[PATCH v3] rtems: Add rtems_task_create_from_config()
Sebastian Huber
sebastian.huber at embedded-brains.de
Wed Sep 9 08:14:21 UTC 2020
In contrast to rtems_task_create() this function creates a task with a
user-provided task storage area. The new create function uses a
configuration structure instead of individual parameters.
Add RTEMS_TASK_STORAGE_ALIGNMENT to define the recommended alignment of
a task storage area.
Add RTEMS_TASK_STORAGE_SIZE() to calculate the recommended size of a
task storage area based on the task attributes and the size dedicated to
the task stack and thread-local storage. This macro may allow future
extensions without breaking the API.
Add application configuration option CONFIGURE_TASKS_CREATED_FROM_CONFIG to
adjust RTEMS Workspace size estimate.
Update #3959.
---
v2:
Rename function from rtems_task_build() to
rtems_task_create_from_config(). Add RTEMS_TASK_STORAGE_ALIGNMENT and
RTEMS_TASK_STORAGE_SIZE(). Improve documentation.
v3:
Add CONFIGURE_TASKS_CREATED_FROM_CONFIG. Fix RTEMS_TASK_STORAGE_SIZE() if
CPU_ALL_TASKS_ARE_FP == TRUE.
cpukit/Makefile.am | 1 +
cpukit/doxygen/appl-config.h | 23 ++
cpukit/include/rtems/confdefs/threads.h | 8 +
cpukit/include/rtems/confdefs/wkspace.h | 4 +-
cpukit/include/rtems/rtems/tasks.h | 131 +++++++++++
cpukit/include/rtems/rtems/tasksimpl.h | 11 +
cpukit/rtems/src/taskcreate.c | 278 +++++-------------------
cpukit/rtems/src/taskcreatefromconfig.c | 274 +++++++++++++++++++++++
testsuites/sptests/sp01/init.c | 24 +-
testsuites/sptests/sp01/sp01.doc | 1 +
testsuites/sptests/sp01/system.h | 3 +-
11 files changed, 521 insertions(+), 237 deletions(-)
create mode 100644 cpukit/rtems/src/taskcreatefromconfig.c
diff --git a/cpukit/Makefile.am b/cpukit/Makefile.am
index e5009e53c9..caa6a9efe6 100644
--- a/cpukit/Makefile.am
+++ b/cpukit/Makefile.am
@@ -787,6 +787,7 @@ librtemscpu_a_SOURCES += rtems/src/statustoerrno.c
librtemscpu_a_SOURCES += rtems/src/systemeventreceive.c
librtemscpu_a_SOURCES += rtems/src/systemeventsend.c
librtemscpu_a_SOURCES += rtems/src/taskcreate.c
+librtemscpu_a_SOURCES += rtems/src/taskcreatefromconfig.c
librtemscpu_a_SOURCES += rtems/src/taskdelete.c
librtemscpu_a_SOURCES += rtems/src/taskexit.c
librtemscpu_a_SOURCES += rtems/src/taskgetaffinity.c
diff --git a/cpukit/doxygen/appl-config.h b/cpukit/doxygen/appl-config.h
index cd4664f7c8..5813192fd5 100644
--- a/cpukit/doxygen/appl-config.h
+++ b/cpukit/doxygen/appl-config.h
@@ -864,6 +864,29 @@
*/
#define CONFIGURE_MAXIMUM_USER_EXTENSIONS
+/**
+ * @brief This configuration option is an integer define.
+ *
+ * The value of this configuration option defines the count of Classic API
+ * Tasks which are created by rtems_task_create_from_config().
+ *
+ * @par Default Value
+ * The default value is 0.
+ *
+ * @par Value Constraints
+ * The value of this configuration option shall be greater than or equal to 0
+ * and less than or equal to #CONFIGURE_MAXIMUM_TASKS.
+ *
+ * @par Notes
+ * By default, the calculation for the required memory in the RTEMS Workspace
+ * for tasks assumes that all Classic API Tasks are created by
+ * rtems_task_create(). This configuration option can be used to reduce the
+ * required memory for the system-provided task storage areas since tasks
+ * created by rtems_task_create_from_config() use a user-provided task storage
+ * area.
