Racelogic / Mbed 2 deprecated VIPS_LTC_RAW_IMU

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   BufferedSerial FatFileSystemCpp mbed

mbed-rtos/rtx/rt_Task.c@85:0cc5931bb9ef, 2022-12-15 (annotated)

Committer:
JamieB
Date:
Thu Dec 15 06:05:30 2022 +0000
Revision:
85:0cc5931bb9ef
Parent:
22:0dd9c1b5664a 
Push to somewhere else due to merge issue

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AndyA 22:0dd9c1b5664a 1 /*----------------------------------------------------------------------------
AndyA 22:0dd9c1b5664a 2 * RL-ARM - RTX
AndyA 22:0dd9c1b5664a 3 *----------------------------------------------------------------------------
AndyA 22:0dd9c1b5664a 4 * Name: RT_TASK.C
AndyA 22:0dd9c1b5664a 5 * Purpose: Task functions and system start up.
AndyA 22:0dd9c1b5664a 6 * Rev.: V4.60
AndyA 22:0dd9c1b5664a 7 *----------------------------------------------------------------------------
AndyA 22:0dd9c1b5664a 8 *
AndyA 22:0dd9c1b5664a 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
AndyA 22:0dd9c1b5664a 10 * All rights reserved.
AndyA 22:0dd9c1b5664a 11 * Redistribution and use in source and binary forms, with or without
AndyA 22:0dd9c1b5664a 12 * modification, are permitted provided that the following conditions are met:
AndyA 22:0dd9c1b5664a 13 * - Redistributions of source code must retain the above copyright
AndyA 22:0dd9c1b5664a 14 * notice, this list of conditions and the following disclaimer.
AndyA 22:0dd9c1b5664a 15 * - Redistributions in binary form must reproduce the above copyright
AndyA 22:0dd9c1b5664a 16 * notice, this list of conditions and the following disclaimer in the
AndyA 22:0dd9c1b5664a 17 * documentation and/or other materials provided with the distribution.
AndyA 22:0dd9c1b5664a 18 * - Neither the name of ARM nor the names of its contributors may be used
AndyA 22:0dd9c1b5664a 19 * to endorse or promote products derived from this software without
AndyA 22:0dd9c1b5664a 20 * specific prior written permission.
AndyA 22:0dd9c1b5664a 21 *
AndyA 22:0dd9c1b5664a 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AndyA 22:0dd9c1b5664a 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
AndyA 22:0dd9c1b5664a 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
AndyA 22:0dd9c1b5664a 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
AndyA 22:0dd9c1b5664a 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
AndyA 22:0dd9c1b5664a 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
AndyA 22:0dd9c1b5664a 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
AndyA 22:0dd9c1b5664a 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
AndyA 22:0dd9c1b5664a 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
AndyA 22:0dd9c1b5664a 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
AndyA 22:0dd9c1b5664a 32 * POSSIBILITY OF SUCH DAMAGE.
AndyA 22:0dd9c1b5664a 33 *---------------------------------------------------------------------------*/
AndyA 22:0dd9c1b5664a 34
AndyA 22:0dd9c1b5664a 35 #include "rt_TypeDef.h"
AndyA 22:0dd9c1b5664a 36 #include "RTX_Conf.h"
