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support dynamic task create in cmsis

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1. enable TOS_CFG_TASK_DYNAMIC_CREATE_EN
2. use osThreadDynamicDef to define a dynamic created cmsis task
3. use osThreadCreate/osThreadTerminate to create/destroy this cmsis task
4. see sample hello_world
This commit is contained in:
daishengdong
2020-02-11 11:10:48 +08:00
parent f9ebd98b82
commit e4bbdbf9ab
5 changed files with 72 additions and 38 deletions
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30
examples/hello_world/hello_world.c
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@@ -8,18 +8,31 @@ osThreadDef(task1, osPriorityNormal, 1, TASK1_STK_SIZE);
void task2(void *arg);
osThreadDef(task2, osPriorityNormal, 1, TASK2_STK_SIZE);
#define TASK3_STK_SIZE 512
void task3(void *arg);
void task1(void *arg)
{
int count = 1;
osThreadId task_dyn_created;
osThreadDynamicDef(task3, osPriorityNormal, 1, TASK3_STK_SIZE);
task_dyn_created = osThreadCreate(osThread(task3), NULL);
int count = 0;
while (1) {
printf("###This is task1, %d\r\n", count++);
printf("###I am task1\r\n");
osDelay(2000);
if (count++ == 3) {
printf("###I am task1, kill the dynamic created task\r\n");
osThreadTerminate(task_dyn_created);
}
}
}
void task2(void *arg)
{
int count = 1;
while (1) {
#if TOS_CFG_TASK_STACK_DRAUGHT_DEPTH_DETACT_EN > 0u
k_err_t rc;
@@ -29,13 +42,22 @@ void task2(void *arg)
printf("%d %d\n", rc, depth);
#endif
printf("***This is task2, %d\r\n", count++);
printf("***I am task2\r\n");
osDelay(1000);
}
}
void task3(void *arg)
{
while (1) {
printf("$$$I am task3(dynamic created)\r\n");
osDelay(2000);
}
}
void application_entry(void *arg)
{
osThreadCreate(osThread(task1), NULL); // Create task1
osThreadCreate(osThread(task2), NULL); // Create task2
}

15
kernel/core/include/tos_task.h
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@@ -176,7 +176,6 @@ __API__ k_err_t tos_task_destroy(k_task_t *task);
* @brief Create a task with a dynamic allocated task handler and stack.
* create a task with a dynamic allocated task handler and stack.
*
* @attention a task created by tos_task_create_dyn, should be destroyed by tos_task_destroy_dyn.
* @param[out] task dynamic allocated task handler.
* @param[in] name name of the task.
* @param[in] entry running entry of the task.
@@ -199,20 +198,6 @@ __API__ k_err_t tos_task_create_dyn(k_task_t **task,
size_t stk_size,
k_timeslice_t timeslice);
/**
* @brief Destroy a dynamic created task.
* delete a dynamic created task.
*
* @attention the API to destroy a dynamic created task.
*
* @param[in] task pointer to the handler of the task to be deleted.
*
* @return errcode
* @retval #K_ERR_TASK_DESTROY_IDLE attempt to destroy idle task.
* @retval #K_ERR_NONE return successfully.
*/
__API__ k_err_t tos_task_destroy_dyn(k_task_t *task);
#endif
/**

