lib/cmsis_rtos_v2: Implement support for thread APIs
These APIs allow defining, creating and controlling of thread related functionalities. Signed-off-by: Rajavardhan Gundi <rajavardhan.gundi@intel.com>
This commit is contained in:
Rajavardhan Gundi
Carles Cufí
parent
b609175aff
commit
4af7b6ccf4
6 changed files with 516 additions and 0 deletions
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@ -10,4 +10,5 @@ add_subdirectory_if_kconfig(base64)
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add_subdirectory(mempool)
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add_subdirectory_ifdef(CONFIG_POSIX_API posix)
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add_subdirectory_ifdef(CONFIG_CMSIS_RTOS_V1 cmsis_rtos_v1)
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add_subdirectory_ifdef(CONFIG_CMSIS_RTOS_V2 cmsis_rtos_v2)
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add_subdirectory(rbtree)
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@ -29,4 +29,5 @@ config BASE64
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source "lib/posix/Kconfig"
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source "lib/cmsis_rtos_v1/Kconfig"
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source "lib/cmsis_rtos_v2/Kconfig"
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endmenu
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13
lib/cmsis_rtos_v2/CMakeLists.txt
Normal file
13
lib/cmsis_rtos_v2/CMakeLists.txt
Normal file
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@ -0,0 +1,13 @@
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add_library(CMSIS INTERFACE)
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target_include_directories(CMSIS INTERFACE ${PROJECT_SOURCE_DIR}/include/cmsis_rtos_v2)
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zephyr_library()
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zephyr_library_sources_ifdef(
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CONFIG_CMSIS_RTOS_V2
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thread.c
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)
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zephyr_library_link_libraries(CMSIS)
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target_link_libraries(CMSIS INTERFACE zephyr_interface)
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34
lib/cmsis_rtos_v2/Kconfig
Normal file
34
lib/cmsis_rtos_v2/Kconfig
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@ -0,0 +1,34 @@
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#
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# Copyright (c) 2018 Intel Corporation
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#
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# SPDX-License-Identifier: Apache-2.0
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#
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config CMSIS_RTOS_V2
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bool "CMSIS RTOS v2 API"
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default n
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depends on POLL
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depends on THREAD_NAME
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depends on THREAD_STACK_INFO
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depends on THREAD_MONITOR
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depends on INIT_STACKS
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help
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This enables CMSIS RTOS v2 API support. This is an OS-integration
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layer which allows applications using CMSIS RTOS V2 APIs to build
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on Zephyr.
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if CMSIS_RTOS_V2
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config CMSIS_V2_THREAD_MAX_COUNT
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int "Maximum thread count in CMSIS RTOS V2 application"
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default 15
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range 0 255
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help
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Mention max number of threads in CMSIS RTOS V2 compliant application.
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There's a limitation on the number of threads due to memory
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related constraints.
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config CMSIS_V2_THREAD_MAX_STACK_SIZE
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int "Max stack size threads can be allocated in CMSIS RTOS V2 application"
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default 512
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help
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Mention max stack size threads can be allocated in CMSIS RTOS V2 application.
