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updated to 6.0.1 and added additional processors/toolchains

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tameraw
2020-07-16 14:32:40 -07:00
parent f8e91d4762
commit 2c35570dc9
1285 changed files with 550383 additions and 50 deletions
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ports/linux/gnu/example_build/file_list.mk
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LINUX_SRCS = \
tx_initialize_low_level.c \
tx_thread_context_restore.c \
tx_thread_context_save.c \
tx_thread_interrupt_control.c \
tx_thread_schedule.c \
tx_thread_stack_build.c \
tx_thread_system_return.c \
tx_timer_interrupt.c \
LINUX_OBJS = $(LINUX_SRCS:%.c=.tmp/%.o)
GENERIC_SRCS = \
tx_block_allocate.c \
tx_block_pool_cleanup.c \
tx_block_pool_create.c \
tx_block_pool_delete.c \
tx_block_pool_info_get.c \
tx_block_pool_initialize.c \
tx_block_pool_performance_info_get.c \
tx_block_pool_performance_system_info_get.c \
tx_block_pool_prioritize.c \
tx_block_release.c \
tx_byte_allocate.c \
tx_byte_pool_cleanup.c \
tx_byte_pool_create.c \
tx_byte_pool_delete.c \
tx_byte_pool_info_get.c \
tx_byte_pool_initialize.c \
tx_byte_pool_performance_info_get.c \
tx_byte_pool_performance_system_info_get.c \
tx_byte_pool_prioritize.c \
tx_byte_pool_search.c \
tx_byte_release.c \
txe_block_allocate.c \
txe_block_pool_create.c \
txe_block_pool_delete.c \
txe_block_pool_info_get.c \
txe_block_pool_prioritize.c \
txe_block_release.c \
txe_byte_allocate.c \
txe_byte_pool_create.c \
txe_byte_pool_delete.c \
txe_byte_pool_info_get.c \
txe_byte_pool_prioritize.c \
txe_byte_release.c \
txe_event_flags_create.c \
txe_event_flags_delete.c \
txe_event_flags_get.c \
txe_event_flags_info_get.c \
txe_event_flags_set.c \
txe_event_flags_set_notify.c \
txe_mutex_create.c \
txe_mutex_delete.c \
txe_mutex_get.c \
txe_mutex_info_get.c \
txe_mutex_prioritize.c \
txe_mutex_put.c \
txe_queue_create.c \
txe_queue_delete.c \
txe_queue_flush.c \
txe_queue_front_send.c \
txe_queue_info_get.c \
txe_queue_prioritize.c \
txe_queue_receive.c \
txe_queue_send.c \
txe_queue_send_notify.c \
txe_semaphore_ceiling_put.c \
txe_semaphore_create.c \
txe_semaphore_delete.c \
txe_semaphore_get.c \
txe_semaphore_info_get.c \
txe_semaphore_prioritize.c \
txe_semaphore_put.c \
txe_semaphore_put_notify.c \
txe_thread_create.c \
txe_thread_delete.c \
txe_thread_entry_exit_notify.c \
txe_thread_info_get.c \
txe_thread_preemption_change.c \
txe_thread_priority_change.c \
txe_thread_relinquish.c \
txe_thread_reset.c \
txe_thread_resume.c \
txe_thread_suspend.c \
txe_thread_terminate.c \
txe_thread_time_slice_change.c \
txe_thread_wait_abort.c \
txe_timer_activate.c \
txe_timer_change.c \
txe_timer_create.c \
txe_timer_deactivate.c \
txe_timer_delete.c \
txe_timer_info_get.c \
tx_event_flags_cleanup.c \
tx_event_flags_create.c \
tx_event_flags_delete.c \
tx_event_flags_get.c \
tx_event_flags_info_get.c \
tx_event_flags_initialize.c \
tx_event_flags_performance_info_get.c \
tx_event_flags_performance_system_info_get.c \
tx_event_flags_set.c \
tx_event_flags_set_notify.c \
tx_initialize_high_level.c \
tx_initialize_kernel_enter.c \
tx_initialize_kernel_setup.c \
tx_misra.c \
tx_mutex_cleanup.c \
tx_mutex_create.c \
tx_mutex_delete.c \
tx_mutex_get.c \
tx_mutex_info_get.c \
tx_mutex_initialize.c \
tx_mutex_performance_info_get.c \
tx_mutex_performance_system_info_get.c \
tx_mutex_prioritize.c \
tx_mutex_priority_change.c \
tx_mutex_put.c \
tx_queue_cleanup.c \
tx_queue_create.c \
tx_queue_delete.c \
tx_queue_flush.c \
tx_queue_front_send.c \
tx_queue_info_get.c \
tx_queue_initialize.c \
tx_queue_performance_info_get.c \
tx_queue_performance_system_info_get.c \
tx_queue_prioritize.c \
tx_queue_receive.c \
tx_queue_send.c \
tx_queue_send_notify.c \
tx_semaphore_ceiling_put.c \
tx_semaphore_cleanup.c \
tx_semaphore_create.c \
tx_semaphore_delete.c \
tx_semaphore_get.c \
tx_semaphore_info_get.c \
tx_semaphore_initialize.c \
tx_semaphore_performance_info_get.c \
tx_semaphore_performance_system_info_get.c \
tx_semaphore_prioritize.c \
tx_semaphore_put.c \
tx_semaphore_put_notify.c \
tx_thread_create.c \
tx_thread_delete.c \
tx_thread_entry_exit_notify.c \
tx_thread_identify.c \
tx_thread_info_get.c \
tx_thread_initialize.c \
tx_thread_performance_info_get.c \
tx_thread_performance_system_info_get.c \
tx_thread_preemption_change.c \
tx_thread_priority_change.c \
tx_thread_relinquish.c \
tx_thread_reset.c \
tx_thread_resume.c \
tx_thread_shell_entry.c \
tx_thread_sleep.c \
tx_thread_stack_analyze.c \
tx_thread_stack_error_handler.c \
tx_thread_stack_error_notify.c \
tx_thread_suspend.c \
tx_thread_system_preempt_check.c \
tx_thread_system_resume.c \
tx_thread_system_suspend.c \
tx_thread_terminate.c \
tx_thread_timeout.c \
tx_thread_time_slice.c \
tx_thread_time_slice_change.c \
tx_thread_wait_abort.c \
tx_time_get.c \
tx_timer_activate.c \
tx_timer_change.c \
tx_timer_create.c \
tx_timer_deactivate.c \
tx_timer_delete.c \
tx_timer_expiration_process.c \
tx_timer_info_get.c \
tx_timer_initialize.c \
tx_timer_performance_info_get.c \
tx_timer_performance_system_info_get.c \
tx_timer_system_activate.c \
tx_timer_system_deactivate.c \
tx_timer_thread_entry.c \
tx_time_set.c \
tx_trace_buffer_full_notify.c \
tx_trace_disable.c \
tx_trace_enable.c \
tx_trace_event_filter.c \
tx_trace_event_unfilter.c \
tx_trace_initialize.c \
tx_trace_interrupt_control.c \
tx_trace_isr_enter_insert.c \
tx_trace_isr_exit_insert.c \
tx_trace_object_register.c \
tx_trace_object_unregister.c \
tx_trace_user_event_insert.c \
GENERIC_OBJS = $(GENERIC_SRCS:%.c=.tmp/generic/%.o)
ports/linux/gnu/example_build/sample_threadx.c
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/* This is a small demo of the high-performance ThreadX kernel. It includes examples of eight
threads of different priorities, using a message queue, semaphore, mutex, event flags group,
byte pool, and block pool. */
#include "tx_api.h"
#include <stdio.h>
#define DEMO_STACK_SIZE 1024
#define DEMO_BYTE_POOL_SIZE 9120
#define DEMO_BLOCK_POOL_SIZE 100
#define DEMO_QUEUE_SIZE 100
/* Define the ThreadX object control blocks... */
TX_THREAD thread_0;
TX_THREAD thread_1;
TX_THREAD thread_2;
TX_THREAD thread_3;
TX_THREAD thread_4;
TX_THREAD thread_5;
TX_THREAD thread_6;
TX_THREAD thread_7;
TX_QUEUE queue_0;
TX_SEMAPHORE semaphore_0;
TX_MUTEX mutex_0;
TX_EVENT_FLAGS_GROUP event_flags_0;
TX_BYTE_POOL byte_pool_0;
TX_BLOCK_POOL block_pool_0;
/* Define the counters used in the demo application... */
ULONG thread_0_counter;
ULONG thread_1_counter;
ULONG thread_1_messages_sent;
ULONG thread_2_counter;
ULONG thread_2_messages_received;
ULONG thread_3_counter;
ULONG thread_4_counter;
ULONG thread_5_counter;
ULONG thread_6_counter;
ULONG thread_7_counter;
/* Define thread prototypes. */
void thread_0_entry(ULONG thread_input);
void thread_1_entry(ULONG thread_input);
void thread_2_entry(ULONG thread_input);
void thread_3_and_4_entry(ULONG thread_input);
void thread_5_entry(ULONG thread_input);
void thread_6_and_7_entry(ULONG thread_input);
/* Define main entry point. */
int main()
{
/* Enter the ThreadX kernel. */
tx_kernel_enter();
}
/* Define what the initial system looks like. */
void tx_application_define(void *first_unused_memory)
{
CHAR *pointer = TX_NULL;
/* Create a byte memory pool from which to allocate the thread stacks. */
tx_byte_pool_create(&byte_pool_0, "byte pool 0", first_unused_memory, DEMO_BYTE_POOL_SIZE);
/* Put system definition stuff in here, e.g. thread creates and other assorted
create information. */
/* Allocate the stack for thread 0. */
tx_byte_allocate(&byte_pool_0, (VOID **) &pointer, DEMO_STACK_SIZE, TX_NO_WAIT);
/* Create the main thread. */
tx_thread_create(&thread_0, "thread 0", thread_0_entry, 0,
pointer, DEMO_STACK_SIZE,
1, 1, TX_NO_TIME_SLICE, TX_AUTO_START);
/* Allocate the stack for thread 1. */
tx_byte_allocate(&byte_pool_0, (VOID **) &pointer, DEMO_STACK_SIZE, TX_NO_WAIT);
/* Create threads 1 and 2. These threads pass information through a ThreadX
message queue. It is also interesting to note that these threads have a time
slice. */
tx_thread_create(&thread_1, "thread 1", thread_1_entry, 1,
pointer, DEMO_STACK_SIZE,
16, 16, 4, TX_AUTO_START);
/* Allocate the stack for thread 2. */
tx_byte_allocate(&byte_pool_0, (VOID **) &pointer, DEMO_STACK_SIZE, TX_NO_WAIT);
tx_thread_create(&thread_2, "thread 2", thread_2_entry, 2,
pointer, DEMO_STACK_SIZE,
16, 16, 4, TX_AUTO_START);
/* Allocate the stack for thread 3. */
tx_byte_allocate(&byte_pool_0, (VOID **) &pointer, DEMO_STACK_SIZE, TX_NO_WAIT);
/* Create threads 3 and 4. These threads compete for a ThreadX counting semaphore.
