mirror of
https://github.com/apache/nuttx.git
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More PIC32 context switching logic
git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@3625 42af7a65-404d-4744-a932-0658087f49c3
This commit is contained in:
patacongo
@@ -316,6 +316,13 @@ struct xcptcontext
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#ifndef CONFIG_DISABLE_SIGNALS
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void *sigdeliver; /* Actual type is sig_deliver_t */
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/* These additional register save locations are used to implement the
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* signal delivery trampoline.
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*/
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uint32_t saved_epc; /* Trampoline PC */
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uint32_t saved_status; /* Status with interrupts disabled. */
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#endif
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/* Register save area */
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@@ -1,5 +1,5 @@
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/****************************************************************************
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* arch/mips/src/arm/up_assert.c
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* arch/mips/src/mips32/up_assert.c
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*
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* Copyright (C) 2011 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
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@@ -1,5 +1,5 @@
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/****************************************************************************
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* arch/mips/src/arm/up_dumpstate.c
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* arch/mips/src/mips32/up_dumpstate.c
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*
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* Copyright (C) 2011 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
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@@ -1,7 +1,7 @@
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/****************************************************************************
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* arch/arm/src/cortexm3/up_initialstate.c
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* arch/mips/src/mips32/up_initialstate.c
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*
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* Copyright (C) 2009 Gregory Nutt. All rights reserved.
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* Copyright (C) 2011 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
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*
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* Redistribution and use in source and binary forms, with or without
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Executable
+130
@@ -0,0 +1,130 @@
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/****************************************************************************
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* arch/mips/src/mips32/up_releasepending.c
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*
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* Copyright (C) 2011 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
|
||||
* are met:
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||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
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||||
* 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.
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* 3. Neither the name NuttX nor the names of its contributors may be
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||||
* used to endorse or promote products derived from this software
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||||
* without specific prior written permission.
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||||
*
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||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sched.h>
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#include <debug.h>
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#include <nuttx/arch.h>
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#include "os_internal.h"
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#include "up_internal.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: up_release_pending
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*
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* Description:
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* Release and ready-to-run tasks that have
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* collected in the pending task list. This can call a
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* context switch if a new task is placed at the head of
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* the ready to run list.
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*
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****************************************************************************/
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void up_release_pending(void)
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{
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_TCB *rtcb = (_TCB*)g_readytorun.head;
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slldbg("From TCB=%p\n", rtcb);
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/* Merge the g_pendingtasks list into the g_readytorun task list */
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/* sched_lock(); */
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if (sched_mergepending())
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{
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/* The currently active task has changed! We will need to
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* switch contexts. First check if we are operating in
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* interrupt context:
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*/
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if (current_regs)
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{
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/* Yes, then we have to do things differently.
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* Just copy the current_regs into the OLD rtcb.
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*/
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up_savestate(rtcb->xcp.regs);
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/* Restore the exception context of the rtcb at the (new) head
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* of the g_readytorun task list.
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*/
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rtcb = (_TCB*)g_readytorun.head;
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slldbg("New Active Task TCB=%p\n", rtcb);
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/* Then switch contexts */
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up_restorestate(rtcb->xcp.regs);
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}
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/* No, then we will need to perform the user context switch */
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else
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{
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/* Switch context to the context of the task at the head of the
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* ready to run list.
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*/
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_TCB *nexttcb = (_TCB*)g_readytorun.head;
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up_switchcontext(rtcb->xcp.regs, nexttcb->xcp.regs);
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/* up_switchcontext forces a context switch to the task at the
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* head of the ready-to-run list. It does not 'return' in the
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* normal sense. When it does return, it is because the blocked
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* task is again ready to run and has execution priority.
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*/
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}
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}
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}
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Executable
+182
@@ -0,0 +1,182 @@
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/****************************************************************************
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* arch/mips/src/mips32/up_reprioritizertr.c
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*
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* Copyright (C) 2010 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
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* are met:
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||||
*
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||||
* 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.
