TeamGyro / mbed-rtos

OS2

Dependents:   GYRO_MPU6050 Bluetooth_Powered_Multimeter_Using_STM32F429_and_RTOS fyp

rtx/TARGET_ARM7/rt_Task.c@0:a7c449cd2d5a, 2020-02-03 (annotated)

Committer:
guilhemMBED
Date:
Mon Feb 03 13:41:14 2020 +0000
Revision:
0:a7c449cd2d5a
previous version;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
guilhemMBED 0:a7c449cd2d5a 1 /*----------------------------------------------------------------------------
guilhemMBED 0:a7c449cd2d5a 2 * RL-ARM - RTX
guilhemMBED 0:a7c449cd2d5a 3 *----------------------------------------------------------------------------
guilhemMBED 0:a7c449cd2d5a 4 * Name: RT_TASK.C
guilhemMBED 0:a7c449cd2d5a 5 * Purpose: Task functions and system start up.
guilhemMBED 0:a7c449cd2d5a 6 * Rev.: V4.60
guilhemMBED 0:a7c449cd2d5a 7 *----------------------------------------------------------------------------
guilhemMBED 0:a7c449cd2d5a 8 *
guilhemMBED 0:a7c449cd2d5a 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
guilhemMBED 0:a7c449cd2d5a 10 * All rights reserved.
guilhemMBED 0:a7c449cd2d5a 11 * Redistribution and use in source and binary forms, with or without
guilhemMBED 0:a7c449cd2d5a 12 * modification, are permitted provided that the following conditions are met:
guilhemMBED 0:a7c449cd2d5a 13 * - Redistributions of source code must retain the above copyright
guilhemMBED 0:a7c449cd2d5a 14 * notice, this list of conditions and the following disclaimer.
guilhemMBED 0:a7c449cd2d5a 15 * - Redistributions in binary form must reproduce the above copyright
guilhemMBED 0:a7c449cd2d5a 16 * notice, this list of conditions and the following disclaimer in the
guilhemMBED 0:a7c449cd2d5a 17 * documentation and/or other materials provided with the distribution.
guilhemMBED 0:a7c449cd2d5a 18 * - Neither the name of ARM nor the names of its contributors may be used
guilhemMBED 0:a7c449cd2d5a 19 * to endorse or promote products derived from this software without
guilhemMBED 0:a7c449cd2d5a 20 * specific prior written permission.
guilhemMBED 0:a7c449cd2d5a 21 *
guilhemMBED 0:a7c449cd2d5a 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
guilhemMBED 0:a7c449cd2d5a 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
guilhemMBED 0:a7c449cd2d5a 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
guilhemMBED 0:a7c449cd2d5a 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
guilhemMBED 0:a7c449cd2d5a 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
guilhemMBED 0:a7c449cd2d5a 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
guilhemMBED 0:a7c449cd2d5a 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
guilhemMBED 0:a7c449cd2d5a 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
guilhemMBED 0:a7c449cd2d5a 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
guilhemMBED 0:a7c449cd2d5a 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
guilhemMBED 0:a7c449cd2d5a 32 * POSSIBILITY OF SUCH DAMAGE.
