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1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1054 1055 1056 1057 1058 1059 1060 1061 1062 1063 1064 1065 1066 1067 1068 1069 1070 1071 1072 1073 1074 1075 1076 1077 1078 1079 1080 1081 1082 1083 1084 1085 1086 1087 1088 1089 1090 1091 1092 1093 1094 1095 1096 1097 1098 1099 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109 | /* * Copyright (c) 2010-2014 Wind River Systems, Inc. * * SPDX-License-Identifier: Apache-2.0 */ /** * @file * @brief Kernel thread support * * This module provides general purpose thread support. */ #include <zephyr/kernel.h> #include <zephyr/spinlock.h> #include <zephyr/sys/math_extras.h> #include <zephyr/sys_clock.h> #include <ksched.h> #include <kthread.h> #include <wait_q.h> #include <zephyr/internal/syscall_handler.h> #include <kernel_internal.h> #include <kswap.h> #include <zephyr/init.h> #include <zephyr/tracing/tracing.h> #include <string.h> #include <stdbool.h> #include <zephyr/sys/check.h> #include <zephyr/random/random.h> #include <zephyr/sys/atomic.h> #include <zephyr/logging/log.h> #include <zephyr/llext/symbol.h> #include <zephyr/sys/iterable_sections.h> LOG_MODULE_DECLARE(os, CONFIG_KERNEL_LOG_LEVEL); #ifdef CONFIG_OBJ_CORE_THREAD static struct k_obj_type obj_type_thread; #ifdef CONFIG_OBJ_CORE_STATS_THREAD static struct k_obj_core_stats_desc thread_stats_desc = { .raw_size = sizeof(struct k_cycle_stats), .query_size = sizeof(struct k_thread_runtime_stats), .raw = z_thread_stats_raw, .query = z_thread_stats_query, .reset = z_thread_stats_reset, .disable = z_thread_stats_disable, .enable = z_thread_stats_enable, }; #endif /* CONFIG_OBJ_CORE_STATS_THREAD */ static int init_thread_obj_core_list(void) { /* Initialize mem_slab object type */ #ifdef CONFIG_OBJ_CORE_THREAD z_obj_type_init(&obj_type_thread, K_OBJ_TYPE_THREAD_ID, offsetof(struct k_thread, obj_core)); #endif /* CONFIG_OBJ_CORE_THREAD */ #ifdef CONFIG_OBJ_CORE_STATS_THREAD k_obj_type_stats_init(&obj_type_thread, &thread_stats_desc); #endif /* CONFIG_OBJ_CORE_STATS_THREAD */ return 0; } SYS_INIT(init_thread_obj_core_list, PRE_KERNEL_1, CONFIG_KERNEL_INIT_PRIORITY_OBJECTS); #endif /* CONFIG_OBJ_CORE_THREAD */ #define _FOREACH_STATIC_THREAD(thread_data) \ STRUCT_SECTION_FOREACH(_static_thread_data, thread_data) bool k_is_in_isr(void) { return arch_is_in_isr(); } EXPORT_SYMBOL(k_is_in_isr); #ifdef CONFIG_THREAD_CUSTOM_DATA void z_impl_k_thread_custom_data_set(void *value) { _current->custom_data = value; } #ifdef CONFIG_USERSPACE static inline void z_vrfy_k_thread_custom_data_set(void *data) { z_impl_k_thread_custom_data_set(data); } #include <zephyr/syscalls/k_thread_custom_data_set_mrsh.c> #endif /* CONFIG_USERSPACE */ void *z_impl_k_thread_custom_data_get(void) { return _current->custom_data; } #ifdef CONFIG_USERSPACE static inline void *z_vrfy_k_thread_custom_data_get(void) { return z_impl_k_thread_custom_data_get(); } #include <zephyr/syscalls/k_thread_custom_data_get_mrsh.c> #endif /* CONFIG_USERSPACE */ #endif /* CONFIG_THREAD_CUSTOM_DATA */ int z_impl_k_is_preempt_thread(void) { return !arch_is_in_isr() && thread_is_preemptible(_current); } #ifdef CONFIG_USERSPACE static inline int z_vrfy_k_is_preempt_thread(void) { return z_impl_k_is_preempt_thread(); } #include <zephyr/syscalls/k_is_preempt_thread_mrsh.c> #endif /* CONFIG_USERSPACE */ int z_impl_k_thread_priority_get(k_tid_t thread) { return thread->base.prio; } #ifdef CONFIG_USERSPACE static inline int z_vrfy_k_thread_priority_get(k_tid_t thread) { K_OOPS(K_SYSCALL_OBJ(thread, K_OBJ_THREAD)); return z_impl_k_thread_priority_get(thread); } #include <zephyr/syscalls/k_thread_priority_get_mrsh.c> #endif /* CONFIG_USERSPACE */ int z_impl_k_thread_name_set(k_tid_t thread, const char *str) { #ifdef CONFIG_THREAD_NAME if (thread == NULL) { thread = _current; } strncpy(thread->name, str, CONFIG_THREAD_MAX_NAME_LEN - 1); thread->name[CONFIG_THREAD_MAX_NAME_LEN - 1] = '\0'; SYS_PORT_TRACING_OBJ_FUNC(k_thread, name_set, thread, 0); return 0; #else ARG_UNUSED(thread); ARG_UNUSED(str); SYS_PORT_TRACING_OBJ_FUNC(k_thread, name_set, thread, -ENOSYS); return -ENOSYS; #endif /* CONFIG_THREAD_NAME */ } #ifdef CONFIG_USERSPACE static inline int z_vrfy_k_thread_name_set(k_tid_t thread, const char *str) { #ifdef CONFIG_THREAD_NAME char name[CONFIG_THREAD_MAX_NAME_LEN]; if (thread != NULL) { if (K_SYSCALL_OBJ(thread, K_OBJ_THREAD) != 0) { return -EINVAL; } } /* In theory we could copy directly into thread->name, but * the current z_vrfy / z_impl split does not provide a * means of doing so. */ if (k_usermode_string_copy(name, str, sizeof(name)) != 0) { return -EFAULT; } return z_impl_k_thread_name_set(thread, name); #else return -ENOSYS; #endif /* CONFIG_THREAD_NAME */ } #include <zephyr/syscalls/k_thread_name_set_mrsh.c> #endif /* CONFIG_USERSPACE */ const char *k_thread_name_get(k_tid_t thread) { #ifdef CONFIG_THREAD_NAME return (const char *)thread->name; #else ARG_UNUSED(thread); return NULL; #endif /* CONFIG_THREAD_NAME */ } int z_impl_k_thread_name_copy(k_tid_t thread, char *buf, size_t size) { #ifdef CONFIG_THREAD_NAME strncpy(buf, thread->name, size); return 0; #else ARG_UNUSED(thread); ARG_UNUSED(buf); ARG_UNUSED(size); return -ENOSYS; #endif /* CONFIG_THREAD_NAME */ } static size_t copy_bytes(char *dest, size_t dest_size, const char *src, size_t src_size) { size_t bytes_to_copy; bytes_to_copy = MIN(dest_size, src_size); memcpy(dest, src, bytes_to_copy); return bytes_to_copy; } const char *k_thread_state_str(k_tid_t thread_id, char *buf, size_t buf_size) { size_t off = 0; uint8_t bit; uint8_t thread_state = thread_id->base.thread_state; static const struct { const char *str; size_t len; } state_string[] = { { Z_STATE_STR_DUMMY, sizeof(Z_STATE_STR_DUMMY) - 1}, { Z_STATE_STR_PENDING, sizeof(Z_STATE_STR_PENDING) - 1}, { Z_STATE_STR_PRESTART, sizeof(Z_STATE_STR_PRESTART) - 1}, { Z_STATE_STR_DEAD, sizeof(Z_STATE_STR_DEAD) - 1}, { Z_STATE_STR_SUSPENDED, sizeof(Z_STATE_STR_SUSPENDED) - 1}, { Z_STATE_STR_ABORTING, sizeof(Z_STATE_STR_ABORTING) - 1}, { Z_STATE_STR_SUSPENDING, sizeof(Z_STATE_STR_SUSPENDING) - 1}, { Z_STATE_STR_QUEUED, sizeof(Z_STATE_STR_QUEUED) - 1}, }; if ((buf == NULL) || (buf_size == 0)) { return ""; } buf_size--; /* Reserve 1 byte for end-of-string character */ /* * Loop through each bit in the thread_state. Stop once all have * been processed. If more than one thread_state bit is set, then * separate the descriptive strings with a '+'. */ for (unsigned int index = 0; thread_state != 0; index++) { bit = BIT(index); if ((thread_state & bit) == 0) { continue; } off += copy_bytes(buf + off, buf_size - off, state_string[index].str, state_string[index].len); thread_state &= ~bit; if (thread_state != 0) { off += copy_bytes(buf + off, buf_size - off, "+", 1); } } buf[off] = '\0'; return (const char *)buf; } #ifdef CONFIG_USERSPACE static inline int z_vrfy_k_thread_name_copy(k_tid_t thread, char *buf, size_t size) { #ifdef CONFIG_THREAD_NAME size_t len; struct k_object *ko = k_object_find(thread); /* Special case: we allow reading the names of initialized threads * even if we don't have permission on them */ if ((thread == NULL) || (ko->type != K_OBJ_THREAD) || ((ko->flags & K_OBJ_FLAG_INITIALIZED) == 0)) { return -EINVAL; } if (K_SYSCALL_MEMORY_WRITE(buf, size) != 0) { return -EFAULT; } len = strlen(thread->name); if ((len + 1) > size) { return -ENOSPC; } return k_usermode_to_copy((void *)buf, thread->name, len + 1); #else ARG_UNUSED(thread); ARG_UNUSED(buf); ARG_UNUSED(size); return -ENOSYS; #endif /* CONFIG_THREAD_NAME */ } #include <zephyr/syscalls/k_thread_name_copy_mrsh.c> #endif /* CONFIG_USERSPACE */ #ifdef CONFIG_STACK_SENTINEL /* Check that the stack sentinel is still present * * The stack sentinel feature writes a magic value to the lowest 4 bytes of * the thread's stack when the