STATUS taskLibInit(
void
)
{
STATUS status;
if (taskLibInstalled == TRUE)
{
status = OK;
}
else
{
if (classInit(taskClassId,
STACK_ROUND_UP(sizeof(TCB) + TASK_EXTRA_BYTES),
OFFSET(TCB, objCore),
memSysPartId,
(FUNCPTR) taskCreat,
(FUNCPTR) taskInit,
(FUNCPTR) taskDestroy
) != OK)
{
/* errno set by classInit() */
status = ERROR;
}
else
{
taskLibInstalled = TRUE;
status = OK;
}
}
return status;
}
void* taskStackAllot(
int taskId,
unsigned size
)
{
TCB_ID tcbId;
char *pStackPrev;
void *pNewMem;
/* Get task context */
tcbId = taskTcb(taskId);
if (tcbId == NULL)
{
pNewMem = NULL;
}
else
{
/* TASK_ID_VERIFY() already done by taskTcb() */
/* Round up */
size = STACK_ROUND_UP(size);
/* Check if size is ok */
if (size > (tcbId->pStackLimit - tcbId->pStackBase) * _STACK_DIR)
{
errnoSet(S_taskLib_STACK_OVERFLOW);
pNewMem = NULL;
}
else
{
#if (_STACK_DIR == _STACK_GROWS_DOWN)
pStackPrev = tcbId->pStackLimit;
tcbId->pStackLimit += size;
pNewMem = pStackPrev;
#else /* _STACK_GROWS_UP */
tcbId->pStackLimit -= size;
pNewMem = tcbId->pStackLimit;
#endif /* _STACK_DIR */
}
}
return pNewMem;
}
int taskCreat(
const char *name,
unsigned priority,
int options,
unsigned stackSize,
FUNCPTR func,
ARG arg0,
ARG arg1,
ARG arg2,
ARG arg3,
ARG arg4,
ARG arg5,
ARG arg6,
ARG arg7,
ARG arg8,
ARG arg9
)
{
static char digits[] = "0123456789";
TCB_ID tcbId;
char *pTaskMem;
char *pStackBase;
char newName[20];
int value;
int nBytes;
int nPreBytes;
char *pBufStart;
char *pBufEnd;
char ch;
/* Check if task lib is installed */
if (taskLibInstalled != TRUE)
{
errnoSet(S_taskLib_NOT_INSTALLED);
tcbId = NULL;
}
else
{
/* If NULL name create default name for task */
if (name == NULL)
{
strcpy(newName, namelessPrefix);
nBytes = strlen(newName);
nPreBytes = nBytes;
value = ++namelessCount;
/* Do while value is non-zero */
do
{
newName[nBytes++] = digits[value % 10];
value /= 10;
} while(value != 0);
/* Calculate start/end positions in name */
pBufStart = newName + nPreBytes;
pBufEnd = newName + nBytes - 1;
/* While startbuffer lt. end buffer */
while (pBufStart < pBufEnd)
{
ch = *pBufStart;
*pBufStart = *pBufEnd;
*pBufEnd = ch;
pBufStart++;
pBufEnd--;
}
/* Terminate string */
newName[nBytes] = EOS;
/* Use this a the name for the task */
name = newName;
}
/* Round up stack size */
stackSize = STACK_ROUND_UP(stackSize);
/* Allocate new TCB plus stack */
pTaskMem = objAllocPad(
taskClassId,
(unsigned) stackSize,
(void **) NULL
);
if (pTaskMem == NULL)
{
/* errno set by objAllocPad() */
tcbId = NULL;
}
else
{
/* Setup stack vars */
#if (_STACK_DIR == _STACK_GROWS_DOWN)
pStackBase = pTaskMem + stackSize;
tcbId = (TCB_ID) pStackBase;
#else /* _STACK_GROWS_UP */
tcbId = (TCB_ID) (pTaskMem + TASK_EXTRA_BYTES);
pStackBase = STACK_ROUND_UP(
pTaskMem + TASK_EXTRA_BYTES + sizeof(TCB)
);
#endif /* _STACK_DIR */
/* Initialize task */
if (taskInit(
tcbId,
name,
priority,
options,
pStackBase,
stackSize,
func,
arg0,
arg1,
arg2,
arg3,
arg4,
arg5,
arg6,
arg7,
arg8,
arg9
) != OK)
{
/* errno set by taskInit() */
objFree(taskClassId, tcbId);
tcbId = NULL;
}
}
}
return (int) tcbId;
}
GEN_OFFSET_SYM(NANO_ESF, a7); GEN_OFFSET_SYM(NANO_ESF, mepc); GEN_OFFSET_SYM(NANO_ESF, mstatus); #if defined(CONFIG_SOC_RISCV32_PULPINO) GEN_OFFSET_SYM(NANO_ESF, lpstart0); GEN_OFFSET_SYM(NANO_ESF, lpend0); GEN_OFFSET_SYM(NANO_ESF, lpcount0); GEN_OFFSET_SYM(NANO_ESF, lpstart1); GEN_OFFSET_SYM(NANO_ESF, lpend1); GEN_OFFSET_SYM(NANO_ESF, lpcount1); #endif /* * RISC-V requires the stack to be 16-bytes aligned, hence SP needs to grow or * shrink by a size, which follows the RISC-V stack alignment requirements * Hence, ensure that __tTCS_NOFLOAT_SIZEOF and __tTCS_NOFLOAT_SIZEOF sizes * are aligned accordingly. */ GEN_ABSOLUTE_SYM(__NANO_ESF_SIZEOF, STACK_ROUND_UP(sizeof(NANO_ESF))); /* * size of the struct k_thread structure sans save area for floating * point regs */ GEN_ABSOLUTE_SYM(_K_THREAD_NO_FLOAT_SIZEOF, STACK_ROUND_UP(sizeof(struct k_thread))); GEN_ABS_SYM_END
