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pinebuds/rtos/rtx/TARGET_CORTEX_M/rt_Task.c

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/*----------------------------------------------------------------------------
* RL-ARM - RTX
*----------------------------------------------------------------------------
* Name: RT_TASK.C
* Purpose: Task functions and system start up.
* Rev.: V4.60
*----------------------------------------------------------------------------
*
* Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
* All rights reserved.
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* - Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* - Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* - Neither the name of ARM nor the names of its contributors may be used
* to endorse or promote products derived from this software without
* specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*---------------------------------------------------------------------------*/
#include "rt_TypeDef.h"
#include "RTX_Conf.h"
#include "rt_System.h"
#include "rt_Task.h"
#include "rt_List.h"
#include "rt_MemBox.h"
#include "rt_Robin.h"
#include "rt_HAL_CM.h"
#include "hal_timer.h"
/*----------------------------------------------------------------------------
* Global Variables
*---------------------------------------------------------------------------*/
/* Running and next task info. */
struct OS_TSK os_tsk;
/* Task Control Blocks of idle demon */
struct OS_TCB os_idle_TCB;
static U32 rtx_get_hwticks(void)
{
return hal_sys_timer_get();
}
/*----------------------------------------------------------------------------
* Local Functions
*---------------------------------------------------------------------------*/
OS_TID rt_get_TID (void) {
U32 tid;
for (tid = 1; tid <= os_maxtaskrun; tid++) {
if (os_active_TCB[tid-1] == NULL) {
return ((OS_TID)tid);
}
}
return (0);
}
#if defined (__CC_ARM) && !defined (__MICROLIB)
/*--------------------------- __user_perthread_libspace ---------------------*/
extern void *__libspace_start;
void *__user_perthread_libspace (void) {
/* Provide a separate libspace for each task. */
if (os_tsk.run == NULL) {
/* RTX not running yet. */
return (&__libspace_start);
}
return (void *)(os_tsk.run->std_libspace);
}
#endif
/*--------------------------- rt_init_context -------------------------------*/
void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
/* Initialize general part of the Task Control Block. */
p_TCB->cb_type = TCB;
p_TCB->state = READY;
p_TCB->prio = priority;
p_TCB->p_lnk = NULL;
p_TCB->p_rlnk = NULL;
p_TCB->p_dlnk = NULL;
p_TCB->p_blnk = NULL;
p_TCB->delta_time = 0;
p_TCB->interval_time = 0;
p_TCB->events = 0;
p_TCB->waits = 0;
p_TCB->stack_frame = 0;
rt_init_stack (p_TCB, task_body);
}
/*--------------------------- rt_switch_req ---------------------------------*/
void rt_switch_req (P_TCB p_new) {
/* Switch to next task (identified by "p_new"). */
os_tsk.new_tsk = p_new;
