From 41b1abb388de2e216ad1788eede15814d2d43e7f Mon Sep 17 00:00:00 2001 From: zhangzheng <1358745329@qq.com> Date: Tue, 9 Apr 2024 16:07:36 +0000 Subject: [PATCH] =?UTF-8?q?=E5=AE=8C=E5=96=84=E4=BA=86irq=20&=20shell?= =?UTF-8?q?=E8=83=BD=E5=A4=9F=E5=90=AF=E5=8A=A8=E8=B5=B7=E6=9D=A5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .vscode/launch.json | 6 +- .vscode/settings.json | 5 +- mkrtos_knl/arch/aarch64/aarch64_qemu/arch.c | 7 +- mkrtos_knl/arch/aarch64/aarch64_qemu/arch.h | 2 +- mkrtos_knl/arch/aarch64/aarch64_qemu/vector.S | 1 - mkrtos_knl/arch/aarch64/arm_gicv2.h | 61 ++++++++-------- .../systick => arch/aarch64}/timer.c | 13 ++-- .../{inc/drv/timer => arch/aarch64}/timer.h | 4 +- .../drivers/aarch64_qemu/systick/systick.c | 19 +++-- mkrtos_knl/drivers/aarch64_qemu/uart/uart.c | 32 ++++++++- mkrtos_knl/drivers/stm32f1/systick/systick.c | 2 +- mkrtos_knl/drivers/stm32f2/systick/systick.c | 2 +- mkrtos_knl/drivers/stm32f4/systick/systick.c | 2 +- mkrtos_knl/drivers/swm34s/systick/systick.c | 2 +- mkrtos_knl/inc/knl/thread.h | 4 +- mkrtos_knl/knl/irq.c | 5 +- mkrtos_knl/knl/task.c | 6 +- mkrtos_knl/knl/thread.c | 33 +++++---- mkrtos_knl/knl/thread_knl.c | 9 +-- mkrtos_knl/test/kthread_test.c | 4 +- mkrtos_script/build_qemu_aarch64.sh | 8 +-- mkrtos_user/lib/mkrtos-musl | 2 +- mkrtos_user/lib/sys_svr/inc/rpc_prot.h | 72 +++++++++---------- mkrtos_user/lib/sys_util/inc/u_rpc_1.h | 2 +- mkrtos_user/lib/sys_util/inc/u_rpc_2.h | 2 +- mkrtos_user/lib/sys_util/inc/u_rpc_3.h | 2 +- mkrtos_user/lib/sys_util/src/u_elf_loader.c | 2 +- 27 files changed, 180 insertions(+), 129 deletions(-) rename mkrtos_knl/{drivers/aarch64_qemu/systick => arch/aarch64}/timer.c (89%) rename mkrtos_knl/{inc/drv/timer => arch/aarch64}/timer.h (51%) diff --git a/.vscode/launch.json b/.vscode/launch.json index 9d676ec3d..51bf7fef4 100755 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -46,9 +46,9 @@ "environment": [], "externalConsole": false, // "miDebuggerPath": "/opt/homebrew/bin/arm-none-eabi-gdb", - // "miDebuggerPath": "/home/zhangzheng/gcc-arm-10.3-2021.07-aarch64-aarch64-none-elf/bin/aarch64-none-elf-gdb", - "miDebuggerPath": "/home/mkrtos-smart/toolchains/gcc-arm-10.3-2021.07-x86_64-aarch64-none-elf/bin/aarch64-none-elf-gdb", - "miDebuggerServerAddress": "127.0.0.1:33333", + "miDebuggerPath": "/home/zhangzheng/gcc-arm-10.3-2021.07-aarch64-aarch64-none-elf/bin/aarch64-none-elf-gdb", + // "miDebuggerPath": "/home/mkrtos-smart/toolchains/gcc-arm-10.3-2021.07-x86_64-aarch64-none-elf/bin/aarch64-none-elf-gdb", + "miDebuggerServerAddress": "127.0.0.1:3333", "MIMode": "gdb", "setupCommands": [ { diff --git a/.vscode/settings.json b/.vscode/settings.json index be422e532..47a36cbdc 100755 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -64,7 +64,10 @@ "u_vmam.h": "c", "u_arch_hard.h": "c", "arm_gicv2.h": "c", - "sche_arch.h": "c" + "sche_arch.h": "c", + "irq_sender.h": "c", + "timer.h": "c", + "arm_local_reg.h": "c" }, "cortex-debug.showRTOS": false, "cortex-debug.variableUseNaturalFormat": false, diff --git a/mkrtos_knl/arch/aarch64/aarch64_qemu/arch.c b/mkrtos_knl/arch/aarch64/aarch64_qemu/arch.c index fb96ae436..b3e285788 100644 --- a/mkrtos_knl/arch/aarch64/aarch64_qemu/arch.c +++ b/mkrtos_knl/arch/aarch64/aarch64_qemu/arch.c @@ -17,7 +17,7 @@ #include "mk_sys.h" #include #include -#include +#include #include #include __ALIGN__(THREAD_BLOCK_SIZE) @@ -29,7 +29,8 @@ void *_estack = thread_knl_stack + THREAD_BLOCK_SIZE; */ void to_sche(void) { - sche_arch_sw_context(); + gic2_set_pending(arm_gicv2_get_global(), SYSTICK_INTR_NO); + // sche_arch_sw_context(); } /** * 进行一些系统的初始化 @@ -108,6 +109,6 @@ void arch_init(void) print_mem(); psci_init(); gic_init(arm_gicv2_get_global(), - 0x08000000, 