diff --git a/source/00_supperthomas/15_zephyr/09_kernel/heap.drawio b/source/00_supperthomas/15_zephyr/09_kernel/heap.drawio new file mode 100644 index 0000000..af060f9 --- /dev/null +++ b/source/00_supperthomas/15_zephyr/09_kernel/heap.drawio @@ -0,0 +1,2807 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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b/source/00_supperthomas/15_zephyr/09_kernel/images/image-20231221171957777.png new file mode 100644 index 0000000..89f868e Binary files /dev/null and b/source/00_supperthomas/15_zephyr/09_kernel/images/image-20231221171957777.png differ diff --git a/source/00_supperthomas/15_zephyr/09_kernel/kernel.md b/source/00_supperthomas/15_zephyr/09_kernel/kernel.md index fa3a01a..3cfe17a 100644 --- a/source/00_supperthomas/15_zephyr/09_kernel/kernel.md +++ b/source/00_supperthomas/15_zephyr/09_kernel/kernel.md @@ -374,6 +374,33 @@ void critical_rtn(struct k_work *unused) k_work_submit_to_queue(&offload_work_q, &work_item); ``` +``` +static void entry_offload_job(struct k_work *work) +{ + printk("Execute offload job\r\n"); +} +void isr_handler(const void *param) +{ + struct k_work work_item; + k_work_init(&work_item, entry_offload_job); + k_work_submit(&work_item); +} +void threadA(void *dummy1, void *dummy2, void *dummy3) +{ + while(1) + { + printk("hello world\r\n"); + isr_handler(NULL); + k_msleep(5000); + } +} +K_THREAD_DEFINE(thread_a, 1024, threadA, NULL, NULL, NULL, 7, 0 , 5000); +``` + +![image-20231217222138870](images/image-20231217222138870.png) + + + ## SMP 需要的API 指定线程在某个CPU上运行 @@ -1392,7 +1419,47 @@ stack LIFO一样。不过它会进行拷贝数据，像线程栈一样。 +``` +struct k_stack stack; +static stack_data_t stack_buffer[4]; +static stack_data_t data[4] = { 0xABCD, 0x1234 ,0x5678,0x9012}; +void recv_thread(void *dummy1, void *dummy2, void *dummy3) +{ + int ret = 0; + stack_data_t rx_data; + while(1) + { + ret = k_stack_pop(&stack, &rx_data, K_FOREVER); + printk("Receive: %x,ret=%d\r\n",rx_data,ret); + } +} +void sender_thread(void *dummy1, void *dummy2, void *dummy3) +{ + int i = 0; + k_stack_init(&stack, stack_buffer, 4); + while(1) + { + i=i%4; + k_stack_push(&stack, data[i]); + printk("Send: i=%d,data=%x\r\n",i,(uint32_t)data[i]); + i++; + k_msleep(1000); + } +} +K_THREAD_DEFINE(receiver, 1024, recv_thread, NULL, NULL, NULL, 8, 0 , 2000); +K_THREAD_DEFINE(sender, 1024, sender_thread, NULL, NULL, NULL, 7, 0 , 1000); +int main(void) +{ + printk("main hello222\r\n"); + while(1) + { + k_msleep(10000); + } + return 0; +} +``` +![image-20231217114412222](images/image-20231217114412222.png) ## 数据传递 Message Queue @@ -1774,125 +1841,424 @@ void on_heap_alloc(uintptr_t heap_id, void *mem, size_t bytes) HEAP_LISTENER_ALLOC_DEFINE(my_listener, HEAP_ID_LIBC, on_heap_alloc); ``` +![image-20231217085637617](images/image-20231217085637617.png) -## slab -# 时间管理 +![image-20231217085651813](images/image-20231217085651813.png) -时间分为两种， 一种是计时时钟，一种是timer定时器 +![image-20231217091441693](images/image-20231217091441693.png) -系统tick都是由 +``` +K_HEAP_DEFINE(k_heap_test, 100); +void threadA(void *dummy1, void *dummy2, void *dummy3) +{ + void *p = NULL; + while(1) + { + printk("=========malloc BEFORE========\r\n"); + sys_heap_print_info(&k_heap_test,true); + p = (char *)k_heap_alloc(&k_heap_test, 4, K_NO_WAIT); + printk("==========malloc:%p=======\r\n",p); + k_msleep(10000); + } +} +K_THREAD_DEFINE(thread_a, 1024, threadA, NULL, NULL, NULL, 7, 0 , 5000); +``` + + + +0x200011a8 + +开始， 0x200030E4 + +struct z_heap 16bytes + +struct z_heap { + + chunkid_t chunk0_hdr[2]; + + chunkid_t end_chunk; + + uint32_t