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Code Issues Releases Activity

Working on windows

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1046 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-07-07 20:43:05 +00:00 committed by peabody124
parent bd13811255
commit c2cb17ffe7
1 changed files with 42 additions and 32 deletions
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74
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/peabody124/port-stupidlysimplerversion.c
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@ -289,15 +289,15 @@ xParams *pxThisThreadParams = pvPortMalloc( sizeof( xParams ) );
lIndexOfLastAddedTask = prvGetFreeThreadState();
/* Create a condition signal for this thread */
pthread_condattr_t condAttr;
/* pthread_condattr_t condAttr;
assert( 0 == pthread_condattr_init(&condAttr) );
assert( 0 == pthread_cond_init( &( pxThreads[ lIndexOfLastAddedTask ].hCond ), &condAttr ) );
assert( 0 == pthread_cond_init( &( pxThreads[ lIndexOfLastAddedTask ].hCond ), &condAttr ) ); */
/* Create a condition mutex for this thread */
pthread_mutexattr_t mutexAttr;
/* pthread_mutexattr_t mutexAttr;
assert( 0 == pthread_mutexattr_init( &mutexAttr ) );
assert( 0 == pthread_mutexattr_settype( &mutexAttr, PTHREAD_MUTEX_ERRORCHECK ) );
assert( 0 == pthread_mutex_init( &( pxThreads[ lIndexOfLastAddedTask ].hMutex ), &mutexAttr ) );
assert( 0 == pthread_mutex_init( &( pxThreads[ lIndexOfLastAddedTask ].hMutex ), &mutexAttr ) );*/
/* Create a thread and store it's handle number */
xSentinel = 0;
@ -465,38 +465,43 @@ void vPortYield( void )
pthread_t xTaskToSuspend;
pthread_t xTaskToResume;
tskTCB * oldTask, * newTask;
sigset_t xSignals;
sigemptyset( &xSignals );
sigaddset( &xSignals, SIG_TICK );
pthread_sigmask( SIG_BLOCK, &xSignals, NULL );
oldTask = xTaskGetCurrentTaskHandle();
xTaskToSuspend = prvGetThreadHandle( oldTask ); //xTaskGetCurrentTaskHandle() );
if(xTaskToSuspend != pthread_self() ) {
printf( "Called from different thread (%li) than what it will suspend (%li(%s)). Probably reflects bad state\r\n", (long int) pthread_self(), (long int) xTaskToSuspend, oldTask->pcTaskName );
kill(getpid(), SIGKILL );
debug_printf( "The current task isn't even us, suspending and letting that task start\r\n" );
pauseThread();
return;
}
assert( pthread_mutex_lock( &xSingleThreadMutex ) == 0);
vTaskSwitchContext();
newTask = xTaskGetCurrentTaskHandle();
xTaskToResume = prvGetThreadHandle( newTask ) ; //xTaskGetCurrentTaskHandle() );
if ( xTaskToSuspend != xTaskToResume )
if ( prvGetThreadTask( pthread_self() ) != xTaskToResume )
{
/* Remember and switch the critical nesting. */
prvSetTaskCriticalNesting( xTaskToSuspend, uxCriticalNesting );
uxCriticalNesting = prvGetTaskCriticalNesting( xTaskToResume );
assert( pthread_mutex_unlock( &xSingleThreadMutex ) == 0);
/* pausing self if switching tasks, can now rely on other thread waking itself up */
pauseThread();
/* Switch tasks. */
debug_printf( "Yielding %li: From %li(%s) to %li(%s)\r\n",(long int) pthread_self(), (long int) xTaskToSuspend, oldTask->pcTaskName, (long int) xTaskToResume, newTask->pcTaskName);
/* debug_printf( "Yielding %li: From %li(%s) to %li(%s)\r\n",(long int) pthread_self(), (long int) xTaskToSuspend, oldTask->pcTaskName, (long int) xTaskToResume, newTask->pcTaskName);
