/**
* \b test_thread_func
*
* Entry point for test thread. The same thread entry point is used for all
* four test threads.
*
* @param[in] param Unused (optional thread entry parameter)
*
* @return None
*/
static void test_thread_func (uint32_t param)
{
uint32_t loop_cnt;
uint8_t status;
CRITICAL_STORE;
/* Compiler warnings */
param = param;
/* Run a Get/Put pair many times */
loop_cnt = NUM_TEST_LOOPS;
while (loop_cnt--)
{
if ((status = atomMutexGet (&mutex1, 0)) != ATOM_OK)
{
/* Error getting mutex, notify the status code */
ATOMLOG (_STR("G%d\n"), status);
CRITICAL_START ();
g_failures++;
CRITICAL_END ();
break;
}
else if ((status = atomMutexPut (&mutex1)) != ATOM_OK)
{
/* Error putting mutex, notify the status code */
ATOMLOG (_STR("P%d\n"), status);
CRITICAL_START ();
g_failures++;
CRITICAL_END ();
break;
}
}
/* Post sem1 to notify the main thread we're finished */
if (atomSemPut (&sem1) != ATOM_OK)
{
ATOMLOG (_STR("Sem1 putfail\n"));
CRITICAL_START ();
g_failures++;
CRITICAL_END ();
}
/* Loop forever */
while (1)
{
atomTimerDelay (SYSTEM_TICKS_PER_SEC);
}
}
/*
* 能否假设使用到交互功能的时候，实时性能已经不重要
* 2012.12.12
*/
static void Tty_copy_to_cook(tty_t * tty)
{
byte_t c = 0;
CRITICAL_DECLARE(tty->tty_lock);
CRITICAL_BEGIN();
/* 输入缓冲区有数据才能对其进行加工 */
while( !TQ_IS_EMPTY(tty->tty_read_queue) )
{
TQ_GET_CHAR(tty->tty_read_queue,c);
switch(c)
{
case CHAR_BACK:
if( TQ_IS_EMPTY(tty->tty_second_queue) )
continue;
TQ_DEC(tty->tty_second_queue.tq_head);
break;
default:
TQ_PUT_CHAR(tty->tty_second_queue,c);
break;
}
}
CRITICAL_END();
}
/**
* \b archIntEnable
*
* Enable/unmask an interrupt in the interrupt controller.
* @param[in] int_vector Interrupt vector to enable/disable
* @param[in] enable TRUE=enable, FALSE=disable
*
* @retval ATOM_OK Success
* @retval ATOM_ERROR Error
*/
int archIntEnable (int int_vector, int enable)
{
CRITICAL_STORE;
int status;
/* Check vector is valid */
if ((int_vector < 0) || (int_vector > DM36X_INTC_MAX_VEC))
{
/* Invalid vector number */
status = ATOM_ERROR;
}
else
{
/* Valid vector, mask or unmask it using RMW */
CRITICAL_START();
if (enable)
{
/* Enable/unmask the interrupt */
INTC_REG(((int_vector >= 32) ? DM36X_INTC_EINT1 : DM36X_INTC_EINT0))
|= (1 << ((int_vector >= 32) ? (int_vector - 32) : int_vector));
}
else
{
/* Disable/mask the interrupt */
INTC_REG(((int_vector >= 32) ? DM36X_INTC_EINT1 : DM36X_INTC_EINT0))
&= ~(1 << ((int_vector >= 32) ? (int_vector - 32) : int_vector));
}
CRITICAL_END();
status = ATOM_OK;
}
return (status);
}
/**
* \b atomTimerDelayCallback
*
* This is an internal function not for use by application code.
*
* Callback for atomTimerDelay() calls. Wakes up the sleeping threads.
*
* @param[in] cb_data Callback parameter (DELAY_TIMER ptr for sleeping thread)
*
* @return None
*/
static void atomTimerDelayCallback (POINTER cb_data)
{
DELAY_TIMER *timer_data_ptr;
CRITICAL_STORE;
/* Get the DELAY_TIMER structure pointer */
timer_data_ptr = (DELAY_TIMER *)cb_data;
/* Check parameter is valid */
if (timer_data_ptr)
{
/* Enter critical region */
CRITICAL_START ();
/* Put the thread on the ready queue */
(void)tcbEnqueuePriority (&tcbReadyQ, timer_data_ptr->tcb_ptr);
/* Exit critical region */
CRITICAL_END ();
/**
* Don't call the scheduler yet. The ISR exit routine will do this
* in case there are other callbacks to be made, which may also make
* threads ready.
*/
}
}
/**
* \b atomSemTimerCallback
*
* This is an internal function not for use by application code.
*
* Timeouts on suspended threads are notified by the timer system through
* this generic callback. The timer system calls us back with a pointer to
* the relevant \c SEM_TIMER object which is used to retrieve the
* semaphore details.
*
* @param[in] cb_data Pointer to a SEM_TIMER object
*/
static void atomSemTimerCallback (POINTER cb_data)
{
SEM_TIMER *timer_data_ptr;
CRITICAL_STORE;
/* Get the SEM_TIMER structure pointer */
timer_data_ptr = (SEM_TIMER *)cb_data;
/* Check parameter is valid */
if (timer_data_ptr)
{
/* Enter critical region */
CRITICAL_START ();
/* Set status to indicate to the waiting thread that it timed out */
timer_data_ptr->tcb_ptr->suspend_wake_status = ATOM_TIMEOUT;
/* Flag as no timeout registered */
timer_data_ptr->tcb_ptr->suspend_timo_cb = NULL;
/* Remove this thread from the semaphore's suspend list */
(void)tcbDequeueEntry (&timer_data_ptr->sem_ptr->suspQ, timer_data_ptr->tcb_ptr);
/* Put the thread on the ready queue */
(void)tcbEnqueuePriority (&tcbReadyQ, timer_data_ptr->tcb_ptr);
/* Exit critical region */
CRITICAL_END ();
/**
* Note that we don't call the scheduler now as it will be called
* when we exit the ISR by atomIntExit().
*/
}
}
/*
//////////////////////////////////////////////////////////////////////////////////////////
// 名 称 : Tty_read
//
// 功 能 :
//
// 参 数 :
// ttyid : int
// 说明: tty编号
//
// c : byte_t
// 说明: 需要放入tty的数据
//
// 返回值 :
// 类型 :result_t
// 说明 :
//
// 注 意:
//
// 变更记录:
// 时间 | 作 者 | 说 明
//========================================================================================
// 2013-12-05
// 2011-11-11 | |
//////////////////////////////////////////////////////////////////////////////////////////
*/
int Tty_read(int ttyid,void * buffer,size_t size)
{
tty_t * tty = tty_pool + ttyid;
byte_t * buf = buffer;
byte_t c = 0;
CRITICAL_DECLARE(tty->tty_lock);
#ifdef _CFG_CHECK_PARAMETER_
if( ttyid >= TTY_MAX ) return -1;
if( NULL == buffer ) return -1;
#endif /* _CFG_CHECK_PARAMETER_ */
/* 终止条件是缓冲区满 */
TTY_LOCK(tty);
while( size )
{
CRITICAL_BEGIN();
if( TQ_IS_EMPTY(tty->tty_second_queue) )
{ /* 缓冲区空需要等待数据 */
Proc_wait_on(&(tty->tty_wait));
TTY_FREE(tty); /* */
CRITICAL_END();
Proc_sched(0);
TTY_LOCK(tty);
}
else
{
TQ_GET_CHAR(tty->tty_second_queue,c);
CRITICAL_END();
*buf++ = c;
if( CHAR_CR == c && ( tty->tty_termios.temo_type & TERMIOS_TYPE_TTY ) )
{ /* 如果TTY是终端，遇到回车符需要返回。将回车符修改为0 */
*--buf = 0;
break;
}
--size;
}
}
TTY_FREE(tty);
return buf - (byte_t *)buffer;
}
/**
* \b atomTimerCancel
*
* Cancel a timer callback previously registered using atomTimerRegister().
