Commit 882ec01e authored by Damien George's avatar Damien George
Browse files

stmhal: Initial implementation of multithreading, currently disabled.

This patch brings the _thread module to stmhal/pyboard.  There is a very
simple round-robin thread scheduler, which is disabled if there is only
one thread (for efficiency when threading is not used).

The scheduler currently switches threads at a rate of 250Hz using the
systick timer and the pend-SV interrupt.

The GIL is disabled so one must be careful to use lock objects to prevent
concurrent access of objects.

The threading is disabled by default, one can enabled it with the config
option MICROPY_PY_THREAD to test it out.
parent bebb3a61
......@@ -131,9 +131,11 @@ SRC_C = \
usbd_hid_interface.c \
usbd_msc_storage.c \
mphalport.c \
mpthreadport.c \
irq.c \
pendsv.c \
systick.c \
pybthread.c \
timer.c \
led.c \
pin.c \
......
......@@ -27,8 +27,10 @@
#include <stdio.h>
#include <stdint.h>
#include "py/mpstate.h"
#include "py/obj.h"
#include "py/gc.h"
#include "py/mpthread.h"
#include "gccollect.h"
#include "systick.h"
......@@ -48,7 +50,16 @@ void gc_collect(void) {
mp_uint_t sp = gc_helper_get_regs_and_sp(regs);
// trace the stack, including the registers (since they live on the stack in this function)
#if MICROPY_PY_THREAD
gc_collect_root((void**)sp, ((uint32_t)MP_STATE_THREAD(stack_top) - sp) / sizeof(uint32_t));
#else
gc_collect_root((void**)sp, ((uint32_t)&_ram_end - sp) / sizeof(uint32_t));
#endif
// trace root pointers from any threads
#if MICROPY_PY_THREAD
mp_thread_gc_others();
#endif
// end the GC
gc_collect_end();
......
......@@ -43,6 +43,7 @@
#include "systick.h"
#include "pendsv.h"
#include "pybthread.h"
#include "gccollect.h"
#include "readline.h"
#include "modmachine.h"
......@@ -67,6 +68,7 @@
void SystemClock_Config(void);
pyb_thread_t pyb_thread_main;
fs_user_mount_t fs_user_mount_flash;
mp_vfs_mount_t mp_vfs_mount_flash;
......@@ -419,11 +421,6 @@ STATIC uint update_reset_mode(uint reset_mode) {
int main(void) {
// TODO disable JTAG
// Stack limit should be less than real stack size, so we have a chance
// to recover from limit hit. (Limit is measured in bytes.)
mp_stack_ctrl_init();
mp_stack_set_limit((char*)&_ram_end - (char*)&_heap_end - 1024);
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
......@@ -457,6 +454,7 @@ int main(void) {
#endif
// basic sub-system init
pyb_thread_init(&pyb_thread_main);
pendsv_init();
led_init();
#if MICROPY_HW_HAS_SWITCH
......@@ -502,6 +500,17 @@ soft_reset:
storage_init();
}
// Python threading init
#if MICROPY_PY_THREAD
mp_thread_init();
#endif
// Stack limit should be less than real stack size, so we have a chance
// to recover from limit hit. (Limit is measured in bytes.)
// Note: stack control relies on main thread being initialised above
mp_stack_ctrl_init();
mp_stack_set_limit((char*)&_ram_end - (char*)&_heap_end - 1024);
// GC init
gc_init(&_heap_start, &_heap_end);
......
......@@ -102,6 +102,8 @@
#define MICROPY_PY_SYS_PLATFORM "pyboard"
#endif
#define MICROPY_PY_UERRNO (1)
#define MICROPY_PY_THREAD (0)
#define MICROPY_PY_THREAD_GIL (0)
// extended modules
#define MICROPY_PY_UCTYPES (1)
......
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2016 Damien P. George
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <stdio.h>
#include "py/mpconfig.h"
#include "py/mpstate.h"
#include "py/gc.h"
#include "py/mpthread.h"
#include "gccollect.h"
#if MICROPY_PY_THREAD
// the mutex controls access to the linked list
STATIC mp_thread_mutex_t thread_mutex;
void mp_thread_init(void) {
mp_thread_mutex_init(&thread_mutex);
mp_thread_set_state(&mp_state_ctx.thread);
}
void mp_thread_gc_others(void) {
mp_thread_mutex_lock(&thread_mutex, 1);
gc_collect_root((void**)&pyb_thread_cur, 1);
for (pyb_thread_t *th = pyb_thread_cur;; th = th->next) {