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||||
*
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||||
****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <sched.h>
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#include <debug.h>
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#include <nuttx/arch.h>
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#include "os_internal.h"
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#include "up_internal.h"
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/****************************************************************************
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* Pre-processor Definitions
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||||
****************************************************************************/
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||||
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/****************************************************************************
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* Private Data
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||||
****************************************************************************/
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||||
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/****************************************************************************
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* Private Functions
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||||
****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: up_reprioritize_rtr
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*
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* Description:
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* Called when the priority of a running or
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* ready-to-run task changes and the reprioritization will
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* cause a context switch. Two cases:
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*
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* 1) The priority of the currently running task drops and the next
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* task in the ready to run list has priority.
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* 2) An idle, ready to run task's priority has been raised above the
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* the priority of the current, running task and it now has the
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* priority.
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*
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* Inputs:
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* tcb: The TCB of the task that has been reprioritized
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* priority: The new task priority
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*
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****************************************************************************/
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void up_reprioritize_rtr(_TCB *tcb, uint8_t priority)
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{
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/* Verify that the caller is sane */
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if (tcb->task_state < FIRST_READY_TO_RUN_STATE ||
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tcb->task_state > LAST_READY_TO_RUN_STATE ||
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priority < SCHED_PRIORITY_MIN ||
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priority > SCHED_PRIORITY_MAX)
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{
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PANIC(OSERR_BADREPRIORITIZESTATE);
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}
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else
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{
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_TCB *rtcb = (_TCB*)g_readytorun.head;
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bool switch_needed;
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slldbg("TCB=%p PRI=%d\n", tcb, priority);
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/* Remove the tcb task from the ready-to-run list.
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* sched_removereadytorun will return true if we just
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* remove the head of the ready to run list.
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*/
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switch_needed = sched_removereadytorun(tcb);
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/* Setup up the new task priority */
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tcb->sched_priority = (uint8_t)priority;
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/* Return the task to the specified blocked task list.
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* sched_addreadytorun will return true if the task was
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* added to the new list. We will need to perform a context
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* switch only if the EXCLUSIVE or of the two calls is non-zero
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* (i.e., one and only one the calls changes the head of the
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* ready-to-run list).
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*/
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switch_needed ^= sched_addreadytorun(tcb);
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/* Now, perform the context switch if one is needed */
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if (switch_needed)
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{
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/* If we are going to do a context switch, then now is the right
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* time to add any pending tasks back into the ready-to-run list.
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* task list now
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*/
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if (g_pendingtasks.head)
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{
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sched_mergepending();
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}
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/* Are we in an interrupt handler? */
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if (current_regs)
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{
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/* Yes, then we have to do things differently.
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* Just copy the current_regs into the OLD rtcb.
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*/
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up_savestate(rtcb->xcp.regs);
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/* Restore the exception context of the rtcb at the (new) head
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* of the g_readytorun task list.
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*/
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rtcb = (_TCB*)g_readytorun.head;
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slldbg("New Active Task TCB=%p\n", rtcb);
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/* Then switch contexts */
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up_restorestate(rtcb->xcp.regs);
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}
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/* No, then we will need to perform the user context switch */
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else
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{
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/* Switch context to the context of the task at the head of the
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* ready to run list.
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*/
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_TCB *nexttcb = (_TCB*)g_readytorun.head;
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up_switchcontext(rtcb->xcp.regs, nexttcb->xcp.regs);
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/* up_switchcontext forces a context switch to the task at the
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* head of the ready-to-run list. It does not 'return' in the
|
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* normal sense. When it does return, it is because the blocked
|
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* task is again ready to run and has execution priority.
