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7b58dd92
编写于
1月 13, 2013
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add libcpu/sim/posix/cpu_port.c
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#include <rtthread.h>
#include <stdio.h>
#include <stdlib.h>
#include <pthread.h>
#include <signal.h>
#include <unistd.h>
#include <semaphore.h>
#include <time.h>
#include <sys/time.h>
//#define TRACE printf
#define TRACE(...)
#define _DEBUG
typedef
struct
_thread
{
pthread_t
pthread
;
void
(
*
task
)(
void
*
);
void
*
para
;
void
(
*
exit
)(
void
);
sem_t
sem
;
rt_thread_t
rtthread
;
void
*
data
;
}
thread_t
;
#define THREAD_T(thread) ((thread_t *)thread)
#define MSG_SUSPEND SIGUSR1
/* 10 */
/* #define MSG_RESUME SIGUSR2 */
#define MSG_TICK SIGALRM
/* 14 */
#define TIMER_TYPE ITIMER_REAL
#define MAX_INTERRUPT_NUM ((unsigned int)sizeof(unsigned int) * 8)
/* #define INT_ENABLE 0
* #define INT_DISABLE 1
*/
/* flag in interrupt handling */
rt_uint32_t
rt_interrupt_from_thread
,
rt_interrupt_to_thread
;
rt_uint32_t
rt_thread_switch_interrupt_flag
;
/* interrupt event mutex */
static
pthread_mutex_t
*
ptr_int_mutex
;
static
pthread_cond_t
cond_int_hit
;
/* interrupt occured! */
static
volatile
unsigned
int
cpu_pending_interrupts
;
static
int
(
*
cpu_isr_table
[
MAX_INTERRUPT_NUM
])(
void
)
=
{
0
};
static
pthread_t
mainthread_pid
;
/* function definition */
static
void
start_sys_timer
(
void
);
static
int
tick_interrupt_isr
(
void
);
static
void
mthread_signal_tick
(
int
sig
);
static
int
mainthread_scheduler
(
void
);
int
signal_install
(
int
sig
,
void
(
*
func
)(
int
))
{
struct
sigaction
act
;
/* set the signal handler */
act
.
sa_handler
=
func
;
sigemptyset
(
&
act
.
sa_mask
);
act
.
sa_flags
=
0
;
sigaction
(
sig
,
&
act
,
0
);
}
int
signal_mask
(
void
)
{
sigset_t
sigmask
,
oldmask
;
/* set signal mask */
sigemptyset
(
&
sigmask
);
sigaddset
(
&
sigmask
,
SIGALRM
);
pthread_sigmask
(
SIG_BLOCK
,
&
sigmask
,
&
oldmask
);
}
static
void
thread_switch_handler
(
int
sig
)
{
pthread_t
pid
=
pthread_self
();
thread_t
*
thread_from
;
thread_t
*
thread_to
;
rt_thread_t
tid
;
if
(
sig
!=
MSG_SUSPEND
)
{
printf
(
"get an unexpected signal <%d>, exit
\n
"
,
sig
);
exit
(
EXIT_FAILURE
);
}
thread_from
=
(
thread_t
*
)
rt_interrupt_from_thread
;
thread_to
=
(
thread_t
*
)
rt_interrupt_to_thread
;
/* FIXME 注意!此时 rt_thread_self的值是to线程的值! */
tid
=
rt_thread_self
();
RT_ASSERT
(
thread_from
->
pthread
==
pid
);
RT_ASSERT
((
thread_t
*
)(
tid
->
sp
)
==
thread_to
);
TRACE
(
"signal: SIGSUSPEND suspend <%s>
\n
"
,
thread_from
->
rtthread
->
name
);
sem_wait
(
&
thread_from
->
sem
);
TRACE
(
"signal: SIGSUSPEND resume <%s>
\n
"
,
thread_from
->
rtthread
->
name
);
}
static
void
*
thread_run
(
void
*
parameter
)
{
rt_thread_t
tid
;
thread_t
*
thread
;
thread
=
THREAD_T
(
parameter
);
int
res
;
/* FIXME set signal mask, mask the timer! */
signal_mask
();
TRACE
(
"pid <%08x> stop on sem...
