Nanokernel

A Personality Layer -for Real Time Applications is a client of the nanokernel, and this -topic is intended for writers of personality layers.

Nanokernel threads

The fundamental unit of execution -is the nanokernel thread, an NThread object.

A -nanokernel thread has an integer priority, between 0 and 63 inclusive, and -is scheduled according to priority, the highest priority first. Equal priority -threads are scheduled on either a round robin or a run-to-completion basis, -selectable for each thread. For round robin scheduling, the time slice is -selectable for each thread.

Priority 0 is reserved for the system -idle thread.

Priorities 1-27 inclusive, and priority 48 are currently -used by Symbian platform threads; 12 is the priority of the foreground Symbian -platform application. There are, therefore, 35 distinct priorities that are -totally unused and available for a real time application.

Nanokernel -threads may be created and destroyed dynamically, but the nanokernel does -not do any memory management. Memory for both the thread object and the thread -stack must be provided by the caller at create time. In fact the same rule -applies throughout the nanokernel - all memory for dynamically created objects -must be provided by the caller and freed by the caller after object destruction.

Nanokernel synchronisation

The nanokernel provides -the following synchronisation objects:

A fast semaphore, a NFastSemaphore object. -This is a lightweight counting semaphore owned by a specific nanokernel thread. -Any thread can signal it, but only the owning thread can wait on it.
A fast mutex, a NFastMutex object. -This is a lightweight mutual exclusion primitive. It is optimised for very -fast acquisition and release in the case where there is no contention, and -it provides priority inheritance. It is non-nestable, i.e. a thread is not -allowed to hold two fast mutexes simultaneously or to wait on one which it -already holds. In addition, a thread that holds a fast mutex cannot block -on any other wait object.
Deferred function calls -(DFCs).

There is also the option of thread synchronisation by doing one of:

disabling interrupts, -by calling NKern::DisableAllInterrupts()
disabling preemption, -by calling NKern::Lock()

However, these two techniques must be used with caution as they affect -all parts of the system.

Scheduling threads following a hardware interrupt

In -order to keep interrupt latency to a minimum the vast majority of the nanokernel -runs with interrupts enabled; this includes the scheduler and other code which -manipulates the thread ready list. A consequence of this is that it is not permissible -for an interrupt service routine (ISR) to add a thread to the thread ready -list. The only way an ISR can influence the scheduling of threads is by means -of an Immediate Deferred Function Call (IDFC).

An IDFC is a function -call that runs either:

immediately after the -completion of the ISR, and any other ISRs that are pending.

as soon as preemption -is re-enabled, if preemption was disabled at the time the interrupt occurred.

IDFCs run in FIFO order, i.e. the first one queued is first one to -run, with interrupts enabled and preemption disabled. This means that IDFCs -cannot be preempted either by threads or by other IDFCs, but only by ISRs. -However, they can add threads to the ready list and thus cause rescheduling.

As -IDFCs are nonpreemptive, they need to be kept short. This means that they -affect thread latency. If a large amount of work needs to be done in response -to an ISR, then a Deferred Function Call (DFC) should be used.

A DFC -is a function call that runs in the context of a nominated thread. A DFC is -associated with a DFC queue, which in turn is associated with a thread. The -thread simply waits forever for a DFC to be added to the queue and then calls -back the DFC. DFCs execute with both interrupts and preemption enabled. Because -DFCs are so common in Symbian platform driver code, the nanokernel provides -a shortcut to allow them to be queued directly by ISRs instead of by an IDFC. -The same object, a TDfc, is used for both IDFCs and DFCs. -When this object is queued by an ISR, it first executes as an IDFC; the code -for this IDFC is buried in the nanokernel. This code transfers the object -to the final DFC queue and wakes up the DFC thread as required.

Nanokernel thread handlers

Each nanokernel thread -can have the following handlers defined:

Exit handler. This is -called in the context of the exiting thread just before it is terminated.
Exception handler. This -is called if a CPU exception occurs during the execution of the thread; it -is called, in the context of the thread.
Time-out handler. This -is called if the thread's wait time-out expires with the thread in the BLOCKED -state, or in an unknown state. It is called in the context of the nanokernel -timer thread, DFC Thread 1, with preemption enabled. It is used in Symbian -platform wait-with-timeout operations.
State handler. This -is the fundamental hook used for personality layers.. It is called if:
- the thread is suspended
- the thread is resumed
- the thread is released
- the thread has its priority -changed
- the thread's wait timeout -expires and there is no time-out handler and the thread is in an unrecognised -nanokernel state.

See also ...\e32\personality\example\personality.cpp.

Timer management

The nanokernel provides a basic -relative timer object, an NTimer, which can generate either -one-shot or periodic interrupts.

A time-out handler is called when -the timer expires, either from the timer ISR or from the nanokernel timer -thread. Timer objects may be manipulated from any context. The timers are -driven from a periodic system tick interrupt, usually a 1ms period.

For -the purposes of power management, an API is provided to return the number -of ticks left until the next timer expiry, thus enabling the tick interrupt -to be suppressed and a deep sleep mode to be entered.

