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@@ -1,537 +1,275 @@
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/*
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* Copyright (c) 2020 AIIT XUOS Lab
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* XiUOS is licensed under Mulan PSL v2.
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* You can use this software according to the terms and conditions of the Mulan PSL v2.
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* You may obtain a copy of Mulan PSL v2 at:
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* http://license.coscl.org.cn/MulanPSL2
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* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
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* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
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* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
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* See the Mulan PSL v2 for more details.
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*/
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* Copyright (c) 2020 AIIT XUOS Lab
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* XiUOS is licensed under Mulan PSL v2.
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* You can use this software according to the terms and conditions of the Mulan PSL v2.
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* You may obtain a copy of Mulan PSL v2 at:
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* http://license.coscl.org.cn/MulanPSL2
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* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
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* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
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* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
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* See the Mulan PSL v2 for more details.
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*/
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/**
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* @file: task.c
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* @brief: file task.c
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* @version: 1.0
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* @author: AIIT XUOS Lab
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* @date: 2023/05/18
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*
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*/
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* @file task.c
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* @brief task implementation
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* @version 3.0
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* @author AIIT XUOS Lab
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* @date 2023.08.25
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*/
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#include <task.h>
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/*************************************************
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File name: task.c
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Description: task implementation
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Others:
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History:
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1. Date: 2023-08-28
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Author: AIIT XUOS Lab
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Modification:
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1. first version
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*************************************************/
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#include <string.h>
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#include "core.h"
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// 全局运行队列和本地运行队列
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tcb_t *global_run_queue_head = NULL;
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tcb_t *global_run_queue_tail = NULL;
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tcb_t *local_run_queue_head[8] = {NULL};
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tcb_t *local_run_queue_tail[8] = {NULL};
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#include "assert.h"
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#include "log.h"
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#include "multicores.h"
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#include "kalloc.h"
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#include "scheduler.h"
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#include "task.h"
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// 当前任务的指针
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volatile tcb_t *current_task = NULL;
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struct CPU global_cpus[NR_CPU];
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uint32_t ready_task_priority;
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/*******************************************************************************
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* 函 数 名: tcb_init
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* 功能描述: 初始化任务控制块
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* 形 参: tcb:任务控制块指针,priority:任务优先级,stack_size:栈大小
