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2 pj 1
/*
2
 * Project: S.Ha.R.K.
3
 *
4
 * Coordinators:
5
 *   Giorgio Buttazzo    <giorgio@sssup.it>
6
 *   Paolo Gai           <pj@gandalf.sssup.it>
7
 *
8
 * Authors     :
9
 *   Paolo Gai           <pj@gandalf.sssup.it>
10
 *   Massimiliano Giorgi <massy@gandalf.sssup.it>
11
 *   Luca Abeni          <luca@gandalf.sssup.it>
12
 *   (see the web pages for full authors list)
13
 *
14
 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
15
 *
16
 * http://www.sssup.it
17
 * http://retis.sssup.it
18
 * http://shark.sssup.it
19
 */
20
 
21
 
22
/**
23
 ------------
1005 mauro 24
 CVS :        $Id: func.h,v 1.19 2005-05-10 17:15:52 mauro Exp $
2 pj 25
 
26
 File:        $File$
1005 mauro 27
 Revision:    $Revision: 1.19 $
28
 Last update: $Date: 2005-05-10 17:15:52 $
2 pj 29
 ------------
30
 
31
Kernel functions:
32
 
33
- Debug stuff
34
 
35
- Primitives called at initialization time
36
 
37
- Kernel global functions (scheduler, queues)
38
 
39
- Kernel VM hooks
40
 
41
- IRQ, errors & exception handling
42
 
43
- System management primitives
44
 
45
- Jet management primitives
46
 
47
- Task management primitives
48
 
49
- Mutex primitives
50
 
51
**/
52
 
53
/*
54
 * Copyright (C) 2000 Paolo Gai
55
 *
56
 * This program is free software; you can redistribute it and/or modify
57
 * it under the terms of the GNU General Public License as published by
58
 * the Free Software Foundation; either version 2 of the License, or
59
 * (at your option) any later version.
60
 *
61
 * This program is distributed in the hope that it will be useful,
62
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
63
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
64
 * GNU General Public License for more details.
65
 *
66
 * You should have received a copy of the GNU General Public License
67
 * along with this program; if not, write to the Free Software
68
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
69
 *
70
 */
71
 
72
#ifndef __KERNEL_FUNC_H__
73
#define __KERNEL_FUNC_H__
74
 
75
#include <ll/ll.h>
1689 fabio 76
#include <arch/stdio.h>
2 pj 77
#include <kernel/types.h>
78
#include <kernel/model.h>
79
#include <kernel/mem.h>
80
#include <signal.h>
81
#include <kernel/var.h>
82
#include <errno.h>
83
 
84
 
85
/*---------------------------------------------------------------------*/
86
/* Debug stuff                                                         */
87
/*---------------------------------------------------------------------*/
88
 
89
/* if a source use printk() it should include log.h not func.h */
90
#include <kernel/log.h>
91
 
1689 fabio 92
#include <arch/sys/cdefs.h>
79 pj 93
 
94
__BEGIN_DECLS
95
 
2 pj 96
/*---------------------------------------------------------------------*/
97
/* Kernel global functions: initialization & termination...            */
98
/*---------------------------------------------------------------------*/
99
 
100
/*+ this function is called by __kernel_init__.
101
    It register the modules in the system at init time +*/
102
TIME __kernel_register_levels__(void *arg);
103
 
104
/*+ This function returns a level_des **. the value returned shall be
38 pj 105
    used to register a level module.
2 pj 106
 
38 pj 107
    The function is usually called at module registration time.  The
108
    function can also be called when the system is already started, to
109
    allow the implementation of dynamic module registration.  
110
 
111
    The argument must be the size of the data block that have to be allocated
112
 
113
    The function returns the number of the descriptor allocated for the module
114
    or -1 in case there are no free descriptors.
115
 
116
    The function also reserves a descriptor with size s, initialized
117
    with default function pointers.
118
 
119
+*/
120
LEVEL level_alloc_descriptor(size_t s);
121
 
122
/*+ This function release a level descriptor previously allocated using
123
  level_alloc_descriptor().
124
 
125
  The function returns 0 if the level has been freed, or -1 if someone is
126
  using it, -2 if the level has never been registered.
127
 
