diff --git a/miosix/kernel/kernel.cpp b/miosix/kernel/kernel.cpp
index f7adb14dcad4709689499eef6e98e3f386115cc6..a575212a3701d6bf9932224fec3d6ab1fff40f05 100755
--- a/miosix/kernel/kernel.cpp
+++ b/miosix/kernel/kernel.cpp
@@ -359,7 +359,7 @@ Thread *Thread::create(void *(*startfunc)(void *), unsigned int stacksize,
}
Thread *Thread::create(void (*startfunc)(void *), unsigned int stacksize,
- Priority priority, void *argv, unsigned short options)
+ Priority priority, void *argv, unsigned short options)
{
//Just call the other version with a cast.
return Thread::create(reinterpret_cast<void *(*)(void*)>(startfunc),
@@ -371,12 +371,6 @@ void Thread::yield()
miosix_private::doYield();
}
-bool Thread::testTerminate()
-{
- //Just reading, no need for critical section
- return const_cast<Thread*>(runningThread)->flags.isDeleting();
-}
-
void Thread::sleep(unsigned int ms)
{
nanoSleepUntil(getTime()+mul32x32to64(ms,1000000));
@@ -412,6 +406,46 @@ void Thread::nanoSleepUntil(long long absoluteTimeNs)
Thread::yield();
}
+void Thread::wait()
+{
+ //pausing the kernel is not enough because of IRQwait and IRQwakeup
+ {
+ FastInterruptDisableLock lock;
+ const_cast<Thread*>(runningThread)->flags.IRQsetWait(true);
+ }
+ Thread::yield();
+ //Return here after wakeup
+}
+
+void Thread::IRQwait()
+{
+ const_cast<Thread*>(runningThread)->flags.IRQsetWait(true);
+}
+
+void Thread::wakeup()
+{
+ //pausing the kernel is not enough because of IRQwait and IRQwakeup
+ {
+ FastInterruptDisableLock lock;
+ this->flags.IRQsetWait(false);
+ }
+ #ifdef SCHED_TYPE_EDF
+ yield();//The other thread might have a closer deadline
+ #endif //SCHED_TYPE_EDF
+}
+
+void Thread::PKwakeup()
+{
+ //pausing the kernel is not enough because of IRQwait and IRQwakeup
+ FastInterruptDisableLock lock;
+ this->flags.IRQsetWait(false);
+}
+
+void Thread::IRQwakeup()
+{
+ this->flags.IRQsetWait(false);
+}
+
Thread *Thread::getCurrentThread()
{
Thread *result=const_cast<Thread*>(runningThread);
@@ -422,6 +456,18 @@ Thread *Thread::getCurrentThread()
return allocateIdleThread();
}
+Thread *Thread::IRQgetCurrentThread()
+{
+ //Implementation is the same as getCurrentThread, but to keep a consistent
+ //interface this method is duplicated
+ Thread *result=const_cast<Thread*>(runningThread);
+ if(result) return result;
+ //This function must always return a pointer to a valid thread. The first
+ //time this is called before the kernel is started, however, runningThread
+ //is nullptr, thus we allocate the idle thread and return a pointer to that.
