Arrow / Mbed OS DAPLink Reset

Repostiory containing DAPLink source code with Reset Pin workaround for HANI_IOT board.

Upstream: https://github.com/ARMmbed/DAPLink

source/rtos/rt_Task.c@0:01f31e923fe2, 2020-04-07 (annotated)

Committer:
Pawel Zarembski
Date:
Tue Apr 07 12:55:42 2020 +0200
Revision:
0:01f31e923fe2
hani: DAPLink with reset workaround

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Pawel Zarembski 0:01f31e923fe2 1 /**
Pawel Zarembski 0:01f31e923fe2 2 * @file rt_Task.c
Pawel Zarembski 0:01f31e923fe2 3 * @brief
Pawel Zarembski 0:01f31e923fe2 4 *
Pawel Zarembski 0:01f31e923fe2 5 * DAPLink Interface Firmware
Pawel Zarembski 0:01f31e923fe2 6 * Copyright (c) 2009-2016, ARM Limited, All Rights Reserved
Pawel Zarembski 0:01f31e923fe2 7 * SPDX-License-Identifier: Apache-2.0
Pawel Zarembski 0:01f31e923fe2 8 *
Pawel Zarembski 0:01f31e923fe2 9 * Licensed under the Apache License, Version 2.0 (the "License"); you may
Pawel Zarembski 0:01f31e923fe2 10 * not use this file except in compliance with the License.
Pawel Zarembski 0:01f31e923fe2 11 * You may obtain a copy of the License at
Pawel Zarembski 0:01f31e923fe2 12 *
Pawel Zarembski 0:01f31e923fe2 13 * http://www.apache.org/licenses/LICENSE-2.0
Pawel Zarembski 0:01f31e923fe2 14 *
Pawel Zarembski 0:01f31e923fe2 15 * Unless required by applicable law or agreed to in writing, software
Pawel Zarembski 0:01f31e923fe2 16 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
Pawel Zarembski 0:01f31e923fe2 17 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
Pawel Zarembski 0:01f31e923fe2 18 * See the License for the specific language governing permissions and
Pawel Zarembski 0:01f31e923fe2 19 * limitations under the License.
Pawel Zarembski 0:01f31e923fe2 20 */
Pawel Zarembski 0:01f31e923fe2 21
Pawel Zarembski 0:01f31e923fe2 22 #include "rt_TypeDef.h"
Pawel Zarembski 0:01f31e923fe2 23 #include "RTX_Config.h"
Pawel Zarembski 0:01f31e923fe2 24 #include "rt_System.h"
Pawel Zarembski 0:01f31e923fe2 25 #include "rt_Task.h"
Pawel Zarembski 0:01f31e923fe2 26 #include "rt_List.h"
Pawel Zarembski 0:01f31e923fe2 27 #include "rt_MemBox.h"
Pawel Zarembski 0:01f31e923fe2 28 #include "rt_Robin.h"
Pawel Zarembski 0:01f31e923fe2 29 #include "rt_HAL_CM.h"
Pawel Zarembski 0:01f31e923fe2 30
Pawel Zarembski 0:01f31e923fe2 31 /*----------------------------------------------------------------------------
Pawel Zarembski 0:01f31e923fe2 32 * Global Variables
Pawel Zarembski 0:01f31e923fe2 33 *---------------------------------------------------------------------------*/
Pawel Zarembski 0:01f31e923fe2 34
Pawel Zarembski 0:01f31e923fe2 35 /* Running and next task info. */
Pawel Zarembski 0:01f31e923fe2 36 struct OS_TSK os_tsk;
Pawel Zarembski 0:01f31e923fe2 37
Pawel Zarembski 0:01f31e923fe2 38 /* Task Control Blocks of idle demon */
Pawel Zarembski 0:01f31e923fe2 39 struct OS_TCB os_idle_TCB;
Pawel Zarembski 0:01f31e923fe2 40
Pawel Zarembski 0:01f31e923fe2 41
