unified: Rework K_THREAD_DEFINE()
K_THREAD_DEFINE() can no longer specify a thread group. However, it now accepts a 'delay' parameter just as k_thread_spawn() does. To create a statically defined thread that may belong to one or more thread groups the new internal _MDEF_THREAD_DEFINE() macro is used. It is only used for legacy purposes. Threads can not both have a delayed start AND belong to a thread group. Jira: ZEP-916 Change-Id: Ia6e59ddcb4fc68f1f60f9c6b0f4f227f161ad1bb Signed-off-by: Peter Mitsis <peter.mitsis@windriver.com>
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4 changed files with 104 additions and 29 deletions
105
include/kernel.h
105
include/kernel.h
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@ -166,38 +166,89 @@ struct _static_thread_data {
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struct k_thread *thread;
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};
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unsigned int init_stack_size;
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int32_t init_delay;
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};
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#define K_THREAD_INITIALIZER(stack, stack_size, \
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entry, p1, p2, p3, \
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abort, prio, groups) \
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{ \
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.init_groups = (groups), \
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.init_prio = (prio), \
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.init_entry = (void (*)(void *, void *, void *))entry, \
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.init_p1 = (void *)p1, \
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.init_p2 = (void *)p2, \
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.init_p3 = (void *)p3, \
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.init_abort = abort, \
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.init_stack = (stack), \
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.init_stack_size = (stack_size), \
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/*
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* Common macro used by both K_THREAD_INITIALIZER()
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* and _MDEF_THREAD_INITIALIZER().
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*/
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#define _THREAD_INITIALIZER(stack, stack_size, \
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entry, p1, p2, p3, \
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abort, prio) \
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.init_prio = (prio), \
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.init_entry = (void (*)(void *, void *, void *))entry, \
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.init_p1 = (void *)p1, \
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.init_p2 = (void *)p2, \
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.init_p3 = (void *)p3, \
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.init_abort = abort, \
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.init_stack = (stack), \
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.init_stack_size = (stack_size),
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/**
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* @brief Thread initializer macro
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*
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* This macro is to only be used with statically defined threads that were not
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* defined in the MDEF file. As such the associated threads can not belong to
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* any thread group.
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*/
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#define K_THREAD_INITIALIZER(stack, stack_size, \
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entry, p1, p2, p3, \
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abort, prio, delay) \
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{ \
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_THREAD_INITIALIZER(stack, stack_size, \
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entry, p1, p2, p3, \
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abort, prio) \
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.init_groups = 0, \
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.init_delay = (delay), \
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}
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/*
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* Define thread initializer object and initialize it
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* NOTE: For thread group functions thread initializers must be organized
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* in array and thus should not have gaps between them.
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* On x86 by default compiler aligns them by 32 byte boundary. To prevent
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* this 32-bit alignment in specified here.
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* _static_thread_data structure sise needs to be kept 32-bit aligned as well
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/**
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* @brief Thread initializer macro
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*
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* This macro is to only be used with statically defined threads that were
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* defined with legacy APIs (including the MDEF file). As such the associated
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* threads may belong to one or more thread groups.
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*/
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#define K_THREAD_DEFINE(name, stack_size, \
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entry, p1, p2, p3, \
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abort, prio, groups) \
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char __noinit __stack _k_thread_obj_##name[stack_size]; \
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struct _static_thread_data _k_thread_data_##name __aligned(4) \
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__in_section(_k_task_list, private, task) = \
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K_THREAD_INITIALIZER(_k_thread_obj_##name, stack_size, \
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#define _MDEF_THREAD_INITIALIZER(stack, stack_size, \
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entry, p1, p2, p3, \
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abort, prio, groups) \
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{ \
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_THREAD_INITIALIZER(stack, stack_size, \
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entry, p1, p2, p3, \
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abort, prio) \
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.init_groups = (groups), \
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.init_delay = K_FOREVER, \
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}
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/**
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* @brief Define thread initializer and initialize it.
