1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
32 33 34 35
36
37 package ti.sysbios.knl;
38
39 import xdc.rov.ViewInfo;
40
41 import xdc.runtime.Error;
42 import xdc.runtime.Assert;
43 import xdc.runtime.Diags;
44 import xdc.runtime.Log;
45 import xdc.runtime.IHeap;
46
47 import ti.sysbios.knl.Queue;
48
49 /*!
50 * ======== Task ========
51 * Task Manager.
52 *
53 * The Task module makes available a set of functions that manipulate task
54 * objects accessed through pointers of type {@link #Handle}. Tasks represent
55 * independent threads of control that conceptually execute functions in
56 * parallel within a single C program; in reality, concurrency is achieved
57 * by switching the processor from one task to another.
58 *
59 * All tasks executing within a single program share a common set of
60 * global variables, accessed according to the standard rules of scope
61 * defined for C functions.
62 *
63 * Each task is in one of five modes of execution at any point in time:
64 * running, ready, blocked, terminated, or inactive. By design, there is
65 * always one
66 * (and only one) task currently running, even if it is only the idle task
67 * managed internally by Task. The current task can be suspended from
68 * execution by calling certain Task functions, as well as functions
69 * provided by other modules like the Semaphore or Event Modules.
70 * The current task
71 * can also terminate its own execution. In either case, the processor
72 * is switched to the highest priority task that is ready to run.
73 *
74 * You can assign numeric priorities to tasks. Tasks are
75 * readied for execution in strict priority order; tasks of the same
76 * priority are scheduled on a first-come, first-served basis.
77 * The priority of the currently running task is never lower
78 * than the priority of any ready task. Conversely, the running task
79 * is preempted and re-scheduled for execution whenever there exists
80 * some ready task of higher priority.
81 *
82 * @a(Task Stacks)
83 *
84 * When you create a task, it is provided with its own run-time stack,
85 * used for storing local variables as well as for further nesting of
86 * function calls. Each stack must be large enough to handle normal
87 * subroutine calls and one task preemption context.
88 * A task preemption context is the context that gets saved when one task
89 * preempts another as a result of an interrupt thread readying
90 * a higher-priority task.
91 *
92 * See sections 3.5.3 and 7.5 of the BIOS User's Guide for further
93 * discussions regarding task stack sizing.
94 *
95 * Certain system configuration settings will result in
96 * task stacks needing to be large enough to absorb two interrupt
97 * contexts rather than just one.
98 * Setting {@link ti.sysbios.BIOS#logsEnabled BIOS.logsEnabled} to 'true'
99 * or installing any Task hooks will have the side effect of allowing
100 * up to two interrupt contexts to be placed on a task stack. Also
101 * see {@link #minimizeLatency Task.minimizeLatency}.
102 *
103 * @a(Task Deletion)
104 *
105 * Any dynamically created task that is not in the Task_Mode_RUNNING
106 * state (ie not the currently running task) can be deleted using the
107 * {@link #delete} API.
108 *
109 * Task_delete() removes the task from all internal queues and calls
110 * Memory_free() is used to free the task object and its stack.
111 * Memory_free() must acquire a lock to the memory before proceeding.
112 * If another task already holds a lock to the memory, then the thread
113 * performing the delete will be blocked until the memory is unlocked.
114 *
115 * Note:
116 * Task_delete() should be called with extreme care.
117 * As mentioned above, the scope of Task_delete() is limited to
118 * freeing the Task object itself, freeing the task's stack memory
119 * if it was allocated at create time, and removing the task from
120 * any SYS/BIOS-internal state structures.
121 *
122 * SYS/BIOS does not keep track of any resources the task may have
123 * acquired or used during its lifetime.
124 *
125 * It is the application's responsibility to guarantee the integrity
126 * of a task's partnerships prior to deleting that task.
127 *
128 * For example, if a task has obtained exclusive access to a resource,
129 * deleting that task will make the resource forever unavailable.
130 *
131 * Task_delete() sets the referenced task handle to NULL. Any subsequent
132 * call to a Task instance API using that null task handle will behave
133 * unpredictably and will usually result in an application crash.
134 *
135 * Assuming a task completely cleans up after itself prior to calling
136 * Task_exit() (or falling through the the bottom of the task
137 * function), it is then safest to use Task_delete() only when a task
138 * is in the 'Task_Mode_TERMINATED' state.
139 *
140 * Delete hooks:
141 * You can specify application-wide Delete hook functions that
142 * run whenever a task is deleted. See the discussion of Hook Functions
143 * below for details.
144 *
145 * Task_delete() constraints:
146 * @p(blist)
147 * -The task cannot be the currently executing task (Task_self()).
148 * -Task_delete cannot be called from a Swi or Hwi.
149 * -No check is performed to prevent Task_delete from being used on a
150 * statically-created object. If a program attempts to delete a task object
151 * that was created statically, the Memory_free() call will result in an
152 * assertion failure in its corresponding Heap manager, causing the
153 * application to exit.
154 * @p
155 *
156 * @a(Stack Alignment)
157 *
158 * Stack size parameters for both static and dynamic tasks are rounded
159 * up to the nearest integer multiple of a target-specific alignment
160 * requirement.
161 *
162 * In the case of Task's which are created with a user-provided stack,
163 * both the base address and the stackSize are aligned. The base address
164 * is increased to the nearest aligned address. The stack size is decreased
165 * accordingly and then rounded down to the nearest integer multiple of the
166 * target-specific required alignment.
167 *
168 * @p(html)
169 * <a name="hookfunc"></a>
170 * @p
171 *
172 * @a(Hook Functions)
173 *
174 * Sets of hook functions can be specified for the Task module. Each
175 * set can contain these hook functions:
176 * @p(blist)
177 * -Register: A function called before any statically created tasks
178 * are initialized at runtime. The register hook is called at boot time
179 * before main() and before interrupts are enabled.
180 * -Create: A function that is called when a task is created.
181 * This includes tasks that are created statically and those
182 * created dynamically using {@link #create} or {@link #construct}.
183 * For statically created tasks, create hook is called before main()
184 * and before interrupts are enabled. For dynamically created or
185 * constructed tasks, create hook is called in the same context the
186 * task is created or constructed in i.e. if a task is created in
187 * main(), the create hook is called in main context and if the task
188 * is created within another task, it is called in task context. The
189 * create hook is called outside of a Task_disable/enable block and
190 * before the task has been added to the ready list.
191 * -Ready: A function that is called when a task becomes ready to run.
192 * The ready hook is called in the context of the thread unblocking
193 * a task and therefore it can be called in Hwi, Swi or Task context.
194 * If a Swi or Hwi posts a semaphore that unblocks a task, the ready
195 * hook would be called in the Swi or Hwi's context. The ready hook is
196 * called from within a Task_disable/enable block with interrupts enabled.
197 * -Switch: A function that is called just before a task switch
198 * occurs. The 'prev' and 'next' task handles are passed to the switch
199 * hook. 'prev' is set to NULL for the initial task switch that occurs
200 * during SYS/BIOS startup. The switch hook is called from within a
201 * Task_disable/enable block with interrupts enabled, in the
202 * context of the task being switched from (ie: the `prev` task).
203 * -Exit: A function that is called when a task exits using {@link #exit}.
204 * It is called in the exiting task's context. The exit hook is passed
205 * the handle of the exiting task. The exit hook is called outside of a
206 * Task_disable/enable block and before the task has been removed from
207 * the kernel lists.
208 * -Delete: A function that is called when any task is deleted at
209 * run-time with {@link #delete}. The delete hook is called in idle task
210 * context if {@link #deleteTerminatedTasks} is set to true. Otherwise,
211 * it is called in the context of the task that is deleting another task.
212 * The delete hook is called outside of a Task_disable/enable block.
213 * @p
214 * Hook functions can only be configured statically.
215 *
216 * If you define more than one set of hook functions, all the functions
217 * of a particular type will be run when a Task triggers that type of
218 * hook.
219 *
220 * @a(Warning)
221 * Configuring ANY Task hook function will have the side effect of allowing
222 * up to two interrupt contexts beings saved on a task stack. Be careful
223 * to size your task stacks accordingly.
224 *
225 * @p(html)
226 * <B>Register Function</B>
227 * @p
228 *
229 * The Register function is provided to allow a hook set to store its
230 * hookset ID. This id can be passed to {@link #setHookContext} and
231 * {@link #getHookContext} to set or get hookset-specific context. The
232 * Register function must be specified if the hook implementation
233 * needs to use {@link #setHookContext} or {@link #getHookContext}.
234 * The registerFxn hook function is called during system initialization
235 * before interrupts have been enabled.
