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

[j.p.schulz]

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!

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

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