*
* This function can be called from interrupt context, but loops internally
* through the time list, so the potential execution cycles cannot be
* determined in advance.
*
* @param[in] timer_ptr Pointer to timer to cancel
*
* @retval ATOM_OK Success
* @retval ATOM_ERR_PARAM Bad parameters
* @retval ATOM_ERR_NOT_FOUND Timer registration was not found
*/
uint8_t atomTimerCancel (ATOM_TIMER *timer_ptr)
{
uint8_t status = ATOM_ERR_NOT_FOUND;
ATOM_TIMER *prev_ptr, *next_ptr;
CRITICAL_STORE;
/* Parameter check */
if (timer_ptr == NULL)
{
/* Return error */
status = ATOM_ERR_PARAM;
}
else
{
/* Protect the list */
CRITICAL_START ();
/* Walk the list to find the relevant timer */
prev_ptr = next_ptr = timer_queue;
while (next_ptr)
{
/* Is this entry the one we're looking for? */
if (next_ptr == timer_ptr)
{
if (next_ptr == timer_queue)
{
/* We're removing the list head */
timer_queue = next_ptr->next_timer;
}
else
{
/* We're removing a mid or tail TCB */
prev_ptr->next_timer = next_ptr->next_timer;
}
/* Successful */
status = ATOM_OK;
break;
}
/* Move on to the next in the list */
prev_ptr = next_ptr;
next_ptr = next_ptr->next_timer;
}
/* End of list protection */
CRITICAL_END ();
}
return (status);
}
void krn_mutex_lock(krn_mutex *mutex)
{
CRITICAL_STORE;
CRITICAL_START();
mutex->flag ++;
if(mutex->flag > 1) {
krn_thread_lock(krn_thread_current);
krn_thread_current->mutex = mutex;
krn_dispatch();
}
else mutex->thread = krn_thread_current;
CRITICAL_END();
}
/**
* \b test_thread
*
* Function calling the test function of the Atomthreads test suite.
*
*/
void
test_thread (uint32_t param)
{
uint32_t failures ;
CRITICAL_STORE ;
failures = test_start () ;
atomTimerDelay (10) ;
CRITICAL_START() ;
printf ("%s %s\r\n", ATOMTHREADS_TEST, failures ? "FAIL" : "PASS") ;
exit (failures) ;
CRITICAL_END() ;
}
/**
* \b atomTimerRegister
*
* Register a timer callback.
*
* Callers should fill out and pass in a timer descriptor, containing
* the number of system ticks until they would like a callback, together
* with a callback function and optional parameter. The number of ticks
* must be greater than zero.
*
* On the relevant system tick count, the callback function will be
* called.
*
* These timers are used by some of the OS library routines, but they
* can also be used by application code requiring timer facilities at
* system tick resolution.
*
* This function can be called from interrupt context, but loops internally
* through the time list, so the potential execution cycles cannot be
* determined in advance.
*
* @param[in] timer_ptr Pointer to timer descriptor
*
* @retval ATOM_OK Success
* @retval ATOM_ERR_PARAM Bad parameters
*/
uint8_t atomTimerRegister (ATOM_TIMER *timer_ptr)
{
uint8_t status;
CRITICAL_STORE;
/* Parameter check */
if ((timer_ptr == NULL) || (timer_ptr->cb_func == NULL)
|| (timer_ptr->cb_ticks == 0))
{
/* Return error */
status = ATOM_ERR_PARAM;
}
else
{
/* Protect the list */
CRITICAL_START ();
/*
* Enqueue in the list of timers.
*
* The list is not ordered, all timers are inserted at the start
* of the list. On each system tick increment the list is walked
* and the remaining ticks count for that timer is decremented.
* Once the remaining ticks reaches zero, the timer callback is
* made.
*/
if (timer_queue == NULL)
{
/* List is empty, insert new head */
timer_ptr->next_timer = NULL;
timer_queue = timer_ptr;
}
else
{
/* List has at least one entry, enqueue new timer before */
timer_ptr->next_timer = timer_queue;
timer_queue = timer_ptr;
}
/* End of list protection */
CRITICAL_END ();
/* Successful */
status = ATOM_OK;
}
return (status);
}
void
win_unmap( segix_t segix, void **pp )
{
win_t *winp;
CRITICAL_BEGIN();
/* verify window mapped
*/
ASSERT( segix < tranp->t_segmaplen );
winp = tranp->t_segmap[segix];
ASSERT( winp );
/* validate p
*/
ASSERT( pp );
ASSERT( *pp );
ASSERT( *pp >= winp->w_p );
ASSERT( *pp < ( void * )( ( char * )( winp->w_p ) + tranp->t_segsz ));
/* decrement the reference count. if zero, place at tail of LRU list.
*/
ASSERT( winp->w_refcnt > 0 );
winp->w_refcnt--;
ASSERT( ! winp->w_prevp );
ASSERT( ! winp->w_nextp );
if ( winp->w_refcnt == 0 ) {
if ( tranp->t_lrutailp ) {
ASSERT( tranp->t_lruheadp );
winp->w_prevp = tranp->t_lrutailp;
tranp->t_lrutailp->w_nextp = winp;
tranp->t_lrutailp = winp;
} else {
ASSERT( ! tranp->t_lruheadp );
ASSERT( ! winp->w_prevp );
tranp->t_lruheadp = winp;
tranp->t_lrutailp = winp;
}
ASSERT( ! winp->w_nextp );
}
/* zero the caller's pointer
*/
*pp = 0;
CRITICAL_END();
}
/* 2012.12.06*/
void * Tty_echo_hook_set (int ttyid,void (* echo)(byte_t))
{
tty_t * tty = tty_pool + ttyid;
void * handle = NULL;
CRITICAL_DECLARE(tty->tty_lock);
#ifdef _CFG_CHECK_PARAMETER_
if( ttyid >= TTY_MAX ) return NULL;
if( NULL == echo ) return NULL;
#endif /* _CFG_CHECK_PARAMETER_ */
CRITICAL_BEGIN();
handle = tty->tty_echo_hook;
tty->tty_echo_hook = echo;
CRITICAL_END();
return handle;
}
void RecordEvent(EventType Type,void* arg1,void* arg2,void* arg3)
{
CRITICAL_STORE;
CRITICAL_START();
EventIndex = (EventIndex+1) % MAX_EVENT;
EventBuffer[EventIndex].timestamp = GetTime();
if(EventBuffer[EventIndex].event==Empty||EventBuffer[EventIndex].event==NULL)
{
EventBuffer[EventIndex].event = Type;
EventBuffer[EventIndex].arg1 = arg1;
EventBuffer[EventIndex].arg2 = arg2;
EventBuffer[EventIndex].arg3 = arg3;
EventNumbers++;
}
CRITICAL_END();
}
inline void krn_dispatch()
{
krn_thread *old;
CRITICAL_STORE;
CRITICAL_START();
if(krn_thread_nearest != 0) {
if(krn_timer_nearest <= krn_timer_current) {
krn_thread_move(krn_thread_nearest, krn_thread_current); //for hard realtime
krn_thread_cont(krn_thread_nearest);
old = krn_thread_nearest;
krn_thread_nearest = krn_thread_nearest->t_next;
krn_thread_nearest->t_prev = 0;
krn_timer_nearest = krn_thread_nearest->timer;
old->t_next = 0;
}
}
while (!krn_dispatch_h());
CRITICAL_END();
}
//thread is put in right place of timer stack
void krn_sleep(int16_t ticks)
{
krn_thread *old, *post;
CRITICAL_STORE;
CRITICAL_START();
post = 0;
if(krn_thread_nearest) {
old = krn_thread_nearest;
do {
old->timer -= krn_timer_current;
if(post == 0) {
if(ticks >= old->timer) {
if(old->t_next) {
if((old->t_next->timer - krn_timer_current) > ticks) post = old;
} else {
post = old;
}
}
}
old = old->t_next;
} while(old);
}
krn_timer_current = 0;
if(post != 0) {
krn_thread_current->t_next = post->t_next;
krn_thread_current->t_prev = post;
if(post->t_next) post->t_next->t_prev = krn_thread_current;
post->t_next = krn_thread_current;
krn_thread_current->timer = ticks;
krn_timer_nearest = krn_thread_nearest->timer;
} else {
krn_thread_current->t_next = krn_thread_nearest;
krn_thread_current->t_prev = 0;
krn_thread_current->timer = ticks;
if(krn_thread_nearest) krn_thread_nearest->t_prev = krn_thread_current;
krn_thread_nearest = krn_thread_current;
krn_timer_nearest = ticks;
}
krn_thread_stop(krn_thread_current);
CRITICAL_END();
krn_dispatch();
}
void krn_mutex_unlock(krn_mutex *mutex)
{
krn_thread *first, *cur;
CRITICAL_STORE;
char flag = 0;
CRITICAL_START();
mutex->flag --;
cur = first = krn_thread_first;
do {
if(cur->mutex == mutex) {
cur->mutex = 0;
krn_thread_unlock(cur);
if(krn_thread_first != cur | 1)
krn_thread_move(cur, krn_thread_current); //for hard realtime
flag = 1;
krn_dispatch();
break;
}
cur = cur->next;
} while(cur != first);
//if(flag) krn_dispatch();
CRITICAL_END();
}
/**
* \b atomMutexGet
*
* Take the lock on a mutex.