236 *
237 * @p(code)
238 * Void myRegisterFxn(Int id);
239 * @p
240 *
241 * @p(html)
242 * <B>Create and Delete Functions</B>
243 * @p
244 *
245 * The create and delete functions are called whenever a Task is created
246 * or deleted. They are called with interrupts enabled (unless called
247 * at boot time or from main()).
248 *
249 * @p(code)
250 * Void myCreateFxn(Task_Handle task, Error_Block *eb);
251 * @p
252 *
253 * @p(code)
254 * Void myDeleteFxn(Task_Handle task);
255 * @p
256 *
257 * @p(html)
258 * <B>Switch Function</B>
259 * @p
260 *
261 * If a switch function is specified, it is invoked just before the new task
262 * is switched to. The switch function is called with interrupts enabled.
263 *
264 * This function can be used to save/restore additional task context (for
265 * example, external hardware registers), to check for task stack overflow,
266 * to monitor the time used by each task, etc.
267 *
268 * @p(code)
269 * Void mySwitchFxn(Task_Handle prev, Task_Handle next);
270 * @p
271 *
272 * To properly handle the switch to the first task your switchFxn should
273 * check for "prev == NULL" before using prev:
274 *
275 * @p(code)
276 * Void mySwitchFxn(Task_Handle prev, Task_Handle next)
277 * {
278 * if (prev != NULL) {
279 * ...
280 * }
281 * ...
282 * }
283 * @p
284 *
285 * @p(html)
286 * <B>Ready Function</B>
287 * @p
288 *
289 * If a ready function is specified, it is invoked whenever a task is made
290 * ready to run. The ready function is called with interrupts enabled
291 * (unless called at boot time or from main()).
292 *
293 * @p(code)
294 * Void myReadyFxn(Task_Handle task);
295 * @p
296 *
297 * @p(html)
298 * <B>Exit Function</B>
299 * @p
300 *
301 * If an exit function is specified, it is invoked when a task exits (via
302 * call to Task_exit() or when a task returns from its' main function).
303 * The Exit Function is called with interrupts enabled.
304 *
305 * @p(code)
306 * Void myExitFxn(Task_Handle task);
307 * @p
308 *
309 * @p(html)
310 * <h3> Calling Context </h3>
311 * <table border="1" cellpadding="3">
312 * <colgroup span="1"></colgroup> <colgroup span="5" align="center">
313 * </colgroup>
314 *
315 * <tr><th> Function </th><th> Hwi </th><th> Swi </th>
316 * <th> Task </th><th> Main </th><th> Startup </th></tr>
317 * <!-- -->
318 * <tr><td> {@link #create} </td><td> N </td><td> N </td>
319 * <td> Y </td><td> Y </td><td> N </td></tr>
320 * <tr><td> {@link #disable} </td><td> Y </td><td> Y </td>
321 * <td> Y </td><td> Y </td><td> N </td></tr>
322 * <tr><td> {@link #exit} </td><td> N </td><td> N </td>
323 * <td> Y </td><td> N </td><td> N </td></tr>
324 * <tr><td> {@link #getIdleTask} </td><td> Y </td><td> Y </td>
325 * <td> Y </td><td> Y </td><td> N </td></tr>
326 * <tr><td> {@link #Params_init} </td><td> Y </td><td> Y </td>
327 * <td> Y </td><td> Y </td><td> Y </td></tr>
328 * <tr><td> {@link #restore} </td><td> Y </td><td> Y </td>
329 * <td> Y </td><td> Y </td><td> N </td></tr>
330 * <tr><td> {@link #self} </td><td> Y </td><td> Y </td>
331 * <td> Y </td><td> Y </td><td> N </td></tr>
332 * <tr><td> {@link #sleep} </td><td> N </td><td> N </td>
333 * <td> Y </td><td> N </td><td> N </td></tr>
334 * <tr><td> {@link #yield} </td><td> Y </td><td> Y </td>
335 * <td> Y </td><td> N </td><td> N </td></tr>
336 * <tr><td> {@link #construct} </td><td> N </td><td> N </td>
337 * <td> Y </td><td> Y </td><td> N </td></tr>
338 * <tr><td> {@link #delete} </td><td> N </td><td> N </td>
339 * <td> Y </td><td> Y </td><td> N </td></tr>
340 * <tr><td> {@link #destruct} </td><td> N </td><td> N </td>
341 * <td> Y </td><td> Y </td><td> N </td></tr>
342 * <tr><td> {@link #getEnv} </td><td> Y </td><td> Y </td>
343 * <td> Y </td><td> Y </td><td> N </td></tr>
344 * <tr><td> {@link #getHookContext} </td><td> Y </td><td> Y </td>
345 * <td> Y </td><td> Y </td><td> N </td></tr>
346 * <tr><td> {@link #getMode} </td><td> Y </td><td> Y </td>
347 * <td> Y </td><td> Y </td><td> N </td></tr>
348 * <tr><td> {@link #getPri} </td><td> Y </td><td> Y </td>
349 * <td> Y </td><td> Y </td><td> N </td></tr>
350 * <tr><td> {@link #getFunc} </td><td> Y </td><td> Y </td>
351 * <td> Y </td><td> Y </td><td> N </td></tr>
352 * <tr><td> {@link #setEnv} </td><td> Y </td><td> Y </td>
353 * <td> Y </td><td> Y </td><td> N </td></tr>
354 * <tr><td> {@link #setHookContext} </td><td> Y </td><td> Y </td>
355 * <td> Y </td><td> Y </td><td> N </td></tr>
356 * <tr><td> {@link #setPri} </td><td> Y </td><td> Y </td>
357 * <td> Y </td><td> N </td><td> N </td></tr>
358 * <tr><td> {@link #stat} </td><td> Y </td><td> Y </td>
359 * <td> Y </td><td> Y </td><td> N </td></tr>
360 * <tr><td colspan="6"> Definitions: <br />
361 * <ul>
362 * <li> <b>Hwi</b>: API is callable from a Hwi thread. </li>
363 * <li> <b>Swi</b>: API is callable from a Swi thread. </li>
364 * <li> <b>Task</b>: API is callable from a Task thread. </li>
365 * <li> <b>Main</b>: API is callable during any of these phases: </li>
366 * <ul>
367 * <li> In your module startup after this module is started
368 * (e.g. Task_Module_startupDone() returns TRUE). </li>
369 * <li> During xdc.runtime.Startup.lastFxns. </li>
370 * <li> During main().</li>
371 * <li> During BIOS.startupFxns.</li>
372 * </ul>
373 * <li> <b>Startup</b>: API is callable during any of these phases:</li>
374 * <ul>
375 * <li> During xdc.runtime.Startup.firstFxns.</li>
376 * <li> In your module startup before this module is started
377 * (e.g. Task_Module_startupDone() returns FALSE).</li>
378 * </ul>
379 * </ul>
380 * </td></tr>
381 *
382 * </table>
383 * @p
384 */
385
386 @DirectCall
387 @ModuleStartup
388 @InstanceInitStatic
389 @InstanceFinalize
390 @InstanceInitError
391 @Template ("./Task.xdt") 392
393
394 module Task
395 {
396
397
398
399
400
401 /*! Task function type definition. */
402 typedef Void (*FuncPtr)(UArg, UArg);
403
404 /*! "All Task Blocked" function type definition. */
405 typedef Void (*AllBlockedFuncPtr)(Void);
406
407 /*!
408 * Task execution modes.
409 *
410 * These enumerations are the range of modes or states that
411 * a task can be in. A task's current mode can be gotten using
412 * {@link #stat}.
413 */
414 enum Mode {
415 Mode_RUNNING, /*! Task is currently executing. */
416 Mode_READY, /*! Task is scheduled for execution. */
417 Mode_BLOCKED, /*! Task is suspended from execution. */
418 Mode_TERMINATED, /*! Task is terminated from execution. */
419 Mode_INACTIVE /*! Task is on inactive task list */
420 };
421
422 /*!
423 * Task Status Buffer.
424 *
425 * Passed to and filled in by {@link #stat};
426 */
427 struct Stat {
428 Int priority; /*! Task priority. */
429 Ptr stack; /*! Task stack. */
430 SizeT stackSize; /*! Task stack size. */
431 IHeap.Handle stackHeap; /*! Heap used to alloc stack. */
432 Ptr env; /*! Global environment struct. */
433 Mode mode; /*! Task's current mode. */
434 Ptr sp; /*! Task's current stack pointer. */
435 SizeT used; /*! max # of words used on stack. */
436 };
437
438 /*!
439 * Task hook set type definition.
440 *
441 * Sets of hook functions can be specified for the Task module.
442 * See {@link #hookfunc Hook Functions} for details.
