2014-04-15 21:59:06 +00:00
|
|
|
;; scheduler
|
|
|
|
|
;
|
|
|
|
|
; Because we want want to be able use multible thread, we need a scheduler.
|
2014-04-17 20:27:34 +00:00
|
|
|
; This scheduler is supposed to support up to 4 threads.
|
2014-04-15 21:59:06 +00:00
|
|
|
;
|
|
|
|
|
;;
|
|
|
|
|
|
|
|
|
|
;; global memory map
|
|
|
|
|
;
|
2014-04-17 20:27:34 +00:00
|
|
|
; $0000
|
2014-04-15 21:59:06 +00:00
|
|
|
; G P R
|
2014-04-17 20:27:34 +00:00
|
|
|
; $001F
|
|
|
|
|
; $0020
|
2014-04-15 21:59:06 +00:00
|
|
|
; I O R
|
2014-04-17 20:27:34 +00:00
|
|
|
; $005F
|
|
|
|
|
; $0060
|
2014-04-15 21:59:06 +00:00
|
|
|
; SRAM
|
2014-04-17 20:27:34 +00:00
|
|
|
; $0060
|
2014-04-15 21:59:06 +00:00
|
|
|
; 192 bytes of scheduler memory
|
2014-04-17 20:27:34 +00:00
|
|
|
; $0102
|
|
|
|
|
; $0103
|
|
|
|
|
; 15,680 bytes of heap
|
|
|
|
|
; $3EFF
|
|
|
|
|
; $3F00
|
|
|
|
|
; 512 bytes of stack
|
|
|
|
|
; $40FF
|
|
|
|
|
; $40FF
|
2014-04-15 21:59:06 +00:00
|
|
|
;
|
|
|
|
|
;;
|
2014-04-17 20:27:34 +00:00
|
|
|
; this a ATmega1284P specific
|
2014-04-15 21:59:06 +00:00
|
|
|
|
2014-04-17 20:27:34 +00:00
|
|
|
.equ heap_start = 0x0103 ; starting address of heap
|
|
|
|
|
.equ heap_end = 0x3EFF ; ending address of heap
|
2014-04-15 21:59:06 +00:00
|
|
|
|
2014-04-17 20:27:34 +00:00
|
|
|
.equ scheduler_global_active = 0x0060 ; address of active-thread-cell
|
|
|
|
|
.equ scheduler_global_number = 0x0061 ; address of thread-number-cell
|
|
|
|
|
.equ scheduler_global_maxnum = 0x0004 ; maximal number of thread
|
|
|
|
|
.equ scheduler_global_statu1 = 0x0062 ; address of global-status-cell 1
|
|
|
|
|
.equ scheduler_global_statu2 = 0x0063 ; address of global-status-cell 2
|
|
|
|
|
.equ scheduler_global_unused = 0x0064 ; start address of unused block
|
|
|
|
|
.equ scheduler_global_thread = 0x006B ; starting address of scheduler memory
|
|
|
|
|
.equ scheduler_global_length = 0x0026 ; length of thread in scheduler memory
|
|
|
|
|
.equ scheduler_global_lastad = 0x0102 ; last address of scheduler memory
|
|
|
|
|
.equ scheduler_global_stacks = 0x3FFF ; start address of stacks
|
2014-04-15 21:59:06 +00:00
|
|
|
|
2014-04-17 20:27:34 +00:00
|
|
|
.equ scheduler_offset_stacks = 0x0080 ; length of 1 stack
|
|
|
|
|
.equ scheduler_offset_instat = 0x0000 ; offset of internal sr in scheduler memory
|
|
|
|
|
.equ scheduler_offset_instrh = 0x0001 ; offset of iph in scheduler memory
|
|
|
|
|
.equ scheduler_offset_instrl = 0x0002 ; offset of ipl in scheduler memory
|
|
|
|
|
.equ scheduler_offset_status = 0x0003 ; offset of sr in scheduler memory
|
|
|
|
|
.equ scheduler_offset_stackh = 0x0004 ; offset of sph in scheduler memory
|
|
|
|
|
.equ scheduler_offset_stackl = 0x0005 ; offset of spl in scheduler memory
|
|
|
|
|
.equ scheduler_offset_gprsta = 0x0006 ; start offset of gpr in scheduler momory
|
|
|
|
|
.equ scheduler_offset_gprend = 0x0025 ; end offset of gpr in scheduler memory
|
2014-04-15 21:59:06 +00:00
|
|
|
|
|
|
|
|
;; scheduler memory
|
|
|
|
|
;
|
|
|
|
|
; We need to save the number of threads, the number of the active thread
|
|
|
|
|
; and some other things.
