FreeCalypso > hg > ffs-editor
diff src/nucleus/tcc.c @ 0:92470e5d0b9e
src: partial import from FC Selenite
| author | Mychaela Falconia <falcon@freecalypso.org> |
|---|---|
| date | Fri, 15 May 2020 01:28:16 +0000 |
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| children |
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/src/nucleus/tcc.c Fri May 15 01:28:16 2020 +0000 @@ -0,0 +1,3060 @@ +/*************************************************************************/ +/* */ +/* Copyright Mentor Graphics Corporation 2002 */ +/* All Rights Reserved. */ +/* */ +/* THIS WORK CONTAINS TRADE SECRET AND PROPRIETARY INFORMATION WHICH IS */ +/* THE PROPERTY OF MENTOR GRAPHICS CORPORATION OR ITS LICENSORS AND IS */ +/* SUBJECT TO LICENSE TERMS. */ +/* */ +/*************************************************************************/ + +/*************************************************************************/ +/* */ +/* FILE NAME VERSION */ +/* */ +/* tcc.c Nucleus PLUS 1.14 */ +/* */ +/* COMPONENT */ +/* */ +/* TC - Thread Control */ +/* */ +/* DESCRIPTION */ +/* */ +/* This file contains the core routines for the Thread Control */ +/* component. */ +/* */ +/* DATA STRUCTURES */ +/* */ +/* None */ +/* */ +/* FUNCTIONS */ +/* */ +/* TCC_Create_Task Create a task */ +/* TCC_Delete_Task Delete a task */ +/* TCC_Create_HISR Create HISR */ +/* TCC_Delete_HISR Delete HISR */ +/* TCC_Reset_Task Reset the specified task */ +/* TCC_Terminate_Task Terminate the specified task */ +/* TCC_Resume_Task Resume a task */ +/* TCC_Resume_Service Resume a task service call */ +/* TCC_Suspend_Task Suspend a task */ +/* TCC_Suspend_Service Suspend a task service call */ +/* TCC_Task_Timeout Task timeout function */ +/* TCC_Task_Sleep Task sleep request */ +/* TCC_Relinquish Relinquish task execution */ +/* TCC_Time_Slice Process task time-slice */ +/* TCC_Current_Task_Pointer Retrieve current task pointer*/ +/* TCC_Current_HISR_Pointer Retrieve current HISR pointer*/ +/* TCC_Task_Shell Task execution shell */ +/* TCC_Signal_Shell Signal execution shell */ +/* TCC_Dispatch_LISR Dispatch LISR routine */ +/* TCC_Register_LISR Register an LISR */ +/* */ +/* DEPENDENCIES */ +/* */ +/* cs_extr.h Common Service functions */ +/* tc_extr.h Thread Control functions */ +/* in_extr.h Initialization/Interrupt */ +/* functions */ +/* tm_extr.h Timer Control function */ +/* er_extr.h Error handling function */ +/* hi_extr.h History functions */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 05-15-1993 Corrected comment problems in */ +/* TCC_Control_Signals and */ +/* TCC_Register_Signal_Handler, */ +/* making version 1.0a */ +/* 05-15-1993 Verified version 1.0a */ +/* 06-01-1993 Modified a multi-line comment */ +/* after a #include directive */ +/* that gave some compilers a */ +/* problem, making version 1.0b */ +/* 06-01-1993 Verified version 1.0b */ +/* 08-09-1993 Corrected pointer retrieval */ +/* loop, resulting in version 1.0c */ +/* 08-09-1993 Verified version 1.0c */ +/* 09-19-1993 Corrected an initialization */ +/* problem of de-referencing a */ +/* NULL pointer, resulting in */ +/* version 1.0d */ +/* 09-19-1993 Verified version 1.0d */ +/* 11-01-1993 Added logic to save unhandled */ +/* interrupt vector number in */ +/* a global variable, resulting */ +/* in version 1.0e */ +/* 11-01-1993 Verified version 1.0e */ +/* 02-01-1994 Corrected a suspension with */ +/* timeout problem that caused */ +/* unconditional task suspension */ +/* for timeouts and sleeps for 1 */ +/* tick, resulting in version 1.0f */ +/* 02-01-1994 Verified version 1.0f */ +/* 03-01-1994 Added another routine that */ +/* validates resume calls with */ +/* the appropriate protection and */ +/* added code to clear cleanup */ +/* information at task create and */ +/* task resume time, resulting in */ +/* version 1.0g */ +/* 03-01-1994 Verified version 1.0g */ +/* 03-01-1994 Moved non-core functions into */ +/* supplemental files, changed */ +/* function interfaces to match */ +/* those in prototype, added */ +/* register options, fixed bug */ +/* in suspending current task from */ +/* a HISR, added a system protect */ +/* structure to reduce overhead */ +/* in protection, moved resume */ +/* validate to error checking */ +/* file, resulting in version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* 12-18-1995 Modified TCC_Resume_Service, */ +/* resulting in version 1.1+ */ +/* (SPR 36, 64, 66, 77) */ +/* 04-17-1996 updated to version 1.2 */ +/* 06-01-1996 Modified TCC_Suspend_Task */ +/* (SPR152) creating version 1.2a */ +/* 10-29-1997 Modified TCC_Resume_Task */ +/* (SPR115) creating vresion 1.2b */ +/* 01-23-1998 Released version 1.2b */ +/* 03-20-1998 Corrected problem where tasks */ +/* created with NU_NO_PREEMPT in */ +/* Application_Initialize would */ +/* start in the order of creation */ +/* and not in priority order. */ +/* SPR455 creates version 1.2c */ +/* 03-24-1998 Released version 1.3. */ +/* 10-02-1998 Another protect problem (1.3a) */ +/* 10-02-1998 Corrected a problem where a */ +/* a timer expiration occurs */ +/* during signal handler execution */ +/* and causes the task to never */ +/* run again (SPR 923) creating */ +/* version 1.3b. */ +/* 03-26-1999 Released 1.11m (new release */ +/* numbering scheme) */ +/* 04-17-2002 Released version 1.13m */ +/* 11-07-2002 Released version 1.14 */ +/*************************************************************************/ +#define NU_SOURCE_FILE + +#include "in_defs.h" /* Initialization defines */ +#include "cs_extr.h" /* Common service functions */ +#include "tc_extr.h" /* Thread control functions */ +#include "in_extr.h" /* Initialization/Interrupt */ + /* functions */ +#include "tm_extr.h" /* Timer control functions */ +#include "er_extr.h" /* Error handling function */ +#include "hi_extr.h" /* History functions */ +#include "profiler.h" /* Nucleus Profiling header */ + +#if ((defined(NU_MODULE_SUPPORT)) && (NU_MODULE_SUPPORT > 0)) +#include "module/inc/ms_defs.h" /* MS_Module typedef */ +#endif + +/* Define external inner-component global data references. */ + +extern INT INC_Initialize_State; +extern CS_NODE *TCD_Created_Tasks_List; +extern UNSIGNED TCD_Total_Tasks; +extern TC_TCB *TCD_Priority_List[TC_PRIORITIES]; +extern UNSIGNED TCD_Priority_Groups; +extern DATA_ELEMENT TCD_Sub_Priority_Groups[TC_MAX_GROUPS]; +extern UNSIGNED_CHAR TCD_Lowest_Set_Bit[]; +extern INT TCD_Highest_Priority; +extern TC_TCB *TCD_Execute_Task; +extern VOID *TCD_Current_Thread; +extern UNSIGNED_CHAR TCD_Registered_LISRs[NU_MAX_VECTORS+1]; +extern VOID (*TCD_LISR_Pointers[NU_MAX_LISRS+1])(INT vector); +extern INT TCD_Interrupt_Count; +extern INT TCD_Stack_Switched; +extern TC_PROTECT TCD_List_Protect; +extern TC_PROTECT TCD_System_Protect; +extern TC_PROTECT TCD_LISR_Protect; +extern CS_NODE *TCD_Created_HISRs_List; +extern UNSIGNED TCD_Total_HISRs; +extern TC_PROTECT TCD_HISR_Protect; +extern INT TCD_Unhandled_Interrupt; + + +/* Define external inner-component function calls that are not available to + other components. */ + +VOID TCT_Build_Task_Stack(TC_TCB *task_ptr); +VOID TCT_Build_HISR_Stack(TC_HCB *hisr_ptr); +VOID TCT_Build_Signal_Frame(TC_TCB *task_ptr); +VOID TCT_Protect_Switch(TC_TCB *task); +VOID TCT_Signal_Exit(VOID); + + +/* Define internal function calls. */ + +VOID TCC_Signal_Shell(VOID); + + +#if defined(NU_MODULE_SUPPORT) && (NU_MODULE_SUPPORT > 0) + +/* Define service routines "privately" imported from other components */ +extern MS_MODULE* msd_current_module; + +STATUS MSC_Bind_Module_HISR(MS_MODULE* module, TC_HCB* hisr); +STATUS MSC_Bind_Module_Task(MS_MODULE* module, TC_TCB* task); + +#endif /* NU_MODULE_SUPPORT */ + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Create_Task */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function creates a task and then places it on the list of */ +/* created tasks. All the resources necessary to create the task */ +/* are supplied to this routine. If specified, the newly created */ +/* task is started. Otherwise, it is left in a suspended state. */ +/* */ +/* CALLED BY */ +/* */ +/* Application */ +/* TCCE_Create_Task Error checking shell */ +/* */ +/* CALLS */ +/* */ +/* CSC_Place_On_List Add TCB to linked-list */ +/* [HIC_Make_History_Entry] Make entry in history log */ +/* TCC_Resume_Task Start the created task */ +/* TCT_Build_Task_Stack Build an initial task stack */ +/* [TCT_Check_Stack] Stack checking function */ +/* TCT_Control_To_System Transfer control to system */ +/* TCT_Protect Protect created task list */ +/* TCT_Unprotect Release protection of list */ +/* TMC_Init_Task_Timer Initialize the task's timer */ +/* */ +/* INPUTS */ +/* */ +/* task_ptr Task control block pointer */ +/* name Task name */ +/* task_entry Entry function of the task */ +/* argc Optional task parameter */ +/* argv Optional task parameter */ +/* stack_address Pointer to start of stack */ +/* stack_size Size of task stack in bytes */ +/* priority Task priority */ +/* time_slice Task time slice */ +/* preempt Task preemptability flag */ +/* auto_start Automatic task start */ +/* */ +/* OUTPUTS */ +/* */ +/* NU_SUCCESS */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 03-01-1994 Modified function interface, */ +/* added register optimizations, */ +/* added system protection logic, */ +/* resulting in version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* */ +/*************************************************************************/ +STATUS TCC_Create_Task(NU_TASK *task_ptr, CHAR *name, + VOID (*task_entry)(UNSIGNED, VOID *), UNSIGNED argc, VOID *argv, + VOID *stack_address, UNSIGNED stack_size, + OPTION priority, UNSIGNED time_slice, + OPTION preempt, OPTION auto_start) +{ + +R1 TC_TCB *task; /* Task control block ptr */ +R2 INT i; /* Working index variable */ +STATUS status = NU_SUCCESS; + +NU_SUPERV_USER_VARIABLES + + /* Switch to supervisor mode */ + NU_SUPERVISOR_MODE(); + + /* Move input