*
* This takes ownership of a mutex if it is not currently owned. Ownership
* is held by this thread until a corresponding call to atomMutexPut() by
* the same thread.
*
* Can be called recursively by the original locking thread (owner).
* Recursive calls are counted, and ownership is not relinquished until
* the number of unlock (atomMutexPut()) calls by the owner matches the
* number of lock (atomMutexGet()) calls.
*
* No thread other than the owner can lock or unlock the mutex while it is
* locked by another thread.
*
* Depending on the \c timeout value specified the call will do one of
* the following if the mutex is already locked by another thread:
*
* \c timeout == 0 : Call will block until the mutex is available \n
* \c timeout > 0 : Call will block until available up to the specified timeout \n
* \c timeout == -1 : Return immediately if mutex is locked by another thread \n
*
* If the call needs to block and \c timeout is zero, it will block
* indefinitely until the owning thread calls atomMutexPut() or
* atomMutexDelete() is called on the mutex.
*
* If the call needs to block and \c timeout is non-zero, the call will only
* block for the specified number of system ticks after which time, if the
* thread was not already woken, the call will return with \c ATOM_TIMEOUT.
*
* If the call would normally block and \c timeout is -1, the call will
* return immediately with \c ATOM_WOULDBLOCK.
*
* This function can only be called from thread context. A mutex has the
* concept of an owner thread, so it is never valid to make a mutex call
* from interrupt context when there is no thread to associate with.
*
* @param[in] mutex Pointer to mutex object
* @param[in] timeout Max system ticks to block (0 = forever)
*
* @retval ATOM_OK Success
* @retval ATOM_TIMEOUT Mutex timed out before being woken
* @retval ATOM_WOULDBLOCK Called with timeout == -1 but count is zero
* @retval ATOM_ERR_DELETED Mutex was deleted while suspended
* @retval ATOM_ERR_CONTEXT Not called in thread context and attempted to block
* @retval ATOM_ERR_PARAM Bad parameter
* @retval ATOM_ERR_QUEUE Problem putting the thread on the suspend queue
* @retval ATOM_ERR_TIMER Problem registering the timeout
* @retval ATOM_ERR_OVF The recursive lock count would have overflowed (>255)
*/
uint8_t atomMutexGet (ATOM_MUTEX *mutex, int32_t timeout){
CRITICAL_STORE;
uint8_t status;
MUTEX_TIMER timer_data;
ATOM_TIMER timer_cb;
ATOM_TCB *curr_tcb_ptr;
/* Check parameters */
if (mutex == NULL)
{
/* Bad mutex pointer */
status = ATOM_ERR_PARAM;
}
else
{
/* Get the current TCB */
curr_tcb_ptr = atomCurrentContext();
/* Protect access to the mutex object and OS queues */
CRITICAL_START ();
/**
* Check we are at thread context. Because mutexes have the concept of
* owner threads, it is never valid to call here from an ISR,
* regardless of whether we will block.
*/
if (curr_tcb_ptr == NULL)
{
/* Exit critical region */
CRITICAL_END ();
/* Not currently in thread context, can't suspend */
status = ATOM_ERR_CONTEXT;
}
/* Otherwise if mutex is owned by another thread, block the calling thread */
else if ((mutex->owner != NULL) && (mutex->owner != curr_tcb_ptr))
{
/* If called with timeout >= 0, we should block */
if (timeout >= 0)
{
/* Add current thread to the suspend list on this mutex */
if (tcbEnqueuePriority (&mutex->suspQ, curr_tcb_ptr) != ATOM_OK)
{
/* Exit critical region */
CRITICAL_END ();
/* There was an error putting this thread on the suspend list */
status = ATOM_ERR_QUEUE;
}
else
{
/* Set suspended status for the current thread */
curr_tcb_ptr->suspended = TRUE;
/* Track errors */
status = ATOM_OK;
/* Register a timer callback if requested */
if (timeout)
{
/* Fill out the data needed by the callback to wake us up */
timer_data.tcb_ptr = curr_tcb_ptr;
timer_data.mutex_ptr = mutex;
/* Fill out the timer callback request structure */
timer_cb.cb_func = atomMutexTimerCallback;
timer_cb.cb_data = (POINTER)&timer_data;
timer_cb.cb_ticks = timeout;
/**
* Store the timer details in the TCB so that we can
* cancel the timer callback if the mutex is put
* before the timeout occurs.
*/
curr_tcb_ptr->suspend_timo_cb = &timer_cb;
/* Register a callback on timeout */
if (atomTimerRegister (&timer_cb) != ATOM_OK)
{
/* Timer registration failed */
status = ATOM_ERR_TIMER;
/* Clean up and return to the caller */
(void)tcbDequeueEntry (&mutex->suspQ, curr_tcb_ptr);
curr_tcb_ptr->suspended = FALSE;
curr_tcb_ptr->suspend_timo_cb = NULL;
}
}
/* Set no timeout requested */
else
{
/* No need to cancel timeouts on this one */
curr_tcb_ptr->suspend_timo_cb = NULL;
}
/* Exit critical region */
CRITICAL_END ();
/* Check no errors have occurred */
if (status == ATOM_OK)
{
/**
* Current thread now blocking, schedule in a new
* one. We already know we are in thread context
* so can call the scheduler from here.
*/
atomSched (FALSE);
/**
* Normal atomMutexPut() wakeups will set ATOM_OK status,
* while timeouts will set ATOM_TIMEOUT and mutex
* deletions will set ATOM_ERR_DELETED. */
status = curr_tcb_ptr->suspend_wake_status;
/**
* If we were woken up by another thread relinquishing
* the mutex and handing this thread ownership, then
* the relinquishing thread will set status to ATOM_OK
* and will make this thread the owner. Setting the
* owner before waking the thread ensures that no other
* thread can preempt and take ownership of the mutex
* between this thread being made ready to run, and
* actually being scheduled back in here.
*/
if (status == ATOM_OK)
{
/**
* Since this thread has just gained ownership, the
* lock count is zero and should be incremented
* once for this call.
