ports/mimxrt: Add thread support.

tonyzhangnxp · tonyzhangnxp · commit fb55686ac907 · 2024-02-27T17:32:20.000+08:00
Signed-off-by: tonyzhangnxp &lt;tony.zhang@nxp.com&gt;
diff --git a/ports/mimxrt/Makefile b/ports/mimxrt/Makefile
@@ -215,6 +215,10 @@ SRC_C += \
 	systick.c \
 	ticks.c \
 	tusb_port.c \
+	mpthreadport.c \
+	pybthread.c\
+	gccollect.c\
+
 
 SHARED_SRC_C += \
 	shared/libc/printf.c \
diff --git a/ports/mimxrt/boards/ADAFRUIT_METRO_M7/mpconfigboard.mk b/ports/mimxrt/boards/ADAFRUIT_METRO_M7/mpconfigboard.mk
@@ -8,3 +8,5 @@ MICROPY_HW_FLASH_SIZE ?= 0x800000  # 8MB
 MICROPY_PY_NETWORK_NINAW10 ?= 1
 MICROPY_PY_SSL ?= 1
 MICROPY_SSL_MBEDTLS ?= 1
+
+CFLAGS += -DMICROPY_PY_THREAD=0
diff --git a/ports/mimxrt/boards/MIMXRT1010_EVK/mpconfigboard.mk b/ports/mimxrt/boards/MIMXRT1010_EVK/mpconfigboard.mk
@@ -14,6 +14,8 @@ else
 JLINK_CONNECTION_SETTINGS = -USB
 endif
 
+CFLAGS += -DMICROPY_PY_THREAD=0
+
 deploy_jlink: $(BUILD)/firmware.hex
 	$(Q)$(TOUCH) $(JLINK_COMMANDER_SCRIPT)
 	$(ECHO) "ExitOnError 1" > $(JLINK_COMMANDER_SCRIPT)
diff --git a/ports/mimxrt/boards/MIMXRT1015_EVK/mpconfigboard.mk b/ports/mimxrt/boards/MIMXRT1015_EVK/mpconfigboard.mk
@@ -6,3 +6,5 @@ MICROPY_HW_FLASH_TYPE = qspi_nor_flash
 MICROPY_HW_FLASH_SIZE = 0x1000000  # 16MB
 
 MICROPY_BOOT_BUFFER_SIZE = (32 * 1024)
+
+CFLAGS += -DMICROPY_PY_THREAD=0
diff --git a/ports/mimxrt/boards/MIMXRT1170_EVK/mpconfigboard.h b/ports/mimxrt/boards/MIMXRT1170_EVK/mpconfigboard.h
@@ -3,11 +3,14 @@
 
 #define MICROPY_PY_NETWORK_HOSTNAME_DEFAULT "mpy-1070evk"
 
+#if MICROPY_PY_THREAD
+#else
 #define MICROPY_EVENT_POLL_HOOK \
     do { \
         extern void mp_handle_pending(bool); \
         mp_handle_pending(true); \
     } while (0);
+#endif
 
 // MIMXRT1170_EVK has 2 user LEDs
 #define MICROPY_HW_LED1_PIN (pin_GPIO_AD_04)
diff --git a/ports/mimxrt/boards/MIMXRT1170_EVK/mpconfigboard.mk b/ports/mimxrt/boards/MIMXRT1170_EVK/mpconfigboard.mk
@@ -14,6 +14,8 @@ MICROPY_PY_LWIP = 1
 MICROPY_PY_SSL = 1
 MICROPY_SSL_MBEDTLS = 1
 
+CFLAGS += -DMICROPY_PY_THREAD=1
+
 FROZEN_MANIFEST ?= $(BOARD_DIR)/manifest.py
 
 CFLAGS += -DCPU_MIMXRT1176DVMAA_cm7 \
diff --git a/ports/mimxrt/boards/OLIMEX_RT1010/mpconfigboard.mk b/ports/mimxrt/boards/OLIMEX_RT1010/mpconfigboard.mk
@@ -7,6 +7,7 @@ MICROPY_HW_FLASH_SIZE = 0x200000  # 2MB
 MICROPY_HW_FLASH_RESERVED ?= 0x1000  # 4KB
 
 CFLAGS += -DMICROPY_HW_FLASH_DQS=kFlexSPIReadSampleClk_LoopbackInternally
+CFLAGS += -DMICROPY_PY_THREAD=0
 
