544 lines
17 KiB
C
544 lines
17 KiB
C
/**
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* Copyright (c) 2017 - 2020, Nordic Semiconductor ASA
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form, except as embedded into a Nordic
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* Semiconductor ASA integrated circuit in a product or a software update for
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* such product, must reproduce the above copyright notice, this list of
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* conditions and the following disclaimer in the documentation and/or other
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* materials provided with the distribution.
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*
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* 3. Neither the name of Nordic Semiconductor ASA nor the names of its
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* contributors may be used to endorse or promote products derived from this
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* software without specific prior written permission.
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*
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* 4. This software, with or without modification, must only be used with a
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* Nordic Semiconductor ASA integrated circuit.
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*
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* 5. Any software provided in binary form under this license must not be reverse
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* engineered, decompiled, modified and/or disassembled.
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*
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* THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS
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* OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
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* OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
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* GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
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* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#include "sdk_common.h"
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#if NRF_MODULE_ENABLED(TASK_MANAGER)
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#include "nrf_mpu_lib.h"
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#include "nrf_atomic.h"
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#include "app_util_platform.h"
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#include "task_manager.h"
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#if TASK_MANAGER_CLI_CMDS
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#include "nrf_cli.h"
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#endif
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#define NRF_LOG_MODULE_NAME task_manager
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#if TASK_MANAGER_CONFIG_LOG_ENABLED
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#define NRF_LOG_LEVEL TASK_MANAGER_CONFIG_LOG_LEVEL
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#define NRF_LOG_INFO_COLOR TASK_MANAGER_CONFIG_INFO_COLOR
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#define NRF_LOG_DEBUG_COLOR TASK_MANAGER_CONFIG_DEBUG_COLOR
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#endif
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#include "nrf_log.h"
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NRF_LOG_MODULE_REGISTER();
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#if TASK_MANAGER_CONFIG_STACK_GUARD
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#define STACK_GUARD_SIZE (1 << (TASK_MANAGER_CONFIG_STACK_GUARD + 1))
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STATIC_ASSERT((TASK_MANAGER_CONFIG_STACK_SIZE % STACK_GUARD_SIZE) == 0);
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#endif
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STATIC_ASSERT((TASK_MANAGER_CONFIG_MAX_TASKS) > 0);
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STATIC_ASSERT((TASK_MANAGER_CONFIG_STACK_SIZE % 8) == 0);
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// Support older CMSIS avaiable in Keil 4
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#if (__CORTEX_M == 4)
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# ifndef CONTROL_FPCA_Pos
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# define CONTROL_FPCA_Pos 2u
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# define CONTROL_FPCA_Msk (1ul << CONTROL_FPCA_Pos)
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# endif
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# ifndef CONTROL_SPSEL_Pos
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# define CONTROL_SPSEL_Pos 1u
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# define CONTROL_SPSEL_Msk (1ul << CONTROL_SPSEL_Pos)
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# endif
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#endif
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/*lint -save -esym(526,task_switch)*/
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// Declare task switching function.
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extern void task_switch(void);
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/*lint -restore*/
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/**@brief Idle Task ID */
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#define IDLE_TASK_ID TASK_MANAGER_CONFIG_MAX_TASKS
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#define TASK_STACK_MAGIC_WORD 0xDEADD00E
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#define TASK_FLAG_SIGNAL_MASK 0x00FFFFFF
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#define TASK_FLAG_DESTROY 0x80000000
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/** @brief Total number of tasks includes user configuration and idle task. */
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#define TOTAL_NUM_OF_TASKS (TASK_MANAGER_CONFIG_MAX_TASKS + 1)
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/**@brief Task stack with saved task state (does not include FPU state). */
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typedef struct
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{
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uint32_t r0;
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uint32_t r4;
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uint32_t r5;
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uint32_t r6;
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uint32_t r7;
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uint32_t r8;
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uint32_t r9;
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uint32_t r10;
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uint32_t r11;
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uint32_t r12;
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uint32_t lr;
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uint32_t control;
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} task_stack_t;
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/**@brief Task State */
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typedef struct
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{
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void *p_stack; /**< Pointer to task stack. NULL if task does not exist. */
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const char *p_task_name;
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nrf_atomic_u32_t flags; /**< Task flags */
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} task_state_t;
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/* Allocate space for task stacks:
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*
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* Layout:
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* +---------------+
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* | Idle Task |
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* +---------------+
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* | Stack Guard |
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* +---------------+
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* | Task N |
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* +---------------+
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* | Stack Guard |
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* +---------------+
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* | ... |
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* +---------------+
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* | Task 0 |
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* +---------------+
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* | Stack Guard |
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* +---------------+
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*/
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typedef struct
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{
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#if TASK_MANAGER_CONFIG_STACK_GUARD
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uint8_t guard[STACK_GUARD_SIZE];
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#endif
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uint8_t stack[TASK_MANAGER_CONFIG_STACK_SIZE];
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} task_manager_stack_t;
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/**@brief Stack space for tasks */
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#if TASK_MANAGER_CONFIG_STACK_GUARD
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/**@brief Handle to MPU region used as a guard */
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static nrf_mpu_lib_region_t s_guard_region;
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__ALIGN(STACK_GUARD_SIZE)
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#else
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__ALIGN(8)
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#endif
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static task_manager_stack_t s_task_stacks[TOTAL_NUM_OF_TASKS];
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/**@brief Task States
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* Addtional state reserved for idle task which is mandatory.