An interesting thing here is that both threads share the same instruction area. */
tx_thread_create(&thread_3, "thread 3", thread_3_and_4_entry, 3,
pointer, DEMO_STACK_SIZE,
8, 8, TX_NO_TIME_SLICE, TX_AUTO_START);
/* Allocate the stack for thread 4. */
tx_byte_allocate(&byte_pool_0, (VOID **) &pointer, DEMO_STACK_SIZE, TX_NO_WAIT);
tx_thread_create(&thread_4, "thread 4", thread_3_and_4_entry, 4,
pointer, DEMO_STACK_SIZE,
8, 8, TX_NO_TIME_SLICE, TX_AUTO_START);
/* Allocate the stack for thread 5. */
tx_byte_allocate(&byte_pool_0, (VOID **) &pointer, DEMO_STACK_SIZE, TX_NO_WAIT);
/* Create thread 5. This thread simply pends on an event flag which will be set
by thread_0. */
tx_thread_create(&thread_5, "thread 5", thread_5_entry, 5,
pointer, DEMO_STACK_SIZE,
4, 4, TX_NO_TIME_SLICE, TX_AUTO_START);
/* Allocate the stack for thread 6. */
tx_byte_allocate(&byte_pool_0, (VOID **) &pointer, DEMO_STACK_SIZE, TX_NO_WAIT);
/* Create threads 6 and 7. These threads compete for a ThreadX mutex. */
tx_thread_create(&thread_6, "thread 6", thread_6_and_7_entry, 6,
pointer, DEMO_STACK_SIZE,
8, 8, TX_NO_TIME_SLICE, TX_AUTO_START);
/* Allocate the stack for thread 7. */
tx_byte_allocate(&byte_pool_0, (VOID **) &pointer, DEMO_STACK_SIZE, TX_NO_WAIT);
tx_thread_create(&thread_7, "thread 7", thread_6_and_7_entry, 7,
pointer, DEMO_STACK_SIZE,
8, 8, TX_NO_TIME_SLICE, TX_AUTO_START);
/* Allocate the message queue. */
tx_byte_allocate(&byte_pool_0, (VOID **) &pointer, DEMO_QUEUE_SIZE*sizeof(ULONG), TX_NO_WAIT);
/* Create the message queue shared by threads 1 and 2. */
tx_queue_create(&queue_0, "queue 0", TX_1_ULONG, pointer, DEMO_QUEUE_SIZE*sizeof(ULONG));
/* Create the semaphore used by threads 3 and 4. */
tx_semaphore_create(&semaphore_0, "semaphore 0", 1);
/* Create the event flags group used by threads 1 and 5. */
tx_event_flags_create(&event_flags_0, "event flags 0");
/* Create the mutex used by thread 6 and 7 without priority inheritance. */
tx_mutex_create(&mutex_0, "mutex 0", TX_NO_INHERIT);
/* Allocate the memory for a small block pool. */
tx_byte_allocate(&byte_pool_0, (VOID **) &pointer, DEMO_BLOCK_POOL_SIZE, TX_NO_WAIT);
/* Create a block memory pool to allocate a message buffer from. */
tx_block_pool_create(&block_pool_0, "block pool 0", sizeof(ULONG), pointer, DEMO_BLOCK_POOL_SIZE);
/* Allocate a block and release the block memory. */
tx_block_allocate(&block_pool_0, (VOID **) &pointer, TX_NO_WAIT);
/* Release the block back to the pool. */
tx_block_release(pointer);
}
/* Define the test threads. */
void thread_0_entry(ULONG thread_input)
{
UINT status;
/* This thread simply sits in while-forever-sleep loop. */
while(1)
{
/* Increment the thread counter. */
thread_0_counter++;
/* Print results. */
printf("**** ThreadX Linux Demonstration **** (c) 1996-2020 Microsoft Corporation\n\n");
printf(" thread 0 events sent: %lu\n", thread_0_counter);
printf(" thread 1 messages sent: %lu\n", thread_1_counter);
printf(" thread 2 messages received: %lu\n", thread_2_counter);
printf(" thread 3 obtained semaphore: %lu\n", thread_3_counter);
printf(" thread 4 obtained semaphore: %lu\n", thread_4_counter);
printf(" thread 5 events received: %lu\n", thread_5_counter);
printf(" thread 6 mutex obtained: %lu\n", thread_6_counter);
printf(" thread 7 mutex obtained: %lu\n\n", thread_7_counter);
/* Sleep for 10 ticks. */
tx_thread_sleep(10);
/* Set event flag 0 to wakeup thread 5. */
status = tx_event_flags_set(&event_flags_0, 0x1, TX_OR);
/* Check status. */
if (status != TX_SUCCESS)
break;
}
}
void thread_1_entry(ULONG thread_input)
{
UINT status;
/* This thread simply sends messages to a queue shared by thread 2. */
while(1)
{
/* Increment the thread counter. */
thread_1_counter++;
/* Send message to queue 0. */
status = tx_queue_send(&queue_0, &thread_1_messages_sent, TX_WAIT_FOREVER);
/* Check completion status. */
if (status != TX_SUCCESS)
break;
/* Increment the message sent. */
thread_1_messages_sent++;
}
}
void thread_2_entry(ULONG thread_input)
{
ULONG received_message;
UINT status;
/* This thread retrieves messages placed on the queue by thread 1. */
while(1)
{
/* Increment the thread counter. */
thread_2_counter++;
/* Retrieve a message from the queue. */
status = tx_queue_receive(&queue_0, &received_message, TX_WAIT_FOREVER);
/* Check completion status and make sure the message is what we
expected. */
if ((status != TX_SUCCESS) || (received_message != thread_2_messages_received))
break;
/* Otherwise, all is okay. Increment the received message count. */
thread_2_messages_received++;
}
}
void thread_3_and_4_entry(ULONG thread_input)
{
UINT status;
/* This function is executed from thread 3 and thread 4. As the loop
below shows, these function compete for ownership of semaphore_0. */
while(1)
{
/* Increment the thread counter. */
if (thread_input == 3)
thread_3_counter++;
else
thread_4_counter++;
/* Get the semaphore with suspension. */
status = tx_semaphore_get(&semaphore_0, TX_WAIT_FOREVER);
/* Check status. */
if (status != TX_SUCCESS)
break;
/* Sleep for 2 ticks to hold the semaphore. */
tx_thread_sleep(2);
/* Release the semaphore. */
status = tx_semaphore_put(&semaphore_0);
/* Check status. */
if (status != TX_SUCCESS)
break;
}
}
void thread_5_entry(ULONG thread_input)
{
UINT status;
ULONG actual_flags;
/* This thread simply waits for an event in a forever loop. */
while(1)
{
/* Increment the thread counter. */
thread_5_counter++;
/* Wait for event flag 0. */
status = tx_event_flags_get(&event_flags_0, 0x1, TX_OR_CLEAR,
&actual_flags, TX_WAIT_FOREVER);
/* Check status. */
if ((status != TX_SUCCESS) || (actual_flags != 0x1))
break;
}
}
void thread_6_and_7_entry(ULONG thread_input)
{
UINT status;
/* This function is executed from thread 6 and thread 7. As the loop
below shows, these function compete for ownership of mutex_0. */
while(1)
{
/* Increment the thread counter. */
if (thread_input == 6)
thread_6_counter++;
else
thread_7_counter++;
/* Get the mutex with suspension. */
status = tx_mutex_get(&mutex_0, TX_WAIT_FOREVER);
/* Check status. */
if (status != TX_SUCCESS)
break;
/* Get the mutex again with suspension. This shows
that an owning thread may retrieve the mutex it
owns multiple times. */
status = tx_mutex_get(&mutex_0, TX_WAIT_FOREVER);
/* Check status. */
if (status != TX_SUCCESS)
break;
/* Sleep for 2 ticks to hold the mutex. */
tx_thread_sleep(2);
/* Release the mutex. */
status = tx_mutex_put(&mutex_0);
/* Check status. */
if (status != TX_SUCCESS)
break;
/* Release the mutex again. This will actually
release ownership since it was obtained twice. */
status = tx_mutex_put(&mutex_0);
/* Check status. */
if (status != TX_SUCCESS)
break;
}
}
ports/linux/gnu/inc/tx_port.h
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ports/linux/gnu/readme_threadx.txt
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Microsoft's Azure RTOS ThreadX for Linux
Using the GNU GCC Tools
1. Building the ThreadX run-time Library
First make sure you are in the "example_build" directory. Also, make sure that
you have setup your path and other environment variables necessary for the GNU
development environment. The following command retrieves and installs GCC
multilib on a Ubuntu system:
sudo apt-get install gcc-multilib
At this point you may run the GNU make command to build the ThreadX core
library. This will build the ThreadX run-time environment in the
"example_build" directory.