avail_buckets; + + + +![image-20231221170625888](images/image-20231221170625888.png) + +![image-20231221171056229](images/image-20231221171056229.png) + + + +![image-20231221171442226](images/image-20231221171442226.png) + + + + + +![image-20231221171957777](images/image-20231221171957777.png) ``` -CONFIG_SYS_CLOCK_TICKS_PER_SEC=100 +struct k_heap k_heap_test; +uint8_t buffer[100]; +void threadA(void *dummy1, void *dummy2, void *dummy3) +{ + void *p = NULL; + k_heap_init(&k_heap_test,buffer,100); + while(1) + { + printk("=========malloc BEFORE========\r\n"); + sys_heap_print_info(&k_heap_test.heap,true); + p = (char *)k_heap_alloc(&k_heap_test, 4, K_NO_WAIT); + printk("==========malloc:%p=======\r\n",p); + k_msleep(10000); + } +} +K_THREAD_DEFINE(thread_a, 1024, threadA, NULL, NULL, NULL, 7, 0 , 5000); ``` -zephyr里面都会用一些宏尝试将一些timeout的时间转换成tick + + + + +https://lgl88911.gitee.io/2020/09/06/Zephyr%E5%86%85%E5%AD%98%E7%AE%A1%E7%90%86%E4%B9%8BHeap/ + +![image-20231217091859533](images/image-20231217091859533.png) + +![image-20231217092029610](images/image-20231217092029610.png) + + + +![image-20231217101811362](images/image-20231217101811362.png) + + + +heap_print_info + +K_HEAP_DEFINE(k_heap_test, 100); + + char *p = (char *)k_heap_alloc(&k_heap_test, 4, K_NO_WAIT); + + shell_print(sh, "p=%p",p); + + sys_heap_print_info(&k_heap_test,true); + + ``` -#define K_NSEC(t) -#define K_USEC(t) -#define K_MSEC(ms) -#define K_SECONDS(s) -#define K_MINUTES(m) +p=0x20003fe4 +Heap at 0x20003fc0 contains 12 units in 4 buckets + + bucket# min units total largest largest + threshold chunks (units) (bytes) + ----------------------------------------------------------- + 2 4 1 7 52 + +Chunk dump: +chunk 0: [*] size=4 left=0 right=4 +chunk 4: [*] size=1 left=0 right=5 +chunk 5: [-] size=7 left=4 right=12 +chunk 12: [*] size=0 left=5 right=12 + +52 free bytes, 4 allocated bytes, overhead = 44 bytes (44.0%) ``` -所以变量k_timeout_t 为参数的地方，尽量通过上述宏来填 +比如100个BYTE，初始化的时候，计算出可以转化成多少个chunk，每个chunk大小是8byte。 -## Timer 定时器 +heap 大小要8的倍数，需要取整，所以100个bytes大小可以分配11个chunk units -创建一个example来触发定时器 +但是实际上，88bytes，又要分配一些给其他的开销，最后100bytes你只有52bytes可以分配给数据。48bytes。 -int64_t k_uptime_ticks(void); -## kernel timing 内核时间 -获取系统启动了多少tick +chunk UNIT = 8 -int64_t k_uptime_ticks(void); +head占4个bytes -获取系统从启动开始多少ms -static inline int64_t k_uptime_get(void) -获取系统从启动开始多少ms的低32bit +![image-20231218093904194](images/image-20231218093904194.png) -static inline uint32_t k_uptime_get_32(void) +上下取8的倍数，heap_sz=88bytes. +``` +=========malloc BEFORE======== +Heap at 0x20000528 contains 11 units in 4 buckets + bucket# min units total largest largest + threshold chunks (units) (bytes) + ----------------------------------------------------------- + 2 4 1 7 52 +Chunk dump: +chunk 0: [*] size=4 left=0 right=4 +chunk 4: [-] size=7 left=0 right=11 +chunk 11: [*] size=0 left=4 right=11 +52 free bytes, 0 allocated bytes, overhead = 40 bytes (43.5%) +``` +### k_malloc +``` +void threadA(void *dummy1, void *dummy2, void *dummy3) +{ + void *p = NULL; + int i = 0; + while(1) + { + printk("=========malloc BEFORE========\r\n"); + p = (char *)k_malloc(16); + printk("==========malloc:%p===i=%d====\r\n",p,i); + k_msleep(100); + i++; + if (p== NULL) + { + break; + } + } +} +K_THREAD_DEFINE(thread_a, 1024, threadA, NULL, NULL, NULL, 7, 0 , 5000); +``` +## slab +对于固定大小的内存可以用slab来申请和释放 +c初始化， +``` +struct k_mem_slab my_slab; +char __aligned(4) my_slab_buffer[6 * 400]; +k_mem_slab_init(&my_slab, my_slab_buffer, 400, 6); +``` +或者这样写。 +``` +K_MEM_SLAB_DEFINE(my_slab, 400, 6, 4); +``` +也可以定义static的K_MEM_SLAB_DEFINE_STATIC(my_slab, 400, 6, 4); +内存分配 +``` +char *block_ptr; +if (k_mem_slab_alloc(&my_slab, (void **)&block_ptr, K_MSEC(100)) == 0) { + memset(block_ptr, 0, 400); + ... +} else { + printf("Memory allocation time-out"); +} +``` +这里的timeout是用来，比如申请不到的时候，需要等待多少ms，用于一些冗余。 +释放内存 +``` +char *block_ptr; +k_mem_slab_alloc(&my_slab, (void **)&block_ptr, K_FOREVER); +... /* use memory block pointed at by block_ptr */ +k_mem_slab_free(&my_slab, (void *)block_ptr); +``` +这个主要对于整块的内存。 +https://lgl88911.gitee.io/2020/08/29/Zephyr%E5%86%85%E5%AD%98%E7%AE%A1%E7%90%86%E4%B9%8Bslab/ +![image-20231217102853842](images/image-20231217102853842.png) +![image-20231217102843174](images/image-20231217102843174.png) +Slab是一个内核对象，在分配时会存在等待资源的情况，释放时可能会从其它线程获取资源的情况，因此Slab分配和释放都有可能会引起线程的调度。 +在需要定长内存的分配情况下，优先使用Slab。当从一个线程发送大量数据到另一个线程时，可以使用Slab，之发送内存块地址，可以避免不必要的数据拷贝动作。 +slab释放和申请会触发schedule +schedule +可以用shell demo 来演示 +``` +art:~$ kernel threads +Scheduler: 3833136 since last call +Threads: + 0x20000d70 sysworkq + options: 0x0, priority: -1 timeout: 0 + state: pending, entry: 0x9171 + Total execution cycles: 467 (0 %) + stack size 1024, unused 856, usage 168 / 1024 (16 %) +*0x20000888 shell_uart + options: 0x0, priority: 14 timeout: 0 + state: queued, entry: 0x4b2d + Total execution cycles: 2698316 (52 %) + stack size 2048, unused 1008, usage 1040 / 2048 (50 %) + 0x20000380 logging + options: 0x0, priority: 14 timeout: 0 + state: pending, entry: 0x2431 + Total execution cycles: 4266 (0 %) + stack size 768, unused 632, usage 136 / 768 (17 %) + 0x20000b90 idle + options: 0x1, priority: 15 timeout: 0 + state: , entry: 0x8f2d + Total execution cycles: 2494561 (46 %) + stack size 320, unused 236, usage 84 / 320 (26 %) +uart:~$ +``` +``` +uart:~$ kernel stacks +0x20000d70 sysworkq (real size 1024): unused 856 usage 168 / 1024 (16 %) +0x20000888 shell_uart (real size 2048): unused 1000 usage 1048 / 2048 (51 %) +0x20000380 logging (real size 768): unused 632 usage 136 / 768 (17 %) +0x20000b90 idle (real size 320): unused 236 usage 84 / 320 (26 %) +0x20002d80 IRQ 00 (real size 2048): unused 1640 usage 408 / 2048 (19 %) +``` + +# 时间管理 +时间分为两种， 一种是计时时钟，一种是timer定时器 +系统tick都是由 + +``` +CONFIG_SYS_CLOCK_TICKS_PER_SEC=100 +``` +zephyr里面都会用一些宏尝试将一些timeout的时间转换成tick +``` +#define K_NSEC(t) +#define K_USEC(t) +#define K_MSEC(ms) +#define K_SECONDS(s) +#define K_MINUTES(m) +``` +所以变量k_timeout_t 为参数的地方，尽量通过上述宏来填 +## Timer 定时器 +创建一个example来触发定时器 +int64_t k_uptime_ticks(void); +## kernel timing 内核时间 + +获取系统启动了多少tick + +int64_t k_uptime_ticks(void); + +获取系统从启动开始多少ms + +static inline int64_t k_uptime_get(void) + +获取系统从启动开始多少ms的低32bit + +static inline uint32_t k_uptime_get_32(void) + + + + + + + +``` +static int cmd_version(const struct shell *sh, size_t argc, char **argv) +{ + ARG_UNUSED(argc); + ARG_UNUSED(argv); + + shell_print(sh, "Zephyr version %s", KERNEL_VERSION_STRING); + + return 0; +} +SHELL_CMD_ARG_REGISTER(version, NULL, "Show kernel version", cmd_version, 1, 0); +``` + + + + + + + + + + + + + + + + + + + + + +assert + + + +hardfault + +``` +void threadA(void *dummy1, void *dummy2, void *dummy3) +{ + volatile int * SCB_CCR = (volatile int *) 0xE000ED14; // SCB->CCR + *SCB_CCR |= (1 << 4); /* bit4: DIV_0_TRP. */ + int x, y, z; + x = 10; + y = 0; + z = x / y; + printk("z:%d\n", z); + while(1) + { + printk("hello world\r\n"); + k_msleep(5000); + } +} +K_THREAD_DEFINE(thread_a, 1024, threadA, NULL, NULL, NULL, 7, 0 , 5000); +``` @@ -1906,4 +2272,6 @@ static inline uint32_t k_uptime_get_32(void) https://mp.weixin.qq.com/s/OtL0sCA9sWzZ4Eo3Jaz-QA -https://openeuler.gitee.io/zephyr-cn/develop/kernel/pipe.html \ No newline at end of file +https://openeuler.gitee.io/zephyr-cn/develop/kernel/pipe.html + +https://lgl88911.gitee.io/ \ No newline at end of file