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*
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* @internal It has been observed that the x86 compiler by default aligns
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* these _static_thread_data structures to 32-byte boundaries, thereby
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* wasting space. To work around this, force a 4-byte alignment.
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*/
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#define K_THREAD_DEFINE(name, stack_size, \
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entry, p1, p2, p3, \
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abort, prio, delay) \
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char __noinit __stack _k_thread_obj_##name[stack_size]; \
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struct _static_thread_data _k_thread_data_##name __aligned(4) \
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__in_section(_k_task_list, private, task) = \
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K_THREAD_INITIALIZER(_k_thread_obj_##name, stack_size, \
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entry, p1, p2, p3, abort, prio, delay)
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/**
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* @brief Define thread initializer for MDEF defined thread and initialize it.
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*
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* @ref K_THREAD_DEFINE
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*/
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#define _MDEF_THREAD_DEFINE(name, stack_size, \
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entry, p1, p2, p3, \
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abort, prio, groups) \
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char __noinit __stack _k_thread_obj_##name[stack_size]; \
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struct _static_thread_data _k_thread_data_##name __aligned(4) \
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__in_section(_k_task_list, private, task) = \
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_MDEF_THREAD_INITIALIZER(_k_thread_obj_##name, stack_size, \
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entry, p1, p2, p3, abort, prio, groups)
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extern int k_thread_priority_get(k_tid_t thread);
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@ -84,7 +84,7 @@ typedef int nano_context_type_t;
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char __noinit __stack _k_thread_obj_##name[stack_size]; \
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struct _static_thread_data _k_thread_data_##name __aligned(4) \
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__in_section(_k_task_list, private, task) = \
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K_THREAD_INITIALIZER(_k_thread_obj_##name, stack_size, \
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_MDEF_THREAD_INITIALIZER(_k_thread_obj_##name, stack_size, \
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entry, NULL, NULL, NULL, \
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NULL, prio, (uint32_t)(groups)); \
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k_tid_t const name = (k_tid_t)_k_thread_obj_##name
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@ -424,6 +424,8 @@ void _k_thread_single_abort(struct k_thread *thread)
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void _init_static_threads(void)
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{
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unsigned int key;
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_FOREACH_STATIC_THREAD(thread_data) {
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_new_thread(
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thread_data->init_stack,
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@ -438,7 +440,29 @@ void _init_static_threads(void)
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thread_data->thread->init_data = thread_data;
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}
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k_sched_lock();
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/* Start all (legacy) threads that are part of the EXE group */
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_k_thread_group_op(K_THREAD_GROUP_EXE, _k_thread_single_start);
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/*
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* Non-legacy static threads may be started immediately or after a
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* previously specified delay. Even though the scheduler is locked,
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* ticks can still be delivered and processed. Lock interrupts so
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* that the countdown until execution begins from the same tick.
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*
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* Note that static threads defined using the legacy API have a
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* delay of K_FOREVER.
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*/
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key = irq_lock();
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_FOREACH_STATIC_THREAD(thread_data) {
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if (thread_data->init_delay != K_FOREVER) {
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schedule_new_thread(thread_data->thread,
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thread_data->init_delay);
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}
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}
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irq_unlock(key);
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k_sched_unlock();
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}
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uint32_t _k_thread_group_mask_get(struct k_thread *thread)
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@ -448,7 +448,7 @@ def kernel_main_c_tasks_unified():
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kernel_main_c_out("EXTERN_C void %s(void);\n" % abort)
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kernel_main_c_out(
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"K_THREAD_DEFINE(%s, %u, %s, %s, %s, %s, %s, %d, 0x%x);\n" %
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"_MDEF_THREAD_DEFINE(%s, %u, %s, %s, %s, %s, %s, %d, 0x%x);\n" %
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(name, int(stack_size), entry,
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params[0], params[1], params[2],
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abort, int(prio), int(groups)))
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