good tasks, svc cleaning

.gitignore

@@ -1 +1,3 @@
-out/*
+*.o
+*.swp
+*.swo

Makefile

@@ -24,7 +24,7 @@ AS = as
 
 MCUFLAGS = -mthumb -mcpu=cortex-m4 #-mfloat-abi=hard -mfpu=fpv4-sp-d16
 AFLAGS = $(MCUFLAGS) 
-CFLAGS = $(MCUFLAGS) -ggdb \
+CFLAGS = $(MCUFLAGS) -ggdb --specs=nosys.specs \
 	-I.. \
 	-fno-builtin -fsigned-char -ffreestanding \
 	-Wall -Werror -Wextra -pedantic \

src/kernel/init.c

@@ -22,6 +22,7 @@
 #include "gpio.h"
 #include "heap.h"
 #include "task.h"
+#include "vfs.h"
 #include <arch/stm/stm32l476xx.h>
 
 extern uint8_t __bss_end__;

src/kernel/svc.c

@@ -41,24 +41,31 @@ void SVC_Handler(void) {
 
 	switch (svc_number) {
 	case -1:
-	case 0:
-		_exit(args[0]);
+	case 0: /* Task-related calls
+		 * 0 - _exit
+		 * 1 - fork
+		 * 2 - getpid
+		 * 3 - waitpid
+		 */
+		task_svc(args);
 		break;
-	case 1:
+
+	case 1: /* GPIO-related calls
+		 * 0 - gpio_mode
+		 * 1 - gpio_type
+		 * 2 - gpio_pupd
+		 * 3 - gpio_speed
+		 * 4 - gpio_dout
+		 */
 		gpio_svc(args);
 		break;
-	case 2:
+
+	case 2: /* Clock-related calls
+		 * 0 - delay
+		 * 1 - udelay
+		 */
 		clock_svc(args);
 		break;
-	case 3:
-		asm("\
-			mrs r0, psp; \
-			stmdb r0!, {r4-r11, r14}; \
-			mov %0, r0; \
-		" : "=r" (args[0]));
-		task_svc(args);
-		asm("mov r0, %0" :: "r" (args[0])); // TODO doesn't work, r0 overwritten on exc. return
-		break;
 	default:
 		break;
 	}

src/kernel/task.c

@@ -23,16 +23,37 @@
 #include "task.h"
 #include <arch/stm/stm32l476xx.h>
 
+#define YIELD { SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk; }
+
 static task_t *task_current;
 static task_t *task_queue;
 static uint8_t task_disable = 0;
-static uint32_t task_next_pid = 0;
+static pid_t task_next_pid = 0;
+
+void task_exit(int code);
+int task_fork(void);
+pid_t task_getpid(void);
+pid_t task_waitpid(pid_t pid, int *wstatus, int options);
 
-int task_fork(uint32_t sp);
 void task_svc(uint32_t *args)
 {
-	int result = task_fork(args[0]);
-	args[0] = result;
+	switch (args[0]) {
+	case 0:
+		task_exit(args[1]);
+		break;
+	case 1:
+		*((int *)args[1]) = task_fork();
+		break;
+	case 2:
+		*((int *)args[1]) = task_getpid();
+		break;
+	case 3:
+		*((int *)args[4]) = task_waitpid(args[1], (int *)args[2],
+			args[3]);
+		break;
+	default:
+		break;
+	}
 }
 
 void task_hold(uint8_t hold)
@@ -45,19 +66,54 @@ void task_hold(uint8_t hold)
 
 void task_sleep(uint32_t ms)
 {
-	task_current->sleep = millis() + ms;
-	SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk;
+	task_current->status.state = TASK_SLEEPING;
+	task_current->status.value = millis() + ms;
+	YIELD;
 }
 
-uint32_t task_getpid(void)
+pid_t task_getpid(void)
 {
 	return task_current->pid;
 }
 
