OS_RESULT rt_tsk_delete (OS_TID task_id) { /* Terminate the task identified with "task_id". */ P_TCB task_context; if (task_id == 0 || task_id == os_tsk.run->task_id) { /* Terminate itself. */ os_tsk.run->state = INACTIVE; os_tsk.run->tsk_stack = rt_get_PSP (); rt_stk_check (); os_active_TCB[os_tsk.run->task_id-1] = NULL; os_tsk.run->stack = NULL; DBG_TASK_NOTIFY(os_tsk.run, __FALSE); os_tsk.run = NULL; rt_dispatch (NULL); /* The program should never come to this point. */ } else { /* Find the task in the "os_active_TCB" array. */ if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) { /* Task with "task_id" not found or not started. */ return (OS_R_NOK); } task_context = os_active_TCB[task_id-1]; rt_rmv_list (task_context); rt_rmv_dly (task_context); os_active_TCB[task_id-1] = NULL; task_context->stack = NULL; DBG_TASK_NOTIFY(task_context, __FALSE); } return (OS_R_OK); }
OS_TID rt_tsk_create (FUNCP task, U32 prio_stksz, void *stk, void *argv) { /* Start a new task declared with "task". */ P_TCB task_context; U32 i; /* Priority 0 is reserved for idle task! */ if ((prio_stksz & 0xFFU) == 0U) { prio_stksz += 1U; } task_context = rt_alloc_box (mp_tcb); if (task_context == NULL) { return (0U); } /* If "size != 0" use a private user provided stack. */ task_context->stack = stk; task_context->priv_stack = (U16)(prio_stksz >> 8); /* Find a free entry in 'os_active_TCB' table. */ i = rt_get_TID (); if (i == 0U) { return (0U); } task_context->task_id = (U8)i; /* Pass parameter 'argv' to 'rt_init_context' */ task_context->msg = argv; task_context->argv = argv; /* For 'size == 0' system allocates the user stack from the memory pool. */ rt_init_context (task_context, (U8)(prio_stksz & 0xFFU), task); os_active_TCB[i-1U] = task_context; DBG_TASK_NOTIFY(task_context, __TRUE); rt_dispatch (task_context); return ((OS_TID)i); }
OS_RESULT rt_tsk_delete (OS_TID task_id) { /* Terminate the task identified with "task_id". */ P_TCB task_context; P_TCB p_TCB; P_MUCB p_MCB, p_MCB0; if ((task_id == 0U) || (task_id == os_tsk.run->task_id)) { /* Terminate itself. */ os_tsk.run->state = INACTIVE; os_tsk.run->tsk_stack = rt_get_PSP (); rt_stk_check (); p_MCB = os_tsk.run->p_mlnk; while (p_MCB) { /* Release mutexes owned by this task */ if (p_MCB->p_lnk) { /* A task is waiting for mutex. */ p_TCB = rt_get_first ((P_XCB)p_MCB); #ifdef __CMSIS_RTOS rt_ret_val (p_TCB, 0U/*osOK*/); #else rt_ret_val (p_TCB, OS_R_MUT); #endif rt_rmv_dly (p_TCB); p_TCB->state = READY; rt_put_prio (&os_rdy, p_TCB); /* A waiting task becomes the owner of this mutex. */ p_MCB0 = p_MCB->p_mlnk; p_MCB->level = 1U; p_MCB->owner = p_TCB; p_MCB->p_mlnk = p_TCB->p_mlnk; p_TCB->p_mlnk = p_MCB; p_MCB = p_MCB0; } else { p_MCB0 = p_MCB->p_mlnk; p_MCB->level = 0U; p_MCB->owner = NULL; p_MCB->p_mlnk = NULL; p_MCB = p_MCB0; } } os_active_TCB[os_tsk.run->task_id-1U] = NULL; rt_free_box (mp_stk, os_tsk.run->stack); os_tsk.run->stack = NULL; DBG_TASK_NOTIFY(os_tsk.run, __FALSE); rt_free_box (mp_tcb, os_tsk.run); os_tsk.run = NULL; rt_dispatch (NULL); /* The program should never come to this point. */ } else { /* Find the task in the "os_active_TCB" array. */ if ((task_id > os_maxtaskrun) || (os_active_TCB[task_id-1U] == NULL)) { /* Task with "task_id" not found or not started. */ return (OS_R_NOK); } task_context = os_active_TCB[task_id-1U]; rt_rmv_list (task_context); rt_rmv_dly (task_context); p_MCB = task_context->p_mlnk; while (p_MCB) { /* Release mutexes owned by this task */ if (p_MCB->p_lnk) { /* A task is waiting for mutex. */ p_TCB = rt_get_first ((P_XCB)p_MCB); #ifdef __CMSIS_RTOS rt_ret_val (p_TCB, 0U/*osOK*/); #else rt_ret_val (p_TCB, OS_R_MUT); #endif rt_rmv_dly (p_TCB); p_TCB->state = READY; rt_put_prio (&os_rdy, p_TCB); /* A waiting task becomes the owner of this mutex. */ p_MCB0 = p_MCB->p_mlnk; p_MCB->level = 1U; p_MCB->owner = p_TCB; p_MCB->p_mlnk = p_TCB->p_mlnk; p_TCB->p_mlnk = p_MCB; p_MCB = p_MCB0; } else { p_MCB0 = p_MCB->p_mlnk; p_MCB->level = 0U; p_MCB->owner = NULL; p_MCB->p_mlnk = NULL; p_MCB = p_MCB0; } } os_active_TCB[task_id-1U] = NULL; rt_free_box (mp_stk, task_context->stack); task_context->stack = NULL; DBG_TASK_NOTIFY(task_context, __FALSE); rt_free_box (mp_tcb, task_context); if (rt_rdy_prio() > os_tsk.run->prio) { /* Ready task has higher priority than running task. */ os_tsk.run->state = READY; rt_put_prio (&os_rdy, os_tsk.run); rt_dispatch (NULL); } } return (OS_R_OK); }