128
+*/
129
int level_free_descriptor(LEVEL l);
130
 
131
/* Call this if you want to say that your module is using module l
132
   (e.g., for calling its private functions) */
133
int level_use_descriptor(LEVEL l);
134
 
135
/* Call this when you no more need the module l */
136
int level_unuse_descriptor(LEVEL l);
137
 
2 pj 138
/*+ This function returns a resource_des **. the value returned shall be
139
    used to register a resource module. The function shall be called only at
923 pj 140
    module registration time. +*/
2 pj 141
RLEVEL resource_alloc_descriptor();
142
 
143
/*+ This function compute the command line parameters from the multiboot_info
144
    NOTE: this function modify the multiboot struct, so this function and
145
    __call_main__ are mutually exclusives!!! +*/
146
void __compute_args__(struct multiboot_info *mbi, int *_argc, char **_argv);
147
 
148
/*+ This function calls the standard C main() function, with a
149
    parameter list up to 100 parameters                        +*/
150
int __call_main__(struct multiboot_info *mb);
151
 
152
/*+ This task initialize the system and calls the main() with
153
    __call_mail__ .
154
    It should be created by a level registered in the system by
155
    __kernel_register_levels__ +*/
156
TASK __init__(void *arg);
157
 
158
/*+ Use this function to post your own exit operations
159
    (when uses some defines contained in const.h) +*/
160
int sys_atrunlevel(void (*func_code)(void *),void *parm, BYTE when);
161
 
162
/*---------------------------------------------------------------------*/
29 pj 163
/* Kernel global functions: scheduler,                                 */
2 pj 164
/*---------------------------------------------------------------------*/
165
 
166
/*+ This is the generic scheduler.
167
    The scheduler calls the appropriates level schedulers and then
168
    dispatch the task chosen. +*/
169
void scheduler(void);
170
 
171
/*+ called in the events to force the system to execute the scheduler at
172
    the end of an event list +*/
173
void event_need_reschedule();
174
 
175
void task_makefree(void *ret);
176
void check_killed_async(void);
177
 
178
int guarantee();
179
 
38 pj 180
void levels_init(void); /* see init.c */
181
 
2 pj 182
void runlevel_init();
183
void call_runlevel_func(int runlevel, int aborting);
184
 
185
// in kill.c
186
void kill_user_tasks();
187
 
188
void event_resetepilogue();
189
 
190
 
191
void call_task_specific_data_destructors();
192
void task_specific_data_init();
193
 
194
// in kill.c
195
void register_cancellation_point(int (*func)(PID p, void *arg), void *arg);
196
 
197
// in signal.c
198
void register_interruptable_point(int (*func)(PID p, void *arg), void *arg);
199
 
200
 
201
/*---------------------------------------------------------------------*/
202
/* Kernel VM hooks                                                     */
203
/*---------------------------------------------------------------------*/
204
 
205
/* this hooks redefines the VM functions to use them into the kernel...
206
 
207
   the only VM functions called directly from the kernel are VM_init and
208
   VM_end
209
*/
210
 
646 mauro 211
/* Advanced Timer adjust */
212
#define kern_scale_timer       ll_scale_advtimer
213
 
620 mauro 214
/* Exit mode selection */
215
#define sys_set_reboot         ll_set_reboot
216
 
2 pj 217
/* Context management routines */
218
#define kern_context_create    ll_context_create
219
#define kern_context_delete    ll_context_delete
220
 
221
extern __inline__ CONTEXT kern_context_save()
222
{
223
  cli();
224
  return ll_context_from();
225
}
226
 
227
/*+ this functions are called every time a context is changed +*/
228
void kern_after_dispatch(void);
229
 
230
/* Warning: if modified, modify also:
231
   - task_join
232
   - cond_wait
233
   - cond_timedwait
234
   - internal_sem_wait
235
*/
82 pj 236
extern __inline__ void kern_context_load(CONTEXT c)
2 pj 237
{
238
  ll_context_to(c);
239
  kern_after_dispatch();
240
  sti();
241
}
242
 
