1 | /** |
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2 | * @file rtems/rtems/tasks.h |
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3 | * |
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4 | * This include file contains all constants and structures associated |
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5 | * with RTEMS tasks. This manager provides a comprehensive set of directives |
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6 | * to create, delete, and administer tasks. |
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7 | * |
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8 | * Directives provided are: |
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9 | * |
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10 | * - create a task |
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11 | * - get an ID of a task |
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12 | * - start a task |
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13 | * - restart a task |
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14 | * - delete a task |
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15 | * - suspend a task |
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16 | * - resume a task |
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17 | * - set a task's priority |
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18 | * - change the current task's mode |
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19 | * - get a task notepad entry |
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20 | * - set a task notepad entry |
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21 | * - wake up after interval |
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22 | * - wake up when specified |
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23 | */ |
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24 | |
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25 | /* COPYRIGHT (c) 1989-2008. |
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26 | * On-Line Applications Research Corporation (OAR). |
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27 | * |
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28 | * The license and distribution terms for this file may be |
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29 | * found in the file LICENSE in this distribution or at |
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30 | * http://www.rtems.com/license/LICENSE. |
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31 | * |
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32 | * $Id$ |
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33 | */ |
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34 | |
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35 | #ifndef _RTEMS_RTEMS_TASKS_H |
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36 | #define _RTEMS_RTEMS_TASKS_H |
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37 | |
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38 | #include <rtems/score/object.h> |
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39 | #include <rtems/score/states.h> |
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40 | #include <rtems/score/thread.h> |
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41 | #include <rtems/rtems/types.h> |
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42 | #include <rtems/rtems/eventset.h> |
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43 | #include <rtems/rtems/asr.h> |
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44 | #include <rtems/rtems/attr.h> |
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45 | #include <rtems/rtems/status.h> |
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46 | |
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47 | /** |
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48 | * This constant is defined to extern most of the time when using |
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49 | * this header file. However by defining it to nothing, the data |
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50 | * declared in this header file can be instantiated. This is done |
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51 | * in a single per manager file. |
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52 | */ |
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53 | #ifndef RTEMS_TASKS_EXTERN |
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54 | #define RTEMS_TASKS_EXTERN extern |
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55 | #endif |
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56 | |
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57 | /** |
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58 | * @defgroup ClassicTasks Classic API Tasks |
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59 | * |
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60 | * This encapsulates functionality which X XX |
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61 | */ |
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62 | /**@{*/ |
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63 | |
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64 | #ifdef __cplusplus |
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65 | extern "C" { |
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66 | #endif |
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67 | |
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68 | /** |
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69 | * Constant to be used as the ID of current task |
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70 | */ |
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71 | #define RTEMS_SELF OBJECTS_ID_OF_SELF |
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72 | |
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73 | /** |
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74 | * This constant is passed to the rtems_task_wake_after directive as the |
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75 | * interval when a task wishes to yield the CPU. |
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76 | */ |
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77 | #define RTEMS_YIELD_PROCESSOR WATCHDOG_NO_TIMEOUT |
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78 | |
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79 | /** |
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80 | * Define the type for an RTEMS API task priority. |
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81 | */ |
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82 | typedef Priority_Control rtems_task_priority; |
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83 | |
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84 | /** |
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85 | * This is the constant used with the rtems_task_set_priority |
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86 | * directive to indicate that the caller wants to obtain its |
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87 | * current priority rather than set it as the name of the |
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88 | * directive indicates. |
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89 | */ |
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90 | #define RTEMS_NO_PRIORITY RTEMS_CURRENT_PRIORITY |
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91 | |
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92 | /** |
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93 | * This constant is the least valid value for a Classic API |
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94 | * task priority. |
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95 | */ |
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96 | #define RTEMS_MINIMUM_PRIORITY (PRIORITY_MINIMUM + 1) |
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97 | |
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98 | /** |
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99 | * This constant is the maximum valid value for a Classic API |
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100 | * task priority. |
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101 | * |
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102 | * @note This is actually the priority of the IDLE thread so |
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103 | * using this priority will result in having a task |
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104 | * which never executes. This could be useful if you |