*/
mutex->count++;
}
}
}
}
else
{
/* timeout == -1, requested not to block and mutex is owned by another thread */
CRITICAL_END();
status = ATOM_WOULDBLOCK;
}
}
else
{
/* Thread is not owned or is owned by us, we can claim ownership */
/* Increment the lock count, checking for count overflow */
if (mutex->count == 255)
{
/* Don't increment, just return error status */
status = ATOM_ERR_OVF;
}
else
{
/* Increment the count and return to the calling thread */
mutex->count++;
/* If the mutex is not locked, mark the calling thread as the new owner */
if (mutex->owner == NULL)
{
mutex->owner = curr_tcb_ptr;
}
/* Successful */
status = ATOM_OK;
}
/* Exit critical region */
CRITICAL_END ();
}
}
return (status);
}
/**
* \b atomSemPut
*
* Perform a put operation on a semaphore.
*
* This increments the current count value for the semaphore and returns.
*
* If the count value was previously zero and there are threads blocking on the
* semaphore, the call will wake up the highest priority thread suspended. Only
* one thread is woken per call to atomSemPut(). If multiple threads of the
* same priority are suspended, they are woken in order of suspension (FIFO).
*
* This function can be called from interrupt context.
*
* @param[in] sem Pointer to semaphore object
*
* @retval ATOM_OK Success
* @retval ATOM_ERR_OVF The semaphore count would have overflowed (>255)
* @retval ATOM_ERR_PARAM Bad parameter
* @retval ATOM_ERR_QUEUE Problem putting a woken thread on the ready queue
* @retval ATOM_ERR_TIMER Problem cancelling a timeout for a woken thread
*/
uint8_t atomSemPut (ATOM_SEM * sem)
{
uint8_t status;
CRITICAL_STORE;
ATOM_TCB *tcb_ptr;
/* Check parameters */
if (sem == NULL)
{
/* Bad semaphore pointer */
status = ATOM_ERR_PARAM;
}
else
{
/* Protect access to the semaphore object and OS queues */
CRITICAL_START ();
/* If any threads are blocking on the semaphore, wake up one */
if (sem->suspQ)
{
/**
* Threads are woken up in priority order, with a FIFO system
* used on same priority threads. We always take the head,
* ordering is taken care of by an ordered list enqueue.
*/
tcb_ptr = tcbDequeueHead (&sem->suspQ);
if (tcbEnqueuePriority (&tcbReadyQ, tcb_ptr) != ATOM_OK)
{
/* Exit critical region */
CRITICAL_END ();
/* There was a problem putting the thread on the ready queue */
status = ATOM_ERR_QUEUE;
}
else
{
/* Set OK status to be returned to the waiting thread */
tcb_ptr->suspend_wake_status = ATOM_OK;
/* If there's a timeout on this suspension, cancel it */
if ((tcb_ptr->suspend_timo_cb != NULL)
&& (atomTimerCancel (tcb_ptr->suspend_timo_cb) != ATOM_OK))
{
/* There was a problem cancelling a timeout on this semaphore */
status = ATOM_ERR_TIMER;
}
else
{
/* Flag as no timeout registered */
tcb_ptr->suspend_timo_cb = NULL;
/* Successful */
status = ATOM_OK;
}
/* Exit critical region */
CRITICAL_END ();
/**
* The scheduler may now make a policy decision to thread
* switch if we are currently in thread context. If we are
* in interrupt context it will be handled by atomIntExit().
*/
if (atomCurrentContext())
atomSched (FALSE);
}
}
/* If no threads waiting, just increment the count and return */
else
{
/* Check for count overflow */
if (sem->count == 255)
{
/* Don't increment, just return error status */
status = ATOM_ERR_OVF;
}
else
{
/* Increment the count and return success */
sem->count++;
status = ATOM_OK;
}
/* Exit critical region */
CRITICAL_END ();
}
}
return (status);
}
/**
* \b atomSemGet
*
* Perform a get operation on a semaphore.
*
* This decrements the current count value for the semaphore and returns.
* If the count value is already zero then the call will block until the
* count is incremented by another thread, or until the specified \c timeout
* is reached. Blocking threads will also be woken if the semaphore is
* deleted by another thread while blocking.
*
* Depending on the \c timeout value specified the call will do one of
* the following if the count value is zero:
*
* \c timeout == 0 : Call will block until the count is non-zero \n
* \c timeout > 0 : Call will block until non-zero up to the specified timeout \n
* \c timeout == -1 : Return immediately if the count is zero \n
*
* If the call needs to block and \c timeout is zero, it will block
* indefinitely until atomSemPut() or atomSemDelete() is called on the
* semaphore.
*
* If the call needs to block and \c timeout is non-zero, the call will only
* block for the specified number of system ticks after which time, if the
* thread was not already woken, the call will return with \c ATOM_TIMEOUT.
*
* If the call would normally block and \c timeout is -1, the call will
* return immediately with \c ATOM_WOULDBLOCK.
*
* This function can only be called from interrupt context if the \c timeout
* parameter is -1 (in which case it does not block).
*
* @param[in] sem Pointer to semaphore object
* @param[in] timeout Max system ticks to block (0 = forever)
*
* @retval ATOM_OK Success
* @retval ATOM_TIMEOUT Semaphore timed out before being woken
* @retval ATOM_WOULDBLOCK Called with timeout == -1 but count is zero
* @retval ATOM_ERR_DELETED Semaphore was deleted while suspended
* @retval ATOM_ERR_CONTEXT Not called in thread context and attempted to block
* @retval ATOM_ERR_PARAM Bad parameter
* @retval ATOM_ERR_QUEUE Problem putting the thread on the suspend queue
* @retval ATOM_ERR_TIMER Problem registering the timeout
*/
uint8_t atomSemGet (ATOM_SEM *sem, int32_t timeout)
{
CRITICAL_STORE;
uint8_t status;
SEM_TIMER timer_data;
ATOM_TIMER timer_cb;
ATOM_TCB *curr_tcb_ptr;
/* Check parameters */
if (sem == NULL)
{
/* Bad semaphore pointer */
status = ATOM_ERR_PARAM;
}
else
{
/* Protect access to the semaphore object and OS queues */
CRITICAL_START ();
/* If count is zero, block the calling thread */
if (sem->count == 0)
{
/* If called with timeout >= 0, we should block */
if (timeout >= 0)
{
/* Count is zero, block the calling thread */
/* Get the current TCB */
curr_tcb_ptr = atomCurrentContext();
/* Check we are actually in thread context */
if (curr_tcb_ptr)
{
/* Add current thread to the suspend list on this semaphore */
if (tcbEnqueuePriority (&sem->suspQ, curr_tcb_ptr) != ATOM_OK)
{
/* Exit critical region */
CRITICAL_END ();
/* There was an error putting this thread on the suspend list */
status = ATOM_ERR_QUEUE;
}
else
{
/* Set suspended status for the current thread */
curr_tcb_ptr->suspended = TRUE;
/* Track errors */
status = ATOM_OK;
/* Register a timer callback if requested */
if (timeout)
{
/* Fill out the data needed by the callback to wake us up */
timer_data.tcb_ptr = curr_tcb_ptr;
timer_data.sem_ptr = sem;
/* Fill out the timer callback request structure */
timer_cb.cb_func = atomSemTimerCallback;
timer_cb.cb_data = (POINTER)&timer_data;
timer_cb.cb_ticks = timeout;
/**
* Store the timer details in the TCB so that we can
* cancel the timer callback if the semaphore is put
* before the timeout occurs.
*/
curr_tcb_ptr->suspend_timo_cb = &timer_cb;
/* Register a callback on timeout */
if (atomTimerRegister (&timer_cb) != ATOM_OK)
{
/* Timer registration failed */
status = ATOM_ERR_TIMER;
/* Clean up and return to the caller */
(void)tcbDequeueEntry (&sem->suspQ, curr_tcb_ptr);
curr_tcb_ptr->suspended = FALSE;
curr_tcb_ptr->suspend_timo_cb = NULL;
}
}
/* Set no timeout requested */
else
{
/* No need to cancel timeouts on this one */
curr_tcb_ptr->suspend_timo_cb = NULL;
}
/* Exit critical region */
CRITICAL_END ();
/* Check no errors have occurred */
if (status == ATOM_OK)
{
/**
* Current thread now blocking, schedule in a new
* one. We already know we are in thread context
* so can call the scheduler from here.