243
 
244
/* Interrupt enabling/disabling */
245
#define kern_cli          cli
246
#define kern_sti          sti
247
 
248
/* Interrupt enabling/disabling with flag save */
249
#define kern_fsave        ll_fsave
250
#define kern_frestore     ll_frestore
251
 
252
/* interrupt handling */
253
#define kern_irq_unmask   VM_irq_unmask
254
#define kern_irq_mask     VM_irq_mask
255
 
256
extern __inline__ int kern_event_post(const struct timespec *time,
257
                                      void (*handler)(void *p),
258
                                      void *par)
259
{
260
  int e;
261
  e = event_post(*time,handler,par);
262
 
263
  if (e == -1)
264
    kern_raise(XNOMORE_EVENTS,exec_shadow);
265
 
266
  return e;
267
}
268
 
38 pj 269
#define kern_event_delete event_delete
270
 
2 pj 271
/*+ the default capacity timer used by the kernel... +*/
272
void capacity_timer(void *arg);
273
 
274
 
275
#define kern_printf message
276
 
38 pj 277
extern __inline__ TIME kern_gettime(struct timespec *t)
278
{
45 pj 279
  return ll_gettime(TIME_NEW, t);
38 pj 280
}
281
 
282
 
283
 
2 pj 284
/*---------------------------------------------------------------------*/
38 pj 285
/* Kernel global functions: IRQ handling                               */
2 pj 286
/*---------------------------------------------------------------------*/
287
 
288
/*+ Interrupt handler installation +*/
1005 mauro 289
int handler_set(int no, void (*fast)(int n), BYTE lock, PID pi, void (*intdrv)(int n));
2 pj 290
 
291
/*+ Interrupt handler removal      +*/
292
int handler_remove(int no);
293
 
1005 mauro 294
/*+ Return the Interrupt handler for intdrive module +*/
295
void *handler_get_intdrive(int no);
2 pj 296
 
297
/*---------------------------------------------------------------------*/
298
/* System management primitives                                        */
299
/*---------------------------------------------------------------------*/
300
 
923 pj 301
void exit(int status);
302
void _exit(int status);
2 pj 303
 
923 pj 304
/*+ Shuts down the system when in RUNLEVEL SHUTDOWN +*/
571 giacomo 305
void sys_abort_shutdown(int err);
306
 
923 pj 307
/*+ Print a message then call exit(333).
2 pj 308
    Can be called from all the tasks...  +*/
309
void sys_panic(const char * fmt, ...) __attribute__ ((format (printf, 1, 2)));
310
 
311
/*+ prints an error message (see perror.c) +*/
312
void perror (const char *s);
313
 
314
/*+ this primitive returns the time read from the system timer +*/
315
TIME sys_gettime(struct timespec *t);
316
 
158 pj 317
/*+ this primitive can be used to set a message that will be printed
318
    at shutdown +*/
319
int sys_shutdown_message(char *fmt,...);
320
 
2 pj 321
/*---------------------------------------------------------------------*/
322
/* Jet management primitives                                           */
323
/*---------------------------------------------------------------------*/
324
 
325
/*+ This primitive returns the maximum execution time and the total
326
    execution time from the task_create or the last jet_delstat
327
    It returns also the number of instances to use to calculate the mean
328
    time and the current job execution time.
329
    The value returned is 0 if all ok, -1 if the PID is not correct or
330
    the task doesn't have the JET_ENABLE bit set.
331
+*/
332
int jet_getstat(PID p, TIME *sum, TIME *max, int *n, TIME *curr);
333
 
334
/*+ This primitive reset to 0 the maximum execution time and the mean
335
    execution time of the task p, and reset to 0 all the entries in
336
    jet_table.
337
    The value returned is 0 if all ok, -1 if the PID is not correct or
338
    the task doesn't have the JET_ENABLE bit set.                     +*/
339
int jet_delstat(PID p);
340
 
341
/*+ This primitive returns the last n values of the task execution time
342
    recorded after the last call to jet_gettable or jet_delstat.
343
    If n is
344
    <0 it will be set only the last values inserted in the table
345
       since the last call of jet_gettable.
346
    >0 it will be set up to JET_TABLE_DIM datas.
347
 
