idle.c

/*
 * Copyright (c) 2006-2022, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author       Notes
 * 2006-03-23     Bernard      the first version
 * 2010-11-10     Bernard      add cleanup callback function in thread exit.
 * 2012-12-29     Bernard      fix compiling warning.
 * 2013-12-21     Grissiom     let rt_thread_idle_excute loop until there is no
 *                             dead thread.
 * 2016-08-09     ArdaFu       add method to get the handler of the idle thread.
 * 2018-02-07     Bernard      lock scheduler to protect tid->cleanup.
 * 2018-07-14     armink       add idle hook list
 * 2018-11-22     Jesven       add per cpu idle task
 *                             combine the code of primary and secondary cpu
 * 2021-11-15     THEWON       Remove duplicate work between idle and _thread_exit
 * 2023-09-15     xqyjlj       perf rt_hw_interrupt_disable/enable
 * 2023-11-07     xqyjlj       fix thread exit
 * 2023-12-10     xqyjlj       add _hook_spinlock
 */

#include <rthw.h>
#include <rtthread.h>

#ifdef RT_USING_MODULE
#include <dlmodule.h>
#endif /* RT_USING_MODULE */

#ifdef RT_USING_HOOK
#ifndef RT_USING_IDLE_HOOK
#define RT_USING_IDLE_HOOK
#endif /* RT_USING_IDLE_HOOK */
#endif /* RT_USING_HOOK */

#ifndef IDLE_THREAD_STACK_SIZE
#if defined (RT_USING_IDLE_HOOK) || defined(RT_USING_HEAP)
#define IDLE_THREAD_STACK_SIZE  256
#else
#define IDLE_THREAD_STACK_SIZE  128
#endif /* (RT_USING_IDLE_HOOK) || defined(RT_USING_HEAP) */
#endif /* IDLE_THREAD_STACK_SIZE */

#define _CPUS_NR                RT_CPUS_NR

static rt_list_t _rt_thread_defunct = RT_LIST_OBJECT_INIT(_rt_thread_defunct);
static struct rt_spinlock _defunct_spinlock;
static struct rt_thread idle_thread[_CPUS_NR];
rt_align(RT_ALIGN_SIZE)
static rt_uint8_t idle_thread_stack[_CPUS_NR][IDLE_THREAD_STACK_SIZE];

#ifdef RT_USING_SMP
#ifndef SYSTEM_THREAD_STACK_SIZE
#define SYSTEM_THREAD_STACK_SIZE IDLE_THREAD_STACK_SIZE
#endif
static struct rt_thread rt_system_thread;
rt_align(RT_ALIGN_SIZE)
static rt_uint8_t rt_system_stack[SYSTEM_THREAD_STACK_SIZE];
static struct rt_semaphore system_sem;
#endif

#ifdef RT_USING_IDLE_HOOK
#ifndef RT_IDLE_HOOK_LIST_SIZE
#define RT_IDLE_HOOK_LIST_SIZE  4
#endif /* RT_IDLE_HOOK_LIST_SIZE */

static void (*idle_hook_list[RT_IDLE_HOOK_LIST_SIZE])(void);
static struct rt_spinlock _hook_spinlock;

/**
 * @brief This function sets a hook function to idle thread loop. When the system performs
 *        idle loop, this hook function should be invoked.
 *
 * @param hook the specified hook function.
 *
 * @return RT_EOK: set OK.
 *         -RT_EFULL: hook list is full.
 *
 * @note the hook function must be simple and never be blocked or suspend.
 */
rt_err_t rt_thread_idle_sethook(void (*hook)(void))
{
    rt_size_t i;
    rt_err_t ret = -RT_EFULL;
    rt_base_t level;

    level = rt_spin_lock_irqsave(&_hook_spinlock);

    for (i = 0; i < RT_IDLE_HOOK_LIST_SIZE; i++)
    {
        if (idle_hook_list[i] == RT_NULL)
        {
            idle_hook_list[i] = hook;
            ret = RT_EOK;
            break;
        }
    }

    rt_spin_unlock_irqrestore(&_hook_spinlock, level);

