sched: refactor and implement sleep

arch/at91sam3x8e/atomic.c

@@ -15,7 +15,7 @@ void atomic_leave(void)
 	atom_put(&atomic_context);
 }
 
-int is_atomic_context(void)
+int is_atomic(void)
 {
 	return atom_count(&atomic_context);
 }

arch/at91sam3x8e/entry.c

@@ -3,8 +3,9 @@
 #include <arch-generic/entry.h>
 #include <arch/hardware.h>
 
-#include <ardix/syscall.h>
 #include <ardix/types.h>
+#include <ardix/sched.h>
+#include <ardix/syscall.h>
 
 #include <errno.h>
 #include <stddef.h>
@@ -16,7 +17,7 @@
 extern uint16_t __syscall_return_point;
 #endif
 
-void arch_enter(void *sp)
+int arch_enter(void *sp)
 {
 	struct reg_snapshot *regs = sp;
 	enum syscall sc_num = arch_syscall_num(regs);
@@ -39,13 +40,13 @@ void arch_enter(void *sp)
 
 	if (sc_num > NSYSCALLS) {
 		arch_syscall_set_rval(regs, -ENOSYS);
-		return;
+		return 0;
 	}
 
 	handler = sys_table[sc_num];
 	if (handler == NULL) {
 		arch_syscall_set_rval(regs, -ENOSYS);
-		return;
+		return 0;
 	}
 
 	/* TODO: not every syscall uses the max amount of parameters (duh) */
@@ -53,6 +54,9 @@ void arch_enter(void *sp)
 			 arch_syscall_arg4(regs), arch_syscall_arg5(regs), arch_syscall_arg6(regs));
 
 	arch_syscall_set_rval(regs, sc_ret);
+	int ret = need_resched;
+	need_resched = 0;
+	return ret;
 }
 
 /*

arch/at91sam3x8e/handle_pend_sv.S

@@ -4,7 +4,8 @@
 
 .text
 
-.extern sched_process_switch
+/* void *sched_switch(void *curr_sp); */
+.extern sched_switch
 
 /* void handle_pend_sv(void); */
 func_begin handle_pend_sv
@@ -27,7 +28,7 @@ func_begin handle_pend_sv
 	 */
 	/* TODO: Implement banked stack pointer */
 	mov	r0,	sp
-	bl	sched_process_switch	/* sp = sched_process_switch(sp); */
+	bl	sched_switch		/* sp = sched_switch(sp); */
 	mov	sp,	r0
 
 	/*

arch/at91sam3x8e/handle_svc.S

@@ -4,8 +4,12 @@
 
 .text
 
+/* int arch_enter(void *sp); */
 .extern arch_enter
 
+/* void *sched_switch(void *sp); */
+.extern sched_switch
+
 /* void handle_svc(void); */
 func_begin handle_svc
 	/*
@@ -28,8 +32,18 @@ func_begin handle_svc
 	push	{r4-r11,lr}
 
 	mov	r0,	sp
-	bl	arch_enter		/* arch_enter(sp); */
+	bl	arch_enter		/* int need_resched = arch_enter(sp); */
 
+	cmp	r0,	#0
+	beq	svc_out
+
+	mov	r0,	sp
+	bl	sched_switch		/* sp = sched_switch(sp); */
+	mov	sp,	r0
+
+	clrex
+
+svc_out:
 	pop	{r4-r11,lr}
 
 	bx	lr

arch/at91sam3x8e/sched.c

@@ -11,13 +11,18 @@
 #include <errno.h>
 #include <string.h>
 
+volatile unsigned long int tick = 0;
+unsigned int systick_reload;
+
 void handle_sys_tick(void)
 {
+	tick++;
+
 	/*
 	 * fire a PendSV exception and do the actual context switching there
 	 * because the docs say you're supposed to do it that way
 	 */
-	if (!is_atomic_context())
+	if (!is_atomic())
 		arch_irq_invoke(IRQNO_PEND_SV);
 }
 
@@ -41,14 +46,14 @@ static inline void sched_nvic_set_prio_group(uint32_t prio_group)
 
 int arch_sched_hwtimer_init(unsigned int freq)
 {
-	uint32_t ticks = sys_core_clock / freq;
-	if (ticks > REG_SYSTICK_LOAD_RELOAD_MASK)
+	systick_reload = sys_core_clock / freq;
+	if (systick_reload > REG_SYSTICK_LOAD_RELOAD_MASK)
 		return 1;
 
 	/* Ensure SysTick and PendSV are preemptive */
 	sched_nvic_set_prio_group(0b011);
 