348
    The value returned is -1 if the PID is not correct or
349
    the task doesn't have the JET_ENABLE bit set, otherwise it returns the
350
    number of values set in the parameter table.
351
    (can be from 0 to JET_TABLE_DIM-1)
352
+*/
353
int jet_gettable(PID p, TIME *table, int n);
354
 
355
/*+ This function updates the jet information. +*/
356
void jet_update_slice(TIME t);
357
 
358
/*+ This function updates the jet information at the task end period
359
    it is called in task_endcycle and task_sleep +*/
360
void jet_update_endcycle();
361
 
362
/*---------------------------------------------------------------------*/
38 pj 363
/* Internal Macros                                                     */
364
/*---------------------------------------------------------------------*/
365
 
366
extern __inline__ void kern_epilogue_macro(void)
367
{
368
  TIME tx;    /* a dummy used for time computation             */
369
  struct timespec ty; /* a dummy used for time computation     */
370
 
371
  kern_gettime(&schedule_time);
372
 
373
  /* manage the capacity event */
374
  SUBTIMESPEC(&schedule_time, &cap_lasttime, &ty);
375
  tx = TIMESPEC2USEC(&ty);
393 giacomo 376
  if (proc_table[exec_shadow].control & CONTROL_CAP) proc_table[exec_shadow].avail_time -= tx;
38 pj 377
  jet_update_slice(tx);
378
 
379
  /* if the event didn't fire before, we delete it. */
380
  if (cap_timer != NIL) {
381
    kern_event_delete(cap_timer);
382
    cap_timer = NIL;
383
  }
384
}
385
 
386
/* This function is called by the kernel into kern.c to register a default
387
   exception handler */
388
int set_default_exception_handler(void);
567 giacomo 389
int remove_default_exception_handler(void);
38 pj 390
 
391
/*---------------------------------------------------------------------*/
2 pj 392
/* Task management primitives                                          */
393
/*---------------------------------------------------------------------*/
394
 
395
 
396
/*+ This primitive:
397
    - Reserve a task descriptor
398
    - Create the task based on the task model passed
399
    - Initialize the resources used by the task
400
    - Guarantees the task set
401
+*/
402
PID task_createn(char *name,      /*+ the symbolic name of the task +*/
403
                 TASK (*body)(),  /*+ a pointer to the task body    +*/
404
                 TASK_MODEL *m,   /*+ the task model                +*/
405
                                  /*+ the resources models, a list  +*/
406
                 ...);            /*+ of models terminated by NULL  +*/
407
 
408
 
409
/*+ a redefinition of task_createn +*/
410
extern __inline PID task_create(char *name, TASK (*body)(),
411
                                void *m, void *r)
412
{
413
   return task_createn(name, body, (TASK_MODEL *)m, (RES_MODEL *)r, NULL);
414
}
415
 
416
 
417
/* This function allow to create a set of tasks without guarantee.
418
   It must be called with interrupts disabled and it must be used with
419
   group_create_accept and group_create_reject.
420
 
421
   This function allocates a task descriptor and fills it.
422
   After that, the guarantee() function should be called to check for task(s)
423
   admission.
424
   Next, each task created with group_create must be accepted with a call to
425
   group_create_accept() or rejected with a call to group_create_reject.
426
 
427
   The function returns the PID of the allocated descriptor, or NIL(-1)
428
   if the descriptor cannot be allocated or some problems arises the creation.
429
   If -1 is returned, errno is set to a value that represent the error:
430
      ENO_AVAIL_TASK       -> no free descriptors available
431
      ENO_AVAIL_SCHEDLEVEL -> there were no scheduling modules that can handle
432
                              the TASK_MODEL *m passed as parameter
433
      ETASK_CREATE         -> there was an error during the creation of the
434
                              task into the scheduling module
435
      ENO_AVAIL_RESLEVEL   -> there were no resource modules that can handle
436
                              one of the RES_MODEL * passed as parameter
437
*/
438
PID group_create(char *name,
439
                 TASK (*body)(),
440
                 TASK_MODEL *m,
441
                 ...);
442
 
