ER_UINT
can_wup(ID tskid)
{
TCB *p_tcb;
ER_UINT ercd;
LOG_CAN_WUP_ENTER(tskid);
CHECK_TSKCTX_UNL();
if (tskid == TSK_SELF) {
p_tcb = p_runtsk;
}
else {
CHECK_ID(VALID_TSKID(tskid));
p_tcb = get_tcb(tskid);
}
CHECK_NOSPT((p_tcb->p_tinib->tskatr & TA_RSTR) == 0U); /*［NGKI1279］*/
lock_cpu();
if (TSTAT_DORMANT(p_tcb->tstat)) {
ercd = E_OBJ;
}
else {
ercd = p_tcb->wupque ? 1 : 0;
p_tcb->wupque = false;
}
unlock_cpu();
error_exit:
LOG_CAN_WUP_LEAVE(ercd);
return(ercd);
}
ER
sus_tsk(ID tskid)
{
TCB *p_tcb;
ER ercd;
LOG_SUS_TSK_ENTER(tskid);
CHECK_TSKCTX_UNL(); /*［NGKI1299］［NGKI1300］*/
if (tskid == TSK_SELF) {
p_tcb = p_runtsk; /*［NGKI1310］*/
}
else {
CHECK_ID(VALID_TSKID(tskid)); /*［NGKI1302］*/
p_tcb = get_tcb(tskid);
}
CHECK_NOSPT((p_tcb->p_tinib->tskatr & TA_RSTR) == 0U); /*［NGKI1301］*/
lock_cpu();
if (p_tcb == p_runtsk && !dspflg) { /*［NGKI1311］［NGKI3604］*/
ercd = E_CTX;
}
else if (TSTAT_DORMANT(p_tcb->tstat)) {
ercd = E_OBJ; /*［NGKI1305］*/
}
else if (p_tcb->raster) {
ercd = E_RASTER; /*［NGKI3605］*/
}
else if (TSTAT_RUNNABLE(p_tcb->tstat)) {
/*
* 実行できる状態から強制待ち状態への遷移［NGKI1307］
*/
p_tcb->tstat = TS_SUSPENDED;
LOG_TSKSTAT(p_tcb);
make_non_runnable(p_tcb);
if (p_runtsk != p_schedtsk) {
dispatch();
}
ercd = E_OK;
}
else if (TSTAT_SUSPENDED(p_tcb->tstat)) {
ercd = E_QOVR; /*［NGKI1306］*/
}
else {
/*
* 待ち状態から二重待ち状態への遷移［NGKI1308］
*/
p_tcb->tstat |= TS_SUSPENDED;
LOG_TSKSTAT(p_tcb);
ercd = E_OK;
}
unlock_cpu();
error_exit:
LOG_SUS_TSK_LEAVE(ercd);
return(ercd);
}
ER
wup_tsk(ID tskid)
{
TCB *p_tcb;
ER ercd;
LOG_WUP_TSK_ENTER(tskid);
CHECK_UNL();
if (tskid == TSK_SELF && !sense_context()) {
p_tcb = p_runtsk;
}
else {
CHECK_ID(VALID_TSKID(tskid));
p_tcb = get_tcb(tskid);
}
CHECK_NOSPT((p_tcb->p_tinib->tskatr & TA_RSTR) == 0U); /*［NGKI1266］*/
lock_cpu();
if (TSTAT_DORMANT(p_tcb->tstat)) {
ercd = E_OBJ;
}
else if (TSTAT_WAIT_SLP(p_tcb->tstat)) {
wait_complete(p_tcb);
if (p_runtsk != p_schedtsk) {
if (!sense_context()) {
dispatch();
}
else {
request_dispatch();
}
}
ercd = E_OK;
}
else if (!(p_tcb->wupque)) {
p_tcb->wupque = true;
ercd = E_OK;
}
else {
ercd = E_QOVR;
}
unlock_cpu();
error_exit:
LOG_WUP_TSK_LEAVE(ercd);
return(ercd);
}
ER
rsm_tsk(ID tskid)
{
TCB *p_tcb;
ER ercd;
LOG_RSM_TSK_ENTER(tskid);
CHECK_TSKCTX_UNL();
CHECK_ID(VALID_TSKID(tskid));