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* 返 回 值: 无
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*******************************************************************************/
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void tcb_init(tcb_t *tcb, int priority, int stack_size) {
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tcb->priority = priority;
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tcb->state = TASK_CREATED;
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tcb->message_queue = NULL;
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tcb->stack = (uint8_t*)malloc(stack_size);
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tcb->stack_size = stack_size;
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tcb->stack_ptr = tcb->stack + stack_size - sizeof(context_t);
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// 将任务的上下文保存在栈中
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context_t *context = (context_t*)tcb->stack_ptr;
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context_init(context, (void*)task_entry, tcb->stack_ptr);
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}
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/*******************************************************************************
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* 函 数 名: tcb_destroy
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* 功能描述: 销毁任务控制块
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* 形 参: tcb:任务控制块指针
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* 返 回 值: 无
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*******************************************************************************/
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void tcb_destroy(tcb_t *tcb) {
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free(tcb->stack_bottom);
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tcb->stack_ptr = NULL;
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tcb->stack_bottom = NULL;
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tcb->stack_size = 0;
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tcb->state = TASK_BLOCKED;
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tcb->priority = 0;
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tcb->next = NULL;
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if (tcb->message_queue != NULL) {
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message_queue_destroy(tcb->message_queue);
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tcb->message_queue = NULL;
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static void _task_manager_init()
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{
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// init lock for task list
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spinlock_init(&xizi_task_manager.lock, "proclist");
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// init task list to NULL
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for (int i = 0; i < TASK_MAX_PRIORITY; i++) {
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doubleListNodeInit(&xizi_task_manager.task_list_head[i]);
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}
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// init task (slab) allocator
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slab_init(&xizi_task_manager.task_allocator, sizeof(struct TaskMicroDescriptor));
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// pid pool
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xizi_task_manager.next_pid = 0;
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// init priority bit map
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ready_task_priority = 0;
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}
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/*******************************************************************************
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* 函 数 名: get_current_task
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* 功能描述: 获取当前任务的指针
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* 形 参: 无
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* 返 回 值: 任务控制块指针
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*******************************************************************************/
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tcb_t *get_current_task() {
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return (tcb_t*)current_task;
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}
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/*******************************************************************************
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* 函 数 名: get_local_run_queue_head
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* 功能描述: 获取本地运行队列的头指针
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* 形 参: cpu_id:当前cpu的id
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* 返 回 值: 任务控制块指针
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*******************************************************************************/
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tcb_t *get_local_run_queue_head(int cpu_id) {
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return local_run_queue_head[cpu_id];
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}
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/*******************************************************************************