|
|
|
|
|
; For every thread we need to save:
|
|
|
|
|
; - the instruction pointer (2 byte)
|
|
|
|
|
; - the status register (1 byte)
|
|
|
|
|
; - the stack pointer (2 byte)
|
|
|
|
|
; - all 32 pgr
|
|
|
|
|
; - plus 1 byte of status-values for the scheduler
|
|
|
|
|
; => 38 bytes -> $26; starting at $06B
|
|
|
|
|
; so: the sp of our thread x is calculated this way:
|
|
|
|
|
; address = scheduler_global_thread + scheduler_global_length * x + scheduler_offset_stackp
|
|
|
|
|
;
|
|
|
|
|
;; scheduler memory map
|
|
|
|
|
;
|
|
|
|
|
; $060 active thread
|
|
|
|
|
; $061 number of threads
|
|
|
|
|
; $062 sr1 of scheduler
|
|
|
|
|
; $063 sr2 of scheduler
|
|
|
|
|
; // we still have 8 bytes of memory here
|
|
|
|
|
; $06B
|
|
|
|
|
; thread 0
|
|
|
|
|
; $06B internal sr
|
|
|
|
|
; $06C iph
|
|
|
|
|
; $06D ipl
|
|
|
|
|
; $06E sr
|
|
|
|
|
; $06F sph
|
|
|
|
|
; $070 spl
|
|
|
|
|
; $071
|
|
|
|
|
; gpr
|
|
|
|
|
; $090
|
|
|
|
|
; $090
|
|
|
|
|
; $091
|
|
|
|
|
; thread 1
|
|
|
|
|
; $091 internal sr
|
|
|
|
|
; $092 iph
|
|
|
|
|
; $093 ipl
|
|
|
|
|
; $094 sr
|
|
|
|
|
; $095 sph
|
|
|
|
|
; $096 spl
|
|
|
|
|
; $097
|
|
|
|
|
; gpr
|
|
|
|
|
; $0B6
|
|
|
|
|
; $0B6
|
|
|
|
|
; $0B7
|
|
|
|
|
; thread 2
|
|
|
|
|
; $0B7 internal sr
|
|
|
|
|
; $0B8 iph
|
|
|
|
|
; $0B9 ipl
|
|
|
|
|
; $0BA sr
|
|
|
|
|
; $0BB sph
|
|
|
|
|
; $0BC spl
|
|
|
|
|
; $0BD
|
|
|
|
|
; gpr
|
|
|
|
|
; $0DC
|
|
|
|
|
; $0DC
|
|
|
|
|
; $0DD
|
|
|
|
|
; thread 3
|
|
|
|
|
; $0DD internal sr
|
|
|
|
|
; $0DE iph
|
|
|
|
|
; $0DF ipl
|
|
|
|
|
; $0E0 sr
|
|
|
|
|
; $0E1 sph
|
|
|
|
|
; $0E2 spl
|
|
|
|
|
; $0E3
|
|
|
|
|
; gpr
|
|
|
|
|
; $102
|
|
|
|
|
; $102
|
|
|
|
|
;
|
|
|
|
|
;
|
|
|
|
|
;; stacks
|
|
|
|
|
;
|
2014-04-17 20:27:34 +00:00
|
|
|
; As we should support 4 threads, we need 4 stacks.
|
2014-04-15 21:59:06 +00:00
|
|
|
; For the calculation of the stack space (see global memory map) I assumed that
|
|
|
|
|
; no stack will grow over 127 entries.
