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Dependencies:   mbed

Fork of el17dg by Dmitrijs Griskovs

mbed-rtos/rtx/TARGET_ARM7/rt_Task.c@40:e3bbda7444fa, 2019-05-07 (annotated)

Committer:
Noximilien
Date:
Tue May 07 15:22:35 2019 +0000
Revision:
40:e3bbda7444fa
Parent:
1:5aa2312d3e94 
The Final, Submission Version. I have read and agreed to the academic integrity. SID:201160286

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Noximilien 1:5aa2312d3e94 1 /*----------------------------------------------------------------------------
Noximilien 1:5aa2312d3e94 2 * RL-ARM - RTX
Noximilien 1:5aa2312d3e94 3 *----------------------------------------------------------------------------
Noximilien 1:5aa2312d3e94 4 * Name: RT_TASK.C
Noximilien 1:5aa2312d3e94 5 * Purpose: Task functions and system start up.
Noximilien 1:5aa2312d3e94 6 * Rev.: V4.60
Noximilien 1:5aa2312d3e94 7 *----------------------------------------------------------------------------
Noximilien 1:5aa2312d3e94 8 *
Noximilien 1:5aa2312d3e94 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
Noximilien 1:5aa2312d3e94 10 * All rights reserved.
Noximilien 1:5aa2312d3e94 11 * Redistribution and use in source and binary forms, with or without
Noximilien 1:5aa2312d3e94 12 * modification, are permitted provided that the following conditions are met:
Noximilien 1:5aa2312d3e94 13 * - Redistributions of source code must retain the above copyright
Noximilien 1:5aa2312d3e94 14 * notice, this list of conditions and the following disclaimer.
Noximilien 1:5aa2312d3e94 15 * - Redistributions in binary form must reproduce the above copyright
Noximilien 1:5aa2312d3e94 16 * notice, this list of conditions and the following disclaimer in the
Noximilien 1:5aa2312d3e94 17 * documentation and/or other materials provided with the distribution.
Noximilien 1:5aa2312d3e94 18 * - Neither the name of ARM nor the names of its contributors may be used
Noximilien 1:5aa2312d3e94 19 * to endorse or promote products derived from this software without
Noximilien 1:5aa2312d3e94 20 * specific prior written permission.
Noximilien 1:5aa2312d3e94 21 *
Noximilien 1:5aa2312d3e94 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Noximilien 1:5aa2312d3e94 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Noximilien 1:5aa2312d3e94 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
Noximilien 1:5aa2312d3e94 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
Noximilien 1:5aa2312d3e94 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
Noximilien 1:5aa2312d3e94 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
Noximilien 1:5aa2312d3e94 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
Noximilien 1:5aa2312d3e94 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
Noximilien 1:5aa2312d3e94 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
Noximilien 1:5aa2312d3e94 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
Noximilien 1:5aa2312d3e94 32 * POSSIBILITY OF SUCH DAMAGE.
Noximilien 1:5aa2312d3e94 33 *---------------------------------------------------------------------------*/
Noximilien 1:5aa2312d3e94 34
Noximilien 1:5aa2312d3e94 35 #include "rt_TypeDef.h"
Noximilien 1:5aa2312d3e94 36 #include "RTX_Conf.h"
Noximilien 1:5aa2312d3e94 37 #include "rt_System.h"
Noximilien 1:5aa2312d3e94 38 #include "rt_Task.h"