#if __RTX_CPU_STATISTICS__
if (os_tsk.run != p_new) {
os_tsk.run->swap_out_time = HWTICKS_TO_MS(rtx_get_hwticks());
p_new->swap_in_time = HWTICKS_TO_MS(rtx_get_hwticks());
}
#endif
p_new->state = RUNNING;
DBG_TASK_SWITCH(p_new->task_id);
}
/*--------------------------- rt_dispatch -----------------------------------*/
void rt_dispatch (P_TCB next_TCB) {
/* Dispatch next task if any identified or dispatch highest ready task */
/* "next_TCB" identifies a task to run or has value NULL (=no next task) */
if (next_TCB == NULL) {
/* Running task was blocked: continue with highest ready task */
next_TCB = rt_get_first (&os_rdy);
rt_switch_req (next_TCB);
}
else {
/* Check which task continues */
if (next_TCB->prio > os_tsk.run->prio) {
/* preempt running task */
rt_put_rdy_first (os_tsk.run);
os_tsk.run->state = READY;
rt_switch_req (next_TCB);
}
else {
/* put next task into ready list, no task switch takes place */
next_TCB->state = READY;
rt_put_prio (&os_rdy, next_TCB);
}
}
}
/*--------------------------- rt_block --------------------------------------*/
void rt_block (U16 timeout, U8 block_state) {
/* Block running task and choose next ready task. */
/* "timeout" sets a time-out value or is 0xffff (=no time-out). */
/* "block_state" defines the appropriate task state */
P_TCB next_TCB;
if (timeout) {
if (timeout < 0xffff) {
rt_put_dly (os_tsk.run, timeout);
}
os_tsk.run->state = block_state;
next_TCB = rt_get_first (&os_rdy);
rt_switch_req (next_TCB);
}
}
/*--------------------------- rt_tsk_pass -----------------------------------*/
void rt_tsk_pass (void) {
/* Allow tasks of same priority level to run cooperatively.*/
P_TCB p_new;
p_new = rt_get_same_rdy_prio();
if (p_new != NULL) {
rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
os_tsk.run->state = READY;
rt_switch_req (p_new);
}
}
/*--------------------------- rt_tsk_self -----------------------------------*/
OS_TID rt_tsk_self (void) {
/* Return own task identifier value. */
if (os_tsk.run == NULL) {
return (0);
}
return (os_tsk.run->task_id);
}
/*--------------------------- rt_tsk_prio -----------------------------------*/
OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
/* Change execution priority of a task to "new_prio". */
P_TCB p_task;
if (task_id == 0) {
/* Change execution priority of calling task. */
os_tsk.run->prio = new_prio;
run:if (rt_rdy_prio() > new_prio) {
rt_put_prio (&os_rdy, os_tsk.run);
os_tsk.run->state = READY;
rt_dispatch (NULL);
}
return (OS_R_OK);
}
/* Find the task in the "os_active_TCB" array. */
if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
/* Task with "task_id" not found or not started. */
return (OS_R_NOK);
}
p_task = os_active_TCB[task_id-1];
p_task->prio = new_prio;
if (p_task == os_tsk.run) {
goto run;
}
rt_resort_prio (p_task);
if (p_task->state == READY) {
/* Task enqueued in a ready list. */
p_task = rt_get_first (&os_rdy);
rt_dispatch (p_task);
}
return (OS_R_OK);
}
/*--------------------------- rt_tsk_delete ---------------------------------*/
