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Merge branch 'main' into ARM_CRx_MPU

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Soren Ptak 2024-01-12 18:24:46 -05:00 • committed by GitHub
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1 changed files with 77 additions and 60 deletions
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137
portable/ThirdParty/GCC/Posix/port.c vendored
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@ -60,6 +60,7 @@
#include <sys/time.h>
#include <sys/times.h>
#include <time.h>
#include <unistd.h>
#ifdef __APPLE__
#include <mach/mach_vm.h>
@ -68,6 +69,7 @@
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "list.h"
#include "timers.h"
#include "utils/wait_for_event.h"
/*-----------------------------------------------------------*/
@ -81,6 +83,7 @@ typedef struct THREAD
void * pvParams;
BaseType_t xDying;
struct event * ev;
ListItem_t xThreadListItem;
} Thread_t;
/*
@ -101,9 +104,11 @@ static sigset_t xAllSignals;
static sigset_t xSchedulerOriginalSignalMask;
static pthread_t hMainThread = ( pthread_t ) NULL;
static volatile BaseType_t uxCriticalNesting;
/*-----------------------------------------------------------*/
static BaseType_t xSchedulerEnd = pdFALSE;
static pthread_t hTimerTickThread;
static bool xTimerTickThreadShouldRun;
static uint64_t prvStartTimeNs;
static List_t xThreadList;
/*-----------------------------------------------------------*/
static void prvSetupSignalsAndSchedulerPolicy( void );
@ -127,6 +132,7 @@ void prvFatalError( const char * pcCall,
fprintf( stderr, "%s: %s\n", pcCall, strerror( iErrno ) );
abort();
}
/*-----------------------------------------------------------*/
/*
* See header file for description.
@ -163,19 +169,27 @@ StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
thread->pvParams = pvParameters;
thread->xDying = pdFALSE;
/* Ensure ulStackSize is at least PTHREAD_STACK_MIN */
ulStackSize = (ulStackSize < PTHREAD_STACK_MIN) ? PTHREAD_STACK_MIN : ulStackSize;
pthread_attr_init( &xThreadAttributes );
iRet = pthread_attr_setstack( &xThreadAttributes, pxEndOfStack, ulStackSize );
iRet = pthread_attr_setstacksize( &xThreadAttributes, ulStackSize );
if( iRet != 0 )
{
fprintf( stderr, "[WARN] pthread_attr_setstack failed with return value: %d. Default stack will be used.\n", iRet );
fprintf( stderr, "[WARN] Increase the stack size to PTHREAD_STACK_MIN.\n" );
fprintf( stderr, "[WARN] pthread_attr_setstacksize failed with return value: %d. Default stack size will be used.\n", iRet );
}
thread->ev = event_create();
vListInitialiseItem( &thread->xThreadListItem );
listSET_LIST_ITEM_OWNER( &thread->xThreadListItem, thread );
vPortEnterCritical();
/* Add the new thread in xThreadList. */
vListInsertEnd( &xThreadList, &thread->xThreadListItem );
iRet = pthread_create( &thread->pthread, &xThreadAttributes,
prvWaitForStart, thread );
@ -206,6 +220,8 @@ BaseType_t xPortStartScheduler( void )
{
int iSignal;
sigset_t xSignals;
ListItem_t * pxIterator;
const ListItem_t * pxEndMarker;
hMainThread = pthread_self();
@ -231,15 +247,28 @@ BaseType_t xPortStartScheduler( void )
sigwait( &xSignals, &iSignal );
}
/* Cancel the Idle task and free its resources */
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
vPortCancelThread( xTaskGetIdleTaskHandle() );
#endif
/* Cancel all the running thread. */
pxEndMarker = listGET_END_MARKER( &xThreadList );
#if ( configUSE_TIMERS == 1 )
/* Cancel the Timer task and free its resources */
vPortCancelThread( xTimerGetTimerDaemonTaskHandle() );
#endif /* configUSE_TIMERS */
for( pxIterator = listGET_HEAD_ENTRY( &xThreadList ); pxIterator != pxEndMarker; pxIterator = listGET_NEXT( pxIterator ) )
{
Thread_t * pxThread = ( Thread_t * ) listGET_LIST_ITEM_OWNER( pxIterator );
pthread_cancel( pxThread->pthread );
event_signal( pxThread->ev );
pthread_join( pxThread->pthread, NULL );
event_delete( pxThread->ev );
}
/*
* clear out the variable that is used to end the scheduler, otherwise
* subsequent scheduler restarts will end immediately.
