1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
|
/****************************************************************************
* sched/task_create.c
*
* Copyright (C) 2007-2010, 2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <sched.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/arch.h>
#include <nuttx/kmalloc.h>
#include "os_internal.h"
#include "env_internal.h"
/****************************************************************************
* Definitions
****************************************************************************/
/****************************************************************************
* Private Type Declarations
****************************************************************************/
/****************************************************************************
* Global Variables
****************************************************************************/
/****************************************************************************
* Private Variables
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: thread_create
*
* Description:
* This function creates and activates a new thread of the specified type
* with a specified priority and returns its system-assigned ID. It is the
* internal, commn implementation of task_create() and kernel_thread().
* See comments with task_create() for further information.
*
* Input Parameters:
* name - Name of the new task
* ttype - Type of the new task
* priority - Priority of the new task
* stack_size - size (in bytes) of the stack needed
* entry - Entry point of a new task
* arg - A pointer to an array of input parameters. Up to
* CONFIG_MAX_TASK_ARG parameters may be provided. If fewer
* than CONFIG_MAX_TASK_ARG parameters are passed, the list
* should be terminated with a NULL argv[] value. If no
* parameters are required, argv may be NULL.
*
* Return Value:
* Returns the non-zero process ID of the new task or ERROR if memory is
* insufficient or the task cannot be created. The errno will be set to
* indicate the nature of the error (always ENOMEM).
*
****************************************************************************/
#ifndef CONFIG_CUSTOM_STACK
static int thread_create(const char *name, uint8_t ttype, int priority,
int stack_size, main_t entry, const char **argv)
#else
static int thread_create(const char *name, uint8_t ttype, int priority,
main_t entry, const char **argv)
#endif
{
FAR _TCB *tcb;
pid_t pid;
int errcode;
int ret;
/* Allocate a TCB for the new task. */
tcb = (FAR _TCB*)kzalloc(sizeof(_TCB));
if (!tcb)
{
errcode = ENOMEM;
goto errout;
}
/* Create a new task group */
#ifdef HAVE_TASK_GROUP
ret = group_create(tcb);
if (ret < 0)
{
errcode = -ret;
goto errout_with_tcb;
}
#endif
/* Associate file descriptors with the new task */
#if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0
ret = sched_setuptaskfiles(tcb);
if (ret != OK)
{
errcode = -ret;
goto errout_with_tcb;
}
#endif
/* Clone the parent's task environment */
(void)env_dup(tcb);
/* Allocate the stack for the TCB */
#ifndef CONFIG_CUSTOM_STACK
ret = up_create_stack(tcb, stack_size);
if (ret != OK)
{
errcode = -ret;
goto errout_with_tcb;
}
#endif
/* Initialize the task control block */
ret = task_schedsetup(tcb, priority, task_start, entry, ttype);
if (ret != OK)
{
errcode = -ret;
goto errout_with_tcb;
}
/* Setup to pass parameters to the new task */
(void)task_argsetup(tcb, name, argv);
/* Get the assigned pid before we start the task */
pid = (int)tcb->pid;
/* Activate the task */
ret = task_activate(tcb);
if (ret != OK)
{
errcode = get_errno();
/* The TCB was added to the active task list by task_schedsetup() */
dq_rem((FAR dq_entry_t*)tcb, (dq_queue_t*)&g_inactivetasks);
goto errout_with_tcb;
}
return pid;
errout_with_tcb:
sched_releasetcb(tcb);
errout:
set_errno(errcode);
return ERROR;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: task_create
*
* Description:
* This function creates and activates a new task with a specified
* priority and returns its system-assigned ID.
*
* The entry address entry is the address of the "main" function of the
* task. This function will be called once the C environment has been
* set up. The specified function will be called with four arguments.
* Should the specified routine return, a call to exit() will
* automatically be made.
*
* Note that four (and only four) arguments must be passed for the spawned
* functions.
*
* Input Parameters:
* name - Name of the new task
* priority - Priority of the new task
* stack_size - size (in bytes) of the stack needed
* entry - Entry point of a new task
* arg - A pointer to an array of input parameters. Up to
* CONFIG_MAX_TASK_ARG parameters may be provided. If fewer
* than CONFIG_MAX_TASK_ARG parameters are passed, the list
* should be terminated with a NULL argv[] value. If no
* parameters are required, argv may be NULL.
*
* Return Value:
* Returns the non-zero process ID of the new task or ERROR if memory is
* insufficient or the task cannot be created. The errno will be set to
* indicate the nature of the error (always ENOMEM).
*
****************************************************************************/
#ifndef CONFIG_CUSTOM_STACK
int task_create(const char *name, int priority,
int stack_size, main_t entry, const char *argv[])
#else
int task_create(const char *name, int priority,
main_t entry, const char *argv[])
#endif
{
#ifndef CONFIG_CUSTOM_STACK
return thread_create(name, TCB_FLAG_TTYPE_TASK, priority, stack_size, entry, argv);
#else
return thread_create(name, TCB_FLAG_TTYPE_TASK, priority, entry, argv);
#endif
}
/****************************************************************************
* Name: kernel_thread
*
* Description:
* This function creates and activates a kernel thread task with kernel-
* mode privileges. It is identical to task_create() except that it
* configures the newly started thread to run in kernel model.
*
* Input Parameters:
* (same as task_create())
*
* Return Value:
* (same as task_create())
*
****************************************************************************/
#ifndef CONFIG_CUSTOM_STACK
int kernel_thread(const char *name, int priority,
int stack_size, main_t entry, const char *argv[])
#else
int kernel_thread(const char *name, int priority,
main_t entry, const char *argv[])
#endif
{
#ifndef CONFIG_CUSTOM_STACK
return thread_create(name, TCB_FLAG_TTYPE_KERNEL, priority, stack_size, entry, argv);
#else
return thread_create(name, TCB_FLAG_TTYPE_KERNEL, priority, entry, argv);
#endif
}
|