Creating one file for each thread Topic is solved

[hassan_mj]

Hi all,
I would like to create one C file for each of my thread and probabley one header file for interfacing with that thread, as in complex project it's cleaner to maintain each thread related to a component in separate folder and just include it in main.
Can anyone show me how can I do that? I tried one of the demos but I got many errors. I am new to Chibios. Appreciate if anyone can give me a sample code for this.
Cheers/Hassan

[Giovanni]

Hi,

A thread is just a function and a working area declararion, just make sure to include ch.h in the files where you declare threads. There are no other differences from normal C functions.

Giovanni

[Simon]

Hi I am also having difficulty creating a file for each one of my threads. My current project has a massive main.c that I am looking to break into smaller files.

Deciding to keep it simple I have used basic example, and have tried to move the blinker to a new file. At this point I have just moved the thread, and left the working area definition in the main.c but I feel I would like to move that too in the future.

So i have made two now file "blinky.c" and "blinky.h" realising "THD_FUNCTION" is a macro i used static "msg_t Thread1(void *arg)" in the header for the function prototype. I have also added "blinky.c" to the MakeFile.

blinky.c

Code: Select all

/*
#include "blinky.h"
#include "ch.h"
#include "hal.h"

/*
 * LED blinker thread, times are in milliseconds.
 */
static THD_FUNCTION(Thread1, arg) {

  (void)arg;
  chRegSetThreadName("blinker");
  while (true) {
    palClearPad(GPIOA, GPIOA_LED_GREEN);
    chThdSleepMilliseconds(500);
    palSetPad(GPIOA, GPIOA_LED_GREEN);
    chThdSleepMilliseconds(500);
  }
}

blinky.h

Code: Select all

#ifndef BLINKY_H_
#define BLINKY_H_

#include "ch.h"

static msg_t Thread1(void *arg);

#endif /* BLINKY_H_ */

The modified Main.c

Code: Select all

/*
    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio

    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
    You may obtain a copy of the License at

        http://www.apache.org/licenses/LICENSE-2.0

    Unless required by applicable law or agreed to in writing, software
    distributed under the License is distributed on an "AS IS" BASIS,
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
    limitations under the License.
*/

#include "ch.h"
#include "hal.h"
#include "test.h"

/*
 * LED blinker thread, times are in milliseconds.
 */
static THD_WORKING_AREA(waThread1, 128);

/*
 * Application entry point.
 */
int main(void) {

  /*
   * System initializations.
   * - HAL initialization, this also initializes the configured device drivers
   *   and performs the board-specific initializations.
   * - Kernel initialization, the main() function becomes a thread and the
   *   RTOS is active.
   */
  halInit();
  chSysInit();

  /*
   * Activates the serial driver 2 using the driver default configuration.
   */
  sdStart(&SD2, NULL);

  /*
   * Creates the blinker thread.
   */
  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);

  /*
   * Normal main() thread activity, in this demo it does nothing except
   * sleeping in a loop and check the button state.
   */
  while (true) {
    if (!palReadPad(GPIOC, GPIOC_BUTTON))
      TestThread(&SD2);
    chThdSleepMilliseconds(500);
  }
}

and when I compile I get the following errors

Description Resource Path Location Type
'Thread1' undeclared (first use in this function) main.c /RT-STM32F401RE-NUCLEO line 49 C/C++ Problem

Description Resource Path Location Type
conflicting types for 'Thread1' blinky.c /RT-STM32F401RE-NUCLEO line 14 C/C++ Problem

Any help would be appreciated thanks.
Simon

[RoccoMarco]

Hi Simon,
you have to edit makefile in order to add blinky.c to source list and the folder containg blinky.h to the include directory (This could help)

[Simon]

Thanks or the reply, I had already added the "blinky.c" to the makefile. Both Source and header are in the same path as the main.c

I do not want to make a library make file just yet if it can be avoided.