+ return allocateIdleThread();
+}
+
bool Thread::exists(Thread *p)
{
if(p==nullptr) return false;
@@ -429,11 +475,22 @@ bool Thread::exists(Thread *p)
return Scheduler::PKexists(p);
}
+bool Thread::IRQexists(Thread* p)
+{
+ if(p==nullptr) return false;
+ return Scheduler::PKexists(p);
+}
+
Priority Thread::getPriority()
{
return Scheduler::getPriority(this);
}
+Priority Thread::IRQgetPriority()
+{
+ return Scheduler::IRQgetPriority(this);
+}
+
void Thread::setPriority(Priority pr)
{
if(pr.validate()==false) return;
@@ -474,34 +531,10 @@ void Thread::terminate()
this->flags.IRQsetDeleting();
}
-void Thread::wait()
-{
- //pausing the kernel is not enough because of IRQwait and IRQwakeup
- {
- FastInterruptDisableLock lock;
- const_cast<Thread*>(runningThread)->flags.IRQsetWait(true);
- }
- Thread::yield();
- //Return here after wakeup
-}
-
-void Thread::wakeup()
-{
- //pausing the kernel is not enough because of IRQwait and IRQwakeup
- {
- FastInterruptDisableLock lock;
- this->flags.IRQsetWait(false);
- }
- #ifdef SCHED_TYPE_EDF
- yield();//The other thread might have a closer deadline
- #endif //SCHED_TYPE_EDF
-}
-
-void Thread::PKwakeup()
+bool Thread::testTerminate()
{
- //pausing the kernel is not enough because of IRQwait and IRQwakeup
- FastInterruptDisableLock lock;
- this->flags.IRQsetWait(false);
+ //Just reading, no need for critical section
+ return const_cast<Thread*>(runningThread)->flags.isDeleting();
}
void Thread::detach()
@@ -572,41 +605,6 @@ bool Thread::join(void** result)
return true;
}
-Thread *Thread::IRQgetCurrentThread()
-{
- //Implementation is the same as getCurrentThread, but to keep a consistent
- //interface this method is duplicated
- Thread *result=const_cast<Thread*>(runningThread);
- if(result) return result;
- //This function must always return a pointer to a valid thread. The first
- //time this is called before the kernel is started, however, runningThread
- //is nullptr, thus we allocate the idle thread and return a pointer to that.
- return allocateIdleThread();
-}
-
-Priority Thread::IRQgetPriority()
-{
- //Implementation is the same as getPriority, but to keep a consistent
- //interface this method is duplicated
- return Scheduler::IRQgetPriority(this);
-}
-
-void Thread::IRQwait()
-{
- const_cast<Thread*>(runningThread)->flags.IRQsetWait(true);
-}
-
-void Thread::IRQwakeup()
-{
- this->flags.IRQsetWait(false);
-}
-
-bool Thread::IRQexists(Thread* p)
-{
- if(p==nullptr) return false;
- return Scheduler::PKexists(p);
-}
-
const unsigned int *Thread::getStackBottom()
{
return getCurrentThread()->watermark+(WATERMARK_LEN/sizeof(unsigned int));
@@ -617,45 +615,16 @@ int Thread::getStackSize()
return getCurrentThread()->stacksize;
}
-Thread *Thread::doCreate(void*(*startfunc)(void*) , unsigned int stacksize,
- void* argv, unsigned short options, bool defaultReent)
+void Thread::IRQstackOverflowCheck()
{
- unsigned int fullStackSize=WATERMARK_LEN+CTXSAVE_ON_STACK+stacksize;
-
- //Align fullStackSize to the platform required stack alignment
- fullStackSize+=CTXSAVE_STACK_ALIGNMENT-1;
- fullStackSize/=CTXSAVE_STACK_ALIGNMENT;
- fullStackSize*=CTXSAVE_STACK_ALIGNMENT;
-
- //Allocate memory for the thread, return if fail
- unsigned int *base=static_cast<unsigned int*>(malloc(sizeof(Thread)+
- fullStackSize));
- if(base==nullptr) return nullptr;
-
- //At the top of thread memory allocate the Thread class with placement new
- void *threadClass=base+(fullStackSize/sizeof(unsigned int));
- Thread *thread=new (threadClass) Thread(base,stacksize,defaultReent);
-
- if(thread->cReentrancyData==nullptr)
+ const unsigned int watermarkSize=WATERMARK_LEN/sizeof(unsigned int);
+ for(unsigned int i=0;i<watermarkSize;i++)
{
- thread->~Thread();
- free(base); //Delete ALL thread memory
- return nullptr;
+ if(runningThread->watermark[i]!=WATERMARK_FILL) errorHandler(STACK_OVERFLOW);
}
-
- //Fill watermark and stack
- memset(base, WATERMARK_FILL, WATERMARK_LEN);
- base+=WATERMARK_LEN/sizeof(unsigned int);
- memset(base, STACK_FILL, fullStackSize-WATERMARK_LEN);
-
- //On some architectures some registers are saved on the stack, therefore
- //initCtxsave *must* be called after filling the stack.
