static inline void _Thread_Create_idle_helper(
uint32_t name_u32,
int cpu
)
{
Objects_Name name;
Thread_Control *idle;
name.name_u32 = name_u32;
/*
* The entire workspace is zeroed during its initialization. Thus, all
* fields not explicitly assigned were explicitly zeroed by
* _Workspace_Initialization.
*/
idle = _Thread_Internal_allocate();
/*
* This is only called during initialization and we better be sure
* that when _Thread_Initialize unnests dispatch that we do not
* do anything stupid.
*/
_Thread_Disable_dispatch();
_Thread_Initialize(
&_Thread_Internal_information,
idle,
NULL, /* allocate the stack */
_Stack_Ensure_minimum( Configuration.idle_task_stack_size ),
CPU_IDLE_TASK_IS_FP,
PRIORITY_MAXIMUM,
true, /* preemptable */
THREAD_CPU_BUDGET_ALGORITHM_NONE,
NULL, /* no budget algorithm callout */
0, /* all interrupts enabled */
name
);
_Thread_Unnest_dispatch();
/*
* WARNING!!! This is necessary to "kick" start the system and
* MUST be done before _Thread_Start is invoked.
*/
_Per_CPU_Information[ cpu ].idle =
_Per_CPU_Information[ cpu ].heir =
_Per_CPU_Information[ cpu ].executing = idle;
_Thread_Start(
idle,
THREAD_START_NUMERIC,
Configuration.idle_task,
NULL,
0
);
}
static void _Thread_Create_idle_for_cpu( Per_CPU_Control *cpu )
{
Objects_Name name;
Thread_Control *idle;
const Scheduler_Control *scheduler;
name.name_u32 = _Objects_Build_name( 'I', 'D', 'L', 'E' );
/*
* The entire workspace is zeroed during its initialization. Thus, all
* fields not explicitly assigned were explicitly zeroed by
* _Workspace_Initialization.
*/
idle = _Thread_Internal_allocate();
_Thread_Initialize(
&_Thread_Internal_information,
idle,
_Scheduler_Get_by_CPU( cpu ),
NULL, /* allocate the stack */
_Stack_Ensure_minimum( rtems_configuration_get_idle_task_stack_size() ),
CPU_IDLE_TASK_IS_FP,
PRIORITY_MAXIMUM,
true, /* preemptable */
THREAD_CPU_BUDGET_ALGORITHM_NONE,
NULL, /* no budget algorithm callout */
0, /* all interrupts enabled */
name
);
/*
* WARNING!!! This is necessary to "kick" start the system and
* MUST be done before _Thread_Start is invoked.
*/
cpu->heir =
cpu->executing = idle;
idle->Start.Entry.adaptor = _Thread_Entry_adaptor_idle;
idle->Start.Entry.Kinds.Idle.entry = rtems_configuration_get_idle_task();
_Thread_Load_environment( idle );
scheduler = _Scheduler_Get_by_CPU( cpu );
#if defined(RTEMS_SMP)
if (scheduler == NULL) {
return;
}
#endif
idle->current_state = STATES_READY;
_Scheduler_Start_idle( scheduler, idle, cpu );
_User_extensions_Thread_start( idle );
}
void _MPCI_Create_server( void )
{
Objects_Name name;
if ( !_System_state_Is_multiprocessing )
return;
/*
* Initialize the MPCI Receive Server
*/
_MPCI_Receive_server_tcb = _Thread_Internal_allocate();
name.name_u32 = _Objects_Build_name( 'M', 'P', 'C', 'I' );
_Thread_Initialize(
&_Thread_Internal_information,
_MPCI_Receive_server_tcb,
NULL, /* allocate the stack */
_Stack_Minimum() +
CPU_MPCI_RECEIVE_SERVER_EXTRA_STACK +
_Configuration_MP_table->extra_mpci_receive_server_stack,
CPU_ALL_TASKS_ARE_FP,
PRIORITY_MINIMUM,
false, /* no preempt */
THREAD_CPU_BUDGET_ALGORITHM_NONE,
NULL, /* no budget algorithm callout */
0, /* all interrupts enabled */
name
);
_Thread_Start(
_MPCI_Receive_server_tcb,
THREAD_START_NUMERIC,
(void *) _MPCI_Receive_server,
NULL,
0,
NULL
);
}
int pthread_create(
pthread_t *thread,
const pthread_attr_t *attr,
void *(*start_routine)( void * ),
void *arg
)
{
const pthread_attr_t *the_attr;
Priority_Control core_priority;
Thread_CPU_budget_algorithms budget_algorithm;
Thread_CPU_budget_algorithm_callout budget_callout;
bool is_fp;
bool status;
Thread_Control *the_thread;
POSIX_API_Control *api;
int schedpolicy = SCHED_RR;
struct sched_param schedparam;
Objects_Name name;
int rc;
if ( !start_routine )
return EFAULT;
the_attr = (attr) ? attr : &_POSIX_Threads_Default_attributes;
if ( !the_attr->is_initialized )
return EINVAL;
/*
* Core Thread Initialize ensures we get the minimum amount of
* stack space if it is allowed to allocate it itself.
