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Update to work on real hardware

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This commit is contained in:
elias
2020-01-29 12:01:32 +01:00
parent 85b0df56bb
commit 21a25ec4e8
21 changed files with 299 additions and 116 deletions
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kernel/leos/irq.c
+5 -4
View File
@@ -39,11 +39,11 @@ static const char *m_types[] = {
};
static void *
static void
IRQ_onTimerInterrupt(void)
{
Timer_incFromISR();
return Task_scheduleFromISR();
Task_scheduleFromISR();
}
void
@@ -52,13 +52,15 @@ IRQ_init()
AArch64_setReg32(ENABLE_IRQS_1, SYSTEM_TIMER_IRQ_1);
}
void *
void
IRQ_onInterrupt(void)
{
unsigned int irq = AArch64_getReg32(IRQ_PENDING_1);
switch(irq) {
#if CONFIG_ARM_TIMER == 1
case LOCAL_TIMER_IRQ:
#endif
case SYSTEM_TIMER_IRQ_1:
return IRQ_onTimerInterrupt();
@@ -67,7 +69,6 @@ IRQ_onInterrupt(void)
Log_putU(irq, 16);
Log_putS("\n");
}
return 0; /* do not change stack pointer */
}
void
kernel/leos/irq.h
+1 -1
View File
@@ -21,7 +21,7 @@
void
IRQ_init(void);
void *
void
IRQ_onInterrupt(void);
void
kernel/leos/leos.c
+26 -11
View File
@@ -13,14 +13,18 @@
* @see https://lowenware.com/
*/
#include <leos/log.h>
#include <leos/irq.h>
#include <leos/leos.h>
#include <leos/log.h>
#include <leos/memory.h>
#include <leos/task.h>
#include <drivers/timer/timer.h>
void
Leos_demoTask(void *arg);
Leos_demoTask1(void *arg);
void
Leos_demoTask2(void *arg);
void
@@ -36,27 +40,38 @@ Leos_run(void)
IRQ_init();
Timer_init();
IRQ_enable();
Memory_init();
Task_initSheduler();
if (Task_create(Leos_demoTask, "Task 1") == -1)
IRQ_enable();
if (Task_create(Leos_demoTask1, "T1") == -1)
Log_putS("Task 1 was not created\r\n");
if (Task_create(Leos_demoTask2, "T2") == -1)
Log_putS("Task 2 was not created\r\n");
for (;;) {
Log_putU(Timer_getTicks(), 10);
Log_putS(". Idle Task\r\n");
Log_putS("I");
Task_yield();
}
}
void
Leos_demoTask(void *arg)
Leos_demoTask2(void *arg)
{
for (;;) {
Log_putU(Timer_getTicks(), 10);
Log_putS(". ");
Log_putS((const char *)arg);
Log_putS("\r\n");
Log_putS("B");
Task_yield();
}
}
void
Leos_demoTask1(void *arg)
{
for (;;) {
Log_putS("A");
Task_yield();
}
}
kernel/leos/memory.c
+10 -3
View File
@@ -15,19 +15,26 @@
*/
#include <stdlib.h>
#include <aarch64/aarch64.h>
#include <drivers/soc/bcm2837/bcm2837.h>
#include "memory.h"
#include "log.h"
static unsigned long m_map[MEMORY_PAGE_COUNT / sizeof(unsigned long) / 8] = {0,};
static int m_ix = 0;
static unsigned long m_map[MEMORY_PAGE_COUNT / sizeof(unsigned long) / 8];
static int m_ix;
void
Memory_init(void)
{
m_ix = 0;
AArch64_memzero(m_map, sizeof(m_map));
}
void *
Memory_getPage(void)
{
int i, j;
unsigned long map;
for (i = m_ix; i < sizeof(m_map) / sizeof(m_map[0]); i++) {
map = m_map[i];
kernel/leos/memory.h
+4
View File
@@ -16,6 +16,10 @@
#ifndef MEMORY_H_C583E24E_55B0_49EF_99C9_5A36B04468AC
#define MEMORY_H_C583E24E_55B0_49EF_99C9_5A36B04468AC
void
Memory_init(void);
void *
Memory_getPage(void);
kernel/leos/task.c
+88 -44
View File
@@ -16,11 +16,13 @@
#include <stdlib.h>
#include <aarch64/aarch64.h>
#include <drivers/soc/bcm2837/bcm2837.h>
#include <drivers/timer/timer.h>
#include "memory.h"
#include "log.h"
#include "task.h"
#define TASK_STATE_RUNNING 0
#define TASK_STATE_HALFCYCLE (1 << 8)
#ifndef CONFIG_IDLE_TASK_STACK_SIZE
#define CONFIG_IDLE_TASK_STACK_SIZE 0x4000
@@ -46,21 +48,8 @@ struct __attribute__((packed)) TaskContext {
uint64_t spsr_el1;
};
static struct Task *m_currentTask = NULL
, *m_lastTask = NULL
, m_idleTask = {
.sp = NULL
, .stackStart = NULL
, .stackSize = CONFIG_IDLE_TASK_STACK_SIZE
, .pid = 1
, .lock = 1
, .counter = 1
, .cycles = 1
, .priority = 0
, .state = TASK_STATE_RUNNING
, .name = {'I', 'D', 'L', 'E', 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
, .next = NULL
};
static struct Task *m_currentTask, *m_lastTask, m_idleTask;
static uint32_t m_pid = 1;
@@ -70,7 +59,9 @@ scheduleNext(void)
struct Task *i, *next = NULL;
int32_t priority = -1;