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* 函 数 名: add_to_global_run_queue
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* 功能描述: 将任务添加到全局运行队列中
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* 形 参: tcb:任务控制块指针
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* 返 回 值: 无
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*******************************************************************************/
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void add_to_global_run_queue(tcb_t *tcb) {
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// 将任务添加到全局运行队列的尾部
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if (global_run_queue_head == NULL) {
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global_run_queue_head = tcb;
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global_run_queue_tail = tcb;
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} else {
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global_run_queue_tail->next = tcb;
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global_run_queue_tail = tcb;
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}
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}
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/*******************************************************************************
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* 函 数 名: take_from_global_run_queue
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* 功能描述: 从全局运行队列中取出一个任务
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* 形 参: 无
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* 返 回 值: tcb:任务控制块指针
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*******************************************************************************/
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tcb_t *take_from_global_run_queue() {
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// 从全局运行队列的头部取出一个任务
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if (global_run_queue_head == NULL) {
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/// @brief alloc a new task without init
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static struct TaskMicroDescriptor* _alloc_task_cb()
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{
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spinlock_lock(&xizi_task_manager.lock);
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// alloc task and add it to used task list
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struct TaskMicroDescriptor* task = (struct TaskMicroDescriptor*)slab_alloc(&xizi_task_manager.task_allocator);
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if (UNLIKELY(task == NULL)) {
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ERROR("Not enough memory\n");
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spinlock_unlock(&xizi_task_manager.lock);
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return NULL;
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} else {
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tcb_t *tcb = global_run_queue_head;
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global_run_queue_head = tcb->next;
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if (global_run_queue_head == NULL) {
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global_run_queue_tail = NULL;
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}
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return tcb;
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}
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// set pid once task is allocated
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memset(task, 0, sizeof(*task));
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task->pid = xizi_task_manager.next_pid++;
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// update pcb used
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xizi_task_manager.nr_pcb_used += 1;
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spinlock_unlock(&xizi_task_manager.lock);
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return task;
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}
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/*******************************************************************************
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* 函 数 名: add_to_local_run_queue
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* 功能描述: 将任务添加到本地运行队列中
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* 形 参: tcb:任务控制块指针,cpu_id:任务绑定的CPU id
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* 返 回 值: 无
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*******************************************************************************/
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void add_to_local_run_queue(tcb_t *tcb, int cpu_id) {
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// 将任务添加到本地运行队列的尾部
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if (local_run_queue_head[cpu_id] == NULL) {
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local_run_queue_head[cpu_id] = tcb;
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local_run_queue_tail[cpu_id] = tcb;
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} else {
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local_run_queue_tail[cpu_id]->next = tcb;
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local_run_queue_tail[cpu_id] = tcb;
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}
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}