+ */
+#define CONFIGURE_TASKS_CREATED_FROM_CONFIG
+
/** @} */
/**
diff --git a/cpukit/include/rtems/confdefs/threads.h b/cpukit/include/rtems/confdefs/threads.h
index 33b8c5cee2..32d0c63d98 100644
--- a/cpukit/include/rtems/confdefs/threads.h
+++ b/cpukit/include/rtems/confdefs/threads.h
@@ -60,6 +60,14 @@
#define _CONFIGURE_TASKS ( CONFIGURE_MAXIMUM_TASKS + _CONFIGURE_LIBBLOCK_TASKS )
+#ifndef CONFIGURE_TASKS_CREATED_FROM_CONFIG
+ #define CONFIGURE_TASKS_CREATED_FROM_CONFIG 0
+#endif
+
+#if CONFIGURE_TASKS_CREATED_FROM_CONFIG > CONFIGURE_MAXIMUM_TASKS
+ #error "CONFIGURE_TASKS_CREATED_FROM_CONFIG shall be less than or equal to CONFIGURE_MAXIMUM_TASKS"
+#endif
+
#ifndef CONFIGURE_MAXIMUM_POSIX_THREADS
#define CONFIGURE_MAXIMUM_POSIX_THREADS 0
#endif
diff --git a/cpukit/include/rtems/confdefs/wkspace.h b/cpukit/include/rtems/confdefs/wkspace.h
index de476dbf82..215cdcb141 100644
--- a/cpukit/include/rtems/confdefs/wkspace.h
+++ b/cpukit/include/rtems/confdefs/wkspace.h
@@ -100,7 +100,9 @@
+ _CONFIGURE_POSIX_INIT_THREAD_STACK_EXTRA \
+ _CONFIGURE_LIBBLOCK_TASKS_STACK_EXTRA \
+ CONFIGURE_EXTRA_TASK_STACKS \
- + rtems_resource_maximum_per_allocation( _CONFIGURE_TASKS ) \
+ + rtems_resource_maximum_per_allocation( \
+ _CONFIGURE_TASKS - CONFIGURE_TASKS_CREATED_FROM_CONFIG \
+ ) \
* _Configure_From_stackspace( CONFIGURE_MINIMUM_TASK_STACK_SIZE ) \
+ rtems_resource_maximum_per_allocation( CONFIGURE_MAXIMUM_POSIX_THREADS ) \
* _Configure_From_stackspace( CONFIGURE_MINIMUM_POSIX_THREAD_STACK_SIZE ) \
diff --git a/cpukit/include/rtems/rtems/tasks.h b/cpukit/include/rtems/rtems/tasks.h
index 12c323e60e..513e3e9eaf 100644
--- a/cpukit/include/rtems/rtems/tasks.h
+++ b/cpukit/include/rtems/rtems/tasks.h
@@ -21,6 +21,7 @@
#include <rtems/rtems/attr.h>
#include <rtems/rtems/status.h>
#include <rtems/rtems/types.h>
+#include <rtems/score/context.h>
#include <rtems/score/smp.h>
#ifdef __cplusplus
@@ -164,6 +165,136 @@ rtems_status_code rtems_task_create(
rtems_id *id
);
+/**
+ * @brief Returns the recommended task storage area size for the specified size
+ * and task attributes.
+ *
+ * @param _size is the size dedicated to the task stack and thread-local
+ * storage.
+ *
+ * @param _attributes is the attribute set of the task using the storage area.
+ *
+ * @return The recommended task storage area size is returned calculated from
+ * the input parameters.
+ *
+ * @see rtems_task_config
+ */
+#if CPU_ALL_TASKS_ARE_FP == TURE
+ #define RTEMS_TASK_STORAGE_SIZE( _size, _attributes ) \
+ ( ( _size ) + CONTEXT_FP_SIZE )
+#else
+ #define RTEMS_TASK_STORAGE_SIZE( _size, _attributes ) \
+ ( ( _size ) + ( ( ( _attributes ) & RTEMS_FLOATING_POINT ) != 0 ? \
+ CONTEXT_FP_SIZE : 0 ) )
+#endif
+
+/**
+ * @brief This variable attribute defines the recommended alignment of a task
+ * storage area.
+ *
+ * @see rtems_task_config
+ */
+#define RTEMS_TASK_STORAGE_ALIGNMENT RTEMS_ALIGNED( CPU_STACK_ALIGNMENT )
+
+/**
+ * @brief This structure defines the configuration of a task created by
+ * rtems_task_create_from_config().
+ */
+typedef struct {
+ /**
+ * @brief This member defines the name of the task.