Pawel Zarembski 0:01f31e923fe2 42 /*----------------------------------------------------------------------------
Pawel Zarembski 0:01f31e923fe2 43 * Local Functions
Pawel Zarembski 0:01f31e923fe2 44 *---------------------------------------------------------------------------*/
Pawel Zarembski 0:01f31e923fe2 45
Pawel Zarembski 0:01f31e923fe2 46 static OS_TID rt_get_TID (void) {
Pawel Zarembski 0:01f31e923fe2 47 U32 tid;
Pawel Zarembski 0:01f31e923fe2 48
Pawel Zarembski 0:01f31e923fe2 49 for (tid = 1; tid <= os_maxtaskrun; tid++) {
Pawel Zarembski 0:01f31e923fe2 50 if (os_active_TCB[tid-1] == NULL) {
Pawel Zarembski 0:01f31e923fe2 51 return ((OS_TID)tid);
Pawel Zarembski 0:01f31e923fe2 52 }
Pawel Zarembski 0:01f31e923fe2 53 }
Pawel Zarembski 0:01f31e923fe2 54 return (0);
Pawel Zarembski 0:01f31e923fe2 55 }
Pawel Zarembski 0:01f31e923fe2 56
Pawel Zarembski 0:01f31e923fe2 57
Pawel Zarembski 0:01f31e923fe2 58 /*--------------------------- rt_init_context -------------------------------*/
Pawel Zarembski 0:01f31e923fe2 59
Pawel Zarembski 0:01f31e923fe2 60 static void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
Pawel Zarembski 0:01f31e923fe2 61 /* Initialize general part of the Task Control Block. */
Pawel Zarembski 0:01f31e923fe2 62 p_TCB->cb_type = TCB;
Pawel Zarembski 0:01f31e923fe2 63 p_TCB->state = READY;
Pawel Zarembski 0:01f31e923fe2 64 p_TCB->prio = priority;
Pawel Zarembski 0:01f31e923fe2 65 p_TCB->p_lnk = NULL;
Pawel Zarembski 0:01f31e923fe2 66 p_TCB->p_rlnk = NULL;
Pawel Zarembski 0:01f31e923fe2 67 p_TCB->p_dlnk = NULL;
Pawel Zarembski 0:01f31e923fe2 68 p_TCB->p_blnk = NULL;
Pawel Zarembski 0:01f31e923fe2 69 p_TCB->delta_time = 0;
Pawel Zarembski 0:01f31e923fe2 70 p_TCB->interval_time = 0;
Pawel Zarembski 0:01f31e923fe2 71 p_TCB->events = 0;
Pawel Zarembski 0:01f31e923fe2 72 p_TCB->waits = 0;
Pawel Zarembski 0:01f31e923fe2 73 p_TCB->ret_val = OS_R_OK;
Pawel Zarembski 0:01f31e923fe2 74 p_TCB->ret_upd = 0;
Pawel Zarembski 0:01f31e923fe2 75
Pawel Zarembski 0:01f31e923fe2 76 if (p_TCB->priv_stack == 0) {
Pawel Zarembski 0:01f31e923fe2 77 /* Allocate the memory space for the stack. */
Pawel Zarembski 0:01f31e923fe2 78 p_TCB->stack = rt_alloc_box (mp_stk);
Pawel Zarembski 0:01f31e923fe2 79 }
Pawel Zarembski 0:01f31e923fe2 80 rt_init_stack (p_TCB, task_body);
Pawel Zarembski 0:01f31e923fe2 81 }
Pawel Zarembski 0:01f31e923fe2 82
Pawel Zarembski 0:01f31e923fe2 83
Pawel Zarembski 0:01f31e923fe2 84 /*--------------------------- rt_switch_req ---------------------------------*/
Pawel Zarembski 0:01f31e923fe2 85
Pawel Zarembski 0:01f31e923fe2 86 void rt_switch_req (P_TCB p_new) {
Pawel Zarembski 0:01f31e923fe2 87 /* Switch to next task (identified by "p_new"). */
Pawel Zarembski 0:01f31e923fe2 88 os_tsk.new = p_new;
Pawel Zarembski 0:01f31e923fe2 89 p_new->state = RUNNING;
Pawel Zarembski 0:01f31e923fe2 90 DBG_TASK_SWITCH(p_new->task_id);
Pawel Zarembski 0:01f31e923fe2 91 }
Pawel Zarembski 0:01f31e923fe2 92
Pawel Zarembski 0:01f31e923fe2 93