*
* NOTE: If the user provides the stack we will let it drop below
* twice the minimum.
*/
if ( the_attr->stackaddr && !_Stack_Is_enough(the_attr->stacksize) )
return EINVAL;
#if 0
int cputime_clock_allowed; /* see time.h */
rtems_set_errno_and_return_minus_one( ENOSYS );
#endif
/*
* P1003.1c/Draft 10, p. 121.
*
* If inheritsched is set to PTHREAD_INHERIT_SCHED, then this thread
* inherits scheduling attributes from the creating thread. If it is
* PTHREAD_EXPLICIT_SCHED, then scheduling parameters come from the
* attributes structure.
*/
switch ( the_attr->inheritsched ) {
case PTHREAD_INHERIT_SCHED:
api = _Thread_Executing->API_Extensions[ THREAD_API_POSIX ];
schedpolicy = api->schedpolicy;
schedparam = api->schedparam;
break;
case PTHREAD_EXPLICIT_SCHED:
schedpolicy = the_attr->schedpolicy;
schedparam = the_attr->schedparam;
break;
default:
return EINVAL;
}
/*
* Check the contentionscope since rtems only supports PROCESS wide
* contention (i.e. no system wide contention).
*/
if ( the_attr->contentionscope != PTHREAD_SCOPE_PROCESS )
return ENOTSUP;
/*
* Interpret the scheduling parameters.
*/
if ( !_POSIX_Priority_Is_valid( schedparam.sched_priority ) )
return EINVAL;
core_priority = _POSIX_Priority_To_core( schedparam.sched_priority );
/*
* Set the core scheduling policy information.
*/
rc = _POSIX_Thread_Translate_sched_param(
schedpolicy,
&schedparam,
&budget_algorithm,
&budget_callout
);
if ( rc )
return rc;
/*
* Currently all POSIX threads are floating point if the hardware
* supports it.
*/
#if ( CPU_HARDWARE_FP == TRUE ) || ( CPU_SOFTWARE_FP == TRUE )
is_fp = true;
#else
is_fp = false;
#endif
/*
* Lock the allocator mutex for protection
*/
_RTEMS_Lock_allocator();
/*
* Allocate the thread control block.
*
* NOTE: Global threads are not currently supported.
*/
the_thread = _POSIX_Threads_Allocate();
if ( !the_thread ) {
_RTEMS_Unlock_allocator();
return EAGAIN;
}
/*
* Initialize the core thread for this task.
*/
name.name_p = NULL; /* posix threads don't have a name by default */
status = _Thread_Initialize(
&_POSIX_Threads_Information,
the_thread,
the_attr->stackaddr,
_POSIX_Threads_Ensure_minimum_stack(the_attr->stacksize),
is_fp,
core_priority,
true, /* preemptible */
budget_algorithm,
budget_callout,
0, /* isr level */
name /* posix threads don't have a name */
);
if ( !status ) {
_POSIX_Threads_Free( the_thread );
_RTEMS_Unlock_allocator();
return EAGAIN;
}
/*
* finish initializing the per API structure
*/
api = the_thread->API_Extensions[ THREAD_API_POSIX ];
api->Attributes = *the_attr;
api->detachstate = the_attr->detachstate;
api->schedpolicy = schedpolicy;
api->schedparam = schedparam;
/*
* This insures we evaluate the process-wide signals pending when we
* first run.
*
* NOTE: Since the thread starts with all unblocked, this is necessary.
*/
the_thread->do_post_task_switch_extension = true;
/*
* POSIX threads are allocated and started in one operation.
*/
status = _Thread_Start(
the_thread,
THREAD_START_POINTER,
start_routine,
arg,
0 /* unused */
);
#if defined(RTEMS_DEBUG)
/*
* _Thread_Start only fails if the thread was in the incorrect state
*
* NOTE: This can only happen if someone slips in and touches the
* thread while we are creating it.
*/
if ( !status ) {
_POSIX_Threads_Free( the_thread );
_RTEMS_Unlock_allocator();
return EINVAL;
}
#endif
if ( schedpolicy == SCHED_SPORADIC ) {
_Watchdog_Insert_ticks(
&api->Sporadic_timer,
_Timespec_To_ticks( &api->schedparam.sched_ss_repl_period )
);
}
/*
* Return the id and indicate we successfully created the thread
*/
*thread = the_thread->Object.id;
_RTEMS_Unlock_allocator();
return 0;
}
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;
}
