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Daniel Camporadpgeorge
Daniel Campora
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dpgeorge
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esp32: Add threading implementation, disabled for the time being.
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‎esp32/Makefile

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@@ -128,6 +128,7 @@ SRC_C = \
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modesp.c \
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espneopixel.c \
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machine_hw_spi.c \
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mpthreadport.c \
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$(SRC_MOD)
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STM_SRC_C = $(addprefix stmhal/,\

‎esp32/mpthreadport.c

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/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2016 Damien P. George on behalf of Pycom Ltd
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* Copyright (c) 2017 Pycom Limited
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include "stdio.h"
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#include "py/mpconfig.h"
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#include "py/mpstate.h"
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#include "py/gc.h"
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#include "py/mpthread.h"
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#include "mpthreadport.h"
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#include "esp_task.h"
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#if MICROPY_PY_THREAD
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#define MP_THREAD_MIN_STACK_SIZE (4 * 1024)
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#define MP_THREAD_DEFAULT_STACK_SIZE (MP_THREAD_MIN_STACK_SIZE + 1024)
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#define MP_THREAD_PRIORITY (ESP_TASK_PRIO_MIN + 1)
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// this structure forms a linked list, one node per active thread
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typedef struct _thread_t {
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TaskHandle_t id; // system id of thread
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int ready; // whether the thread is ready and running
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void *arg; // thread Python args, a GC root pointer
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void *stack; // pointer to the stack
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StaticTask_t *tcb; // pointer to the Task Control Block
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size_t stack_len; // number of words in the stack
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struct _thread_t *next;
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} thread_t;
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// the mutex controls access to the linked list
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STATIC mp_thread_mutex_t thread_mutex;
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STATIC thread_t thread_entry0;
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STATIC thread_t *thread; // root pointer, handled by mp_thread_gc_others
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void mp_thread_init(void *stack, uint32_t stack_len) {
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mp_thread_set_state(&mp_state_ctx.thread);
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// create the first entry in the linked list of all threads
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thread = &thread_entry0;
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thread->id = xTaskGetCurrentTaskHandle();
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thread->ready = 1;
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thread->arg = NULL;
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thread->stack = stack;
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thread->stack_len = stack_len;
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thread->next = NULL;
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mp_thread_mutex_init(&thread_mutex);
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}
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void mp_thread_gc_others(void) {
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mp_thread_mutex_lock(&thread_mutex, 1);
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for (thread_t *th = thread; th != NULL; th = th->next) {
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gc_collect_root((void**)&th, 1);
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gc_collect_root(&th->arg, 1); // probably not needed
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if (th->id == xTaskGetCurrentTaskHandle()) {
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continue;
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}
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if (!th->ready) {
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continue;
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}
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gc_collect_root(th->stack, th->stack_len); // probably not needed
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}
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mp_thread_mutex_unlock(&thread_mutex);
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}
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mp_state_thread_t *mp_thread_get_state(void) {
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return pvTaskGetThreadLocalStoragePointer(NULL, 1);
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}
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void mp_thread_set_state(void *state) {
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vTaskSetThreadLocalStoragePointer(NULL, 1, state);
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}
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void mp_thread_start(void) {
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mp_thread_mutex_lock(&thread_mutex, 1);
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for (thread_t *th = thread; th != NULL; th = th->next) {
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if (th->id == xTaskGetCurrentTaskHandle()) {
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th->ready = 1;
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break;
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}
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}
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mp_thread_mutex_unlock(&thread_mutex);
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}
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STATIC void *(*ext_thread_entry)(void*) = NULL;
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STATIC void freertos_entry(void *arg) {
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if (ext_thread_entry) {
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ext_thread_entry(arg);
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}
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vTaskDelete(NULL);
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for (;;);
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}
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void mp_thread_create_ex(void *(*entry)(void*), void *arg, size_t *stack_size, int priority, char *name) {
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// store thread entry function into a global variable so we can access it
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ext_thread_entry = entry;
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if (*stack_size == 0) {
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*stack_size = MP_THREAD_DEFAULT_STACK_SIZE; // default stack size
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} else if (*stack_size < MP_THREAD_MIN_STACK_SIZE) {
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*stack_size = MP_THREAD_MIN_STACK_SIZE; // minimum stack size
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}
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// allocate TCB, stack and linked-list node (must be outside thread_mutex lock)
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StaticTask_t *tcb = m_new(StaticTask_t, 1);
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StackType_t *stack = m_new(StackType_t, *stack_size / sizeof(StackType_t));
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thread_t *th = m_new_obj(thread_t);
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mp_thread_mutex_lock(&thread_mutex, 1);
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// create thread
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TaskHandle_t id = xTaskCreateStaticPinnedToCore(freertos_entry, name, *stack_size / sizeof(StackType_t), arg, priority, stack, tcb, 0);
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if (id == NULL) {
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mp_thread_mutex_unlock(&thread_mutex);
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nlr_raise(mp_obj_new_exception_msg(&mp_type_OSError, "can't create thread"));
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}
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// adjust the stack_size to provide room to recover from hitting the limit
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*stack_size -= 1024;
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// add thread to linked list of all threads
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th->id = id;
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th->ready = 0;
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th->arg = arg;
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th->stack = stack;
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th->tcb = tcb;
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th->stack_len = *stack_size / sizeof(StackType_t);
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th->next = thread;
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thread = th;
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mp_thread_mutex_unlock(&thread_mutex);
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}
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void mp_thread_create(void *(*entry)(void*), void *arg, size_t *stack_size) {
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mp_thread_create_ex(entry, arg, stack_size, MP_THREAD_PRIORITY, "mp_thread");
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}
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void mp_thread_finish(void) {
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mp_thread_mutex_lock(&thread_mutex, 1);
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for (thread_t *th = thread; th != NULL; th = th->next) {
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if (th->id == xTaskGetCurrentTaskHandle()) {
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th->ready = 0;
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break;
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}
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}
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mp_thread_mutex_unlock(&thread_mutex);
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}
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void vPortCleanUpTCB(void *tcb) {
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thread_t *prev = NULL;
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mp_thread_mutex_lock(&thread_mutex, 1);
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for (thread_t *th = thread; th != NULL; prev = th, th = th->next) {
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// unlink the node from the list
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if (th->tcb == tcb) {
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if (prev != NULL) {
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prev->next = th->next;
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} else {
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// move the start pointer
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thread = th->next;
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}
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// explicitly release all its memory
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m_del(StaticTask_t, th->tcb, 1);
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m_del(StackType_t, th->stack, th->stack_len);
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m_del(thread_t, th, 1);
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break;
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}
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}
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mp_thread_mutex_unlock(&thread_mutex);
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}
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void mp_thread_mutex_init(mp_thread_mutex_t *mutex) {
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mutex->handle = xSemaphoreCreateMutexStatic(&mutex->buffer);
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}
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int mp_thread_mutex_lock(mp_thread_mutex_t *mutex, int wait) {
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return (pdTRUE == xSemaphoreTake(mutex->handle, wait ? portMAX_DELAY : 0));
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}
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void mp_thread_mutex_unlock(mp_thread_mutex_t *mutex) {
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xSemaphoreGive(mutex->handle);
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}
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void mp_thread_deinit(void) {
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mp_thread_mutex_lock(&thread_mutex, 1);
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for (thread_t *th = thread; th != NULL; th = th->next) {
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// don't delete the current task
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if (th->id == xTaskGetCurrentTaskHandle()) {
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continue;
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}
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vTaskDelete(th->id);
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}
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mp_thread_mutex_unlock(&thread_mutex);
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// allow FreeRTOS to clean-up the threads
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vTaskDelay(2);
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}
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#else
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void vPortCleanUpTCB(void *tcb) {
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}
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#endif // MICROPY_PY_THREAD

