mirror of
https://github.com/arabine/open-story-teller.git
synced 2025-12-06 17:09:06 +01:00
Working mailbox implementation
This commit is contained in:
Anthony Rabine
parent
e552978acf
commit
ac469109ca
4 changed files with 174 additions and 109 deletions
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@ -31,7 +31,7 @@ add_library(
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pico_generate_pio_header(${PROJECT_NAME} ${CMAKE_CURRENT_LIST_DIR}/pico_i2s.pio)
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pico_generate_pio_header(${PROJECT_NAME} ${CMAKE_CURRENT_LIST_DIR}/i2s.pio)
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target_link_libraries(${PROJECT_NAME} INTERFACE pico_stdlib hardware_exception)
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target_link_libraries(${PROJECT_NAME} INTERFACE pico_stdlib hardware_exception cmsis_core)
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target_include_directories(${PROJECT_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})
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target_sources(${PROJECT_NAME} INTERFACE
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@ -75,6 +75,7 @@ ost_event_t ev_queue[10];
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qor_tcb_t tcb1;
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qor_tcb_t tcb2;
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qor_tcb_t idle;
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void UserTask_0(void *args)
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{
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@ -111,6 +112,10 @@ void UserTask_0(void *args)
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void UserTask_1(void *args)
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{
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static ost_event_t wake_up;
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wake_up.ev = 34;
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while (1)
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{
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for (int i = 0; i < 65500; i++)
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@ -124,8 +129,20 @@ void UserTask_1(void *args)
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for (int j = 0; j < 100; j++)
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;
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}
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qor_mbox_notify(&b, (void **)&wake_up, 1);
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}
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}
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void IdleTaskFunction(void *args)
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{
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while (1)
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{
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// Instrumentation, power saving, os functions won't work here
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__asm volatile("wfi");
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}
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}
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/*
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void UserTask_2(void)
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{
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@ -168,11 +185,11 @@ int main()
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// ost_audio_play("out2.wav");
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OS_Init(THREADFREQ);
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qor_create_thread(&tcb1, UserTask_0, 1, "UserTask_0");
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qor_create_thread(&tcb2, UserTask_1, 2, "UserTask_1");
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qor_create_thread(&tcb1, UserTask_0, 2, "UserTask_0");
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qor_create_thread(&tcb2, UserTask_1, 1, "UserTask_1");
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// OS_Thread_Create(UserTask_2, OS_SCHEDL_PRIO_MAIN_THREAD, "UserTask_2");
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// OS_Thread_Create(OnboardUserButton_Task, OS_SCHEDL_PRIO_EVENT_THREAD, "OnboardUserButton_Task");
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qor_start();
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qor_start(&idle, IdleTaskFunction);
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for (;;)
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{
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@ -15,8 +15,18 @@
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#include "qor.h"
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#include <stdlib.h>
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// Raspberry Pico SDK
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#include "pico/stdlib.h"
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#include "hardware/uart.h"
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#include "hardware/spi.h"
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#include "hardware/dma.h"
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#include "hardware/irq.h"
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#include "hardware/pio.h"
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#include "hardware/clocks.h"
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#include "pico.h"
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#include "pico/critical_section.h"
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#include "hardware/exception.h"
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#include "RP2040.h"
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// ===========================================================================================================
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// ARM GENERIC
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@ -37,23 +47,6 @@ void qor_sleep_ms(uint8_t svc, uint32_t ms)
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__wfi;
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}
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static inline void __set_PRIMASK(uint32_t priMask)
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{
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__asm volatile("MSR primask, %0"
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:
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: "r"(priMask)
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: "memory");
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}
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static inline uint32_t __get_PRIMASK(void)
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{
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uint32_t result;
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__asm volatile("MRS %0, primask"
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: "=r"(result));
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return (result);
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}
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static inline uint32_t qor_enter_critical(void)
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{
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uint32_t primask = __get_PRIMASK();
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@ -103,6 +96,44 @@ static const bool qor_inside_interrupt(void)
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return xReturn;
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}
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// ===========================================================================================================
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// RASPBERRY PICO
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// ===========================================================================================================
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static volatile uint32_t timer_period;
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#define ALARM_NUM 0
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#define ALARM_IRQ TIMER_IRQ_0
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//-----------------------------------------------------------------------------
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static void alarm_irq(void)
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{
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// Clear the alarm irq
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hw_clear_bits(&timer_hw->intr, 1u << ALARM_NUM);
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}
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//-----------------------------------------------------------------------------
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static void timer_init(uint32_t delay_us)
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{
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// Enable the interrupt for our alarm (the timer outputs 4 alarm irqs)
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hw_set_bits(&timer_hw->inte, 1u << ALARM_NUM);
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// Set irq handler for alarm irq
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irq_set_exclusive_handler(ALARM_IRQ, alarm_irq);
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// Enable the alarm irq
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irq_set_enabled(ALARM_IRQ, true);
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// Enable interrupt in block and at processor
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// Alarm is only 32 bits so if trying to delay more
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// than that need to be careful and keep track of the upper
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// bits
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uint64_t target = timer_hw->timerawl + delay_us;
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// Write the lower 32 bits of the target time to the alarm which
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// will arm it
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timer_hw->alarm[ALARM_NUM] = (uint32_t)target;
