From 4af18987700162ba8e09f5df001e9319324f1778 Mon Sep 17 00:00:00 2001
From: Terraneo Federico <fede.tft@miosix.org>
Date: Sun, 26 Mar 2023 11:40:32 +0200
Subject: [PATCH] Patch optimization
---
miosix/kernel/kernel.cpp | 3 +-
miosix/kernel/kernel.h | 2 -
miosix/kernel/pthread.cpp | 69 +++++++++----------
miosix/kernel/pthread_private.h | 7 +-
.../stdlib_integration/libc_integration.cpp | 53 ++------------
miosix/stdlib_integration/libc_integration.h | 44 +++++++++++-
6 files changed, 86 insertions(+), 92 deletions(-)
diff --git a/miosix/kernel/kernel.cpp b/miosix/kernel/kernel.cpp
index 57838a69..cb888ee1 100755
--- a/miosix/kernel/kernel.cpp
+++ b/miosix/kernel/kernel.cpp
@@ -384,12 +384,11 @@ bool Thread::testTerminate()
void Thread::sleep(unsigned int ms)
{
- nanoSleep(mul32x32to64(ms,1000000));
+ nanoSleepUntil(getTime()+mul32x32to64(ms,1000000));
}
void Thread::nanoSleep(long long ns)
{
- if(ns<=0) return;
nanoSleepUntil(getTime()+ns);
}
diff --git a/miosix/kernel/kernel.h b/miosix/kernel/kernel.h
index f525b4c4..c7eb36af 100755
--- a/miosix/kernel/kernel.h
+++ b/miosix/kernel/kernel.h
@@ -420,8 +420,6 @@ struct SleepData;
class MemoryProfiling;
class Mutex;
class ConditionVariable;
-void IRQaddToSleepingList(SleepData *x);
-void IRQremoveFromSleepingList(SleepData *x);
#ifdef WITH_PROCESSES
class ProcessBase;
#endif //WITH_PROCESSES
diff --git a/miosix/kernel/pthread.cpp b/miosix/kernel/pthread.cpp
index f0dc18c2..e7360f01 100644
--- a/miosix/kernel/pthread.cpp
+++ b/miosix/kernel/pthread.cpp
@@ -38,15 +38,19 @@
#include "kernel.h"
#include "error.h"
#include "pthread_private.h"
-#include "timeconversion.h"
+#include "stdlib_integration/libc_integration.h"
using namespace miosix;
+namespace miosix {
+void IRQaddToSleepingList(SleepData *x);
+void IRQremoveFromSleepingList(SleepData *x);
+} //namespace miosix
+
//
// Newlib's pthread.h has been patched since Miosix 1.68 to contain a definition
// for pthread_mutex_t and pthread_cond_t that allows a fast implementation
-// of mutexes and condition variables. This *requires* to use gcc 4.5.2 with
-// Miosix specific patches.
+// of mutexes and condition variables. This *requires* to use an up-to-date gcc.
//
//These functions needs to be callable from C
@@ -289,35 +293,30 @@ int pthread_mutex_unlock(pthread_mutex_t *mutex)
// Condition variable API
//
+static_assert(sizeof(IntrusiveList<CondData>)==sizeof(pthread_cond_t),"Invalid pthread_cond_t size");
+
int pthread_cond_init(pthread_cond_t *cond, const pthread_condattr_t *attr)
{
//attr is currently not considered
- static_assert(sizeof(IntrusiveList<CondData>)==sizeof(*cond), "Invalid pthread_cond_t size");
-
- // Using placement mechanism to instantiate an IntrusiveList inside the cond variable
- new (cond) IntrusiveList<CondData>;
+ new (cond) IntrusiveList<CondData>; //Placement new as cond is a C type
return 0;
}
int pthread_cond_destroy(pthread_cond_t *cond)
{
- static_assert(sizeof(IntrusiveList<CondData>)==sizeof(*cond), "Invalid pthread_cond_t size");
- auto *condList = reinterpret_cast<IntrusiveList<CondData>*>(cond);
-
+ auto *condList=reinterpret_cast<IntrusiveList<CondData>*>(cond);
if(!condList->empty()) return EBUSY;
- // Placement destroy
- condList->~IntrusiveList<CondData>();
+ condList->~IntrusiveList<CondData>(); //Call destructor manually
return 0;
}
int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex)
{
- static_assert(sizeof(IntrusiveList<CondData>)==sizeof(*cond), "Invalid pthread_cond_t size");
auto *condList=reinterpret_cast<IntrusiveList<CondData>*>(cond);
FastInterruptDisableLock dLock;
Thread *p=Thread::IRQgetCurrentThread();
- CondData listItem; //Element of a linked list on stack
+ CondData listItem;
listItem.thread=p;
condList->push_back(&listItem); //Putting this thread last on the list (lifo policy)
p->flags.IRQsetCondWait(true);
@@ -331,21 +330,24 @@ int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex)
return 0;
}
-int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex, const struct timespec *abstime)
+int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex, const struct timespec *abstime)
{
- if (abstime->tv_nsec<=0)
- return EINVAL;
- static_assert(sizeof(IntrusiveList<CondData>)==sizeof(*cond), "Invalid pthread_cond_t size");
auto *condList=reinterpret_cast<IntrusiveList<CondData>*>(cond);
-
+
+ long long timeout=timespec2ll(abstime);
+ //Disallow absolute sleeps with negative or too low values, as the ns2tick()
+ //algorithm in TimeConversion can't handle negative values and may undeflow
+ //even with very low values due to a negative adjustOffsetNs. As an unlikely
+ //side effect, very shor sleeps done very early at boot will be extended.