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/*******************************************************************************
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* 函 数 名: take_from_local_run_queue
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* 功能描述: 从本地运行队列中取出一个任务
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* 形 参: cpu_id:CPU id
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* 返 回 值: 无
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*******************************************************************************/
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tcb_t *take_from_local_run_queue(int cpu_id) {
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// 从本地运行队列的头部取出一个任务
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if (local_run_queue_head[cpu_id] == NULL) {
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return NULL;
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} else {
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tcb_t *tcb = local_run_queue_head[cpu_id];
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local_run_queue_head[cpu_id] = tcb->next;
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if (local_run_queue_head[cpu_id] == NULL) {
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local_run_queue_tail[cpu_id] = NULL;
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}
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return tcb;
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}
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}
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/*******************************************************************************
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* 函 数 名: move_current_task_to_global_run_queue
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* 功能描述: 将当前任务从本地运行队列中取出,并添加到全局运行队列中
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* 形 参: 无
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* 返 回 值: 无
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*******************************************************************************/
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void move_current_task_to_global_run_queue() {
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int cpu_id = get_cpu_id();
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tcb_t *tcb = (tcb_t*)current_task;
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tcb->state = TASK_READY;
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add_to_global_run_queue(tcb);
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local_run_queue_head[cpu_id] = NULL;
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local_run_queue_tail[cpu_id] = NULL;
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current_task = NULL;
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}
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/*******************************************************************************
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* 函 数 名: switch_to_next_task
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* 功能描述: 切换到下一个任务
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* 形 参: 无
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* 返 回 值: 无
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*******************************************************************************/
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void switch_to_next_task() {
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int cpu_id = get_cpu_id();
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tcb_t *current_tcb = (tcb_t*)current_task;
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tcb_t *next_tcb = take_from_local_run_queue(cpu_id);
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if (next_tcb == NULL) {
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next_tcb = take_from_global_run_queue();
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}
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if (next_tcb == NULL) {
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// 如果没有可运行的任务，则将当前任务继续运行
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/// @brief this function changes task list without locking, so it must be called inside a lock critical area
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/// @param task
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static void _dealloc_task_cb(struct TaskMicroDescriptor* task)
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{
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if (UNLIKELY(task == NULL)) {
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ERROR("deallocating a NULL task\n");
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return;
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}
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// 保存当前任务的上下文
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if (current_tcb != NULL) {
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current_tcb->stack_ptr = get_stack_pointer();
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// stack is mapped in vspace, so it should be free by pgdir
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if (task->pgdir.pd_addr) {
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xizi_pager.free_user_pgdir(&task->pgdir);
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}
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// 切换到下一个任务的上下文
