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author | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2011-02-18 01:37:58 +0000 |
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committer | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2011-02-18 01:37:58 +0000 |
commit | 4b3511028e3733df348cc410a60ac5f127d5c2a4 (patch) | |
tree | 8cee33f7e9b7bb7f7fc2a13ee6f06562ad6ff1eb | |
parent | 9554b0fe8c710c7cc1139845b288f079db661038 (diff) | |
download | nuttx-4b3511028e3733df348cc410a60ac5f127d5c2a4.tar.gz nuttx-4b3511028e3733df348cc410a60ac5f127d5c2a4.tar.bz2 nuttx-4b3511028e3733df348cc410a60ac5f127d5c2a4.zip |
Add standard context switching functions for m9s12
git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@3301 42af7a65-404d-4744-a932-0658087f49c3
-rwxr-xr-x | nuttx/arch/hc/src/common/up_blocktask.c | 167 | ||||
-rw-r--r-- | nuttx/arch/hc/src/common/up_copystate.c | 82 | ||||
-rwxr-xr-x | nuttx/arch/hc/src/common/up_internal.h | 10 | ||||
-rwxr-xr-x | nuttx/arch/hc/src/common/up_unblocktask.c | 159 | ||||
-rwxr-xr-x | nuttx/arch/hc/src/m9s12/Make.defs | 9 |
5 files changed, 418 insertions, 9 deletions
diff --git a/nuttx/arch/hc/src/common/up_blocktask.c b/nuttx/arch/hc/src/common/up_blocktask.c new file mode 100755 index 000000000..3bb0d1d32 --- /dev/null +++ b/nuttx/arch/hc/src/common/up_blocktask.c @@ -0,0 +1,167 @@ +/**************************************************************************** + * arch/hc/src/common/up_blocktask.c + * + * Copyright (C) 2010 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <spudmonkey@racsa.co.cr> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <stdbool.h> +#include <sched.h> +#include <debug.h> + +#include <nuttx/arch.h> + +#include "os_internal.h" +#include "up_internal.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: up_block_task + * + * Description: + * The currently executing task at the head of + * the ready to run list must be stopped. Save its context + * and move it to the inactive list specified by task_state. + * + * Inputs: + * tcb: Refers to a task in the ready-to-run list (normally + * the task at the head of the list). It most be + * stopped, its context saved and moved into one of the + * waiting task lists. It it was the task at the head + * of the ready-to-run list, then a context to the new + * ready to run task must be performed. + * task_state: Specifies which waiting task list should be + * hold the blocked task TCB. + * + ****************************************************************************/ + +void up_block_task(_TCB *tcb, tstate_t task_state) +{ + /* Verify that the context switch can be performed */ + + if ((tcb->task_state < FIRST_READY_TO_RUN_STATE) || + (tcb->task_state > LAST_READY_TO_RUN_STATE)) + { + PANIC(OSERR_BADBLOCKSTATE); + } + else + { + _TCB *rtcb = (_TCB*)g_readytorun.head; + bool switch_needed; + + /* Remove the tcb task from the ready-to-run list. If we + * are blocking the task at the head of the task list (the + * most likely case), then a context switch to the next + * ready-to-run task is needed. In this case, it should + * also be true that rtcb == tcb. + */ + + switch_needed = sched_removereadytorun(tcb); + + /* Add the task to the specified blocked task list */ + + sched_addblocked(tcb, (tstate_t)task_state); + + /* If there are any pending tasks, then add them to the g_readytorun + * task list now + */ + + if (g_pendingtasks.head) + { + switch_needed |= sched_mergepending(); + } + + /* Now, perform the context switch if one is needed */ + + if (switch_needed) + { + /* Are we in an interrupt handler? */ + + if (current_regs) + { + /* Yes, then we have to do things differently. + * Just copy the current_regs into the OLD rtcb. + */ + + up_savestate(rtcb->xcp.regs); + + /* Restore the exception context of the rtcb at the (new) head + * of the g_readytorun task list. + */ + + rtcb = (_TCB*)g_readytorun.head; + + /* Then switch contexts */ + + up_restorestate(rtcb->xcp.regs); + } + + /* Copy the user C context into the TCB at the (old) head of the + * g_readytorun Task list. if up_saveusercontext returns a non-zero + * value, then this is really the previously running task restarting! + */ + + else if (!up_saveusercontext(rtcb->xcp.regs)) + { + /* Restore the exception context of the rtcb at the (new) head + * of the g_readytorun task list. + */ + + rtcb = (_TCB*)g_readytorun.head; + + /* Then switch contexts */ + + up_fullcontextrestore(rtcb->xcp.regs); + } + } + } +} diff --git a/nuttx/arch/hc/src/common/up_copystate.c b/nuttx/arch/hc/src/common/up_copystate.c new file mode 100644 index 000000000..0858872df --- /dev/null +++ b/nuttx/arch/hc/src/common/up_copystate.c @@ -0,0 +1,82 @@ +/**************************************************************************** + * arch/hc/src/common/up_copystate.c + * + * Copyright (C) 2011 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <spudmonkey@racsa.co.cr> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <stdint.h> + +#include "os_internal.h" +#include "up_internal.