0x08010000); /*TODO:*/ + 0x08000000, 0x8010000); /*TODO:*/ } INIT_LOW_HARD(arch_init); diff --git a/mkrtos_knl/arch/aarch64/aarch64_qemu/arch.h b/mkrtos_knl/arch/aarch64/aarch64_qemu/arch.h index 543321e23..15c048ad5 100755 --- a/mkrtos_knl/arch/aarch64/aarch64_qemu/arch.h +++ b/mkrtos_knl/arch/aarch64/aarch64_qemu/arch.h @@ -18,7 +18,7 @@ #define ARCH_WORD_SIZE 64 #define SYSTICK_INTR_NO 30 -#define LOG_INTR_NO 37 // USART1_IRQn +#define LOG_INTR_NO 33 /// @brief 线程信息 typedef struct diff --git a/mkrtos_knl/arch/aarch64/aarch64_qemu/vector.S b/mkrtos_knl/arch/aarch64/aarch64_qemu/vector.S index 5f63802cf..d791f4279 100755 --- a/mkrtos_knl/arch/aarch64/aarch64_qemu/vector.S +++ b/mkrtos_knl/arch/aarch64/aarch64_qemu/vector.S @@ -190,7 +190,6 @@ el1_irq: el2_irq: kernel_entry 2 bl entry_handler - bl SysTick_Handler kernel_exit 2 diff --git a/mkrtos_knl/arch/aarch64/arm_gicv2.h b/mkrtos_knl/arch/aarch64/arm_gicv2.h index c7e0ac178..2f344ea35 100644 --- a/mkrtos_knl/arch/aarch64/arm_gicv2.h +++ b/mkrtos_knl/arch/aarch64/arm_gicv2.h @@ -14,7 +14,8 @@ * ID1024-ID8191，reserved * 8192及其以上，LPI */ -typedef struct gic { +typedef struct gic +{ uint16_t irqs_number; //!< 支持的irq数量 addr_t disp_base_addr; //!< 分发器起始地址 @@ -24,33 +25,33 @@ typedef struct gic { // #define GIC2_BASE (0xFF840000) // #define GIC2_GICD_BASE (GIC2_BASE + 0x1000) -#define GICD_CTLR(GIC2_GICD_BASE) (0x0 + GIC2_GICD_BASE) -#define GICD_TYPER(GIC2_GICD_BASE) (0x4 + GIC2_GICD_BASE) -#define GICD_IIDR(GIC2_GICD_BASE) (0x8 + GIC2_GICD_BASE) -#define GICD_IGROUPRn(GIC2_GICD_BASE) (0x80 + GIC2_GICD_BASE) -#define GICD_ISENABLERn(GIC2_GICD_BASE) (0x100 + GIC2_GICD_BASE) -#define GICD_ICENABLERn(GIC2_GICD_BASE) (0x180 + GIC2_GICD_BASE) -#define GICD_ISPENDRn(GIC2_GICD_BASE) (0x200 + GIC2_GICD_BASE) -#define GICD_ICPENDRn(GIC2_GICD_BASE) (0x280 + GIC2_GICD_BASE) -#define GICD_ISACTIVERn(GIC2_GICD_BASE) (0x300 + GIC2_GICD_BASE) -#define GICD_ICACTIVERn(GIC2_GICD_BASE) (0x380 + GIC2_GICD_BASE) +#define GICD_CTLR(GIC2_GICD_BASE) (0x0 + GIC2_GICD_BASE) +#define GICD_TYPER(GIC2_GICD_BASE) (0x4 + GIC2_GICD_BASE) +#define GICD_IIDR(GIC2_GICD_BASE) (0x8 + GIC2_GICD_BASE) +#define GICD_IGROUPRn(GIC2_GICD_BASE) (0x80 + GIC2_GICD_BASE) +#define GICD_ISENABLERn(GIC2_GICD_BASE) (0x100 + GIC2_GICD_BASE) +#define GICD_ICENABLERn(GIC2_GICD_BASE) (0x180 + GIC2_GICD_BASE) +#define GICD_ISPENDRn(GIC2_GICD_BASE) (0x200 + GIC2_GICD_BASE) +#define GICD_ICPENDRn(GIC2_GICD_BASE) (0x280 + GIC2_GICD_BASE) +#define GICD_ISACTIVERn(GIC2_GICD_BASE) (0x300 + GIC2_GICD_BASE) +#define GICD_ICACTIVERn(GIC2_GICD_BASE) (0x380 + GIC2_GICD_BASE) #define GICD_IPRIORITYRn(GIC2_GICD_BASE) (0x400 + GIC2_GICD_BASE) -#define GICD_ITARGETSRn(GIC2_GICD_BASE) (0x800 + GIC2_GICD_BASE) -#define GICD_ICFGRn(GIC2_GICD_BASE) (0xC00 + GIC2_GICD_BASE) -#define GICD_SGIR(GIC2_GICD_BASE) (0xf00 + GIC2_GICD_BASE) -#define GICD_CPENDSGIRn(GIC2_GICD_BASE) (0xf10 + GIC2_GICD_BASE) -#define GICD_SPENDSGIRn(GIC2_GICD_BASE) (0xf20 + GIC2_GICD_BASE) +#define GICD_ITARGETSRn(GIC2_GICD_BASE) (0x800 + GIC2_GICD_BASE) +#define GICD_ICFGRn(GIC2_GICD_BASE) (0xC00 + GIC2_GICD_BASE) +#define GICD_SGIR(GIC2_GICD_BASE) (0xf00 + GIC2_GICD_BASE) +#define GICD_CPENDSGIRn(GIC2_GICD_BASE) (0xf10 + GIC2_GICD_BASE) +#define GICD_SPENDSGIRn(GIC2_GICD_BASE) (0xf20 + GIC2_GICD_BASE) // #define (GIC2_GICC_BASE) (GIC2_BASE + 0x2000) -#define GICC_CTLR(GIC2_GICC_BASE) (0x0 + GIC2_GICC_BASE) -#define GICC_PMR(GIC2_GICC_BASE) (0x4 + GIC2_GICC_BASE) -#define GICC_BPR(GIC2_GICC_BASE) (0x8 + GIC2_GICC_BASE) -#define GICC_IAR(GIC2_GICC_BASE) (0xc + GIC2_GICC_BASE) -#define GICC_EOIR(GIC2_GICC_BASE) (0x10 + GIC2_GICC_BASE) -#define GICC_RPR(GIC2_GICC_BASE) (0x14 + GIC2_GICC_BASE) +#define GICC_CTLR(GIC2_GICC_BASE) (0x0 + GIC2_GICC_BASE) +#define GICC_PMR(GIC2_GICC_BASE) (0x4 + GIC2_GICC_BASE) +#define GICC_BPR(GIC2_GICC_BASE) (0x8 + GIC2_GICC_BASE) +#define GICC_IAR(GIC2_GICC_BASE) (0xc + GIC2_GICC_BASE) +#define GICC_EOIR(GIC2_GICC_BASE) (0x10 + GIC2_GICC_BASE) +#define GICC_RPR(GIC2_GICC_BASE) (0x14 + GIC2_GICC_BASE) #define GICC_HPPIR(GIC2_GICC_BASE) (0x18 + GIC2_GICC_BASE) -#define GICC_APRn(GIC2_GICC_BASE) (0xd0 + GIC2_GICC_BASE) -#define GICC_IIDR(GIC2_GICC_BASE) (0x00FC + GIC2_GICC_BASE) +#define GICC_APRn(GIC2_GICC_BASE) (0xd0 + GIC2_GICC_BASE) +#define GICC_IIDR(GIC2_GICC_BASE) (0x00FC + GIC2_GICC_BASE) #define MAX_INTR_NO 1020 @@ -226,12 +227,14 @@ static inline void gic_dist_init(gic_t *irq) { gic_disable(irq); - for (int i = 32; i < irq->irqs_number; i++) { + for (int i = 32; i < irq->irqs_number; i++) + { gic2_set_unmask(irq, i); gic2_set_edge_mode(irq, i, 0); gic2_clear_active(irq, i); } - for (int i = 0; i < 16; i++) { + for (int i = 0; i < 16; i++) + { gic2_set_unmask(irq, i); } @@ -240,7 +243,8 @@ static inline void gic_dist_init(gic_t *irq) static inline void gic_inter_init(gic_t *irq) { - for (int i = 0; i < 32; i++) { + for (int i = 0; i < 32; i++) + { gic2_set_prio(irq, i, 0xa0); } @@ -254,7 +258,8 @@ static inline void gic2_eoi_irq(gic_t *irq, int inx) static inline void gic_init(gic_t *irq, addr_t disp_addr, addr_t inter_addr) { irq->irqs_number = ((read_reg32(GICD_TYPER(disp_addr)) & 0x1ful) + 1) * 32; - if (irq->irqs_number > MAX_INTR_NO) { + if (irq->irqs_number > MAX_INTR_NO) + { irq->irqs_number = MAX_INTR_NO; } irq->disp_base_addr = disp_addr; diff --git a/mkrtos_knl/drivers/aarch64_qemu/systick/timer.c b/mkrtos_knl/arch/aarch64/timer.c similarity index 89% rename from mkrtos_knl/drivers/aarch64_qemu/systick/timer.c rename to mkrtos_knl/arch/aarch64/timer.c index 5eddc61fe..ef9bcc345 100755 --- a/mkrtos_knl/drivers/aarch64_qemu/systick/timer.c +++ b/mkrtos_knl/arch/aarch64/timer.c @@ -2,8 +2,10 @@ #include #include #include - -#define GENERIC_TIMER_IRQ 30 +#include +#include +#include "timer.h" +#define GENERIC_TIMER_IRQ SYSTICK_INTR_NO static unsigned int arch_timer_rate; @@ -61,9 +63,10 @@ static void enable_timer_interrupt(int inx) break; } } - void timer_init(int cpu) { + assert(irq_alloc(GENERIC_TIMER_IRQ, NULL, systick_handler)); + arch_timer_rate = generic_timer_get_freq(); arch_timer_rate /= CONFIG_SYS_SCHE_HZ; @@ -74,10 +77,6 @@ void timer_init(int cpu) gic2_set_target_cpu(arm_gicv2_get_global(), GENERIC_TIMER_IRQ, 1 << cpu); printk("cpu:%d timer dis:0x%x\n", arch_get_current_cpu_id(), gic2_get_target_cpu(arm_gicv2_get_global(), GENERIC_TIMER_IRQ)); - - // enable_timer_interrupt(cpu); - // write_sysreg(0x3UL, cntkctl_el1); - // write_sysreg(0x1UL, cnthctl_el2); } void handle_timer_irq(void) { diff --git a/mkrtos_knl/inc/drv/timer/timer.h b/mkrtos_knl/arch/aarch64/timer.h similarity index 51% rename from mkrtos_knl/inc/drv/timer/timer.h rename to mkrtos_knl/arch/aarch64/timer.h index 6a100c5d5..a4c3dac6c 100644 --- a/mkrtos_knl/inc/drv/timer/timer.h +++ b/mkrtos_knl/arch/aarch64/timer.h @@ -1,4 +1,6 @@ #pragma once - +#include void timer_init(int cpu); void handle_timer_irq(void); + +extern void systick_handler(irq_entry_t *irq); diff --git a/mkrtos_knl/drivers/aarch64_qemu/systick/systick.c b/mkrtos_knl/drivers/aarch64_qemu/systick/systick.c index cddbe5698..7649cc909 100755 --- a/mkrtos_knl/drivers/aarch64_qemu/systick/systick.c +++ b/mkrtos_knl/drivers/aarch64_qemu/systick/systick.c @@ -2,22 +2,27 @@ #include "arch.h" #include "thread.h" #include "futex.h" +#include +#include +#include +#include static umword_t sys_tick_cnt; umword_t sys_tick_cnt_get(void) { return sys_tick_cnt; } -#include -#include -extern void handle_timer_irq(void); -void