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current_task = next_tcb;
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set_stack_pointer(next_tcb->stack_ptr);
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// 如果切换到的任务是新的任务，需要执行任务初始化函数
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if (current_tcb != next_tcb) {
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next_tcb->state = TASK_RUNNING;
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task_init(next_tcb);
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if (task->main_thread.stack_addr) {
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kfree((char*)task->main_thread.stack_addr);
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}
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struct double_list_node* cur_node = &task->node;
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// remove it from used task list
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doubleListDel(cur_node);
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// free task back to allocator
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slab_free(&xizi_task_manager.task_allocator, (void*)task);
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xizi_task_manager.nr_pcb_used -= 1;
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// remove priority
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if (IS_DOUBLE_LIST_EMPTY(&xizi_task_manager.task_list_head[task->priority])) {
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ready_task_priority &= ~(1 << task->priority);
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}
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}
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/*******************************************************************************
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* 函 数 名: task_init
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* 功能描述: 任务初始化函数
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* 形 参: tcb:任务控制块指针
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* 返 回 值: 无
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*******************************************************************************/
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void task_init(tcb_t *tcb) {
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// 创建消息队列
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message_queue_t mq = (message_queue_t)malloc(sizeof(message_queue_t));
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mq->buffer = (message_t)malloc(sizeof(message_t) * 16);
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mq->capacity = 16;
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mq->head = 0;
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mq->tail = 0;
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mq->count = 0;
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tcb->message_queue = mq;
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}
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/*******************************************************************************
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* 函 数 名: create_task
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* 功能描述: 创建任务
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* 形 参: priority:任务优先级,stack_size:栈大小
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* 返 回 值: 无
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*******************************************************************************/
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tcb_t *create_task(int priority, int stack_size) {
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tcb_t *tcb = (tcb_t*)malloc(sizeof(tcb_t));
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tcb_init(tcb, priority, stack_size);
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add_to_global_run_queue(tcb);
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return tcb;
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}
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/*******************************************************************************
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* 函 数 名: destroy_task
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* 功能描述: 销毁任务
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* 形 参: tcb:任务控制块指针
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* 返 回 值: 无
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*******************************************************************************/
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void destroy_task(tcb_t *tcb) {
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tcb_destroy(tcb);
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free(tcb);
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}
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/*******************************************************************************
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* 函 数 名: send_message
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* 功能描述: 发送消息
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* 形 参: dest_tcb:目标任务的控制块指针,type:消息类型,data:消息的具体内容
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* 返 回 值: 无
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*******************************************************************************/
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void send_message(tcb_t *dest_tcb, int type, void *data) {
