1 files changed, 226 insertions, 0 deletions
diff --git a/ports/esp32/mpthreadport.c b/ports/esp32/mpthreadport.c
new file mode 100644
index 000000000..76d9431c0
--- /dev/null
+++ b/ports/esp32/mpthreadport.c
@@ -0,0 +1,226 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2016 Damien P. George on behalf of Pycom Ltd
+ * Copyright (c) 2017 Pycom Limited
+ *
+ * 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/mpconfig.h"
+#include "py/mpstate.h"
+#include "py/gc.h"
+#include "py/mpthread.h"
+#include "mpthreadport.h"
+
+#include "esp_task.h"
+
+#if MICROPY_PY_THREAD
+
+#define MP_THREAD_MIN_STACK_SIZE                        (4 * 1024)
+#define MP_THREAD_DEFAULT_STACK_SIZE                    (MP_THREAD_MIN_STACK_SIZE + 1024)
+#define MP_THREAD_PRIORITY                              (ESP_TASK_PRIO_MIN + 1)
+
+// this structure forms a linked list, one node per active thread
+typedef struct _thread_t {
+    TaskHandle_t id;        // system id of thread
+    int ready;              // whether the thread is ready and running
+    void *arg;              // thread Python args, a GC root pointer
+    void *stack;            // pointer to the stack
+    StaticTask_t *tcb;      // pointer to the Task Control Block
+    size_t stack_len;       // number of words in the stack
+    struct _thread_t *next;
+} thread_t;
+
+// the mutex controls access to the linked list
+STATIC mp_thread_mutex_t thread_mutex;
+STATIC thread_t thread_entry0;
+STATIC thread_t *thread; // root pointer, handled by mp_thread_gc_others
+
+void mp_thread_init(void *stack, uint32_t stack_len) {
+    mp_thread_set_state(&mp_state_ctx.thread);
+    // create the first entry in the linked list of all threads
+    thread = &thread_entry0;
+    thread->id = xTaskGetCurrentTaskHandle();
+    thread->ready = 1;
+    thread->arg = NULL;
+    thread->stack = stack;
+    thread->stack_len = stack_len;
+    thread->next = NULL;
+    mp_thread_mutex_init(&thread_mutex);
+}
+
+void mp_thread_gc_others(void) {
+    mp_thread_mutex_lock(&thread_mutex, 1);
+    for (thread_t *th = thread; th != NULL; th = th->next) {
+        gc_collect_root((void**)&th, 1);
+        gc_collect_root(&th->arg, 1); // probably not needed
+        if (th->id == xTaskGetCurrentTaskHandle()) {
+            continue;
+        }
+        if (!th->ready) {
+            continue;
+        }
+        gc_collect_root(th->stack, th->stack_len); // probably not needed
+    }
+    mp_thread_mutex_unlock(&thread_mutex);
+}
+
+mp_state_thread_t *mp_thread_get_state(void) {
+    return pvTaskGetThreadLocalStoragePointer(NULL, 1);
+}
+
+void mp_thread_set_state(void *state) {
+    vTaskSetThreadLocalStoragePointer(NULL, 1, state);
+}
+
+void mp_thread_start(void) {
+    mp_thread_mutex_lock(&thread_mutex, 1);
+    for (thread_t *th = thread; th != NULL; th = th->next) {
+        if (th->id == xTaskGetCurrentTaskHandle()) {
+            th->ready = 1;
+            break;
+        }
+    }
+    mp_thread_mutex_unlock(&thread_mutex);
+}
+
+STATIC void *(*ext_thread_entry)(void*) = NULL;
+
+STATIC void freertos_entry(void *arg) {
+    if (ext_thread_entry) {
+        ext_thread_entry(arg);
+    }
+    vTaskDelete(NULL);
+    for (;;);
+}
+
+void mp_thread_create_ex(void *(*entry)(void*), void *arg, size_t *stack_size, int priority, char *name) {
+    // store thread entry function into a global variable so we can access it
