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https://github.com/RIOT-OS/RIOT.git
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cpu/native: restructure CPU
This commit is contained in:
carl
parent
9c96c18566
commit
ccc97b0018
@ -50,7 +50,7 @@ static ucontext_t _end_context;
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*/
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void thread_print_stack(void)
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{
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CPU_DEBUG("thread_print_stack\n");
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DEBUG_CPU("thread_print_stack\n");
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return;
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}
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@ -66,6 +66,161 @@ void native_breakpoint(void)
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raise(SIGTRAP);
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}
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/* ========================================= */
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/* ISR -> user switch function */
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void _isr_switch_to_user(void) {
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DEBUG_CPU("... ISR: switching to user thread, calling setcontext(PID %" PRIkernel_pid ")\n\n", thread_getpid());
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ucontext_t *context = _native_user_context();
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_native_interrupts_enabled = true;
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/* Get PC/LR. This is where we will resume execution on the userspace thread. */
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_native_user_fptr = (uintptr_t)_context_get_fptr(context);
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/* Now we want to go to _native_isr_leave before resuming execution at _native_user_fptr. */
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_context_set_fptr(context, (uintptr_t)_native_isr_leave);
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if (setcontext(context) == -1) {
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err(EXIT_FAILURE, "_isr_schedule_and_switch: setcontext");
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}
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errx(EXIT_FAILURE, "2 this should have never been reached!!");
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}
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/* ========================================= */
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void _isr_context_switch_exit(void)
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{
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DEBUG_CPU("_isr_schedule_and_switch\n");
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/* Schedule thread job if no active thread */
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if (((sched_context_switch_request == 1) || (thread_get_active() == NULL))
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&& IS_USED(MODULE_CORE_THREAD)) {
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/* Schedule active thread */
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sched_run();
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}
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/* Switch to active userspace thread */
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_isr_switch_to_user();
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}
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/* ^
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* |
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* |
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* cpu_switch_context_exit continues
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* in ISR context in _isr_context_switch_exit
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*/
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void cpu_switch_context_exit(void)
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{
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# ifdef NATIVE_AUTO_EXIT
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if (sched_num_threads <= 1) {
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extern unsigned _native_retval;
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DEBUG_CPU("cpu_switch_context_exit: last task has ended. exiting.\n");
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real_exit(_native_retval);
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}
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# endif
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if (_native_in_isr == 0) {
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/* Disable interrupts while switching */
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irq_disable();
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_native_in_isr = 1;
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_native_isr_context_make(_isr_context_switch_exit);
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if (setcontext(_native_isr_context) == -1) {
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err(EXIT_FAILURE, "cpu_switch_context_exit: setcontext");
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}
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errx(EXIT_FAILURE, "1 this should have never been reached!!");
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}
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else {
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_isr_context_switch_exit();
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}
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errx(EXIT_FAILURE, "3 this should have never been reached!!");
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}
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/* ========================================= */
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void _isr_thread_yield(void)
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{
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DEBUG_CPU("... ISR: switched to ISR context, scheduling\n");
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if (_native_pending_signals > 0) {
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DEBUG_CPU("... ISR: pending signals, handling signals\n\n");
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_native_call_sig_handlers_and_switch();
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}
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if (!IS_USED(MODULE_CORE_THREAD)) {
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return;
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}
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/* Set active thread */
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sched_run();
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/* Switch to active userspace thread */
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_isr_switch_to_user();
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}
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/* ^
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* |
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* |
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* thread_yield_higher continues
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* in ISR context in _isr_thread_yield
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*/
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void thread_yield_higher(void)
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{
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sched_context_switch_request = 1;
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if (_native_in_isr == 0 && _native_interrupts_enabled) {
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DEBUG_CPU("yielding higher priority thread, switching to ISR context ...\n");
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_native_in_isr = 1;
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irq_disable();
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/* Create the ISR context, will execute isr_thread_yield */
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_native_isr_context_make(_isr_thread_yield);
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if (swapcontext(_native_user_context(), _native_isr_context) == -1) {
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err(EXIT_FAILURE, "thread_yield_higher: swapcontext");
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}
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irq_enable();
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}
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}
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/* ========================================= */
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void native_cpu_init(void)
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{
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if (getcontext(&_end_context) == -1) {
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err(EXIT_FAILURE, "native_cpu_init: getcontext");
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}
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/* The _end_context allows RIOT to execute code after a thread task func returns.