AndyA 22:0dd9c1b5664a 37 #include "rt_System.h"
AndyA 22:0dd9c1b5664a 38 #include "rt_Task.h"
AndyA 22:0dd9c1b5664a 39 #include "rt_List.h"
AndyA 22:0dd9c1b5664a 40 #include "rt_MemBox.h"
AndyA 22:0dd9c1b5664a 41 #include "rt_Robin.h"
AndyA 22:0dd9c1b5664a 42 #include "rt_HAL_CM.h"
AndyA 22:0dd9c1b5664a 43
AndyA 22:0dd9c1b5664a 44 /*----------------------------------------------------------------------------
AndyA 22:0dd9c1b5664a 45 * Global Variables
AndyA 22:0dd9c1b5664a 46 *---------------------------------------------------------------------------*/
AndyA 22:0dd9c1b5664a 47
AndyA 22:0dd9c1b5664a 48 /* Running and next task info. */
AndyA 22:0dd9c1b5664a 49 struct OS_TSK os_tsk;
AndyA 22:0dd9c1b5664a 50
AndyA 22:0dd9c1b5664a 51 /* Task Control Blocks of idle demon */
AndyA 22:0dd9c1b5664a 52 struct OS_TCB os_idle_TCB;
AndyA 22:0dd9c1b5664a 53
AndyA 22:0dd9c1b5664a 54
AndyA 22:0dd9c1b5664a 55 /*----------------------------------------------------------------------------
AndyA 22:0dd9c1b5664a 56 * Local Functions
AndyA 22:0dd9c1b5664a 57 *---------------------------------------------------------------------------*/
AndyA 22:0dd9c1b5664a 58
AndyA 22:0dd9c1b5664a 59 OS_TID rt_get_TID (void) {
AndyA 22:0dd9c1b5664a 60 U32 tid;
AndyA 22:0dd9c1b5664a 61
AndyA 22:0dd9c1b5664a 62 for (tid = 1; tid <= os_maxtaskrun; tid++) {
AndyA 22:0dd9c1b5664a 63 if (os_active_TCB[tid-1] == NULL) {
AndyA 22:0dd9c1b5664a 64 return ((OS_TID)tid);
AndyA 22:0dd9c1b5664a 65 }
AndyA 22:0dd9c1b5664a 66 }
AndyA 22:0dd9c1b5664a 67 return (0);
AndyA 22:0dd9c1b5664a 68 }
AndyA 22:0dd9c1b5664a 69
AndyA 22:0dd9c1b5664a 70 #if defined (__CC_ARM) && !defined (__MICROLIB)
AndyA 22:0dd9c1b5664a 71 /*--------------------------- __user_perthread_libspace ---------------------*/
AndyA 22:0dd9c1b5664a 72 extern void *__libspace_start;
AndyA 22:0dd9c1b5664a 73
AndyA 22:0dd9c1b5664a 74 void *__user_perthread_libspace (void) {
AndyA 22:0dd9c1b5664a 75 /* Provide a separate libspace for each task. */
AndyA 22:0dd9c1b5664a 76 if (os_tsk.run == NULL) {
AndyA 22:0dd9c1b5664a 77 /* RTX not running yet. */
AndyA 22:0dd9c1b5664a 78 return (&__libspace_start);
AndyA 22:0dd9c1b5664a 79 }
AndyA 22:0dd9c1b5664a 80 return (void *)(os_tsk.run->std_libspace);
AndyA 22:0dd9c1b5664a 81 }
AndyA 22:0dd9c1b5664a 82 #endif
AndyA 22:0dd9c1b5664a 83
AndyA 22:0dd9c1b5664a 84 /*--------------------------- rt_init_context -------------------------------*/
AndyA 22:0dd9c1b5664a 85
AndyA 22:0dd9c1b5664a 86 void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
AndyA 22:0dd9c1b5664a 87 /* Initialize general part of the Task Control Block. */
AndyA 22:0dd9c1b5664a 88 p_TCB->cb_type = TCB;
AndyA 22:0dd9c1b5664a 89 p_TCB->state = READY;
AndyA 22:0dd9c1b5664a 90 p_TCB->prio = priority;
AndyA 22:0dd9c1b5664a 91 p_TCB->p_lnk = NULL;
AndyA 22:0dd9c1b5664a 92 p_TCB->p_rlnk = NULL;
AndyA 22:0dd9c1b5664a 93 p_TCB->p_dlnk = NULL;
AndyA 22:0dd9c1b5664a 94 p_TCB->p_blnk = NULL;
AndyA 22:0dd9c1b5664a 95 p_TCB->delta_time = 0;
AndyA 22:0dd9c1b5664a 96 p_TCB->interval_time = 0;
AndyA 22:0dd9c1b5664a 97 p_TCB->events = 0;
