Adds the COROUTINES Kconfig symbol which introduces a new internal API for coroutines support. As explained in the Kconfig file, this is meant to provide some kind of cooperative multi-tasking with the goal to improve performance by overlapping lengthy operations.
The API as well as the implementation is very much inspired from libaco [1]. The reference implementation is simplified to remove all things not needed in U-Boot, the coding style is updated, and the aco_ prefix is replaced by co_.
I believe the stack handling could be simplified: the stack of the main coroutine could probably probably be used by the secondary coroutines instead of allocating a new stack dynamically.
Only i386, x86_64 and aarch64 are supported at the moment. Other architectures need to provide a _co_switch() function in assembly.
Only aarch64 has been tested.
[1] https://github.com/hnes/libaco/
Signed-off-by: Jerome Forissier jerome.forissier@linaro.org --- arch/arm/cpu/armv8/Makefile | 1 + arch/arm/cpu/armv8/co_switch.S | 36 +++++++ include/coroutines.h | 130 ++++++++++++++++++++++++++ lib/Kconfig | 10 ++ lib/Makefile | 2 + lib/coroutines.c | 165 +++++++++++++++++++++++++++++++++ 6 files changed, 344 insertions(+) create mode 100644 arch/arm/cpu/armv8/co_switch.S create mode 100644 include/coroutines.h create mode 100644 lib/coroutines.c
diff --git a/arch/arm/cpu/armv8/Makefile b/arch/arm/cpu/armv8/Makefile index 2e71ff2dc97..6d07b6aa9f9 100644 --- a/arch/arm/cpu/armv8/Makefile +++ b/arch/arm/cpu/armv8/Makefile @@ -46,3 +46,4 @@ obj-$(CONFIG_TARGET_BCMNS3) += bcmns3/ obj-$(CONFIG_XEN) += xen/ obj-$(CONFIG_ARMV8_CE_SHA1) += sha1_ce_glue.o sha1_ce_core.o obj-$(CONFIG_ARMV8_CE_SHA256) += sha256_ce_glue.o sha256_ce_core.o +obj-$(CONFIG_COROUTINES) += co_switch.o diff --git a/arch/arm/cpu/armv8/co_switch.S b/arch/arm/cpu/armv8/co_switch.S new file mode 100644 index 00000000000..4405e89ec56 --- /dev/null +++ b/arch/arm/cpu/armv8/co_switch.S @@ -0,0 +1,36 @@ +/* SPDX-License-Identifier: GPL-2.0+ */ +/* void _co_switch(struct uco *from_co, struct uco *to_co); */ +.text +.globl _co_switch +.type _co_switch, @function +_co_switch: + // x0: from_co + // x1: to_co + // from_co and to_co layout: { pc, sp, x19-x29 } + + // Save context to from_co (x0) + // AAPCS64 says "A subroutine invocation must preserve the contents of the + // registers r19-r29 and SP" + adr x2, 1f // pc we should use to resume after this function + mov x3, sp + stp x2, x3, [x0, #0] // pc, sp + stp x19, x20, [x0, #16] + stp x21, x22, [x0, #32] + stp x23, x24, [x0, #48] + stp x25, x26, [x0, #64] + stp x27, x28, [x0, #80] + stp x29, x30, [x0, #96] + + // Load new context from to_co (x1) + ldp x2, x3, [x1, #0] // pc, sp + ldp x19, x20, [x1, #16] + ldp x21, x22, [x1, #32] + ldp x23, x24, [x1, #48] + ldp x25, x26, [x1, #64] + ldp x27, x28, [x1, #80] + ldp x29, x30, [x1, #96] + mov sp, x3 + br x2 + +1: // Return to the caller + ret diff --git a/include/coroutines.h b/include/coroutines.h new file mode 100644 index 00000000000..b85b656127c --- /dev/null +++ b/include/coroutines.h @@ -0,0 +1,130 @@ +/* SPDX-License-Identifier: Apache-2.0 OR GPL-2.0-or-later */ +/* + * Copyright 2018 Sen Han 00hnes@gmail.com + * Copyright 2025 Linaro Limited + */ + +#ifndef _COROUTINES_H_ +#define _COROUTINES_H_ + +#ifndef CONFIG_COROUTINES + +static inline void co_yield(void) {} +static inline void co_exit(void) {} + +#else + +#ifdef __UBOOT__ +#include <log.h> +#else +#include <assert.h> +#endif +#include <limits.h> +#include <stdbool.h> +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <time.h> + +#ifdef __aarch64__ +#define CO_REG_IDX_RETADDR 0 +#define