/*\r
- FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd.\r
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.\r
\r
***************************************************************************\r
* *\r
* Process all the simulated interrupts - each represented by a bit in \r
* ulPendingInterrupts variable.\r
*/\r
-static void prvProcessPseudoInterrupts( void );\r
+static void prvProcessSimulatedInterrupts( void );\r
+\r
+/*\r
+ * Interrupt handlers used by the kernel itself. These are executed from the\r
+ * simulated interrupt handler thread.\r
+ */\r
+static unsigned long prvProcessDeleteThreadInterrupt( void );\r
+static unsigned long prvProcessYieldInterrupt( void );\r
+static unsigned long prvProcessTickInterrupt( void );\r
\r
/*-----------------------------------------------------------*/\r
\r
to a thread handle. */\r
typedef struct\r
{\r
- /* Set to true if the task run by the thread yielded control to the pseudo\r
- interrupt handler manually - either by yielding or when exiting a critical\r
- section while pseudo interrupts were pending. */\r
- long lWaitingInterruptAck; \r
-\r
/* Handle of the thread that executes the task. */\r
- void * pvThread; \r
+ void *pvThread;\r
+\r
} xThreadState;\r
\r
-/* Pseudo interrupts waiting to be processed. This is a bit mask where each\r
+/* Simulated interrupts waiting to be processed. This is a bit mask where each\r
bit represents one interrupt, so a maximum of 32 interrupts can be simulated. */\r
static volatile unsigned long ulPendingInterrupts = 0UL;\r
\r
-/* An event used to inform the pseudo interrupt processing thread (a high \r
+/* An event used to inform the simulated interrupt processing thread (a high \r
priority thread that simulated interrupt processing) that an interrupt is\r
pending. */\r
static void *pvInterruptEvent = NULL;\r
\r
-/* Mutex used to protect all the pseudo interrupt variables that are accessed \r
+/* Mutex used to protect all the simulated interrupt variables that are accessed \r
by multiple threads. */\r
static void *pvInterruptEventMutex = NULL;\r
\r
-/* Events used to manage sequencing. */\r
-static void *pvTickAcknowledgeEvent = NULL, *pvInterruptAcknowledgeEvent = NULL;\r
-\r
/* The critical nesting count for the currently executing task. This is \r
initialised to a non-zero value so interrupts do not become enabled during \r
the initialisation phase. As each task has its own critical nesting value \r
ulCriticalNesting will get set to zero when the first task runs. This \r
initialisation is probably not critical in this simulated environment as the\r
-pseudo interrupt handlers do not get created until the FreeRTOS scheduler is \r
+simulated interrupt handlers do not get created until the FreeRTOS scheduler is \r
started anyway. */\r
static unsigned long ulCriticalNesting = 9999UL;\r
\r
/* Handlers for all the simulated software interrupts. The first two positions\r
are used for the Yield and Tick interrupts so are handled slightly differently,\r
all the other interrupts can be user defined. */\r
-static void (*vIsrHandler[ portMAX_INTERRUPTS ])( void ) = { 0 };\r
+static unsigned long (*ulIsrHandler[ portMAX_INTERRUPTS ])( void ) = { 0 };\r
\r
/* Pointer to the TCB of the currently executing task. */\r
extern void *pxCurrentTCB;\r
\r
static DWORD WINAPI prvSimulatedPeripheralTimer( LPVOID lpParameter )\r
{\r
