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Code Issues Releases Activity

More improvements to the osx simulation FreeRTOS port. Only tick the tick

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handler when we have confirmed the running thread has halted.  This is more
like what would happen on a single core machine.
This commit is contained in:
James Cotton 2012-03-14 16:49:42 -05:00
parent 543500ed78
commit 82a2987b2c
1 changed files with 30 additions and 15 deletions
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45
flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
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@ -531,12 +531,7 @@ void vPortYield( void )
{
if(pthread_mutex_trylock( &xSwappingThreadMutex )== EBUSY) {
// The tick handler will just pause this thread
fprintf(stdout, "Could not get the swapping thread to yield\r\n");
//usleep(10);
storeSelf();
pauseSelf();
claimRunningSemaphore(5);
unmaskSuspend();
return;
} else {
lastYield = xTaskGetCurrentTaskHandle();
vTaskSwitchContext();
@ -662,6 +657,22 @@ int preemptive_count = 0;
int noirq_count = 0;
void vPortSystemTickHandler( int sig )
{
/* In this real hardware this is what happens
* 0. if preemption set pending sys call flag (happens when all isr's finished)
* 1. set interrupt mask
* 2. increment tick count
* 3. restore interrupt mask
* 4. exits which triggers the pending sys call (?)
*
* Pending sys call:
* 1. store the current tcb
* 2. something with "msr basepri, r0" which changes the interrupt priority mask
* 3. switches context
* 4. restores the interrupt priority
* 5. loads the new tcb
*
*/
debug_printf( "\r\n\r\n" );
debug_printf( "(xInterruptsEnabled = %i, xServicingTick = %i)\r\n", (int) xInterruptsEnabled != 0, (int) xServicingTick != 0);
@ -689,8 +700,6 @@ void vPortSystemTickHandler( int sig )
}
vTaskIncrementTick();
//assert(uxCriticalNesting == 0);
oldTask = xTaskGetCurrentTaskHandle();
claimRunningSemaphore(2);
@ -700,7 +709,6 @@ void vPortSystemTickHandler( int sig )
resumeThread(xTaskGetCurrentTaskHandle());
newTask = xTaskGetCurrentTaskHandle();
// fprintf(stdout, "System tick done\r\n");
}
else
noirq_count++;
@ -1327,14 +1335,21 @@ int claim_count = 0;
static void claimRunningSemaphore(int source)
{
//fprintf(stderr,"Claimed the semaphore(%d) %s\r\n", source, threadToName(pthread_self()));
// And they succeed
int succeed = 0;
for (int i = 0; i < 10 && !succeed; i++) {
succeed = (pthread_mutex_trylock( &xRunningThread ) == 0);
if (!succeed)
usleep(1);
}
assert( succeed );
// Make sure the right task is trying for this (SystemTick doesn't have a handle)
xTaskHandle hTask = prvGetTaskHandle( pthread_self() );
assert( hTask == NULL || hTask == xTaskGetCurrentTaskHandle() );
// And they succeed
assert( 0 == pthread_mutex_trylock( &xRunningThread ) );
lastClaim = (tskTCB *) hTask;
lastClaimType = source;
claim_count ++;
@ -1347,11 +1362,11 @@ tskTCB *lastRelease;
int release_count = 0;
static void releaseRunningSemaphore()
{
xTaskHandle hTask = prvGetTaskHandle( pthread_self() );
assert( lastClaim == hTask );
assert( 0 == pthread_mutex_unlock( &xRunningThread ) );
//fprintf(stderr,"Released the semaphore %s\r\n", threadToName(pthread_self()));
xTaskHandle hTask = prvGetTaskHandle( pthread_self() );
assert( lastClaim == hTask );
lastRelease = (tskTCB *) hTask;
release_count++;