make tx.a
you should now observe the compilation of the ThreadX library source. At the
end of the make, they are all combined into the run-time library file: tx.a.
This file must be linked with your application in order to use ThreadX.
2. Demonstration System
Building the demonstration is easy; simply execute the GNU make command while
inside the "example_build" directory.
make sample_threadx
You should observe the compilation of sample_threadx.c (which is the demonstration
application) and linking with tx.a. The resulting file DEMO is a binary file
that can be executed.
3. System Initialization
The system entry point is at main(), which is defined in the application.
Once the application calls tx_kernel_enter, ThreadX starts running and
performs various initialization duties prior to starting the scheduler. The
Linux-specific initialization is done in the function _tx_initialize_low_level,
which is located in the file tx_initialize_low_level.c. This function is
responsible for setting up various system data structures and simulated
interrupts - including the periodic timer interrupt source for ThreadX.
In addition, _tx_initialize_low_level determines the first available
address for use by the application. In Linux, this is basically done
by using malloc to get a big block of memory from Linux.
4. Linux Implementation
ThreadX for Linux is implemented using POSIX pthreads. Each application
thread in ThreadX actually runs as a Linux pthread. The determination of
which application thread to run is made by the ThreadX scheduler, which
itself is a Linux pthread. The ThreadX scheduler is the highest priority
thread in the system.
Interrupts in ThreadX/Linux are also simulated by pthreads. A good example
is the ThreadX system timer interrupt, which can be found in
tx_initialize_low_level.c.
ThreadX for linux utilizes the API pthread_setschedparam() which requires
the ThreadX application running with privilege. The following command is used
to run a ThreadX application:
./sample_threadx
5. Improving Performance
The distribution version of ThreadX is built without any compiler
optimizations. This makes it easy to debug because you can trace or set
breakpoints inside of ThreadX itself. Of course, this costs some
performance. To make it run faster, you can change the makefile to
enable all compiler optimizations. In addition, you can eliminate the
ThreadX basic API error checking by compiling your application code with the
symbol TX_DISABLE_ERROR_CHECKING defined.
6. Interrupt Handling
ThreadX provides simulated interrupt handling with Linux pthreads. Simulated
interrupt threads may be created by the application or may be added to the
simulated timer interrupt defined in tx_initialize_low_level.c. The following
format for creating simulated interrupts should be used:
6.1 Data structures
Here is an example of how to define the Linux data structures and prototypes
necessary to create a simulated interrupt thread:
pthread_t _sample_linux_interrupt_thread;
void *_sample_linux_interrupt_entry(void *p);
6.2 Creating a Simulated Interrupt Thread
Here is an example of how to create a simulated interrupt thread in Linux.
This may be done inside of tx_initialize_low_level.c or from your application code
struct sched_param sp;
/* Create the ISR thread */
pthread_create(&_sample_linux_interrupt_thread, NULL, _sample_linux_interrupt_entry, &_sample_linux_interrupt_thread);
/* Set up the ISR priority */
sp.sched_priority = TX_LINUX_PRIORITY_ISR;
pthread_setschedparam(_sample_linux_interrupt_thread, SCHED_FIFO, &sp);
6.3 Simulated Interrupt Thread Template
The following is a template for the simulated interrupt thread. This interrupt will occur on
a periodic basis.
void *_sample_linux_interrupt_entry(void *p)
{
struct timespec ts;
while(1)
{
ts.tv_sec = 0;
ts.tv_nsec = 10000;
while(nanosleep(&ts, &ts));
/* Call ThreadX context save for interrupt preparation. */
_tx_thread_context_save();
/* Call the real ISR routine */
_sample_linux_interrupt_isr();
/* Call ThreadX context restore for interrupt completion. */
_tx_thread_context_restore();
}
}
7. Revision History
For generic code revision information, please refer to the readme_threadx_generic.txt
file, which is included in your distribution. The following details the revision
information associated with this specific port of ThreadX:
06/30/2020 Initial ThreadX 6.0.1 version for Linux using GNU GCC tools.
Copyright(c) 1996-2020 Microsoft Corporation
https://azure.com/rtos
ports/linux/gnu/src/tx_initialize_low_level.c
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/**************************************************************************/
/* */
/* Copyright (c) Microsoft Corporation. All rights reserved. */
/* */
/* This software is licensed under the Microsoft Software License */
/* Terms for Microsoft Azure RTOS. Full text of the license can be */
/* found in the LICENSE file at https://aka.ms/AzureRTOS_EULA */
/* and in the root directory of this software. */
/* */
/**************************************************************************/
/**************************************************************************/
/**************************************************************************/
/** */
/** ThreadX Component */
/** */
/** Initialize */
/** */
/**************************************************************************/
/**************************************************************************/
#define TX_SOURCE_CODE
/* Include necessary system files. */
#include "tx_api.h"
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <unistd.h>
#include <errno.h>
#include <sys/sysinfo.h>
/* Define various Linux objects used by the ThreadX port. */
pthread_mutex_t _tx_linux_mutex;
sem_t _tx_linux_semaphore;
sem_t _tx_linux_semaphore_no_idle;
ULONG _tx_linux_global_int_disabled_flag;
struct timespec _tx_linux_time_stamp;
__thread int _tx_linux_threadx_thread = 0;
/* Define signals for linux thread. */
#define SUSPEND_SIG SIGUSR1
#define RESUME_SIG SIGUSR2
static sigset_t _tx_linux_thread_wait_mask;
static __thread int _tx_linux_thread_suspended;
static sem_t _tx_linux_thread_timer_wait;
static sem_t _tx_linux_thread_other_wait;
/* Define simulated timer interrupt. This is done inside a thread, which is
how other interrupts may be defined as well. See code below for an
example. */
pthread_t _tx_linux_timer_id;
sem_t _tx_linux_timer_semaphore;
sem_t _tx_linux_isr_semaphore;
void *_tx_linux_timer_interrupt(void *p);
#ifdef TX_LINUX_DEBUG_ENABLE
extern ULONG _tx_thread_system_state;
extern UINT _tx_thread_preempt_disable;
extern TX_THREAD *_tx_thread_current_ptr;
extern TX_THREAD *_tx_thread_execute_ptr;
/* Define debug log in order to debug Linux issues with this port. */
typedef struct TX_LINUX_DEBUG_ENTRY_STRUCT
{
char *tx_linux_debug_entry_action;
struct timespec tx_linux_debug_entry_timestamp;
char *tx_linux_debug_entry_file;
unsigned long tx_linux_debug_entry_line;
pthread_mutex_t tx_linux_debug_entry_mutex;
unsigned long tx_linux_debug_entry_int_disabled_flag;
ULONG tx_linux_debug_entry_system_state;
UINT tx_linux_debug_entry_preempt_disable;
TX_THREAD *tx_linux_debug_entry_current_thread;
TX_THREAD *tx_linux_debug_entry_execute_thread;
} TX_LINUX_DEBUG_ENTRY;
/* Define the maximum size of the Linux debug array. */
#ifndef TX_LINUX_DEBUG_EVENT_SIZE
#define TX_LINUX_DEBUG_EVENT_SIZE 400
#endif
/* Define the circular array of Linux debug entries. */
TX_LINUX_DEBUG_ENTRY _tx_linux_debug_entry_array[TX_LINUX_DEBUG_EVENT_SIZE];
/* Define the Linux debug index. */
unsigned long _tx_linux_debug_entry_index = 0;
/* Now define the debug entry function. */
void _tx_linux_debug_entry_insert(char *action, char *file, unsigned long line)
{
pthread_mutex_t temp_copy;
/* Save the current critical section value. */
temp_copy = _tx_linux_mutex;
