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