rewrite cpu_port.c (but still has bug)
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f0d6e0e173
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395178ebfa
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@ -56,6 +56,7 @@ void rt_hw_usart_init(void)
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#include <pthread.h>
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#include <semaphore.h>
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#include <stdlib.h>
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#include <signal.h>
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#include <termios.h> /* for tcxxxattr, ECHO, etc */
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#include <unistd.h> /* for STDIN_FILENO */
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@ -122,7 +123,7 @@ static int savekey(unsigned char key)
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serial_device.rx_indicate(&serial_device, rx_length);
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}
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return 0;
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return 0;
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}
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#ifdef _WIN32
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static DWORD WINAPI ThreadforKeyGet(LPVOID lpParam)
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@ -148,11 +149,14 @@ static void * ThreadforKeyGet(void * lpParam)
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{
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unsigned char key;
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(void)lpParam; //prevent compiler warnings
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#ifndef _WIN32
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sigset_t sigmask, oldmask;
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/* set the getchar without buffer */
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sigfillset(&sigmask);
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pthread_sigmask(SIG_BLOCK, &sigmask, &oldmask);
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setgetchar();
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#endif
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(void)lpParam; //prevent compiler warnings
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for (;;)
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{
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key = getch();
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@ -24,21 +24,29 @@ typedef struct _thread
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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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int status;
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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_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 INTERRUPT_ENABLE 0
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#define INTERRUPT_DISABLE 1
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/* 线程挂起状态,共两种取值 */
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#define SUSPEND_LOCK 0
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#define SUSPEND_SIGWAIT 1
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#define THREAD_RUNNING 2
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/* interrupt flag, if 1, disable, if 0, enable */
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static long interrupt_disable_flag;
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static int systick_signal_flag;
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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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@ -78,8 +86,9 @@ int signal_mask(void)
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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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static void thread_suspend_signal_handler(int sig)
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{
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sigset_t sigmask;
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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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@ -100,10 +109,44 @@ static void thread_switch_handler(int sig)
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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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/* 使用sigwait或者sigsuspend来挂起from线程 */
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//sem_wait(&thread_from->sem);
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sigemptyset(&sigmask);
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sigaddset(&sigmask, MSG_RESUME);
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/* Beginnig Linux Programming上说,当信号处理函数运行中,此信号就会被屏蔽,
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* 以防止重复执行信号处理函数
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*/
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thread_from->status = SUSPEND_SIGWAIT;
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if (sigwait(&sigmask, &sig) != 0)
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{
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printf("sigwait faild, %d\n", sig);
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}
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thread_to = (thread_t *) rt_interrupt_to_thread;
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RT_ASSERT(thread_to == thread_from);
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thread_to->status = THREAD_RUNNING;
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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_resume_signal_handler(int sig)
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{
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sigset_t sigmask;
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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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thread_from = (thread_t *) rt_interrupt_from_thread;
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thread_to = (thread_t *) rt_interrupt_to_thread;
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/* 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_t *)(tid->sp) == thread_to);
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TRACE("signal: SIGRESUME resume <%s>\n", thread_to->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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@ -114,6 +157,7 @@ static void *thread_run(void *parameter)
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/* FIXME set signal mask, mask the timer! */
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signal_mask();
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thread->status = SUSPEND_SIGWAIT;
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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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@ -234,7 +278,8 @@ void rt_hw_interrupt_enable(rt_base_t level)
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tid = rt_thread_self();
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pid = pthread_self();
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if (pid != mainthread_pid && thread_from->pthread == pid)
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//pid != mainthread_pid &&
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if (thread_from->pthread == pid)
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{
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/* 注意这段代码是在RTT普通线程函数总函数中执行的,
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* from线程就是当前rtt线程 */
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@ -245,19 +290,36 @@ void rt_hw_interrupt_enable(rt_base_t level)
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thread_to->rtthread->name);
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/* 唤醒被挂起的线程 */
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sem_post(& thread_to ->sem);
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if (thread_to->status == SUSPEND_SIGWAIT)
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{
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pthread_kill(thread_to->pthread, MSG_RESUME);
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}
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else if (thread_to->status == SUSPEND_LOCK)
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{
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sem_post(& thread_to->sem);
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}
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else
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{
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printf("conswitch: should not be here! %d\n", __LINE__);
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exit(EXIT_FAILURE);
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}
