/*
* End and delete its own task
*/
SYSCALL void tk_exd_tsk_impl( void )
{
/* Check context error */
#if CHK_CTX2
if ( in_indp() ) {
#if USE_KERNEL_MESSAGE
tm_putstring((UB*)"tk_exd_tsk was called in the task independent\n");
#endif
tm_monitor(); /* To monitor */
}
#endif
#if CHK_CTX1
if ( in_ddsp() ) {
#if USE_KERNEL_MESSAGE
tm_putstring((UB*)"tk_exd_tsk was called in the dispatch disabled\n");
#endif
}
#endif
DISABLE_INTERRUPT;
knl_ter_tsk(knl_ctxtsk);
knl_del_tsk(knl_ctxtsk);
knl_force_dispatch();
/* No return */
}
/* |------------------+-------------------------------------------------------------| */
StatusType ChainTask ( TaskType TaskID )
{
StatusType ercd = E_NOT_OK;
TCB * tcb;
TSTAT state;
OS_CHECK((TaskID<cfgOSEK_TASK_NUM),E_OS_ID);
OS_CHECK_EXT(!in_indp(),E_OS_CALLEVEL);
OS_CHECK_EXT(isQueEmpty(&knl_ctxtsk->resque),E_OS_RESOURCE);
DISABLE_INTERRUPT;
if(TaskID == knl_ctxtsk->tskid){
/* chain to itself */
knl_search_schedtsk();
knl_make_active(knl_ctxtsk);
}
else{
/* firstly terminate current running task knl_ctxtsk,
* and then activate TaskID */
tcb = &knl_tcb_table[TaskID];
state = (TSTAT)tcb->state;
if (TS_DORMANT != state) {
#if((cfgOS_CONFORMANCE_CLASS == ECC2) || (cfgOS_CONFORMANCE_CLASS == BCC2))
if(tcb->actcnt < knl_gtsk_table[TaskID].maxact)
{
tcb->actcnt += 1;
}
else
#endif
{
ercd = E_OS_LIMIT;
goto Error_Exit;
}
}
knl_ctxtsk->state = TS_DORMANT;
knl_search_schedtsk();
#if((cfgOS_CONFORMANCE_CLASS == ECC2) || (cfgOS_CONFORMANCE_CLASS == BCC2))
if(knl_ctxtsk->actcnt > 0)
{
knl_ctxtsk->actcnt -= 1;
knl_make_active(knl_ctxtsk);
}
#endif
if (TS_DORMANT == state) {
knl_make_active(tcb);
}
}
knl_force_dispatch();
/* No return */
Error_Exit:
return ercd;
}
/* |------------------+------------------------------------------------------| */
EXPORT void StartOS ( AppModeType AppMode )
{
DISABLE_INTERRUPT();
knl_dispatch_disabled = 1; /* Dispatch disable */
#if defined( OpenOSEKStartupHook )
OpenOSEKStartupHook();
#endif
knl_appmode = AppMode;
knl_task_init();
#if(cfgOS_ALARM_NUM > 0)
knl_alarm_counter_init();
#endif
knl_resource_init();
#if(cfgOS_STARTUPHOOK == 1)
StartupHook();
#endif
knl_force_dispatch();
}
/* |------------------+--------------------------------------------------------------| */
StatusType TerminateTask ( void )
{
StatusType ercd = E_NOT_OK;
OS_CHECK_EXT(!in_indp(),E_OS_CALLEVEL);
OS_CHECK_EXT(isQueEmpty(&knl_ctxtsk->resque),E_OS_RESOURCE);
DISABLE_INTERRUPT;
#if(cfgOS_POST_TASK_HOOK == STD_ON)
PostTaskHook();
#endif
knl_ctxtsk->state = TS_DORMANT;