+portTickType xMinimumWindowsBlockTime = ( portTickType ) 20;\r
+\r
/* Just to prevent compiler warnings. */\r
( void ) lpParameter;\r
\r
for(;;)\r
{\r
- /* Wait until the timer expires and we can access the pseudo interrupt \r
+ /* Wait until the timer expires and we can access the simulated interrupt \r
variables. *NOTE* this is not a 'real time' way of generating tick \r
events as the next wake time should be relative to the previous wake \r
time, not the time that Sleep() is called. It is done this way to \r
prevent overruns in this very non real time simulated/emulated \r
environment. */\r
- Sleep( portTICK_RATE_MS );\r
-\r
- WaitForSingleObject( pvInterruptEventMutex, INFINITE );\r
-\r
- /* A thread will hold the interrupt event mutex while in a critical\r
- section, so ulCriticalSection should be zero for this tick event to be\r
- possible. */\r
- if( ulCriticalNesting != 0 )\r
+ if( portTICK_RATE_MS < xMinimumWindowsBlockTime )\r
{\r
- /* For a break point only. */\r
- __asm{ NOP };\r
+ Sleep( xMinimumWindowsBlockTime );\r
}\r
+ else\r
+ {\r
+ Sleep( portTICK_RATE_MS );\r
+ }\r
+ \r
+ WaitForSingleObject( pvInterruptEventMutex, INFINITE );\r
\r
/* The timer has expired, generate the simulated tick event. */\r
ulPendingInterrupts |= ( 1 << portINTERRUPT_TICK );\r
handler thread. */\r
SetEvent( pvInterruptEvent );\r
\r
- /* Give back the mutex so the pseudo interrupt handler unblocks \r
- and can access the interrupt handler variables. This high priority\r
- task will then loop back round after waiting for the lower priority \r
- pseudo interrupt handler thread to acknowledge the tick. */\r
- SignalObjectAndWait( pvInterruptEventMutex, pvTickAcknowledgeEvent, INFINITE, FALSE );\r
+ /* Give back the mutex so the simulated interrupt handler unblocks \r
+ and can access the interrupt handler variables. */\r
+ ReleaseMutex( pvInterruptEventMutex );\r
}\r
+\r
+ #ifdef __GNUC__\r
+ /* Should never reach here - MingW complains if you leave this line out,\r
+ MSVC complains if you put it in. */\r
+ return 0;\r
+ #endif\r
}\r
/*-----------------------------------------------------------*/\r
\r
pxThreadState = ( xThreadState * ) ( pxTopOfStack - sizeof( xThreadState ) );\r
\r
/* Create the thread itself. */\r
- pxThreadState->pvThread = ( void * ) CreateThread( NULL, 0, ( LPTHREAD_START_ROUTINE ) pxCode, pvParameters, CREATE_SUSPENDED, NULL );\r
+ pxThreadState->pvThread = CreateThread( NULL, 0, ( LPTHREAD_START_ROUTINE ) pxCode, pvParameters, CREATE_SUSPENDED, NULL );\r
+ SetThreadAffinityMask( pxThreadState->pvThread, 0x01 );\r
SetThreadPriorityBoost( pxThreadState->pvThread, TRUE );\r
- pxThreadState->lWaitingInterruptAck = pdFALSE;\r
SetThreadPriority( pxThreadState->pvThread, THREAD_PRIORITY_IDLE );\r
\r
return ( portSTACK_TYPE * ) pxThreadState;\r
long lSuccess = pdPASS;\r
xThreadState *pxThreadState;\r
\r
+ /* Install the interrupt handlers used by the scheduler itself. */\r
+ vPortSetInterruptHandler( portINTERRUPT_YIELD, prvProcessYieldInterrupt );\r
+ vPortSetInterruptHandler( portINTERRUPT_TICK, prvProcessTickInterrupt );\r
+ vPortSetInterruptHandler( portINTERRUPT_DELETE_THREAD, prvProcessDeleteThreadInterrupt );\r
+\r
/* Create the events and mutexes that are used to synchronise all the\r
threads. */\r
pvInterruptEventMutex = CreateMutex( NULL, FALSE, NULL );\r
pvInterruptEvent = CreateEvent( NULL, FALSE, FALSE, NULL );\r
