/*
* This creates a new process as a copy of the old one,
* but does not actually start it yet.
*
* It copies the registers, and all the appropriate
* parts of the process environment (as per the clone
* flags). The actual kick-off is left to the caller.
*/
struct task_struct *copy_process(unsigned long clone_flags,
unsigned long stack_start,
struct pt_regs *regs,
unsigned long stack_size,
int __user *parent_tidptr,
int __user *child_tidptr)
{
int retval;
struct task_struct *p = NULL;
if ((clone_flags & (CLONE_NEWNS|CLONE_FS)) == (CLONE_NEWNS|CLONE_FS))
return ERR_PTR(-EINVAL);
/*
* Thread groups must share signals as well, and detached threads
* can only be started up within the thread group.
*/
if ((clone_flags & CLONE_THREAD) && !(clone_flags & CLONE_SIGHAND))
return ERR_PTR(-EINVAL);
/*
* Shared signal handlers imply shared VM. By way of the above,
* thread groups also imply shared VM. Blocking this case allows
* for various simplifications in other code.
*/
if ((clone_flags & CLONE_SIGHAND) && !(clone_flags & CLONE_VM))
return ERR_PTR(-EINVAL);
retval = security_task_create(clone_flags);
if (retval)
goto fork_out;
retval = -ENOMEM;
p = dup_task_struct(current);
if (!p)
goto fork_out;
retval = -EAGAIN;
if (atomic_read(&p->user->processes) >=
p->rlim[RLIMIT_NPROC].rlim_cur) {
if (!capable(CAP_SYS_ADMIN) && !capable(CAP_SYS_RESOURCE) &&
p->user != &root_user)
goto bad_fork_free;
}
atomic_inc(&p->user->__count);
atomic_inc(&p->user->processes);
get_group_info(p->group_info);
/*
* If multiple threads are within copy_process(), then this check
* triggers too late. This doesn't hurt, the check is only there
* to stop root fork bombs.
*/
if (nr_threads >= max_threads)
goto bad_fork_cleanup_count;
if (!try_module_get(p->thread_info->exec_domain->module))
goto bad_fork_cleanup_count;
if (p->binfmt && !try_module_get(p->binfmt->module))
goto bad_fork_cleanup_put_domain;
p->did_exec = 0;
copy_flags(clone_flags, p);
if (clone_flags & CLONE_IDLETASK)
p->pid = 0;
else {
p->pid = alloc_pidmap();
if (p->pid == -1)
goto bad_fork_cleanup;
}
retval = -EFAULT;
if (clone_flags & CLONE_PARENT_SETTID)
if (put_user(p->pid, parent_tidptr))
goto bad_fork_cleanup;
p->proc_dentry = NULL;
INIT_LIST_HEAD(&p->children);
INIT_LIST_HEAD(&p->sibling);
init_waitqueue_head(&p->wait_chldexit);
p->vfork_done = NULL;
spin_lock_init(&p->alloc_lock);
spin_lock_init(&p->proc_lock);
clear_tsk_thread_flag(p, TIF_SIGPENDING);
init_sigpending(&p->pending);
p->it_real_value = p->it_virt_value = p->it_prof_value = 0;
p->it_real_incr = p->it_virt_incr = p->it_prof_incr = 0;
init_timer(&p->real_timer);
p->real_timer.data = (unsigned long) p;
p->utime = p->stime = 0;
p->cutime = p->cstime = 0;
p->lock_depth = -1; /* -1 = no lock */
p->start_time = get_jiffies_64();
p->security = NULL;
p->io_context = NULL;
p->audit_context = NULL;
#ifdef CONFIG_NUMA
p->mempolicy = mpol_copy(p->mempolicy);
if (IS_ERR(p->mempolicy)) {
retval = PTR_ERR(p->mempolicy);
p->mempolicy = NULL;
goto bad_fork_cleanup;
}
#endif
retval = -ENOMEM;
if ((retval = security_task_alloc(p)))
goto bad_fork_cleanup_policy;
if ((retval = audit_alloc(p)))
goto bad_fork_cleanup_security;
/* copy all the process information */
if ((retval = copy_semundo(clone_flags, p)))
goto bad_fork_cleanup_audit;
if ((retval = copy_files(clone_flags, p)))
goto bad_fork_cleanup_semundo;
if ((retval = copy_fs(clone_flags, p)))
goto bad_fork_cleanup_files;
if ((retval = copy_sighand(clone_flags, p)))
goto bad_fork_cleanup_fs;
if ((retval = copy_signal(clone_flags, p)))
goto bad_fork_cleanup_sighand;
if ((retval = copy_mm(clone_flags, p)))
goto bad_fork_cleanup_signal;
if ((retval = copy_namespace(clone_flags, p)))
goto bad_fork_cleanup_mm;
retval = copy_thread(0, clone_flags, stack_start, stack_size, p, regs);
if (retval)
goto bad_fork_cleanup_namespace;
p->set_child_tid = (clone_flags & CLONE_CHILD_SETTID) ? child_tidptr : NULL;
/*
* Clear TID on mm_release()?
