361 lines
8.8 KiB
C
361 lines
8.8 KiB
C
/*
|
|
* Copyright (c) 2006-2022, RT-Thread Development Team
|
|
*
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*
|
|
* Change Logs:
|
|
* Date Author Notes
|
|
* 2006-03-23 Bernard the first version
|
|
* 2010-11-10 Bernard add cleanup callback function in thread exit.
|
|
* 2012-12-29 Bernard fix compiling warning.
|
|
* 2013-12-21 Grissiom let rt_thread_idle_excute loop until there is no
|
|
* dead thread.
|
|
* 2016-08-09 ArdaFu add method to get the handler of the idle thread.
|
|
* 2018-02-07 Bernard lock scheduler to protect tid->cleanup.
|
|
* 2018-07-14 armink add idle hook list
|
|
* 2018-11-22 Jesven add per cpu idle task
|
|
* combine the code of primary and secondary cpu
|
|
* 2021-11-15 THEWON Remove duplicate work between idle and _thread_exit
|
|
*/
|
|
|
|
#include <rthw.h>
|
|
#include <rtthread.h>
|
|
|
|
#ifdef RT_USING_MODULE
|
|
#include <dlmodule.h>
|
|
#endif /* RT_USING_MODULE */
|
|
|
|
#ifdef RT_USING_HOOK
|
|
#ifndef RT_USING_IDLE_HOOK
|
|
#define RT_USING_IDLE_HOOK
|
|
#endif /* RT_USING_IDLE_HOOK */
|
|
#endif /* RT_USING_HOOK */
|
|
|
|
#ifndef IDLE_THREAD_STACK_SIZE
|
|
#if defined (RT_USING_IDLE_HOOK) || defined(RT_USING_HEAP)
|
|
#define IDLE_THREAD_STACK_SIZE 256
|
|
#else
|
|
#define IDLE_THREAD_STACK_SIZE 128
|
|
#endif /* (RT_USING_IDLE_HOOK) || defined(RT_USING_HEAP) */
|
|
#endif /* IDLE_THREAD_STACK_SIZE */
|
|
|
|
#ifdef RT_USING_SMP
|
|
#define _CPUS_NR RT_CPUS_NR
|
|
#else
|
|
#define _CPUS_NR 1
|
|
#endif /* RT_USING_SMP */
|
|
|
|
static rt_list_t _rt_thread_defunct = RT_LIST_OBJECT_INIT(_rt_thread_defunct);
|
|
|
|
static struct rt_thread idle[_CPUS_NR];
|
|
ALIGN(RT_ALIGN_SIZE)
|
|
static rt_uint8_t rt_thread_stack[_CPUS_NR][IDLE_THREAD_STACK_SIZE];
|
|
|
|
#ifdef RT_USING_SMP
|
|
#ifndef SYSTEM_THREAD_STACK_SIZE
|
|
#define SYSTEM_THREAD_STACK_SIZE IDLE_THREAD_STACK_SIZE
|
|
#endif
|
|
static struct rt_thread rt_system_thread;
|
|
ALIGN(RT_ALIGN_SIZE)
|
|
static rt_uint8_t rt_system_stack[SYSTEM_THREAD_STACK_SIZE];
|
|
static struct rt_semaphore system_sem;
|
|
#endif
|
|
|
|
#ifdef RT_USING_IDLE_HOOK
|
|
#ifndef RT_IDLE_HOOK_LIST_SIZE
|
|
#define RT_IDLE_HOOK_LIST_SIZE 4
|
|
#endif /* RT_IDLE_HOOK_LIST_SIZE */
|
|
|
|
static void (*idle_hook_list[RT_IDLE_HOOK_LIST_SIZE])(void);
|
|
|
|
/**
|
|
* @brief This function sets a hook function to idle thread loop. When the system performs
|
|
* idle loop, this hook function should be invoked.
|
|
*
|
|
* @param hook the specified hook function.
|
|
*
|
|
* @return RT_EOK: set OK.
|
|
* -RT_EFULL: hook list is full.
|
|
*
|
|
* @note the hook function must be simple and never be blocked or suspend.
|
|
*/
|
|
rt_err_t rt_thread_idle_sethook(void (*hook)(void))
|
|
{
|
|
rt_size_t i;
|
|
rt_base_t level;
|
|
rt_err_t ret = -RT_EFULL;
|
|
|
|
/* disable interrupt */
|
|
level = rt_hw_interrupt_disable();
|
|
|
|
for (i = 0; i < RT_IDLE_HOOK_LIST_SIZE; i++)
|
|
{
|
|
if (idle_hook_list[i] == RT_NULL)
|
|
{
|
|
idle_hook_list[i] = hook;
|
|
ret = RT_EOK;
|
|
break;
|
|
}
|
|
}
|
|
/* enable interrupt */
|
|
rt_hw_interrupt_enable(level);
|
|
|
|
return ret;
|
|
}
|
|
|
|
/**
|
|
* @brief delete the idle hook on hook list.