Pawel Zarembski 0:01f31e923fe2 94 /*--------------------------- rt_dispatch -----------------------------------*/
Pawel Zarembski 0:01f31e923fe2 95
Pawel Zarembski 0:01f31e923fe2 96 void rt_dispatch (P_TCB next_TCB) {
Pawel Zarembski 0:01f31e923fe2 97 /* Dispatch next task if any identified or dispatch highest ready task */
Pawel Zarembski 0:01f31e923fe2 98 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
Pawel Zarembski 0:01f31e923fe2 99 if (next_TCB == NULL) {
Pawel Zarembski 0:01f31e923fe2 100 /* Running task was blocked: continue with highest ready task */
Pawel Zarembski 0:01f31e923fe2 101 next_TCB = rt_get_first (&os_rdy);
Pawel Zarembski 0:01f31e923fe2 102 rt_switch_req (next_TCB);
Pawel Zarembski 0:01f31e923fe2 103 }
Pawel Zarembski 0:01f31e923fe2 104 else {
Pawel Zarembski 0:01f31e923fe2 105 /* Check which task continues */
Pawel Zarembski 0:01f31e923fe2 106 if (next_TCB->prio > os_tsk.run->prio) {
Pawel Zarembski 0:01f31e923fe2 107 /* preempt running task */
Pawel Zarembski 0:01f31e923fe2 108 rt_put_rdy_first (os_tsk.run);
Pawel Zarembski 0:01f31e923fe2 109 os_tsk.run->state = READY;
Pawel Zarembski 0:01f31e923fe2 110 rt_switch_req (next_TCB);
Pawel Zarembski 0:01f31e923fe2 111 }
Pawel Zarembski 0:01f31e923fe2 112 else {
Pawel Zarembski 0:01f31e923fe2 113 /* put next task into ready list, no task switch takes place */
Pawel Zarembski 0:01f31e923fe2 114 next_TCB->state = READY;
Pawel Zarembski 0:01f31e923fe2 115 rt_put_prio (&os_rdy, next_TCB);
Pawel Zarembski 0:01f31e923fe2 116 }
Pawel Zarembski 0:01f31e923fe2 117 }
Pawel Zarembski 0:01f31e923fe2 118 }
Pawel Zarembski 0:01f31e923fe2 119
Pawel Zarembski 0:01f31e923fe2 120
Pawel Zarembski 0:01f31e923fe2 121 /*--------------------------- rt_block --------------------------------------*/
Pawel Zarembski 0:01f31e923fe2 122
Pawel Zarembski 0:01f31e923fe2 123 void rt_block (U16 timeout, U8 block_state) {
Pawel Zarembski 0:01f31e923fe2 124 /* Block running task and choose next ready task. */
Pawel Zarembski 0:01f31e923fe2 125 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
Pawel Zarembski 0:01f31e923fe2 126 /* "block_state" defines the appropriate task state */
Pawel Zarembski 0:01f31e923fe2 127 P_TCB next_TCB;
Pawel Zarembski 0:01f31e923fe2 128
Pawel Zarembski 0:01f31e923fe2 129 if (timeout) {
Pawel Zarembski 0:01f31e923fe2 130 if (timeout < 0xffff) {
Pawel Zarembski 0:01f31e923fe2 131 rt_put_dly (os_tsk.run, timeout);
Pawel Zarembski 0:01f31e923fe2 132 }
Pawel Zarembski 0:01f31e923fe2 133 os_tsk.run->state = block_state;
Pawel Zarembski 0:01f31e923fe2 134 next_TCB = rt_get_first (&os_rdy);
Pawel Zarembski 0:01f31e923fe2 135 rt_switch_req (next_TCB);
Pawel Zarembski 0:01f31e923fe2 136 }
Pawel Zarembski 0:01f31e923fe2 137 }
Pawel Zarembski 0:01f31e923fe2 138
Pawel Zarembski 0:01f31e923fe2 139
Pawel Zarembski 0:01f31e923fe2 140 /*--------------------------- rt_tsk_pass -----------------------------------*/
Pawel Zarembski 0:01f31e923fe2 141
Pawel Zarembski 0:01f31e923fe2 142 void rt_tsk_pass (void) {