p_tcb = get_tcb(tskid);
CHECK_NOSPT((p_tcb->p_tinib->tskatr & TA_RSTR) == 0U); /*［NGKI1315］*/
lock_cpu();
if (!TSTAT_SUSPENDED(p_tcb->tstat)) {
ercd = E_OBJ;
}
else if (!TSTAT_WAITING(p_tcb->tstat)) {
/*
* 強制待ち状態から実行できる状態への遷移
*/
p_tcb->tstat = TS_RUNNABLE;
LOG_TSKSTAT(p_tcb);
make_runnable(p_tcb);
if (p_runtsk != p_schedtsk) {
dispatch();
}
ercd = E_OK;
}
else {
/*
* 二重待ち状態から待ち状態への遷移
*/
p_tcb->tstat &= ~TS_SUSPENDED;
LOG_TSKSTAT(p_tcb);
ercd = E_OK;
}
unlock_cpu();
error_exit:
LOG_RSM_TSK_LEAVE(ercd);
return(ercd);
}
ER
rel_wai(ID tskid)
{
TCB *p_tcb;
ER ercd;
LOG_REL_WAI_ENTER(tskid);
CHECK_UNL();
CHECK_ID(VALID_TSKID(tskid));
p_tcb = get_tcb(tskid);
CHECK_NOSPT((p_tcb->p_tinib->tskatr & TA_RSTR) == 0U); /*［NGKI1291］*/
lock_cpu();
if (!TSTAT_WAITING(p_tcb->tstat)) {
ercd = E_OBJ;
}
else {
wait_dequeue_wobj(p_tcb);
wait_dequeue_tmevtb(p_tcb);
p_tcb->p_winfo->wercd = E_RLWAI;
make_non_wait(p_tcb);
if (p_runtsk != p_schedtsk) {
if (!sense_context()) {
dispatch();
}
else {
request_dispatch();
}
}
ercd = E_OK;
}
unlock_cpu();
error_exit:
LOG_REL_WAI_LEAVE(ercd);
return(ercd);
}
/*
* Create task
*/
SYSCALL ID _tk_cre_tsk P1( CONST T_CTSK *pk_ctsk )
{
#if CHK_RSATR
const ATR VALID_TSKATR = { /* Valid value of task attribute */
TA_HLNG
|TA_SSTKSZ
|TA_USERSTACK
|TA_TASKSPACE
|TA_RESID
|TA_RNG3
|TA_FPU
|TA_COP0
|TA_COP1
|TA_COP2
|TA_COP3
|TA_GP
#if USE_OBJECT_NAME
|TA_DSNAME
#endif
};
#endif
TCB *tcb;
INT stksz, sstksz, sysmode, resid;
void *stack = NULL, *sstack;
ER ercd;
CHECK_RSATR(pk_ctsk->tskatr, VALID_TSKATR);
CHECK_PRI(pk_ctsk->itskpri);
CHECK_NOCOP(pk_ctsk->tskatr);
#if USE_SINGLE_STACK
CHECK_NOSPT((pk_ctsk->tskatr & TA_USERSTACK) == 0);
#endif
#if CHK_PAR
if ( (pk_ctsk->tskatr & TA_USERSTACK) != 0 ) {
CHECK_PAR((pk_ctsk->tskatr & TA_RNG3) != TA_RNG0);
CHECK_PAR(pk_ctsk->stksz == 0);
} else {
CHECK_PAR(pk_ctsk->stksz >= 0);
}
if ( (pk_ctsk->tskatr & TA_TASKSPACE) != 0 ) {
CHECK_PAR(pk_ctsk->lsid >= 0 && pk_ctsk->lsid <= MAX_LSID);
}
#endif
if ( (pk_ctsk->tskatr & TA_RESID) != 0 ) {
CHECK_RESID(pk_ctsk->resid);
resid = pk_ctsk->resid;
} else {
resid = SYS_RESID; /* System resource group */
}
if ( (pk_ctsk->tskatr & TA_SSTKSZ) != 0 ) {
CHECK_PAR(pk_ctsk->sstksz >= MIN_SYS_STACK_SIZE);
sstksz = pk_ctsk->sstksz;