*/
p->clear_child_tid = (clone_flags & CLONE_CHILD_CLEARTID) ? child_tidptr: NULL;
/*
* Syscall tracing should be turned off in the child regardless
* of CLONE_PTRACE.
*/
clear_tsk_thread_flag(p, TIF_SYSCALL_TRACE);
/* Our parent execution domain becomes current domain
These must match for thread signalling to apply */
p->parent_exec_id = p->self_exec_id;
/* ok, now we should be set up.. */
p->exit_signal = (clone_flags & CLONE_THREAD) ? -1 : (clone_flags & CSIGNAL);
p->pdeath_signal = 0;
/* Perform scheduler related setup */
sched_fork(p);
/*
* Ok, make it visible to the rest of the system.
* We dont wake it up yet.
*/
p->tgid = p->pid;
p->group_leader = p;
INIT_LIST_HEAD(&p->ptrace_children);
INIT_LIST_HEAD(&p->ptrace_list);
/* Need tasklist lock for parent etc handling! */
write_lock_irq(&tasklist_lock);
/*
* Check for pending SIGKILL! The new thread should not be allowed
* to slip out of an OOM kill. (or normal SIGKILL.)
*/
if (sigismember(¤t->pending.signal, SIGKILL)) {
write_unlock_irq(&tasklist_lock);
retval = -EINTR;
goto bad_fork_cleanup_namespace;
}
/* CLONE_PARENT re-uses the old parent */
if (clone_flags & CLONE_PARENT)
p->real_parent = current->real_parent;
else
p->real_parent = current;
p->parent = p->real_parent;
if (clone_flags & CLONE_THREAD) {
spin_lock(¤t->sighand->siglock);
/*
* Important: if an exit-all has been started then
* do not create this new thread - the whole thread
* group is supposed to exit anyway.
*/
if (current->signal->group_exit) {
spin_unlock(¤t->sighand->siglock);
write_unlock_irq(&tasklist_lock);
retval = -EAGAIN;
goto bad_fork_cleanup_namespace;
}
p->tgid = current->tgid;
p->group_leader = current->group_leader;
if (current->signal->group_stop_count > 0) {
/*
* There is an all-stop in progress for the group.
* We ourselves will stop as soon as we check signals.
* Make the new thread part of that group stop too.
*/
current->signal->group_stop_count++;
set_tsk_thread_flag(p, TIF_SIGPENDING);
}
spin_unlock(¤t->sighand->siglock);
}
SET_LINKS(p);
if (p->ptrace & PT_PTRACED)
__ptrace_link(p, current->parent);
attach_pid(p, PIDTYPE_PID, p->pid);
if (thread_group_leader(p)) {
attach_pid(p, PIDTYPE_TGID, p->tgid);
attach_pid(p, PIDTYPE_PGID, process_group(p));
attach_pid(p, PIDTYPE_SID, p->signal->session);
if (p->pid)
__get_cpu_var(process_counts)++;
} else
link_pid(p, p->pids + PIDTYPE_TGID, &p->group_leader->pids[PIDTYPE_TGID].pid);
nr_threads++;
write_unlock_irq(&tasklist_lock);
retval = 0;
fork_out:
if (retval)
return ERR_PTR(retval);
return p;
bad_fork_cleanup_namespace:
exit_namespace(p);
bad_fork_cleanup_mm:
exit_mm(p);
if (p->active_mm)
mmdrop(p->active_mm);
bad_fork_cleanup_signal:
exit_signal(p);
bad_fork_cleanup_sighand:
exit_sighand(p);
bad_fork_cleanup_fs:
exit_fs(p); /* blocking */
bad_fork_cleanup_files:
exit_files(p); /* blocking */
bad_fork_cleanup_semundo:
exit_sem(p);
bad_fork_cleanup_audit:
audit_free(p);
bad_fork_cleanup_security:
security_task_free(p);
bad_fork_cleanup_policy:
#ifdef CONFIG_NUMA
mpol_free(p->mempolicy);