/* Lock mutex. */
tx_linux_mutex_lock(_tx_linux_mutex);
/* Get the time stamp. */
clock_gettime(CLOCK_REALTIME, &_tx_linux_time_stamp);
/* Setup the debub entry. */
_tx_linux_debug_entry_array[_tx_linux_debug_entry_index].tx_linux_debug_entry_action = action;
_tx_linux_debug_entry_array[_tx_linux_debug_entry_index].tx_linux_debug_entry_timestamp = _tx_linux_time_stamp;
_tx_linux_debug_entry_array[_tx_linux_debug_entry_index].tx_linux_debug_entry_file = file;
_tx_linux_debug_entry_array[_tx_linux_debug_entry_index].tx_linux_debug_entry_line = line;
_tx_linux_debug_entry_array[_tx_linux_debug_entry_index].tx_linux_debug_entry_mutex = temp_copy;
_tx_linux_debug_entry_array[_tx_linux_debug_entry_index].tx_linux_debug_entry_int_disabled_flag = _tx_linux_global_int_disabled_flag;
_tx_linux_debug_entry_array[_tx_linux_debug_entry_index].tx_linux_debug_entry_system_state = _tx_thread_system_state;
_tx_linux_debug_entry_array[_tx_linux_debug_entry_index].tx_linux_debug_entry_preempt_disable = _tx_thread_preempt_disable;
_tx_linux_debug_entry_array[_tx_linux_debug_entry_index].tx_linux_debug_entry_current_thread = _tx_thread_current_ptr;
_tx_linux_debug_entry_array[_tx_linux_debug_entry_index].tx_linux_debug_entry_execute_thread = _tx_thread_execute_ptr;
/* Now move to the next entry. */
_tx_linux_debug_entry_index++;
/* Determine if we need to wrap the list. */
if (_tx_linux_debug_entry_index >= TX_LINUX_DEBUG_EVENT_SIZE)
{
/* Yes, wrap the list! */
_tx_linux_debug_entry_index = 0;
}
/* Unlock mutex. */
tx_linux_mutex_unlock(_tx_linux_mutex);
}
#endif
/* Define the ThreadX timer interrupt handler. */
void _tx_timer_interrupt(void);
/* Define other external function references. */
VOID _tx_initialize_low_level(VOID);
VOID _tx_thread_context_save(VOID);
VOID _tx_thread_context_restore(VOID);
/* Define other external variable references. */
extern VOID *_tx_initialize_unused_memory;
/**************************************************************************/
/* */
/* FUNCTION RELEASE */
/* */
/* _tx_initialize_low_level Linux/GNU */
/* 6.0.1 */
/* AUTHOR */
/* */
/* William E. Lamie, Microsoft Corporation */
/* */
/* DESCRIPTION */
/* */
/* This function is responsible for any low-level processor */
/* initialization, including setting up interrupt vectors, setting */
/* up a periodic timer interrupt source, saving the system stack */
/* pointer for use in ISR processing later, and finding the first */
/* available RAM memory address for tx_application_define. */
/* */
/* INPUT */
/* */
/* None */
/* */
/* OUTPUT */
/* */
/* None */
/* */
/* CALLS */
/* */
/* sched_setaffinity */
/* getpid */
/* _tx_linux_thread_init */
/* pthread_setschedparam */
/* pthread_mutexattr_init */
/* pthread_mutex_init */
/* _tx_linux_thread_suspend */
/* sem_init */
/* pthread_create */
/* printf */
/* */
/* CALLED BY */
/* */
/* _tx_initialize_kernel_enter ThreadX entry function */
/* */
/* RELEASE HISTORY */
/* */
/* DATE NAME DESCRIPTION */
/* */
/* 06-30-2020 William E. Lamie Initial Version 6.0.1 */
/* */
/**************************************************************************/
VOID _tx_initialize_low_level(VOID)
{
struct sched_param sp;
pthread_mutexattr_t attr;
#ifdef TX_LINUX_MULTI_CORE
cpu_set_t mask;
sched_getaffinity(getpid(), sizeof(mask), &mask);
if (CPU_COUNT(&mask) > 1)
{
srand((ULONG)pthread_self());
/* Limit this ThreadX simulation on Linux to a single core. */
CPU_ZERO(&mask);
CPU_SET(rand() % get_nprocs(), &mask);
if (sched_setaffinity(getpid(), sizeof(mask), &mask) != 0)
{
/* Error restricting the process to one core. */
printf("ThreadX Linux error restricting the process to one core!\n");
while(1)
{
}
}
}
#endif
/* Pickup the first available memory address. */
/* Save the first available memory address. */
_tx_initialize_unused_memory = malloc(TX_LINUX_MEMORY_SIZE);
/* Init Linux thread. */
_tx_linux_thread_init();
/* Set priority and schedual of main thread. */
sp.sched_priority = TX_LINUX_PRIORITY_SCHEDULE;
pthread_setschedparam(pthread_self(), SCHED_FIFO, &sp);
/* Create the system critical section. This is used by the
scheduler thread (which is the main thread) to block all
other stuff out. */
pthread_mutexattr_init(&attr);
pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_RECURSIVE);
pthread_mutex_init(&_tx_linux_mutex, &attr);
sem_init(&_tx_linux_semaphore, 0, 0);
#ifdef TX_LINUX_NO_IDLE_ENABLE
sem_init(&_tx_linux_semaphore_no_idle, 0, 0);
#endif /* TX_LINUX_NO_IDLE_ENABLE */
/* Initialize the global interrupt disabled flag. */
_tx_linux_global_int_disabled_flag = TX_FALSE;
/* Create semaphore for timer thread. */
sem_init(&_tx_linux_timer_semaphore, 0, 0);
/* Create semaphore for ISR thread. */
sem_init(&_tx_linux_isr_semaphore, 0, 0);
/* Setup periodic timer interrupt. */
if(pthread_create(&_tx_linux_timer_id, NULL, _tx_linux_timer_interrupt, NULL))
{
/* Error creating the timer interrupt. */
printf("ThreadX Linux error creating timer interrupt thread!\n");
while(1)
{
}
}
/* Otherwise, we have a good thread create. Now set the priority to
a level lower than the system thread but higher than the application
threads. */
sp.sched_priority = TX_LINUX_PRIORITY_ISR;
pthread_setschedparam(_tx_linux_timer_id, SCHED_FIFO, &sp);
/* Done, return to caller. */
}
/* This routine is called after initialization is complete in order to start
all interrupt threads. Interrupt threads in addition to the timer may
be added to this routine as well. */
void _tx_initialize_start_interrupts(void)
{
/* Kick the timer thread off to generate the ThreadX periodic interrupt
source. */
tx_linux_sem_post(&_tx_linux_timer_semaphore);
}
/* Define the ThreadX system timer interrupt. Other interrupts may be simulated
in a similar way. */
void *_tx_linux_timer_interrupt(void *p)
{
struct timespec ts;
long timer_periodic_nsec;
int err;
/* Calculate periodic timer. */
timer_periodic_nsec = 1000000000 / TX_TIMER_TICKS_PER_SECOND;
nice(10);
/* Wait startup semaphore. */
tx_linux_sem_wait(&_tx_linux_timer_semaphore);
while(1)
{
clock_gettime(CLOCK_REALTIME, &ts);
ts.tv_nsec += timer_periodic_nsec;
if (ts.tv_nsec > 1000000000)
{
ts.tv_nsec -= 1000000000;
ts.tv_sec++;
}
do
{
if (sem_timedwait(&_tx_linux_timer_semaphore, &ts) == 0)
{
break;
}
err = errno;
} while (err != ETIMEDOUT);
/* Call ThreadX context save for interrupt preparation. */
_tx_thread_context_save();
/* Call trace ISR enter event insert. */
_tx_trace_isr_enter_insert(0);
/* Call the ThreadX system timer interrupt processing. */
_tx_timer_interrupt();
/* Call trace ISR exit event insert. */
_tx_trace_isr_exit_insert(0);
/* Call ThreadX context restore for interrupt completion. */
_tx_thread_context_restore();
#ifdef TX_LINUX_NO_IDLE_ENABLE
tx_linux_mutex_lock(_tx_linux_mutex);
/* Make sure semaphore is 0. */
while(!sem_trywait(&_tx_linux_semaphore_no_idle));
/* Wakeup the system thread by setting the system semaphore. */
tx_linux_sem_post(&_tx_linux_semaphore_no_idle);
tx_linux_mutex_unlock(_tx_linux_mutex);
#endif /* TX_LINUX_NO_IDLE_ENABLE */
}
}
/* Define functions for linux thread. */
void _tx_linux_thread_resume_handler(int sig)
{
}
void _tx_linux_thread_suspend_handler(int sig)
{
if(pthread_equal(pthread_self(), _tx_linux_timer_id))
tx_linux_sem_post_nolock(&_tx_linux_thread_timer_wait);
else
tx_linux_sem_post_nolock(&_tx_linux_thread_other_wait);
if(_tx_linux_thread_suspended)
return;
_tx_linux_thread_suspended = 1;
sigsuspend(&_tx_linux_thread_wait_mask);
_tx_linux_thread_suspended = 0;
}
void _tx_linux_thread_suspend(pthread_t thread_id)
{
/* Send signal. */
tx_linux_mutex_lock(_tx_linux_mutex);
pthread_kill(thread_id, SUSPEND_SIG);
tx_linux_mutex_unlock(_tx_linux_mutex);
/* Wait until signal is received. */
if(pthread_equal(thread_id, _tx_linux_timer_id))
tx_linux_sem_wait(&_tx_linux_thread_timer_wait);