guilhemMBED 0:a7c449cd2d5a 33 *---------------------------------------------------------------------------*/
guilhemMBED 0:a7c449cd2d5a 34
guilhemMBED 0:a7c449cd2d5a 35 #include "rt_TypeDef.h"
guilhemMBED 0:a7c449cd2d5a 36 #include "RTX_Conf.h"
guilhemMBED 0:a7c449cd2d5a 37 #include "rt_System.h"
guilhemMBED 0:a7c449cd2d5a 38 #include "rt_Task.h"
guilhemMBED 0:a7c449cd2d5a 39 #include "rt_List.h"
guilhemMBED 0:a7c449cd2d5a 40 #include "rt_MemBox.h"
guilhemMBED 0:a7c449cd2d5a 41 #include "rt_Robin.h"
guilhemMBED 0:a7c449cd2d5a 42 #include "rt_HAL_CM.h"
guilhemMBED 0:a7c449cd2d5a 43
guilhemMBED 0:a7c449cd2d5a 44 /*----------------------------------------------------------------------------
guilhemMBED 0:a7c449cd2d5a 45 * Global Variables
guilhemMBED 0:a7c449cd2d5a 46 *---------------------------------------------------------------------------*/
guilhemMBED 0:a7c449cd2d5a 47
guilhemMBED 0:a7c449cd2d5a 48 /* Running and next task info. */
guilhemMBED 0:a7c449cd2d5a 49 struct OS_TSK os_tsk;
guilhemMBED 0:a7c449cd2d5a 50
guilhemMBED 0:a7c449cd2d5a 51 /* Task Control Blocks of idle demon */
guilhemMBED 0:a7c449cd2d5a 52 struct OS_TCB os_idle_TCB;
guilhemMBED 0:a7c449cd2d5a 53
guilhemMBED 0:a7c449cd2d5a 54
guilhemMBED 0:a7c449cd2d5a 55 /*----------------------------------------------------------------------------
guilhemMBED 0:a7c449cd2d5a 56 * Local Functions
guilhemMBED 0:a7c449cd2d5a 57 *---------------------------------------------------------------------------*/
guilhemMBED 0:a7c449cd2d5a 58
guilhemMBED 0:a7c449cd2d5a 59 OS_TID rt_get_TID (void) {
guilhemMBED 0:a7c449cd2d5a 60 U32 tid;
guilhemMBED 0:a7c449cd2d5a 61
guilhemMBED 0:a7c449cd2d5a 62 for (tid = 1; tid <= os_maxtaskrun; tid++) {
guilhemMBED 0:a7c449cd2d5a 63 if (os_active_TCB[tid-1] == NULL) {
guilhemMBED 0:a7c449cd2d5a 64 return ((OS_TID)tid);
guilhemMBED 0:a7c449cd2d5a 65 }
guilhemMBED 0:a7c449cd2d5a 66 }
guilhemMBED 0:a7c449cd2d5a 67 return (0);
guilhemMBED 0:a7c449cd2d5a 68 }
guilhemMBED 0:a7c449cd2d5a 69
guilhemMBED 0:a7c449cd2d5a 70 #if defined (__CC_ARM) && !defined (__MICROLIB)
guilhemMBED 0:a7c449cd2d5a 71 /*--------------------------- __user_perthread_libspace ---------------------*/
guilhemMBED 0:a7c449cd2d5a 72 extern void *__libspace_start;
guilhemMBED 0:a7c449cd2d5a 73
guilhemMBED 0:a7c449cd2d5a 74 void *__user_perthread_libspace (void) {
guilhemMBED 0:a7c449cd2d5a 75 /* Provide a separate libspace for each task. */
guilhemMBED 0:a7c449cd2d5a 76 if (os_tsk.run == NULL) {
guilhemMBED 0:a7c449cd2d5a 77 /* RTX not running yet. */
guilhemMBED 0:a7c449cd2d5a 78 return (&__libspace_start);
guilhemMBED 0:a7c449cd2d5a 79 }
guilhemMBED 0:a7c449cd2d5a 80 return (void *)(os_tsk.run->std_libspace);
guilhemMBED 0:a7c449cd2d5a 81 }
guilhemMBED 0:a7c449cd2d5a 82 #endif
guilhemMBED 0:a7c449cd2d5a 83
guilhemMBED 0:a7c449cd2d5a 84 /*--------------------------- rt_init_context -------------------------------*/