} else {
sstksz = default_sstksz;
}
if ( (pk_ctsk->tskatr & TA_RNG3) == TA_RNG0 ) {
sysmode = 1;
sstksz += pk_ctsk->stksz;
stksz = 0;
} else {
sysmode = 0;
#if USE_SINGLE_STACK
sstksz += pk_ctsk->stksz;
stksz = 0;
#else
stksz = pk_ctsk->stksz;
#endif
}
/* Adjust stack size by 8 bytes */
sstksz = (sstksz + 7) / 8 * 8;
stksz = (stksz + 7) / 8 * 8;
/* Allocate system stack area */
sstack = IAmalloc((UINT)sstksz, TA_RNG0);
if ( sstack == NULL ) {
return E_NOMEM;
}
if ( stksz > 0 ) {
/* Allocate user stack area */
stack = IAmalloc((UINT)stksz, pk_ctsk->tskatr);
if ( stack == NULL ) {
IAfree(sstack, TA_RNG0);
return E_NOMEM;
}
}
BEGIN_CRITICAL_SECTION;
/* Get control block from FreeQue */
tcb = (TCB*)QueRemoveNext(&free_tcb);
if ( tcb == NULL ) {
ercd = E_LIMIT;
goto error_exit;
}
/* Initialize control block */
tcb->exinf = pk_ctsk->exinf;
tcb->tskatr = pk_ctsk->tskatr;
tcb->task = pk_ctsk->task;
tcb->ipriority = (UB)int_priority(pk_ctsk->itskpri);
tcb->resid = resid;
tcb->stksz = stksz;
tcb->sstksz = sstksz;
#if USE_OBJECT_NAME
if ( (pk_ctsk->tskatr & TA_DSNAME) != 0 ) {
STRNCPY((char*)tcb->name, (char*)pk_ctsk->dsname, OBJECT_NAME_LENGTH);
}
#endif
#if TA_GP
/* Set global pointer */
if ( (pk_ctsk->tskatr & TA_GP) != 0 ) {
gp = pk_ctsk->gp;
}
tcb->gp = gp;
#endif
/* Set stack pointer */
if ( stksz > 0 ) {
tcb->istack = (VB*)stack + stksz;
} else {
tcb->istack = pk_ctsk->stkptr;
}
tcb->isstack = (VB*)sstack + sstksz - RESERVE_SSTACK(tcb->tskatr);
/* Set initial value of task operation mode */
tcb->isysmode = (B)sysmode;
tcb->sysmode = (H)sysmode;
/* Set initial value of task space */
if ( (pk_ctsk->tskatr & TA_TASKSPACE) != 0 ) {
tcb->tskctxb.uatb = pk_ctsk->uatb;
tcb->tskctxb.lsid = pk_ctsk->lsid;
} else {
tcb->tskctxb.uatb = NULL;
tcb->tskctxb.lsid = 0; /* Task Space */
}
/* make it to DORMANT state */
make_dormant(tcb);
ercd = tcb->tskid;
error_exit:
END_CRITICAL_SECTION;
if ( ercd < E_OK ) {
IAfree(sstack, TA_RNG0);
if ( stksz > 0 ) {
IAfree(stack, pk_ctsk->tskatr);
}
}
return ercd;
}
ER_UINT
acre_tsk(const T_CTSK *pk_ctsk)
{
ID domid;
const DOMINIB *p_dominib;
TCB *p_tcb;
TINIB *p_tinib;
ATR tskatr;
SIZE sstksz, ustksz;
void *sstk, *ustk;
ACPTN acptn;
ER ercd;
LOG_ACRE_TSK_ENTER(pk_ctsk);
CHECK_TSKCTX_UNL();