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105 | * want to ensure that a task does not executes during |
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106 | * certain operations such as a system mode change. |
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107 | */ |
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108 | #define RTEMS_MAXIMUM_PRIORITY PRIORITY_MAXIMUM |
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109 | |
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110 | /** |
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111 | * The following constant is passed to rtems_task_set_priority when the |
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112 | * caller wants to obtain the current priority. |
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113 | */ |
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114 | #define RTEMS_CURRENT_PRIORITY PRIORITY_MINIMUM |
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115 | |
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116 | /** This is used to indicate the lowest numbered notepad */ |
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117 | #define RTEMS_NOTEPAD_FIRST 0 |
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118 | /** This is used to indicate the notepad location 0. */ |
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119 | #define RTEMS_NOTEPAD_0 0 |
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120 | /** This is used to indicate the notepad location 1. */ |
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121 | #define RTEMS_NOTEPAD_1 1 |
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122 | /** This is used to indicate the notepad location 2. */ |
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123 | #define RTEMS_NOTEPAD_2 2 |
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124 | /** This is used to indicate the notepad location 3. */ |
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125 | #define RTEMS_NOTEPAD_3 3 |
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126 | /** This is used to indicate the notepad location 4. */ |
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127 | #define RTEMS_NOTEPAD_4 4 |
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128 | /** This is used to indicate the notepad location 5. */ |
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129 | #define RTEMS_NOTEPAD_5 5 |
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130 | /** This is used to indicate the notepad location 6. */ |
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131 | #define RTEMS_NOTEPAD_6 6 |
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132 | /** This is used to indicate the notepad location 7. */ |
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133 | #define RTEMS_NOTEPAD_7 7 |
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134 | /** This is used to indicate the notepad location 8. */ |
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135 | #define RTEMS_NOTEPAD_8 8 |
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136 | /** This is used to indicate the notepad location 9. */ |
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137 | #define RTEMS_NOTEPAD_9 9 |
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138 | /** This is used to indicate the notepad location 10. */ |
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139 | #define RTEMS_NOTEPAD_10 10 |
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140 | /** This is used to indicate the notepad location 11. */ |
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141 | #define RTEMS_NOTEPAD_11 11 |
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142 | /** This is used to indicate the notepad location 12. */ |
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143 | #define RTEMS_NOTEPAD_12 12 |
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144 | /** This is used to indicate the notepad location 13. */ |
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145 | #define RTEMS_NOTEPAD_13 13 |
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146 | /** This is used to indicate the notepad location 14. */ |
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147 | #define RTEMS_NOTEPAD_14 14 |
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148 | /** This is used to indicate the notepad location 15. */ |
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149 | #define RTEMS_NOTEPAD_15 15 |
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150 | /** This is used to indicate the highest numbered notepad. */ |
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151 | #define RTEMS_NOTEPAD_LAST RTEMS_NOTEPAD_15 |
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152 | |
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153 | /** This is used to indicate the number of notepads available. */ |
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154 | #define RTEMS_NUMBER_NOTEPADS (RTEMS_NOTEPAD_LAST+1) |
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155 | |
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156 | /** |
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157 | * External API name for Thread_Control |
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158 | */ |
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159 | typedef Thread_Control rtems_tcb; |
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160 | |
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161 | /** |
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162 | * The following defines the "return type" of an RTEMS task. |
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163 | */ |
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164 | typedef void rtems_task; |
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165 | |
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166 | /** |
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167 | * The following defines the argument to an RTEMS task. |
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168 | */ |
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169 | typedef Thread_Entry_numeric_type rtems_task_argument; |
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170 | |
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171 | /** |
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172 | * The following defines the type for the entry point of an RTEMS task. |
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173 | */ |
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174 | typedef rtems_task ( *rtems_task_entry )( |
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175 | rtems_task_argument |
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176 | ); |
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177 | |
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178 | /** |
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179 | * The following records define the Initialization Tasks Table. |
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180 | * Each entry contains the information required by RTEMS to |
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181 | * create and start a user task automatically at executive |
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182 | * initialization time. |
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183 | */ |
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184 | typedef struct { |
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185 | /** This is the Initialization Task's name. */ |
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186 | rtems_name name; |
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187 | /** This is the Initialization Task's stack size. */ |
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188 | size_t stack_size; |
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189 | /** This is the Initialization Task's priority. */ |
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190 | rtems_task_priority initial_priority; |
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191 | /** This is the Initialization Task's attributes. */ |
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192 | rtems_attribute attribute_set; |
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193 | /** This is the Initialization Task's entry point. */ |
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194 | rtems_task_entry entry_point; |
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195 | /** This is the Initialization Task's initial mode. */ |