AndyA 22:0dd9c1b5664a 98 p_TCB->waits = 0;
AndyA 22:0dd9c1b5664a 99 p_TCB->stack_frame = 0;
AndyA 22:0dd9c1b5664a 100
AndyA 22:0dd9c1b5664a 101 rt_init_stack (p_TCB, task_body);
AndyA 22:0dd9c1b5664a 102 }
AndyA 22:0dd9c1b5664a 103
AndyA 22:0dd9c1b5664a 104
AndyA 22:0dd9c1b5664a 105 /*--------------------------- rt_switch_req ---------------------------------*/
AndyA 22:0dd9c1b5664a 106
AndyA 22:0dd9c1b5664a 107 void rt_switch_req (P_TCB p_new) {
AndyA 22:0dd9c1b5664a 108 /* Switch to next task (identified by "p_new"). */
AndyA 22:0dd9c1b5664a 109 os_tsk.new_tsk = p_new;
AndyA 22:0dd9c1b5664a 110 p_new->state = RUNNING;
AndyA 22:0dd9c1b5664a 111 DBG_TASK_SWITCH(p_new->task_id);
AndyA 22:0dd9c1b5664a 112 }
AndyA 22:0dd9c1b5664a 113
AndyA 22:0dd9c1b5664a 114
AndyA 22:0dd9c1b5664a 115 /*--------------------------- rt_dispatch -----------------------------------*/
AndyA 22:0dd9c1b5664a 116
AndyA 22:0dd9c1b5664a 117 void rt_dispatch (P_TCB next_TCB) {
AndyA 22:0dd9c1b5664a 118 /* Dispatch next task if any identified or dispatch highest ready task */
AndyA 22:0dd9c1b5664a 119 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
AndyA 22:0dd9c1b5664a 120 if (next_TCB == NULL) {
AndyA 22:0dd9c1b5664a 121 /* Running task was blocked: continue with highest ready task */
AndyA 22:0dd9c1b5664a 122 next_TCB = rt_get_first (&os_rdy);
AndyA 22:0dd9c1b5664a 123 rt_switch_req (next_TCB);
AndyA 22:0dd9c1b5664a 124 }
AndyA 22:0dd9c1b5664a 125 else {
AndyA 22:0dd9c1b5664a 126 /* Check which task continues */
AndyA 22:0dd9c1b5664a 127 if (next_TCB->prio > os_tsk.run->prio) {
AndyA 22:0dd9c1b5664a 128 /* preempt running task */
AndyA 22:0dd9c1b5664a 129 rt_put_rdy_first (os_tsk.run);
AndyA 22:0dd9c1b5664a 130 os_tsk.run->state = READY;
AndyA 22:0dd9c1b5664a 131 rt_switch_req (next_TCB);
AndyA 22:0dd9c1b5664a 132 }
AndyA 22:0dd9c1b5664a 133 else {
AndyA 22:0dd9c1b5664a 134 /* put next task into ready list, no task switch takes place */
AndyA 22:0dd9c1b5664a 135 next_TCB->state = READY;
AndyA 22:0dd9c1b5664a 136 rt_put_prio (&os_rdy, next_TCB);
AndyA 22:0dd9c1b5664a 137 }
AndyA 22:0dd9c1b5664a 138 }
AndyA 22:0dd9c1b5664a 139 }
AndyA 22:0dd9c1b5664a 140
AndyA 22:0dd9c1b5664a 141
AndyA 22:0dd9c1b5664a 142 /*--------------------------- rt_block --------------------------------------*/
AndyA 22:0dd9c1b5664a 143
AndyA 22:0dd9c1b5664a 144 void rt_block (U16 timeout, U8 block_state) {
AndyA 22:0dd9c1b5664a 145 /* Block running task and choose next ready task. */
AndyA 22:0dd9c1b5664a 146 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
AndyA 22:0dd9c1b5664a 147 /* "block_state" defines the appropriate task state */
AndyA 22:0dd9c1b5664a 148 P_TCB next_TCB;
AndyA 22:0dd9c1b5664a 149
AndyA 22:0dd9c1b5664a 150 if (timeout) {
AndyA 22:0dd9c1b5664a 151 if (timeout < 0xffff) {
AndyA 22:0dd9c1b5664a 152 rt_put_dly (os_tsk.run, timeout);
AndyA 22:0dd9c1b5664a 153 }
AndyA 22:0dd9c1b5664a 154 os_tsk.run->state = block_state;
AndyA 22:0dd9c1b5664a 155 next_TCB = rt_get_first (&os_rdy);
AndyA 22:0dd9c1b5664a 156 rt_switch_req (next_TCB);