//release internal resource or for non-preemtable task
ReleaseInternalResource();
knl_ctxtsk->priority = knl_ctxtsk->itskpri;
knl_search_schedtsk();
#if((cfgOS_CONFORMANCE_CLASS == ECC2) || (cfgOS_CONFORMANCE_CLASS == BCC2))
if(knl_ctxtsk->actcnt > 0)
{
knl_ctxtsk->actcnt -= 1;
#if(cfgOSEK_FIFO_QUEUE_PER_PRIORITY == STD_OFF)
knl_make_active(knl_ctxtsk);
#else
knl_make_ready(knl_ctxtsk);
#endif
}
#endif
knl_force_dispatch();
/* No return */
Error_Exit:
#if(cfgOS_ERROR_HOOK == STD_ON)
if(E_OK != ercd)
{
BEGIN_CRITICAL_SECTION;
_errorhook_svcid = OSServiceId_TerminateTask;
CallErrorHook(ercd);
END_CRITICAL_SECTION;
}
#endif /* cfgOS_ERROR_HOOK */
return ercd;
}
/* |------------------+--------------------------------------------------------------| */
StatusType TerminateTask ( void )
{
StatusType ercd = E_NOT_OK;
OS_CHECK_EXT(!in_indp(),E_OS_CALLEVEL);
OS_CHECK_EXT(isQueEmpty(&knl_ctxtsk->resque),E_OS_RESOURCE);
DISABLE_INTERRUPT;
knl_ctxtsk->state = TS_DORMANT;
knl_search_schedtsk();
#if((cfgOS_CONFORMANCE_CLASS == ECC2) || (cfgOS_CONFORMANCE_CLASS == BCC2))
if(knl_ctxtsk->actcnt > 0)
{
knl_ctxtsk->actcnt -= 1;
knl_make_active(knl_ctxtsk);
}
#endif
knl_force_dispatch();
/* No return */
Error_Exit:
return ercd;
}
/*
* End its own task
*/
SYSCALL void tk_ext_tsk_impl( void )
{
#ifdef DORMANT_STACK_SIZE
/* To avoid destroying stack used in 'knl_make_dormant',
allocate the dummy area on the stack. */
volatile VB _dummy[DORMANT_STACK_SIZE];
#endif
/* Check context error */
#if CHK_CTX2
if ( in_indp() ) {
#if USE_KERNEL_MESSAGE
tm_putstring((UB*)"tk_ext_tsk was called in the task independent\n");
#endif
tm_monitor(); /* To monitor */
}
#endif
#if CHK_CTX1
if ( in_ddsp() ) {
#if USE_KERNEL_MESSAGE
tm_putstring((UB*)"tk_ext_tsk was called in the dispatch disabled\n");
#endif
}
#endif
DISABLE_INTERRUPT;
knl_ter_tsk(knl_ctxtsk);
knl_make_dormant(knl_ctxtsk);
knl_force_dispatch();
/* No return */
#ifdef DORMANT_STACK_SIZE
/* for WARNING */
_dummy[0] = 0;
#endif
}
/*
* Initialize kernel and create/start initial task
*/
EXPORT void knl_t_kernel_main( T_CTSK *inittask )
{
DISABLE_INTERRUPT;
/*
* Target-dependent initialization
*/
InitModule(cpu);
InitModule(tkdev);
/*
* Each module initialization
*/
InitModule(task);
#if CFN_MAX_SEMID > 0
#ifdef USE_FUNC_SEMAPHORE_INITIALIZE
InitModule(semaphore);
#endif
#endif
#if CFN_MAX_FLGID > 0
#ifdef USE_FUNC_EVENTFLAG_INITIALIZE
InitModule(eventflag);
#endif
#endif
#if CFN_MAX_MBXID > 0
#ifdef USE_FUNC_MAILBOX_INITIALIZE
InitModule(mailbox);
#endif
#endif
#if CFN_MAX_MBFID > 0
#ifdef USE_FUNC_MESSAGEBUFFER_INITIALIZE
