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authorJack Rosenthal <jrosenth@chromium.org>2021-11-04 12:11:58 -0600
committerCommit Bot <commit-bot@chromium.org>2021-11-05 04:22:34 +0000
commit252457d4b21f46889eebad61d4c0a65331919cec (patch)
tree01856c4d31d710b20e85a74c8d7b5836e35c3b98 /core/cortex-m0/task.c
parent08f5a1e6fc2c9467230444ac9b582dcf4d9f0068 (diff)
downloadchrome-ec-stabilize-quickfix-14695.124.B-ish.tar.gz
In the interest of making long-term branch maintenance incur as little technical debt on us as possible, we should not maintain any files on the branch we are not actually using. This has the added effect of making it extremely clear when merging CLs from the main branch when changes have the possibility to affect us. The follow-on CL adds a convenience script to actually pull updates from the main branch and generate a CL for the update. BUG=b:204206272 BRANCH=ish TEST=make BOARD=arcada_ish && make BOARD=drallion_ish Signed-off-by: Jack Rosenthal <jrosenth@chromium.org> Change-Id: I17e4694c38219b5a0823e0a3e55a28d1348f4b18 Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3262038 Reviewed-by: Jett Rink <jettrink@chromium.org> Reviewed-by: Tom Hughes <tomhughes@chromium.org>
Diffstat (limited to 'core/cortex-m0/task.c')
-rw-r--r--core/cortex-m0/task.c691
1 files changed, 0 insertions, 691 deletions
diff --git a/core/cortex-m0/task.c b/core/cortex-m0/task.c
deleted file mode 100644
index ba40b667b6..0000000000
--- a/core/cortex-m0/task.c
+++ /dev/null
@@ -1,691 +0,0 @@
-/* Copyright 2014 The Chromium OS Authors. All rights reserved.
- * Use of this source code is governed by a BSD-style license that can be
- * found in the LICENSE file.
- */
-
-/* Task scheduling / events module for Chrome EC operating system */
-
-#include "atomic.h"
-#include "common.h"
-#include "console.h"
-#include "cpu.h"
-#include "link_defs.h"
-#include "panic.h"
-#include "task.h"
-#include "timer.h"
-#include "util.h"
-
-typedef union {
- struct {
- /*
- * Note that sp must be the first element in the task struct
- * for __switchto() to work.
- */
- uint32_t sp; /* Saved stack pointer for context switch */
- uint32_t events; /* Bitmaps of received events */
- uint64_t runtime; /* Time spent in task */
- uint32_t *stack; /* Start of stack */
- };
-} task_;
-
-/* Value to store in unused stack */
-#define STACK_UNUSED_VALUE 0xdeadd00d
-
-/* declare task routine prototypes */
-#define TASK(n, r, d, s) void r(void *);
-void __idle(void);
-CONFIG_TASK_LIST
-CONFIG_TEST_TASK_LIST
-CONFIG_CTS_TASK_LIST
-#undef TASK
-
-/* Task names for easier debugging */
-#define TASK(n, r, d, s) #n,
-static const char * const task_names[] = {
- "<< idle >>",
- CONFIG_TASK_LIST
- CONFIG_TEST_TASK_LIST
- CONFIG_CTS_TASK_LIST
-};
-#undef TASK
-
-#ifdef CONFIG_TASK_PROFILING
-static uint64_t task_start_time; /* Time task scheduling started */
-/*
- * We only keep 32-bit values for exception start/end time, to avoid
- * accounting errors when we service interrupt when the timer wraps around.
- */
-static uint32_t exc_start_time; /* Time of task->exception transition */
-static uint32_t exc_end_time; /* Time of exception->task transition */
-static uint64_t exc_total_time; /* Total time in exceptions */
-static uint32_t svc_calls; /* Number of service calls */
-static uint32_t task_switches; /* Number of times active task changed */
-static uint32_t irq_dist[CONFIG_IRQ_COUNT]; /* Distribution of IRQ calls */
-#endif
-
-extern int __task_start(int *task_stack_ready);
-
-#ifndef CONFIG_LOW_POWER_IDLE
-/* Idle task. Executed when no tasks are ready to be scheduled. */
-void __idle(void)
-{
- while (1) {
- /*
- * Wait for the next irq event. This stops the CPU clock
- * (sleep / deep sleep, depending on chip config).
