zephyr/kernel/microkernel/k_idle.c

/*
 * Copyright (c) 1997-2010, 2012-2014 Wind River Systems, Inc.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

/**
 * @file
 * @brief Microkernel idle logic
 *
 * Microkernel idle logic. Different forms of idling are performed by the idle
 * task, depending on how the kernel is configured.
 */

#include <micro_private.h>
#include <nano_private.h>
#include <arch/cpu.h>
#include <toolchain.h>
#include <sections.h>
#include <microkernel.h>
#include <misc/util.h>
#include <drivers/system_timer.h>

#if defined(CONFIG_WORKLOAD_MONITOR)

static unsigned int _k_workload_slice = 0x0;
static unsigned int _k_workload_ticks = 0x0;
static unsigned int _k_workload_ref_time = 0x0;
static unsigned int _k_workload_t0 = 0x0;
static unsigned int _k_workload_t1 = 0x0;
static volatile unsigned int _k_workload_n0 = 0x0;
static volatile unsigned int _k_workload_n1 = 0x0;
static volatile unsigned int _k_workload_i = 0x0;
static volatile unsigned int _k_workload_i0 = 0x0;
static volatile unsigned int _k_workload_delta = 0x0;
static volatile unsigned int _k_workload_start_time = 0x0;
static volatile unsigned int _k_workload_end_time = 0x0;

#ifdef WL_SCALE
static extern uint32_t _k_workload_scale;
#endif

/**
 *
 * @brief Shared code between workload calibration and monitoring
 *
 * Perform idle task "dummy work".
 *
 * This routine increments _k_workload_i and checks it against _k_workload_n1.
 * _k_workload_n1 is updated by the system tick handler, and both are kept
 * in close synchronization.
 *
 * @return N/A
 *
 */
static void workload_loop(void)
{
	volatile int x = 87654321;
	volatile int y = 4;

	/* loop never terminates, except during calibration phase */

	while (++_k_workload_i != _k_workload_n1) {
		unsigned int s_iCountDummyProc = 0;

		while (64 != s_iCountDummyProc++) { /* 64 == 2^6 */
			x >>= y;
			x <<= y;
			y++;
			x >>= y;
			x <<= y;
			y--;
		}
	}
}

/**
 *
 * @brief Calibrate the workload monitoring subsystem
 *
 * Measures the time required to do a fixed amount of "dummy work", and
 * sets default values for the workload measuring period.
 *
 * @return N/A
 *
 */
void _k_workload_monitor_calibrate(void)
{
	_k_workload_n0 = _k_workload_i = 0;
	_k_workload_n1 = 1000;

	_k_workload_t0 = sys_cycle_get_32();
	workload_loop();
	_k_workload_t1 = sys_cycle_get_32();

	_k_workload_delta = _k_workload_t1 - _k_workload_t0;
	_k_workload_i0 = _k_workload_i;
#ifdef WL_SCALE
	_k_workload_ref_time =
		(_k_workload_t1 - _k_workload_t0) >> (_k_workload_scale);
#else
	_k_workload_ref_time = (_k_workload_t1 - _k_workload_t0) >> (4 + 6);
#endif

	_k_workload_slice = 100;
	_k_workload_ticks = 100;
}

/**
 *
 * @brief Workload monitor tick handler
 *
 * If workload monitor is configured this routine updates the global variables
 * it uses to record the passage of time.
 *
 * @return N/A
 *
 */
void _k_workload_monitor_update(void)
{
	if (--_k_workload_ticks == 0) {
		_k_workload_t0 = _k_workload_t1;
		_k_workload_t1 = sys_cycle_get_32();
		_k_workload_n0 = _k_workload_n1;
		_k_workload_n1 = _k_workload_i - 1;
		_k_workload_ticks = _k_workload_slice;
	}
}

/**
 *
 * @brief Workload monitor "start idling" handler
 *
 * Records time when idle task was selected for execution by the microkernel.
 *
 * @return N/A
 */
void _k_workload_monitor_idle_start(void)
{
	_k_workload_start_time = sys_cycle_get_32();
}

/**
 *
 * @brief Workload monitor "end idling" handler
 *
 * Records time when idle task was no longer selected for execution by the
 * microkernel, and updates amount of time spent idling.
 *
 * @return N/A
 */
void _k_workload_monitor_idle_end(void)
{
	_k_workload_end_time = sys_cycle_get_32();
	_k_workload_i += (_k_workload_i0 *
		(_k_workload_end_time - _k_workload_start_time)) / _k_workload_delta;
}

