arch: inline up_switch_context,in arm arm64

reason:
when a context switch occurs, up_switch_context is executed.
In order to reduce the time taken for context switching,
we inline the up_switch_context function.

Signed-off-by: hujun5 <hujun5@xiaomi.com>

arch/arm/include/irq.h

@@ -32,6 +32,7 @@
 #include <sys/types.h>
 #ifndef __ASSEMBLY__
 #  include <stdbool.h>
+#  include <arch/syscall.h>
 #endif
 
 /****************************************************************************
@@ -76,6 +77,17 @@
 
 #ifndef __ASSEMBLY__
 
+#ifndef up_switch_context
+#define up_switch_context(tcb, rtcb)                              \
+  do {                                                            \
+    if (!up_interrupt_context())                                  \
+      {                                                           \
+        sys_call2(SYS_switch_context, (uintptr_t)&rtcb->xcp.regs, \
+                  (uintptr_t)tcb->xcp.regs);                      \
+      }                                                           \
+  } while (0)
+#endif
+
 #ifdef __cplusplus
 #define EXTERN extern "C"
 extern "C"

arch/arm/include/tlsr82/irq.h

@@ -312,6 +312,14 @@ static inline_function bool up_interrupt_context(void)
   return ret;
 }
 
+#define up_switch_context(tcb, rtcb)                        \
+  do {                                                      \
+    if (!up_interrupt_context())                            \
+      {                                                     \
+        tc32_switchcontext(&rtcb->xcp.regs, tcb->xcp.regs); \
+      }                                                     \
+  } while (0)
+
 /****************************************************************************
  * Public Function Prototypes
  ****************************************************************************/

arch/arm/src/common/CMakeLists.txt

@@ -38,7 +38,6 @@ set(SRCS
     arm_releasestack.c
     arm_registerdump.c
     arm_stackframe.c
-    arm_switchcontext.c
     arm_usestack.c
     arm_fork.c
     ${ARCH_TOOLCHAIN_PATH}/fork.S)

arch/arm/src/common/Make.defs

@@ -24,7 +24,7 @@ CMN_CSRCS += arm_allocateheap.c arm_createstack.c arm_exit.c
 CMN_CSRCS += arm_getintstack.c arm_initialize.c arm_lowputs.c
 CMN_CSRCS += arm_modifyreg8.c arm_modifyreg16.c arm_modifyreg32.c
 CMN_CSRCS += arm_nputs.c arm_releasestack.c arm_registerdump.c
-CMN_CSRCS += arm_stackframe.c arm_switchcontext.c
+CMN_CSRCS += arm_stackframe.c
 CMN_CSRCS += arm_usestack.c arm_fork.c
 
 ifneq ($(CONFIG_ALARM_ARCH),y)

arch/arm/src/common/arm_internal.h

@@ -153,14 +153,6 @@
 extern void arm_fullcontextrestore(uint32_t *restoreregs);
 #endif
 
-#ifndef arm_switchcontext
-#  define arm_switchcontext(saveregs, restoreregs) \
-    sys_call2(SYS_switch_context, (uintptr_t)saveregs, (uintptr_t)restoreregs);
-#else
-extern void arm_switchcontext(uint32_t **saveregs,
-                              uint32_t *restoreregs);
-#endif
-
 /* Redefine the linker symbols as armlink style */
 
 #ifdef CONFIG_ARM_TOOLCHAIN_ARMCLANG

arch/arm/src/common/arm_switchcontext.c

@@ -1,74 +0,0 @@
-/****************************************************************************
- * arch/arm/src/common/arm_switchcontext.c
- *
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements.  See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership.  The
- * ASF licenses this file to you under the Apache License, Version 2.0 (the
- * "License"); you may not use this file except in compliance with the
- * License.  You may obtain a copy of the License at
- *
- *   http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
- * License for the specific language governing permissions and limitations
- * under the License.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <sched.h>
-#include <assert.h>
-#include <debug.h>
-#include <nuttx/arch.h>
-#include <nuttx/sched.h>
-
-#include "sched/sched.h"
-#include "group/group.h"
-#include "clock/clock.h"
-#include "arm_internal.h"
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: up_switch_context
- *
- * Description:
- *   A task is currently in the ready-to-run list but has been prepped
- *   to execute. Restore its context, and start execution.
- *
- * Input Parameters:
- *   tcb: Refers to the head task of the ready-to-run list
- *     which will be executed.
- *   rtcb: Refers to the running task which will be blocked.
- *
- ****************************************************************************/
-
-void up_switch_context(struct tcb_s *tcb, struct tcb_s *rtcb)
-{
-  /* Are we in an interrupt handler? */
-
-  if (!up_interrupt_context())
-    {
-      /* Switch context to the context of the task at the head of the
-       * ready to run list.
-       */
-
-      arm_switchcontext(&rtcb->xcp.regs, tcb->xcp.regs);
-
-      /* arm_switchcontext forces a context switch to the task at the
-       * head of the ready-to-run list.  It does not 'return' in the
-       * normal sense.  When it does return, it is because the blocked
-       * task is again ready to run and has execution priority.
-       */
-    }
-}

arch/arm/src/tlsr82/Make.defs

@@ -66,4 +66,3 @@ ifeq ($(CONFIG_TLSR82_SOFT_FPU),y)
 endif
 
 CFLAGS += -Darm_fullcontextrestore=tc32_fullcontextrestore
-CFLAGS += -Darm_switchcontext=tc32_switchcontext

arch/arm64/include/irq.h

@@ -34,6 +34,7 @@
 
 #ifndef __ASSEMBLY__
 #  include <stdint.h>
+#  include <arch/syscall.h>
 #endif
 
 /* Include NuttX-specific IRQ definitions */
@@ -423,6 +424,15 @@ static inline_function void up_set_current_regs(uint64_t *regs)
   __asm__ volatile ("msr " "tpidr_el1" ", %0" : : "r" (regs));
 }
 