+ */
+ rtems_name name;
+
+ /**
+ * @brief This member defines initial priority of the task.
+ */
+ rtems_task_priority initial_priority;
+
+ /**
+ * @brief This member shall point to the task storage area begin.
+ *
+ * The task storage area will contain the task stack, the thread-local
+ * storage, and the floating-point context on architectures with a separate
+ * floating-point context.
+ *
+ * There are no alignment requirements for the task storage area. To avoid
+ * memory waste, use the ::RTEMS_TASK_STORAGE_ALIGNMENT variable attribute to
+ * enforce the recommended alignment of the task storage area.
+ */
+ void *storage_area;
+
+ /**
+ * @brief This member defines size of the task storage area in bytes.
+ *
+ * Use the RTEMS_TASK_STORAGE_SIZE() macro to determine the recommended task
+ * storage area size.
+ */
+ size_t storage_size;
+
+ /**
+ * @brief This member defines the optional handler to free the task storage
+ * area.
+ *
+ * It is called when the task creation aborts due to a failed task create
+ * extension or the task is deleted. It is called from task context under
+ * protection of the object allocator lock. It is allowed to call free() in
+ * this handler. The handler may be NULL.
+ */
+ void ( *storage_free )( void * );
+
+ /**
+ * @brief This member defines the initial modes of the task.
+ */
+ rtems_mode initial_modes;
+
+ /**
+ * @brief This member defines the attributes of the task.
+ */
+ rtems_attribute attributes;
+} rtems_task_config;
+
+/**
+ * @brief Creates a task according to the specified configuration.
+ *
+ * In contrast to tasks created by rtems_task_create(), the tasks created by
+ * this directive use a user-provided task storage area. The task storage area
+ * contains the task stack, the thread-local storage, and the floating-point
+ * context on architectures with a separate floating-point context.
+ *
+ * It is not recommended to mix rtems_task_create() and
+ * rtems_task_create_from_config() in an application. This directive is
+ * intended for applications which do not want to use the RTEMS Workspace and
+ * instead statically allocate all operating system resources. The stack space
+ * estimate done by <rtems/confdefs.h> assumes that all tasks are created by
+ * rtems_task_create(). The estimate can be adjusted to take user-provided task
+ * storage areas into account through the ::CONFIGURE_TASKS_CREATED_FROM_CONFIG
+ * application configuration option or a custom task stack allocator, see
+ * ::CONFIGURE_TASK_STACK_ALLOCATOR.
+ *
+ * @param config is the task configuration.
+ *
+ * @param[out] id is the pointer to an object identifier variable. The object
+ * identifier of the created task will be stored in this variable, in case of
+ * a successful operation.
+ *
+ * @retval RTEMS_SUCCESSFUL Successful operation.
+ *
+ * @retval RTEMS_INVALID_ADDRESS The id parameter is @c NULL.
+ *
+ * @retval RTEMS_INVALID_NAME The task name is invalid.
+ *
+ * @retval RTEMS_INVALID_PRIORITY The initial priority of the task is invalid.
+ *
+ * @retval RTEMS_TOO_MANY No task is available.
+ *
+ * @retval RTEMS_UNSATISFIED A task create extension failed.
+ */
+rtems_status_code rtems_task_create_from_config(
+ const rtems_task_config *config,
+ rtems_id *id
+);
+
/**
* @brief RTEMS Task Name to Id
*
diff --git a/cpukit/include/rtems/rtems/tasksimpl.h b/cpukit/include/rtems/rtems/tasksimpl.h
index c9544f8c27..a39113a283 100644
--- a/cpukit/include/rtems/rtems/tasksimpl.h
+++ b/cpukit/include/rtems/rtems/tasksimpl.h
@@ -42,6 +42,17 @@ extern "C" {
*/
void _RTEMS_tasks_Initialize_user_tasks( void );
+typedef void ( *RTEMS_tasks_Prepare_stack )(
+ Thread_Configuration *,
+ const rtems_task_config *
+);
+
+rtems_status_code _RTEMS_tasks_Create(
+ const rtems_task_config *config,
+ rtems_id *id,
+ RTEMS_tasks_Prepare_stack prepare_stack
+);
+
RTEMS_INLINE_ROUTINE Thread_Control *_RTEMS_tasks_Allocate(void)
{
_Objects_Allocator_lock();
diff --git a/cpukit/rtems/src/taskcreate.c b/cpukit/rtems/src/taskcreate.c
index 5486ac9b6e..1d9a4546e8 100644
--- a/cpukit/rtems/src/taskcreate.c
+++ b/cpukit/rtems/src/taskcreate.c
@@ -1,17 +1,36 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+
/**
- * @file
+ * @file
+ *
+ * @ingroup ClassicTasks
*
- * @brief RTEMS Task Create
- * @ingroup ClassicTasks
+ * @brief RTEMS Task Create
*/
/*
- * COPYRIGHT (c) 1989-2014,2016.