- */
- asm("wfi");
- }
-}
-#endif /* !CONFIG_LOW_POWER_IDLE */
-
-static void task_exit_trap(void)
-{
- int i = task_get_current();
- cprints(CC_TASK, "Task %d (%s) exited!", i, task_names[i]);
- /* Exited tasks simply sleep forever */
- while (1)
- task_wait_event(-1);
-}
-
-/* Startup parameters for all tasks. */
-#define TASK(n, r, d, s) { \
- .r0 = (uint32_t)d, \
- .pc = (uint32_t)r, \
- .stack_size = s, \
-},
-static const struct {
- uint32_t r0;
- uint32_t pc;
- uint16_t stack_size;
-} tasks_init[] = {
- TASK(IDLE, __idle, 0, IDLE_TASK_STACK_SIZE)
- CONFIG_TASK_LIST
- CONFIG_TEST_TASK_LIST
- CONFIG_CTS_TASK_LIST
-};
-#undef TASK
-
-/* Contexts for all tasks */
-static task_ tasks[TASK_ID_COUNT];
-/* Validity checks about static task invariants */
-BUILD_ASSERT(TASK_ID_COUNT <= sizeof(unsigned) * 8);
-BUILD_ASSERT(TASK_ID_COUNT < (1 << (sizeof(task_id_t) * 8)));
-
-
-/* Stacks for all tasks */
-#define TASK(n, r, d, s) + s
-uint8_t task_stacks[0
- TASK(IDLE, __idle, 0, IDLE_TASK_STACK_SIZE)
- CONFIG_TASK_LIST
- CONFIG_TEST_TASK_LIST
- CONFIG_CTS_TASK_LIST
-] __aligned(8);
-
-#undef TASK
-
-/* Reserve space to discard context on first context switch. */
-uint32_t scratchpad[17];
-
-task_ *current_task = (task_ *)scratchpad;
-
-/*
- * Bitmap of all tasks ready to be run.
- *
- * Start off with only the hooks task marked as ready such that all the modules
- * can do their init within a task switching context. The hooks task will then
- * make a call to enable all tasks.
- */
-static uint32_t tasks_ready = BIT(TASK_ID_HOOKS);
-/*
- * Initially allow only the HOOKS and IDLE task to run, regardless of ready
- * status, in order for HOOK_INIT to complete before other tasks.
- * task_enable_all_tasks() will open the flood gates.
- */
-static uint32_t tasks_enabled = BIT(TASK_ID_HOOKS) | BIT(TASK_ID_IDLE);
-
-static int start_called; /* Has task swapping started */
-
-static inline task_ *__task_id_to_ptr(task_id_t id)
-{
- return tasks + id;
-}
-
-void interrupt_disable(void)
-{
- asm("cpsid i");
-}
-
-void interrupt_enable(void)
-{
- asm("cpsie i");
-}
-
-inline int is_interrupt_enabled(void)
-{
- int primask;
-
- /* Interrupts are enabled when PRIMASK bit is 0 */
- asm("mrs %0, primask":"=r"(primask));
-
- return !(primask & 0x1);
-}
-
-inline int in_interrupt_context(void)
-{
- int ret;
- asm("mrs %0, ipsr\n" /* read exception number */
- "lsl %0, #23\n" : "=r"(ret)); /* exception bits are the 9 LSB */
- return ret;
-}
-
-static inline int get_interrupt_context(void)
-{
- int ret;
- asm("mrs %0, ipsr\n" : "=r"(ret)); /* read exception number */
- return ret & 0x1ff; /* exception bits are the 9 LSB */
-}
-
-task_id_t task_get_current(void)
-{
-#ifdef CONFIG_DEBUG_BRINGUP
- /* If we haven't done a context switch then our task ID isn't valid */
- ASSERT(current_task != (task_ *)scratchpad);
-#endif
- return current_task - tasks;
-}
-
-uint32_t *task_get_event_bitmap(task_id_t tskid)
-{
- task_ *tsk = __task_id_to_ptr(tskid);
- return &tsk->events;
-}
-
-int task_start_called(void)
-{
- return start_called;
-}
-
-/**
- * Scheduling system call
- */
-task_ __attribute__((noinline)) *__svc_handler(int desched, task_id_t resched)
-{
- task_ *current, *next;
-#ifdef CONFIG_TASK_PROFILING
- int exc = get_interrupt_context();
- uint32_t t;
-#endif
-
- /* Priority is already at 0 we cannot be interrupted */
-
-#ifdef CONFIG_TASK_PROFILING
- /*
- * SVCall isn't triggered via DECLARE_IRQ(), so it needs to track its
- * start time explicitly.