|
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*/
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}
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}
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}
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}
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@@ -0,0 +1,212 @@
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/****************************************************************************
|
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* arch/mips/src/mips32/up_schedulesigaction.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 <sched.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <arch/mips32/cp0.h>
|
||||
|
||||
#include "os_internal.h"
|
||||
#include "up_internal.h"
|
||||
#include "up_arch.h"
|
||||
|
||||
#ifndef CONFIG_DISABLE_SIGNALS
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: up_schedule_sigaction
|
||||
*
|
||||
* Description:
|
||||
* This function is called by the OS when one or more
|
||||
* signal handling actions have been queued for execution.
|
||||
* The architecture specific code must configure things so
|
||||
* that the 'igdeliver' callback is executed on the thread
|
||||
* specified by 'tcb' as soon as possible.
|
||||
*
|
||||
* This function may be called from interrupt handling logic.
|
||||
*
|
||||
* This operation should not cause the task to be unblocked
|
||||
* nor should it cause any immediate execution of sigdeliver.
|
||||
* Typically, a few cases need to be considered:
|
||||
*
|
||||
* (1) This function may be called from an interrupt handler
|
||||
* During interrupt processing, all xcptcontext structures
|
||||
* should be valid for all tasks. That structure should
|
||||
* be modified to invoke sigdeliver() either on return
|
||||
* from (this) interrupt or on some subsequent context
|
||||
* switch to the recipient task.
|
||||
* (2) If not in an interrupt handler and the tcb is NOT
|
||||
* the currently executing task, then again just modify
|
||||
* the saved xcptcontext structure for the recipient
|
||||
* task so it will invoke sigdeliver when that task is
|
||||
* later resumed.
|
||||
* (3) If not in an interrupt handler and the tcb IS the
|
||||
* currently executing task -- just call the signal
|
||||
* handler now.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void up_schedule_sigaction(_TCB *tcb, sig_deliver_t sigdeliver)
|
||||
{
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||||
uint32_t status;
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||||
|
||||
/* Refuse to handle nested signal actions */
|
||||
|
||||
sdbg("tcb=0x%p sigdeliver=0x%p\n", tcb, sigdeliver);
|
||||
|
||||
if (!tcb->xcp.sigdeliver)
|
||||
{
|
||||
irqstate_t flags;
|
||||
|
||||
/* Make sure that interrupts are disabled */
|
||||
|
||||
flags = irqsave();
|
||||
|
||||
/* First, handle some special cases when the signal is
|
||||
* being delivered to the currently executing task.
|
||||
*/
|
||||
|
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sdbg("rtcb=0x%p current_regs=0x%p\n", g_readytorun.head, current_regs);
|
||||
|
||||
if (tcb == (_TCB*)g_readytorun.head)
|
||||
{
|
||||
/* CASE 1: We are not in an interrupt handler and
|
||||
* a task is signalling itself for some reason.
|
||||
*/
|
||||
|
||||
if (!current_regs)
|
||||
{
|
||||
/* In this case just deliver the signal now. */
|
||||
|
||||
sigdeliver(tcb);
|
||||
}
|
||||
|
||||
/* CASE 2: We are in an interrupt handler AND the
|
||||
* interrupted task is the same as the one that
|
||||
* must receive the signal, then we will have to modify
|
||||
* the return state as well as the state in the TCB.
|
||||
*
|
||||
* Hmmm... there looks like a latent bug here: The following
|
||||
* logic would fail in the strange case where we are in an
|
||||
* interrupt handler, the thread is signalling itself, but
|
||||
* a context switch to another task has occurred so that
|
||||
* current_regs does not refer to the thread at g_readytorun.head!
|
||||
*/
|
||||
|
||||
else
|
||||
{
|
||||
/* Save the return lr and cpsr and one scratch register
|
||||
* These will be restored by the signal trampoline after
|
||||
* the signals have been delivered.
