rt-thread-official/src/thread.c

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/*
* File : thread.c
* This file is part of RT-Thread RTOS
* COPYRIGHT (C) 2006 - 2010, RT-Thread Development Team
*
* The license and distribution terms for this file may be
* found in the file LICENSE in this distribution or at
* http://www.rt-thread.org/license/LICENSE
*
* Change Logs:
* Date Author Notes
* 2006-03-28 Bernard first version
* 2006-04-29 Bernard implement thread timer
* 2006-04-30 Bernard add THREAD_DEBUG
* 2006-05-27 Bernard fix the rt_thread_yield bug
* 2006-06-03 Bernard fix the thread timer init bug
* 2006-08-10 Bernard fix the timer bug in thread_sleep
* 2006-09-03 Bernard change rt_timer_delete to rt_timer_detach
* 2006-09-03 Bernard implement rt_thread_detach
* 2008-02-16 Bernard fix the rt_thread_timeout bug
* 2010-03-21 Bernard change the errno of rt_thread_delay/sleep to RT_EOK.
* 2010-11-10 Bernard add cleanup callback function in thread exit.
*/
#include <rtthread.h>
#include <rthw.h>
#include "kservice.h"
/*#define THREAD_DEBUG */
extern rt_list_t rt_thread_priority_table[RT_THREAD_PRIORITY_MAX];
extern struct rt_thread* rt_current_thread;
extern rt_uint8_t rt_current_priority;
#ifdef RT_USING_HEAP
extern rt_list_t rt_thread_defunct;
#endif
static void rt_thread_exit(void);
void rt_thread_timeout(void* parameter);
static rt_err_t _rt_thread_init(struct rt_thread* thread,
const char* name,
void (*entry)(void* parameter), void* parameter,
void* stack_start, rt_uint32_t stack_size,
rt_uint8_t priority, rt_uint32_t tick)
{
/* init thread list */
rt_list_init(&(thread->tlist));
thread->entry = (void*)entry;
thread->parameter = parameter;
/* stack init */
thread->stack_addr = stack_start;
thread->stack_size = stack_size;
/* init thread stack */
rt_memset(thread->stack_addr, '#', thread->stack_size);
thread->sp = (void*)rt_hw_stack_init(thread->entry, thread->parameter,
(void *) ((char *)thread->stack_addr + thread->stack_size - 4),
(void*)rt_thread_exit);
/* priority init */
RT_ASSERT(priority < RT_THREAD_PRIORITY_MAX);
thread->init_priority = priority;
thread->current_priority = priority;
/* tick init */
thread->init_tick = tick;
thread->remaining_tick = tick;
/* error and flags */
thread->error = RT_EOK;
thread->stat = RT_THREAD_INIT;
/* init user data */
thread->user_data = 0;
/* init thread timer */
rt_timer_init(&(thread->thread_timer),
thread->name,
rt_thread_timeout,
thread,
0,
RT_TIMER_FLAG_ONE_SHOT);
return RT_EOK;
}
/**
* @addtogroup Thread
*/
/*@{*/
/**
* This function will init a thread, normally it's used to initialize a static thread object.
*
* @param thread the static thread object
* @param name the name of thread, which shall be unique
* @param entry the entry function of thread
* @param parameter the parameter of thread enter function
* @param stack_start the start address of thread stack
* @param stack_size the size of thread stack
* @param priority the priority of thread
* @param tick the time slice if there are same priority thread
*
* @return the operation status, RT_EOK on OK; -RT_ERROR on error
*
*/
rt_err_t rt_thread_init(struct rt_thread* thread,
const char* name,
void (*entry)(void* parameter), void* parameter,
void* stack_start, rt_uint32_t stack_size,
rt_uint8_t priority, rt_uint32_t tick)
{
/* thread check */
RT_ASSERT(thread != RT_NULL);
RT_ASSERT(stack_start != RT_NULL);
/* init thread object */
rt_object_init((rt_object_t)thread, RT_Object_Class_Thread, name);
return _rt_thread_init(thread, name, entry, parameter,
stack_start, stack_size,
priority, tick);
}
#ifdef RT_USING_HEAP
/**
* This function will create a thread object and allocate thread object memory and stack.
