448 lines
11 KiB
C
Executable File
448 lines
11 KiB
C
Executable File
#include <rtthread.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <pthread.h>
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#include <signal.h>
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#include <unistd.h>
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#include <semaphore.h>
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#include <time.h>
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#include <sys/time.h>
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//#define TRACE printf
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#define TRACE(...)
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#define _DEBUG
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typedef struct _thread
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{
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pthread_t pthread;
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void (*task)(void *);
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void *para;
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void (*exit)(void);
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sem_t sem;
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rt_thread_t rtthread;
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void *data;
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} thread_t;
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#define THREAD_T(thread) ((thread_t *)thread)
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#define MSG_SUSPEND SIGUSR1 /* 10 */
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/* #define MSG_RESUME SIGUSR2 */
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#define MSG_TICK SIGALRM /* 14 */
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#define TIMER_TYPE ITIMER_REAL
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#define MAX_INTERRUPT_NUM ((unsigned int)sizeof(unsigned int) * 8)
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/* #define INT_ENABLE 0
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* #define INT_DISABLE 1
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*/
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/* flag in interrupt handling */
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rt_uint32_t rt_interrupt_from_thread, rt_interrupt_to_thread;
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rt_uint32_t rt_thread_switch_interrupt_flag;
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/* interrupt event mutex */
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static pthread_mutex_t *ptr_int_mutex;
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static pthread_cond_t cond_int_hit; /* interrupt occured! */
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static volatile unsigned int cpu_pending_interrupts;
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static int (* cpu_isr_table[MAX_INTERRUPT_NUM])(void) = {0};
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static pthread_t mainthread_pid;
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/* function definition */
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static void start_sys_timer(void);
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static int tick_interrupt_isr(void);
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static void mthread_signal_tick(int sig);
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static int mainthread_scheduler(void);
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int signal_install(int sig, void (*func)(int))
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{
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struct sigaction act;
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/* set the signal handler */
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act.sa_handler = func ;
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sigemptyset(&act.sa_mask);
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act.sa_flags = 0;
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sigaction(sig, &act, 0);
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}
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int signal_mask(void)
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{
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sigset_t sigmask, oldmask;
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/* set signal mask */
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sigemptyset(&sigmask);
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sigaddset(&sigmask, SIGALRM);
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pthread_sigmask(SIG_BLOCK, &sigmask, &oldmask);
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}
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static void thread_switch_handler(int sig)
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{
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pthread_t pid = pthread_self();
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thread_t *thread_from;
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thread_t *thread_to;
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rt_thread_t tid;
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if (sig != MSG_SUSPEND)
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{
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printf("get an unexpected signal <%d>, exit\n", sig);
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exit(EXIT_FAILURE);
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}
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thread_from = (thread_t *) rt_interrupt_from_thread;
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thread_to = (thread_t *) rt_interrupt_to_thread;
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/* FIXME 注意！此时 rt_thread_self的值是to线程的值！ */
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tid = rt_thread_self();
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RT_ASSERT(thread_from->pthread == pid);
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RT_ASSERT((thread_t *)(tid->sp) == thread_to);
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TRACE("signal: SIGSUSPEND suspend <%s>\n", thread_from->rtthread->name);
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sem_wait(&thread_from->sem);
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TRACE("signal: SIGSUSPEND resume <%s>\n", thread_from->rtthread->name);
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}
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static void *thread_run(void *parameter)
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{
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rt_thread_t tid;
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thread_t *thread;
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thread = THREAD_T(parameter);
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int res;
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/* FIXME set signal mask, mask the timer! */
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signal_mask();
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TRACE("pid <%08x> stop on sem...\n", (unsigned int)(thread->pthread));
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sem_wait(&thread->sem);
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tid = rt_thread_self();
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TRACE("pid <%08x> tid <%s> starts...\n", (unsigned int)(thread->pthread),
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tid->name);
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thread->rtthread = tid;
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thread->task(thread->para);
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TRACE("pid <%08x> tid <%s> exit...\n", (unsigned int)(thread->pthread),
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tid->name);
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//FIXME
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thread->exit();
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//sem_destroy(&thread->sem); //<--------------
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pthread_exit(NULL);
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}
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static int thread_create(
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thread_t *thread, void *task, void *parameter, void *pexit)
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{
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int res;
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pthread_attr_t attr;
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thread->task = task;
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thread->para = parameter;
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thread->exit = pexit;
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if (sem_init(&thread->sem, 0, 0) != 0)
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{
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printf("init thread->sem failed, exit \n");
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exit(EXIT_FAILURE);
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}
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/* No need to join the threads. */
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pthread_attr_init(&attr);
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pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
