rtems_status_code rtems_task_create(
rtems_name name,
rtems_task_priority initial_priority,
size_t stack_size,
rtems_mode initial_modes,
rtems_attribute attribute_set,
rtems_id *id
)
{
Thread_Control *the_thread;
bool is_fp;
#if defined(RTEMS_MULTIPROCESSING)
Objects_MP_Control *the_global_object = NULL;
bool is_global;
#endif
bool status;
rtems_attribute the_attribute_set;
Priority_Control core_priority;
RTEMS_API_Control *api;
ASR_Information *asr;
if ( !id )
return RTEMS_INVALID_ADDRESS;
if ( !rtems_is_name_valid( name ) )
return RTEMS_INVALID_NAME;
/*
* Core Thread Initialize insures we get the minimum amount of
* stack space.
*/
/*
* Fix the attribute set to match the attributes which
* this processor (1) requires and (2) is able to support.
* First add in the required flags for attribute_set
* Typically this might include FP if the platform
* or application required all tasks to be fp aware.
* Then turn off the requested bits which are not supported.
*/
the_attribute_set = _Attributes_Set( attribute_set, ATTRIBUTES_REQUIRED );
the_attribute_set =
_Attributes_Clear( the_attribute_set, ATTRIBUTES_NOT_SUPPORTED );
if ( _Attributes_Is_floating_point( the_attribute_set ) )
is_fp = true;
else
is_fp = false;
/*
* Validate the RTEMS API priority and convert it to the core priority range.
*/
if ( !_Attributes_Is_system_task( the_attribute_set ) ) {
if ( !_RTEMS_tasks_Priority_is_valid( initial_priority ) )
return RTEMS_INVALID_PRIORITY;
}
core_priority = _RTEMS_tasks_Priority_to_Core( initial_priority );
#if defined(RTEMS_MULTIPROCESSING)
if ( _Attributes_Is_global( the_attribute_set ) ) {
is_global = true;
if ( !_System_state_Is_multiprocessing )
return RTEMS_MP_NOT_CONFIGURED;
} else
is_global = false;
#endif
/*
* Make sure system is MP if this task is global
*/
/*
* Allocate the thread control block and -- if the task is global --
* allocate a global object control block.
*
* NOTE: This routine does not use the combined allocate and open
* global object routine because this results in a lack of
* control over when memory is allocated and can be freed in
* the event of an error.
*/
the_thread = _RTEMS_tasks_Allocate();
if ( !the_thread ) {
_Objects_Allocator_unlock();
return RTEMS_TOO_MANY;
}
#if defined(RTEMS_MULTIPROCESSING)
if ( is_global ) {
the_global_object = _Objects_MP_Allocate_global_object();
if ( _Objects_MP_Is_null_global_object( the_global_object ) ) {
_RTEMS_tasks_Free( the_thread );
_Objects_Allocator_unlock();
return RTEMS_TOO_MANY;
}
}
#endif
/*
* Initialize the core thread for this task.
*/
status = _Thread_Initialize(
&_RTEMS_tasks_Information,
the_thread,
_Scheduler_Get_by_CPU_index( _SMP_Get_current_processor() ),
NULL,
stack_size,
is_fp,
core_priority,
_Modes_Is_preempt(initial_modes) ? true : false,
_Modes_Is_timeslice(initial_modes) ?
THREAD_CPU_BUDGET_ALGORITHM_RESET_TIMESLICE :
THREAD_CPU_BUDGET_ALGORITHM_NONE,
NULL, /* no budget algorithm callout */
_Modes_Get_interrupt_level(initial_modes),
(Objects_Name) name
);
if ( !status ) {
#if defined(RTEMS_MULTIPROCESSING)
if ( is_global )
_Objects_MP_Free_global_object( the_global_object );
#endif
_RTEMS_tasks_Free( the_thread );
_Objects_Allocator_unlock();
return RTEMS_UNSATISFIED;
}
api = the_thread->API_Extensions[ THREAD_API_RTEMS ];
asr = &api->Signal;
asr->is_enabled = _Modes_Is_asr_disabled(initial_modes) ? false : true;
*id = the_thread->Object.id;
#if defined(RTEMS_MULTIPROCESSING)
the_thread->is_global = is_global;
if ( is_global ) {
_Objects_MP_Open(
&_RTEMS_tasks_Information.Objects,
the_global_object,
name,
the_thread->Object.id
);
_RTEMS_tasks_MP_Send_process_packet(
RTEMS_TASKS_MP_ANNOUNCE_CREATE,
the_thread->Object.id,
name
);
}
#endif
_Objects_Allocator_unlock();
return RTEMS_SUCCESSFUL;
}
rtems_status_code rtems_task_mode(
rtems_mode mode_set,
rtems_mode mask,
rtems_mode *previous_mode_set
)
{
Thread_Control *executing;
RTEMS_API_Control *api;
ASR_Information *asr;
bool is_asr_enabled = false;
bool needs_asr_dispatching = false;
rtems_mode old_mode;
if ( !previous_mode_set )
return RTEMS_INVALID_ADDRESS;
executing = _Thread_Executing;
api = executing->API_Extensions[ THREAD_API_RTEMS ];
asr = &api->Signal;
old_mode = (executing->is_preemptible) ? RTEMS_PREEMPT : RTEMS_NO_PREEMPT;
if ( executing->budget_algorithm == THREAD_CPU_BUDGET_ALGORITHM_NONE )
old_mode |= RTEMS_NO_TIMESLICE;
else
old_mode |= RTEMS_TIMESLICE;
old_mode |= (asr->is_enabled) ? RTEMS_ASR : RTEMS_NO_ASR;
old_mode |= _ISR_Get_level();
*previous_mode_set = old_mode;
/*
* These are generic thread scheduling characteristics.
