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micropython/ports/renesas-ra/pybthread.c
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/* | |
* This file is part of the MicroPython project, http://micropython.org/ | |
* | |
* The MIT License (MIT) | |
* | |
* Copyright (c) 2017 Damien P. George | |
* | |
* Permission is hereby granted, free of charge, to any person obtaining a copy | |
* of this software and associated documentation files (the "Software"), to deal | |
* in the Software without restriction, including without limitation the rights | |
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | |
* copies of the Software, and to permit persons to whom the Software is | |
* furnished to do so, subject to the following conditions: | |
* | |
* The above copyright notice and this permission notice shall be included in | |
* all copies or substantial portions of the Software. | |
* | |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | |
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | |
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | |
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | |
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | |
* THE SOFTWARE. | |
*/ | |
#include <string.h> | |
#include <stdio.h> | |
#include "py/obj.h" | |
#include "gccollect.h" | |
#include "irq.h" | |
#include "pybthread.h" | |
#if MICROPY_PY_THREAD | |
#define PYB_MUTEX_UNLOCKED ((void *)0) | |
#define PYB_MUTEX_LOCKED ((void *)1) | |
// These macros are used when we only need to protect against a thread | |
// switch; other interrupts are still allowed to proceed. | |
#define RAISE_IRQ_PRI() raise_irq_pri(IRQ_PRI_PENDSV) | |
#define RESTORE_IRQ_PRI(state) restore_irq_pri(state) | |
extern void __fatal_error(const char *); | |
volatile int pyb_thread_enabled; | |
pyb_thread_t *volatile pyb_thread_all; | |
pyb_thread_t *volatile pyb_thread_cur; | |
static inline void pyb_thread_add_to_runable(pyb_thread_t *thread) { | |
thread->run_prev = pyb_thread_cur->run_prev; | |
thread->run_next = pyb_thread_cur; | |
pyb_thread_cur->run_prev->run_next = thread; | |
pyb_thread_cur->run_prev = thread; | |
} | |
static inline void pyb_thread_remove_from_runable(pyb_thread_t *thread) { | |
if (thread->run_next == thread) { | |
__fatal_error("deadlock"); | |
} | |
thread->run_prev->run_next = thread->run_next; | |
thread->run_next->run_prev = thread->run_prev; | |
} | |
void pyb_thread_init(pyb_thread_t *thread) { | |
pyb_thread_enabled = 0; | |
pyb_thread_all = thread; | |
pyb_thread_cur = thread; | |
thread->sp = NULL; // will be set when this thread switches out | |
thread->local_state = 0; // will be set by mp_thread_init | |
thread->arg = NULL; | |
thread->stack = &_sstack; | |
thread->stack_len = ((uint32_t)&_estack - (uint32_t)&_sstack) / sizeof(uint32_t); | |
thread->all_next = NULL; | |
thread->run_prev = thread; | |
thread->run_next = thread; | |
thread->queue_next = NULL; | |
} | |
void pyb_thread_deinit() { | |
uint32_t irq_state = disable_irq(); | |
pyb_thread_enabled = 0; | |
pyb_thread_all = pyb_thread_cur; | |
pyb_thread_cur->all_next = NULL; | |
pyb_thread_cur->run_prev = pyb_thread_cur; | |
pyb_thread_cur->run_next = pyb_thread_cur; | |
enable_irq(irq_state); | |
} | |
static void pyb_thread_terminate(void) { | |
uint32_t irq_state = disable_irq(); | |
pyb_thread_t *thread = pyb_thread_cur; | |
// take current thread off the run list | |
pyb_thread_remove_from_runable(thread); | |
// take current thread off the list of all threads | |
for (pyb_thread_t **n = (pyb_thread_t **)&pyb_thread_all;; n = &(*n)->all_next) { | |
if (*n == thread) { | |
*n = thread->all_next; | |
break; | |
} | |
} | |
// clean pointers as much as possible to help GC | |
thread->all_next = NULL; | |
thread->queue_next = NULL; | |
thread->stack = NULL; | |
if (pyb_thread_all->all_next == NULL) { | |