#endif
bad_fork_cleanup:
if (p->pid > 0)
free_pidmap(p->pid);
if (p->binfmt)
module_put(p->binfmt->module);
bad_fork_cleanup_put_domain:
module_put(p->thread_info->exec_domain->module);
bad_fork_cleanup_count:
put_group_info(p->group_info);
atomic_dec(&p->user->processes);
free_uid(p->user);
bad_fork_free:
free_task(p);
goto fork_out;
}
int main(void)
{
// Relocate interrupt vectors
//
extern void *g_pfnVectors;
SCB->VTOR = (uint32_t)&g_pfnVectors;
float period = 0.0;
int last_start = 0;
int start = 0;
int end = 0;
setup();
init_hal();
set_comp_type("foo"); // default pin for mem errors
HAL_PIN(bar) = 0.0;
//feedback comps
#include "comps/adc.comp"
#include "comps/res.comp"
#include "comps/enc_fb.comp"
#include "comps/encm.comp"
#include "comps/encs.comp"
#include "comps/yaskawa.comp"
//TODO: hyperface
//command comps
#include "comps/sserial.comp"
#include "comps/sim.comp"
#include "comps/enc_cmd.comp"
#include "comps/en.comp"
//PID
#include "comps/stp.comp"
#include "comps/rev.comp"
#include "comps/rev.comp"
#include "comps/vel.comp"
#include "comps/vel.comp"
#include "comps/cauto.comp"
#include "comps/pid.comp"
#include "comps/pmsm_t2c.comp"
#include "comps/curpid.comp"
#include "comps/pmsm.comp"
#include "comps/pmsm_limits.comp"
#include "comps/idq.comp"
#include "comps/dq.comp"
#include "comps/hv.comp"
//other comps
#include "comps/fault.comp"
#include "comps/term.comp"
#include "comps/io.comp"
set_comp_type("net");
HAL_PIN(enable) = 0.0;
HAL_PIN(cmd) = 0.0;
HAL_PIN(fb) = 0.0;
HAL_PIN(fb_error) = 0.0;
HAL_PIN(cmd_d) = 0.0;
HAL_PIN(fb_d) = 0.0;
HAL_PIN(core_temp0) = 0.0;
HAL_PIN(core_temp1) = 0.0;
HAL_PIN(motor_temp) = 0.0;
HAL_PIN(rt_calc_time) = 0.0;
HAL_PIN(frt_calc_time) = 0.0;
HAL_PIN(nrt_calc_time) = 0.0;
HAL_PIN(rt_period) = 0.0;
HAL_PIN(frt_period) = 0.0;
HAL_PIN(nrt_period) = 0.0;
set_comp_type("conf");
HAL_PIN(r) = 1.0;
HAL_PIN(l) = 0.01;
HAL_PIN(j) = KGCM2(0.26);
HAL_PIN(psi) = 0.05;
HAL_PIN(polecount) = 4.0;
HAL_PIN(mot_type) = 0.0;//ac sync,async/dc,2phase
HAL_PIN(out_rev) = 0.0;
HAL_PIN(high_motor_temp) = 80.0;
HAL_PIN(max_motor_temp) = 100.0;
HAL_PIN(phase_time) = 0.5;
HAL_PIN(phase_cur) = 1.0;
HAL_PIN(max_vel) = RPM(1000.0);
HAL_PIN(max_acc) = RPM(1000.0)/0.01;
HAL_PIN(max_force) = 1.0;
HAL_PIN(max_dc_cur) = 1.0;
HAL_PIN(max_ac_cur) = 2.0;
HAL_PIN(fb_type) = RES;
HAL_PIN(fb_polecount) = 1.0;
HAL_PIN(fb_offset) = 0.0;
HAL_PIN(fb_rev) = 0.0;
HAL_PIN(fb_res) = 1000.0;
HAL_PIN(autophase) = 1.0;//constant,cauto,hfi
HAL_PIN(cmd_type) = ENC;
HAL_PIN(cmd_unit) = 0.0;//pos,vel,torque
HAL_PIN(cmd_rev) = 0.0;
HAL_PIN(cmd_res) = 2000.0;
HAL_PIN(en_condition) = 0.0;
HAL_PIN(error_out) = 0.0;
HAL_PIN(pos_static) = 0.0;//track pos in disabled and error condition
HAL_PIN(sin_offset) = 0.0;
HAL_PIN(cos_offset) = 0.0;
HAL_PIN(sin_gain) = 1.0;
HAL_PIN(cos_gain) = 1.0;
HAL_PIN(max_dc_volt) = 370.0;
HAL_PIN(max_hv_temp) = 90.0;
HAL_PIN(max_core_temp) = 55.0;
HAL_PIN(max_pos_error) = M_PI / 2.0;
HAL_PIN(high_dc_volt) = 350.0;
HAL_PIN(low_dc_volt) = 12.0;
