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-rw-r--r--stmhal/pybthread.c179
1 files changed, 157 insertions, 22 deletions
diff --git a/stmhal/pybthread.c b/stmhal/pybthread.c
index 9f9f82a45..51e9a738d 100644
--- a/stmhal/pybthread.c
+++ b/stmhal/pybthread.c
@@ -34,29 +34,80 @@
#if MICROPY_PY_THREAD
-int pyb_thread_enabled;
-pyb_thread_t *pyb_thread_cur;
+#define PYB_MUTEX_UNLOCKED ((void*)0)
+#define PYB_MUTEX_LOCKED ((void*)1)
+
+extern void __fatal_error(const char*);
+
+volatile int pyb_thread_enabled;
+pyb_thread_t *volatile pyb_thread_all;
+pyb_thread_t *volatile pyb_thread_cur;
+
+static inline void pyb_thread_add_to_runable(pyb_thread_t *thread) {
+ thread->run_prev = pyb_thread_cur->run_prev;
+ thread->run_next = pyb_thread_cur;
+ pyb_thread_cur->run_prev->run_next = thread;
+ pyb_thread_cur->run_prev = thread;
+}
+
+static inline void pyb_thread_remove_from_runable(pyb_thread_t *thread) {
+ if (thread->run_next == thread) {
+ __fatal_error("deadlock");
+ }
+ thread->run_prev->run_next = thread->run_next;
+ thread->run_next->run_prev = thread->run_prev;
+}
void pyb_thread_init(pyb_thread_t *thread) {
+ pyb_thread_enabled = 0;
+ pyb_thread_all = thread;
pyb_thread_cur = thread;
- pyb_thread_cur->sp = NULL; // will be set when this thread switches out
- pyb_thread_cur->local_state = 0; // will be set by mp_thread_init
- pyb_thread_cur->arg = NULL;
- pyb_thread_cur->stack = &_heap_end;
- pyb_thread_cur->stack_len = ((uint32_t)&_estack - (uint32_t)&_heap_end) / sizeof(uint32_t);
- pyb_thread_cur->prev = thread;
- pyb_thread_cur->next = thread;
+ thread->sp = NULL; // will be set when this thread switches out
+ thread->local_state = 0; // will be set by mp_thread_init
+ thread->arg = NULL;
+ thread->stack = &_heap_end;
+ thread->stack_len = ((uint32_t)&_estack - (uint32_t)&_heap_end) / sizeof(uint32_t);
+ thread->all_next = NULL;
+ thread->run_prev = thread;
+ thread->run_next = thread;
+ thread->queue_next = NULL;
+}
+
+void pyb_thread_deinit() {
+ uint32_t irq_state = disable_irq();
+ pyb_thread_enabled = 0;
+ pyb_thread_all = pyb_thread_cur;
+ pyb_thread_cur->all_next = NULL;
+ pyb_thread_cur->run_prev = pyb_thread_cur;
+ pyb_thread_cur->run_next = pyb_thread_cur;
+ enable_irq(irq_state);
}
STATIC void pyb_thread_terminate(void) {
- uint32_t irq_state = raise_irq_pri(IRQ_PRI_PENDSV);
- pyb_thread_cur->prev->next = pyb_thread_cur->next;
- pyb_thread_cur->next->prev = pyb_thread_cur->prev;
- if (pyb_thread_cur->next == pyb_thread_cur->prev) {
+ uint32_t irq_state = disable_irq();
+ pyb_thread_t *thread = pyb_thread_cur;
+ // take current thread off the run list
+ pyb_thread_remove_from_runable(thread);
+ // take current thread off the list of all threads
+ for (pyb_thread_t **n = (pyb_thread_t**)&pyb_thread_all;; n = &(*n)->all_next) {
+ if (*n == thread) {
+ *n = thread->all_next;
+ break;
+ }
+ }
+ // clean pointers as much as possible to help GC
+ thread->all_next = NULL;
+ thread->queue_next = NULL;
+ thread->stack = NULL;
+ if (pyb_thread_all->all_next == NULL) {
+ // only 1 thread left
pyb_thread_enabled = 0;
}
- restore_irq_pri(irq_state);
- pyb_thread_yield(); // should not return
+ // thread switch will occur after we enable irqs
+ SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