*
* @param name the name of thread, which shall be unique
* @param entry the entry function of thread
* @param parameter the parameter of thread enter function
* @param stack_size the size of thread stack
* @param priority the priority of thread
* @param tick the time slice if there are same priority thread
*
* @return the created thread object
*
*/
rt_thread_t rt_thread_create (const char* name,
void (*entry)(void* parameter), void* parameter,
rt_uint32_t stack_size,
rt_uint8_t priority,
rt_uint32_t tick)
{
struct rt_thread* thread;
void* stack_start;
thread = (struct rt_thread*) rt_object_allocate(RT_Object_Class_Thread, name);
if (thread == RT_NULL) return RT_NULL;
stack_start = (void*)rt_malloc(stack_size);
if (stack_start == RT_NULL)
{
/* allocate stack failure */
rt_object_delete((rt_object_t)thread);
return RT_NULL;
}
_rt_thread_init(thread, name, entry, parameter,
stack_start, stack_size,
priority, tick);
return thread;
}
#endif
/**
* This function will return self thread object
*
* @return the self thread object
*
*/
rt_thread_t rt_thread_self (void)
{
return rt_current_thread;
}
/**
* This function will start a thread and put it to system ready queue
*
* @param thread the thread to be started
*
* @return the operation status, RT_EOK on OK; -RT_ERROR on error
*
*/
rt_err_t rt_thread_startup (rt_thread_t thread)
{
/* thread check */
RT_ASSERT(thread != RT_NULL);
RT_ASSERT(thread->stat == RT_THREAD_INIT);
/* set current priority to init priority */
thread->current_priority = thread->init_priority;
/* calculate priority attribute */
#if RT_THREAD_PRIORITY_MAX > 32
thread->number = thread->current_priority >> 3; /* 5bit */
thread->number_mask = 1L << thread->number;
thread->high_mask = 1L << (thread->current_priority & 0x07); /* 3bit */
#else
thread->number_mask = 1L << thread->current_priority; //1L means long int,fixed compile mistake with IAR EW M16C v3.401,fify 20100410
#endif
#ifdef THREAD_DEBUG
rt_kprintf("startup a thread:%s with priority:%d\n", thread->name, thread->init_priority);
#endif
/* change thread stat */
thread->stat = RT_THREAD_SUSPEND;
/* then resume it */
rt_thread_resume(thread);
return RT_EOK;
}
static void rt_thread_exit()
{
struct rt_thread* thread;
register rt_base_t temp;
/* disable interrupt */
temp = rt_hw_interrupt_disable();
/* get current thread */
thread = rt_current_thread;
/* remove from schedule */
rt_schedule_remove_thread(thread);
/* change stat */
thread->stat = RT_THREAD_CLOSE;
/* release thread timer */
rt_timer_detach(&(thread->thread_timer));
/* enable interrupt */
rt_hw_interrupt_enable(temp);
if ((rt_object_is_systemobject((rt_object_t)thread) == RT_EOK) &&
thread->cleanup == RT_NULL)
{
rt_object_detach((rt_object_t)thread);
}
#ifdef RT_USING_HEAP
else
{
/* disable interrupt */
temp = rt_hw_interrupt_disable();
/* insert to defunct thread list */
rt_list_insert_after(&rt_thread_defunct, &(thread->tlist));
/* enable interrupt */
rt_hw_interrupt_enable(temp);
}
#endif
/* switch to next task */
rt_schedule();
}
/**
* This function will detach a thread. The thread object will be remove from thread
* queue and detached/deleted from system object management.
*
* @param thread the thread to be deleted
*
* @return the operation status, RT_EOK on OK; -RT_ERROR on error
*
*/
rt_err_t rt_thread_detach (rt_thread_t thread)
{
rt_base_t lock;
/* thread check */
RT_ASSERT(thread != RT_NULL);
/* remove from schedule */
rt_schedule_remove_thread(thread);
/* release thread timer */
rt_timer_detach(&(thread->thread_timer));
/* change stat */
thread->stat = RT_THREAD_CLOSE;
/* detach object */
rt_object_detach((rt_object_t)thread);
if (thread->cleanup != RT_NULL)
{
/* disable interrupt */
lock = rt_hw_interrupt_disable();
/* insert to defunct thread list */
rt_list_insert_after(&rt_thread_defunct, &(thread->tlist));
/* enable interrupt */
rt_hw_interrupt_enable(lock);
}
return RT_EOK;
}
#ifdef RT_USING_HEAP
/**
* This function will delete a thread. The thread object will be remove from thread
* queue and detached/deleted from system object management.