HAL_PIN(high_hv_temp) = 70.0;
HAL_PIN(fan_hv_temp) = 60.0;
HAL_PIN(fan_core_temp) = 450.0;
HAL_PIN(fan_motor_temp) = 60.0;
HAL_PIN(p) = 0.99;
HAL_PIN(pos_p) = 100.0;
HAL_PIN(vel_p) = 1.0;
HAL_PIN(acc_p) = 0.3;
HAL_PIN(acc_pi) = 50.0;
HAL_PIN(cur_p) = 0.0;
HAL_PIN(cur_i) = 0.0;
HAL_PIN(cur_ff) = 1.0;
HAL_PIN(cur_ind) = 0.0;
HAL_PIN(max_sat) = 0.2;
rt_time_hal_pin = map_hal_pin("net0.rt_calc_time");
frt_time_hal_pin = map_hal_pin("net0.frt_calc_time");
rt_period_time_hal_pin = map_hal_pin("net0.rt_period");
frt_period_time_hal_pin = map_hal_pin("net0.frt_period");
for(int i = 0; i < hal.nrt_init_func_count; i++){ // run nrt init
hal.nrt_init[i]();
}
link_pid();
if(hal.pin_errors + hal.comp_errors == 0){
start_hal();
}
else{
hal.hal_state = MEM_ERROR;
}
while(1)//run non realtime stuff
{
start = SysTick->VAL;
if(last_start < start){
last_start += SysTick->LOAD;
}
period = ((float)(last_start - start)) / RCC_Clocks.HCLK_Frequency;
last_start = start;
for(hal.active_nrt_func = 0; hal.active_nrt_func < hal.nrt_func_count; hal.active_nrt_func++){//run all non realtime hal functions
hal.nrt[hal.active_nrt_func](period);
}
hal.active_nrt_func = -1;
end = SysTick->VAL;
if(start < end){
start += SysTick->LOAD;
}
PIN(nrt_calc_time) = ((float)(start - end)) / RCC_Clocks.HCLK_Frequency;
PIN(nrt_period) = period;
Wait(2);
}
}
int main(void)
{
float period = 0.0;
float lasttime = 0.0;
setup();
#include "comps/frt.comp"
#include "comps/rt.comp"
#include "comps/nrt.comp"
#include "comps/pos_minus.comp"
#include "comps/pwm2uvw.comp"
#include "comps/pwmout.comp"
#include "comps/pwm2uart.comp"
#include "comps/enc.comp"
#include "comps/res.comp"
//#include "comps/pid.comp"
#include "comps/term.comp"
#include "comps/sim.comp"
#include "comps/pderiv.comp"
#include "comps/pderiv.comp"
#include "comps/autophase.comp"
#include "comps/vel_observer.comp"
set_comp_type("net");
HAL_PIN(enable) = 0.0;
HAL_PIN(cmd) = 0.0;
HAL_PIN(fb) = 0.0;
HAL_PIN(cmd_d) = 0.0;
HAL_PIN(fb_d) = 0.0;
HAL_PIN(u) = 0.0;
HAL_PIN(v) = 0.0;
HAL_PIN(w) = 0.0;
for(int i = 0; i < hal.init_func_count; i++){
hal.init[i]();
}
TIM_Cmd(TIM2, ENABLE);//int
TIM_Cmd(TIM4, ENABLE);//PWM
TIM_Cmd(TIM5, ENABLE);//PID
link_pid();
link_ac_sync_res();
set_hal_pin("ap0.start", 1.0);
link_hal_pins("sim0.sin", "net0.cmd");
link_hal_pins("net0.cmd", "vel_ob0.pos_in");
link_hal_pins("net0.cmd", "term0.wave0");
link_hal_pins("net0.cmd_d", "term0.wave1");
link_hal_pins("vel_ob0.pos_out", "term0.wave2");
link_hal_pins("vel_ob0.vel_out", "term0.wave3");
link_hal_pins("vel_ob0.trg", "rt0.trg0");
set_hal_pin("term0.gain0", 10.0);
set_hal_pin("term0.gain1", 10.0);
set_hal_pin("term0.gain2", 10.0);
set_hal_pin("term0.gain3", 10.0);
set_hal_pin("sim0.amp", 1.0);
set_hal_pin("sim0.freq", 0.5);
set_hal_pin("vel_ob0.alpha", 1.0);
set_hal_pin("vel_ob0.beta", 0.1);
link_hal_pins("pwm2uart0.uout", "net0.u");
link_hal_pins("pwm2uart0.vout", "net0.v");
link_hal_pins("pwm2uart0.wout", "net0.w");
data_t data;
while(1) // Do not exit
{
Wait(1);
