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Code Issues Releases Activity

Changing the tick counter to only happen after current thread is suspended

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seems to fix stability issues
This commit is contained in:
James Cotton 2012-03-14 12:58:39 -05:00
parent fbd8695d7d
commit 0b342ea3d6
1 changed files with 57 additions and 14 deletions
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71
flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
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@ -89,6 +89,9 @@
* pause
*/
// Critical sections: Disable interrupts but can yield
// Suspend scheduler: Makes sure that we don't actually swap tasks
// Interrupts - I don't think they do block the tick handler? Uses two irqs - the PEND and SVC
#include <pthread.h>
#include <sched.h>
@ -135,6 +138,7 @@ typedef struct THREAD_SUSPENSIONS
portBASE_TYPE xThreadState;
volatile enum thread_status status;
unsigned portBASE_TYPE uxCriticalNesting;
unsigned portBASE_TYPE xInterruptsEnabled;
char * name;
} xThreadState;
/*-----------------------------------------------------------*/
@ -224,6 +228,8 @@ static portLONG prvGetFreeThreadState( void );
static void prvSetTaskCriticalNesting( pthread_t xThreadId, unsigned portBASE_TYPE uxNesting );
static unsigned portBASE_TYPE prvGetTaskCriticalNesting( pthread_t xThreadId );
static void prvDeleteThread( void *xThreadId );
void prvSetTaskInterrupt( pthread_t xThreadId, unsigned portBASE_TYPE xInterruptsEnabled );
unsigned portBASE_TYPE prvGetTaskInterrupt( pthread_t xThreadId );
/*-----------------------------------------------------------*/
/*
@ -633,7 +639,8 @@ portBASE_TYPE xPortSetInterruptMask( void )
{
portBASE_TYPE xReturn = xInterruptsEnabled;
debug_printf("\r\n");
xInterruptsEnabled = pdFALSE;
// xInterruptsEnabled = pdFALSE;
vPortDisableInterrupts();
return xReturn;
}
/*-----------------------------------------------------------*/
@ -641,7 +648,11 @@ portBASE_TYPE xReturn = xInterruptsEnabled;
void vPortClearInterruptMask( portBASE_TYPE xMask )
{
debug_printf("\r\n");
xInterruptsEnabled = xMask;
if(xMask == pdTRUE)
vPortEnableInterrupts();
else
vPortDisableInterrupts();
// xInterruptsEnabled = xMask;
}
/*-----------------------------------------------------------*/
@ -654,10 +665,6 @@ void vPortSystemTickHandler( int sig )
debug_printf( "\r\n\r\n" );
debug_printf( "(xInterruptsEnabled = %i, xServicingTick = %i)\r\n", (int) xInterruptsEnabled != 0, (int) xServicingTick != 0);
/* Tick Increment. */
vTaskIncrementTick();
/* if (pthread_mutex_trylock( &xIrqMutex ) == EBUSY) {
fprintf(stdout, "Systick could not block interrupts\r\n");
return;
@ -677,9 +684,14 @@ void vPortSystemTickHandler( int sig )
// If that thread won't pause something is going on
if (pauseOtherThread(xTaskGetCurrentTaskHandle()) == -1) {
fprintf(stdout, "Can't pause thread\r\n");
tskTCB *non_stopping = (tskTCB *) xTaskGetCurrentTaskHandle();
fprintf(stdout, "Can't pause thread %s\r\n", non_stopping->pcTaskName);
}
vTaskIncrementTick();
//assert(uxCriticalNesting == 0);
oldTask = xTaskGetCurrentTaskHandle();
claimRunningSemaphore(2);
vTaskSwitchContext();
@ -811,6 +823,8 @@ void * pParams = pxParams->pvParams;
claimRunningSemaphore(6);
}
vPortEnableInterrupts();
sigemptyset( &xSignals );
assert( pthread_sigmask( SIG_SETMASK, &xSignals, NULL ) == 0);
@ -1037,6 +1051,39 @@ portLONG lIndex;
}
return uxNesting;
}
/*-----------------------------------------------------------*/
void prvSetTaskInterrupt( pthread_t xThreadId, unsigned portBASE_TYPE xInterruptsEnabled )
{
portLONG lIndex;
for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ )
{
if ( pxThreads[ lIndex ].hThread == xThreadId )
{
pxThreads[ lIndex ].xInterruptsEnabled = xInterruptsEnabled;
break;
}
}
}
/*-----------------------------------------------------------*/
unsigned portBASE_TYPE prvGetTaskInterrupt( pthread_t xThreadId )
{
unsigned portBASE_TYPE xInterruptsEnabled = 0;
portLONG lIndex;
for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ )
{
if ( pxThreads[ lIndex ].hThread == xThreadId )
{
xInterruptsEnabled = pxThreads[ lIndex ].uxCriticalNesting;
break;
}
}
return xInterruptsEnabled;
}
/*-----------------------------------------------------------*/
void prvDeleteThread( void *xThreadId )
@ -1125,6 +1172,7 @@ void storeSelf()
maskSuspend();
prvSetTaskCriticalNesting( hTask, uxCriticalNesting );
prvSetTaskInterrupt( hTask, xInterruptsEnabled );
releaseRunningSemaphore();
@ -1171,14 +1219,9 @@ void pauseSelf()
/* Restore the critical nesting */
uxCriticalNesting = prvGetTaskCriticalNesting( hTask );
if ( uxCriticalNesting == 0 )
{
//xInterruptsEnabled = prvGetTaskInterrupt( hTask );
if(uxCriticalNesting == 0)
xInterruptsEnabled = pdTRUE;
}
else
{
xInterruptsEnabled = pdFALSE;
}
prvSetThreadStatus( pthread_self(), RUNNING );
//if (xResult == 0)