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Diffstat (limited to 'nuttx/sched/os_internal.h')
| -rw-r--r-- | nuttx/sched/os_internal.h | 306 |
1 files changed, 306 insertions, 0 deletions
diff --git a/nuttx/sched/os_internal.h b/nuttx/sched/os_internal.h new file mode 100644 index 000000000..13b8083cf --- /dev/null +++ b/nuttx/sched/os_internal.h @@ -0,0 +1,306 @@ +/**************************************************************************** + * sched/os_internal.h + * + * Copyright (C) 2007-2012 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <gnutt@nuttx.org> + * + * 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. + * + ****************************************************************************/ + +#ifndef __SCHED_OS_INTERNAL_H +#define __SCHED_OS_INTERNAL_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdbool.h> +#include <queue.h> +#include <sched.h> + +#include <nuttx/kmalloc.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* OS CRASH CODES: All must lie in the range 0-99 */ + +enum os_crash_codes_e +{ + OSERR_NOERROR = 0, /* No error */ + OSERR_NOTIMPLEMENTED, /* Feature is not implemented */ + OSERR_INTERNAL, /* Internal logic error */ + OSERR_UNEXPECTEDISR, /* Received unexpected interrupt */ + OSERR_UNDEFINEDINSN, /* Undefined instruction */ + OSERR_ERREXCEPTION, /* Other CPU-detected errors */ + OSERR_OUTOFMEMORY, /* Insufficient memory */ + OSERR_OUTOFMESSAGES, /* Out of messages */ + OSERR_NOIDLETASK, /* There is no idle task */ + OSERR_MQNONEMPTYCOUNT, /* Expected waiter for non-empty queue */ + OSERR_MQNOTFULLCOUNT, /* Expected waiter for non-full queue */ + OSERR_MQNOWAITER, /* Expected a queue for the waiter */ + OSERR_BADWAITSEM, /* Already waiting for a semaphore */ + OSERR_BADMSGTYPE, /* Tried to free a bad message type */ + OSERR_FAILEDTOADDSIGNAL, /* Failed to add pending signal */ + OSERR_FAILEDTOREMOVESIGNAL, /* Failed to remove pending signal */ + OSERR_TIMEOUTNOTCB, /* Timed out, but not TCB registered */ + OSERR_NOPENDINGSIGNAL, /* Expected a signal to be pending */ + OSERR_BADDELETESTATE, /* Bad state in task deletion */ + OSERR_WDOGNOTFOUND, /* Active watchdog not found */ + OSERR_EXITFROMINTERRUPT, /* Interrupt code attempted to exit */ + OSERR_BADUNBLOCKSTATE, /* Attempt to unblock from bad state */ + OSERR_BADBLOCKSTATE, /* Attempt to block from bad state */ + OSERR_BADREPRIORITIZESTATE /* Attempt to reprioritize in bad state or priority */ +}; + +/* Special task IDS */ + +#define NULL_TASK_PROCESS_ID 0 +#define INVALID_PROCESS_ID 0 + +/* Although task IDs can take the (positive, non-zero) + * range of pid_t, the number of tasks that will be supported + * at any one time is (artificially) limited by the CONFIG_MAX_TASKS + * configuration setting. Limiting the number of tasks speeds certain + * OS functions (this is the only limitation in the number of + * tasks built into the design). + */ + +#define MAX_TASKS_MASK (CONFIG_MAX_TASKS-1) +#define PIDHASH(pid) ((pid) & MAX_TASKS_MASK) + +/* Stubs used when there are no file descriptors */ + +#if CONFIG_NFILE_DESCRIPTORS <= 0 && CONFIG_NSOCKET_DESCRIPTORS <= 0 +# define sched_setupidlefiles(t) (OK) +# define sched_setuptaskfiles(t) (OK) +# define sched_setuppthreadfiles(t) (OK) +# define sched_releasefiles(t) (OK) +#endif + +/* One processor family supported by NuttX has a single, fixed hardware stack. + * That is the 8051 family. So for that family only, there is a variant form + * of kernel_thread() that does not take a stack size parameter. The following + * helper macro is provided to work around the ugliness of that exception. + */ + +#ifndef CONFIG_CUSTOM_STACK +# define KERNEL_THREAD(n,p,s,e,a) kernel_thread(n,p,s,e,a) +#else +# define KERNEL_THREAD(n,p,s,e,a) kernel_thread(n,p,e,a) +#endif + +/* A more efficient ways to access the errno */ + +#define SET_ERRNO(e) \ + { _TCB *rtcb = _TCB*)g_readytorun.head; rtcb->pterrno = (e); } + +#define _SET_TCB_ERRNO(t,e) \ + { (t)->pterrno = (e); } + +/**************************************************************************** + * Public Type Definitions + ****************************************************************************/ + +/* This structure defines the format of the hash table that + * is used to (1) determine if a task ID is unique, and (2) + * to map a process ID to its corresponding TCB. + */ + +struct pidhash_s +{ + FAR _TCB *tcb; + pid_t pid; +}; + +typedef struct pidhash_s pidhash_t; + +/* This structure defines an element of the g_tasklisttable[]. + * This table is used to map a task_state enumeration to the + * corresponding task list. + */ + +struct tasklist_s +{ + DSEG volatile dq_queue_t *list; /* Pointer to the task list */ + bool prioritized; /* true if the list is prioritized */ +}; + +typedef struct tasklist_s tasklist_t; + +/**************************************************************************** + * Global Variables + ****************************************************************************/ + +/* Declared in os_start.c ***************************************************/ + +/* The state of a task is indicated both by the task_state field of the TCB + * and by a series of task lists. All of these tasks lists are declared + * below. Although it is not always necessary, most of these lists are + * prioritized so that common list handling logic can be used (only the + * g_readytorun, the g_pendingtasks, and the g_waitingforsemaphore lists need + * to be prioritized). + */ + +/* This is the list of all tasks that are ready to run. The head of this + * list is the currently active task; the tail of this list is always the + * IDLE task. + */ + +extern volatile dq_queue_t g_readytorun; + +/* This is the list of all tasks that are ready-to-run, but cannot be placed + * in the g_readytorun list because: (1) They are higher priority than the + * currently active task at the head of the g_readytorun list, and (2) the + * currently active task has disabled pre-emption. + */ + +extern volatile dq_queue_t g_pendingtasks; + +/* This is the list of all tasks that are blocked waiting for a semaphore */ + +extern volatile dq_queue_t g_waitingforsemaphore; + +/* This is the list of all tasks that are blocked waiting for a signal */ + +#ifndef CONFIG_DISABLE_SIGNALS +extern volatile dq_queue_t g_waitingforsignal; +#endif + +/* This is the list of all tasks that are blocked waiting for a message + * queue to become non-empty. + */ + +#ifndef CONFIG_DISABLE_MQUEUE +extern volatile dq_queue_t g_waitingformqnotempty; +#endif + +/* This is the list of all tasks that are blocked waiting for a message + * queue to become non-full. + */ + +#ifndef CONFIG_DISABLE_MQUEUE +extern volatile dq_queue_t g_waitingformqnotfull; +#endif + +/* This is the list of all tasks that are blocking waiting for a page fill */ + +#ifdef CONFIG_PAGING +extern volatile dq_queue_t g_waitingforfill; +#endif + +/* This the list of all tasks that have been initialized, but not yet + * activated. NOTE: This is the only list that is not prioritized. + */ + +extern volatile dq_queue_t g_inactivetasks; + +/* This is the list of dayed memory deallocations that need to be handled + * within the IDLE loop. These deallocations get queued by sched_free() + * if the OS attempts to deallocate memory while it is within an interrupt + * handler. + */ + +extern volatile sq_queue_t g_delayeddeallocations; + +/* This is the value of the last process ID assigned to a task */ + +extern volatile pid_t g_lastpid; + +/* The following hash table is used for two things: + * + * 1. This hash table greatly speeds the determination of a new unique + * process ID for a task, and + * 2. Is used to quickly map a process ID into a TCB. + * + * It has the side effects of using more memory and limiting the number + * of tasks to CONFIG_MAX_TASKS. + */ + +extern pidhash_t g_pidhash[CONFIG_MAX_TASKS]; + +/* This is a table of task lists. This table is indexed by the task state + * enumeration type (tstate_t) and provides a pointer to the associated + * static task list (if there is one) as well as a boolean indication as to + * if the list is an ordered list or not. + */ + +extern const tasklist_t g_tasklisttable[NUM_TASK_STATES]; + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +int os_bringup(void); +void task_start(void); +int task_schedsetup(FAR _TCB *tcb, int priority, start_t start, + main_t main); +int task_argsetup(FAR _TCB *tcb, FAR const char *name, FAR const char *argv[]); +void task_exithook(FAR _TCB *tcb, int status); +int task_deletecurrent(void); +#ifndef CONFIG_CUSTOM_STACK +int kernel_thread(FAR const char *name, int priority, int stack_size, + main_t entry, FAR const char *argv[]); +#else +int kernel_thread(FAR const char *name, int priority, main_t entry, + FAR const char *argv[]); +#endif +bool sched_addreadytorun(FAR _TCB *rtrtcb); +bool sched_removereadytorun(FAR _TCB *rtrtcb); +bool sched_addprioritized(FAR _TCB *newTcb, DSEG dq_queue_t *list); +bool sched_mergepending(void); +void sched_addblocked(FAR _TCB *btcb, tstate_t task_state); +void sched_removeblocked(FAR _TCB *btcb); +int sched_setpriority(FAR _TCB *tcb, int sched_priority); +#ifdef CONFIG_PRIORITY_INHERITANCE +int sched_reprioritize(FAR _TCB *tcb, int sched_priority); +#else +# define sched_reprioritize(tcb,sched_priority) sched_setpriority(tcb,sched_priority) +#endif +FAR _TCB *sched_gettcb(pid_t pid); +bool sched_verifytcb(FAR _TCB *tcb); + +#if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0 +int sched_setupidlefiles(FAR _TCB *tcb); +int sched_setuptaskfiles(FAR _TCB *tcb); +int sched_setuppthreadfiles(FAR _TCB *tcb); +#if CONFIG_NFILE_STREAMS > 0 +int sched_setupstreams(FAR _TCB *tcb); +#endif +int sched_releasefiles(FAR _TCB *tcb); +#endif + +int sched_releasetcb(FAR _TCB *tcb); +void sched_garbagecollection(void); + +#endif /* __SCHED_OS_INTERNAL_H */ |