1. Is there any support for runtime creation of a new thread's stack in
k_thread_create(), through the likes of malloc()? I only see
K_THREAD_STACK_DEFINE(), which allocate it at compile-time. I'm porting an
existing library to Zephyr that creates threads (and their
stacks) on-demand, and having compile-time-only stacks would mean that I
have to do some ugly changes to the APIs where stack pointers get passed all
the way through multiple API layers.
There isn't, due to the lack of a memory allocator which returns aligned pointers.
2. I currently work around this by creating "stack pools" through
K_THREAD_STACK_ARRAY_DEFINE(), where each stack can be reused by
another thread once one has finished executing (that's a bit of a waste of
memory though). I do this by locking and releasing these stacks through an
atomic in-use flag. It gets set for the stack before the thread starts, and gets
cleared by the parent thread right after the thread's main function releases a
semaphore at the end of execution in a join-like operation. However, this
fails when a new thread reuses the stack right after the old thread has
released it with a message of "Illegal load of EXC_RETURN into PC". I assume
that's because the previous thread still needs the stack for a while even after
the last instruction in its main function (the release of the join semaphore)
was executed. It's "fixed" by sleeping for a short while before starting a new
thread with the stack, but that's obviously a very unsafe hack. So how would
I know when it's safe to reuse the stack? Does Zephyr allow reusing stacks in
this way at all?
You sound like a good customer for the k_thread_join() API I recently sent a PR for:https://github.com/zephyrproject-rtos/zephyr/pull/23028