- * On-Line Applications Research Corporation (OAR).
+ * Copyright (C) 2020 embedded brains GmbH (http://www.embedded-brains.de)
*
- * The license and distribution terms for this file may be
- * found in the file LICENSE in this distribution or at
- * http://www.rtems.org/license/LICENSE.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
*/
#ifdef HAVE_CONFIG_H
@@ -19,20 +38,24 @@
#endif
#include <rtems/rtems/tasksimpl.h>
-#include <rtems/rtems/attrimpl.h>
-#include <rtems/rtems/eventimpl.h>
-#include <rtems/rtems/modesimpl.h>
-#include <rtems/rtems/support.h>
-#include <rtems/score/apimutex.h>
-#include <rtems/score/schedulerimpl.h>
#include <rtems/score/stackimpl.h>
-#include <rtems/score/sysstate.h>
-#include <rtems/score/threadimpl.h>
-#include <rtems/score/userextimpl.h>
-#include <rtems/sysinit.h>
#include <string.h>
+static void _RTEMS_tasks_Allocate_and_prepare_stack(
+ Thread_Configuration *thread_config,
+ const rtems_task_config *config
+)
+{
+ size_t size;
+
+ thread_config->stack_free = _Stack_Free;
+ size = _Stack_Ensure_minimum( config->storage_size );
+ size = _Stack_Extend_size( size, thread_config->is_fp );
+ thread_config->stack_size = size;
+ thread_config->stack_area = _Stack_Allocate( size );
+}
+
rtems_status_code rtems_task_create(
rtems_name name,
rtems_task_priority initial_priority,
@@ -42,215 +65,18 @@ rtems_status_code rtems_task_create(
rtems_id *id
)
{
- Thread_Control *the_thread;
- Thread_Configuration config;
-#if defined(RTEMS_MULTIPROCESSING)
- Objects_MP_Control *the_global_object = NULL;
- bool is_global;
-#endif
- bool status;
- rtems_attribute the_attribute_set;
- bool valid;
- RTEMS_API_Control *api;
- ASR_Information *asr;
-
- if ( !id )
- return RTEMS_INVALID_ADDRESS;
-
- if ( !rtems_is_name_valid( name ) )
- return RTEMS_INVALID_NAME;
-
- /*
- * Core Thread Initialize insures we get the minimum amount of
- * stack space.
- */
-
- /*
- * Fix the attribute set to match the attributes which
- * this processor (1) requires and (2) is able to support.
- * First add in the required flags for attribute_set
- * Typically this might include FP if the platform
- * or application required all tasks to be fp aware.
- * Then turn off the requested bits which are not supported.
- */
-
- the_attribute_set = _Attributes_Set( attribute_set, ATTRIBUTES_REQUIRED );
- the_attribute_set =
- _Attributes_Clear( the_attribute_set, ATTRIBUTES_NOT_SUPPORTED );
+ rtems_task_config config;
memset( &config, 0, sizeof( config ) );
- config.budget_algorithm = _Modes_Is_timeslice( initial_modes ) ?
- THREAD_CPU_BUDGET_ALGORITHM_RESET_TIMESLICE
- : THREAD_CPU_BUDGET_ALGORITHM_NONE,
- config.isr_level = _Modes_Get_interrupt_level( initial_modes );
- config.name.name_u32 = name;
- config.is_fp = _Attributes_Is_floating_point( the_attribute_set );
- config.is_preemptible = _Modes_Is_preempt( initial_modes );
- config.stack_size = _Stack_Ensure_minimum( stack_size );
- config.stack_size = _Stack_Extend_size( config.stack_size, config.is_fp );
-
- /*
- * Validate the RTEMS API priority and convert it to the core priority range.