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* This works as follows (explanation based on libplatform)
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* - In thread_stack_init, we call makecontext with the thread task func
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* and uc_link = _end_context.
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* - makecontext modifies the ucontext so that _ctx_start (in the libc/libplatform impl)
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* is called when setcontext is executed. The thread task func resides in a register.
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* - When the thread is started using setcontext, _ctx_start branches and links to the
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* the task func. After the task func returns, _ctx_start would normally call exit.
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* However, if _end_context is set, it calls setcontext on th bespoke _end_context.
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*/
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_end_context.uc_stack.ss_sp = malloc(SIGSTKSZ);
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expect(_end_context.uc_stack.ss_sp != NULL);
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_end_context.uc_stack.ss_size = SIGSTKSZ;
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_end_context.uc_stack.ss_flags = 0;
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makecontext(&_end_context, sched_task_exit, 0);
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(void)VALGRIND_STACK_REGISTER(_end_context.uc_stack.ss_sp,
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(char *)_end_context.uc_stack.ss_sp + _end_context.uc_stack.ss_size);
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VALGRIND_DEBUG("VALGRIND_STACK_REGISTER(%p, %p)\n",
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(void*)_end_context.uc_stack.ss_sp,
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(void*)((char *)_end_context.uc_stack.ss_sp + _end_context.uc_stack.ss_size));
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DEBUG_CPU("RIOT native cpu initialized.\n");
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}
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/* ========================================= */
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static inline void *align_stack(uintptr_t start, int *stacksize)
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{
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const size_t alignment = sizeof(uintptr_t);
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@ -83,17 +238,18 @@ char *thread_stack_init(thread_task_func_t task_func, void *arg, void *stack_sta
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ucontext_t *p;
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stack_start = align_stack((uintptr_t)stack_start, &stacksize);
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DEBUG_CPU("... ISR: switching to user thread, calling setcontext(PID %" PRIkernel_pid ")\n\n", thread_getpid());
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(void) VALGRIND_STACK_REGISTER(stack_start, (char *)stack_start + stacksize);
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VALGRIND_DEBUG("VALGRIND_STACK_REGISTER(%p, %p)\n",
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stack_start, (void*)((char *)stack_start + stacksize));
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DEBUG("thread_stack_init\n");
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DEBUG_CPU("thread_stack_init\n");
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/* Use intermediate cast to uintptr_t to silence -Wcast-align. The stack
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* is aligned to word size above. */
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p = (ucontext_t *)(uintptr_t)((uint8_t *)stack_start + (stacksize - sizeof(ucontext_t)));
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/* Stack guards might be in the way. */
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memset(p, 0, sizeof(ucontext_t));
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stacksize -= sizeof(ucontext_t);
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if (getcontext(p) == -1) {
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@ -103,135 +259,13 @@ char *thread_stack_init(thread_task_func_t task_func, void *arg, void *stack_sta
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p->uc_stack.ss_sp = stack_start;
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p->uc_stack.ss_size = stacksize;
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p->uc_stack.ss_flags = 0;
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p->uc_link = &end_context;
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p->uc_link = &_end_context;
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if (sigemptyset(&(p->uc_sigmask)) == -1) {
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err(EXIT_FAILURE, "thread_stack_init: sigemptyset");
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}
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makecontext(p, (void (*)(void)) task_func, 1, arg);
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makecontext(p, (void (*)(void))task_func, 1, arg);
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return (char *) p;
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}
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void isr_cpu_switch_context_exit(void)
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{
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ucontext_t *ctx;
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DEBUG_CPU("_isr_schedule_and_switch\n");
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if (((sched_context_switch_request == 1) || (thread_get_active() == NULL))
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&& IS_USED(MODULE_CORE_THREAD)) {
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sched_run();
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}
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DEBUG("isr_cpu_switch_context_exit: calling setcontext(%" PRIkernel_pid ")\n\n", thread_getpid());
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/* Use intermediate cast to uintptr_t to silence -Wcast-align.