|
|
|
|
|
; Our initial stackpointer for thread x will be calculated this way:
|
|
|
|
|
; address = schedulder_global_stacks + scheduler_offset_stacks * x
|
|
|
|
|
;
|
|
|
|
|
;;
|
|
|
|
|
|
|
|
|
|
SchedulerInit:
|
|
|
|
|
push r10
|
|
|
|
|
in r10, sreg
|
|
|
|
|
push r10
|
|
|
|
|
push r11
|
|
|
|
|
push xl
|
|
|
|
|
push xh
|
|
|
|
|
|
|
|
|
|
; first we'll clear all scheduler memory cells
|
|
|
|
|
ldi r10, 0
|
|
|
|
|
ldi r11, low (scheduler_global_lastad)
|
|
|
|
|
ldi xl, low (scheduler_global_active)
|
|
|
|
|
ldi xh, high(scheduler_global_active)
|
|
|
|
|
SchedulerInitLoop1: ; while(xl++ != r11)
|
|
|
|
|
st x+, r10
|
|
|
|
|
cp xl, r11
|
|
|
|
|
brne SchedulerInitLoop1
|
|
|
|
|
|
|
|
|
|
; add main-thread
|
|
|
|
|
call SchedulerAddThread
|
|
|
|
|
|
|
|
|
|
; start scheduler timer
|
|
|
|
|
; we will use timer0 because we don't use all posibilities of timer2
|
|
|
|
|
; TODO
|
|
|
|
|
|
|
|
|
|
pop xh
|
|
|
|
|
pop xl
|
|
|
|
|
pop r11
|
|
|
|
|
pop r10
|
|
|
|
|
out sreg, r10
|
|
|
|
|
pop r10
|
|
|
|
|
|
|
|
|
|
ret
|
|
|
|
|
|
|
|
|
|
SchedulerAddThread:
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
ret
|
|
|
|
|
|
|
|
|
|
SchedulerChangeThread:
|
|
|
|
|
; puh, that will get hard
|
|
|
|
|
; first we have to get the current instruction pointer
|
|
|
|
|
|
|
|
|
|
push xl
|
|
|
|
|
push xh
|
|
|
|
|
push r16
|
|
|
|
|
in r16, sreg
|
|
|
|
|
ldi xl, low (scheduler_global_unused)
|
|
|
|
|
ldi xh, high(scheduler_global_unused)
|
|
|
|
|
|
|
|
|
|
st x+, r16 ; sreg is on unused[0]
|
|
|
|
|
pop r16
|
|
|
|
|
st x+, r16 ; r16 is on unused[1]
|
|
|
|
|
pop r16
|
|
|
|
|
st x+, r16 ; xh is on unused[2]
|
|
|
|
|
pop r16
|
|
|
|
|
st x+, r16 ; xl is on unused[3]
|
|
|
|
|
|
|
|
|
|
st x+, r17 ; r17 is on unused[4]
|
|
|
|
|
st x+, r18 ; r18 is on unused[5]
|
|
|
|
|
st x+, r19 ; r19 is on unused[6]
|
|
|
|
|
st x+, r20 ; r19 is on unused[7]
|
|
|
|
|
|
|
|
|
|
pop r16 ; epic win !!!!!111
|
|
|
|
|
pop r17
|
|
|
|
|
; instruction pointer high is now in r16; low in r17
|
|
|
|
|
; next we have to determine where we have to store our data
|
|
|
|
|
|
|
|
|
|
ldd r18 scheduler_global_active
|
|
|
|
|
; number of current thread is now in r18
|
|
|
|
|
; now we have to determine the start address of our thread memory
|
|
|
|
|
|
|
|
|
|
ldi xl, low (scheduler_global_thread)
|
|
|
|
|
ldi xh, high(scheduler_global_thread)
|
|
|
|
|
ldi r19, scheduler_global_length
|
|
|
|
|
ldi r20, 0
|
|
|
|
|
|
|
|
|
|
SchedulerChangeThreadLoop1:
|
|
|
|
|