- */
-
- if ( !_Attributes_Is_system_task( the_attribute_set ) ) {
- if ( initial_priority == PRIORITY_MINIMUM ) {
- return RTEMS_INVALID_PRIORITY;
- }
- }
-
- config.scheduler = _Thread_Scheduler_get_home( _Thread_Get_executing() );
-
- config.priority = _RTEMS_Priority_To_core(
- config.scheduler,
- initial_priority,
- &valid
+ config.name = name;
+ config.initial_priority = initial_priority;
+ config.storage_size = stack_size;
+ config.initial_modes = initial_modes;
+ config.attributes = attribute_set;
+
+ return _RTEMS_tasks_Create(
+ &config,
+ id,
+ _RTEMS_tasks_Allocate_and_prepare_stack
);
- if ( !valid ) {
- return RTEMS_INVALID_PRIORITY;
- }
-
-#if defined(RTEMS_MULTIPROCESSING)
- if ( !_System_state_Is_multiprocessing ) {
- the_attribute_set = _Attributes_Clear( the_attribute_set, RTEMS_GLOBAL );
- }
-
- is_global = _Attributes_Is_global( the_attribute_set );
-#endif
-
- /*
- * Allocate the thread control block and -- if the task is global --
- * allocate a global object control block.
- *
- * NOTE: This routine does not use the combined allocate and open
- * global object routine (_Objects_MP_Allocate_and_open) because
- * this results in a lack of control over when memory is allocated
- * and can be freed in the event of an error.
- */
- the_thread = _RTEMS_tasks_Allocate();
-
- if ( !the_thread ) {
- _Objects_Allocator_unlock();
- return RTEMS_TOO_MANY;
- }
-
-#if defined(RTEMS_MULTIPROCESSING)
- if ( is_global ) {
- the_global_object = _Objects_MP_Allocate_global_object();
-
- if ( _Objects_MP_Is_null_global_object( the_global_object ) ) {
- _RTEMS_tasks_Free( the_thread );
- _Objects_Allocator_unlock();
- return RTEMS_TOO_MANY;
- }
- }
-#endif
-
- config.stack_free = _Stack_Free;
- config.stack_area = _Stack_Allocate( config.stack_size );
- status = ( config.stack_area != NULL );
-
- /*
- * Initialize the core thread for this task.
- */
-
- if ( status ) {
- status = _Thread_Initialize(
- &_RTEMS_tasks_Information,
- the_thread,
- &config
- );
- }
-
- if ( !status ) {
-#if defined(RTEMS_MULTIPROCESSING)
- if ( is_global )
- _Objects_MP_Free_global_object( the_global_object );
-#endif
- _RTEMS_tasks_Free( the_thread );
- _Objects_Allocator_unlock();
- return RTEMS_UNSATISFIED;
- }
-
- api = the_thread->API_Extensions[ THREAD_API_RTEMS ];
- asr = &api->Signal;
-
- asr->is_enabled = _Modes_Is_asr_disabled(initial_modes) ? false : true;
-
- *id = the_thread->Object.id;
-
-#if defined(RTEMS_MULTIPROCESSING)
- the_thread->is_global = is_global;
- if ( is_global ) {
-
- _Objects_MP_Open(
- &_RTEMS_tasks_Information.Objects,
- the_global_object,
- name,
- the_thread->Object.id
- );
-
- _RTEMS_tasks_MP_Send_process_packet(
- RTEMS_TASKS_MP_ANNOUNCE_CREATE,
- the_thread->Object.id,
- name
- );
-
- }
-#endif
-
- _Objects_Allocator_unlock();
- return RTEMS_SUCCESSFUL;
-}
-
-static void _RTEMS_tasks_Start_extension(
- Thread_Control *executing,
- Thread_Control *started
-)
-{
- RTEMS_API_Control *api;
-
- api = started->API_Extensions[ THREAD_API_RTEMS ];
-
- _Event_Initialize( &api->Event );
- _Event_Initialize( &api->System_event );
-}
-
-#if defined(RTEMS_MULTIPROCESSING)
-static void _RTEMS_tasks_Terminate_extension( Thread_Control *executing )
-{
- if ( executing->is_global ) {
- _Objects_MP_Close(
- &_RTEMS_tasks_Information.Objects,
- executing->Object.id
- );
- _RTEMS_tasks_MP_Send_process_packet(
- RTEMS_TASKS_MP_ANNOUNCE_DELETE,
- executing->Object.id,
- 0 /* Not used */
- );
- }
}