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196 | rtems_mode mode_set; |
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197 | /** This is the Initialization Task's argument. */ |
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198 | rtems_task_argument argument; |
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199 | } rtems_initialization_tasks_table; |
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200 | |
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201 | /** |
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202 | * This is the API specific information required by each thread for |
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203 | * the RTEMS API to function correctly. |
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204 | * |
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205 | * @note Notepads must be the last entry in the structure and memory |
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206 | * will be taken away from this structure when allocated if |
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207 | * notespads are disabled by the application configuration. |
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208 | */ |
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209 | typedef struct { |
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210 | /** This field contains the pending events for this task. */ |
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211 | rtems_event_set pending_events; |
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212 | /** This field contains the event wait condition for this task. */ |
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213 | rtems_event_set event_condition; |
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214 | /** This field contains the Classic API Signal information for this task. */ |
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215 | ASR_Information Signal; |
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216 | /** |
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217 | * This field contains the notepads for this task. |
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218 | * |
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219 | * @note MUST BE LAST ENTRY. |
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220 | */ |
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221 | uint32_t Notepads[ RTEMS_NUMBER_NOTEPADS ]; |
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222 | } RTEMS_API_Control; |
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223 | |
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224 | /** |
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225 | * The following instantiates the information control block used to |
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226 | * manage this class of objects. |
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227 | */ |
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228 | RTEMS_TASKS_EXTERN Objects_Information _RTEMS_tasks_Information; |
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229 | |
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230 | /** |
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231 | * When the user configures a set of Classic API initialization tasks, |
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232 | * This variable will point to the method used to initialize them. |
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233 | * |
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234 | * @note It is instantiated and initialized by confdefs.h based upon |
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235 | * application requirements. |
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236 | */ |
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237 | extern void (*_RTEMS_tasks_Initialize_user_tasks_p)(void); |
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238 | |
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239 | /** |
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240 | * @brief _RTEMS_tasks_Manager_initialization |
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241 | * |
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242 | * This routine initializes all Task Manager related data structures. |
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243 | */ |
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244 | void _RTEMS_tasks_Manager_initialization(void); |
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245 | |
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246 | /** |
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247 | * @brief rtems_task_create |
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248 | * |
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249 | * This routine implements the rtems_task_create directive. The task |
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250 | * will have the name name. The attribute_set can be used to indicate |
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251 | * that the task will be globally accessible or utilize floating point. |
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252 | * The task's stack will be stack_size bytes. The task will begin |
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253 | * execution with initial_priority and initial_modes. It returns the |
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254 | * id of the created task in ID. |
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255 | */ |
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256 | rtems_status_code rtems_task_create( |
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257 | rtems_name name, |
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258 | rtems_task_priority initial_priority, |
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259 | size_t stack_size, |
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260 | rtems_mode initial_modes, |
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261 | rtems_attribute attribute_set, |
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262 | Objects_Id *id |
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263 | ); |
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264 | |
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265 | /** |
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266 | * @brief rtems_task_ident |
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267 | * |
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268 | * This routine implements the rtems_task_ident directive. |
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269 | * This directive returns the task ID associated with name. |
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270 | * If more than one task is named name, then the task to |
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271 | * which the ID belongs is arbitrary. node indicates the |
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272 | * extent of the search for the ID of the task named name. |
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273 | * The search can be limited to a particular node or allowed to |
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274 | * encompass all nodes. |
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275 | */ |
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276 | rtems_status_code rtems_task_ident( |
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277 | rtems_name name, |
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278 | uint32_t node, |
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279 | Objects_Id *id |
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280 | ); |
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281 | |
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282 | /** |
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283 | * @brief rtems_task_delete |
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284 | * |
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285 | * This routine implements the rtems_task_delete directive. The |
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286 | * task indicated by ID is deleted. |
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287 | */ |
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288 | rtems_status_code rtems_task_delete( |
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289 | Objects_Id id |
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290 | ); |
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291 | |
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292 | /** |