else
tx_linux_sem_wait(&_tx_linux_thread_other_wait);
}
void _tx_linux_thread_resume(pthread_t thread_id)
{
/* Send signal. */
tx_linux_mutex_lock(_tx_linux_mutex);
pthread_kill(thread_id, RESUME_SIG);
tx_linux_mutex_unlock(_tx_linux_mutex);
}
void _tx_linux_thread_init()
{
struct sigaction sa;
/* Create semaphore for linux thread. */
sem_init(&_tx_linux_thread_timer_wait, 0, 0);
sem_init(&_tx_linux_thread_other_wait, 0, 0);
sigfillset(&_tx_linux_thread_wait_mask);
sigdelset(&_tx_linux_thread_wait_mask, RESUME_SIG);
sigfillset(&sa.sa_mask);
sa.sa_flags = 0;
sa.sa_handler = _tx_linux_thread_resume_handler;
sigaction(RESUME_SIG, &sa, NULL);
sa.sa_handler = _tx_linux_thread_suspend_handler;
sigaction(SUSPEND_SIG, &sa, NULL);
}
ports/linux/gnu/src/tx_thread_context_restore.c
+163
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@@ -0,0 +1,163 @@
/**************************************************************************/
/* */
/* Copyright (c) Microsoft Corporation. All rights reserved. */
/* */
/* This software is licensed under the Microsoft Software License */
/* Terms for Microsoft Azure RTOS. Full text of the license can be */
/* found in the LICENSE file at https://aka.ms/AzureRTOS_EULA */
/* and in the root directory of this software. */
/* */
/**************************************************************************/
/**************************************************************************/
/**************************************************************************/
/** */
/** ThreadX Component */
/** */
/** Thread */
/** */
/**************************************************************************/
/**************************************************************************/
#define TX_SOURCE_CODE
/* Include necessary system files. */
#include "tx_api.h"
#include "tx_thread.h"
#include "tx_timer.h"
extern sem_t _tx_linux_isr_semaphore;
UINT _tx_linux_timer_waiting = 0;
/**************************************************************************/
/* */
/* FUNCTION RELEASE */
/* */
/* _tx_thread_context_restore Linux/GNU */
/* 6.0.1 */
/* AUTHOR */
/* */
/* William E. Lamie, Microsoft Corporation */
/* */
/* DESCRIPTION */
/* */
/* This function restores the interrupt context if it is processing a */
/* nested interrupt. If not, it returns to the interrupt thread if no */
/* preemption is necessary. Otherwise, if preemption is necessary or */
/* if no thread was running, the function returns to the scheduler. */
/* */
/* INPUT */
/* */
/* None */
/* */
/* OUTPUT */
/* */
/* None */
/* */
/* CALLS */
/* */
/* _tx_linux_debug_entry_insert */
/* tx_linux_mutex_lock */
/* sem_trywait */
/* tx_linux_sem_post */
/* tx_linux_sem_wait */
/* _tx_linux_thread_resume */
/* tx_linux_mutex_recursive_unlock */
/* */
/* CALLED BY */
/* */
/* ISRs Interrupt Service Routines */
/* */
/* RELEASE HISTORY */
/* */
/* DATE NAME DESCRIPTION */
/* */
/* 06-30-2020 William E. Lamie Initial Version 6.0.1 */
/* */
/**************************************************************************/
VOID _tx_thread_context_restore(VOID)
{
/* Debug entry. */
_tx_linux_debug_entry_insert("CONTEXT_RESTORE", __FILE__, __LINE__);
/* Lock mutex to ensure other threads are not playing with
the core ThreadX data structures. */
tx_linux_mutex_lock(_tx_linux_mutex);
/* Decrement the nested interrupt count. */
_tx_thread_system_state--;
/* Determine if this is the first nested interrupt and if a ThreadX
application thread was running at the time. */
if ((!_tx_thread_system_state) && (_tx_thread_current_ptr))
{
/* Yes, this is the first and last interrupt processed. */
/* Check to see if preemption is required. */
if ((_tx_thread_preempt_disable == 0) && (_tx_thread_current_ptr != _tx_thread_execute_ptr))
{
/* Preempt the running application thread. We don't need to suspend the
application thread since that is done in the context save processing. */
/* Indicate that this thread was suspended asynchronously. */
_tx_thread_current_ptr -> tx_thread_linux_suspension_type = 1;
/* Save the remaining time-slice and disable it. */
if (_tx_timer_time_slice)
{
_tx_thread_current_ptr -> tx_thread_time_slice = _tx_timer_time_slice;
_tx_timer_time_slice = 0;
}
/* Clear the current thread pointer. */
_tx_thread_current_ptr = TX_NULL;
/* Make sure semaphore is 0. */
while(!sem_trywait(&_tx_linux_semaphore));
/* Indicate it is in timer ISR. */
_tx_linux_timer_waiting = 1;
/* Wakeup the system thread by setting the system semaphore. */
tx_linux_sem_post(&_tx_linux_semaphore);
if(_tx_thread_execute_ptr)
{
if(_tx_thread_execute_ptr -> tx_thread_linux_suspension_type == 0)
{
/* Unlock linux mutex. */
tx_linux_mutex_recursive_unlock(_tx_linux_mutex);
/* Wait until TX_THREAD start running. */
tx_linux_sem_wait(&_tx_linux_isr_semaphore);
tx_linux_mutex_lock(_tx_linux_mutex);
/* Make sure semaphore is 0. */
while(!sem_trywait(&_tx_linux_isr_semaphore));
}
}
/* Indicate it is not in timer ISR. */
_tx_linux_timer_waiting = 0;
}
else
{
/* Since preemption is not required, resume the interrupted thread. */
_tx_linux_thread_resume(_tx_thread_current_ptr -> tx_thread_linux_thread_id);
}
}
/* Unlock linux mutex. */
tx_linux_mutex_recursive_unlock(_tx_linux_mutex);
}
ports/linux/gnu/src/tx_thread_context_save.c
+107
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@@ -0,0 +1,107 @@
/**************************************************************************/
/* */
/* Copyright (c) Microsoft Corporation. All rights reserved. */
/* */
/* This software is licensed under the Microsoft Software License */
/* Terms for Microsoft Azure RTOS. Full text of the license can be */
/* found in the LICENSE file at https://aka.ms/AzureRTOS_EULA */
/* and in the root directory of this software. */
/* */
/**************************************************************************/
/**************************************************************************/
/**************************************************************************/
/** */
/** ThreadX Component */
/** */
/** Thread */
/** */
/**************************************************************************/
/**************************************************************************/
#define TX_SOURCE_CODE
/* Include necessary system files. */
#include "tx_api.h"
#include "tx_thread.h"
#include "tx_timer.h"
/**************************************************************************/
/* */
/* FUNCTION RELEASE */
/* */
/* _tx_thread_context_save Linux/GNU */
/* 6.0.1 */
/* AUTHOR */
/* */
/* William E. Lamie, Microsoft Corporation */
/* */
/* DESCRIPTION */
/* */
/* This function saves the context of an executing thread in the */
/* beginning of interrupt processing. The function also ensures that */
/* the system stack is used upon return to the calling ISR. */
/* */
/* INPUT */
/* */
/* None */
/* */
/* OUTPUT */
/* */
/* None */
/* */
/* CALLS */
/* */
/* _tx_linux_debug_entry_insert */
/* tx_linux_mutex_lock */
/* _tx_linux_thread_suspend */
/* tx_linux_mutex_unlock */
/* */
/* CALLED BY */
/* */
/* ISRs */
/* */
/* RELEASE HISTORY */
/* */
/* DATE NAME DESCRIPTION */
/* */
/* 06-30-2020 William E. Lamie Initial Version 6.0.1 */
/* */
/**************************************************************************/
VOID _tx_thread_context_save(VOID)
{
/* Debug entry. */
_tx_linux_debug_entry_insert("CONTEXT_SAVE", __FILE__, __LINE__);
/* Lock mutex to ensure other threads are not playing with
the core ThreadX data structures. */
tx_linux_mutex_lock(_tx_linux_mutex);
/* If an application thread is running, suspend it to simulate preemption. */
if ((_tx_thread_current_ptr) && (_tx_thread_system_state == 0))
{
/* Debug entry. */
_tx_linux_debug_entry_insert("CONTEXT_SAVE-suspend_thread", __FILE__, __LINE__);
/* Yes, this is the first interrupt and an application thread is running...