gc_collect_root(&th->arg, 1);
if (th != pyb_thread_cur) {
gc_collect_root(th->stack, th->stack_len);
}
if (th->next == pyb_thread_cur) {
break;
}
}
mp_thread_mutex_unlock(&thread_mutex);
}
void mp_thread_create(void *(*entry)(void*), void *arg, size_t *stack_size) {
if (*stack_size == 0) {
*stack_size = 4096; // default stack size
} else if (*stack_size < 2048) {
*stack_size = 2048; // minimum stack size
}
// round stack size to a multiple of the word size
size_t stack_len = *stack_size / sizeof(uint32_t);
*stack_size = stack_len * sizeof(uint32_t);
// allocate stack and linked-list node (must be done outside thread_mutex lock)
uint32_t *stack = m_new(uint32_t, stack_len);
pyb_thread_t *th = m_new_obj(pyb_thread_t);
mp_thread_mutex_lock(&thread_mutex, 1);
// create thread
uint32_t id = pyb_thread_new(th, stack, stack_len, entry, arg);
if (id == 0) {
mp_thread_mutex_unlock(&thread_mutex);
nlr_raise(mp_obj_new_exception_msg(&mp_type_OSError, "can't create thread"));
}
mp_thread_mutex_unlock(&thread_mutex);
// adjust stack_size to provide room to recover from hitting the limit
*stack_size -= 1024;
}
void mp_thread_start(void) {
}
void mp_thread_finish(void) {
}
void mp_thread_mutex_init(mp_thread_mutex_t *mutex) {
*mutex = 0;
}
int mp_thread_mutex_lock(mp_thread_mutex_t *mutex, int wait) {
uint32_t irq_state = disable_irq();
if (*mutex) {
// mutex is locked
if (!wait) {
enable_irq(irq_state);
return 0; // failed to lock mutex
}
while (*mutex) {
enable_irq(irq_state);
pyb_thread_yield();
irq_state = disable_irq();
}
}
*mutex = 1;
enable_irq(irq_state);
return 1; // have mutex
}
void mp_thread_mutex_unlock(mp_thread_mutex_t *mutex) {
*mutex = 0;
}
#endif // MICROPY_PY_THREAD
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2016 Damien P. George
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#ifndef __MICROPY_INCLUDED_STMHAL_MPTHREADPORT_H__
#define __MICROPY_INCLUDED_STMHAL_MPTHREADPORT_H__
#include "py/mpthread.h"
#include "pybthread.h"
typedef uint32_t mp_thread_mutex_t;
void mp_thread_init(void);
void mp_thread_gc_others(void);
static inline void mp_thread_set_state(void *state) {
pyb_thread_set_local(state);
}
static inline struct _mp_state_thread_t *mp_thread_get_state(void) {
return pyb_thread_get_local();
}
#endif // __MICROPY_INCLUDED_STMHAL_MPTHREADPORT_H__
......@@ -89,6 +89,35 @@ void pendsv_isr_handler(void) {
// sp[1]: 0xfffffff9
// sp[0]: ?
#if MICROPY_PY_THREAD
__asm volatile (
"ldr r1, pendsv_object_ptr\n"
"ldr r0, [r1]\n"
"cmp r0, 0\n"
"beq .no_obj\n"
"str r0, [sp, #0]\n" // store to r0 on stack
"mov r0, #0\n"
"str r0, [r1]\n" // clear pendsv_object
"ldr r0, nlr_jump_ptr\n"
"str r0, [sp, #24]\n" // store to pc on stack
"bx lr\n" // return from interrupt; will return to nlr_jump
".no_obj:\n" // pendsv_object==NULL
"push {r4-r11, lr}\n"
"vpush {s16-s31}\n"
"mov r0, sp\n" // pass sp to save
"mov r4, lr\n" // save lr because we are making a call
"bl pyb_thread_next\n" // get next thread to execute
"mov lr, r4\n" // restore lr
"mov sp, r0\n" // switch stacks
"vpop {s16-s31}\n"
"pop {r4-r11, lr}\n"
"bx lr\n" // return from interrupt; will return to new thread
".align 2\n"
"pendsv_object_ptr: .word pendsv_object\n"
"nlr_jump_ptr: .word nlr_jump\n"
);
#else
__asm volatile (
"ldr r0, pendsv_object_ptr\n"
"ldr r0, [r0]\n"
......@@ -108,6 +137,7 @@ void pendsv_isr_handler(void) {
"pendsv_object_ptr: .word pendsv_object\n"
"nlr_jump_ptr: .word nlr_jump\n"
);
#endif
/*
uint32_t x[2] = {0x424242, 0xdeaddead};
......
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2017 Damien P. George
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <string.h>
#include <stdio.h>
#include "py/obj.h"
#include "gccollect.h"
#include "irq.h"
#include "pybthread.h"
#if MICROPY_PY_THREAD
int pyb_thread_enabled;