Log_putS("scheduleNext\r\n ");
if (m_currentTask->counter)
m_currentTask->counter--;
for (;;) {
/* check urgent tasks */
for (i = &m_idleTask; i != NULL; i = i->next) {
@@ -81,10 +72,6 @@ scheduleNext(void)
priority = i->priority;
next = i;
}
if (!i->state && i->counter > priority) {
priority = i->priority;
next = i;
}
}
if (next) {
@@ -96,10 +83,6 @@ scheduleNext(void)
}
}
Log_putS("\t switch: ");
Log_putU((uint64_t)next->pid, 10);
Log_putS("\n");
return next;
}
@@ -107,6 +90,24 @@ void
Task_initSheduler(void)
{
struct Task *idleTask = &m_idleTask;
m_pid = 1;
m_idleTask.sp = NULL;
m_idleTask.stackStart = NULL;
m_idleTask.stackSize = CONFIG_IDLE_TASK_STACK_SIZE;
m_idleTask.pid = 1;
m_idleTask.lock = 1;
m_idleTask.counter = 1;
m_idleTask.cycles = 1;
m_idleTask.priority = 0;
m_idleTask.state = TASK_STATE_RUNNING;
m_idleTask.name[0] = 'I';
m_idleTask.name[1] = 'D';
m_idleTask.name[2] = 'L';
m_idleTask.name[3] = 'E';
m_idleTask.name[4] = 0;
m_idleTask.next = NULL;
m_currentTask = idleTask;
m_lastTask = idleTask;
Task_unlockScheduler();
@@ -120,6 +121,12 @@ Task_create(TaskCallback callback, void *arg)
if (!task)
return -1;
Log_putS("Task @0x");
Log_putU((uint64_t) task, 16);
Log_putS(" - ");
Log_putU(((uint64_t) task) + MEMORY_PAGE_SIZE, 16);
Log_putS("\r\n");
task->sp = (void *)task + MEMORY_PAGE_SIZE - 272;
task->stackStart = task->sp;
@@ -138,10 +145,11 @@ Task_create(TaskCallback callback, void *arg)
task->next = 0;
ctx = (struct TaskContext *) task->sp;
ctx->x[0] = (uint64_t) arg;
ctx->x[1] = (uint64_t) callback;
ctx->x[20] = (uint64_t) arg;
ctx->x[21] = (uint64_t) callback;
ctx->x[30] = (uint64_t) AArch64_startTask;
ctx->elr_el1 = (uint64_t) AArch64_startTask;
ctx->spsr_el1 = AArch64_getPState();
Task_lockScheduler();
m_lastTask->next = task;
@@ -154,25 +162,41 @@ Task_create(TaskCallback callback, void *arg)
void
Task_yield(void)
{
struct Task *next, *prev = m_currentTask;
#if 1
uint64_t ticks = Timer_getTicks();
Log_putS("Task_yield()\r\n");
Task_lockScheduler();
Log_putS("^");
m_currentTask->counter = 0;
Task_unlockScheduler();
__asm__("WFE");
while (ticks == Timer_getTicks());
#else
/* Task yield should be solved differently */
struct Task *next, *prev;
Task_lockScheduler();
Log_putS("^");
prev = m_currentTask;
prev->counter = 0;
next = scheduleNext();
if (next != prev) {
next->state |= TASK_STATE_HALFCYCLE;
m_currentTask = next;
Task_unlockScheduler();
AArch64_switchContext(prev, next);
/* newly created tasks never exit here, that is why in AArch64_startTask
* there is own Task_unlockScheduler() call
/* `next` tasks never exits here, but in AArch64_startTask,
* that is why there is an own Task_unlockScheduler() call
* */
} else {
__asm__("WFE");
// __asm__("WFE");
}
Task_unlockScheduler();
#endif
}
void
@@ -184,35 +208,55 @@ Task_lockScheduler(void)
void
Task_unlockScheduler(void)
{
m_currentTask->lock--;
if (m_currentTask->lock)
m_currentTask->lock--;
}
void *
void
Task_scheduleFromISR(void)
{
void *sp = NULL;
# if 0
if (m_currentTask->counter)
m_currentTask->counter--;
if (!m_currentTask->lock) {
struct Task *next;
Log_putS("Task_scheduleFromISR\r\n");
if (m_currentTask->state & TASK_STATE_HALFCYCLE) {
m_currentTask->state &= ~TASK_STATE_HALFCYCLE;
return;
}
Log_putS("!");
Task_lockScheduler();
next = scheduleNext();
if (next != m_currentTask) {
m_currentTask = next;
sp = next->sp;
}
/* unlock call could be moved to aarch64.S interrupt handler in case of
* issue
* */
Task_unlockScheduler();
}
#endif
return sp;
}
void *
Task_getStackPointer(void)
{
/*
Log_putS("gSP:");
Log_putU((uint64_t)m_currentTask->sp, 16);
Log_putS("\r\n");
*/
return m_currentTask->sp;
}
void
Task_setStackPointer(void *sp)
{
/*
Log_putS("sSP:");
Log_putU((uint64_t)sp, 16);
Log_putS("\r\n");
*/
m_currentTask->sp = sp;
}
kernel/leos/task.h
+7 -1
View File
@@ -39,7 +39,13 @@ Task_lockScheduler(void);
void
Task_unlockScheduler(void);
void *
void
Task_scheduleFromISR(void);
void *
Task_getStackPointer(void);
void
Task_setStackPointer(void *sp);
#endif /* !TASK_H */