*/
atomSched (FALSE);
/**
* Normal atomSemPut() wakeups will set ATOM_OK status,
* while timeouts will set ATOM_TIMEOUT and semaphore
* deletions will set ATOM_ERR_DELETED.
*/
status = curr_tcb_ptr->suspend_wake_status;
/**
* If we have been woken up with ATOM_OK then
* another thread incremented the semaphore and
* handed control to this thread. In theory the
* the posting thread increments the counter and
* as soon as this thread wakes up we decrement
* the counter here, but to prevent another
* thread preempting this thread and decrementing
* the semaphore before this section was
* scheduled back in, we emulate the increment
* and decrement by not incrementing in the
* atomSemPut() and not decrementing here. The
* count remains zero throughout preventing other
* threads preempting before we decrement the
* count again.
*/
}
}
}
else
{
/* Exit critical region */
CRITICAL_END ();
/* Not currently in thread context, can't suspend */
status = ATOM_ERR_CONTEXT;
}
}
else
{
/* timeout == -1, requested not to block and count is zero */
CRITICAL_END();
status = ATOM_WOULDBLOCK;
}
}
else
{
/* Count is non-zero, just decrement it and return to calling thread */
sem->count--;
/* Exit critical region */
CRITICAL_END ();
/* Successful */
status = ATOM_OK;
}
}
return (status);
}
/**
* \b atomSemDelete
*
* Deletes a semaphore object.
*
* Any threads currently suspended on the semaphore will be woken up with
* return status ATOM_ERR_DELETED. If called at thread context then the
* scheduler will be called during this function which may schedule in one
* of the woken threads depending on relative priorities.
*
* This function can be called from interrupt context, but loops internally
* waking up all threads blocking on the semaphore, so the potential
* execution cycles cannot be determined in advance.
*
* @param[in] sem Pointer to semaphore object
*
* @retval ATOM_OK Success
* @retval ATOM_ERR_QUEUE Problem putting a woken thread on the ready queue
* @retval ATOM_ERR_TIMER Problem cancelling a timeout on a woken thread
*/
uint8_t atomSemDelete (ATOM_SEM *sem)
{
uint8_t status;
CRITICAL_STORE;
ATOM_TCB *tcb_ptr;
uint8_t woken_threads = FALSE;
/* Parameter check */
if (sem == NULL)
{
/* Bad semaphore pointer */
status = ATOM_ERR_PARAM;
}
else
{
/* Default to success status unless errors occur during wakeup */
status = ATOM_OK;
/* Wake up all suspended tasks */
while (1)
{
/* Enter critical region */
CRITICAL_START ();
/* Check if any threads are suspended */
tcb_ptr = tcbDequeueHead (&sem->suspQ);
/* A thread is suspended on the semaphore */
if (tcb_ptr)
{
/* Return error status to the waiting thread */
tcb_ptr->suspend_wake_status = ATOM_ERR_DELETED;
/* Put the thread on the ready queue */
if (tcbEnqueuePriority (&tcbReadyQ, tcb_ptr) != ATOM_OK)
{
/* Exit critical region */
CRITICAL_END ();
/* Quit the loop, returning error */
status = ATOM_ERR_QUEUE;
break;
}
/* If there's a timeout on this suspension, cancel it */
if (tcb_ptr->suspend_timo_cb)
{
/* Cancel the callback */
if (atomTimerCancel (tcb_ptr->suspend_timo_cb) != ATOM_OK)
{
/* Exit critical region */
CRITICAL_END ();
/* Quit the loop, returning error */
status = ATOM_ERR_TIMER;
break;
}
/* Flag as no timeout registered */
tcb_ptr->suspend_timo_cb = NULL;
}
/* Exit critical region */
CRITICAL_END ();
/* Request a reschedule */
woken_threads = TRUE;
}
/* No more suspended threads */
else
{
/* Exit critical region and quit the loop */
CRITICAL_END ();
break;
}
}
/* Call scheduler if any threads were woken up */
if (woken_threads == TRUE)
{
/**
* Only call the scheduler if we are in thread context, otherwise
* it will be called on exiting the ISR by atomIntExit().
*/
if (atomCurrentContext())
atomSched (FALSE);
}
}
return (status);
}
/**
* \b test_thread_func
*
* Entry point for test thread.
*
* @param[in] param Thread ID (0 to 3)
*
* @return None
*/
static void test_thread_func (uint32_t param)
{
int thread_id, expected_thread;
int time_error, thread_error;
uint32_t new_time;
CRITICAL_STORE;
/* Pull out thread ID */
thread_id = (int)param;
/* Run forever */
while (1) {
/* Check if test is currently in operation */
if (test_started) {
/*
* If the system time has ticked over, check that the currently
* running thread is not the one that was running last tick.
*/
/* Default to no error this time */
time_error = thread_error = FALSE;
/* Do the whole operation with interrupts locked out */
CRITICAL_START();
/* Check if time has ticked over */
new_time = atomTimeGet();
/* Only perform the check if this is not the first thread to run */
if ((last_time != 0) && (last_thread_id != -1)) {
/* Check if the time has ticked over */
if (new_time != last_time) {
/* Check time only ticked over by 1 */
if ((new_time - last_time) != 1) {
time_error = 1;
}
/*
* We are expecting the previous thread to be our thread_id
* minus one.
*/
expected_thread = thread_id - 1;
if (expected_thread == -1) {
expected_thread = 3;
}
/* Check that the last thread was the expected one */
if (last_thread_id != expected_thread) {
thread_error = TRUE;
}
/* Increment the switch count */
switch_cnt++;
}
}
/* Store the currently-running thread as the last-running */
last_thread_id = thread_id;
last_time = new_time;
/* Finished with the interrupt lockout */
CRITICAL_END();
/* If we got an error above, increment the total failure count */
if (test_started && (thread_error || time_error)) {
failure_cnt[thread_id]++;
ATOMLOG(_STR("T%d\n"), thread_id);
}
}
}
}
void
win_map( segix_t segix, void **pp )
{
off64_t segoff;
win_t *winp;
CRITICAL_BEGIN();
#ifdef TREE_DEBUG
mlog(MLOG_DEBUG | MLOG_TREE | MLOG_NOLOCK,
"win_map(segix=%u,addr=%p)\n", segix, pp);
#endif
/* resize the array if necessary */
if ( segix >= tranp->t_segmaplen )
win_segmap_resize( segix );
/* see if segment already mapped. if ref cnt zero,
* remove from LRU list.
*/
winp = tranp->t_segmap[segix];
if ( winp ) {
#ifdef TREE_DEBUG
mlog(MLOG_DEBUG | MLOG_TREE | MLOG_NOLOCK,
"win_map(): requested segment already mapped\n");
#endif
if ( winp->w_refcnt == 0 ) {
ASSERT( tranp->t_lruheadp );
ASSERT( tranp->t_lrutailp );
if ( tranp->t_lruheadp == winp ) {
if ( tranp->t_lrutailp == winp ) {
tranp->t_lruheadp = 0;
tranp->t_lrutailp = 0;
} else {
tranp->t_lruheadp = winp->w_nextp;
tranp->t_lruheadp->w_prevp = 0;
}
} else {
if ( tranp->t_lrutailp == winp ) {
tranp->t_lrutailp = winp->w_prevp;
tranp->t_lrutailp->w_nextp = 0;
} else {
winp->w_prevp->w_nextp = winp->w_nextp;
winp->w_nextp->w_prevp = winp->w_prevp;
}
}
winp->w_prevp = 0;
winp->w_nextp = 0;
} else {
ASSERT( ! winp->w_prevp );
ASSERT( ! winp->w_nextp );
}
winp->w_refcnt++;
*pp = winp->w_p;
CRITICAL_END();
return;
}
/* Allocate a new descriptor if we haven't yet hit the maximum,
* otherwise reuse any descriptor on the LRU list.