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* */
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static task_state_t s_task_state[TOTAL_NUM_OF_TASKS];
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/**@brief Mask indicating which tasks are runnable */
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static nrf_atomic_u32_t s_runnable_tasks_mask;
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/**@brief ID of currently executed task */
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static task_id_t s_current_task_id;
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/**@brief Guard page attributes: Normal memory, WBWA/WBWA, RO/RO, XN */
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#define TASK_GUARD_ATTRIBUTES ((0x05 << MPU_RASR_TEX_Pos) | (1 << MPU_RASR_B_Pos) | \
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(0x07 << MPU_RASR_AP_Pos) | (1 << MPU_RASR_XN_Pos))
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/**@brief Macro for getting pointer to bottom of stack for given task id */
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#define BOTTOM_OF_TASK_STACK(_task_id) ((void *)(&s_task_stacks[(_task_id)].stack[0]))
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/**@brief Macro for getting pointer to top of stack for given task id */
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#define TOP_OF_TASK_STACK(_task_id) ((void *)(&s_task_stacks[(_task_id)].stack[TASK_MANAGER_CONFIG_STACK_SIZE]))
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/**@brief Macro for getting pointer to base of stack guard for given task id */
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#define TASK_STACK_GUARD_BASE(_task_id) ((void *)(&s_task_stacks[(_task_id)].guard[0]))
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#define TASK_ID_TO_MASK(_task_id) (0x80000000 >> (_task_id))
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/**@brief Puts task in RUNNABLE state */
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#define TASK_STATE_RUNNABLE(_task_id) \
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(void)nrf_atomic_u32_or(&s_runnable_tasks_mask, TASK_ID_TO_MASK(_task_id))
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/**@brief Puts task in SUSPENDED state */
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#define TASK_STATE_SUSPENDED(_task_id) \
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(void)nrf_atomic_u32_and(&s_runnable_tasks_mask, ~TASK_ID_TO_MASK(_task_id));
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static void task_stack_poison(task_id_t task_id)
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{
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#if TASK_MANAGER_CONFIG_STACK_PROFILER_ENABLED
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unsigned int i = TASK_MANAGER_CONFIG_STACK_SIZE / sizeof(uint32_t);
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uint32_t *p_stack_top = TOP_OF_TASK_STACK(task_id);
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while (i--)
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{
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*(--p_stack_top) = TASK_STACK_MAGIC_WORD;
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}
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#endif
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}
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static void task_stack_protect(task_id_t task_id)
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{
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#if TASK_MANAGER_CONFIG_STACK_GUARD
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APP_ERROR_CHECK(nrf_mpu_lib_region_create(&s_guard_region,
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TASK_STACK_GUARD_BASE(task_id),
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STACK_GUARD_SIZE,
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TASK_GUARD_ATTRIBUTES));
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#endif
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}
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PRAGMA_OPTIMIZATION_FORCE_START
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void task_manager_start(task_main_t idle_task, void *p_idle_task_context)
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{
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unsigned long control;
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// Idle task must be specified.