- */
- if (exc == 0xb) {
- t = get_time().le.lo;
- current_task->runtime += (t - exc_end_time);
- exc_end_time = t;
- svc_calls++;
- }
-#endif
-
- current = current_task;
-
-#ifdef CONFIG_DEBUG_STACK_OVERFLOW
- if (*current->stack != STACK_UNUSED_VALUE) {
- panic_printf("\n\nStack overflow in %s task!\n",
- task_names[current - tasks]);
-#ifdef CONFIG_SOFTWARE_PANIC
- software_panic(PANIC_SW_STACK_OVERFLOW, current - tasks);
-#endif
- }
-#endif
-
- if (desched && !current->events) {
- /*
- * Remove our own ready bit (current - tasks is same as
- * task_get_current())
- */
- tasks_ready &= ~(1 << (current - tasks));
- }
- tasks_ready |= 1 << resched;
-
- ASSERT(tasks_ready & tasks_enabled);
- next = __task_id_to_ptr(__fls(tasks_ready & tasks_enabled));
-
-#ifdef CONFIG_TASK_PROFILING
- /* Track additional time in re-sched exception context */
- t = get_time().le.lo;
- exc_total_time += (t - exc_end_time);
-
- exc_end_time = t;
-#endif
-
- /* Switch to new task */
-#ifdef CONFIG_TASK_PROFILING
- if (next != current)
- task_switches++;
-#endif
- current_task = next;
- return current;
-}
-
-void __schedule(int desched, int resched)
-{
- register int p0 asm("r0") = desched;
- register int p1 asm("r1") = resched;
-
- asm("svc 0" : : "r"(p0), "r"(p1));
-}
-
-#ifdef CONFIG_TASK_PROFILING
-void task_start_irq_handler(void *excep_return)
-{
- /*
- * Get time before checking depth, in case this handler is
- * pre-empted.
- */
- uint32_t t = get_time().le.lo;
- int irq = get_interrupt_context() - 16;
-
- /*
- * Track IRQ distribution. No need for atomic add, because an IRQ
- * can't pre-empt itself.
- */
- if (irq < ARRAY_SIZE(irq_dist))
- irq_dist[irq]++;
-
- /*
- * Continue iff the tasks are ready and we are not called from another
- * exception (as the time accouting is done in the outer irq).
- */
- if (!start_called || ((uint32_t)excep_return & 0xf) == 1)
- return;
-
- exc_start_time = t;
- /*
- * Bill the current task for time between the end of the last interrupt
- * and the start of this one.
- */
- current_task->runtime += (exc_start_time - exc_end_time);
-}
-
-void task_end_irq_handler(void *excep_return)
-{
- uint32_t t = get_time().le.lo;
- /*
- * Continue iff the tasks are ready and we are not called from another
- * exception (as the time accouting is done in the outer irq).