Noximilien 1:5aa2312d3e94 39 #include "rt_List.h"
Noximilien 1:5aa2312d3e94 40 #include "rt_MemBox.h"
Noximilien 1:5aa2312d3e94 41 #include "rt_Robin.h"
Noximilien 1:5aa2312d3e94 42 #include "rt_HAL_CM.h"
Noximilien 1:5aa2312d3e94 43
Noximilien 1:5aa2312d3e94 44 /*----------------------------------------------------------------------------
Noximilien 1:5aa2312d3e94 45 * Global Variables
Noximilien 1:5aa2312d3e94 46 *---------------------------------------------------------------------------*/
Noximilien 1:5aa2312d3e94 47
Noximilien 1:5aa2312d3e94 48 /* Running and next task info. */
Noximilien 1:5aa2312d3e94 49 struct OS_TSK os_tsk;
Noximilien 1:5aa2312d3e94 50
Noximilien 1:5aa2312d3e94 51 /* Task Control Blocks of idle demon */
Noximilien 1:5aa2312d3e94 52 struct OS_TCB os_idle_TCB;
Noximilien 1:5aa2312d3e94 53
Noximilien 1:5aa2312d3e94 54
Noximilien 1:5aa2312d3e94 55 /*----------------------------------------------------------------------------
Noximilien 1:5aa2312d3e94 56 * Local Functions
Noximilien 1:5aa2312d3e94 57 *---------------------------------------------------------------------------*/
Noximilien 1:5aa2312d3e94 58
Noximilien 1:5aa2312d3e94 59 OS_TID rt_get_TID (void) {
Noximilien 1:5aa2312d3e94 60 U32 tid;
Noximilien 1:5aa2312d3e94 61
Noximilien 1:5aa2312d3e94 62 for (tid = 1; tid <= os_maxtaskrun; tid++) {
Noximilien 1:5aa2312d3e94 63 if (os_active_TCB[tid-1] == NULL) {
Noximilien 1:5aa2312d3e94 64 return ((OS_TID)tid);
Noximilien 1:5aa2312d3e94 65 }
Noximilien 1:5aa2312d3e94 66 }
Noximilien 1:5aa2312d3e94 67 return (0);
Noximilien 1:5aa2312d3e94 68 }
Noximilien 1:5aa2312d3e94 69
Noximilien 1:5aa2312d3e94 70 #if defined (__CC_ARM) && !defined (__MICROLIB)
Noximilien 1:5aa2312d3e94 71 /*--------------------------- __user_perthread_libspace ---------------------*/
Noximilien 1:5aa2312d3e94 72 extern void *__libspace_start;
Noximilien 1:5aa2312d3e94 73
Noximilien 1:5aa2312d3e94 74 void *__user_perthread_libspace (void) {
Noximilien 1:5aa2312d3e94 75 /* Provide a separate libspace for each task. */
Noximilien 1:5aa2312d3e94 76 if (os_tsk.run == NULL) {
Noximilien 1:5aa2312d3e94 77 /* RTX not running yet. */
Noximilien 1:5aa2312d3e94 78 return (&__libspace_start);
Noximilien 1:5aa2312d3e94 79 }
Noximilien 1:5aa2312d3e94 80 return (void *)(os_tsk.run->std_libspace);
Noximilien 1:5aa2312d3e94 81 }
Noximilien 1:5aa2312d3e94 82 #endif
Noximilien 1:5aa2312d3e94 83
Noximilien 1:5aa2312d3e94 84 /*--------------------------- rt_init_context -------------------------------*/
Noximilien 1:5aa2312d3e94 85
Noximilien 1:5aa2312d3e94 86 void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
Noximilien 1:5aa2312d3e94 87 /* Initialize general part of the Task Control Block. */
Noximilien 1:5aa2312d3e94 88 p_TCB->cb_type = TCB;
Noximilien 1:5aa2312d3e94 89 p_TCB->state = READY;
Noximilien 1:5aa2312d3e94 90 p_TCB->prio = priority;
Noximilien 1:5aa2312d3e94 91 p_TCB->p_lnk = NULL;
Noximilien 1:5aa2312d3e94 92 p_TCB->p_rlnk = NULL;
Noximilien 1:5aa2312d3e94 93 p_TCB->p_dlnk = NULL;
Noximilien 1:5aa2312d3e94 94 p_TCB->p_blnk = NULL;
Noximilien 1:5aa2312d3e94 95 p_TCB->delta_time = 0;
Noximilien 1:5aa2312d3e94 96 p_TCB->interval_time = 0;
Noximilien 1:5aa2312d3e94 97 p_TCB->events = 0;
Noximilien 1:5aa2312d3e94 98 p_TCB->waits = 0;