-#endif
-
-static User_extensions_Control _RTEMS_tasks_User_extensions = {
- .Callouts = {
-#if defined(RTEMS_MULTIPROCESSING)
- .thread_terminate = _RTEMS_tasks_Terminate_extension,
-#endif
- .thread_start = _RTEMS_tasks_Start_extension,
- .thread_restart = _RTEMS_tasks_Start_extension
- }
-};
-
-static void _RTEMS_tasks_Manager_initialization( void )
-{
- _Thread_Initialize_information( &_RTEMS_tasks_Information );
- _User_extensions_Add_API_set( &_RTEMS_tasks_User_extensions );
-}
-
-RTEMS_SYSINIT_ITEM(
- _RTEMS_tasks_Manager_initialization,
- RTEMS_SYSINIT_CLASSIC_TASKS,
- RTEMS_SYSINIT_ORDER_MIDDLE
-);
diff --git a/cpukit/rtems/src/taskcreatefromconfig.c b/cpukit/rtems/src/taskcreatefromconfig.c
new file mode 100644
index 0000000000..952d3a3a3c
--- /dev/null
+++ b/cpukit/rtems/src/taskcreatefromconfig.c
@@ -0,0 +1,274 @@
+/**
+ * @file
+ *
+ * @ingroup ClassicTasks
+ *
+ * @brief RTEMS Task Create from Config
+ */
+
+/*
+ * COPYRIGHT (c) 1989-2014,2016.
+ * On-Line Applications Research Corporation (OAR).
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.org/license/LICENSE.
+ */
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <rtems/rtems/tasksimpl.h>
+#include <rtems/rtems/attrimpl.h>
+#include <rtems/rtems/eventimpl.h>
+#include <rtems/rtems/modesimpl.h>
+#include <rtems/rtems/support.h>
+#include <rtems/score/apimutex.h>
+#include <rtems/score/schedulerimpl.h>
+#include <rtems/score/stackimpl.h>
+#include <rtems/score/sysstate.h>
+#include <rtems/score/threadimpl.h>
+#include <rtems/score/userextimpl.h>
+#include <rtems/sysinit.h>
+
+#include <string.h>
+
+static void _RTEMS_tasks_Prepare_user_stack(
+ Thread_Configuration *thread_config,
+ const rtems_task_config *config
+)
+{
+ thread_config->stack_size = config->storage_size;
+ thread_config->stack_area = config->storage_area;
+
+ if ( config->storage_free != NULL ) {
+ thread_config->stack_free = config->storage_free;
+ } else {
+ thread_config->stack_free = _Stack_Free_nothing;
+ }
+}
+
+rtems_status_code rtems_task_create_from_config(
+ const rtems_task_config *config,
+ rtems_id *id
+)
+{
+ return _RTEMS_tasks_Create( config, id, _RTEMS_tasks_Prepare_user_stack );
+}
+
+rtems_status_code _RTEMS_tasks_Create(
+ const rtems_task_config *config,
+ rtems_id *id,
+ RTEMS_tasks_Prepare_stack prepare_stack
+)
+{
+ Thread_Control *the_thread;
+ Thread_Configuration thread_config;
+#if defined(RTEMS_MULTIPROCESSING)
+ Objects_MP_Control *the_global_object = NULL;
+ bool is_global;
+#endif
+ bool status;
+ rtems_attribute attributes;
+ bool valid;
+ RTEMS_API_Control *api;
+ ASR_Information *asr;
+
+ if ( !id )
+ return RTEMS_INVALID_ADDRESS;
+
+ if ( !rtems_is_name_valid( config->name ) )
+ return RTEMS_INVALID_NAME;
+
+ /*
+ * Core Thread Initialize insures we get the minimum amount of
+ * stack space.
+ */
+
+ /*
+ * Fix the attribute set to match the attributes which
+ * this processor (1) requires and (2) is able to support.
+ * First add in the required flags for attributes
+ * Typically this might include FP if the platform
+ * or application required all tasks to be fp aware.
+ * Then turn off the requested bits which are not supported.
+ */
+
+ attributes = _Attributes_Set( config->attributes, ATTRIBUTES_REQUIRED );
+ attributes = _Attributes_Clear( attributes, ATTRIBUTES_NOT_SUPPORTED );
+
+ memset( &thread_config, 0, sizeof( thread_config ) );
+ thread_config.budget_algorithm = _Modes_Is_timeslice( config->initial_modes ) ?