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endif
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438
lib/cmsis_rtos_v2/thread.c
Normal file
438
lib/cmsis_rtos_v2/thread.c
Normal file
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@ -0,0 +1,438 @@
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/*
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* Copyright (c) 2018 Intel Corporation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <stdio.h>
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#include <string.h>
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#include <kernel_structs.h>
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#include <ksched.h>
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#include <atomic.h>
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#include <misc/stack.h>
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#include "wrapper.h"
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static sys_dlist_t thread_list;
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static struct cv2_thread cv2_thread_pool[CONFIG_CMSIS_V2_THREAD_MAX_COUNT];
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static u32_t thread_num;
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static inline int _is_thread_cmsis_inactive(struct k_thread *thread)
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{
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u8_t state = thread->base.thread_state;
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return state & (_THREAD_PRESTART | _THREAD_DEAD);
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}
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static inline u32_t zephyr_to_cmsis_priority(u32_t z_prio)
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{
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return (osPriorityISR - z_prio);
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}
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static inline u32_t cmsis_to_zephyr_priority(u32_t c_prio)
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{
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return (osPriorityISR - c_prio);
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}
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static void zephyr_thread_wrapper(void *arg1, void *arg2, void *arg3)
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{
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void * (*fun_ptr)(void *) = arg3;
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fun_ptr(arg1);
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}
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void *is_cmsis_rtos_v2_thread(void *thread_id)
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{
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sys_dnode_t *pnode;
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struct cv2_thread *itr;
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SYS_DLIST_FOR_EACH_NODE(&thread_list, pnode) {
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itr = CONTAINER_OF(pnode, struct cv2_thread, node);
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if ((void *)itr == thread_id) {
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return itr;
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}
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}
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return NULL;
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}
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osThreadId_t get_cmsis_thread_id(k_tid_t tid)
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{
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sys_dnode_t *pnode;
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struct cv2_thread *itr;
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if (tid != NULL) {
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SYS_DLIST_FOR_EACH_NODE(&thread_list, pnode) {
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itr = CONTAINER_OF(pnode, struct cv2_thread, node);
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if (&itr->z_thread == tid) {
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return (osThreadId_t)itr;
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}
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}
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}
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return NULL;
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}
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/**
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* @brief Create a thread and add it to Active Threads.
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*/
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osThreadId_t osThreadNew(osThreadFunc_t threadfunc, void *arg,
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const osThreadAttr_t *attr)
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{
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s32_t prio;
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struct cv2_thread *tid;
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static u32_t one_time;
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BUILD_ASSERT_MSG(osPriorityISR <= CONFIG_NUM_PREEMPT_PRIORITIES,
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"Configure NUM_PREEMPT_PRIORITIES to at least osPriorityISR");
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__ASSERT(attr->stack_size <= CONFIG_CMSIS_V2_THREAD_MAX_STACK_SIZE,
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"invalid stack size\n");
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__ASSERT(thread_num <= CONFIG_CMSIS_V2_THREAD_MAX_COUNT,
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"Exceeded max number of threads\n");
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__ASSERT(attr != NULL,
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"Zephyr requirement: Pass attributes explicitly for ThreadNew\n");
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/* Zephyr needs valid stack to be specified when this API is called */
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__ASSERT(attr->stack_mem, "");
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__ASSERT(attr->stack_size, "");
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__ASSERT((attr->priority >= osPriorityIdle) &&
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(attr->priority <= osPriorityISR),
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"invalid priority\n");
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if (k_is_in_isr()) {
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return NULL;
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}
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prio = cmsis_to_zephyr_priority(attr->priority);
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tid = &cv2_thread_pool[thread_num];
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tid->state = attr->attr_bits;/* detached/joinable */
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atomic_inc((atomic_t *)&thread_num);
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k_poll_signal_init(&tid->poll_signal);
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k_poll_event_init(&tid->poll_event, K_POLL_TYPE_SIGNAL,
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K_POLL_MODE_NOTIFY_ONLY, &tid->poll_signal);
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tid->signal_results = 0;
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/* TODO: Do this somewhere only once */
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if (one_time == 0) {
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sys_dlist_init(&thread_list);
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one_time = 1;
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}
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sys_dlist_append(&thread_list, &tid->node);
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(void)k_thread_create(&tid->z_thread,
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attr->stack_mem, attr->stack_size,
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(k_thread_entry_t)zephyr_thread_wrapper,
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(void *)arg, NULL, threadfunc,
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prio, 0, K_NO_WAIT);
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k_thread_name_set(&tid->z_thread, attr->name);
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return (osThreadId_t)tid;
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}
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/**
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* @brief Get name of a thread.
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*/
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const char *osThreadGetName(osThreadId_t thread_id)
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{
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const char *name = NULL;
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if (k_is_in_isr() || (thread_id == NULL)) {
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name = NULL;
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} else {
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if (is_cmsis_rtos_v2_thread(thread_id) == NULL) {
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name = NULL;
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} else {
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struct cv2_thread *tid =
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(struct cv2_thread *)thread_id;
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name = k_thread_name_get(&tid->z_thread);
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}
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}
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return name;
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}
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/**
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* @brief Return the thread ID of the current running thread.