period = time/1000.0 + (1.0 - SysTick->VAL/RCC_Clocks.HCLK_Frequency)/1000.0 - lasttime;
lasttime = time/1000.0 + (1.0 - SysTick->VAL/RCC_Clocks.HCLK_Frequency)/1000.0;
for(int i = 0; i < hal.nrt_func_count; i++){
hal.nrt[i](period);
}
data.data[0] = (uint16_t)PIN(u);
data.data[1] = (uint16_t)PIN(v);
data.data[2] = (uint16_t)PIN(w);
while(USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET);
USART_SendData(USART3, 0x155);
for(int i = 0; i < DATALENGTH * 2; i++){
while(USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET);
USART_SendData(USART3, data.byte[i]);
}
}
}
int main(void)
{
float period = 0.0;
float lasttime = 0.0;
setup();
#include "comps/adc.comp"
#include "comps/fault.comp"
#include "comps/enc_cmd.comp"
#include "comps/enc_fb.comp"
//#include "comps/res.comp"
#include "comps/encm.comp"
#include "comps/sim.comp"
#include "comps/rev.comp"
#include "comps/rev.comp"
#include "comps/cauto.comp"
#include "comps/pderiv.comp"
#include "comps/pderiv.comp"
#include "comps/pid.comp"
#include "comps/rev.comp"
#include "comps/cur.comp"
#include "comps/pwm2uart.comp"
#include "comps/absavg.comp"
#include "comps/term.comp"
#include "comps/led.comp"
#include "comps/fan.comp"
#include "comps/brake.comp"
set_comp_type("net");
HAL_PIN(enable) = 0.0;
HAL_PIN(cmd) = 0.0;
HAL_PIN(fb) = 0.0;
HAL_PIN(fb_error) = 0.0;
HAL_PIN(cmd_d) = 0.0;
HAL_PIN(fb_d) = 0.0;
HAL_PIN(amp) = 0.0;
HAL_PIN(vlt) = 0.0;
HAL_PIN(tmp) = 0.0;
HAL_PIN(rt_calc_time) = 0.0;
set_comp_type("conf");
HAL_PIN(r) = 0.0;
HAL_PIN(l) = 0.0;
HAL_PIN(j) = 0.0;
HAL_PIN(km) = 0.0;
HAL_PIN(pole_count) = 0.0;
HAL_PIN(fb_pole_count) = 0.0;
HAL_PIN(fb_offset) = 0.0;
HAL_PIN(pos_p) = 0.0;
HAL_PIN(acc_p) = 0.0;
HAL_PIN(acc_pi) = 0.0;
HAL_PIN(cur_lp) = 0.0;
HAL_PIN(max_vel) = 0.0;
HAL_PIN(max_acc) = 0.0;
HAL_PIN(max_force) = 0.0;
HAL_PIN(max_cur) = 0.0;
HAL_PIN(fb_type) = 0.0;
HAL_PIN(cmd_type) = 0.0;
HAL_PIN(fb_rev) = 0.0;
HAL_PIN(cmd_rev) = 0.0;
HAL_PIN(out_rev) = 0.0;
HAL_PIN(fb_res) = 1.0;
HAL_PIN(cmd_res) = 2000.0;
HAL_PIN(sin_offset) = -17600.0;
HAL_PIN(cos_offset) = -17661.0;
HAL_PIN(sin_gain) = 0.0001515;
HAL_PIN(cos_gain) = 0.00015;
HAL_PIN(max_volt) = 370.0;
HAL_PIN(max_temp) = 100.0;
HAL_PIN(max_pos_error) = M_PI / 2.0;
HAL_PIN(high_volt) = 350.0;
HAL_PIN(low_volt) = 12.0;
HAL_PIN(high_temp) = 80.0;
HAL_PIN(fan_temp) = 40.0;
HAL_PIN(autophase) = 1.0;
HAL_PIN(max_sat) = 0.2;
g_amp_hal_pin = map_hal_pin("net0.amp");
g_vlt_hal_pin = map_hal_pin("net0.vlt");
g_tmp_hal_pin = map_hal_pin("net0.tmp");
rt_time_hal_pin = map_hal_pin("net0.rt_calc_time");
for(int i = 0; i < hal.init_func_count; i++){
hal.init[i]();
}
link_pid();
//set_e240();
//set_bergerlahr();//pid2: ok
//set_mitsubishi();//pid2: ok
//set_festo();
//set_manutec();
set_rexroth();//pid2: ok
//link_hal_pins("enc10.ipos", "rev1.in");
//set_hal_pin("res0.reverse", 0.0);
//set_bosch1();//pid2: ok
//set_bosch4();//pid2: ok
//set_sanyo();//pid2: ok
//set_br();
set_cmd_enc();
link_hal_pins("conf0.max_cur", "fault0.max_cur");
link_hal_pins("conf0.max_volt", "fault0.max_volt");