+ THREAD_CPU_BUDGET_ALGORITHM_RESET_TIMESLICE
+ : THREAD_CPU_BUDGET_ALGORITHM_NONE,
+ thread_config.isr_level = _Modes_Get_interrupt_level( config->initial_modes );
+ thread_config.name.name_u32 = config->name;
+ thread_config.is_fp = _Attributes_Is_floating_point( attributes );
+ thread_config.is_preemptible = _Modes_Is_preempt( config->initial_modes );
+
+ /*
+ * Validate the RTEMS API priority and convert it to the core priority range.
+ */
+
+ if ( !_Attributes_Is_system_task( attributes ) ) {
+ if ( config->initial_priority == PRIORITY_MINIMUM ) {
+ return RTEMS_INVALID_PRIORITY;
+ }
+ }
+
+ thread_config.scheduler =
+ _Thread_Scheduler_get_home( _Thread_Get_executing() );
+
+ thread_config.priority = _RTEMS_Priority_To_core(
+ thread_config.scheduler,
+ config->initial_priority,
+ &valid
+ );
+ if ( !valid ) {
+ return RTEMS_INVALID_PRIORITY;
+ }
+
+#if defined(RTEMS_MULTIPROCESSING)
+ if ( !_System_state_Is_multiprocessing ) {
+ attributes = _Attributes_Clear( attributes, RTEMS_GLOBAL );
+ }
+
+ is_global = _Attributes_Is_global( attributes );
+#endif
+
+ /*
+ * Allocate the thread control block and -- if the task is global --
+ * allocate a global object control block.
+ *
+ * NOTE: This routine does not use the combined allocate and open
+ * global object routine (_Objects_MP_Allocate_and_open) because
+ * this results in a lack of control over when memory is allocated
+ * and can be freed in the event of an error.
+ */
+ the_thread = _RTEMS_tasks_Allocate();
+
+ if ( !the_thread ) {
+ _Objects_Allocator_unlock();
+ return RTEMS_TOO_MANY;
+ }
+
+#if defined(RTEMS_MULTIPROCESSING)
+ if ( is_global ) {
+ the_global_object = _Objects_MP_Allocate_global_object();
+
+ if ( _Objects_MP_Is_null_global_object( the_global_object ) ) {
+ _RTEMS_tasks_Free( the_thread );
+ _Objects_Allocator_unlock();
+ return RTEMS_TOO_MANY;
+ }
+ }
+#endif
+
+ ( *prepare_stack )( &thread_config, config );
+ status = ( thread_config.stack_area != NULL );
+
+ /*
+ * Initialize the core thread for this task.
+ */
+
+ if ( status ) {
+ status = _Thread_Initialize(
+ &_RTEMS_tasks_Information,
+ the_thread,
+ &thread_config
+ );
+ }
+
+ if ( !status ) {
+#if defined(RTEMS_MULTIPROCESSING)
+ if ( is_global )
+ _Objects_MP_Free_global_object( the_global_object );
+#endif
+ _RTEMS_tasks_Free( the_thread );
+ _Objects_Allocator_unlock();
+ return RTEMS_UNSATISFIED;
+ }
+
+ api = the_thread->API_Extensions[ THREAD_API_RTEMS ];
+ asr = &api->Signal;
+
+ asr->is_enabled = !_Modes_Is_asr_disabled( config->initial_modes );
+
+ *id = the_thread->Object.id;
+
+#if defined(RTEMS_MULTIPROCESSING)
+ the_thread->is_global = is_global;
+ if ( is_global ) {
+
+ _Objects_MP_Open(
+ &_RTEMS_tasks_Information.Objects,
+ the_global_object,
+ config->name,
+ the_thread->Object.id
+ );
+
+ _RTEMS_tasks_MP_Send_process_packet(
+ RTEMS_TASKS_MP_ANNOUNCE_CREATE,
+ the_thread->Object.id,
+ config->name
+ );
+
+ }
+#endif
+
+ _Objects_Allocator_unlock();
+ return RTEMS_SUCCESSFUL;
+}
+
+static void _RTEMS_tasks_Start_extension(
+ Thread_Control *executing,
+ Thread_Control *started
+)
+{
+ RTEMS_API_Control *api;
+
+ api = started->API_Extensions[ THREAD_API_RTEMS ];
+
+ _Event_Initialize( &api->Event );
+ _Event_Initialize( &api->System_event );