+    ext_thread_entry = entry;
+
+    if (*stack_size == 0) {
+        *stack_size = MP_THREAD_DEFAULT_STACK_SIZE; // default stack size
+    } else if (*stack_size < MP_THREAD_MIN_STACK_SIZE) {
+        *stack_size = MP_THREAD_MIN_STACK_SIZE; // minimum stack size
+    }
+
+    // allocate TCB, stack and linked-list node (must be outside thread_mutex lock)
+    StaticTask_t *tcb = m_new(StaticTask_t, 1);
+    StackType_t *stack = m_new(StackType_t, *stack_size / sizeof(StackType_t));
+    thread_t *th = m_new_obj(thread_t);
+
+    mp_thread_mutex_lock(&thread_mutex, 1);
+
+    // create thread
+    TaskHandle_t id = xTaskCreateStaticPinnedToCore(freertos_entry, name, *stack_size / sizeof(StackType_t), arg, priority, stack, tcb, 0);
+    if (id == NULL) {
+        mp_thread_mutex_unlock(&thread_mutex);
+        nlr_raise(mp_obj_new_exception_msg(&mp_type_OSError, "can't create thread"));
+    }
+
+    // adjust the stack_size to provide room to recover from hitting the limit
+    *stack_size -= 1024;
+
+    // add thread to linked list of all threads
+    th->id = id;
+    th->ready = 0;
+    th->arg = arg;
+    th->stack = stack;
+    th->tcb = tcb;
+    th->stack_len = *stack_size / sizeof(StackType_t);
+    th->next = thread;
+    thread = th;
+
+    mp_thread_mutex_unlock(&thread_mutex);
+}
+
+void mp_thread_create(void *(*entry)(void*), void *arg, size_t *stack_size) {
+    mp_thread_create_ex(entry, arg, stack_size, MP_THREAD_PRIORITY, "mp_thread");
+}
+
+void mp_thread_finish(void) {
+    mp_thread_mutex_lock(&thread_mutex, 1);
+    for (thread_t *th = thread; th != NULL; th = th->next) {
+        if (th->id == xTaskGetCurrentTaskHandle()) {
+            th->ready = 0;
+            break;
+        }
+    }
+    mp_thread_mutex_unlock(&thread_mutex);
+}
+
+void vPortCleanUpTCB(void *tcb) {
+    thread_t *prev = NULL;
+    mp_thread_mutex_lock(&thread_mutex, 1);
+    for (thread_t *th = thread; th != NULL; prev = th, th = th->next) {
+        // unlink the node from the list
+        if (th->tcb == tcb) {
+            if (prev != NULL) {
+                prev->next = th->next;
+            } else {
+                // move the start pointer
+                thread = th->next;
+            }
+            // explicitly release all its memory
+            m_del(StaticTask_t, th->tcb, 1);
+            m_del(StackType_t, th->stack, th->stack_len);
+            m_del(thread_t, th, 1);
+            break;
+        }
+    }
+    mp_thread_mutex_unlock(&thread_mutex);
+}
+
+void mp_thread_mutex_init(mp_thread_mutex_t *mutex) {
+    mutex->handle = xSemaphoreCreateMutexStatic(&mutex->buffer);
+}
+
+int mp_thread_mutex_lock(mp_thread_mutex_t *mutex, int wait) {
+    return (pdTRUE == xSemaphoreTake(mutex->handle, wait ? portMAX_DELAY : 0));
+}
+
+void mp_thread_mutex_unlock(mp_thread_mutex_t *mutex) {
+    xSemaphoreGive(mutex->handle);
+}
+
+void mp_thread_deinit(void) {
+    mp_thread_mutex_lock(&thread_mutex, 1);
+    for (thread_t *th = thread; th != NULL; th = th->next) {
+        // don't delete the current task
+        if (th->id == xTaskGetCurrentTaskHandle()) {
+            continue;
+        }
+        vTaskDelete(th->id);
+    }
+    mp_thread_mutex_unlock(&thread_mutex);
+    // allow FreeRTOS to clean-up the threads
+    vTaskDelay(2);
+}
+
+#else
+
+void vPortCleanUpTCB(void *tcb) {
+}
+
+#endif // MICROPY_PY_THREAD