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* stacks are manually word aligned in thread_static_init() */
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ctx = (ucontext_t *)(uintptr_t)(thread_get_active()->sp);
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native_interrupts_enabled = 1;
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_native_mod_ctx_leave_sigh(ctx);
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if (setcontext(ctx) == -1) {
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err(EXIT_FAILURE, "isr_cpu_switch_context_exit: setcontext");
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}
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errx(EXIT_FAILURE, "2 this should have never been reached!!");
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}
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void cpu_switch_context_exit(void)
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{
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#ifdef NATIVE_AUTO_EXIT
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if (sched_num_threads <= 1) {
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extern unsigned _native_retval;
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DEBUG_CPU("cpu_switch_context_exit: last task has ended. exiting.\n");
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real_exit(_native_retval);
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}
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#endif
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if (_native_in_isr == 0) {
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irq_disable();
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_native_in_isr = 1;
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native_isr_context.uc_stack.ss_sp = __isr_stack;
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native_isr_context.uc_stack.ss_size = __isr_stack_size;
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native_isr_context.uc_stack.ss_flags = 0;
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makecontext(&native_isr_context, isr_cpu_switch_context_exit, 0);
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if (setcontext(&native_isr_context) == -1) {
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err(EXIT_FAILURE, "cpu_switch_context_exit: setcontext");
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}
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errx(EXIT_FAILURE, "1 this should have never been reached!!");
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}
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else {
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isr_cpu_switch_context_exit();
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}
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errx(EXIT_FAILURE, "3 this should have never been reached!!");
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}
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void isr_thread_yield(void)
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{
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DEBUG_CPU("... ISR: switched to ISR context, scheduling\n");
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if (_native_sigpend > 0) {
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native_irq_handler();
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DEBUG_CPU("... ISR: pending signals, handling signals\n\n");
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}
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if (!IS_USED(MODULE_CORE_THREAD)) {
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return;
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}
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sched_run();
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/* Use intermediate cast to uintptr_t to silence -Wcast-align.
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* stacks are manually word aligned in thread_static_init() */
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ucontext_t *ctx = (ucontext_t *)(uintptr_t)(thread_get_active()->sp);
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DEBUG("isr_thread_yield: switching to(%" PRIkernel_pid ")\n\n",
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thread_getpid());
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native_interrupts_enabled = 1;
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_native_mod_ctx_leave_sigh(ctx);
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if (setcontext(ctx) == -1) {
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err(EXIT_FAILURE, "isr_thread_yield: setcontext");
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}
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}
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void thread_yield_higher(void)
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{
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sched_context_switch_request = 1;
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if (_native_in_isr == 0 && native_interrupts_enabled) {
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/* Use intermediate cast to uintptr_t to silence -Wcast-align.
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* stacks are manually word aligned in thread_static_init() */
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ucontext_t *ctx = (ucontext_t *)(uintptr_t)(thread_get_active()->sp);
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DEBUG_CPU("yielding higher priority thread, switching to ISR context ...\n");
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_native_in_isr = 1;
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irq_disable();
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native_isr_context.uc_stack.ss_sp = __isr_stack;
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native_isr_context.uc_stack.ss_size = __isr_stack_size;
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native_isr_context.uc_stack.ss_flags = 0;
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makecontext(&native_isr_context, isr_thread_yield, 0);
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if (swapcontext(ctx, &native_isr_context) == -1) {
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err(EXIT_FAILURE, "thread_yield_higher: swapcontext");
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}
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irq_enable();
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}
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}
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void native_cpu_init(void)
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{
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if (getcontext(&end_context) == -1) {
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err(EXIT_FAILURE, "native_cpu_init: getcontext");
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}
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end_context.uc_stack.ss_sp = malloc(SIGSTKSZ);
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expect(end_context.uc_stack.ss_sp != NULL);
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end_context.uc_stack.ss_size = SIGSTKSZ;
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end_context.uc_stack.ss_flags = 0;
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makecontext(&end_context, sched_task_exit, 0);
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(void)VALGRIND_STACK_REGISTER(end_context.uc_stack.ss_sp,
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(char *)end_context.uc_stack.ss_sp + end_context.uc_stack.ss_size);
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VALGRIND_DEBUG("VALGRIND_STACK_REGISTER(%p, %p)\n",
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(void*)end_context.uc_stack.ss_sp,
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(void*)((char *)end_context.uc_stack.ss_sp + end_context.uc_stack.ss_size));
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DEBUG("RIOT native cpu initialized.\n");
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}
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