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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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15
kernel/core/include/tos_task.h
View File

@@ -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();