Thanks
Simon Golding

Code: Select all

##############################################################################
# Build global options
# NOTE: Can be overridden externally.
#

# Compiler options here.
ifeq ($(USE_OPT),)
  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
endif

# C specific options here (added to USE_OPT).
ifeq ($(USE_COPT),)
  USE_COPT = 
endif

# C++ specific options here (added to USE_OPT).
ifeq ($(USE_CPPOPT),)
  USE_CPPOPT = -fno-rtti
endif

# Enable this if you want the linker to remove unused code and data
ifeq ($(USE_LINK_GC),)
  USE_LINK_GC = yes
endif

# Linker extra options here.
ifeq ($(USE_LDOPT),)
  USE_LDOPT = 
endif

# Enable this if you want link time optimizations (LTO)
ifeq ($(USE_LTO),)
  USE_LTO = yes
endif

# If enabled, this option allows to compile the application in THUMB mode.
ifeq ($(USE_THUMB),)
  USE_THUMB = yes
endif

# Enable this if you want to see the full log while compiling.
ifeq ($(USE_VERBOSE_COMPILE),)
  USE_VERBOSE_COMPILE = no
endif

# If enabled, this option makes the build process faster by not compiling
# modules not used in the current configuration.
ifeq ($(USE_SMART_BUILD),)
  USE_SMART_BUILD = yes
endif

#
# Build global options
##############################################################################

##############################################################################
# Architecture or project specific options
#

# Stack size to be allocated to the Cortex-M process stack. This stack is
# the stack used by the main() thread.
ifeq ($(USE_PROCESS_STACKSIZE),)
  USE_PROCESS_STACKSIZE = 0x400
endif

# Stack size to the allocated to the Cortex-M main/exceptions stack. This
# stack is used for processing interrupts and exceptions.
ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
  USE_EXCEPTIONS_STACKSIZE = 0x400
endif

# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
ifeq ($(USE_FPU),)
  USE_FPU = no
endif

#
# Architecture or project specific options
##############################################################################

##############################################################################
# Project, sources and paths
#

# Define project name here
PROJECT = ch

# Imported source files and paths
CHIBIOS = ../../..
# Startup files.
include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk
# HAL-OSAL files (optional).
include $(CHIBIOS)/os/hal/hal.mk
include $(CHIBIOS)/os/hal/ports/STM32/STM32F4xx/platform.mk
include $(CHIBIOS)/os/hal/boards/ST_NUCLEO_F401RE/board.mk
include $(CHIBIOS)/os/hal/osal/rt/osal.mk
# RTOS files (optional).
include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
# Other files (optional).
include $(CHIBIOS)/test/rt/test.mk

# Define linker script file here
LDSCRIPT= $(STARTUPLD)/STM32F401xE.ld

# C sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CSRC = $(STARTUPSRC) \
       $(KERNSRC) \
       $(PORTSRC) \
       $(OSALSRC) \
       $(HALSRC) \
       $(PLATFORMSRC) \
       $(BOARDSRC) \
       $(TESTSRC) \
       blinky.c main.c

# C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CPPSRC =

# C sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
#       option that results in lower performance and larger code size.
ACSRC =

# C++ sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
#       option that results in lower performance and larger code size.
ACPPSRC =

# C sources to be compiled in THUMB mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
#       option that results in lower performance and larger code size.
TCSRC =

# C sources to be compiled in THUMB mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
#       option that results in lower performance and larger code size.
TCPPSRC =

# List ASM source files here
ASMSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)

INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
         $(CHIBIOS)/os/various

#
# Project, sources and paths
##############################################################################

##############################################################################
# Compiler settings
#

MCU  = cortex-m4

#TRGT = arm-elf-
TRGT = arm-none-eabi-
CC   = $(TRGT)gcc
CPPC = $(TRGT)g++
# Enable loading with g++ only if you need C++ runtime support.
# NOTE: You can use C++ even without C++ support if you are careful. C++
#       runtime support makes code size explode.
LD   = $(TRGT)gcc
#LD   = $(TRGT)g++
CP   = $(TRGT)objcopy
AS   = $(TRGT)gcc -x assembler-with-cpp
AR   = $(TRGT)ar
OD   = $(TRGT)objdump
SZ   = $(TRGT)size
HEX  = $(CP) -O ihex
BIN  = $(CP) -O binary

# ARM-specific options here
AOPT =

# THUMB-specific options here
TOPT = -mthumb -DTHUMB

# Define C warning options here
CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes

# Define C++ warning options here
CPPWARN = -Wall -Wextra -Wundef

#
# Compiler settings
##############################################################################

##############################################################################
# Start of user section
#

# List all user C define here, like -D_DEBUG=1
UDEFS =

# Define ASM defines here
UADEFS =

# List all user directories here
UINCDIR =

# List the user directory to look for the libraries here
ULIBDIR =

# List all user libraries here
ULIBS =

#
# End of user defines
##############################################################################

RULESPATH = $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC
include $(RULESPATH)/rules.mk

[RoccoMarco]

Hi,
I think you have to use the macro in .h when you declare the function prototype. It should work but I never tested.