guilhemMBED 0:a7c449cd2d5a 85
guilhemMBED 0:a7c449cd2d5a 86 void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
guilhemMBED 0:a7c449cd2d5a 87 /* Initialize general part of the Task Control Block. */
guilhemMBED 0:a7c449cd2d5a 88 p_TCB->cb_type = TCB;
guilhemMBED 0:a7c449cd2d5a 89 p_TCB->state = READY;
guilhemMBED 0:a7c449cd2d5a 90 p_TCB->prio = priority;
guilhemMBED 0:a7c449cd2d5a 91 p_TCB->p_lnk = NULL;
guilhemMBED 0:a7c449cd2d5a 92 p_TCB->p_rlnk = NULL;
guilhemMBED 0:a7c449cd2d5a 93 p_TCB->p_dlnk = NULL;
guilhemMBED 0:a7c449cd2d5a 94 p_TCB->p_blnk = NULL;
guilhemMBED 0:a7c449cd2d5a 95 p_TCB->delta_time = 0;
guilhemMBED 0:a7c449cd2d5a 96 p_TCB->interval_time = 0;
guilhemMBED 0:a7c449cd2d5a 97 p_TCB->events = 0;
guilhemMBED 0:a7c449cd2d5a 98 p_TCB->waits = 0;
guilhemMBED 0:a7c449cd2d5a 99 p_TCB->stack_frame = 0;
guilhemMBED 0:a7c449cd2d5a 100
guilhemMBED 0:a7c449cd2d5a 101 rt_init_stack (p_TCB, task_body);
guilhemMBED 0:a7c449cd2d5a 102 }
guilhemMBED 0:a7c449cd2d5a 103
guilhemMBED 0:a7c449cd2d5a 104
guilhemMBED 0:a7c449cd2d5a 105 /*--------------------------- rt_switch_req ---------------------------------*/
guilhemMBED 0:a7c449cd2d5a 106
guilhemMBED 0:a7c449cd2d5a 107 void rt_switch_req (P_TCB p_new) {
guilhemMBED 0:a7c449cd2d5a 108 /* Switch to next task (identified by "p_new"). */
guilhemMBED 0:a7c449cd2d5a 109 os_tsk.new_tsk = p_new;
guilhemMBED 0:a7c449cd2d5a 110 p_new->state = RUNNING;
guilhemMBED 0:a7c449cd2d5a 111 DBG_TASK_SWITCH(p_new->task_id);
guilhemMBED 0:a7c449cd2d5a 112 }
guilhemMBED 0:a7c449cd2d5a 113
guilhemMBED 0:a7c449cd2d5a 114
guilhemMBED 0:a7c449cd2d5a 115 /*--------------------------- rt_dispatch -----------------------------------*/
guilhemMBED 0:a7c449cd2d5a 116
guilhemMBED 0:a7c449cd2d5a 117 void rt_dispatch (P_TCB next_TCB) {
guilhemMBED 0:a7c449cd2d5a 118 /* Dispatch next task if any identified or dispatch highest ready task */
guilhemMBED 0:a7c449cd2d5a 119 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
guilhemMBED 0:a7c449cd2d5a 120 if (next_TCB == NULL) {
guilhemMBED 0:a7c449cd2d5a 121 /* Running task was blocked: continue with highest ready task */
guilhemMBED 0:a7c449cd2d5a 122 next_TCB = rt_get_first (&os_rdy);
guilhemMBED 0:a7c449cd2d5a 123 rt_switch_req (next_TCB);
guilhemMBED 0:a7c449cd2d5a 124 }
guilhemMBED 0:a7c449cd2d5a 125 else {
guilhemMBED 0:a7c449cd2d5a 126 /* Check which task continues */
guilhemMBED 0:a7c449cd2d5a 127 if (next_TCB->prio > os_tsk.run->prio) {
guilhemMBED 0:a7c449cd2d5a 128 /* preempt running task */
guilhemMBED 0:a7c449cd2d5a 129 rt_put_rdy_first (os_tsk.run);
guilhemMBED 0:a7c449cd2d5a 130 os_tsk.run->state = READY;
guilhemMBED 0:a7c449cd2d5a 131 rt_switch_req (next_TCB);
guilhemMBED 0:a7c449cd2d5a 132 }
guilhemMBED 0:a7c449cd2d5a 133 else {
