You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
 
 
 
 
 
 

223 lines
6.3 KiB

/*
* Copyright (C) 2014 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup core_sched
* @{
*
* @file
* @brief Scheduler implementation
*
* @author Kaspar Schleiser <kaspar@schleiser.de>
* @author René Kijewski <rene.kijewski@fu-berlin.de>
*
* @}
*/
#include <stdint.h>
#include "sched.h"
#include "clist.h"
#include "bitarithm.h"
#include "irq.h"
#include "thread.h"
#include "irq.h"
#include "log.h"
#ifdef MODULE_MPU_STACK_GUARD
#include "mpu.h"
#endif
#ifdef MODULE_SCHEDSTATISTICS
#include "xtimer.h"
#endif
#define ENABLE_DEBUG (0)
#include "debug.h"
#if ENABLE_DEBUG
/* For PRIu16 etc. */
#include <inttypes.h>
#endif
volatile int sched_num_threads = 0;
volatile unsigned int sched_context_switch_request;
volatile thread_t *sched_threads[KERNEL_PID_LAST + 1];
volatile thread_t *sched_active_thread;
volatile kernel_pid_t sched_active_pid = KERNEL_PID_UNDEF;
clist_node_t sched_runqueues[SCHED_PRIO_LEVELS];
static uint32_t runqueue_bitcache = 0;
/* Needed by OpenOCD to read sched_threads */
#if defined(__APPLE__) && defined(__MACH__)
#define FORCE_USED_SECTION __attribute__((used)) __attribute__((section ("__OPENOCD,__openocd")))
#else
#define FORCE_USED_SECTION __attribute__((used)) __attribute__((section (".openocd")))
#endif
FORCE_USED_SECTION
uint8_t max_threads = sizeof(sched_threads) / sizeof(thread_t*);
#ifdef DEVELHELP
/* OpenOCD can't determine struct offsets and additionally this member is only
* available if compiled with DEVELHELP */
FORCE_USED_SECTION
uint8_t _tcb_name_offset = offsetof(thread_t, name);
#endif
#ifdef MODULE_SCHEDSTATISTICS
static void (*sched_cb) (uint32_t timestamp, uint32_t value) = NULL;
schedstat sched_pidlist[KERNEL_PID_LAST + 1];
#endif
int __attribute__((used)) sched_run(void)
{
sched_context_switch_request = 0;
thread_t *active_thread = (thread_t *)sched_active_thread;
/* The bitmask in runqueue_bitcache is never empty,
* since the threading should not be started before at least the idle thread was started.
*/
int nextrq = bitarithm_lsb(runqueue_bitcache);
thread_t *next_thread = container_of(sched_runqueues[nextrq].next->next, thread_t, rq_entry);
DEBUG("sched_run: active thread: %" PRIkernel_pid ", next thread: %" PRIkernel_pid "\n",
(active_thread == NULL) ? KERNEL_PID_UNDEF : active_thread->pid,
next_thread->pid);
if (active_thread == next_thread) {
DEBUG("sched_run: done, sched_active_thread was not changed.\n");
return 0;
}
#ifdef MODULE_SCHEDSTATISTICS
unsigned long time = _xtimer_now();
#endif
if (active_thread) {
if (active_thread->status == STATUS_RUNNING) {
active_thread->status = STATUS_PENDING;
}
#ifdef SCHED_TEST_STACK
if (*((uintptr_t *) active_thread->stack_start) != (uintptr_t) active_thread->stack_start) {
LOG_WARNING("scheduler(): stack overflow detected, pid=%" PRIkernel_pid "\n", active_thread->pid);
}
#endif
#ifdef MODULE_SCHEDSTATISTICS
schedstat *active_stat = &sched_pidlist[active_thread->pid];
if (active_stat->laststart) {
active_stat->runtime_ticks += time - active_stat->laststart;
}
#endif
}
#ifdef MODULE_SCHEDSTATISTICS
schedstat *next_stat = &sched_pidlist[next_thread->pid];
next_stat->laststart = time;
next_stat->schedules++;
if (sched_cb) {
sched_cb(time, next_thread->pid);
}
#endif
next_thread->status = STATUS_RUNNING;
sched_active_pid = next_thread->pid;
sched_active_thread = (volatile thread_t *) next_thread;
#ifdef MODULE_MPU_STACK_GUARD
mpu_configure(
1, /* MPU region 1 */
(uintptr_t)sched_active_thread->stack_start + 31, /* Base Address (rounded up) */
MPU_ATTR(1, AP_RO_RO, 0, 1, 0, 1, MPU_SIZE_32B) /* Attributes and Size */
);
mpu_enable();
#endif
DEBUG("sched_run: done, changed sched_active_thread.\n");
return 1;
}
#ifdef MODULE_SCHEDSTATISTICS
void sched_register_cb(void (*callback)(uint32_t, uint32_t))
{
sched_cb = callback;
}
#endif
void sched_set_status(thread_t *process, unsigned int status)
{
if (status >= STATUS_ON_RUNQUEUE) {
if (!(process->status >= STATUS_ON_RUNQUEUE)) {
DEBUG("sched_set_status: adding thread %" PRIkernel_pid " to runqueue %" PRIu16 ".\n",
process->pid, process->priority);
clist_rpush(&sched_runqueues[process->priority], &(process->rq_entry));
runqueue_bitcache |= 1 << process->priority;
}
}
else {
if (process->status >= STATUS_ON_RUNQUEUE) {
DEBUG("sched_set_status: removing thread %" PRIkernel_pid " to runqueue %" PRIu16 ".\n",
process->pid, process->priority);
clist_lpop(&sched_runqueues[process->priority]);
if (!sched_runqueues[process->priority].next) {
runqueue_bitcache &= ~(1 << process->priority);
}
}
}
process->status = status;
}
void sched_switch(uint16_t other_prio)
{
thread_t *active_thread = (thread_t *) sched_active_thread;
uint16_t current_prio = active_thread->priority;
int on_runqueue = (active_thread->status >= STATUS_ON_RUNQUEUE);
DEBUG("sched_switch: active pid=%" PRIkernel_pid" prio=%" PRIu16 " on_runqueue=%i "
", other_prio=%" PRIu16 "\n",
active_thread->pid, current_prio, on_runqueue, other_prio);
if (!on_runqueue || (current_prio > other_prio)) {
if (irq_is_in()) {
DEBUG("sched_switch: setting sched_context_switch_request.\n");
sched_context_switch_request = 1;
}
else {
DEBUG("sched_switch: yielding immediately.\n");
thread_yield_higher();
}
}
else {
DEBUG("sched_switch: continuing without yield.\n");
}
}
NORETURN void sched_task_exit(void)
{
DEBUG("sched_task_exit: ending thread %" PRIkernel_pid "...\n", sched_active_thread->pid);
(void) irq_disable();
sched_threads[sched_active_pid] = NULL;
sched_num_threads--;
sched_set_status((thread_t *)sched_active_thread, STATUS_STOPPED);
sched_active_thread = NULL;
cpu_switch_context_exit();
}