link_hal_pins("conf0.max_temp", "fault0.max_temp");
link_hal_pins("conf0.max_pos_error", "fault0.max_pos_error");
link_hal_pins("conf0.high_volt", "fault0.high_volt");
link_hal_pins("conf0.high_temp", "fault0.high_temp");
link_hal_pins("conf0.low_volt", "fault0.low_volt");
link_hal_pins("conf0.fan_temp", "fault0.fan_temp");
link_hal_pins("conf0.autophase", "fault0.phase_on_start");
link_hal_pins("conf0.max_sat", "fault0.max_sat");
set_hal_pin("fault0.reset", 0.0);
link_hal_pins("fault0.phase_start", "cauto0.start");
link_hal_pins("cauto0.ready", "fault0.phase_ready");
link_hal_pins("pid0.pos_error", "fault0.pos_error");
link_hal_pins("pid0.saturated", "fault0.sat");
link_hal_pins("net0.vlt", "fault0.volt");
link_hal_pins("net0.tmp", "fault0.temp");
link_hal_pins("net0.amp", "fault0.amp");
link_hal_pins("net0.fb_error", "fault0.fb_error");
link_hal_pins("net0.cmd", "fault0.cmd");
link_hal_pins("rev1.out", "fault0.fb");
link_hal_pins("fault0.start_offset", "cauto0.start_offset");
link_hal_pins("fault0.cur", "pid0.max_cur");
link_hal_pins("fault0.cur", "cur0.cur_max");
link_hal_pins("fault0.brake", "brake0.brake");
link_hal_pins("fault0.fan", "fan0.fan");
link_hal_pins("fault0.enable_out", "pwm2uart0.enable");
link_hal_pins("fault0.enable_pid", "pid0.enable");
link_hal_pins("net0.enable", "fault0.enable");
link_hal_pins("fault0.led_green", "led0.g");
link_hal_pins("fault0.led_red", "led0.r");
link_hal_pins("pid0.pos_error", "avg0.in");
set_hal_pin("avg0.ac", 0.0001);
TIM_Cmd(TIM8, ENABLE);//int
UB_USB_CDC_Init();
while(1) // Do not exit
{
Wait(2);
period = systime/1000.0 + (1.0 - SysTick->VAL/RCC_Clocks.HCLK_Frequency)/1000.0 - lasttime;
lasttime = systime/1000.0 + (1.0 - SysTick->VAL/RCC_Clocks.HCLK_Frequency)/1000.0;
for(int i = 0; i < hal.nrt_func_count; i++){
hal.nrt[i](period);
}
}
}
/*
* This creates a new process as a copy of the old one,
* but does not actually start it yet.
*
* It copies the registers, and all the appropriate
* parts of the process environment (as per the clone
* flags). The actual kick-off is left to the caller.
*/
struct task_struct *copy_process(unsigned long clone_flags,
unsigned long stack_start,
struct pt_regs *regs,
unsigned long stack_size,
int *parent_tidptr,
int *child_tidptr)
{
int retval;
struct task_struct *p = NULL;
if ((clone_flags & (CLONE_NEWNS|CLONE_FS)) == (CLONE_NEWNS|CLONE_FS))
return ERR_PTR(-EINVAL);
/*
* Thread groups must share signals as well, and detached threads
* can only be started up within the thread group.
*/
if ((clone_flags & CLONE_THREAD) && !(clone_flags & CLONE_SIGHAND))
return ERR_PTR(-EINVAL);
if ((clone_flags & CLONE_DETACHED) && !(clone_flags & CLONE_THREAD))
return ERR_PTR(-EINVAL);
if (!(clone_flags & CLONE_DETACHED) && (clone_flags & CLONE_THREAD))
return ERR_PTR(-EINVAL);
retval = -ENOMEM;
p = dup_task_struct(current);
if (!p)
goto fork_out;
p->tux_info = NULL;
retval = -EAGAIN;
/*
* Increment user->__count before the rlimit test so that it would
* be correct if we take the bad_fork_free failure path.