CHECK_MACV_READ(pk_ctsk, T_CTSK);
CHECK_RSATR(pk_ctsk->tskatr, TA_ACT|TARGET_TSKATR|TA_DOMMASK);
domid = get_atrdomid(pk_ctsk->tskatr);
CHECK_ATRDOMID_ACTIVE(domid);
CHECK_ALIGN_FUNC(pk_ctsk->task);
CHECK_NONNULL_FUNC(pk_ctsk->task);
CHECK_TPRI(pk_ctsk->itskpri);
p_dominib = (domid == TDOM_SELF) ? p_runtsk->p_tinib->p_dominib
: (domid == TDOM_KERNEL) ? &dominib_kernel : get_dominib(domid);
if (p_dominib == &dominib_kernel) {
/*
* システムタスクの場合
*/
ustksz = 0U;
ustk = NULL;
CHECK_PAR(pk_ctsk->sstk == NULL);
CHECK_PAR(pk_ctsk->stksz > 0U);
sstksz = pk_ctsk->stksz;
sstk = pk_ctsk->stk;
if (sstk != NULL) {
CHECK_PAR(pk_ctsk->sstksz == 0U);
}
else {
sstksz += pk_ctsk->sstksz;
}
}
else {
/*
* ユーザタスクの場合
*/
ustksz = pk_ctsk->stksz;
ustk = pk_ctsk->stk;
CHECK_PAR(ustksz >= TARGET_MIN_USTKSZ);
CHECK_NOSPT(ustk != NULL);
CHECK_TARGET_USTACK(ustksz, ustk, p_dominib);
sstksz = pk_ctsk->sstksz;
sstk = pk_ctsk->sstk;
}
CHECK_PAR(sstksz >= TARGET_MIN_SSTKSZ);
if (sstk != NULL) {
CHECK_ALIGN_STKSZ(sstksz);
CHECK_ALIGN_STACK(sstk);
}
CHECK_ACPTN(sysstat_acvct.acptn3);
tskatr = pk_ctsk->tskatr;
t_lock_cpu();
if (queue_empty(&free_tcb)) {
ercd = E_NOID;
}
else {
if (sstk == NULL) {
sstk = kernel_malloc(ROUND_STK_T(sstksz));
tskatr |= TA_MEMALLOC;
}
if (sstk == NULL) {
ercd = E_NOMEM;
}
else {
p_tcb = ((TCB *) queue_delete_next(&free_tcb));
p_tinib = (TINIB *)(p_tcb->p_tinib);
p_tinib->p_dominib = p_dominib;
p_tinib->tskatr = tskatr;
p_tinib->exinf = pk_ctsk->exinf;
p_tinib->task = pk_ctsk->task;
p_tinib->ipriority = INT_PRIORITY(pk_ctsk->itskpri);
#ifdef USE_TSKINICTXB
init_tskinictxb(&(p_tinib->tskinictxb), p_dominib,
sstksz, sstk, utsksz, ustk, pk_ctsk);
#else /* USE_TSKINICTXB */
p_tinib->sstksz = sstksz;
p_tinib->sstk = sstk;
p_tinib->ustksz = ustksz;
p_tinib->ustk = ustk;
#endif /* USE_TSKINICTXB */
p_tinib->texatr = TA_NULL;
p_tinib->texrtn = NULL;
acptn = default_acptn(domid);
p_tinib->acvct.acptn1 = acptn;
p_tinib->acvct.acptn2 = acptn;
p_tinib->acvct.acptn3 = acptn | rundom;
p_tinib->acvct.acptn4 = acptn;
p_tcb->actque = false;
make_dormant(p_tcb);
queue_initialize(&(p_tcb->mutex_queue));
if ((p_tcb->p_tinib->tskatr & TA_ACT) != 0U) {
make_active(p_tcb);
}
ercd = TSKID(p_tcb);
}
}
t_unlock_cpu();
error_exit:
LOG_ACRE_TSK_LEAVE(ercd);
return(ercd);
}