+}
+
+#if defined(RTEMS_MULTIPROCESSING)
+static void _RTEMS_tasks_Terminate_extension( Thread_Control *executing )
+{
+ if ( executing->is_global ) {
+ _Objects_MP_Close(
+ &_RTEMS_tasks_Information.Objects,
+ executing->Object.id
+ );
+ _RTEMS_tasks_MP_Send_process_packet(
+ RTEMS_TASKS_MP_ANNOUNCE_DELETE,
+ executing->Object.id,
+ 0 /* Not used */
+ );
+ }
+}
+#endif
+
+static User_extensions_Control _RTEMS_tasks_User_extensions = {
+ .Callouts = {
+#if defined(RTEMS_MULTIPROCESSING)
+ .thread_terminate = _RTEMS_tasks_Terminate_extension,
+#endif
+ .thread_start = _RTEMS_tasks_Start_extension,
+ .thread_restart = _RTEMS_tasks_Start_extension
+ }
+};
+
+static void _RTEMS_tasks_Manager_initialization( void )
+{
+ _Thread_Initialize_information( &_RTEMS_tasks_Information );
+ _User_extensions_Add_API_set( &_RTEMS_tasks_User_extensions );
+}
+
+RTEMS_SYSINIT_ITEM(
+ _RTEMS_tasks_Manager_initialization,
+ RTEMS_SYSINIT_CLASSIC_TASKS,
+ RTEMS_SYSINIT_ORDER_MIDDLE
+);
diff --git a/testsuites/sptests/sp01/init.c b/testsuites/sptests/sp01/init.c
index 2719c84fc8..a0a332987d 100644
--- a/testsuites/sptests/sp01/init.c
+++ b/testsuites/sptests/sp01/init.c
@@ -16,6 +16,19 @@
const char rtems_test_name[] = "SP 1";
+RTEMS_TASK_STORAGE_ALIGNMENT static char Task_1_storage[
+ RTEMS_TASK_STORAGE_SIZE( 2 * RTEMS_MINIMUM_STACK_SIZE, RTEMS_FLOATING_POINT )
+];
+
+static const rtems_task_config Task_1_config = {
+ .name = rtems_build_name( 'T', 'A', '1', ' ' ),
+ .initial_priority = 1,
+ .storage_area = Task_1_storage,
+ .storage_size = sizeof( Task_1_storage ),
+ .initial_modes = RTEMS_DEFAULT_MODES,
+ .attributes = RTEMS_FLOATING_POINT
+};
+
rtems_task Init(
rtems_task_argument argument
)
@@ -30,15 +43,8 @@ rtems_task Init(
status = rtems_clock_set( &time );
directive_failed( status, "rtems_clock_set" );
- status = rtems_task_create(
- rtems_build_name( 'T', 'A', '1', ' ' ),
- 1,
- RTEMS_MINIMUM_STACK_SIZE * 2,
- RTEMS_DEFAULT_MODES,
- RTEMS_DEFAULT_ATTRIBUTES,
- &id
- );
- directive_failed( status, "rtems_task_create of TA1" );
+ status = rtems_task_create_from_config( &Task_1_config, &id );
+ directive_failed( status, "rtems_task_create_from_config of TA1" );
status = rtems_task_start( id, Task_1_through_3, 1 );
directive_failed( status, "rtems_task_start of TA1" );
diff --git a/testsuites/sptests/sp01/sp01.doc b/testsuites/sptests/sp01/sp01.doc
index d7d9f5d902..54eef464fb 100644
--- a/testsuites/sptests/sp01/sp01.doc
+++ b/testsuites/sptests/sp01/sp01.doc
@@ -10,6 +10,7 @@ test name: sp01
directives:
rtems_task_create
+ rtems_task_create_from_config
rtems_task_start
rtems_task_wake_after
rtems_clock_set
diff --git a/testsuites/sptests/sp01/system.h b/testsuites/sptests/sp01/system.h
index bde5328aa9..c6d5f2d347 100644
--- a/testsuites/sptests/sp01/system.h
+++ b/testsuites/sptests/sp01/system.h
@@ -28,8 +28,9 @@ rtems_task Task_1_through_3(
#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
-#define CONFIGURE_EXTRA_TASK_STACKS (4 * RTEMS_MINIMUM_STACK_SIZE)
+#define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
#define CONFIGURE_MAXIMUM_TASKS 4
+#define CONFIGURE_TASKS_CREATED_FROM_CONFIG 1
#include <rtems/confdefs.h>
--
2.26.2
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