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}
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// ===========================================================================================================
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// GLOBAL AND STATIC VARIABLES
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// ===========================================================================================================
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@ -112,6 +143,8 @@ static uint32_t Stacks[MAXNUMTHREADS][STACKSIZE];
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/* Pointer to the currently running thread */
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qor_tcb_t *RunPt = NULL;
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static qor_tcb_t *TcbHead = NULL;
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static qor_tcb_t *IdleTcb = NULL;
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static thread_func_t IdleTask = NULL;
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/* The variable ActiveTCBsCount tracks the number of TCBs in use by the OS */
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static uint32_t ActiveTCBsCount = 0;
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@ -162,7 +195,6 @@ void qor_create_thread(qor_tcb_t *tcb, thread_func_t task, uint8_t priority, con
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tcb->name = name;
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tcb->next = NULL;
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tcb->mbox = NULL;
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tcb->message = NULL;
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tcb->wait_next = NULL;
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tcb->sp = qor_initialize_stack(&Stacks[ActiveTCBsCount][STACKSIZE], task, (void *)name);
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@ -186,11 +218,20 @@ void qor_create_thread(qor_tcb_t *tcb, thread_func_t task, uint8_t priority, con
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enable_irq();
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}
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void qor_start(void)
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bool qor_start(qor_tcb_t *idle_tcb, thread_func_t idle_task)
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{
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assert_or_panic(ActiveTCBsCount > 0);
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if ((idle_task == NULL) || (idle_tcb == NULL))
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{
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return false;
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}
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qor_create_thread(idle_tcb, idle_task, 0, "IdleTask");
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// FIXME: use the scheduler to find the best first thread to start
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IdleTcb = idle_tcb;
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IdleTask = idle_task;
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RunPt = TcbHead;
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/* Prevent the timer's ISR from firing before OSAsm_Start is called */
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disable_irq();
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@ -199,33 +240,55 @@ void qor_start(void)
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/* This statement should not be reached */
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ost_hal_panic();
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return true;
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}
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void qor_scheduler(void)
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{
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/*
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La stratégie est la suivante:
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- On va circuler parmi tous les TCB (liste chaînée)
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- On va retenir le TCB dont la priorité est la plus élevée parmi les actifs
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- On va retenir le TCB dont la priorité est la plus élevée parmi les endormis
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- On va élir le TCB actif trouvé, sinon l'endormi, et finalement la tâche idle si aucune autre tâche n'est éligible
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*/
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uint32_t max_priority = 0;
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qor_tcb_t *best_active = NULL;
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qor_tcb_t *best_sleeping = NULL;
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qor_tcb_t *t = TcbHead;
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/* Search for highest priority thread not sleeping or blocked */
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uint32_t max_priority = RunPt->priority;
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qor_tcb_t *best_pt = RunPt;
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while (t != NULL)
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{
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if ((t->priority > max_priority) &&
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(t->wait_time == 0) &&
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(t->state == qor_tcb_state_active))
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(t->wait_time == 0))
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{
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best_pt = t;
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max_priority = t->priority;
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if (t->state == qor_tcb_state_active)
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{
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best_active = t;
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}
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else
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{
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best_sleeping = t;
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}
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}
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t = t->next;
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}
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RunPt = best_pt;
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}
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void OS_Thread_Suspend(void)
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if (best_active != NULL)
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{
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// SchedlTimer_ResetCounter();
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RunPt = best_active;
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}
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else if (best_sleeping != NULL)
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{
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RunPt = best_sleeping;
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}
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else
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{
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RunPt = IdleTcb;
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}
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}
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void qor_sleep(uint32_t sleep_duration_ms)
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@ -273,9 +336,6 @@ void OS_Thread_Kill(void)
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// MAILBOX IMPLEMENTATION
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// ===========================================================================================================
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#define qor_mbox_tSendNormal 0x0
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#define qor_mbox_tSendFront 0x1
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void qor_mbox_init(qor_mbox_t *mbox, void **msgBuffer, uint32_t maxCount)
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{
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mbox->msgBuffer = msgBuffer;
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@ -289,50 +349,36 @@ uint32_t qor_mbox_wait(qor_mbox_t *mbox, void **msg, uint32_t waitTicks)
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{
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uint32_t status = qor_enter_critical();
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// No any data, block on that resource
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if (mbox->count == 0)
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{
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if (waitTicks > 0)
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{
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// No any data, block on that resource
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RunPt->mbox = mbox;
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RunPt->state = qor_tcb_state_wait_mbox;
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RunPt->state = qor_tcb_state_sleep;
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RunPt->wait_time = waitTicks;
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mbox->head = RunPt;
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qor_exit_critical(status);
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qor_svc_call(); // call scheduler
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qor_svc_call(); // call scheduler, wait for message
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}
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else
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{
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qor_exit_critical(status);
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return QOR_MBOX_ERROR;
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}
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}
