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Daniel Camporadpgeorge
Daniel Campora
authored and
dpgeorge
committed
esp32: Enable threading; be sure to exit GIL when a thread will block.
1 parent f704375 commit ff0ca1e

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5 files changed

+61
-8
lines changed

5 files changed

+61
-8
lines changed

‎esp32/main.c

Lines changed: 18 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -34,6 +34,7 @@
3434
#include "esp_system.h"
3535
#include "nvs_flash.h"
3636
#include "esp_task.h"
37+
#include "soc/cpu.h"
3738

3839
#include "py/stackctrl.h"
3940
#include "py/nlr.h"
@@ -46,22 +47,29 @@
4647
#include "lib/utils/pyexec.h"
4748
#include "uart.h"
4849
#include "modmachine.h"
50+
#include "mpthreadport.h"
4951

5052
// MicroPython runs as a task under FreeRTOS
5153
#define MP_TASK_PRIORITY (ESP_TASK_PRIO_MIN + 1)
5254
#define MP_TASK_STACK_SIZE (16 * 1024)
5355
#define MP_TASK_STACK_LEN (MP_TASK_STACK_SIZE / sizeof(StackType_t))
5456
#define MP_TASK_HEAP_SIZE (96 * 1024)
5557

56-
//STATIC StaticTask_t mp_task_tcb;
57-
//STATIC StackType_t mp_task_stack[MP_TASK_STACK_LEN] __attribute__((aligned (8)));
58+
STATIC StaticTask_t mp_task_tcb;
59+
STATIC StackType_t mp_task_stack[MP_TASK_STACK_LEN] __attribute__((aligned (8)));
5860
STATIC uint8_t mp_task_heap[MP_TASK_HEAP_SIZE];
5961

6062
void mp_task(void *pvParameter) {
63+
volatile uint32_t sp = (uint32_t)get_sp();
64+
#if MICROPY_PY_THREAD
65+
mp_thread_init(&mp_task_stack[0], MP_TASK_STACK_LEN);
66+
#endif
6167
uart_init();
68+
6269
soft_reset:
63-
mp_stack_set_top((void*)&pvParameter);
64-
mp_stack_set_limit(MP_TASK_STACK_SIZE - 512);
70+
// initialise the stack pointer for the main thread
71+
mp_stack_set_top((void *)sp);
72+
mp_stack_set_limit(MP_TASK_STACK_SIZE - 1024);
6573
gc_init(mp_task_heap, mp_task_heap + sizeof(mp_task_heap));
6674
mp_init();
6775
mp_obj_list_init(mp_sys_path, 0);
@@ -92,6 +100,10 @@ void mp_task(void *pvParameter) {
92100
}
93101
}
94102

103+
#if MICROPY_PY_THREAD
104+
mp_thread_deinit();
105+
#endif
106+
95107
mp_hal_stdout_tx_str("PYB: soft reboot\r\n");
96108

97109
// deinitialise peripherals
@@ -104,9 +116,8 @@ void mp_task(void *pvParameter) {
104116

105117
void app_main(void) {
106118
nvs_flash_init();
107-
// TODO use xTaskCreateStatic (needs custom FreeRTOSConfig.h)
108-
xTaskCreatePinnedToCore(mp_task, "mp_task", MP_TASK_STACK_LEN, NULL, MP_TASK_PRIORITY, NULL, 0);
109-
//xTaskCreateStatic(mp_task, "mp_task", MP_TASK_STACK_LEN, NULL, MP_TASK_PRIORITY, &mp_task_stack[0], &mp_task_tcb);
119+
xTaskCreateStaticPinnedToCore(mp_task, "mp_task", MP_TASK_STACK_LEN, NULL, MP_TASK_PRIORITY,
120+
&mp_task_stack[0], &mp_task_tcb, 0);
110121
}
111122

112123
void nlr_jump_fail(void *val) {

‎esp32/modnetwork.c

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -241,7 +241,9 @@ STATIC mp_obj_t esp_connect(size_t n_args, const mp_obj_t *args) {
241241
memcpy(wifi_sta_config.sta.password, p, MIN(len, sizeof(wifi_sta_config.sta.password)));
242242
ESP_EXCEPTIONS( esp_wifi_set_config(ESP_IF_WIFI_STA, &wifi_sta_config) );
243243
}
244+
MP_THREAD_GIL_EXIT();
244245
ESP_EXCEPTIONS( esp_wifi_connect() );
246+
MP_THREAD_GIL_ENTER();
245247
wifi_sta_connected = true;
246248

