[FL-2591] Furi: remove CMSIS thread api, migrate to FuriThread, remove unused CMSIS APIs (#1333)
* Furi: remove CMSIS thread api, migrate to FuriThread, remove unused CMSIS APIs * Furi: magic thread catcher validating thread completion; backtrace improver * Furi: allow furi_thread_get_current_id outside of thread context * Furi: use IRQ instead of ISR for core primitives
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@@ -2,7 +2,9 @@
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#include "memmgr.h"
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#include "memmgr_heap.h"
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#include "check.h"
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#include "common_defines.h"
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#include <task.h>
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#include <m-string.h>
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struct FuriThread {
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@@ -15,14 +17,22 @@ struct FuriThread {
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FuriThreadStateCallback state_callback;
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void* state_context;
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osThreadAttr_t attr;
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volatile osThreadId_t id;
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char* name;
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configSTACK_DEPTH_TYPE stack_size;
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FuriThreadPriority priority;
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TaskHandle_t task_handle;
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bool heap_trace_enabled;
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size_t heap_size;
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};
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void furi_thread_set_state(FuriThread* thread, FuriThreadState state) {
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/** Catch threads that are trying to exit wrong way */
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__attribute__((__noreturn__)) void furi_thread_catch() {
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asm volatile("nop"); // extra magic
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furi_crash("You are doing it wrong");
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}
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static void furi_thread_set_state(FuriThread* thread, FuriThreadState state) {
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furi_assert(thread);
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thread->state = state;
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if(thread->state_callback) {
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@@ -37,23 +47,24 @@ static void furi_thread_body(void* context) {
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furi_assert(thread->state == FuriThreadStateStarting);
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furi_thread_set_state(thread, FuriThreadStateRunning);
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osThreadId_t thread_id = osThreadGetId();
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TaskHandle_t task_handle = xTaskGetCurrentTaskHandle();
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if(thread->heap_trace_enabled == true) {
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memmgr_heap_enable_thread_trace(thread_id);
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memmgr_heap_enable_thread_trace((FuriThreadId)task_handle);
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}
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thread->ret = thread->callback(thread->context);
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if(thread->heap_trace_enabled == true) {
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osDelay(33);
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thread->heap_size = memmgr_heap_get_thread_memory(thread_id);
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memmgr_heap_disable_thread_trace(thread_id);
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thread->heap_size = memmgr_heap_get_thread_memory((FuriThreadId)task_handle);
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memmgr_heap_disable_thread_trace((FuriThreadId)task_handle);
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}
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furi_assert(thread->state == FuriThreadStateRunning);
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furi_thread_set_state(thread, FuriThreadStateStopped);
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osThreadExit();
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vTaskDelete(thread->task_handle);
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furi_thread_catch();
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}
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FuriThread* furi_thread_alloc() {
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@@ -66,21 +77,22 @@ void furi_thread_free(FuriThread* thread) {
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furi_assert(thread);
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furi_assert(thread->state == FuriThreadStateStopped);
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if(thread->attr.name) free((void*)thread->attr.name);
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if(thread->name) free((void*)thread->name);
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free(thread);
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}
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void furi_thread_set_name(FuriThread* thread, const char* name) {
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furi_assert(thread);
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furi_assert(thread->state == FuriThreadStateStopped);
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if(thread->attr.name) free((void*)thread->attr.name);
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thread->attr.name = strdup(name);
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if(thread->name) free((void*)thread->name);
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thread->name = strdup(name);
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}
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void furi_thread_set_stack_size(FuriThread* thread, size_t stack_size) {
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furi_assert(thread);
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furi_assert(thread->state == FuriThreadStateStopped);
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thread->attr.stack_size = stack_size;
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furi_assert(stack_size % 4 == 0);
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thread->stack_size = stack_size;
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}
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void furi_thread_set_callback(FuriThread* thread, FuriThreadCallback callback) {
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@@ -95,6 +107,13 @@ void furi_thread_set_context(FuriThread* thread, void* context) {
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thread->context = context;
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}
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void furi_thread_set_priority(FuriThread* thread, FuriThreadPriority priority) {
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furi_assert(thread);
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furi_assert(thread->state == FuriThreadStateStopped);
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furi_assert(priority >= FuriThreadPriorityIdle && priority <= FuriThreadPriorityIsr);
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thread->priority = priority;
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}
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void furi_thread_set_state_callback(FuriThread* thread, FuriThreadStateCallback callback) {
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furi_assert(thread);
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furi_assert(thread->state == FuriThreadStateStopped);
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@@ -112,41 +131,39 @@ FuriThreadState furi_thread_get_state(FuriThread* thread) {
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return thread->state;
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}
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bool furi_thread_start(FuriThread* thread) {