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293 | * @brief rtems_task_get_note |
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294 | * |
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295 | * This routine implements the rtems_task_get_note directive. The |
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296 | * value of the indicated notepad for the task associated with ID |
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297 | * is returned in note. |
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298 | */ |
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299 | rtems_status_code rtems_task_get_note( |
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300 | Objects_Id id, |
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301 | uint32_t notepad, |
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302 | uint32_t *note |
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303 | ); |
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304 | |
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305 | /** |
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306 | * @brief rtems_task_set_note |
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307 | * |
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308 | * This routine implements the rtems_task_set_note directive. The |
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309 | * value of the indicated notepad for the task associated with ID |
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310 | * is returned in note. |
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311 | */ |
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312 | rtems_status_code rtems_task_set_note( |
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313 | Objects_Id id, |
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314 | uint32_t notepad, |
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315 | uint32_t note |
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316 | ); |
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317 | |
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318 | /** |
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319 | * @brief rtems_task_mode |
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320 | * |
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321 | * This routine implements the rtems_task_mode directive. The current |
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322 | * values of the modes indicated by mask of the calling task are changed |
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323 | * to that indicated in mode_set. The former mode of the task is |
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324 | * returned in mode_set. |
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325 | */ |
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326 | rtems_status_code rtems_task_mode( |
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327 | rtems_mode mode_set, |
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328 | rtems_mode mask, |
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329 | rtems_mode *previous_mode_set |
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330 | ); |
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331 | |
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332 | /** |
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333 | * @brief rtems_task_restart |
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334 | * |
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335 | * This routine implements the rtems_task_restart directive. The |
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336 | * task associated with ID is restarted at its initial entry |
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337 | * point with the new argument. |
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338 | */ |
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339 | rtems_status_code rtems_task_restart( |
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340 | Objects_Id id, |
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341 | uint32_t arg |
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342 | ); |
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343 | |
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344 | /** |
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345 | * @brief rtems_task_suspend |
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346 | * |
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347 | * This routine implements the rtems_task_suspend directive. The |
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348 | * SUSPENDED state is set for task associated with ID. |
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349 | */ |
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350 | rtems_status_code rtems_task_suspend( |
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351 | Objects_Id id |
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352 | ); |
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353 | |
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354 | /** |
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355 | * @brief rtems_task_resume |
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356 | * |
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357 | * This routine implements the rtems_task_resume Directive. The |
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358 | * SUSPENDED state is cleared for task associated with ID. |
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359 | */ |
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360 | rtems_status_code rtems_task_resume( |
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361 | Objects_Id id |
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362 | ); |
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363 | |
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364 | /** |
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365 | * @brief rtems_task_set_priority |
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366 | * |
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367 | * This routine implements the rtems_task_set_priority directive. The |
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368 | * current priority of the task associated with ID is set to |
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369 | * new_priority. The former priority of that task is returned |
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370 | * in old_priority. |
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371 | */ |
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372 | rtems_status_code rtems_task_set_priority( |
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373 | Objects_Id id, |
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374 | rtems_task_priority new_priority, |
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375 | rtems_task_priority *old_priority |
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376 | ); |
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377 | |
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378 | /** |
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379 | * @brief rtems_task_start |
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380 | * |
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381 | * This routine implements the rtems_task_start directive. The |
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382 | * starting execution point of the task associated with ID is |
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383 | * set to entry_point with the initial argument. |
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384 | */ |
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385 | rtems_status_code rtems_task_start( |
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386 | Objects_Id id, |
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387 | rtems_task_entry entry_point, |
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388 | rtems_task_argument argument |
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389 | ); |
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390 | |
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391 | /** |
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392 | * @brief rtems_task_wake_when |
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393 | * |
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394 | * This routine implements the rtems_task_wake_when directive. The |
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395 | * calling task is blocked until the current time of day is |