AndyA 22:0dd9c1b5664a 157 }
AndyA 22:0dd9c1b5664a 158 }
AndyA 22:0dd9c1b5664a 159
AndyA 22:0dd9c1b5664a 160
AndyA 22:0dd9c1b5664a 161 /*--------------------------- rt_tsk_pass -----------------------------------*/
AndyA 22:0dd9c1b5664a 162
AndyA 22:0dd9c1b5664a 163 void rt_tsk_pass (void) {
AndyA 22:0dd9c1b5664a 164 /* Allow tasks of same priority level to run cooperatively.*/
AndyA 22:0dd9c1b5664a 165 P_TCB p_new;
AndyA 22:0dd9c1b5664a 166
AndyA 22:0dd9c1b5664a 167 p_new = rt_get_same_rdy_prio();
AndyA 22:0dd9c1b5664a 168 if (p_new != NULL) {
AndyA 22:0dd9c1b5664a 169 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
AndyA 22:0dd9c1b5664a 170 os_tsk.run->state = READY;
AndyA 22:0dd9c1b5664a 171 rt_switch_req (p_new);
AndyA 22:0dd9c1b5664a 172 }
AndyA 22:0dd9c1b5664a 173 }
AndyA 22:0dd9c1b5664a 174
AndyA 22:0dd9c1b5664a 175
AndyA 22:0dd9c1b5664a 176 /*--------------------------- rt_tsk_self -----------------------------------*/
AndyA 22:0dd9c1b5664a 177
AndyA 22:0dd9c1b5664a 178 OS_TID rt_tsk_self (void) {
AndyA 22:0dd9c1b5664a 179 /* Return own task identifier value. */
AndyA 22:0dd9c1b5664a 180 if (os_tsk.run == NULL) {
AndyA 22:0dd9c1b5664a 181 return (0);
AndyA 22:0dd9c1b5664a 182 }
AndyA 22:0dd9c1b5664a 183 return (os_tsk.run->task_id);
AndyA 22:0dd9c1b5664a 184 }
AndyA 22:0dd9c1b5664a 185
AndyA 22:0dd9c1b5664a 186
AndyA 22:0dd9c1b5664a 187 /*--------------------------- rt_tsk_prio -----------------------------------*/
AndyA 22:0dd9c1b5664a 188
AndyA 22:0dd9c1b5664a 189 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
AndyA 22:0dd9c1b5664a 190 /* Change execution priority of a task to "new_prio". */
AndyA 22:0dd9c1b5664a 191 P_TCB p_task;
AndyA 22:0dd9c1b5664a 192
AndyA 22:0dd9c1b5664a 193 if (task_id == 0) {
AndyA 22:0dd9c1b5664a 194 /* Change execution priority of calling task. */
AndyA 22:0dd9c1b5664a 195 os_tsk.run->prio = new_prio;
AndyA 22:0dd9c1b5664a 196 run:if (rt_rdy_prio() > new_prio) {
AndyA 22:0dd9c1b5664a 197 rt_put_prio (&os_rdy, os_tsk.run);
AndyA 22:0dd9c1b5664a 198 os_tsk.run->state = READY;
AndyA 22:0dd9c1b5664a 199 rt_dispatch (NULL);
AndyA 22:0dd9c1b5664a 200 }
AndyA 22:0dd9c1b5664a 201 return (OS_R_OK);
AndyA 22:0dd9c1b5664a 202 }
AndyA 22:0dd9c1b5664a 203
AndyA 22:0dd9c1b5664a 204 /* Find the task in the "os_active_TCB" array. */
AndyA 22:0dd9c1b5664a 205 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
AndyA 22:0dd9c1b5664a 206 /* Task with "task_id" not found or not started. */
AndyA 22:0dd9c1b5664a 207 return (OS_R_NOK);
AndyA 22:0dd9c1b5664a 208 }
AndyA 22:0dd9c1b5664a 209 p_task = os_active_TCB[task_id-1];
AndyA 22:0dd9c1b5664a 210 p_task->prio = new_prio;
AndyA 22:0dd9c1b5664a 211 if (p_task == os_tsk.run) {
AndyA 22:0dd9c1b5664a 212 goto run;
AndyA 22:0dd9c1b5664a 213 }
AndyA 22:0dd9c1b5664a 214 rt_resort_prio (p_task);
AndyA 22:0dd9c1b5664a 215 if (p_task->state == READY) {
AndyA 22:0dd9c1b5664a 216 /* Task enqueued in a ready list. */
AndyA 22:0dd9c1b5664a 217 p_task = rt_get_first (&os_rdy);
AndyA 22:0dd9c1b5664a 218 rt_dispatch (p_task);