*/
if ( tranp->t_wincnt < tranp->t_winmax ) {
#ifdef TREE_DEBUG
mlog(MLOG_DEBUG | MLOG_TREE | MLOG_NOLOCK,
"win_map(): create a new window\n");
#endif
winp = ( win_t * )calloc( 1, sizeof( win_t ));
ASSERT( winp );
tranp->t_wincnt++;
} else if ( tranp->t_lruheadp ) {
/* REFERENCED */
intgen_t rval;
#ifdef TREE_DEBUG
mlog(MLOG_DEBUG | MLOG_TREE | MLOG_NOLOCK,
"win_map(): get head from lru freelist & unmap\n");
#endif
ASSERT( tranp->t_lrutailp );
winp = tranp->t_lruheadp;
tranp->t_lruheadp = winp->w_nextp;
if ( tranp->t_lruheadp ) {
tranp->t_lruheadp->w_prevp = 0;
} else {
tranp->t_lrutailp = 0;
}
tranp->t_segmap[winp->w_segix] = NULL;
rval = munmap( winp->w_p, tranp->t_segsz );
ASSERT( ! rval );
memset( ( void * )winp, 0, sizeof( win_t ));
} else {
ASSERT( tranp->t_wincnt == tranp->t_winmax );
*pp = NULL;
CRITICAL_END();
mlog( MLOG_NORMAL | MLOG_WARNING, _(
"all map windows in use. Check virtual memory limits\n"));
return;
}
/* calculate offset of segment
*/
segoff = segix * ( off64_t )tranp->t_segsz;
/* map the window
*/
ASSERT( tranp->t_segsz >= 1 );
ASSERT( tranp->t_firstoff
<=
OFF64MAX - segoff - ( off64_t )tranp->t_segsz + 1ll );
ASSERT( ! ( tranp->t_segsz % pgsz ));
ASSERT( ! ( ( tranp->t_firstoff + segoff ) % ( off64_t )pgsz ));
#ifdef TREE_DEBUG
mlog(MLOG_DEBUG | MLOG_TREE | MLOG_NOLOCK,
"win_map(): mmap segment at %lld, size = %llu\n",
( off64_t )( tranp->t_firstoff + segoff ), tranp->t_segsz);
#endif
tranp->t_winmmaps++;
winp->w_p = mmap_autogrow(
tranp->t_segsz,
tranp->t_fd,
( off64_t )( tranp->t_firstoff + segoff ));
if ( winp->w_p == (void *)-1 ) {
int error = errno;
mlog( MLOG_NORMAL | MLOG_ERROR, _(
"win_map(): unable to map a node segment of size %d at %d: %s\n"),
tranp->t_segsz, tranp->t_firstoff + segoff,
strerror( error ));
tranp->t_wincnt--;
tranp->t_winmax--;
CRITICAL_END();
free(winp);
if (error == ENOMEM && tranp->t_lruheadp) {
mlog( MLOG_NORMAL | MLOG_ERROR,
_("win_map(): try to select a different win_t\n"));
win_map(segix, pp);
return;
}
*pp = NULL;
return;
}
winp->w_segix = segix;
ASSERT( winp->w_refcnt == 0 );
winp->w_refcnt++;
tranp->t_segmap[winp->w_segix] = winp;
*pp = winp->w_p;
CRITICAL_END();
}
/**
* \b atomTimerDelay
*
* Suspend a thread for the given number of system ticks.
*
* Note that the wakeup time is the number of ticks from the current system
* tick, therefore, for a one tick delay, the thread may be woken up at any
* time between the atomTimerDelay() call and the next system tick. For
* a minimum number of ticks, you should specify minimum number of ticks + 1.
*
* This function can only be called from thread context.
*
* @param[in] ticks Number of system ticks to delay (must be > 0)
*
* @retval ATOM_OK Successful delay
* @retval ATOM_ERR_PARAM Bad parameter (ticks must be non-zero)
* @retval ATOM_ERR_CONTEXT Not called from thread context
*/
uint8_t atomTimerDelay (uint32_t ticks)
{
ATOM_TCB *curr_tcb_ptr;
ATOM_TIMER timer_cb;
DELAY_TIMER timer_data;
CRITICAL_STORE;
uint8_t status;
/* Get the current TCB */
curr_tcb_ptr = atomCurrentContext();
/* Parameter check */
if (ticks == 0)
{
/* Return error */
status = ATOM_ERR_PARAM;
}
/* Check we are actually in thread context */
else if (curr_tcb_ptr == NULL)
{
/* Not currently in thread context, can't suspend */
status = ATOM_ERR_CONTEXT;
}
/* Otherwise safe to proceed */
else
{
/* Protect the system queues */
CRITICAL_START ();
/* Set suspended status for the current thread */
curr_tcb_ptr->suspended = TRUE;
/* Register the timer callback */
/* Fill out the data needed by the callback to wake us up */
timer_data.tcb_ptr = curr_tcb_ptr;
/* Fill out the timer callback request structure */
timer_cb.cb_func = atomTimerDelayCallback;
timer_cb.cb_data = (POINTER)&timer_data;
timer_cb.cb_ticks = ticks;
/* Store the timeout callback details, though we don't use it */
curr_tcb_ptr->suspend_timo_cb = &timer_cb;
/* Register the callback */
if (atomTimerRegister (&timer_cb) != ATOM_OK)
{
/* Exit critical region */
CRITICAL_END ();
/* Timer registration didn't work, won't get a callback */
status = ATOM_ERR_TIMER;
}
else
{
/* Exit critical region */
CRITICAL_END ();
/* Successful timer registration */
status = ATOM_OK;
/* Current thread should now block, schedule in another */
atomSched (FALSE);
}
}
return (status);
}
/**
* \b test_start
*
* Start mutex test.
*
* Stress-tests mutex Get and Put operations. Four threads are created which are
* continually Getting and Putting the same mutex, with no time delays between
* each Get/Put.
*
* @retval Number of g_failures
*/
uint32_t test_start (void)
{
CRITICAL_STORE;
int finish_cnt;
/* Default to zero g_failures */
g_failures = 0;
/* Create mutex to stress */
if (atomMutexCreate (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Error creating mutex\n"));
g_failures++;
}
/* Create sem to receive thread-finished notification */
else if (atomSemCreate (&sem1, 0) != ATOM_OK)
{
ATOMLOG (_STR("Error creating sem\n"));
g_failures++;
}
else
{
/* Take ownership of the mutex to ensure all threads wait for now */
if (atomMutexGet (&mutex1, 0) != ATOM_OK)
{
ATOMLOG (_STR("Error taking mutex\n"));
g_failures++;
}
/* Create Thread 1 */
if (atomThreadCreate(&tcb[0], TEST_THREAD_PRIO, test_thread_func, 1,
&test_thread_stack[0][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
CRITICAL_START ();
g_failures++;
CRITICAL_END ();
}
/* Create Thread 2 */
if (atomThreadCreate(&tcb[1], TEST_THREAD_PRIO, test_thread_func, 2,
&test_thread_stack[1][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
CRITICAL_START ();
g_failures++;
CRITICAL_END ();
}
/* Create Thread 3 */
if (atomThreadCreate(&tcb[2], TEST_THREAD_PRIO, test_thread_func, 3,
&test_thread_stack[2][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
CRITICAL_START ();
g_failures++;
CRITICAL_END ();
}
/* Create Thread 4 */
if (atomThreadCreate(&tcb[3], TEST_THREAD_PRIO, test_thread_func, 4,
&test_thread_stack[3][TEST_THREAD_STACK_SIZE - 1],
TEST_THREAD_STACK_SIZE) != ATOM_OK)
{
/* Fail */
ATOMLOG (_STR("Error creating test thread\n"));
CRITICAL_START ();
g_failures++;
CRITICAL_END ();
}
/* Release ownership of the mutex to kick the threads off */
if (atomMutexPut (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Error putting mutex\n"));
g_failures++;
}
/*
* All four threads will now be performing Gets/Puts on mutex1.
