mcu/service/mertos/include/mer_kernel_task.h

/*****************************************************************************
*  Copyright Statement:
*  --------------------
*  This software is protected by Copyright and the information contained
*  herein is confidential. The software may not be copied and the information
*  contained herein may not be used or disclosed except with the written
*  permission of MediaTek Inc. (C) 2018
*
*  BY OPENING THIS FILE, BUYER HEREBY UNEQUIVOCALLY ACKNOWLEDGES AND AGREES
*  THAT THE SOFTWARE/FIRMWARE AND ITS DOCUMENTATIONS ("MEDIATEK SOFTWARE")
*  RECEIVED FROM MEDIATEK AND/OR ITS REPRESENTATIVES ARE PROVIDED TO BUYER ON
*  AN "AS-IS" BASIS ONLY. MEDIATEK EXPRESSLY DISCLAIMS ANY AND ALL WARRANTIES,
*  EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF
*  MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE OR NONINFRINGEMENT.
*  NEITHER DOES MEDIATEK PROVIDE ANY WARRANTY WHATSOEVER WITH RESPECT TO THE
*  SOFTWARE OF ANY THIRD PARTY WHICH MAY BE USED BY, INCORPORATED IN, OR
*  SUPPLIED WITH THE MEDIATEK SOFTWARE, AND BUYER AGREES TO LOOK ONLY TO SUCH
*  THIRD PARTY FOR ANY WARRANTY CLAIM RELATING THERETO. MEDIATEK SHALL ALSO
*  NOT BE RESPONSIBLE FOR ANY MEDIATEK SOFTWARE RELEASES MADE TO BUYER'S
*  SPECIFICATION OR TO CONFORM TO A PARTICULAR STANDARD OR OPEN FORUM.
*
*  BUYER'S SOLE AND EXCLUSIVE REMEDY AND MEDIATEK'S ENTIRE AND CUMULATIVE
*  LIABILITY WITH RESPECT TO THE MEDIATEK SOFTWARE RELEASED HEREUNDER WILL BE,
*  AT MEDIATEK'S OPTION, TO REVISE OR REPLACE THE MEDIATEK SOFTWARE AT ISSUE,
*  OR REFUND ANY SOFTWARE LICENSE FEES OR SERVICE CHARGE PAID BY BUYER TO
*  MEDIATEK FOR SUCH MEDIATEK SOFTWARE AT ISSUE.
*
*  THE TRANSACTION CONTEMPLATED HEREUNDER SHALL BE CONSTRUED IN ACCORDANCE
*  WITH THE LAWS OF THE STATE OF CALIFORNIA, USA, EXCLUDING ITS CONFLICT OF
*  LAWS PRINCIPLES.  ANY DISPUTES, CONTROVERSIES OR CLAIMS ARISING THEREOF AND
*  RELATED THERETO SHALL BE SETTLED BY ARBITRATION IN SAN FRANCISCO, CA, UNDER
*  THE RULES OF THE INTERNATIONAL CHAMBER OF COMMERCE (ICC).
*
*****************************************************************************/

/*****************************************************************************
*
* Filename:
* ---------
*   mer_kernel_task.h
*
* Project:
* --------
*   MERTOS
*
* Description:
* ------------
*   Declare task related API header.
*
* Author:
* -------
 * -------
*
*****************************************************************************/
#ifndef _MER_KERNEL_TASK_H_
#define _MER_KERNEL_TASK_H_

#include "mer_kernel_config_public.h"
#include "mer_kernel_scheduler.h"
#include "mer_service_task.h"
#include "mer_kernel_switch_target.h"
#include "mer_kernel_lock_target.h"
#include "mer_config_public.h"
#include <stddef.h>

///////////////////////////////////////////////////////////////////////////////
// Porting variable
///////////////////////////////////////////////////////////////////////////////
typedef mer_service_task_cb             mer_kernel_task_cb;

/* Make sure the sp is the first element in the control block */
MER_CASSERT(offsetof(mer_kernel_task_cb, stack_ptr) == 0);

/* Make sure the offset of stack_end in the control block matches with ASM */
#if defined(__MD97__) || defined(__MD97P__)
#include "mer_kernel_switch_target_shaolin.inc"
MER_CASSERT(offsetof(mer_kernel_task_cb, last_execution_vpe) == MER_KERNEL_SWITCH_LAST_EXE_VPE_OFFSET);
#endif /* defined(__MD97__) || defined(__MD97P__) */