- pvTickAcknowledgeEvent = CreateEvent( NULL, FALSE, FALSE, NULL );\r
- pvInterruptAcknowledgeEvent = CreateEvent( NULL, FALSE, FALSE, NULL );\r
\r
- if( ( pvInterruptEventMutex == NULL ) || ( pvInterruptEvent == NULL ) || ( pvTickAcknowledgeEvent == NULL ) || ( pvInterruptAcknowledgeEvent == NULL ) )\r
+ if( ( pvInterruptEventMutex == NULL ) || ( pvInterruptEvent == NULL ) )\r
{\r
lSuccess = pdFAIL;\r
}\r
\r
/* Set the priority of this thread such that it is above the priority of \r
the threads that run tasks. This higher priority is required to ensure\r
- pseudo interrupts take priority over tasks. */\r
- SetPriorityClass( GetCurrentProcess(), ABOVE_NORMAL_PRIORITY_CLASS );\r
+ simulated interrupts take priority over tasks. */\r
pvHandle = GetCurrentThread();\r
if( pvHandle == NULL )\r
{\r
\r
if( lSuccess == pdPASS )\r
{\r
- if( SetThreadPriority( pvHandle, THREAD_PRIORITY_HIGHEST ) == 0 )\r
+ if( SetThreadPriority( pvHandle, THREAD_PRIORITY_NORMAL ) == 0 )\r
{\r
lSuccess = pdFAIL;\r
}\r
SetThreadPriorityBoost( pvHandle, TRUE );\r
+ SetThreadAffinityMask( pvHandle, 0x01 );\r
}\r
\r
if( lSuccess == pdPASS )\r
{\r
/* Start the thread that simulates the timer peripheral to generate\r
- tick interrupts. */\r
+ tick interrupts. The priority is set below that of the simulated \r
+ interrupt handler so the interrupt event mutex is used for the\r
+ handshake / overrun protection. */\r
pvHandle = CreateThread( NULL, 0, prvSimulatedPeripheralTimer, NULL, 0, NULL );\r
if( pvHandle != NULL )\r
{\r
- SetThreadPriority( pvHandle, THREAD_PRIORITY_HIGHEST );\r
+ SetThreadPriority( pvHandle, THREAD_PRIORITY_BELOW_NORMAL );\r
SetThreadPriorityBoost( pvHandle, TRUE );\r
+ SetThreadAffinityMask( pvHandle, 0x01 );\r
}\r
\r
/* Start the highest priority task by obtaining its associated thread \r
/* Bump up the priority of the thread that is going to run, in the\r
hope that this will asist in getting the Windows thread scheduler to\r
behave as an embedded engineer might expect. */\r
- SetThreadPriority( pxThreadState->pvThread, THREAD_PRIORITY_ABOVE_NORMAL );\r
ResumeThread( pxThreadState->pvThread );\r
\r
- /* Handle all pseudo interrupts - including yield requests and \r
+ /* Handle all simulated interrupts - including yield requests and \r
simulated ticks. */\r
- prvProcessPseudoInterrupts();\r
+ prvProcessSimulatedInterrupts();\r
} \r
\r
- /* Would not expect to return from prvProcessPseudoInterrupts(), so should \r
+ /* Would not expect to return from prvProcessSimulatedInterrupts(), so should \r
not get here. */\r
return 0;\r
}\r
/*-----------------------------------------------------------*/\r
\r
-static void prvProcessPseudoInterrupts( void )\r
+static unsigned long prvProcessDeleteThreadInterrupt( void )\r
+{\r
+ return pdTRUE;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static unsigned long prvProcessYieldInterrupt( void )\r
+{\r
+ return pdTRUE;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static unsigned long prvProcessTickInterrupt( void )\r
+{\r
+unsigned long ulSwitchRequired;\r
+\r
+ /* Process the tick itself. */\r
+ vTaskIncrementTick();\r
+ #if( configUSE_PREEMPTION != 0 )\r
+ {\r
+ /* A context switch is only automatically performed from the tick\r
+ interrupt if the pre-emptive scheduler is being used. */\r
+ ulSwitchRequired = pdTRUE;\r
+ }\r
+ #else\r
+ {\r
+ ulSwitchRequired = pdFALSE;\r
