/*
* Create mutex
*/
SYSCALL ID _tk_cre_mtx( CONST T_CMTX *pk_cmtx )
{
#if CHK_RSATR
const ATR VALID_MTXATR = {
TA_CEILING
|TA_NODISWAI
#if USE_OBJECT_NAME
|TA_DSNAME
#endif
};
#endif
MTXCB *mtxcb;
ID mtxid;
INT ceilpri;
ER ercd;
CHECK_RSATR(pk_cmtx->mtxatr, VALID_MTXATR);
if ( (pk_cmtx->mtxatr & TA_CEILING) == TA_CEILING ) {
CHECK_PRI(pk_cmtx->ceilpri);
ceilpri = int_priority(pk_cmtx->ceilpri);
} else {
ceilpri = 0;
}
BEGIN_CRITICAL_SECTION;
/* Get control block from FreeQue */
mtxcb = (MTXCB*)QueRemoveNext(&free_mtxcb);
if ( mtxcb == NULL ) {
ercd = E_LIMIT;
} else {
mtxid = ID_MTX(mtxcb - mtxcb_table);
/* Initialize control block */
QueInit(&mtxcb->wait_queue);
mtxcb->mtxid = mtxid;
mtxcb->exinf = pk_cmtx->exinf;
mtxcb->mtxatr = pk_cmtx->mtxatr;
mtxcb->ceilpri = ceilpri;
mtxcb->mtxtsk = NULL;
mtxcb->mtxlist = NULL;
#if USE_OBJECT_NAME
if ( (pk_cmtx->mtxatr & TA_DSNAME) != 0 ) {
strncpy((char*)mtxcb->name, (char*)pk_cmtx->dsname,
(UINT)OBJECT_NAME_LENGTH);
}
#endif
ercd = mtxid;
}
END_CRITICAL_SECTION;
return ercd;
}
/*
* Limit the priority change by mutex at task priority change
* 1.If the 'tcb' task locks mutex, cannot set lower priority than the
* highest priority in all mutexes which hold lock. In such case,
* return the highest priority of locked mutex.
* 2.If mutex with TA_CEILING attribute is locked or waiting to be locked,
* cannot set higher priority than the lowest within the highest
* priority limit of mutex with TA_CEILING attribute.
* In this case, return E_ILUSE.
* 3.Other than above, return the 'priority'.
*/
EXPORT INT chg_pri_mutex( TCB *tcb, INT priority )
{
MTXCB *mtxcb;
INT hi_pri, low_pri, pri;
hi_pri = priority;
low_pri = int_priority(MIN_PRI);
/* Mutex lock wait */
if ( (tcb->state & TS_WAIT) != 0 && (tcb->wspec->tskwait & TTW_MTX) != 0 ) {
mtxcb = get_mtxcb(tcb->wid);
if ( (mtxcb->mtxatr & TA_CEILING) == TA_CEILING ) {
pri = mtxcb->ceilpri;
if ( pri > low_pri ) {
low_pri = pri;
}
}
}
/* Locked Mutex */
pri = hi_pri;
for ( mtxcb = tcb->mtxlist; mtxcb != NULL; mtxcb = mtxcb->mtxlist ) {
switch ( mtxcb->mtxatr & TA_CEILING ) {
case TA_CEILING:
pri = mtxcb->ceilpri;
if ( pri > low_pri ) {
low_pri = pri;
}
break;
case TA_INHERIT:
if ( mtx_waited(mtxcb) ) {
pri = mtx_head_pri(mtxcb);
}
break;
default: /* TA_TFIFO, TA_TPRI */
/* nothing to do */
break;
}
if ( pri < hi_pri ) {
hi_pri = pri;
}
}
if ( priority < low_pri ) {
return E_ILUSE;
}
return hi_pri;
}
/*
* Change task priority
*/
SYSCALL ER _tk_chg_pri( ID tskid, PRI tskpri )
{
TCB *tcb;
INT priority;
ER ercd;
CHECK_TSKID_SELF(tskid);
CHECK_PRI_INI(tskpri);
tcb = get_tcb_self(tskid);
BEGIN_CRITICAL_SECTION;
if ( tcb->state == TS_NONEXIST ) {
ercd = E_NOEXS;
goto error_exit;
}
/* Conversion priority to internal expression */
if ( tskpri == TPRI_INI ) {
priority = tcb->ipriority;
} else {
priority = int_priority(tskpri);
}
#ifdef NUM_MTXID
/* Mutex priority change limit */
ercd = chg_pri_mutex(tcb, priority);
if ( ercd < E_OK ) {
goto error_exit;
}
tcb->bpriority = (UB)priority;
priority = ercd;
#else
tcb->bpriority = priority;
