diff options
Diffstat (limited to 'kernel/task')
| -rw-r--r-- | kernel/task/idle.c | 19 | ||||
| -rw-r--r-- | kernel/task/include/task/idle.h | 6 | ||||
| -rw-r--r-- | kernel/task/include/task/lock.h | 24 | ||||
| -rw-r--r-- | kernel/task/include/task/sched.h | 58 | ||||
| -rw-r--r-- | kernel/task/include/task/task.h | 46 | ||||
| -rw-r--r-- | kernel/task/mcu/atmega2560/context.c | 98 | ||||
| -rw-r--r-- | kernel/task/mcu/atmega2560/include/mcu/task/context.h | 117 | ||||
| -rw-r--r-- | kernel/task/mcu/atmega2560/include/mcu/task/task.h | 11 | ||||
| -rw-r--r-- | kernel/task/sched.c | 55 |
9 files changed, 0 insertions, 434 deletions
diff --git a/kernel/task/idle.c b/kernel/task/idle.c deleted file mode 100644 index 7d6576d..0000000 --- a/kernel/task/idle.c +++ /dev/null @@ -1,19 +0,0 @@ -#include <avr/power.h> -#include <avr/interrupt.h> -#include <avr/sleep.h> -#include <avr/power.h> -#include "task/idle.h" -#include "task/task.h" - - -void idle_entry(char args) { - while(1) { - set_sleep_mode(SLEEP_MODE_IDLE); - cli(); - sleep_enable(); - sei(); - sleep_cpu(); - sleep_disable(); - }; -} - diff --git a/kernel/task/include/task/idle.h b/kernel/task/include/task/idle.h deleted file mode 100644 index 3b6e40a..0000000 --- a/kernel/task/include/task/idle.h +++ /dev/null @@ -1,6 +0,0 @@ -#ifndef IDLE_H -#define IDLE_H - -void idle_entry(char args); - -#endif
\ No newline at end of file diff --git a/kernel/task/include/task/lock.h b/kernel/task/include/task/lock.h deleted file mode 100644 index 47246b2..0000000 --- a/kernel/task/include/task/lock.h +++ /dev/null @@ -1,24 +0,0 @@ -#ifndef LOCK_H -#define LOCK_H - -#include "task/sched.h" - -typedef volatile char spin_lock_t; - -#define SPIN_LOCK_UNLOCKED 0 -#define SPIN_LOCK_LOCKED 0 - -static inline void spin_lock(spin_lock_t* lock) { - while(*lock != SPIN_LOCK_UNLOCKED) {yield();}; - cli(); - *lock = SPIN_LOCK_LOCKED; - sei(); -} - -static inline void spin_unlock(spin_lock_t* lock) { - cli(); - *lock = SPIN_LOCK_UNLOCKED; - sei(); -} - -#endif
\ No newline at end of file diff --git a/kernel/task/include/task/sched.h b/kernel/task/include/task/sched.h deleted file mode 100644 index b8946db..0000000 --- a/kernel/task/include/task/sched.h +++ /dev/null @@ -1,58 +0,0 @@ -#ifndef SCHED_H -#define SCHED_H - -#include "collection/list.h" -#include "task/task.h" -#include "mcu/task/task.h" - -/** - * Points to currently executing task. If no scheduling has been enabled, - * this points to NULL - */ -extern struct tcb_t* volatile current; - -/** - * Queue that contains all tasks that are ready to be run, awaiting their - * turn from the scheduler. - */ -extern struct list_head ready; - -/** - * Makes the current task sleep on a specific queue. - * This moves the current task to the given queue's tail. - */ -static inline void sleep_queue(struct list_head* queue) { - list_move_tail(¤t->queue, queue); -} - -/** - * Wakes all tasks waiting in the given queue. - * This moves all tasks contained in the queue to the ready queue. - */ -static inline void wake_all_queue(struct list_head* queue) { - list_splice_init(queue, ready.prev); -} - -/** - * Initializes a given task and adds it to the ready queue. - */ -void spawn(struct tcb_t* const tcb); - -/** - * Voluntarily relinquishes control of the CPU from the current task to the scheduler. - */ -void yield() __attribute__ ( ( naked ) ); - - -/** - * Initializes the scheduler by setting up kstack, initializing the idle task - * and selecting the first task to run. - */ -void sched_init(); - -/** - * Enters the scheduler, setting current to the next runnable task. - */ -void schedule(); - -#endif diff --git a/kernel/task/include/task/task.h b/kernel/task/include/task/task.h deleted file mode 100644 index 120bda4..0000000 --- a/kernel/task/include/task/task.h +++ /dev/null @@ -1,46 +0,0 @@ -#ifndef TASK_H -#define TASK_H - -#include "collection/list.h" - -/** - * Task control block, contains runtime - * information about tasks. - */ -struct tcb_t { - /** Stack pointer of this task. (must be first in structure) */ - char* volatile sp; - - /** Lowest address of this task's memory (inclusive). */ - char* mem_low; - - /** Highest address of this task's memory (inclusive). */ - char* mem_high; - - /** Entry function of this task. */ - void (*entry)(char); - - /** Current wait queue that this task is in.