///////////////////////////////////////////////////////////////////////////////
// Macro
///////////////////////////////////////////////////////////////////////////////
#define MER_KERNEL_TASK_LEVEL_BIT                   31
#define MER_KERNEL_TASK_LEVEL_MASK                  (1 << MER_KERNEL_TASK_LEVEL_BIT)
#define MER_KERNEL_TASK_APPEND_PRIORITY(task_id)    ((1 << MER_KERNEL_TASK_LEVEL_BIT) | (task_id))
#define MER_KERNEL_TASK_REMOVE_PRIORITY(task_id)    ((~(1 << MER_KERNEL_TASK_LEVEL_BIT)) & (task_id))
#define MER_KERNEL_TASK_NUM                         mer_kernel_task_num
#define MER_KERNEL_TASK_MASK_NUM                    mer_kernel_task_mask_num
#define MER_KERNEL_TASK_TOP_MASK_NUM                mer_kernel_task_top_mask_num

/* context means it is either preempted by ISR or running */
/* For task, it is either bit 31 or bit 29 */
#define MER_KERNEL_TASK_CONTEXT_MASK                (MER_KERNEL_TASK_LEVEL_MASK | (1 << (MER_KERNEL_TASK_LEVEL_BIT-2)))


///////////////////////////////////////////////////////////////////////////////
// Enum
/////////////////////////////////////////////////////////////////////////////// 



///////////////////////////////////////////////////////////////////////////////
// Structure
///////////////////////////////////////////////////////////////////////////////
typedef struct {
    mer_uint32 *mask;
} mer_kernel_task_top_mask;

typedef struct {
    mer_uint32 *mask;
} mer_kernel_task_mask;

typedef mer_uint32             mer_kernel_task_id;
///////////////////////////////////////////////////////////////////////////////
// External variable
///////////////////////////////////////////////////////////////////////////////

extern mer_kernel_task_cb               mer_kernel_task_info_table[];
extern mer_uint8                        mer_kernel_task_dummy_stack[];
 
extern mer_kernel_task_top_mask    mer_kernel_task_top_ready_mask[MIPS_HW_VPE_NUM];
extern mer_kernel_task_mask        mer_kernel_task_ready_mask[MIPS_HW_VPE_NUM];

extern mer_uint32 mer_kernel_task_info_table_begin;
extern mer_uint32 mer_kernel_task_info_table_end;

extern mer_uint32 mer_kernel_task_idle_priority_begin;

extern const mer_uint32 mer_kernel_task_num;
extern const mer_uint32 mer_kernel_task_mask_num;
extern const mer_uint32 mer_kernel_task_top_mask_num;  

///////////////////////////////////////////////////////////////////////////////
// External functions
///////////////////////////////////////////////////////////////////////////////
void mer_kernel_task_remove(mer_kernel_task_id);
void mer_kernel_task_insert(mer_kernel_task_id);
void mer_kernel_task_set_running_state(mer_kernel_task_id task_id);
void mer_kernel_task_update_ready_job(mer_uint32 vpe_id);
void mer_kernel_task_suspend(mer_kernel_task_id task_id, mer_service_task_state suspend_reason);
void mer_kernel_task_resume(mer_kernel_task_cb* cb, mer_service_task_state suspend_reason);
void mer_kernel_task_initialization();
void mer_kernel_task_default_main();
void mer_kernel_task_set_priority(mer_kernel_task_id source, mer_kernel_task_id target_priority);
void mer_kernel_task_change_current_affinity(mer_uint32 affinity_mask);
void mer_kernel_task_set_affinity_to_current_vpe();
void mer_kernel_task_resume_and_return(mer_kernel_task_cb* cb, mer_service_task_state suspend_reason);

#if defined(__MER_CONFIG_USE_DYNAMIC_ALLOCATION__)
void mer_kernel_task_stack_allocation();
#endif /* __MER_CONFIG_USE_DYNAMIC_ALLOCATION__ */