247249
return mp_const_none;
@@ -274,7 +276,9 @@ STATIC mp_obj_t esp_scan(mp_obj_t self_in) {
274276
mp_obj_t list = mp_obj_new_list(0, NULL);
275277
wifi_scan_config_t config = { 0 };
276278
// XXX how do we scan hidden APs (and if we can scan them, are they really hidden?)
279+
MP_THREAD_GIL_EXIT();
277280
esp_err_t status = esp_wifi_scan_start(&config, 1);
281+
MP_THREAD_GIL_ENTER();
278282
if (status == 0) {
279283
uint16_t count = 0;
280284
ESP_EXCEPTIONS( esp_wifi_scan_get_ap_num(&count) );

‎esp32/modsocket.c

Lines changed: 19 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -112,7 +112,11 @@ static int _socket_getaddrinfo2(const mp_obj_t host, const mp_obj_t portx, struc
112112
const char *host_str = mp_obj_str_get_data(host, &host_len);
113113
const char *port_str = mp_obj_str_get_data(port, &port_len);
114114

115-
return lwip_getaddrinfo(host_str, port_str, &hints, resp);
115+
MP_THREAD_GIL_EXIT();
116+
int res = lwip_getaddrinfo(host_str, port_str, &hints, resp);
117+
MP_THREAD_GIL_ENTER();
118+
119+
return res;
116120
}
117121

118122
int _socket_getaddrinfo(const mp_obj_t addrtuple, struct addrinfo **resp) {
@@ -151,7 +155,9 @@ STATIC mp_obj_t socket_accept(const mp_obj_t arg0) {
151155

152156
int new_fd = -1;
153157
for (int i=0; i<=self->retries; i++) {
158+
MP_THREAD_GIL_EXIT();
154159
new_fd = lwip_accept_r(self->fd, &addr, &addr_len);
160+
MP_THREAD_GIL_ENTER();
155161
if (new_fd >= 0) break;
156162
if (errno != EAGAIN) exception_from_errno(errno);
157163
check_for_exceptions();
@@ -182,7 +188,9 @@ STATIC mp_obj_t socket_connect(const mp_obj_t arg0, const mp_obj_t arg1) {
182188
socket_obj_t *self = MP_OBJ_TO_PTR(arg0);
183189
struct addrinfo *res;
184190
_socket_getaddrinfo(arg1, &res);
191+
MP_THREAD_GIL_EXIT();
185192
int r = lwip_connect_r(self->fd, res->ai_addr, res->ai_addrlen);
193+
MP_THREAD_GIL_ENTER();
186194
lwip_freeaddrinfo(res);
187195
if (r != 0) {
188196
exception_from_errno(errno);
@@ -255,7 +263,9 @@ mp_obj_t _socket_recvfrom(mp_obj_t self_in, mp_obj_t len_in,
255263

256264
// XXX Would be nicer to use RTC to handle timeouts
257265
for (int i=0; i<=sock->retries; i++) {
266+
MP_THREAD_GIL_EXIT();
258267
int r = lwip_recvfrom_r(sock->fd, vstr.buf, len, 0, from, from_len);
268+
MP_THREAD_GIL_ENTER();
259269
if (r >= 0) { vstr.len = r; return mp_obj_new_str_from_vstr(&mp_type_bytes, &vstr); }
260270
if (errno != EWOULDBLOCK) exception_from_errno(errno);
261271
check_for_exceptions();
@@ -286,7 +296,9 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_2(socket_recvfrom_obj, socket_recvfrom);
286296
int _socket_send(socket_obj_t *sock, const char *data, size_t datalen) {
287297
int sentlen = 0;
288298
for (int i=0; i<sock->retries && sentlen < datalen; i++) {
299+
MP_THREAD_GIL_EXIT();
289300
int r = lwip_write_r(sock->fd, data+sentlen, datalen-sentlen);
301+
MP_THREAD_GIL_ENTER();
290302
if (r < 0 && errno != EWOULDBLOCK) exception_from_errno(errno);
291303
if (r > 0) sentlen += r;
292304
check_for_exceptions();
@@ -331,7 +343,9 @@ STATIC mp_obj_t socket_sendto(mp_obj_t self_in, mp_obj_t data_in, mp_obj_t addr_
331343

332344
// send the data
333345
for (int i=0; i<self->retries; i++) {
346+
MP_THREAD_GIL_EXIT();
334347
int ret = lwip_sendto_r(self->fd, bufinfo.buf, bufinfo.len, 0, (struct sockaddr*)&to, sizeof(to));
348+
MP_THREAD_GIL_ENTER();
335349
if (ret > 0) return mp_obj_new_int_from_uint(ret);
336350
if (ret == -1 && errno != EWOULDBLOCK) {
337351
exception_from_errno(errno);
@@ -364,7 +378,9 @@ STATIC mp_uint_t socket_stream_read(mp_obj_t self_in, void *buf, mp_uint_t size,
364378

