/**************************************************************************** * sched/os_internal.h * * Copyright (C) 2007-2009 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * 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 __OS_INTERNAL_H #define __OS_INTERNAL_H /**************************************************************************** * Included Files ****************************************************************************/ #include #include #include /**************************************************************************** * Definitions ****************************************************************************/ /* OS CRASH CODES */ 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_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 /* 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 */ boolean 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 currenly 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 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 ****************************************************************************/ extern void task_start(void); extern STATUS task_schedsetup(FAR _TCB *tcb, int priority, start_t start, main_t main); extern STATUS task_argsetup(FAR _TCB *tcb, const char *name, const char *argv[]); extern STATUS task_deletecurrent(void); extern boolean sched_addreadytorun(FAR _TCB *rtrtcb); extern boolean sched_removereadytorun(FAR _TCB *rtrtcb); extern boolean sched_addprioritized(FAR _TCB *newTcb, DSEG dq_queue_t *list); extern boolean sched_mergepending(void); extern void sched_addblocked(FAR _TCB *btcb, tstate_t task_state); extern void sched_removeblocked(FAR _TCB *btcb); extern int sched_setpriority(FAR _TCB *tcb, int sched_priority); #ifdef CONFIG_PRIORITY_INHERITANCE extern int sched_reprioritize(FAR _TCB *tcb, int sched_priority); #else # define sched_reprioritize(tcb,sched_priority) sched_setpriority(tcb,sched_priority) #endif extern FAR _TCB *sched_gettcb(pid_t pid); extern boolean sched_verifytcb(FAR _TCB *tcb); #if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0 extern int sched_setupidlefiles(FAR _TCB *tcb); extern int sched_setuptaskfiles(FAR _TCB *tcb); extern int sched_setuppthreadfiles(FAR _TCB *tcb); #if CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NFILE_STREAMS > 0 extern int sched_setupstreams(FAR _TCB *tcb); extern int sched_flushfiles(FAR _TCB *tcb); #endif extern int sched_releasefiles(FAR _TCB *tcb); #endif extern int sched_releasetcb(FAR _TCB *tcb); #endif /* __OS_INTERNAL_H */