443 */
444 struct HookSet {
445 Void (*registerFxn)(Int);
446 Void (*createFxn)(Handle, Error.Block *);
447 Void (*readyFxn)(Handle);
448 Void (*switchFxn)(Handle, Handle);
449 Void (*exitFxn)(Handle);
450 Void (*deleteFxn)(Handle);
451 };
452
453 /*! "Don't care" task affinity */
454 const UInt AFFINITY_NONE = ~(0);
455
456 /*! @_nodoc */
457 metaonly struct BasicView {
458 String label;
459 Int priority;
460 String mode;
461 String fxn[];
462 UArg arg0;
463 UArg arg1;
464 SizeT stackSize;
465 Ptr stackBase;
466 String curCoreId;
467 String affinity;
468 }
469
470 /*! @_nodoc */
471 metaonly struct DetailedView {
472 String label;
473 Int priority;
474 String mode;
475 String fxn[];
476 UArg arg0;
477 UArg arg1;
478 String stackPeak;
479 SizeT stackSize;
480 Ptr stackBase;
481 String curCoreId;
482 String affinity;
483 String blockedOn;
484 }
485
486 /*! @_nodoc */
487 metaonly struct ModuleView {
488 String schedulerState;
489 String readyQMask[];
490 Bool workPending;
491 UInt numVitalTasks;
492 Ptr currentTask[];
493 String hwiStackPeak;
494 SizeT hwiStackSize;
495 Ptr hwiStackBase;
496 }
497
498 /*! @_nodoc (not used by view) */
499 metaonly struct CallStackView {
500 Int depth;
501 String decode;
502 }
503
504 /*! @_nodoc */
505 metaonly struct ReadyQView {
506 Ptr task;
507 Ptr next;
508 Ptr prev;
509 Ptr readyQ;
510 String label;
511 Int priority;
512 String mode;
513 String fxn[];
514 String curCoreId;
515 String affinity;
516 }
517
518 /*! @_nodoc */
519 @Facet
520 metaonly config ViewInfo.Instance rovViewInfo =
521 ViewInfo.create({
522 viewMap: [
523 ['Basic', {type: ViewInfo.INSTANCE, viewInitFxn: 'viewInitBasic', structName: 'BasicView'}],
524 ['Detailed', {type: ViewInfo.INSTANCE, viewInitFxn: 'viewInitDetailed', structName: 'DetailedView'}],
525 ['CallStacks', {type: ViewInfo.TREE, viewInitFxn: 'viewInitCallStack', structName: 'CallStackView'}],
526 ['ReadyQs', {type: ViewInfo.TREE_TABLE, viewInitFxn: 'viewInitReadyQs', structName: 'ReadyQView'}],
527 ['Module', {type: ViewInfo.MODULE, viewInitFxn: 'viewInitModule', structName: 'ModuleView'}],
528 ]
529 });
530
531
532
533
534
535 /*! Logged on every task switch */
536 config Log.Event LM_switch = {
537 mask: Diags.USER1 | Diags.USER2,
538 msg: "LM_switch: oldtsk: 0x%x, oldfunc: 0x%x, newtsk: 0x%x, newfunc: 0x%x"
539 };
540
541 /*! Logged on calls to Task_sleep */
542 config Log.Event LM_sleep = {
543 mask: Diags.USER1 | Diags.USER2,
544 msg: "LM_sleep: tsk: 0x%x, func: 0x%x, timeout: %d"
545 };
546
547 /*! Logged when a task is made ready to run (ie Semaphore_post()) */
548 config Log.Event LD_ready = {
549 mask: Diags.USER2,
550 msg: "LD_ready: tsk: 0x%x, func: 0x%x, pri: %d"
551 };
552
553 /*! Logged when a task is blocked (ie Semaphore_pend()) */
554 config Log.Event LD_block = {
555 mask: Diags.USER2,
556 msg: "LD_block: tsk: 0x%x, func: 0x%x"
557 };
558
559 /*! Logged on calls to Task_yield */
560 config Log.Event LM_yield = {
561 mask: Diags.USER1 | Diags.USER2,
562 msg: "LM_yield: tsk: 0x%x, func: 0x%x, currThread: %d"
563 };
564
565 /*! Logged on calls to Task_setPri */
566 config Log.Event LM_setPri = {
567 mask: Diags.USER1 | Diags.USER2,
568 msg: "LM_setPri: tsk: 0x%x, func: 0x%x, oldPri: %d, newPri %d"
569 };
570
571 /*!
572 * Logged when Task functions fall thru the bottom
573 * or when Task_exit() is explicitly called.
574 */
575 config Log.Event LD_exit = {
576 mask: Diags.USER2,
577 msg: "LD_exit: tsk: 0x%x, func: 0x%x"
578 };
579
580 /*! Logged on calls to Task_setAffinity */
581 config Log.Event LM_setAffinity = {
582 mask: Diags.USER1 | Diags.USER2,
583 msg: "LM_setAffinity: tsk: 0x%x, func: 0x%x, oldCore: %d, oldAffinity %d, newAffinity %d"
584 };
585
586 /*! Logged on every task schedule entry */
587 config Log.Event LM_schedule = {
588 mask: Diags.USER3,
589 msg: "LD_schedule: coreId: %d, workFlag: %d, curSetLocal: %d, curSetX: %d, curMaskLocal: %d"
590 };
591
592 /*! Logged when no scheduling work was found */
593 config Log.Event LM_noWork = {
594 mask: Diags.USER3,
595 msg: "LD_noWork: coreId: %d, curSetLocal: %d, curSetX: %d, curMaskLocal: %d"
596 };
597
598
599
600 /*!
601 * Error raised when a stack overflow (or corruption) is detected.
602 *
603 * This error is raised by kernel's stack checking function. This
604 * function checks the stacks before every task switch to make sure
605 * that reserved word at top of stack has not been modified.
606 *
607 * The stack checking logic is enabled by the {@link #initStackFlag} and
608 * {@link #checkStackFlag} configuration parameters. If both of these
609 * flags are set to true, the kernel will validate the stacks.
610 */
611 config Error.Id E_stackOverflow = {
612 msg: "E_stackOverflow: Task 0x%x stack overflow."
613 };
614
615 /*!
616 * Error raised when a task's stack pointer (SP) does not point
617 * somewhere within the task's stack.
618 *
619 * This error is raised by kernel's stack checking function. This
620 * function checks the SPs before every task switch to make sure
621 * they point within the task's stack.
622 *
623 * The stack checking logic is enabled by the {@link #initStackFlag} and
624 * {@link #checkStackFlag} configuration parameters. If both of these
625 * flags are set to true, the kernel will validate the stack pointers.
626 */
627 config Error.Id E_spOutOfBounds = {
628 msg: "E_spOutOfBounds: Task 0x%x stack error, SP = 0x%x."
629 };
630
631 config Error.Id E_deleteNotAllowed = {
632 msg: "E_deleteNotAllowed: Task 0x%x."
633 };
634
635
636
637 /*! Asserted in Task_create and Task_delete */
638 config Assert.Id A_badThreadType = {
639 msg: "A_badThreadType: Cannot create/delete a task from Hwi or Swi thread."
640 };
641
642 /*! Asserted in Task_delete */
643 config Assert.Id A_badTaskState = {
644 msg: "A_badTaskState: Can't delete a task in RUNNING state."
645 };
646
647 /*! Asserted in Task_delete */
648 config Assert.Id A_noPendElem = {
649 msg: "A_noPendElem: Not enough info to delete BLOCKED task."
650 };
651
652 /*! Asserted in Task_create */
653 config Assert.Id A_taskDisabled = {
654 msg: "A_taskDisabled: Cannot create a task when tasking is disabled."
655 };
656
657 /*! Asserted in Task_create */
658 config Assert.Id A_badPriority = {
659 msg: "A_badPriority: An invalid task priority was used."
660 };
661
662 /*! Asserted in Task_sleep */
663 config Assert.Id A_badTimeout = {
664 msg: "A_badTimeout: Can't sleep FOREVER."
665 };
666
667 /*! Asserted in Task_setAffinity */
668 config Assert.Id A_badAffinity = {
669 msg: "A_badAffinity: Invalid affinity."
670 };
671
672 /*! Asserted in Task_sleep */
673 config Assert.Id A_sleepTaskDisabled = {
674 msg: "A_sleepTaskDisabled: Cannot call Task_sleep() while the Task scheduler is disabled."
675 };
676
677 /*! Asserted in Task_getIdleTaskHandle */
678 config Assert.Id A_invalidCoreId = {
679 msg: "A_invalidCoreId: Cannot pass a non-zero CoreId in a non-SMP application."
680 };
681
682 /*!
683 * Number of Task priorities supported. Default is 16.