\n
"
,
(
unsigned
int
)(
thread
->
pthread
));
sem_wait
(
&
thread
->
sem
);
tid
=
rt_thread_self
();
TRACE
(
"pid <%08x> tid <%s> starts...
\n
"
,
(
unsigned
int
)(
thread
->
pthread
),
tid
->
name
);
thread
->
rtthread
=
tid
;
thread
->
task
(
thread
->
para
);
TRACE
(
"pid <%08x> tid <%s> exit...
\n
"
,
(
unsigned
int
)(
thread
->
pthread
),
tid
->
name
);
//FIXME
thread
->
exit
();
//sem_destroy(&thread->sem); //<--------------
pthread_exit
(
NULL
);
}
static
int
thread_create
(
thread_t
*
thread
,
void
*
task
,
void
*
parameter
,
void
*
pexit
)
{
int
res
;
pthread_attr_t
attr
;
thread
->
task
=
task
;
thread
->
para
=
parameter
;
thread
->
exit
=
pexit
;
if
(
sem_init
(
&
thread
->
sem
,
0
,
0
)
!=
0
)
{
printf
(
"init thread->sem failed, exit
\n
"
);
exit
(
EXIT_FAILURE
);
}
/* No need to join the threads. */
pthread_attr_init
(
&
attr
);
pthread_attr_setdetachstate
(
&
attr
,
PTHREAD_CREATE_DETACHED
);
/* create a posix thread */
res
=
pthread_create
(
&
thread
->
pthread
,
&
attr
,
&
thread_run
,
(
void
*
)
thread
);
if
(
res
)
{
printf
(
"pthread create faild, <%d>
\n
"
,
res
);
exit
(
EXIT_FAILURE
);
}
return
0
;
}
/* resume the thread */
static
int
thread_resume
(
thread_t
*
thread
)
{
sem_post
(
&
thread
->
sem
);
}
rt_uint8_t
*
rt_hw_stack_init
(
void
*
pEntry
,
void
*
pParam
,
rt_uint8_t
*
pStackAddr
,
void
*
pExit
)
{
thread_t
*
thread
;
thread
=
(
thread_t
*
)(
pStackAddr
-
sizeof
(
thread_t
));
/* set the filed to zero */
memset
(
thread
,
0x00
,
sizeof
(
thread_t
));
thread_create
(
thread
,
pEntry
,
pParam
,
pExit
);
//TRACE("thread %x created\n", (unsigned int)thread_table[t].pthread);
return
(
rt_uint8_t
*
)
thread
;
}
/* interrupt contex switch hit, value 1 or 0 */
static
long
int_cs_hit
;
rt_base_t
rt_hw_interrupt_disable
(
void
)
{
if
(
ptr_int_mutex
!=
NULL
)
{
// pthread_mutex_lock(ptr_int_mutex); //FIXME
}
/*TODO: It may need to mask the signal */
return
0
;
}
void
rt_hw_interrupt_enable
(
rt_base_t
level
)
{
level
=
level
;
if
(
ptr_int_mutex
!=
NULL
)
{
// pthread_mutex_unlock(ptr_int_mutex); //FIXME
}
/*TODO: It may need to unmask the signal */
}
void
rt_hw_context_switch_interrupt
(
rt_uint32_t
from
,
rt_uint32_t
to
)
{
rt_hw_context_switch
(
from
,
to
);
}
void
rt_hw_context_switch
(
rt_uint32_t
from
,
rt_uint32_t
to
)
{
struct
rt_thread
*
tid
;
pthread_t
pid
;
thread_t
*
thread_from
;
thread_t
*
thread_to
;
RT_ASSERT
(
from
!=
to
);
#if 0
if (rt_thread_switch_interrupt_flag != 1)
{
rt_thread_switch_interrupt_flag = 1;
// set rt_interrupt_from_thread
rt_interrupt_from_thread = *((rt_uint32_t *)from);
}
#endif
rt_interrupt_from_thread
=
*
((
rt_uint32_t
*
)
from
);
rt_interrupt_to_thread
=
*
((
rt_uint32_t
*
)
to
);
thread_from
=
(
thread_t
*
)
rt_interrupt_from_thread
;
thread_to
=
(
thread_t
*
)
rt_interrupt_to_thread
;