OS_RESULT rt_tsk_delete (OS_TID task_id) {
/* Terminate the task identified with "task_id". */
P_TCB task_context;
if (task_id == 0 || task_id == os_tsk.run->task_id) {
/* Terminate itself. */
os_tsk.run->state = INACTIVE;
os_tsk.run->tsk_stack = rt_get_PSP ();
rt_stk_check ();
os_active_TCB[os_tsk.run->task_id-1] = NULL;
os_tsk.run->stack = NULL;
DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
os_tsk.run = NULL;
rt_dispatch (NULL);
/* The program should never come to this point. */
}
else {
/* Find the task in the "os_active_TCB" array. */
if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
/* Task with "task_id" not found or not started. */
return (OS_R_NOK);
}
task_context = os_active_TCB[task_id-1];
rt_rmv_list (task_context);
rt_rmv_dly (task_context);
os_active_TCB[task_id-1] = NULL;
task_context->stack = NULL;
DBG_TASK_NOTIFY(task_context, __FALSE);
}
return (OS_R_OK);
}
/*--------------------------- rt_sys_init -----------------------------------*/
#ifdef __CMSIS_RTOS
void rt_sys_init (void) {
#else
void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
#endif
/* Initialize system and start up task declared with "first_task". */
U32 i;
DBG_INIT();
/* Initialize dynamic memory and task TCB pointers to NULL. */
for (i = 0; i < os_maxtaskrun; i++) {
os_active_TCB[i] = NULL;
}
/* Set up TCB of idle demon */
os_idle_TCB.task_id = 255;
os_idle_TCB.priv_stack = idle_task_stack_size;
os_idle_TCB.stack = idle_task_stack;
#if __RTX_CPU_STATISTICS__
os_idle_TCB.name = (U8 *)"os_idle";
#endif
rt_init_context (&os_idle_TCB, 0, os_idle_demon);
/* Set up ready list: initially empty */
os_rdy.cb_type = HCB;
os_rdy.p_lnk = NULL;
/* Set up delay list: initially empty */
os_dly.cb_type = HCB;
os_dly.p_dlnk = NULL;
os_dly.p_blnk = NULL;
os_dly.delta_time = 0;
/* Fix SP and systemvariables to assume idle task is running */
/* Transform main program into idle task by assuming idle TCB */
#ifndef __CMSIS_RTOS
rt_set_PSP (os_idle_TCB.tsk_stack+32);
#endif
os_tsk.run = &os_idle_TCB;
os_tsk.run->state = RUNNING;
/* Initialize ps queue */
os_psq->first = 0;
os_psq->last = 0;
os_psq->size = os_fifo_size;
#if __RTX_CPU_STATISTICS__
os_tsk.run->swap_in_time = HWTICKS_TO_MS(rtx_get_hwticks());
#endif
rt_init_robin ();
/* Intitialize SVC and PendSV */
rt_svc_init ();
#ifndef __CMSIS_RTOS
/* Intitialize and start system clock timer */
os_tick_irqn = os_tick_init ();
if (os_tick_irqn >= 0) {
OS_X_INIT(os_tick_irqn);
}
/* Start up first user task before entering the endless loop */
rt_tsk_create (first_task, prio_stksz, stk, NULL);
#endif
}
/*--------------------------- rt_sys_start ----------------------------------*/
#ifdef __CMSIS_RTOS
void rt_sys_start (void) {
/* Start system */
/* Intitialize and start system clock timer */
os_tick_irqn = os_tick_init ();
if (os_tick_irqn >= 0) {
OS_X_INIT(os_tick_irqn);
}
}
#endif
//------------------------------------------------------------------------------