#endif
/* Change priority */
change_task_priority(tcb, priority);
ercd = E_OK;
error_exit:
END_CRITICAL_SECTION;
return ercd;
}
/*
* Rotate ready queue
*/
SYSCALL ER _tk_rot_rdq( PRI tskpri )
{
CHECK_PRI_RUN(tskpri);
BEGIN_CRITICAL_SECTION;
if ( tskpri == TPRI_RUN ) {
if ( in_indp() ) {
rotate_ready_queue_run();
} else {
rotate_ready_queue(ctxtsk->priority);
}
} else {
rotate_ready_queue(int_priority(tskpri));
}
END_CRITICAL_SECTION;
return E_OK;
}
/*
* Refer ready queue
*/
SYSCALL INT _td_rdy_que( PRI pri, ID list[], INT nent )
{
QUEUE *q, *tskque;
INT n = 0;
CHECK_PRI(pri);
BEGIN_DISABLE_INTERRUPT;
tskque = &ready_queue.tskque[int_priority(pri)];
for ( q = tskque->next; q != tskque; q = q->next ) {
if ( n++ < nent ) {
*(list++) = ((TCB*)q)->tskid;
}
}
END_DISABLE_INTERRUPT;
return n;
}
/*
* Create task
*/
SYSCALL ID _tk_cre_tsk P1( CONST T_CTSK *pk_ctsk )
{
#if CHK_RSATR
const ATR VALID_TSKATR = { /* Valid value of task attribute */
TA_HLNG
|TA_SSTKSZ
|TA_USERSTACK
|TA_TASKSPACE
|TA_RESID
|TA_RNG3
|TA_FPU
|TA_COP0
|TA_COP1
|TA_COP2
|TA_COP3
|TA_GP
#if USE_OBJECT_NAME
|TA_DSNAME
#endif
};
#endif
TCB *tcb;
INT stksz, sstksz, sysmode, resid;
void *stack = NULL, *sstack;
ER ercd;
CHECK_RSATR(pk_ctsk->tskatr, VALID_TSKATR);
CHECK_PRI(pk_ctsk->itskpri);
CHECK_NOCOP(pk_ctsk->tskatr);
#if USE_SINGLE_STACK
CHECK_NOSPT((pk_ctsk->tskatr & TA_USERSTACK) == 0);
#endif
#if CHK_PAR
if ( (pk_ctsk->tskatr & TA_USERSTACK) != 0 ) {
CHECK_PAR((pk_ctsk->tskatr & TA_RNG3) != TA_RNG0);
CHECK_PAR(pk_ctsk->stksz == 0);
} else {
CHECK_PAR(pk_ctsk->stksz >= 0);
}
if ( (pk_ctsk->tskatr & TA_TASKSPACE) != 0 ) {
CHECK_PAR(pk_ctsk->lsid >= 0 && pk_ctsk->lsid <= MAX_LSID);
}
#endif
if ( (pk_ctsk->tskatr & TA_RESID) != 0 ) {
CHECK_RESID(pk_ctsk->resid);
resid = pk_ctsk->resid;
} else {
resid = SYS_RESID; /* System resource group */
}
if ( (pk_ctsk->tskatr & TA_SSTKSZ) != 0 ) {
CHECK_PAR(pk_ctsk->sstksz >= MIN_SYS_STACK_SIZE);
sstksz = pk_ctsk->sstksz;
} else {
sstksz = default_sstksz;
}
if ( (pk_ctsk->tskatr & TA_RNG3) == TA_RNG0 ) {
sysmode = 1;
sstksz += pk_ctsk->stksz;
stksz = 0;
} else {
sysmode = 0;
#if USE_SINGLE_STACK
sstksz += pk_ctsk->stksz;
stksz = 0;
#else
stksz = pk_ctsk->stksz;
#endif
}
/* Adjust stack size by 8 bytes */
sstksz = (sstksz + 7) / 8 * 8;
stksz = (stksz + 7) / 8 * 8;
/* Allocate system stack area */
sstack = IAmalloc((UINT)sstksz, TA_RNG0);
if ( sstack == NULL ) {
return E_NOMEM;
}
if ( stksz > 0 ) {
/* Allocate user stack area */
stack = IAmalloc((UINT)stksz, pk_ctsk->tskatr);
if ( stack == NULL ) {
IAfree(sstack, TA_RNG0);
return E_NOMEM;
}
}
BEGIN_CRITICAL_SECTION;
/* Get control block from FreeQue */
tcb = (TCB*)QueRemoveNext(&free_tcb);
if ( tcb == NULL ) {
ercd = E_LIMIT;
goto error_exit;
}
/* Initialize control block */
tcb->exinf = pk_ctsk->exinf;
tcb->tskatr = pk_ctsk->tskatr;
tcb->task = pk_ctsk->task;
tcb->ipriority = (UB)int_priority(pk_ctsk->itskpri);
tcb->resid = resid;
tcb->stksz = stksz;
tcb->sstksz = sstksz;
#if USE_OBJECT_NAME
if ( (pk_ctsk->tskatr & TA_DSNAME) != 0 ) {