/* FIXME note: now, rt_current_thread is the thread_to! scheduler.c:272 */
tid
=
rt_thread_self
();
pid
=
pthread_self
();
/* 注意,只有两种可可能,一种是线程函数中调用此函数,一种是在中断中调用
* 而在中断调用是在主线程的信号处理函数中实现(目前只有tick中断)。
* 即, 只有如下两种可能:
* 1)普通RTT线程间接调用,如rt_thread_delay函数
* 2)或者主线程信号处理函数,如rt_tick_increase中调用
*/
if
(
pid
!=
mainthread_pid
)
{
TRACE
(
"conswitch: P in pid<%x> ,suspend <%s>, resume <%s>!
\n
"
,
(
unsigned
int
)
pid
,
thread_from
->
rtthread
->
name
,
thread_to
->
rtthread
->
name
);
/* from线程就是当前rtt线程 */
/* 确定一下,这两个值一定是相等的! */
RT_ASSERT
(
thread_from
->
pthread
==
pid
);
/* 唤醒to线程 */
sem_post
(
&
thread_to
->
sem
);
/* 挂起from线程, 既然from线程就是当前线程,所以应该直接
* 挂起在这里
*/
sem_wait
(
&
thread_from
->
sem
);
}
else
{
/* FIXME: 注意这段代码是在system tick 函数中执行的,
* 即此时位于主线程的SIGALRM信号处理函数中 */
TRACE
(
"conswitch: S in pid<%x> ,suspend <%s>, resume <%s>!
\n
"
,
(
unsigned
int
)
pid
,
thread_from
->
rtthread
->
name
,
thread_to
->
rtthread
->
name
);
/* 挂起from线程 */
pthread_kill
(
thread_from
->
pthread
,
MSG_SUSPEND
);
/* 唤醒to线程 */
sem_post
(
&
thread_to
->
sem
);
}
}
void
rt_hw_context_switch_to
(
rt_uint32_t
to
)
{
//set to thread
rt_interrupt_to_thread
=
*
((
rt_uint32_t
*
)(
to
));
//clear from thread
rt_interrupt_from_thread
=
0
;
//set interrupt to 1
rt_thread_switch_interrupt_flag
=
0
;
//<------
//start the main thread scheduler
mainthread_scheduler
();
//never reach here!
return
;
}
static
int
mainthread_scheduler
(
void
)
{
int
i
,
res
;
thread_t
*
thread_from
;
thread_t
*
thread_to
;
pthread_mutex_t
mutex
;
pthread_mutexattr_t
mutexattr
;
unsigned
int
contex_switch_mask
;
/* save the main thread id */
mainthread_pid
=
pthread_self
();
TRACE
(
"pid <%08x> mainthread
\n
"
,
(
unsigned
int
)(
mainthread_pid
));
/* register interrupts which is simulated for yield and systick */
//register_interrupt(CPU_INTERRUPT_YIELD, yield_interrupt_isr);
//register_interrupt(CPU_INTERRUPT_TICK, tick_interrupt_isr);
/* install signal handler of system tick */
signal_install
(
SIGALRM
,
mthread_signal_tick
);
/* install signal handler used to suspend itself */
signal_install
(
MSG_SUSPEND
,
thread_switch_handler
);
/* create a mutex and condition val, used to indicate interrupts occrue */
ptr_int_mutex
=
&
mutex
;
pthread_mutexattr_init
(
&
mutexattr
);
pthread_mutexattr_settype
(
&
mutexattr
,
PTHREAD_MUTEX_RECURSIVE
);
pthread_mutex_init
(
ptr_int_mutex
,
&
mutexattr
);
pthread_cond_init
(
&
cond_int_hit
,
NULL
);
/* start timer */
start_sys_timer
();
/* FIXME: note that, cond var could not released earlier than pthread_con_wait */
/* trigger_interrupt(CPU_INTERRUPT_YIELD); */
thread_to
=
(
thread_t
*
)
rt_interrupt_to_thread
;
thread_resume
(
thread_to
);
for
(;;)
{
#if 0
pthread_mutex_lock(ptr_int_mutex);
/*Lock mutex and wait for signal. Note that the pthread_cond_wait
*routine will automatically and atomically unlock mutex while it waits.
