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

[Philippe Gerum <rpm@xenomai.org>]

j.p.schulz wrote:
>>--- 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

Which _Adeos_ patch version, exactely?

> 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! 
> 

Does dmesg say something after the first attempt?

> 
>>>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.
>>
> 
> 


-- 

Philippe.