*
* @param thread the thread to be deleted
*
* @return the operation status, RT_EOK on OK; -RT_ERROR on error
*
*/
rt_err_t rt_thread_delete (rt_thread_t thread)
{
rt_base_t lock;
/* thread check */
RT_ASSERT(thread != RT_NULL);
/* remove from schedule */
rt_schedule_remove_thread(thread);
/* release thread timer */
rt_timer_detach(&(thread->thread_timer));
/* change stat */
thread->stat = RT_THREAD_CLOSE;
/* disable interrupt */
lock = rt_hw_interrupt_disable();
/* insert to defunct thread list */
rt_list_insert_after(&rt_thread_defunct, &(thread->tlist));
/* enable interrupt */
rt_hw_interrupt_enable(lock);
return RT_EOK;
}
#endif
/**
* This function will let current thread yield processor, and scheduler will get a highest thread to run.
* After yield processor, the current thread is still in READY state.
*
* @return the operation status, RT_EOK on OK; -RT_ERROR on error
*
*/
rt_err_t rt_thread_yield ()
{
register rt_base_t level;
struct rt_thread *thread;
/* disable interrupt */
level = rt_hw_interrupt_disable();
/* set to current thread */
thread = rt_current_thread;
/* if the thread stat is READY and on ready queue list */
if (thread->stat == RT_THREAD_READY && thread->tlist.next != thread->tlist.prev)
{
/* remove thread from thread list */
rt_list_remove(&(thread->tlist));
/* put thread to end of ready queue */
rt_list_insert_before(&(rt_thread_priority_table[thread->current_priority]),
&(thread->tlist));
/* enable interrupt */
rt_hw_interrupt_enable(level);
rt_schedule();
return RT_EOK;
}
/* enable interrupt */
rt_hw_interrupt_enable(level);
return RT_EOK;
}
/**
* This function will let current thread sleep for some ticks.
*
* @param tick the sleep ticks
*
* @return the operation status, RT_EOK on OK; RT_ERROR on error
*
*/
rt_err_t rt_thread_sleep (rt_tick_t tick)
{
register rt_base_t temp;
struct rt_thread *thread;
/* disable interrupt */
temp = rt_hw_interrupt_disable();
/* set to current thread */
thread = rt_current_thread;
RT_ASSERT(thread != RT_NULL);
/* suspend thread */
rt_thread_suspend(thread);
/* reset the timeout of thread timer and start it */
rt_timer_control(&(thread->thread_timer), RT_TIMER_CTRL_SET_TIME, &tick);
rt_timer_start(&(thread->thread_timer));
/* enable interrupt */
rt_hw_interrupt_enable(temp);
rt_schedule();
/* clear error number of this thread to RT_EOK */
if (thread->error == -RT_ETIMEOUT)
thread->error = RT_EOK;
return RT_EOK;
}
/**
* This function will let current thread delay for some ticks.
*
* @param tick the delay ticks
*
* @return the operation status, RT_EOK on OK; RT_ERROR on error
*
*/
rt_err_t rt_thread_delay(rt_tick_t tick)
{
return rt_thread_sleep(tick);
}
rt_err_t rt_thread_control (rt_thread_t thread, rt_uint8_t cmd, void* arg)
{
register rt_base_t temp;
/* thread check */
RT_ASSERT(thread != RT_NULL);
switch (cmd)
{
case RT_THREAD_CTRL_CHANGE_PRIORITY:
/* disable interrupt */
temp = rt_hw_interrupt_disable();
/* for ready thread, change queue */
if (thread->stat == RT_THREAD_READY)
{
/* remove thread from schedule queue first */
rt_schedule_remove_thread(thread);
/* change thread priority */
thread->current_priority = *(rt_uint8_t*) arg;
/* recalculate priority attribute */
#if RT_THREAD_PRIORITY_MAX > 32
thread->number = thread->current_priority >> 3; /* 5bit */
thread->number_mask = 1 << thread->number;
thread->high_mask = 1 << (thread->current_priority & 0x07); /* 3bit */
#else
thread->number_mask = 1 << thread->current_priority;
#endif
/* insert thread to schedule queue again */
rt_schedule_insert_thread(thread);
}
else
{
thread->current_priority = *(rt_uint8_t*) arg;
/* recalculate priority attribute */
#if RT_THREAD_PRIORITY_MAX > 32
thread->number = thread->current_priority >> 3; /* 5bit */
thread->number_mask = 1 << thread->number;
thread->high_mask = 1 << (thread->current_priority & 0x07); /* 3bit */
#else
thread->number_mask = 1 << thread->current_priority;
#endif
}
/* enable interrupt */
rt_hw_interrupt_enable(temp);
break;
case RT_THREAD_CTRL_STARTUP:
return rt_thread_startup(thread);
#ifdef RT_USING_HEAP
case RT_THREAD_CTRL_CLOSE:
return rt_thread_delete(thread);
#endif
default:
break;
}
return - RT_EOK;
}
/**
* This function will suspend the specified thread.