guilhemMBED 0:a7c449cd2d5a 134 /* put next task into ready list, no task switch takes place */
guilhemMBED 0:a7c449cd2d5a 135 next_TCB->state = READY;
guilhemMBED 0:a7c449cd2d5a 136 rt_put_prio (&os_rdy, next_TCB);
guilhemMBED 0:a7c449cd2d5a 137 }
guilhemMBED 0:a7c449cd2d5a 138 }
guilhemMBED 0:a7c449cd2d5a 139 }
guilhemMBED 0:a7c449cd2d5a 140
guilhemMBED 0:a7c449cd2d5a 141
guilhemMBED 0:a7c449cd2d5a 142 /*--------------------------- rt_block --------------------------------------*/
guilhemMBED 0:a7c449cd2d5a 143
guilhemMBED 0:a7c449cd2d5a 144 void rt_block (U16 timeout, U8 block_state) {
guilhemMBED 0:a7c449cd2d5a 145 /* Block running task and choose next ready task. */
guilhemMBED 0:a7c449cd2d5a 146 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
guilhemMBED 0:a7c449cd2d5a 147 /* "block_state" defines the appropriate task state */
guilhemMBED 0:a7c449cd2d5a 148 P_TCB next_TCB;
guilhemMBED 0:a7c449cd2d5a 149
guilhemMBED 0:a7c449cd2d5a 150 if (timeout) {
guilhemMBED 0:a7c449cd2d5a 151 if (timeout < 0xffff) {
guilhemMBED 0:a7c449cd2d5a 152 rt_put_dly (os_tsk.run, timeout);
guilhemMBED 0:a7c449cd2d5a 153 }
guilhemMBED 0:a7c449cd2d5a 154 os_tsk.run->state = block_state;
guilhemMBED 0:a7c449cd2d5a 155 next_TCB = rt_get_first (&os_rdy);
guilhemMBED 0:a7c449cd2d5a 156 rt_switch_req (next_TCB);
guilhemMBED 0:a7c449cd2d5a 157 }
guilhemMBED 0:a7c449cd2d5a 158 }
guilhemMBED 0:a7c449cd2d5a 159
guilhemMBED 0:a7c449cd2d5a 160
guilhemMBED 0:a7c449cd2d5a 161 /*--------------------------- rt_tsk_pass -----------------------------------*/
guilhemMBED 0:a7c449cd2d5a 162
guilhemMBED 0:a7c449cd2d5a 163 void rt_tsk_pass (void) {
guilhemMBED 0:a7c449cd2d5a 164 /* Allow tasks of same priority level to run cooperatively.*/
guilhemMBED 0:a7c449cd2d5a 165 P_TCB p_new;
guilhemMBED 0:a7c449cd2d5a 166
guilhemMBED 0:a7c449cd2d5a 167 p_new = rt_get_same_rdy_prio();
guilhemMBED 0:a7c449cd2d5a 168 if (p_new != NULL) {
guilhemMBED 0:a7c449cd2d5a 169 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
guilhemMBED 0:a7c449cd2d5a 170 os_tsk.run->state = READY;
guilhemMBED 0:a7c449cd2d5a 171 rt_switch_req (p_new);
guilhemMBED 0:a7c449cd2d5a 172 }
guilhemMBED 0:a7c449cd2d5a 173 }
guilhemMBED 0:a7c449cd2d5a 174
guilhemMBED 0:a7c449cd2d5a 175
guilhemMBED 0:a7c449cd2d5a 176 /*--------------------------- rt_tsk_self -----------------------------------*/
guilhemMBED 0:a7c449cd2d5a 177
guilhemMBED 0:a7c449cd2d5a 178 OS_TID rt_tsk_self (void) {
guilhemMBED 0:a7c449cd2d5a 179 /* Return own task identifier value. */
guilhemMBED 0:a7c449cd2d5a 180 if (os_tsk.run == NULL) {
guilhemMBED 0:a7c449cd2d5a 181 return (0);
guilhemMBED 0:a7c449cd2d5a 182 }
guilhemMBED 0:a7c449cd2d5a 183 return (os_tsk.run->task_id);
guilhemMBED 0:a7c449cd2d5a 184 }
guilhemMBED 0:a7c449cd2d5a 185
guilhemMBED 0:a7c449cd2d5a 186
guilhemMBED 0:a7c449cd2d5a 187 /*--------------------------- rt_tsk_prio -----------------------------------*/