SysTick_Handler(void) + +void systick_handler(irq_entry_t *irq) { - handle_timer_irq(); // TODO:定时器的处理应该被分流，这里处理还有点问题，而且最好采用通用定时器 - gic2_eoi_irq(arm_gicv2_get_global(), arch_get_isr_no()); + handle_timer_irq(); + gic2_eoi_irq(arm_gicv2_get_global(), SYSTICK_INTR_NO); // 进行上下文切换 sys_tick_cnt++; thread_timeout_check(1); futex_timeout_times_tick(); - thread_sched(); + if (thread_sched(FALSE)) + { + sche_arch_sw_context(); + } } diff --git a/mkrtos_knl/drivers/aarch64_qemu/uart/uart.c b/mkrtos_knl/drivers/aarch64_qemu/uart/uart.c index feb0987be..acdcc6a99 100755 --- a/mkrtos_knl/drivers/aarch64_qemu/uart/uart.c +++ b/mkrtos_knl/drivers/aarch64_qemu/uart/uart.c @@ -5,6 +5,7 @@ #include "init.h" #include "queue.h" #include +#include #define UART01x_DR 0x00 /* Data read or written from the interface. */ #define UART01x_RSR 0x04 /* Receive status register (Read). */ @@ -129,8 +130,25 @@ static queue_t queue; static uint8_t queue_data[QUEUE_LEN]; void uart_tigger(irq_entry_t *irq) { - // q_enqueue(&queue, USART_ReceiveData(USART1)); - /*TODO:*/ + int ch; + + ch = read_reg32(UART011_BASE_ADDR + UART01x_DR); + if (ch & 0x0f00) + { + write_reg32(UART011_BASE_ADDR + UART01x_ECR, 0); + goto end; + } + ch &= 0xff; + q_enqueue(&queue, ch); + mword_t status = cpulock_lock(); + + if (irq->irq->wait_thread && thread_get_status(irq->irq->wait_thread) == THREAD_SUSPEND) + { + thread_ready(irq->irq->wait_thread, TRUE); + } + cpulock_set(status); +end: + gic2_eoi_irq(arm_gicv2_get_global(), LOG_INTR_NO); } void uart_init(void) @@ -153,10 +171,18 @@ void uart_init(void) break; } } + unsigned long mask = UART011_RXIM | UART011_RTIM; + + write_reg32(UART011_BASE_ADDR + UART011_ICR, 0xffff & ~mask); + write_reg32(UART011_BASE_ADDR + UART01x_ECR, 0xff); + write_reg32(UART011_BASE_ADDR + UART011_IMSC, read_reg32(UART011_BASE_ADDR + UART011_IMSC) | mask); + // write_reg32(UART011_BASE_ADDR + UART011 IMSC, read_reg32(UART011_BASE_ADDR + UART011_IMSC) & ~mask); + + gic2_set_unmask(arm_gicv2_get_global(), LOG_INTR_NO); + gic2_set_target_cpu(arm_gicv2_get_global(), LOG_INTR_NO, 1 << arch_get_current_cpu_id()); } INIT_HIGH_HAD(uart_init); - void uart_set(uart_t *uart) { uart_set_baud(uart->baud); diff --git a/mkrtos_knl/drivers/stm32f1/systick/systick.c b/mkrtos_knl/drivers/stm32f1/systick/systick.c index d50aef5a8..2acf73393 100755 --- a/mkrtos_knl/drivers/stm32f1/systick/systick.c +++ b/mkrtos_knl/drivers/stm32f1/systick/systick.c @@ -12,7 +12,7 @@ umword_t sys_tick_cnt_get(void) void SysTick_Handler(void) { // 进行上下文切换 - thread_sched(); + thread_sched(TRUE); sys_tick_cnt++; thread_timeout_check(1); futex_timeout_times_tick(); diff --git a/mkrtos_knl/drivers/stm32f2/systick/systick.c b/mkrtos_knl/drivers/stm32f2/systick/systick.c index d50aef5a8..2acf73393 100755 --- a/mkrtos_knl/drivers/stm32f2/systick/systick.c +++ b/mkrtos_knl/drivers/stm32f2/systick/systick.c @@ -12,7 +12,7 @@ umword_t sys_tick_cnt_get(void) void SysTick_Handler(void) { // 进行上下文切换 - thread_sched(); + thread_sched(TRUE); sys_tick_cnt++; thread_timeout_check(1); futex_timeout_times_tick(); diff --git a/mkrtos_knl/drivers/stm32f4/systick/systick.c b/mkrtos_knl/drivers/stm32f4/systick/systick.c index d50aef5a8..2acf73393 100755 --- a/mkrtos_knl/drivers/stm32f4/systick/systick.c +++ b/mkrtos_knl/drivers/stm32f4/systick/systick.c @@ -12,7 +12,7 @@ umword_t sys_tick_cnt_get(void) void SysTick_Handler(void) { // 进行上下文切换 - thread_sched(); + thread_sched(TRUE); sys_tick_cnt++; thread_timeout_check(1); futex_timeout_times_tick(); diff --git a/mkrtos_knl/drivers/swm34s/systick/systick.c b/mkrtos_knl/drivers/swm34s/systick/systick.c index d50aef5a8..2acf73393 100755 --- a/mkrtos_knl/drivers/swm34s/systick/systick.c +++ b/mkrtos_knl/drivers/swm34s/systick/systick.c @@ -12,7 +12,7 @@ umword_t sys_tick_cnt_get(void) void SysTick_Handler(void) { // 进行上下文切换 - thread_sched(); + thread_sched(TRUE); sys_tick_cnt++; thread_timeout_check(1); futex_timeout_times_tick(); diff --git a/mkrtos_knl/inc/knl/thread.h b/mkrtos_knl/inc/knl/thread.h index d2a4da307..41ac46d37 100755 --- a/mkrtos_knl/inc/knl/thread.h +++ b/mkrtos_knl/inc/knl/thread.h @@ -123,7 +123,7 @@ typedef struct thread umword_t magic; //!