循序渐进学RTThread-线程的创建

规划

尝试学会以移植为最终目标，循序渐进学习RTThread，通过分析RTThread官方的demo程序，学习从任务线程的创建到调度的一些细节最终到自己移植一份RTThread工程简单的点灯到项目落实，把以前做的项目移植到RTThread上

RTThread线程的创建细节

首先是对程序执行的流程，程序在startup.S中启动初始化异常向量表、栈之后才跳转到main()函数中，官方demo用了一个机制$Sub$$main，在调用main函数前会执行这个函数，所以在main()函数里一直没有找到相关的初始化函数。
初始化函数

int rtthread_startup(void)
{
    rt_hw_interrupt_disable();

    /* board level initialization
     * NOTE: please initialize heap inside board initialization.
     */
    rt_hw_board_init();

    /* show RT-Thread version */
    rt_show_version();

    /* timer system initialization */
    rt_system_timer_init();

    /* scheduler system initialization */
    rt_system_scheduler_init();

#ifdef RT_USING_SIGNALS
    /* signal system initialization */
    rt_system_signal_init();
#endif

    /* create init_thread */
    rt_application_init();

    /* timer thread initialization */
    rt_system_timer_thread_init();

    /* idle thread initialization */
    rt_thread_idle_init();

#ifdef RT_USING_SMP
    rt_hw_spin_lock(&_cpus_lock);
#endif /*RT_USING_SMP*/

    /* start scheduler */
    rt_system_scheduler_start();

    /* never reach here */
    return 0;
}
#endif

实现任务调度前首先要进行的是任务的创建使用的

/**
 * This function will create a thread object and allocate thread object memory
 * and stack.
 *
 * @param name the name of thread, which shall be unique
 * @param entry the entry function of thread
 * @param parameter the parameter of thread enter function
 * @param stack_size the size of thread stack
 * @param priority the priority of thread
 * @param tick the time slice if there are same priority thread
 *
 * @return the created thread object
 */
rt_thread_t rt_thread_create(const char *name,
                             void (*entry)(void *parameter),
                             void       *parameter,
                             rt_uint32_t stack_size,
                             rt_uint8_t  priority,
                             rt_uint32_t tick)
{
    struct rt_thread *thread;
    void *stack_start;

    thread = (struct rt_thread *)rt_object_allocate(RT_Object_Class_Thread,
                                                    name);
    if (thread == RT_NULL)
        return RT_NULL;

    stack_start = (void *)RT_KERNEL_MALLOC(stack_size);
    if (stack_start == RT_NULL)
    {
        /* allocate stack failure */
        rt_object_delete((rt_object_t)thread);

        return RT_NULL;
    }

    _rt_thread_init(thread,
                    name,
                    entry,
                    parameter,
                    stack_start,
                    stack_size,
                    priority,
                    tick);

    return thread;
}

需要执行的操作有
1.申请RT对象类内存
2.按创建线程传递的栈大小参数申请内存
3.调用_rt_thread_init

static rt_err_t _rt_thread_init(struct rt_thread *thread,
                                const char       *name,
                                void (*entry)(void *parameter),
                                void             *parameter,
                                void             *stack_start,
                                rt_uint32_t       stack_size,
                                rt_uint8_t        priority,
                                rt_uint32_t       tick)
{
    /* init thread list */
    rt_list_init(&(thread->tlist));

    thread->entry = (void *)entry;
    thread->parameter = parameter;

    /* stack init */
    thread->stack_addr = stack_start;
    thread->stack_size = stack_size;

    /* init thread stack */
    rt_memset(thread->stack_addr, '#', thread->stack_size);
#ifdef ARCH_CPU_STACK_GROWS_UPWARD
    thread->sp = (void *)rt_hw_stack_init(thread->entry, thread->parameter,
                                          (void *)((char *)thread->stack_addr),
                                          (void *)rt_thread_exit);
#else
    thread->sp = (void *)rt_hw_stack_init(thread->entry, thread->parameter,
                                          (rt_uint8_t *)((char *)thread->stack_addr + thread->stack_size - sizeof(rt_ubase_t)),
                                          (void *)rt_thread_exit);
#endif

    /* priority init */
    RT_ASSERT(priority < RT_THREAD_PRIORITY_MAX);
    thread->init_priority    = priority;
    thread->current_priority = priority;

    thread->number_mask = 0;
#if RT_THREAD_PRIORITY_MAX > 32
    thread->number = 0;
    thread->high_mask = 0;
#endif

    /* tick init */
    thread->init_tick      = tick;
    thread->remaining_tick = tick;

    /* error and flags */
    thread->error = RT_EOK;
    thread->stat  = RT_THREAD_INIT;

#ifdef RT_USING_SMP
    /* not bind on any cpu */
    thread->bind_cpu = RT_CPUS_NR;
    thread->oncpu = RT_CPU_DETACHED;

    /* lock init */
    thread->scheduler_lock_nest = 0;
    thread->cpus_lock_nest = 0;
    thread->critical_lock_nest = 0;
#endif /*RT_USING_SMP*/

    /* initialize cleanup function and user data */
    thread->cleanup   = 0;
    thread->user_data = 0;

    /* initialize thread timer */
    rt_timer_init(&(thread->thread_timer),
                  thread->name,
                  rt_thread_timeout,
                  thread,
                  0,
                  RT_TIMER_FLAG_ONE_SHOT);

    /* initialize signal */
#ifdef RT_USING_SIGNALS
    thread->sig_mask    = 0x00;
    thread->sig_pending = 0x00;

#ifndef RT_USING_SMP
    thread->sig_ret     = RT_NULL;
#endif
    thread->sig_vectors = RT_NULL;
    thread->si_list     = RT_NULL;
#endif

#ifdef RT_USING_LWP
    thread->lwp = RT_NULL;
#endif

    RT_OBJECT_HOOK_CALL(rt_thread_inited_hook, (thread));

    return RT_EOK;
}