Noximilien 1:5aa2312d3e94 99 p_TCB->stack_frame = 0;
Noximilien 1:5aa2312d3e94 100
Noximilien 1:5aa2312d3e94 101 rt_init_stack (p_TCB, task_body);
Noximilien 1:5aa2312d3e94 102 }
Noximilien 1:5aa2312d3e94 103
Noximilien 1:5aa2312d3e94 104
Noximilien 1:5aa2312d3e94 105 /*--------------------------- rt_switch_req ---------------------------------*/
Noximilien 1:5aa2312d3e94 106
Noximilien 1:5aa2312d3e94 107 void rt_switch_req (P_TCB p_new) {
Noximilien 1:5aa2312d3e94 108 /* Switch to next task (identified by "p_new"). */
Noximilien 1:5aa2312d3e94 109 os_tsk.new_tsk = p_new;
Noximilien 1:5aa2312d3e94 110 p_new->state = RUNNING;
Noximilien 1:5aa2312d3e94 111 DBG_TASK_SWITCH(p_new->task_id);
Noximilien 1:5aa2312d3e94 112 }
Noximilien 1:5aa2312d3e94 113
Noximilien 1:5aa2312d3e94 114
Noximilien 1:5aa2312d3e94 115 /*--------------------------- rt_dispatch -----------------------------------*/
Noximilien 1:5aa2312d3e94 116
Noximilien 1:5aa2312d3e94 117 void rt_dispatch (P_TCB next_TCB) {
Noximilien 1:5aa2312d3e94 118 /* Dispatch next task if any identified or dispatch highest ready task */
Noximilien 1:5aa2312d3e94 119 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
Noximilien 1:5aa2312d3e94 120 if (next_TCB == NULL) {
Noximilien 1:5aa2312d3e94 121 /* Running task was blocked: continue with highest ready task */
Noximilien 1:5aa2312d3e94 122 next_TCB = rt_get_first (&os_rdy);
Noximilien 1:5aa2312d3e94 123 rt_switch_req (next_TCB);
Noximilien 1:5aa2312d3e94 124 }
Noximilien 1:5aa2312d3e94 125 else {
Noximilien 1:5aa2312d3e94 126 /* Check which task continues */
Noximilien 1:5aa2312d3e94 127 if (next_TCB->prio > os_tsk.run->prio) {
Noximilien 1:5aa2312d3e94 128 /* preempt running task */
Noximilien 1:5aa2312d3e94 129 rt_put_rdy_first (os_tsk.run);
Noximilien 1:5aa2312d3e94 130 os_tsk.run->state = READY;
Noximilien 1:5aa2312d3e94 131 rt_switch_req (next_TCB);
Noximilien 1:5aa2312d3e94 132 }
Noximilien 1:5aa2312d3e94 133 else {
Noximilien 1:5aa2312d3e94 134 /* put next task into ready list, no task switch takes place */
Noximilien 1:5aa2312d3e94 135 next_TCB->state = READY;
Noximilien 1:5aa2312d3e94 136 rt_put_prio (&os_rdy, next_TCB);
Noximilien 1:5aa2312d3e94 137 }
Noximilien 1:5aa2312d3e94 138 }
Noximilien 1:5aa2312d3e94 139 }
Noximilien 1:5aa2312d3e94 140
Noximilien 1:5aa2312d3e94 141
Noximilien 1:5aa2312d3e94 142 /*--------------------------- rt_block --------------------------------------*/
Noximilien 1:5aa2312d3e94 143
Noximilien 1:5aa2312d3e94 144 void rt_block (U16 timeout, U8 block_state) {
Noximilien 1:5aa2312d3e94 145 /* Block running task and choose next ready task. */
Noximilien 1:5aa2312d3e94 146 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
Noximilien 1:5aa2312d3e94 147 /* "block_state" defines the appropriate task state */
Noximilien 1:5aa2312d3e94 148 P_TCB next_TCB;
Noximilien 1:5aa2312d3e94 149
Noximilien 1:5aa2312d3e94 150 if (timeout) {
Noximilien 1:5aa2312d3e94 151 if (timeout < 0xffff) {
Noximilien 1:5aa2312d3e94 152 rt_put_dly (os_tsk.run, timeout);
Noximilien 1:5aa2312d3e94 153 }
Noximilien 1:5aa2312d3e94 154 os_tsk.run->state = block_state;
Noximilien 1:5aa2312d3e94 155 next_TCB = rt_get_first (&os_rdy);
Noximilien 1:5aa2312d3e94 156 rt_switch_req (next_TCB);
Noximilien 1:5aa2312d3e94 157 }
Noximilien 1:5aa2312d3e94 158 }