 SRC_C += \
 	hal/flexspi_nor_flash.c \
diff --git a/ports/mimxrt/gccollect.c b/ports/mimxrt/gccollect.c
@@ -0,0 +1,50 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2013, 2014 Damien P. George
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "py/gc.h"
+#include "py/mpthread.h"
+#include "shared/runtime/gchelper.h"
+#include "shared/runtime/softtimer.h"
+#include "gccollect.h"
+
+void gc_collect(void) {
+    // start the GC
+    gc_collect_start();
+
+    // trace the stack and registers
+    gc_helper_collect_regs_and_stack();
+
+    // trace root pointers from any threads
+    #if MICROPY_PY_THREAD
+    mp_thread_gc_others();
+    #endif
+
+    // trace soft timer nodes
+    soft_timer_gc_mark_all();
+
+    // end the GC
+    gc_collect_end();
+}
diff --git a/ports/mimxrt/gccollect.h b/ports/mimxrt/gccollect.h
@@ -0,0 +1,44 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2013, 2014 Damien P. George
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#ifndef MICROPY_INCLUDED_STM32_GCCOLLECT_H
+#define MICROPY_INCLUDED_STM32_GCCOLLECT_H
+
+// variables defining memory layout
+// (these probably belong somewhere else...)
+extern uint32_t _etext;
+extern uint32_t _sidata;
+extern uint32_t _ram_start;
+extern uint32_t _sdata;
+extern uint32_t _edata;
+extern uint32_t _sbss;
+extern uint32_t _ebss;
+extern uint32_t _heap_start;
+extern uint32_t _heap_end;
+extern uint32_t _sstack;
+extern uint32_t _estack;
+extern uint32_t _ram_end;
+
+#endif // MICROPY_INCLUDED_STM32_GCCOLLECT_H
diff --git a/ports/mimxrt/main.c b/ports/mimxrt/main.c
@@ -56,6 +56,10 @@
 #include "systick.h"
 #include "extmod/modnetwork.h"
 
+#if MICROPY_PY_THREAD
+STATIC pyb_thread_t pyb_thread_main;
+#endif
+
 extern uint8_t _sstack, _estack, _gc_heap_start, _gc_heap_end;
 
 void board_init(void);
@@ -64,7 +68,9 @@ int main(void) {
     board_init();
     ticks_init();
     pendsv_init();
-
+    #if MICROPY_PY_THREAD
+    pyb_thread_init(&pyb_thread_main);
+    #endif
     #if MICROPY_PY_LWIP
     // lwIP doesn't allow to reinitialise itself by subsequent calls to this function
     // because the system timeout list (next_timeout) is only ever reset by BSS clearing.
@@ -96,6 +102,11 @@ int main(void) {
         led_init();
         #endif
 
+        // Python threading init
+        #if MICROPY_PY_THREAD
+        mp_thread_init();
+        #endif
+
         mp_stack_set_top(&_estack);
         mp_stack_set_limit(&_estack - &_sstack - 1024);
 
@@ -163,12 +174,6 @@ int main(void) {
     return 0;
 }
 
-void gc_collect(void) {
-    gc_collect_start();
-    gc_helper_collect_regs_and_stack();
-    gc_collect_end();
-}
-
 void nlr_jump_fail(void *val) {
     for (;;) {
     }
diff --git a/ports/mimxrt/mpconfigport.h b/ports/mimxrt/mpconfigport.h
@@ -134,6 +134,11 @@ uint32_t trng_random_u32(void);
 #define MICROPY_PY_HASHLIB_SHA1             (MICROPY_PY_SSL)
 // #define MICROPY_PY_CRYPTOLIB                (MICROPY_PY_SSL)
 
+#ifndef MICROPY_PY_THREAD
+#define MICROPY_PY_THREAD (1)
+#endif
+
+
 #ifndef MICROPY_PY_BLUETOOTH_ENABLE_CENTRAL_MODE
 #define MICROPY_PY_BLUETOOTH_ENABLE_CENTRAL_MODE (1)
 #endif
@@ -182,6 +187,24 @@ extern const struct _mp_obj_type_t mp_network_cyw43_type;
 
 #define MP_STATE_PORT MP_STATE_VM
 
+#if MICROPY_PY_THREAD
+
+#define MICROPY_EVENT_POLL_HOOK \
+    do { \
+        extern void mp_handle_pending(bool); \
+        mp_handle_pending(true); \
+        if (pyb_thread_enabled) { \
+            MP_THREAD_GIL_EXIT(); \
+            pyb_thread_yield(); \
+            MP_THREAD_GIL_ENTER(); \
+        } else { \
+            __WFE(); \
+        } \
+    } while (0);
+
+#define MICROPY_THREAD_YIELD() pyb_thread_yield()
+
+#else
 // Miscellaneous settings
 #ifndef  MICROPY_EVENT_POLL_HOOK
 #define MICROPY_EVENT_POLL_HOOK \
@@ -192,6 +215,10 @@ extern const struct _mp_obj_type_t mp_network_cyw43_type;
     } while (0);
 #endif
 
+#define MICROPY_THREAD_YIELD()
+
+#endif
+
 #define MICROPY_MAKE_POINTER_CALLABLE(p) ((void *)((mp_uint_t)(p) | 1))
 