guilhemMBED 0:a7c449cd2d5a 188
guilhemMBED 0:a7c449cd2d5a 189 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
guilhemMBED 0:a7c449cd2d5a 190 /* Change execution priority of a task to "new_prio". */
guilhemMBED 0:a7c449cd2d5a 191 P_TCB p_task;
guilhemMBED 0:a7c449cd2d5a 192
guilhemMBED 0:a7c449cd2d5a 193 if (task_id == 0) {
guilhemMBED 0:a7c449cd2d5a 194 /* Change execution priority of calling task. */
guilhemMBED 0:a7c449cd2d5a 195 os_tsk.run->prio = new_prio;
guilhemMBED 0:a7c449cd2d5a 196 run:if (rt_rdy_prio() > new_prio) {
guilhemMBED 0:a7c449cd2d5a 197 rt_put_prio (&os_rdy, os_tsk.run);
guilhemMBED 0:a7c449cd2d5a 198 os_tsk.run->state = READY;
guilhemMBED 0:a7c449cd2d5a 199 rt_dispatch (NULL);
guilhemMBED 0:a7c449cd2d5a 200 }
guilhemMBED 0:a7c449cd2d5a 201 return (OS_R_OK);
guilhemMBED 0:a7c449cd2d5a 202 }
guilhemMBED 0:a7c449cd2d5a 203
guilhemMBED 0:a7c449cd2d5a 204 /* Find the task in the "os_active_TCB" array. */
guilhemMBED 0:a7c449cd2d5a 205 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
guilhemMBED 0:a7c449cd2d5a 206 /* Task with "task_id" not found or not started. */
guilhemMBED 0:a7c449cd2d5a 207 return (OS_R_NOK);
guilhemMBED 0:a7c449cd2d5a 208 }
guilhemMBED 0:a7c449cd2d5a 209 p_task = os_active_TCB[task_id-1];
guilhemMBED 0:a7c449cd2d5a 210 p_task->prio = new_prio;
guilhemMBED 0:a7c449cd2d5a 211 if (p_task == os_tsk.run) {
guilhemMBED 0:a7c449cd2d5a 212 goto run;
guilhemMBED 0:a7c449cd2d5a 213 }
guilhemMBED 0:a7c449cd2d5a 214 rt_resort_prio (p_task);
guilhemMBED 0:a7c449cd2d5a 215 if (p_task->state == READY) {
guilhemMBED 0:a7c449cd2d5a 216 /* Task enqueued in a ready list. */
guilhemMBED 0:a7c449cd2d5a 217 p_task = rt_get_first (&os_rdy);
guilhemMBED 0:a7c449cd2d5a 218 rt_dispatch (p_task);
guilhemMBED 0:a7c449cd2d5a 219 }
guilhemMBED 0:a7c449cd2d5a 220 return (OS_R_OK);
guilhemMBED 0:a7c449cd2d5a 221 }
guilhemMBED 0:a7c449cd2d5a 222
guilhemMBED 0:a7c449cd2d5a 223 /*--------------------------- rt_tsk_delete ---------------------------------*/
guilhemMBED 0:a7c449cd2d5a 224
guilhemMBED 0:a7c449cd2d5a 225 OS_RESULT rt_tsk_delete (OS_TID task_id) {
guilhemMBED 0:a7c449cd2d5a 226 /* Terminate the task identified with "task_id". */
guilhemMBED 0:a7c449cd2d5a 227 P_TCB task_context;
guilhemMBED 0:a7c449cd2d5a 228
guilhemMBED 0:a7c449cd2d5a 229 if (task_id == 0 || task_id == os_tsk.run->task_id) {
guilhemMBED 0:a7c449cd2d5a 230 /* Terminate itself. */
guilhemMBED 0:a7c449cd2d5a 231 os_tsk.run->state = INACTIVE;
guilhemMBED 0:a7c449cd2d5a 232 os_tsk.run->tsk_stack = 0;
guilhemMBED 0:a7c449cd2d5a 233 rt_stk_check ();
guilhemMBED 0:a7c449cd2d5a 234 os_active_TCB[os_tsk.run->task_id-1] = NULL;
guilhemMBED 0:a7c449cd2d5a 235
guilhemMBED 0:a7c449cd2d5a 236 os_tsk.run->stack = NULL;
guilhemMBED 0:a7c449cd2d5a 237 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