- */
- if (!start_called || ((uint32_t)excep_return & 0xf) == 1)
- return;
-
- /* Track time in interrupts */
- exc_total_time += (t - exc_start_time);
- exc_end_time = t;
-}
-#endif
-
-static uint32_t __wait_evt(int timeout_us, task_id_t resched)
-{
- task_ *tsk = current_task;
- task_id_t me = tsk - tasks;
- uint32_t evt;
- int ret __attribute__((unused));
-
- /*
- * Scheduling task when interrupts are disabled will result in Forced
- * Hard Fault because disabling interrupt using 'cpsid i' also disables
- * SVCall handler (because it has configurable priority)
- */
- ASSERT(is_interrupt_enabled());
- ASSERT(!in_interrupt_context());
-
- if (timeout_us > 0) {
- timestamp_t deadline = get_time();
- deadline.val += timeout_us;
- ret = timer_arm(deadline, me);
- ASSERT(ret == EC_SUCCESS);
- }
- while (!(evt = atomic_clear(&tsk->events))) {
- /*
- * We need to ensure that the execution priority is actually
- * decreased after the "cpsie i" in the atomic operation above
- * else the "svc" in the __schedule call below will trigger
- * a HardFault. Use a barrier to force it at that point.
- */
- asm volatile("isb");
- /* Remove ourself and get the next task in the scheduler */
- __schedule(1, resched);
- resched = TASK_ID_IDLE;
- }
- if (timeout_us > 0) {
- timer_cancel(me);
- /* Ensure timer event is clear, we no longer care about it */
- atomic_clear_bits(&tsk->events, TASK_EVENT_TIMER);
- }
- return evt;
-}
-
-uint32_t task_set_event(task_id_t tskid, uint32_t event)
-{
- task_ *receiver = __task_id_to_ptr(tskid);
- ASSERT(receiver);
-
- /* Set the event bit in the receiver message bitmap */
- atomic_or(&receiver->events, event);
-
- /* Re-schedule if priorities have changed */
- if (in_interrupt_context() || !is_interrupt_enabled()) {
- /* The receiver might run again */
- atomic_or(&tasks_ready, 1 << tskid);
- if (start_called) {
- /*
- * Trigger the scheduler when there's
- * no other irqs happening.
- */
- CPU_SCB_ICSR = BIT(28);
- }
- } else {
- /*
- * We need to ensure that the execution priority is
- * actually decreased after the "cpsie i" in the atomic
- * operation above else the "svc" in the __schedule
- * call below will trigger a HardFault.
- * Use a barrier to force it at that point.
- */
- asm volatile("isb");
- __schedule(0, tskid);
- }
-
- return 0;
-}
-
-uint32_t task_wait_event(int timeout_us)
-{
- return __wait_evt(timeout_us, TASK_ID_IDLE);
-}
-
-uint32_t task_wait_event_mask(uint32_t event_mask, int timeout_us)
-{
- uint64_t deadline = get_time().val + timeout_us;
- uint32_t events = 0;
- int time_remaining_us = timeout_us;
-
- /* Add the timer event to the mask so we can indicate a timeout */
- event_mask |= TASK_EVENT_TIMER;
-
- while (!(events & event_mask)) {
- /* Collect events to re-post later */
- events |= __wait_evt(time_remaining_us, TASK_ID_IDLE);
-
- time_remaining_us = deadline - get_time().val;
- if (timeout_us > 0 && time_remaining_us <= 0) {
- /* Ensure we return a TIMER event if we timeout */
- events |= TASK_EVENT_TIMER;
- break;
- }
- }
-
- /* Re-post any other events collected */
- if (events & ~event_mask)
- atomic_or(&current_task->events, events & ~event_mask);
-
- return events & event_mask;
-}
-
-void task_enable_all_tasks(void)
-{
- /* Mark all tasks as ready and able to run. */
- tasks_ready = tasks_enabled = BIT(TASK_ID_COUNT) - 1;
- /* Reschedule the highest priority task. */
- if (is_interrupt_enabled())
- __schedule(0, 0);
-}
-
-void task_enable_task(task_id_t tskid)
-{
- atomic_or(&tasks_enabled, BIT(tskid));
-}
-
-void task_disable_task(task_id_t tskid)
-{
- atomic_clear_bits(&tasks_enabled, BIT(tskid));
-
- if (!in_interrupt_context() && is_interrupt_enabled() &&
- tskid == task_get_current())
- __schedule(0, 0);
-}
-
-void task_enable_irq(int irq)
-{
- CPU_NVIC_EN(0) = 1 << irq;
-}
-
-void task_disable_irq(int irq)
-{
- CPU_NVIC_DIS(0) = 1 << irq;
-}
-
-void task_clear_pending_irq(int irq)
-{
- CPU_NVIC_UNPEND(0) = 1 << irq;
-}
-
-void task_trigger_irq(int irq)
-{
- CPU_NVIC_ISPR(0) = 1 << irq;
-}
-
-/*
- * Initialize IRQs in the NVIC and set their priorities as defined by the
- * DECLARE_IRQ statements.