/**
 *
 * @brief Process request to read the processor workload
 *
 * Computes workload, or uses 0 if workload monitoring is not configured.
 *
 * @return N/A
 */
void _k_workload_get(struct k_args *P)
{
	unsigned int k, t;
	signed int iret;

	k = (_k_workload_i - _k_workload_n0) * _k_workload_ref_time;
#ifdef WL_SCALE
	t = (sys_cycle_get_32() - _k_workload_t0) >> (_k_workload_scale);
#else
	t = (sys_cycle_get_32() - _k_workload_t0) >> (4 + 6);
#endif

	iret = MSEC_PER_SEC - k / t;

	/*
	 * Due to calibration at startup, <iret> could be slightly negative.
	 * Ensure a negative value is never returned.
	 */

	if (iret < 0) {
		iret = 0;
	}

	P->args.u1.rval = iret;
}
#else
void _k_workload_get(struct k_args *P)
{
	P->args.u1.rval = 0;
}

#endif /* CONFIG_WORKLOAD_MONITOR */


int task_workload_get(void)
{
	struct k_args A;

	A.Comm = _K_SVC_WORKLOAD_GET;
	KERNEL_ENTRY(&A);
	return A.args.u1.rval;
}


void sys_workload_time_slice_set(int32_t t)
{
#ifdef CONFIG_WORKLOAD_MONITOR
	if (t < 10) {
		t = 10;
	}
	if (t > 1000) {
		t = 1000;
	}
	_k_workload_slice = t;
#else
	ARG_UNUSED(t);
#endif
}

unsigned char _sys_power_save_flag = 1;

#if defined(CONFIG_SYS_POWER_MANAGEMENT)

#include <nanokernel.h>
#include <microkernel/base_api.h>
#if (defined(CONFIG_SYS_POWER_LOW_POWER_STATE) || \
	defined(CONFIG_SYS_POWER_DEEP_SLEEP) || \
	defined(CONFIG_DEVICE_POWER_MANAGEMENT))
#include <power.h>
/*
 * Used to allow _sys_soc_suspend() implementation to control notification
 * of the wake event that caused exit from low power state
 */
unsigned char _sys_soc_notify_wake_event;
#endif
#if defined(CONFIG_TICKLESS_IDLE)
#include <drivers/system_timer.h>
#endif

extern void nano_cpu_set_idle(int32_t ticks);

#if defined(CONFIG_TICKLESS_IDLE)
/*
 * Idle time must be this value or higher for timer to go into tickless idle
 * state.
 */
int32_t _sys_idle_threshold_ticks = CONFIG_TICKLESS_IDLE_THRESH;
#endif /* CONFIG_TICKLESS_IDLE */

/**
 *
 * @brief Power management policy when kernel begins idling
 *
 * This routine implements the power management policy based on the time
 * until the timer expires, in system ticks.
 * Routine is invoked from the idle task with interrupts disabled
 *
 * @return N/A
 */
void _sys_power_save_idle(int32_t ticks)
{
#if defined(CONFIG_TICKLESS_IDLE)
	if ((ticks == TICKS_UNLIMITED) || ticks >= _sys_idle_threshold_ticks) {
		/*
		 * Stop generating system timer interrupts until it's time for
		 * the next scheduled microkernel timer to expire.
		 */

		_timer_idle_enter(ticks);
	}
#endif /* CONFIG_TICKLESS_IDLE */

	nano_cpu_set_idle(ticks);
#if (defined(CONFIG_SYS_POWER_LOW_POWER_STATE) || \
	defined(CONFIG_SYS_POWER_DEEP_SLEEP) || \
	defined(CONFIG_DEVICE_POWER_MANAGEMENT))

	/* This assignment will be controlled by Kconfig flag in future */
	_sys_soc_notify_wake_event = 1;