+ timeout=std::max(timeout,100000LL);
FastInterruptDisableLock dLock;
Thread *p=Thread::IRQgetCurrentThread();
- CondData listItem; //Element of a linked list on stack
+ CondData listItem;
listItem.thread=p;
condList->push_back(&listItem); //Putting this thread last on the list (lifo policy)
- SleepData sleepData; //Element to put in the sleepingList
+ SleepData sleepData;
sleepData.p=p;
- sleepData.wakeupTime=mul32x32to64(abstime->tv_sec, 1000000000) + abstime->tv_nsec;
+ sleepData.wakeupTime=timeout;
IRQaddToSleepingList(&sleepData); //Putting this thread on the sleeping list too
p->flags.IRQsetCondWait(true);
@@ -354,8 +356,9 @@ int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex, const s
FastInterruptEnableLock eLock(dLock);
Thread::yield(); //Here the wait becomes effective
}
- //Ensure that the thread is removed from both list, as it can be woken by either
- //a signal/broadcast (that removes it from condList) or by IRQwakeThreads (that removes it from sleeping list).
+ //Ensure that the thread is removed from both list, as it can be woken by
+ //either a signal/broadcast (that removes it from condList) or by
+ //IRQwakeThreads (that removes it from sleeping list).
bool removed=condList->removeFast(&listItem);
IRQremoveFromSleepingList(&sleepData);
@@ -368,7 +371,6 @@ int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex, const s
int pthread_cond_signal(pthread_cond_t *cond)
{
- static_assert(sizeof(IntrusiveList<CondData>)==sizeof(*cond), "Invalid pthread_cond_t size");
auto *condList=reinterpret_cast<IntrusiveList<CondData>*>(cond);
#ifdef SCHED_TYPE_EDF
@@ -379,13 +381,12 @@ int pthread_cond_signal(pthread_cond_t *cond)
if(condList->empty()) return 0;
Thread *t=condList->front()->thread;
- t->flags.IRQsetCondWait(false);
condList->pop_front();
- //Need to reset the sleep flag to ensure wakeup of threads in timedwait
- t->flags.IRQsetSleep(false);
+ t->flags.IRQsetCondWait(false);
+ t->flags.IRQsetSleep(false); //Needed due to timedwait
#ifdef SCHED_TYPE_EDF
- if(t->IRQgetPriority() >Thread::IRQgetCurrentThread()->IRQgetPriority())
+ if(t->IRQgetPriority()>Thread::IRQgetCurrentThread()->IRQgetPriority())
hppw=true;
#endif //SCHED_TYPE_EDF
}
@@ -398,7 +399,6 @@ int pthread_cond_signal(pthread_cond_t *cond)
int pthread_cond_broadcast(pthread_cond_t *cond)
{
- static_assert(sizeof(IntrusiveList<CondData>)==sizeof(*cond), "Invalid pthread_cond_t size");
auto *condList=reinterpret_cast<IntrusiveList<CondData>*>(cond);
#ifdef SCHED_TYPE_EDF
@@ -409,14 +409,13 @@ int pthread_cond_broadcast(pthread_cond_t *cond)
while(!condList->empty())
{
Thread *t=condList->front()->thread;
- t->flags.IRQsetCondWait(false);
condList->pop_front();
- //Need to reset the sleep flag to ensure wakeup of threads in timedwait
- t->flags.IRQsetSleep(false);
+ t->flags.IRQsetCondWait(false);
+ t->flags.IRQsetSleep(false); //Needed due to timedwait
#ifdef SCHED_TYPE_EDF
- if(t->IRQgetPriority() >
- Thread::IRQgetCurrentThread()->IRQgetPriority()) hppw=true;
+ if(t->IRQgetPriority()>Thread::IRQgetCurrentThread()->IRQgetPriority())
+ hppw=true;
#endif //SCHED_TYPE_EDF
}
}
diff --git a/miosix/kernel/pthread_private.h b/miosix/kernel/pthread_private.h
index b45019d6..a690d230 100644
--- a/miosix/kernel/pthread_private.h
+++ b/miosix/kernel/pthread_private.h
@@ -219,13 +219,12 @@ static inline unsigned int IRQdoMutexUnlockAllDepthLevels(pthread_mutex_t *mutex
/**
* \internal
* \struct CondData
- * This struct is used to make a list of threads that are waiting on a condition variable.