+ }\r
+ #endif\r
+\r
+ return ulSwitchRequired;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvProcessSimulatedInterrupts( void )\r
{\r
-long lSwitchRequired;\r
+unsigned long ulSwitchRequired, i;\r
xThreadState *pxThreadState;\r
void *pvObjectList[ 2 ];\r
-unsigned long i;\r
\r
- /* Going to block on the mutex that ensured exclusive access to the pseudo \r
- interrupt objects, and the event that signals that a pseudo interrupt\r
+ /* Going to block on the mutex that ensured exclusive access to the simulated \r
+ interrupt objects, and the event that signals that a simulated interrupt\r
should be processed. */\r
pvObjectList[ 0 ] = pvInterruptEventMutex;\r
pvObjectList[ 1 ] = pvInterruptEvent;\r
{\r
WaitForMultipleObjects( sizeof( pvObjectList ) / sizeof( void * ), pvObjectList, TRUE, INFINITE );\r
\r
- /* A thread will hold the interrupt event mutex while in a critical\r
- section, so this pseudo interrupt handler should only run when\r
- critical nesting is zero. */\r
- if( ulCriticalNesting != 0 )\r
- {\r
- /* For a break point only. */\r
- __asm{ NOP };\r
- }\r
-\r
- /* Used to indicate whether the pseudo interrupt processing has\r
+ /* Used to indicate whether the simulated interrupt processing has\r
necessitated a context switch to another task/thread. */\r
- lSwitchRequired = pdFALSE;\r
+ ulSwitchRequired = pdFALSE;\r
\r
/* For each interrupt we are interested in processing, each of which is\r
represented by a bit in the 32bit ulPendingInterrupts variable. */\r
for( i = 0; i < portMAX_INTERRUPTS; i++ )\r
{\r
- /* Is the pseudo interrupt pending? */\r
+ /* Is the simulated interrupt pending? */\r
if( ulPendingInterrupts & ( 1UL << i ) )\r
{\r
- switch( i )\r
+ /* Is a handler installed? */\r
+ if( ulIsrHandler[ i ] != NULL )\r
{\r
- case portINTERRUPT_YIELD:\r
-\r
- lSwitchRequired = pdTRUE;\r
-\r
- /* Clear the interrupt pending bit. */\r
- ulPendingInterrupts &= ~( 1UL << portINTERRUPT_YIELD );\r
- break;\r
-\r
- case portINTERRUPT_TICK:\r
- \r
- /* Process the tick itself. */\r
- vTaskIncrementTick();\r
- #if( configUSE_PREEMPTION != 0 )\r
- {\r
- /* A context switch is only automatically \r
- performed from the tick interrupt if the \r
- pre-emptive scheduler is being used. */\r
- lSwitchRequired = pdTRUE;\r
- }\r
- #endif\r
- \r
- /* Clear the interrupt pending bit. */\r
- ulPendingInterrupts &= ~( 1UL << portINTERRUPT_TICK );\r
- SetEvent( pvTickAcknowledgeEvent );\r
- break;\r
-\r
- default:\r
-\r
- /* Is a handler installed? */\r
- if( vIsrHandler[ i ] != NULL )\r
- {\r
- lSwitchRequired = pdTRUE;\r
-\r
- /* Run the actual handler. */\r
- vIsrHandler[ i ]();\r
-\r
- /* Clear the interrupt pending bit. */\r
- ulPendingInterrupts &= ~( 1UL << i );\r
-\r
- /* TODO: Need to have some sort of handshake \r
- event here for non-tick and none yield \r
- interrupts. */\r
- }\r
- break;\r
+ /* Run the actual handler. */\r
+ if( ulIsrHandler[ i ]() != pdFALSE )\r
+ {\r
+ ulSwitchRequired |= ( 1 << i );\r
+ }\r
}\r
+\r
+ /* Clear the interrupt pending bit. */\r
+ ulPendingInterrupts &= ~( 1UL << i );\r
}\r
}\r
\r
- if( lSwitchRequired != pdFALSE )\r
+ if( ulSwitchRequired != pdFALSE )\r
{\r
void *pvOldCurrentTCB;\r
\r
{\r
/* Suspend the old thread. */\r
pxThreadState = ( xThreadState *) *( ( unsigned long * ) pvOldCurrentTCB );\r
- SetThreadPriority( pxThreadState->pvThread, THREAD_PRIORITY_IDLE );\r