guilhemMBED 0:a7c449cd2d5a 238 os_tsk.run = NULL;
guilhemMBED 0:a7c449cd2d5a 239 rt_dispatch (NULL);
guilhemMBED 0:a7c449cd2d5a 240 /* The program should never come to this point. */
guilhemMBED 0:a7c449cd2d5a 241 }
guilhemMBED 0:a7c449cd2d5a 242 else {
guilhemMBED 0:a7c449cd2d5a 243 /* Find the task in the "os_active_TCB" array. */
guilhemMBED 0:a7c449cd2d5a 244 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
guilhemMBED 0:a7c449cd2d5a 245 /* Task with "task_id" not found or not started. */
guilhemMBED 0:a7c449cd2d5a 246 return (OS_R_NOK);
guilhemMBED 0:a7c449cd2d5a 247 }
guilhemMBED 0:a7c449cd2d5a 248 task_context = os_active_TCB[task_id-1];
guilhemMBED 0:a7c449cd2d5a 249 rt_rmv_list (task_context);
guilhemMBED 0:a7c449cd2d5a 250 rt_rmv_dly (task_context);
guilhemMBED 0:a7c449cd2d5a 251 os_active_TCB[task_id-1] = NULL;
guilhemMBED 0:a7c449cd2d5a 252
guilhemMBED 0:a7c449cd2d5a 253 task_context->stack = NULL;
guilhemMBED 0:a7c449cd2d5a 254 DBG_TASK_NOTIFY(task_context, __FALSE);
guilhemMBED 0:a7c449cd2d5a 255 }
guilhemMBED 0:a7c449cd2d5a 256 return (OS_R_OK);
guilhemMBED 0:a7c449cd2d5a 257 }
guilhemMBED 0:a7c449cd2d5a 258
guilhemMBED 0:a7c449cd2d5a 259
guilhemMBED 0:a7c449cd2d5a 260 /*--------------------------- rt_sys_init -----------------------------------*/
guilhemMBED 0:a7c449cd2d5a 261
guilhemMBED 0:a7c449cd2d5a 262 #ifdef __CMSIS_RTOS
guilhemMBED 0:a7c449cd2d5a 263 void rt_sys_init (void) {
guilhemMBED 0:a7c449cd2d5a 264 #else
guilhemMBED 0:a7c449cd2d5a 265 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
guilhemMBED 0:a7c449cd2d5a 266 #endif
guilhemMBED 0:a7c449cd2d5a 267 /* Initialize system and start up task declared with "first_task". */
guilhemMBED 0:a7c449cd2d5a 268 U32 i;
guilhemMBED 0:a7c449cd2d5a 269
guilhemMBED 0:a7c449cd2d5a 270 DBG_INIT();
guilhemMBED 0:a7c449cd2d5a 271
guilhemMBED 0:a7c449cd2d5a 272 /* Initialize dynamic memory and task TCB pointers to NULL. */
guilhemMBED 0:a7c449cd2d5a 273 for (i = 0; i < os_maxtaskrun; i++) {
guilhemMBED 0:a7c449cd2d5a 274 os_active_TCB[i] = NULL;
guilhemMBED 0:a7c449cd2d5a 275 }
guilhemMBED 0:a7c449cd2d5a 276
guilhemMBED 0:a7c449cd2d5a 277 /* Set up TCB of idle demon */
guilhemMBED 0:a7c449cd2d5a 278 os_idle_TCB.task_id = 255;
guilhemMBED 0:a7c449cd2d5a 279 os_idle_TCB.priv_stack = idle_task_stack_size;
guilhemMBED 0:a7c449cd2d5a 280 os_idle_TCB.stack = idle_task_stack;
guilhemMBED 0:a7c449cd2d5a 281 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
guilhemMBED 0:a7c449cd2d5a 282
guilhemMBED 0:a7c449cd2d5a 283 /* Set up ready list: initially empty */
guilhemMBED 0:a7c449cd2d5a 284 os_rdy.cb_type = HCB;
guilhemMBED 0:a7c449cd2d5a 285 os_rdy.p_lnk = NULL;
guilhemMBED 0:a7c449cd2d5a 286 /* Set up delay list: initially empty */
guilhemMBED 0:a7c449cd2d5a 287 os_dly.cb_type = HCB;
guilhemMBED 0:a7c449cd2d5a 288 os_dly.p_dlnk = NULL;
guilhemMBED 0:a7c449cd2d5a 289 os_dly.p_blnk = NULL;