684 *
685 * The maximum number of priorities supported is
686 * target specific and depends on the number of
687 * bits in a UInt data type. For 6x and ARM devices
688 * the maximum number of priorities is therefore 32.
689 * For 28x, 55x, and MSP430 devices, the maximum number of
690 * priorities is 16.
691 */
692 config UInt numPriorities = 16;
693
694 /*!
695 * Default stack size (in MAUs) used for all tasks.
696 *
697 * Default is obtained from the family-specific TaskSupport module
698 * (e.g. {@link ti.sysbios.family.arm.m3.TaskSupport},
699 * {@link ti.sysbios.family.c62.TaskSupport}).
700 */
701 config SizeT defaultStackSize;
702
703 /*!
704 * Default memory section used for all statically created task stacks.
705 *
706 * The default stack section name is target/device specific.
707 * For C6x targets it is ".far:taskStackSection".
708 * For C28x targets it is ".taskStackSection".
709 * For GNU targets it is ".bss".
710 * For all other targets it is ".bss:taskStackSection".
711 *
712 * By default, all statically created task stacks are grouped together
713 * into the defaultStackSection and placed where ever
714 * the target specific defaultStackSection base section name
715 * (ie .bss, .far, .ebss) is placed.
716 *
717 * To place all task stacks into a different memory segment,
718 * add the following to your config script:
719 *
720 * @p(code)
721 * Program.sectMap[Task.defaultStackSection] = new Program.SectionSpec();
722 * Program.sectMap[Task.defaultStackSection].loadSegment =
723 * "yourMemorySegment";
724 * @p
725 *
726 * To group all task stacks into a different section AND place that
727 * section into a specific memory segment, add the following to your
728 * config script:
729 *
730 * @p(code)
731 * Task.defaultStackSection = ".yourSectionName";
732 * Program.sectMap[Task.defaultStackSection] = new Program.SectionSpec();
733 * Program.sectMap[Task.defaultStackSection].loadSegment =
734 * "yourMemorySegment";
735 * @p
736 *
737 * Where "yourSectionName" can be just about anything, and
738 * "yourMemorySegment"
739 * must be a memory segment defined for your board.
740 */
741 metaonly config String defaultStackSection;
742
743 /*!
744 * Default Mem heap used for all dynamically created task stacks.
745 *
746 * Default is null.
747 */
748 config IHeap.Handle defaultStackHeap;
749
750 /*!
751 * Default core affinity for newly created tasks.
752 *
753 * Default is Task_AFFINITY_NONE, meaning don't care.
754 */
755 metaonly config UInt defaultAffinity = AFFINITY_NONE;
756
757 /*!
758 * Create a task (of priority 0) to run the Idle functions in.
759 *
760 * When set to true, a task is created that continuously calls the
761 * {@link Idle#run Idle_run()} function, which, in turn calls each of
762 * the configured Idle functions.
763 *
764 * When set to false, no Idle Task is created and it is up to the
765 * user to call the Idle_run() function if the configured Idle
766 * functions need to be run. Or, by adding the following lines to
767 * the config script, the Idle functions will run whenever all
768 * tasks are blocked ({@link #allBlockedFunc Task.allBlockedFunc}):
769 *
770 * @p(code)
771 * Task.enableIdleTask = false;
772 * Task.allBlockedFunc = Idle.run;
773 * @p
774 *
775 * Default is true.
776 *
777 * @see #idleTaskStackSize
778 * @see #idleTaskStackSection
779 * @see #idleTaskVitalTaskFlag
780 * @see #allBlockedFunc
781 */
782 metaonly config Bool enableIdleTask = true;
783
784 /*!
785 * Reduce interrupt latency by enabling interrupts
786 * within the Task scheduler.
787 *
788 * By default, interrupts are disabled within certain critical
789 * sections of the task scheduler when switching to a different
790 * task thread. This default behavior guarantees that a task stack
791 * will only ever absorb ONE ISR context. Nested interrupts all run
792 * on the shared Hwi stack.
793 *
794 * While most users find this behavior desirable, the resulting
795 * impact on interrupt latency is too great for certain applications.
796 *
797 * By setting this parameter to 'true', the worst case interrupt latency
798 * imposed by the kernel will be reduced but will result in task stacks
799 * needing to be sized to accommodate one additional interrupt context.
800 *
801 * See sections 3.5.3 and 7.5 of the BIOS User's Guide for further
802 * discussions regarding task stack sizing.
803 *
804 * Also see {@link ti.sysbios.BIOS#logsEnabled BIOS.logsEnabled}
805 * and the discussion on Task hooks.
806 */
807 metaonly config Bool minimizeLatency = false;
808
809 /*!
810 * Idle task stack size in MAUs.
811 *
812 * Default is inherited from module config defaultStackSize.
813 */
814 metaonly config SizeT idleTaskStackSize;
815
816 /*!
817 * Idle task stack section
818 *
819 * Default is inherited from module config defaultStackSection;
820 */
821 metaonly config String idleTaskStackSection;
822
823 /*!
824 * Idle task's vitalTaskFlag.
825 * (see {@link #vitalTaskFlag}).
826 *
827 * Default is true.
828 */
829 metaonly config Bool idleTaskVitalTaskFlag = true;
830
831 /*!
832 * Function to call while all tasks are blocked.
833 *
834 * This function will be called repeatedly while no tasks are
835 * ready to run.
836 *
837 * Ordinarily (in applications that have tasks ready to run at startup),
838 * the function will run in the context of the last task to block.
839 *
840 * In an application where there are no tasks ready to run
841 * when BIOS_start() is called, the allBlockedFunc function is
842 * called within the BIOS_start() thread which runs on the system/ISR
843 * stack.
844 *
845 * By default, allBlockedFunc is initialized to point to an internal
846 * function that simply returns.
847 *
848 * By adding the following lines to the config script, the Idle
849 * functions will run whenever all tasks are blocked:
850 *
851 * @p(code)
852 * Task.enableIdleTask = false;
853 * Task.allBlockedFunc = Idle.run;
854 * @p
855 *
856 * @see #enableIdleTask
857 *
858 * @a(constraints)
859 * The configured allBlockedFunc is designed to be called repeatedly.
860 * It must return in order for the task scheduler to check if all
861 * tasks are STILL blocked and if not, run the highest priority task
862 * currently ready to run.
863 *
864 * The configured allBlockedFunc function is called with interrupts
865 * disabled. If your function must run with interrupts enabled,
866 * surround the body of your code with Hwi_enable()/Hwi_restore()
867 * function calls per the following example:
868 *
869 * @p(code)
870 * Void yourFunc() {
871 * UInt hwiKey;
872 *
873 * hwiKey = Hwi_enable();
874 *
875 * ... // your code here
876 *
877 * Hwi_restore(hwiKey);
878 * }
879 * @p
880 */
881 config AllBlockedFuncPtr allBlockedFunc = null;
882
883 /*!
884 * Initialize stack with known value for stack checking at runtime
885 * (see {@link #checkStackFlag}).
886 * If this flag is set to false, while the
887 * {@link ti.sysbios.hal.Hwi#checkStackFlag} is set to true, only the
888 * first byte of the stack is initialized.
889 *
890 * This is also useful for inspection of stack in debugger or core
891 * dump utilities.
892 * Default is true.
893 */
894 config Bool initStackFlag = true;
895
896 /*!
897 * Check 'from' and 'to' task stacks before task context switch.
898 *
899 * The check consists of testing the top of stack value against
900 * its initial value (see {@link #initStackFlag}). If it is no
901 * longer at this value, the assumption is that the task has
902 * overrun its stack. If the test fails, then the
903 * {@link #E_stackOverflow} error is raised.
904 *
905 * Default is true.
906 *
907 * To enable or disable full stack checking, you should set both this
908 * flag and the {@link ti.sysbios.hal.Hwi#checkStackFlag}.
909 *
910 * @a(Note)
911 * Enabling stack checking will add some interrupt latency because the
912 * checks are made within the Task scheduler while interrupts are
913 * disabled.
914 */
915 config Bool checkStackFlag = true;
916
917 /*!
918 * Automatically delete terminated tasks.
919 *
920 * If this feature is enabled, an Idle function is installed that
921 * deletes dynamically created Tasks that have terminated either
922 * by falling through their task function or by explicitly calling
923 * Task_exit().
924 *
925 * A list of terminated Tasks that were created dynmically is
926 * maintained internally. Each invocation of the installed Idle function
927 * deletes the first Task on this list. This one-at-a-time process
928 * continues until the list is empty.
929 *
930 * @a(Note)
931 * This feature is disabled by default.