suspend it! */
_tx_linux_thread_suspend(_tx_thread_current_ptr -> tx_thread_linux_thread_id);
/* Indicate that this thread was suspended asynchronously. */
_tx_thread_current_ptr -> tx_thread_linux_suspension_type = 1;
}
/* Increment the nested interrupt condition. */
_tx_thread_system_state++;
/* Unlock linux mutex. */
tx_linux_mutex_unlock(_tx_linux_mutex);
}
ports/linux/gnu/src/tx_thread_interrupt_control.c
+183
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@@ -0,0 +1,183 @@
/**************************************************************************/
/* */
/* Copyright (c) Microsoft Corporation. All rights reserved. */
/* */
/* This software is licensed under the Microsoft Software License */
/* Terms for Microsoft Azure RTOS. Full text of the license can be */
/* found in the LICENSE file at https://aka.ms/AzureRTOS_EULA */
/* and in the root directory of this software. */
/* */
/**************************************************************************/
/**************************************************************************/
/**************************************************************************/
/** */
/** ThreadX Component */
/** */
/** Thread */
/** */
/**************************************************************************/
/**************************************************************************/
#define TX_SOURCE_CODE
/* Include necessary system files. */
#include "tx_api.h"
#include "tx_thread.h"
/* Define small routines used for the TX_DISABLE/TX_RESTORE macros. */
UINT _tx_thread_interrupt_disable(void)
{
UINT previous_value;
previous_value = _tx_thread_interrupt_control(TX_INT_DISABLE);
return(previous_value);
}
VOID _tx_thread_interrupt_restore(UINT previous_posture)
{
previous_posture = _tx_thread_interrupt_control(previous_posture);
}
/**************************************************************************/
/* */
/* FUNCTION RELEASE */
/* */
/* _tx_thread_interrupt_control Linux/GNU */
/* 6.0.1 */
/* AUTHOR */
/* */
/* William E. Lamie, Microsoft Corporation */
/* */
/* DESCRIPTION */
/* */
/* This function is responsible for changing the interrupt lockout */
/* posture of the system. */
/* */
/* INPUT */
/* */
/* new_posture New interrupt lockout posture */
/* */
/* OUTPUT */
/* */
/* old_posture Old interrupt lockout posture */
/* */
/* CALLS */
/* */
/* tx_linux_mutex_lock */
/* pthread_self */
/* pthread_getschedparam */
/* tx_linux_mutex_recursive_unlock */
/* pthread_exit */
/* */
/* CALLED BY */
/* */
/* Application Code */
/* */
/* RELEASE HISTORY */
/* */
/* DATE NAME DESCRIPTION */
/* */
/* 06-30-2020 William E. Lamie Initial Version 6.0.1 */
/* */
/**************************************************************************/
UINT _tx_thread_interrupt_control(UINT new_posture)
{
UINT old_posture;
TX_THREAD *thread_ptr;
pthread_t thread_id;
int exit_code = 0;
/* Lock Linux mutex. */
tx_linux_mutex_lock(_tx_linux_mutex);
/* Pickup the id of the current thread. */
thread_id = pthread_self();
/* Pickup the current thread pointer. */
thread_ptr = _tx_thread_current_ptr;
/* Determine if this is a thread and it does not
match the current thread pointer. */
if ((_tx_linux_threadx_thread) &&
((!thread_ptr) || (!pthread_equal(thread_ptr -> tx_thread_linux_thread_id, thread_id))))
{
/* This indicates the Linux thread was actually terminated by ThreadX is only
being allowed to run in order to cleanup its resources. */
/* Unlock linux mutex. */
tx_linux_mutex_recursive_unlock(_tx_linux_mutex);
pthread_exit((void *)&exit_code);
}
/* Determine the current interrupt lockout condition. */
if (tx_linux_mutex_recursive_count == 1)
{
/* Interrupts are enabled. */
old_posture = TX_INT_ENABLE;
}
else
{
/* Interrupts are disabled. */
old_posture = TX_INT_DISABLE;
}
/* First, determine if this call is from a non-thread. */
if (_tx_thread_system_state)
{
/* Determine how to apply the new posture. */
if (new_posture == TX_INT_ENABLE)
{
/* Clear the disabled flag. */
_tx_linux_global_int_disabled_flag = TX_FALSE;
/* Determine if the critical section is locked. */
tx_linux_mutex_recursive_unlock(_tx_linux_mutex);
}
else if (new_posture == TX_INT_DISABLE)
{
/* Set the disabled flag. */
_tx_linux_global_int_disabled_flag = TX_TRUE;
}
}
else if (thread_ptr)
{
/* Determine how to apply the new posture. */
if (new_posture == TX_INT_ENABLE)
{
/* Clear the disabled flag. */
_tx_thread_current_ptr -> tx_thread_linux_int_disabled_flag = TX_FALSE;
/* Determine if the critical section is locked. */
tx_linux_mutex_recursive_unlock(_tx_linux_mutex);
}
else if (new_posture == TX_INT_DISABLE)
{
/* Set the disabled flag. */
_tx_thread_current_ptr -> tx_thread_linux_int_disabled_flag = TX_TRUE;
}
}
/* Return the previous interrupt disable posture. */
return(old_posture);
}
ports/linux/gnu/src/tx_thread_schedule.c
+264
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@@ -0,0 +1,264 @@
/**************************************************************************/
/* */
/* Copyright (c) Microsoft Corporation. All rights reserved. */
/* */
/* This software is licensed under the Microsoft Software License */
/* Terms for Microsoft Azure RTOS. Full text of the license can be */
/* found in the LICENSE file at https://aka.ms/AzureRTOS_EULA */
/* and in the root directory of this software. */
/* */
/**************************************************************************/
/**************************************************************************/
/**************************************************************************/
/** */
/** ThreadX Component */
/** */
/** Thread */
/** */
/**************************************************************************/
/**************************************************************************/
#define TX_SOURCE_CODE
/* Include necessary system files. */
#include "tx_api.h"
#include "tx_thread.h"
#include "tx_timer.h"
#include <stdio.h>
#include <errno.h>
extern sem_t _tx_linux_timer_semaphore;
extern sem_t _tx_linux_isr_semaphore;
extern UINT _tx_linux_timer_waiting;
extern pthread_t _tx_linux_timer_id;
/**************************************************************************/
/* */
/* FUNCTION RELEASE */
/* */
/* _tx_thread_schedule Linux/GNU */
/* 6.0.1 */
/* AUTHOR */
/* */
/* William E. Lamie, Microsoft Corporation */
/* */
/* DESCRIPTION */
/* */
/* This function waits for a thread control block pointer to appear in */
/* the _tx_thread_execute_ptr variable. Once a thread pointer appears */
/* in the variable, the corresponding thread is resumed. */
/* */
/* INPUT */
/* */
/* None */
/* */
/* OUTPUT */
/* */
/* None */
/* */
/* CALLS */
/* */
/* tx_linux_mutex_lock */
/* tx_linux_mutex_unlock */
/* _tx_linux_debug_entry_insert */
/* _tx_linux_thread_resume */
/* tx_linux_sem_post */
/* sem_trywait */
/* tx_linux_sem_wait */
/* */
/* CALLED BY */
/* */
/* _tx_initialize_kernel_enter ThreadX entry function */
/* */
/* RELEASE HISTORY */
/* */
/* DATE NAME DESCRIPTION */
/* */
/* 06-30-2020 William E. Lamie Initial Version 6.0.1 */
/* */
/**************************************************************************/
VOID _tx_thread_schedule(VOID)
{
struct timespec ts;
/* Set timer. */
ts.tv_sec = 0;
ts.tv_nsec = 200000;
/* Loop forever. */
while(1)
{
/* Wait for a thread to execute and all ISRs to complete. */