< maigc } thread_t; -static inline void thread_set_msg_bug(thread_t *th, void *msg, void *umsg) +static inline void thread_set_msg_buf(thread_t *th, void *msg, void *umsg) { th->msg.msg = msg; th->msg.umsg = umsg; @@ -168,7 +168,7 @@ void thread_bind(thread_t *th, kobject_t *tk); void thread_unbind(thread_t *th); void thread_send_wait(thread_t *th); -void thread_sched(void); +bool_t thread_sched(bool_t is_sche); void thread_suspend(thread_t *th); void thread_dead(thread_t *th); void thread_todead(thread_t *th, bool_t is_sche); diff --git a/mkrtos_knl/knl/irq.c b/mkrtos_knl/knl/irq.c index 12e608b46..fe696a8fc 100755 --- a/mkrtos_knl/knl/irq.c +++ b/mkrtos_knl/knl/irq.c @@ -90,7 +90,10 @@ void entry_handler(void) isr_no -= CONFIG_USER_ISR_START_NO; //!< 系统用的irq偏移 assert(isr_no < CONFIG_IRQ_REG_TAB_SIZE); - // printk("%d.\n", isr_no); + // if (isr_no != 30) + // { + // printk("%d.\n", isr_no); + // } if (!irq_check_usability(isr_no)) { if (irqs[isr_no].irq_tigger_func) diff --git a/mkrtos_knl/knl/task.c b/mkrtos_knl/knl/task.c index e09309324..c2cc343fc 100755 --- a/mkrtos_knl/knl/task.c +++ b/mkrtos_knl/knl/task.c @@ -386,7 +386,8 @@ static void task_release_stage2(kobject_t *kobj) #endif // if (cur_tk == tk) // { - thread_sched(); + thread_sched(TRUE); + to_sche(); // } // mm_trace(); printk("release tk %x\n", tk); @@ -397,7 +398,8 @@ void task_kill(task_t *tk) kobj_del_list_init(&kobj_list); obj_unmap(&tk->obj_space, vpage_create3(KOBJ_DELETE_RIGHT, 0, TASK_PROT), &kobj_list); kobj_del_list_to_do(&kobj_list); - thread_sched(); + thread_sched(TRUE); + to_sche(); } task_t *task_create(ram_limit_t *lim, int is_knl) { diff --git a/mkrtos_knl/knl/thread.c b/mkrtos_knl/knl/thread.c index 3f5ad5883..03bb4fa05 100755 --- a/mkrtos_knl/knl/thread.c +++ b/mkrtos_knl/knl/thread.c @@ -187,7 +187,7 @@ static void thread_release_stage2(kobject_t *kobj) if (cur_th == th) { scheduler_reset(); - thread_sched(); + thread_sched(TRUE); } #if IS_ENABLED(CONFIG_BUDDY_SLAB) mm_limit_free_buddy(th->lim, kobj, THREAD_BLOCK_SIZE); @@ -249,7 +249,7 @@ void thread_suspend(thread_t *th) // } scheduler_del(&th->sche); th->status = THREAD_SUSPEND; - thread_sched(); + thread_sched(TRUE); } /** * @brief 线程死亡 @@ -264,7 +264,7 @@ void thread_dead(thread_t *th) } scheduler_del(&th->sche); th->status = THREAD_DEAD; - thread_sched(); + thread_sched(TRUE); } /** @@ -272,7 +272,7 @@ void thread_dead(thread_t *th) * * @param th */ -void thread_sched(void) +bool_t thread_sched(bool_t is_sche) { umword_t status = cpulock_lock(); sched_t *next_sche = scheduler_next(); @@ -283,10 +283,14 @@ void thread_sched(void) { cpulock_set(status); - return; + return FALSE; + } + if (is_sche) + { + to_sche(); } - to_sche(); cpulock_set(status); + return TRUE; } /** * @brief 线程进入就绪态 @@ -305,7 +309,7 @@ void thread_ready(thread_t *th, bool_t is_sche) th->status = THREAD_READY; if (is_sche) { - thread_sched(); + thread_sched(TRUE); } cpulock_set(status); } @@ -319,7 +323,7 @@ void thread_todead(thread_t *th, bool_t is_sche) th->status = THREAD_TODEAD; if (is_sche) { - thread_sched(); + thread_sched(TRUE); } } /** @@ -590,7 +594,7 @@ static int thread_ipc_reply(msg_tag_t in_tag) return ret; } -__attribute__((optimize(1))) int thread_ipc_call(thread_t *to_th, msg_tag_t in_tag, msg_tag_t *ret_tag, +__attribute__((optimize(0))) int thread_ipc_call(thread_t *to_th, msg_tag_t in_tag, msg_tag_t *ret_tag, ipc_timeout_t timout, umword_t *ret_user_id, bool_t is_call) { int ret = -EINVAL; @@ -643,6 +647,7 @@ again_check: //!