AndyA 22:0dd9c1b5664a 219 }
AndyA 22:0dd9c1b5664a 220 return (OS_R_OK);
AndyA 22:0dd9c1b5664a 221 }
AndyA 22:0dd9c1b5664a 222
AndyA 22:0dd9c1b5664a 223 /*--------------------------- rt_tsk_delete ---------------------------------*/
AndyA 22:0dd9c1b5664a 224
AndyA 22:0dd9c1b5664a 225 OS_RESULT rt_tsk_delete (OS_TID task_id) {
AndyA 22:0dd9c1b5664a 226 /* Terminate the task identified with "task_id". */
AndyA 22:0dd9c1b5664a 227 P_TCB task_context;
AndyA 22:0dd9c1b5664a 228
AndyA 22:0dd9c1b5664a 229 if (task_id == 0 || task_id == os_tsk.run->task_id) {
AndyA 22:0dd9c1b5664a 230 /* Terminate itself. */
AndyA 22:0dd9c1b5664a 231 os_tsk.run->state = INACTIVE;
AndyA 22:0dd9c1b5664a 232 os_tsk.run->tsk_stack = rt_get_PSP ();
AndyA 22:0dd9c1b5664a 233 rt_stk_check ();
AndyA 22:0dd9c1b5664a 234 os_active_TCB[os_tsk.run->task_id-1] = NULL;
AndyA 22:0dd9c1b5664a 235
AndyA 22:0dd9c1b5664a 236 os_tsk.run->stack = NULL;
AndyA 22:0dd9c1b5664a 237 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
AndyA 22:0dd9c1b5664a 238 os_tsk.run = NULL;
AndyA 22:0dd9c1b5664a 239 rt_dispatch (NULL);
AndyA 22:0dd9c1b5664a 240 /* The program should never come to this point. */
AndyA 22:0dd9c1b5664a 241 }
AndyA 22:0dd9c1b5664a 242 else {
AndyA 22:0dd9c1b5664a 243 /* Find the task in the "os_active_TCB" array. */
AndyA 22:0dd9c1b5664a 244 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
AndyA 22:0dd9c1b5664a 245 /* Task with "task_id" not found or not started. */
AndyA 22:0dd9c1b5664a 246 return (OS_R_NOK);
AndyA 22:0dd9c1b5664a 247 }
AndyA 22:0dd9c1b5664a 248 task_context = os_active_TCB[task_id-1];
AndyA 22:0dd9c1b5664a 249 rt_rmv_list (task_context);
AndyA 22:0dd9c1b5664a 250 rt_rmv_dly (task_context);
AndyA 22:0dd9c1b5664a 251 os_active_TCB[task_id-1] = NULL;
AndyA 22:0dd9c1b5664a 252
AndyA 22:0dd9c1b5664a 253 task_context->stack = NULL;
AndyA 22:0dd9c1b5664a 254 DBG_TASK_NOTIFY(task_context, __FALSE);
AndyA 22:0dd9c1b5664a 255 }
AndyA 22:0dd9c1b5664a 256 return (OS_R_OK);
AndyA 22:0dd9c1b5664a 257 }
AndyA 22:0dd9c1b5664a 258
AndyA 22:0dd9c1b5664a 259
AndyA 22:0dd9c1b5664a 260 /*--------------------------- rt_sys_init -----------------------------------*/
AndyA 22:0dd9c1b5664a 261
AndyA 22:0dd9c1b5664a 262 #ifdef __CMSIS_RTOS
AndyA 22:0dd9c1b5664a 263 void rt_sys_init (void) {
AndyA 22:0dd9c1b5664a 264 #else
AndyA 22:0dd9c1b5664a 265 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
AndyA 22:0dd9c1b5664a 266 #endif
AndyA 22:0dd9c1b5664a 267 /* Initialize system and start up task declared with "first_task". */
AndyA 22:0dd9c1b5664a 268 U32 i;
AndyA 22:0dd9c1b5664a 269
AndyA 22:0dd9c1b5664a 270 DBG_INIT();
AndyA 22:0dd9c1b5664a 271
AndyA 22:0dd9c1b5664a 272 /* Initialize dynamic memory and task TCB pointers to NULL. */
AndyA 22:0dd9c1b5664a 273 for (i = 0; i < os_maxtaskrun; i++) {
AndyA 22:0dd9c1b5664a 274 os_active_TCB[i] = NULL;
AndyA 22:0dd9c1b5664a 275 }
AndyA 22:0dd9c1b5664a 276
AndyA 22:0dd9c1b5664a 277 /* Set up TCB of idle demon */
AndyA 22:0dd9c1b5664a 278 os_idle_TCB.task_id = 255;