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/* create a posix thread */
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res = pthread_create(&thread->pthread, &attr, &thread_run, (void *)thread);
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if (res)
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{
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printf("pthread create faild, <%d>\n", res);
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exit(EXIT_FAILURE);
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}
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return 0;
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}
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/* resume the thread */
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static int thread_resume(thread_t *thread)
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{
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sem_post(& thread->sem);
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}
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rt_uint8_t *rt_hw_stack_init(
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void *pEntry,
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void *pParam,
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rt_uint8_t *pStackAddr,
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void *pExit)
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{
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thread_t *thread;
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thread = (thread_t *)(pStackAddr - sizeof(thread_t));
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/* set the filed to zero */
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memset(thread, 0x00, sizeof(thread_t));
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thread_create(thread, pEntry, pParam, pExit);
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//TRACE("thread %x created\n", (unsigned int)thread_table[t].pthread);
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return (rt_uint8_t *) thread;
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}
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/* interrupt contex switch hit, value 1 or 0 */
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static long int_cs_hit;
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rt_base_t rt_hw_interrupt_disable(void)
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{
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if (ptr_int_mutex != NULL)
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{
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// pthread_mutex_lock(ptr_int_mutex); //FIXME
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}
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/*TODO: It may need to mask the signal */
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return 0;
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}
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void rt_hw_interrupt_enable(rt_base_t level)
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{
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level = level;
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if (ptr_int_mutex != NULL)
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{
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// pthread_mutex_unlock(ptr_int_mutex); //FIXME
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}
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/*TODO: It may need to unmask the signal */
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}
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void rt_hw_context_switch_interrupt(rt_uint32_t from,
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rt_uint32_t to)
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{
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rt_hw_context_switch(from, to);
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}
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void rt_hw_context_switch(rt_uint32_t from,
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rt_uint32_t to)
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{
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struct rt_thread * tid;
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pthread_t pid;
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thread_t *thread_from;
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thread_t *thread_to;
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RT_ASSERT(from != to);
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#if 0
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if (rt_thread_switch_interrupt_flag != 1)
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{
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rt_thread_switch_interrupt_flag = 1;
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// set rt_interrupt_from_thread
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rt_interrupt_from_thread = *((rt_uint32_t *)from);
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}
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#endif
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rt_interrupt_from_thread = *((rt_uint32_t *)from);
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rt_interrupt_to_thread = *((rt_uint32_t *)to);
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thread_from = (thread_t *) rt_interrupt_from_thread;
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thread_to = (thread_t *) rt_interrupt_to_thread;
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/* FIXME note: now, rt_current_thread is the thread_to! scheduler.c:272 */
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tid = rt_thread_self();
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pid = pthread_self();
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/* 注意，只有两种可可能，一种是线程函数中调用此函数，一种是在中断中调用
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* 而在中断调用是在主线程的信号处理函数中实现（目前只有tick中断）。
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* 即, 只有如下两种可能:
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* 1)普通RTT线程间接调用，如rt_thread_delay函数
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* 2)或者主线程信号处理函数,如rt_tick_increase中调用
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*/
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if (pid != mainthread_pid)
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{
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TRACE("conswitch: P in pid<%x> ,suspend <%s>, resume <%s>!\n",
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(unsigned int)pid,
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thread_from->rtthread->name,
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thread_to->rtthread->name);
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/* from线程就是当前rtt线程 */
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/* 确定一下，这两个值一定是相等的！ */
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RT_ASSERT(thread_from->pthread == pid);
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/* 唤醒to线程 */
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sem_post(& thread_to->sem);
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/* 挂起from线程, 既然from线程就是当前线程，所以应该直接
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* 挂起在这里
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*/
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sem_wait(& thread_from->sem);
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}
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else
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{
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/* FIXME: 注意这段代码是在system tick 函数中执行的，
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* 即此时位于主线程的SIGALRM信号处理函数中 */
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TRACE("conswitch: S in pid<%x> ,suspend <%s>, resume <%s>!\n",
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(unsigned int)pid,
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thread_from->rtthread->name,
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thread_to->rtthread->name);
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/* 挂起from线程 */
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pthread_kill(thread_from->pthread, MSG_SUSPEND);
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/* 唤醒to线程 */
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sem_post(& thread_to->sem);
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}
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}
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void rt_hw_context_switch_to(rt_uint32_t to)
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{
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//set to thread
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rt_interrupt_to_thread = *((rt_uint32_t *)(to));
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//clear from thread
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rt_interrupt_from_thread = 0;
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//set interrupt to 1
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rt_thread_switch_interrupt_flag = 0; //<------
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//start the main thread scheduler
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mainthread_scheduler();
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//never reach here!