task pointer into internal pointer. */ + task = (TC_TCB *) task_ptr; + + +#ifdef NU_ENABLE_STACK_CHECK + + /* Call stack checking function to check for an overflow condition. */ + TCT_Check_Stack(); + +#endif + +#ifdef NU_ENABLE_HISTORY + + /* Make an entry that corresponds to this function in the system history + log. */ + HIC_Make_History_Entry(NU_CREATE_TASK_ID, (UNSIGNED) task, + (UNSIGNED) name, (UNSIGNED) task_entry); + +#endif + + /* First, clear the task ID just in case it is an old Task + Control Block. */ + task -> tc_id = 0; + + /* Fill in the task name. */ + for (i = 0; i < NU_MAX_NAME; i++) + task -> tc_name[i] = name[i]; + + /* Fill in the basic task information. */ + task -> tc_entry = task_entry; + task -> tc_argc = argc; + task -> tc_argv = argv; + task -> tc_status = NU_PURE_SUSPEND; + task -> tc_delayed_suspend = NU_FALSE; + task -> tc_scheduled = 0; + task -> tc_time_slice = time_slice; + task -> tc_cur_time_slice = time_slice; + task -> tc_current_protect = NU_NULL; + task -> tc_suspend_protect = NU_NULL; + task -> tc_cleanup = NU_NULL; + task -> tc_cleanup_info = NU_NULL; + + /* Setup task's preemption posture. */ + if (preempt == NU_PREEMPT) + task -> tc_preemption = NU_TRUE; + else + task -> tc_preemption = NU_FALSE; + + /* Fill in information about the task's stack. */ + task -> tc_stack_start = stack_address; + task -> tc_stack_end = 0; + task -> tc_stack_size = stack_size; + task -> tc_stack_minimum = stack_size; + + /* Setup priority information for the task. There are two bit maps + associated with each task. The first bit map indicates which group + of 8-priorities it is. The second bit map indicates the actual + priority within the group. */ + task -> tc_priority = priority; + task -> tc_priority_head = &(TCD_Priority_List[priority]); + task -> tc_sub_priority = (DATA_ELEMENT) (1 << (priority & 7)); + priority = priority >> 3; + task -> tc_priority_group = ((UNSIGNED) 1) << priority; + task -> tc_sub_priority_ptr = &(TCD_Sub_Priority_Groups[priority]); + + /* Initialize link pointers. */ + task -> tc_created.cs_previous = NU_NULL; + task -> tc_created.cs_next = NU_NULL; + task -> tc_ready_previous = NU_NULL; + task -> tc_ready_next = NU_NULL; + + /* Build a stack frame for this task by calling TCT_Build_Task_Stack. */ + TCT_Build_Task_Stack(task); + + /* Initialize the signal information of the task. */ + task -> tc_signals = 0; + task -> tc_enabled_signals = 0; + task -> tc_signal_handler = 0; + task -> tc_signal_active = NU_FALSE; + /* Initialize additional kernel options data */ + +#if (NU_SUPERV_USER_MODE == 1) + task->tc_su_mode = 0; /* Initially in User mode */ + task->tc_module = 0; /* Not initially bound to a module */ +#endif + + /* Initialize the task timer. */ + task -> tc_timer_active = NU_FALSE; + TMC_Init_Task_Timer(&(task -> tc_timer_control), (VOID *) task); + + /* Protect the list of created tasks. */ + TCT_Protect(&TCD_List_Protect); + + /* At this point the task is completely built. The ID can now be + set and it can be linked into the created task list. */ + task -> tc_id = TC_TASK_ID; + +#if defined(NU_MODULE_SUPPORT) && (NU_MODULE_SUPPORT > 0) + /* If executing in a thread's context, bind to that thread's module */ + if(TCD_Current_Thread != NU_NULL) + { + status = MSC_Bind_Module_Task( + (MS_MODULE*)(((TC_TCB*)(TCD_Current_Thread))->tc_module), task); + } + else /* It must be initialization time, so use the current module */ + { + status = MSC_Bind_Module_Task(msd_current_module, task); + } +#endif /* NU_MODULE_SUPPORT */ + + /* Link the task into the list of created tasks and increment the + total number of tasks in the system. */ + CSC_Place_On_List(&TCD_Created_Tasks_List, &(task -> tc_created)); + TCD_Total_Tasks++; + +#ifdef INCLUDE_PROVIEW + _RTProf_DumpTask(task,RT_PROF_CREATE_TASK); +#endif + + /* Release the protection. */ + TCT_Unprotect(); + + /* Determine if the task should be automatically started. */ + if (auto_start == NU_START) + { + + /* Protect the system data structures. */ + TCT_Protect(&TCD_System_Protect); + + /* Start the task by resuming it. If the preemption is required, + leave the current task. */ + if (TCC_Resume_Task(task_ptr, NU_PURE_SUSPEND)) + + + /* Transfer control back to the system. */ + TCT_Control_To_System(); + else + + /* Release the protection. */ + TCT_Unprotect(); + } + + /* Return to user mode */ + NU_USER_MODE(); + + /* Return successful completion. */ + return(status); +} + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Create_HISR */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function creates a High-Level Interrupt Service Routine */ +/* (HISR) and then places it on the list of created HISRs. All */ +/* the resources necessary to create the HISR are supplied to this */ +/* routine. HISRs are always created in a dormant state. */ +/* */ +/* CALLED BY */ +/* */ +/* Application */ +/* TCCE_Create_HISR Error checking shell */ +/* */ +/* CALLS */ +/* */ +/* CSC_Place_On_List Add TCB to linked-list */ +/* [HIC_Make_History_Entry] Make entry in history log */ +/* TCT_Build_HISR_Stack Build an initial HISR stack */ +/* [TCT_Check_Stack] Stack checking function */ +/* TCT_Protect Protect created HISR list */ +/* TCT_Unprotect Release protection of list */ +/* */ +/* INPUTS */ +/* */ +/* hisr_ptr HISR control block pointer */ +/* name HISR name */ +/* hisr_entry Entry function of the HISR */ +/* priority Task priority */ +/* stack_address Pointer to start of stack */ +/* stack_size Size of HISR stack in bytes */ +/* */ +/* OUTPUTS */ +/* */ +/* NU_SUCCESS */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 03-01-1994 Modified function interface, */ +/* added register optimizations, */ +/* added more control block */ +/* initialization, resulting in */ +/* version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* */ +/*************************************************************************/ +STATUS TCC_Create_HISR(NU_HISR *hisr_ptr, CHAR *name, + VOID (*hisr_entry)(VOID), OPTION priority, + VOID *stack_address, UNSIGNED stack_size) +{ + +R1 TC_HCB *hisr; /* HISR control block ptr */ +R2 INT i; /* Working index variable */ +STATUS status = NU_SUCCESS; + +NU_SUPERV_USER_VARIABLES + + /* Switch to supervisor mode */ + NU_SUPERVISOR_MODE(); + + /* Move input HISR pointer into internal pointer. */ + hisr = (TC_HCB *) hisr_ptr; + + +#ifdef NU_ENABLE_STACK_CHECK + + /* Call stack checking function to check for an overflow condition. */ + TCT_Check_Stack(); + +#endif + +#ifdef NU_ENABLE_HISTORY + + /* Make an entry that corresponds to this function in the system history + log. */ + HIC_Make_History_Entry(NU_CREATE_HISR_ID, (UNSIGNED) hisr, + (UNSIGNED) name, (UNSIGNED) hisr_entry); + +#endif + + /* First, clear the HISR ID just in case it is an old HISR + Control Block. */ + hisr -> tc_id = 0; + + /* Fill in the HISR name. */ + for (i = 0; i < NU_MAX_NAME; i++) + hisr -> tc_name[i] = name[i]; + + /* Fill in the basic HISR information. */ + hisr -> tc_entry = hisr_entry; + hisr -> tc_scheduled = 0; + hisr -> tc_activation_count = 0; + hisr -> tc_cur_time_slice = 0; + + /* Fill in information about the HISR's stack. */ + hisr -> tc_stack_start = stack_address; + hisr -> tc_stack_end = 0; + hisr -> tc_stack_size = stack_size; + hisr -> tc_stack_minimum = stack_size; + + /* Setup priority information for the HISR. Priorities range from 0 to + TC_HISR_PRIORITIES - 1. */ + hisr -> tc_priority = priority & 3; + + /* Initialize link pointers. */ + hisr -> tc_created.cs_previous = NU_NULL; + hisr -> tc_created.cs_next = NU_NULL; + hisr -> tc_active_next = NU_NULL; + + /* Clear protect pointer. */ + hisr -> tc_current_protect = NU_NULL; + + /* Initialize additional kernel options data */ +#if (NU_SUPERV_USER_MODE == 1) + hisr->tc_su_mode = 1; /* TCT_HISR_Shell in Supervisor mode */ + hisr->tc_module = 0; /* Not initially bound to a module */ +#endif + + /* Build a stack frame for this HISR by calling TCT_Build_HISR_Stack. */ + TCT_Build_HISR_Stack(hisr); + + /* Protect the list of created HISRs. */ + TCT_Protect(&TCD_HISR_Protect); + + /* At this point the HISR is completely built. The ID can now be + set and it can be linked into the created HISR list. */ + hisr -> tc_id = TC_HISR_ID; + +#if defined(NU_MODULE_SUPPORT) && (NU_MODULE_SUPPORT > 0) + /* If executing in a thread's context, bind to that thread's module */ + if(TCD_Current_Thread != NU_NULL) + { + status = MSC_Bind_Module_HISR( + (MS_MODULE*)(((TC_TCB*)(TCD_Current_Thread))->tc_module), hisr); + } + else /* It must be initialization time, so use the current module */ + { + status = MSC_Bind_Module_HISR(msd_current_module, hisr); + } +#endif /* NU_MODULE_SUPPORT */ + + /* Link the HISR into the list of created HISRs and increment the + total number of HISRs in the system. */ + CSC_Place_On_List(&TCD_Created_HISRs_List, &(hisr -> tc_created)); + TCD_Total_HISRs++; + +#ifdef INCLUDE_PROVIEW + _RTProf_DumpHisr(hisr,RT_PROF_CREATE_HISR); +#endif + + /* Release the protection. */ + TCT_Unprotect(); + + /* Return to user mode */ + NU_USER_MODE(); + + /* Return successful completion. */ + return(status); +} + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Delete_Task */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function deletes a task and removes it from the list of */ +/* created tasks. It is assumed by this function that the task is */ +/* in a finished or terminated state. Note that this function */ +/* does not free memory associated with the task's control block or */ +/* its stack. This is the responsibility of the application. */ +/* */ +/* CALLED BY */ +/* */ +/* Application */ +/* TCCE_Delete_Task Error checking shell */ +/* */ +/* CALLS */ +/* */ +/* CSC_Remove_From_List Remove node from list */ +/* [HIC_Make_History_Entry] Make entry in history log */ +/* [TCT_Check_Stack] Stack checking function */ +/* TCT_Protect Protect created task list */ +/* TCT_Unprotect Release protection