    return ret;
}

/**
 * @brief delete the idle hook on hook list.
 *
 * @param hook the specified hook function.
 *
 * @return RT_EOK: delete OK.
 *         -RT_ENOSYS: hook was not found.
 */
rt_err_t rt_thread_idle_delhook(void (*hook)(void))
{
    rt_size_t i;
    rt_err_t ret = -RT_ENOSYS;
    rt_base_t level;

    level = rt_spin_lock_irqsave(&_hook_spinlock);

    for (i = 0; i < RT_IDLE_HOOK_LIST_SIZE; i++)
    {
        if (idle_hook_list[i] == hook)
        {
            idle_hook_list[i] = RT_NULL;
            ret = RT_EOK;
            break;
        }
    }

    rt_spin_unlock_irqrestore(&_hook_spinlock, level);

    return ret;
}

#endif /* RT_USING_IDLE_HOOK */

/**
 * @brief Enqueue a thread to defunct queue.
 *
 * @param thread the thread to be enqueued.
 *
 * @note It must be called between rt_hw_interrupt_disable and rt_hw_interrupt_enable
 */
void rt_thread_defunct_enqueue(rt_thread_t thread)
{
    rt_base_t level;
    level = rt_spin_lock_irqsave(&_defunct_spinlock);
    rt_list_insert_after(&_rt_thread_defunct, &RT_THREAD_LIST_NODE(thread));
    rt_spin_unlock_irqrestore(&_defunct_spinlock, level);
#ifdef RT_USING_SMP
    rt_sem_release(&system_sem);
#endif
}

/**
 * @brief Dequeue a thread from defunct queue.
 */
rt_thread_t rt_thread_defunct_dequeue(void)
{
    rt_base_t level;
    rt_thread_t thread = RT_NULL;
    rt_list_t *l = &_rt_thread_defunct;

#ifdef RT_USING_SMP
    level = rt_spin_lock_irqsave(&_defunct_spinlock);
    if (l->next != l)
    {
        thread = RT_THREAD_LIST_NODE_ENTRY(l->next);
        rt_list_remove(&RT_THREAD_LIST_NODE(thread));
    }
    rt_spin_unlock_irqrestore(&_defunct_spinlock, level);
#else
    if (l->next != l)
    {
        thread = RT_THREAD_LIST_NODE_ENTRY(l->next);
        level = rt_hw_interrupt_disable();
        rt_list_remove(&RT_THREAD_LIST_NODE(thread));
        rt_hw_interrupt_enable(level);
    }
#endif
    return thread;
}

/**
 * @brief This function will perform system background job when system idle.
 */
static void rt_defunct_execute(void)
{
    /* Loop until there is no dead thread. So one call to rt_defunct_execute
     * will do all the cleanups. */
    while (1)
    {
        rt_thread_t thread;
        rt_bool_t object_is_systemobject;
        void (*cleanup)(struct rt_thread *tid);

#ifdef RT_USING_MODULE
        struct rt_dlmodule *module = RT_NULL;
#endif
        /* get defunct thread */
        thread = rt_thread_defunct_dequeue();
        if (thread == RT_NULL)
        {
            break;
        }

#ifdef RT_USING_MODULE
        module = (struct rt_dlmodule*)thread->parent.module_id;
        if (module)
        {
            dlmodule_destroy(module);
        }
#endif

#ifdef RT_USING_SIGNALS
        rt_thread_free_sig(thread);
#endif

        /* store the point of "thread->cleanup" avoid to lose */
        cleanup = thread->cleanup;

        /* if it's a system object, not delete it */
        object_is_systemobject = rt_object_is_systemobject((rt_object_t)thread);
        if (object_is_systemobject == RT_TRUE)
        {
            /* detach this object */
            rt_object_detach((rt_object_t)thread);
        }

        /* invoke thread cleanup */
        if (cleanup != RT_NULL)
        {
            cleanup(thread);
        }