‎esp32/mpthreadport.h

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@@ -0,0 +1,45 @@
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/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2016 Damien P. George on behalf of Pycom Ltd
7+
* Copyright (c) 2017 Pycom Limited
8+
*
9+
* Permission is hereby granted, free of charge, to any person obtaining a copy
10+
* of this software and associated documentation files (the "Software"), to deal
11+
* in the Software without restriction, including without limitation the rights
12+
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13+
* copies of the Software, and to permit persons to whom the Software is
14+
* furnished to do so, subject to the following conditions:
15+
*
16+
* The above copyright notice and this permission notice shall be included in
17+
* all copies or substantial portions of the Software.
18+
*
19+
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20+
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21+
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22+
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23+
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24+
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25+
* THE SOFTWARE.
26+
*/
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#ifndef MICROPY_INCLUDED_ESP32_MPTHREADPORT_H
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#define MICROPY_INCLUDED_ESP32_MPTHREADPORT_H
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "freertos/queue.h"
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typedef struct _mp_thread_mutex_t {
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SemaphoreHandle_t handle;
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StaticSemaphore_t buffer;
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} mp_thread_mutex_t;
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void mp_thread_init(void *stack, uint32_t stack_len);
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void mp_thread_gc_others(void);
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void mp_thread_deinit(void);
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#endif // MICROPY_INCLUDED_ESP32_MPTHREADPORT_H

‎esp32/sdkconfig.h

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@@ -36,10 +36,12 @@
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#define CONFIG_FREERTOS_ASSERT_FAIL_ABORT 1
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#define CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION 1
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#define CONFIG_FREERTOS_CHECK_STACKOVERFLOW_NONE 1
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#define CONFIG_FREERTOS_THREAD_LOCAL_STORAGE_POINTERS 1
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#define CONFIG_FREERTOS_THREAD_LOCAL_STORAGE_POINTERS 2
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#define CONFIG_FREERTOS_ISR_STACKSIZE 1536
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#define CONFIG_FREERTOS_BREAK_ON_SCHEDULER_START_JTAG 1
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#define CONFIG_FREERTOS_MAX_TASK_NAME_LEN 16
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#define CONFIG_SUPPORT_STATIC_ALLOCATION 1
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#define CONFIG_ENABLE_STATIC_TASK_CLEAN_UP_HOOK 1
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#define CONFIG_MAIN_TASK_STACK_SIZE 4096
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#define CONFIG_BTC_TASK_STACK_SIZE 3072

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