45
kernel/core/tos_task.c
View File

@@ -184,7 +184,7 @@ __STATIC__ k_err_t task_do_destroy(k_task_t *task)
return K_ERR_NONE;
}
__API__ k_err_t tos_task_destroy(k_task_t *task)
__STATIC__ k_err_t task_destroy_static(k_task_t *task)
{
TOS_IN_IRQ_CHECK();
@@ -198,7 +198,7 @@ __API__ k_err_t tos_task_destroy(k_task_t *task)
return K_ERR_SCHED_LOCKED;
}
#if TOS_CFG_TASK_DYNAMIC_CREATE_EN
#if TOS_CFG_TASK_DYNAMIC_CREATE_EN > 0u
if (!knl_object_alloc_is_static(&task->knl_obj)) {
return K_ERR_OBJ_INVALID_ALLOC_TYPE;
}
@@ -284,26 +284,10 @@ __API__ k_err_t tos_task_create_dyn(k_task_t **task,
return K_ERR_NONE;
}
__API__ k_err_t tos_task_destroy_dyn(k_task_t *task)
__STATIC__ k_err_t task_destroy_dyn(k_task_t *task)
{
k_err_t err;
TOS_IN_IRQ_CHECK();
if (unlikely(!task)) {
task = k_curr_task;
}
TOS_OBJ_VERIFY(task, KNL_OBJ_TYPE_TASK);
if (knl_is_self(task) && knl_is_sched_locked()) {
return K_ERR_SCHED_LOCKED;
}
if (!knl_object_alloc_is_dynamic(&task->knl_obj)) {
return K_ERR_OBJ_INVALID_ALLOC_TYPE;
}
tos_knl_sched_lock();
err = task_do_destroy(task);
@@ -327,6 +311,29 @@ __API__ k_err_t tos_task_destroy_dyn(k_task_t *task)
#endif
__API__ k_err_t tos_task_destroy(k_task_t *task)
{
TOS_IN_IRQ_CHECK();
if (unlikely(!task)) {
task = k_curr_task;
}
TOS_OBJ_VERIFY(task, KNL_OBJ_TYPE_TASK);
if (knl_is_self(task) && knl_is_sched_locked()) {
return K_ERR_SCHED_LOCKED;
}
#if TOS_CFG_TASK_DYNAMIC_CREATE_EN > 0u
if (knl_object_alloc_is_dynamic(&task->knl_obj)) {
return task_destroy_dyn(task);
}
#endif
return task_destroy_static(task);
}
__API__ void tos_task_yield(void)
{
TOS_CPU_CPSR_ALLOC();

11
osal/cmsis_os/cmsis_os.c
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@@ -75,9 +75,20 @@ osThreadId osThreadCreate(const osThreadDef_t *thread_def, void *argument)
return NULL;
}
#if TOS_CFG_TASK_DYNAMIC_CREATE_EN > 0u
if (!thread_def->stackbase && !thread_def->task) {
k_task_t *task;
err = tos_task_create_dyn(&task, thread_def->name, (k_task_entry_t)thread_def->pthread,
argument, priority_cmsis2knl(thread_def->tpriority),
thread_def->stacksize, thread_def->timeslice);
return err == K_ERR_NONE ? task : NULL;
}
#endif
err = tos_task_create((k_task_t *)thread_def->task, thread_def->name, (k_task_entry_t)thread_def->pthread,
argument, priority_cmsis2knl(thread_def->tpriority), thread_def->stackbase,
thread_def->stacksize, thread_def->timeslice);
return err == K_ERR_NONE ? thread_def->task : NULL;
}

9
osal/cmsis_os/cmsis_os.h
View File

@@ -398,12 +398,21 @@ uint32_t osKernelSysTick(void);
#define osThreadDef(name, priority, instances, stacksz) \
extern const osThreadDef_t os_thread_def_##name
#else // define the object
#define osThreadDef(name, priority, instances, stacksz) \
k_task_t task_handler_##name; \
k_stack_t task_stack_##name[(stacksz)]; \
const osThreadDef_t os_thread_def_##name = \
{ #name, (os_pthread)(name), (osPriority)(priority), (instances), \
(&((task_stack_##name)[0])), (stacksz), ((k_timeslice_t)0u), (&(task_handler_##name)) }
#if (TOS_CFG_TASK_DYNAMIC_CREATE_EN > 0u)
#define osThreadDynamicDef(name, priority, instances, stacksz) \
const osThreadDef_t os_thread_def_##name = \
{ #name, (os_pthread)(name), (osPriority)(priority), (instances), \
(K_NULL), (stacksz), ((k_timeslice_t)0u), (K_NULL) }
#endif
#endif
/// Access a Thread definition.