static void task_softint(void *arg)
{
UVAR_t intno = (UVAR_t) arg;
JIF_t now, exptime;
UVAR_t c;
c = 0;
now = jiffies;
for (;;)
{
/* do busy waiting for 1 2/3 seconds */
exptime = now + HZ + (2*HZ / 3);
do
{
now = jiffies;
}
while (!POS_TIMEAFTER(now, exptime));
/* rise software interrupt every 1.67 seconds */
posSoftInt(intno, 6);
c++;
if (c == 2)
{
posTaskYield();
}
if (c == 3)
{
posTaskSleep(1);
c = 0;
}
}
}
static void pollTask(void *arg) {
uint8_t *valuePtr = (uint8_t*) arg;
uint8_t value = *valuePtr;
for (;;) {
PORTB = value;
posTaskYield();
}
}
NOSTASK_t POSCALL nosTaskCreate(POSTASKFUNC_t funcptr, void *funcarg,
VAR_t priority, UINT_t stacksize,
const char* name)
{
POSTASK_t task;
#if NOSCFG_FEATURE_REGISTRY != 0
REGELEM_t re;
#endif
#if POSCFG_TASKSTACKTYPE == 0
void *stk;
#endif
#if NOSCFG_FEATURE_REGISTRY != 0
re = nos_regNewSysKey(REGTYPE_TASK,
name == NULL ? (const char*)"t*" : name);
if (re == NULL)
return NULL;
#else
(void) name;
#endif
/*===============================================*/
#if POSCFG_TASKSTACKTYPE == 0
if (stacksize == 0)
stacksize = NOSCFG_DEFAULT_STACKSIZE;
task = NULL;
stk = nosMemAlloc(NOSCFG_STKMEM_RESERVE + stacksize);
if (stk != NULL)
{
posTaskSchedLock();
#if NOSCFG_STACK_GROWS_UP == 0
task = posTaskCreate(funcptr, funcarg, priority,
(void*) (((MEMPTR_t)stk) + stacksize -
(NOSCFG_STKMEM_RESERVE + 1)));
#else
task = posTaskCreate(funcptr, funcarg, priority,
(void*) (((MEMPTR_t)stk) + NOSCFG_STKMEM_RESERVE));
#endif
if (task != NULL)
{
task->nosstkroot = stk;
task->exithook = nos_taskExitHook;
#if NOSCFG_FEATURE_REGISTRY != 0
nos_regEnableSysKey(re, task);
POS_SETTASKNAME(task, re->name);
#else
POS_SETTASKNAME(task, name);
#endif
}
posTaskSchedUnlock();
#if POSCFG_FEATURE_SLEEP != 0
posTaskSleep(0);
#elif POSCFG_FEATURE_YIELD != 0
posTaskYield();
#endif
}
/*-----------------------------------------------*/
#elif POSCFG_TASKSTACKTYPE == 1
if (stacksize == 0)
stacksize = NOSCFG_DEFAULT_STACKSIZE;
#if NOSCFG_FEATURE_REGISTRY != 0
posTaskSchedLock();
#endif
task = posTaskCreate(funcptr, funcarg, priority, stacksize);
#if NOSCFG_FEATURE_REGISTRY != 0
if (task != NULL)
{
task->exithook = nos_taskExitHook;
nos_regEnableSysKey(re, task);
POS_SETTASKNAME(task, re->name);
}
posTaskSchedUnlock();
#else
POS_SETTASKNAME(task, name);
#endif
/*-----------------------------------------------*/
#elif POSCFG_TASKSTACKTYPE == 2
#if NOSCFG_FEATURE_REGISTRY != 0
posTaskSchedLock();
#endif
(void) stacksize;
task = posTaskCreate(funcptr, funcarg, priority);
#if NOSCFG_FEATURE_REGISTRY != 0
if (task != NULL)
{
task->exithook = nos_taskExitHook;
nos_regEnableSysKey(re, task);
POS_SETTASKNAME(task, re->name);
}
posTaskSchedUnlock();
#else
POS_SETTASKNAME(task, name);
#endif
#endif /* POSCFG_TASKSTACKTYPE == 2 */
/*===============================================*/
#if NOSCFG_FEATURE_REGISTRY != 0
if (task == NULL)
{
nos_regDelSysKey(REGTYPE_TASK, NULL, re);
}
#endif
return (POSTASK_t) task;
}