prvSuspendThread( xTaskToSuspend );
debug_printf( "Yielded %li: From %li(%s) to %li(%s)\r\n",(long int) pthread_self(), (long int) xTaskToSuspend, oldTask->pcTaskName, (long int) xTaskToResume, newTask->pcTaskName);
debug_printf( "Yielded %li: From %li(%s) to %li(%s)\r\n",(long int) pthread_self(), (long int) xTaskToSuspend, oldTask->pcTaskName, (long int) xTaskToResume, newTask->pcTaskName); */
}
else
{
assert( pthread_mutex_unlock( &xSingleThreadMutex ) == 0);
}
pthread_sigmask( SIG_UNBLOCK, &xSignals, NULL );
}
/*-----------------------------------------------------------*/
@ -545,10 +550,10 @@ int lockResult;
debug_printf( "(xInterruptsEnabled = %i, xServicingTick = %i)\r\n", (int) xInterruptValue != 0, (int) xServicingTick != 0);
if ( ( pdTRUE == xInterruptValue ) && ( pdTRUE != xServicingTick ) )
{
// debug_printf( "Checking for lock ...\r\n" );
// lockResult = pthread_mutex_trylock( &xSingleThreadMutex );
lockResult = 0;
// debug_printf( "Done\r\n" );
debug_printf( "Checking for lock ...\r\n" );
lockResult = pthread_mutex_trylock( &xSingleThreadMutex );
// lockResult = 0;
debug_printf( "Done\r\n" );
if ( 0 == lockResult)
{
debug_printf( "Handling\r\n");
@ -562,7 +567,7 @@ int lockResult;
#if ( configUSE_PREEMPTION == 1 )
vTaskSwitchContext();
#endif
newTask = xTaskGetCurrentTaskHandle();
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
@ -574,23 +579,18 @@ int lockResult;
uxCriticalNesting = prvGetTaskCriticalNesting( xTaskToResume );
debug_printf( "Swapping From %li(%s) to %li(%s)\r\n", (long int) xTaskToSuspend, oldTask->pcTaskName, (long int) xTaskToResume, newTask->pcTaskName);
// prvResumeThread( xTaskToResume ); /* Resume next task. */
prvSuspendThread( xTaskToSuspend ); /* Suspend the current task. */
debug_printf( "Swapped From %li(%s) to %li(%s)\r\n", (long int) xTaskToSuspend, oldTask->pcTaskName, (long int) xTaskToResume, newTask->pcTaskName);
}
else
{
debug_printf( "Resuming previous task\r\n" );
/* Release the lock as we are Resuming. */
// (void)pthread_mutex_unlock( &xSingleThreadMutex );
}
xServicingTick = pdFALSE;
(void)pthread_mutex_unlock( &xSingleThreadMutex );
}
else
{
debug_printf( "Pending yield here (portYield has lock - hopefully)\r\n" );
xPendYield = pdTRUE;
}
}
else
{
@ -701,6 +701,10 @@ void pauseThread()
if( pthread_self() == prvGetThreadHandle(xTaskGetCurrentTaskHandle() ) )
return;
else {
struct timespec x;
x.tv_sec=0;
x.tv_nsec=10000;
nanosleep(&x,NULL);
sched_yield();
}
@ -730,11 +734,17 @@ sigset_t xBlockSignals;
//assert ( 0 == pthread_mutex_unlock( &xSingleThreadMutex ) );
// Set resume condition for specific thread
pthread_cond_t hCond = prvGetThreadCondition( xTaskGetCurrentTaskHandle() );
assert( pthread_cond_signal( &hCond ) == 0 );
/* pthread_cond_t hCond = prvGetThreadCondition( xTaskGetCurrentTaskHandle() );
assert( pthread_cond_signal( &hCond ) == 0 ); */
pauseThread();
while( pthread_self() != prvGetThreadHandle( xTaskGetCurrentTaskHandle() ) )
{
debug_printf( "Incorrectly woke up. Repausing\r\n" );
pauseThread();
}
/* Make sure the right thread is resuming */
assert( pthread_self() == prvGetThreadHandle(xTaskGetCurrentTaskHandle() ) );