- */
-static void __nvic_init_irqs(void)
-{
- /* Get the IRQ priorities section from the linker */
- int exc_calls = __irqprio_end - __irqprio;
- int i;
-
- /* Mask and clear all pending interrupts */
- CPU_NVIC_DIS(0) = 0xffffffff;
- CPU_NVIC_UNPEND(0) = 0xffffffff;
-
- /*
- * Re-enable global interrupts in case they're disabled. On a reboot,
- * they're already enabled; if we've jumped here from another image,
- * they're not.
- */
- interrupt_enable();
-
- /* Set priorities */
- for (i = 0; i < exc_calls; i++) {
- cpu_set_interrupt_priority(__irqprio[i].irq,
- __irqprio[i].priority);
- }
-}
-
-void mutex_lock(struct mutex *mtx)
-{
- uint32_t id = 1 << task_get_current();
-
- ASSERT(id != TASK_ID_INVALID);
- atomic_or(&mtx->waiters, id);
-
- while (1) {
- /* Try to get the lock (set 2 into the lock field) */
- __asm__ __volatile__("cpsid i");
- if (mtx->lock == 0)
- break;
- __asm__ __volatile__("cpsie i");
- /* Contention on the mutex */
- task_wait_event_mask(TASK_EVENT_MUTEX, 0);
- }
- mtx->lock = 2;
- __asm__ __volatile__("cpsie i");
-
- atomic_clear_bits(&mtx->waiters, id);
-}
-
-void mutex_unlock(struct mutex *mtx)
-{
- uint32_t waiters;
- task_ *tsk = current_task;
-
- /*
- * Add a critical section to keep the unlock and the snapshotting of
- * waiters atomic in case a task switching occurs between them.