< 拷贝失败 goto end; } + thread_ready(recv_kobj, TRUE); //!< 直接唤醒接受者 if (is_call) { @@ -667,7 +672,6 @@ again_check: goto end; } } - thread_ready(recv_kobj, TRUE); //!< 直接唤醒接受者 preemption(); } ret = 0; @@ -770,7 +774,7 @@ static void thread_syscall(kobject_t *kobj, syscall_prot_t sys_p, msg_tag_t in_t if (f->regs[4]) //!< cp_stack { - stack_bottom = (umword_t)(cur_th->msg.msg); + stack_bottom = (umword_t)(thread_get_msg_buf(cur_th)); } thread_set_exc_regs(tag_th, f->regs[1], f->regs[2], f->regs[3], stack_bottom); tag = msg_tag_init4(0, 0, 0, 0); @@ -778,9 +782,10 @@ static void thread_syscall(kobject_t *kobj, syscall_prot_t sys_p, msg_tag_t in_t break; case MSG_BUG_SET: { - if (is_rw_access(thread_get_bind_task(tag_th), (void *)(f->regs[1]), THREAD_MSG_BUG_LEN, FALSE)) + task_t *tag_tk = thread_get_bind_task(tag_th); + if (is_rw_access(tag_tk, (void *)(f->regs[1]), THREAD_MSG_BUG_LEN, FALSE)) { - thread_set_msg_buf(tag_th, (void *)mm_get_paddr(mm_space_get_pdir(&task->mm_space), f->regs[1], PAGE_SHIFT), + thread_set_msg_buf(tag_th, (void *)mm_get_paddr(mm_space_get_pdir(&tag_tk->mm_space), f->regs[1], PAGE_SHIFT), (void *)(f->regs[1])); tag = msg_tag_init4(0, 0, 0, 0); } @@ -849,7 +854,7 @@ static void thread_syscall(kobject_t *kobj, syscall_prot_t sys_p, msg_tag_t in_t break; case YIELD: { - thread_sched(); + thread_sched(TRUE); tag = msg_tag_init4(0, 0, 0, 0); } break; diff --git a/mkrtos_knl/knl/thread_knl.c b/mkrtos_knl/knl/thread_knl.c index e5b2542fa..60afe2441 100755 --- a/mkrtos_knl/knl/thread_knl.c +++ b/mkrtos_knl/knl/thread_knl.c @@ -101,7 +101,7 @@ static void knl_init_1(void) task_knl_init(&knl_task); thread_knl_pf_set(knl_thread, knl_main); thread_bind(knl_thread, &knl_task.kobj); - thread_set_msg_bug(knl_thread, knl_msg_buf, knl_msg_buf); + thread_set_msg_buf(knl_thread, knl_msg_buf, knl_msg_buf); thread_ready(knl_thread, FALSE); slist_init(&del_task_head); @@ -146,7 +146,7 @@ static void knl_init_2(void) assert(task_vma_alloc(&init_task->mm_space.mem_vma, vma_addr_create(VPAGE_PROT_RO, VMA_ADDR_RESV, CONFIG_BOOT_FS_VADDR), cpio_get_size(cpio_images), (paddr_t)cpio_images, 0) >= 0); - thread_set_msg_bug(init_thread, (void *)init_msg_buf, (void *)CONFIG_MSG_BUF_VADDR); + thread_set_msg_buf(init_thread, (void *)init_msg_buf, (void *)CONFIG_MSG_BUF_VADDR); thread_user_pf_set(init_thread, (void *)(entry), (void *)0xdeaddead, NULL, 0); #else @@ -156,7 +156,7 @@ static void knl_init_2(void) void *sp_addr = (char *)init_task->mm_space.mm_block + app->i.stack_offset - app->i.data_offset; void *sp_addr_top = (char *)sp_addr + app->i.stack_size; - thread_set_msg_bug(init_thread, (char *)(init_task->mm_space.mm_block) + app->i.ram_size, (char *)(init_task->mm_space.mm_block) + app->i.ram_size); + thread_set_msg_buf(init_thread, (char *)(init_task->mm_space.mm_block) + app->i.ram_size, (char *)(init_task->mm_space.mm_block) + app->i.ram_size); thread_user_pf_set(init_thread, (void *)(CONFIG_KNL_TEXT_ADDR + CONFIG_INIT_TASK_OFFSET), (void *)((umword_t)sp_addr_top - 8), init_task->mm_space.mm_block, 0); #endif @@ -228,7 +228,8 @@ void start_kernel(void) print_mkrtos_info(); cli(); sys_startup(); //!