///////////////////////////////////////////////////////////////////////////////
// Static inline functions
///////////////////////////////////////////////////////////////////////////////
/**
 * Return the task priority by cb
 *  Note that this function assume the schedule lock is taken
 * 
 * Time complexity O(1)
 * 
 * @param[out] The task priority
 * @param[in] cb
 * 
 */
static inline mer_kernel_task_id mer_kernel_task_get_priority(mer_kernel_task_cb *cb){
    
    return cb->priority;
}

/**
 * Return the inheritor task index by cb
 * Note that this function assume the schedule lock is taken
 * 
 * Time complexity O(1)
 * 
 * @param[out] The inheritor task index
 * @param[in] cb
 * 
 */
static inline mer_kernel_task_id mer_kernel_task_get_inheritor_task_index(mer_kernel_task_cb *cb){
    
    return cb->inheritor_task_index;
}

/**
 * Return the  task index with cb pointer
 *  
 * 
 * Time complexity O(1)
 * 
 * @param[out] Index of input cb pointer
 * @param[in] The task pointer
 * 
 */
static inline mer_uint32 mer_kernel_task_get_index(mer_kernel_task_cb *cb){
    
    //return (mer_uint32)(cb - mer_kernel_task_info_table);
    return (mer_uint32) cb->job_index;
}

/**
 * Return the current running task priority
 *  Note that this function assume the schedule lock is taken
 * 
 * If we have private memory, no need lock anymore
 *
 * Time complexity O(1)
 * 
 * @param[out] The current task id
 * @param[in] vpe_id
 * 
 */
static inline mer_kernel_task_id mer_kernel_task_get_current_priority(){
#if defined(__MER_KERNEL_USE_MIPS_CP0_CONTEXT_REG__)
    mer_kernel_task_cb *cb = (mer_kernel_task_cb *)(MER_KERNEL_GET_CURRENT_CONTROL_BLOCK());
    return cb->priority;
#else
    mer_uint32 current_vpe = mer_kernel_utility_get_current_vpe_id(); 
    return MER_KERNEL_TASK_REMOVE_PRIORITY(mer_kernel_scheduler_running_job[current_vpe].priority);
#endif
}
/**
 * Return the current running task index
 *  Note that this function assume the schedule lock is taken
 * 
 * If we have private memory, no need lock anymore
 *
 * Time complexity O(1)
 * 
 * @param[out] The current task id
 * @param[in] vpe_id
 * 
 */
__attribute__((always_inline)) static inline mer_kernel_task_id mer_kernel_task_get_current_index(){
    
#if defined(__MER_KERNEL_USE_MIPS_CP0_CONTEXT_REG__)
    mer_kernel_task_cb *cb = (mer_kernel_task_cb *)(MER_KERNEL_GET_CURRENT_CONTROL_BLOCK());
    return mer_kernel_task_get_index(cb);
#else
    mer_uint32 current_vpe = mer_kernel_utility_get_current_vpe_id(); 
    return mer_kernel_scheduler_running_job[current_vpe].job_index;
#endif /* __MER_KERNEL_USE_MIPS_CP0_CONTEXT_REG__ */
}

/**
 * Return the current running task cb pointer
 * Note that this function assume the schedule lock is taken
 * 
 * If we have private memory, no need lock anymore
 *
 * Time complexity O(1)
 * 
 * @param[out] cb pointer
 * @param[in] vpe_id
 * 
 */
static inline mer_kernel_task_cb * mer_kernel_task_get_current_cb(){
#if defined(__MER_KERNEL_USE_MIPS_CP0_CONTEXT_REG__)
    return (mer_kernel_task_cb *)(MER_KERNEL_GET_CURRENT_CONTROL_BLOCK());
#else
    mer_uint32 current_vpe = mer_kernel_utility_get_current_vpe_id(); 
    mer_uint32 job_index = mer_kernel_scheduler_running_job[current_vpe].job_index;
    return &mer_kernel_task_info_table[job_index];
#endif /* __MER_KERNEL_USE_MIPS_CP0_CONTEXT_REG__ */
}

/**
 * Return the state of specified task control block
 *  
 * 
 * Time complexity O(1)
 * 
 * @param[out] State of input cb pointer
 * @param[in] The task pointer
 * 
 */
static inline mer_service_task_state mer_kernel_task_get_state(mer_kernel_task_cb *cb){
    
    return cb->state;
}

#endif /* _MER_KERNEL_TASK_H_ */