255 lines
7.4 KiB
C
255 lines
7.4 KiB
C
/****************************************************************************
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* sched/task/task_init.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <sched.h>
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#include <assert.h>
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#include <errno.h>
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#include <nuttx/arch.h>
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#include <nuttx/queue.h>
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#include <nuttx/sched.h>
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#include <nuttx/trace.h>
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#include "sched/sched.h"
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#include "environ/environ.h"
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#include "group/group.h"
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#include "task/task.h"
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#include "tls/tls.h"
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: nxtask_init
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*
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* Description:
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* This function initializes a Task Control Block (TCB) in preparation for
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* starting a new thread. It performs a subset of the functionality of
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* task_create()
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*
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* Unlike task_create():
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* 1. Allocate the TCB. The pre-allocated TCB is passed in argv.
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* 2. Allocate the stack. The pre-allocated stack is passed in argv.
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* 3. Activate the task. This must be done by calling nxtask_activate().
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*
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* Certain fields of the pre-allocated TCB may be set to change the
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* nature of the created task. For example:
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*
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* - Task type may be set in the TCB flags to create kernel thread
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*
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* Input Parameters:
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* tcb - Address of the new task's TCB
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* name - Name of the new task (not used)
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* priority - Priority of the new task
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* stack - Start of the pre-allocated stack
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* stack_size - Size (in bytes) of the stack allocated
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* entry - Application start point of the new task
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* argv - A pointer to an array of input parameters. The array
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* should be terminated with a NULL argv[] value. If no
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* parameters are required, argv may be NULL.
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*
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* Returned Value:
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* OK on success; negative error value on failure appropriately. (See
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* nxtask_setup_scheduler() for possible failure conditions). On failure,
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* the caller is responsible for freeing the stack memory and for calling
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* nxsched_release_tcb() to free the TCB (which could be in most any
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* state).
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*
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****************************************************************************/
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int nxtask_init(FAR struct task_tcb_s *tcb, const char *name, int priority,
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FAR void *stack, uint32_t stack_size,
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main_t entry, FAR char * const argv[],
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FAR char * const envp[],
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FAR const posix_spawn_file_actions_t *actions)
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{
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uint8_t ttype = tcb->cmn.flags & TCB_FLAG_TTYPE_MASK;
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int ret;
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sched_trace_begin();
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#ifndef CONFIG_DISABLE_PTHREAD
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/* Only tasks and kernel threads can be initialized in this way */
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DEBUGASSERT(tcb && ttype != TCB_FLAG_TTYPE_PTHREAD);
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#endif
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#ifdef CONFIG_ARCH_ADDRENV
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/* Kernel threads do not own any address environment */
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if (ttype == TCB_FLAG_TTYPE_KERNEL)
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{
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tcb->cmn.addrenv_own = NULL;
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}
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#endif
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/* Create a new task group */
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ret = group_initialize(tcb, tcb->cmn.flags);
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if (ret < 0)
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{
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sched_trace_end();
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return ret;
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}
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#ifndef CONFIG_DISABLE_PTHREAD
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/* Initialize the task join */
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nxtask_joininit(&tcb->cmn);
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#endif
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/* Duplicate the parent tasks environment */
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ret = env_dup(tcb->cmn.group, envp);
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if (ret < 0)
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{
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goto errout_with_group;
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}
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/* Associate file descriptors with the new task */
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ret = group_setuptaskfiles(tcb, actions, true);
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if (ret < 0)
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{
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goto errout_with_group;
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}
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if (stack)
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{
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/* Use pre-allocated stack */
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ret = up_use_stack(&tcb->cmn, stack, stack_size);
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}
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else
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{
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/* Allocate the stack for the TCB */
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ret = up_create_stack(&tcb->cmn, stack_size, ttype);
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}
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if (ret < OK)
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{
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goto errout_with_group;
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}
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/* Initialize thread local storage */
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ret = tls_init_info(&tcb->cmn);
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if (ret < OK)
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{
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goto errout_with_group;
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}
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/* Initialize the task control block */
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ret = nxtask_setup_scheduler(tcb, priority, nxtask_start,
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entry, ttype);
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if (ret < OK)
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{
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goto errout_with_group;
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}
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/* Setup to pass parameters to the new task */
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ret = nxtask_setup_arguments(tcb, name, argv);
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if (ret < OK)
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{
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goto errout_with_group;
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}
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/* Now we have enough in place that we can join the group */
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group_postinitialize(tcb);
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sched_trace_end();
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return ret;
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errout_with_group:
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if (!stack && tcb->cmn.stack_alloc_ptr)
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{
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#ifdef CONFIG_BUILD_KERNEL
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/* If the exiting thread is not a kernel thread, then it has an
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* address environment. Don't bother to release the stack memory
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* in this case... There is no point since the memory lies in the
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* user memory region that will be destroyed anyway (and the
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* address environment has probably already been destroyed at
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* this point.. so we would crash if we even tried it). But if
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* this is a privileged group, then we still have to release the
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* memory using the kernel allocator.
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*/
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if (ttype == TCB_FLAG_TTYPE_KERNEL)
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#endif
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{
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up_release_stack(&tcb->cmn, ttype);
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}
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}
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nxtask_joindestroy(&tcb->cmn);
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group_leave(&tcb->cmn);
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sched_trace_end();
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return ret;
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}
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/****************************************************************************
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* Name: nxtask_uninit
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*
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* Description:
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* Undo all operations on a TCB performed by task_init() and release the
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* TCB by calling kmm_free(). This is intended primarily to support
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* error recovery operations after a successful call to task_init()
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* when a subsequent call to task_activate fails.
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*
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* Caution: Freeing of the TCB itself might be an unexpected side-effect.
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*
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* Input Parameters:
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* tcb - Address of the TCB initialized by task_init()
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*
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* Returned Value:
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* OK on success; negative error value on failure appropriately.
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*
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****************************************************************************/
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void nxtask_uninit(FAR struct task_tcb_s *tcb)
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{
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/* The TCB was added to the inactive task list by
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* nxtask_setup_scheduler().
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*/
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dq_rem((FAR dq_entry_t *)tcb, list_inactivetasks());
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/* Release all resources associated with the TCB... Including the TCB
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* itself.
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*/
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nxsched_release_tcb((FAR struct tcb_s *)tcb,
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tcb->cmn.flags & TCB_FLAG_TTYPE_MASK);
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}
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