AndyA 22:0dd9c1b5664a 279 os_idle_TCB.priv_stack = idle_task_stack_size;
AndyA 22:0dd9c1b5664a 280 os_idle_TCB.stack = idle_task_stack;
AndyA 22:0dd9c1b5664a 281 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
AndyA 22:0dd9c1b5664a 282
AndyA 22:0dd9c1b5664a 283 /* Set up ready list: initially empty */
AndyA 22:0dd9c1b5664a 284 os_rdy.cb_type = HCB;
AndyA 22:0dd9c1b5664a 285 os_rdy.p_lnk = NULL;
AndyA 22:0dd9c1b5664a 286 /* Set up delay list: initially empty */
AndyA 22:0dd9c1b5664a 287 os_dly.cb_type = HCB;
AndyA 22:0dd9c1b5664a 288 os_dly.p_dlnk = NULL;
AndyA 22:0dd9c1b5664a 289 os_dly.p_blnk = NULL;
AndyA 22:0dd9c1b5664a 290 os_dly.delta_time = 0;
AndyA 22:0dd9c1b5664a 291
AndyA 22:0dd9c1b5664a 292 /* Fix SP and systemvariables to assume idle task is running */
AndyA 22:0dd9c1b5664a 293 /* Transform main program into idle task by assuming idle TCB */
AndyA 22:0dd9c1b5664a 294 #ifndef __CMSIS_RTOS
AndyA 22:0dd9c1b5664a 295 rt_set_PSP (os_idle_TCB.tsk_stack+32);
AndyA 22:0dd9c1b5664a 296 #endif
AndyA 22:0dd9c1b5664a 297 os_tsk.run = &os_idle_TCB;
AndyA 22:0dd9c1b5664a 298 os_tsk.run->state = RUNNING;
AndyA 22:0dd9c1b5664a 299
AndyA 22:0dd9c1b5664a 300 /* Initialize ps queue */
AndyA 22:0dd9c1b5664a 301 os_psq->first = 0;
AndyA 22:0dd9c1b5664a 302 os_psq->last = 0;
AndyA 22:0dd9c1b5664a 303 os_psq->size = os_fifo_size;
AndyA 22:0dd9c1b5664a 304
AndyA 22:0dd9c1b5664a 305 rt_init_robin ();
AndyA 22:0dd9c1b5664a 306
AndyA 22:0dd9c1b5664a 307 /* Intitialize SVC and PendSV */
AndyA 22:0dd9c1b5664a 308 rt_svc_init ();
AndyA 22:0dd9c1b5664a 309
AndyA 22:0dd9c1b5664a 310 #ifndef __CMSIS_RTOS
AndyA 22:0dd9c1b5664a 311 /* Intitialize and start system clock timer */
AndyA 22:0dd9c1b5664a 312 os_tick_irqn = os_tick_init ();
AndyA 22:0dd9c1b5664a 313 if (os_tick_irqn >= 0) {
AndyA 22:0dd9c1b5664a 314 OS_X_INIT(os_tick_irqn);
AndyA 22:0dd9c1b5664a 315 }
AndyA 22:0dd9c1b5664a 316
AndyA 22:0dd9c1b5664a 317 /* Start up first user task before entering the endless loop */
AndyA 22:0dd9c1b5664a 318 rt_tsk_create (first_task, prio_stksz, stk, NULL);
AndyA 22:0dd9c1b5664a 319 #endif
AndyA 22:0dd9c1b5664a 320 }
AndyA 22:0dd9c1b5664a 321
AndyA 22:0dd9c1b5664a 322
AndyA 22:0dd9c1b5664a 323 /*--------------------------- rt_sys_start ----------------------------------*/
AndyA 22:0dd9c1b5664a 324
AndyA 22:0dd9c1b5664a 325 #ifdef __CMSIS_RTOS
AndyA 22:0dd9c1b5664a 326 void rt_sys_start (void) {
AndyA 22:0dd9c1b5664a 327 /* Start system */
AndyA 22:0dd9c1b5664a 328
AndyA 22:0dd9c1b5664a 329 /* Intitialize and start system clock timer */
AndyA 22:0dd9c1b5664a 330 os_tick_irqn = os_tick_init ();
AndyA 22:0dd9c1b5664a 331 if (os_tick_irqn >= 0) {
AndyA 22:0dd9c1b5664a 332 OS_X_INIT(os_tick_irqn);
AndyA 22:0dd9c1b5664a 333 }
AndyA 22:0dd9c1b5664a 334 }
AndyA 22:0dd9c1b5664a 335 #endif
AndyA 22:0dd9c1b5664a 336
AndyA 22:0dd9c1b5664a 337 /*----------------------------------------------------------------------------
AndyA 22:0dd9c1b5664a 338 * end of file
AndyA 22:0dd9c1b5664a 339 *---------------------------------------------------------------------------*/