932 *
933 * @a(WARNING)
934 * When this feature is enabled, an error will be raised if the user's
935 * application attempts to delete a terminated task. If a terminated task
936 * has already been automatically deleted and THEN the user's application
937 * attempts to delete it (ie: using a stale Task handle), the results are
938 * undefined and probably catastrophic!
939 *
940 */
941 config Bool deleteTerminatedTasks = false;
942
943 /*!
944 * Const array that holds the HookSet objects.
945 *
946 * See {@link #hookfunc Hook Functions} for details about HookSets.
947 */
948 config HookSet hooks[length] = [];
949
950
951
952 /*!
953 * ======== addHookSet ========
954 * addHookSet is used in a config file to add a hook set.
955 *
956 * Configures a set of hook functions for the
957 * Task module. Each set contains these hook functions:
958 *
959 * @p(blist)
960 * -Register: A function called before any statically created tasks
961 * are initialized at runtime. The register hook is called at boot time
962 * before main() and before interrupts are enabled.
963 * -Create: A function that is called when a task is created.
964 * This includes tasks that are created statically and those
965 * created dynamically using {@link #create} or {@link #construct}.
966 * The create hook is called outside of a Task_disable/enable block and
967 * before the task has been added to the ready list.
968 * -Ready: A function that is called when a task becomes ready to run.
969 * The ready hook is called from within a Task_disable/enable block with
970 * interrupts enabled.
971 * -Switch: A function that is called just before a task switch
972 * occurs. The 'prev' and 'next' task handles are passed to the Switch
973 * hook. 'prev' is set to NULL for the initial task switch that occurs
974 * during SYS/BIOS startup. The Switch hook is called from within a
975 * Task_disable/enable block with interrupts enabled.
976 * -Exit: A function that is called when a task exits using
977 * {@link #exit}. The exit hook is passed the handle of the exiting
978 * task. The exit hook is called outside of a Task_disable/enable block
979 * and before the task has been removed from the kernel lists.
980 * -Delete: A function that is called when any task is deleted at
981 * run-time with {@link #delete}. The delete hook is called outside
982 * of a Task_disable/enable block.
983 * @p
984 * Hook functions can only be configured statically.
985 *
986 * See {@link #hookfunc Hook Functions} for more details.
987 *
988 * HookSet structure elements may be omitted, in which case those
989 * elements will not exist.
990 *
991 * For example, the following configuration code defines a HookSet:
992 *
993 * @p(code)
994 * // Hook Set 1
995 * Task.addHookSet({
996 * registerFxn: '&myRegister1',
997 * createFxn: '&myCreate1',
998 * readyFxn: '&myReady1',
999 * switchFxn: '&mySwitch1',
1000 * exitFxn: '&myExit1',
1001 * deleteFxn: '&myDelete1'
1002 * });
1003 * @p
1004 *
1005 * @param(hook) structure of type HookSet
1006 */
1007 metaonly Void addHookSet(HookSet hook);
1008
1009 /*!
1010 * @_nodoc
1011 * ======== Task_startup ========
1012 * Start the task scheduler.
1013 *
1014 * Task_startup signals the end of boot operations, enables
1015 * the Task scheduler and schedules the highest priority ready
1016 * task for execution.
1017 *
1018 * Task_startup is called by BIOS_start() after Hwi_enable()
1019 * and Swi_enable(). There is no return from this function as the
1020 * execution thread is handed to the highest priority ready task.
1021 */
1022 Void startup();
1023
1024 /*!
1025 * ======== Task_enabled ========
1026 * Returns TRUE if the Task scheduler is enabled
1027 *
1028 * @_nodoc
1029 */
1030 Bool enabled();
1031
1032 /*!
1033 * @_nodoc
1034 * ======== unlockSched ========
1035 * Force a Task scheduler unlock. Used by Core_atExit() & Core_hwiFunc()
1036 * to unlock Task scheduler before exiting.
1037 *
1038 * This function should only be called after a Hwi_disable() has entered
1039 * the Inter-core gate and disabled interrupts locally.
1040 */
1041 Void unlockSched();
1042
1043 /*!
1044 * ======== Task_disable ========
1045 * Disable the task scheduler.
1046 *
1047 * {@link #disable} and {@link #restore} control Task scheduling.
1048 * {@link #disable} disables all other Tasks from running until
1049 * {@link #restore} is called. Hardware and Software interrupts
1050 * can still run.
1051 *
1052 * {@link #disable} and {@link #restore} allow you to ensure that
1053 * statements
1054 * that must be performed together during critical processing are not
1055 * preempted by other Tasks.
1056 *
1057 * The value of the key returned is opaque to applications and is meant
1058 * to be passed to Task_restore().
1059 *
1060 * In the following example, the critical section is
1061 * not preempted by any Tasks.
1062 *
1063 * @p(code)
1064 * key = Task_disable();
1065 * `critical section`
1066 * Task_restore(key);
1067 * @p
1068 *
1069 * You can also use {@link #disable} and {@link #restore} to
1070 * create several Tasks and allow them to be invoked in
1071 * priority order.
1072 *
1073 * {@link #disable} calls can be nested.
1074 *
1075 * @b(returns) key for use with {@link #restore}
1076 *
1077 * @a(constraints)
1078 * Do not call any function that can cause the current task to block
1079 * within a {@link #disable}/{@link #restore} block. For example,
1080 * {@link ti.sysbios.knl.Semaphore#pend Semaphore_pend}
1081 * (if timeout is non-zero),
1082 * {@link #sleep}, {@link #yield}, and Memory_alloc can all
1083 * cause blocking.
1084 */
1085 UInt disable();
1086
1087 /*!
1088 * @_nodoc
1089 * ======== enable ========
1090 * Enable the task scheduler.
1091 *
1092 * {@link #enable} unconditionally enables the Task scheduler and
1093 * schedules the highest priority ready task for execution.
1094 *
1095 * This function is called by {@link #startup} (which is called by
1096 * {@link ti.sysbios.BIOS#start BIOS_start}) to begin multi-tasking
1097 * operations.
1098 */
1099 Void enable();
1100
1101 /*!
1102 * ======== restore ========
1103 * Restore Task scheduling state.
1104 *
1105 * {@link #disable} and {@link #restore} control Task scheduling
1106 * {@link #disable} disables all other Tasks from running until
1107 * {@link #restore} is called. Hardware and Software interrupts
1108 * can still run.
1109 *
1110 * {@link #disable} and {@link #restore} allow you to ensure that
1111 * statements
1112 * that must be performed together during critical processing are not
1113 * preempted.
1114
1115 * In the following example, the critical section is not preempted
1116 * by any Tasks.
1117 *
1118 * @p(code)
1119 * key = Task_disable();
1120 * `critical section`
1121 * Task_restore(key);
1122 * @p
1123 *
1124 * You can also use {@link #disable} and {@link #restore} to create
1125 * several Tasks and allow them to be performed in priority order.
1126 *
1127 * {@link #disable} calls can be nested.
1128 *
1129 * {@link #restore} returns with interrupts enabled if the key unlocks
1130 * the scheduler
1131 *
1132 * @param(key) key to restore previous Task scheduler state
1133 *
1134 * @a(constraints)
1135 * Do not call any function that can cause the current task to block
1136 * within a {@link #disable}/{@link #restore} block. For example,
1137 * {@link ti.sysbios.knl.Semaphore#pend Semaphore_pend()}
1138 * (if timeout is non-zero),
1139 * {@link #sleep}, {@link #yield}, and Memory_alloc can all
1140 * cause blocking.
1141 *
1142 * {@link #restore} internally calls Hwi_enable() if the key passed
1143 * to it results in the unlocking of the Task scheduler (ie if this
1144 * is root Task_disable/Task_restore pair).
1145 */
1146 Void restore(UInt key);
1147
1148 /*!
1149 * @_nodoc
1150 * ======== restoreHwi ========
1151 * Restore Task scheduling state.
1152 * Used by dispatcher. Does not re-enable Ints.
1153 */
1154 Void restoreHwi(UInt key);
1155
1156 /*!
1157 * ======== self ========
1158 * Returns a handle to the currently executing Task object.
1159 *
1160 * Task_self returns the object handle for the currently executing task.
1161 * This function is useful when inspecting the object or when the current
1162 * task changes its own priority through {@link #setPri}.
1163 *
1164 * No task switch occurs when calling Task_self.
1165 *
1166 * Task_self will return NULL until Tasking is initiated at the end of
1167 * BIOS_start().
1168 *
1169 * @b(returns) address of currently executing task object
1170 */
1171 Handle self();
1172
1173 /*!
1174 * ======== selfMacro ========
1175 * Returns a handle to the currently executing Task object.
1176 *
1177 * Task_selfMacro is identical to {@link #self} but is implemented as
1178 * and inline macro.