-	REG_SYSTICK_LOAD = (ticks & REG_SYSTICK_LOAD_RELOAD_MASK) - 1;
+	REG_SYSTICK_LOAD = (systick_reload & REG_SYSTICK_LOAD_RELOAD_MASK) - 1;
 	REG_SYSTICK_VAL = 0U;
 	REG_SYSTICK_CTRL = REG_SYSTICK_CTRL_CLKSOURCE_BIT /* MCK */
 			 | REG_SYSTICK_CTRL_TICKINT_BIT /* trigger exception */
@@ -70,7 +75,6 @@ void arch_task_init(struct task *task, void (*entry)(void))
 
 void yield(enum task_state state)
 {
-	REG_SYSTICK_VAL = 0U; /* Reset timer (TODO: don't do this lmao) */
 	current->state = state;
 	arch_irq_invoke(IRQNO_PEND_SV);
 }
@@ -91,13 +95,18 @@ int arch_idle_task_init(struct task *task)
 
 	task->stack_bottom = sp + sizeof(struct reg_snapshot);
 	arch_task_init(task, idle_task_entry);
-	task->lastexec = 0;
-	task->sleep_usecs = 0;
+	task->sleep = 0;
+	task->last_tick = 0;
 	task->state = TASK_READY;
 	task->pid = -1;
 	return 0;
 }
 
+unsigned long int ms_to_ticks(unsigned long int ms)
+{
+	return (unsigned long int)systick_reload * ms / sys_core_clock;
+}
+
 /*
  * This file is part of Ardix.
  * Copyright (c) 2020, 2021 Felix Kopp <owo@fef.moe>.

include/arch-generic/sched.h

@@ -27,6 +27,14 @@ void arch_task_init(struct task *task, void (*entry)(void));
 
 int arch_idle_task_init(struct task *task);
 
+/**
+ * @brief Convert milliseconds to system ticks, rounding to zero.
+ *
+ * @param ms Amount of milliseconds
+ * @returns Equivalent time in system ticks
+ */
+unsigned long int ms_to_ticks(unsigned long ms);
+
 /*
  * This file is part of Ardix.
  * Copyright (c) 2020, 2021 Felix Kopp <owo@fef.moe>.

include/ardix/atomic.h

@@ -15,7 +15,7 @@ void atomic_enter(void);
 void atomic_leave(void);
 
 /** Return a nonzero value if the current process is in atomic context. */
-int is_atomic_context(void);
+int is_atomic(void);
 
 /*
  * This file is part of Ardix.

include/ardix/sched.h

@@ -12,11 +12,6 @@
 #warning "CONFIG_SCHED_MAXTASK is > 64, this could have a significant performance impact"
 #endif
 
-#ifndef CONFIG_STACKSZ
-/** Per-task stack size in bytes */
-#define CONFIG_STACKSZ 4096U
-#endif
-
 enum task_state {
 	/** Task is dead / doesn't exist */
 	TASK_DEAD,
@@ -24,60 +19,84 @@ enum task_state {
 	TASK_READY,
 	/** Task is waiting for its next time share. */
 	TASK_QUEUE,
-	/** Task is sleeping, `sleep_until` specifies when to wake it up. */
+	/** Task is sleeping, `task::sleep` specifies for how many ticks. */
 	TASK_SLEEP,
 	/** Task is waiting for I/O to flush buffers. */
 	TASK_IOWAIT,
 };
 
-/** Stores an entire process image. */
+/** @brief Core structure holding information about a task. */
 struct task {
 	struct kent kent;
 	/** current stack pointer (only gets updated for task switching) */
 	void *sp;
 	/** first address of the stack (highest if the stack grows downwards) */
 	void *stack_bottom;
-	/** if `state` is `TASK_SLEEP`, the last execution time */
-	unsigned long int lastexec;
-	/** if `state` is `TASK_SLEEP`, the amount of us to sleep in total */
-	unsigned long int sleep_usecs;
+	/** @brief If state is `TASK_SLEEP`, the total amount of ticks to sleep */
+	unsigned long int sleep;
+	/** @brief Last execution in ticks */
+	unsigned long int last_tick;
 
 	enum task_state state;
 	pid_t pid;
 };
 
+/** @brief Current task (access from syscall context only) */
 extern struct task *current;
 
+/** @brief Global system tick counter (may overflow) */
+extern volatile unsigned long int tick;
+
 /**
- * Initialize the scheduler subsystem.
+ * @brief If nonzero, the scheduler is invoked after the current syscall.
+ * This is checked and then cleared after every syscall.  If it has a nonzero
+ * value, `sched_switch()` is called after `arch_enter()`.
+ */
+extern int need_resched;
+
+/**
+ * @brief Initialize the scheduler subsystem.
  * This sets up a hardware interrupt timer (SysTick for Cortex-M3).
  */
 int sched_init(void);
 
