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-rw-r--r--stmhal/main.c4
-rw-r--r--stmhal/modmachine.c5
-rw-r--r--stmhal/mpconfigport.h14
-rw-r--r--stmhal/mpthreadport.c35
-rw-r--r--stmhal/mpthreadport.h14
-rw-r--r--stmhal/pybthread.c179
-rw-r--r--stmhal/pybthread.h26
-rw-r--r--stmhal/stm32_it.c12
-rw-r--r--stmhal/systick.c10
9 files changed, 236 insertions, 63 deletions
diff --git a/stmhal/main.c b/stmhal/main.c
index 7bfdc52c3e..bcc429df2f 100644
--- a/stmhal/main.c
+++ b/stmhal/main.c
@@ -695,6 +695,10 @@ soft_reset_exit:
can_deinit();
#endif
+ #if MICROPY_PY_THREAD
+ pyb_thread_deinit();
+ #endif
+
first_soft_reset = false;
goto soft_reset;
}
diff --git a/stmhal/modmachine.c b/stmhal/modmachine.c
index 4a3fe1ec9a..16c50079d1 100644
--- a/stmhal/modmachine.c
+++ b/stmhal/modmachine.c
@@ -41,6 +41,7 @@
#include "extmod/vfs_fat.h"
#include "gccollect.h"
#include "irq.h"
+#include "pybthread.h"
#include "rng.h"
#include "storage.h"
#include "pin.h"
@@ -159,6 +160,10 @@ STATIC mp_obj_t machine_info(mp_uint_t n_args, const mp_obj_t *args) {
}
}
+ #if MICROPY_PY_THREAD
+ pyb_thread_dump();
+ #endif
+
if (n_args == 1) {
// arg given means dump gc allocation table
gc_dump_alloc_table();
diff --git a/stmhal/mpconfigport.h b/stmhal/mpconfigport.h
index 5828f07c7d..38a5ac5da9 100644
--- a/stmhal/mpconfigport.h
+++ b/stmhal/mpconfigport.h
@@ -299,7 +299,21 @@ static inline mp_uint_t disable_irq(void) {
#define MICROPY_BEGIN_ATOMIC_SECTION() disable_irq()
#define MICROPY_END_ATOMIC_SECTION(state) enable_irq(state)
+
+#if MICROPY_PY_THREAD
+#define MICROPY_EVENT_POLL_HOOK \
+ do { \
+ if (pyb_thread_enabled) { \
+ MP_THREAD_GIL_EXIT(); \
+ pyb_thread_yield(); \
+ MP_THREAD_GIL_ENTER(); \
+ } else { \
+ __WFI(); \
+ } \
+ } while (0);
+#else
#define MICROPY_EVENT_POLL_HOOK __WFI();
+#endif
// There is no classical C heap in bare-metal ports, only Python
// garbage-collected heap. For completeness, emulate C heap via
diff --git a/stmhal/mpthreadport.c b/stmhal/mpthreadport.c
index 97c19647cb..d7c5b569bb 100644
--- a/stmhal/mpthreadport.c
+++ b/stmhal/mpthreadport.c
@@ -44,15 +44,13 @@ void mp_thread_init(void) {
void mp_thread_gc_others(void) {
mp_thread_mutex_lock(&thread_mutex, 1);
- gc_collect_root((void**)&pyb_thread_cur, 1);
- for (pyb_thread_t *th = pyb_thread_cur;; th = th->next) {
+ for (pyb_thread_t *th = pyb_thread_all; th != NULL; th = th->all_next) {
+ gc_collect_root((void**)&th, 1);
gc_collect_root(&th->arg, 1);
+ gc_collect_root(&th->stack, 1);
if (th != pyb_thread_cur) {
gc_collect_root(th->stack, th->stack_len);
}
- if (th->next == pyb_thread_cur) {
- break;
- }
}
mp_thread_mutex_unlock(&thread_mutex);
}
@@ -93,31 +91,4 @@ void mp_thread_start(void) {
void mp_thread_finish(void) {
}
-void mp_thread_mutex_init(mp_thread_mutex_t *mutex) {
- *mutex = 0;
-}
-
-int mp_thread_mutex_lock(mp_thread_mutex_t *mutex, int wait) {
- uint32_t irq_state = disable_irq();
- if (*mutex) {
- // mutex is locked
- if (!wait) {
- enable_irq(irq_state);
- return 0; // failed to lock mutex
- }
- while (*mutex) {
- enable_irq(irq_state);
- pyb_thread_yield();
- irq_state = disable_irq();
- }
- }
- *mutex = 1;
- enable_irq(irq_state);
- return 1; // have mutex
-}
-
-void mp_thread_mutex_unlock(mp_thread_mutex_t *mutex) {
- *mutex = 0;
-}
-
#endif // MICROPY_PY_THREAD
diff --git a/stmhal/mpthreadport.h b/stmhal/mpthreadport.h
index 4fef323eb5..3d8b4ef011 100644
--- a/stmhal/mpthreadport.h