- miosix_private::initCtxsave(thread->ctxsave,startfunc,
- reinterpret_cast<unsigned int*>(thread),argv);
-
- if((options & JOINABLE)==0) thread->flags.IRQsetDetached();
- thread->flags.t = thread;
- return thread;
+ if(runningThread->ctxsave[stackPtrOffsetInCtxsave] <
+ reinterpret_cast<unsigned int>(runningThread->watermark+watermarkSize))
+ errorHandler(STACK_OVERFLOW);
}
#ifdef WITH_PROCESSES
@@ -688,84 +657,6 @@ bool Thread::IRQreportFault(const miosix_private::FaultData& fault)
return true;
}
-#endif //WITH_PROCESSES
-
-void Thread::IRQstackOverflowCheck()
-{
- const unsigned int watermarkSize=WATERMARK_LEN/sizeof(unsigned int);
- for(unsigned int i=0;i<watermarkSize;i++)
- {
- if(runningThread->watermark[i]!=WATERMARK_FILL) errorHandler(STACK_OVERFLOW);
- }
- if(runningThread->ctxsave[stackPtrOffsetInCtxsave] <
- reinterpret_cast<unsigned int>(runningThread->watermark+watermarkSize))
- errorHandler(STACK_OVERFLOW);
-}
-
-void Thread::threadLauncher(void *(*threadfunc)(void*), void *argv)
-{
- void *result=nullptr;
- #ifdef __NO_EXCEPTIONS
- result=threadfunc(argv);
- #else //__NO_EXCEPTIONS
- try {
- result=threadfunc(argv);
- } catch(std::exception& e) {
- errorLog("***An exception propagated through a thread\n");
- errorLog("what():%s\n",e.what());
- } catch(...) {
- errorLog("***An exception propagated through a thread\n");
- }
- #endif //__NO_EXCEPTIONS
- //Thread returned from its entry point, so delete it
-
- //Since the thread is running, it cannot be in the sleepingList, so no need
- //to remove it from the list
- {
- FastInterruptDisableLock lock;
- const_cast<Thread*>(runningThread)->flags.IRQsetDeleted();
-
- if(const_cast<Thread*>(runningThread)->flags.isDetached()==false)
- {
- //If thread is joinable, handle join
- if(runningThread->joinData.waitingForJoin!=nullptr)
- {
- //Wake thread
- runningThread->joinData.waitingForJoin->flags.IRQsetJoinWait(false);
- }
- //Set result
- runningThread->joinData.result=result;
- } else {
- //If thread is detached, memory can be deallocated immediately
- existDeleted=true;
- }
- }
- Thread::yield();//Since the thread is now deleted, yield immediately.