|
|
*
|
|
* @param hook the specified hook function.
|
|
*
|
|
* @return RT_EOK: delete OK.
|
|
* -RT_ENOSYS: hook was not found.
|
|
*/
|
|
rt_err_t rt_thread_idle_delhook(void (*hook)(void))
|
|
{
|
|
rt_size_t i;
|
|
rt_base_t level;
|
|
rt_err_t ret = -RT_ENOSYS;
|
|
|
|
/* disable interrupt */
|
|
level = rt_hw_interrupt_disable();
|
|
|
|
for (i = 0; i < RT_IDLE_HOOK_LIST_SIZE; i++)
|
|
{
|
|
if (idle_hook_list[i] == hook)
|
|
{
|
|
idle_hook_list[i] = RT_NULL;
|
|
ret = RT_EOK;
|
|
break;
|
|
}
|
|
}
|
|
/* enable interrupt */
|
|
rt_hw_interrupt_enable(level);
|
|
|
|
return ret;
|
|
}
|
|
|
|
#endif /* RT_USING_IDLE_HOOK */
|
|
|
|
/**
|
|
* @brief Enqueue a thread to defunct queue.
|
|
*
|
|
* @note It must be called between rt_hw_interrupt_disable and rt_hw_interrupt_enable
|
|
*/
|
|
void rt_thread_defunct_enqueue(rt_thread_t thread)
|
|
{
|
|
rt_list_insert_after(&_rt_thread_defunct, &thread->tlist);
|
|
#ifdef RT_USING_SMP
|
|
rt_sem_release(&system_sem);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Dequeue a thread from defunct queue.
|
|
*/
|
|
rt_thread_t rt_thread_defunct_dequeue(void)
|
|
{
|
|
rt_base_t level;
|
|
rt_thread_t thread = RT_NULL;
|
|
rt_list_t *l = &_rt_thread_defunct;
|
|
|
|
#ifdef RT_USING_SMP
|
|
/* disable interrupt */
|
|
level = rt_hw_interrupt_disable();
|
|
if (l->next != l)
|
|
{
|
|
thread = rt_list_entry(l->next,
|
|
struct rt_thread,
|
|
tlist);
|
|
rt_list_remove(&(thread->tlist));
|
|
}
|
|
rt_hw_interrupt_enable(level);
|
|
#else
|
|
if (l->next != l)
|
|
{
|
|
thread = rt_list_entry(l->next,
|
|
struct rt_thread,
|
|
tlist);
|
|
level = rt_hw_interrupt_disable();
|
|
rt_list_remove(&(thread->tlist));
|
|
rt_hw_interrupt_enable(level);
|
|
}
|
|
#endif
|
|
return thread;
|
|
}
|
|
|
|
/**
|
|
* @brief This function will perform system background job when system idle.
|
|
*/
|
|
static void rt_defunct_execute(void)
|
|
{
|
|
/* Loop until there is no dead thread. So one call to rt_defunct_execute
|
|
* will do all the cleanups. */
|
|
while (1)
|
|
{
|
|
rt_thread_t thread;
|
|
rt_bool_t object_is_systemobject;
|
|
void (*cleanup)(struct rt_thread *tid);
|
|
|
|
#ifdef RT_USING_MODULE
|
|
struct rt_dlmodule *module = RT_NULL;
|
|
#endif
|
|
/* get defunct thread */
|
|
thread = rt_thread_defunct_dequeue();
|
|
if (thread == RT_NULL)
|
|
{
|
|
break;
|
|
}
|
|
#ifdef RT_USING_MODULE
|
|
module = (struct rt_dlmodule*)thread->module_id;
|
|
if (module)
|
|
{
|
|
dlmodule_destroy(module);
|
|
}
|
|
#endif
|
|
|
|
#ifdef RT_USING_SIGNALS
|
|
rt_thread_free_sig(thread);
|
|
#endif
|
|
|
|
/* store the point of "thread->cleanup" avoid to lose */
|
|
cleanup = thread->cleanup;
|
|
|
|
/* if it's a system object, not delete it */
|
|
object_is_systemobject = rt_object_is_systemobject((rt_object_t)thread);
|
|
if (object_is_systemobject == RT_TRUE)
|
|
{
|
|
