Initialise and start a real-time task on specified cpu or current
cpu.
Signed-off-by: hongzha1 <[email protected]>
diff --git a/include/cobalt/kernel/rtdm/driver.h
b/include/cobalt/kernel/rtdm/driver.h
index 733c49df8..42daaa5b2 100644
--- a/include/cobalt/kernel/rtdm/driver.h
+++ b/include/cobalt/kernel/rtdm/driver.h
@@ -1024,6 +1024,20 @@ typedef void (*rtdm_task_proc_t)(void *arg);
int rtdm_task_init(rtdm_task_t *task, const char *name,
rtdm_task_proc_t task_proc, void *arg,
int priority, nanosecs_rel_t period);
+int rtdm_task_init_on_cpu(rtdm_task_t *task, int cpu, const char *name,
+ rtdm_task_proc_t task_proc, void *arg,
+ int priority, nanosecs_rel_t period);
+
+static inline int rtdm_task_init_cpu(rtdm_task_t *task, const char *name,
+ rtdm_task_proc_t task_proc, void *arg,
+ int priority, nanosecs_rel_t period)
+{
+ int cpu = raw_smp_processor_id();
+
+ return rtdm_task_init_on_cpu(task, cpu, name, task_proc, arg,
+ priority, period);
+}
+
int __rtdm_task_sleep(xnticks_t timeout, xntmode_t mode);
void rtdm_task_busy_sleep(nanosecs_rel_t delay);
diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
index b914fa312..1c999362e 100644
--- a/kernel/cobalt/rtdm/drvlib.c
+++ b/kernel/cobalt/rtdm/drvlib.c
@@ -157,6 +157,82 @@ int rtdm_task_init(rtdm_task_t *task, const char *name,
EXPORT_SYMBOL_GPL(rtdm_task_init);
+/**
+ * @brief Initialise and start a real-time task on specified cpu
+ *
+ * After initialising a task, the task handle remains valid and can be
+ * passed to RTDM services until either rtdm_task_destroy() or
+ * rtdm_task_join() was invoked.
+ *
+ * @param[in,out] task Task handle
+ * @param[in] cpu that task want to run on
+ * @param[in] name Optional task name
+ * @param[in] task_proc Procedure to be executed by the task
+ * @param[in] arg Custom argument passed to @c task_proc() on entry
+ * @param[in] priority Priority of the task, see also
+ * @ref rtdmtaskprio "Task Priority Range"
+ * @param[in] period Period in nanoseconds of a cyclic task, 0 for non-cyclic
+ * mode. Waiting for the first and subsequent periodic events is
+ * done using rtdm_task_wait_period().
+ *
+ * @return 0 on success, otherwise negative error code
+ *
+ * @coretags{secondary-only, might-switch}
+ */
+int rtdm_task_init_on_cpu(rtdm_task_t *task, int cpu,
+ const char *name, rtdm_task_proc_t task_proc, void *arg,
+ int priority, nanosecs_rel_t period)
+{
+ union xnsched_policy_param param;
+ struct xnthread_start_attr sattr;
+ struct xnthread_init_attr iattr;
+ int err;
+
+ if (!realtime_core_enabled())
+ return -ENOSYS;
+
+ if (!cpu_online(cpu))
+ return -EINVAL;
+
+ iattr.name = name;
+ iattr.flags = 0;
+ iattr.personality = &xenomai_personality;
+ iattr.affinity = *cpumask_of(cpu);
+ param.rt.prio = priority;
+
+ err = xnthread_init(task, &iattr, &xnsched_class_rt, ¶m);
+ if (err)
+ return err;
+
+ /* We need an anonymous registry entry to obtain a handle for fast
+ * mutex locking.
+ */
+ err = xnthread_register(task, "");
+ if (err)
+ goto cleanup_out;
+
+ if (period > 0) {
+ err = xnthread_set_periodic(task, XN_INFINITE,
+ XN_RELATIVE, period);
+ if (err)
+ goto cleanup_out;
+ }
+
+ sattr.mode = 0;
+ sattr.entry = task_proc;
+ sattr.cookie = arg;
+ err = xnthread_start(task, &sattr);
+ if (err)
+ goto cleanup_out;
+
+ return 0;
+
+cleanup_out:
+ xnthread_cancel(task);
+ return err;
+}
+EXPORT_SYMBOL_GPL(rtdm_task_init_on_cpu);
+
#ifdef DOXYGEN_CPP /* Only used for doxygen doc generation */
/**
* @brief Destroy a real-time task
--
2.17.1