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message_t message;
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message.type = type;
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message.data = data;
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if (dest_tcb->message_queue == NULL) {
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// 如果目标任务没有消息队列，则创建一个消息队列
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||||
dest_tcb->message_queue = message_queue_create(16);
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||||
/* alloc a new task with init */
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||||
static struct TaskMicroDescriptor* _new_task_cb()
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||||
{
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||||
// alloc task space
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||||
struct TaskMicroDescriptor* task = _alloc_task_cb();
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||||
if (!task) {
|
||||
return NULL;
|
||||
}
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||||
// 将消息添加到目标任务的消息队列中
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||||
message_queue_push(dest_tcb->message_queue, &message);
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// init vm
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if (!xizi_pager.new_pgdir(&task->pgdir)) {
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_dealloc_task_cb(task);
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return NULL;
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}
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||||
/* init basic task member */
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doubleListNodeInit(&task->cli_sess_listhead);
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doubleListNodeInit(&task->svr_sess_listhead);
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||||
/* init main thread of task */
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task->main_thread.task = task;
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||||
// alloc stack page for task
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||||
if ((void*)(task->main_thread.stack_addr = (uintptr_t)kalloc(USER_STACK_SIZE)) == NULL) {
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||||
_dealloc_task_cb(task);
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||||
return NULL;
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||||
}
|
||||
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||||
/* set context of main thread stack */
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||||
/// stack bottom
|
||||
memset((void*)task->main_thread.stack_addr, 0x00, USER_STACK_SIZE);
|
||||
char* sp = (char*)task->main_thread.stack_addr + USER_STACK_SIZE - 4;
|
||||
|
||||
/// 1. trap frame into stack, for process to nomally return by trap_return
|
||||
sp -= sizeof(*task->main_thread.trapframe);
|
||||
task->main_thread.trapframe = (struct trapframe*)sp;
|
||||
|
||||
/// 2. context into stack
|
||||
sp -= sizeof(*task->main_thread.context);
|
||||
task->main_thread.context = (struct context*)sp;
|
||||
arch_init_context(task->main_thread.context);
|
||||
|
||||
return task;
|
||||
}
|
||||
|
||||
static void _task_set_default_schedule_attr(struct TaskMicroDescriptor* task, struct TraceTag* cwd)
|
||||
{
|
||||
spinlock_init(&task->lock, task->name);
|
||||
task->remain_tick = TASK_CLOCK_TICK;
|
||||
task->maxium_tick = TASK_CLOCK_TICK * 10;
|
||||
task->state = READY;
|
||||
task->cwd = *cwd;
|
||||
task->priority = TASK_DEFAULT_PRIORITY;
|
||||
doubleListAddOnHead(&task->node, &xizi_task_manager.task_list_head[task->priority]);
|
||||
ready_task_priority |= (1 << task->priority);
|
||||
}
|
||||
|
||||
struct TaskMicroDescriptor* next_task_emergency = NULL;
|
||||
extern void context_switch(struct context**, struct context*);
|
||||
static void _scheduler(struct SchedulerRightGroup right_group)
|
||||
{
|
||||
struct MmuCommonDone* p_mmu_driver = AchieveResource(&right_group.mmu_driver_tag);
|
||||
|
||||
struct TaskMicroDescriptor* next_task;
|
||||
|
||||
/*******************************************************************************
|
||||
* 函 数 名: receive_message
|
||||
* 功能描述: 接收消息
|
||||
* 形 参: type:接收的消息类型,data:存储接收到的消息
|
||||
* 返 回 值: 无
|
||||
*******************************************************************************/
|
||||
void receive_message(int type, void *data) {
|
||||
tcb_t *current_tcb = (tcb_t*)current_task;
|
||||
message_t message;
|
||||
// 从当前任务的消息队列中取出消息
|
||||
while (message_queue_pop(current_tcb->message_queue, &message) != 0) {
|
||||
if (message.type == type) {
|
||||
// 如果消息的类型匹配，则返回消息数据
|
||||
memcpy(data, message.data, sizeof(void*));
|
||||
return;
|
||||
}
|
||||
}
|
||||
// 如果没有匹配的消息，则当前任务被阻塞，直到有匹配的消息为止
|
||||
current_tcb->state = TASK_BLOCKED;
|
||||
while (message_queue_pop(current_tcb->message_queue, &message) != 0) {
|
||||
if (message.type == type) {
|
||||
// 如果有匹配的消息，则返回消息数据，并将当前任务状态设置为就绪
|
||||
memcpy(data, message.data, sizeof(void*));
|
||||
current_tcb->state = TASK_READY;
|
||||
return;
|
||||
}
|
||||
}
|
||||
// 如果还是没有匹配的消息，则当前任务一直被阻塞
|
||||
while (1) {
|
||||
wait_for_interrupt();
|
||||
spinlock_lock(&xizi_task_manager.lock);
|
||||
next_task = NULL;
|
||||
/* find next runnable task */
|
||||
assert(cur_cpu()->task == NULL);
|
||||
if (next_task_emergency != NULL) {
|
||||
next_task = next_task_emergency;
|
||||
spinlock_lock(&next_task->lock);
|
||||
next_task->state = RUNNING;
|
||||
