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Code Issues Releases Activity

PiOS.posix - new version of debugging enabled custom port.c

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1037 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
corvus 2010-07-07 12:21:36 +00:00 committed by corvus
parent 64a8302f5a
commit 447be5c0a0
1 changed files with 55 additions and 30 deletions
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85
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/corvuscorax/port_with-debugging-output.c
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@ -281,36 +281,52 @@ xParams *pxThisThreadParams = pvPortMalloc( sizeof( xParams ) );
pxThisThreadParams->pvParams = pvParameters;
vPortEnterCritical();
lIndexOfLastAddedTask = prvGetFreeThreadState();
/* Create the new pThread. */
/* On creation of the very first thread, RunningThreadMutex is not claimed yet
* by the master thread - do that! */
if (xVeryFirstTask==1) {
debug_printf("Seting up very first task (main) - MAIN is ACTIVE TASK\n");
if (0 == pthread_mutex_lock( &xRunningThreadMutex)) {
xVeryFirstTask=0;
} else {
printf("Failed to acquire lock for first task");
exit(1);
if ( 0 == pthread_mutex_lock( &xSuspendResumeThreadMutex ) ) {
while (hActiveThread!=hRequestedThread && !xVeryFirstTask) {
(void)pthread_mutex_unlock( &xSuspendResumeThreadMutex );
sched_yield();
(void)pthread_mutex_lock( &xSuspendResumeThreadMutex );
}
}
if ( 0 != pthread_create( &( pxThreads[ lIndexOfLastAddedTask ].hThread ), &xThreadAttributes, prvWaitForStart, (void *)pxThisThreadParams ) )
{
/* Thread create failed, signal the failure */
pxTopOfStack = 0;
}
lIndexOfLastAddedTask = prvGetFreeThreadState();
/* Wait until the task suspends. */
xSentinel=0;
(void)pthread_mutex_unlock( &xRunningThreadMutex );
while ( xSentinel == 0 ) {
sched_yield();
/* Create the new pThread. */
/* On creation of the very first thread, RunningThreadMutex is not claimed yet
* by the master thread - do that! */
if (xVeryFirstTask==1) {
debug_printf("Seting up very first task (main) - MAIN is ACTIVE TASK\n");
if (0 == pthread_mutex_lock( &xRunningThreadMutex)) {
xVeryFirstTask=0;
hActiveThread=pthread_self();
hRequestedThread=hActiveThread;
} else {
printf("Failed to acquire lock for first task");
exit(1);
}
}
if ( 0 != pthread_create( &( pxThreads[ lIndexOfLastAddedTask ].hThread ), &xThreadAttributes, prvWaitForStart, (void *)pxThisThreadParams ) )
{
/* Thread create failed, signal the failure */
pxTopOfStack = 0;
}
/* Wait until the task suspends. */
xSentinel=0;
(void)pthread_mutex_unlock( &xRunningThreadMutex );
while ( xSentinel == 0 ) {
sched_yield();
}
(void)pthread_mutex_lock( &xRunningThreadMutex );
hActiveThread=pthread_self();
debug_printf("ACTIVE THREAD RECLAIMED!\n");
(void)pthread_mutex_unlock( &xSuspendResumeThreadMutex );
} else {
debug_printf("mutex locking failed\n");
exit(1);
}
(void)pthread_mutex_lock( &xRunningThreadMutex );
vPortExitCritical();
return pxTopOfStack;
@ -484,7 +500,9 @@ pthread_t xTaskToResume;
* Make sure we don't create outdated resume signals
*/
while (hActiveThread!=hRequestedThread) {
(void)pthread_mutex_unlock( &xSuspendResumeThreadMutex );
sched_yield();
(void)pthread_mutex_lock( &xSuspendResumeThreadMutex );
}
xTaskToSuspend = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
@ -591,17 +609,20 @@ struct timespec timeout;
*/
if ( ( pdTRUE == xInterruptsEnabled ) && ( pdTRUE != xServicingTick ) && ( hRequestedThread == hActiveThread ) )
{
xServicingTick = pdTRUE;
if ( 0 == pthread_mutex_trylock( &xSuspendResumeThreadMutex ) )
{
debug_printf("does handle tick\n");
xServicingTick = pdTRUE;
/**
* this shouldn't ever happen - but WELL...
* Make sure we don't create outdated resume signals
*/
while (hActiveThread!=hRequestedThread) {
sched_yield();
if (hActiveThread!=hRequestedThread) {
xServicingTick = pdFALSE;
xPendYield = pdTRUE;
(void)pthread_mutex_unlock( &xSuspendResumeThreadMutex );
return;
}
xTaskToSuspend = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
@ -644,13 +665,13 @@ if (prvGetThreadHandle(xTaskGetCurrentTaskHandle())!=xTaskToResume) {
/* Release the lock as we are Resuming. */
// (void)pthread_mutex_unlock( &xSingleThreadMutex );
}
xServicingTick = pdFALSE;
}
else
{
xPendYield = pdTRUE;
}
(void)pthread_mutex_unlock( &xSuspendResumeThreadMutex );
xServicingTick = pdFALSE;
}
else
{
@ -679,7 +700,9 @@ portBASE_TYPE xResult;
* Make sure we don't create outdated resume signals
*/
while (hActiveThread!=hRequestedThread) {
(void)pthread_mutex_unlock( &xSuspendResumeThreadMutex );
sched_yield();
(void)pthread_mutex_lock( &xSuspendResumeThreadMutex );
}
/* This is a suicidal thread, need to select a different task to run. */
vTaskSwitchContext();
@ -687,7 +710,7 @@ portBASE_TYPE xResult;
hRequestedThread = xTaskToResume;
(void)pthread_mutex_unlock( &xSuspendResumeThreadMutex );
} else {
debug_printf("THIS was never meant to happen\n");
debug_printf("mutex lock failed!\n");
exit(1);
}
}
@ -734,6 +757,8 @@ sigset_t xSignals;
if ( 0 == pthread_mutex_lock( &xRunningThreadMutex ) )
{
xSentinel=1;
hActiveThread=pthread_self();
debug_printf("temporarily made ACTIVE THREAD!\n");
sigemptyset( &xSignals );
sigaddset( &xSignals, SIG_RESUME );