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: up_undefinedinsn + ****************************************************************************/ + +/* A little faster than most memcpy's */ + +void up_copystate(uint8_t *dest, uint8_t *src) +{ + int i; + + /* In the current ARM model, the state is always copied to and from the + * stack and TCB. + */ + + for (i = 0; i < XCPTCONTEXT_REGS; i++) + { + *dest++ = *src++; + } +} + diff --git a/nuttx/arch/hc/src/common/up_internal.h b/nuttx/arch/hc/src/common/up_internal.h index b32087312..8879eee57 100755 --- a/nuttx/arch/hc/src/common/up_internal.h +++ b/nuttx/arch/hc/src/common/up_internal.h @@ -130,12 +130,12 @@ extern void up_boot(void); /* Context switching functions */ -extern void up_copystate(uint32_t *dest, uint32_t *src); -extern void up_decodeirq(uint32_t *regs); +extern void up_copystate(uint8_t *dest, uint8_t *src); +extern void up_decodeirq(uint8_t *regs); extern void up_irqinitialize(void); -extern int up_saveusercontext(uint32_t *saveregs); -extern void up_fullcontextrestore(uint32_t *restoreregs) __attribute__ ((noreturn)); -extern void up_switchcontext(uint32_t *saveregs, uint32_t *restoreregs); +extern int up_saveusercontext(uint8_t *saveregs); +extern void up_fullcontextrestore(uint8_t *restoreregs) __attribute__ ((noreturn)); +extern void up_switchcontext(uint8_t *saveregs, uint8_t *restoreregs); /* Interrupt handling */ diff --git a/nuttx/arch/hc/src/common/up_unblocktask.c b/nuttx/arch/hc/src/common/up_unblocktask.c new file mode 100755 index 000000000..0883a1661 --- /dev/null +++ b/nuttx/arch/hc/src/common/up_unblocktask.c @@ -0,0 +1,159 @@ +/**************************************************************************** + * arch/hc/src/common/up_unblocktask.c + * + * Copyright (C) 2011 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <spudmonkey@racsa.co.cr> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <sched.h> +#include <debug.h> +#include <nuttx/arch.h> + +#include "os_internal.h" +#include "clock_internal.h" +#include "up_internal.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: up_unblock_task + * + * Description: + * A task is currently in an inactive task list + * but has been prepped to execute. Move the TCB to the + * ready-to-run list, restore its context, and start execution. + * + * Inputs: + * tcb: Refers to the tcb to be unblocked. This tcb is + * in one of the waiting tasks lists. It must be moved to + * the ready-to-run list and, if it is the highest priority + * ready to run taks, executed. + * + ****************************************************************************/ + +void up_unblock_task(_TCB *tcb) +{ + /* Verify that the context switch can be performed */ + + if ((tcb->task_state < FIRST_BLOCKED_STATE) || + (tcb->task_state > LAST_BLOCKED_STATE)) + { + PANIC(OSERR_BADUNBLOCKSTATE); + } + else + { + _TCB *rtcb = (_TCB*)g_readytorun.head; + + /* Remove the task from the blocked task list */ + + sched_removeblocked(tcb); + + /* Reset its timeslice. This is only meaningful for round + * robin tasks but it doesn't here to do it for everything + */ + +#if CONFIG_RR_INTERVAL > 0 + tcb->timeslice = CONFIG_RR_INTERVAL / MSEC_PER_TICK; +#endif + + /* Add the task in the correct location in the prioritized + * g_readytorun task list + */ + + if (sched_addreadytorun(tcb)) + { + /* The currently active task has changed! We need to do + * a context switch to the new task. + * + * Are we in an interrupt handler? + */ + + if (current_regs) + { + /* Yes, then we have to do things differently. + * Just copy the current_regs into the OLD rtcb. + */ + + up_savestate(rtcb->xcp.regs); + + /* Restore the exception context of the rtcb at the (new) head + * of the g_readytorun task list. + */ + + rtcb = (_TCB*)g_readytorun.head; + + /* Then switch contexts */ + + up_restorestate(rtcb->xcp.regs); + } + + /* We are not in an interrupt handler. Copy the user C context + * into the TCB of the task that was previously active. if + * up_saveusercontext returns a non-zero value, then this is really the + * previously running task restarting! + */ + + else if (!up_saveusercontext(rtcb->xcp.regs)) + { + /* Restore the exception context of the new task that is ready to + * run (probably tcb). This is the new rtcb at the head of the + * g_readytorun task list. + */ + + rtcb = (_TCB*)g_readytorun.head; + + /* Then switch contexts */ + + up_fullcontextrestore(rtcb->xcp.regs); + } + } + } +} diff --git a/nuttx/arch/hc/src/m9s12/Make.defs b/nuttx/arch/hc/src/m9s12/Make.defs index d5fb1daa5..03ba7c496 100755 --- a/nuttx/arch/hc/src/m9s12/Make.defs +++ b/nuttx/arch/hc/src/m9s12/Make.defs @@ -36,10 +36,11 @@ HEAD_ASRC = m9s12_vectors.S CMN_ASRCS = -CMN_CSRCS = up_allocateheap.c up_createstack.c up_doirq.c up_idle.c up_initialize.c \ - up_interruptcontext.c up_mdelay.c up_modifyreg16.c \ - up_modifyreg32.c up_modifyreg8.c up_puts.c up_releasestack.c \ - up_udelay.c up_usestack.c +CMN_CSRCS = up_allocateheap.c up_blocktask.c up_copystate.c up_createstack.c \ + up_doirq.c up_idle.c up_initialize.c up_interruptcontext.c \ + up_mdelay.c up_modifyreg16.c up_modifyreg32.c up_modifyreg8.c \ + up_puts.c up_releasestack.c up_udelay.c up_unblocktask.c \ + up_usestack.c CHIP_ASRCS = m9s12_start.S m9s12_lowputc.S m9s12_saveusercontext.S CHIP_CSRCS = m9s12_assert.c m9s12_serial.c m9s12_irq.c |