Timer test

kernel/CMakeLists.txt

@@ -93,7 +93,6 @@ add_executable(${target}
     ${CMAKE_CURRENT_LIST_DIR}/src/process/syscall_util.c
 
     ${CMAKE_CURRENT_LIST_DIR}/src/scheduler/scheduler.c
-    ${CMAKE_CURRENT_LIST_DIR}/src/scheduler/syscall_impl.c
 
     ${CMAKE_CURRENT_LIST_DIR}/src/housekeeping.c
     ${CMAKE_CURRENT_LIST_DIR}/src/main.c

kernel/cpu/riscv/include/cpu/riscv_pmp.h

@@ -6,6 +6,7 @@
 // This file expects RISCV_PMP_REGION_COUNT to be defined by "port/hardware.h".
 
 #include "assertions.h"
+#include "attributes.h"
 #include "meta.h"
 #include "port/hardware.h"
 #include "port/hardware_allocation.h"

kernel/cpu/riscv/src/scheduler.c

@@ -59,7 +59,7 @@ void sched_raise_from_isr(sched_thread_t *thread, bool syscall, void *entry_poin
 // Requests the scheduler to prepare a switch from kernel to userland for a user thread.
 // Resumes the userland thread where it left off.
 void sched_lower_from_isr() {
-    sched_thread_t *thread  = sched_current_thread_unsafe();
+    sched_thread_t *thread  = sched_current_thread();
     process_t      *process = thread->process;
     assert_dev_drop(!(thread->flags & THREAD_KERNEL) && (thread->flags & THREAD_PRIVILEGED));
     atomic_fetch_and(&thread->flags, ~THREAD_PRIVILEGED);
@@ -144,7 +144,7 @@ bool sched_signal_enter(size_t handler_vaddr, size_t return_vaddr, int signum) {
 // Exits a signal handler in the current thread.
 // Returns false if the process cannot be resumed.
 bool sched_signal_exit() {
-    sched_thread_t *thread = sched_current_thread_unsafe();
+    sched_thread_t *thread = sched_current_thread();
     if (!(atomic_fetch_and(&thread->flags, ~THREAD_SIGHANDLER) & THREAD_SIGHANDLER)) {
         return false;
     }

kernel/include/badgelib/hwtimer.h

@@ -0,0 +1,49 @@
+
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include "attributes.h"
+
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+#define FREQUENCY_HZ_MIN INT32_MIN
+#define FREQUENCY_HZ_MAX INT32_MAX
+#define TIMER_VALUE_MIN  INT64_MIN
+#define TIMER_VALUE_MAX  INT64_MAX
+
+typedef int32_t frequency_hz_t;
+typedef int64_t timer_value_t;
+
+// Initialise timer and watchdog subsystem.
+void timer_init();
+// Get the number of hardware timers.
+int  timer_count() CONST;
+// Get the IRQ number for a timer.
+int  timer_get_irq(int timerno);
+// Set the counting frequency of a hardware timer.
+void timer_set_freq(int timerno, frequency_hz_t frequency);
+
+// Configure and enable timer alarm.
+void          timer_alarm_config(int timerno, timer_value_t threshold, bool reset_on_alarm);
+// Disable timer alarm.
+void          timer_alarm_disable(int timerno);
+// Get the current value of timer.
+timer_value_t timer_value_get(int timerno);
+// Set the current value of timer.
+void          timer_value_set(int timerno, timer_value_t value);
+// Enable the timer counting.
+void          timer_start(int timerno);
+// Disable the timer counting.
+void          timer_stop(int timerno);
+
+// Check whether timer has interrupts enabled.
+bool timer_int_enabled(int timerno);
+// Enable / disable timer interrupts.
+void timer_int_enable(int timerno, bool enable);
+// Check whether timer interrupt had fired.
+bool timer_int_pending(int timerno);
+// Clear timer interrupt.
+void timer_int_clear(int timerno);

kernel/include/badgelib/time.h

@@ -3,57 +3,24 @@
 
 #pragma once
 
-#include "attributes.h"
-#include "port/hardware_allocation.h"
-
-#include <stdatomic.h>
 #include <stdbool.h>
 #include <stddef.h>
 #include <stdint.h>
 