#ifdef RT_USING_HEAP
#ifdef RT_USING_MEM_PROTECTION
        if (thread->mem_regions != RT_NULL)
        {
            RT_KERNEL_FREE(thread->mem_regions);
        }
#endif
        /* if need free, delete it */
        if (object_is_systemobject == RT_FALSE)
        {
            /* release thread's stack */
#ifdef RT_USING_HW_STACK_GUARD
            RT_KERNEL_FREE(thread->stack_buf);
#else
            RT_KERNEL_FREE(thread->stack_addr);
#endif
            /* delete thread object */
            rt_object_delete((rt_object_t)thread);
        }
#endif
    }
}

static void idle_thread_entry(void *parameter)
{
    RT_UNUSED(parameter);
#ifdef RT_USING_SMP
    if (rt_hw_cpu_id() != 0)
    {
        while (1)
        {
            rt_hw_secondary_cpu_idle_exec();
        }
    }
#endif /* RT_USING_SMP */

    while (1)
    {
#ifdef RT_USING_IDLE_HOOK
        rt_size_t i;
        void (*idle_hook)(void);

        for (i = 0; i < RT_IDLE_HOOK_LIST_SIZE; i++)
        {
            idle_hook = idle_hook_list[i];
            if (idle_hook != RT_NULL)
            {
                idle_hook();
            }
        }
#endif /* RT_USING_IDLE_HOOK */

#ifndef RT_USING_SMP
        rt_defunct_execute();
#endif /* RT_USING_SMP */

#ifdef RT_USING_PM
        void rt_system_power_manager(void);
        rt_system_power_manager();
#endif /* RT_USING_PM */
    }
}

#ifdef RT_USING_SMP
static void rt_thread_system_entry(void *parameter)
{
    RT_UNUSED(parameter);

    while (1)
    {
        int ret = rt_sem_take(&system_sem, RT_WAITING_FOREVER);
        if (ret != RT_EOK)
        {
            rt_kprintf("failed to sem_take() error %d\n", ret);
            RT_ASSERT(0);
        }
        rt_defunct_execute();
    }
}
#endif

/**
 * @brief This function will initialize idle thread, then start it.
 *
 * @note this function must be invoked when system init.
 */
void rt_thread_idle_init(void)
{
    rt_ubase_t i;
#if RT_NAME_MAX > 0
    char idle_thread_name[RT_NAME_MAX];
#endif /* RT_NAME_MAX > 0 */

    for (i = 0; i < _CPUS_NR; i++)
    {
#if RT_NAME_MAX > 0
        rt_snprintf(idle_thread_name, RT_NAME_MAX, "tidle%d", i);
#endif /* RT_NAME_MAX > 0 */
        rt_thread_init(&idle_thread[i],
#if RT_NAME_MAX > 0
                idle_thread_name,
#else
                "tidle",
#endif /* RT_NAME_MAX > 0 */
                idle_thread_entry,
                RT_NULL,
                &idle_thread_stack[i][0],
                sizeof(idle_thread_stack[i]),
                RT_THREAD_PRIORITY_MAX - 1,
                32);
#ifdef RT_USING_SMP
        rt_thread_control(&idle_thread[i], RT_THREAD_CTRL_BIND_CPU, (void*)i);

        rt_cpu_index(i)->idle_thread = &idle_thread[i];
#endif /* RT_USING_SMP */
        /* startup */
        rt_thread_startup(&idle_thread[i]);
    }

#ifdef RT_USING_SMP
    RT_ASSERT(RT_THREAD_PRIORITY_MAX > 2);

    rt_spin_lock_init(&_defunct_spinlock);
    rt_spin_lock_init(&_hook_spinlock);

    rt_sem_init(&system_sem, "defunct", 0, RT_IPC_FLAG_FIFO);

    /* create defunct thread */
    rt_thread_init(&rt_system_thread,
            "tsystem",
            rt_thread_system_entry,
            RT_NULL,
            rt_system_stack,
            sizeof(rt_system_stack),
            RT_THREAD_PRIORITY_MAX - 2,
            32);
    /* startup */
    rt_thread_startup(&rt_system_thread);
#endif
}

/**
 * @brief This function will get the handler of the idle thread.
 */
rt_thread_t rt_thread_idle_gethandler(void)
{
#ifdef RT_USING_SMP
    int id = rt_hw_cpu_id();
#else
    int id = 0;
#endif /* RT_USING_SMP */

    return (rt_thread_t)(&idle_thread[id]);
}