< 开始调度 - thread_sched(); + thread_sched(TRUE); + to_sche(); sti(); while (1) diff --git a/mkrtos_knl/test/kthread_test.c b/mkrtos_knl/test/kthread_test.c index 31301ca64..b0e50a575 100644 --- a/mkrtos_knl/test/kthread_test.c +++ b/mkrtos_knl/test/kthread_test.c @@ -18,7 +18,7 @@ static void th_test(void *arg) printk("%d ", a[i]); } printk("\n"); - thread_sched(); + thread_sched(TRUE); } } static void th_test2(void *arg) @@ -35,7 +35,7 @@ static void th_test2(void *arg) printk("%d,", a[i]); } printk("\n"); - thread_sched(); + thread_sched(TRUE); } } void kthread_test_init(void) diff --git a/mkrtos_script/build_qemu_aarch64.sh b/mkrtos_script/build_qemu_aarch64.sh index ff4bd99c9..90282b775 100755 --- a/mkrtos_script/build_qemu_aarch64.sh +++ b/mkrtos_script/build_qemu_aarch64.sh @@ -1,9 +1,9 @@ #!/bin/bash -# export TOOLCHAIN=/home/zhangzheng/gcc-arm-10.3-2021.07-aarch64-aarch64-none-elf/bin/ -# export TOOLCHAIN_LIB=/home/zhangzheng/gcc-arm-10.3-2021.07-aarch64-aarch64-none-elf/lib/gcc/aarch64-none-elf/10.3.1 -export TOOLCHAIN=/home/mkrtos-smart/toolchains/gcc-arm-10.3-2021.07-x86_64-aarch64-none-elf/bin/ -export TOOLCHAIN_LIB=/home/mkrtos-smart/toolchains/gcc-arm-10.3-2021.07-x86_64-aarch64-none-elf/lib/gcc/aarch64-none-elf/10.3.1 +export TOOLCHAIN=/home/zhangzheng/gcc-arm-10.3-2021.07-aarch64-aarch64-none-elf/bin/ +export TOOLCHAIN_LIB=/home/zhangzheng/gcc-arm-10.3-2021.07-aarch64-aarch64-none-elf/lib/gcc/aarch64-none-elf/10.3.1 +# export TOOLCHAIN=/home/mkrtos-smart/toolchains/gcc-arm-10.3-2021.07-x86_64-aarch64-none-elf/bin/ +# export TOOLCHAIN_LIB=/home/mkrtos-smart/toolchains/gcc-arm-10.3-2021.07-x86_64-aarch64-none-elf/lib/gcc/aarch64-none-elf/10.3.1 export BOARD=aarch64_qemu export CROSS_COMPILE_NAME=aarch64-none-elf- diff --git a/mkrtos_user/lib/mkrtos-musl b/mkrtos_user/lib/mkrtos-musl index d7d8a3c1b..e271ed124 160000 --- a/mkrtos_user/lib/mkrtos-musl +++ b/mkrtos_user/lib/mkrtos-musl @@ -1 +1 @@ -Subproject commit d7d8a3c1b10650053ae58b453ce4786d32aa19b4 +Subproject commit e271ed124f57941f3f61e395b22ba5d0fcee10ca diff --git a/mkrtos_user/lib/sys_svr/inc/rpc_prot.h b/mkrtos_user/lib/sys_svr/inc/rpc_prot.h index 2b03db262..b0183951d 100644 --- a/mkrtos_user/lib/sys_svr/inc/rpc_prot.h +++ b/mkrtos_user/lib/sys_svr/inc/rpc_prot.h @@ -1,53 +1,53 @@ #pragma once #define NS_PROT 0x0001 //!< namespace的协议 -#define NS_REGISTER_OP ((uint16_t)0) //!< ns注册 -#define NS_QUERY_OP ((uint16_t)1) //!< ns请求 +#define NS_REGISTER_OP ((umword_t)0) //!< ns注册 +#define NS_QUERY_OP ((umword_t)1) //!< ns请求 #define FS_PROT 0x0002 -#define FS_OPEN ((uint16_t)0) //!< 打开文件 -#define FS_CLOSE ((uint16_t)1) //!< 关闭文件 -#define FS_READ ((uint16_t)2) //!< 读取文件 -#define FS_WRITE ((uint16_t)3) //!< 写入文件 -#define FS_LSEEK ((uint16_t)4) //!< 写入文件位置 -#define FS_FTRUNCATE ((uint16_t)5) //!< 文件截断 -#define FS_SYNC ((uint16_t)6) //!< 文件同步 -#define FS_OPENDIR ((uint16_t)7) //!< 打开目录，应该使用open打开，保留该接口* -#define FS_CLOSEDIR ((uint16_t)8) //!< 关闭目录，应该使用closedir，保留该接口* -#define FS_READDIR ((uint16_t)9) //!< 读取目录 -#define FS_MKDIR ((uint16_t)10) //!< 新建目录 -#define FS_UNLINK ((uint16_t)11) //!< 删除目录或者文件 -#define FS_RENAME ((uint16_t)12) //!< 重命名 -#define FS_STAT ((uint16_t)13) //!< 获取文件状态 -#define FS_CHMOD ((uint16_t)14) //!< 改变权限 暂不实现* -#define FS_UTIME ((uint16_t)15) //!< 修改时间 暂不实现* -#define FS_CHDIR ((uint16_t)16) //!< 进入某个目录，可在客户端实现 暂不实现* -#define FS_CWDIR ((uint16_t)17) //!< 获取当前目录，可在客户端实现 暂不实现* -#define FS_MOUNT ((uint16_t)18) //!< 挂载节点 暂不实现* -#define FS_SYMLINK ((uint16_t)19) //!< 软链接 +#define FS_OPEN ((umword_t)0) //!< 打开文件 +#define FS_CLOSE ((umword_t)1) //!< 关闭文件 +#define FS_READ ((umword_t)2) //!< 读取文件 +#define FS_WRITE ((umword_t)3) //!< 写入文件 +#define FS_LSEEK ((umword_t)4) //!< 写入文件位置 +#define FS_FTRUNCATE ((umword_t)5) //!< 文件截断 +#define FS_SYNC ((umword_t)6) //!< 文件同步 +#define FS_OPENDIR ((umword_t)7) //!< 打开目录，应该使用open打开，保留该接口* +#define FS_CLOSEDIR ((umword_t)8) //!< 关闭目录，应该使用closedir，保留该接口* +#define FS_READDIR ((umword_t)9) //!< 读取目录 +#define FS_MKDIR ((umword_t)10) //!< 新建目录 +#define FS_UNLINK ((umword_t)11) //!< 删除目录或者文件 +#define FS_RENAME ((umword_t)12) //!