284 lines
11 KiB
C
284 lines
11 KiB
C
/****************************************************************************
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* sched/task/task_create.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <sched.h>
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/arch.h>
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#include <nuttx/kmalloc.h>
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#include <nuttx/sched.h>
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#include <nuttx/kthread.h>
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#include "sched/sched.h"
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#include "group/group.h"
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#include "task/task.h"
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: nxthread_create
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*
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* Description:
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* This function creates and activates a new thread of the specified type
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* with a specified priority and returns its system-assigned ID. It is the
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* internal, common implementation of task_create() and kthread_create().
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* See comments with task_create() for further information.
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*
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* Input Parameters:
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* name - Name of the new task
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* ttype - Type of the new task
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* priority - Priority of the new task
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* stack_addr - Address of the stack needed
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* stack_size - Size (in bytes) of the stack needed
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* entry - Entry point of a new task
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* arg - A pointer to an array of input parameters. The array
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* should be terminated with a NULL argv[] value. If no
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* parameters are required, argv may be NULL.
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* envp - A pointer to an array of environment strings. Terminated
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* with a NULL entry.
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*
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* Returned Value:
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* Returns the positive, non-zero process ID of the new task or a negated
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* errno value to indicate the nature of any failure. If memory is
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* insufficient or the task cannot be created -ENOMEM will be returned.
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*
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****************************************************************************/
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int nxthread_create(FAR const char *name, uint8_t ttype, int priority,
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FAR void *stack_addr, int stack_size, main_t entry,
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FAR char * const argv[], FAR char * const envp[])
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{
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FAR struct task_tcb_s *tcb;
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pid_t pid;
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int ret;
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/* Allocate a TCB for the new task. */
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tcb = (FAR struct task_tcb_s *)kmm_zalloc(sizeof(struct task_tcb_s));
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if (!tcb)
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{
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serr("ERROR: Failed to allocate TCB\n");
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return -ENOMEM;
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}
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/* Setup the task type */
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tcb->cmn.flags = ttype;
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/* Initialize the task */
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ret = nxtask_init(tcb, name, priority, stack_addr, stack_size,
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entry, argv, envp);
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if (ret < OK)
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{
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kmm_free(tcb);
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return ret;
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}
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/* Get the assigned pid before we start the task */
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pid = tcb->cmn.pid;
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/* Activate the task */
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nxtask_activate(&tcb->cmn);
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return (int)pid;
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}
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/****************************************************************************
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* Name: nxtask_create
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*
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* Description:
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* This function creates and activates a new task with a specified
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* priority and returns its system-assigned ID.
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*
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* The entry address entry is the address of the "main" function of the
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* task. This function will be called once the C environment has been
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* set up. The specified function will be called with four arguments.
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* Should the specified routine return, a call to exit() will
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* automatically be made.
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*
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* Note that four (and only four) arguments must be passed for the spawned
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* functions.
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*
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* nxtask_create() is identical to the function task_create(), differing
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* only in its return value: This function does not modify the errno
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* variable. This is a non-standard, internal OS function and is not
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* intended for use by application logic. Applications should use
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* task_create().
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*
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* Input Parameters:
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* name - Name of the new task
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* priority - Priority of the new task
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* stack_addr - Address of the stack needed
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* stack_size - Size (in bytes) of the stack needed
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* entry - Entry point of a new task
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* arg - A pointer to an array of input parameters. The array
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* should be terminated with a NULL argv[] value. If no
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* parameters are required, argv may be NULL.
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* envp - A pointer to an array of environment strings. Terminated
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* with a NULL entry.
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*
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* Returned Value:
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* Returns the positive, non-zero process ID of the new task or a negated
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* errno value to indicate the nature of any failure. If memory is
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* insufficient or the task cannot be created -ENOMEM will be returned.