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ASSERT(idle_task != NULL);
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// Make sure that we are in privledged thread level using MSP stack.
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ASSERT((__get_IPSR() & IPSR_ISR_Msk) == 0);
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ASSERT((__get_CONTROL() & CONTROL_nPRIV_Msk) == 0);
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ASSERT((__get_CONTROL() & CONTROL_SPSEL_Msk) == 0);
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// Prepare task state structure.
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s_current_task_id = IDLE_TASK_ID;
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s_task_state[s_current_task_id].p_task_name = "Idle Task";
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// Prepare stack instrumentation and protection.
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task_stack_poison(s_current_task_id);
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task_stack_protect(s_current_task_id);
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NRF_LOG_INFO("Task %u created (name: '%s', stack: 0x%08X-0x%08X).",
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s_current_task_id,
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s_task_state[s_current_task_id].p_task_name,
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(uint32_t)BOTTOM_OF_TASK_STACK(s_current_task_id),
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(uint32_t)TOP_OF_TASK_STACK(s_current_task_id) - 1);
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// Prepare context for idle task. This must be done with all interrupts disabled.
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__disable_irq();
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// Set process and exception stacks.
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__set_PSP((uint32_t)(TOP_OF_TASK_STACK(s_current_task_id)));
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__set_MSP((uint32_t)(STACK_TOP));
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// Update CONTROL register.
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control = __get_CONTROL();
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control &= CONTROL_FPCA_Msk; // Clear FPCA since FPU state does not need to be preserved.
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control |= CONTROL_SPSEL_Msk; // Use MSP only for excpetions, leaving PSP for tasks.
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__set_CONTROL(control);
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// Context is ready. Enable interrupts.
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__enable_irq();
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// Perform task switch to run non-idle tasks as soon as possible.
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task_switch();
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// Jump to idle task.
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idle_task(p_idle_task_context);
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// This should be never reached.
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APP_ERROR_CHECK_BOOL(false);
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}
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PRAGMA_OPTIMIZATION_FORCE_END
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task_id_t task_create(task_main_t task, char const * p_task_name, void *p_context)
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{
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task_state_t *p_state = NULL;
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task_stack_t *p_stack;
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task_id_t task_id;
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// Check arguments.
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if (task == NULL)
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{
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return TASK_ID_INVALID;
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}
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// Find free task state structure.
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CRITICAL_REGION_ENTER();
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for (task_id = 0; task_id < TASK_MANAGER_CONFIG_MAX_TASKS; task_id++)
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{
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if (s_task_state[task_id].p_stack == NULL)
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{
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p_state = &s_task_state[task_id];
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p_state->p_stack = TOP_OF_TASK_STACK(task_id);
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break;
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}
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}
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CRITICAL_REGION_EXIT();
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// Return invalid Task ID if new task cannot be created.
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if (p_state == NULL)
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{
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return TASK_ID_INVALID;
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}
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// Prepare initial stack for the task.
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task_stack_poison(task_id);
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p_state->p_stack = (uint8_t *)(p_state->p_stack) - sizeof(*p_stack);
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p_state->p_task_name = (char *)p_task_name;
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p_state->flags = 0;
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p_stack = p_state->p_stack;
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p_stack->control = CONTROL_SPSEL_Msk;
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p_stack->lr = (uint32_t)(task); // Start from this function.
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p_stack->r0 = (uint32_t)(p_context); // Pass p_context as first argument.
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// Mark task as ready to run.
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TASK_STATE_RUNNABLE(task_id);
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NRF_LOG_INFO("Task %u created (name: '%s', stack: 0x%08X-0x%08X).",
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task_id,
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p_task_name,
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(uint32_t)BOTTOM_OF_TASK_STACK(task_id),
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(uint32_t)TOP_OF_TASK_STACK(task_id) - 1);
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return task_id;
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}
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/**@brief Task scheduler.
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*
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* @param[in] Pointer to task stack with saved task state.
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* @return Pointer to new task stack with saved task state.
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*/
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void *task_schedule(void *p_stack)
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{
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uint32_t runnable_tasks_mask;
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#if TASK_MANAGER_CONFIG_STACK_GUARD
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// Destroy stack guard allocated for current task.