- //Will never reach here
- errorHandler(UNEXPECTED);
-}
-
-Thread *Thread::allocateIdleThread()
-{
- //NOTE: this function is only called once before the kernel is started, so
- //there are no concurrency issues, not even with interrupts
-
- // Create the idle and main thread
- auto *idle=Thread::doCreate(idleThread,STACK_IDLE,nullptr,Thread::DEFAULT,true);
- if(idle==nullptr) errorHandler(OUT_OF_MEMORY);
-
- // runningThread must point to a valid thread, so we make it point to the the idle one
- runningThread=idle;
- return idle;
-}
-
-struct _reent *Thread::getCReent()
-{
- return getCurrentThread()->cReentrancyData;
-}
-
-#ifdef WITH_PROCESSES
-
miosix_private::SyscallParameters Thread::switchToUserspace()
{
miosix_private::portableSwitchToUserspace();
@@ -848,6 +739,109 @@ Thread::~Thread()
#endif //WITH_PROCESSES
}
+Thread *Thread::doCreate(void*(*startfunc)(void*) , unsigned int stacksize,
+ void* argv, unsigned short options, bool defaultReent)
+{
+ unsigned int fullStackSize=WATERMARK_LEN+CTXSAVE_ON_STACK+stacksize;
+
+ //Align fullStackSize to the platform required stack alignment
+ fullStackSize+=CTXSAVE_STACK_ALIGNMENT-1;
+ fullStackSize/=CTXSAVE_STACK_ALIGNMENT;
+ fullStackSize*=CTXSAVE_STACK_ALIGNMENT;
+
+ //Allocate memory for the thread, return if fail
+ unsigned int *base=static_cast<unsigned int*>(malloc(sizeof(Thread)+
+ fullStackSize));
+ if(base==nullptr) return nullptr;
+
+ //At the top of thread memory allocate the Thread class with placement new
+ void *threadClass=base+(fullStackSize/sizeof(unsigned int));
+ Thread *thread=new (threadClass) Thread(base,stacksize,defaultReent);
+
+ if(thread->cReentrancyData==nullptr)
+ {
+ thread->~Thread();
+ free(base); //Delete ALL thread memory
+ return nullptr;
+ }
+
+ //Fill watermark and stack
+ memset(base, WATERMARK_FILL, WATERMARK_LEN);
+ base+=WATERMARK_LEN/sizeof(unsigned int);
+ memset(base, STACK_FILL, fullStackSize-WATERMARK_LEN);
+
+ //On some architectures some registers are saved on the stack, therefore
+ //initCtxsave *must* be called after filling the stack.
+ miosix_private::initCtxsave(thread->ctxsave,startfunc,
+ reinterpret_cast<unsigned int*>(thread),argv);
+
+ if((options & JOINABLE)==0) thread->flags.IRQsetDetached();
+ thread->flags.t = thread;
+ return thread;
+}
+
+void Thread::threadLauncher(void *(*threadfunc)(void*), void *argv)
+{
+ void *result=nullptr;
+ #ifdef __NO_EXCEPTIONS
+ result=threadfunc(argv);
+ #else //__NO_EXCEPTIONS
+ try {
+ result=threadfunc(argv);
+ } catch(std::exception& e) {
+ errorLog("***An exception propagated through a thread\n");
+ errorLog("what():%s\n",e.what());
+ } catch(...) {
+ errorLog("***An exception propagated through a thread\n");
+ }
+ #endif //__NO_EXCEPTIONS
+ //Thread returned from its entry point, so delete it
+
+ //Since the thread is running, it cannot be in the sleepingList, so no need
+ //to remove it from the list
+ {
+ FastInterruptDisableLock lock;
+ const_cast<Thread*>(runningThread)->flags.IRQsetDeleted();
+
+ if(const_cast<Thread*>(runningThread)->flags.isDetached()==false)
+ {
+ //If thread is joinable, handle join
+ if(runningThread->joinData.waitingForJoin!=nullptr)
+ {
+ //Wake thread
+ runningThread->joinData.waitingForJoin->flags.IRQsetJoinWait(false);
+ }
+ //Set result
+ runningThread->joinData.result=result;
+ } else {
+ //If thread is detached, memory can be deallocated immediately
+ existDeleted=true;
+ }
+ }
+ Thread::yield();//Since the thread is now deleted, yield immediately.
