diff options
Diffstat (limited to 'cpukit/score/include/rtems')
| -rw-r--r-- | cpukit/score/include/rtems/score/mrsp.h | 133 | ||||
| -rw-r--r-- | cpukit/score/include/rtems/score/mrspimpl.h | 283 | ||||
| -rw-r--r-- | cpukit/score/include/rtems/score/schedulerimpl.h | 10 |
3 files changed, 426 insertions, 0 deletions
diff --git a/cpukit/score/include/rtems/score/mrsp.h b/cpukit/score/include/rtems/score/mrsp.h new file mode 100644 index 0000000000..407d5efecd --- /dev/null +++ b/cpukit/score/include/rtems/score/mrsp.h @@ -0,0 +1,133 @@ +/* + * Copyright (c) 2014 embedded brains GmbH. All rights reserved. + * + * embedded brains GmbH + * Dornierstr. 4 + * 82178 Puchheim + * Germany + * <rtems@embedded-brains.de> + * + * The license and distribution terms for this file may be + * found in the file LICENSE in this distribution or at + * http://www.rtems.org/license/LICENSE. + */ + +#ifndef _RTEMS_SCORE_MRSP_H +#define _RTEMS_SCORE_MRSP_H + +#include <rtems/score/cpuopts.h> + +#if defined(RTEMS_SMP) + +#include <rtems/score/atomic.h> +#include <rtems/score/chain.h> +#include <rtems/score/thread.h> + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/** + * @defgroup ScoreMRSP Multiprocessor Resource Sharing Protocol Handler + * + * @ingroup Score + * + * @brief Multiprocessor Resource Sharing Protocol (MrsP). + * + * The Multiprocessor Resource Sharing Protocol (MrsP) is defined in A. Burns + * and A.J. Wellings, A Schedulability Compatible Multiprocessor Resource + * Sharing Protocol - MrsP, Proceedings of the 25th Euromicro Conference on + * Real-Time Systems (ECRTS 2013), July 2013. It is a generalization of the + * Priority Ceiling Protocol to SMP systems. Each MrsP semaphore uses a + * ceiling priority per scheduler instance. A task obtaining or owning a MrsP + * semaphore will execute with the ceiling priority for its scheduler instance + * as specified by the MrsP semaphore object. Tasks waiting to get ownership + * of a MrsP semaphore will not relinquish the processor voluntarily. In case + * the owner of a MrsP semaphore gets preempted it can ask all tasks waiting + * for this semaphore to help out and temporarily borrow the right to execute + * on one of their assigned processors. + * + * @{ + */ + +/** + * @brief MrsP status code. + * + * The values are chosen to directly map to RTEMS status codes. In case this + * implementation is used for other APIs, then for example the errno values can + * be added with a bit shift. + */ +typedef enum { + MRSP_SUCCESSFUL = 0, + MRSP_TIMEOUT = 6, + MRSP_INVALID_NUMBER = 10, + MRSP_RESOUCE_IN_USE = 12, + MRSP_UNSATISFIED = 13, + MRSP_INVALID_PRIORITY = 19, + MRSP_NOT_OWNER_OF_RESOURCE = 23, + MRSP_NO_MEMORY = 26 +} MRSP_Status; + +/** + * @brief MrsP rival. + * + * The rivals are used by threads waiting for resource ownership. They are + * registered in the MRSP control block. + */ +typedef struct { + /** + * @brief The node for registration in the MRSP rival chain. + * + * @see MRSP_Control::Rivals. + */ + Chain_Node Node; + + /** + * @brief Identification of the rival thread. + */ + Thread_Control *thread; + + /** + * @brief The rival state. + * + * Initially no state bits are set (MRSP_RIVAL_STATE_WAITING). The rival + * will busy wait until a state change happens. This can be + * MRSP_RIVAL_STATE_NEW_OWNER or MRSP_RIVAL_STATE_TIMEOUT. + */ + Atomic_Uint state; +} MRSP_Rival; + +/** + * @brief MrsP control block. + */ +typedef struct { + /** + * @brief The owner of the MRSP resource. + * + * In case this field is @c NULL, then this MRSP resource has currently no + * owner. + */ + Thread_Control *owner; + + /** + * @brief A chain of MrsP rivals waiting for resource ownership. + * + * @see