sam7fc/src/rtos/context.c

#include <stdint.h>
#include <stdio.h>
#include <string.h>

#include "atomic.h"
#include "memalloc.h"

#include "rtos/context.h"
#include "rtos/spinlock.h"

/* linked list of ready contexts, #1 is the running thread */
struct context *run_queue = NULL;

/* pointer to the running thread */
struct context *current_context = NULL;

/*
 * SWI_Handler:
 * Entry with SVC mode, IRQs are disabled, FIQ is enabled
 */
__attribute__((naked)) void SWI_Handler(void)
{
	/* store register context to current_context */
	asm volatile (
		/* r0-1 -> svc_stack */
		"stmdb	sp!, {r0-r1}		\n\t"

		/* get top of struct register_context */
		"ldr	r0, =current_context	\n\t"
		"ldr	r0, [r0]		\n\t"
		"add	r0, r0, #68		\n\t"

		/* save usermode cpsr & r2-14 */
		"mrs	r1, spsr		\n\t"
		"stmdb	r0, {r1-r14}^		\n\t"
		"nop				\n\t"
		"sub	r0, r0, #56		\n\t"

		/* save r0-1 and svc_lr (= pc) */
		"ldmia	sp!, {r1, r2}		\n\t"
		"stmdb	r0!, {r1, r2, r14}	\n\t"
	);

	/* we're no longer #1 in run_queue, switch to new #1 */
	if (current_context != run_queue)
		current_context = run_queue;

	/* restore register context from current_context */
	asm volatile (
		/* label for first thread creation */
		".global __restore_ctx		\n\t"
		"__restore_ctx:			\n\t"

		/* get pointer to struct register_context */
		"ldr	r0, =current_context	\n\t"
		"ldr	r0, [r0]		\n\t"

		/* get values of r0-1 and pc (= svc_lr) */
		"ldmia	r0!, {r1-r2,r14}	\n\t"
		"stmdb	sp!, {r1-r2}		\n\t"

		/* restore usermode cpsr & r2-14 */
		"ldmia	r0, {r1-r14}^		\n\t"
		"nop				\n\t"
		"msr	spsr, r1		\n\t"

		/* get r0-1 from svc_stack, jump back */
		"ldmia	sp!, {r0, r1}		\n\t"
		"movs	pc, lr			\n\t"
	);
}


/* inserts context into run_queue */
static void isr_context_ready(struct context *ctx)
{
	struct context *q = run_queue;
	struct context **qprev = &run_queue;

	while (q && (q->priority <= ctx->priority)) {
		qprev = &q->run_queue;
		q = q->run_queue;
	}

	ctx->run_queue = q;
	*qprev = ctx;
}

static uint8_t isr_context_switch(void)
{
	// TODO: when called from ISR.. this will go boom :)
	asm volatile ("swi");

	return current_context->state;
}


static uint8_t __isr_context_wait(struct spinlock *lock, uint8_t sleepstate)
{
	isr_spinlock_unlock(lock);

	run_queue = current_context->run_queue;
	current_context->state = sleepstate;

	uint8_t retval = isr_context_switch();

	isr_spinlock_lock(lock);

	return retval;
}

uint8_t isr_context_wait(struct spinlock *lock)
{
	return  __isr_context_wait(lock, CONTEXT_SLEEP);
}

uint8_t context_wait(struct spinlock *lock)
{
	disable_irqs();
	uint8_t retval = __isr_context_wait(lock, CONTEXT_SLEEP);
	restore_irqs();

	return retval;
}

uint8_t context_wait_queue(struct spinlock *lock, struct context **queue)
{
	disable_irqs();
	current_context->sleep_queue = *queue;
	*queue = current_context;

	uint8_t retval = __isr_context_wait(lock, CONTEXT_SLEEP_QUEUE);
	restore_irqs();

	return retval;
}

uint8_t context_wait_pri_queue(struct spinlock *lock, struct context **queue)
{
	disable_irqs();

	struct context *q = *queue;
	while (q && (q->priority <= lock->priority_unlocked)) {
		queue = &q->sleep_queue;
		q = q->sleep_queue;
	}

	current_context->sleep_queue = q;
	*queue = current_context;

	uint8_t retval = __isr_context_wait(lock, CONTEXT_SLEEP_QUEUE);
	restore_irqs();

	return retval;
}

void isr_context_signal(struct context *c)
{
	if (c->state == CONTEXT_SLEEP) {
		c->state = CONTEXT_READY;
		isr_context_ready(c);
	}
}

void context_signal(struct context *c)
{
	disable_irqs();
	isr_context_signal(c);
	restore_irqs();
}

uint32_t context_signal_queue(struct context **queue)
{
	disable_irqs();

	uint32_t retval = 0;
	if (*queue) {
		struct context *c = *queue;
		*queue = c->sleep_queue;
		c->state = CONTEXT_READY;
		isr_context_ready(c);
		retval = 1;
	}

	restore_irqs();

	return retval;
}

void isr_context_interrupt(struct context *c)
{
	if (c->state == CONTEXT_SLEEP) {
		c->state = CONTEXT_INTERRUPTED;
		isr_context_ready(c);
	}

}

void context_interrupt(struct context *c)
{
	disable_irqs();
	isr_context_signal(c);
	restore_irqs();
}

uint32_t context_interrupt_queue(struct context *c, struct context **queue)
{
	disable_irqs();

	struct context *q = *queue;
	while (q && (q != c)) {
		queue = &q->sleep_queue;
		q = q->sleep_queue;
	}

	uint32_t retval = 0;

	if (q) {
		*queue = c->sleep_queue;
		c->state = CONTEXT_INTERRUPTED;
		isr_context_ready(c);
		retval = 1;
	}

	restore_irqs();

	return retval;
}

struct context * create_ctx(uint32_t stacksize, uint8_t priority, void (* code)(void *arg), void *arg)
{
	void *stack = static_alloc(sizeof(struct context) + stacksize);

	memset(stack, 0, stacksize);

	struct context *ctx = (struct context *)((uint8_t *)stack + stacksize);

	ctx->regs.r0 = (uint32_t)arg;
	ctx->regs.pc = (uint32_t)code;
	ctx->regs.cpsr = 0x0000001F;
	ctx->regs.sp = (uint32_t)ctx;

	ctx->regs.r1 = 0x01010101;
	ctx->regs.r2 = 0x02020202;
	ctx->regs.r3 = 0x03030303;
	ctx->regs.r4 = 0x04040404;
	ctx->regs.r5 = 0x05050505;
	ctx->regs.r6 = 0x06060606;
	ctx->regs.r7 = 0x07070707;
	ctx->regs.r8 = 0x08080808;
	ctx->regs.r9 = 0x09090909;
	ctx->regs.r10 = 0x10101010;
	ctx->regs.r11 = 0x11111111;
	ctx->regs.r12 = 0x12121212;
	ctx->regs.r14 = 0x14141414;

	ctx->stacksize = stacksize;
	ctx->priority = priority;

	// TODO: disable irqs?
	isr_context_ready(ctx);

	return ctx;
}