*/
atomic_inc(&p->user->__count);
if (atomic_read(&p->user->processes) >= p->rlim[RLIMIT_NPROC].rlim_cur) {
if (!capable(CAP_SYS_ADMIN) && !capable(CAP_SYS_RESOURCE))
goto bad_fork_free;
}
atomic_inc(&p->user->processes);
/*
* Counter increases are protected by
* the kernel lock so nr_threads can't
* increase under us (but it may decrease).
*/
if (nr_threads >= max_threads)
goto bad_fork_cleanup_count;
get_exec_domain(p->exec_domain);
if (p->binfmt && p->binfmt->module)
__MOD_INC_USE_COUNT(p->binfmt->module);
p->did_exec = 0;
p->swappable = 0;
p->state = TASK_UNINTERRUPTIBLE;
copy_flags(clone_flags, p);
if (clone_flags & CLONE_IDLETASK)
p->pid = 0;
else {
p->pid = alloc_pidmap();
if (p->pid == -1)
goto bad_fork_cleanup;
}
retval = -EFAULT;
if (clone_flags & CLONE_PARENT_SETTID)
if (put_user(p->pid, parent_tidptr))
goto bad_fork_cleanup;
INIT_LIST_HEAD(&p->run_list);
INIT_LIST_HEAD(&p->children);
INIT_LIST_HEAD(&p->sibling);
init_waitqueue_head(&p->wait_chldexit);
p->vfork_done = NULL;
spin_lock_init(&p->alloc_lock);
spin_lock_init(&p->switch_lock);
p->sigpending = 0;
init_sigpending(&p->pending);
p->it_real_value = p->it_virt_value = p->it_prof_value = 0;
p->it_real_incr = p->it_virt_incr = p->it_prof_incr = 0;
init_timer(&p->real_timer);
p->real_timer.data = (unsigned long) p;
p->leader = 0; /* session leadership doesn't inherit */
p->tty_old_pgrp = 0;
memset(&p->utime, 0, sizeof(p->utime));
memset(&p->stime, 0, sizeof(p->stime));
memset(&p->cutime, 0, sizeof(p->cutime));
memset(&p->cstime, 0, sizeof(p->cstime));
memset(&p->group_utime, 0, sizeof(p->group_utime));
memset(&p->group_stime, 0, sizeof(p->group_stime));
memset(&p->group_cutime, 0, sizeof(p->group_cutime));
memset(&p->group_cstime, 0, sizeof(p->group_cstime));
#ifdef CONFIG_SMP
memset(&p->per_cpu_utime, 0, sizeof(p->per_cpu_utime));
memset(&p->per_cpu_stime, 0, sizeof(p->per_cpu_stime));
#endif
memset(&p->timing_state, 0, sizeof(p->timing_state));
p->timing_state.type = PROCESS_TIMING_USER;
p->last_sigxcpu = 0;
p->array = NULL;
p->lock_depth = -1; /* -1 = no lock */
p->start_time = jiffies;
retval = -ENOMEM;
/* copy all the process information */
if (copy_files(clone_flags, p))
goto bad_fork_cleanup;
if (copy_fs(clone_flags, p))
goto bad_fork_cleanup_files;
if (copy_sighand(clone_flags, p))
goto bad_fork_cleanup_fs;
if (copy_signal(clone_flags, p))
goto bad_fork_cleanup_sighand;
if (copy_mm(clone_flags, p))
goto bad_fork_cleanup_signal;
if (copy_namespace(clone_flags, p))
goto bad_fork_cleanup_mm;
retval = copy_thread(0, clone_flags, stack_start, stack_size, p, regs);
if (retval)
goto bad_fork_cleanup_namespace;
p->semundo = NULL;
p->set_child_tid = (clone_flags & CLONE_CHILD_SETTID)
? child_tidptr : NULL;
/*
* Clear TID on mm_release()?
*/
p->clear_child_tid = (clone_flags & CLONE_CHILD_CLEARTID)
? child_tidptr : NULL;
/* Our parent execution domain becomes current domain
These must match for thread signalling to apply */
p->parent_exec_id = p->self_exec_id;
/* ok, now we should be set up.. */
p->swappable = 1;
if (clone_flags & CLONE_DETACHED)
p->exit_signal = -1;
else
p->exit_signal = clone_flags & CSIGNAL;
p->pdeath_signal = 0;
/*
* Share the timeslice between parent and child, thus the
* total amount of pending timeslices in the system doesnt change,
* resulting in more scheduling fairness.
