214 lines
7.0 KiB
C
214 lines
7.0 KiB
C
/****************************************************************************
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* arch/xtensa/src/common/arm_reprioritizertr.c
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*
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* Copyright (C) 2016 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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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
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* 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
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* 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 <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 <nuttx/sched.h>
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#include <arch/chip/core-isa.h>
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#include "sched/sched.h"
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#include "group/group.h"
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#include "xtensa.h"
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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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* Input Parameters:
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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(struct tcb_s *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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#if SCHED_PRIORITY_MIN > 0
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|| priority < SCHED_PRIORITY_MIN
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#endif
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#if SCHED_PRIORITY_MAX < UINT8_MAX
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|| priority > SCHED_PRIORITY_MAX
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#endif
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)
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{
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DEBUGPANIC();
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}
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else
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{
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struct tcb_s *rtcb = this_task();
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bool switch_needed;
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sinfo("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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/* Update scheduler parameters */
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sched_suspend_scheduler(rtcb);
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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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xtensa_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 ready-to-run task list.
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*/
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rtcb = this_task();
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/* Update scheduler parameters */
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sched_resume_scheduler(rtcb);
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/* Then switch contexts. Any necessary address environment
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* changes will be made when the interrupt returns.
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*/
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xtensa_restorestate(rtcb->xcp.regs);
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}
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/* Copy the exception context into the TCB at the (old) head of the
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* ready-to-run Task list. if up_saveusercontext returns a non-zero
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* value, then this is really the previously running task restarting!
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*/
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else if (!xtensa_context_save(rtcb->xcp.regs))
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{
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#if XCHAL_CP_NUM > 0
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/* Save the co-processor state in in the suspended thread's co-
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* processor save area.
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*/
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xtensa_coproc_savestate(&rtcb->xcp.cpstate);
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#endif
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/* Restore the exception context of the rtcb at the (new) head
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* of the ready-to-run task list.
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*/
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rtcb = this_task();
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#if XCHAL_CP_NUM > 0
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/* Set up the co-processor state for the newly started thread. */
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xtensa_coproc_restorestate(&rtcb->xcp.cpstate);
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#endif
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#ifdef CONFIG_ARCH_ADDRENV
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/* Make sure that the address environment for the previously
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* running task is closed down gracefully (data caches dump,
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* MMU flushed) and set up the address environment for the new
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* thread at the head of the ready-to-run list.
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*/
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(void)group_addrenv(rtcb);
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#endif
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/* Update scheduler parameters */
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sched_resume_scheduler(rtcb);
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/* Then switch contexts */
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xtensa_context_restore(rtcb->xcp.regs);
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}
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}
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}
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}
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