+++ b/stmhal/mpthreadport.h
@@ -29,7 +29,7 @@
#include "py/mpthread.h"
#include "pybthread.h"
-typedef uint32_t mp_thread_mutex_t;
+typedef pyb_mutex_t mp_thread_mutex_t;
void mp_thread_init(void);
void mp_thread_gc_others(void);
@@ -42,4 +42,16 @@ static inline struct _mp_state_thread_t *mp_thread_get_state(void) {
return pyb_thread_get_local();
}
+static inline void mp_thread_mutex_init(mp_thread_mutex_t *m) {
+ pyb_mutex_init(m);
+}
+
+static inline int mp_thread_mutex_lock(mp_thread_mutex_t *m, int wait) {
+ return pyb_mutex_lock(m, wait);
+}
+
+static inline void mp_thread_mutex_unlock(mp_thread_mutex_t *m) {
+ pyb_mutex_unlock(m);
+}
+
#endif // __MICROPY_INCLUDED_STMHAL_MPTHREADPORT_H__
diff --git a/stmhal/pybthread.c b/stmhal/pybthread.c
index 9f9f82a451..51e9a738d0 100644
--- a/stmhal/pybthread.c
+++ b/stmhal/pybthread.c
@@ -34,29 +34,80 @@
#if MICROPY_PY_THREAD
-int pyb_thread_enabled;
-pyb_thread_t *pyb_thread_cur;
+#define PYB_MUTEX_UNLOCKED ((void*)0)
+#define PYB_MUTEX_LOCKED ((void*)1)
+
+extern void __fatal_error(const char*);
+
+volatile int pyb_thread_enabled;
+pyb_thread_t *volatile pyb_thread_all;
+pyb_thread_t *volatile pyb_thread_cur;
+
+static inline void pyb_thread_add_to_runable(pyb_thread_t *thread) {
+ thread->run_prev = pyb_thread_cur->run_prev;
+ thread->run_next = pyb_thread_cur;
+ pyb_thread_cur->run_prev->run_next = thread;
+ pyb_thread_cur->run_prev = thread;
+}
+
+static inline void pyb_thread_remove_from_runable(pyb_thread_t *thread) {
+ if (thread->run_next == thread) {
+ __fatal_error("deadlock");
+ }
+ thread->run_prev->run_next = thread->run_next;
+ thread->run_next->run_prev = thread->run_prev;
+}
void pyb_thread_init(pyb_thread_t *thread) {
+ pyb_thread_enabled = 0;
+ pyb_thread_all = thread;
pyb_thread_cur = thread;
- pyb_thread_cur->sp = NULL; // will be set when this thread switches out
- pyb_thread_cur->local_state = 0; // will be set by mp_thread_init
- pyb_thread_cur->arg = NULL;
- pyb_thread_cur->stack = &_heap_end;
- pyb_thread_cur->stack_len = ((uint32_t)&_estack - (uint32_t)&_heap_end) / sizeof(uint32_t);
- pyb_thread_cur->prev = thread;
- pyb_thread_cur->next = thread;
+ thread->sp = NULL; // will be set when this thread switches out
+ thread->local_state = 0; // will be set by mp_thread_init
+ thread->arg = NULL;
+ thread->stack = &_heap_end;
+ thread->stack_len = ((uint32_t)&_estack - (uint32_t)&_heap_end) / sizeof(uint32_t);
+ thread->all_next = NULL;
+ thread->run_prev = thread;
+ thread->run_next = thread;
+ thread->queue_next = NULL;
+}
+
+void pyb_thread_deinit() {
+ uint32_t irq_state = disable_irq();
+ pyb_thread_enabled = 0;
+ pyb_thread_all = pyb_thread_cur;
+ pyb_thread_cur->all_next = NULL;
+ pyb_thread_cur->run_prev = pyb_thread_cur;
+ pyb_thread_cur->run_next = pyb_thread_cur;
+ enable_irq(irq_state);
}
STATIC void pyb_thread_terminate(void) {
- uint32_t irq_state = raise_irq_pri(IRQ_PRI_PENDSV);
- pyb_thread_cur->prev->next = pyb_thread_cur->next;
- pyb_thread_cur->next->prev = pyb_thread_cur->prev;
- if (pyb_thread_cur->next == pyb_thread_cur->prev) {
+ uint32_t irq_state = disable_irq();
+ pyb_thread_t *thread = pyb_thread_cur;
+ // take current thread off the run list
+ pyb_thread_remove_from_runable(thread);
+ // take current thread off the list of all threads
+ for (pyb_thread_t **n = (pyb_thread_t**)&pyb_thread_all;; n = &(*n)->all_next) {
+ if (*n == thread) {
+ *n = thread->all_next;
+ break;
+ }
+ }