Pawel Zarembski 0:01f31e923fe2 143 /* Allow tasks of same priority level to run cooperatively.*/
Pawel Zarembski 0:01f31e923fe2 144 P_TCB p_new;
Pawel Zarembski 0:01f31e923fe2 145
Pawel Zarembski 0:01f31e923fe2 146 p_new = rt_get_same_rdy_prio();
Pawel Zarembski 0:01f31e923fe2 147 if (p_new != NULL) {
Pawel Zarembski 0:01f31e923fe2 148 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
Pawel Zarembski 0:01f31e923fe2 149 os_tsk.run->state = READY;
Pawel Zarembski 0:01f31e923fe2 150 rt_switch_req (p_new);
Pawel Zarembski 0:01f31e923fe2 151 }
Pawel Zarembski 0:01f31e923fe2 152 }
Pawel Zarembski 0:01f31e923fe2 153
Pawel Zarembski 0:01f31e923fe2 154
Pawel Zarembski 0:01f31e923fe2 155 /*--------------------------- rt_tsk_self -----------------------------------*/
Pawel Zarembski 0:01f31e923fe2 156
Pawel Zarembski 0:01f31e923fe2 157 OS_TID rt_tsk_self (void) {
Pawel Zarembski 0:01f31e923fe2 158 /* Return own task identifier value. */
Pawel Zarembski 0:01f31e923fe2 159 if (os_tsk.run == NULL) {
Pawel Zarembski 0:01f31e923fe2 160 return (0);
Pawel Zarembski 0:01f31e923fe2 161 }
Pawel Zarembski 0:01f31e923fe2 162 return (os_tsk.run->task_id);
Pawel Zarembski 0:01f31e923fe2 163 }
Pawel Zarembski 0:01f31e923fe2 164
Pawel Zarembski 0:01f31e923fe2 165
Pawel Zarembski 0:01f31e923fe2 166 /*--------------------------- rt_tsk_prio -----------------------------------*/
Pawel Zarembski 0:01f31e923fe2 167
Pawel Zarembski 0:01f31e923fe2 168 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
Pawel Zarembski 0:01f31e923fe2 169 /* Change execution priority of a task to "new_prio". */
Pawel Zarembski 0:01f31e923fe2 170 P_TCB p_task;
Pawel Zarembski 0:01f31e923fe2 171
Pawel Zarembski 0:01f31e923fe2 172 if (task_id == 0) {
Pawel Zarembski 0:01f31e923fe2 173 /* Change execution priority of calling task. */
Pawel Zarembski 0:01f31e923fe2 174 os_tsk.run->prio = new_prio;
Pawel Zarembski 0:01f31e923fe2 175 run:if (rt_rdy_prio() > new_prio) {
Pawel Zarembski 0:01f31e923fe2 176 rt_put_prio (&os_rdy, os_tsk.run);
Pawel Zarembski 0:01f31e923fe2 177 os_tsk.run->state = READY;
Pawel Zarembski 0:01f31e923fe2 178 os_tsk.run->ret_val = OS_R_OK;
Pawel Zarembski 0:01f31e923fe2 179 rt_dispatch (NULL);
Pawel Zarembski 0:01f31e923fe2 180 }
Pawel Zarembski 0:01f31e923fe2 181 return (OS_R_OK);
Pawel Zarembski 0:01f31e923fe2 182 }
Pawel Zarembski 0:01f31e923fe2 183
Pawel Zarembski 0:01f31e923fe2 184 /* Find the task in the "os_active_TCB" array. */
Pawel Zarembski 0:01f31e923fe2 185 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
Pawel Zarembski 0:01f31e923fe2 186 /* Task with "task_id" not found or not started. */
Pawel Zarembski 0:01f31e923fe2 187 return (OS_R_NOK);
Pawel Zarembski 0:01f31e923fe2 188 }
Pawel Zarembski 0:01f31e923fe2 189 p_task = os_active_TCB[task_id-1];
Pawel Zarembski 0:01f31e923fe2 190 p_task->prio = new_prio;
Pawel Zarembski 0:01f31e923fe2 191 if (p_task == os_tsk.run) {
Pawel Zarembski 0:01f31e923fe2 192 goto run;
Pawel Zarembski 0:01f31e923fe2 193 }