// only 1 thread left | |
pyb_thread_enabled = 0; | |
} | |
// thread switch will occur after we enable irqs | |
SCB->ICSR = SCB_ICSR_PENDSVSET_Msk; | |
enable_irq(irq_state); | |
// should not return | |
__fatal_error("could not terminate"); | |
} | |
uint32_t pyb_thread_new(pyb_thread_t *thread, void *stack, size_t stack_len, void *entry, void *arg) { | |
uint32_t *stack_top = (uint32_t *)stack + stack_len; // stack is full descending | |
*--stack_top = 0x01000000; // xPSR (thumb bit set) | |
*--stack_top = (uint32_t)entry & 0xfffffffe; // pc (must have bit 0 cleared, even for thumb code) | |
*--stack_top = (uint32_t)pyb_thread_terminate; // lr | |
*--stack_top = 0; // r12 | |
*--stack_top = 0; // r3 | |
*--stack_top = 0; // r2 | |
*--stack_top = 0; // r1 | |
*--stack_top = (uint32_t)arg; // r0 | |
*--stack_top = 0xfffffff9; // lr (return to thread mode, non-FP, use MSP) | |
stack_top -= 8; // r4-r11 | |
stack_top -= 16; // s16-s31 (we assume all threads use FP registers) | |
thread->sp = stack_top; | |
thread->local_state = 0; | |
thread->arg = arg; | |
thread->stack = stack; | |
thread->stack_len = stack_len; | |
thread->queue_next = NULL; | |
uint32_t irq_state = disable_irq(); | |
pyb_thread_enabled = 1; | |
thread->all_next = pyb_thread_all; | |
pyb_thread_all = thread; | |
pyb_thread_add_to_runable(thread); | |
enable_irq(irq_state); | |
return (uint32_t)thread; // success | |
} | |
void pyb_thread_dump(void) { | |
if (!pyb_thread_enabled) { | |
printf("THREAD: only main thread\n"); | |
} else { | |
printf("THREAD:\n"); | |
for (pyb_thread_t *th = pyb_thread_all; th != NULL; th = th->all_next) { | |
bool runable = false; | |
for (pyb_thread_t *th2 = pyb_thread_cur;; th2 = th2->run_next) { | |
if (th == th2) { | |
runable = true; | |
break; | |
} | |
if (th2->run_next == pyb_thread_cur) { | |
break; | |
} | |
} | |
printf(" id=%p sp=%p sz=%u", th, th->stack, th->stack_len); | |
if (runable) { | |
printf(" (runable)"); | |
} | |
printf("\n"); | |
} | |
} | |
} | |
// should only be called from pendsv_isr_handler | |
void *pyb_thread_next(void *sp) { | |
pyb_thread_cur->sp = sp; | |
pyb_thread_cur = pyb_thread_cur->run_next; | |
pyb_thread_cur->timeslice = 4; // in milliseconds | |
return pyb_thread_cur->sp; | |
} | |
void pyb_mutex_init(pyb_mutex_t *m) { | |
*m = PYB_MUTEX_UNLOCKED; | |
} | |
int pyb_mutex_lock(pyb_mutex_t *m, int wait) { | |
uint32_t irq_state = RAISE_IRQ_PRI(); | |
if (*m == PYB_MUTEX_UNLOCKED) { | |
// mutex is available | |
*m = PYB_MUTEX_LOCKED; | |
RESTORE_IRQ_PRI(irq_state); | |
} else { | |
// mutex is locked | |
if (!wait) { | |
RESTORE_IRQ_PRI(irq_state); | |
return 0; // failed to lock mutex | |
} | |
if (*m == PYB_MUTEX_LOCKED) { | |
*m = pyb_thread_cur; | |
} else { | |
for (pyb_thread_t *n = *m;; n = n->queue_next) { | |
if (n->queue_next == NULL) { | |
n->queue_next = pyb_thread_cur; | |
break; | |
} | |
} | |
} | |
pyb_thread_cur->queue_next = NULL; | |
// take current thread off the run list | |
pyb_thread_remove_from_runable(pyb_thread_cur); | |
// thread switch will occur after we enable irqs | |
SCB->ICSR = SCB_ICSR_PENDSVSET_Msk; | |
RESTORE_IRQ_PRI(irq_state); | |
// when we come back we have the mutex | |
} | |
return 1; // have mutex | |
} | |
void pyb_mutex_unlock(pyb_mutex_t *m) { | |
uint32_t irq_state = RAISE_IRQ_PRI(); | |
if (*m == PYB_MUTEX_LOCKED) { | |
// no threads are blocked on the mutex | |
*m = PYB_MUTEX_UNLOCKED; | |
} else { | |
// at least one thread is blocked on this mutex | |
pyb_thread_t *th = *m; | |
if (th->queue_next == NULL) { | |
// no other threads are blocked | |
*m = PYB_MUTEX_LOCKED; | |
} else { | |
// at least one other thread is still blocked | |
*m = th->queue_next; | |
} | |
// put unblocked thread on runable list | |
pyb_thread_add_to_runable(th); | |
} | |
RESTORE_IRQ_PRI(irq_state); | |
} | |
#endif // MICROPY_PY_THREAD |