struct thread *thread_init_stack(void *stack, size_t stack_sz,
int priority, void *(*run)(void *), void *arg) {
struct thread *thread = stack; /* Allocating at the bottom */
/* Stack setting up */
thread_stack_init(thread, stack_sz);
/* General initialization and task setting up */
thread_init(thread, priority, run, arg);
return thread;
}
struct thread *thread_alloc(void) {
thread_pool_entry_t *block;
struct thread *t;
if (!(block = (thread_pool_entry_t *) pool_alloc(&thread_pool))) {
return NULL;
}
memset(block, 0x53, sizeof(*block));
t = &block->thread;
thread_stack_init(t, STACK_SZ);
return t;
}
kernel_pid_t thread_create(char *stack, int stacksize, char priority, int flags, void *(*function)(void *arg), void *arg, const char *name)
{
/* allocate our thread control block at the top of our stackspace */
#ifdef DEVELHELP
int total_stacksize = stacksize;
#endif
stacksize -= sizeof(tcb_t);
/* align tcb address on 32bit boundary */
unsigned int tcb_address = (unsigned int) stack + stacksize;
if (tcb_address & 1) {
tcb_address--;
stacksize--;
}
if (tcb_address & 2) {
tcb_address -= 2;
stacksize -= 2;
}
tcb_t *cb = (tcb_t *) tcb_address;
if (priority >= SCHED_PRIO_LEVELS) {
return -EINVAL;
}
#ifdef DEVELHELP
if (flags & CREATE_STACKTEST) {
/* assign each int of the stack the value of it's address */
unsigned int *stackmax = (unsigned int *)((char *)stack + stacksize);
unsigned int *stackp = (unsigned int *)stack;
while (stackp < stackmax) {
*stackp = (unsigned int)stackp;
stackp++;
}
}
else {
/* create stack guard */
*stack = (unsigned int)stack;
}
#endif
if (!inISR()) {
dINT();
}
kernel_pid_t pid = KERNEL_PID_UNDEF;
for (kernel_pid_t i = KERNEL_PID_FIRST; i <= KERNEL_PID_LAST; ++i) {
if (sched_threads[i] == NULL) {
pid = i;
break;
}
}
if (pid == KERNEL_PID_UNDEF) {
DEBUG("thread_create(): too many threads!\n");
if (!inISR()) {
eINT();
}
return -EOVERFLOW;
}
sched_threads[pid] = cb;
cb->pid = pid;
cb->sp = thread_stack_init(function, arg, stack, stacksize);
cb->stack_start = stack;
#ifdef DEVELHELP
cb->stack_size = total_stacksize;
#endif
cb->priority = priority;
cb->status = 0;
cb->rq_entry.next = NULL;
cb->rq_entry.prev = NULL;
cb->name = name;
cb->wait_data = NULL;
cb->msg_waiters.first = NULL;
cib_init(&(cb->msg_queue), 0);
cb->msg_array = NULL;
sched_num_threads++;
DEBUG("Created thread %s. PID: %" PRIkernel_pid ". Priority: %u.\n", name, cb->pid, priority);
if (flags & CREATE_SLEEPING) {
sched_set_status(cb, STATUS_SLEEPING);
}
else {
sched_set_status(cb, STATUS_PENDING);
if (!(flags & CREATE_WOUT_YIELD)) {
if (!inISR()) {
eINT();
thread_yield();
}
else {
sched_context_switch_request = 1;
}
}
}
if (!inISR() && sched_active_thread != NULL) {
eINT();
}
return pid;
}