 #define MP_HAL_CLEANINVALIDATE_DCACHE(addr, size) \
diff --git a/ports/mimxrt/mphalport.c b/ports/mimxrt/mphalport.c
@@ -34,7 +34,7 @@
 #include "ticks.h"
 #include "tusb.h"
 #include "fsl_snvs_lp.h"
-
+#include "led.h"
 #ifndef MICROPY_HW_STDIN_BUFFER_LEN
 #define MICROPY_HW_STDIN_BUFFER_LEN 512
 #endif
@@ -112,6 +112,24 @@ int mp_hal_stdin_rx_chr(void) {
     }
 }
 
+NORETURN void boardctrl_fatal_error(const char *msg) {
+    for (volatile uint delay = 0; delay < 10000000; delay++) {
+    }
+    led_state(1, 1);
+
+    mp_hal_stdout_tx_strn("\nFATAL ERROR:\n", 14);
+    mp_hal_stdout_tx_strn(msg, strlen(msg));
+    for (uint i = 0;;) {
+        led_toggle(1);
+        for (volatile uint delay = 0; delay < 10000000; delay++) {
+        }
+        if (i >= 16) {
+            // to conserve power
+            __WFI();
+        }
+    }
+}
+
 mp_uint_t mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
     mp_uint_t ret = len;
     bool did_write = false;
diff --git a/ports/mimxrt/mphalport.h b/ports/mimxrt/mphalport.h
@@ -154,5 +154,5 @@ void mp_hal_generate_laa_mac(int idx, uint8_t buf[6]);
 void mp_hal_get_mac(int idx, uint8_t buf[6]);
 void mp_hal_get_mac_ascii(int idx, size_t chr_off, size_t chr_len, char *dest);
 void mp_hal_get_unique_id(uint8_t id[]);
-
+NORETURN void boardctrl_fatal_error(const char *msg);
 #endif // MICROPY_INCLUDED_MIMXRT_MPHALPORT_H
diff --git a/ports/mimxrt/mpthreadport.c b/ports/mimxrt/mpthreadport.c
@@ -0,0 +1,99 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2016 Damien P. George
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <stdio.h>
+
+#include "py/runtime.h"
+#include "py/gc.h"
+#include "py/mpthread.h"
+#include "gccollect.h"
+
+#if MICROPY_PY_THREAD
+
+// the mutex controls access to the linked list
+STATIC mp_thread_mutex_t thread_mutex;
+
+void mp_thread_init(void) {
+    mp_thread_mutex_init(&thread_mutex);
+    mp_thread_set_state(&mp_state_ctx.thread);
+}
+
+void mp_thread_gc_others(void) {
+    mp_thread_mutex_lock(&thread_mutex, 1);
+    for (pyb_thread_t *th = pyb_thread_all; th != NULL; th = th->all_next) {
+        gc_collect_root((void **)&th, 1);
+        gc_collect_root(&th->arg, 1);
+        gc_collect_root(&th->stack, 1);
+        if (th != pyb_thread_cur) {
+            gc_collect_root(th->stack, th->stack_len);
+        }
+    }
+    mp_thread_mutex_unlock(&thread_mutex);
+}
+
+mp_uint_t mp_thread_get_id(void) {
+    return (uint32_t)pyb_thread_cur;
+}
+
+mp_uint_t mp_thread_create(void *(*entry)(void *), void *arg, size_t *stack_size) {
+    if (*stack_size == 0) {
+        *stack_size = 4096; // default stack size
+    } else if (*stack_size < 2048) {
+        *stack_size = 2048; // minimum stack size
+    }
+
+    // round stack size to a multiple of the word size
+    size_t stack_len = *stack_size / sizeof(uint32_t);
+    *stack_size = stack_len * sizeof(uint32_t);
+
+    // allocate stack and linked-list node (must be done outside thread_mutex lock)
+    uint32_t *stack = m_new(uint32_t, stack_len);
+    pyb_thread_t *th = m_new_obj(pyb_thread_t);
+
+    mp_thread_mutex_lock(&thread_mutex, 1);
+
+    // create thread
+    uint32_t id = pyb_thread_new(th, stack, stack_len, entry, arg);
+    if (id == 0) {
+        mp_thread_mutex_unlock(&thread_mutex);
+        mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("can't create thread"));
+    }
+
+    mp_thread_mutex_unlock(&thread_mutex);
+
+    // adjust stack_size to provide room to recover from hitting the limit
+    *stack_size -= 1024;
+
+    return id;
+}
+
+void mp_thread_start(void) {
+}
+
+void mp_thread_finish(void) {
+}
+
+#endif // MICROPY_PY_THREAD
diff --git a/ports/mimxrt/mpthreadport.h b/ports/mimxrt/mpthreadport.h
diff --git a/ports/mimxrt/pendsv.c b/ports/mimxrt/pendsv.c
diff --git a/ports/mimxrt/pybthread.c b/ports/mimxrt/pybthread.c
diff --git a/ports/mimxrt/pybthread.h b/ports/mimxrt/pybthread.h
diff --git a/ports/mimxrt/systick.c b/ports/mimxrt/systick.c