thread is initialized. This value gets checked * in a few places: * * 1) In k_yield() if the current thread is not swapped out * 2) After servicing a non-nested interrupt * 3) In z_swap(), check the sentinel in the outgoing thread * * Item 2 requires support in arch/ code. * * If the check fails, the thread will be terminated appropriately through * the system fatal error handler. */ void z_check_stack_sentinel(void) { uint32_t *stack; if ((_current->base.thread_state & _THREAD_DUMMY) != 0) { return; } stack = (uint32_t *)_current->stack_info.start; if (*stack != STACK_SENTINEL) { /* Restore it so further checks don't trigger this same error */ *stack = STACK_SENTINEL; z_except_reason(K_ERR_STACK_CHK_FAIL); } } #endif /* CONFIG_STACK_SENTINEL */ void z_impl_k_thread_start(k_tid_t thread) { SYS_PORT_TRACING_OBJ_FUNC(k_thread, start, thread); z_sched_start(thread); } #ifdef CONFIG_USERSPACE static inline void z_vrfy_k_thread_start(k_tid_t thread) { K_OOPS(K_SYSCALL_OBJ(thread, K_OBJ_THREAD)); return z_impl_k_thread_start(thread); } #include <zephyr/syscalls/k_thread_start_mrsh.c> #endif /* CONFIG_USERSPACE */ #if defined(CONFIG_STACK_POINTER_RANDOM) && (CONFIG_STACK_POINTER_RANDOM != 0) int z_stack_adjust_initialized; static size_t random_offset(size_t stack_size) { size_t random_val; if (!z_stack_adjust_initialized) { z_early_rand_get((uint8_t *)&random_val, sizeof(random_val)); } else { sys_rand_get((uint8_t *)&random_val, sizeof(random_val)); } /* Don't need to worry about alignment of the size here, * arch_new_thread() is required to do it. * * FIXME: Not the best way to get a random number in a range. * See #6493 */ const size_t fuzz = random_val % CONFIG_STACK_POINTER_RANDOM; if (unlikely(fuzz * 2 > stack_size)) { return 0; } return fuzz; } #if defined(CONFIG_STACK_GROWS_UP) /* This is so rare not bothering for now */ #error "Stack pointer randomization not implemented for upward growing stacks" #endif /* CONFIG_STACK_GROWS_UP */ #endif /* CONFIG_STACK_POINTER_RANDOM */ static char *setup_thread_stack(struct k_thread *new_thread, k_thread_stack_t *stack, size_t stack_size) { size_t stack_obj_size, stack_buf_size; char *stack_ptr, *stack_buf_start; size_t delta = 0; #ifdef CONFIG_USERSPACE if (z_stack_is_user_capable(stack)) { stack_obj_size = K_THREAD_STACK_LEN(stack_size); stack_buf_start = K_THREAD_STACK_BUFFER(stack); stack_buf_size = stack_obj_size - K_THREAD_STACK_RESERVED; } else #endif /* CONFIG_USERSPACE */ { /* Object cannot host a user mode thread */ stack_obj_size = K_KERNEL_STACK_LEN(stack_size); stack_buf_start = K_KERNEL_STACK_BUFFER(stack); stack_buf_size = stack_obj_size - K_KERNEL_STACK_RESERVED; /* Zephyr treats stack overflow as an app bug. But * this particular overflow can be seen by static * analysis so needs to be handled somehow. */ if (K_KERNEL_STACK_RESERVED > stack_obj_size) { k_panic(); } } #ifdef CONFIG_THREAD_STACK_MEM_MAPPED /* Map the stack into virtual memory and use that as the base to * calculate the initial stack pointer at the high end of the stack * object. The stack pointer may be reduced later in this function * by TLS or random offset. * * K_MEM_MAP_UNINIT is used to mimic the behavior of non-mapped * stack. If CONFIG_INIT_STACKS is enabled, the stack will be * cleared below. */ void *stack_mapped = k_mem_map_phys_guard((uintptr_t)stack, stack_obj_size, K_MEM_PERM_RW | K_MEM_CACHE_WB | K_MEM_MAP_UNINIT, false); __ASSERT_NO_MSG((uintptr_t)stack_mapped != 0); #ifdef CONFIG_USERSPACE if (z_stack_is_user_capable(stack)) { stack_buf_start = K_THREAD_STACK_BUFFER(stack_mapped); } else #endif /* CONFIG_USERSPACE */ { stack_buf_start = K_KERNEL_STACK_BUFFER(stack_mapped); } stack_ptr = (char *)stack_mapped + stack_obj_size; /* Need to store the info on mapped stack so we can remove the mappings * when the thread ends. */ new_thread->stack_info.mapped.addr = stack_mapped; new_thread->stack_info.mapped.sz = stack_obj_size; #else /* CONFIG_THREAD_STACK_MEM_MAPPED */ /* Initial stack pointer at the high end of the stack object, may * be reduced later in this function by TLS or random offset */ stack_ptr = (char *)stack + stack_obj_size; #endif /* CONFIG_THREAD_STACK_MEM_MAPPED */ LOG_DBG("stack %p for thread %p: obj_size=%zu buf_start=%p " " buf_size %zu stack_ptr=%p", stack, new_thread, stack_obj_size, (void *)stack_buf_start, stack_buf_size, (void *)stack_ptr); #ifdef CONFIG_INIT_STACKS memset(stack_buf_start, 0xaa, stack_buf_size); #endif /* CONFIG_INIT_STACKS */ #ifdef CONFIG_STACK_SENTINEL /* Put the stack sentinel at the lowest 4 bytes of the stack area. * We periodically check that it's still present and kill the thread * if it isn't. */ *((uint32_t *)stack_buf_start) = STACK_SENTINEL; #endif /* CONFIG_STACK_SENTINEL */ #ifdef CONFIG_THREAD_LOCAL_STORAGE /* TLS is always last within the stack buffer */ delta += arch_tls_stack_setup(new_thread, stack_ptr); #endif /* CONFIG_THREAD_LOCAL_STORAGE */ #ifdef CONFIG_THREAD_USERSPACE_LOCAL_DATA size_t tls_size = sizeof(struct _thread_userspace_local_data); /* reserve space on highest memory of stack buffer for local data */ delta += tls_size; new_thread->userspace_local_data = (struct _thread_userspace_local_data *)(stack_ptr - delta); #endif /* CONFIG_THREAD_USERSPACE_LOCAL_DATA */ #if defined(CONFIG_STACK_POINTER_RANDOM) && (CONFIG_STACK_POINTER_RANDOM != 0) delta += random_offset(stack_buf_size); #endif /* CONFIG_STACK_POINTER_RANDOM */ delta = ROUND_UP(delta, ARCH_STACK_PTR_ALIGN); #ifdef CONFIG_THREAD_STACK_INFO /* Initial values. Arches which implement MPU guards that "borrow" * memory from the stack buffer (not tracked in K_THREAD_STACK_RESERVED) * will need to appropriately update this. * * The bounds tracked here correspond to the area of the stack object * that the thread can access, which includes TLS. */ new_thread->stack_info.start = (uintptr_t)stack_buf_start; new_thread->stack_info.size = stack_buf_size; new_thread->stack_info.delta = delta; #endif /* CONFIG_THREAD_STACK_INFO */ stack_ptr -= delta; return stack_ptr; } /* * The provided stack_size value is presumed to be either the result of * K_THREAD_STACK_SIZEOF(stack), or the size value passed to the instance * of K_THREAD_STACK_DEFINE() which defined 'stack'. */ char *z_setup_new_thread(struct k_thread *new_thread, k_thread_stack_t *stack, size_t stack_size, k_thread_entry_t entry, void *p1, void *p2, void *p3, int prio, uint32_t options, const char *name) { char *stack_ptr; Z_ASSERT_VALID_PRIO(prio, entry); #ifdef CONFIG_THREAD_ABORT_NEED_CLEANUP k_thread_abort_cleanup_check_reuse(new_thread); #endif /* CONFIG_THREAD_ABORT_NEED_CLEANUP */ #ifdef CONFIG_OBJ_CORE_THREAD k_obj_core_init_and_link(K_OBJ_CORE(new_thread), &obj_type_thread); #ifdef CONFIG_OBJ_CORE_STATS_THREAD k_obj_core_stats_register(K_OBJ_CORE(new_thread), &new_thread->base.usage, sizeof(new_thread->base.usage)); #endif /* CONFIG_OBJ_CORE_STATS_THREAD */ #endif /* CONFIG_OBJ_CORE_THREAD */ #ifdef CONFIG_USERSPACE __ASSERT((options & K_USER) == 0U || z_stack_is_user_capable(stack), "user thread %p with kernel-only stack %p", new_thread, stack); k_object_init(new_thread); k_object_init(stack); new_thread->stack_obj = stack; new_thread->syscall_frame = NULL; /* Any given thread has access to itself */ k_object_access_grant(new_thread, new_thread); #endif /* CONFIG_USERSPACE */ z_waitq_init(&new_thread->join_queue); /* Initialize various struct k_thread members */ z_init_thread_base(&new_thread->base, prio, _THREAD_PRESTART, options); stack_ptr = setup_thread_stack(new_thread, stack, stack_size); #ifdef CONFIG_KERNEL_COHERENCE /* Check that the thread object is safe, but that the stack is * still cached! */ __ASSERT_NO_MSG(arch_mem_coherent(new_thread)); /* When dynamic thread stack is available, the stack may come from * uncached area. */ #ifndef CONFIG_DYNAMIC_THREAD __ASSERT_NO_MSG(!arch_mem_coherent(stack)); #endif /* CONFIG_DYNAMIC_THREAD */ #endif /* CONFIG_KERNEL_COHERENCE */ arch_new_thread(new_thread, stack, stack_ptr, entry, p1, p2, p3); /* static threads overwrite it afterwards with real value */ new_thread->init_data = NULL; #ifdef CONFIG_USE_SWITCH /* switch_handle must be non-null except when inside z_swap() * for synchronization reasons. Historically some notional * USE_SWITCH architectures have actually ignored the field */ __ASSERT(new_thread->switch_handle != NULL, "arch layer failed to initialize switch_handle"); #endif /* CONFIG_USE_SWITCH */ #ifdef CONFIG_THREAD_CUSTOM_DATA /* Initialize custom data field (value is opaque to kernel) */ new_thread->custom_data = NULL; #endif /* CONFIG_THREAD_CUSTOM_DATA */ #ifdef CONFIG_EVENTS new_thread->no_wake_on_timeout = false; #endif /* CONFIG_EVENTS */ #ifdef CONFIG_THREAD_MONITOR new_thread->entry.pEntry = entry; new_thread->entry.parameter1 = p1; new_thread->entry.parameter2 = p2; new_thread->entry.parameter3 = p3; k_spinlock_key_t key = k_spin_lock(&z_thread_monitor_lock); new_thread->next_thread = _kernel.threads; _kernel.threads = new_thread; k_spin_unlock(&z_thread_monitor_lock, key); #endif /* CONFIG_THREAD_MONITOR */ #ifdef CONFIG_THREAD_NAME if (name != NULL) { strncpy(new_thread->name, name, CONFIG_THREAD_MAX_NAME_LEN - 1); /* Ensure NULL termination, truncate if longer */ new_thread->name[CONFIG_THREAD_MAX_NAME_LEN - 1] = '\0'; } else { new_thread->name[0] = '\0'; } #endif /* CONFIG_THREAD_NAME */ #ifdef CONFIG_SCHED_CPU_MASK if (IS_ENABLED(CONFIG_SCHED_CPU_MASK_PIN_ONLY)) { new_thread->base.cpu_mask = 1; /* must specify only one cpu */ } else { new_thread->base.cpu_mask = -1; /* allow all cpus */ } #endif /* CONFIG_SCHED_CPU_MASK */ #ifdef CONFIG_ARCH_HAS_CUSTOM_SWAP_TO_MAIN /* _current may be null if the dummy thread is not used */ if (!_current) { new_thread->resource_pool = NULL; return stack_ptr; } #endif /* CONFIG_ARCH_HAS_CUSTOM_SWAP_TO_MAIN */ #ifdef CONFIG_USERSPACE z_mem_domain_init_thread(new_thread); if ((options & K_INHERIT_PERMS) != 0U) { k_thread_perms_inherit(_current, new_thread); } #endif /* CONFIG_USERSPACE */ #ifdef CONFIG_SCHED_DEADLINE new_thread->base.prio_deadline = 0; #endif /* CONFIG_SCHED_DEADLINE */ new_thread->resource_pool = _current->resource_pool; #ifdef CONFIG_SMP z_waitq_init(&new_thread->halt_queue); #endif /* CONFIG_SMP */ #ifdef CONFIG_SCHED_THREAD_USAGE new_thread->base.usage = (struct k_cycle_stats) {}; new_thread->base.usage.track_usage = CONFIG_SCHED_THREAD_USAGE_AUTO_ENABLE; #endif /* CONFIG_SCHED_THREAD_USAGE */ SYS_PORT_TRACING_OBJ_FUNC(k_thread, create, new_thread); return stack_ptr; } k_tid_t z_impl_k_thread_create(struct k_thread *new_thread, k_thread_stack_t *stack, size_t stack_size, k_thread_entry_t entry, void *p1, void *p2, void *p3, int prio, uint32_t options, k_timeout_t delay) { __ASSERT(!arch_is_in_isr(), "Threads may not be created in ISRs"); z_setup_new_thread(new_thread, stack, stack_size, entry, p1, p2, p3, prio, options, NULL); if (!K_TIMEOUT_EQ(delay, K_FOREVER)) { thread_schedule_new(new_thread, delay); } return new_thread; } #ifdef CONFIG_USERSPACE bool z_stack_is_user_capable(k_thread_stack_t *stack) { return k_object_find(stack) != NULL; } k_tid_t z_vrfy_k_thread_create(struct k_thread *new_thread, k_thread_stack_t *stack, size_t stack_size, k_thread_entry_t entry, void *p1, void *p2, void *p3, int prio, uint32_t options, k_timeout_t delay) { size_t total_size, stack_obj_size; struct k_object *stack_object; /* The thread and stack objects *must* be in an uninitialized state */ K_OOPS(K_SYSCALL_OBJ_NEVER_INIT(new_thread, K_OBJ_THREAD)); /* No need to check z_stack_is_user_capable(), it won't be in the * object table if it isn't */ stack_object = k_object_find(stack); K_OOPS(K_SYSCALL_VERIFY_MSG(k_object_validation_check(stack_object, stack, K_OBJ_THREAD_STACK_ELEMENT, _OBJ_INIT_FALSE) == 0, "bad