Noximilien 1:5aa2312d3e94 159
Noximilien 1:5aa2312d3e94 160
Noximilien 1:5aa2312d3e94 161 /*--------------------------- rt_tsk_pass -----------------------------------*/
Noximilien 1:5aa2312d3e94 162
Noximilien 1:5aa2312d3e94 163 void rt_tsk_pass (void) {
Noximilien 1:5aa2312d3e94 164 /* Allow tasks of same priority level to run cooperatively.*/
Noximilien 1:5aa2312d3e94 165 P_TCB p_new;
Noximilien 1:5aa2312d3e94 166
Noximilien 1:5aa2312d3e94 167 p_new = rt_get_same_rdy_prio();
Noximilien 1:5aa2312d3e94 168 if (p_new != NULL) {
Noximilien 1:5aa2312d3e94 169 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
Noximilien 1:5aa2312d3e94 170 os_tsk.run->state = READY;
Noximilien 1:5aa2312d3e94 171 rt_switch_req (p_new);
Noximilien 1:5aa2312d3e94 172 }
Noximilien 1:5aa2312d3e94 173 }
Noximilien 1:5aa2312d3e94 174
Noximilien 1:5aa2312d3e94 175
Noximilien 1:5aa2312d3e94 176 /*--------------------------- rt_tsk_self -----------------------------------*/
Noximilien 1:5aa2312d3e94 177
Noximilien 1:5aa2312d3e94 178 OS_TID rt_tsk_self (void) {
Noximilien 1:5aa2312d3e94 179 /* Return own task identifier value. */
Noximilien 1:5aa2312d3e94 180 if (os_tsk.run == NULL) {
Noximilien 1:5aa2312d3e94 181 return (0);
Noximilien 1:5aa2312d3e94 182 }
Noximilien 1:5aa2312d3e94 183 return (os_tsk.run->task_id);
Noximilien 1:5aa2312d3e94 184 }
Noximilien 1:5aa2312d3e94 185
Noximilien 1:5aa2312d3e94 186
Noximilien 1:5aa2312d3e94 187 /*--------------------------- rt_tsk_prio -----------------------------------*/
Noximilien 1:5aa2312d3e94 188
Noximilien 1:5aa2312d3e94 189 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
Noximilien 1:5aa2312d3e94 190 /* Change execution priority of a task to "new_prio". */
Noximilien 1:5aa2312d3e94 191 P_TCB p_task;
Noximilien 1:5aa2312d3e94 192
Noximilien 1:5aa2312d3e94 193 if (task_id == 0) {
Noximilien 1:5aa2312d3e94 194 /* Change execution priority of calling task. */
Noximilien 1:5aa2312d3e94 195 os_tsk.run->prio = new_prio;
Noximilien 1:5aa2312d3e94 196 run:if (rt_rdy_prio() > new_prio) {
Noximilien 1:5aa2312d3e94 197 rt_put_prio (&os_rdy, os_tsk.run);
Noximilien 1:5aa2312d3e94 198 os_tsk.run->state = READY;
Noximilien 1:5aa2312d3e94 199 rt_dispatch (NULL);
Noximilien 1:5aa2312d3e94 200 }
Noximilien 1:5aa2312d3e94 201 return (OS_R_OK);
Noximilien 1:5aa2312d3e94 202 }
Noximilien 1:5aa2312d3e94 203
Noximilien 1:5aa2312d3e94 204 /* Find the task in the "os_active_TCB" array. */
Noximilien 1:5aa2312d3e94 205 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
Noximilien 1:5aa2312d3e94 206 /* Task with "task_id" not found or not started. */
Noximilien 1:5aa2312d3e94 207 return (OS_R_NOK);
Noximilien 1:5aa2312d3e94 208 }
Noximilien 1:5aa2312d3e94 209 p_task = os_active_TCB[task_id-1];
Noximilien 1:5aa2312d3e94 210 p_task->prio = new_prio;
Noximilien 1:5aa2312d3e94 211 if (p_task == os_tsk.run) {
Noximilien 1:5aa2312d3e94 212 goto run;
Noximilien 1:5aa2312d3e94 213 }
Noximilien 1:5aa2312d3e94 214 rt_resort_prio (p_task);
Noximilien 1:5aa2312d3e94 215 if (p_task->state == READY) {
Noximilien 1:5aa2312d3e94 216 /* Task enqueued in a ready list. */
Noximilien 1:5aa2312d3e94 217 p_task = rt_get_first (&os_rdy);
Noximilien 1:5aa2312d3e94 218 rt_dispatch (p_task);
Noximilien 1:5aa2312d3e94 219 }
Noximilien 1:5aa2312d3e94 220 return (OS_R_OK);