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*
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****************************************************************************/
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int nxtask_create(FAR const char *name, int priority,
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FAR void *stack_addr, int stack_size, main_t entry,
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FAR char * const argv[], FAR char * const envp[])
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{
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return nxthread_create(name, TCB_FLAG_TTYPE_TASK, priority, stack_addr,
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stack_size, entry, argv, envp ? envp : environ);
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}
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/****************************************************************************
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* Name: task_create
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*
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* Description:
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* This function creates and activates a new task with a specified
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* priority and returns its system-assigned ID.
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*
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* The entry address entry is the address of the "main" function of the
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* task. This function will be called once the C environment has been
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* set up. The specified function will be called with four arguments.
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* Should the specified routine return, a call to exit() will
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* automatically be made.
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*
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* Note that four (and only four) arguments must be passed for the spawned
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* functions.
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*
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* Input Parameters:
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* name - Name of the new task
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* priority - Priority of the new task
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* stack_size - size (in bytes) of the stack needed
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* entry - Entry point of a new task
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* arg - A pointer to an array of input parameters. The array
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* should be terminated with a NULL argv[] value. If no
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* parameters are required, argv may be NULL.
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*
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* Returned Value:
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* Returns the non-zero process ID of the new task or ERROR if memory is
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* insufficient or the task cannot be created. The errno will be set in
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* the failure case to indicate the nature of the error.
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*
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****************************************************************************/
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#ifndef CONFIG_BUILD_KERNEL
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int task_create_with_stack(FAR const char *name, int priority,
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FAR void *stack_addr, int stack_size,
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main_t entry, FAR char * const argv[])
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{
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int ret = nxtask_create(name, priority, stack_addr,
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stack_size, entry, argv, NULL);
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if (ret < 0)
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{
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set_errno(-ret);
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ret = ERROR;
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}
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return ret;
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}
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int task_create(FAR const char *name, int priority,
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int stack_size, main_t entry, FAR char * const argv[])
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{
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return task_create_with_stack(name, priority, NULL,
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stack_size, entry, argv);
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}
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#endif
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/****************************************************************************
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* Name: kthread_create_with_stack
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*
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* Description:
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* This function creates and activates a kernel thread task with
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* kernel-mode privileges. It is identical to kthread_create() except
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* that it get the stack memory from caller.
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*
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* Input Parameters:
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* name - Name of the new task
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* priority - Priority of the new task
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* stack_addr - Stack buffer of the new task
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* stack_size - Stack size of the new task
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* entry - Entry point of a new task
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* arg - A pointer to an array of input parameters. The array
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* should be terminated with a NULL argv[] value. If no
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* parameters are required, argv may be NULL.
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*
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* Returned Value:
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* Returns the positive, non-zero process ID of the new task or a negated
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* errno value to indicate the nature of any failure. If memory is
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* insufficient or the task cannot be created -ENOMEM will be returned.
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*
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****************************************************************************/
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int kthread_create_with_stack(FAR const char *name, int priority,
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FAR void *stack_addr, int stack_size,
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main_t entry, FAR char * const argv[])
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{
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return nxthread_create(name, TCB_FLAG_TTYPE_KERNEL, priority,
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stack_addr, stack_size, entry, argv, NULL);
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}
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/****************************************************************************
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* Name: kthread_create
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*
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* Description:
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* This function creates and activates a kernel thread task with kernel-
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* mode privileges. It is identical to task_create() except that it
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* configures the newly started thread to run in kernel model.
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*
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* Input Parameters:
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* name - Name of the new task
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* priority - Priority of the new task
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* stack_size - size (in bytes) of the stack needed
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* entry - Entry point of a new task
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* arg - A pointer to an array of input parameters. The array
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* should be terminated with a NULL argv[] value. If no
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* parameters are required, argv may be NULL.
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*
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* Returned Value:
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* Returns the positive, non-zero process ID of the new task or a negated
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* errno value to indicate the nature of any failure. If memory is
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* insufficient or the task cannot be created -ENOMEM will be returned.
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*
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****************************************************************************/
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int kthread_create(FAR const char *name, int priority,
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int stack_size, main_t entry, FAR char * const argv[])
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{
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return kthread_create_with_stack(name, priority,
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NULL, stack_size, entry, argv);
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}
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