-void _exit(int code)
+pid_t task_waitpid(pid_t pid, int *wstatus, int options)
+{
+	(void)options;
+	*wstatus = 0;
+
+	// Find the process
+	task_t *task = task_queue;
+	while (task != 0 && task->pid != pid)
+		task = task->next;
+
+	if (task == 0)
+		return (pid_t)-1;
+
+	// Check process's state
+	if (task->status.state == TASK_EXITED) {
+		*wstatus = task->status.value | (1 << 8);
+		task->status.state = TASK_ZOMBIE;
+	}
+
+	return pid;
+}
+
+/*vfs_node *task_getcwd(void)
+{
+	return task_current->cwd;
+}*/
+
+void task_exit(int code)
 {
-	(void)code;
+	task_current->status.state = TASK_EXITED;
+	task_current->status.value = code & 0xFF;
+
+	YIELD;
+}
 
+void task_purge(void)
+{
+	// Remove task from the chain
 	if (task_queue == task_current) {
 		task_queue = task_queue->next;
 	} else {
@@ -75,19 +131,17 @@ void _exit(int code)
 	free(task_current->stack);
 	free(task_current);
 
-	SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk;
-	// TODO if child proc. set return code in parent task handle?
-	// or something like that
+	YIELD;
+	while (1);
 }
 
-
 /**
  * Exits the task (userspace call).
  */
 __attribute__ ((naked))
 void task_doexit(void)
 {
-	asm("eor r0, r0; svc 0");
+	asm("eor r0, r0; eor r1, r1; svc 0");
 	while (1);
 }
 
@@ -109,8 +163,10 @@ task_t *task_create(void (*code)(void), uint16_t stackSize)
 {
 	task_t *t = (task_t *)malloc(sizeof(task_t));
 	t->next = 0;
-	t->sleep = 0;
 	t->pid = task_next_pid++;
+	t->pgid = t->pid;
+	t->status.state = TASK_RUNNING;
+	t->status.value = 0;
 
 	t->stack = (uint32_t *)malloc(stackSize);
 	void *sp = (uint8_t *)t->stack + stackSize - 68; // excep. stack + regs
@@ -141,7 +197,8 @@ void task_init(void (*init)(void), uint16_t stackSize)
 	task_current->next = 0;
 	task_current->stack = 0; // free() is called on this
 	task_current->sp = 0;
-	task_current->sleep = 1000;
+	task_current->status.state = TASK_SLEEPING;
+	task_current->status.value = 1000;
 
 	task_queue = task_create(init, stackSize);
 
@@ -177,10 +234,17 @@ int task_fork_ret(void)
 }
 
 // Return 0 for child, non-zero for parent
-int task_fork(uint32_t sp)
+int task_fork(void)
 {
 	asm("cpsid i");
 
+	uint32_t sp;
+	asm("\
+		mrs r0, psp; \
+		stmdb r0!, {r4-r11, r14}; \
+		mov %0, r0; \
+	" : "=r" (sp));
+
 	//// 1. Prepare child task
 	// Get parent task's stack info
 	alloc_t *stackInfo = (alloc_t *)(((uint8_t *)task_current->stack)
@@ -189,8 +253,10 @@ int task_fork(uint32_t sp)
 	// Create child task data
 	task_t *childTask = (task_t *)malloc(sizeof(task_t));
 	childTask->stack = (uint32_t *)malloc(stackInfo->size - sizeof(alloc_t));
-	childTask->sleep = 0;
 	childTask->pid = task_next_pid++;
+	childTask->pgid = task_current->pid;
+	childTask->status.state = TASK_RUNNING;
+	childTask->status.value = 0;
 
 	// Copy parent's stack
 	for (uint32_t i = 0; i < (stackInfo->size - sizeof(alloc_t)); i++)
@@ -198,6 +264,7 @@ int task_fork(uint32_t sp)
 
 	childTask->sp = (uint32_t *)((uint32_t)childTask->stack + (sp
 		- (uint32_t)task_current->stack));
+	childTask->sp[8] = 0xFFFFFFFD;
 	childTask->sp[15] = (uint32_t)task_fork_ret;
 	//childTask->sp[16] = 0x01000000;
 
@@ -208,7 +275,7 @@ int task_fork(uint32_t sp)
 	//// 3. Re-enable scheduler, make change happen
 	asm("cpsie i");
 
-	SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk;
+	YIELD;
 	return childTask->pid;
 }
 
@@ -234,13 +301,14 @@ void PendSV_Handler(void)
 		task_current = task_current->next;
 		if (task_current == 0)
 			task_current = task_queue;
-	} while (task_current->sleep > ticks);
-	task_current->sleep = 0;
 