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return;
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}
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static int mainthread_scheduler(void)
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{
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int i, res;
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thread_t *thread_from;
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thread_t *thread_to;
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pthread_mutex_t mutex;
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pthread_mutexattr_t mutexattr;
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unsigned int contex_switch_mask;
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/* save the main thread id */
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mainthread_pid = pthread_self();
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TRACE("pid <%08x> mainthread\n", (unsigned int)(mainthread_pid));
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/* register interrupts which is simulated for yield and systick */
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//register_interrupt(CPU_INTERRUPT_YIELD, yield_interrupt_isr);
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//register_interrupt(CPU_INTERRUPT_TICK, tick_interrupt_isr);
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/* install signal handler of system tick */
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signal_install(SIGALRM, mthread_signal_tick);
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/* install signal handler used to suspend itself */
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signal_install(MSG_SUSPEND, thread_switch_handler);
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/* create a mutex and condition val, used to indicate interrupts occrue */
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ptr_int_mutex = &mutex;
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pthread_mutexattr_init(&mutexattr);
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pthread_mutexattr_settype(&mutexattr, PTHREAD_MUTEX_RECURSIVE);
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pthread_mutex_init(ptr_int_mutex, &mutexattr);
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pthread_cond_init(&cond_int_hit, NULL);
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/* start timer */
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start_sys_timer();
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/* FIXME: note that, cond var could not released earlier than pthread_con_wait */
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/* trigger_interrupt(CPU_INTERRUPT_YIELD); */
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thread_to = (thread_t *) rt_interrupt_to_thread;
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thread_resume(thread_to);
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for (;;)
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{
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#if 0
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pthread_mutex_lock(ptr_int_mutex);
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/*Lock mutex and wait for signal. Note that the pthread_cond_wait
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*routine will automatically and atomically unlock mutex while it waits.
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*/
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TRACE("mthread: wait cond val!\n");
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pthread_cond_wait(&cond_int_hit, ptr_int_mutex);
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TRACE("mthread: got cond val!\n");
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pthread_mutex_unlock(ptr_int_mutex);
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#endif
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//printf("main thread...\n");
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sleep(1);
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}
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return 0;
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}
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/*
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* Setup the systick timer to generate the tick interrupts at the required
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* frequency.
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*/
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static void start_sys_timer(void)
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{
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struct itimerval itimer, oitimer;
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int us;
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RT_ASSERT(RT_TICK_PER_SECOND <= 1000000 || RT_TICK_PER_SECOND >= 1);
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us = 1000000 / RT_TICK_PER_SECOND - 1;
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TRACE("start system tick!\n");
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/* Initialise the structure with the current timer information. */
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if (0 != getitimer(TIMER_TYPE, &itimer))
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{
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TRACE("get timer failed.\n");
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exit(EXIT_FAILURE);
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}
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/* Set the interval between timer events. */
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itimer.it_interval.tv_sec = 0;
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itimer.it_interval.tv_usec = us;
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/* Set the current count-down. */
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itimer.it_value.tv_sec = 0;
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itimer.it_value.tv_usec = us;
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/* Set-up the timer interrupt. */
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if (0 != setitimer(TIMER_TYPE, &itimer, &oitimer))
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{
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TRACE("set timer failed.\n");
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exit(EXIT_FAILURE);
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}
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}
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static void mthread_signal_tick(int sig)
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{
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pthread_t pid = pthread_self();
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if (sig == SIGALRM)
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{
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TRACE("pid <%x> signal: SIGALRM enter!\n", (unsigned int)pid);
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tick_interrupt_isr();
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TRACE("pid <%x> signal: SIGALRM leave!\n", (unsigned int)pid);
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}
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else
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{
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TRACE("got an unexpected signal <%d>\n", sig);
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exit(EXIT_FAILURE);
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}
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}
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/* isr return value: 1, should not be masked, if 0, can be masked */
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static int tick_interrupt_isr(void)
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{
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TRACE("isr: systick enter!\n");
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/* enter interrupt */
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rt_interrupt_enter();
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rt_tick_increase();
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/* leave interrupt */
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rt_interrupt_leave();
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TRACE("isr: systick leave!\n");
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return 0;
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}
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#if 0
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static void trigger_interrupt(int index)
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{
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if ((index < MAX_INTERRUPT_NUM) && ptr_int_mutex != NULL)
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{
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pthread_mutex_lock(ptr_int_mutex);
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cpu_pending_interrupts |= (1 << index);
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/* signal the condition val */
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pthread_cond_signal(&cond_int_hit);
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pthread_mutex_unlock(ptr_int_mutex);
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}
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}
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#endif
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