guilhemMBED 0:a7c449cd2d5a 290 os_dly.delta_time = 0;
guilhemMBED 0:a7c449cd2d5a 291
guilhemMBED 0:a7c449cd2d5a 292 /* Fix SP and systemvariables to assume idle task is running */
guilhemMBED 0:a7c449cd2d5a 293 /* Transform main program into idle task by assuming idle TCB */
guilhemMBED 0:a7c449cd2d5a 294 #ifndef __CMSIS_RTOS
guilhemMBED 0:a7c449cd2d5a 295 rt_set_PSP (os_idle_TCB.tsk_stack);
guilhemMBED 0:a7c449cd2d5a 296 #endif
guilhemMBED 0:a7c449cd2d5a 297 os_tsk.run = &os_idle_TCB;
guilhemMBED 0:a7c449cd2d5a 298 os_tsk.run->state = RUNNING;
guilhemMBED 0:a7c449cd2d5a 299
guilhemMBED 0:a7c449cd2d5a 300 /* Initialize ps queue */
guilhemMBED 0:a7c449cd2d5a 301 os_psq->first = 0;
guilhemMBED 0:a7c449cd2d5a 302 os_psq->last = 0;
guilhemMBED 0:a7c449cd2d5a 303 os_psq->size = os_fifo_size;
guilhemMBED 0:a7c449cd2d5a 304
guilhemMBED 0:a7c449cd2d5a 305 rt_init_robin ();
guilhemMBED 0:a7c449cd2d5a 306
guilhemMBED 0:a7c449cd2d5a 307 /* Intitialize SVC and PendSV */
guilhemMBED 0:a7c449cd2d5a 308 rt_svc_init ();
guilhemMBED 0:a7c449cd2d5a 309
guilhemMBED 0:a7c449cd2d5a 310 #ifndef __CMSIS_RTOS
guilhemMBED 0:a7c449cd2d5a 311 /* Intitialize and start system clock timer */
guilhemMBED 0:a7c449cd2d5a 312 os_tick_irqn = os_tick_init ();
guilhemMBED 0:a7c449cd2d5a 313 if (os_tick_irqn >= 0) {
guilhemMBED 0:a7c449cd2d5a 314 OS_X_INIT(os_tick_irqn);
guilhemMBED 0:a7c449cd2d5a 315 }
guilhemMBED 0:a7c449cd2d5a 316
guilhemMBED 0:a7c449cd2d5a 317 /* Start up first user task before entering the endless loop */
guilhemMBED 0:a7c449cd2d5a 318 rt_tsk_create (first_task, prio_stksz, stk, NULL);
guilhemMBED 0:a7c449cd2d5a 319 #endif
guilhemMBED 0:a7c449cd2d5a 320 }
guilhemMBED 0:a7c449cd2d5a 321
guilhemMBED 0:a7c449cd2d5a 322
guilhemMBED 0:a7c449cd2d5a 323 /*--------------------------- rt_sys_start ----------------------------------*/
guilhemMBED 0:a7c449cd2d5a 324
guilhemMBED 0:a7c449cd2d5a 325 #ifdef __CMSIS_RTOS
guilhemMBED 0:a7c449cd2d5a 326 void rt_sys_start (void) {
guilhemMBED 0:a7c449cd2d5a 327 /* Start system */
guilhemMBED 0:a7c449cd2d5a 328
guilhemMBED 0:a7c449cd2d5a 329 /* Intitialize and start system clock timer */
guilhemMBED 0:a7c449cd2d5a 330 os_tick_irqn = os_tick_init ();
guilhemMBED 0:a7c449cd2d5a 331 if (os_tick_irqn >= 0) {
guilhemMBED 0:a7c449cd2d5a 332 OS_X_INIT(os_tick_irqn);
guilhemMBED 0:a7c449cd2d5a 333 }
guilhemMBED 0:a7c449cd2d5a 334 extern void RestoreContext();
guilhemMBED 0:a7c449cd2d5a 335 RestoreContext(); // Start the first task
guilhemMBED 0:a7c449cd2d5a 336 }
guilhemMBED 0:a7c449cd2d5a 337 #endif
guilhemMBED 0:a7c449cd2d5a 338
guilhemMBED 0:a7c449cd2d5a 339 /*----------------------------------------------------------------------------
guilhemMBED 0:a7c449cd2d5a 340 * end of file
guilhemMBED 0:a7c449cd2d5a 341 *---------------------------------------------------------------------------*/