pyb_thread_t *pyb_thread_cur;
void pyb_thread_init(pyb_thread_t *thread) {
pyb_thread_cur = thread;
pyb_thread_cur->sp = NULL; // will be set when this thread switches out
pyb_thread_cur->local_state = 0; // will be set by mp_thread_init
pyb_thread_cur->arg = NULL;
pyb_thread_cur->stack = &_heap_end;
pyb_thread_cur->stack_len = ((uint32_t)&_estack - (uint32_t)&_heap_end) / sizeof(uint32_t);
pyb_thread_cur->prev = thread;
pyb_thread_cur->next = thread;
}
STATIC void pyb_thread_terminate(void) {
uint32_t irq_state = raise_irq_pri(IRQ_PRI_PENDSV);
pyb_thread_cur->prev->next = pyb_thread_cur->next;
pyb_thread_cur->next->prev = pyb_thread_cur->prev;
if (pyb_thread_cur->next == pyb_thread_cur->prev) {
pyb_thread_enabled = 0;
}
restore_irq_pri(irq_state);
pyb_thread_yield(); // should not return
}
uint32_t pyb_thread_new(pyb_thread_t *thread, void *stack, size_t stack_len, void *entry, void *arg) {
uint32_t *stack_top = (uint32_t*)stack + stack_len; // stack is full descending
*--stack_top = 0x01000000; // xPSR (thumb bit set)
*--stack_top = (uint32_t)entry & 0xfffffffe; // pc (must have bit 0 cleared, even for thumb code)
*--stack_top = (uint32_t)pyb_thread_terminate; // lr
*--stack_top = 0; // r12
*--stack_top = 0; // r3
*--stack_top = 0; // r2
*--stack_top = 0; // r1
*--stack_top = (uint32_t)arg; // r0
*--stack_top = 0xfffffff9; // lr (return to thread mode, non-FP, use MSP)
stack_top -= 8; // r4-r11
stack_top -= 16; // s16-s31 (we assume all threads use FP registers)
thread->sp = stack_top;
thread->local_state = 0;
thread->arg = arg;
thread->stack = stack;
thread->stack_len = stack_len;
uint32_t irq_state = raise_irq_pri(IRQ_PRI_PENDSV);
pyb_thread_enabled = 1;
thread->next = pyb_thread_cur->next;
thread->prev = pyb_thread_cur;
pyb_thread_cur->next->prev = thread;
pyb_thread_cur->next = thread;
restore_irq_pri(irq_state);
return (uint32_t)thread; // success
}
// should only be called from pendsv_isr_handler
void *pyb_thread_next(void *sp) {
pyb_thread_cur->sp = sp;
pyb_thread_cur = pyb_thread_cur->next;
return pyb_thread_cur->sp;
}
#endif // MICROPY_PY_THREAD
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2017 Damien P. George
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#ifndef MICROPY_INCLUDED_STMHAL_PYBTHREAD_H
#define MICROPY_INCLUDED_STMHAL_PYBTHREAD_H
typedef struct _pyb_thread_t {
void *sp;
uint32_t local_state;
void *arg; // thread Python args, a GC root pointer
void *stack; // pointer to the stack
size_t stack_len; // number of words in the stack
struct _pyb_thread_t *prev;
struct _pyb_thread_t *next;
} pyb_thread_t;
extern int pyb_thread_enabled;
extern pyb_thread_t *pyb_thread_cur;
void pyb_thread_init(pyb_thread_t *th);
uint32_t pyb_thread_new(pyb_thread_t *th, void *stack, size_t stack_len, void *entry, void *arg);
static inline uint32_t pyb_thread_get_id(void) {
return (uint32_t)pyb_thread_cur;
}
static inline void pyb_thread_set_local(void *value) {
pyb_thread_cur->local_state = (uint32_t)value;
}
static inline void *pyb_thread_get_local(void) {
return (void*)pyb_thread_cur->local_state;
}
static inline void pyb_thread_yield(void) {
SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
}
#endif // MICROPY_INCLUDED_STMHAL_PYBTHREAD_H
......@@ -73,6 +73,7 @@
#include "py/obj.h"
#include "pendsv.h"
#include "irq.h"
#include "pybthread.h"
#include "extint.h"
#include "timer.h"
#include "uart.h"
......@@ -287,6 +288,11 @@ void SysTick_Handler(void) {
if (DMA_IDLE_ENABLED() && DMA_IDLE_TICK(uwTick)) {
dma_idle_handler(uwTick);
}
// signal a thread switch at 4ms=250Hz
if (pyb_thread_enabled && (uwTick & 0x03) == 0x03) {
SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
}
}
/******************************************************************************/
......
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