	/*
	 * Call the suspend hook function of the soc interface to allow
	 * entry into a low power state. The function returns
	 * SYS_PM_NOT_HANDLED if low power state was not entered, in which
	 * case, kernel does normal idle processing.
	 *
	 * This function is entered with interrupts disabled. If a low power
	 * state was entered, then the hook function should enable inerrupts
	 * before exiting. This is because the kernel does not do its own idle
	 * processing in those cases i.e. skips nano_cpu_idle(). The kernel's
	 * idle processing re-enables interrupts which is essential for
	 * the kernel's scheduling logic.
	 */
	if (_sys_soc_suspend(ticks) == SYS_PM_NOT_HANDLED) {
		_sys_soc_notify_wake_event = 0;
		nano_cpu_idle();
	}
#else
	nano_cpu_idle();
#endif
}

/**
 *
 * @brief Power management policy when kernel stops idling
 *
 * This routine is invoked when the kernel leaves the idle state.
 * Routine can be modified to wake up other devices.
 * The routine is invoked from interrupt thread, with interrupts disabled.
 *
 * @return N/A
 */
void _sys_power_save_idle_exit(int32_t ticks)
{
#if (defined(CONFIG_SYS_POWER_LOW_POWER_STATE) || \
	defined(CONFIG_SYS_POWER_DEEP_SLEEP) || \
	defined(CONFIG_DEVICE_POWER_MANAGEMENT))
	/* Some CPU low power states require notification at the ISR
	 * to allow any operations that needs to be done before kernel
	 * switches task or processes nested interrupts. This can be
	 * disabled by calling _sys_soc_disable_wake_event_notification().
	 * Alternatively it can be simply ignored if not required.
	 */
	if (_sys_soc_notify_wake_event) {
		_sys_soc_resume();
	}
#endif
#ifdef CONFIG_TICKLESS_IDLE
	if ((ticks == TICKS_UNLIMITED) || ticks >= _sys_idle_threshold_ticks) {
		/* Resume normal periodic system timer interrupts */

		_timer_idle_exit();
	}
#else
	ARG_UNUSED(ticks);
#endif /* CONFIG_TICKLESS_IDLE */
}

/**
 *
 * @brief Obtain number of ticks until next timer expires
 *
 * Must be called with interrupts locked to prevent the timer queues from
 * changing.
 *
 * @return Number of ticks until next timer expires.
 *
 */
static inline int32_t _get_next_timer_expiry(void)
{
	uint32_t closest_deadline = (uint32_t)TICKS_UNLIMITED;

	if (_k_timer_list_head) {
		closest_deadline = _k_timer_list_head->duration;
	}

	return (int32_t)min(closest_deadline, _nano_get_earliest_deadline());
}
#endif

/**
 *
 * @brief Power saving when idle
 *
 * If _sys_power_save_flag is non-zero, this routine keeps the system in a low
 * power state whenever the kernel is idle. If it is zero, this routine will
 * fall through and _k_kernel_idle() will try the next idling mechanism.
 *
 * @return N/A
 *
 */
static void _power_save(void)
{
	if (_sys_power_save_flag) {
		for (;;) {
			irq_lock();
#ifdef CONFIG_SYS_POWER_MANAGEMENT
			_sys_power_save_idle(_get_next_timer_expiry());
#else
			/*
			 * nano_cpu_idle() is invoked here directly only if APM
			 * is disabled. Otherwise the microkernel decides
			 * either to invoke it or to implement advanced idle
			 * functionality
			 */

			nano_cpu_idle();
#endif
		}

		/*
		 * Code analyzers may complain that _power_save() uses an
		 * infinite loop unless we indicate that this is intentional
		 */

		CODE_UNREACHABLE;
	}
}

/* Specify what work to do when idle task is "busy waiting" */

#ifdef CONFIG_WORKLOAD_MONITOR
#define DO_IDLE_WORK()	workload_loop()
#else
#define DO_IDLE_WORK()	do { /* do nothing */ } while (0)
#endif

/**
 *
 * @brief Microkernel idle task
 *
 * If power save is on, we sleep; if power save is off, we "busy wait".
 *
 * @return N/A
 *
 */
int _k_kernel_idle(void)
{
	_power_save(); /* never returns if power saving is enabled */

#ifdef CONFIG_BOOT_TIME_MEASUREMENT
	/* record timestamp when idling begins */

	extern uint64_t __idle_tsc;

	__idle_tsc = _NanoTscRead();
#endif

	for (;;) {
		DO_IDLE_WORK();
	}

	/*
	 * Code analyzers may complain that _k_kernel_idle() uses an infinite
	 * loop unless we indicate that this is intentional
	 */

	CODE_UNREACHABLE;
}