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void furi_thread_start(FuriThread* thread) {
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furi_assert(thread);
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furi_assert(thread->callback);
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furi_assert(thread->state == FuriThreadStateStopped);
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furi_assert(thread->attr.stack_size > 0);
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furi_assert(thread->stack_size > 0 && thread->stack_size < 0xFFFF * 4);
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furi_thread_set_state(thread, FuriThreadStateStarting);
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thread->id = osThreadNew(furi_thread_body, thread, &thread->attr);
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if(thread->id) {
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return true;
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} else {
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furi_assert(thread->state == FuriThreadStateStarting);
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furi_thread_set_state(thread, FuriThreadStateStopped);
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return false;
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}
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BaseType_t ret = xTaskCreate(
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furi_thread_body,
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thread->name,
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thread->stack_size / 4,
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thread,
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thread->priority ? thread->priority : FuriThreadPriorityNormal,
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&thread->task_handle);
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furi_check(ret == pdPASS);
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furi_check(thread->task_handle);
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}
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osStatus_t furi_thread_terminate(FuriThread* thread) {
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bool furi_thread_join(FuriThread* thread) {
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furi_assert(thread);
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osStatus_t ret = osThreadTerminate(thread->id);
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if(ret == osOK) {
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furi_thread_set_state(thread, FuriThreadStateStopped);
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}
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return ret;
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}
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osStatus_t furi_thread_join(FuriThread* thread) {
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furi_assert(thread);
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while(thread->state != FuriThreadStateStopped) {
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osDelay(10);
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}
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return osOK;
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}
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osThreadId_t furi_thread_get_thread_id(FuriThread* thread) {
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return thread->id;
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FuriThreadId furi_thread_get_id(FuriThread* thread) {
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furi_assert(thread);
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return thread->task_handle;
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}
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void furi_thread_enable_heap_trace(FuriThread* thread) {
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@@ -174,3 +191,213 @@ int32_t furi_thread_get_return_code(FuriThread* thread) {
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furi_assert(thread->state == FuriThreadStateStopped);
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return thread->ret;
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}
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FuriThreadId furi_thread_get_current_id() {
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return xTaskGetCurrentTaskHandle();
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}
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void furi_thread_yield() {
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furi_assert(!FURI_IS_IRQ_MODE());
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taskYIELD();
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}
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/* Limits */
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#define MAX_BITS_TASK_NOTIFY 31U
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#define MAX_BITS_EVENT_GROUPS 24U
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#define THREAD_FLAGS_INVALID_BITS (~((1UL << MAX_BITS_TASK_NOTIFY) - 1U))
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#define EVENT_FLAGS_INVALID_BITS (~((1UL << MAX_BITS_EVENT_GROUPS) - 1U))
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uint32_t furi_thread_flags_set(FuriThreadId thread_id, uint32_t flags) {
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TaskHandle_t hTask = (TaskHandle_t)thread_id;
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uint32_t rflags;
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BaseType_t yield;
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if((hTask == NULL) || ((flags & THREAD_FLAGS_INVALID_BITS) != 0U)) {
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rflags = (uint32_t)osErrorParameter;
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} else {
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rflags = (uint32_t)osError;
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if(FURI_IS_IRQ_MODE()) {
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yield = pdFALSE;
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(void)xTaskNotifyFromISR(hTask, flags, eSetBits, &yield);
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(void)xTaskNotifyAndQueryFromISR(hTask, 0, eNoAction, &rflags, NULL);
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portYIELD_FROM_ISR(yield);
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} else {
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(void)xTaskNotify(hTask, flags, eSetBits);
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(void)xTaskNotifyAndQuery(hTask, 0, eNoAction, &rflags);
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}
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}
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/* Return flags after setting */
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return (rflags);
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}
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uint32_t furi_thread_flags_clear(uint32_t flags) {
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TaskHandle_t hTask;
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uint32_t rflags, cflags;
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if(FURI_IS_IRQ_MODE()) {
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rflags = (uint32_t)osErrorISR;
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} else if((flags & THREAD_FLAGS_INVALID_BITS) != 0U) {
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rflags = (uint32_t)osErrorParameter;
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} else {
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hTask = xTaskGetCurrentTaskHandle();
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if(xTaskNotifyAndQuery(hTask, 0, eNoAction, &cflags) == pdPASS) {
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rflags = cflags;
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cflags &= ~flags;
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if(xTaskNotify(hTask, cflags, eSetValueWithOverwrite) != pdPASS) {
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rflags = (uint32_t)osError;
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}
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} else {
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rflags = (uint32_t)osError;
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}
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}
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/* Return flags before clearing */