1179 *
1180 * @b(returns) address of currently executing task object
1181 */
1182 @Macro
1183 Handle selfMacro();
1184
1185 /*!
1186 * @_nodoc
1187 * ======== checkStacks ========
1188 * Check for stack overflow.
1189 *
1190 * This function is usually called by the {@link #HookSet} switchFxn to
1191 * make sure task stacks are valid before performing the context
1192 * switch.
1193 *
1194 * If a stack overflow is detected on either the oldTask or the
1195 * newTask, a {@link #E_stackOverflow} Error is raised and the system
1196 * exited.
1197 *
1198 * In order to work properly, {@link #checkStacks} requires that the
1199 * {@link #initStackFlag} set to true, which it is by default.
1200 *
1201 * You can call {@link #checkStacks} directly from your application.
1202 * For example, you can check the current task's stack integrity
1203 * at any time with a call like the following:
1204 *
1205 * @p(code)
1206 * Task_checkStacks(Task_self(), Task_self());
1207 * @p
1208 *
1209 * @param(oldTask) leaving Task Object Ptr
1210 * @param(newTask) entering Task Object Ptr
1211 */
1212 Void checkStacks(Handle oldTask, Handle newTask);
1213
1214 /*!
1215 * ======== exit ========
1216 * Terminate execution of the current task.
1217 *
1218 * Task_exit terminates execution of the current task, changing its mode
1219 * from {@link #Mode_RUNNING} to {@link #Mode_TERMINATED}. If all tasks
1220 * have been terminated, or if all remaining tasks have their
1221 * vitalTaskFlag attribute set to FALSE, then SYS/BIOS terminates the
1222 * program as a whole by calling the function System_exit with a status
1223 * code of 0.
1224 *
1225 * Task_exit is automatically called whenever a task returns from its
1226 * top-level function.
1227 *
1228 * Exit Hooks (see exitFxn in {@link #HookSet}) can be used to provide
1229 * functions that run whenever a task is terminated. The exitFxn Hooks
1230 * are called before the task has been blocked and marked
1231 * {@link #Mode_TERMINATED}.
1232 * See {@link #hookfunc Hook Functions} for more information.
1233 *
1234 * Any SYS/BIOS function can be called from an Exit Hook function.
1235 *
1236 * Calling {@link #self} within an Exit function returns the task
1237 * being exited. Your Exit function declaration should be similar to
1238 * the following:
1239 * @p(code)
1240 * Void myExitFxn(Void);
1241 * @p
1242 *
1243 * A task switch occurs when calling Task_exit unless the program as a
1244 * whole is terminated
1245 *
1246 * @a(constraints)
1247 * Task_exit cannot be called from a Swi or Hwi.
1248 *
1249 * Task_exit cannot be called from the program's main() function.
1250 */
1251 Void exit();
1252
1253 /*!
1254 * ======== sleep ========
1255 * Delay execution of the current task.
1256 *
1257 * Task_sleep changes the current task's mode from {@link #Mode_RUNNING}
1258 * to {@link #Mode_BLOCKED}, and delays its execution for nticks
1259 * increments of the {@link Clock system clock}. The actual time
1260 * delayed can be up to 1 system clock tick less than nticks due to
1261 * granularity in system timekeeping and the time elapsed per
1262 * tick is determined by {@link Clock#tickPeriod Clock_tickPeriod}.
1263 *
1264 * After the specified period of time has elapsed, the task reverts to
1265 * the {@link #Mode_READY} mode and is scheduled for execution.
1266 *
1267 * A task switch always occurs when calling Task_sleep if nticks > 0.
1268 *
1269 * @param(nticks) number of system clock ticks to sleep
1270 *
1271 * @a(constraints)
1272 * Task_sleep cannot be called from a Swi or Hwi, or within a
1273 * {@link #disable} / {@link #restore} block.
1274 *
1275 * Task_sleep cannot be called from the program's main() function.
1276 *
1277 * Task_sleep should not be called from within an Idle function. Doing
1278 * so prevents analysis tools from gathering run-time information.
1279 *
1280 * nticks cannot be {@link ti.sysbios.BIOS#WAIT_FOREVER BIOS_WAIT_FOREVER}.
1281 */
1282 Void sleep(UInt32 nticks);
1283
1284 /*!
1285 * ======== yield ========
1286 * Yield processor to equal priority task.
1287 *
1288 * Task_yield yields the processor to another task of equal priority.
1289 *
1290 * A task switch occurs when you call Task_yield if there is an equal
1291 * priority task ready to run.
1292 *
1293 * Tasks of higher priority preempt the currently running task without
1294 * the need for a call to Task_yield. If only lower-priority tasks are
1295 * ready to run when you call Task_yield, the current task continues to
1296 * run. Control does not pass to a lower-priority task.
1297 *
1298 * @a(constraints)
1299 * When called within an Hwi, the code sequence calling Task_yield
1300 * must be invoked by the Hwi dispatcher.
1301 *
1302 * Task_yield cannot be called from the program's main() function.
1303 */
1304 Void yield();
1305
1306 /*!
1307 * ======== getIdleTask ========
1308 * returns a handle to the idle task object (for core 0)
1309 */
1310 Handle getIdleTask();
1311
1312 /*!
1313 * ======== getIdleTaskHandle ========
1314 * returns a handle to the idle task object for the specified coreId
1315 * (should be used only in applications built with
1316 * {@link ti.sysbios.BIOS#smpEnabled} set to true)
1317 *
1318 * @a(Note)
1319 * If this function is called in a non-SMP application, coreId should
1320 * always be 0.
1321 */
1322 Handle getIdleTaskHandle(UInt coreId);
1323
1324 /*!
1325 * @_nodoc
1326 * ======== startCore ========
1327 * begin tasking on a core
1328 */
1329 Void startCore(UInt coreId);
1330
1331 /*!
1332 * ======== getNickName ========
1333 *
1334 */
1335 metaonly String getNickName(Any tskView);
1336
1337 instance:
1338
1339 /*!
1340 * ======== create ========
1341 * Create a Task.
1342 *
1343 * Task_create creates a new task object. If successful, Task_create
1344 * returns the handle of the new task object. If unsuccessful,
1345 * Task_create returns NULL unless it aborts.
1346 *
1347 * The fxn parameter uses the {@link #FuncPtr} type to pass a pointer to
1348 * the function the Task object should run. For example, if myFxn is a
1349 * function in your program, your C code can create a Task object
1350 * to call that
1351 * function as follows:
1352 *
1353 * @p(code)
1354 * Task_Params taskParams;
1355 *
1356 * // Create task with priority 15
1357 * Task_Params_init(&taskParams);
1358 * taskParams.stackSize = 512;
1359 * taskParams.priority = 15;
1360 * Task_create((Task_FuncPtr)myFxn, &taskParams, &eb);
1361 * @p
1362 *
1363 * The following statements statically create a task in the
1364 * configuration file:
1365 *
1366 * @p(code)
1367 * var params = new Task.Params;
1368 * params.instance.name = "tsk0";
1369 * params.arg0 = 1;
1370 * params.arg1 = 2;
1371 * params.priority = 1;
1372 * Task.create('&tsk0_func', params);
1373 * @p
1374 *
1375 * If NULL is passed instead of a pointer to an actual Task_Params
1376 * struct, a
1377 * default set of parameters is used. The "eb" is an error block that
1378 * you can use
1379 * to handle errors that may occur during Task object creation.
1380 *
1381 * The newly created task is placed in {@link #Mode_READY} mode, and is
1382 * scheduled to begin concurrent execution of the following function
1383 * call:
1384 *
1385 * @p(code)
1386 * (*fxn)(arg1, arg2);
1387 * @p
1388 *
1389 * As a result of being made ready to run, the task runs any
1390 * application-wide Ready functions that have been specified.
1391 *
1392 * Task_exit is automatically called if and when the task returns
1393 * from fxn.
1394 *
1395 * @p(html)
1396 * <B>Create Hook Functions</B>
1397 * @p
1398 *
1399 * You can specify application-wide Create hook functions in your config
1400 * file that run whenever a task is created. This includes tasks that
1401 * are created statically and those created dynamically using
1402 * Task_create.
1403 *
1404 * For Task objects created statically, Create functions are called
1405 * during the Task module initialization phase of the program startup
1406 * process prior to main().
1407 *
1408 * For Task objects created dynamically, Create functions
1409 * are called after the task handle has been initialized but before the
1410 * task has been placed on its ready queue.
1411 *
1412 * Any SYS/BIOS function can be called from Create functions.
1413 * SYS/BIOS passes the task handle of the task being created to each of
1414 * the Create functions.