-#define FREQUENCY_HZ_MIN INT32_MIN
-#define FREQUENCY_HZ_MAX INT32_MAX
 #define TIMESTAMP_US_MIN INT64_MIN
 #define TIMESTAMP_US_MAX INT64_MAX
-#define TIMER_VALUE_MIN  INT64_MIN
-#define TIMER_VALUE_MAX  INT64_MAX
 
-typedef int32_t frequency_hz_t;
 typedef int64_t timestamp_us_t;
-typedef int64_t timer_value_t;
+
+typedef void (*timer_fn_t)(void *cookie);
 
 // Initialise timer and watchdog subsystem.
-void time_init();
+void           time_init();
 // Sets the alarm time when the next task switch should occur.
-void time_set_next_task_switch(timestamp_us_t timestamp);
-
-// Get the number of hardware timers.
-#define timer_count() (2)
-// Set the counting frequency of a hardware timer.
-void timer_set_freq(int timerno, frequency_hz_t frequency);
-
-
-// Configure and enable timer alarm.
-void          timer_alarm_config(int timerno, timer_value_t threshold, bool reset_on_alarm);
-// Disable timer alarm.
-void          timer_alarm_disable(int timerno);
-// Get the current value of timer.
-timer_value_t timer_value_get(int timerno);
-// Set the current value of timer.
-void          timer_value_set(int timerno, timer_value_t value);
-// Enable the timer counting.
-void          timer_start(int timerno);
-// Disable the timer counting.
-void          timer_stop(int timerno);
-
-// Check whether timer has interrupts enabled.
-bool timer_int_enabled(int timerno);
-// Enable / disable timer interrupts.
-void timer_int_enable(int timerno, bool enable);
-// Check whether timer interrupt had fired.
-bool timer_int_pending(int timerno);
-// Clear timer interrupt.
-void timer_int_clear(int timerno);
-
+void           time_set_next_task_switch(timestamp_us_t timestamp);
+// Attach a task to a timer interrupt.
+int64_t        time_add_async_task(timestamp_us_t timestamp, timer_fn_t task, void *cookie);
+// Cancel a task created with `time_add_async_task`.
+bool           time_cancel_async_task(int64_t taskno);
 // Get current time in microseconds.
 timestamp_us_t time_us();

kernel/include/scheduler/isr.h

@@ -3,14 +3,5 @@
 
 #pragma once
 
-#include "attributes.h"
-#include "badge_err.h"
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-
 // Requests the scheduler to prepare a switch from inside an interrupt routine.
 void sched_request_switch_from_isr();

kernel/include/scheduler/scheduler.h

@@ -54,6 +54,14 @@ void sched_exec() NORETURN;
 // Exit the scheduler and subsequenty shut down the CPU.
 void sched_exit(int cpu);
 
+
+// Returns the current thread ID.
+tid_t           sched_current_tid();
+// Returns the current thread struct.
+sched_thread_t *sched_current_thread();
+// Returns the associated thread struct.
+sched_thread_t *sched_get_thread(tid_t thread);
+
 // Create a new suspended userland thread.
 // If `kernel_stack_bottom` is NULL, the scheduler will allocate a stack.
 tid_t thread_new_user(
@@ -65,26 +73,28 @@ tid_t thread_new_kernel(badge_err_t *ec, char const *name, sched_entry_t entry_p
 // Do not wait for thread to be joined; clean up immediately.
 void  thread_detach(badge_err_t *ec, tid_t thread);
 