CO_REG_IDX_SP 1 +#else +#error Architecture no supported +#endif + +struct co_save_stack { + void* ptr; + size_t sz; + size_t valid_sz; + size_t max_cpsz; /* max copy size in bytes */ +}; + +struct co_stack { + void *ptr; + size_t sz; + void *align_highptr; + void *align_retptr; + size_t align_validsz; + size_t align_limit; + struct co *owner; + void *real_ptr; + size_t real_sz; +}; + +struct co { + /* CPU state: callee-saved registers plus SP and PC */ + void *reg[14]; // pc, sp, x19-x29, x30 (lr) + + struct co *main_co; + void *arg; + bool done; + + void (*fp)(void); + + struct co_save_stack save_stack; + struct co_stack *stack; +}; + +extern struct co *current_co; + +static inline struct co *co_get_co(void) +{ + return current_co; +} + +static inline void *co_get_arg(void) +{ + return co_get_co()->arg; +} + +struct co_stack *co_stack_new(size_t sz); + +void co_stack_destroy(struct co_stack *s); + +struct co *co_create(struct co *main_co, + struct co_stack *stack, + size_t save_stack_sz, void (*fp)(void), + void *arg); + +void co_resume(struct co *resume_co); + +void co_destroy(struct co *co); + +void *_co_switch(struct co *from_co, struct co *to_co); + +static inline void _co_yield_to_main_co(struct co *yield_co) +{ + assert(yield_co); + assert(yield_co->main_co); + _co_switch(yield_co, yield_co->main_co); +} + +static inline void co_yield(void) +{ + if (current_co) + _co_yield_to_main_co(current_co); +} + +static inline bool co_is_main_co(struct co *co) +{ + return !co->main_co; +} + +static inline void co_exit(void) +{ + struct co *co = co_get_co(); + + if (!co) + return; + co->done = true; + assert(co->stack->owner == co); + co->stack->owner = NULL; + co->stack->align_validsz = 0; + _co_yield_to_main_co(co); + assert(false); +} + +#endif /* CONFIG_COROUTINES */ +#endif /* _COROUTINES_H_ */ diff --git a/lib/Kconfig b/lib/Kconfig index 8f1a96d98c4..b6c1380b927 100644 --- a/lib/Kconfig +++ b/lib/Kconfig @@ -1226,6 +1226,16 @@ config PHANDLE_CHECK_SEQ enable this config option to distinguish them using phandles in fdtdec_get_alias_seq() function.
+config COROUTINES + bool "Enable coroutine support" + help + Coroutines allow to implement a simple form of cooperative + multi-tasking. The main thread of execution registers one or + more functions as coroutine entry points, then it schedules one + of them. At any point the scheduled coroutine may yield, that is, + suspend its execution and return back to the main thread. At this + point another coroutine may be scheduled and so on until all the + registered coroutines are done. endmenu
source "lib/fwu_updates/Kconfig" diff --git a/lib/Makefile b/lib/Makefile index 5cb3278d2ef..7b809151f5a 100644 --- a/lib/Makefile +++ b/lib/Makefile @@ -159,6 +159,8 @@ obj-$(CONFIG_LIB_ELF) += elf.o
obj-$(CONFIG_$(PHASE_)SEMIHOSTING) += semihosting.o
+obj-$(CONFIG_COROUTINES) += coroutines.o + # # Build a fast OID lookup registry from include/linux/oid_registry.h # diff --git a/lib/coroutines.c b/lib/coroutines.c new file mode 100644 index 00000000000..20c5aba5510 --- /dev/null +++ b/lib/coroutines.c @@ -0,0 +1,165 @@ +// SPDX-License-Identifier: Apache-2.0 OR GPL-2.0-or-later + +// Copyright 2018 Sen Han 00hnes@gmail.com +// Copyright 2025 Linaro Limited + +#include <coroutines.h> +#include <stdio.h> +#include <stdint.h> + + +/* Current co-routine */ +struct co *current_co; + +struct co_stack *co_stack_new(size_t sz) +{ + struct co_stack *p = calloc(1, sizeof(*p)); + uintptr_t u_p; + + if (!p) + return NULL; + + if (sz < 4096) + sz = 4096; + + p->sz = sz; + p->ptr = malloc(sz); + if (!p->ptr) { + free(p); + return NULL; + } + + p->owner = NULL; + u_p = (uintptr_t)(p->sz - (sizeof(void*) << 1) + (uintptr_t)p->ptr); + u_p = (u_p >> 4) << 4; + p->align_highptr = (void*)u_p; + p->align_retptr = (void*)(u_p - sizeof(void*)); + assert(p->sz > (16 + (sizeof(void*) << 1) + sizeof(void*))); + p->align_limit = p->sz - 16 - (sizeof(void*) << 1); + + return p; +} + +void co_stack_destroy(struct co_stack *s){ + if (!s) + return; + free(s->ptr); + free(s); +} + +struct co *co_create(struct co *main_co, + struct co_stack *stack, + size_t save_stack_sz, + void (*fp)(void), void *arg) +{ + struct co *p = malloc(sizeof(*p)); + assert(p); + memset(p, 0, sizeof(*p)); + + if (main_co) { + assert(stack); + p->stack = stack; + p->reg[CO_REG_IDX_RETADDR] = (void *)fp; + // FIXME original code uses align_retptr; causes a crash + p->reg[CO_REG_IDX_SP] = p->stack->align_highptr; + p->main_co = main_co; + p->arg = arg; + p->fp = fp; + if (!save_stack_sz) + save_stack_sz = 64; + p->save_stack.ptr = malloc(save_stack_sz); + assert(p->save_stack.ptr); + p->save_stack.sz = save_stack_sz; + p->save_stack.valid_sz = 0; + } else { + p->main_co = NULL; + p->arg = arg; + p->fp = fp; + p->stack = NULL; + p->save_stack.ptr = NULL; + } + return p; +} + +static void grab_stack(struct co *resume_co) +{ + struct co *owner_co = resume_co->stack->owner; + + if (owner_co) { + assert(owner_co->stack == resume_co->stack); + assert((uintptr_t)(owner_co->stack->align_retptr) >= + (uintptr_t)(owner_co->reg[CO_REG_IDX_SP])); + assert((uintptr_t)owner_co->stack->align_highptr - + (uintptr_t)owner_co->stack->align_limit + <= (uintptr_t)owner_co->reg[CO_REG_IDX_SP]); + owner_co->save_stack.valid_sz = + (uintptr_t)owner_co->stack->align_retptr - + (uintptr_t)owner_co->reg[CO_REG_IDX_SP]; + if (owner_co->save_stack.sz < owner_co->save_stack.valid_sz) { + free(owner_co->save_stack.ptr); + owner_co->save_stack.ptr = NULL; + do { + owner_co->save_stack.sz <<= 1; + assert(owner_co->save_stack.sz > 0); + } while (owner_co->save_stack.sz < + owner_co->save_stack.valid_sz); + owner_co->save_stack.ptr = + malloc(owner_co->save_stack.sz); + assert(owner_co->save_stack.ptr); + } + if (owner_co->save_stack.valid_sz > 0) + memcpy(owner_co->save_stack.ptr, + owner_co->reg[CO_REG_IDX_SP], + owner_co->save_stack.valid_sz); + if (owner_co->save_stack.valid_sz > + owner_co->save_stack.max_cpsz) + owner_co->save_stack.max_cpsz = + owner_co->save_stack.valid_sz; + owner_co->stack->owner = NULL; + owner_co->stack->align_validsz = 0; + } + assert(!resume_co->stack->owner); + assert(resume_co->save_stack.valid_sz <= + resume_co->stack->align_limit - sizeof(void *)); + if (resume_co->save_stack.valid_sz > 0) + memcpy((void*) + (uintptr_t)(resume_co->stack->align_retptr) - + resume_co->save_stack.valid_sz, + resume_co->save_stack.ptr, + resume_co->save_stack.valid_sz); + if (resume_co->save_stack.valid_sz > resume_co->save_stack.max_cpsz) + resume_co->save_stack.max_cpsz = resume_co->save_stack.valid_sz; + resume_co->stack->align_validsz = + resume_co->save_stack.valid_sz + sizeof(void *); + resume_co->stack->owner = resume_co; +} + +void co_resume(struct co *resume_co) +{ + assert(resume_co && resume_co->main_co && !resume_co->done); + + if (resume_co->stack->owner != resume_co) + grab_stack(resume_co); + + current_co = resume_co; + _co_switch(resume_co->main_co, resume_co); + current_co = resume_co->main_co; +} + +void co_destroy(struct co *co){ + if (!co) + return; + + if(co_is_main_co(co)){ + free(co); + current_co = NULL; + } else { + if(co->stack->owner == co){ + co->stack->owner = NULL; + co->stack->align_validsz = 0; + } + free(co->save_stack.ptr); + co->save_stack.ptr = NULL; + free(co); + } +}