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author | px4dev <px4@purgatory.org> | 2013-01-11 00:39:22 -0800 |
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committer | px4dev <px4@purgatory.org> | 2013-01-11 00:39:22 -0800 |
commit | ccf9882dc5dbe38b621110f82c4e2ff63aef900e (patch) | |
tree | 18b0af628174bf27815dd52a376c8b72b6a626d4 /nuttx/sched | |
parent | 40dfbf0d977729951d73bcb089ca8f89c7b83efe (diff) | |
parent | 0f2decb70f505b108999fcdb80e89d7aae6760ce (diff) | |
download | px4-firmware-ccf9882dc5dbe38b621110f82c4e2ff63aef900e.tar.gz px4-firmware-ccf9882dc5dbe38b621110f82c4e2ff63aef900e.tar.bz2 px4-firmware-ccf9882dc5dbe38b621110f82c4e2ff63aef900e.zip |
Merge branch 'master' into nuttx-merge-5447
Diffstat (limited to 'nuttx/sched')
-rw-r--r-- | nuttx/sched/Kconfig | 24 | ||||
-rw-r--r-- | nuttx/sched/env_clearenv.c | 2 | ||||
-rw-r--r-- | nuttx/sched/env_internal.h | 2 | ||||
-rw-r--r-- | nuttx/sched/env_release.c | 4 | ||||
-rw-r--r-- | nuttx/sched/os_bringup.c | 19 | ||||
-rw-r--r-- | nuttx/sched/os_start.c | 4 | ||||
-rw-r--r-- | nuttx/sched/prctl.c | 6 | ||||
-rw-r--r-- | nuttx/sched/pthread_create.c | 63 | ||||
-rw-r--r-- | nuttx/sched/sched_releasetcb.c | 6 | ||||
-rw-r--r-- | nuttx/sched/task_exithook.c | 1 | ||||
-rw-r--r-- | nuttx/sched/work_thread.c | 6 |
11 files changed, 90 insertions, 47 deletions
diff --git a/nuttx/sched/Kconfig b/nuttx/sched/Kconfig index 4f7149595..3438ccf2c 100644 --- a/nuttx/sched/Kconfig +++ b/nuttx/sched/Kconfig @@ -22,7 +22,13 @@ config SCHED_INSTRUMENTATION bool "Monitor system performance" default n ---help--- - enables instrumentation in scheduler to monitor system performance. + Enables instrumentation in scheduler to monitor system performance. + If enabled, then the board-specific logic must provide the following + functions (see include/sched.h): + + void sched_note_start(FAR _TCB *tcb); + void sched_note_stop(FAR _TCB *tcb); + void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb); config TASK_NAME_SIZE int "Maximum task name size" @@ -40,7 +46,7 @@ config JULIAN_TIME config START_YEAR int "start year" - default 2010 + default 2013 config START_MONTH int "start month" @@ -57,12 +63,6 @@ config DEV_CONSOLE Set if architecture-specific logic provides /dev/console. Enables stdout, stderr, stdin. -config DEV_LOWCONSOLE - bool "enable low-level serial console" - default n - ---help--- - Use the simple, low-level, write-only serial console driver (minimul support) - config MUTEX_TYPES: bool "Enable mutex types" default n @@ -381,14 +381,6 @@ config PREALLOC_TIMERS comment "Stack and heap information" -config CUSTOM_STACK - bool "Enable custom stack" - default n - ---help--- - The up_ implementation will handle all stack operations outside of the - nuttx model. This is necessary for certain architectures that have - have hardware stacks (such as the 8051 family). - config IDLETHREAD_STACKSIZE int "Idle thread stack size" default 1024 diff --git a/nuttx/sched/env_clearenv.c b/nuttx/sched/env_clearenv.c index 7fe97a911..75890f3bc 100644 --- a/nuttx/sched/env_clearenv.c +++ b/nuttx/sched/env_clearenv.c @@ -79,5 +79,3 @@ int clearenv(void) #endif /* CONFIG_DISABLE_ENVIRON */ - - diff --git a/nuttx/sched/env_internal.h b/nuttx/sched/env_internal.h index a6205d658..5370da059 100644 --- a/nuttx/sched/env_internal.h +++ b/nuttx/sched/env_internal.h @@ -80,7 +80,7 @@ EXTERN int env_dup(FAR _TCB *ptcb); EXTERN int env_share(FAR _TCB *ptcb); EXTERN int env_release(FAR _TCB *ptcb); -/* functions used internally the environment handling logic */ +/* functions used internally by the environment handling logic */ EXTERN FAR char *env_findvar(environ_t *envp, const char *pname); EXTERN int env_removevar(environ_t *envp, char *pvar); diff --git a/nuttx/sched/env_release.c