diff options
| -rw-r--r-- | kernel/unified/Kconfig | 25 | ||||
| -rw-r--r-- | kernel/unified/include/kernel_structs.h | 2 | ||||
| -rw-r--r-- | kernel/unified/include/ksched.h | 27 | ||||
| -rw-r--r-- | kernel/unified/include/nano_internal.h | 2 | ||||
| -rw-r--r-- | kernel/unified/sched.c | 6 |
5 files changed, 48 insertions, 14 deletions
diff --git a/kernel/unified/Kconfig b/kernel/unified/Kconfig index 22d8b050a..d1c5b342c 100644 --- a/kernel/unified/Kconfig +++ b/kernel/unified/Kconfig @@ -45,8 +45,16 @@ config NUM_COOP_PRIORITIES This can be set to zero to disable cooperative scheduling. Cooperative threads always preempt preemptible threads. - Each priority requires an extra 8 bytes of RAM. If there are more than - 32 total priorities, an extra 4 bytes is required. + Each priority requires an extra 8 bytes of RAM. Each set of 32 extra + total priorities require an extra 4 bytes and add one possible + iteration to loops that search for the next thread to run. + + The total number of priorities is + + NUM_COOP_PRIORITIES + NUM_PREEMPT_PRIORITIES + 1 + + The extra one is for the idle thread, which must run at the lowest + priority, and be the only thread at that priority. config NUM_PREEMPT_PRIORITIES int @@ -58,11 +66,16 @@ config NUM_PREEMPT_PRIORITIES This can be set to 0 to disable preemptible scheduling. - The idle thread is always installed as a preemptible thread of the - lowest priority. + Each priority requires an extra 8 bytes of RAM. Each set of 32 extra + total priorities require an extra 4 bytes and add one possible + iteration to loops that search for the next thread to run. + + The total number of priorities is + + NUM_COOP_PRIORITIES + NUM_PREEMPT_PRIORITIES + 1 - Each priority requires an extra 8 bytes of RAM. If there are more than - 32 total priorities, an extra 4 bytes is required. + The extra one is for the idle thread, which must run at the lowest + priority, and be the only thread at that priority. config PRIORITY_CEILING int diff --git a/kernel/unified/include/kernel_structs.h b/kernel/unified/include/kernel_structs.h index d9db1d75a..03a5dc6c4 100644 --- a/kernel/unified/include/kernel_structs.h +++ b/kernel/unified/include/kernel_structs.h @@ -107,7 +107,7 @@ struct _ready_q { struct k_thread *cache; /* bitmap of priorities that contain at least one ready thread */ - uint32_t prio_bmap[1]; + uint32_t prio_bmap[K_NUM_PRIO_BITMAPS]; /* ready queues, one per priority */ sys_dlist_t q[K_NUM_PRIORITIES]; diff --git a/kernel/unified/include/ksched.h b/kernel/unified/include/ksched.h index 2fc71c0c1..8c091eba7 100644 --- a/kernel/unified/include/ksched.h +++ b/kernel/unified/include/ksched.h @@ -167,17 +167,32 @@ static inline int _get_ready_q_q_index(int prio) return prio + CONFIG_NUM_COOP_PRIORITIES; } -#if (K_NUM_PRIORITIES > 32) - #error not supported yet -#endif - /* find out the currently highest priority where a thread is ready to run */ /* interrupts must be locked */ static inline int _get_highest_ready_prio(void) { - uint32_t ready = _ready_q.prio_bmap[0]; + int bitmap = 0; + uint32_t ready_range; + +#if (K_NUM_PRIORITIES <= 32) + ready_range = _ready_q.prio_bmap[0]; +#else + for (;; bitmap++) { + + __ASSERT(bitmap < K_NUM_PRIO_BITMAPS, "prio out-of-range\n"); + + if (_ready_q.prio_bmap[bitmap]) { + ready_range = _ready_q.prio_bmap[bitmap]; + break; + } + } +#endif + + int abs_prio = (find_lsb_set(ready_range) - 1) + (bitmap << 5); + + __ASSERT(abs_prio < K_NUM_PRIORITIES, "prio out-of-range\n"); - return find_lsb_set(ready) - 1 - CONFIG_NUM_COOP_PRIORITIES; + return abs_prio - CONFIG_NUM_COOP_PRIORITIES; } /* diff --git a/kernel/unified/include/nano_internal.h b/kernel/unified/include/nano_internal.h index f122b3fb9..46ae90181 100644 --- a/kernel/unified/include/nano_internal.h +++ b/kernel/unified/include/nano_internal.h @@ -28,6 +28,8 @@ #define K_NUM_PRIORITIES \ (CONFIG_NUM_COOP_PRIORITIES + CONFIG_NUM_PREEMPT_PRIORITIES + 1) +#define K_NUM_PRIO_BITMAPS ((K_NUM_PRIORITIES + 31) >> 5) + #ifndef _ASMLANGUAGE #ifdef __cplusplus diff --git a/kernel/unified/sched.c b/kernel/unified/sched.c index 361ac4f95..74090cb78 100644 --- a/kernel/unified/sched.c +++ b/kernel/unified/sched.c @@ -348,7 +348,11 @@ k_tid_t k_current_get(void) /* debug aid */ void _dump_ready_q(void) { - K_DEBUG("bitmap: %x\n", _ready_q.prio_bmap[0]); + K_DEBUG("bitmaps: "); + for (int bitmap = 0; bitmap < K_NUM_PRIO_BITMAPS; bitmap++) { + K_DEBUG("%x", _ready_q.prio_bmap[bitmap]); + } + K_DEBUG("\n"); for (int prio = 0; prio < K_NUM_PRIORITIES; prio++) { K_DEBUG("prio: %d, head: %p\n", prio - CONFIG_NUM_COOP_PRIORITIES, |