InitModule(messagebuffer);
#endif
#endif
#if CFN_MAX_PORID > 0
#ifdef USE_FUNC_RENDEZVOUS_INITIALIZE
InitModule(rendezvous);
#endif
#endif
#if CFN_MAX_MTXID > 0
#ifdef USE_FUNC_MUTEX_INITIALIZE
InitModule(mutex);
#endif
#endif
#if CFN_MAX_MPLID > 0
#ifdef USE_FUNC_MEMORYPOOL_INITIALIZE
InitModule(memorypool);
#endif
#endif
#if CFN_MAX_MPFID > 0
#ifdef USE_FUNC_FIX_MEMORYPOOL_INITIALIZE
InitModule(fix_memorypool);
#endif
#endif
#if CFN_MAX_CYCID > 0
#ifdef USE_FUNC_CYCLICHANDLER_INITIALIZE
InitModule(cyclichandler);
#endif
#endif
#if CFN_MAX_ALMID > 0
#ifdef USE_FUNC_ALARMHANDLER_INITIALIZE
InitModule(alarmhandler);
#endif
#endif
#if CFN_MAX_SSYID > 0
#ifdef USE_FUNC_SUBSYSTEM_INITIALIZE
InitModule(subsystem);
#endif
#endif
InitModule(timer);
/*
* Create/start initial task
*/
knl_init_task_startup(inittask);
knl_force_dispatch();
/* No return */
}
/* |------------------+-------------------------------------------------------------| */
StatusType ChainTask ( TaskType TaskID )
{
StatusType ercd = E_NOT_OK;
TCB * tcb;
TSTAT state;
OS_CHECK((TaskID<cfgOSEK_TASK_NUM),E_OS_ID);
OS_CHECK_EXT(!in_indp(),E_OS_CALLEVEL);
OS_CHECK_EXT(isQueEmpty(&knl_ctxtsk->resque),E_OS_RESOURCE);
DISABLE_INTERRUPT;
if(TaskID == knl_ctxtsk->tskid){
/* chain to itself */
knl_search_schedtsk();
knl_make_active(knl_ctxtsk);
}
else{
/* firstly terminate current running task knl_ctxtsk,
* and then activate TaskID */
tcb = &knl_tcb_table[TaskID];
state = (TSTAT)tcb->state;
if (TS_DORMANT != state) {
#if((cfgOS_CONFORMANCE_CLASS == ECC2) || (cfgOS_CONFORMANCE_CLASS == BCC2))
if(tcb->actcnt < knl_gtsk_table[TaskID].maxact)
{
tcb->actcnt += 1;
#if(cfgOSEK_FIFO_QUEUE_PER_PRIORITY == STD_ON)
knl_ready_queue_insert(&knl_ready_queue, tcb);
#endif
}
else
#endif
{
ercd = E_OS_LIMIT;
goto Error_Exit;
}
}
#if(cfgOS_POST_TASK_HOOK == STD_ON)
PostTaskHook();
#endif
knl_ctxtsk->state = TS_DORMANT;
knl_search_schedtsk();
#if((cfgOS_CONFORMANCE_CLASS == ECC2) || (cfgOS_CONFORMANCE_CLASS == BCC2))
if(knl_ctxtsk->actcnt > 0)
{
knl_ctxtsk->actcnt -= 1;
#if(cfgOSEK_FIFO_QUEUE_PER_PRIORITY == STD_OFF)
knl_make_active(knl_ctxtsk);
#else
knl_make_ready(knl_ctxtsk);
#endif
}
#endif
if (TS_DORMANT == state) {
knl_make_active(tcb);
}
}
knl_force_dispatch();
/* No return */
Error_Exit:
ENABLE_INTERRUPT;
#if(cfgOS_ERROR_HOOK == STD_ON)
if(E_OK != ercd)
{
BEGIN_CRITICAL_SECTION;
_errorhook_svcid = OSServiceId_ChainTask;
_errorhook_par1.tskid = TaskID;
CallErrorHook(ercd);
END_CRITICAL_SECTION;
}
#endif /* cfgOS_ERROR_HOOK */
return ercd;
}