of list */ +/* */ +/* INPUTS */ +/* */ +/* task_ptr Task control block pointer */ +/* */ +/* OUTPUTS */ +/* */ +/* NU_SUCCESS */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 03-01-1994 Modified function interface, */ +/* added register optimizations, */ +/* resulting in version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* */ +/*************************************************************************/ +STATUS TCC_Delete_Task(NU_TASK *task_ptr) +{ + +R1 TC_TCB *task; /* Task control block ptr */ +NU_SUPERV_USER_VARIABLES + + /* Switch to supervisor mode */ + NU_SUPERVISOR_MODE(); + + /* Move input task pointer into internal pointer. */ + task = (TC_TCB *) task_ptr; + + +#ifdef NU_ENABLE_STACK_CHECK + + /* Call stack checking function to check for an overflow condition. */ + TCT_Check_Stack(); + +#endif + +#ifdef NU_ENABLE_HISTORY + + /* Make an entry that corresponds to this function in the system history + log. */ + HIC_Make_History_Entry(NU_DELETE_TASK_ID, (UNSIGNED) task, + (UNSIGNED) 0, (UNSIGNED) 0); + +#endif + + /* Protect the list of created tasks. */ + TCT_Protect(&TCD_List_Protect); + +#ifdef INCLUDE_PROVIEW + _RTProf_DumpTask(task,RT_PROF_DELETE_TASK); +#endif /*INCLUDE_PROVIEW*/ + + /* Remove the task from the list of created tasks. */ + CSC_Remove_From_List(&TCD_Created_Tasks_List, &(task -> tc_created)); + + /* Decrement the total number of created tasks. */ + TCD_Total_Tasks--; + + /* Clear the task ID just in case. */ + task -> tc_id = 0; + + /* Release protection. */ + TCT_Unprotect(); + + /* Return to user mode */ + NU_USER_MODE(); + + /* Return a successful completion. */ + return(NU_SUCCESS); +} + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Delete_HISR */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function deletes a HISR and removes it from the list of */ +/* created HISRs. It is assumed by this function that the HISR is */ +/* in a non-active state. Note that this function does not free */ +/* memory associated with the HISR's control block or its stack. */ +/* This is the responsibility of the application. */ +/* */ +/* CALLED BY */ +/* */ +/* Application */ +/* TCCE_Delete_HISR Error checking shell */ +/* */ +/* CALLS */ +/* */ +/* CSC_Remove_From_List Remove node from list */ +/* [HIC_Make_History_Entry] Make entry in history log */ +/* [TCT_Check_Stack] Stack checking function */ +/* TCT_Protect Protect created HISR list */ +/* TCT_Unprotect Release protection of list */ +/* */ +/* INPUTS */ +/* */ +/* hisr_ptr HISR control block pointer */ +/* */ +/* OUTPUTS */ +/* */ +/* NU_SUCCESS */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 03-01-1994 Modified function interface, */ +/* added register optimizations, */ +/* resulting in version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* */ +/*************************************************************************/ +STATUS TCC_Delete_HISR(NU_HISR *hisr_ptr) +{ + +R1 TC_HCB *hisr; /* HISR control block ptr */ +NU_SUPERV_USER_VARIABLES + + /* Switch to supervisor mode */ + NU_SUPERVISOR_MODE(); + + /* Move input HISR pointer into internal pointer. */ + hisr = (TC_HCB *) hisr_ptr; + + +#ifdef NU_ENABLE_STACK_CHECK + + /* Call stack checking function to check for an overflow condition. */ + TCT_Check_Stack(); + +#endif + +#ifdef NU_ENABLE_HISTORY + + /* Make an entry that corresponds to this function in the system history + log. */ + HIC_Make_History_Entry(NU_DELETE_HISR_ID, (UNSIGNED) hisr, + (UNSIGNED) 0, (UNSIGNED) 0); + +#endif + + /* Protect the list of created HISRs. */ + TCT_Protect(&TCD_HISR_Protect); + +#ifdef INCLUDE_PROVIEW + _RTProf_DumpHisr(hisr,RT_PROF_DELETE_HISR); +#endif /*INCLUDE_PROVIEW*/ + + /* Remove the HISR from the list of created HISRs. */ + CSC_Remove_From_List(&TCD_Created_HISRs_List, &(hisr -> tc_created)); + + /* Decrement the total number of created HISRs. */ + TCD_Total_HISRs--; + + /* Clear the HISR ID just in case. */ + hisr -> tc_id = 0; + + /* Release protection. */ + TCT_Unprotect(); + + /* Return to user mode */ + NU_USER_MODE(); + + /* Return a successful completion. */ + return(NU_SUCCESS); +} + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Reset_Task */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function resets the specified task. Note that a task reset */ +/* can only be performed on tasks in a finished or terminated state.*/ +/* The task is left in an unconditional suspended state. */ +/* */ +/* CALLED BY */ +/* */ +/* Application */ +/* TCCE_Reset_Task Error checking shell */ +/* */ +/* CALLS */ +/* */ +/* [HIC_Make_History_Entry] Make entry in history log */ +/* TCT_Build_Task_Stack Build an initial task stack */ +/* [TCT_Check_Stack] Stack checking function */ +/* TCT_Protect Protect created task list */ +/* TCT_Unprotect Release protection of list */ +/* */ +/* INPUTS */ +/* */ +/* task_ptr Task control block pointer */ +/* argc Optional task parameter */ +/* argv Optional task parameter */ +/* */ +/* OUTPUTS */ +/* */ +/* NU_SUCCESS Indicates successful request */ +/* NU_NOT_TERMINATED Indicates task was not */ +/* finished or terminated */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 03-01-1994 Modified function interface, */ +/* added register optimizations, */ +/* added system protection logic, */ +/* resulting in version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* */ +/*************************************************************************/ +STATUS TCC_Reset_Task(NU_TASK *task_ptr, UNSIGNED argc, VOID *argv) +{ + +R1 TC_TCB *task; /* Task control block ptr */ +STATUS status; /* Status of the request */ +NU_SUPERV_USER_VARIABLES + + /* Switch to supervisor mode */ + NU_SUPERVISOR_MODE(); + + /* Move input task pointer into internal pointer. */ + task = (TC_TCB *) task_ptr; + +#ifdef NU_ENABLE_STACK_CHECK + + /* Call stack checking function to check for an overflow condition. */ + TCT_Check_Stack(); + +#endif + +#ifdef NU_ENABLE_HISTORY + + /* Make an entry that corresponds to this function in the system history + log. */ + HIC_Make_History_Entry(NU_RESET_TASK_ID, (UNSIGNED) task, + (UNSIGNED) argc, (UNSIGNED) argv); + +#endif + + /* Protect system structures. */ + TCT_Protect(&TCD_System_Protect); + + /* Determine if the task is in the proper state. */ + if ((task -> tc_status == NU_FINISHED) || + (task -> tc_status == NU_TERMINATED)) + { + + /* Yes, a valid reset is present. Indicate this in the status. */ + status = NU_SUCCESS; + + /* Fill in the new argument information and reset some of the other + fields. */ + task -> tc_argc = argc; + task -> tc_argv = argv; + task -> tc_status = NU_PURE_SUSPEND; + task -> tc_delayed_suspend = NU_FALSE; + task -> tc_scheduled = 0; + task -> tc_stack_minimum = task -> tc_stack_size; + +#if (NU_SUPERV_USER_MODE == 1) + /* Since we are doing a complete reset we need to ensure + that this field is 0 since the task will be started in + user mode. TCC_Task_Shell can not return and therefore + left the task in supervisor mode when the task completed. + If we were to not re-initialize this field the task would + become locked in user mode and API would fail. */ + task -> tc_su_mode = 0; +#endif + + /* Build a stack frame for this task by calling + TCT_Build_Task_Stack. */ + TCT_Build_Task_Stack(task); + } + else + + /* The requested task is not in a finished or terminated state. */ + status = NU_NOT_TERMINATED; + +#ifdef INCLUDE_PROVIEW + _RTProf_DumpTask(task,RT_PROF_RESET_TASK); +#endif /*INCLUDE_PROVIEW*/ + + /* Release the protection. */ + TCT_Unprotect(); + + /* Return to user mode */ + NU_USER_MODE(); + + /* Return completion status. */ + return(status); +} + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Terminate_Task */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function terminates the specified task. If the task is */ +/* already terminated, this function does nothing. If the task */ +/* to terminate is currently suspended, the specified cleanup */ +/* routine is also invoked to cleanup suspension data structures. */ +/* */ +/* CALLED BY */ +/* */ +/* Application */ +/* TCCE_Terminate_Task Error checking shell */ +/* */ +/* CALLS */ +/* */ +/* Cleanup routine Task's suspend cleanup funct */ +/* [HIC_Make_History_Entry] Make entry in history log */ +/* TCC_Suspend_Task Suspend a ready task */ +/* [TCT_Check_Stack] Stack checking function */ +/* TCT_Protect Protect created task list */ +/* TCT_Unprotect Release protection of list */ +/* TCT_Unprotect_Specific Specific unprotection */ +/* TMC_Stop_Task_Timer Stop a task timer */ +/* */ +/* INPUTS */ +/* */ +/* task_ptr Task control block pointer */ +/* */ +/* OUTPUTS */ +/* */ +/* NU_SUCCESS */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 03-01-1994 Modified function interface, */ +/* added register optimizations, */ +/* added system protection logic, */ +/* resulting in version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* */ +/*************************************************************************/ +STATUS TCC_Terminate_Task(NU_TASK *task_ptr) +{ + +R1 TC_TCB *task; /* Task control block ptr */ +TC_PROTECT *suspend_protect; /* Suspension protection ptr */ +DATA_ELEMENT status; /* Task status */ +NU_SUPERV_USER_VARIABLES + + /* Switch to supervisor mode */ + NU_SUPERVISOR_MODE(); + + /* Move task pointer into internal pointer. */ + task = (TC_TCB *) task_ptr; + + +#ifdef NU_ENABLE_STACK_CHECK + + /* Call stack checking function to check for an overflow condition. */ + TCT_Check_Stack(); + +#endif + +#ifdef NU_ENABLE_HISTORY + + /* Make an entry that corresponds to this function in the system history + log. */ + HIC_Make_History_Entry(NU_TERMINATE_TASK_ID, (UNSIGNED) task, + (UNSIGNED) 0, (UNSIGNED) 0); + +#endif + + /* Determine if the calling task is the current task. */ + if (task == (TC_TCB *) TCD_Current_Thread) + { + + /* Protect system data structures. */ + TCT_Protect(&TCD_System_Protect); + +#ifdef INCLUDE_PROVIEW + _RTProf_DumpTask(task,RT_PROF_TERMINATE_TASK); +#endif /*INCLUDE_PROVIEW*/ + + /* Suspend the calling task with the NU_TERMINATED status. */ + TCC_Suspend_Task(task_ptr, NU_TERMINATED, NU_NULL, NU_NULL, + NU_SUSPEND); + + /* No need to un-protect, since control never comes back to this + point and the protection is cleared in TCT_Control_To_System. */ + } + else + { + + /* Protect scheduling structures. */ + TCT_Protect(&TCD_System_Protect); + +#ifdef INCLUDE_PROVIEW + _RTProf_DumpTask(task,RT_PROF_TERMINATE_TASK); +#endif /*INCLUDE_PROVIEW*/ + + /* Keep trying to terminate the specified task until its status + indicates that it is terminated or finished. */ + while ((task -> tc_status != NU_FINISHED) && + task -> tc_status != NU_TERMINATED) + { + + /* Is the task in a ready state? */ + if (task -> tc_status == NU_READY) + { + + /* Terminate the specified task. */ + TCC_Suspend_Task(task_ptr, NU_TERMINATED, NU_NULL, + NU_NULL,NU_SUSPEND); + + /* Clear system protection. */ + TCT_Unprotect(); + } + else + { + + /* Task is suspended currently. Pickup the suspension + protection. */ + suspend_protect = task -> tc_suspend_protect; + + /* Save the current status. */ + status = task -> tc_status; + + /* Release protection on system structures. */ + TCT_Unprotect(); + + /* Determine if there was a suspension protection. If so + protect it first before the scheduling list protection. + This avoids a deadlock situation. */ + if (suspend_protect) + + /* Protect the terminated task's last suspension + structures. */ + TCT_Protect(suspend_protect); + + /* Protect the system structures again. */ + TCT_Protect(&TCD_System_Protect); + + /* Now determine if the same suspension is in force. */ + if ((task -> tc_status == status) && + (task -> tc_suspend_protect == suspend_protect)) + { + + /* Yes, same suspension is in force. */ + + /* Call cleanup routine, if there is one. */ + if (task -> tc_cleanup) + + /* Call cleanup function. */ + (*(task -> tc_cleanup)) (task -> tc_cleanup_info); + + /* Status the task as terminated. */ + task -> tc_status = NU_TERMINATED; + + /* Determine if there is a timer active. */ + if (task -> tc_timer_active) + { + + /* Call the stop timer function. */ + TMC_Stop_Task_Timer(&(task -> tc_timer_control)); + + /* Clear the timer active flag. */ + task -> tc_timer_active = NU_FALSE; + } + } + + /* Cleanup the protection. */ + if (suspend_protect) + { + + /* Release specific protection. */ + TCT_Unprotect_Specific(suspend_protect); + + /* Clear the suspend protect field. */ + task -> tc_suspend_protect = NU_NULL; + } + + /* Release current protection. */ + TCT_Unprotect(); + } + + /* Protect the scheduling list again. */ + TCT_Protect(&TCD_System_Protect); + } + + /* Release the protection. */ + TCT_Unprotect(); + } + + /* Return to user mode */ + NU_USER_MODE(); + + /* Return successful completion. */ + return(NU_SUCCESS); +} + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Resume_Task */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function resumes a previously suspended task. The task */ +/* task must currently be suspended for the same reason indicated */ +/* by this request. If the task resumed is higher priority than */ +/* the calling task and the current task is preemptable, this */ +/* function returns a value of NU_TRUE. Otherwise, if no */ +/* preemption is required, a NU_FALSE is returned. This routine */ +/* must be called from Supervisor mode in a Supervisor/User mode */ +/* switching kernel. */ +/* */ +/* CALLED BY */ +/* */ +/* Other Components */ +/* TCC_Resume_Service Resume service function */ +/* */ +/* CALLS */ +/* */ +/* [TCT_Check_Stack] Stack checking function */ +/* TCT_Set_Current_Protect Set current protection field */ +/* TCT_Set_Execute_Task Set TCD_Execute_Task pointer */ +/* TMC_Stop_Task_Timer Stop task timer */ +/* */ +/* INPUTS */ +/* */ +/* task_ptr Task control block pointer */ +/* suspend_type Type of suspension to lift */ +/* */ +/* OUTPUTS */ +/* */ +/* NU_TRUE A higher priority task is */ +/* ready to execute */ +/* NU_FALSE No change in the task to */ +/* execute */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 09-19-1993 Corrected an initialization */ +/* problem of de-referencing a */ +/* NULL pointer, resulting in */ +/* version 1.0d */ +/* 09-19-1993 Verified version 1.0d */ +/* 03-01-1994 Modified function interface, */ +/* added register optimizations, */ +/* modified protection logic to */ +/* assume that system protection */ +/* is already in force, resulting */ +/* in version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* 10-29-1997 Changed so that tc_cleanup, */ +/* tc_cleanup_info, and */ +/* tc_suspend_protect are cleared */ +/* only if a signal is not active */ +/* (SPR115) */ +/* 03-20-1998 Corrected SPR455. */ +/* */ +/*************************************************************************/ +STATUS TCC_Resume_Task(NU_TASK *task_ptr, OPTION suspend_type) +{ + +R1 TC_TCB *task; /* Task control block ptr */ +R2 TC_TCB *head; /* Pointer to priority list */ +STATUS status = NU_FALSE; /* Status variable */ + + /* Move task pointer into internal pointer. */ + task = (TC_TCB *) task_ptr; + + +#ifdef NU_ENABLE_STACK_CHECK + + /* Call stack checking function to check for an overflow condition. */ + TCT_Check_Stack(); + +#endif + + + /* Check to see if the task is suspended for the reason that this + resume is attempting to clear. */ + if (task -> tc_status == suspend_type) + { + + /* Yes, this resume call is valid. */ + + /* If signals are not active, clear any suspend or cleanup + information (SPR115). */ + if (!task -> tc_signal_active) + { + task -> tc_suspend_protect = NU_NULL; + task -> tc_cleanup = NU_NULL; + task -> tc_cleanup_info = NU_NULL; + } + + /* Determine if there is a timer active and the task is not being + resumed to handle a signal. */ + if ((task -> tc_timer_active) && (!task -> tc_signal_active)) + { + + /* Call the stop timer function. */ + TMC_Stop_Task_Timer(&(task -> tc_timer_control)); + + /* Clear the timer active flag. */ + task -> tc_timer_active = NU_FALSE; + } + + /* Check to see if there is a pending pure suspension. If so, + change the cause of the suspension and leave in a suspended + state. */ + if (task -> tc_delayed_suspend) + { + + /* Leave suspended but change the task's status and clear the + delayed suspension flag. */ + task -> tc_delayed_suspend = NU_FALSE; + task -> tc_status = NU_PURE_SUSPEND; + } + else + { + + /* Lift the suspension of the specified task. */ + + /* Clear the status of the task. */ + task -> tc_status = NU_READY; + +#ifdef INCLUDE_PROVIEW + _RTProf_TaskStatus(task,RT_TASK_READY); +#endif /*INCLUDE_PROVIEW*/ + + /* Link the task into the appropriate priority list. */ + head = *(task -> tc_priority_head); + + /* Determine if the list is non-empty. */ + if (head) + { + + /* Add the new TCB to the end of the ready list. */ + task -> tc_ready_previous = head -> tc_ready_previous; + (task -> tc_ready_previous) -> tc_ready_next = task; + task -> tc_ready_next = head; + (task -> tc_ready_next) -> tc_ready_previous = task; + + /* Note that the priority bit map does not need to be + modified since there are other active tasks at the + same priority. */ + } + else + { + + /* Add the new TCB to an empty list. */ + task -> tc_ready_previous = task; + task -> tc_ready_next = task; + *(task -> tc_priority_head)= task; + + /* Update the priority group bit map to indicate that this + priority now has a task ready. */ + TCD_Priority_Groups = + TCD_Priority_Groups | (task -> tc_priority_group); + + /* Update the sub-priority bit map to show that this priority + is ready. */ + *(task -> tc_sub_priority_ptr) = + (*(task -> tc_sub_priority_ptr)) | task -> tc_sub_priority; + + /* Determine if this newly ready task is higher priority + than the current task. */ + if ((INT) (task -> tc_priority) < TCD_Highest_Priority) + { + + /* Update the highest priority field. */ + TCD_Highest_Priority = (INT) task -> tc_priority; + + /* See if there is a task to execute. */ + if (TCD_Execute_Task == NU_NULL) + + /* Make this task the current. */ + TCT_Set_Execute_Task(task); + + /* Check to see if the task to execute is preemptable. */ + /* SPR455 checks if we are in Application_Initialize */ + else if ((TCD_Execute_Task -> tc_preemption) + || (INC_Initialize_State == INC_START_INITIALIZE)) + { + + /* Yes, the task to execute is preemptable. Replace + it with the new task. */ + TCT_Set_Execute_Task(task); + + /* Now, check and see if the current thread is a task. + If so, return a status that indicates a context + switch is needed. */ + if ((TCD_Current_Thread) && + (((TC_TCB *) TCD_Current_Thread) -> tc_id == + TC_TASK_ID)) + + /* Yes, a context switch is needed. */ + status = NU_TRUE; + } + } + } + } + } + else + { + + /* Check for a resumption of a delayed pure suspend. */ + if (suspend_type == NU_PURE_SUSPEND) + + /* Clear the delayed suspension. */ + task -> tc_delayed_suspend = NU_FALSE; + + /* Check for a signal active and the saved status the same as + the resume request. */ + if ((suspend_type == task -> tc_saved_status) && + (task -> tc_signal_active)) + { + + /* Indicate the saved status as ready. */ + task -> tc_saved_status = NU_READY; + + /* Determine if the task's timer is active. */ + if (task -> tc_timer_active) + { + + /* Stop the timer. */ + TMC_Stop_Task_Timer(&(task -> tc_timer_control)); + + /* Clear the timer active flag. */ + task -> tc_timer_active = NU_FALSE; + } + } + } + +#ifdef INCLUDE_PROVIEW + _RTProf_DumpTask(task,RT_PROF_RESUME_TASK); +#endif /*INCLUDE_PROVIEW*/ + + /* Return back the status. */ + return(status); +} + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Resume_Service */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function provides an interface identical to the application */ +/* service call to resume a task. */ +/* */ +/* CALLED BY */ +/* */ +/* Application */ +/* TCCE_Resume_Service Error checking