[Simon]

Unfortunately no Luck.

I've decided to move on and use plan B which was to encapsulate the code in the thread in another function that I call from the thread. The below code complies but I have not tried it on the my hardware.

Thanks for your help.
Simon

Code: Select all

/*
    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio

    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
    You may obtain a copy of the License at

        http://www.apache.org/licenses/LICENSE-2.0

    Unless required by applicable law or agreed to in writing, software
    distributed under the License is distributed on an "AS IS" BASIS,
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
    limitations under the License.
*/

#include "ch.h"
#include "hal.h"
#include "test.h"
#include "blinky.h"

/*
 * LED blinker thread, times are in milliseconds.
 */
static THD_WORKING_AREA(waThread1, 128);
static THD_FUNCTION(Thread1, arg) {

  (void)arg;
  chRegSetThreadName("blinker");
  blinker();
}

/*
 * Application entry point.
 */
int main(void) {

  /*
   * System initializations.
   * - HAL initialization, this also initializes the configured device drivers
   *   and performs the board-specific initializations.
   * - Kernel initialization, the main() function becomes a thread and the
   *   RTOS is active.
   */
  halInit();
  chSysInit();

  /*
   * Creates the blinker thread.
   */
  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);

  /*
   * Normal main() thread activity, in this demo it does nothing except
   * sleeping in a loop and check the button state.
   */
  while (true) {
    chThdSleepMilliseconds(1000);
  }
}

and the "blinky.c" source file

Code: Select all

#include "ch.h"
#include "hal.h"
#include "blinky.h"

void blinker(void)
{
  while (true) {
    palClearPad(GPIOA, GPIOA_LED_GREEN);
    chThdSleepMilliseconds(500);
    palSetPad(GPIOA, GPIOA_LED_GREEN);
    chThdSleepMilliseconds(500);
  }
}

[RoccoMarco]

This intrigue me! I will make some test in the afternoon. Keep you up to date.

[Marco]

Hi,

You can have a look at the demos using LwIP. The webserver thread is implemented in separate files: web.c+web.h.

Marco

[Simon]

Thanks Marco for the heads up, I did look at other demos but didn't find any other examples.

Anyway I got it working! So the working area needed to be defined in both the header and the source file, also the thread function could not be static but instead extern.

Thanks Everyone
Simon

main.c

Code: Select all

/*
    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio

    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
    You may obtain a copy of the License at

        http://www.apache.org/licenses/LICENSE-2.0

    Unless required by applicable law or agreed to in writing, software
    distributed under the License is distributed on an "AS IS" BASIS,
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
    limitations under the License.
*/

#include "ch.h"
#include "hal.h"
#include "test.h"
#include "blinky.h"

/*
 * Application entry point.
 */
int main(void) {

  /*
   * System initializations.
   * - HAL initialization, this also initializes the configured device drivers
   *   and performs the board-specific initializations.
   * - Kernel initialization, the main() function becomes a thread and the
   *   RTOS is active.
   */
  halInit();
  chSysInit();

  /*
   * Activates the serial driver 2 using the driver default configuration.
   */
  sdStart(&SD2, NULL);

  /*
   * Creates the blinker thread.
   */
  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);

  /*
   * Normal main() thread activity, in this demo it does nothing except
   * sleeping in a loop and check the button state.
   */
  while (true) {
    if (!palReadPad(GPIOC, GPIOC_BUTTON))
      TestThread(&SD2);
    chThdSleepMilliseconds(500);
  }
}

blinky.h

Code: Select all

#ifndef BLINKY_H_
#define BLINKY_H_

extern THD_WORKING_AREA(waThread1, 128);
THD_FUNCTION(Thread1, arg);

#endif /* BLINKY_H_ */

blinky.c

Code: Select all

#include "ch.h"
#include "hal.h"
#include "blinky.h"

/*
 * LED blinker thread, times are in milliseconds.
 */
THD_WORKING_AREA(waThread1, 128);
THD_FUNCTION(Thread1, arg) {
  (void)arg;
  chRegSetThreadName("blinker");
  while (true) {
    palClearPad(GPIOA, GPIOA_LED_GREEN);
    chThdSleepMilliseconds(500);
    palSetPad(GPIOA, GPIOA_LED_GREEN);
    chThdSleepMilliseconds(500);
  }
}