | |
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| 1042 | #ifndef USE_INLINES |
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| 1043 | |
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| 1044 | STATIC INLINE Thread_Control *_Thread_Get ( |
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[5250ff39] | 1045 | Objects_Id id, |
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| 1046 | Objects_Locations *location |
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[ac7d5ef0] | 1047 | ) |
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| 1048 | { |
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[5250ff39] | 1049 | Objects_Classes the_class; |
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| 1050 | Objects_Information *information; |
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| 1051 | |
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[ac7d5ef0] | 1052 | if ( _Objects_Are_ids_equal( id, OBJECTS_ID_OF_SELF ) ) { |
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[5250ff39] | 1053 | _Thread_Disable_dispatch(); |
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| 1054 | *location = OBJECTS_LOCAL; |
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| 1055 | return( _Thread_Executing ); |
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[ac7d5ef0] | 1056 | } |
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[5250ff39] | 1057 | |
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[3a4ae6c] | 1058 | the_class = _Objects_Get_class( id ); |
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[5250ff39] | 1059 | |
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| 1060 | if ( the_class > OBJECTS_CLASSES_LAST ) { |
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| 1061 | *location = OBJECTS_ERROR; |
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| 1062 | return (Thread_Control *) 0; |
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| 1063 | } |
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| 1064 | |
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| 1065 | information = _Objects_Information_table[ the_class ]; |
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| 1066 | |
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| 1067 | if ( !information || !information->is_thread ) { |
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| 1068 | *location = OBJECTS_ERROR; |
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| 1069 | return (Thread_Control *) 0; |
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| 1070 | } |
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| 1071 | |
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| 1072 | return (Thread_Control *) _Objects_Get( information, id, location ); |
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[ac7d5ef0] | 1073 | } |
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| 1074 | #endif |
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