- */
- interrupt_disable();
- waiters = mtx->waiters;
- mtx->lock = 0;
- interrupt_enable();
-
- while (waiters) {
- task_id_t id = __fls(waiters);
- waiters &= ~BIT(id);
-
- /* Somebody is waiting on the mutex */
- task_set_event(id, TASK_EVENT_MUTEX);
- }
-
- /* Ensure no event is remaining from mutex wake-up */
- atomic_clear_bits(&tsk->events, TASK_EVENT_MUTEX);
-}
-
-void task_print_list(void)
-{
- int i;
-
- ccputs("Task Ready Name Events Time (s) StkUsed\n");
-
- for (i = 0; i < TASK_ID_COUNT; i++) {
- char is_ready = (tasks_ready & (1<<i)) ? 'R' : ' ';
- uint32_t *sp;
-
- int stackused = tasks_init[i].stack_size;
-
- for (sp = tasks[i].stack;
- sp < (uint32_t *)tasks[i].sp && *sp == STACK_UNUSED_VALUE;
- sp++)
- stackused -= sizeof(uint32_t);
-
- ccprintf("%4d %c %-16s %08x %11.6lld %3d/%3d\n", i, is_ready,
- task_names[i], tasks[i].events, tasks[i].runtime,
- stackused, tasks_init[i].stack_size);
- cflush();
- }
-}
-
-int command_task_info(int argc, char **argv)
-{
-#ifdef CONFIG_TASK_PROFILING
- int total = 0;
- int i;
-#endif
-
- task_print_list();
-
-#ifdef CONFIG_TASK_PROFILING
- ccputs("IRQ counts by type:\n");
- cflush();
- for (i = 0; i < ARRAY_SIZE(irq_dist); i++) {
- if (irq_dist[i]) {
- ccprintf("%4d %8d\n", i, irq_dist[i]);
- total += irq_dist[i];
- }
- }
- ccprintf("Service calls: %11d\n", svc_calls);
- ccprintf("Total exceptions: %11d\n", total + svc_calls);
- ccprintf("Task switches: %11d\n", task_switches);
- ccprintf("Task switching started: %11.6lld s\n", task_start_time);
- ccprintf("Time in tasks: %11.6lld s\n",
- get_time().val - task_start_time);
- ccprintf("Time in exceptions: %11.6lld s\n", exc_total_time);
-#endif
-
- return EC_SUCCESS;
-}
-DECLARE_CONSOLE_COMMAND(taskinfo, command_task_info,
- NULL,
- "Print task info");
-
-#ifdef CONFIG_CMD_TASKREADY
-static int command_task_ready(int argc, char **argv)
-{
- if (argc < 2) {
- ccprintf("tasks_ready: 0x%08x\n", tasks_ready);
- } else {
- tasks_ready = strtoi(argv[1], NULL, 16);
- ccprintf("Setting tasks_ready to 0x%08x\n", tasks_ready);
- __schedule(0, 0);
- }
-
- return EC_SUCCESS;
-}
-DECLARE_CONSOLE_COMMAND(taskready, command_task_ready,
- "[setmask]",
- "Print/set ready tasks");
-#endif
-
-void task_pre_init(void)
-{
- uint32_t *stack_next = (uint32_t *)task_stacks;
- int i;
-
- /* Fill the task memory with initial values */
- for (i = 0; i < TASK_ID_COUNT; i++) {
- uint32_t *sp;
- /* Stack size in words */
- uint32_t ssize = tasks_init[i].stack_size / 4;
-
- tasks[i].stack = stack_next;
-
- /*
- * Update stack used by first frame: 8 words for the normal
- * stack, plus 8 for R4-R11. With FP enabled, we need another
- * 18 words for S0-S15 and FPCSR and to align to 64-bit.
- */
- sp = stack_next + ssize - 16;
- tasks[i].sp = (uint32_t)sp;
-
- /* Initial context on stack (see __switchto()) */
- sp[8] = tasks_init[i].r0; /* r0 */
- sp[13] = (uint32_t)task_exit_trap; /* lr */
- sp[14] = tasks_init[i].pc; /* pc */
- sp[15] = 0x01000000; /* psr */
-
- /* Fill unused stack; also used to detect stack overflow. */
- for (sp = stack_next; sp < (uint32_t *)tasks[i].sp; sp++)
- *sp = STACK_UNUSED_VALUE;
-
- stack_next += ssize;
- }
-
- /*
- * Fill in guard value in scratchpad to prevent stack overflow
- * detection failure on the first context switch. This works because
- * the first word in the scratchpad is where the switcher will store
- * sp, so it's ok to blow away.
- */
- ((task_ *)scratchpad)->stack = (uint32_t *)scratchpad;
- *(uint32_t *)scratchpad = STACK_UNUSED_VALUE;
-
- /* Initialize IRQs */
- __nvic_init_irqs();
-}
-
-int task_start(void)
-{
-#ifdef CONFIG_TASK_PROFILING
- timestamp_t t = get_time();
-
- task_start_time = t.val;
- exc_end_time = t.le.lo;
-#endif
-
- return __task_start(&start_called);
-}