+#define up_switch_context(tcb, rtcb)                              \
+  do {                                                            \
+    if (!up_interrupt_context())                                  \
+      {                                                           \
+        sys_call2(SYS_switch_context, (uintptr_t)&rtcb->xcp.regs, \
+                  (uintptr_t)tcb->xcp.regs);                      \
+      }                                                           \
+  } while (0)
+
 /****************************************************************************
  * Name: up_interrupt_context
  *

arch/arm64/src/common/CMakeLists.txt

@@ -29,7 +29,7 @@ list(APPEND SRCS arm64_fork_func.S)
 list(APPEND SRCS arm64_initialize.c arm64_initialstate.c arm64_boot.c)
 list(APPEND SRCS arm64_nputs.c arm64_copystate.c arm64_createstack.c)
 list(APPEND SRCS arm64_releasestack.c arm64_stackframe.c arm64_usestack.c)
-list(APPEND SRCS arm64_exit.c arm64_fork.c arm64_switchcontext.c)
+list(APPEND SRCS arm64_exit.c arm64_fork.c)
 list(APPEND SRCS arm64_schedulesigaction.c arm64_sigdeliver.c)
 list(APPEND SRCS arm64_getintstack.c arm64_registerdump.c)
 list(APPEND SRCS arm64_perf.c arm64_tcbinfo.c)

arch/arm64/src/common/Make.defs

@@ -41,7 +41,7 @@ CMN_ASRCS += arm64_fork_func.S
 CMN_CSRCS =  arm64_initialize.c arm64_initialstate.c arm64_boot.c
 CMN_CSRCS += arm64_nputs.c arm64_copystate.c arm64_createstack.c
 CMN_CSRCS += arm64_releasestack.c arm64_stackframe.c arm64_usestack.c
-CMN_CSRCS += arm64_exit.c arm64_fork.c arm64_switchcontext.c
+CMN_CSRCS += arm64_exit.c arm64_fork.c
 CMN_CSRCS += arm64_schedulesigaction.c arm64_sigdeliver.c
 CMN_CSRCS += arm64_getintstack.c arm64_registerdump.c
 CMN_CSRCS += arm64_perf.c arm64_tcbinfo.c

arch/arm64/src/common/arm64_internal.h

@@ -119,9 +119,6 @@
     } \
   while (1)
 
-#define arm64_switchcontext(saveregs, restoreregs) \
-  sys_call2(SYS_switch_context, (uintptr_t)saveregs, (uintptr_t)restoreregs)
-
 /****************************************************************************
  * Public Types
  ****************************************************************************/

arch/arm64/src/common/arm64_switchcontext.c

@@ -1,74 +0,0 @@
-/****************************************************************************
- * arch/arm64/src/common/arm64_switchcontext.c
- *
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements.  See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership.  The
- * ASF licenses this file to you under the Apache License, Version 2.0 (the
- * "License"); you may not use this file except in compliance with the
- * License.  You may obtain a copy of the License at
- *
- *   http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
- * License for the specific language governing permissions and limitations
- * under the License.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <sched.h>
-#include <assert.h>
-#include <debug.h>
-#include <nuttx/arch.h>
-#include <nuttx/sched.h>
-
-#include "sched/sched.h"
-#include "group/group.h"
-#include "clock/clock.h"
-#include "arm64_internal.h"
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: up_switch_context
- *
- * Description:
- *   A task is currently in the ready-to-run list but has been prepped
- *   to execute. Restore its context, and start execution.
- *
- * Input Parameters:
- *   tcb: Refers to the head task of the ready-to-run list
- *     which will be executed.
- *   rtcb: Refers to the running task which will be blocked.
- *
- ****************************************************************************/
-
-void up_switch_context(struct tcb_s *tcb, struct tcb_s *rtcb)
-{
-  /* Are we in an interrupt handler? */
-
-  if (!up_interrupt_context())
-    {
-      /* Switch context to the context of the task at the head of the
-       * ready to run list.
-       */
-
-      arm64_switchcontext(&rtcb->xcp.regs, tcb->xcp.regs);
-
-      /* arm_switchcontext forces a context switch to the task at the
-       * head of the ready-to-run list.  It does not 'return' in the
-       * normal sense.  When it does return, it is because the blocked
-       * task is again ready to run and has execution priority.
-       */
-    }
-}

include/nuttx/arch.h

@@ -439,7 +439,9 @@ void up_release_stack(FAR struct tcb_s *dtcb, uint8_t ttype);
  *
  ****************************************************************************/
 
+#ifndef up_switch_context
 void up_switch_context(FAR struct tcb_s *tcb, FAR struct tcb_s *rtcb);
+#endif
 
 /****************************************************************************
  * Name: up_exit