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APP_ERROR_CHECK(nrf_mpu_lib_region_destroy(s_guard_region));
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#endif
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// Save current task state if task if switching from valid task.
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if ((s_task_state[s_current_task_id].flags & TASK_FLAG_DESTROY) == 0)
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{
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s_task_state[s_current_task_id].p_stack = p_stack;
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}
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else
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{
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TASK_STATE_SUSPENDED(s_current_task_id);
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s_task_state[s_current_task_id].p_stack = NULL;
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NRF_LOG_INFO("Task %u terminated (name: '%s').",
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s_current_task_id,
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s_task_state[s_current_task_id].p_task_name);
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}
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// Atomically fetch list of runnable tasks.
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runnable_tasks_mask = s_runnable_tasks_mask;
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// Check if there are any tasks to execute.
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if (runnable_tasks_mask != 0)
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{
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// Check if we could continue this round.
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if ((runnable_tasks_mask << (s_current_task_id + 1)) != 0)
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{
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// There are tasks to execute in this round. Select next runnable task:
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s_current_task_id += 1 + __CLZ((runnable_tasks_mask << (s_current_task_id + 1)));
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}
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else
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{
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// No more tasks in this round. Select first avaiable task:
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s_current_task_id = __CLZ(runnable_tasks_mask);
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}
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}
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else
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{
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// Fall back to idle task if other tasks cannot be run.
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s_current_task_id = IDLE_TASK_ID;
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}
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task_stack_protect(s_current_task_id);
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// Switch to new task.
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return s_task_state[s_current_task_id].p_stack;
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}
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void task_yield(void)
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{
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// Make sure that we are in privledged thread level using PSP stack.
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ASSERT((__get_IPSR() & IPSR_ISR_Msk) == 0);
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ASSERT((__get_CONTROL() & CONTROL_nPRIV_Msk) == 0);
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ASSERT((__get_CONTROL() & CONTROL_SPSEL_Msk) != 0);
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// Perform task switch.
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task_switch();
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}
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uint32_t task_events_wait(uint32_t evt_mask)
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{
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uint32_t current_events;
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ASSERT((evt_mask & ~TASK_FLAG_SIGNAL_MASK) == 0);
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for (;;)
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{
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current_events = s_task_state[s_current_task_id].flags & evt_mask;
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if (current_events != 0)
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{
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(void)nrf_atomic_u32_and(&s_task_state[s_current_task_id].flags, ~current_events);
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break;
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}
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TASK_STATE_SUSPENDED(s_current_task_id);
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task_yield();
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}
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return current_events;
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}
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void task_events_set(task_id_t task_id, uint32_t evt_mask)
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{
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ASSERT((task_id != TASK_ID_INVALID) && (task_id < TASK_MANAGER_CONFIG_MAX_TASKS));
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ASSERT((evt_mask & ~TASK_FLAG_SIGNAL_MASK) == 0);
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ASSERT(s_task_state[task_id].p_stack != NULL);
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(void)nrf_atomic_u32_or(&s_task_state[task_id].flags, evt_mask);
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TASK_STATE_RUNNABLE(task_id);
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}
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void task_exit(void)
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{
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// Make sure that we are in privledged thread level using PSP stack.
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ASSERT((__get_IPSR() & IPSR_ISR_Msk) == 0);
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ASSERT((__get_CONTROL() & CONTROL_nPRIV_Msk) == 0);
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ASSERT((__get_CONTROL() & CONTROL_SPSEL_Msk) != 0);
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s_task_state[s_current_task_id].flags = TASK_FLAG_DESTROY;
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task_switch();
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}
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task_id_t task_id_get(void)
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{
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// Make sure that we are in privledged thread level using PSP stack.