- * It is used by the kernel, and should not be used by end users.
+ * This struct is used to make a list of threads that are waiting on a condition
+ * variable. It is used by the kernel, and should not be used by end users.
*/
struct CondData : public IntrusiveListItem
{
- ///\internal Thread that is waiting
- Thread *thread;
+ Thread *thread; ///<\internal Thread that is waiting
};
} //namespace miosix
diff --git a/miosix/stdlib_integration/libc_integration.cpp b/miosix/stdlib_integration/libc_integration.cpp
index 769fa304..444ff091 100644
--- a/miosix/stdlib_integration/libc_integration.cpp
+++ b/miosix/stdlib_integration/libc_integration.cpp
@@ -1,6 +1,5 @@
/***************************************************************************
- * Copyright (C) 2008, 2009, 2010, 2011, 2012, 2013, 2014, 2015 *
- * by Terraneo Federico *
+ * Copyright (C) 2008-2023 by Terraneo Federico *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
@@ -34,10 +33,9 @@
#include <unistd.h>
#include <dirent.h>
#include <reent.h>
-#include <sys/time.h>
-#include <sys/times.h>
#include <sys/stat.h>
#include <sys/fcntl.h>
+#include <sys/times.h>
//// Settings
#include "config/miosix_settings.h"
//// Filesystem
@@ -899,52 +897,11 @@ int getdents(unsigned int fd, struct dirent *dirp, unsigned int count)
* - timer_create -> ?
*/
-static constexpr int nsPerSec = 1000000000;
-
-/**
- * Convert from timespec to the Miosix representation of time
- * \param tp input timespec, must not be nullptr and be a valid pointer
- * \return Miosix nanoseconds
- */
-inline long long timespec2ll(const struct timespec *tp)
-{
- //NOTE: the cast is required to prevent overflow with older versions
- //of the Miosix compiler where tv_sec is int and not long long
- return static_cast<long long>(tp->tv_sec) * nsPerSec + tp->tv_nsec;
-}
-
-/**
- * Convert from the Miosix representation of time to a timespec
- * \param ns input Miosix nanoseconds
- * \param tp output timespec, must not be nullptr and be a valid pointer
- */
-inline void ll2timespec(long long ns, struct timespec *tp)
-{
- #ifdef __ARM_EABI__
- // Despite there being a single intrinsic, __aeabi_ldivmod, that computes
- // both the result of the / and % operator, GCC 9.2.0 isn't smart enough and
- // calls the intrinsic twice. This asm implementation takes ~188 cycles
- // instead of ~316 by calling it once. Sadly, I had to use asm as the
- // calling conventions of the intrinsic appear to be nonstandard.