spinlock_unlock(&next_task->lock);
|
||||
next_task_emergency = NULL;
|
||||
} else {
|
||||
next_task = xizi_task_manager.next_runnable_task();
|
||||
}
|
||||
spinlock_unlock(&xizi_task_manager.lock);
|
||||
/* not a runnable task */
|
||||
if (UNLIKELY(next_task == NULL)) {
|
||||
continue;
|
||||
}
|
||||
assert(next_task->state == RUNNING);
|
||||
// p_mmu_driver->LoadPgdirCrit((uintptr_t)V2P(next_task->pgdir.pd_addr), &right_group.intr_driver_tag);
|
||||
p_mmu_driver->LoadPgdir((uintptr_t)V2P(next_task->pgdir.pd_addr));
|
||||
|
||||
struct CPU* cpu = cur_cpu();
|
||||
cpu->task = next_task;
|
||||
context_switch(&cpu->scheduler, next_task->main_thread.context);
|
||||
}
|
||||
}
|
||||
|
||||
static uint32_t yield_cnt = 0;
|
||||
static void _cur_task_yield_noschedule(void)
|
||||
{
|
||||
yield_cnt++;
|
||||
|
||||
/*******************************************************************************
|
||||
* 函 数 名: message_queue_create
|
||||
* 功能描述: 创建消息队列
|
||||
* 形 参: capacity:消息队列的容量
|
||||
* 返 回 值: 生成的消息队列的指针
|
||||
*******************************************************************************/
|
||||
message_queue_t *message_queue_create(int capacity) {
|
||||
message_queue_t *mq = (message_queue_t*)malloc(sizeof(message_queue_t));
|
||||
mq->buffer = (message_t*)malloc(sizeof(message_t) * capacity);
|
||||
mq->capacity = capacity;
|
||||
mq->head = 0;
|
||||
mq->tail = 0;
|
||||
mq->count = 0;
|
||||
return mq;
|
||||
}
|
||||
spinlock_lock(&xizi_task_manager.lock);
|
||||
struct TaskMicroDescriptor* current_task = cur_cpu()->task;
|
||||
assert(current_task != NULL);
|
||||
|
||||
|
||||
/*******************************************************************************
|
||||
* 函 数 名: message_queue_destroy
|
||||
* 功能描述: 销毁消息队列
|
||||
* 形 参: mq:消息队列的指针
|
||||
* 返 回 值: 无
|
||||
*******************************************************************************/
|
||||
void message_queue_destroy(message_queue_t *mq) {
|
||||
free(mq->buffer);
|
||||
free(mq);
|
||||
}
|
||||
|
||||
|
||||
/*******************************************************************************
|
||||
* 函 数 名: message_queue_push
|
||||
* 功能描述: 将消息添加到消息队列中
|
||||
* 形 参: message_queue_t:消息队列的指针,message_t:存储的消息
|
||||
* 返 回 值: 0:成功,-1:失败
|
||||
*******************************************************************************/
|
||||
int message_queue_push(message_queue_t *mq, message_t *message) {
|
||||
if (mq->count >= mq->capacity) {
|
||||
return -1; // 队列已满
|
||||
// rearrage current task position
|
||||
doubleListDel(¤t_task->node);
|
||||
// DEBUG("%s,%d\n", current_task->name, strcmp(current_task->name, name1));
|
||||
if (current_task->maxium_tick <= 0) {
|
||||
if (IS_DOUBLE_LIST_EMPTY(&xizi_task_manager.task_list_head[current_task->priority])) {
|
||||
ready_task_priority &= ~(1 << current_task->priority);
|
||||
}
|
||||
current_task->priority += 1;
|
||||
current_task->maxium_tick = TASK_CLOCK_TICK * 10;
|
||||
}
|
||||
mq->buffer[mq->tail] = *message;
|
||||
mq->tail = (mq->tail + 1) % mq->capacity;
|
||||
mq->count++;
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
/*******************************************************************************
|
||||
* 函 数 名: message_queue_pop
|
||||
* 功能描述: 从消息队列中取出消息
|
||||
* 形 参: message_queue_t:消息队列的指针,message_t:存储的消息
|
||||
* 返 回 值: 0:成功,-1:失败
|
||||
*******************************************************************************/
|
||||
int message_queue_pop(message_queue_t *mq, message_t *message) {
|
||||
if (mq->count <= 0) {
|
||||
return -1; // 队列已空
|
||||
doubleListAddOnBack(¤t_task->node, &xizi_task_manager.task_list_head[current_task->priority]);
|
||||
ready_task_priority |= (1 << current_task->priority);
|
||||
// set current task state
|
||||
spinlock_lock(¤t_task->lock);
|
||||
current_task->state = READY;
|
||||
current_task->remain_tick = TASK_CLOCK_TICK;
|
||||
spinlock_unlock(¤t_task->lock);
|
||||
cur_cpu()->task = NULL;
|
||||
if (yield_cnt == 50) {
|
||||
recover_priority();
|
||||
yield_cnt = 0;
|
||||
}
|
||||
*message = mq->buffer[mq->head];
|
||||
mq->head = (mq->head + 1) % mq->capacity;
|
||||
mq->count--;
|
||||
return 0;
|
||||
spinlock_unlock(&xizi_task_manager.lock);
|
||||
}
|
||||
|
||||
|
||||
/*******************************************************************************
|
||||
* 函 数 名: context_init
|
||||
* 功能描述: 初始化上下文
|
||||
* 形 参: message_queue_t:消息队列的指针,message_t:存储的消息
|
||||
* 返 回 值: 0:成功,-1:失败
|
||||
*******************************************************************************/
|
||||
void context_init(context_t *context, void (*entry)(void), void *stack_ptr) {
|
||||
context->cpsr = 0x10; // 设置 CPSR 的初始值
|
||||
context->pc = (uint32_t)entry; // 设置 PC 的初始值为任务入口地址
|
||||
context->r0 = (uint32_t)stack_ptr; // 设置 R0 的初始值为栈指针
|
||||
context->r1 = 0; // 设置 R1 的初始值为 0
|
||||
context->r2 = 0; // 设置 R2 的初始值为 0
|
||||
context->r3 = 0; // 设置 R3 的初始值为 0
|
||||
context->r4 = 0; // 设置 R4 的初始值为 0
|
||||
context->r5 = 0; // 设置 R5 的初始值为 0
|
||||
context->r6 = 0; // 设置 R6 的初始值为 0
|
||||
context->r7 = 0; // 设置 R7 的初始值为 0
|
||||
context->r8 = 0; // 设置 R8 的初始值为 0
|
||||
context->r9 = 0; // 设置 R9 的初始值为 0
|
||||
context->r10 = 0; // 设置 R10 的初始值为 0
|
||||
context->r11 = 0; // 设置 R11 的初始值为 0
|
||||
context->r12 = 0; // 设置 R12 的初始值为 0
|
||||
context->sp = (uint32_t)stack_ptr; // 设置 SP 的初始值为栈指针
|
||||
context->lr = (uint32_t)task_exit; // 设置 LR 的初始值为线程退出函数的地址
|
||||
}
|
||||
|
||||
/*******************************************************************************
|
||||
* 函 数 名: wait_for_interrupt
|
||||
* 功能描述: 等待中断
|
||||
* 形 参: 无
|
||||