-// Pauses execution of a user thread.
-void thread_suspend(badge_err_t *ec, tid_t thread);
+// Explicitly yield to the scheduler; the scheduler may run other threads without waiting for preemption.
+// Use this function to reduce the CPU time used by a thread.
+void thread_yield(void);
+// Sleep for an amount of microseconds.
+void thread_sleep(timestamp_us_t delay);
+
+// Pauses execution of a thread.
+// If `suspend_kernel` is false, the thread won't be suspended until it enters user mode.
+void thread_suspend(badge_err_t *ec, tid_t thread, bool suspend_kernel);
 // Resumes a previously suspended thread or starts it.
 void thread_resume(badge_err_t *ec, tid_t thread);
 // Resumes a previously suspended thread or starts it.
 // Immediately schedules the thread instead of putting it in the queue first.
 void thread_resume_now(badge_err_t *ec, tid_t thread);
+// Resumes a previously suspended thread or starts it from an ISR.
+void thread_resume_from_isr(badge_err_t *ec, tid_t thread);
+// Resumes a previously suspended thread or starts it from an ISR.
+// Immediately schedules the thread instead of putting it in the queue first.
+void thread_resume_now_from_isr(badge_err_t *ec, tid_t thread);
 // Returns whether a thread is running; it is neither suspended nor has it exited.
 bool thread_is_running(badge_err_t *ec, tid_t thread);
 
-// Returns the current thread ID.
-tid_t           sched_current_tid();
-// Returns the current thread struct.
-sched_thread_t *sched_current_thread();
-// Returns the associated thread struct.
-sched_thread_t *sched_get_thread(tid_t thread);
-
-// Explicitly yield to the scheduler; the scheduler may run other threads without waiting for preemption.
-// Use this function to reduce the CPU time used by a thread.
-void sched_yield(void);
 // Exits the current thread.
 // If the thread is detached, resources will be cleaned up.
 void thread_exit(int code) NORETURN;

kernel/include/scheduler/types.h

@@ -42,8 +42,10 @@
 #define THREAD_STARTNOW   (1 << 6)
 // The thread should be suspended.
 #define THREAD_SUSPENDING (1 << 7)
+// The thread should be suspended even if it is a kernel thread.
+#define THREAD_KSUSPEND   (1 << 8)
 // The thread has exited and is awaiting join.
-#define THREAD_EXITED     (1 << 8)
+#define THREAD_EXITED     (1 << 9)
 
 // The scheduler is starting on this CPU.
 #define SCHED_STARTING (1 << 0)
@@ -107,6 +109,3 @@ struct sched_cpulocal_t {
     // Idle thread.
     sched_thread_t idle_thread;
 };
-
-// Returns the current thread without using a critical section.
-sched_thread_t *sched_current_thread_unsafe();

kernel/include/smp.h

@@ -29,3 +29,5 @@ bool   smp_poweroff();
 bool   smp_pause();
 // Resume another CPU, if supported.
 bool   smp_resume(int cpu);
+// Whether a CPU can be powered off at runtime.
+bool   smp_can_poweroff(int cpu);

kernel/port/esp32c6/include/port/hardware.h

@@ -27,26 +27,6 @@
 #define RISCV_VT_TCAUSE_MASK 31
 
 
-/* ==== SOC INFO ==== */
-
-// Number of timer groups.
-#define ESP_TIMG_COUNT        2
-// Number of timers per timer group.
-#define ESP_TIMG_TIMER_COUNT  1
-// Speed of RC_FAST_CLK in hertz.
-#define ESP_FREQ_RC_FAST_CLK  20000000
-// Speed of XTAL_CLK in hertz.
-#define ESP_FREQ_XTAL_CLK     40000000
-// Speed of RC32K_CLK in hertz.
-#define ESP_FREQ_RC32K_CLK    32000
-// Speed of XTAL32K_CLK in hertz.
-#define ESP_FREQ_XTAL32K_CLK  32000
-// Speed of RC_SLOW_CLK in hertz.
-#define ESP_FREQ_RC_SLOW_CLK  150000
-// Speed of OSC_SLOW_CLK in hertz.
-#define ESP_FREQ_OSC_SLOW_CLK 32000
-
-
 /* ==== PERIPHERAL MAP ==== */
 