- // NOTE: actually a and b, by being 64 bit numbers, occupy register pairs
- register long long a asm("r0") = ns;
- register long long b asm("r2") = nsPerSec;
- // NOTE: clobbering lr to mark function not leaf due to the bl
- asm volatile("bl __aeabi_ldivmod" : "+r"(a), "+r"(b) :: "lr");
- tp->tv_sec = a;
- tp->tv_nsec = static_cast<long>(b);
- #else //__ARM_EABI__
- #warning Warning POSIX time API not optimized for this platform
- tp->tv_sec = ns / nsPerSec;
- tp->tv_nsec = static_cast<long>(ns % nsPerSec);
- #endif //__ARM_EABI__
-}
-
int clock_gettime(clockid_t clock_id, struct timespec *tp)
{
if(tp==nullptr) return -1;
//TODO: support CLOCK_REALTIME
- ll2timespec(miosix::getTime(),tp);
+ miosix::ll2timespec(miosix::getTime(),tp);
return 0;
}
@@ -960,7 +917,7 @@ int clock_getres(clockid_t clock_id, struct timespec *res)
//TODO: support CLOCK_REALTIME
//Integer division with round-to-nearest for better accuracy
- int resolution=2*nsPerSec/miosix::internal::osTimerGetFrequency();
+ int resolution=2*miosix::nsPerSec/miosix::internal::osTimerGetFrequency();
resolution=(resolution & 1) ? resolution/2+1 : resolution/2;
res->tv_sec=0;
@@ -973,7 +930,7 @@ int clock_nanosleep(clockid_t clock_id, int flags,
{
if(req==nullptr) return -1;
//TODO: support CLOCK_REALTIME
- long long timeNs=timespec2ll(req);
+ long long timeNs=miosix::timespec2ll(req);
if(flags!=TIMER_ABSTIME) timeNs+=miosix::getTime();
miosix::Thread::nanoSleepUntil(timeNs);
return 0;
diff --git a/miosix/stdlib_integration/libc_integration.h b/miosix/stdlib_integration/libc_integration.h
index abff8245..16df08f8 100644
--- a/miosix/stdlib_integration/libc_integration.h
+++ b/miosix/stdlib_integration/libc_integration.h
@@ -1,5 +1,5 @@
/***************************************************************************
- * Copyright (C) 2008, 2009, 2010, 2011, 2012, 2013 by Terraneo Federico *
+ * Copyright (C) 2008-2023 by Terraneo Federico *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
@@ -31,6 +31,7 @@
#include <reent.h>
#include <cstdlib>
#include <cstring>
+#include <sys/time.h>
#ifndef COMPILING_MIOSIX
#error "This is header is private, it can't be used outside Miosix itself."
@@ -56,6 +57,47 @@ unsigned int getMaxHeap();
*/
void setCReentrancyCallback(struct _reent *(*callback)());
+static constexpr int nsPerSec = 1000000000;
+
+/**
+ * Convert from timespec to the Miosix representation of time
+ * \param tp input timespec, must not be nullptr and be a valid pointer
+ * \return Miosix nanoseconds
+ */
+inline long long timespec2ll(const struct timespec *tp)
+{
+ //NOTE: the cast is required to prevent overflow with older versions
+ //of the Miosix compiler where tv_sec is int and not long long
+ return static_cast<long long>(tp->tv_sec) * nsPerSec + tp->tv_nsec;
+}
+
+/**
+ * Convert from the Miosix representation of time to a timespec
+ * \param ns input Miosix nanoseconds
+ * \param tp output timespec, must not be nullptr and be a valid pointer
+ */
+inline void ll2timespec(long long ns, struct timespec *tp)
+{
+ #ifdef __ARM_EABI__
+ // Despite there being a single intrinsic, __aeabi_ldivmod, that computes
+ // both the result of the / and % operator, GCC 9.2.0 isn't smart enough and
+ // calls the intrinsic twice. This asm implementation takes ~188 cycles
+ // instead of ~316 by calling it once. Sadly, I had to use asm as the
+ // calling conventions of the intrinsic appear to be nonstandard.
+ // NOTE: actually a and b, by being 64 bit numbers, occupy register pairs
+ register long long a asm("r0") = ns;
+ register long long b asm("r2") = nsPerSec;
+ // NOTE: clobbering lr to mark function not leaf due to the bl
+ asm volatile("bl __aeabi_ldivmod" : "+r"(a), "+r"(b) :: "lr");
+ tp->tv_sec = a;
+ tp->tv_nsec = static_cast<long>(b);
+ #else //__ARM_EABI__
+ #warning Warning POSIX time API not optimized for this platform
+ tp->tv_sec = ns / nsPerSec;
+ tp->tv_nsec = static_cast<long>(ns % nsPerSec);
+ #endif //__ARM_EABI__
+}
+
} //namespace miosix
#endif //LIBC_INTEGRATION_H
--
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