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sched: Implement generic sleep mechanism based on tasks pending

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Track when tasks are pending and spin in irq_wait() when no tasks are
pending.  This improves the mechanism for sleeping the processor -
it's simpler for the board specific code and it reduces the
possibility of the processor sleeping when tasks are busy.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-08-07 12:33:08 -04:00
parent a9982beacf
commit 2c272f99a3
9 changed files with 60 additions and 80 deletions
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57
src/sched.c
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@ -6,6 +6,7 @@
#include <setjmp.h> // setjmp
#include "autoconf.h" // CONFIG_*
#include "basecmd.h" // stats_update
#include "board/io.h" // readb
#include "board/irq.h" // irq_save
#include "board/misc.h" // timer_from_us
@ -177,13 +178,23 @@ sched_timer_reset(void)
/****************************************************************
* Task waking
* Tasks
****************************************************************/
static int_fast8_t tasks_pending;
// Note that at least one task is ready to run
void
sched_wake_tasks(void)
{
tasks_pending = 0;
}
// Check if tasks need to be run
uint8_t
sched_tasks_busy(void)
{
return tasks_pending >= 0;
}
// Note that a task is ready to run
@ -204,6 +215,40 @@ sched_check_wake(struct task_wake *w)
return 1;
}
// Main task dispatch loop
static void
run_tasks(void)
{
uint32_t start = timer_read_time();
for (;;) {
// Check if can sleep
irq_disable();
if (!tasks_pending) {
// Tasks are busy - don't sleep
irq_enable();
} else {
// Sleep processor (only run timers) until tasks pending
tasks_pending = -1;
uint32_t sleep_start = timer_read_time();
do {
irq_wait();
} while (!sched_tasks_busy());
irq_enable();
start += timer_read_time() - sleep_start;
}
tasks_pending = 1;
// Run all tasks
extern void ctr_run_taskfuncs(void);
ctr_run_taskfuncs();
// Update statistics
uint32_t cur = timer_read_time();
stats_update(start, cur);
start = cur;
}
}
/****************************************************************
* Shutdown processing
@ -274,23 +319,19 @@ sched_shutdown(uint_fast8_t reason)
/****************************************************************
* Startup and background task processing
* Startup
****************************************************************/
// Auto-generated code in out/compile_time_requests.c
extern void ctr_run_initfuncs(void);
extern void ctr_run_taskfuncs(void);
// Main loop of program
void
sched_main(void)
{
extern void ctr_run_initfuncs(void);
ctr_run_initfuncs();
int ret = setjmp(shutdown_jmp);
if (ret)
run_shutdown(ret);
for (;;)
ctr_run_taskfuncs();
run_tasks();
}