-	/*task_current = task_current->next;
-	if (task_current == 0)
-		task_current = task_queue;*/
+		if (task_current->status.state == TASK_SLEEPING &&
+			task_current->status.value <= ticks)
+			task_current->status.state = TASK_RUNNING;
+	} while (task_current->status.state != TASK_RUNNING);
 
+	task_current->status.state = TASK_RUNNING;
+	task_current->status.value = 0;
 
 	// Load stack pointer, return
 	asm("\

src/kernel/task.h

@@ -21,8 +21,14 @@
 #ifndef TASK_H_
 #define TASK_H_
 
+#include "vfs.h"
 #include <stdint.h>
 
+#define WIFEXITED(w)   (w & (1 << 8))
+#define WEXITSTATUS(w) (w & 0xFF)
+
+typedef uint16_t pid_t;
+
 /**
  * A structure to contain task data.
  */
@@ -30,10 +36,22 @@ typedef struct task_t {
 	struct task_t *next; /**< pointer to the next task_t instance */
 	uint32_t *sp;        /**< pointer to the task's last sp register value */
 	uint32_t *stack;     /**< pointer to the task's stack */
-	uint32_t sleep;      /**< number of milliseconds task is sleeping for */
-	uint32_t pid;
+	pid_t pid;           /**< Task (Process) ID */
+	pid_t pgid;          /**< Process Group ID */
+	struct {
+		uint32_t state : 8;
+		uint32_t value : 24;
+	} status;
+//	vfs_node *cwd;
 } task_t;
 
+enum TASK_STATUS_FLAGS {
+	TASK_RUNNING,  /**< Task is actively running */
+	TASK_SLEEPING, /**< Task is sleeping for task_t.sleep ms */
+	TASK_EXITED,   /**< Task has exited, task_t.sleep has code */
+	TASK_ZOMBIE    /**< Task exited, accounted for, ready to go bye bye */
+};
+
 /**
  * Enters multitasking mode. The given function acts as the initial thread.
  * This task is given a 4kb stack.
@@ -56,14 +74,8 @@ void task_start(void (*task)(void), uint16_t stackSize);
  */
 void task_hold(uint8_t hold);
 
-/**
- * Frees the task's resources and removes it from the running task list.
- * @param code An unused exit code
- */
-void _exit(int code);
-
 void task_sleep(uint32_t ms);
 
-uint32_t task_getpid(void);
+//vfs_node *task_getcwd(void);
 
 #endif // TASK_H_

src/kernel/vfs.c

@@ -0,0 +1,15 @@
+#include "vfs.h"
+#include "task.h"
+
+//static vfs_node vfs_root;
+
+int vfs_open(const char *path, int mode)
+{
+	(void)path;
+	(void)mode;
+//	vfs_node *cd = task_getcwd();
+//	if (cd == 0)
+//		cd = &vfs_root;
+
+	return 0;
+}

src/kernel/vfs.h

@@ -0,0 +1,32 @@
+#ifndef VFS_H_
+#define VFS_H_
+
+#include <stdint.h>
+
+struct vfs_node;
+struct dirent;
+
+typedef struct {
+	uint32_t (*read)(struct vfs_node *, uint32_t, uint32_t, uint8_t *);
+	uint32_t (*write)(struct vfs_node *, uint32_t, uint32_t, const uint8_t *);
+	void (*open)(struct vfs_node *);
+	void (*close)(struct vfs_node *);
+} vfs_driver;
+
+typedef struct vfs_node {
+	char *name;
+	uint32_t flags;
+
+	struct vfs_node *parent;
+	union {
+		struct vfs_node* children;
+		vfs_driver *access;
+	} data;
+} vfs_node;
+
+struct dirent {
+	char *name;
+	vfs_node *node;
+};
+
+#endif // VFS_H_

src/user/user.c

@@ -15,11 +15,12 @@ void user_delay(uint32_t ms)
 
 int fork(void)
 {
-	int result;
+	int result = 0;
 	asm("\
-		svc 3; \
-		mov %0, r0; \
-	" : "=r" (result));
+		mov r0, 1; \
+		mov r1, %0; \
+		svc 0; \
+	" :: "r" (&result));
 	return result;
 }