/*****************************************************************************
Function : VOS_CreateTask
Description: create task with default task mode:
VOS_T_PREEMPT | VOS_T_NO_TSLICE | VOS_T_SUPV
Input : puchName -- name identify task
pfnFunc -- task entry function
ulPriority -- task priority
ulStackSize -- task stack size
aulArgs[VOS_TARG_NUM] -- arguments for task
Output : pulTaskID -- task id allocated by dopra
Return : result of VOS_CreateTaskEx
*****************************************************************************/
VOS_UINT32 VOS_CreateTask( VOS_CHAR * puchName,
VOS_UINT32 * pulTaskID,
VOS_TASK_ENTRY_TYPE pfnFunc,
VOS_UINT32 ulPriority,
VOS_UINT32 ulStackSize,
VOS_UINT32 aulArgs[VOS_TARG_NUM] )
{
int i;
VOS_UINT32 iTid;
pid_t ThreadID;
VOS_CHAR default_name[8] = {0};
VOS_UCHAR value;
struct task_struct *tsk;
struct sched_param param;
iTid = VOS_TaskCtrlBlkGet();
if( iTid == (VOS_UINT32)VOS_TASK_CTRL_BLK_NULL )
{
VOS_TaskPrintCtrlBlkInfo();
DRV_SYSTEM_ERROR(OSA_ALLOC_TASK_CONTROL_ERROR, (VOS_INT)vos_TaskCtrlBlkNumber, (VOS_INT)pfnFunc, VOS_NULL_PTR, 0);
VOS_SetErrorNo(VOS_ERRNO_TASK_CREATE_NOFREETCB);
return( VOS_ERRNO_TASK_CREATE_NOFREETCB );
}
/* caller not use name asign a default name */
if ( VOS_NULL_PTR == puchName )
{
default_name[0]= 't';
default_name[1]= 'i';
default_name[2]= 'd';
default_name[3] = (VOS_CHAR)(48 + iTid/100);
value = (VOS_UCHAR)(iTid%100);
default_name[4] = (VOS_CHAR)(48 + value/10);
default_name[5] = (VOS_CHAR)(48 + value%10);
default_name[6]= '\0';
}
*pulTaskID = iTid;
if ( VOS_NULL_PTR != puchName )
{
for(i=0; i<VOS_MAX_LENGTH_TASK_NAME; i++)
{
vos_TaskCtrlBlk[iTid].Name[i]= puchName[i];
}
vos_TaskCtrlBlk[iTid].Name[i-1] = '\0';
}
else
{
vos_TaskCtrlBlk[iTid].Name[0] = default_name[0];
vos_TaskCtrlBlk[iTid].Name[1] = default_name[1];
vos_TaskCtrlBlk[iTid].Name[2] = default_name[2];
vos_TaskCtrlBlk[iTid].Name[3] = default_name[3];
vos_TaskCtrlBlk[iTid].Name[4] = default_name[4];
vos_TaskCtrlBlk[iTid].Name[5] = default_name[5];
vos_TaskCtrlBlk[iTid].Name[6] = default_name[6];
}
vos_TaskCtrlBlk[iTid].Function = pfnFunc;
vos_TaskCtrlBlk[iTid].Priority = ulPriority;
vos_TaskCtrlBlk[iTid].StackSize = ulStackSize;
for ( i=0; i<VOS_TARG_NUM; i++ )
{
vos_TaskCtrlBlk[iTid].Args[i] = aulArgs[i];
}
ThreadID = kernel_thread( (LINUX_START_ROUTINE)VOS_LinuxTaskEntry,
( VOS_VOID * )&(vos_TaskCtrlBlk[iTid]), CLONE_KERNEL);
if (ThreadID < VOS_NULL)
{
VOS_TaskPrintCtrlBlkInfo();
DRV_SYSTEM_ERROR(OSA_CREATE_TASK_ERROR, (VOS_INT)ThreadID, (VOS_INT)iTid, VOS_NULL_PTR, 0);
VOS_TaskCtrlBlkFree(iTid);
VOS_SetErrorNo(VOS_ERRNO_TASK_CREATE_OSALCREATEFAIL);
return( VOS_ERRNO_TASK_CREATE_OSALCREATEFAIL );
}
vos_TaskCtrlBlk[iTid].ulLinuxThreadId = ThreadID;
tsk = pid_task(find_vpid(ThreadID), PIDTYPE_PID);
if ( VOS_NULL_PTR == tsk )
{
VOS_TaskPrintCtrlBlkInfo();
DRV_SYSTEM_ERROR(OSA_FIND_TASK_ERROR, (VOS_INT)ThreadID, (VOS_INT)iTid, VOS_NULL_PTR, 0);
return VOS_ERR;
}
if ( tsk->pid != ThreadID )
{
vos_printf("find task to set pri fail.\r\n");
