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https://github.com/apache/nuttx.git
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Add support for kernel-mode threads
git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@3478 42af7a65-404d-4744-a932-0658087f49c3
This commit is contained in:
patacongo
+152
-66
@@ -67,11 +67,126 @@
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****************************************************************************/
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/****************************************************************************
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* Private Function Prototypes
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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* Name: thread_create
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*
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* Description:
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* This function creates and activates a new thread of the specified type
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* with a specified priority and returns its system-assigned ID. It is the
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* internal, commn implementation of task_create() and kernel_thread(). See
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* comments with task_create() for further information.
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*
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* Input Parameters:
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* name - Name of the new task
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* type - Type of the new task
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* priority - Priority of the new task
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* stack_size - size (in bytes) of the stack needed
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* entry - Entry point of a new task
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* arg - A pointer to an array of input parameters.
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* Up to CONFIG_MAX_TASK_ARG parameters may
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* be provided. If fewer than CONFIG_MAX_TASK_ARG
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* parameters are passed, the list should be
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* terminated with a NULL argv[] value.
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* If no parameters are required, argv may be
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* NULL.
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*
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* Return Value:
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* Returns the non-zero process ID of the new task or ERROR if memory is
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* insufficient or the task cannot be created. The errno will be set to
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* indicate the nature of the error (always ENOMEM).
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*
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****************************************************************************/
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#ifndef CONFIG_CUSTOM_STACK
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static int thread_create(const char *name, uint8_t type, int priority,
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int stack_size, main_t entry, const char **argv)
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#else
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static int thread_create(const char *name, uint8_t type, int priority,
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main_t entry, const char **argv)
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#endif
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{
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FAR _TCB *tcb;
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pid_t pid;
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int ret;
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/* Allocate a TCB for the new task. */
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tcb = (FAR _TCB*)kzalloc(sizeof(_TCB));
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if (!tcb)
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{
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goto errout;
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}
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/* Associate file descriptors with the new task */
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#if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0
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ret = sched_setuptaskfiles(tcb);
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if (ret != OK)
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{
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goto errout_with_tcb;
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}
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#endif
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/* Clone the parent's task environment */
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(void)env_dup(tcb);
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/* Allocate the stack for the TCB */
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#ifndef CONFIG_CUSTOM_STACK
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ret = up_create_stack(tcb, stack_size);
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if (ret != OK)
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{
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goto errout_with_tcb;
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}
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#endif
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/* Mark the type of this thread (this setting will be needed in
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* task_schedsetup() when up_initial_state() is called.
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*/
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tcb->flags |= type;
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/* Initialize the task control block */
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ret = task_schedsetup(tcb, priority, task_start, entry);
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if (ret != OK)
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{
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goto errout_with_tcb;
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}
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/* Setup to pass parameters to the new task */
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(void)task_argsetup(tcb, name, argv);
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/* Get the assigned pid before we start the task */
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pid = (int)tcb->pid;
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/* Activate the task */
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ret = task_activate(tcb);
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if (ret != OK)
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{
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dq_rem((FAR dq_entry_t*)tcb, (dq_queue_t*)&g_inactivetasks);
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goto errout_with_tcb;
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}
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return pid;
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errout_with_tcb:
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sched_releasetcb(tcb);
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errout:
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errno = ENOMEM;
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return ERROR;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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@@ -105,9 +220,9 @@
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* NULL.
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*
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* Return Value:
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* Returns the non-zero process ID of the new task or
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* ERROR if memory is insufficient or the task cannot be
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* created (errno is not set).
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* Returns the non-zero process ID of the new task or ERROR if memory is
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* insufficient or the task cannot be created. The errno will be set to
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* indicate the nature of the error (always ENOMEM).
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*
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****************************************************************************/
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@@ -119,70 +234,41 @@ int task_create(const char *name, int priority,
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main_t entry, const char *argv[])
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#endif
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{
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FAR _TCB *tcb;
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int status;
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pid_t pid;
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/* Allocate a TCB for the new task. */
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tcb = (FAR _TCB*)kzalloc(sizeof(_TCB));
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if (!tcb)
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{
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errno = ENOMEM;
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return ERROR;
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}
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/* Associate file descriptors with the new task */
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#if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0
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if (sched_setuptaskfiles(tcb) != OK)
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{
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sched_releasetcb(tcb);
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return ERROR;
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}
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#ifndef CONFIG_CUSTOM_STACK
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return thread_create(name, TCB_FLAG_TTYPE_TASK, priority, stack_size, entry, argv);
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#else
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return thread_create(name, TCB_FLAG_TTYPE_TASK, priority, entry, argv);
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#endif
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}
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/* Clone the parent's task environment */
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(void)env_dup(tcb);
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/* Allocate the stack for the TCB */
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/****************************************************************************
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* Name: kernel_thread
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*
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* Description:
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* This function creates and activates a kernel thread task with kernel-
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* mode privileges. It is identical to task_create() except that it
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* configures the newly started thread to run in kernel model.
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*
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* Input Parameters:
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* (same as task_create())
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*
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* Return Value:
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* (same as task_create())
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*
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****************************************************************************/
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#ifndef CONFIG_CUSTOM_STACK
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status = up_create_stack(tcb, stack_size);
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if (status != OK)
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{
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sched_releasetcb(tcb);
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return ERROR;
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}
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int kernel_thread(const char *name, int priority,
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int stack_size, main_t entry, const char *argv[])
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#else
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int kernel_thread(const char *name, int priority,
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main_t entry, const char *argv[])
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#endif
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{
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#ifndef CONFIG_CUSTOM_STACK
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return thread_create(name, TCB_FLAG_TTYPE_KERNEL, priority, stack_size, entry, argv);
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#else
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return thread_create(name, TCB_FLAG_TTYPE_KERNEL, priority, entry, argv);
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#endif
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/* Initialize the task control block */
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status = task_schedsetup(tcb, priority, task_start, entry);
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if (status != OK)
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{
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sched_releasetcb(tcb);
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return ERROR;
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}
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/* Setup to pass parameters to the new task */
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(void)task_argsetup(tcb, name, argv);
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/* Get the assigned pid before we start the task */
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pid = (int)tcb->pid;
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/* Activate the task */
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status = task_activate(tcb);
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if (status != OK)
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{
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dq_rem((FAR dq_entry_t*)tcb, (dq_queue_t*)&g_inactivetasks);
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sched_releasetcb(tcb);
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return ERROR;
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}
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return pid;
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}
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