function */ +/* */ +/* CALLS */ +/* */ +/* [HIC_Make_History_Entry] Make entry in history log */ +/* TCC_Resume_Task Resume a task */ +/* [TCT_Check_Stack] Stack checking function */ +/* TCT_Control_To_System Transfer control to system */ +/* TCT_Protect Protect system structures */ +/* TCT_Unprotect Release system protection */ +/* */ +/* INPUTS */ +/* */ +/* task_ptr Task control block pointer */ +/* */ +/* OUTPUTS */ +/* */ +/* NU_SUCCESS Always returns success */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 03-01-1994 Modified function interface, */ +/* added register optimizations, */ +/* added system protection logic, */ +/* resulting in version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* 12-19-1995 Changed the "task" parameter to */ +/* "task_ptr" in the */ +/* HIC_Make_History_Entry call, */ +/* resulting in version 1.1+ */ +/* (SPR 36, 64, 66, 77) */ +/* 10-02-1998 Another protect problem (1.3a) */ +/* */ +/*************************************************************************/ +STATUS TCC_Resume_Service(NU_TASK *task_ptr) +{ + +TC_PROTECT *save_protect; /* Save current protection */ +NU_SUPERV_USER_VARIABLES + + /* Switch to supervisor mode */ + NU_SUPERVISOR_MODE(); + +#ifdef NU_ENABLE_STACK_CHECK + + /* Call stack checking function to check for an overflow condition. */ + TCT_Check_Stack(); + +#endif + +#ifdef NU_ENABLE_HISTORY + + /* Make an entry that corresponds to this function in the system history + log. */ + HIC_Make_History_Entry(NU_RESUME_TASK_ID, (UNSIGNED) task_ptr, + (UNSIGNED) 0, (UNSIGNED) 0); + +#endif + + /* Save current protection. */ + if (TCD_Current_Thread != NU_NULL) + { + save_protect = TCT_Get_Current_Protect(); + } + else + { + save_protect = NU_NULL; + } + + /* Protect system structures. */ + TCT_Protect(&TCD_System_Protect); + + /* Call the actual resume task function. If the function returns a + NU_TRUE, context switching is needed. */ + if (TCC_Resume_Task(task_ptr, NU_PURE_SUSPEND)) + { + + /* Transfer control back to the system for a context switch. */ + TCT_Control_To_System(); + } + + /* Determine how to get out of protection. */ + if (save_protect) + { + + /* Restore current protection. */ + TCT_Set_Current_Protect(save_protect); + + /* Release system protect. */ + TCT_Unprotect_Specific(&TCD_System_Protect); + } + else + + /* Release protection of system structures. */ + TCT_Unprotect(); + + /* Return to user mode */ + NU_USER_MODE(); + + /* Always return a successful status. */ + return(NU_SUCCESS); +} + + + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Suspend_Task */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function suspends the specified task. If the specified */ +/* task is the calling task, control is transferred back to the */ +/* system. */ +/* */ +/* CALLED BY */ +/* */ +/* Other Components */ +/* TCC_Suspend_Service Task suspend service */ +/* */ +/* CALLS */ +/* */ +/* [HIC_Make_History_Entry] Make entry in history log */ +/* TCT_Control_To_System Transfer control to system */ +/* TCT_Protect Protect system structures */ +/* TCT_Set_Execute_Task Set TCD_Execute_Task pointer */ +/* TCT_Protect_Switch Allow protected task to run */ +/* briefly */ +/* TCT_Unprotect Release system protection */ +/* TMC_Start_Task_Timer Start a task timer */ +/* */ +/* INPUTS */ +/* */ +/* task_ptr Task control block pointer */ +/* suspend_type Type of suspension to lift */ +/* cleanup Cleanup routine */ +/* information Information for cleanup */ +/* timeout Timeout on the suspension */ +/* */ +/* OUTPUTS */ +/* */ +/* None */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 02-01-1994 Corrected a suspension with */ +/* timeout problem that caused */ +/* unconditional task suspension */ +/* for timeouts and sleeps for 1 */ +/* tick, resulting in version 1.0f */ +/* 02-01-1994 Verified version 1.0f */ +/* 03-01-1994 Modified function interface, */ +/* added register optimizations, */ +/* fixed a possible suspending an */ +/* executing task from a HISR, */ +/* removed excessive protection */ +/* logic since protection is now */ +/* in force upon function entry, */ +/* resulting in version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* 06-01-1996 Checked to see whether */ +/* task == TCD_Current_Thread */ +/* regardless of whether task == */ +/* TCD_Execute_Task (SPR152) */ +/* */ +/*************************************************************************/ +VOID TCC_Suspend_Task(NU_TASK *task_ptr, OPTION suspend_type, + VOID (*cleanup) (VOID *), VOID *information, UNSIGNED timeout) +{ + +R1 TC_TCB *task; /* Task control block ptr */ +R2 INT index; /* Working index variable */ +DATA_ELEMENT temp; /* Temporary variable */ + + + + /* Move input task pointer into internal pointer. */ + task = (TC_TCB *) task_ptr; + + +#ifdef NU_ENABLE_STACK_CHECK + + /* Call stack checking function to check for an overflow condition. */ + TCT_Check_Stack(); + +#endif + + + /* Determine if there is a timeout to initiate. */ + if (timeout != NU_SUSPEND) + { + + /* Indicate that a task timer is active. */ + task -> tc_timer_active = NU_TRUE; + + /* Start a timeout on the suspension. */ + TMC_Start_Task_Timer(&(task -> tc_timer_control),timeout); + } + + + /* Check for a non self-suspension. In such cases, the target task + cannot have any type of protection in force. */ + if (task != (TC_TCB *) TCD_Current_Thread) + { + + do + { + + /* Check for protection. Remember that system protection is + in effect. */ + if (task -> tc_current_protect) + { + + /* Yes, target task is in a protected mode. Release + the protection on the scheduling list and transfer + control briefly to the target task. */ + TCT_Unprotect(); + + /* Switch to the protected task and wait until the + task is not protected. */ + TCT_Protect_Switch(task); + + /* Restore protection of the system structures. */ + TCT_Protect(&TCD_System_Protect); + } + } while (task -> tc_current_protect); + } + + /* Check to see if the task is currently ready. */ + if (task -> tc_status == NU_READY) + { + + /* Mark the task with the appropriate suspension code. */ + task -> tc_status = suspend_type; + + /* Store off termination information in the tasks control block. */ + task -> tc_cleanup = cleanup; + task -> tc_cleanup_info = information; + + /* Remove the task from the ready list. */ + + /* Determine if the task is the only one on the list. */ + if (task -> tc_ready_next == task) + { + + /* Only task on the list. Clear the task's pointers and + clear the entry in the priority table. */ + task -> tc_ready_next = NU_NULL; + task -> tc_ready_previous = NU_NULL; + *(task -> tc_priority_head) = NU_NULL; + + /* Clear the sub-priority group. */ + *(task -> tc_sub_priority_ptr) = + (*(task -> tc_sub_priority_ptr)) & ~(task -> tc_sub_priority); + + /* Determine if the main priority group needs to be cleared. + This is only true if there are no other bits set in this + sub-priority. */ + if (*(task -> tc_sub_priority_ptr) == 0) + + /* Clear the main priority group bit. */ + TCD_Priority_Groups = + TCD_Priority_Groups & ~(task -> tc_priority_group); + + /* Determine if this priority group was the highest in the + system. */ + if (task -> tc_priority == (DATA_ELEMENT) TCD_Highest_Priority) + { + + /* Determine the highest priority task in the system. */ + if (TCD_Priority_Groups == 0) + { + + /* Re-initialize the highest priority variable and + clear the current task pointer. */ + TCD_Highest_Priority = TC_PRIORITIES; + } + else + { + + /* Find the next highest priority task. */ + if (TCD_Priority_Groups & TC_HIGHEST_MASK) + + /* Base of sub-group is 0. */ + index = 0; + + else if (TCD_Priority_Groups & TC_NEXT_HIGHEST_MASK) + + /* Base of sub-group is 8. */ + index = 8; + + else if (TCD_Priority_Groups & TC_NEXT_LOWEST_MASK) + + /* Base of sub-group is 16. */ + index = 16; + else + + /* Base of sub-group is 24. */ + index = 24; + + /* Calculate the highest available priority. */ + index = index + TCD_Lowest_Set_Bit[(INT) + ((TCD_Priority_Groups >> index) & TC_HIGHEST_MASK)]; + + /* Get the mask of the priority within the group of + 8 priorities. */ + temp = TCD_Sub_Priority_Groups[index]; + + /* Calculate the actual priority. */ + TCD_Highest_Priority = + (index << 3) + TCD_Lowest_Set_Bit[temp]; + } + } + } + else + { + + /* Not the only task ready at the same priority level. */ + + /* Remove from the linked-list. */ + (task -> tc_ready_previous) -> tc_ready_next = + task -> tc_ready_next; + (task -> tc_ready_next) -> tc_ready_previous = + task -> tc_ready_previous; + + /* See if the task being suspended is the current. */ + if (*(task -> tc_priority_head) == task) + + /* Update the head of this priority list. */ + *(task -> tc_priority_head) = task -> tc_ready_next; + + /* Clear the task's pointers. */ + task -> tc_ready_next = NU_NULL; + task -> tc_ready_previous = NU_NULL; + } + + /* Determine if this task the highest priority task. */ + if (task == TCD_Execute_Task) + { + + /* Determine the next task to execute. */ + if (TCD_Highest_Priority < TC_PRIORITIES) + + /* Put the next task to execute in TCD_Execute_Task. */ + TCT_Set_Execute_Task(TCD_Priority_List[TCD_Highest_Priority]); + else + + /* No other task is ready for execution. */ + TCT_Set_Execute_Task(NU_NULL); + } + +#ifdef INCLUDE_PROVIEW + _RTProf_DumpTask(task,RT_PROF_SUSPEND_TASK); + + if (suspend_type == NU_SLEEP_SUSPEND) + { + _RTProf_TaskStatus(task,RT_TASK_SLEEPING); + } + else if (suspend_type == NU_PURE_SUSPEND) + { + _RTProf_TaskStatus(task,RT_TASK_SUSPENDED); + } + else + { + _RTProf_TaskStatus(task,RT_TASK_WAITING); + } +#endif /*INCLUDE_PROVIEW*/ + + /* See if the suspending task is the current thread. (SPR152) */ + if (task == (TC_TCB *) TCD_Current_Thread) + + /* Leave the task, transfer control to the system. */ + TCT_Control_To_System(); + + } + else + { + + /* Check for a pure suspension request. If present, the delayed + suspension flag is set. */ + if (suspend_type == NU_PURE_SUSPEND) + + /* Setup the delayed suspension flag. */ + task -> tc_delayed_suspend = NU_TRUE; +#ifdef INCLUDE_PROVIEW + _RTProf_DumpTask(task,RT_PROF_SUSPEND_TASK); +#endif /*INCLUDE_PROVIEW*/ + + } +} + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Suspend_Service */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function provides a suitable interface to the actual */ +/* service to suspend a task. */ +/* */ +/* CALLED BY */ +/* */ +/* Application */ +/* TCCE_Suspend_Service Error checking function */ +/* */ +/* CALLS */ +/* */ +/* [HIC_Make_History_Entry] Make entry in history log */ +/* TCC_Suspend_Task Suspend a task */ +/* [TCT_Check_Stack] Stack checking function */ +/* TCT_Protect Protect system structures */ +/* TCT_Unprotect Release system structures */ +/* */ +/* INPUTS */ +/* */ +/* task_ptr Task control block pointer */ +/* */ +/* OUTPUTS */ +/* */ +/* NU_SUCCESS Always a successful status */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 03-01-1994 Modified function interface, */ +/* added register optimizations, */ +/* added system protection logic, */ +/* resulting in version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* */ +/*************************************************************************/ +STATUS TCC_Suspend_Service(NU_TASK *task_ptr) +{ + +NU_SUPERV_USER_VARIABLES + + /* Switch to supervisor mode */ + NU_SUPERVISOR_MODE(); + +#ifdef NU_ENABLE_STACK_CHECK + + /* Call stack checking function to check for an overflow condition. */ + TCT_Check_Stack(); + +#endif + +#ifdef NU_ENABLE_HISTORY + + /* Make an entry that corresponds to this function in the system history + log. */ + HIC_Make_History_Entry(NU_SUSPEND_TASK_ID, (UNSIGNED) task_ptr, + (UNSIGNED) 0, (UNSIGNED) 0); + +#endif + + + /* Protect system data structures. */ + TCT_Protect(&TCD_System_Protect); + + /* Call the actual routine to suspend the task. */ + TCC_Suspend_Task(task_ptr, NU_PURE_SUSPEND, NU_NULL, NU_NULL, NU_SUSPEND); + + /* Release system protection. */ + TCT_Unprotect(); + + /* Return to user mode */ + NU_USER_MODE(); + + /* Always return a successful status. */ + return(NU_SUCCESS); +} + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Task_Timeout */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function processes task suspension timeout conditions. */ +/* Note that task sleep requests are also considered a timeout */ +/* condition. This routine must be called from Supervisor mode in */ +/* a Supervisor/User mode switching kernel. */ +/* */ +/* CALLED BY */ +/* */ +/* TMC_Timer_Task Timer expiration task */ +/* */ +/* CALLS */ +/* */ +/* Caller's cleanup function */ +/* TCC_Resume_Task Resume a suspended task */ +/* [TCT_Check_Stack] Stack checking function */ +/* TCT_Protect Protect scheduling list */ +/* TCT_Set_Current_Protect Setup current protection */ +/* TCT_Unprotect Release protection */ +/* TCT_Unprotect_Specific Release specific protection */ +/* */ +/* INPUTS */ +/* */ +/* task_ptr Task control block pointer */ +/* */ +/* OUTPUTS */ +/* */ +/* None */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 02-01-1994 Added logic to clear the timer */ +/* active flag when the target */ +/* task is already in a ready */ +/* state, resulting in */ +/* version 1.0f */ +/* 02-01-1994 Verified version 1.0f */ +/* 03-01-1994 Modified function interface, */ +/* added register optimizations, */ +/* removed logic for timeout */ +/* before suspension because new */ +/* protection logic eliminates */ +/* the possibility, */ +/* resulting in version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* */ +/*************************************************************************/ +VOID TCC_Task_Timeout(NU_TASK *task_ptr) +{ + +R1 TC_TCB *task; /* Task control block ptr */ +TC_PROTECT *suspend_protect; /* Suspension protect ptr */ +DATA_ELEMENT task_status; /* Task status variable */ + + + + /* Move task control block pointer into internal pointer. */ + task = (TC_TCB *) task_ptr; + + +#ifdef NU_ENABLE_STACK_CHECK + + /* Call stack checking function to check for an overflow condition. */ + TCT_Check_Stack(); + +#endif + + /* Protect system data structures. */ + TCT_Protect(&TCD_System_Protect); + + /* Pickup the suspension protection saved-off when the task was + suspended. */ + suspend_protect = task -> tc_suspend_protect; + + /* Is a signal handler currently running? */ + if (task -> tc_signal_active) + + /* Use the saved status for current task status */ + task_status = task -> tc_saved_status; + else + + /* Just use the current task status */ + task_status = task -> tc_status; + + /* Release protection of the scheduling list. */ + TCT_Unprotect(); + + /* Determine if there is a suspend protect. */ + if (suspend_protect) + + /* Protect the suspended protection. */ + TCT_Protect(suspend_protect); + + /* Now protect the system structures again. Note that the order the + protections are made prevents deadlocks. */ + TCT_Protect(&TCD_System_Protect); + + /* Determine if the task is still suspended in the same manner. */ + if ((task -> tc_status == task_status) || + ((task -> tc_signal_active) && (task -> tc_saved_status == task_status))) + { + + /* Make sure that this timeout processing is still valid. */ + if ((task -> tc_timer_active) && + (task -> tc_timer_control.tm_remaining_time == 0)) + { + + /* Clear the timer active flag. */ + task -> tc_timer_active = NU_FALSE; + + /* Call the cleanup function, if there is one. */ + if (task -> tc_cleanup) + + /* Call cleanup function. */ + (*(task -> tc_cleanup)) (task -> tc_cleanup_info); + + /* Resume the task. */ + TCC_Resume_Task(task_ptr, task_status); + } + } + + /* Determine if a suspend protection was in force. */ + if (suspend_protect) + { + + /* Set the current protection to the suspend protect. */ + TCT_Set_Current_Protect(suspend_protect); + TCT_Unprotect_Specific(&TCD_System_Protect); + } + + /* Release current protection. */ + TCT_Unprotect(); +} + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Task_Sleep */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function provides task sleep suspensions. Its primary */ +/* purpose is to interface with the actual task suspension function.*/ +/* */ +/* CALLED BY */ +/* */ +/* Application */ +/* */ +/* CALLS */ +/* */ +/* [HIC_Make_History_Entry] Make entry in history log */ +/* TCC_Suspend_Task Suspend a task */ +/* [TCT_Check_Stack] Stack checking function */ +/* TCT_Protect Protect system structures */ +/* TCT_Unprotect Release system structures */ +/* */ +/* INPUTS */ +/* */ +/* ticks Number of timer ticks */ +/* */ +/* OUTPUTS */ +/* */ +/* None */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 03-01-1994 Modified call to suspend the */ +/* calling task, resulting in */ +/* version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* */ +/*************************************************************************/ +VOID TCC_Task_Sleep(UNSIGNED ticks) +{ + +NU_SUPERV_USER_VARIABLES + + /* Switch to supervisor mode */ + NU_SUPERVISOR_MODE(); + +#ifdef NU_ENABLE_STACK_CHECK + + /* Call stack checking function to check for an overflow condition. */ + TCT_Check_Stack(); + +#endif + +#ifdef NU_ENABLE_HISTORY + + /* Make an entry that corresponds to this function in the system history + log. */ + HIC_Make_History_Entry(NU_SLEEP_ID, (UNSIGNED) ticks, + (UNSIGNED) 0, (UNSIGNED) 0); + +#endif + + + /* Protect system data structures. */ + TCT_Protect(&TCD_System_Protect); + +#ifdef INCLUDE_PROVIEW + _RTProf_DumpTask((TC_TCB *)TCD_Current_Thread,RT_PROF_SLEEP); +#endif /*INCLUDE_PROVIEW*/ + + /* Call the actual routine to suspend the task. */ + TCC_Suspend_Task((NU_TASK *) TCD_Current_Thread, NU_SLEEP_SUSPEND, + NU_NULL, NU_NULL, ticks); + + /* Release system protection. */ + TCT_Unprotect(); + + /* Return to user mode */ + NU_USER_MODE(); +} + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Relinquish */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function moves the calling task to the end of other tasks */ +/* at the same priority level. The calling task does not execute */ +/* again until all the other tasks of the same priority get a */ +/* chance to execute. */ +/* */ +/* CALLED BY */ +/* */ +/* Application */ +/* TCCE_Relinquish Error checking shell */ +/* */ +/* CALLS */ +/* */ +/* [HIC_Make_History_Entry] Make entry in history log */ +/* [TCT_Check_Stack] Stack checking function */ +/* TCT_Control_To_System Transfer control to system */ +/* TCT_Protect Protect system structures */ +/* TCT_Set_Execute_Task Set TCD_Execute_Task pointer */ +/* TCT_Unprotect Release protection */ +/* */ +/* INPUTS */ +/* */ +/* None */ +/* */ +/* OUTPUTS */ +/* */ +/* None */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 03-01-1994 Modified protection logic, */ +/* resulting in version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* */ +/*************************************************************************/ +VOID TCC_Relinquish(VOID) +{ + +TC_TCB *task; /* Pointer to task */ +NU_SUPERV_USER_VARIABLES + + /* Switch to supervisor mode */ + NU_SUPERVISOR_MODE(); + +#ifdef NU_ENABLE_STACK_CHECK + + /* Call stack checking function to check for an overflow condition. */ + TCT_Check_Stack(); + +#endif + +#ifdef NU_ENABLE_HISTORY + + /* Make an entry that corresponds to this function in the system history + log. */ + HIC_Make_History_Entry(NU_RELINQUISH_ID, (UNSIGNED) 0, + (UNSIGNED) 0, (UNSIGNED) 0); + +#endif + + /* Protect against multiple access to the system structures. */ + TCT_Protect(&TCD_System_Protect); + + /* Pickup the current thread and place it in the task pointer. */ + task = (TC_TCB *) TCD_Current_Thread; + +#ifdef INCLUDE_PROVIEW + _RTProf_DumpTask(task,RT_PROF_RELINQUISH); +#endif /*INCLUDE_PROVIEW*/ + + /* Determine if another task is ready to run. */ + if ((task -> tc_ready_next != task) || + (task -> tc_priority != (DATA_ELEMENT) TCD_Highest_Priority)) + { + + /* Move the executing task to the