/* detach this object */
|
|
rt_object_detach((rt_object_t)thread);
|
|
}
|
|
|
|
/* invoke thread cleanup */
|
|
if (cleanup != RT_NULL)
|
|
{
|
|
cleanup(thread);
|
|
}
|
|
|
|
#ifdef RT_USING_HEAP
|
|
/* if need free, delete it */
|
|
if (object_is_systemobject == RT_FALSE)
|
|
{
|
|
/* release thread's stack */
|
|
RT_KERNEL_FREE(thread->stack_addr);
|
|
/* delete thread object */
|
|
rt_object_delete((rt_object_t)thread);
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
|
|
static void rt_thread_idle_entry(void *parameter)
|
|
{
|
|
#ifdef RT_USING_SMP
|
|
if (rt_hw_cpu_id() != 0)
|
|
{
|
|
while (1)
|
|
{
|
|
rt_hw_secondary_cpu_idle_exec();
|
|
}
|
|
}
|
|
#endif /* RT_USING_SMP */
|
|
|
|
while (1)
|
|
{
|
|
#ifdef RT_USING_IDLE_HOOK
|
|
rt_size_t i;
|
|
void (*idle_hook)(void);
|
|
|
|
for (i = 0; i < RT_IDLE_HOOK_LIST_SIZE; i++)
|
|
{
|
|
idle_hook = idle_hook_list[i];
|
|
if (idle_hook != RT_NULL)
|
|
{
|
|
idle_hook();
|
|
}
|
|
}
|
|
#endif /* RT_USING_IDLE_HOOK */
|
|
|
|
#ifndef RT_USING_SMP
|
|
rt_defunct_execute();
|
|
#endif /* RT_USING_SMP */
|
|
|
|
#ifdef RT_USING_PM
|
|
void rt_system_power_manager(void);
|
|
rt_system_power_manager();
|
|
#endif /* RT_USING_PM */
|
|
}
|
|
}
|
|
|
|
#ifdef RT_USING_SMP
|
|
static void rt_thread_system_entry(void *parameter)
|
|
{
|
|
while (1)
|
|
{
|
|
rt_sem_take(&system_sem, RT_WAITING_FOREVER);
|
|
rt_defunct_execute();
|
|
}
|
|
}
|
|
#endif
|
|
|
|
/**
|
|
* @brief This function will initialize idle thread, then start it.
|
|
*
|
|
* @note this function must be invoked when system init.
|
|
*/
|
|
void rt_thread_idle_init(void)
|
|
{
|
|
rt_ubase_t i;
|
|
char tidle_name[RT_NAME_MAX];
|
|
|
|
for (i = 0; i < _CPUS_NR; i++)
|
|
{
|
|
rt_sprintf(tidle_name, "tidle%d", i);
|
|
rt_thread_init(&idle[i],
|
|
tidle_name,
|
|
rt_thread_idle_entry,
|
|
RT_NULL,
|
|
&rt_thread_stack[i][0],
|
|
sizeof(rt_thread_stack[i]),
|
|
RT_THREAD_PRIORITY_MAX - 1,
|
|
32);
|
|
#ifdef RT_USING_SMP
|
|
rt_thread_control(&idle[i], RT_THREAD_CTRL_BIND_CPU, (void*)i);
|
|
#endif /* RT_USING_SMP */
|
|
/* startup */
|
|
rt_thread_startup(&idle[i]);
|
|
}
|
|
|
|
#ifdef RT_USING_SMP
|
|
RT_ASSERT(RT_THREAD_PRIORITY_MAX > 2);
|
|
|
|
rt_sem_init(&system_sem, "defunct", 1, RT_IPC_FLAG_FIFO);
|
|
|
|
/* create defunct thread */
|
|
rt_thread_init(&rt_system_thread,
|
|
"tsystem",
|
|
rt_thread_system_entry,
|
|
RT_NULL,
|
|
rt_system_stack,
|
|
sizeof(rt_system_stack),
|
|
RT_THREAD_PRIORITY_MAX - 2,
|
|
32);
|
|
/* startup */
|
|
rt_thread_startup(&rt_system_thread);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief This function will get the handler of the idle thread.
|
|
*/
|
|
rt_thread_t rt_thread_idle_gethandler(void)
|
|
{
|
|
#ifdef RT_USING_SMP
|
|
int id = rt_hw_cpu_id();
|
|
#else
|
|
int id = 0;
|
|
#endif /* RT_USING_SMP */
|
|
|
|
return (rt_thread_t)(&idle[id]);
|
|
}
|