stack object")); /* Verify that the stack size passed in is OK by computing the total * size and comparing it with the size value in the object metadata */ K_OOPS(K_SYSCALL_VERIFY_MSG(!size_add_overflow(K_THREAD_STACK_RESERVED, stack_size, &total_size), "stack size overflow (%zu+%zu)", stack_size, K_THREAD_STACK_RESERVED)); /* Testing less-than-or-equal since additional room may have been * allocated for alignment constraints */ #ifdef CONFIG_GEN_PRIV_STACKS stack_obj_size = stack_object->data.stack_data->size; #else stack_obj_size = stack_object->data.stack_size; #endif /* CONFIG_GEN_PRIV_STACKS */ K_OOPS(K_SYSCALL_VERIFY_MSG(total_size <= stack_obj_size, "stack size %zu is too big, max is %zu", total_size, stack_obj_size)); /* User threads may only create other user threads and they can't * be marked as essential */ K_OOPS(K_SYSCALL_VERIFY(options & K_USER)); K_OOPS(K_SYSCALL_VERIFY(!(options & K_ESSENTIAL))); /* Check validity of prio argument; must be the same or worse priority * than the caller */ K_OOPS(K_SYSCALL_VERIFY(_is_valid_prio(prio, NULL))); K_OOPS(K_SYSCALL_VERIFY(z_is_prio_lower_or_equal(prio, _current->base.prio))); z_setup_new_thread(new_thread, stack, stack_size, entry, p1, p2, p3, prio, options, NULL); if (!K_TIMEOUT_EQ(delay, K_FOREVER)) { thread_schedule_new(new_thread, delay); } return new_thread; } #include <zephyr/syscalls/k_thread_create_mrsh.c> #endif /* CONFIG_USERSPACE */ void z_init_thread_base(struct _thread_base *thread_base, int priority, uint32_t initial_state, unsigned int options) { /* k_q_node is initialized upon first insertion in a list */ thread_base->pended_on = NULL; thread_base->user_options = (uint8_t)options; thread_base->thread_state = (uint8_t)initial_state; thread_base->prio = priority; thread_base->sched_locked = 0U; #ifdef CONFIG_SMP thread_base->is_idle = 0; #endif /* CONFIG_SMP */ #ifdef CONFIG_TIMESLICE_PER_THREAD thread_base->slice_ticks = 0; thread_base->slice_expired = NULL; #endif /* CONFIG_TIMESLICE_PER_THREAD */ /* swap_data does not need to be initialized */ z_init_thread_timeout(thread_base); } FUNC_NORETURN void k_thread_user_mode_enter(k_thread_entry_t entry, void *p1, void *p2, void *p3) { SYS_PORT_TRACING_FUNC(k_thread, user_mode_enter); _current->base.user_options |= K_USER; z_thread_essential_clear(_current); #ifdef CONFIG_THREAD_MONITOR _current->entry.pEntry = entry; _current->entry.parameter1 = p1; _current->entry.parameter2 = p2; _current->entry.parameter3 = p3; #endif /* CONFIG_THREAD_MONITOR */ #ifdef CONFIG_USERSPACE __ASSERT(z_stack_is_user_capable(_current->stack_obj), "dropping to user mode with kernel-only stack object"); #ifdef CONFIG_THREAD_USERSPACE_LOCAL_DATA memset(_current->userspace_local_data, 0, sizeof(struct _thread_userspace_local_data)); #endif /* CONFIG_THREAD_USERSPACE_LOCAL_DATA */ #ifdef CONFIG_THREAD_LOCAL_STORAGE arch_tls_stack_setup(_current, (char *)(_current->stack_info.start + _current->stack_info.size)); #endif /* CONFIG_THREAD_LOCAL_STORAGE */ arch_user_mode_enter(entry, p1, p2, p3); #else /* XXX In this case we do not reset the stack */ z_thread_entry(entry, p1, p2, p3); #endif /* CONFIG_USERSPACE */ } #if defined(CONFIG_INIT_STACKS) && defined(CONFIG_THREAD_STACK_INFO) #ifdef CONFIG_STACK_GROWS_UP #error "Unsupported configuration for stack analysis" #endif /* CONFIG_STACK_GROWS_UP */ int z_stack_space_get(const uint8_t *stack_start, size_t size, size_t *unused_ptr) { size_t unused = 0; const uint8_t *checked_stack = stack_start; /* Take the address of any local variable as a shallow bound for the * stack pointer. Addresses above it are guaranteed to be * accessible. */ const uint8_t *stack_pointer = (const uint8_t *)&stack_start; /* If we are currently running on the stack being analyzed, some * memory management hardware will generate an exception if we * read unused stack memory. * * This never happens when invoked from user mode, as user mode * will always run this function on the privilege elevation stack. */ if ((stack_pointer > stack_start) && (stack_pointer <= (stack_start + size)) && IS_ENABLED(CONFIG_NO_UNUSED_STACK_INSPECTION)) { /* TODO: We could add an arch_ API call to temporarily * disable the stack checking in the CPU, but this would * need to be properly managed wrt context switches/interrupts */ return -ENOTSUP; } if (IS_ENABLED(CONFIG_STACK_SENTINEL)) { /* First 4 bytes of the stack buffer reserved for the * sentinel value, it won't be 0xAAAAAAAA for thread * stacks. * * FIXME: thread->stack_info.start ought to reflect * this! */ checked_stack += 4; size -= 4; } for (size_t i = 0; i < size; i++) { if ((checked_stack[i]) == 0xaaU) { unused++; } else { break; } } *unused_ptr = unused; return 0; } int z_impl_k_thread_stack_space_get(const struct k_thread *thread, size_t *unused_ptr) { #ifdef CONFIG_THREAD_STACK_MEM_MAPPED if (thread->stack_info.mapped.addr == NULL) { return -EINVAL; } #endif /* CONFIG_THREAD_STACK_MEM_MAPPED */ return z_stack_space_get((const uint8_t *)thread->stack_info.start, thread->stack_info.size, unused_ptr); } #ifdef CONFIG_USERSPACE int z_vrfy_k_thread_stack_space_get(const struct k_thread *thread, size_t *unused_ptr) { size_t unused; int ret; ret = K_SYSCALL_OBJ(thread, K_OBJ_THREAD); CHECKIF(ret != 0) { return ret; } ret = z_impl_k_thread_stack_space_get(thread, &unused); CHECKIF(ret != 0) { return ret; } ret = k_usermode_to_copy(unused_ptr, &unused, sizeof(size_t)); CHECKIF(ret != 0) { return ret; } return 0; } #include <zephyr/syscalls/k_thread_stack_space_get_mrsh.c> #endif /* CONFIG_USERSPACE */ #endif /* CONFIG_INIT_STACKS && CONFIG_THREAD_STACK_INFO */ #ifdef CONFIG_USERSPACE static inline k_ticks_t z_vrfy_k_thread_timeout_remaining_ticks( const struct k_thread *thread) { K_OOPS(K_SYSCALL_OBJ(thread, K_OBJ_THREAD)); return z_impl_k_thread_timeout_remaining_ticks(thread); } #include <zephyr/syscalls/k_thread_timeout_remaining_ticks_mrsh.c> static inline k_ticks_t z_vrfy_k_thread_timeout_expires_ticks( const struct k_thread *thread) { K_OOPS(K_SYSCALL_OBJ(thread, K_OBJ_THREAD)); return z_impl_k_thread_timeout_expires_ticks(thread); } #include <zephyr/syscalls/k_thread_timeout_expires_ticks_mrsh.c> #endif /* CONFIG_USERSPACE */ #ifdef CONFIG_INSTRUMENT_THREAD_SWITCHING void z_thread_mark_switched_in(void) { #if defined(CONFIG_SCHED_THREAD_USAGE) && !defined(CONFIG_USE_SWITCH) z_sched_usage_start(_current); #endif /* CONFIG_SCHED_THREAD_USAGE && !CONFIG_USE_SWITCH */ #ifdef CONFIG_TRACING SYS_PORT_TRACING_FUNC(k_thread, switched_in); #endif /* CONFIG_TRACING */ } void z_thread_mark_switched_out(void) { #if defined(CONFIG_SCHED_THREAD_USAGE) && !defined(CONFIG_USE_SWITCH) z_sched_usage_stop(); #endif /*CONFIG_SCHED_THREAD_USAGE && !CONFIG_USE_SWITCH */ #ifdef CONFIG_TRACING #ifdef CONFIG_THREAD_LOCAL_STORAGE /* Dummy thread won't have TLS set up to run arbitrary code */ if (!_current_cpu->current || (_current_cpu->current->base.thread_state & _THREAD_DUMMY) != 0) return; #endif /* CONFIG_THREAD_LOCAL_STORAGE */ SYS_PORT_TRACING_FUNC(k_thread, switched_out); #endif /* CONFIG_TRACING */ } #endif /* CONFIG_INSTRUMENT_THREAD_SWITCHING */ int k_thread_runtime_stats_get(k_tid_t thread, k_thread_runtime_stats_t *stats) { if ((thread == NULL) || (stats == NULL)) { return -EINVAL; } #ifdef CONFIG_SCHED_THREAD_USAGE z_sched_thread_usage(thread, stats); #else *stats = (k_thread_runtime_stats_t) {}; #endif /* CONFIG_SCHED_THREAD_USAGE */ return 0; } int k_thread_runtime_stats_all_get(k_thread_runtime_stats_t *stats) { #ifdef CONFIG_SCHED_THREAD_USAGE_ALL k_thread_runtime_stats_t tmp_stats; #endif /* CONFIG_SCHED_THREAD_USAGE_ALL */ if (stats == NULL) { return -EINVAL; } *stats = (k_thread_runtime_stats_t) {}; #ifdef CONFIG_SCHED_THREAD_USAGE_ALL /* Retrieve the usage stats for each core and amalgamate them. */ unsigned int num_cpus = arch_num_cpus(); for (uint8_t