- SetThreadPriorityBoost( pxThreadState->pvThread, TRUE );\r
- SuspendThread( pxThreadState->pvThread );\r
- \r
-\r
-\r
- /* NOTE! - Here lies a problem when the preemptive scheduler is \r
- used. It would seem Win32 threads do not stop as soon as a\r
- call to suspend them is made. The co-operative scheduler gets\r
- around this by having the thread block on a semaphore \r
- immediately after yielding so it cannot execute any more task\r
- code until it is once again scheduled to run. This cannot be\r
- done if the task is pre-empted though, and I have not found an\r
- equivalent work around for the preemptive situation. */\r
- \r
\r
+ if( ( ulSwitchRequired & ( 1 << portINTERRUPT_DELETE_THREAD ) ) != pdFALSE )\r
+ {\r
+ TerminateThread( pxThreadState->pvThread, 0 );\r
+ }\r
+ else\r
+ {\r
+ SuspendThread( pxThreadState->pvThread );\r
+ } \r
\r
/* Obtain the state of the task now selected to enter the \r
Running state. */\r
pxThreadState = ( xThreadState * ) ( *( unsigned long *) pxCurrentTCB );\r
-\r
- /* Boost the priority of the thread selected to run a little \r
- in an attempt to get the Windows thread scheduler to act a \r
- little more like an embedded engineer might expect. */\r
- SetThreadPriority( pxThreadState->pvThread, THREAD_PRIORITY_ABOVE_NORMAL );\r
- SetThreadPriorityBoost( pxThreadState->pvThread, TRUE );\r
ResumeThread( pxThreadState->pvThread );\r
}\r
}\r
\r
- /* On exiting a critical section a task may have blocked on the\r
- interrupt event when only a tick needed processing, in which case\r
- it will not have been released from waiting on the event yet. */\r
- pxThreadState = ( xThreadState * ) ( *( unsigned long *) pxCurrentTCB );\r
- if( pxThreadState->lWaitingInterruptAck == pdTRUE )\r
- {\r
- pxThreadState->lWaitingInterruptAck = pdFALSE;\r
- SetEvent( pvInterruptAcknowledgeEvent );\r
- }\r
+ ReleaseMutex( pvInterruptEventMutex );\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vPortDeleteThread( void *pvTaskToDelete )\r
+{\r
+xThreadState *pxThreadState;\r
+\r
+ if( pvTaskToDelete == pxCurrentTCB )\r
+ {\r
+ /* The task is deleting itself, and so the thread that is running now\r
+ is also to be deleted. This has to be deferred until this thread is\r
+ no longer running, so its done in the simulated interrupt handler thread. */\r
+ vPortGenerateSimulatedInterrupt( portINTERRUPT_DELETE_THREAD );\r
+ }\r
+ else\r
+ {\r
+ WaitForSingleObject( pvInterruptEventMutex, INFINITE );\r
+\r
+ /* Find the handle of the thread being deleted. */\r
+ pxThreadState = ( xThreadState * ) ( *( unsigned long *) pvTaskToDelete );\r
+ TerminateThread( pxThreadState->pvThread, 0 );\r
\r
ReleaseMutex( pvInterruptEventMutex );\r
}\r
\r
void vPortEndScheduler( void )\r
{\r
+ /* This function IS NOT TESTED! */\r
+ TerminateProcess( GetCurrentProcess(), 0 );\r
}\r
/*-----------------------------------------------------------*/\r
\r
-void vPortGeneratePseudoInterrupt( unsigned long ulInterruptNumber )\r
+void vPortGenerateSimulatedInterrupt( unsigned long ulInterruptNumber )\r
{\r
xThreadState *pxThreadState;\r
\r
WaitForSingleObject( pvInterruptEventMutex, INFINITE );\r
ulPendingInterrupts |= ( 1 << ulInterruptNumber );\r
\r
- /* The pseudo interrupt is now held pending, but don't actually process it\r
+ /* The simulated interrupt is now held pending, but don't actually process it\r