cp r20, r18
|
|
|
|
|
breq SchedulerChangeThreadLoop1End
|
|
|
|
|
; we can do the following, because the address can not be greater
|
|
|
|
|
; than 0x00FF (as you can see in the scheduler memory map)
|
|
|
|
|
add xl, r19
|
|
|
|
|
inc r20
|
|
|
|
|
jmp SchedulerChangeThreadLoop1
|
|
|
|
|
SchedulerChangeThreadLoop1End:
|
|
|
|
|
|
|
|
|
|
; x now contains the start address of our thread memory
|
|
|
|
|
; let's copy some data
|
|
|
|
|
|
|
|
|
|
; this is, because we don't want to modify the status register
|
|
|
|
|
ld r11, x+
|
|
|
|
|
|
|
|
|
|
; instruction pointer
|
|
|
|
|
st x+, r16
|
|
|
|
|
st x+, r17
|
|
|
|
|
|
|
|
|
|
; we need the status register, it's saved in unused[0]
|
|
|
|
|
ldd r16, scheduler_global_unused
|
|
|
|
|
st x+, r16
|
|
|
|
|
|
|
|
|
|
; so: the next step is the stack pointer
|
|
|
|
|
in r16, sph
|
|
|
|
|
st x+, r16
|
|
|
|
|
in r16, spl
|
|
|
|
|
st x+, r16
|
|
|
|
|
|
|
|
|
|
; whew. next we have to save all the pgrs
|
|
|
|
|
st x+, r0
|
|
|
|
|
st x+, r1
|
|
|
|
|
st x+, r2
|
|
|
|
|
st x+, r3
|
|
|
|
|
st x+, r4
|
|
|
|
|
st x+, r5
|
|
|
|
|
st x+, r6
|
|
|
|
|
st x+, r7
|
|
|
|
|
st x+, r8
|
|
|
|
|
st x+, r9
|
|
|
|
|
st x+, r10
|
|
|
|
|
st x+, r11
|
|
|
|
|
st x+, r12
|
|
|
|
|
st x+, r13
|
|
|
|
|
st x+, r14
|
|
|
|
|
st x+, r15
|
|
|
|
|
ldd r16, (scheduler_global_unused + 1)
|
|
|
|
|
st x+, r16
|
|
|
|
|
ldd r16, (scheduler_global_unused + 4) ; this is r17
|
|
|
|
|
st x+, r16
|
|
|
|
|
ldd r16, (scheduler_global_unused + 5) ; this is r18
|
|
|
|
|
st x+, r16
|
|
|
|
|
ldd r16, (scheduler_global_unused + 6) ; this is r19
|
|
|
|
|
st x+, r16
|
|
|
|
|
ldd r16, (scheduler_global_unused + 7) ; this is r20
|
|
|
|
|
st x+, r16
|
|
|
|
|
st x+, r21
|
|
|
|
|
st x+, r22
|
|
|
|
|
st x+, r23
|
|
|
|
|
st x+, r24
|
|
|
|
|
st x+, r25
|
|
|
|
|
ldd r16, (scheduler_global_unused + 3) ; this is xl
|
|
|
|
|
st x+, r16
|
|
|
|
|
ldd r16, (scheduler_global_unused + 2) ; this is xh
|
|
|
|
|
st x+, r16
|
|
|
|
|
st x+, yl
|
|
|
|
|
st x+, yh
|
|
|
|
|
st x+, zl
|
|
|
|
|
st x+, zh
|
|
|
|
|
|
|
|
|
|
; soooo. we now have to get to know which is the next thread.
|
|
|
|
|
; TODO:
|
|
|
|
|
; - (r18 contains the nr of the active thread)
|
|
|
|
|
; - r17 = scheduler_global_number
|
|
|
|
|
; - if r18 = r17 then r18 = 0 else r18++
|
|
|
|
|
; - cache ip
|
|
|
|
|
; - cache sr
|
|
|
|
|
; - replace sp
|
|
|
|
|
; - do the same game in the other direction :D
|
|
|
|
|
;
|
|
|
|
|
; I'll write that later.
|
|
|
|
|
|
|
|
|
|
ret
|