* When they have finished they will post sem1, so we wait
* until sem1 is posted four times.
*/
finish_cnt = 0;
while (1)
{
/*
* Attempt to Get sem1. When we have managed to get
* the semaphore four times, it must have been posted
* by all four threads.
*/
if (atomSemGet (&sem1, 0) == ATOM_OK)
{
/* Increment our count of finished threads */
finish_cnt++;
/* Check if all four threads have now posted sem1 */
if (finish_cnt == 4)
{
break;
}
}
}
/* Delete OS objects, test finished */
if (atomMutexDelete (&mutex1) != ATOM_OK)
{
ATOMLOG (_STR("Delete failed\n"));
CRITICAL_START ();
g_failures++;
CRITICAL_END ();
}
if (atomSemDelete (&sem1) != ATOM_OK)
{
ATOMLOG (_STR("Delete failed\n"));
CRITICAL_START ();
g_failures++;
CRITICAL_END ();
}
}
/* Check thread stack usage (if enabled) */
#ifdef ATOM_STACK_CHECKING
{
uint32_t used_bytes, free_bytes;
int thread;
/* Check all threads */
for (thread = 0; thread < NUM_TEST_THREADS; thread++)
{
/* Check thread stack usage */
if (atomThreadStackCheck (&tcb[thread], &used_bytes, &free_bytes) != ATOM_OK)
{
ATOMLOG (_STR("StackCheck\n"));
g_failures++;
}
else
{
/* Check the thread did not use up to the end of stack */
if (free_bytes == 0)
{
ATOMLOG (_STR("StackOverflow %d\n"), thread);
g_failures++;
}
/* Log the stack usage */
#ifdef TESTS_LOG_STACK_USAGE
ATOMLOG (_STR("StackUse:%d\n"), (int)used_bytes);
#endif
}
}
}
#endif
/* Quit */
return g_failures;
}
/**
* \b atomSched
*
* This is an internal function not for use by application code.
*
* This is the main scheduler routine. It is called by the various OS
* library routines to check if any threads should be scheduled in now.
* If so, the context will be switched from the current thread to the
* new one.
*
* The scheduler is priority-based with round-robin performed on threads
* with the same priority. Round-robin is only performed on timer ticks
* however. During reschedules caused by an OS operation (e.g. after
* giving or taking a semaphore) we only allow the scheduling in of
* threads with higher priority than current priority. On timer ticks we
* also allow the scheduling of same-priority threads - in that case we
* schedule in the head of the ready list for that priority and put the
* current thread at the tail.
*
* @param[in] timer_tick Should be TRUE when called from the system tick
*
* @return None
*/
void atomSched (uint8_t timer_tick)
{
CRITICAL_STORE;
ATOM_TCB *new_tcb = NULL;
int16_t lowest_pri;
/**
* Check the OS has actually started. As long as the proper initialisation
* sequence is followed there should be no calls here until the OS is
* started, but we check to handle badly-behaved ports.
*/
if (atomOSStarted == FALSE)
{
/* Don't schedule anything in until the OS is started */
return;
}
/* Enter critical section */
CRITICAL_START ();
/**
* If the current thread is going into suspension, then
* unconditionally dequeue the next thread for execution.
*/
if (curr_tcb->suspended == TRUE)
{
/**
* Dequeue the next ready to run thread. There will always be
* at least the idle thread waiting. Note that this could
* actually be the suspending thread if it was unsuspended
* before the scheduler was called.
*/
new_tcb = tcbDequeueHead (&tcbReadyQ);
/**
* Don't need to add the current thread to any queue because
* it was suspended by another OS mechanism and will be
* sitting on a suspend queue or similar within one of the OS
* primitive libraries (e.g. semaphore).
*/
/* Switch to the new thread */
atomThreadSwitch (curr_tcb, new_tcb);
}
/**
* Otherwise the current thread is still ready, but check
* if any other threads are ready.
*/
else
{
/* Calculate which priority is allowed to be scheduled in */
if (timer_tick == TRUE)
{
/* Same priority or higher threads can preempt */
lowest_pri = (int16_t)curr_tcb->priority;
}
else if (curr_tcb->priority > 0)
{
/* Only higher priority threads can preempt, invalid for 0 (highest) */
lowest_pri = (int16_t)(curr_tcb->priority - 1);
}
else
{
/**
* Current priority is already highest (0), don't allow preempt by
* threads of any priority because this is not a time-slice.
*/
lowest_pri = -1;
}
/* Check if a reschedule is allowed */
if (lowest_pri >= 0)
{
/* Check for a thread at the given minimum priority level or higher */
new_tcb = tcbDequeuePriority (&tcbReadyQ, (uint8_t)lowest_pri);
/* If a thread was found, schedule it in */
if (new_tcb)
{
/* Add the current thread to the ready queue */
(void)tcbEnqueuePriority (&tcbReadyQ, curr_tcb);
/* Switch to the new thread */
atomThreadSwitch (curr_tcb, new_tcb);
}
}
}
/* Exit critical section */
CRITICAL_END ();
}
/**
* \b atomMutexPut
*
* Give back the lock on a mutex.
*
* This checks that the mutex is owned by the calling thread, and decrements
* the recursive lock count. Once the lock count reaches zero, the lock is
* considered relinquished and no longer owned by this thread.
*
* If the lock is relinquished and there are threads blocking on the mutex, the
* call will wake up the highest priority thread suspended. Only one thread is
* woken per call to atomMutexPut(). If multiple threads of the same priority
* are suspended, they are woken in order of suspension (FIFO).
*
* This function can only be called from thread context. A mutex has the
* concept of an owner thread, so it is never valid to make a mutex call
* from interrupt context when there is no thread to associate with.
*
* @param[in] mutex Pointer to mutex object
*
* @retval ATOM_OK Success
* @retval ATOM_ERR_PARAM Bad parameter
* @retval ATOM_ERR_QUEUE Problem putting a woken thread on the ready queue
* @retval ATOM_ERR_TIMER Problem cancelling a timeout for a woken thread
* @retval ATOM_ERR_OWNERSHIP Attempt to unlock mutex not owned by this thread
*/
uint8_t atomMutexPut (ATOM_MUTEX * mutex){
uint8_t status;
CRITICAL_STORE;
ATOM_TCB *tcb_ptr, *curr_tcb_ptr;
/* Check parameters */
if (mutex == NULL)
{
/* Bad mutex pointer */
status = ATOM_ERR_PARAM;
}
else
{
/* Get the current TCB */
curr_tcb_ptr = atomCurrentContext();
/* Protect access to the mutex object and OS queues */
CRITICAL_START ();
/* Check if the calling thread owns this mutex */
if (mutex->owner != curr_tcb_ptr)
{
/* Exit critical region */
CRITICAL_END ();
/* Attempt to unlock by non-owning thread */
status = ATOM_ERR_OWNERSHIP;
}
else
{
/* Lock is owned by this thread, decrement the recursive lock count */
mutex->count--;
/* Once recursive lock count reaches zero, we relinquish ownership */
if (mutex->count == 0)
{
/* Relinquish ownership */
mutex->owner = NULL;
/* If any threads are blocking on this mutex, wake them now */
if (mutex->suspQ)
{
/**
* Threads are woken up in priority order, with a FIFO system
* used on same priority threads. We always take the head,
* ordering is taken care of by an ordered list enqueue.