 // Base address of peripherals.

kernel/port/esp32c6/include/port/interrupt.h

@@ -9,5 +9,5 @@
 
 #define EXT_IRQ_COUNT ETS_MAX_INTR_SOURCE
 
-// Set the external interrupt signal for CPU0 timer IRQs.
-void set_cpu0_timer_irq(int timer_irq);
+// Set the external interrupt signal for CPU timer IRQs.
+void set_cpu_timer_irq(int cpu, int timer_irq);

kernel/port/esp32c6/src/interrupt.c

@@ -84,18 +84,20 @@ void riscv_interrupt_handler() {
         return;
     }
 
-    // Check pending interrupts.
     for (int i = 0; i < ETS_MAX_INTR_SOURCE / 32; i++) {
         uint32_t pending = INTMTX.status[i];
-        int      lsb_pos = __builtin_clz(pending);
-        int      irq     = i * 32 + lsb_pos;
-        if (irq_ch_is_enabled(irq)) {
-            // Jump to ISR.
-            if (isr_table[mcause]) {
-                isr_table[mcause](irq);
-            } else {
-                logkf_from_isr(LOG_FATAL, "Unhandled interrupt %{d}", mcause);
-                panic_abort();
+        while (pending) {
+            int lsb_pos  = __builtin_ctz(pending);
+            pending     ^= 1 << lsb_pos;
+            int irq      = i * 32 + lsb_pos;
+            if (irq && irq_ch_is_enabled(irq)) {
+                // Jump to ISR.
+                if (isr_table[irq]) {
+                    isr_table[irq](irq);
+                } else {
+                    logkf_from_isr(LOG_FATAL, "Unhandled interrupt %{d}", irq);
+                    panic_abort();
+                }
             }
         }
     }
@@ -104,7 +106,8 @@ void riscv_interrupt_handler() {
 
 
 // Set the external interrupt signal for CPU0 timer IRQs.
-void set_cpu0_timer_irq(int timer_irq) {
+void set_cpu_timer_irq(int cpu, int timer_irq) {
+    (void)cpu;
     INTMTX.route[timer_irq] = TIMER_IRQ_CH;
 }
 
@@ -123,7 +126,7 @@ void irq_ch_disable(int irq) {
 // Query whether the IRQ is enabled.
 bool irq_ch_is_enabled(int irq) {
     assert_dev_drop(irq > 0 && irq < ETS_MAX_INTR_SOURCE);
-    return INTMTX.route[irq] != 0;
+    return INTMTX.route[irq] == EXT_IRQ_CH;
 }
 
 // Set the interrupt service routine for an interrupt on this CPU.

kernel/port/esp32c6/src/smp.c

@@ -49,3 +49,9 @@ bool smp_resume(int cpu) {
     (void)cpu;
     return false;
 }
+
+// Whether a CPU can be powered off at runtime.
+bool smp_can_poweroff(int cpu) {
+    (void)cpu;
+    return false;
+}

kernel/port/esp32p4/include/port/hardware.h

@@ -33,11 +33,3 @@
 #define RISCV_VT_ICAUSE_MASK 63
 // Bitmask for trap cause.
 #define RISCV_VT_TCAUSE_MASK 31
-
-
-/* ==== SOC INFO ==== */
-
-// Number of timer groups.
-#define ESP_TIMG_COUNT       2
-// Number of timers per timer group.
-#define ESP_TIMG_TIMER_COUNT 1

kernel/port/esp32p4/include/port/interrupt.h

@@ -8,7 +8,5 @@
 
 #define EXT_IRQ_COUNT ETS_MAX_INTR_SOURCE
 
-// Set the external interrupt signal for CPU0 timer IRQs.
-void set_cpu0_timer_irq(int timer_irq);
-// Set the external interrupt signal for CPU1 timer IRQs.
-void set_cpu1_timer_irq(int timer_irq);
+// Set the external interrupt signal for CPU timer IRQs.
+void set_cpu_timer_irq(int cpu, int timer_irq);