diff options
Diffstat (limited to 'core/cortex-m/task.c')
| -rw-r--r-- | core/cortex-m/task.c | 164 |
1 files changed, 77 insertions, 87 deletions
diff --git a/core/cortex-m/task.c b/core/cortex-m/task.c index 2ec1ec1dc2..ce6c8c9615 100644 --- a/core/cortex-m/task.c +++ b/core/cortex-m/task.c @@ -1,4 +1,4 @@ -/* Copyright 2012 The Chromium OS Authors. All rights reserved. +/* Copyright 2012 The ChromiumOS Authors * Use of this source code is governed by a BSD-style license that can be * found in the LICENSE file. */ @@ -6,9 +6,11 @@ /* Task scheduling / events module for Chrome EC operating system */ #include "atomic.h" +#include "builtin/assert.h" #include "common.h" #include "console.h" #include "cpu.h" +#include "debug.h" #include "link_defs.h" #include "panic.h" #include "task.h" @@ -21,10 +23,10 @@ typedef union { * 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 */ - atomic_t events; /* Bitmaps of received events */ - uint64_t runtime; /* Time spent in task */ - uint32_t *stack; /* Start of stack */ + uint32_t sp; /* Saved stack pointer for context switch */ + atomic_t events; /* Bitmaps of received events */ + uint64_t runtime; /* Time spent in task */ + uint32_t *stack; /* Start of stack */ }; } task_; @@ -40,12 +42,10 @@ CONFIG_CTS_TASK_LIST #undef TASK /* Task names for easier debugging */ -#define TASK(n, r, d, s) #n, -static const char * const task_names[] = { +#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 + CONFIG_TASK_LIST CONFIG_TEST_TASK_LIST CONFIG_CTS_TASK_LIST }; #undef TASK @@ -55,12 +55,12 @@ 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 */ +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 void __switchto(task_ *from, task_ *to); @@ -91,21 +91,20 @@ void __idle(void) * shortly therefore, resumes execution on exiting idle mode. * Workaround: Replace the idle function with the followings */ - asm ( - "cpsid i\n" /* Disable interrupt */ - "push {r0-r5}\n" /* Save needed registers */ - "wfi\n" /* Wait for int to enter idle */ - "ldm %0, {r0-r5}\n" /* Add a delay after WFI */ - "pop {r0-r5}\n" /* Restore regs before enabling ints */ - "isb\n" /* Flush the cpu pipeline */ - "cpsie i\n" :: "r" (0x100A8000) /* Enable interrupts */ + asm("cpsid i\n" /* Disable interrupt */ + "push {r0-r5}\n" /* Save needed registers */ + "wfi\n" /* Wait for int to enter idle */ + "ldm %0, {r0-r5}\n" /* Add a delay after WFI */ + "pop {r0-r5}\n" /* Restore regs before enabling ints */ + "isb\n" /* Flush the cpu pipeline */ + "cpsie i\n" ::"r"(0x100A8000) /* Enable interrupts */ ); #else /* * Wait for the next irq event. This stops the CPU clock * (sleep / deep sleep, depending on chip config). */ - asm("wfi"); + cpu_enter_suspend_mode(); #endif } } @@ -121,20 +120,19 @@ static void task_exit_trap(void) } /* Startup parameters for all tasks. */ -#define TASK(n, r, d, s) { \ - .r0 = (uint32_t)d, \ - .pc = (uint32_t)r, \ - .stack_size = s, \ -}, +#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 + CONFIG_TASK_LIST CONFIG_TEST_TASK_LIST CONFIG_CTS_TASK_LIST }; #undef TASK @@ -142,17 +140,16 @@ static const struct { static task_ tasks[TASK_ID_COUNT]; /* Reset constants and state for all tasks */ -#define TASK_RESET_SUPPORTED BIT(31) -#define TASK_RESET_LOCK BIT(30) -#define TASK_RESET_STATE_MASK (TASK_RESET_SUPPORTED | TASK_RESET_LOCK) -#define TASK_RESET_WAITERS_MASK ~TASK_RESET_STATE_MASK -#define TASK_RESET_UNSUPPORTED 0 -#define TASK_RESET_STATE_LOCKED (TASK_RESET_SUPPORTED | TASK_RESET_LOCK) -#define TASK_RESET_STATE_UNLOCKED TASK_RESET_SUPPORTED +#define TASK_RESET_SUPPORTED BIT(31) +#define TASK_RESET_LOCK BIT(30) +#define TASK_RESET_STATE_MASK (TASK_RESET_SUPPORTED | TASK_RESET_LOCK) +#define TASK_RESET_WAITERS_MASK ~TASK_RESET_STATE_MASK +#define TASK_RESET_UNSUPPORTED 0 +#define TASK_RESET_STATE_LOCKED (TASK_RESET_SUPPORTED | TASK_RESET_LOCK) +#define TASK_RESET_STATE_UNLOCKED TASK_RESET_SUPPORTED #ifdef CONFIG_TASK_RESET_LIST -#define ENABLE_RESET(n) \ - [TASK_ID_##n] = TASK_RESET_SUPPORTED, +#define ENABLE_RESET(n) [TASK_ID_##n] = TASK_RESET_SUPPORTED, static uint32_t task_reset_state[TASK_ID_COUNT] = { #ifdef CONFIG_TASK_RESET_LIST CONFIG_TASK_RESET_LIST @@ -167,13 +164,10 @@ BUILD_ASSERT(TASK_ID_COUNT < (1 << (sizeof(task_id_t) * 8))); BUILD_ASSERT(BIT(TASK_ID_COUNT) < TASK_RESET_LOCK); /* 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); +#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 @@ -210,7 +204,7 @@ static atomic_t tasks_ready = BIT(TASK_ID_HOOKS); */ static atomic_t tasks_enabled = BIT(TASK_ID_HOOKS) | BIT(TASK_ID_IDLE); -static int start_called; /* Has task swapping started */ +static int start_called; /* Has task swapping started */ static inline task_ *__task_id_to_ptr(task_id_t id) { @@ -232,7 +226,7 @@ inline bool is_interrupt_enabled(void) int primask; /* Interrupts are enabled when PRIMASK bit is 0 */ - asm("mrs %0, primask":"=r"(primask)); + asm("mrs %0, primask" : "=r"(primask)); return !(primask & 0x1); } @@ -240,8 +234,9 @@ inline bool is_interrupt_enabled(void) inline bool 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 */ + asm("mrs %0, ipsr \n" /* read exception number */ + "lsl %0, #23 \n" + : "=r"(ret)); /* exception bits are the 9 LSB */ return ret; } @@ -249,8 +244,8 @@ inline bool in_interrupt_context(void) 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 */ + asm("mrs %0, ipsr \n" : "=r"(ret)); /* read exception number */ + return ret & 0x1ff; /* exception bits are the 9 LSB */ } #endif @@ -351,7 +346,7 @@ void svc_handler(int desched, task_id_t resched) if (next == current) return; - /* Switch to new task */ + /* Switch to new task */ #ifdef CONFIG_TASK_PROFILING task_switches++; #endif @@ -364,7 +359,7 @@ 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)); + asm("svc 0" ::"r"(p0), "r"(p1)); } #ifdef CONFIG_TASK_PROFILING @@ -389,9 +384,9 @@ void __keep task_start_irq_handler(void *excep_return) * and we are not called from another exception (this must match the * logic for when we chain to svc_handler() below). */ - if (!need_resched_or_profiling - || (((uint32_t)excep_return & EXC_RETURN_MODE_MASK) - == EXC_RETURN_MODE_HANDLER)) + if (!need_resched_or_profiling || + (((uint32_t)excep_return & EXC_RETURN_MODE_MASK) == + EXC_RETURN_MODE_HANDLER)) return; exc_start_time = t; @@ -404,9 +399,9 @@ void __keep task_resched_if_needed(void *excep_return) * Continue iff a rescheduling event happened or profiling is active, * and we are not called from another exception. */ - if (!need_resched_or_profiling - || (((uint32_t)excep_return & EXC_RETURN_MODE_MASK) - == EXC_RETURN_MODE_HANDLER)) + if (!need_resched_or_profiling || + (((uint32_t)excep_return & EXC_RETURN_MODE_MASK) == + EXC_RETURN_MODE_HANDLER)) return; svc_handler(0, 0); @@ -570,10 +565,10 @@ static uint32_t init_task_context(task_id_t id) tasks[id].sp = (uint32_t)sp; /* Initial context on stack (see __switchto()) */ - sp[8] = tasks_init[id].r0; /* r0 */ - sp[13] = (uint32_t)task_exit_trap; /* lr */ - sp[14] = tasks_init[id].pc; /* pc */ - sp[15] = 0x01000000; /* psr */ + sp[8] = tasks_init[id].r0; /* r0 */ + sp[13] = (uint32_t)task_exit_trap; /* lr */ + sp[14] = tasks_init[id].pc; /* pc */ + sp[15] = 0x01000000; /* psr */ /* Fill unused stack; also used to detect stack overflow. */ for (sp = tasks[id].stack; sp < (uint32_t *)tasks[id].sp; sp++) @@ -618,8 +613,7 @@ DECLARE_DEFERRED(deferred_task_reset); * and if it matches if_value, updates the state to new_value, and returns * TRUE. */ -static int update_reset_state(uint32_t *state, - uint32_t if_value, +static int update_reset_state(uint32_t *state, uint32_t if_value, uint32_t to_value) { int update; @@ -675,8 +669,7 @@ void task_enable_resets(void) uint32_t *state = &task_reset_state[id]; if (*state == TASK_RESET_UNSUPPORTED) { - cprints(CC_TASK, - "%s called from non-resettable task, id: %d", + cprints(CC_TASK, "%s called from non-resettable task, id: %d", __func__, id); return; } @@ -719,8 +712,7 @@ void task_disable_resets(void) uint32_t *state = &task_reset_state[id]; if (*state == TASK_RESET_UNSUPPORTED) { - cprints(CC_TASK, - "%s called from non-resettable task, id %d", + cprints(CC_TASK, "%s called from non-resettable task, id %d", __func__, id); return; } @@ -775,8 +767,8 @@ int task_reset_cleanup(void) if (cleanup_req) { while (!try_release_reset_lock(state)) { /* Find the first waiter to notify. */ - task_id_t notify_id = __fls( - *state & TASK_RESET_WAITERS_MASK); + task_id_t notify_id = + __fls(*state & TASK_RESET_WAITERS_MASK); /* * Remove the task from waiters first, so that * when it wakes after being notified, it is in @@ -912,8 +904,9 @@ void mutex_lock(struct mutex *mtx) " teq %0, #0\n" " it eq\n" " strexeq %0, %2, [%1]\n" - : "=&r" (value) - : "r" (&mtx->lock), "r" (2) : "cc"); + : "=&r"(value) + : "r"(&mtx->lock), "r"(2) + : "cc"); /* * "value" is equals to 1 if the store conditional failed, * 2 if somebody else owns the mutex, 0 else. @@ -976,7 +969,7 @@ void task_print_list(void) } } -static int command_task_info(int argc, char **argv) +static int command_task_info(int argc, const char **argv) { #ifdef CONFIG_TASK_PROFILING int total = 0; @@ -1005,12 +998,11 @@ static int command_task_info(int argc, char **argv) return EC_SUCCESS; } -DECLARE_SAFE_CONSOLE_COMMAND(taskinfo, command_task_info, - NULL, +DECLARE_SAFE_CONSOLE_COMMAND(taskinfo, command_task_info, NULL, "Print task info"); #ifdef CONFIG_CMD_TASKREADY -static int command_task_ready(int argc, char **argv) +static int command_task_ready(int argc, const char **argv) { if (argc < 2) { ccprintf("tasks_ready: 0x%08x\n", (int)tasks_ready); @@ -1022,8 +1014,7 @@ static int command_task_ready(int argc, char **argv) return EC_SUCCESS; } -DECLARE_CONSOLE_COMMAND(taskready, command_task_ready, - "[setmask]", +DECLARE_CONSOLE_COMMAND(taskready, command_task_ready, "[setmask]", "Print/set ready tasks"); #endif @@ -1078,7 +1069,7 @@ int task_start(void) } #ifdef CONFIG_CMD_TASK_RESET -static int command_task_reset(int argc, char **argv) +static int command_task_reset(int argc, const char **argv) { task_id_t id; char *e; @@ -1093,7 +1084,6 @@ static int command_task_reset(int argc, char **argv) return EC_ERROR_PARAM_COUNT; } -DECLARE_CONSOLE_COMMAND(taskreset, command_task_reset, - "task_id", +DECLARE_CONSOLE_COMMAND(taskreset, command_task_reset, "task_id", "Reset a task"); -#endif /* CONFIG_CMD_TASK_RESET */ +#endif /* CONFIG_CMD_TASK_RESET */ |