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ASSERT((__get_IPSR() & IPSR_ISR_Msk) == 0);
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ASSERT((__get_CONTROL() & CONTROL_nPRIV_Msk) == 0);
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ASSERT((__get_CONTROL() & CONTROL_SPSEL_Msk) != 0);
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return s_current_task_id;
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}
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uint32_t task_stack_max_usage_get(task_id_t task_id)
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{
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#if TASK_MANAGER_CONFIG_STACK_PROFILER_ENABLED
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unsigned int stack_usage;
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uint32_t *p_stack, *p_stack_top;
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ASSERT((task_id != TASK_ID_INVALID) || (task_id < TASK_MANAGER_CONFIG_MAX_TASKS));
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ASSERT(s_task_state[task_id].p_stack != NULL);
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p_stack_top = TOP_OF_TASK_STACK(task_id);
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p_stack = BOTTOM_OF_TASK_STACK(task_id);
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stack_usage = TASK_MANAGER_CONFIG_STACK_SIZE;
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while (p_stack < p_stack_top)
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{
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if (*(p_stack++) != TASK_STACK_MAGIC_WORD)
|
|
{
|
|
break;
|
|
}
|
|
|
|
stack_usage -= sizeof(*p_stack);
|
|
}
|
|
|
|
return stack_usage;
|
|
#else
|
|
return 0;
|
|
#endif
|
|
}
|
|
|
|
#if TASK_MANAGER_CLI_CMDS
|
|
static void task_mnanager_info(nrf_cli_t const * p_cli, size_t argc, char **argv)
|
|
{
|
|
task_id_t task_id;
|
|
|
|
for (task_id = 0; task_id < TOTAL_NUM_OF_TASKS; task_id++)
|
|
{
|
|
const char *p_task_name = NULL;
|
|
|
|
CRITICAL_REGION_ENTER();
|
|
if (s_task_state[task_id].p_stack != NULL)
|
|
{
|
|
p_task_name = (s_task_state[task_id].p_task_name) ? s_task_state[task_id].p_task_name
|
|
: "<NULL>";
|
|
}
|
|
CRITICAL_REGION_EXIT();
|
|
|
|
if (p_task_name)
|
|
{
|
|
uint32_t stack_usage = task_stack_max_usage_get(task_id);
|
|
|
|
nrf_cli_fprintf(p_cli, NRF_CLI_NORMAL, "Task %u:\r\n", task_id);
|
|
nrf_cli_fprintf(p_cli, NRF_CLI_NORMAL, "\tName:\t'%s'\r\n", p_task_name);
|
|
|
|
if (stack_usage)
|
|
{
|
|
nrf_cli_fprintf(p_cli, NRF_CLI_NORMAL, "\tStack:\t0x%08X-0x%08X used in %u%% (%u out of %u bytes)\r\n",
|
|
(uint32_t)BOTTOM_OF_TASK_STACK(task_id),
|
|
(uint32_t)TOP_OF_TASK_STACK(task_id) - 1,
|
|
100 * stack_usage / TASK_MANAGER_CONFIG_STACK_SIZE,
|
|
stack_usage,
|
|
TASK_MANAGER_CONFIG_STACK_SIZE);
|
|
}
|
|
else
|
|
{
|
|
nrf_cli_fprintf(p_cli, NRF_CLI_NORMAL, "\tStack:\t0x%08X-0x%08X\r\n",
|
|
(uint32_t)BOTTOM_OF_TASK_STACK(task_id),
|
|
(uint32_t)TOP_OF_TASK_STACK(task_id) - 1);
|
|
}
|
|
|
|
nrf_cli_fprintf(p_cli, NRF_CLI_NORMAL, "\tState:\t%s\r\n",
|
|
(s_current_task_id == task_id) ? "Running" :
|
|
(s_runnable_tasks_mask & TASK_ID_TO_MASK(task_id)) ? "Runnable" : "Suspended");
|
|
|
|
nrf_cli_fprintf(p_cli, NRF_CLI_NORMAL, "\tFlags:\t0x%08X\r\n\r\n",
|
|
s_task_state[task_id].flags);
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
NRF_CLI_CREATE_STATIC_SUBCMD_SET(m_sub_task_mngr)
|
|
{
|
|
NRF_CLI_CMD(info, NULL, "tasks info", task_mnanager_info),
|
|
NRF_CLI_SUBCMD_SET_END
|
|
};
|
|
|
|
NRF_CLI_CMD_REGISTER(task_manager, &m_sub_task_mngr, "commands for task manager", NULL);
|
|
#endif //TASK_MANAGER_CLI_CMDS
|
|
#else //TASK_MANAGER_ENABLED
|
|
void *task_schedule(void *p_stack)
|
|
{
|
|
return (void *)0;
|
|
}
|
|
#endif //TASK_MANAGER_ENABLED
|