* 返 回 值: 无
|
||||
*******************************************************************************/
|
||||
void wait_for_interrupt() {
|
||||
// 在实现中，可以使用 WFI 指令等待中断
|
||||
__asm__ volatile("wfi");
|
||||
}
|
||||
|
||||
/*******************************************************************************
|
||||
* 函 数 名: get_cpu_id
|
||||
* 功能描述: 获取CPU id
|
||||
* 形 参: 无
|
||||
* 返 回 值: 获取的cpu id
|
||||
*******************************************************************************/
|
||||
int get_cpu_id() {
|
||||
uint32_t mpidr;
|
||||
__asm__ volatile("mrc p15, 0, %0, c0, c0, 5" : "=r"(mpidr));
|
||||
return mpidr & 0xff;
|
||||
}
|
||||
|
||||
|
||||
/*******************************************************************************
|
||||
* 函 数 名: get_stack_pointer
|
||||
* 功能描述: 获取栈指针
|
||||
* 形 参: 无
|
||||
* 返 回 值: 获取到的栈指针
|
||||
*******************************************************************************/
|
||||
void *get_stack_pointer() {
|
||||
// 在实现中，可以使用 ARM 的 SP 寄存器获取栈指针
|
||||
void *sp;
|
||||
__asm__ volatile("mov %0, sp" : "=r"(sp));
|
||||
return sp;
|
||||
}
|
||||
|
||||
|
||||
/*******************************************************************************
|
||||
* 函 数 名: set_stack_pointer
|
||||
* 功能描述: 设置栈指针
|
||||
* 形 参: 设置的栈指针
|
||||
* 返 回 值: 无
|
||||
*******************************************************************************/
|
||||
void set_stack_pointer(void *sp) {
|
||||
// 在实现中，可以使用 ARM 的 SP 寄存器设置栈指针
|
||||
__asm__ volatile("mov sp, %0" : : "r"(sp));
|
||||
}
|
||||
|
||||
/*******************************************************************************
|
||||
* 函 数 名: add_interrupt_handler
|
||||
* 功能描述: 添加中断处理函数
|
||||
* 形 参: irq:中断号,handler:中断句柄,priority:中断优先级
|
||||
* 返 回 值: 无
|
||||
*******************************************************************************/
|
||||
void add_interrupt_handler(int irq, void (*handler)(void), int priority) {
|
||||
uint32_t *vector_table = (uint32_t*)0x0;
|
||||
|
||||
// 将中断处理函数写入中断向量表中
|
||||
vector_table[irq + 16] = (uint32_t)handler;
|
||||
|
||||
// 设置中断优先级
|
||||
uint8_t priority_shift = 8 - __NVIC_PRIO_BITS;
|
||||
uint32_t priority_mask = 0xff << priority_shift;
|
||||
uint32_t priority_value = (priority << priority_shift) & priority_mask;
|
||||
uint32_t *priority_reg = (uint32_t*)0xE000E400;
|
||||
int index = irq / 4;
|
||||
int offset = irq % 4;
|
||||
priority_reg[index] &= ~(0xff << (offset * 8));
|
||||
priority_reg[index] |= (priority_value << (offset * 8));
|
||||
|
||||
// 使能中断
|
||||
uint32_t *enable_reg = (uint32_t*)0xE000E100;
|
||||
enable_reg[irq / 32] |= 1 << (irq % 32);
|
||||
}
|
||||
|
||||
|
||||
/*******************************************************************************
|
||||
* 函 数 名: enter_critical
|
||||
* 功能描述: 进入临界区
|
||||
* 形 参: 无
|
||||
* 返 回 值: 无
|
||||
*******************************************************************************/
|
||||
void enter_critical() {
|
||||
// 在实现中，可以使用 ARM 的 CPSR 寄存器进入临界区
|
||||
__asm__ volatile("cpsid i");
|
||||
}
|
||||
|
||||
/*******************************************************************************
|
||||
* 函 数 名: leave_critical
|
||||
* 功能描述: 离开临界区
|
||||
* 形 参: 无
|
||||
* 返 回 值: 无
|
||||
*******************************************************************************/
|
||||
void leave_critical() {
|
||||
// 在实现中，可以使用 ARM 的 CPSR 寄存器离开临界区
|
||||
__asm__ volatile("cpsie i");
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*******************************************************************************
|
||||
* 函 数 名: task_exit
|
||||
* 功能描述: 任务退出函数
|
||||
* 形 参: 无
|
||||
* 返 回 值: 无
|
||||
*******************************************************************************/
|
||||
void task_exit() {
|
||||
// 切换到下一个任务
|
||||
switch_to_next_task();
|
||||
// 在实现中，可以使用 ARM 的 WFE 指令等待下一个中断
|
||||
__asm__ volatile("wfe");
|
||||
}
|
||||
|
||||
|
||||
/*******************************************************************************
|
||||
* 函 数 名: task_entry
|
||||
* 功能描述: 任务入口函数
|
||||
* 形 参: 无
|
||||
* 返 回 值: 无
|
||||
*******************************************************************************/
|
||||
void task_entry() {
|
||||
tcb_t *current_tcb = (tcb_t*)current_task;
|
||||
current_tcb->state = TASK_RUNNING;
|
||||
task_init(current_tcb);
|
||||
while (1) {
|
||||
switch_to_next_task();
|
||||
static void _set_cur_task_priority(int priority)
|
||||
{
|
||||
if (priority < 0 || priority >= TASK_MAX_PRIORITY) {
|
||||
ERROR("priority is invalid\n");
|
||||
return;
|
||||
}
|
||||
|
||||
struct TaskMicroDescriptor* current_task = cur_cpu()->task;
|
||||
assert(current_task != NULL);
|
||||
|
||||
current_task->priority = priority;
|
||||
|
||||
doubleListDel(¤t_task->node);
|
||||
doubleListAddOnBack(¤t_task->node, &xizi_task_manager.task_list_head[current_task->priority]);
|
||||
|
||||
ready_task_priority |= (1 << current_task->priority);
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
struct XiziTaskManager xizi_task_manager = (struct XiziTaskManager) {
|
||||
.init = _task_manager_init,
|
||||
.new_task_cb = _new_task_cb,
|
||||
.free_pcb = _dealloc_task_cb,
|
||||
.task_set_default_schedule_attr = _task_set_default_schedule_attr,
|
||||
|
||||
.next_runnable_task = max_priority_runnable_task,
|
||||
.task_scheduler = _scheduler,
|
||||
.cur_task_yield_noschedule = _cur_task_yield_noschedule,
|
||||
.set_cur_task_priority = _set_cur_task_priority
|
||||
};
|
||||
|
||||
bool module_task_manager_init(void)
|
||||
{
|
||||
xizi_task_manager.init();
|
||||
return true;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user