// Debug functions
//------------------------------------------------------------------------------
#include "plat_addr_map.h"
#include "hal_location.h"
#include "hal_trace.h"
#define RTX_DUMP_VERBOSE
struct IRQ_STACK_FRAME_T {
uint32_t r0;
uint32_t r1;
uint32_t r2;
uint32_t r3;
uint32_t r12;
uint32_t lr;
uint32_t pc;
uint32_t xpsr;
};
extern uint32_t __StackTop[];
static inline uint32_t get_IPSR(void)
{
uint32_t result;
asm volatile ("MRS %0, ipsr" : "=r" (result) );
return(result);
}
static inline uint32_t get_PSP(void)
{
uint32_t result;
asm volatile ("MRS %0, psp" : "=r" (result) );
return(result);
}
static inline struct IRQ_STACK_FRAME_T *_rtx_get_irq_stack_frame(P_TCB tcb)
{
uint32_t sp;
if (tcb == NULL) {
return NULL;
}
if (tcb == os_tsk.run && get_IPSR() == 0) {
return NULL;
}
if (tcb == os_tsk.run) {
sp = get_PSP();
} else {
sp = tcb->tsk_stack;
}
if ((sp & 3) || !hal_trace_address_writable(sp)) {
return NULL;
}
if (tcb != os_tsk.run) {
// r4-r11
sp += 4 * 8;
if (tcb->stack_frame) {
// s16-s31
sp += 4 * 16;
}
}
return (struct IRQ_STACK_FRAME_T *)sp;
}
FLASH_TEXT_LOC
void rt_tsk_show(P_TCB tcb)
{
static const char * const state_list[] = {
"INACTIVE", "READY", "RUNNING", "WAIT_DLY", "WAIT_ITV", "WAIT_OR", "WAIT_AND", "WAIT_SEM", "WAIT_MBX", "WAIT_MUT", "BAD",
};
const char *task_st_str;
uint32_t idx;
struct IRQ_STACK_FRAME_T *frame;
if (tcb) {
if (tcb->cb_type == TCB && ((tcb->task_id >= 1 && tcb->task_id <= os_maxtaskrun) || tcb->task_id == 255) &&
tcb->ptask && tcb->stack) {
if (tcb->state < ARRAY_SIZE(state_list)) {
idx = tcb->state;
} else {
idx = ARRAY_SIZE(state_list) - 1;
}
task_st_str = state_list[idx];
REL_TRACE_NOCRLF_NOTS(1,"--- Task %3u", tcb->task_id);
REL_TRACE_NOTS(4," tcb=0x%08X prio=%u state=%-8s ptask=0x%08X", (uint32_t)tcb, tcb->prio, task_st_str, (uint32_t)tcb->ptask);
#if __RTX_CPU_STATISTICS__
if(tcb->name || tcb->task_id == 1) {
REL_TRACE_NOTS(1," name=%s", tcb->name ? (const char *)tcb->name : "main");
}
#endif
#ifdef RTX_DUMP_VERBOSE
REL_TRACE_NOTS(3," p_lnk=0x%08X p_rlnk=0x%08X p_dlnk=0x%08X",
(uint32_t)tcb->p_lnk, (uint32_t)tcb->p_rlnk, (uint32_t)tcb->p_dlnk);
REL_TRACE_NOTS(3," p_blnk=0x%08X delta_time=%u interval_time=%u",
(uint32_t)tcb->p_blnk, tcb->delta_time, tcb->interval_time);
REL_TRACE_NOTS(3," events=0x%04X waits=0x%04X msg=0x%08X",
tcb->events, tcb->waits, (uint32_t)tcb->msg);
REL_TRACE_NOTS(2," priv_stack(stack_size)=%4u tsk_stack(sp)=0x%08X",
tcb->priv_stack, tcb->tsk_stack);
REL_TRACE_NOTS(3," stack(top)=0x%08X stack_frame=%u stk_msk:0x%04x",
(uint32_t)tcb->stack, tcb->stack_frame, tcb->stack[0]);
#ifdef __RTX_CPU_STATISTICS__
REL_TRACE_NOTS(2," swap_in_time=%u swap_out_time=%u",
tcb->swap_in_time, tcb->swap_out_time);
REL_TRACE_NOCRLF_NOTS(0," after last switch ");
if (tcb->swap_in_time <= tcb->swap_out_time)
REL_TRACE_NOTS(1,"task runtime %u ms", tcb->swap_out_time - tcb->swap_in_time);
else
REL_TRACE_NOTS(1,"task still runing, now %d", HWTICKS_TO_MS(rtx_get_hwticks()));