STRNCPY((char*)tcb->name, (char*)pk_ctsk->dsname, OBJECT_NAME_LENGTH);
}
#endif
#if TA_GP
/* Set global pointer */
if ( (pk_ctsk->tskatr & TA_GP) != 0 ) {
gp = pk_ctsk->gp;
}
tcb->gp = gp;
#endif
/* Set stack pointer */
if ( stksz > 0 ) {
tcb->istack = (VB*)stack + stksz;
} else {
tcb->istack = pk_ctsk->stkptr;
}
tcb->isstack = (VB*)sstack + sstksz - RESERVE_SSTACK(tcb->tskatr);
/* Set initial value of task operation mode */
tcb->isysmode = (B)sysmode;
tcb->sysmode = (H)sysmode;
/* Set initial value of task space */
if ( (pk_ctsk->tskatr & TA_TASKSPACE) != 0 ) {
tcb->tskctxb.uatb = pk_ctsk->uatb;
tcb->tskctxb.lsid = pk_ctsk->lsid;
} else {
tcb->tskctxb.uatb = NULL;
tcb->tskctxb.lsid = 0; /* Task Space */
}
/* make it to DORMANT state */
make_dormant(tcb);
ercd = tcb->tskid;
error_exit:
END_CRITICAL_SECTION;
if ( ercd < E_OK ) {
IAfree(sstack, TA_RNG0);
if ( stksz > 0 ) {
IAfree(stack, pk_ctsk->tskatr);
}
}
return ercd;
}
/*
* Create task
*/
SYSCALL ID tk_cre_tsk_impl P1( T_CTSK *pk_ctsk )
{
#if CHK_RSATR
const ATR VALID_TSKATR = { /* Valid value of task attribute */
TA_HLNG
|TA_RNG3
|TA_USERBUF
|TA_GP
#if USE_OBJECT_NAME
|TA_DSNAME
#endif
};
#endif
TCB *tcb;
W sstksz;
VP stack;
ER ercd;
CHECK_RSATR(pk_ctsk->tskatr, VALID_TSKATR);
#if !USE_IMALLOC
/* TA_USERBUF must be specified if configured in no Imalloc */
CHECK_PAR((pk_ctsk->tskatr & TA_USERBUF) != 0);
#endif
CHECK_PRI(pk_ctsk->itskpri);
CHECK_PAR(pk_ctsk->stksz >= MIN_SYS_STACK_SIZE);
/* Adjust stack size by 8 bytes */
sstksz = (pk_ctsk->stksz + 7) / 8 * 8;
#if USE_IMALLOC
if ( (pk_ctsk->tskatr & TA_USERBUF) != 0 ) {
/* Size of User buffer must be multiples of 8 */
if ( sstksz != pk_ctsk->stksz ) {
return E_PAR;
}
/* Use user buffer */
stack = pk_ctsk->bufptr;
} else {
/* Allocate system stack area */
stack = knl_Imalloc((UW)sstksz);
if ( stack == NULL ) {
return E_NOMEM;
}
}
#else
/* Size of User buffer must be multiples of 8 */
if ( sstksz != pk_ctsk->stksz ) {
return E_PAR;
}
/* Use user buffer */
stack = pk_ctsk->bufptr;
#endif
BEGIN_CRITICAL_SECTION;
/* Get control block from FreeQue */
tcb = (TCB*)QueRemoveNext(&knl_free_tcb);
if ( tcb == NULL ) {
ercd = E_LIMIT;
goto error_exit;
}
/* Initialize control block */
tcb->exinf = pk_ctsk->exinf;
tcb->tskatr = pk_ctsk->tskatr & ~TA_RNG3; /* handling as TA_RNG0 */
tcb->task = pk_ctsk->task;
tcb->ipriority = (UB)int_priority(pk_ctsk->itskpri);
tcb->sstksz = sstksz;
#if USE_OBJECT_NAME
if ( (pk_ctsk->tskatr & TA_DSNAME) != 0 ) {
strncpy((char*)tcb->name, (char*)pk_ctsk->dsname, OBJECT_NAME_LENGTH);
}
#endif
#if TA_GP
/* Set global pointer */
if ( (pk_ctsk->tskatr & TA_GP) != 0 ) {
gp = pk_ctsk->gp;
}
tcb->gp = gp;
#endif
/* Set stack pointer */
tcb->isstack = (VB*)stack + sstksz;
/* Set initial value of task operation mode */
tcb->isysmode = 1;
tcb->sysmode = 1;
/* make it to DORMANT state */
knl_make_dormant(tcb);
ercd = tcb->tskid;
error_exit:
END_CRITICAL_SECTION;
#if USE_IMALLOC
if ( (ercd < E_OK) && ((pk_ctsk->tskatr & TA_USERBUF) == 0) ) {
knl_Ifree(stack);
}
#endif
return ercd;
}