Pawel Zarembski 0:01f31e923fe2 194 rt_resort_prio (p_task);
Pawel Zarembski 0:01f31e923fe2 195 if (p_task->state == READY) {
Pawel Zarembski 0:01f31e923fe2 196 /* Task enqueued in a ready list. */
Pawel Zarembski 0:01f31e923fe2 197 p_task = rt_get_first (&os_rdy);
Pawel Zarembski 0:01f31e923fe2 198 os_tsk.run->ret_val = OS_R_OK;
Pawel Zarembski 0:01f31e923fe2 199 rt_dispatch (p_task);
Pawel Zarembski 0:01f31e923fe2 200 }
Pawel Zarembski 0:01f31e923fe2 201 return (OS_R_OK);
Pawel Zarembski 0:01f31e923fe2 202 }
Pawel Zarembski 0:01f31e923fe2 203
Pawel Zarembski 0:01f31e923fe2 204
Pawel Zarembski 0:01f31e923fe2 205 /*--------------------------- rt_tsk_create ---------------------------------*/
Pawel Zarembski 0:01f31e923fe2 206
Pawel Zarembski 0:01f31e923fe2 207 OS_TID rt_tsk_create (FUNCP task, U32 prio_stksz, void *stk, void *argv) {
Pawel Zarembski 0:01f31e923fe2 208 /* Start a new task declared with "task". */
Pawel Zarembski 0:01f31e923fe2 209 P_TCB task_context;
Pawel Zarembski 0:01f31e923fe2 210 U32 i;
Pawel Zarembski 0:01f31e923fe2 211
Pawel Zarembski 0:01f31e923fe2 212 /* Priority 0 is reserved for idle task! */
Pawel Zarembski 0:01f31e923fe2 213 if ((prio_stksz & 0xFF) == 0) {
Pawel Zarembski 0:01f31e923fe2 214 prio_stksz += 1;
Pawel Zarembski 0:01f31e923fe2 215 }
Pawel Zarembski 0:01f31e923fe2 216 task_context = rt_alloc_box (mp_tcb);
Pawel Zarembski 0:01f31e923fe2 217 if (task_context == NULL) {
Pawel Zarembski 0:01f31e923fe2 218 return (0);
Pawel Zarembski 0:01f31e923fe2 219 }
Pawel Zarembski 0:01f31e923fe2 220 /* If "size != 0" use a private user provided stack. */
Pawel Zarembski 0:01f31e923fe2 221 task_context->stack = stk;
Pawel Zarembski 0:01f31e923fe2 222 task_context->priv_stack = prio_stksz >> 8;
Pawel Zarembski 0:01f31e923fe2 223 /* Pass parameter 'argv' to 'rt_init_context' */
Pawel Zarembski 0:01f31e923fe2 224 task_context->msg = argv;
Pawel Zarembski 0:01f31e923fe2 225 /* For 'size == 0' system allocates the user stack from the memory pool. */
Pawel Zarembski 0:01f31e923fe2 226 rt_init_context (task_context, prio_stksz & 0xFF, task);
Pawel Zarembski 0:01f31e923fe2 227
Pawel Zarembski 0:01f31e923fe2 228 /* Find a free entry in 'os_active_TCB' table. */
Pawel Zarembski 0:01f31e923fe2 229 i = rt_get_TID ();
Pawel Zarembski 0:01f31e923fe2 230 os_active_TCB[i-1] = task_context;
Pawel Zarembski 0:01f31e923fe2 231 task_context->task_id = i;
Pawel Zarembski 0:01f31e923fe2 232 DBG_TASK_NOTIFY(task_context, __TRUE);
Pawel Zarembski 0:01f31e923fe2 233 rt_dispatch (task_context);
Pawel Zarembski 0:01f31e923fe2 234 os_tsk.run->ret_val = i;
Pawel Zarembski 0:01f31e923fe2 235 return ((OS_TID)i);
Pawel Zarembski 0:01f31e923fe2 236 }
Pawel Zarembski 0:01f31e923fe2 237
Pawel Zarembski 0:01f31e923fe2 238
Pawel Zarembski 0:01f31e923fe2 239 /*--------------------------- rt_tsk_delete ---------------------------------*/
Pawel Zarembski 0:01f31e923fe2 240
Pawel Zarembski 0:01f31e923fe2 241 OS_RESULT rt_tsk_delete (OS_TID task_id) {