< 重命名 +#define FS_STAT ((umword_t)13) //!< 获取文件状态 +#define FS_CHMOD ((umword_t)14) //!< 改变权限 暂不实现* +#define FS_UTIME ((umword_t)15) //!< 修改时间 暂不实现* +#define FS_CHDIR ((umword_t)16) //!< 进入某个目录，可在客户端实现 暂不实现* +#define FS_CWDIR ((umword_t)17) //!< 获取当前目录，可在客户端实现 暂不实现* +#define FS_MOUNT ((umword_t)18) //!< 挂载节点 暂不实现* +#define FS_SYMLINK ((umword_t)19) //!< 软链接 #define DRV_PROT 0x0003 -#define DRV_OPEN ((uint16_t)0) //!< 打开设备 -#define DRV_READ ((uint16_t)1) //!< 读取设备 -#define DRV_WRITE ((uint16_t)2) //!< 写入设备 -#define DRV_CLOSE ((uint16_t)3) //!< 关闭设备 -#define DRV_IOCTL ((uint16_t)4) //!< 控制设备 +#define DRV_OPEN ((umword_t)0) //!< 打开设备 +#define DRV_READ ((umword_t)1) //!< 读取设备 +#define DRV_WRITE ((umword_t)2) //!< 写入设备 +#define DRV_CLOSE ((umword_t)3) //!< 关闭设备 +#define DRV_IOCTL ((umword_t)4) //!< 控制设备 #define META_PROT 0x0004 //!< 元协议 #define PM_PROT 0x0005 //!< 进程管理协议 -#define PM_RUN_APP ((uint16_t)0) //!< 启动应用程序 -#define PM_KILL_TASK ((uint16_t)1) //!< 删除进程 -#define PM_WATCH_PID ((uint16_t)2) //!< watch pid +#define PM_RUN_APP ((umword_t)0) //!< 启动应用程序 +#define PM_KILL_TASK ((umword_t)1) //!< 删除进程 +#define PM_WATCH_PID ((umword_t)2) //!< watch pid #define CONS_PROT 0x0006 //!< console协议 -#define CONS_WRITE ((uint16_t)0) //!< console删除 -#define CONS_READ ((uint16_t)1) //!< console读 -#define CONS_ACTIVE ((uint16_t)2) //!< console激活 +#define CONS_WRITE ((umword_t)0) //!< console删除 +#define CONS_READ ((umword_t)1) //!< console读 +#define CONS_ACTIVE ((umword_t)2) //!< console激活 #define PM_SIG_PROT 0x0007 //!< pm信号协议 -#define PM_SIG_NOTIFY ((uint16_t)0) //!< 通知消息 +#define PM_SIG_NOTIFY ((umword_t)0) //!< 通知消息 #define NET_DRV_PROT 0x0008 -#define NET_DRV_WRITE ((uint16_t)0) //!< 网络驱动写 -#define NET_DRV_READ ((uint16_t)1) //!< 网络驱动读 +#define NET_DRV_WRITE ((umword_t)0) //!< 网络驱动写 +#define NET_DRV_READ ((umword_t)1) //!< 网络驱动读 diff --git a/mkrtos_user/lib/sys_util/inc/u_rpc_1.h b/mkrtos_user/lib/sys_util/inc/u_rpc_1.h index b2177c4f0..ac4c15a08 100644 --- a/mkrtos_user/lib/sys_util/inc/u_rpc_1.h +++ b/mkrtos_user/lib/sys_util/inc/u_rpc_1.h @@ -23,7 +23,7 @@ int off = 0; \ int off_map = 0; \ int ret = -1; \ - int op_val = op; \ + umword_t op_val = op; \ /*拷贝op*/ \ rpc_memcpy(msg_ipc->msg_buf, &op_val, sizeof(op_val)); \ off += rpc_align(sizeof(op_val), __alignof(op)); \ diff --git a/mkrtos_user/lib/sys_util/inc/u_rpc_2.h b/mkrtos_user/lib/sys_util/inc/u_rpc_2.h index 193369b06..127b46d7b 100644 --- a/mkrtos_user/lib/sys_util/inc/u_rpc_2.h +++ b/mkrtos_user/lib/sys_util/inc/u_rpc_2.h @@ -22,7 +22,7 @@ int off = 0; \ int off_buf = 0; \ int ret = -1; \ - size_t op_val = op; \ + umword_t op_val = op; \ /*拷贝op*/ \ rpc_memcpy(msg_ipc->msg_buf, &op_val, sizeof(op_val)); \ off += rpc_align(sizeof(op_val), __alignof(op)); \ diff --git a/mkrtos_user/lib/sys_util/inc/u_rpc_3.h b/mkrtos_user/lib/sys_util/inc/u_rpc_3.h index 9c51ce957..30ef53841 100644 --- a/mkrtos_user/lib/sys_util/inc/u_rpc_3.h +++ b/mkrtos_user/lib/sys_util/inc/u_rpc_3.h @@ -23,7 +23,7 @@ int off = 0; \ int off_buf = 0; \ int ret = -1; \ - size_t op_val = op; \ + umword_t op_val = op; \ /*拷贝op*/ \ rpc_memcpy(msg_ipc->msg_buf, &op_val, __alignof(op_val)); \ off += rpc_align(sizeof(op_val), __alignof(op)); \ diff --git a/mkrtos_user/lib/sys_util/src/u_elf_loader.c b/mkrtos_user/lib/sys_util/src/u_elf_loader.c index d56e63d5e..8abe88d20 100644 --- a/mkrtos_user/lib/sys_util/src/u_elf_loader.c +++ b/mkrtos_user/lib/sys_util/src/u_elf_loader.c @@ -108,7 +108,7 @@ static int thread_set_msg_buf(obj_handler_t hd_task, obj_handler_t hd_thread) { return msg_tag_get_val(tag); } - // 设置msgbuff,TODO:内核需要获取到对应的物理地址 + // 设置msgbuff tag = thread_msg_buf_set(hd_thread, (void *)(CONFIG_MSG_BUF_VADDR)); if (msg_tag_get_val(tag) < 0) {