+ //Will never reach here
+ errorHandler(UNEXPECTED);
+}
+
+Thread *Thread::allocateIdleThread()
+{
+ //NOTE: this function is only called once before the kernel is started, so
+ //there are no concurrency issues, not even with interrupts
+
+ // Create the idle and main thread
+ auto *idle=Thread::doCreate(idleThread,STACK_IDLE,nullptr,Thread::DEFAULT,true);
+ if(idle==nullptr) errorHandler(OUT_OF_MEMORY);
+
+ // runningThread must point to a valid thread, so we make it point to the the idle one
+ runningThread=idle;
+ return idle;
+}
+
+struct _reent *Thread::getCReent()
+{
+ return getCurrentThread()->cReentrancyData;
+}
+
//
// class ThreadFlags
//
diff --git a/miosix/kernel/kernel.h b/miosix/kernel/kernel.h
index 72b6299073b0a92408ede30b63d2da9a0ec13441..342811e01de6587e7dba1df631129d531b4f3b92 100755
--- a/miosix/kernel/kernel.h
+++ b/miosix/kernel/kernel.h
@@ -497,18 +497,6 @@ public:
*/
static void yield();
- /**
- * This method needs to be called periodically inside the thread's main
- * loop.
- * \return true if somebody outside the thread called terminate() on this
- * thread.
- *
- * If it returns true the thread must free all resources and terminate by
- * returning from its main function.
- * <br>Can be called when the kernel is paused.
- */
- static bool testTerminate();
-
/**
* Put the thread to sleep for a number of milliseconds.
* <br>The actual precision depends on the underlying hardware timer.
@@ -551,6 +539,50 @@ public:
* CANNOT be called when the kernel is paused.
*/
static void nanoSleepUntil(long long absoluteTimeNs);
+
+ /**
+ * This method stops the thread until another thread calls wakeup() on this
+ * thread.<br>Calls to wait are not cumulative. If wait() is called two
+ * times, only one call to wakeup() is needed to wake the thread.
+ * <br>CANNOT be called when the kernel is paused.
+ */
+ static void wait();
+
+ /**
+ * Same as wait(), but is meant to be used only inside an IRQ or when
+ * interrupts are disabled.<br>
+ * Note: this method is meant to put the current thread in wait status in a
+ * piece of code where interrupts are disbled; it returns immediately, so
+ * the user is responsible for re-enabling interrupts and calling yield to
+ * effectively put the thread in wait status.
+ *
+ * \code
+ * disableInterrupts();
+ * ...
+ * Thread::IRQwait();//Return immediately
+ * enableInterrupts();
+ * Thread::yield();//After this, thread is in wait status
+ * \endcode
+ */
+ static void IRQwait();
+
+ /**
+ * Wakeup a thread.
+ * <br>CANNOT be called when the kernel is paused.
+ */
+ void wakeup();
+
+ /**
+ * Wakeup a thread.
+ * <br>Can be called when the kernel is paused.
+ */
+ void PKwakeup();
+
+ /**
+ * Same as wakeup(), but is meant to be used only inside an IRQ or when
+ * interrupts are disabled.
+ */
+ void IRQwakeup();
/**
* Return a pointer to the Thread class of the current thread.
@@ -561,6 +593,12 @@ public:
*/
static Thread *getCurrentThread();
+ /**
+ * Same as get_current_thread(), but meant to be used insida an IRQ, when
+ * interrupts are disabled or when the kernel is paused.
+ */
+ static Thread *IRQgetCurrentThread();
+
/**
* Check if a thread exists
* \param p thread to check
@@ -573,6 +611,12 @@ public:
*/
static bool exists(Thread *p);
+ /**
+ * Same as exists() but is meant to be called only inside an IRQ or when
+ * interrupts are disabled.
+ */
+ static bool IRQexists(Thread *p);
+
/**
* Returns the priority of a thread.<br>
* To get the priority of the current thread use:
@@ -586,6 +630,12 @@ public:
*/
Priority getPriority();
+ /**
+ * Same as getPriority(), but meant to be used inside an IRQ, when
+ * interrupts are disabled or when the kernel is paused.