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status = qor_enter_critical();
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if ((RunPt->wait_time >= 0) && (RunPt->message != NULL))
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--mbox->count;
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*msg = mbox->msgBuffer[mbox->read++];
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if (mbox->read >= mbox->maxCount)
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{
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*msg = RunPt->message;
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mbox->read = 0;
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}
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qor_exit_critical(status);
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return QOR_MBOX_OK;
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}
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else
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{
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qor_exit_critical(status);
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return QOR_MBOX_ERROR;
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}
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}
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else
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{
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return QOR_MBOX_ERROR;
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}
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}
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else
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{
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if ((RunPt->message != NULL))
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{
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*msg = RunPt->message;
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qor_exit_critical(status);
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return QOR_MBOX_OK;
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}
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else
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{
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qor_exit_critical(status);
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return QOR_MBOX_ERROR;
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}
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}
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}
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/*
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uint32_t qor_mbox_get(qor_mbox_t *mbox, void **msg)
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@ -357,27 +403,19 @@ uint32_t qor_mbox_get(qor_mbox_t *mbox, void **msg)
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}
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*/
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/*
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#define QOR_MBOX_OPTION_SEND_FRONT 1
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#define QOR_MBOX_OPTION_SEND_BACK 2
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uint32_t qor_mbox_notify(qor_mbox_t *mbox, void *msg, uint32_t notifyOption)
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{
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uint32_t status = qor_enter_critical();
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if (tEventWaitCount(&mbox->event) > 0)
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{
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tTask *task = tEventWakeUp(&mbox->event, (void *)msg, tErrorNoError);
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if (task->prio < currentTask->prio)
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{
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tTaskSched();
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}
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}
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else
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{
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if (mbox->count >= mbox->maxCount)
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{
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qor_exit_critical(status);
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return tErrorResourceFull;
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return QOR_MBOX_FULL;
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}
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if (notifyOption & qor_mbox_tSendFront)
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if (notifyOption == QOR_MBOX_OPTION_SEND_FRONT)
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{
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if (mbox->read <= 0)
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{
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@ -398,11 +436,18 @@ uint32_t qor_mbox_notify(qor_mbox_t *mbox, void *msg, uint32_t notifyOption)
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}
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}
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mbox->count++;
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// We warn all waiting threads that a new message is available
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qor_tcb_t *t = mbox->head;
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if (t != NULL)
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{
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t->wait_time = 0;
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}
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qor_exit_critical(status);
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return tErrorNoError;
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qor_svc_call(); // call scheduler
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return QOR_MBOX_OK;
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}
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*/
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void qor_mbox_flush(qor_mbox_t *mbox)
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{
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@ -1,6 +1,9 @@
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#ifndef QOR_H
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#define QOR_H
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#include <stdint.h>
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#include <stdbool.h>
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extern void ost_hal_panic();
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/**
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@ -13,8 +16,6 @@ extern void ost_hal_panic();
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* exposes the functions for interacting with it.
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*/
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#include <stdint.h>
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#define MAXNUMTHREADS 10 /* Maximum number of threads, allocated at compile time */
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#define STACKSIZE 100 /* Number of 32-bit words in each TCB's stack */
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#define THREADFREQ 1 /* Maximum time-slice, in Hz, before the scheduler is run */
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@ -42,7 +43,6 @@ typedef void (*thread_func_t)(void *args);
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typedef enum
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{
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qor_tcb_state_active,
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qor_tcb_state_wait_mbox,
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qor_tcb_state_sleep
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} qor_tcb_state_t;
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@ -62,7 +62,6 @@ typedef struct TCB
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qor_tcb_state_t state; /* TCB active or free */
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uint32_t wait_time; //!< Timeout for mbox maiting or sleep
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qor_mbox_t *mbox; /* Pointer to mailbox on which the thread is blocked, NULL if not blocked */
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void *message; //<! Actually the message transmitted
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uint8_t priority; /* Thread priority, 0 is highest, 255 is lowest */
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const char *name; /* Descriptive name to facilitate debugging */
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@ -76,9 +75,7 @@ void qor_create_thread(qor_tcb_t *tcb, thread_func_t task, uint8_t priority, con
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void qor_switch_context();
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void qor_start(void);
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void OS_Thread_Suspend(void);
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bool qor_start(qor_tcb_t *idle_tcb, thread_func_t idle_task);
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void qor_sleep(uint32_t sleep_duration_ms);
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@ -110,8 +107,14 @@ typedef struct
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#define QOR_MBOX_OK 1
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#define QOR_MBOX_ERROR 2
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#define QOR_MBOX_FULL 3
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void qor_mbox_init(qor_mbox_t *mbox, void **msgBuffer, uint32_t maxCount);
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uint32_t qor_mbox_wait(qor_mbox_t *mbox, void **msg, uint32_t waitTicks);
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#define QOR_MBOX_OPTION_SEND_FRONT 1
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#define QOR_MBOX_OPTION_SEND_BACK 2
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uint32_t qor_mbox_notify(qor_mbox_t *mbox, void *msg, uint32_t notifyOption);
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#endif // QOR_H
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