9af6a275dd
To override it a board must define MICROPY_BOARD_FATAL_ERROR to a function that takes a string message and does not return. Signed-off-by: Damien George <damien@micropython.org>
237 lines
7.9 KiB
C
237 lines
7.9 KiB
C
/*
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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) 2017 Damien P. George
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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 <string.h>
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#include <stdio.h>
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#include "py/obj.h"
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#include "boardctrl.h"
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#include "gccollect.h"
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#include "irq.h"
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#include "pybthread.h"
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#if MICROPY_PY_THREAD
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#define PYB_MUTEX_UNLOCKED ((void *)0)
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#define PYB_MUTEX_LOCKED ((void *)1)
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// These macros are used when we only need to protect against a thread
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// switch; other interrupts are still allowed to proceed.
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#define RAISE_IRQ_PRI() raise_irq_pri(IRQ_PRI_PENDSV)
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#define RESTORE_IRQ_PRI(state) restore_irq_pri(state)
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volatile int pyb_thread_enabled;
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pyb_thread_t *volatile pyb_thread_all;
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pyb_thread_t *volatile pyb_thread_cur;
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static inline void pyb_thread_add_to_runable(pyb_thread_t *thread) {
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thread->run_prev = pyb_thread_cur->run_prev;
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thread->run_next = pyb_thread_cur;
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pyb_thread_cur->run_prev->run_next = thread;
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pyb_thread_cur->run_prev = thread;
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}
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static inline void pyb_thread_remove_from_runable(pyb_thread_t *thread) {
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if (thread->run_next == thread) {
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MICROPY_BOARD_FATAL_ERROR("deadlock");
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}
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thread->run_prev->run_next = thread->run_next;
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thread->run_next->run_prev = thread->run_prev;
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}
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void pyb_thread_init(pyb_thread_t *thread) {
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pyb_thread_enabled = 0;
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pyb_thread_all = thread;
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pyb_thread_cur = thread;
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thread->sp = NULL; // will be set when this thread switches out
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thread->local_state = 0; // will be set by mp_thread_init
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thread->arg = NULL;
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thread->stack = &_sstack;
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thread->stack_len = ((uint32_t)&_estack - (uint32_t)&_sstack) / sizeof(uint32_t);
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thread->all_next = NULL;
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thread->run_prev = thread;
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thread->run_next = thread;
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thread->queue_next = NULL;
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}
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void pyb_thread_deinit() {
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uint32_t irq_state = disable_irq();
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pyb_thread_enabled = 0;
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pyb_thread_all = pyb_thread_cur;
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pyb_thread_cur->all_next = NULL;
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pyb_thread_cur->run_prev = pyb_thread_cur;
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pyb_thread_cur->run_next = pyb_thread_cur;
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enable_irq(irq_state);
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}
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STATIC void pyb_thread_terminate(void) {
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uint32_t irq_state = disable_irq();
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pyb_thread_t *thread = pyb_thread_cur;
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// take current thread off the run list
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pyb_thread_remove_from_runable(thread);
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// take current thread off the list of all threads
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for (pyb_thread_t **n = (pyb_thread_t **)&pyb_thread_all;; n = &(*n)->all_next) {
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if (*n == thread) {
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*n = thread->all_next;
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break;
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}
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}
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// clean pointers as much as possible to help GC
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thread->all_next = NULL;
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thread->queue_next = NULL;
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thread->stack = NULL;
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if (pyb_thread_all->all_next == NULL) {
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// only 1 thread left
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pyb_thread_enabled = 0;
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}
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// thread switch will occur after we enable irqs
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SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
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enable_irq(irq_state);
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// should not return
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MICROPY_BOARD_FATAL_ERROR("could not terminate");
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}
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uint32_t pyb_thread_new(pyb_thread_t *thread, void *stack, size_t stack_len, void *entry, void *arg) {
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uint32_t *stack_top = (uint32_t *)stack + stack_len; // stack is full descending
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*--stack_top = 0x01000000; // xPSR (thumb bit set)
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*--stack_top = (uint32_t)entry & 0xfffffffe; // pc (must have bit 0 cleared, even for thumb code)
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*--stack_top = (uint32_t)pyb_thread_terminate; // lr
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*--stack_top = 0; // r12
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*--stack_top = 0; // r3
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*--stack_top = 0; // r2
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*--stack_top = 0; // r1
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*--stack_top = (uint32_t)arg; // r0