b/nuttx/sched/env_release.c index 83e65dbb5..8bc8d2205 100644 --- a/nuttx/sched/env_release.c +++ b/nuttx/sched/env_release.c @@ -94,11 +94,11 @@ int env_release(FAR _TCB *ptcb) { /* Check the reference count on the environment structure */ - if ( envp->ev_crefs <= 1) + if (envp->ev_crefs <= 1) { /* Decrementing the reference count will destroy the environment */ - sched_free( envp ); /* plain free() should be fine here */ + sched_free(envp); } else { diff --git a/nuttx/sched/os_bringup.c b/nuttx/sched/os_bringup.c index ec6152891..e0a236bbe 100644 --- a/nuttx/sched/os_bringup.c +++ b/nuttx/sched/os_bringup.c @@ -44,6 +44,7 @@ #include <nuttx/config.h> #include <sched.h> +#include <stdlib.h> #include <debug.h> #include <nuttx/init.h> @@ -129,6 +130,17 @@ int os_bringup(void) #endif int init_taskid; + /* Setup up the initial environment for the idle task. At present, this + * may consist of only the initial PATH variable. The PATH variable is + * (probably) not used by the IDLE task. However, the environment + * containing the PATH variable will be inherited by all of the threads + * created by the IDLE task. + */ + +#if !defined(CONFIG_DISABLE_ENVIRON) && defined(CONFIG_PATH_INITIAL) + (void)setenv("PATH", CONFIG_PATH_INITIAL, 1); +#endif + /* Start the page fill worker kernel thread that will resolve page faults. * This should always be the first thread started because it may have to * resolve page faults in other threads @@ -190,5 +202,12 @@ int os_bringup(void) (main_t)CONFIG_USER_ENTRYPOINT, (const char **)NULL); #endif ASSERT(init_taskid != ERROR); + + /* We an save a few bytes by discarding the IDLE thread's environment. */ + +#if !defined(CONFIG_DISABLE_ENVIRON) && defined(CONFIG_PATH_INITIAL) + (void)clearenv(); +#endif + return OK; } diff --git a/nuttx/sched/os_start.c b/nuttx/sched/os_start.c index c0b16236d..a53ac2aa8 100644 --- a/nuttx/sched/os_start.c +++ b/nuttx/sched/os_start.c @@ -426,7 +426,9 @@ void os_start(void) lib_initialize(); } - /* Create stdout, stderr, stdin */ + /* Create stdout, stderr, stdin on the IDLE task. These will be + * inherited by all of the threads created by the IDLE task. + */ (void)sched_setupidlefiles(&g_idletcb); diff --git a/nuttx/sched/prctl.c b/nuttx/sched/prctl.c index d71a0e174..3db83d3d7 100644 --- a/nuttx/sched/prctl.c +++ b/nuttx/sched/prctl.c @@ -157,8 +157,14 @@ int prctl(int option, ...) goto errout; } + /* Not reachable unless CONFIG_TASK_NAME_SIZE is > 0. NOTE: This might + * change if additional commands are supported. + */ + +#if CONFIG_TASK_NAME_SIZE > 0 va_end(ap); return OK; +#endif errout: va_end(ap); diff --git a/nuttx/sched/pthread_create.c b/nuttx/sched/pthread_create.c index 5fdf3b88d..dc2db2916 100644 --- a/nuttx/sched/pthread_create.c +++ b/nuttx/sched/pthread_create.c @@ -246,7 +246,7 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr, { FAR _TCB *ptcb; FAR join_t *pjoin; - int status; + int ret; int priority; #if CONFIG_RR_INTERVAL > 0 int policy; @@ -268,13 +268,27 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr, return ENOMEM; } + /* Share the address environment of the parent task. NOTE: Only tasks + * created throught the nuttx/binfmt loaders may have an address + * environment. + */ + +#ifdef CONFIG_ADDRENV + ret = up_addrenv_share((FAR const _TCB *)g_readytorun.head, ptcb); + if (ret < 0) + { + sched_releasetcb(ptcb); + return -ret; + } +#endif + /* Associate file descriptors with the new task */ - status = sched_setuppthreadfiles(ptcb); - if (status != OK) + ret = sched_setuppthreadfiles(ptcb); + if (ret != OK) { sched_releasetcb(ptcb); - return status; + return ret; } /* Share the parent's envionment */ @@ -292,8 +306,8 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr, /* Allocate the stack for the TCB */ - status = up_create_stack(ptcb, attr->stacksize); - if (status != OK) + ret = up_create_stack(ptcb, attr->stacksize); + if (ret != OK) { sched_releasetcb(ptcb); sched_free(pjoin); @@ -310,8 +324,8 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr, /* Get the priority for this thread. */ struct sched_param param; - status = sched_getparam(0, ¶m); - if (status == OK) + ret = sched_getparam(0, ¶m); + if (ret == OK) { priority = param.sched_priority; } @@ -348,11 +362,9 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr, /* Initialize the task control block */ - status = task_schedsetup(ptcb, priority, pthread_start, - (main_t)start_routine); - if (status != OK) + ret = task_schedsetup(ptcb, priority, pthread_start, (main_t)start_routine); + if (ret != OK) { - sched_releasetcb(ptcb); sched_free(pjoin); return EBUSY; @@ -390,21 +402,21 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr, /* Initialize the semaphores in the join structure to zero. */ - status = sem_init(&pjoin->data_sem, 0, 0); - if (status == OK) + ret = sem_init(&pjoin->data_sem, 0, 0); + if (ret == OK) { - status = sem_init(&pjoin->exit_sem, 0, 0); + ret = sem_init(&pjoin->exit_sem, 0, 0); } /* Activate the task */ sched_lock(); - if (status == OK) + if (ret == OK) { - status = task_activate(ptcb); + ret = task_activate(ptcb); } - if (status == OK) + if (ret == OK) { /* Wait for the task to actually get running and to register * its join_t @@ -414,8 +426,15 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr, /* Return the thread information to the caller */ - if (thread) *thread = (pthread_t)pid; - if (!pjoin->started) status = ERROR; + if (thread) + { + *thread = (pthread_t)pid; + } + + if (!pjoin->started) + { + ret = EINVAL; + } sched_unlock(); (void)sem_destroy(&pjoin->data_sem); @@ -428,8 +447,8 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr, (void)sem_destroy(&pjoin->exit_sem); sched_releasetcb(ptcb); sched_free(pjoin); - return EIO; + ret = EIO; } - return OK; + return ret; } diff --git a/nuttx/sched/sched_releasetcb.c b/nuttx/sched/sched_releasetcb.c index 21837262d..0557c829b 100644 --- a/nuttx/sched/sched_releasetcb.c +++ b/nuttx/sched/sched_releasetcb.c @@ -171,6 +171,12 @@ int sched_releasetcb(FAR _TCB *tcb) (void)env_release(tcb); + /* Release this thread's reference to the address environment */ + +#ifdef CONFIG_ADDRENV + ret = up_addrenv_release(tcb); +#endif + /* And, finally, release the TCB itself */ sched_free(tcb); diff --git a/nuttx/sched/task_exithook.c b/nuttx/sched/task_exithook.c index e94476f2a..004d09e20 100644 --- a/nuttx/sched/task_exithook.c +++ b/nuttx/sched/task_exithook.c @@ -126,6 +126,7 @@ static inline void task_atexit(FAR _TCB *tcb) tcb->atexitfunc = NULL; } #endif +} #else # define task_atexit(tcb) #endif diff --git a/nuttx/sched/work_thread.c b/nuttx/sched/work_thread.c index abd86f771..5646b06a1 100644 --- a/nuttx/sched/work_thread.c +++ b/nuttx/sched/work_thread.c @@ -208,10 +208,10 @@ int work_hpthread(int argc, char *argv[]) * that were queued because they could not be freed in that execution * context (for example, if the memory was freed from an interrupt handler). * NOTE: If the work thread is disabled, this clean-up is performed by - * the IDLE thread (at a very, very lower priority). + * the IDLE thread (at a very, very low priority). */ -#ifdef CONFIG_SCHED_LPWORK +#ifndef CONFIG_SCHED_LPWORK sched_garbagecollection(); #endif @@ -236,7 +236,7 @@ int work_lpthread(int argc, char *argv[]) * that were queued because they could not be freed in that execution * context (for example, if the memory was freed from an interrupt handler). * NOTE: If the work thread is disabled, this clean-up is performed by - * the IDLE thread (at a very, very lower priority). + * the IDLE thread (at a very, very low priority). */ sched_garbagecollection(); |