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unified: Rework K_THREAD_DEFINE()

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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>
This commit is contained in:
Peter Mitsis 2016-10-11 12:06:25 -04:00 • committed by Benjamin Walsh
commit b2fd5be4dc
4 changed files with 104 additions and 29 deletions
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105
include/kernel.h
View file

@ -166,38 +166,89 @@ struct _static_thread_data {
struct k_thread *thread;
};
unsigned int init_stack_size;
int32_t init_delay;
};
#define K_THREAD_INITIALIZER(stack, stack_size, \
entry, p1, p2, p3, \
abort, prio, groups) \
{ \
.init_groups = (groups), \
.init_prio = (prio), \
.init_entry = (void (*)(void *, void *, void *))entry, \
.init_p1 = (void *)p1, \
.init_p2 = (void *)p2, \
.init_p3 = (void *)p3, \
.init_abort = abort, \
.init_stack = (stack), \
.init_stack_size = (stack_size), \
/*
* Common macro used by both K_THREAD_INITIALIZER()
* and _MDEF_THREAD_INITIALIZER().
*/
#define _THREAD_INITIALIZER(stack, stack_size, \
entry, p1, p2, p3, \
abort, prio) \
.init_prio = (prio), \
.init_entry = (void (*)(void *, void *, void *))entry, \
.init_p1 = (void *)p1, \
.init_p2 = (void *)p2, \
.init_p3 = (void *)p3, \
.init_abort = abort, \
.init_stack = (stack), \
.init_stack_size = (stack_size),
/**
* @brief Thread initializer macro
*
* This macro is to only be used with statically defined threads that were not
* defined in the MDEF file. As such the associated threads can not belong to
* any thread group.
*/
#define K_THREAD_INITIALIZER(stack, stack_size, \
entry, p1, p2, p3, \
abort, prio, delay) \
{ \
_THREAD_INITIALIZER(stack, stack_size, \
entry, p1, p2, p3, \
abort, prio) \
.init_groups = 0, \
.init_delay = (delay), \
}
/*
* Define thread initializer object and initialize it
* NOTE: For thread group functions thread initializers must be organized
* in array and thus should not have gaps between them.
* On x86 by default compiler aligns them by 32 byte boundary. To prevent
* this 32-bit alignment in specified here.
* _static_thread_data structure sise needs to be kept 32-bit aligned as well
/**
* @brief Thread initializer macro
*
* This macro is to only be used with statically defined threads that were
* defined with legacy APIs (including the MDEF file). As such the associated
* threads may belong to one or more thread groups.
*/
#define K_THREAD_DEFINE(name, stack_size, \
entry, p1, p2, p3, \
abort, prio, groups) \
char __noinit __stack _k_thread_obj_##name[stack_size]; \
struct _static_thread_data _k_thread_data_##name __aligned(4) \
__in_section(_k_task_list, private, task) = \
K_THREAD_INITIALIZER(_k_thread_obj_##name, stack_size, \
#define _MDEF_THREAD_INITIALIZER(stack, stack_size, \
entry, p1, p2, p3, \
abort, prio, groups) \
{ \
_THREAD_INITIALIZER(stack, stack_size, \
entry, p1, p2, p3, \
abort, prio) \
.init_groups = (groups), \
.init_delay = K_FOREVER, \
}
/**
* @brief Define thread initializer and initialize it.
*
* @internal It has been observed that the x86 compiler by default aligns
* these _static_thread_data structures to 32-byte boundaries, thereby
* wasting space. To work around this, force a 4-byte alignment.
*/
#define K_THREAD_DEFINE(name, stack_size, \
entry, p1, p2, p3, \
abort, prio, delay) \
char __noinit __stack _k_thread_obj_##name[stack_size]; \
struct _static_thread_data _k_thread_data_##name __aligned(4) \
__in_section(_k_task_list, private, task) = \
K_THREAD_INITIALIZER(_k_thread_obj_##name, stack_size, \
entry, p1, p2, p3, abort, prio, delay)
/**
* @brief Define thread initializer for MDEF defined thread and initialize it.
*
* @ref K_THREAD_DEFINE
*/
#define _MDEF_THREAD_DEFINE(name, stack_size, \
entry, p1, p2, p3, \
abort, prio, groups) \
char __noinit __stack _k_thread_obj_##name[stack_size]; \
struct _static_thread_data _k_thread_data_##name __aligned(4) \
__in_section(_k_task_list, private, task) = \
_MDEF_THREAD_INITIALIZER(_k_thread_obj_##name, stack_size, \
entry, p1, p2, p3, abort, prio, groups)
extern int k_thread_priority_get(k_tid_t thread);

2
include/legacy.h
View file

@ -84,7 +84,7 @@ typedef int nano_context_type_t;
char __noinit __stack _k_thread_obj_##name[stack_size]; \
struct _static_thread_data _k_thread_data_##name __aligned(4) \
__in_section(_k_task_list, private, task) = \
K_THREAD_INITIALIZER(_k_thread_obj_##name, stack_size, \
_MDEF_THREAD_INITIALIZER(_k_thread_obj_##name, stack_size, \
entry, NULL, NULL, NULL, \
NULL, prio, (uint32_t)(groups)); \
k_tid_t const name = (k_tid_t)_k_thread_obj_##name

24
kernel/unified/thread.c
View file

@ -424,6 +424,8 @@ void _k_thread_single_abort(struct k_thread *thread)
void _init_static_threads(void)
{
unsigned int key;
_FOREACH_STATIC_THREAD(thread_data) {
_new_thread(
thread_data->init_stack,
@ -438,7 +440,29 @@ void _init_static_threads(void)
thread_data->thread->init_data = thread_data;
}
k_sched_lock();
/* Start all (legacy) threads that are part of the EXE group */
_k_thread_group_op(K_THREAD_GROUP_EXE, _k_thread_single_start);
/*
* Non-legacy static threads may be started immediately or after a
* previously specified delay. Even though the scheduler is locked,
* ticks can still be delivered and processed. Lock interrupts so
* that the countdown until execution begins from the same tick.
*
* Note that static threads defined using the legacy API have a
* delay of K_FOREVER.
*/
key = irq_lock();
_FOREACH_STATIC_THREAD(thread_data) {
if (thread_data->init_delay != K_FOREVER) {
schedule_new_thread(thread_data->thread,
thread_data->init_delay);
}
}
irq_unlock(key);
k_sched_unlock();
}
uint32_t _k_thread_group_mask_get(struct k_thread *thread)

2
scripts/sysgen
View file

@ -448,7 +448,7 @@ def kernel_main_c_tasks_unified():
kernel_main_c_out("EXTERN_C void %s(void);\n" % abort)
kernel_main_c_out(
"K_THREAD_DEFINE(%s, %u, %s, %s, %s, %s, %s, %d, 0x%x);\n" %
"_MDEF_THREAD_DEFINE(%s, %u, %s, %s, %s, %s, %s, %d, 0x%x);\n" %
(name, int(stack_size), entry,
params[0], params[1], params[2],
abort, int(prio), int(groups)))