MRSP_Rival::Node. + */ + Chain_Control Rivals; + + /** + * @brief One ceiling priority per scheduler instance. + */ + Priority_Control *ceiling_priorities; +} MRSP_Control; + +/** @} */ + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif /* RTEMS_SMP */ + +#endif /* _RTEMS_SCORE_MRSP_H */ diff --git a/cpukit/score/include/rtems/score/mrspimpl.h b/cpukit/score/include/rtems/score/mrspimpl.h new file mode 100644 index 0000000000..76d3bc898d --- /dev/null +++ b/cpukit/score/include/rtems/score/mrspimpl.h @@ -0,0 +1,283 @@ +/* + * Copyright (c) 2014 embedded brains GmbH. All rights reserved. + * + * embedded brains GmbH + * Dornierstr. 4 + * 82178 Puchheim + * Germany + * <rtems@embedded-brains.de> + * + * The license and distribution terms for this file may be + * found in the file LICENSE in this distribution or at + * http://www.rtems.org/license/LICENSE. + */ + +#ifndef _RTEMS_SCORE_MRSPIMPL_H +#define _RTEMS_SCORE_MRSPIMPL_H + +#include <rtems/score/mrsp.h> + +#if defined(RTEMS_SMP) + +#include <rtems/score/assert.h> +#include <rtems/score/chainimpl.h> +#include <rtems/score/schedulerimpl.h> +#include <rtems/score/watchdogimpl.h> +#include <rtems/score/wkspace.h> + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/** + * @addtogroup ScoreMRSP + * + * @{ + */ + +#define MRSP_RIVAL_STATE_WAITING 0x0U + +#define MRSP_RIVAL_STATE_NEW_OWNER 0x1U + +#define MRSP_RIVAL_STATE_TIMEOUT 0x2U + +RTEMS_INLINE_ROUTINE void _MRSP_Claim_ownership( + MRSP_Control *mrsp, + Thread_Control *new_owner, + Priority_Control ceiling_priority +) +{ + ++new_owner->resource_count; + mrsp->owner = new_owner; + _Thread_Change_priority( new_owner, ceiling_priority, false ); +} + +RTEMS_INLINE_ROUTINE MRSP_Status _MRSP_Initialize( + MRSP_Control *mrsp, + Priority_Control ceiling_priority, + Thread_Control *executing, + bool initially_locked +) +{ + uint32_t scheduler_count = _Scheduler_Count; + uint32_t i; + + if ( initially_locked ) { + return MRSP_INVALID_NUMBER; + } + + mrsp->ceiling_priorities = _Workspace_Allocate( + sizeof( *mrsp->ceiling_priorities ) * scheduler_count + ); + if ( mrsp->ceiling_priorities == NULL ) { + return MRSP_NO_MEMORY; + } + + for ( i = 0 ; i < scheduler_count ; ++i ) { + mrsp->ceiling_priorities[ i ] = ceiling_priority; + } + + mrsp->owner = NULL; + _Chain_Initialize_empty( &mrsp->Rivals ); + + return MRSP_SUCCESSFUL; +} + +RTEMS_INLINE_ROUTINE Priority_Control _MRSP_Get_ceiling_priority( + MRSP_Control *mrsp, + uint32_t scheduler_index +) +{ + return mrsp->ceiling_priorities[ scheduler_index ]; +} + +RTEMS_INLINE_ROUTINE void _MRSP_Set_ceiling_priority( + MRSP_Control *mrsp, + uint32_t scheduler_index, + Priority_Control ceiling_priority +) +{ + mrsp->ceiling_priorities[ scheduler_index ] = ceiling_priority; +} + +RTEMS_INLINE_ROUTINE void _MRSP_Restore_priority( Thread_Control *thread ) +{ + _Thread_Change_priority( thread, thread->real_priority, true ); +} + +RTEMS_INLINE_ROUTINE void _MRSP_Add_state( + MRSP_Rival *rival, + unsigned int state +) +{ + _Atomic_Fetch_or_uint( &rival->state, state, ATOMIC_ORDER_RELEASE ); +} + +RTEMS_INLINE_ROUTINE void _MRSP_Timeout( + Objects_Id id, + void *arg +) +{ + MRSP_Rival *rival = arg; + + (void) id; + + _MRSP_Add_state( rival, MRSP_RIVAL_STATE_TIMEOUT ); +} + +RTEMS_INLINE_ROUTINE MRSP_Status _MRSP_Wait_for_ownership( + MRSP_Control *mrsp, + Thread_Control *executing, + Priority_Control ceiling_priority, + Watchdog_Interval timeout +) +{ + MRSP_Status status; + MRSP_Rival rival; + bool previous_life_protection; + unsigned int state; + + _Thread_Change_priority( executing, ceiling_priority, false ); + + rival.thread = executing; + _Atomic_Init_uint( &rival.state, MRSP_RIVAL_STATE_WAITING ); + _Chain_Append_unprotected( &mrsp->Rivals, &rival.Node ); + + if ( timeout > 0 ) { + _Watchdog_Initialize( + &executing->Timer, + _MRSP_Timeout, + 0, + &rival + ); + _Watchdog_Insert_ticks( &executing->Timer, timeout ); + } + + previous_life_protection = _Thread_Set_life_protection( true ); + _Thread_Enable_dispatch(); + + _Assert( _Debug_Is_thread_dispatching_allowed() ); + + while ( + _Atomic_Load_uint( &rival.state, ATOMIC_ORDER_ACQUIRE ) + == MRSP_RIVAL_STATE_WAITING + ) { + /* Wait for state change */ + } + + _Thread_Disable_dispatch(); + _Thread_Set_life_protection( previous_life_protection ); + + if ( timeout > 0 ) { + _Watchdog_Remove( &executing->Timer ); + } + + _Chain_Extract_unprotected( &rival.Node ); + state = _Atomic_Load_uint( &rival.state, ATOMIC_ORDER_RELAXED ); + + if ( ( state & MRSP_RIVAL_STATE_NEW_OWNER ) != 0 ) { + ++executing->resource_count; + + status = MRSP_SUCCESSFUL; + } else { + if ( executing->resource_count == 0 ) { + _MRSP_Restore_priority( executing ); + } + + status = MRSP_TIMEOUT; + } + + return status; +} + +RTEMS_INLINE_ROUTINE MRSP_Status _MRSP_Obtain( + MRSP_Control *mrsp, + Thread_Control *executing, + bool wait, + Watchdog_Interval timeout +) +{ + MRSP_Status status; + const Scheduler_Control *scheduler = _Scheduler_Get( executing ); + uint32_t scheduler_index = _Scheduler_Get_index( scheduler ); + Priority_Control ceiling_priority = + _MRSP_Get_ceiling_priority( mrsp, scheduler_index ); + bool priority_ok = !_Scheduler_Is_priority_higher_than( + scheduler, + executing->current_priority, + ceiling_priority + ); + + if ( !priority_ok) { + return MRSP_INVALID_PRIORITY; + } + + if ( mrsp->owner == NULL ) { + _MRSP_Claim_ownership( mrsp, executing, ceiling_priority ); + status = MRSP_SUCCESSFUL; + } else if ( mrsp->owner == executing ) { + status = MRSP_UNSATISFIED; + } else if ( wait ) { + status = _MRSP_Wait_for_ownership( + mrsp, + executing, + ceiling_priority, + timeout + ); + } else { + status = MRSP_UNSATISFIED; + } + + return status; +} + +RTEMS_INLINE_ROUTINE MRSP_Status _MRSP_Release( + MRSP_Control *mrsp, + Thread_Control *executing +) +{ + uint32_t resource_count = executing->resource_count; + + if ( mrsp->owner != executing ) { + return MRSP_NOT_OWNER_OF_RESOURCE; + } + + if ( resource_count == 1 ) { + executing->resource_count = 0; + _MRSP_Restore_priority( executing ); + } else { + executing->resource_count = resource_count - 1; + } + + if ( _Chain_Is_empty( &mrsp->Rivals ) ) { + mrsp->owner = NULL; + } else { + MRSP_Rival *rival = (MRSP_Rival *) _Chain_First( &mrsp->Rivals ); + + mrsp->owner = rival->thread; + _MRSP_Add_state( rival, MRSP_RIVAL_STATE_NEW_OWNER ); + } + + return MRSP_SUCCESSFUL; +} + +RTEMS_INLINE_ROUTINE MRSP_Status _MRSP_Destroy( MRSP_Control *mrsp ) +{ + if ( mrsp->owner != NULL ) { + return MRSP_RESOUCE_IN_USE; + } + + _Workspace_Free( mrsp->ceiling_priorities ); + + return MRSP_SUCCESSFUL; +} + +/** @} */ + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif /* RTEMS_SMP */ + +#endif /* _RTEMS_SCORE_MRSPIMPL_H */ diff --git a/cpukit/score/include/rtems/score/schedulerimpl.h b/cpukit/score/include/rtems/score/schedulerimpl.h index 15a4207cfd..be841642ca 100644 --- a/cpukit/score/include/rtems/score/schedulerimpl.h +++ b/cpukit/score/include/rtems/score/schedulerimpl.h @@ -617,6 +617,16 @@ RTEMS_INLINE_ROUTINE bool _Scheduler_Get_by_id( && _Scheduler_Get_processor_count( scheduler ) > 0; } +RTEMS_INLINE_ROUTINE bool _Scheduler_Is_id_valid( Objects_Id id ) +{ + const Scheduler_Control *scheduler; + bool ok = _Scheduler_Get_by_id( id, &scheduler ); + + (void) scheduler; + + return ok; +} + RTEMS_INLINE_ROUTINE uint32_t _Scheduler_Get_index( const Scheduler_Control *scheduler ) |