Noximilien 1:5aa2312d3e94 221 }
Noximilien 1:5aa2312d3e94 222
Noximilien 1:5aa2312d3e94 223 /*--------------------------- rt_tsk_delete ---------------------------------*/
Noximilien 1:5aa2312d3e94 224
Noximilien 1:5aa2312d3e94 225 OS_RESULT rt_tsk_delete (OS_TID task_id) {
Noximilien 1:5aa2312d3e94 226 /* Terminate the task identified with "task_id". */
Noximilien 1:5aa2312d3e94 227 P_TCB task_context;
Noximilien 1:5aa2312d3e94 228
Noximilien 1:5aa2312d3e94 229 if (task_id == 0 || task_id == os_tsk.run->task_id) {
Noximilien 1:5aa2312d3e94 230 /* Terminate itself. */
Noximilien 1:5aa2312d3e94 231 os_tsk.run->state = INACTIVE;
Noximilien 1:5aa2312d3e94 232 os_tsk.run->tsk_stack = 0;
Noximilien 1:5aa2312d3e94 233 rt_stk_check ();
Noximilien 1:5aa2312d3e94 234 os_active_TCB[os_tsk.run->task_id-1] = NULL;
Noximilien 1:5aa2312d3e94 235
Noximilien 1:5aa2312d3e94 236 os_tsk.run->stack = NULL;
Noximilien 1:5aa2312d3e94 237 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
Noximilien 1:5aa2312d3e94 238 os_tsk.run = NULL;
Noximilien 1:5aa2312d3e94 239 rt_dispatch (NULL);
Noximilien 1:5aa2312d3e94 240 /* The program should never come to this point. */
Noximilien 1:5aa2312d3e94 241 }
Noximilien 1:5aa2312d3e94 242 else {
Noximilien 1:5aa2312d3e94 243 /* Find the task in the "os_active_TCB" array. */
Noximilien 1:5aa2312d3e94 244 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
Noximilien 1:5aa2312d3e94 245 /* Task with "task_id" not found or not started. */
Noximilien 1:5aa2312d3e94 246 return (OS_R_NOK);
Noximilien 1:5aa2312d3e94 247 }
Noximilien 1:5aa2312d3e94 248 task_context = os_active_TCB[task_id-1];
Noximilien 1:5aa2312d3e94 249 rt_rmv_list (task_context);
Noximilien 1:5aa2312d3e94 250 rt_rmv_dly (task_context);
Noximilien 1:5aa2312d3e94 251 os_active_TCB[task_id-1] = NULL;
Noximilien 1:5aa2312d3e94 252
Noximilien 1:5aa2312d3e94 253 task_context->stack = NULL;
Noximilien 1:5aa2312d3e94 254 DBG_TASK_NOTIFY(task_context, __FALSE);
Noximilien 1:5aa2312d3e94 255 }
Noximilien 1:5aa2312d3e94 256 return (OS_R_OK);
Noximilien 1:5aa2312d3e94 257 }
Noximilien 1:5aa2312d3e94 258
Noximilien 1:5aa2312d3e94 259
Noximilien 1:5aa2312d3e94 260 /*--------------------------- rt_sys_init -----------------------------------*/
Noximilien 1:5aa2312d3e94 261
Noximilien 1:5aa2312d3e94 262 #ifdef __CMSIS_RTOS
Noximilien 1:5aa2312d3e94 263 void rt_sys_init (void) {
Noximilien 1:5aa2312d3e94 264 #else
Noximilien 1:5aa2312d3e94 265 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
Noximilien 1:5aa2312d3e94 266 #endif
Noximilien 1:5aa2312d3e94 267 /* Initialize system and start up task declared with "first_task". */
Noximilien 1:5aa2312d3e94 268 U32 i;
Noximilien 1:5aa2312d3e94 269
Noximilien 1:5aa2312d3e94 270 DBG_INIT();
Noximilien 1:5aa2312d3e94 271
Noximilien 1:5aa2312d3e94 272 /* Initialize dynamic memory and task TCB pointers to NULL. */
Noximilien 1:5aa2312d3e94 273 for (i = 0; i < os_maxtaskrun; i++) {
Noximilien 1:5aa2312d3e94 274 os_active_TCB[i] = NULL;
Noximilien 1:5aa2312d3e94 275 }
Noximilien 1:5aa2312d3e94 276
Noximilien 1:5aa2312d3e94 277 /* Set up TCB of idle demon */
Noximilien 1:5aa2312d3e94 278 os_idle_TCB.task_id = 255;
Noximilien 1:5aa2312d3e94 279 os_idle_TCB.priv_stack = idle_task_stack_size;
Noximilien 1:5aa2312d3e94 280 os_idle_TCB.stack = idle_task_stack;