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cpu_pending_interrupts --;
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thread_from->status = SUSPEND_LOCK;
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pthread_mutex_unlock(ptr_int_mutex);
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/* 挂起当前的线程 */
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sem_wait(& thread_from->sem);
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//TRACE("rttask:%s suspend!\n", thread_from->rtthread->name);
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pthread_mutex_lock(ptr_int_mutex);
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thread_from->status = THREAD_RUNNING;
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pthread_mutex_unlock(ptr_int_mutex);
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//TRACE("rttask:%s resume!\n", thread_to->rtthread->name);
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}
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else
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{
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/* 注意这段代码可能在多种情况下运行:
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* 1. 在system tick中执行, 即主线程的SIGALRM信号处理函数中执行
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* 2. 其他线程中调用,比如用于获取按键输入的线程中调用
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* 1. 在system tick中执行, 即主线程的SIGALRM信号处理函数中执行
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* 2. 其他线程中调用,比如用于获取按键输入的线程中调用
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*/
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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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@ -267,11 +329,22 @@ void rt_hw_interrupt_enable(rt_base_t level)
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pthread_kill(thread_from->pthread, MSG_SUSPEND);
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cpu_pending_interrupts --;
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pthread_mutex_unlock(ptr_int_mutex);
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/* 唤醒to线程 */
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sem_post(& thread_to->sem);
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if (thread_to->status == SUSPEND_SIGWAIT)
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{
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pthread_kill(thread_to->pthread, MSG_RESUME);
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}
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else if (thread_to->status == SUSPEND_LOCK)
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{
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sem_post(& thread_to->sem);
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}
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else
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{
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printf("conswitch: should not be here! %d\n", __LINE__);
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exit(EXIT_FAILURE);
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}
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pthread_mutex_unlock(ptr_int_mutex);
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}
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/*TODO: It may need to unmask the signal */
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}
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@ -302,13 +375,13 @@ void rt_hw_context_switch(rt_uint32_t from,
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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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pthread_mutex_lock(ptr_int_mutex);
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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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/* 这个函数只是并不会真正执行中断处理函数,而只是简单的
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* 设置一下中断挂起标志位
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*/
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pthread_mutex_lock(ptr_int_mutex);
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cpu_pending_interrupts ++;
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pthread_mutex_unlock(ptr_int_mutex);
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}
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@ -337,20 +410,31 @@ void rt_hw_context_switch_to(rt_uint32_t to)
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static int mainthread_scheduler(void)
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{
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int i, res;
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int i, res, sig;
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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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sigset_t sigmask, oldmask;
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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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/* 屏蔽suspend信号和resume信号 */
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sigemptyset(&sigmask);
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sigaddset(&sigmask, MSG_SUSPEND);
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sigaddset(&sigmask, MSG_RESUME);
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pthread_sigmask(SIG_BLOCK, &sigmask, &oldmask);
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sigemptyset(&sigmask);
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sigaddset(&sigmask, SIGALRM);
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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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/* install signal handler used to suspend/resume threads */
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signal_install(MSG_SUSPEND, thread_suspend_signal_handler);
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signal_install(MSG_RESUME, thread_resume_signal_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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/* 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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sleep(1);
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#if 1
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if (sigwait(&sigmask, &sig) != 0)
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{
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printf("mthread: sigwait get unexpected sig %d\n", sig);
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}
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#else
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pause();
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#endif
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TRACE("mthread:got sig %d\n", sig);
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/* signal mask sigalrm 屏蔽SIGALRM信号 */
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pthread_sigmask(SIG_BLOCK, &sigmask, &oldmask);
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// if (systick_signal_flag != 0)
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if (pthread_mutex_trylock(ptr_int_mutex) == 0)
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{
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tick_interrupt_isr();
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systick_signal_flag = 0;
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pthread_mutex_unlock(ptr_int_mutex);
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}
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else
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{
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TRACE("try lock failed.\n");
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}
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/* 开启SIGALRM信号 */
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pthread_sigmask(SIG_UNBLOCK, &sigmask, &oldmask);
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}
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return 0;
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@ -418,15 +526,7 @@ static void mthread_signal_tick(int sig)
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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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if (pthread_mutex_trylock(ptr_int_mutex) != 0)
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{
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TRACE("try lock failed.\n");
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return;
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}
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tick_interrupt_isr();
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pthread_mutex_unlock(ptr_int_mutex);
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//systick_signal_flag = 1;
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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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