Pawel Zarembski 0:01f31e923fe2 242 /* Terminate the task identified with "task_id". */
Pawel Zarembski 0:01f31e923fe2 243 P_TCB task_context;
Pawel Zarembski 0:01f31e923fe2 244
Pawel Zarembski 0:01f31e923fe2 245 if (task_id == 0 || task_id == os_tsk.run->task_id) {
Pawel Zarembski 0:01f31e923fe2 246 /* Terminate itself. */
Pawel Zarembski 0:01f31e923fe2 247 os_tsk.run->state = INACTIVE;
Pawel Zarembski 0:01f31e923fe2 248 os_tsk.run->tsk_stack = rt_get_PSP ();
Pawel Zarembski 0:01f31e923fe2 249 rt_stk_check ();
Pawel Zarembski 0:01f31e923fe2 250 os_active_TCB[os_tsk.run->task_id-1] = NULL;
Pawel Zarembski 0:01f31e923fe2 251 rt_free_box (mp_stk, os_tsk.run->stack);
Pawel Zarembski 0:01f31e923fe2 252 os_tsk.run->stack = NULL;
Pawel Zarembski 0:01f31e923fe2 253 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
Pawel Zarembski 0:01f31e923fe2 254 rt_free_box (mp_tcb, os_tsk.run);
Pawel Zarembski 0:01f31e923fe2 255 os_tsk.run = NULL;
Pawel Zarembski 0:01f31e923fe2 256 rt_dispatch (NULL);
Pawel Zarembski 0:01f31e923fe2 257 /* The program should never come to this point. */
Pawel Zarembski 0:01f31e923fe2 258 }
Pawel Zarembski 0:01f31e923fe2 259 else {
Pawel Zarembski 0:01f31e923fe2 260 /* Find the task in the "os_active_TCB" array. */
Pawel Zarembski 0:01f31e923fe2 261 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
Pawel Zarembski 0:01f31e923fe2 262 /* Task with "task_id" not found or not started. */
Pawel Zarembski 0:01f31e923fe2 263 return (OS_R_NOK);
Pawel Zarembski 0:01f31e923fe2 264 }
Pawel Zarembski 0:01f31e923fe2 265 task_context = os_active_TCB[task_id-1];
Pawel Zarembski 0:01f31e923fe2 266 rt_rmv_list (task_context);
Pawel Zarembski 0:01f31e923fe2 267 rt_rmv_dly (task_context);
Pawel Zarembski 0:01f31e923fe2 268 os_active_TCB[task_id-1] = NULL;
Pawel Zarembski 0:01f31e923fe2 269 rt_free_box (mp_stk, task_context->stack);
Pawel Zarembski 0:01f31e923fe2 270 task_context->stack = NULL;
Pawel Zarembski 0:01f31e923fe2 271 DBG_TASK_NOTIFY(task_context, __FALSE);
Pawel Zarembski 0:01f31e923fe2 272 rt_free_box (mp_tcb, task_context);
Pawel Zarembski 0:01f31e923fe2 273 }
Pawel Zarembski 0:01f31e923fe2 274 return (OS_R_OK);
Pawel Zarembski 0:01f31e923fe2 275 }
Pawel Zarembski 0:01f31e923fe2 276
Pawel Zarembski 0:01f31e923fe2 277
Pawel Zarembski 0:01f31e923fe2 278 /*--------------------------- rt_sys_init -----------------------------------*/
Pawel Zarembski 0:01f31e923fe2 279
Pawel Zarembski 0:01f31e923fe2 280 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
Pawel Zarembski 0:01f31e923fe2 281 /* Initialize system and start up task declared with "first_task". */
Pawel Zarembski 0:01f31e923fe2 282 U32 i;
Pawel Zarembski 0:01f31e923fe2 283
Pawel Zarembski 0:01f31e923fe2 284 DBG_INIT();
Pawel Zarembski 0:01f31e923fe2 285
Pawel Zarembski 0:01f31e923fe2 286 /* Initialize dynamic memory and task TCB pointers to NULL. */
Pawel Zarembski 0:01f31e923fe2 287 for (i = 0; i < os_maxtaskrun; i++) {
Pawel Zarembski 0:01f31e923fe2 288 os_active_TCB[i] = NULL;
Pawel Zarembski 0:01f31e923fe2 289 }