1415 *
1416 * All Create function declarations should be similar to this:
1417 * @p(code)
1418 * Void myCreateFxn(Task_Handle task);
1419 * @p
1420 *
1421 * @param(fxn) Task Function
1422 *
1423 * @a(constraints)
1424 * @p(blist)
1425 * - The fxn parameter and the name attribute cannot be NULL.
1426 * - The priority attribute must be less than or equal to
1427 * ({@link #numPriorities} - 1) and greater than or equal to one (1)
1428 * (priority 0 is owned by the Idle task).
1429 * - The priority can be set to -1 for tasks that will not execute
1430 * until another task changes the priority to a positive value.
1431 * - The stackHeap attribute must identify a valid memory Heap.
1432 * @p
1433 */
1434 create(FuncPtr fxn);
1435
1436
1437
1438 /*! Task function argument. Default is 0 */
1439 config UArg arg0 = 0;
1440
1441 /*! Task function argument. Default is 0 */
1442 config UArg arg1 = 0;
1443
1444 /*!
1445 * Task priority (0 to Task.numPriorities-1, or -1).
1446 * Default is 1.
1447 */
1448 config Int priority = 1;
1449
1450 /*!
1451 * Task stack pointer. Default = null.
1452 *
1453 * Null indicates that the stack is to be allocated by create().
1454 *
1455 * @a(Static Configuration Usage Warning)
1456 * This parameter can only be assigned a non-null value
1457 * during runtime Task creates or constructs.
1458 *
1459 * Static configuration of the 'stack' parameter is not supported.
1460 */
1461 config Ptr stack = null;
1462
1463 /*!
1464 * Task stack size in MAUs.
1465 *
1466 * The default value of 0 means that the module config
1467 * {@link #defaultStackSize} is used.
1468 */
1469 config SizeT stackSize = 0;
1470
1471 /*!
1472 * Mem section used for statically created task stacks.
1473 *
1474 * Default is inherited from module config defaultStackSection.
1475 */
1476 metaonly config String stackSection;
1477
1478 /*!
1479 * Mem heap used for dynamically created task stack.
1480 *
1481 * The default value of NULL means that the module config
1482 * {@link #defaultStackHeap} is used.
1483 */
1484 config IHeap.Handle stackHeap = null;
1485
1486 /*! Environment data struct. */
1487 config Ptr env = null;
1488
1489 /*!
1490 * Exit system immediately when the last task with this
1491 * flag set to TRUE has terminated.
1492 *
1493 * Default is true.
1494 */
1495 config Bool vitalTaskFlag = true;
1496
1497 /*!
1498 * The core which this task is to run on. Default is Task_AFFINITY_NONE
1499 *
1500 * If there is a compelling reason for a task to be pinned to a
1501 * particular core, then setting 'affinity' to the corresponding core
1502 * id will force the task to only be run on that core.
1503 *
1504 * The default affinity is inherited from {@link #defaultAffinity
1505 * Task.defaultAffinity}
1506 * which in turn defaults to {@link #AFFINITY_NONE Task_AFFINITY_NONE},
1507 * which means the task can be run on either core.
1508 *
1509 * Furthermore, Task_AFFINITY_NONE implies that the task can be moved
1510 * from core to core as deemed necessary by the Task scheduler in order
1511 * to keep the two highest priority ready tasks running simultaneously.
1512 */
1513 config UInt affinity;
1514
1515
1516
1517 /*!
1518 * @_nodoc
1519 * ======== getArg0 ========
1520 * Returns arg0 passed via params to create.
1521 *
1522 * @b(returns) task's arg0
1523 */
1524 UArg getArg0();
1525
1526 /*!
1527 * @_nodoc
1528 * ======== getArg1 ========
1529 * Returns arg1 passed via params to create.
1530 *
1531 * @b(returns) task's arg1
1532 */
1533 UArg getArg1();
1534
1535 /*!
1536 * ======== getEnv ========
1537 * Get task environment pointer.
1538 *
1539 * Task_getEnv returns the environment pointer of the specified task. The
1540 * environment pointer references an arbitrary application-defined data
1541 * structure.
1542 *
1543 * If your program uses multiple hook sets, {@link #getHookContext}
1544 * allows you to get environment pointers you have set for a particular
1545 * hook set and Task object combination.
1546 *
1547 * @b(returns) task environment pointer
1548 */
1549 Ptr getEnv();
1550
1551 /*!
1552 * ======== getFunc ========
1553 * Get Task function and arguments
1554 *
1555 * If either arg0 or arg1 is NULL, then the corresponding argument is not
1556 * returned.
1557 *
1558 * @param(arg0) pointer for returning Task's first function argument
1559 * @param(arg1) pointer for returning Task's second function argument
1560 *
1561 * @b(returns) Task function
1562 */
1563 FuncPtr getFunc(UArg *arg0, UArg *arg1);
1564
1565 /*!
1566 * ======== getHookContext ========
1567 * Get hook set's context for a task.
1568 *
1569 * For example, this C code gets the HookContext, prints it,
1570 * and sets a new value for the HookContext.
1571 *
1572 * @p(code)
1573 * Ptr pEnv;
1574 * Task_Handle myTask;
1575 * Int myHookSetId1;
1576 *
1577 * pEnv = Task_getHookContext(task, myHookSetId1);
1578 *
1579 * System_printf("myEnd1: pEnv = 0x%lx, time = %ld\n",
1580 * (ULong)pEnv, (ULong)Timestamp_get32());
1581 *
1582 * Task_setHookContext(task, myHookSetId1, (Ptr)0xc0de1);
1583 * @p
1584 *
1585 * See {@link #hookfunc Hook Functions} for more details.
1586 *
1587 * @param(id) hook set ID
1588 * @b(returns) hook set context for task
1589 */
1590 Ptr getHookContext(Int id);
1591
1592 /*!
1593 * ======== getPri ========
1594 * Get task priority.
1595 *
1596 * Task_getPri returns the priority of the referenced task.
1597 *
1598 * @b(returns) task priority
1599 */
1600 Int getPri();
1601
1602 /*!
1603 * @_nodoc
1604 * ======== setArg0 ========
1605 * Set arg0 (used primarily for legacy support)
1606 */
1607 Void setArg0(UArg arg);
1608
1609 /*!
1610 * @_nodoc
1611 * ======== setArg1 ========
1612 * Set arg1 (used primarily for legacy support)
1613 */
1614 Void setArg1(UArg arg);
1615
1616 /*!
1617 * ======== setEnv ========
1618 * Set task environment.
1619 *
1620 * Task_setEnv sets the task environment pointer to env. The
1621 * environment pointer references an arbitrary application-defined
1622 * data structure.
1623 *
1624 * If your program uses multiple hook sets, {@link #setHookContext}
1625 * allows you to set environment pointers for any
1626 * hook set and Task object combination.
1627 *
1628 * @param(env) task environment pointer
1629 */
1630 Void setEnv(Ptr env);
1631
1632 /*!
1633 * ======== setHookContext ========
1634 * Set hook instance's context for a task.
1635 *
1636 * For example, this C code gets the HookContext, prints it,
1637 * and sets a new value for the HookContext.
1638 *
1639 * @p(code)
1640 * Ptr pEnv;
1641 * Task_Handle myTask;
1642 * Int myHookSetId1;
1643 *
1644 * pEnv = Task_getHookContext(task, myHookSetId1);
1645 *
1646 * System_printf("myEnd1: pEnv = 0x%lx, time = %ld\n",
1647 * (ULong)pEnv, (ULong)Timestamp_get32());
1648 *
1649 * Task_setHookContext(task, myHookSetId1, (Ptr)0xc0de1);
1650 * @p
1651 *
1652 * See {@link #hookfunc Hook Functions} for more details.
1653 *
1654 * @param(id) hook set ID
1655 * @param(hookContext) value to write to context
1656 */
1657 Void setHookContext(Int id, Ptr hookContext);
1658
1659 /*!
1660 * ======== setPri ========
1661 * Set a task's priority
1662 *
1663 * Task_setpri sets the execution priority of task to newpri, and returns
1664 * that task's old priority value. Raising or lowering a task's priority
1665 * does not necessarily force preemption and re-scheduling of the caller:
1666 * tasks in the {@link #Mode_BLOCKED} mode remain suspended despite a
1667 * change in priority; and tasks in the {@link #Mode_READY} mode gain
1668 * control only if their new priority is greater than that of the
1669 * currently executing task.
1670 *
1671 * newpri should be set to a value greater than or equal to 1 and
1672 * less than or equal to ({@link #numPriorities} - 1). newpri can also
1673 * be set to -1 which puts the the task into the INACTIVE state and the
1674 * task will not run until its priority is raised at a later time by
1675 * another task. Priority 0 is reserved for the idle task.