443
 
444
/*
445
  This function should be called when a task created with group_create
446
  is successfully guaranteed and accepted in the system.
447
  This function finish the creation process allocating the last resources
448
  for the task (i.e., the stack and the context).
449
  it returns:
450
 
451
  -1 if something goes wrong. In this case, THE TASK IS AUTOMATICALLY REJECTED
452
     AND THE GROUP_CREATE_REJECT MUST NOT BE CALLED.
453
     errno is set to a value that explains the problem occurred:
454
 
455
     ENO_AVAIL_STACK_MEM -> No stack memory available for the task
456
     ENO_AVAIL_TSS       -> No context available for the task (This is a
457
                            CRITICAL error, and usually never happens...)
458
*/
459
int group_create_accept(PID i, TASK_MODEL *m);
460
 
461
/*
462
  This function should be called when a task created with group_create
463
  can not be successfully guaranteed.
464
  This function reject the task from the system.
465
  You cannot use the PID of a rejected task after this call.
466
*/
467
void group_create_reject(PID i);
468
 
469
/*+
470
  It blocks all explicit activation of a task made with task_activate and
471
  group_activate. These activations are registered in an internal counter,
472
  returned by task_unblock_activation.
473
  it returns 0 if all ok, or -1 otherwise. errno is set accordingly.
474
+*/
475
int task_block_activation(PID p);
476
 
477
/*+
478
  It unblocks all explicit activations of a task, and returns the number of
479
  "frozen" activations. It not call the task_activate!!!!
480
  it returns -1 if an error occurs. errno is set accordingly.
481
+*/
482
int task_unblock_activation(PID p);
483
 
484
 
485
/*+ Activate a task specified via pid returned from task_create +*/
486
int task_activate(PID pid);
487
 
690 anton 488
/*+ Activate a task specified via pid from task_create at time t +*/
489
int task_activate_at(PID pid, struct timespec *t);
490
 
2 pj 491
/*+ Kill a task specified via pid returned from task_create +*/
492
int task_kill(PID pid);
493
 
494
/*+
495
  This primitive autokills the excuting task; it was used to avoid
496
  that returning from a task cause a jmp to an unpredictable location.
497
 
498
  Now it is obsolete, the task_create_stub do all the works.
499
 
500
  It is used by the Posix layer to implement pthread_exit
501
+*/
502
void task_abort(void *returnvalue);
503
 
504
/*+ Creates a cancellation point in the calling task +*/
505
void task_testcancel(void);
506
 
507
/*+ Set the cancellation state of the task +*/
508
int task_setcancelstate(int state, int *oldstate);
509
 
510
/*+ Set the cancellation type of the task +*/
511
int task_setcanceltype(int type, int *oldtype);
512
 
513
/*+ this function suspends execution of the calling task until the target
514
    task terminates, unless the target task has already terminated.
515
    It works like the pthread_join +*/
516
int task_join(PID p, void **value);
517
 
518
/*+ this function set the detach state of a task to joinable. This function
519
    is not present in Posix standard...
520
    returns ESRCH if p is non correct +*/
521
int task_joinable(PID p);
522
 
523
/*+ this function set the detach state of a task to detached. This function
524
    works as the posix's pthread_detach
525
    returns EINVAL if p can't be joined (or currently a task has done a
526
    join on it (condition not provided in posix)
527
    ESRCH if p is not correct +*/
528
int task_unjoinable(PID p);
529
 
530
/*+ Disable the preemption mechanism on the task.
531
    This primitive is very dangerous!!!!         +*/
532
void task_nopreempt(void);
533
 
534
/*+ Enable the preemption mechanism on the task. +*/
535
void task_preempt(void);
536
 
38 pj 537
/*+ sends a message to the scheduling module that is handling the task +*/
208 giacomo 538
int task_message(void *m, PID p, int reschedule);
38 pj 539
 
2 pj 540
/*+ This function signals to the kernel that the current istance of
541
    the task (periodic or aperiodic) is ended; so the task can be
542
    suspended until it is activated again. Pending activations may be saved
543
    depending on the task model +*/
38 pj 544
extern __inline__ void task_endcycle(void)
545
{
912 pj 546
  task_testcancel();
210 giacomo 547
  task_message(NULL, NIL, 1);
38 pj 548
}
2 pj 549
 