i = 0; i < num_cpus; i++) { z_sched_cpu_usage(i, &tmp_stats); stats->execution_cycles += tmp_stats.execution_cycles; stats->total_cycles += tmp_stats.total_cycles; #ifdef CONFIG_SCHED_THREAD_USAGE_ANALYSIS stats->current_cycles += tmp_stats.current_cycles; stats->peak_cycles += tmp_stats.peak_cycles; stats->average_cycles += tmp_stats.average_cycles; #endif /* CONFIG_SCHED_THREAD_USAGE_ANALYSIS */ stats->idle_cycles += tmp_stats.idle_cycles; } #endif /* CONFIG_SCHED_THREAD_USAGE_ALL */ return 0; } #ifdef CONFIG_THREAD_ABORT_NEED_CLEANUP /** Pointer to thread which needs to be cleaned up. */ static struct k_thread *thread_to_cleanup; /** Spinlock for thread abort cleanup. */ static struct k_spinlock thread_cleanup_lock; #ifdef CONFIG_THREAD_STACK_MEM_MAPPED static void *thread_cleanup_stack_addr; static size_t thread_cleanup_stack_sz; #endif /* CONFIG_THREAD_STACK_MEM_MAPPED */ void defer_thread_cleanup(struct k_thread *thread) { /* Note when adding new deferred cleanup steps: * - The thread object may have been overwritten by the time * the actual cleanup is being done (e.g. thread object * allocated on a stack). So stash any necessary data here * that will be used in the actual cleanup steps. */ thread_to_cleanup = thread; #ifdef CONFIG_THREAD_STACK_MEM_MAPPED /* Note that the permission of the stack should have been * stripped of user thread access due to the thread having * already exited from a memory domain. That is done via * k_thread_abort(). */ /* Stash the address and size so the region can be unmapped * later. */ thread_cleanup_stack_addr = thread->stack_info.mapped.addr; thread_cleanup_stack_sz = thread->stack_info.mapped.sz; /* The stack is now considered un-usable. This should prevent any functions * from looking directly into the mapped stack if they are made to be aware * of memory mapped stacks, e.g., z_stack_space_get(). */ thread->stack_info.mapped.addr = NULL; thread->stack_info.mapped.sz = 0; #endif /* CONFIG_THREAD_STACK_MEM_MAPPED */ } void do_thread_cleanup(struct k_thread *thread) { /* Note when adding new actual cleanup steps: * - The thread object may have been overwritten when this is * called. So avoid using any data from the thread object. */ ARG_UNUSED(thread); #ifdef CONFIG_THREAD_STACK_MEM_MAPPED if (thread_cleanup_stack_addr != NULL) { k_mem_unmap_phys_guard(thread_cleanup_stack_addr, thread_cleanup_stack_sz, false); thread_cleanup_stack_addr = NULL; } #endif /* CONFIG_THREAD_STACK_MEM_MAPPED */ } void k_thread_abort_cleanup(struct k_thread *thread) { K_SPINLOCK(&thread_cleanup_lock) { if (thread_to_cleanup != NULL) { /* Finish the pending one first. */ do_thread_cleanup(thread_to_cleanup); thread_to_cleanup = NULL; } if (thread == _current) { /* Need to defer for current running thread as the cleanup * might result in exception. Actual cleanup will be done * at the next time k_thread_abort() is called, or at thread * creation if the same thread object is being reused. This * is to make sure the cleanup code no longer needs this * thread's stack. This is not exactly ideal as the stack * may still be memory mapped for a while. However, this is * a simple solution without a) the need to workaround * the schedule lock during k_thread_abort(), b) creating * another thread to perform the cleanup, and c) does not * require architecture code support (e.g. via exception). */ defer_thread_cleanup(thread); } else { /* Not the current running thread, so we are safe to do * cleanups. */ do_thread_cleanup(thread); } } } void k_thread_abort_cleanup_check_reuse(struct k_thread *thread) { K_SPINLOCK(&thread_cleanup_lock) { /* This is to guard reuse of the same thread object and make sure * any pending cleanups of it needs to be finished before the thread * object can be reused. */ if (thread_to_cleanup == thread) { do_thread_cleanup(thread_to_cleanup); thread_to_cleanup = NULL; } } } #endif /* CONFIG_THREAD_ABORT_NEED_CLEANUP */ |