end of tasks having the same + priority. */ + *(task -> tc_priority_head) = task -> tc_ready_next; + + /* Setup the next task to execute. */ + TCT_Set_Execute_Task(TCD_Priority_List[TCD_Highest_Priority]); + + /* Transfer control back to the system. */ + TCT_Control_To_System(); + } + + /* Release protection of system structures. */ + TCT_Unprotect(); + + /* Return to user mode */ + NU_USER_MODE(); +} + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Time_Slice */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function moves the specified task to the end of the other */ +/* tasks at the same priority level. If the specified task is no */ +/* longer ready, this request is ignored. This routine must be */ +/* called from Supervisor mode in a Supervisor/User mode */ +/* switching kernel. */ +/* */ +/* CALLED BY */ +/* */ +/* TMC_Timer_HISR Time-slice interrupt */ +/* */ +/* CALLS */ +/* */ +/* [TCT_Check_Stack] Stack checking function */ +/* TCT_Protect Protect the scheduling data */ +/* TCT_Set_Execute_Task Set TCD_Execute_Task pointer */ +/* TCT_Unprotect Release protection */ +/* */ +/* INPUTS */ +/* */ +/* task Task control block pointer */ +/* */ +/* OUTPUTS */ +/* */ +/* None */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 03-01-1994 Modified function interface, */ +/* added register optimizations, */ +/* slightly modified protection */ +/* logic, resulting in version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* */ +/*************************************************************************/ +VOID TCC_Time_Slice(NU_TASK *task_ptr) +{ + +R1 TC_TCB *task; /* Task control block ptr */ + + + /* Move input task control block pointer into internal pointer. */ + task = (TC_TCB *) task_ptr; + + +#ifdef NU_ENABLE_STACK_CHECK + + /* Call stack checking function to check for an overflow condition. */ + TCT_Check_Stack(); + +#endif + + /* Protect against multiple access to the system structures. */ + TCT_Protect(&TCD_System_Protect); + + /* Determine if another task is ready to run. */ + if (((task -> tc_status == NU_READY) && (task -> tc_preemption)) && + ((task -> tc_ready_next != task) || + (task -> tc_priority != (DATA_ELEMENT) TCD_Highest_Priority))) + { + + /* Move the executing task to the end of tasks having the same + priority. */ + *(task -> tc_priority_head) = task -> tc_ready_next; + + /* Setup the next task to execute. */ + TCT_Set_Execute_Task(TCD_Priority_List[TCD_Highest_Priority]); + + } + + /* Release protection of the system structures. */ + TCT_Unprotect(); +} + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Current_Task_Pointer */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function returns the pointer of the currently executing */ +/* task. If the current thread is not a task thread, a NU_NULL */ +/* is returned. */ +/* */ +/* CALLED BY */ +/* */ +/* Application */ +/* Other Components */ +/* */ +/* CALLS */ +/* */ +/* None */ +/* */ +/* INPUTS */ +/* */ +/* None */ +/* */ +/* OUTPUTS */ +/* */ +/* Task Pointer Active tasks pointer or */ +/* NU_NULL if not a task */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 03-01-1994 Modified function interface, */ +/* resulting in version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* */ +/*************************************************************************/ +NU_TASK *TCC_Current_Task_Pointer(VOID) +{ + + + /* Determine if a task thread is executing. */ + if ((TCD_Current_Thread) && + (((TC_TCB *) TCD_Current_Thread) -> tc_id == TC_TASK_ID)) + + /* Task thread is running, return the pointer. */ + return((NU_TASK *) TCD_Current_Thread); + else + + /* No, task thread is not running, return a NU_NULL. */ + return(NU_NULL); +} + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Current_HISR_Pointer */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function returns the pointer of the currently executing */ +/* HISR. If the current thread is not a HISR thread, a NU_NULL */ +/* is returned. */ +/* */ +/* CALLED BY */ +/* */ +/* Application */ +/* Other Components */ +/* */ +/* CALLS */ +/* */ +/* None */ +/* */ +/* INPUTS */ +/* */ +/* None */ +/* */ +/* OUTPUTS */ +/* */ +/* HISR Pointer Active HISR pointer or */ +/* NU_NULL if not a HISR */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 03-01-1994 Modified function interface, */ +/* resulting in version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* */ +/*************************************************************************/ +NU_HISR *TCC_Current_HISR_Pointer(VOID) +{ + + + /* Determine if a HISR thread is executing. */ + if ((TCD_Current_Thread) && + (((TC_HCB *) TCD_Current_Thread) -> tc_id == TC_HISR_ID)) + + /* HISR thread is running, return the pointer. */ + return((NU_HISR *) TCD_Current_Thread); + else + + /* No, HISR thread is not running, return a NU_NULL. */ + return(NU_NULL); +} + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Task_Shell */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function is shell from which all application tasks are */ +/* initially executed. The shell causes the task to finish when */ +/* control is returned from the application task. Also, the shell */ +/* passes argc and argv arguments to the task's entry function. */ +/* */ +/* CALLED BY */ +/* */ +/* TCC_Control_To_Task Control to task routine */ +/* */ +/* CALLS */ +/* */ +/* Task Entry Function */ +/* TCC_Suspend_Task Suspend task when finished */ +/* TCT_Protect Protect system structures */ +/* */ +/* INPUTS */ +/* */ +/* None */ +/* */ +/* OUTPUTS */ +/* */ +/* None */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 03-01-1994 Added protection logic prior to */ +/* suspending the task, resulting */ +/* in version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* */ +/*************************************************************************/ +VOID TCC_Task_Shell(VOID) +{ +NU_SUPERV_USER_VARIABLES + + /* Call the task's entry function with the argc and argv parameters + supplied during task creation or reset. */ + (*(TCD_Execute_Task -> tc_entry)) (TCD_Execute_Task -> tc_argc, + TCD_Execute_Task -> tc_argv); + + /* Switch to supervisor mode */ + NU_SUPERVISOR_MODE(); + + /* Protect system data structures. */ + TCT_Protect(&TCD_System_Protect); + + /* If the task returns, suspend it in a finished state. Note that + the task cannot execute again until it is reset. Therefore, this + call never returns. */ + TCC_Suspend_Task((NU_TASK *) TCD_Execute_Task, NU_FINISHED, + NU_NULL, NU_NULL, NU_SUSPEND); + + /* Return to user mode */ + NU_USER_MODE(); +} + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Signal_Shell */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function processes signals by calling the task supplied */ +/* signal handling function. When signal handling is completed, */ +/* the task is placed in the appropriate state. */ +/* */ +/* CALLED BY */ +/* */ +/* TCC_Control_Signals Control task's signals */ +/* TCC_Register_Signal_Handler Register a signal handler */ +/* */ +/* CALLS */ +/* */ +/* task's signal handling routine */ +/* [TCT_Check_Stack] Stack checking function */ +/* TCT_Signal_Exit Signal handling exit routine */ +/* TCT_Protect Protect against other access */ +/* TCT_Set_Execute_Task Set TCD_Execute_Task pointer */ +/* TCT_Unprotect Release protection */ +/* */ +/* INPUTS */ +/* */ +/* None */ +/* */ +/* OUTPUTS */ +/* */ +/* None */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 03-01-1994 Added register optimizations, */ +/* modified protection logic, */ +/* resulting in version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* */ +/*************************************************************************/ +VOID TCC_Signal_Shell(VOID) +{ + +R2 UNSIGNED signals; /* Signals to send to task */ +INT index; /* Working index variable */ +DATA_ELEMENT temp; /* Temporary variable */ +R1 TC_TCB *task; /* Task pointer */ + + +#ifdef NU_ENABLE_STACK_CHECK + + /* Call stack checking function to check for an overflow condition. */ + TCT_Check_Stack(); + +#endif + + /* Point at the current task. */ + task = (TC_TCB *) TCD_Current_Thread; + + /* Protect against simultaneous access. */ + TCT_Protect(&TCD_System_Protect); + + /* Process while there are signals to handle. */ + while (task -> tc_signals & task -> tc_enabled_signals) + { + + /* Pickup the signals and clear them. */ + signals = task -> tc_signals; + task -> tc_signals = 0; + + /* Release protection. */ + TCT_Unprotect(); + + /* Call the application signal handling function, if there still is + one. */ + if (task -> tc_signal_handler) + { + NU_SUPERV_USER_VARIABLES + +#if (defined(NU_SUPERV_USER_MODE)) && (NU_SUPERV_USER_MODE > 0) + UNSIGNED savedMode = task->tc_su_mode; + task->tc_su_mode = 1; /* Force transition to User mode */ +#endif + /* Switch to user mode */ + NU_USER_MODE(); + + /* Call signal handler. (always in User mode) */ + (*(task -> tc_signal_handler))(signals); + + /* Return to supervisor mode */ + NU_SUPERVISOR_MODE(); + +#if (defined(NU_SUPERV_USER_MODE)) && (NU_SUPERV_USER_MODE > 0) + task->tc_su_mode = savedMode; /* Restore original nesting count */ +#endif + } + + /* Protect against simultaneous access again. */ + TCT_Protect(&TCD_System_Protect); + } + + /* At this point, signals have been exhausted and protection is in + force. */ + + /* Clear the signal in process flag. */ + task -> tc_signal_active = NU_FALSE; + + /* Determine how the signal handler was called. Either in a solicited or + an unsolicited manner. */ + if (task -> tc_saved_stack_ptr) + { + + /* Determine if the saved status still indicates that the task should + be suspended. */ + if (task -> tc_saved_status != NU_READY) + { + + /* Suspend the task. */ + task -> tc_status = task -> tc_saved_status; + + /* Remove the task from the ready list. */ + + /* Determine if the task is the only one on the list. */ + if (task -> tc_ready_next == task) + { + + /* Only task on the list. Clear the task's