*/
tcb_ptr = tcbDequeueHead (&mutex->suspQ);
if (tcbEnqueuePriority (&tcbReadyQ, tcb_ptr) != ATOM_OK)
{
/* Exit critical region */
CRITICAL_END ();
/* There was a problem putting the thread on the ready queue */
status = ATOM_ERR_QUEUE;
}
else
{
/* Set OK status to be returned to the waiting thread */
tcb_ptr->suspend_wake_status = ATOM_OK;
/* Set this thread as the new owner of the mutex */
mutex->owner = tcb_ptr;
/* If there's a timeout on this suspension, cancel it */
if ((tcb_ptr->suspend_timo_cb != NULL)
&& (atomTimerCancel (tcb_ptr->suspend_timo_cb) != ATOM_OK))
{
/* There was a problem cancelling a timeout on this mutex */
status = ATOM_ERR_TIMER;
}
else
{
/* Flag as no timeout registered */
tcb_ptr->suspend_timo_cb = NULL;
/* Successful */
status = ATOM_OK;
}
/* Exit critical region */
CRITICAL_END ();
/**
* The scheduler may now make a policy decision to
* thread switch. We already know we are in thread
* context so can call the scheduler from here.
*/
atomSched (FALSE);
}
}
else
{
/**
* Relinquished ownership and no threads waiting.
* Nothing to do.
*/
/* Exit critical region */
CRITICAL_END ();
/* Successful */
status = ATOM_OK;
}
}
else
{
/**
* Decremented lock but still retain ownership due to
* recursion. Nothing to do.
*/
/* Exit critical region */
CRITICAL_END ();
/* Successful */
status = ATOM_OK;
}
}
}
return (status);
}
/**
* \b atomThreadCreate
*
* Creates and starts a new thread.
*
* Callers provide the ATOM_TCB structure storage, these are not obtained
* from an internal TCB free list.
*
* The function puts the new thread on the ready queue and calls the
* scheduler. If the priority is higher than the current priority, then the
* new thread may be scheduled in before the function returns.
*
* Optionally prefills the thread stack with a known value to enable stack
* usage checking (if the ATOM_STACK_CHECKING macro is defined).
*
* @param[in] tcb_ptr Pointer to the thread's TCB storage
* @param[in] priority Priority of the thread (0 to 255)
* @param[in] entry_point Thread entry point
* @param[in] entry_param Parameter passed to thread entry point
* @param[in] stack_top Top of the stack area
* @param[in] stack_size Size of the stack area in bytes
*
* @retval ATOM_OK Success
* @retval ATOM_ERR_PARAM Bad parameters
* @retval ATOM_ERR_QUEUE Error putting the thread on the ready queue
*/
uint8_t atomThreadCreate (ATOM_TCB *tcb_ptr, uint8_t priority, void (*entry_point)(uint32_t), uint32_t entry_param, void *stack_top, uint32_t stack_size)
{
CRITICAL_STORE;
uint8_t status;
if ((tcb_ptr == NULL) || (entry_point == NULL) || (stack_top == NULL)
|| (stack_size == 0))
{
/* Bad parameters */
status = ATOM_ERR_PARAM;
}
else
{
/* Set up the TCB initial values */
tcb_ptr->suspended = FALSE;
tcb_ptr->priority = priority;
tcb_ptr->prev_tcb = NULL;
tcb_ptr->next_tcb = NULL;
tcb_ptr->suspend_timo_cb = NULL;
/**
* Store the thread entry point and parameter in the TCB. This may
* not be necessary for all architecture ports if they put all of
* this information in the initial thread stack.
*/
tcb_ptr->entry_point = entry_point;
tcb_ptr->entry_param = entry_param;
/**
* Additional processing only required if stack-checking is
* enabled. Incurs a slight overhead on each thread creation
* and uses some additional storage in the TCB, but can be
* compiled out if not desired.
*/
#ifdef ATOM_STACK_CHECKING
/* Store the stack details for use by the stack-check function */
tcb_ptr->stack_top = stack_top;
tcb_ptr->stack_size = stack_size;
/**
* Prefill the stack with a known value. This is used later in
* calls to atomThreadStackCheck() to get an indication of how
* much stack has been used during runtime.
*/
while (stack_size > 0)
{
/* Initialise all stack bytes from bottom up to 0x5A */
*((uint8_t *)stack_top - (stack_size - 1)) = STACK_CHECK_BYTE;
stack_size--;
}
#else
/* Avoid compiler warnings due to unused stack_size variable */
stack_size = stack_size;
#endif
/**
* Call the arch-specific routine to set up the stack. This routine
* is responsible for creating the context save area necessary for
* allowing atomThreadSwitch() to schedule it in. The initial
* archContextSwitch() call when this thread gets scheduled in the
* first time will then restore the program counter to the thread
* entry point, and any other necessary register values ready for
* it to start running.
*/
archThreadContextInit (tcb_ptr, stack_top, entry_point, entry_param);
/* Protect access to the OS queue */
CRITICAL_START ();
/* Put this thread on the ready queue */
if (tcbEnqueuePriority (&tcbReadyQ, tcb_ptr) != ATOM_OK)
{
/* Exit critical region */
CRITICAL_END ();
/* Queue-related error */
status = ATOM_ERR_QUEUE;
}
else
{
/* Exit critical region */
CRITICAL_END ();
/**
* If the OS is started and we're in thread context, check if we
* should be scheduled in now.
*/
if ((atomOSStarted == TRUE) && atomCurrentContext())
atomSched (FALSE);
/* Success */
status = ATOM_OK;
}
}
return (status);
}
/*
//////////////////////////////////////////////////////////////////////////////////////////
// 名 称 : Tty_put_char
//
// 功 能 :
//
// 参 数 :
// ttyid : int
// 说明: tty编号
//
// c : byte_t
// 说明: 需要放入tty的数据
//
// 返回值 :
// 类型 :result_t
// 说明 :
//
// 注 意: 在中断内调用
//
// 变更记录:
// 时间 | 作 者 | 说 明
//========================================================================================
// 2013-12-05
// 2011-11-11 | |
//////////////////////////////////////////////////////////////////////////////////////////
*/
result_t Tty_put_char(int ttyid,byte_t c)
{
tty_t * tty = tty_pool + ttyid;
result_t result = RESULT_SUCCEED;
CRITICAL_DECLARE(tty->tty_lock );
if( ttyid >= TTY_MAX )
return result;
CRITICAL_BEGIN();
/*
* 1、普通tty缓冲区满则丢弃数据，因为并不一定有等待数据的进程
* 2、如果是交互终端，则需要留下回车符和退格符的空间
*/
if( TQ_LEFT(tty->tty_second_queue) == 0 ||
( tty->tty_termios.temo_type == TERMIOS_TYPE_TTY &&
!( TQ_LEFT(tty->tty_second_queue) > 4 || CHAR_BACK == c || CHAR_CR == c ) ) )
{
CRITICAL_END();
return RESULT_FAILED;
}
TQ_PUT_CHAR( tty->tty_read_queue,c);
CRITICAL_END();
/* 定义了数据加工标志，则要对数据进行加工。 */
if( tty->tty_termios.temo_iflags & TERMIOS_IFLAG_NEED_COOK )
Tty_copy_to_cook(tty);
else
{
TQ_INC((tty->tty_read_queue).tq_tail);
TQ_PUT_CHAR(tty->tty_second_queue,c);
}
/* 如果终端定义了回显，也就是实时输出，则需要立即输出获得的数据 */
if( tty->tty_termios.temo_oflags & TERMIOS_OFLAG_ECHO )
{
/*
* 如果进入密码模式，一般的字符显示改为*号
* 控制字符不改变显示
*/
if( tty->tty_termios.temo_oflags & TERMIOS_OFLAG_PSW )
{
switch(c)
{
case CHAR_CR:
case CHAR_BACK:
break;
default:
c = '*';
break;
}
}
tty->tty_echo_hook(c);
}
switch(tty->tty_termios.temo_type)
{
case TERMIOS_TYPE_TTY:
/* 交互终端对于回车符需要唤醒等待输入的进程 */
if( CHAR_CR == c )
TTY_WAKEUP(tty);
break;
default:
/* 一般的tty在缓冲区满的时候，需要唤醒等待的进程 */
if( TQ_LEFT(tty->tty_second_queue) == 0 )
TTY_WAKEUP(tty);
break;
}
return RESULT_SUCCEED;
}