 /**
- * Switch to the next task (interrupt context only).
+ * @brief Switch to the next task (scheduler context only).
  * Must be called directly from within an interrupt routine.
  * This selects a new task to be run and updates the old and new task's `state`
- * field to the appropriate value.
+ * field to the appropriate value.  Called from the scheduler exception handler.
  *
- * @param curr_sp: stack pointer of the current task
- * @returns stack pointer of the new task
+ * @param curr_sp Stack pointer of the current task
+ * @returns Stack pointer of the new task
  */
 void *sched_switch(void *curr_sp);
 
 /**
- * Create a copy of the current process image and return it.
+ * @brief Create a copy of the `current` task and return it.
+ * The new task becomes a child of the `current` task and is inserted into the
+ * process table so that it can be executed by the scheduler after its state
+ * is set to `TASK_QUEUE`.  When the task is returned, its initial state is
+ * `TASK_UNKNOWN` so that the caller has time to do any additional required
+ * setup work.
  *
- * @param task: the task to make a copy of
- * @returns the new (child) task copy, or `NULL` on failure
+ * @param task Task to make a copy of
+ * @returns The new (child) task copy, or `NULL` on failure
  */
-struct task *sched_task_clone(struct task *task);
+struct task *task_clone(struct task *task);
 
 /**
- * Request the scheduler be invoked early, resulting in the current task to
- * be suspended.
+ * @brief Sleep for an approximate amount of milliseconds.
+ * Must not be invoked from atomic or irq context.
  *
- * @param state: State the task should enter.
+ * @param ms Amount of milliseconds
+ */
+void msleep(unsigned long int ms);
+
+/**
+ * @brief Suspend the `current` task and invoke the scheduler early.
+ * May only be called from syscall context.
+ *
+ * @param state State the task should enter.
  *	Allowed values are `TASK_SLEEP` and `TASK_IOWAIT`.
  */
 void yield(enum task_state state);

include/toolchain.h

@@ -53,6 +53,10 @@
 /** Function attribute for hinting this function has malloc-like behavior. */
 #define __malloc(deallocator, argn) __attribute__(( malloc ))
 
+#define __preinit_call(fn) __section(.preinit_array) void (*fn##_ptr)(void) = fn
+
+#define __init_call(fn) __section(.init_array) void (*fn##_ptr)(void) = fn
+
 /*
  * This file is part of Ardix.
  * Copyright (c) 2020, 2021 Felix Kopp <owo@fef.moe>.

kernel/sched.c

@@ -21,6 +21,8 @@ struct task *current;
 
 static struct task idle_task;
 
+int need_resched = 0;
+
 static void task_destroy(struct kent *kent)
 {
 	struct task *task = container_of(kent, struct task, kent);
@@ -71,31 +73,46 @@ out:
 	return i;
 }
 
+#include <arch/debug.h>
+
 /**
- * Determine whether the specified task is a candidate for execution.
+ * @brief Determine whether the specified task is a candidate for execution.
  *
- * @param task: the task
+ * @param task The task
  * @returns whether `task` could be run next
  */
 static inline bool can_run(const struct task *task)
 {
-	enum task_state state = task->state;
-	return state == TASK_QUEUE || state == TASK_READY;
+	switch (task->state) {
+	case TASK_SLEEP:
+		return tick - task->last_tick > task->sleep;
+	case TASK_QUEUE:
+	case TASK_READY:
+		return true;
+	case TASK_DEAD:
+	case TASK_IOWAIT:
+		return false;
+	}
+
+	return false; /* this shouldn't be reached */
 }
 
-void *sched_process_switch(void *curr_sp)
+void *sched_switch(void *curr_sp)
 {
 	struct task *tmp;
 	int i;
 	pid_t nextpid = current->pid;
 	current->sp = curr_sp;
 
+	//__breakpoint;
+
 	kevents_process();
 
 	if (current->state != TASK_SLEEP && current->state != TASK_IOWAIT)
 		current->state = TASK_QUEUE;
 
 	for (i = 0; i < CONFIG_SCHED_MAXTASK; i++) {
+		//__breakpoint;
 		nextpid++;
 		nextpid %= CONFIG_SCHED_MAXTASK;
 
@@ -110,6 +127,8 @@ void *sched_process_switch(void *curr_sp)
 		current = &idle_task;
 
 	current->state = TASK_READY;
+	current->last_tick = tick;
+	//__breakpoint;
 	return current->sp;
 }
 
@@ -143,6 +162,14 @@ err_alloc:
 	return NULL;
 }
 
+void msleep(unsigned long int ms)
+{
+	//__breakpoint;
+	current->sleep = ms_to_ticks(ms);
+	yield(TASK_SLEEP);
+	//__breakpoint;
+}
+
 /*
  * This file is part of Ardix.
  * Copyright (c) 2020, 2021 Felix Kopp <owo@fef.moe>.