+ + + + + +NanokernelThe nanokernel is the core of the Kernel, and is a small real-time +operating system (RTOS) designed to run Symbian platform. +

A Personality Layer +for Real Time Applications is a client of the nanokernel, and this +topic is intended for writers of personality layers.

Nanokernel threads

The fundamental unit of execution +is the nanokernel thread, an NThread object.

A +nanokernel thread has an integer priority, between 0 and 63 inclusive, and +is scheduled according to priority, the highest priority first. Equal priority +threads are scheduled on either a round robin or a run-to-completion basis, +selectable for each thread. For round robin scheduling, the time slice is +selectable for each thread.

Priority 0 is reserved for the system +idle thread.

Priorities 1-27 inclusive, and priority 48 are currently +used by Symbian platform threads; 12 is the priority of the foreground Symbian +platform application. There are, therefore, 35 distinct priorities that are +totally unused and available for a real time application.

Nanokernel +threads may be created and destroyed dynamically, but the nanokernel does +not do any memory management. Memory for both the thread object and the thread +stack must be provided by the caller at create time. In fact the same rule +applies throughout the nanokernel - all memory for dynamically created objects +must be provided by the caller and freed by the caller after object destruction.

Nanokernel synchronisation

The nanokernel provides +the following synchronisation objects:

A fast semaphore, a NFastSemaphore object. +This is a lightweight counting semaphore owned by a specific nanokernel thread. +Any thread can signal it, but only the owning thread can wait on it.
A fast mutex, a NFastMutex object. +This is a lightweight mutual exclusion primitive. It is optimised for very +fast acquisition and release in the case where there is no contention, and +it provides priority inheritance. It is non-nestable, i.e. a thread is not +allowed to hold two fast mutexes simultaneously or to wait on one which it +already holds. In addition, a thread that holds a fast mutex cannot block +on any other wait object.
Deferred function calls +(DFCs).

There is also the option of thread synchronisation by doing one of:

disabling interrupts, +by calling NKern::DisableAllInterrupts()
disabling preemption, +by calling NKern::Lock()

However, these two techniques must be used with caution as they affect +all parts of the system.

Scheduling threads following a hardware interrupt

In +order to keep interrupt latency to a minimum the vast majority of the nanokernel +runs with interrupts enabled; this includes the scheduler and other code which +manipulates the thread ready list. A consequence of this is that it is not permissible +for an interrupt service routine (ISR) to add a thread to the thread ready +list. The only way an ISR can influence the scheduling of threads is by means +of an Immediate Deferred Function Call (IDFC).

An IDFC is a function +call that runs either:

immediately after the +completion of the ISR, and any other ISRs that are pending.

as soon as preemption +is re-enabled, if preemption was disabled at the time the interrupt occurred.

IDFCs run in FIFO order, i.e. the first one queued is first one to +run, with interrupts enabled and preemption disabled. This means that IDFCs +cannot be preempted either by threads or by other IDFCs, but only by ISRs. +However, they can add threads to the ready list and thus cause rescheduling.

As +IDFCs are nonpreemptive, they need to be kept short. This means that they +affect thread latency. If a large amount of work needs to be done in response +to an ISR, then a Deferred Function Call (DFC) should be used.

A DFC +is a function call that runs in the context of a nominated thread. A DFC is +associated with a DFC queue, which in turn is associated with a thread. The +thread simply waits forever for a DFC to be added to the queue and then calls +back the DFC. DFCs execute with both interrupts and preemption enabled. Because +DFCs are so common in Symbian platform driver code, the nanokernel provides +a shortcut to allow them to be queued directly by ISRs instead of by an IDFC. +The same object, a TDfc, is used for both IDFCs and DFCs. +When this object is queued by an ISR, it first executes as an IDFC; the code +for this IDFC is buried in the nanokernel. This code transfers the object +to the final DFC queue and wakes up the DFC thread as required.

Nanokernel thread handlers

Each nanokernel thread +can have the following handlers defined:

Exit handler. This is +called in the context of the exiting thread just before it is terminated.
Exception handler. This +is called if a CPU exception occurs during the execution of the thread; it +is called, in the context of the thread.
Time-out handler. This +is called if the thread's wait time-out expires with the thread in the BLOCKED +state, or in an unknown state. It is called in the context of the nanokernel +timer thread, DFC Thread 1, with preemption enabled. It is used in Symbian +platform wait-with-timeout operations.
State handler. This +is the fundamental hook used for personality layers.. It is called if:
- the thread is suspended
- the thread is resumed
- the thread is released
- the thread has its priority +changed
- the thread's wait timeout +expires and there is no time-out handler and the thread is in an unrecognised +nanokernel state.

See also ...\e32\personality\example\personality.cpp.

Timer management

The nanokernel provides a basic +relative timer object, an NTimer, which can generate either +one-shot or periodic interrupts.

A time-out handler is called when +the timer expires, either from the timer ISR or from the nanokernel timer +thread. Timer objects may be manipulated from any context. The timers are +driven from a periodic system tick interrupt, usually a 1ms period.

For +the purposes of power management, an API is provided to return the number +of ticks left until the next timer expiry, thus enabling the tick interrupt +to be suppressed and a deep sleep mode to be entered.

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