Fully support userland interrupt handler. Use fixed common abort handler.

Ubiquitous/XiZi_AIoT/softkernel/task/schedule.c

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+/*
+ * Copyright (c) 2020 AIIT XUOS Lab
+ * XiUOS is licensed under Mulan PSL v2.
+ * You can use this software according to the terms and conditions of the Mulan PSL v2.
+ * You may obtain a copy of Mulan PSL v2 at:
+ *        http://license.coscl.org.cn/MulanPSL2
+ * THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
+ * EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
+ * MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
+ * See the Mulan PSL v2 for more details.
+ */
+/**
+ * @file scheduler.c
+ * @brief scheduler implementation
+ * @version 3.0
+ * @author AIIT XUOS Lab
+ * @date 2023.08.25
+ */
+
+/*************************************************
+File name: scheduler.c
+Description: scheduler implementation
+Others:
+History:
+1. Date: 2023-08-28
+Author: AIIT XUOS Lab
+Modification:
+1. first version
+*************************************************/
+#include "scheduler.h"
+
+struct TaskMicroDescriptor* max_priority_runnable_task(void)
+{
+    struct TaskMicroDescriptor* task = NULL;
+    uint32_t priority = 0;
+
+    priority = __builtin_ffs(ready_task_priority) - 1;
+
+    DOUBLE_LIST_FOR_EACH_ENTRY(task, &xizi_task_manager.task_list_head[priority], node)
+    {
+        if (task->state == READY && !task->dead) {
+            // found a runnable task, stop this look up
+            return task;
+        } else if (task->dead && task->state != RUNNING) {
+            xizi_task_manager.free_pcb(task);
+            return NULL;
+        }
+    }
+    return NULL;
+}
+
+struct TaskMicroDescriptor* round_robin_runnable_task(uint32_t priority)
+{
+    struct TaskMicroDescriptor* task = NULL;
+
+    DOUBLE_LIST_FOR_EACH_ENTRY(task, &xizi_task_manager.task_list_head[priority], node)
+    {
+        if (task->state == READY && !task->dead) {
+            // found a runnable task, stop this look up
+            return task;
+        } else if (task->dead && task->state != RUNNING) {
+            xizi_task_manager.free_pcb(task);
+            return NULL;
+        }
+    }
+
+    return NULL;
+}
+
+/* recover task priority */
+void recover_priority(void)
+{
+    struct TaskMicroDescriptor* task = NULL;
+    for (int i = 1; i < TASK_MAX_PRIORITY; i++) {
+        if (i == TASK_DEFAULT_PRIORITY)
+            continue;
+        DOUBLE_LIST_FOR_EACH_ENTRY(task, &xizi_task_manager.task_list_head[i], node)
+        {
+            if (!IS_DOUBLE_LIST_EMPTY(&task->node)) {
+                // DEBUG("%s priority recover\n", task->name);
+                task->priority = TASK_DEFAULT_PRIORITY;
+                doubleListDel(&task->node);
+                doubleListAddOnBack(&task->node, &xizi_task_manager.task_list_head[task->priority]);
+                i--;
+                break;
+            }
+        }
+    }
+}