+ */
+ Priority IRQgetPriority();
+
/**
* Set the priority of this thread.<br>
* This member function changed from previous Miosix versions since it is
@@ -610,24 +660,16 @@ public:
void terminate();
/**
- * This method stops the thread until another thread calls wakeup() on this
- * thread.<br>Calls to wait are not cumulative. If wait() is called two
- * times, only one call to wakeup() is needed to wake the thread.
- * <br>CANNOT be called when the kernel is paused.
- */
- static void wait();
-
- /**
- * Wakeup a thread.
- * <br>CANNOT be called when the kernel is paused.
- */
- void wakeup();
-
- /**
- * Wakeup a thread.
+ * This method needs to be called periodically inside the thread's main
+ * loop.
+ * \return true if somebody outside the thread called terminate() on this
+ * thread.
+ *
+ * If it returns true the thread must free all resources and terminate by
+ * returning from its main function.
* <br>Can be called when the kernel is paused.
*/
- void PKwakeup();
+ static bool testTerminate();
/**
* Detach the thread if it was joinable, otherwise do nothing.<br>
@@ -661,48 +703,6 @@ public:
*/
bool join(void** result=nullptr);
- /**
- * Same as get_current_thread(), but meant to be used insida an IRQ, when
- * interrupts are disabled or when the kernel is paused.
- */
- static Thread *IRQgetCurrentThread();
-
- /**
- * Same as getPriority(), but meant to be used inside an IRQ, when
- * interrupts are disabled or when the kernel is paused.
- */
- Priority IRQgetPriority();
-
- /**
- * Same as wait(), but is meant to be used only inside an IRQ or when
- * interrupts are disabled.<br>
- * Note: this method is meant to put the current thread in wait status in a
- * piece of code where interrupts are disbled; it returns immediately, so
- * the user is responsible for re-enabling interrupts and calling yield to
- * effectively put the thread in wait status.
- *
- * \code
- * disableInterrupts();
- * ...
- * Thread::IRQwait();//Return immediately
- * enableInterrupts();
- * Thread::yield();//After this, thread is in wait status
- * \endcode
- */
- static void IRQwait();
-
- /**
- * Same as wakeup(), but is meant to be used only inside an IRQ or when
- * interrupts are disabled.
- */
- void IRQwakeup();
-
- /**
- * Same as exists() but is meant to be called only inside an IRQ or when
- * interrupts are disabled.
- */
- static bool IRQexists(Thread *p);
-
/**
* \internal
* This method is only meant to implement functions to check the available
@@ -717,6 +717,13 @@ public:
* \return the size of the stack of the current thread.
*/
static int getStackSize();
+
+ /**
+ * \internal
+ * Used before every context switch to check if the stack of the thread
+ * being preempted has overflowed
+ */
+ static void IRQstackOverflowCheck();
#ifdef WITH_PROCESSES
@@ -744,18 +751,14 @@ public:
#endif //WITH_PROCESSES
- /**
- * \internal
- * Used before every context switch to check if the stack of the thread
- * being preempted has overflowed
- */
- static void IRQstackOverflowCheck();
+ //Unwanted methods
+ Thread(const Thread& p) = delete;
+ Thread& operator = (const Thread& p) = delete;
private:
- //Unwanted methods
- Thread(const Thread& p);///< No public copy constructor
- Thread& operator = (const Thread& p);///< No publc operator =
-
+ /**
+ * Curren thread status
+ */
class ThreadFlags
{
public:
@@ -878,6 +881,7 @@ private:
bool isInUserspace() const { return flags & USERSPACE; }
Thread* t;
+
private:
///\internal Thread is in the wait status. A call to wakeup will change
///this
@@ -968,7 +972,7 @@ private:
* resources to create one.
*/
static Thread *doCreate(void *(*startfunc)(void *), unsigned int stacksize,
- void *argv, unsigned short options, bool defaultReent);
+ void *argv, unsigned short options, bool defaultReent);
/**
* Thread launcher, all threads start from this member function, which calls