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*--stack_top = 0xfffffff9; // lr (return to thread mode, non-FP, use MSP)
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stack_top -= 8; // r4-r11
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stack_top -= 16; // s16-s31 (we assume all threads use FP registers)
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thread->sp = stack_top;
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thread->local_state = 0;
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thread->arg = arg;
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thread->stack = stack;
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thread->stack_len = stack_len;
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thread->queue_next = NULL;
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uint32_t irq_state = disable_irq();
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pyb_thread_enabled = 1;
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thread->all_next = pyb_thread_all;
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pyb_thread_all = thread;
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pyb_thread_add_to_runable(thread);
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enable_irq(irq_state);
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return (uint32_t)thread; // success
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}
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void pyb_thread_dump(void) {
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if (!pyb_thread_enabled) {
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printf("THREAD: only main thread\n");
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} else {
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printf("THREAD:\n");
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for (pyb_thread_t *th = pyb_thread_all; th != NULL; th = th->all_next) {
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bool runable = false;
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for (pyb_thread_t *th2 = pyb_thread_cur;; th2 = th2->run_next) {
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if (th == th2) {
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runable = true;
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break;
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}
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if (th2->run_next == pyb_thread_cur) {
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break;
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}
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}
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printf(" id=%p sp=%p sz=%u", th, th->stack, th->stack_len);
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if (runable) {
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printf(" (runable)");
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}
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printf("\n");
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}
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}
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}
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// should only be called from pendsv_isr_handler
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void *pyb_thread_next(void *sp) {
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pyb_thread_cur->sp = sp;
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pyb_thread_cur = pyb_thread_cur->run_next;
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pyb_thread_cur->timeslice = 4; // in milliseconds
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return pyb_thread_cur->sp;
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}
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void pyb_mutex_init(pyb_mutex_t *m) {
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*m = PYB_MUTEX_UNLOCKED;
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}
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int pyb_mutex_lock(pyb_mutex_t *m, int wait) {
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uint32_t irq_state = RAISE_IRQ_PRI();
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if (*m == PYB_MUTEX_UNLOCKED) {
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// mutex is available
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*m = PYB_MUTEX_LOCKED;
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RESTORE_IRQ_PRI(irq_state);
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} else {
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// mutex is locked
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if (!wait) {
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RESTORE_IRQ_PRI(irq_state);
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return 0; // failed to lock mutex
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}
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if (*m == PYB_MUTEX_LOCKED) {
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*m = pyb_thread_cur;
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} else {
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for (pyb_thread_t *n = *m;; n = n->queue_next) {
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if (n->queue_next == NULL) {
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n->queue_next = pyb_thread_cur;
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break;
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}
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}
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}
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pyb_thread_cur->queue_next = NULL;
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// take current thread off the run list
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pyb_thread_remove_from_runable(pyb_thread_cur);
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// thread switch will occur after we enable irqs
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SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
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RESTORE_IRQ_PRI(irq_state);
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// when we come back we have the mutex
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}
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return 1; // have mutex
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}
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void pyb_mutex_unlock(pyb_mutex_t *m) {
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uint32_t irq_state = RAISE_IRQ_PRI();
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if (*m == PYB_MUTEX_LOCKED) {
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// no threads are blocked on the mutex
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*m = PYB_MUTEX_UNLOCKED;
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} else {
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// at least one thread is blocked on this mutex
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pyb_thread_t *th = *m;
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if (th->queue_next == NULL) {
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// no other threads are blocked
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*m = PYB_MUTEX_LOCKED;
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} else {
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// at least one other thread is still blocked
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*m = th->queue_next;
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}
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// put unblocked thread on runable list
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pyb_thread_add_to_runable(th);
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}
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RESTORE_IRQ_PRI(irq_state);
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}
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#endif // MICROPY_PY_THREAD
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