Re: [Xenomai-help] Spawn Task from a Task -vxworks-skin

["j.p.schulz" <j.p.schulz@domain.hid>]

> --- Ursprüngliche Nachricht ---
> Von: Philippe Gerum <rpm@xenomai.org>
> An: "j.p.schulz" <j.p.schulz@domain.hid>
> Kopie: xenomai@xenomai.org
> Betreff: Re: [Xenomai-help] Spawn Task from a Task -vxworks-skin
> Datum: Wed, 26 Oct 2005 10:09:19 +0200
> 
> j.p.schulz wrote:
> > Hello
> > I have Problems spawning a Task from a Task under the vxworks skin!
> > If I spawn my Tasks from a Funktion - it works!
> > If I spawn my Tasks from a Task     - system crashes!
> 
> Make sure to use an Adeos patch >= 1.0-07. v0.9.1 ships with 1.0-02, so
> you 
> likely want to upgrade and try again. Recent Adeos patches for x86 can be
> found 
> here: http://download.gna.org/adeos/patches/v2.6/adeos/i386/
> 

I installed the latest Fusion 9.1 patch - no changes
Do I make a mistake when I am spawning the tasks?

Second Problem ist that the uvm module has to be started twice. The first
attempt returns: -1 Function not implemented 
The second attempt works! 

> > 
> > Here the programm:
> > 
> > #include <stdlib.h>
> > #include <stdio.h>
> > #include <string.h>
> > #include <signal.h>
> > #include <ctype.h>
> > #include <fcntl.h>
> > #include <sys/io.h>
> > #include <sys/stat.h>
> > #include <sys/ioctl.h>
> > 
> > #include <vxworks/vxworks.h>
> > 
> > #include "vxChain.h"
> > #include "portutils.h"
> > 
> > 
> > #define PRIORITY_LOW 	100
> > #define PRIORITY_MID 	90
> > #define PRIORITY_HIGH 	80
> > 
> > #define USE_FPU 		(VX_FP_TASK | VX_NO_STACK_FILL)
> > #define NO_FPU 			VX_NO_STACK_FILL
> > #define STACK_SIZE 		0x5000
> > #define TASK_OPTIONS	USE_FPU
> > 
> > #define NUM_TASKS		8
> > #define MAX_TASKS		15
> > 
> > SEM_ID		semId[MAX_TASKS * 2];
> > int			taskId[MAX_TASKS];
> > int			triggerId;
> > 
> > 
> > int root_thread_init()
> > {
> > 	// Allow port I/O in userspace
> > 	iopl(3);
> > 	
> > 	vxTest();		// Just a function call (works)
> > //	vxSpawn();		// Spawns the function as a task (crashes)
> > 
> > 	return 0;	
> > }
> > 
> > void vxSpawn( void )
> > {
> > 	taskSpawn ("Master Task", PRIORITY_HIGH, 
> > 				TASK_OPTIONS, STACK_SIZE, 
> > 				(FUNCPTR) vxTest,
> > 				0,0,0,0,0,0,0,0,0,0); 					
> > }
> > 	
> > void root_thread_exit (void)
> > {
> > 	printf ("root_thread_exit() called.\n");
> > }	
> > 
> > void vxTest( void )
> > {
> > 	int i;  
> >     char buf[80];
> >         
> >     for (i=0; i < NUM_TASKS; i++)
> >     {
> > 		semId[2*i]   = semBCreate( SEM_Q_PRIORITY, SEM_EMPTY);    
> > 		semId[2*i+1] = semBCreate( SEM_Q_PRIORITY, SEM_EMPTY);        
> >     }
> >          
> >     for (i=0; i < NUM_TASKS; i++)
> >     { 
> > 		sprintf(buf, "Task_%d", i);    
> > 		taskId[i] = 
> > 		taskSpawn(buf, PRIORITY_LOW, TASK_OPTIONS, STACK_SIZE,
> > 			(FUNCPTR) WorkerTask, 
> > 			i, 				// Task Nummer
> > 			semId[i], 		// warten auf Semaphor
> > 			semId[i+1],   	// anzutriggerndes Semaphor
> > 			0,0,0,0,0,0,0);		
> > 			
> > 		printf ("task[%d] = 0x%08X, errno = %d\n", i, taskId[i], errnoGet());
> >     }
> > 
> >     triggerId = taskSpawn ("Trigger task", PRIORITY_MID, 
> >     					TASK_OPTIONS, STACK_SIZE,
> > 						(FUNCPTR) TriggerTask, 0,0,0,0,0,0,0,0,0,0);
> > 	printf ("taskTrigger = 0x%08X\n", triggerId);
> > 	
> > 	taskSuspend(taskIdSelf());
> > }
> > 
> > void TriggerTask( void )
> > {
> > 	while( 1 )
> > 	{
> > 		taskDelay(1);
> > 		semGive(semId[0]);
> > 	}
> > }
> > 
> > FUNCPTR WorkerTask(int i0,int i1,int i2,int i3,int i4,int i5,int i6,int
> > i7,int i8,int i9)
> > {
> >     unsigned int task_num 	= (unsigned int) i0;
> >     int sem_to_wait 		= i1;
> >     int sem_to_trigger		= i2;
> > 
> > 	iopl(3);
> >     while (1)
> >     {
> > 		semTake(sem_to_wait, WAIT_FOREVER);
> > 		if (task_num < 8)
> > 		{
> > 			lpt_peak_bit (task_num);	
> > 		}	
> > 		semGive(sem_to_trigger);			
> >     }
> >     return 0;
> > }    
> > 
> > 
> > 
> > Fusion 0.9.1
> > Kernel 2.6.13-ipipe
> > Suse 9.3
> > Any Ideas?
> > Thanks 
> > Jan-Peter
> > 
> 
> 
> -- 
> 
> Philippe.
> 

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