#endif
#endif /*RTX_DUMP_VERBOSE*/
frame = _rtx_get_irq_stack_frame(tcb);
if (frame) {
uint32_t stack_end;
uint32_t search_cnt, print_cnt;
REL_TRACE_NOTS(0," ");
REL_TRACE_NOTS(4," R0 =0x%08X R1=0x%08X R2=0x%08X R3 =0x%08X", frame->r0, frame->r1, frame->r2, frame->r3);
REL_TRACE_NOTS(4," R12=0x%08X LR=0x%08X PC=0x%08X XPSR=0x%08X", frame->r12, frame->lr, frame->pc, frame->xpsr);
stack_end = (uint32_t)tcb->stack + tcb->priv_stack;
if (stack_end > tcb->tsk_stack) {
search_cnt = (stack_end - tcb->tsk_stack) / 4;
if (search_cnt > 512) {
search_cnt = 512;
}
print_cnt = 10;
hal_trace_print_backtrace(tcb->tsk_stack, search_cnt, print_cnt);
}
}
} else {
REL_TRACE_NOTS(0,"--- Task BAD");
}
} else {
REL_TRACE_NOTS(0,"--- Task NONE");
}
}
FLASH_TEXT_LOC
void rtx_show_current_thread(void)
{
REL_TRACE_NOTS(1,"Current Task : %u", os_tsk.run ? os_tsk.run->task_id : 0);
REL_TRACE_NOTS(1,"New Running Task: %u", os_tsk.new_tsk ? os_tsk.new_tsk->task_id : 0);
REL_TRACE_IMM_NOTS(0," ");
}
FLASH_TEXT_LOC
void rtx_show_ready_threads(void)
{
P_TCB tcb;
uint32_t i;
REL_TRACE_NOTS(0,"Ready Tasks:");
if (os_rdy.p_lnk) {
tcb = os_rdy.p_lnk;
i = 0;
do {
REL_TRACE_NOCRLF_NOTS(1,"%u ", tcb->task_id);
tcb = tcb->p_lnk;
i++;
} while (tcb && i < os_maxtaskrun);
REL_TRACE_NOTS(0," ");
if (tcb) {
REL_TRACE_NOTS(2,"*** Error: List corrupted? count=%u next=0x%08X\n", i, (uint32_t)tcb);
}
} else {
REL_TRACE_NOTS(0,"<NONE>");
}
REL_TRACE_IMM_NOTS(0," ");
}
FLASH_TEXT_LOC
void rtx_show_delay_threads(void)
{
P_TCB tcb;
uint32_t i;
REL_TRACE_NOTS(0,"Delay Tasks:");
if (os_dly.p_dlnk) {
tcb = os_dly.p_dlnk;
i = 0;
do {
REL_TRACE_NOCRLF_NOTS(1,"%u ", tcb->task_id);
tcb = tcb->p_dlnk;
i++;
} while (tcb && i < os_maxtaskrun);
REL_TRACE_NOTS(0," ");
if (tcb) {
REL_TRACE_NOTS(2,"*** Error: List corrupted? count=%u next=0x%08X\n", i, (uint32_t)tcb);
}
} else {
REL_TRACE_NOTS(0,"<NONE>");
}
REL_TRACE_IMM_NOTS(0," ");
}
FLASH_TEXT_LOC
void rtx_show_all_threads(void)
{
int i;
#if (defined(DEBUG) || defined(REL_TRACE_ENABLE))
if (hal_trace_crash_dump_onprocess()){
for (i = 0; i < 10; i++){
REL_TRACE_IMM_NOTS(0," ");
REL_TRACE_IMM_NOTS(0," \n");
hal_sys_timer_delay(MS_TO_TICKS(200));
}
}
#endif
REL_TRACE_NOTS(0,"Task List:");
for (i = 0; i < os_maxtaskrun; i++) {
if (os_active_TCB[i]) {
rt_tsk_show(os_active_TCB[i]);
REL_TRACE_IMM_NOTS(0," ");
#if (defined(DEBUG) || defined(REL_TRACE_ENABLE))
if (hal_trace_crash_dump_onprocess()){
hal_sys_timer_delay(MS_TO_TICKS(500));
}
#endif
}
}
rt_tsk_show(&os_idle_TCB);
REL_TRACE_IMM_NOTS(0," ");
rtx_show_current_thread();
rtx_show_ready_threads();
rtx_show_delay_threads();
}
#if __RTX_CPU_STATISTICS__
#if TASK_HUNG_CHECK_ENABLED
FLASH_TEXT_LOC NOINLINE
static void print_hung_task(const P_TCB tcb, U32 curr_time)
{
REL_TRACE_IMM_NOTS(2,"Task \"%s\" blocked for %dms",
tcb->name==NULL ? (tcb->task_id == 1 ? "main" : "null") : (char *)tcb->name,
curr_time - tcb->swap_out_time);
ASSERT(0, "Find task hung");
}
static void check_hung_task(const P_TCB tcb)