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*/
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osThreadId_t osThreadGetId(void)
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{
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k_tid_t tid = k_current_get();
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return get_cmsis_thread_id(tid);
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}
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/**
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* @brief Get current priority of an active thread.
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*/
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osPriority_t osThreadGetPriority(osThreadId_t thread_id)
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{
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struct cv2_thread *tid = (struct cv2_thread *)thread_id;
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u32_t priority;
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if (k_is_in_isr() || (tid == NULL) ||
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(is_cmsis_rtos_v2_thread(tid) == NULL) ||
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(_is_thread_cmsis_inactive(&tid->z_thread))) {
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return osPriorityError;
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}
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priority = k_thread_priority_get(&tid->z_thread);
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return zephyr_to_cmsis_priority(priority);
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}
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/**
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* @brief Change priority of an active thread.
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*/
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osStatus_t osThreadSetPriority(osThreadId_t thread_id, osPriority_t priority)
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{
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struct cv2_thread *tid = (struct cv2_thread *)thread_id;
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if ((tid == NULL) || (is_cmsis_rtos_v2_thread(tid) == NULL) ||
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(priority <= osPriorityNone) || (priority > osPriorityISR)) {
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return osErrorParameter;
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}
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if (k_is_in_isr()) {
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return osErrorISR;
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}
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if (_is_thread_cmsis_inactive(&tid->z_thread)) {
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return osErrorResource;
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}
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k_thread_priority_set((k_tid_t)&tid->z_thread,
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cmsis_to_zephyr_priority(priority));
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return osOK;
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}
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/**
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* @brief Get current thread state of a thread.
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*/
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osThreadState_t osThreadGetState(osThreadId_t thread_id)
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{
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struct cv2_thread *tid = (struct cv2_thread *)thread_id;
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osThreadState_t state;
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if (k_is_in_isr() || (tid == NULL) ||
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(is_cmsis_rtos_v2_thread(tid) == NULL)) {
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return osThreadError;
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}
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switch (tid->z_thread.base.thread_state) {
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case _THREAD_DUMMY:
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state = osThreadError;
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break;
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case _THREAD_PRESTART:
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state = osThreadInactive;
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break;
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case _THREAD_DEAD:
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state = osThreadTerminated;
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break;
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case _THREAD_SUSPENDED:
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case _THREAD_PENDING:
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state = osThreadBlocked;
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break;
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case _THREAD_QUEUED:
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state = osThreadReady;
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break;
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default:
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state = osThreadError;
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break;
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}
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if (osThreadGetId() == thread_id) {
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state = osThreadRunning;
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}
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return state;
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}
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/**
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* @brief Pass control to next thread that is in READY state.
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*/
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osStatus_t osThreadYield(void)
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{
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if (k_is_in_isr()) {
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return osErrorISR;
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}
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k_yield();
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return osOK;
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}
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/**
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* @brief Get stack size of a thread.
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*/
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uint32_t osThreadGetStackSize(osThreadId_t thread_id)
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{
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struct cv2_thread *tid = (struct cv2_thread *)thread_id;
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__ASSERT(tid, "");
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__ASSERT(is_cmsis_rtos_v2_thread(tid), "");
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__ASSERT(!k_is_in_isr(), "");
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return tid->z_thread.stack_info.size;
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}
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/**
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* @brief Get available stack space of a thread based on stack watermark
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* recording during execution.
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*/
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uint32_t osThreadGetStackSpace(osThreadId_t thread_id)
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{
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struct cv2_thread *tid = (struct cv2_thread *)thread_id;
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u32_t size = tid->z_thread.stack_info.size;
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u32_t unused = 0;
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__ASSERT(tid, "");
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__ASSERT(is_cmsis_rtos_v2_thread(tid), "");
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__ASSERT(!k_is_in_isr(), "");
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unused = stack_unused_space_get((char *)tid->z_thread.stack_info.start,
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size);
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return unused;
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}
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/**
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* @brief Suspend execution of a thread.