*/
TRACE("mthread: wait cond val!\n");
pthread_cond_wait(&cond_int_hit, ptr_int_mutex);
TRACE("mthread: got cond val!\n");
pthread_mutex_unlock(ptr_int_mutex);
#endif
//printf("main thread...\n");
sleep
(
1
);
}
return
0
;
}
/*
* Setup the systick timer to generate the tick interrupts at the required
* frequency.
*/
static
void
start_sys_timer
(
void
)
{
struct
itimerval
itimer
,
oitimer
;
int
us
;
RT_ASSERT
(
RT_TICK_PER_SECOND
<=
1000000
||
RT_TICK_PER_SECOND
>=
1
);
us
=
1000000
/
RT_TICK_PER_SECOND
-
1
;
TRACE
(
"start system tick!
\n
"
);
/* Initialise the structure with the current timer information. */
if
(
0
!=
getitimer
(
TIMER_TYPE
,
&
itimer
))
{
TRACE
(
"get timer failed.
\n
"
);
exit
(
EXIT_FAILURE
);
}
/* Set the interval between timer events. */
itimer
.
it_interval
.
tv_sec
=
0
;
itimer
.
it_interval
.
tv_usec
=
us
;
/* Set the current count-down. */
itimer
.
it_value
.
tv_sec
=
0
;
itimer
.
it_value
.
tv_usec
=
us
;
/* Set-up the timer interrupt. */
if
(
0
!=
setitimer
(
TIMER_TYPE
,
&
itimer
,
&
oitimer
))
{
TRACE
(
"set timer failed.
\n
"
);
exit
(
EXIT_FAILURE
);
}
}
static
void
mthread_signal_tick
(
int
sig
)
{
pthread_t
pid
=
pthread_self
();
if
(
sig
==
SIGALRM
)
{
TRACE
(
"pid <%x> signal: SIGALRM enter!
\n
"
,
(
unsigned
int
)
pid
);
tick_interrupt_isr
();
TRACE
(
"pid <%x> signal: SIGALRM leave!
\n
"
,
(
unsigned
int
)
pid
);
}
else
{
TRACE
(
"got an unexpected signal <%d>
\n
"
,
sig
);
exit
(
EXIT_FAILURE
);
}
}
/* isr return value: 1, should not be masked, if 0, can be masked */
static
int
tick_interrupt_isr
(
void
)
{
TRACE
(
"isr: systick enter!
\n
"
);
/* enter interrupt */
rt_interrupt_enter
();
rt_tick_increase
();
/* leave interrupt */
rt_interrupt_leave
();
TRACE
(
"isr: systick leave!
\n
"
);
return
0
;
}
#if 0
static void trigger_interrupt(int index)
{
if ((index < MAX_INTERRUPT_NUM) && ptr_int_mutex != NULL)
{
pthread_mutex_lock(ptr_int_mutex);
cpu_pending_interrupts |= (1 << index);
/* signal the condition val */
pthread_cond_signal(&cond_int_hit);
pthread_mutex_unlock(ptr_int_mutex);
}
}
#endif
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