yet if this call is within a critical section. It is possible for this to\r
be in a critical section as calls to wait for mutexes are accumulative. */\r
if( ulCriticalNesting == 0 )\r
/* The event handler needs to know to signal the interrupt acknowledge event\r
the next time this task runs. */\r
pxThreadState = ( xThreadState * ) *( ( unsigned long * ) pxCurrentTCB );\r
- pxThreadState->lWaitingInterruptAck = pdTRUE;\r
-\r
- SetEvent( pvInterruptEvent );\r
-\r
- /* The interrupt ack event should not be signaled yet - if it is then there\r
- is an error in the logical simulation. */\r
- if( WaitForSingleObject( pvInterruptAcknowledgeEvent, 0 ) != WAIT_TIMEOUT )\r
- {\r
- /* This line is for a break point only. */\r
- __asm { NOP };\r
- }\r
-\r
- SignalObjectAndWait( pvInterruptEventMutex, pvInterruptAcknowledgeEvent, INFINITE, FALSE );\r
- }\r
- else\r
- {\r
- ReleaseMutex( pvInterruptEventMutex );\r
+ SetEvent( pvInterruptEvent ); \r
}\r
+\r
+ ReleaseMutex( pvInterruptEventMutex );\r
}\r
}\r
/*-----------------------------------------------------------*/\r
\r
-void vPortSetInterruptHandler( unsigned long ulInterruptNumber, void (*pvHandler)( void ) )\r
+void vPortSetInterruptHandler( unsigned long ulInterruptNumber, unsigned long (*pvHandler)( void ) )\r
{\r
if( ulInterruptNumber < portMAX_INTERRUPTS )\r
{\r
if( pvInterruptEventMutex != NULL )\r
{\r
WaitForSingleObject( pvInterruptEventMutex, INFINITE );\r
- vIsrHandler[ ulInterruptNumber ] = pvHandler;\r
+ ulIsrHandler[ ulInterruptNumber ] = pvHandler;\r
ReleaseMutex( pvInterruptEventMutex );\r
}\r
else\r
{\r
- vIsrHandler[ ulInterruptNumber ] = pvHandler;\r
+ ulIsrHandler[ ulInterruptNumber ] = pvHandler;\r
}\r
}\r
}\r
if( xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED )\r
{\r
/* The interrupt event mutex is held for the entire critical section,\r
- effectively disabling (pseudo) interrupts. */\r
+ effectively disabling (simulated) interrupts. */\r
WaitForSingleObject( pvInterruptEventMutex, INFINITE );\r
ulCriticalNesting++;\r
}\r
ulCriticalNesting--;\r
\r
/* Were any interrupts set to pending while interrupts were \r
- (pseudo) disabled? */\r
+ (simulated) disabled? */\r
if( ulPendingInterrupts != 0UL )\r
{\r
SetEvent( pvInterruptEvent );\r
/* The event handler needs to know to signal the interrupt \r
acknowledge event the next time this task runs. */\r
pxThreadState = ( xThreadState * ) *( ( unsigned long * ) pxCurrentTCB );\r
- pxThreadState->lWaitingInterruptAck = pdTRUE;\r
\r
/* Mutex will be released now, so does not require releasing\r
on function exit. */\r
lMutexNeedsReleasing = pdFALSE;\r
- SignalObjectAndWait( pvInterruptEventMutex, pvInterruptAcknowledgeEvent, INFINITE, FALSE );\r
+ ReleaseMutex( pvInterruptEventMutex );\r
}\r
}\r
else\r
}\r
/*-----------------------------------------------------------*/\r
\r
-void vPortCheckCorrectThreadIsRunning( void )\r
-{\r
-xThreadState *pxThreadState = ( xThreadState * ) *( ( unsigned long * ) pxCurrentTCB );\r
-\r
- /* When switching threads, Windows does not always seem to run the selected\r
- thread immediately. This function can be called to check if the thread\r
- that is currently running is the thread that is responsible for executing\r
- the task selected by the real time scheduler. */\r
- if( GetCurrentThread() != pxThreadState->pvThread )\r
- {\r
- SwitchToThread();\r
- }\r
-}\r
-\r
projects / freertos / blobdiff