+ enable_irq(irq_state);
+ // should not return
+ __fatal_error("could not terminate");
}
uint32_t pyb_thread_new(pyb_thread_t *thread, void *stack, size_t stack_len, void *entry, void *arg) {
@@ -77,21 +128,105 @@ uint32_t pyb_thread_new(pyb_thread_t *thread, void *stack, size_t stack_len, voi
thread->arg = arg;
thread->stack = stack;
thread->stack_len = stack_len;
- uint32_t irq_state = raise_irq_pri(IRQ_PRI_PENDSV);
+ thread->queue_next = NULL;
+ uint32_t irq_state = disable_irq();
pyb_thread_enabled = 1;
- thread->next = pyb_thread_cur->next;
- thread->prev = pyb_thread_cur;
- pyb_thread_cur->next->prev = thread;
- pyb_thread_cur->next = thread;
- restore_irq_pri(irq_state);
+ thread->all_next = pyb_thread_all;
+ pyb_thread_all = thread;
+ pyb_thread_add_to_runable(thread);
+ enable_irq(irq_state);
return (uint32_t)thread; // success
}
+void pyb_thread_dump(void) {
+ if (!pyb_thread_enabled) {
+ printf("THREAD: only main thread\n");
+ } else {
+ printf("THREAD:\n");
+ for (pyb_thread_t *th = pyb_thread_all; th != NULL; th = th->all_next) {
+ bool runable = false;
+ for (pyb_thread_t *th2 = pyb_thread_cur;; th2 = th2->run_next) {
+ if (th == th2) {
+ runable = true;
+ break;
+ }
+ if (th2->run_next == pyb_thread_cur) {
+ break;
+ }
+ }
+ printf(" id=%p sp=%p sz=%u", th, th->stack, th->stack_len);
+ if (runable) {
+ printf(" (runable)");
+ }
+ printf("\n");
+ }
+ }
+}
+
// should only be called from pendsv_isr_handler
void *pyb_thread_next(void *sp) {
pyb_thread_cur->sp = sp;
- pyb_thread_cur = pyb_thread_cur->next;
+ pyb_thread_cur = pyb_thread_cur->run_next;
+ pyb_thread_cur->timeslice = 4; // in milliseconds
return pyb_thread_cur->sp;
}
+void pyb_mutex_init(pyb_mutex_t *m) {
+ *m = PYB_MUTEX_UNLOCKED;
+}
+
+int pyb_mutex_lock(pyb_mutex_t *m, int wait) {
+ uint32_t irq_state = disable_irq();
+ if (*m == PYB_MUTEX_UNLOCKED) {
+ // mutex is available
+ *m = PYB_MUTEX_LOCKED;
+ enable_irq(irq_state);
+ } else {
+ // mutex is locked
+ if (!wait) {
+ enable_irq(irq_state);
+ return 0; // failed to lock mutex
+ }
+ if (*m == PYB_MUTEX_LOCKED) {
+ *m = pyb_thread_cur;
+ } else {
+ for (pyb_thread_t *n = *m;; n = n->queue_next) {
+ if (n->queue_next == NULL) {
+ n->queue_next = pyb_thread_cur;
+ break;
+ }
+ }
+ }
+ pyb_thread_cur->queue_next = NULL;
+ // take current thread off the run list
+ pyb_thread_remove_from_runable(pyb_thread_cur);
+ // thread switch will occur after we enable irqs
+ SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
+ enable_irq(irq_state);
+ // when we come back we have the mutex
+ }
+ return 1; // have mutex
+}
+
+void pyb_mutex_unlock(pyb_mutex_t *m) {
+ uint32_t irq_state = disable_irq();
+ if (*m == PYB_MUTEX_LOCKED) {
+ // no threads are blocked on the mutex
+ *m = PYB_MUTEX_UNLOCKED;
+ } else {
+ // at least one thread is blocked on this mutex
+ pyb_thread_t *th = *m;
+ if (th->queue_next == NULL) {
+ // no other threads are blocked
+ *m = PYB_MUTEX_LOCKED;
+ } else {
+ // at least one other thread is still blocked
+ *m = th->queue_next;
+ }
+ // put unblocked thread on runable list
+ pyb_thread_add_to_runable(th);
+ }
+ enable_irq(irq_state);
+}
+
#endif // MICROPY_PY_THREAD
generated by cgit v1.2.3 (git 2.46.0) at 2025-10-02 16:00:40 +0000