while(1)
{
/* Lock Linux mutex. */
tx_linux_mutex_lock(_tx_linux_mutex);
/* Determine if there is a thread ready to execute AND all ISRs
are complete. */
if ((_tx_thread_execute_ptr != TX_NULL) && (_tx_thread_system_state == 0))
{
/* Get out of this loop and schedule the thread! */
break;
}
else
{
/* Unlock linux mutex. */
tx_linux_mutex_unlock(_tx_linux_mutex);
/* Don't waste all the processor time here in the master thread... */
#ifdef TX_LINUX_NO_IDLE_ENABLE
while(!sem_trywait(&_tx_linux_timer_semaphore));
tx_linux_sem_post(&_tx_linux_timer_semaphore);
/*nanosleep(&ts, &ts);*/
clock_gettime(CLOCK_REALTIME, &ts);
ts.tv_nsec += 200000;
if (ts.tv_nsec > 1000000000)
{
ts.tv_nsec -= 1000000000;
ts.tv_sec++;
}
sem_timedwait(&_tx_linux_semaphore_no_idle, &ts);
#else
nanosleep(&ts, &ts);
#endif /* TX_LINUX_NO_IDLE_ENABLE */
}
}
/* Yes! We have a thread to execute. Note that the critical section is already
active from the scheduling loop above. */
/* Setup the current thread pointer. */
_tx_thread_current_ptr = _tx_thread_execute_ptr;
/* Increment the run count for this thread. */
_tx_thread_current_ptr -> tx_thread_run_count++;
/* Setup time-slice, if present. */
_tx_timer_time_slice = _tx_thread_current_ptr -> tx_thread_time_slice;
/* Determine how the thread was suspended. */
if (_tx_thread_current_ptr -> tx_thread_linux_suspension_type)
{
/* Debug entry. */
_tx_linux_debug_entry_insert("SCHEDULE-resume_thread", __FILE__, __LINE__);
/* Pseudo interrupt suspension. The thread is not waiting on
its run semaphore. */
_tx_linux_thread_resume(_tx_thread_current_ptr -> tx_thread_linux_thread_id);
}
else
{
/* Debug entry. */
_tx_linux_debug_entry_insert("SCHEDULE-release_sem", __FILE__, __LINE__);
/* Make sure semaphore is 0. */
while(!sem_trywait(&_tx_thread_current_ptr -> tx_thread_linux_thread_run_semaphore));
/* Let the thread run again by releasing its run semaphore. */
tx_linux_sem_post(&_tx_thread_current_ptr -> tx_thread_linux_thread_run_semaphore);
/* Block timer ISR. */
if(_tx_linux_timer_waiting)
{
/* It is woken up by timer ISR. */
/* Let ThreadX thread wake up first. */
tx_linux_sem_wait(&_tx_linux_semaphore);
/* Wake up timer ISR. */
tx_linux_sem_post_nolock(&_tx_linux_isr_semaphore);
}
else
{
/* It is woken up by TX_THREAD. */
/* Suspend timer thread and let ThreadX thread wake up first. */
_tx_linux_thread_suspend(_tx_linux_timer_id);
tx_linux_sem_wait(&_tx_linux_semaphore);
_tx_linux_thread_resume(_tx_linux_timer_id);
}
}
/* Unlock linux mutex. */
tx_linux_mutex_unlock(_tx_linux_mutex);
/* Debug entry. */
_tx_linux_debug_entry_insert("SCHEDULE-self_suspend_sem", __FILE__, __LINE__);
/* Now suspend the main thread so the application thread can run. */
tx_linux_sem_wait(&_tx_linux_semaphore);
/* Debug entry. */
_tx_linux_debug_entry_insert("SCHEDULE-wake_up", __FILE__, __LINE__);
}
}
void _tx_thread_delete_port_completion(TX_THREAD *thread_ptr, UINT tx_saved_posture)
{
INT linux_status;
sem_t *threadrunsemaphore;
pthread_t thread_id;
struct timespec ts;
thread_id = thread_ptr -> tx_thread_linux_thread_id;
threadrunsemaphore = &(thread_ptr -> tx_thread_linux_thread_run_semaphore);
ts.tv_sec = 0;
ts.tv_nsec = 1000000;
TX_RESTORE
do
{
linux_status = pthread_cancel(thread_id);
if(linux_status != EAGAIN)
{
break;
}
_tx_linux_thread_resume(thread_id);
tx_linux_sem_post(threadrunsemaphore);
nanosleep(&ts, &ts);
} while (1);
pthread_join(thread_id, NULL);
sem_destroy(threadrunsemaphore);
TX_DISABLE
}
void _tx_thread_reset_port_completion(TX_THREAD *thread_ptr, UINT tx_saved_posture)
{
INT linux_status;
sem_t *threadrunsemaphore;
pthread_t thread_id;
struct timespec ts;
thread_id = thread_ptr -> tx_thread_linux_thread_id;
threadrunsemaphore = &(thread_ptr -> tx_thread_linux_thread_run_semaphore);
ts.tv_sec = 0;
ts.tv_nsec = 1000000;
TX_RESTORE
do
{
linux_status = pthread_cancel(thread_id);
if(linux_status != EAGAIN)
{
break;
}
_tx_linux_thread_resume(thread_id);
tx_linux_sem_post(threadrunsemaphore);
nanosleep(&ts, &ts);
} while (1);
pthread_join(thread_id, NULL);
sem_destroy(threadrunsemaphore);
TX_DISABLE
}
ports/linux/gnu/src/tx_thread_stack_build.c
+153
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@@ -0,0 +1,153 @@
/**************************************************************************/
/* */
/* Copyright (c) Microsoft Corporation. All rights reserved. */
/* */
/* This software is licensed under the Microsoft Software License */
/* Terms for Microsoft Azure RTOS. Full text of the license can be */
/* found in the LICENSE file at https://aka.ms/AzureRTOS_EULA */
/* and in the root directory of this software. */
/* */
/**************************************************************************/
/**************************************************************************/
/**************************************************************************/
/** */
/** ThreadX Component */
/** */
/** Thread */
/** */
/**************************************************************************/
/**************************************************************************/
#define TX_SOURCE_CODE
/* Include necessary system files. */
#include "tx_api.h"
#include "tx_thread.h"
#include <stdio.h>
#include <unistd.h>
/* Prototype for new thread entry function. */
void *_tx_linux_thread_entry(void *ptr);
/**************************************************************************/
/* */
/* FUNCTION RELEASE */
/* */
/* _tx_thread_stack_build Linux/GNU */
/* 6.0.1 */
/* AUTHOR */
/* */
/* William E. Lamie, Microsoft Corporation */
/* */
/* DESCRIPTION */
/* */
/* This function builds a stack frame on the supplied thread's stack. */
/* The stack frame results in a fake interrupt return to the supplied */
/* function pointer. */
/* */
/* INPUT */
/* */
/* thread_ptr Pointer to thread control blk */
/* function_ptr Pointer to return function */
/* */
/* OUTPUT */
/* */
/* None */
/* */
/* CALLS */
/* */
/* pthread_create */
/* pthread_setschedparam */
/* _tx_linux_thread_suspend */
/* sem_init */
/* printf */
/* _tx_linux_thread_resume */
/* */
/* CALLED BY */
/* */
/* _tx_thread_create Create thread service */
/* _tx_thread_reset Reset thread service */
/* */
/* RELEASE HISTORY */
/* */
/* DATE NAME DESCRIPTION */
/* */
/* 06-30-2020 William E. Lamie Initial Version 6.0.1 */
/* */
/**************************************************************************/
VOID _tx_thread_stack_build(TX_THREAD *thread_ptr, VOID (*function_ptr)(VOID))
{
struct sched_param sp;
/* Create the run semaphore for the thread. This will allow the scheduler
control over when the thread actually runs. */
if(sem_init(&thread_ptr -> tx_thread_linux_thread_run_semaphore, 0, 0))
{
/* Display an error message. */
printf("ThreadX Linux error creating thread running semaphore!\n");
while(1)
{
}
}
/* Create a Linux thread for the application thread. */
if(pthread_create(&thread_ptr -> tx_thread_linux_thread_id, NULL, _tx_linux_thread_entry, thread_ptr))
{
/* Display an error message. */
printf("ThreadX Linux error creating thread!\n");
while(1)
{
}
}
/* Otherwise, we have a good thread create. */
sp.sched_priority = TX_LINUX_PRIORITY_USER_THREAD;
pthread_setschedparam(thread_ptr -> tx_thread_linux_thread_id, SCHED_FIFO, &sp);
/* Setup the thread suspension type to solicited thread suspension.