pointers and + clear the entry in the priority table. */ + task -> tc_ready_next = NU_NULL; + task -> tc_ready_previous = NU_NULL; + *(task -> tc_priority_head) = NU_NULL; + + /* Clear the sub-priority group. */ + *(task -> tc_sub_priority_ptr) = + (*(task -> tc_sub_priority_ptr)) & ~(task -> tc_sub_priority); + + /* Determine if the main priority group needs to be cleared. + This is only true if there are no other bits set in this + sub-priority. */ + if (*(task -> tc_sub_priority_ptr) == 0) + + /* Clear the main priority group bit. */ + TCD_Priority_Groups = + TCD_Priority_Groups & ~(task -> tc_priority_group); + + /* Determine if this priority group was the highest in the + system. */ + if (task -> tc_priority == (DATA_ELEMENT) TCD_Highest_Priority) + { + + /* Determine the highest priority task in the system. */ + if (TCD_Priority_Groups == 0) + { + + /* Re-initialize the highest priority variable and + clear the current task pointer. */ + TCD_Highest_Priority = TC_PRIORITIES; + } + else + { + + /* Find the next highest priority task. */ + if (TCD_Priority_Groups & TC_HIGHEST_MASK) + + /* Base of sub-group is 0. */ + index = 0; + + else if (TCD_Priority_Groups & TC_NEXT_HIGHEST_MASK) + + /* Base of sub-group is 8. */ + index = 8; + + else if (TCD_Priority_Groups & TC_NEXT_LOWEST_MASK) + + /* Base of sub-group is 16. */ + index = 16; + else + + /* Base of sub-group is 24. */ + index = 24; + + /* Calculate the highest available priority. */ + index = index + TCD_Lowest_Set_Bit[(INT) + ((TCD_Priority_Groups >> index) & TC_HIGHEST_MASK)]; + + /* Get the mask of the priority within the group of + 8 priorities. */ + temp = TCD_Sub_Priority_Groups[index]; + + /* Calculate the actual priority. */ + TCD_Highest_Priority = + (index << 3) + TCD_Lowest_Set_Bit[temp]; + } + } + } + else + { + + /* Not the only task ready at the same priority level. */ + + /* Remove from the linked-list. */ + (task -> tc_ready_previous) -> tc_ready_next = + task -> tc_ready_next; + (task -> tc_ready_next) -> tc_ready_previous = + task -> tc_ready_previous; + + /* See if the task being suspended is the current. */ + if (*(task -> tc_priority_head) == task) + + /* Update the head of this priority list. */ + *(task -> tc_priority_head) = task -> tc_ready_next; + + /* Clear the task's pointers. */ + task -> tc_ready_next = NU_NULL; + task -> tc_ready_previous = NU_NULL; + } + + /* Determine the next task to execute. */ + if (TCD_Highest_Priority < TC_PRIORITIES) + + /* Put the next task to execute in TCD_Execute_Task. */ + TCT_Set_Execute_Task(TCD_Priority_List[TCD_Highest_Priority]); + else + + /* No other task is ready for execution. */ + TCT_Set_Execute_Task(NU_NULL); + } + + /* At this point, just exit back to the system. Note that the + signal exit routine clears the scheduling protection. */ + TCT_Signal_Exit(); + } + + /* A signal handler was called from the current task. Nothing needs + to be done except to release protection. */ + TCT_Unprotect(); +} + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Dispatch_LISR */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function dispatches the LISR associated with the specified */ +/* interrupt vector. Note that this function is called during */ +/* the interrupt thread. This routine must be called from */ +/* Supervisor mode in a Supervisor/User mode switching kernel. */ +/* */ +/* CALLED BY */ +/* */ +/* INT_Interrupt_Shell Shell of interrupt routine */ +/* */ +/* CALLS */ +/* */ +/* application LISR */ +/* ERC_System_Error Unhandled interrupt error */ +/* */ +/* INPUTS */ +/* */ +/* vector Vector number of interrupt */ +/* */ +/* OUTPUTS */ +/* */ +/* None */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 11-01-1993 Added logic to save unhandled */ +/* interrupt vector number in */ +/* a global variable, resulting */ +/* in version 1.0e */ +/* 11-01-1993 Verified version 1.0e */ +/* */ +/*************************************************************************/ +VOID TCC_Dispatch_LISR(INT vector) +{ + +INT index; /* Working index variable */ + + + /* Determine if the specified vector has an LISR registered to it. */ + index = (INT) TCD_Registered_LISRs[vector]; + if (index <= NU_MAX_LISRS) + { +#ifdef INCLUDE_PROVIEW + _RTProf_Dispatch_LISR_No_INT_Lock(vector); +#endif /*INCLUDE_PROVIEW*/ + + /* Yes, an LISR is associated with this vector. Call the actual + registered LISR routine. */ + (*(TCD_LISR_Pointers[index])) (vector); + } + else + { + + /* Save interrupt vector number in TCD_Unhandled_Interrupt. */ + TCD_Unhandled_Interrupt = vector; + + /* System error, unhandled interrupt. */ + ERC_System_Error(NU_UNHANDLED_INTERRUPT); + } +} + + +/*************************************************************************/ +/* */ +/* FUNCTION */ +/* */ +/* TCC_Register_LISR */ +/* */ +/* DESCRIPTION */ +/* */ +/* This function registers the supplied LISR with the supplied */ +/* vector number. If the supplied LISR is NU_NULL, the supplied */ +/* vector is de-registered. The previously registered LISR is */ +/* returned to the caller, along with the completion status. This */ +/* routine must be called from Supervisor mode in a Supervisor/ */ +/* User mode switching kernel. */ +/* */ +/* CALLED BY */ +/* */ +/* Application */ +/* */ +/* CALLS */ +/* */ +/* [HIC_Make_History_Entry] Make entry in history log */ +/* INT_Retrieve_Shell Retrieve vector shell pointer*/ +/* INT_Setup_Vector Setup the actual vector */ +/* INT_Vectors_Loaded Determine if interrupt shell */ +/* routines are loaded */ +/* [TCT_Check_Stack] Stack checking function */ +/* TCT_Protect Protect LISR registration */ +/* TCT_Unprotect Release LISR protection */ +/* */ +/* INPUTS */ +/* */ +/* vector Vector number of interrupt */ +/* new_lisr New LISR function */ +/* old_lisr Previous LISR function ptr */ +/* */ +/* OUTPUTS */ +/* */ +/* NU_SUCCESS Successful registration */ +/* NU_INVALID_VECTOR Invalid interrupt vector */ +/* NU_NO_MORE_LISRS LISR registration table is */ +/* full */ +/* NU_NOT_REGISTERED LISR was not registered */ +/* */ +/* HISTORY */ +/* */ +/* DATE REMARKS */ +/* */ +/* 03-01-1993 Created initial version 1.0 */ +/* 04-19-1993 Verified version 1.0 */ +/* 03-01-1994 Added appropriate casting, */ +/* resulting in version 1.1 */ +/* */ +/* 03-18-1994 Verified version 1.1 */ +/* */ +/*************************************************************************/ +STATUS TCC_Register_LISR(INT vector, VOID (*new_lisr)(INT), + VOID (**old_lisr)(INT)) +{ + +INT index; /* Working index variable */ +STATUS status; /* Completion status */ + + +#ifdef NU_ENABLE_STACK_CHECK + + /* Call stack checking function to check for an overflow condition. */ + TCT_Check_Stack(); + +#endif + +#ifdef NU_ENABLE_HISTORY + + /* Make an entry that corresponds to this function in the system history + log. */ + HIC_Make_History_Entry(NU_REGISTER_LISR_ID, (UNSIGNED) vector, + (UNSIGNED) new_lisr, (UNSIGNED) old_lisr); + +#endif + + /* Determine if the vector is legal. */ + if (vector > NU_MAX_VECTORS) + return(NU_INVALID_VECTOR); + + /* Initialize the completion status to successful. */ + status = NU_SUCCESS; + + /* Protect against LISR registration list access. */ + TCT_Protect(&TCD_LISR_Protect); + + /* Determine if a registration or deregistration is requested. This is + determined by the value of new_lisr. A NULL value indicates + deregistration. */ + if (new_lisr) + { + + /* Register the new LISR. */ + + /* Determine if the vector already has a registration. */ + if (TCD_Registered_LISRs[vector]) + { + + /* Yes, a registration exists. */ + + /* Pickup the index into the LISR pointer list. */ + index = (INT) TCD_Registered_LISRs[vector]; + + /* Temporarily indicate that the LISR is not registered. */ + TCD_Registered_LISRs[vector] = 0; + + /* Copy the currently registered LISR into the old_lisr return + area. */ + *old_lisr = TCD_LISR_Pointers[index]; + + /* Place the new LISR into the list. */ + TCD_LISR_Pointers[index] = new_lisr; + + /* Indicate the LISR is registered again. */ + TCD_Registered_LISRs[vector] = (UNSIGNED_CHAR) index; + } + else + { + + /* An empty slot needs to be found in the LISR pointers list. */ + + index = 0; + while ((index <= NU_MAX_LISRS) && + (TCD_LISR_Pointers[index] != NU_NULL)) + index++; + + /* Determine if an empty slot was found. */ + if (index <= NU_MAX_LISRS) + { + + /* Yes, an empty slot was found. */ + + /* Place the new LISR in the LISR pointers list. */ + TCD_LISR_Pointers[index] = new_lisr; + + /* Associate the index into the pointers list to the actual + vector. */ + TCD_Registered_LISRs[vector] = (UNSIGNED_CHAR) index; + + /* Indicate that there was no previous LISR registered. */ + *old_lisr = NU_NULL; + + /* Determine if the actual vector needs to be stolen. */ + if (!INT_Vectors_Loaded()) + + /* Actual vector needs to be replaced with the + appropriate ISR shell. */ + INT_Setup_Vector(vector, INT_Retrieve_Shell(vector)); + } + else + + /* Return the completion status that indicates that there + is no more room in the LISR pointers list. */ + status = NU_NO_MORE_LISRS; + } + } + else + { + + /* De-register the specified vector. */ + + /* Determine if the vector has a registration current. */ + if (TCD_Registered_LISRs[vector]) + { + + /* Pickup the index into the LISR pointer list. */ + index = (INT) TCD_Registered_LISRs[vector]; + + /* Clear the registration table. */ + TCD_Registered_LISRs[vector] = 0; + + /* Return the previously registered LISR. */ + *old_lisr = TCD_LISR_Pointers[index]; + + /* Clear the LISR pointer list entry. */ + TCD_LISR_Pointers[index] = NU_NULL; + } + else + + /* The vector is not registered. Return an error completion + status. */ + status = NU_NOT_REGISTERED; + } + +#ifdef INCLUDE_PROVIEW + _RTProf_RegisterLisr(vector); +#endif /*INCLUDE_PROVIEW*/ + + /* Release protection on the LISR registration list. */ + TCT_Unprotect(); + + /* Return the completion status. */ + return(status); +} + + + + + +