*/
local_irq_disable();
p->time_slice = (current->time_slice + 1) >> 1;
p->first_time_slice = 1;
/*
* The remainder of the first timeslice might be recovered by
* the parent if the child exits early enough.
*/
current->time_slice >>= 1;
p->last_run = jiffies;
if (!current->time_slice) {
/*
* This case is rare, it happens when the parent has only
* a single jiffy left from its timeslice. Taking the
* runqueue lock is not a problem.
*/
current->time_slice = 1;
scheduler_tick(0 /* don't update the time stats */);
}
local_irq_enable();
if ((int)current->time_slice <= 0)
BUG();
if ((int)p->time_slice <= 0)
BUG();
/*
* Ok, add it to the run-queues and make it
* visible to the rest of the system.
*
* Let it rip!
*/
p->tgid = p->pid;
p->group_leader = p;
INIT_LIST_HEAD(&p->ptrace_children);
INIT_LIST_HEAD(&p->ptrace_list);
/* Need tasklist lock for parent etc handling! */
write_lock_irq(&tasklist_lock);
/*
* Check for pending SIGKILL! The new thread should not be allowed
* to slip out of an OOM kill. (or normal SIGKILL.)
*/
if (sigismember(¤t->pending.signal, SIGKILL)) {
write_unlock_irq(&tasklist_lock);
retval = -EINTR;
goto bad_fork_cleanup_namespace;
}
/* CLONE_PARENT re-uses the old parent */
if (clone_flags & (CLONE_PARENT|CLONE_THREAD))
p->real_parent = current->real_parent;
else
p->real_parent = current;
p->parent = p->real_parent;
if (clone_flags & CLONE_THREAD) {
spin_lock(¤t->sighand->siglock);
/*
* Important: if an exit-all has been started then
* do not create this new thread - the whole thread
* group is supposed to exit anyway.
*/
if (current->signal->group_exit) {
spin_unlock(¤t->sighand->siglock);
write_unlock_irq(&tasklist_lock);
retval = -EINTR;
goto bad_fork_cleanup_namespace;
}
p->tgid = current->tgid;
p->group_leader = current->group_leader;
if (current->signal->group_stop_count > 0) {
/*
* There is an all-stop in progress for the group.
* We ourselves will stop as soon as we check signals.
* Make the new thread part of that group stop too.
*/
current->signal->group_stop_count++;
p->sigpending = 1;
}
spin_unlock(¤t->sighand->siglock);
}
SET_LINKS(p);
if (p->ptrace & PT_PTRACED)
__ptrace_link(p, current->parent);
attach_pid(p, PIDTYPE_PID, p->pid);
if (thread_group_leader(p)) {
attach_pid(p, PIDTYPE_TGID, p->tgid);
attach_pid(p, PIDTYPE_PGID, p->pgrp);
attach_pid(p, PIDTYPE_SID, p->session);
} else {
link_pid(p, p->pids + PIDTYPE_TGID,
&p->group_leader->pids[PIDTYPE_TGID].pid);
}
/* clear controlling tty of new task if parent's was just cleared */
if (!current->tty && p->tty)
p->tty = NULL;
nr_threads++;
write_unlock_irq(&tasklist_lock);
retval = 0;
fork_out:
if (retval)
return ERR_PTR(retval);
return p;
bad_fork_cleanup_namespace:
exit_namespace(p);
bad_fork_cleanup_mm:
exit_mm(p);
if (p->active_mm)
mmdrop(p->active_mm);
bad_fork_cleanup_signal:
exit_signal(p);
bad_fork_cleanup_sighand:
exit_sighand(p);
bad_fork_cleanup_fs:
exit_fs(p); /* blocking */
bad_fork_cleanup_files:
exit_files(p); /* blocking */
bad_fork_cleanup:
if (p->pid > 0)
free_pidmap(p->pid);
put_exec_domain(p->exec_domain);
if (p->binfmt && p->binfmt->module)
__MOD_DEC_USE_COUNT(p->binfmt->module);
bad_fork_cleanup_count:
atomic_dec(&p->user->processes);
bad_fork_free:
p->state = TASK_ZOMBIE; /* debug */
atomic_dec(&p->usage);
put_task_struct(p);
goto fork_out;
}