*/ - struct list_head queue; - - /** ID of task. */ - char id; - -}; - -/** - * Utility for declaring a task with statically allocated memory. - * Note: for a task to be scheduled, it must first be spawned (see spawn()). -*/ -#define DECLARE_TASK(name, stack_size, entry_function, pid) \ - static char _declared_stack_##name[stack_size]; \ - static struct tcb_t name = { \ - .sp = 0, \ - .mem_low = _declared_stack_##name, \ - .mem_high = _declared_stack_##name + stack_size - 1, \ - .entry = entry_function, \ - .queue = {}, \ - .id = pid \ - }; - -#endif
\ No newline at end of file diff --git a/kernel/task/mcu/atmega2560/context.c b/kernel/task/mcu/atmega2560/context.c deleted file mode 100644 index 9bb7036..0000000 --- a/kernel/task/mcu/atmega2560/context.c +++ /dev/null @@ -1,98 +0,0 @@ -#include "mcu/task/context.h" - -char* stack_init(const char* const mem_low, const char* const mem_high, void (*entry)(char), char args) { - char* sp = (char*) mem_high; - unsigned long address = (unsigned long) entry; - - // pattern for debugging purposes - *sp = (char) 0x1; - sp--; - *sp = (char) 0x2; - sp--; - *sp = (char) 0x1; - sp--; - *sp = (char) 0x2; - sp--; - - // put return address on stack - *sp = (char) ( address & (unsigned short) 0x00ff ); - sp--; - - *sp = (char) ( (address >> 8) & ( unsigned short ) 0x00ff ); - sp--; - - *sp = (char) ( (address >> 16) & ( unsigned short ) 0x00ff ); - sp--; - - // save registers - *sp = (char) 0x00; //r0 - sp--; - *sp = (char) 0x80; //SREG, enable interrupts when task starts - sp--; - *sp = ( char ) 0x00; //r1 - sp--; - *sp = ( char ) 0x00; //r2 - sp--; - *sp = ( char ) 0x00; //r3 - sp--; - *sp = ( char ) 0x00; //r4 - sp--; - *sp = ( char ) 0x00; //r5 - sp--; - *sp = ( char ) 0x00; //r6 - sp--; - *sp = ( char ) 0x00; //r7 - sp--; - *sp = ( char ) 0x00; //r8 - sp--; - *sp = ( char ) 0x00; //r9 - sp--; - *sp = ( char ) 0x00; //r10 - sp--; - *sp = ( char ) 0x00; //r11 - sp--; - *sp = ( char ) 0x00; //r12 - sp--; - *sp = ( char ) 0x00; //r13 - sp--; - *sp = ( char ) 0x00; //r14 - sp--; - *sp = ( char ) 0x00; //r15 - sp--; - *sp = ( char ) 0x00; //r16 - sp--; - *sp = ( char ) 0x00; //r17 - sp--; - *sp = ( char ) 0x00; //r18 - sp--; - *sp = ( char ) 0x00; //r19 - sp--; - *sp = ( char ) 0x00; //r20 - sp--; - *sp = ( char ) 0x00; //r21 - sp--; - *sp = ( char ) 0x00; //r22 - sp--; - *sp = ( char ) 0x00; //r23 - sp--; - - *sp = (char) ( args ); //place first argument in register 24 - sp--; - - *sp = ( char ) 0x00; //r25 - sp--; - *sp = ( char ) 0x00; //r26 - sp--; - *sp = ( char ) 0x00; //r27 - sp--; - *sp = ( char ) 0x00; //r28 - sp--; - *sp = ( char ) 0x00; //r29 - sp--; - *sp = ( char ) 0x00; //r30 - sp--; - *sp = ( char ) 0x00; //r31 - sp--; - - return sp; -} diff --git a/kernel/task/mcu/atmega2560/include/mcu/task/context.h b/kernel/task/mcu/atmega2560/include/mcu/task/context.h deleted file mode 100644 index 0de1fb4..0000000 --- a/kernel/task/mcu/atmega2560/include/mcu/task/context.h +++ /dev/null @@ -1,117 +0,0 @@ -#ifndef MCU_CONTEXT_H -#define MCU_CONTEXT_H - -#include <avr/interrupt.h> -#define ret() asm volatile ( "ret" ) - -/* - * The macros save_context(), restore_context() as well as the code contained in - * init_stack is adapted from the FreeRTOS kernel (http://www.freertos.org/). - * Here by copyright, credits attributed to wherever they belong. - */ - -/** - * Save context to memory location specified by first two chars of - * a symbol named 'current' (this is why 'sp' has to be the first element of - * of task control