232 lines
6.5 KiB
C
232 lines
6.5 KiB
C
/*
|
|
* File : idle.c
|
|
* This file is part of RT-Thread RTOS
|
|
* COPYRIGHT (C) 2006 - 2012, RT-Thread Development Team
|
|
*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 2 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
|
*
|
|
* 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.
|
|
*/
|
|
|
|
#include <rthw.h>
|
|
#include <rtthread.h>
|
|
|
|
#if defined (RT_USING_HOOK)
|
|
#ifndef RT_USING_IDLE_HOOK
|
|
#define RT_USING_IDLE_HOOK
|
|
#endif
|
|
#endif
|
|
|
|
#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
|
|
#endif
|
|
|
|
static struct rt_thread idle;
|
|
ALIGN(RT_ALIGN_SIZE)
|
|
static rt_uint8_t rt_thread_stack[IDLE_THREAD_STACK_SIZE];
|
|
|
|
extern rt_list_t rt_thread_defunct;
|
|
|
|
#ifdef RT_USING_IDLE_HOOK
|
|
static void (*rt_thread_idle_hook)();
|
|
|
|
/**
|
|
* @ingroup Hook
|
|
* 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
|
|
*
|
|
* @note the hook function must be simple and never be blocked or suspend.
|
|
*/
|
|
void rt_thread_idle_sethook(void (*hook)(void))
|
|
{
|
|
rt_thread_idle_hook = hook;
|
|
}
|
|
#endif
|
|
|
|
/* Return whether there is defunctional thread to be deleted. */
|
|
rt_inline int _has_defunct_thread(void)
|
|
{
|
|
/* The rt_list_isempty has prototype of "int rt_list_isempty(const rt_list_t *l)".
|
|
* So the compiler has a good reason that the rt_thread_defunct list does
|
|
* not change within rt_thread_idle_excute thus optimize the "while" loop
|
|
* into a "if".
|
|
*
|
|
* So add the volatile qualifier here. */
|
|
const volatile rt_list_t *l = (const volatile rt_list_t*)&rt_thread_defunct;
|
|
|
|
return l->next != l;
|
|
}
|
|
|
|
/**
|
|
* @ingroup Thread
|
|
*
|
|
* This function will perform system background job when system idle.
|
|
*/
|
|
void rt_thread_idle_excute(void)
|
|
{
|
|
/* Loop until there is no dead thread. So one call to rt_thread_idle_excute
|
|
* will do all the cleanups. */
|
|
while (_has_defunct_thread())
|
|
{
|
|
rt_base_t lock;
|
|
rt_thread_t thread;
|
|
#ifdef RT_USING_MODULE
|
|
rt_module_t module = RT_NULL;
|
|
#endif
|
|
RT_DEBUG_NOT_IN_INTERRUPT;
|
|
|
|
/* disable interrupt */
|
|
lock = rt_hw_interrupt_disable();
|
|
|
|
/* re-check whether list is empty */
|
|
if (_has_defunct_thread())
|
|
{
|
|
/* get defunct thread */
|
|
thread = rt_list_entry(rt_thread_defunct.next,
|
|
struct rt_thread,
|
|
tlist);
|
|
#ifdef RT_USING_MODULE
|
|
/* get thread's parent module */
|
|
module = (rt_module_t)thread->module_id;
|
|
|
|
/* if the thread is module's main thread */
|
|
if (module != RT_NULL && module->module_thread == thread)
|
|
{
|
|
/* detach module's main thread */
|
|
module->module_thread = RT_NULL;
|
|
}
|
|
#endif
|
|
/* remove defunct thread */
|
|
rt_list_remove(&(thread->tlist));
|
|
/* invoke thread cleanup */
|
|
if (thread->cleanup != RT_NULL)
|
|
thread->cleanup(thread);
|
|
|
|
/* if it's a system object, not delete it */
|
|
if (rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE)
|
|
{
|
|
/* enable interrupt */
|
|
rt_hw_interrupt_enable(lock);
|
|
|
|
return;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* enable interrupt */
|
|
rt_hw_interrupt_enable(lock);
|
|
|
|
/* may the defunct thread list is removed by others, just return */
|
|
return;
|
|
}
|
|
|
|
/* enable interrupt */
|
|
rt_hw_interrupt_enable(lock);
|
|
|
|
#ifdef RT_USING_HEAP
|
|
#if defined(RT_USING_MODULE) && defined(RT_USING_SLAB)
|
|
/* the thread belongs to an application module */
|
|
if (thread->flags & RT_OBJECT_FLAG_MODULE)
|
|
rt_module_free((rt_module_t)thread->module_id, thread->stack_addr);
|
|
else
|
|
#endif
|
|
/* release thread's stack */
|
|
RT_KERNEL_FREE(thread->stack_addr);
|
|
/* delete thread object */
|
|
rt_object_delete((rt_object_t)thread);
|
|
#endif
|
|
|
|
#ifdef RT_USING_MODULE
|
|
if (module != RT_NULL)
|
|
{
|
|
extern rt_err_t rt_module_destroy(rt_module_t module);
|
|
|
|
/* if sub thread list and main thread are all empty */
|
|
if ((module->module_thread == RT_NULL) &&
|
|
rt_list_isempty(&module->module_object[RT_Object_Class_Thread].object_list))
|
|
{
|
|
module->nref --;
|
|
}
|
|
|
|
/* destroy module */
|
|
if (module->nref == 0)
|
|
rt_module_destroy(module);
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
|
|
static void rt_thread_idle_entry(void *parameter)
|
|
{
|
|
while (1)
|
|
{
|
|
#ifdef RT_USING_IDLE_HOOK
|
|
if (rt_thread_idle_hook != RT_NULL)
|
|
{
|
|
rt_thread_idle_hook();
|
|
}
|
|
#endif
|
|
|
|
rt_thread_idle_excute();
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @ingroup SystemInit
|
|
*
|
|
* This function will initialize idle thread, then start it.
|
|
*
|
|
* @note this function must be invoked when system init.
|
|
*/
|
|
void rt_thread_idle_init(void)
|
|
{
|
|
/* initialize thread */
|
|
rt_thread_init(&idle,
|
|
"tidle",
|
|
rt_thread_idle_entry,
|
|
RT_NULL,
|
|
&rt_thread_stack[0],
|
|
sizeof(rt_thread_stack),
|
|
RT_THREAD_PRIORITY_MAX - 1,
|
|
32);
|
|
|
|
/* startup */
|
|
rt_thread_startup(&idle);
|
|
}
|
|
|
|
/**
|
|
* @ingroup Thread
|
|
*
|
|
* This function will get the handler of the idle thread.
|
|
*
|
|
*/
|
|
rt_thread_t rt_thread_idle_gethandler(void)
|
|
{
|
|
return (rt_thread_t)(&idle);
|
|
}
|