*/
xSchedulerEnd = pdFALSE;
/* Reset the pthread_once_t structure. This is required if the port
* starts the scheduler again. */
hSigSetupThread = PTHREAD_ONCE_INIT;
/* Restore original signal mask. */
( void ) pthread_sigmask( SIG_SETMASK, &xSchedulerOriginalSignalMask, NULL );
@ -250,30 +279,15 @@ BaseType_t xPortStartScheduler( void )
void vPortEndScheduler( void )
{
struct itimerval itimer;
struct sigaction sigtick;
Thread_t * xCurrentThread;
/* Stop the timer and ignore any pending SIGALRMs that would end
* up running on the main thread when it is resumed. */
itimer.it_value.tv_sec = 0;
itimer.it_value.tv_usec = 0;
itimer.it_interval.tv_sec = 0;
itimer.it_interval.tv_usec = 0;
( void ) setitimer( ITIMER_REAL, &itimer, NULL );
sigtick.sa_flags = 0;
sigtick.sa_handler = SIG_IGN;
sigemptyset( &sigtick.sa_mask );
sigaction( SIGALRM, &sigtick, NULL );
/* Stop the timer tick thread. */
xTimerTickThreadShouldRun = false;
pthread_join( hTimerTickThread, NULL );
/* Signal the scheduler to exit its loop. */
xSchedulerEnd = pdTRUE;
( void ) pthread_kill( hMainThread, SIG_RESUME );
xCurrentThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
prvSuspendSelf( xCurrentThread );
pthread_exit( NULL );
}
/*-----------------------------------------------------------*/
@ -359,45 +373,37 @@ static uint64_t prvGetTimeNs( void )
return ( uint64_t ) t.tv_sec * ( uint64_t ) 1000000000UL + ( uint64_t ) t.tv_nsec;
}
static uint64_t prvStartTimeNs;
/*-----------------------------------------------------------*/
/* commented as part of the code below in vPortSystemTickHandler,
* to adjust timing according to full demo requirements */
/* static uint64_t prvTickCount; */
static void * prvTimerTickHandler( void * arg )
{
while( xTimerTickThreadShouldRun )
{
/*
* signal to the active task to cause tick handling or
* preemption (if enabled)
*/
Thread_t * thread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
pthread_kill( thread->pthread, SIGALRM );
usleep( portTICK_RATE_MICROSECONDS );
}
return NULL;
}
/*-----------------------------------------------------------*/
/*
* Setup the systick timer to generate the tick interrupts at the required
* frequency.
*/
void prvSetupTimerInterrupt( void )
{
struct itimerval itimer;
int iRet;
/* Initialise the structure with the current timer information. */
iRet = getitimer( ITIMER_REAL, &itimer );
if( iRet == -1 )
{
prvFatalError( "getitimer", errno );
}
/* Set the interval between timer events. */
itimer.it_interval.tv_sec = 0;
itimer.it_interval.tv_usec = portTICK_RATE_MICROSECONDS;
/* Set the current count-down. */
itimer.it_value.tv_sec = 0;
itimer.it_value.tv_usec = portTICK_RATE_MICROSECONDS;
/* Set-up the timer interrupt. */
iRet = setitimer( ITIMER_REAL, &itimer, NULL );
if( iRet == -1 )
{
prvFatalError( "setitimer", errno );
}
xTimerTickThreadShouldRun = true;
pthread_create( &hTimerTickThread, NULL, prvTimerTickHandler, NULL );
prvStartTimeNs = prvGetTimeNs();
}
@ -454,15 +460,22 @@ void vPortThreadDying( void * pxTaskToDelete,
pxThread->xDying = pdTRUE;
}
/*-----------------------------------------------------------*/
void vPortCancelThread( void * pxTaskToDelete )
{
Thread_t * pxThreadToCancel = prvGetThreadFromTask( pxTaskToDelete );
/* Remove the thread from xThreadList. */
vPortEnterCritical();
uxListRemove( &pxThreadToCancel->xThreadListItem );
vPortExitCritical();
/*
* The thread has already been suspended so it can be safely cancelled.
*/
pthread_cancel( pxThreadToCancel->pthread );
event_signal( pxThreadToCancel->ev );
pthread_join( pxThreadToCancel->pthread, NULL );
event_delete( pxThreadToCancel->ev );
}
@ -538,6 +551,7 @@ static void prvSuspendSelf( Thread_t * thread )
* - A thread with all signals blocked with pthread_sigmask().
*/
event_wait( thread->ev );
pthread_testcancel();
}
/*-----------------------------------------------------------*/
@ -558,6 +572,9 @@ static void prvSetupSignalsAndSchedulerPolicy( void )
hMainThread = pthread_self();
/* Setup thread list to record all the task which are not deleted. */
vListInitialise( &xThreadList );
/* Initialise common signal masks. */
sigfillset( &xAllSignals );