*/
if ( mask & RTEMS_PREEMPT_MASK )
executing->is_preemptible = _Modes_Is_preempt(mode_set) ? true : false;
if ( mask & RTEMS_TIMESLICE_MASK ) {
if ( _Modes_Is_timeslice(mode_set) ) {
executing->budget_algorithm = THREAD_CPU_BUDGET_ALGORITHM_RESET_TIMESLICE;
executing->cpu_time_budget = _Thread_Ticks_per_timeslice;
} else
executing->budget_algorithm = THREAD_CPU_BUDGET_ALGORITHM_NONE;
}
/*
* Set the new interrupt level
*/
if ( mask & RTEMS_INTERRUPT_MASK )
_Modes_Set_interrupt_level( mode_set );
/*
* This is specific to the RTEMS API
*/
is_asr_enabled = false;
needs_asr_dispatching = false;
if ( mask & RTEMS_ASR_MASK ) {
is_asr_enabled = _Modes_Is_asr_disabled( mode_set ) ? false : true;
if ( is_asr_enabled != asr->is_enabled ) {
asr->is_enabled = is_asr_enabled;
_ASR_Swap_signals( asr );
if ( _ASR_Are_signals_pending( asr ) ) {
needs_asr_dispatching = true;
executing->do_post_task_switch_extension = true;
}
}
}
if ( _System_state_Is_up( _System_state_Get() ) )
if ( _Thread_Evaluate_mode() || needs_asr_dispatching )
_Thread_Dispatch();
return RTEMS_SUCCESSFUL;
}
rtems_status_code rtems_task_mode(
rtems_mode mode_set,
rtems_mode mask,
rtems_mode *previous_mode_set
)
{
Thread_Control *executing;
RTEMS_API_Control *api;
ASR_Information *asr;
bool needs_asr_dispatching;
rtems_mode old_mode;
if ( !previous_mode_set )
return RTEMS_INVALID_ADDRESS;
executing = _Thread_Get_executing();
api = executing->API_Extensions[ THREAD_API_RTEMS ];
asr = &api->Signal;
old_mode = (executing->is_preemptible) ? RTEMS_PREEMPT : RTEMS_NO_PREEMPT;
if ( executing->budget_algorithm == THREAD_CPU_BUDGET_ALGORITHM_NONE )
old_mode |= RTEMS_NO_TIMESLICE;
else
old_mode |= RTEMS_TIMESLICE;
old_mode |= (asr->is_enabled) ? RTEMS_ASR : RTEMS_NO_ASR;
old_mode |= _ISR_Get_level();
*previous_mode_set = old_mode;
/*
* These are generic thread scheduling characteristics.
*/
if ( mask & RTEMS_PREEMPT_MASK ) {
#if defined( RTEMS_SMP )
if (
rtems_configuration_is_smp_enabled()
&& !_Modes_Is_preempt( mode_set )
) {
return RTEMS_NOT_IMPLEMENTED;
}
#endif
executing->is_preemptible = _Modes_Is_preempt( mode_set );
}
if ( mask & RTEMS_TIMESLICE_MASK ) {
if ( _Modes_Is_timeslice(mode_set) ) {
executing->budget_algorithm = THREAD_CPU_BUDGET_ALGORITHM_RESET_TIMESLICE;
executing->cpu_time_budget = _Thread_Ticks_per_timeslice;
} else
executing->budget_algorithm = THREAD_CPU_BUDGET_ALGORITHM_NONE;
}
/*
* Set the new interrupt level
*/
if ( mask & RTEMS_INTERRUPT_MASK )
_Modes_Set_interrupt_level( mode_set );
/*
* This is specific to the RTEMS API
*/
needs_asr_dispatching = false;
if ( mask & RTEMS_ASR_MASK ) {
bool is_asr_enabled = !_Modes_Is_asr_disabled( mode_set );
if ( is_asr_enabled != asr->is_enabled ) {
asr->is_enabled = is_asr_enabled;
_ASR_Swap_signals( asr );
if ( _ASR_Are_signals_pending( asr ) ) {
needs_asr_dispatching = true;
}
}
}
_RTEMS_Tasks_Dispatch_if_necessary( executing, needs_asr_dispatching );
return RTEMS_SUCCESSFUL;
}