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*/
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osStatus_t osThreadSuspend(osThreadId_t thread_id)
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{
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struct cv2_thread *tid = (struct cv2_thread *)thread_id;
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if ((tid == NULL) || (is_cmsis_rtos_v2_thread(tid) == NULL)) {
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return osErrorParameter;
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}
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if (k_is_in_isr()) {
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return osErrorISR;
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}
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if (_is_thread_cmsis_inactive(&tid->z_thread)) {
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return osErrorResource;
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}
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k_thread_suspend(&tid->z_thread);
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return osOK;
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}
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/**
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* @brief Resume execution of a thread.
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*/
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osStatus_t osThreadResume(osThreadId_t thread_id)
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{
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struct cv2_thread *tid = (struct cv2_thread *)thread_id;
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if ((tid == NULL) || (is_cmsis_rtos_v2_thread(tid) == NULL)) {
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return osErrorParameter;
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}
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if (k_is_in_isr()) {
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return osErrorISR;
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}
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if (_is_thread_cmsis_inactive(&tid->z_thread)) {
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return osErrorResource;
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}
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k_thread_resume(&tid->z_thread);
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return osOK;
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}
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/**
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* @brief Terminate execution of current running thread.
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*/
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__NO_RETURN void osThreadExit(void)
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{
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struct cv2_thread *tid;
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__ASSERT(!k_is_in_isr(), "");
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tid = osThreadGetId();
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k_thread_abort((k_tid_t)&tid->z_thread);
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CODE_UNREACHABLE;
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}
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/**
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* @brief Terminate execution of a thread.
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*/
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osStatus_t osThreadTerminate(osThreadId_t thread_id)
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{
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struct cv2_thread *tid = (struct cv2_thread *)thread_id;
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if ((tid == NULL) || (is_cmsis_rtos_v2_thread(tid) == NULL)) {
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return osErrorParameter;
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}
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if (k_is_in_isr()) {
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return osErrorISR;
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}
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if (_is_thread_cmsis_inactive(&tid->z_thread)) {
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return osErrorResource;
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}
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k_thread_abort((k_tid_t)&tid->z_thread);
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return osOK;
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}
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/**
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* @brief Get number of active threads.
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*/
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uint32_t osThreadGetCount(void)
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{
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struct k_thread *thread;
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u32_t count = 0;
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__ASSERT(!k_is_in_isr(), "");
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for (thread = _kernel.threads; thread; thread = thread->next_thread) {
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if (get_cmsis_thread_id(thread) && _is_thread_queued(thread)) {
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count++;
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}
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}
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return count;
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}
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/**
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* @brief Enumerate active threads.
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*/
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uint32_t osThreadEnumerate(osThreadId_t *thread_array, uint32_t array_items)
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{
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struct k_thread *thread;
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u32_t count = 0;
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osThreadId_t tid;
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__ASSERT(!k_is_in_isr(), "");
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__ASSERT(thread_array != NULL, "");
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__ASSERT(array_items, "");
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for (thread = _kernel.threads; thread; thread = thread->next_thread) {
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if (count == array_items) {
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break;
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}
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tid = get_cmsis_thread_id(thread);
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if (tid != NULL) {
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thread_array[count] = tid;
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count++;
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}
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}
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return (count);
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}
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29
lib/cmsis_rtos_v2/wrapper.h
Normal file
29
lib/cmsis_rtos_v2/wrapper.h
Normal file
|
|
@ -0,0 +1,29 @@
|
|||
/*
|
||||
* Copyright (c) 2018 Intel Corporation
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*/
|
||||
|
||||
#ifndef __WRAPPER_H__
|
||||
#define __WRAPPER_H__
|
||||
|
||||
#include <kernel.h>
|
||||
#include <cmsis_os2.h>
|
||||
|
||||
#define TRUE 1
|
||||
#define FALSE 0
|
||||
|
||||
struct cv2_thread {
|
||||
sys_dnode_t node;
|
||||
struct k_thread z_thread;
|
||||
struct k_poll_signal poll_signal;
|
||||
struct k_poll_event poll_event;
|
||||
u32_t signal_results;
|
||||
char name[16];
|
||||
u32_t state;
|
||||
};
|
||||
|
||||
extern osThreadId_t get_cmsis_thread_id(k_tid_t tid);
|
||||
extern void *is_cmsis_rtos_v2_thread(void *thread_id);
|
||||
|
||||
#endif
|
||||
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Add table
Add a link
Reference in a new issue