{
uint32_t curr_hwticks, curr_time;
if (!tcb->hung_check)
return;
curr_hwticks = hal_sys_timer_get();
curr_time = HWTICKS_TO_MS(curr_hwticks);
if((curr_time - tcb->swap_out_time) > tcb->hung_check_timeout) {
print_hung_task(tcb, curr_time);
}
}
void check_hung_tasks(void)
{
int i;
for (i = 0; i < os_maxtaskrun; i++) {
if (os_active_TCB[i]) {
P_TCB tcb = os_active_TCB[i];
check_hung_task(tcb);
}
}
}
#endif
static inline void print_task_sw_statitics(P_TCB tcb)
{
/*
REL_TRACE_NOTS(3,"--- Task swap in:%d out=%d runings %d",
tcb->swap_in_time,
tcb->swap_out_time,
tcb->rtime);
*/
}
FLASH_TEXT_LOC
static void _rtx_show_thread_usage(P_TCB tcb, U32 sample_time)
{
if (tcb) {
if (tcb->cb_type == TCB && ((tcb->task_id >= 1 && tcb->task_id <= os_maxtaskrun)) &&
tcb->ptask && tcb->stack) {
REL_TRACE_NOTS(5,"--- Task id:%d task_name=%s cpu=%%%d",
tcb->task_id,
tcb->name==NULL ? (tcb->task_id == 1 ? "main" : "null") : (char *)tcb->name,
sample_time != 0 ? ((tcb->rtime - task_rtime[tcb->task_id]) * 100 / sample_time) : 0);
print_task_sw_statitics(tcb);
task_rtime[tcb->task_id] = tcb->rtime;
} else if (tcb->task_id == 255 ) {
REL_TRACE_NOTS(5,"--- Task id:%d task_name=%s cpu=%%%d",
tcb->task_id,
"idle",
sample_time != 0 ? (tcb->rtime - task_rtime[0]) * 100 / sample_time : 0);
print_task_sw_statitics(tcb);
task_rtime[0] = tcb->rtime;
} else {
REL_TRACE_NOTS(0,"--- Task BAD");
}
} else {
REL_TRACE_NOTS(0,"--- Task NONE");
}
}
FLASH_TEXT_LOC
void rtx_show_all_threads_usage(void)
{
int i;
static BOOL first_time = 1;
uint32_t sample_time;
static U32 start_sample_time = 0;
if (first_time) {
for (i = 0; i < os_maxtaskrun; i++) {
if (os_active_TCB[i]) {
P_TCB tcb = os_active_TCB[i];
task_rtime[tcb->task_id] = tcb->rtime;
}
}
task_rtime[0] = os_idle_TCB.rtime;
start_sample_time = rtx_get_hwticks();
first_time = 0;
return;
}
sample_time = HWTICKS_TO_MS(rtx_get_hwticks() - start_sample_time);
REL_TRACE_IMM_NOTS(0," ");
REL_TRACE_NOTS(0,"Task List:");
for (i = 0; i < os_maxtaskrun; i++) {
if (os_active_TCB[i]) {
_rtx_show_thread_usage(os_active_TCB[i], sample_time);
}
}
_rtx_show_thread_usage(&os_idle_TCB, sample_time);
start_sample_time = rtx_get_hwticks();
REL_TRACE_IMM_NOTS(0," ");
}
#endif
/*
* health time period for idle thread scheduled
*/
#define TASK_IDLE_HEALTH_PERIOD (60 * 1000)
FLASH_TEXT_LOC
int rtx_task_idle_health_check(void)
{
P_TCB tcb = &os_idle_TCB;
uint32_t now, period;
now = HWTICKS_TO_MS(rtx_get_hwticks());
if (now >= tcb->swap_in_time) {
period = now - tcb->swap_in_time;
} else {
uint64_t temp;
temp = now + HWTICKS_TO_MS((-1u));
period = temp - tcb->swap_in_time;
}
if ( period > TASK_IDLE_HEALTH_PERIOD) {
REL_TRACE_NOTS(1,"--- Task idle hung %d seconds", period / 1000);
return -1;
}
return 0;
}
/*----------------------------------------------------------------------------
* end of file
*---------------------------------------------------------------------------*/
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