365379
// XXX Would be nicer to use RTC to handle timeouts
366380
for (int i=0; i<=sock->retries; i++) {
381+
MP_THREAD_GIL_EXIT();
367382
int x = lwip_recvfrom_r(sock->fd, buf, size, 0, NULL, NULL);
383+
MP_THREAD_GIL_ENTER();
368384
if (x >= 0) return x;
369385
if (x < 0 && errno != EWOULDBLOCK) { *errcode = errno; return MP_STREAM_ERROR; }
370386
check_for_exceptions();
@@ -375,7 +391,9 @@ STATIC mp_uint_t socket_stream_read(mp_obj_t self_in, void *buf, mp_uint_t size,
375391
STATIC mp_uint_t socket_stream_write(mp_obj_t self_in, const void *buf, mp_uint_t size, int *errcode) {
376392
socket_obj_t *sock = self_in;
377393
for (int i=0; i<sock->retries; i++) {
394+
MP_THREAD_GIL_EXIT();
378395
int r = lwip_write_r(sock->fd, buf, size);
396+
MP_THREAD_GIL_ENTER();
379397
if (r > 0) return r;
380398
if (r < 0 && errno != EWOULDBLOCK) { *errcode = errno; return MP_STREAM_ERROR; }
381399
check_for_exceptions();

‎esp32/mpconfigport.h

Lines changed: 14 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -108,6 +108,9 @@
108108
#define MICROPY_PY_UERRNO (1)
109109
#define MICROPY_PY_USELECT (1)
110110
#define MICROPY_PY_UTIME_MP_HAL (1)
111+
#define MICROPY_PY_THREAD (1)
112+
#define MICROPY_PY_THREAD_GIL (1)
113+
#define MICROPY_PY_THREAD_GIL_VM_DIVISOR (32)
111114

112115
// extended modules
113116
#define MICROPY_PY_UCTYPES (1)
@@ -202,12 +205,23 @@ extern const struct _mp_obj_module_t mp_module_network;
202205
#define MICROPY_MAKE_POINTER_CALLABLE(p) ((void*)((mp_uint_t)(p)))
203206
#define MP_PLAT_PRINT_STRN(str, len) mp_hal_stdout_tx_strn_cooked(str, len)
204207
#define MP_SSIZE_MAX (0x7fffffff)
208+
209+
#if MICROPY_PY_THREAD
210+
#define MICROPY_EVENT_POLL_HOOK \
211+
do { \
212+
extern void mp_handle_pending(void); \
213+
mp_handle_pending(); \
214+
MP_THREAD_GIL_EXIT(); \
215+
MP_THREAD_GIL_ENTER(); \
216+
} while (0);
217+
#else
205218
#define MICROPY_EVENT_POLL_HOOK \
206219
do { \
207220
extern void mp_handle_pending(void); \
208221
mp_handle_pending(); \
209222
asm("waiti 0"); \
210223
} while (0);
224+
#endif
211225

212226
#define UINT_FMT "%u"
213227
#define INT_FMT "%d"

‎esp32/mphalport.c

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -59,24 +59,30 @@ void mp_hal_stdout_tx_char(char c) {
5959
}
6060

6161
void mp_hal_stdout_tx_str(const char *str) {
62+
MP_THREAD_GIL_EXIT();
6263
while (*str) {
6364
mp_hal_stdout_tx_char(*str++);
6465
}
66+
MP_THREAD_GIL_ENTER();
6567
}
6668

6769
void mp_hal_stdout_tx_strn(const char *str, uint32_t len) {
70+
MP_THREAD_GIL_EXIT();
6871
while (len--) {
6972
mp_hal_stdout_tx_char(*str++);
7073
}
74+
MP_THREAD_GIL_ENTER();
7175
}
7276

7377
void mp_hal_stdout_tx_strn_cooked(const char *str, uint32_t len) {
78+
MP_THREAD_GIL_EXIT();
7479
while (len--) {
7580
if (*str == '\n') {
7681
mp_hal_stdout_tx_char('\r');
7782
}
7883
mp_hal_stdout_tx_char(*str++);
7984
}
85+
MP_THREAD_GIL_ENTER();
8086
}
8187

8288
uint32_t mp_hal_ticks_ms(void) {

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