|
||||
*/
|
||||
|
||||
tcb->xcp.sigdeliver = sigdeliver;
|
||||
tcb->xcp.saved_epc = current_regs[REG_EPC];
|
||||
tcb->xcp.saved_status = current_regs[REG_STATUS];
|
||||
|
||||
/* Then set up to vector to the trampoline with interrupts
|
||||
* disabled
|
||||
*/
|
||||
|
||||
current_regs[REG_EPC] = (uint32_t)up_sigdeliver;
|
||||
status = current_regs[REG_STATUS];
|
||||
status &= ~CP0_STATUS_IM_MASK;
|
||||
status |= CP0_STATUS_IM_SWINTS;
|
||||
current_regs[REG_STATUS] = status;
|
||||
|
||||
/* And make sure that the saved context in the TCB
|
||||
* is the same as the interrupt return context.
|
||||
*/
|
||||
|
||||
up_savestate(tcb->xcp.regs);
|
||||
}
|
||||
}
|
||||
|
||||
/* Otherwise, we are (1) signaling a task is not running
|
||||
* from an interrupt handler or (2) we are not in an
|
||||
* interrupt handler and the running task is signalling
|
||||
* some non-running task.
|
||||
*/
|
||||
|
||||
else
|
||||
{
|
||||
/* Save the return lr and cpsr and one scratch register
|
||||
* These will be restored by the signal trampoline after
|
||||
* the signals have been delivered.
|
||||
*/
|
||||
|
||||
tcb->xcp.sigdeliver = sigdeliver;
|
||||
tcb->xcp.saved_epc = tcb->xcp.regs[REG_EPC];
|
||||
tcb->xcp.saved_status = tcb->xcp.regs[REG_STATUS];
|
||||
|
||||
/* Then set up to vector to the trampoline with interrupts
|
||||
* disabled
|
||||
*/
|
||||
|
||||
tcb->xcp.regs[REG_EPC] = (uint32_t)up_sigdeliver;
|
||||
status = current_regs[REG_STATUS];
|
||||
status &= ~CP0_STATUS_IM_MASK;
|
||||
status |= CP0_STATUS_IM_SWINTS;
|
||||
tcb->xcp.regs[REG_STATUS] = status;
|
||||
}
|
||||
|
||||
irqrestore(flags);
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* !CONFIG_DISABLE_SIGNALS */
|
||||
@@ -0,0 +1,141 @@
|
||||
/****************************************************************************
|
||||
* arch/mips/src/mips32/up_sigdeliver.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 <sched.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/irq.h>
|
||||
#include <nuttx/arch.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "os_internal.h"
|
||||
#include "up_internal.h"
|
||||
#include "up_arch.h"
|
||||
|
||||
#ifndef CONFIG_DISABLE_SIGNALS
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: up_sigdeliver
|
||||
*
|
||||
* Description:
|
||||
* This is the a signal handling trampoline. When a signal action was
|
||||
* posted. The task context was mucked with and forced to branch to this
|
||||
* location with interrupts disabled.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void up_sigdeliver(void)
|
||||
{
|
||||
_TCB *rtcb = (_TCB*)g_readytorun.head;
|
||||
uint32_t regs[XCPTCONTEXT_REGS];
|
||||
sig_deliver_t sigdeliver;
|
||||
|
||||
/* Save the errno. This must be preserved throughout the signal handling
|
||||
* so that the user code final gets the correct errno value (probably
|
||||
* EINTR).
|
||||
*/
|
||||
|
||||
int saved_errno = rtcb->pterrno;
|
||||
|
||||
up_ledon(LED_SIGNAL);
|
||||
|
||||
sdbg("rtcb=%p sigdeliver=%p sigpendactionq.head=%p\n",
|
||||
rtcb, rtcb->xcp.sigdeliver, rtcb->sigpendactionq.head);
|
||||
ASSERT(rtcb->xcp.sigdeliver != NULL);
|
||||
|
||||
/* Save the real return state on the stack. */
|
||||
|
||||
up_copystate(regs, rtcb->xcp.regs);
|
||||
regs[REG_EPC] = rtcb->xcp.saved_epc;
|
||||
regs[REG_STATUS] = rtcb->xcp.saved_status;
|
||||
|
||||
/* Get a local copy of the sigdeliver function pointer. We do this so that
|
||||
* we can nullify the sigdeliver function pointer in the TCB and accept
|
||||
* more signal deliveries while processing the current pending signals.