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396 | * equal to that indicated by time_buffer. |
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397 | */ |
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398 | rtems_status_code rtems_task_wake_when( |
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399 | rtems_time_of_day *time_buffer |
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400 | ); |
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401 | |
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402 | /** |
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403 | * @brief rtems_task_wake_after |
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404 | * |
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405 | * This routine implements the rtems_task_wake_after directive. The |
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406 | * calling task is blocked until the indicated number of clock |
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407 | * ticks have occurred. |
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408 | */ |
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409 | rtems_status_code rtems_task_wake_after( |
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410 | rtems_interval ticks |
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411 | ); |
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412 | |
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413 | /** |
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414 | * @brief rtems_task_is_suspended |
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415 | |
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416 | * This directive returns a status indicating whether or not |
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417 | * the specified task is suspended. |
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418 | */ |
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419 | rtems_status_code rtems_task_is_suspended( |
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420 | Objects_Id id |
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421 | ); |
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422 | |
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423 | /** |
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424 | * @brief rtems_task_variable_add |
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425 | * |
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426 | * This directive adds a per task variable. |
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427 | */ |
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428 | rtems_status_code rtems_task_variable_add( |
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429 | rtems_id tid, |
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430 | void **ptr, |
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431 | void (*dtor)(void *) |
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432 | ); |
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433 | |
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434 | /** |
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435 | * @brief rtems_task_variable_get |
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436 | * |
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437 | * This directive gets the value of a task variable. |
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438 | */ |
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439 | rtems_status_code rtems_task_variable_get( |
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440 | rtems_id tid, |
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441 | void **ptr, |
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442 | void **result |
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443 | ); |
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444 | |
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445 | /** |
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446 | * @brief rtems_task_variable_delete |
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447 | * |
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448 | * This directive removes a per task variable. |
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449 | */ |
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450 | rtems_status_code rtems_task_variable_delete( |
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451 | rtems_id tid, |
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452 | void **ptr |
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453 | ); |
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454 | |
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455 | /** |
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456 | * @brief rtems_task_self |
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457 | * |
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458 | * This directive returns the ID of the currently executing task. |
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459 | */ |
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460 | rtems_id rtems_task_self(void); |
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461 | |
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462 | /** |
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463 | * @brief _RTEMS_tasks_Initialize_user_tasks |
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464 | * |
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465 | * This routine creates and starts all configured user |
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466 | * initialzation threads. |
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467 | * |
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468 | * Input parameters: NONE |
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469 | * |
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470 | * Output parameters: NONE |
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471 | */ |
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472 | void _RTEMS_tasks_Initialize_user_tasks( void ); |
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473 | |
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474 | /** |
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475 | * @brief _RTEMS_Tasks_Invoke_task_variable_dtor( |
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476 | * |
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477 | * This routine invokes the optional user provided destructor on the |
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478 | * task variable and frees the memory for the task variable. |
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479 | * |
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480 | * Input parameters: NONE |
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481 | * |
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482 | * Output parameters: NONE |
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483 | */ |
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484 | void _RTEMS_Tasks_Invoke_task_variable_dtor( |
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485 | Thread_Control *the_thread, |
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486 | rtems_task_variable_t *tvp |
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487 | ); |
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488 | |
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489 | #ifndef __RTEMS_APPLICATION__ |
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490 | #include <rtems/rtems/tasks.inl> |
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491 | #endif |
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492 | #if defined(RTEMS_MULTIPROCESSING) |
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493 | #include <rtems/rtems/taskmp.h> |
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494 | #endif |
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495 | |
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496 | #ifdef __cplusplus |
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497 | } |
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498 | #endif |
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499 | |
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500 | /**@}*/ |
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501 | |
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502 | #endif |
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503 | /* end of include file */ |
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