Pseudo interrupt handlers will suspend with this field set to 1. */
thread_ptr -> tx_thread_linux_suspension_type = 0;
/* Clear the disabled count that will keep track of the
tx_interrupt_control nesting. */
thread_ptr -> tx_thread_linux_int_disabled_flag = 0;
/* Setup a fake thread stack pointer. */
thread_ptr -> tx_thread_stack_ptr = (VOID *) (((CHAR *) thread_ptr -> tx_thread_stack_end) - 8);
/* Clear the first word of the stack. */
*(((ULONG *) thread_ptr -> tx_thread_stack_ptr) - 1) = 0;
}
void *_tx_linux_thread_entry(void *ptr)
{
TX_THREAD *thread_ptr;
/* Pickup the current thread pointer. */
thread_ptr = (TX_THREAD *) ptr;
_tx_linux_threadx_thread = 1;
nice(20);
/* Now suspend the thread initially. If the thread has already
been scheduled, this will return immediately. */
tx_linux_sem_wait(&thread_ptr -> tx_thread_linux_thread_run_semaphore);
tx_linux_sem_post_nolock(&_tx_linux_semaphore);
/* Call ThreadX thread entry point. */
_tx_thread_shell_entry();
return EXIT_SUCCESS;
}
ports/linux/gnu/src/tx_thread_system_return.c
+207
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@@ -0,0 +1,207 @@
/**************************************************************************/
/* */
/* Copyright (c) Microsoft Corporation. All rights reserved. */
/* */
/* This software is licensed under the Microsoft Software License */
/* Terms for Microsoft Azure RTOS. Full text of the license can be */
/* found in the LICENSE file at https://aka.ms/AzureRTOS_EULA */
/* and in the root directory of this software. */
/* */
/**************************************************************************/
/**************************************************************************/
/**************************************************************************/
/** */
/** ThreadX Component */
/** */
/** Thread */
/** */
/**************************************************************************/
/**************************************************************************/
#define TX_SOURCE_CODE
/* Include necessary system files. */
#include "tx_api.h"
#include "tx_thread.h"
#include "tx_timer.h"
#include <stdio.h>
/**************************************************************************/
/* */
/* FUNCTION RELEASE */
/* */
/* _tx_thread_system_return Linux/GNU */
/* 6.0.1 */
/* AUTHOR */
/* */
/* William E. Lamie, Microsoft Corporation */
/* */
/* DESCRIPTION */
/* */
/* This function is target processor specific. It is used to transfer */
/* control from a thread back to the system. Only a minimal context */
/* is saved since the compiler assumes temp registers are going to get */
/* slicked by a function call anyway. */
/* */
/* INPUT */
/* */
/* None */
/* */
/* OUTPUT */
/* */
/* None */
/* */
/* CALLS */
/* */
/* _tx_linux_debug_entry_insert */
/* tx_linux_mutex_lock */
/* pthread_self */
/* pthread_getschedparam */
/* pthread_equal */
/* tx_linux_mutex_recursive_unlock */
/* tx_linux_mutex_unlock */
/* pthread_exit */
/* tx_linux_sem_post */
/* sem_trywait */
/* tx_linux_sem_wait */
/* */
/* CALLED BY */
/* */
/* ThreadX components */
/* */
/* RELEASE HISTORY */
/* */
/* DATE NAME DESCRIPTION */
/* */
/* 06-30-2020 William E. Lamie Initial Version 6.0.1 */
/* */
/**************************************************************************/
VOID _tx_thread_system_return(VOID)
{
TX_THREAD *temp_thread_ptr;
sem_t *temp_run_semaphore;
UINT temp_thread_state;
pthread_t thread_id;
int exit_code = 0;
/* Debug entry. */
_tx_linux_debug_entry_insert("SYSTEM_RETURN", __FILE__, __LINE__);
/* Lock Linux mutex. */
tx_linux_mutex_lock(_tx_linux_mutex);
/* First, determine if the thread was terminated. */
/* Pickup the id of the current thread. */
thread_id = pthread_self();
/* Pickup the current thread pointer. */
temp_thread_ptr = _tx_thread_current_ptr;
/* Determine if this is a thread (0) and it does not
match the current thread pointer. */
if ((_tx_linux_threadx_thread) &&
((!temp_thread_ptr) || (!pthread_equal(temp_thread_ptr -> tx_thread_linux_thread_id, thread_id))))
{
/* This indicates the Linux thread was actually terminated by ThreadX is only
being allowed to run in order to cleanup its resources. */
/* Unlock linux mutex. */
tx_linux_mutex_recursive_unlock(_tx_linux_mutex);
pthread_exit((void *)&exit_code);
}
/* Determine if the time-slice is active. */
if (_tx_timer_time_slice)
{
/* Preserve current remaining time-slice for the thread and clear the current time-slice. */
temp_thread_ptr -> tx_thread_time_slice = _tx_timer_time_slice;
_tx_timer_time_slice = 0;
}
/* Save the run semaphore into a temporary variable as well. */
temp_run_semaphore = &temp_thread_ptr -> tx_thread_linux_thread_run_semaphore;
/* Pickup the current thread state. */
temp_thread_state = temp_thread_ptr -> tx_thread_state;
/* Setup the suspension type for this thread. */
temp_thread_ptr -> tx_thread_linux_suspension_type = 0;
/* Set the current thread pointer to NULL. */
_tx_thread_current_ptr = TX_NULL;
/* Unlock Linux mutex. */
tx_linux_mutex_recursive_unlock(_tx_linux_mutex);
/* Debug entry. */
_tx_linux_debug_entry_insert("SYSTEM_RETURN-release_sem", __FILE__, __LINE__);
/* Make sure semaphore is 0. */
while(!sem_trywait(&_tx_linux_semaphore));
/* Release the semaphore that the main scheduling thread is waiting
on. Note that the main scheduling algorithm will take care of
setting the current thread pointer to NULL. */
tx_linux_sem_post(&_tx_linux_semaphore);
/* Determine if the thread was self-terminating. */
if (temp_thread_state == TX_TERMINATED)
{
/* Exit the thread instead of waiting on the semaphore! */
pthread_exit((void *)&exit_code);
}
/* Wait on the run semaphore for this thread. This won't get set again
until the thread is scheduled. */
tx_linux_sem_wait(temp_run_semaphore);
tx_linux_sem_post_nolock(&_tx_linux_semaphore);
/* Lock Linux mutex. */
tx_linux_mutex_lock(_tx_linux_mutex);
/* Debug entry. */
_tx_linux_debug_entry_insert("SYSTEM_RETURN-wake_up", __FILE__, __LINE__);
/* Determine if the thread was terminated. */
/* Pickup the current thread pointer. */
temp_thread_ptr = _tx_thread_current_ptr;
/* Determine if this is a thread and it does not
match the current thread pointer. */
if ((_tx_linux_threadx_thread) &&
((!temp_thread_ptr) || (!pthread_equal(temp_thread_ptr -> tx_thread_linux_thread_id, thread_id))))
{
/* Unlock Linux mutex. */
tx_linux_mutex_recursive_unlock(_tx_linux_mutex);
/* This indicates the Linux thread was actually terminated by ThreadX and is only
being allowed to run in order to cleanup its resources. */
pthread_exit((void *)&exit_code);
}
/* Now determine if the application thread last had interrupts disabled. */
/* Determine if this thread had interrupts disabled. */
if (!_tx_thread_current_ptr -> tx_thread_linux_int_disabled_flag)
{
/* Unlock Linux mutex. */
tx_linux_mutex_recursive_unlock(_tx_linux_mutex);
}
/* Debug entry. */
_tx_linux_debug_entry_insert("SYSTEM_RETURN-finish", __FILE__, __LINE__);
}
ports/linux/gnu/src/tx_timer_interrupt.c
+153
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@@ -0,0 +1,153 @@
/**************************************************************************/
/* */
/* Copyright (c) Microsoft Corporation. All rights reserved. */
/* */
/* This software is licensed under the Microsoft Software License */
/* Terms for Microsoft Azure RTOS. Full text of the license can be */
/* found in the LICENSE file at https://aka.ms/AzureRTOS_EULA */
/* and in the root directory of this software. */
/* */
/**************************************************************************/
/**************************************************************************/
/**************************************************************************/
/** */
/** ThreadX Component */
/** */
/** Timer */
/** */
/**************************************************************************/
/**************************************************************************/
#define TX_SOURCE_CODE
/* Include necessary system files. */
#include "tx_api.h"
#include "tx_timer.h"
#include "tx_thread.h"
/**************************************************************************/
/* */
/* FUNCTION RELEASE */
/* */
/* _tx_timer_interrupt Linux/GNU */
/* 6.0.1 */
/* AUTHOR */
/* */
/* William E. Lamie, Microsoft Corporation */
/* */
/* DESCRIPTION */
/* */
/* This function processes the hardware timer interrupt. This */
/* processing includes incrementing the system clock and checking for */
/* time slice and/or timer expiration. If either is found, the */
/* interrupt context save/restore functions are called along with the */
/* expiration functions. */
/* */
/* INPUT */
/* */
/* None */
/* */
/* OUTPUT */
/* */
/* None */
/* */
/* CALLS */
/* */
/* _tx_linux_debug_entry_insert */
/* tx_linux_mutex_lock */
/* tx_linux_mutex_unlock */
/* _tx_timer_expiration_process */
/* _tx_thread_time_slice */
/* */
/* CALLED BY */
/* */
/* interrupt vector */
/* */
/* RELEASE HISTORY */
/* */
/* DATE NAME DESCRIPTION */
/* */
/* 06-30-2020 William E. Lamie Initial Version 6.0.1 */
/* */
/**************************************************************************/
VOID _tx_timer_interrupt(VOID)
{
/* Debug entry. */
_tx_linux_debug_entry_insert("TIMER INTERRUPT", __FILE__, __LINE__);
/* Lock mutex to ensure other threads are not playing with
the core ThreadX data structures. */
tx_linux_mutex_lock(_tx_linux_mutex);
/* Increment the system clock. */
_tx_timer_system_clock++;
/* Test for time-slice expiration. */
if (_tx_timer_time_slice)
{
/* Decrement the time_slice. */
_tx_timer_time_slice--;
/* Check for expiration. */
if (_tx_timer_time_slice == 0)
{
/* Set the time-slice expired flag. */
_tx_timer_expired_time_slice = TX_TRUE;
}
}
/* Test for timer expiration. */
if (*_tx_timer_current_ptr)
{
/* Set expiration flag. */
_tx_timer_expired = TX_TRUE;
}
else
{
/* No timer expired, increment the timer pointer. */
_tx_timer_current_ptr++;
/* Check for wrap-around. */
if (_tx_timer_current_ptr == _tx_timer_list_end)
{
/* Wrap to beginning of list. */
_tx_timer_current_ptr = _tx_timer_list_start;
}
}
/* See if anything has expired. */
if ((_tx_timer_expired_time_slice) || (_tx_timer_expired))
{
/* Did a timer expire? */
if (_tx_timer_expired)
{
/* Process timer expiration. */
_tx_timer_expiration_process();
}
/* Did time slice expire? */
if (_tx_timer_expired_time_slice)
{
/* Time slice interrupted thread. */
_tx_thread_time_slice();
}
}
/* Unlock linux mutex. */
tx_linux_mutex_unlock(_tx_linux_mutex);
}