|
||||
*/
|
||||
|
||||
sigdeliver = rtcb->xcp.sigdeliver;
|
||||
rtcb->xcp.sigdeliver = NULL;
|
||||
|
||||
/* Then restore the task interrupt state */
|
||||
|
||||
irqrestore((uint16_t)regs[REG_STATUS]);
|
||||
|
||||
/* Deliver the signals */
|
||||
|
||||
sigdeliver(rtcb);
|
||||
|
||||
/* Output any debug messages BEFORE restoring errno (because they may
|
||||
* alter errno), then disable interrupts again and restore the original
|
||||
* errno that is needed by the user logic (it is probably EINTR).
|
||||
*/
|
||||
|
||||
sdbg("Resuming\n");
|
||||
(void)irqsave();
|
||||
rtcb->pterrno = saved_errno;
|
||||
|
||||
/* Then restore the correct state for this thread of
|
||||
* execution.
|
||||
*/
|
||||
|
||||
up_ledoff(LED_SIGNAL);
|
||||
up_fullcontextrestore(regs);
|
||||
}
|
||||
|
||||
#endif /* !CONFIG_DISABLE_SIGNALS */
|
||||
|
||||
Executable
+157
@@ -0,0 +1,157 @@
|
||||
/****************************************************************************
|
||||
* arch/mips/src/mips32/up_unblocktask.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 <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);
|
||||
}
|
||||
|
||||
/* No, then we will need to perform the user context switch */
|
||||
|
||||
else
|
||||
{
|
||||
/* Switch context to the context of the task at the head of the
|
||||
* ready to run list.
|
||||
*/
|
||||
|
||||
_TCB *nexttcb = (_TCB*)g_readytorun.head;
|
||||
up_switchcontext(rtcb->xcp.regs, nexttcb->xcp.regs);
|
||||
|
||||
/* up_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.
|
||||
*/
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -42,9 +42,10 @@ HEAD_ASRC = pic32mx-head.S
|
||||
CMN_ASRCS =
|
||||
CMN_CSRCS = up_allocateheap.c up_assert.c up_blocktask.c up_copystate.c \
|
||||
up_createstack.c up_doirq.c up_exit.c up_idle.c up_initialize.c \
|
||||
up_initialstate.c up_interruptcontext.c up_irq.c \
|
||||
up_lowputs.c up_mdelay.c up_modifyreg8.c up_modifyreg16.c \
|
||||
up_modifyreg32.c up_puts.c up_releasestack.c up_udelay.c \
|
||||
up_initialstate.c up_interruptcontext.c up_irq.c up_lowputs.c \
|
||||
up_mdelay.c up_modifyreg8.c up_modifyreg16.c up_modifyreg32.c \
|
||||
up_puts.c up_releasepending.c up_releasestack.c up_reprioritizertr.c \
|
||||
up_schedulesigaction.c up_sigdeliver.c up_udelay.c up_unblocktask.c \
|
||||
up_usestack.c
|
||||
|
||||
# Configuration dependent common files
|
||||
|
||||
@@ -309,7 +309,7 @@ CONFIG_HAVE_LIBM=n
|
||||
CONFIG_DEBUG=n
|
||||
CONFIG_DEBUG_VERBOSE=n
|
||||
CONFIG_DEBUG_SYMBOLS=n
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_MM_REGIONS=1
|
||||
CONFIG_ARCH_LOWPUTC=y
|
||||
CONFIG_RR_INTERVAL=200
|
||||
CONFIG_SCHED_INSTRUMENTATION=n
|
||||
|
||||
Reference in New Issue
Block a user