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return (rflags);
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}
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uint32_t furi_thread_flags_get(void) {
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TaskHandle_t hTask;
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uint32_t rflags;
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if(FURI_IS_IRQ_MODE()) {
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rflags = (uint32_t)osErrorISR;
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} else {
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hTask = xTaskGetCurrentTaskHandle();
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if(xTaskNotifyAndQuery(hTask, 0, eNoAction, &rflags) != pdPASS) {
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rflags = (uint32_t)osError;
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}
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}
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return (rflags);
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}
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uint32_t furi_thread_flags_wait(uint32_t flags, uint32_t options, uint32_t timeout) {
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uint32_t rflags, nval;
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uint32_t clear;
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TickType_t t0, td, tout;
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BaseType_t rval;
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if(FURI_IS_IRQ_MODE()) {
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rflags = (uint32_t)osErrorISR;
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} else if((flags & THREAD_FLAGS_INVALID_BITS) != 0U) {
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rflags = (uint32_t)osErrorParameter;
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} else {
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if((options & osFlagsNoClear) == osFlagsNoClear) {
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clear = 0U;
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} else {
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clear = flags;
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}
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rflags = 0U;
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tout = timeout;
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t0 = xTaskGetTickCount();
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do {
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rval = xTaskNotifyWait(0, clear, &nval, tout);
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if(rval == pdPASS) {
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rflags &= flags;
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rflags |= nval;
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if((options & osFlagsWaitAll) == osFlagsWaitAll) {
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if((flags & rflags) == flags) {
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break;
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} else {
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if(timeout == 0U) {
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rflags = (uint32_t)osErrorResource;
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break;
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}
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}
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} else {
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if((flags & rflags) != 0) {
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break;
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} else {
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if(timeout == 0U) {
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rflags = (uint32_t)osErrorResource;
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break;
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}
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}
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}
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/* Update timeout */
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td = xTaskGetTickCount() - t0;
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if(td > tout) {
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tout = 0;
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} else {
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tout -= td;
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}
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} else {
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if(timeout == 0) {
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rflags = (uint32_t)osErrorResource;
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} else {
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rflags = (uint32_t)osErrorTimeout;
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}
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}
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} while(rval != pdFAIL);
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}
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/* Return flags before clearing */
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return (rflags);
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}
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uint32_t furi_thread_enumerate(FuriThreadId* thread_array, uint32_t array_items) {
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uint32_t i, count;
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TaskStatus_t* task;
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if(FURI_IS_IRQ_MODE() || (thread_array == NULL) || (array_items == 0U)) {
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count = 0U;
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} else {
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vTaskSuspendAll();
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count = uxTaskGetNumberOfTasks();
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task = pvPortMalloc(count * sizeof(TaskStatus_t));
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if(task != NULL) {
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count = uxTaskGetSystemState(task, count, NULL);
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for(i = 0U; (i < count) && (i < array_items); i++) {
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thread_array[i] = (FuriThreadId)task[i].xHandle;
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}
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count = i;
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}
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(void)xTaskResumeAll();
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vPortFree(task);
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}
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return (count);
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}
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const char* furi_thread_get_name(FuriThreadId thread_id) {
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TaskHandle_t hTask = (TaskHandle_t)thread_id;
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const char* name;
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if(FURI_IS_IRQ_MODE() || (hTask == NULL)) {
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name = NULL;
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} else {
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name = pcTaskGetName(hTask);
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}
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return (name);
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}
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uint32_t furi_thread_get_stack_space(FuriThreadId thread_id) {
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TaskHandle_t hTask = (TaskHandle_t)thread_id;
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uint32_t sz;
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if(FURI_IS_IRQ_MODE() || (hTask == NULL)) {
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sz = 0U;
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} else {
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sz = (uint32_t)(uxTaskGetStackHighWaterMark(hTask) * sizeof(StackType_t));
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}
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return (sz);
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}
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