+ // clean pointers as much as possible to help GC
+ thread->all_next = NULL;
+ thread->queue_next = NULL;
+ thread->stack = NULL;
+ if (pyb_thread_all->all_next == NULL) {
+ // only 1 thread left
pyb_thread_enabled = 0;
}
- restore_irq_pri(irq_state);
- pyb_thread_yield(); // should not return
+ // thread switch will occur after we enable irqs
+ SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
+ enable_irq(irq_state);
+ // should not return
+ __fatal_error("could not terminate");
}
uint32_t pyb_thread_new(pyb_thread_t *thread, void *stack, size_t stack_len, void *entry, void *arg) {
@@ -77,21 +128,105 @@ uint32_t pyb_thread_new(pyb_thread_t *thread, void *stack, size_t stack_len, voi
thread->arg = arg;
thread->stack = stack;
thread->stack_len = stack_len;
- uint32_t irq_state = raise_irq_pri(IRQ_PRI_PENDSV);
+ thread->queue_next = NULL;
+ uint32_t irq_state = disable_irq();
pyb_thread_enabled = 1;
- thread->next = pyb_thread_cur->next;
- thread->prev = pyb_thread_cur;
- pyb_thread_cur->next->prev = thread;
- pyb_thread_cur->next = thread;
- restore_irq_pri(irq_state);
+ thread->all_next = pyb_thread_all;
+ pyb_thread_all = thread;
+ pyb_thread_add_to_runable(thread);
+ enable_irq(irq_state);
return (uint32_t)thread; // success
}
+void pyb_thread_dump(void) {
+ if (!pyb_thread_enabled) {
+ printf("THREAD: only main thread\n");
+ } else {
+ printf("THREAD:\n");
+ for (pyb_thread_t *th = pyb_thread_all; th != NULL; th = th->all_next) {
+ bool runable = false;
+ for (pyb_thread_t *th2 = pyb_thread_cur;; th2 = th2->run_next) {
+ if (th == th2) {
+ runable = true;
+ break;
+ }
+ if (th2->run_next == pyb_thread_cur) {
+ break;
+ }
+ }
+ printf(" id=%p sp=%p sz=%u", th, th->stack, th->stack_len);
+ if (runable) {
+ printf(" (runable)");
+ }
+ printf("\n");
+ }
+ }
+}
+
// should only be called from pendsv_isr_handler
void *pyb_thread_next(void *sp) {
pyb_thread_cur->sp = sp;
- pyb_thread_cur = pyb_thread_cur->next;
+ pyb_thread_cur = pyb_thread_cur->run_next;
+ pyb_thread_cur->timeslice = 4; // in milliseconds
return pyb_thread_cur->sp;
}
+void pyb_mutex_init(pyb_mutex_t *m) {
+ *m = PYB_MUTEX_UNLOCKED;
+}
+
+int pyb_mutex_lock(pyb_mutex_t *m, int wait) {
+ uint32_t irq_state = disable_irq();
+ if (*m == PYB_MUTEX_UNLOCKED) {
+ // mutex is available
+ *m = PYB_MUTEX_LOCKED;
+ enable_irq(irq_state);
+ } else {
+ // mutex is locked
+ if (!wait) {
+ enable_irq(irq_state);
+ return 0; // failed to lock mutex
+ }
+ if (*m == PYB_MUTEX_LOCKED) {
+ *m = pyb_thread_cur;
+ } else {
+ for (pyb_thread_t *n = *m;; n = n->queue_next) {
+ if (n->queue_next == NULL) {
+ n->queue_next = pyb_thread_cur;
+ break;
+ }
+ }
+ }
+ pyb_thread_cur->queue_next = NULL;
+ // take current thread off the run list
+ pyb_thread_remove_from_runable(pyb_thread_cur);
+ // thread switch will occur after we enable irqs
+ SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
+ enable_irq(irq_state);
+ // when we come back we have the mutex
+ }
+ return 1; // have mutex
+}
+
+void pyb_mutex_unlock(pyb_mutex_t *m) {
+ uint32_t irq_state = disable_irq();
+ if (*m == PYB_MUTEX_LOCKED) {
+ // no threads are blocked on the mutex
+ *m = PYB_MUTEX_UNLOCKED;
+ } else {
+ // at least one thread is blocked on this mutex
+ pyb_thread_t *th = *m;
+ if (th->queue_next == NULL) {
+ // no other threads are blocked
+ *m = PYB_MUTEX_LOCKED;
+ } else {
+ // at least one other thread is still blocked
+ *m = th->queue_next;
+ }
+ // put unblocked thread on runable list