1676 * If newpri equals ({@link #numPriorities} - 1), execution of the task
1677 * effectively locks out all other program activity, except for the
1678 * handling of interrupts.
1679 *
1680 * The current task can change its own priority (and possibly preempt its
1681 * execution) by passing the output of {@link #self} as the value of the
1682 * task parameter.
1683 *
1684 * A context switch occurs when calling Task_setpri if a currently
1685 * running task priority is set lower than the priority of another
1686 * currently ready task, or if another ready task is made to have a
1687 * higher priority than the currently running task.
1688 *
1689 * Task_setpri can be used for mutual exclusion.
1690 *
1691 * If a task's new priority is different than its previous priority,
1692 * then its relative placement in its new ready task priority
1693 * queue can be different than the one it was removed from. This can
1694 * effect the relative order in which it becomes the running task.
1695 *
1696 * The effected task is placed at the head of its new priority queue
1697 * if it is the currently running task. Otherwise it is placed at
1698 * at the end of its new task priority queue.
1699 *
1700 * @param(newpri) task's new priority
1701 * @b(returns) task's old priority
1702 *
1703 * @a(constraints)
1704 * newpri must be a value between 1 and ({@link #numPriorities} - 1) or -1.
1705 *
1706 * The task cannot be in the {@link #Mode_TERMINATED} mode.
1707 *
1708 * The new priority should not be zero (0). This priority level is
1709 * reserved for the Idle task.
1710 */
1711 UInt setPri(Int newpri);
1712
1713 /*!
1714 * ======== stat ========
1715 * Retrieve the status of a task.
1716 *
1717 * Task_stat retrieves attribute values and status information about a
1718 * task.
1719 *
1720 * Status information is returned through statbuf, which references a
1721 * structure of type {@link #Stat}.
1722 *
1723 * When a task is preempted by a software or hardware interrupt, the task
1724 * execution mode returned for that task by Task_stat is still
1725 * {@link #Mode_RUNNING} because the task runs when the preemption ends.
1726 *
1727 * The current task can inquire about itself by passing the output of
1728 * {@link #self} as the first argument to Task_stat. However, the task
1729 * stack pointer (sp) in the {@link #Stat} structure is the value from
1730 * the previous context switch.
1731 *
1732 * Task_stat has a non-deterministic execution time. As such, it is not
1733 * recommended to call this API from Swis or Hwis.
1734 *
1735 * @param(statbuf) pointer to task status structure
1736 *
1737 * @a(constraints)
1738 * statbuf cannot be NULL;
1739 */
1740 Void stat(Stat *statbuf);
1741
1742 /*!
1743 * ======== getMode ========
1744 * Retrieve the {@link #Mode} of a task.
1745 */
1746 Mode getMode();
1747
1748 /*!
1749 * ======== setAffinity ========
1750 * Set task's core affinity (should be used only in applications built
1751 * with {@link ti.sysbios.BIOS#smpEnabled} set to true)
1752 *
1753 * If the new core ID is different than the current core affinity
1754 * a reschedule will be performed immediately.
1755 *
1756 * @a(constraints)
1757 * Must NOT be called with interrupts disabled
1758 * (ie within a Hwi_disable()/Hwi_restore() block).
1759 *
1760 * Must NOT be called with tasking disabled
1761 * (ie within a Task_disable()/Task_restore() block).
1762 *
1763 * @b(returns) task's previous core affinity
1764 */
1765 UInt setAffinity(UInt coreId);
1766
1767 /*!
1768 * ======== getAffinity ========
1769 * Return task's core affinity (should be used only in applications built
1770 * with {@link ti.sysbios.BIOS#smpEnabled} set to true)
1771 *
1772 * @b(returns) task's current core affinity
1773 */
1774 UInt getAffinity();
1775
1776 /*!
1777 * @_nodoc
1778 * ======== block ========
1779 * Block a task.
1780 *
1781 * Remove a task from its ready list.
1782 * The effect of this API is manifest the next time the internal
1783 * Task scheduler is invoked.
1784 * This can be done directly by embedding the call within a
1785 * {@link #disable}/{@link #restore} block.
1786 * Otherwise, the effect will be manifest as a result of processing
1787 * the next dispatched interrupt, or by posting a Swi, or by falling
1788 * through the task function.
1789 *
1790 * @a(constraints)
1791 * If called from within a Hwi or a Swi, or main(), there is no need
1792 * to embed the call within a {@link #disable}/{@link #restore} block.
1793 */
1794 Void block();
1795
1796 /*!
1797 * @_nodoc
1798 * ======== unblock ========
1799 * Unblock a task.
1800 *
1801 * Place task in its ready list.
1802 * The effect of this API is manifest the next time the internal
1803 * Task scheduler is invoked.
1804 * This can be done directly by embedding the call within a
1805 * {@link #disable}/{@link #restore} block.
1806 * Otherwise, the effect will be manifest as a result of processing
1807 * the next dispatched interrupt, or by posting a Swi, or by falling
1808 * through the task function.
1809 *
1810 * @a(constraints)
1811 * If called from within a Hwi or a Swi, or main(), there is no need
1812 * to embed the call within a {@link #disable}/{@link #restore} block.
1813 */
1814 Void unblock();
1815
1816 /*!
1817 * @_nodoc
1818 * ======== blockI ========
1819 * Block a task.
1820 *
1821 * Remove a task from its ready list.
1822 * Must be called within Task_disable/Task_restore block
1823 * with interrupts disabled.
1824 * This API is meant to be used internally.
1825 */
1826 Void blockI();
1827
1828 /*!
1829 * @_nodoc
1830 * ======== unblockI ========
1831 * Unblock a task.
1832 *
1833 * Place task in its ready list.
1834 * Must be called within Task_disable/Task_restore block
1835 * with interrupts disabled.
1836 * This API is meant to be used internally.
1837 *
1838 * @param(hwiKey) key returned from Hwi_disable()
1839 */
1840 Void unblockI(UInt hwiKey);
1841
1842 internal:
1843
1844 /*! Target-specific support functions. */
1845 proxy SupportProxy inherits ti.sysbios.interfaces.ITaskSupport;
1846
1847 1848 1849 1850 1851 1852
1853 Void schedule();
1854
1855 1856 1857 1858
1859 Void enter();
1860
1861 1862 1863 1864
1865 Void sleepTimeout(UArg arg);
1866
1867 1868 1869 1870
1871 Int postInit(Object *task, Error.Block *eb);
1872
1873 1874 1875 1876 1877
1878 config UInt numConstructedTasks = 0;
1879
1880 1881 1882 1883
1884 Void allBlockedFunction();
1885
1886 1887 1888 1889 1890
1891 Void deleteTerminatedTasksFunc();
1892
1893 1894 1895 1896 1897
1898 Void processVitalTaskFlag(Object *task);
1899
1900 1901 1902 1903
1904 config Void (*startupHookFunc)(Void) = null;
1905
1906 1907 1908 1909
1910 struct PendElem {
1911 Queue.Elem qElem;
1912 Task.Handle task;
1913 Clock.Handle clock;
1914 };
1915
1916 struct Instance_State {
1917 Queue.Elem qElem;
1918 volatile Int priority;
1919 UInt mask;
1920 Ptr context;
1921
1922 Mode mode;
1923 PendElem *pendElem;
1924
1925 SizeT stackSize;
1926 Char stack[];
1927 IHeap.Handle stackHeap;
1928 FuncPtr fxn;
1929 UArg arg0;
1930 UArg arg1;
1931 Ptr env;
1932 Ptr hookEnv[];
1933 Bool vitalTaskFlag;
1934
1935 Queue.Handle readyQ;
1936 UInt curCoreId;
1937 UInt affinity;
1938
1939 };
1940
1941 struct Module_State {
1942 volatile Bool locked;
1943 volatile UInt curSet;
1944 Bool workFlag;
1945
1946
1947 UInt vitalTasks;
1948
1949 Handle curTask;
1950 Queue.Handle curQ;
1951 Queue.Object readyQ[];
1952
1953 volatile UInt smpCurSet[];
1954
1955
1956 volatile UInt smpCurMask[];
1957 Handle smpCurTask[];
1958 Queue.Handle smpReadyQ[];
1959
1960
1961
1962 Queue.Object inactiveQ;
1963 Queue.Object terminatedQ;
1964
1965 Handle idleTask[];
1966 Handle constructedTasks[];
1967
1968 };
1969
1970 struct RunQEntry {
1971 Queue.Elem elem;
1972 UInt coreId;
1973 Int priority;
1974 };
1975
1976 struct Module_StateSmp {
1977 Queue.Object *sortedRunQ;
1978
1979 volatile RunQEntry smpRunQ[];
1980
1981 };
1982 }