Noximilien 1:5aa2312d3e94 281 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
Noximilien 1:5aa2312d3e94 282
Noximilien 1:5aa2312d3e94 283 /* Set up ready list: initially empty */
Noximilien 1:5aa2312d3e94 284 os_rdy.cb_type = HCB;
Noximilien 1:5aa2312d3e94 285 os_rdy.p_lnk = NULL;
Noximilien 1:5aa2312d3e94 286 /* Set up delay list: initially empty */
Noximilien 1:5aa2312d3e94 287 os_dly.cb_type = HCB;
Noximilien 1:5aa2312d3e94 288 os_dly.p_dlnk = NULL;
Noximilien 1:5aa2312d3e94 289 os_dly.p_blnk = NULL;
Noximilien 1:5aa2312d3e94 290 os_dly.delta_time = 0;
Noximilien 1:5aa2312d3e94 291
Noximilien 1:5aa2312d3e94 292 /* Fix SP and systemvariables to assume idle task is running */
Noximilien 1:5aa2312d3e94 293 /* Transform main program into idle task by assuming idle TCB */
Noximilien 1:5aa2312d3e94 294 #ifndef __CMSIS_RTOS
Noximilien 1:5aa2312d3e94 295 rt_set_PSP (os_idle_TCB.tsk_stack);
Noximilien 1:5aa2312d3e94 296 #endif
Noximilien 1:5aa2312d3e94 297 os_tsk.run = &os_idle_TCB;
Noximilien 1:5aa2312d3e94 298 os_tsk.run->state = RUNNING;
Noximilien 1:5aa2312d3e94 299
Noximilien 1:5aa2312d3e94 300 /* Initialize ps queue */
Noximilien 1:5aa2312d3e94 301 os_psq->first = 0;
Noximilien 1:5aa2312d3e94 302 os_psq->last = 0;
Noximilien 1:5aa2312d3e94 303 os_psq->size = os_fifo_size;
Noximilien 1:5aa2312d3e94 304
Noximilien 1:5aa2312d3e94 305 rt_init_robin ();
Noximilien 1:5aa2312d3e94 306
Noximilien 1:5aa2312d3e94 307 /* Intitialize SVC and PendSV */
Noximilien 1:5aa2312d3e94 308 rt_svc_init ();
Noximilien 1:5aa2312d3e94 309
Noximilien 1:5aa2312d3e94 310 #ifndef __CMSIS_RTOS
Noximilien 1:5aa2312d3e94 311 /* Intitialize and start system clock timer */
Noximilien 1:5aa2312d3e94 312 os_tick_irqn = os_tick_init ();
Noximilien 1:5aa2312d3e94 313 if (os_tick_irqn >= 0) {
Noximilien 1:5aa2312d3e94 314 OS_X_INIT(os_tick_irqn);
Noximilien 1:5aa2312d3e94 315 }
Noximilien 1:5aa2312d3e94 316
Noximilien 1:5aa2312d3e94 317 /* Start up first user task before entering the endless loop */
Noximilien 1:5aa2312d3e94 318 rt_tsk_create (first_task, prio_stksz, stk, NULL);
Noximilien 1:5aa2312d3e94 319 #endif
Noximilien 1:5aa2312d3e94 320 }
Noximilien 1:5aa2312d3e94 321
Noximilien 1:5aa2312d3e94 322
Noximilien 1:5aa2312d3e94 323 /*--------------------------- rt_sys_start ----------------------------------*/
Noximilien 1:5aa2312d3e94 324
Noximilien 1:5aa2312d3e94 325 #ifdef __CMSIS_RTOS
Noximilien 1:5aa2312d3e94 326 void rt_sys_start (void) {
Noximilien 1:5aa2312d3e94 327 /* Start system */
Noximilien 1:5aa2312d3e94 328
Noximilien 1:5aa2312d3e94 329 /* Intitialize and start system clock timer */
Noximilien 1:5aa2312d3e94 330 os_tick_irqn = os_tick_init ();
Noximilien 1:5aa2312d3e94 331 if (os_tick_irqn >= 0) {
Noximilien 1:5aa2312d3e94 332 OS_X_INIT(os_tick_irqn);
Noximilien 1:5aa2312d3e94 333 }
Noximilien 1:5aa2312d3e94 334 extern void RestoreContext();
Noximilien 1:5aa2312d3e94 335 RestoreContext(); // Start the first task
Noximilien 1:5aa2312d3e94 336 }
Noximilien 1:5aa2312d3e94 337 #endif
Noximilien 1:5aa2312d3e94 338
Noximilien 1:5aa2312d3e94 339 /*----------------------------------------------------------------------------
Noximilien 1:5aa2312d3e94 340 * end of file
Noximilien 1:5aa2312d3e94 341 *---------------------------------------------------------------------------*/