+ pyb_thread_add_to_runable(th);
+ }
+ enable_irq(irq_state);
+}
+
#endif // MICROPY_PY_THREAD
diff --git a/stmhal/pybthread.h b/stmhal/pybthread.h
index d4310c66a5..6edb2400e2 100644
--- a/stmhal/pybthread.h
+++ b/stmhal/pybthread.h
@@ -33,15 +33,23 @@ typedef struct _pyb_thread_t {
void *arg; // thread Python args, a GC root pointer
void *stack; // pointer to the stack
size_t stack_len; // number of words in the stack
- struct _pyb_thread_t *prev;
- struct _pyb_thread_t *next;
+ uint32_t timeslice;
+ struct _pyb_thread_t *all_next;
+ struct _pyb_thread_t *run_prev;
+ struct _pyb_thread_t *run_next;
+ struct _pyb_thread_t *queue_next;
} pyb_thread_t;
-extern int pyb_thread_enabled;
-extern pyb_thread_t *pyb_thread_cur;
+typedef pyb_thread_t *pyb_mutex_t;
+
+extern volatile int pyb_thread_enabled;
+extern pyb_thread_t *volatile pyb_thread_all;
+extern pyb_thread_t *volatile pyb_thread_cur;
void pyb_thread_init(pyb_thread_t *th);
+void pyb_thread_deinit();
uint32_t pyb_thread_new(pyb_thread_t *th, void *stack, size_t stack_len, void *entry, void *arg);
+void pyb_thread_dump(void);
static inline uint32_t pyb_thread_get_id(void) {
return (uint32_t)pyb_thread_cur;
@@ -56,7 +64,15 @@ static inline void *pyb_thread_get_local(void) {
}
static inline void pyb_thread_yield(void) {
- SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
+ if (pyb_thread_cur->run_next == pyb_thread_cur) {
+ __WFI();
+ } else {
+ SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
+ }
}
+void pyb_mutex_init(pyb_mutex_t *m);
+int pyb_mutex_lock(pyb_mutex_t *m, int wait);
+void pyb_mutex_unlock(pyb_mutex_t *m);
+
#endif // MICROPY_INCLUDED_STMHAL_PYBTHREAD_H
diff --git a/stmhal/stm32_it.c b/stmhal/stm32_it.c
index 4152050a99..d8fcc59ce5 100644
--- a/stmhal/stm32_it.c
+++ b/stmhal/stm32_it.c
@@ -70,6 +70,7 @@
#include "stm32_it.h"
#include STM32_HAL_H
+#include "py/mpstate.h"
#include "py/obj.h"
#include "py/mphal.h"
#include "pendsv.h"
@@ -315,9 +316,14 @@ void SysTick_Handler(void) {
}
#if MICROPY_PY_THREAD
- // signal a thread switch at 4ms=250Hz
- if (pyb_thread_enabled && (uwTick & 0x03) == 0x03) {
- SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
+ if (pyb_thread_enabled) {
+ if (pyb_thread_cur->timeslice == 0) {
+ if (pyb_thread_cur->run_next != pyb_thread_cur) {
+ SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
+ }
+ } else {
+ --pyb_thread_cur->timeslice;
+ }
}
#endif
}
diff --git a/stmhal/systick.c b/stmhal/systick.c
index aed5b96901..ade05d74d7 100644
--- a/stmhal/systick.c
+++ b/stmhal/systick.c
@@ -29,9 +29,11 @@
#include "py/obj.h"
#include "irq.h"
#include "systick.h"
+#include "pybthread.h"
// We provide our own version of HAL_Delay that calls __WFI while waiting, in
// order to reduce power consumption.
+// Note: Upon entering this function we may or may not have the GIL.
void HAL_Delay(uint32_t Delay) {
if (query_irq() == IRQ_STATE_ENABLED) {
// IRQs enabled, so can use systick counter to do the delay
@@ -40,7 +42,15 @@ void HAL_Delay(uint32_t Delay) {
// Wraparound of tick is taken care of by 2's complement arithmetic.
while (uwTick - start < Delay) {
// Enter sleep mode, waiting for (at least) the SysTick interrupt.
+ #if MICROPY_PY_THREAD
+ if (pyb_thread_enabled) {
+ pyb_thread_yield();
+ } else {
+ __WFI();
+ }
+ #else
__WFI();
+ #endif
}
} else {
// IRQs disabled, so need to use a busy loop for the delay.
generated by cgit v1.2.3 (git 2.39.1) at 2025-05-20 13:52:22 +0000