208 giacomo 550
/*+ This function signals to the kernel that the current istance of
551
    the task (periodic or aperiodic) is ended; so the task can be
552
    suspended until it is activated again. Pending activations may be saved
553
    depending on the task model +*/
554
extern __inline__ void task_disable(PID p)
555
{
556
  task_message((void *)(1), p, 0);
557
}
558
 
2 pj 559
/*+ This primitives refers the group id which is supplied
560
    by the application, not by the kernel                 +*/
561
int group_activate(WORD g);
690 anton 562
int group_activate_at(WORD g, struct timespec *t);
2 pj 563
int group_kill(WORD g);
564
 
565
 
566
/*---------------------------------------------------------------------*/
567
/* Mutex primitives                                                    */
568
/*---------------------------------------------------------------------*/
569
 
570
/* This primitives manages a mutex in the system.
571
   The behavior of the functions is similar to the POSIX ones. */
572
 
573
 
574
/*+ Alloc a mutex descriptor +*/
575
int mutex_init(mutex_t *mutex, const mutexattr_t *attr);
576
 
577
/*+ Free a mutex descriptor  +*/
578
int mutex_destroy(mutex_t *mutex);
579
 
580
/*+ Block wait               +*/
581
int mutex_lock(mutex_t *mutex);
582
 
583
/*+ Non-block wait           +*/
584
int mutex_trylock(mutex_t *mutex);
585
 
586
/*+ unlock primitive +*/
587
int mutex_unlock(mutex_t *mutex);
588
 
589
/*---------------------------------------------------------------------*/
590
/* Condition variables                                                 */
591
/*---------------------------------------------------------------------*/
592
 
593
/*+ Initialization of the condition variable +*/
594
int cond_init(cond_t *cond);
595
 
596
/*+ free a condition variable descriptor +*/
597
int cond_destroy(cond_t *cond);
598
 
599
/*+ signal on a condition variable, it unlocks only one task +*/
600
int cond_signal(cond_t *cond);
601
 
602
/*+ broadcast on a condition variable, it unlocks all the blocked tasks +*/
603
int cond_broadcast(cond_t *cond);
604
 
605
/*+ wait on a condition variable +*/
606
int cond_wait(cond_t *cond, mutex_t *mutex);
607
 
608
/*+ wait on a condition variable (with timer) +*/
609
int cond_timedwait(cond_t *cond, mutex_t *mutex,
610
                   const struct timespec *abstime);
611
 
612
/*---------------------------------------------------------------------*/
613
/* Task specific data primitives                                       */
614
/*---------------------------------------------------------------------*/
615
 
616
/* they are similar to the POSIX standard */
617
 
618
int task_key_create(task_key_t *key, void (*destructor)(void *));
619
void *task_getspecific(task_key_t key);
620
int task_setspecific(task_key_t key, const void *value);
621
int task_key_delete(task_key_t key);
622
 
623
/*---------------------------------------------------------------------*/
624
/* Task cancellation handlers                                          */
625
/*---------------------------------------------------------------------*/
626
 
627
/*+ push the specified cancellation cleanup handler routine onto
628
    the cancellation cleanup stack
629
void task_cleanup_push(void (*routine)(void *), void *arg); +*/
630
#define task_cleanup_push(rtn,arg) { \
631
        struct _task_handler_rec __cleanup_handler, **__head; \
632
        __cleanup_handler.f = rtn; \
633
        __cleanup_handler.a = arg; \
634
        __head = task_getspecific(0); \
635
        __cleanup_handler.next = *__head; \
636
        *__head = &__cleanup_handler;
637
 
638
/*+
639
    removes the routine at the top of the cancellation cleanup stack
640
    of the calling thread
641
void task_cleanup_pop(int execute); +*/
642
#define task_cleanup_pop(ex) \
643
        *__head = __cleanup_handler.next; \
644
        if (ex) (*__cleanup_handler.f) (__cleanup_handler.a); \
645
}
646
 
79 pj 647
__END_DECLS
2 pj 648
#endif /* __FUNC_H__ */