Pawel Zarembski 0:01f31e923fe2 290 rt_init_box (&mp_tcb, mp_tcb_size, sizeof(struct OS_TCB));
Pawel Zarembski 0:01f31e923fe2 291 rt_init_box (&mp_stk, mp_stk_size, BOX_ALIGN_8 | (U16)(os_stackinfo));
Pawel Zarembski 0:01f31e923fe2 292 rt_init_box ((U32 *)m_tmr, mp_tmr_size, sizeof(struct OS_TMR));
Pawel Zarembski 0:01f31e923fe2 293
Pawel Zarembski 0:01f31e923fe2 294 /* Set up TCB of idle demon */
Pawel Zarembski 0:01f31e923fe2 295 os_idle_TCB.task_id = 255;
Pawel Zarembski 0:01f31e923fe2 296 os_idle_TCB.priv_stack = 0;
Pawel Zarembski 0:01f31e923fe2 297 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
Pawel Zarembski 0:01f31e923fe2 298
Pawel Zarembski 0:01f31e923fe2 299 /* Set up ready list: initially empty */
Pawel Zarembski 0:01f31e923fe2 300 os_rdy.cb_type = HCB;
Pawel Zarembski 0:01f31e923fe2 301 os_rdy.p_lnk = NULL;
Pawel Zarembski 0:01f31e923fe2 302 /* Set up delay list: initially empty */
Pawel Zarembski 0:01f31e923fe2 303 os_dly.cb_type = HCB;
Pawel Zarembski 0:01f31e923fe2 304 os_dly.p_dlnk = NULL;
Pawel Zarembski 0:01f31e923fe2 305 os_dly.p_blnk = NULL;
Pawel Zarembski 0:01f31e923fe2 306 os_dly.delta_time = 0;
Pawel Zarembski 0:01f31e923fe2 307
Pawel Zarembski 0:01f31e923fe2 308 /* Fix SP and systemvariables to assume idle task is running */
Pawel Zarembski 0:01f31e923fe2 309 /* Transform main program into idle task by assuming idle TCB */
Pawel Zarembski 0:01f31e923fe2 310 rt_set_PSP (os_idle_TCB.tsk_stack+32);
Pawel Zarembski 0:01f31e923fe2 311 os_tsk.run = &os_idle_TCB;
Pawel Zarembski 0:01f31e923fe2 312 os_tsk.run->state = RUNNING;
Pawel Zarembski 0:01f31e923fe2 313
Pawel Zarembski 0:01f31e923fe2 314 /* Initialize ps queue */
Pawel Zarembski 0:01f31e923fe2 315 os_psq->first = 0;
Pawel Zarembski 0:01f31e923fe2 316 os_psq->last = 0;
Pawel Zarembski 0:01f31e923fe2 317 os_psq->size = os_fifo_size;
Pawel Zarembski 0:01f31e923fe2 318
Pawel Zarembski 0:01f31e923fe2 319 rt_init_robin ();
Pawel Zarembski 0:01f31e923fe2 320
Pawel Zarembski 0:01f31e923fe2 321 /* Intitialize SVC and PendSV */
Pawel Zarembski 0:01f31e923fe2 322 rt_svc_init ();
Pawel Zarembski 0:01f31e923fe2 323
Pawel Zarembski 0:01f31e923fe2 324 /* Intitialize system clock timer */
Pawel Zarembski 0:01f31e923fe2 325 os_tick_irqn = os_tick_init ();
Pawel Zarembski 0:01f31e923fe2 326 if (os_tick_irqn >= 0) {
Pawel Zarembski 0:01f31e923fe2 327 OS_X_INIT(os_tick_irqn);
Pawel Zarembski 0:01f31e923fe2 328 }
Pawel Zarembski 0:01f31e923fe2 329
Pawel Zarembski 0:01f31e923fe2 330 /* Start up first user task before entering the endless loop */
Pawel Zarembski 0:01f31e923fe2 331 rt_tsk_create (first_task, prio_stksz, stk, NULL);
Pawel Zarembski 0:01f31e923fe2 332 }
Pawel Zarembski 0:01f31e923fe2 333
Pawel Zarembski 0:01f31e923fe2 334 /*----------------------------------------------------------------------------
Pawel Zarembski 0:01f31e923fe2 335 * end of file
Pawel Zarembski 0:01f31e923fe2 336 *---------------------------------------------------------------------------*/