blocks). After executing this macro, the stack pointer will - * be set to the address contained in 'kstack'. - */ -#define context_save() \ - asm volatile ( \ - "push r0 \n\t" \ - "in r0, __SREG__ \n\t" \ - "cli \n\t" \ - "push r0 \n\t" \ - "push r1 \n\t" \ - "clr r1 \n\t" \ - "push r2 \n\t" \ - "push r3 \n\t" \ - "push r4 \n\t" \ - "push r5 \n\t" \ - "push r6 \n\t" \ - "push r7 \n\t" \ - "push r8 \n\t" \ - "push r9 \n\t" \ - "push r10 \n\t" \ - "push r11 \n\t" \ - "push r12 \n\t" \ - "push r13 \n\t" \ - "push r14 \n\t" \ - "push r15 \n\t" \ - "push r16 \n\t" \ - "push r17 \n\t" \ - "push r18 \n\t" \ - "push r19 \n\t" \ - "push r20 \n\t" \ - "push r21 \n\t" \ - "push r22 \n\t" \ - "push r23 \n\t" \ - "push r24 \n\t" \ - "push r25 \n\t" \ - "push r26 \n\t" \ - "push r27 \n\t" \ - "push r28 \n\t" \ - "push r29 \n\t" \ - "push r30 \n\t" \ - "push r31 \n\t" \ - "lds r26, current \n\t" \ - "lds r27, current +1 \n\t" \ - "in r0, __SP_L__ \n\t" \ - "st x+, r0 \n\t" \ - "in r0, __SP_H__ \n\t" \ - "st x+, r0 \n\t" \ - ) - - -/** - * Restore context to memory location specified by first two chars of - * a symbol named 'current'. - */ -#define context_restore() \ - asm volatile ( \ - "lds r26, current \n\t" \ - "lds r27, current + 1 \n\t" \ - "ld r28, x+ \n\t" \ - "out __SP_L__, r28 \n\t" \ - "ld r29, x+ \n\t" \ - "out __SP_H__, r29 \n\t" \ - "pop r31 \n\t" \ - "pop r30 \n\t" \ - "pop r29 \n\t" \ - "pop r28 \n\t" \ - "pop r27 \n\t" \ - "pop r26 \n\t" \ - "pop r25 \n\t" \ - "pop r24 \n\t" \ - "pop r23 \n\t" \ - "pop r22 \n\t" \ - "pop r21 \n\t" \ - "pop r20 \n\t" \ - "pop r19 \n\t" \ - "pop r18 \n\t" \ - "pop r17 \n\t" \ - "pop r16 \n\t" \ - "pop r15 \n\t" \ - "pop r14 \n\t" \ - "pop r13 \n\t" \ - "pop r12 \n\t" \ - "pop r11 \n\t" \ - "pop r10 \n\t" \ - "pop r9 \n\t" \ - "pop r8 \n\t" \ - "pop r7 \n\t" \ - "pop r6 \n\t" \ - "pop r5 \n\t" \ - "pop r4 \n\t" \ - "pop r3 \n\t" \ - "pop r2 \n\t" \ - "pop r1 \n\t" \ - "pop r0 \n\t" \ - "out __SREG__, r0 \n\t" \ - "pop r0 \n\t" \ - ) - -/** Initialize the given memory addresses to contain a valid, initial stackframe. */ -char* stack_init(const char* const mem_low, const char* const mem_high, void (*entry)(char), char args); - -#endif diff --git a/kernel/task/mcu/atmega2560/include/mcu/task/task.h b/kernel/task/mcu/atmega2560/include/mcu/task/task.h deleted file mode 100644 index d9823af..0000000 --- a/kernel/task/mcu/atmega2560/include/mcu/task/task.h +++ /dev/null @@ -1,11 +0,0 @@ -#ifndef MCU_TASK_H -#define MACU_TASK_H - - -/** Default stack size, you may use this definition for declaring tasks. */ -#define DEFAULT_STACK_SIZE 256 - -/** Stack size to be allocated for the idle task. */ -#define IDLE_STACK_SIZE 64 - -#endif
\ No newline at end of file diff --git a/kernel/task/sched.c b/kernel/task/sched.c deleted file mode 100644 index 5989136..0000000 --- a/kernel/task/sched.c +++ /dev/null @@ -1,55 +0,0 @@ -#include "bug/panic.h" -#include "task/task.h" -#include "task/sched.h" -#include "mcu/task/context.h" - - -struct tcb_t* volatile current = 0; - -static struct tcb_t* volatile idle = 0; - -struct list_head ready = LIST_HEAD_INIT(ready); - -void spawn(struct tcb_t* const tcb) { - tcb->sp = stack_init(tcb->mem_low, tcb->mem_high, tcb->entry, tcb->id); - INIT_LIST_HEAD(&tcb->queue); - list_add_tail(&tcb->queue, &ready); -} - -void spawn_idle(struct tcb_t* const tcb) { - spawn(tcb); - list_del(&tcb->queue); - idle = tcb; -} - -void yield(void) { - context_save(); - schedule(); - context_restore(); - ret(); -} - -void sched_init() { - schedule(); - context_restore(); - sei(); - ret(); -} - -#include <avr/io.h> -void toggle_led() { - DDRB |= (1 << 7); - PORTB ^= (1 << 7); -} - -void schedule() { - toggle_led(); - if(!list_empty(&ready)) { - current = list_entry(ready.next, struct tcb_t, queue); - list_move_tail(ready.next, &ready); - debug_led(0,1); - } else { - current = idle; - debug_led(0,0); - } -}
\ No newline at end of file |