VOS_TaskPrintCtrlBlkInfo();
DRV_SYSTEM_ERROR(OSA_FIND_TASK_PARA_ERROR, (VOS_INT)ThreadID, (VOS_INT)iTid, (VOS_CHAR *)tsk, sizeof(struct task_struct));
return VOS_ERR;
}
param.sched_priority = ulPriority;
if (VOS_NULL != sched_setscheduler(tsk, SCHED_FIFO, ¶m))
{
vos_printf("\r\nVOS_CreateTask: Creat Task %s ID %d sched_setscheduler Error", puchName, iTid);
VOS_TaskPrintCtrlBlkInfo();
DRV_SYSTEM_ERROR(OSA_SET_TASK_PRI_ERROR, (VOS_INT)ulPriority, (VOS_INT)iTid, (VOS_CHAR *)tsk, sizeof(struct task_struct));
return VOS_ERR;
}
return VOS_OK;
}
/*****************************************************************************
Function : VOS_CreateTask
Description: create task with default task mode:
VOS_T_PREEMPT | VOS_T_NO_TSLICE | VOS_T_SUPV
Input : puchName -- name identify task
pfnFunc -- task entry function
ulPriority -- task priority
ulStackSize -- task stack size
aulArgs[VOS_TARG_NUM] -- arguments for task
Output : pulTaskID -- task id allocated by dopra
Return : result of VOS_CreateTaskEx
*****************************************************************************/
VOS_UINT32 VOS_CreateTask( VOS_CHAR * puchName,
VOS_UINT32 * pulTaskID,
VOS_TASK_ENTRY_TYPE pfnFunc,
VOS_UINT32 ulPriority,
VOS_UINT32 ulStackSize,
VOS_UINT32 aulArgs[VOS_TARG_NUM] )
{
int i;
VOS_UINT32 iTid;
VOS_CHAR default_name[8];
VOS_UCHAR value;
VOS_VOID *pStackStartAddress;
iTid = VOS_TaskCtrlBlkGet();
if( iTid == (VOS_UINT32)VOS_TASK_CTRL_BLK_NULL )
{
VOS_SetErrorNo(VOS_ERRNO_TASK_CREATE_NOFREETCB);
return( VOS_ERRNO_TASK_CREATE_NOFREETCB );
}
/* caller not use name asign a default name */
if ( VOS_NULL_PTR == puchName )
{
default_name[0]= 't';
default_name[1]= 'i';
default_name[2]= 'd';
default_name[3] = (VOS_CHAR)(48 + iTid/100);
value = (VOS_UCHAR)(iTid%100);
default_name[4] = (VOS_CHAR)(48 + value/10);
default_name[5] = (VOS_CHAR)(48 + value%10);
default_name[6]= '\0';
/*lint -e534*/
VOS_MemCpy(vos_TaskCtrlBlk[iTid].Name, default_name, 7);
/*lint +e534*/
}
else
{
for(i=0; i<VOS_MAX_LENGTH_TASK_NAME; i++)
{
vos_TaskCtrlBlk[iTid].Name[i]= puchName[i];
}
vos_TaskCtrlBlk[iTid].Name[i-1] = '\0';
}
pStackStartAddress = NU_StackMalloc(ulStackSize);
if ( VOS_NULL_PTR == pStackStartAddress )
{
VOS_TaskCtrlBlkFree(iTid);
VOS_SetErrorNo(VOS_ERRNO_TASK_CREATE_OSALCREATEFAIL);
return( VOS_ERRNO_TASK_CREATE_OSALCREATEFAIL );
}
vos_TaskCtrlBlk[iTid].Function = pfnFunc;
vos_TaskCtrlBlk[iTid].Priority = ulPriority;
vos_TaskCtrlBlk[iTid].StackSize = ulStackSize;
for ( i=0; i<VOS_TARG_NUM; i++ )
{
vos_TaskCtrlBlk[iTid].Args[i] = aulArgs[i];
}
if ( NU_SUCCESS
!= NU_Create_Task(&(vos_TaskCtrlBlk[iTid].NuTid), vos_TaskCtrlBlk[iTid].Name,
VOS_NucleusTaskEntry, (VOS_UINT32)(&(vos_TaskCtrlBlk[iTid])),
VOS_NULL_PTR, pStackStartAddress, ulStackSize, ulPriority, 0,
NU_PREEMPT, NU_START) )
{
NU_StackFree(pStackStartAddress);
VOS_TaskCtrlBlkFree(iTid);
VOS_SetErrorNo(VOS_ERRNO_TASK_CREATE_OSALCREATEFAIL);
return( VOS_ERRNO_TASK_CREATE_OSALCREATEFAIL );
}
*pulTaskID = iTid;
return VOS_OK;
}