*
* @param thread the thread to be suspended
*
* @return the operation status, RT_EOK on OK; -RT_ERROR on error
*
*/
rt_err_t rt_thread_suspend (rt_thread_t thread)
{
register rt_base_t temp;
/* thread check */
RT_ASSERT(thread != RT_NULL);
#ifdef THREAD_DEBUG
rt_kprintf("thread suspend: %s\n", thread->name);
#endif
if (thread->stat != RT_THREAD_READY)
{
#ifdef THREAD_DEBUG
rt_kprintf("thread suspend: thread disorder, %d\n", thread->stat);
#endif
return -RT_ERROR;
}
/* disable interrupt */
temp = rt_hw_interrupt_disable();
/* change thread stat */
thread->stat = RT_THREAD_SUSPEND;
rt_schedule_remove_thread(thread);
/* enable interrupt */
rt_hw_interrupt_enable(temp);
return RT_EOK;
}
/**
* This function will resume a thread and put it to system ready queue.
*
* @param thread the thread to be resumed
*
* @return the operation status, RT_EOK on OK; -RT_ERROR on error
*
*/
rt_err_t rt_thread_resume (rt_thread_t thread)
{
register rt_base_t temp;
/* thread check */
RT_ASSERT(thread != RT_NULL);
#ifdef THREAD_DEBUG
rt_kprintf("thread resume: %s\n", thread->name);
#endif
if (thread->stat != RT_THREAD_SUSPEND)
{
#ifdef THREAD_DEBUG
rt_kprintf("thread resume: thread disorder, %d\n", thread->stat);
#endif
return -RT_ERROR;
}
/* disable interrupt */
temp = rt_hw_interrupt_disable();
/* remove from suspend list */
rt_list_remove(&(thread->tlist));
/* remove thread timer */
rt_list_remove(&(thread->thread_timer.list));
/* change timer state */
thread->thread_timer.parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
/* enable interrupt */
rt_hw_interrupt_enable(temp);
/* insert to schedule ready list */
rt_schedule_insert_thread(thread);
return RT_EOK;
}
/**
* This function is the timeout function for thread, normally which will
* be invoked when thread is timeout to wait some recourse.
*
* @param parameter the parameter of thread timeout function
*
*/
void rt_thread_timeout(void* parameter)
{
struct rt_thread* thread;
thread = (struct rt_thread*) parameter;
/* thread check */
RT_ASSERT(thread != RT_NULL);
RT_ASSERT(thread->stat == RT_THREAD_SUSPEND);
/* set error number */
thread->error = -RT_ETIMEOUT;
/* remove from suspend list */
rt_list_remove(&(thread->tlist));
/* insert to schedule ready list */
rt_schedule_insert_thread(thread);
/* do schedule */
rt_schedule();
}
/**
* This function will find the specified thread.
*
* @param name the name of thread finding
*
* @return the thread
*/
rt_thread_t rt_thread_find(char* name)
{
struct rt_object_information *information;
struct rt_object* object;
struct rt_list_node* node;
extern struct rt_object_information rt_object_container[];
/* enter critical */
if (rt_thread_self() != RT_NULL)
rt_enter_critical();
/* try to find device object */
information = &rt_object_container[RT_Object_Class_Thread];
for (node = information->object_list.next; node != &(information->object_list); node = node->next)
{
object = rt_list_entry(node, struct rt_object, list);
if (rt_strncmp(object->name, name, RT_NAME_MAX) == 0)
{
/* leave critical */
if (rt_thread_self() != RT_NULL)
rt_exit_critical();
return (rt_thread_t)object;
}
}
/* leave critical */
if (rt_thread_self() != RT_NULL)
rt_exit_critical();
/* not found */
return RT_NULL;
}
/*@}*/