Toyomasa Watarai / mbed-rtos

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rtx/TARGET_CORTEX_M/rt_Task.c@49:77c8e4604045, 2014-11-06 (annotated)

Committer:
mbed_official
Date:
Thu Nov 06 13:00:11 2014 +0000
Revision:
49:77c8e4604045
Synchronized with git revision 7b90c2ba137baaf9769219e0e8a7b8e8d1299c4f



Full URL: https://github.com/mbedmicro/mbed/commit/7b90c2ba137baaf9769219e0e8a7b8e8d1299c4f/



This target is not yet tested, so it can't be released as part of the official

SDK build for now.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 49:77c8e4604045 1 /*----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 2 * RL-ARM - RTX
mbed_official 49:77c8e4604045 3 *----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 4 * Name: RT_TASK.C
mbed_official 49:77c8e4604045 5 * Purpose: Task functions and system start up.
mbed_official 49:77c8e4604045 6 * Rev.: V4.60
mbed_official 49:77c8e4604045 7 *----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 8 *
mbed_official 49:77c8e4604045 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
mbed_official 49:77c8e4604045 10 * All rights reserved.
mbed_official 49:77c8e4604045 11 * Redistribution and use in source and binary forms, with or without
mbed_official 49:77c8e4604045 12 * modification, are permitted provided that the following conditions are met:
mbed_official 49:77c8e4604045 13 * - Redistributions of source code must retain the above copyright
mbed_official 49:77c8e4604045 14 * notice, this list of conditions and the following disclaimer.
mbed_official 49:77c8e4604045 15 * - Redistributions in binary form must reproduce the above copyright
mbed_official 49:77c8e4604045 16 * notice, this list of conditions and the following disclaimer in the
mbed_official 49:77c8e4604045 17 * documentation and/or other materials provided with the distribution.
mbed_official 49:77c8e4604045 18 * - Neither the name of ARM nor the names of its contributors may be used
mbed_official 49:77c8e4604045 19 * to endorse or promote products derived from this software without
mbed_official 49:77c8e4604045 20 * specific prior written permission.
mbed_official 49:77c8e4604045 21 *
mbed_official 49:77c8e4604045 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbed_official 49:77c8e4604045 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbed_official 49:77c8e4604045 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
mbed_official 49:77c8e4604045 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
mbed_official 49:77c8e4604045 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
mbed_official 49:77c8e4604045 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
mbed_official 49:77c8e4604045 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
mbed_official 49:77c8e4604045 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
mbed_official 49:77c8e4604045 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
mbed_official 49:77c8e4604045 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbed_official 49:77c8e4604045 32 * POSSIBILITY OF SUCH DAMAGE.
mbed_official 49:77c8e4604045 33 *---------------------------------------------------------------------------*/
mbed_official 49:77c8e4604045 34
mbed_official 49:77c8e4604045 35 #include "rt_TypeDef.h"
mbed_official 49:77c8e4604045 36 #include "RTX_Conf.h"
mbed_official 49:77c8e4604045 37 #include "rt_System.h"
mbed_official 49:77c8e4604045 38 #include "rt_Task.h"
mbed_official 49:77c8e4604045 39 #include "rt_List.h"
mbed_official 49:77c8e4604045 40 #include "rt_MemBox.h"
mbed_official 49:77c8e4604045 41 #include "rt_Robin.h"
mbed_official 49:77c8e4604045 42 #include "rt_HAL_CM.h"
mbed_official 49:77c8e4604045 43
mbed_official 49:77c8e4604045 44 /*----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 45 * Global Variables
mbed_official 49:77c8e4604045 46 *---------------------------------------------------------------------------*/
mbed_official 49:77c8e4604045 47
mbed_official 49:77c8e4604045 48 /* Running and next task info. */
mbed_official 49:77c8e4604045 49 struct OS_TSK os_tsk;
mbed_official 49:77c8e4604045 50
mbed_official 49:77c8e4604045 51 /* Task Control Blocks of idle demon */
mbed_official 49:77c8e4604045 52 struct OS_TCB os_idle_TCB;
mbed_official 49:77c8e4604045 53
mbed_official 49:77c8e4604045 54
mbed_official 49:77c8e4604045 55 /*----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 56 * Local Functions
mbed_official 49:77c8e4604045 57 *---------------------------------------------------------------------------*/
mbed_official 49:77c8e4604045 58
mbed_official 49:77c8e4604045 59 OS_TID rt_get_TID (void) {
mbed_official 49:77c8e4604045 60 U32 tid;
mbed_official 49:77c8e4604045 61
mbed_official 49:77c8e4604045 62 for (tid = 1; tid <= os_maxtaskrun; tid++) {
mbed_official 49:77c8e4604045 63 if (os_active_TCB[tid-1] == NULL) {
mbed_official 49:77c8e4604045 64 return ((OS_TID)tid);
mbed_official 49:77c8e4604045 65 }
mbed_official 49:77c8e4604045 66 }
mbed_official 49:77c8e4604045 67 return (0);
mbed_official 49:77c8e4604045 68 }
mbed_official 49:77c8e4604045 69
mbed_official 49:77c8e4604045 70 #if defined (__CC_ARM) && !defined (__MICROLIB)
mbed_official 49:77c8e4604045 71 /*--------------------------- __user_perthread_libspace ---------------------*/
mbed_official 49:77c8e4604045 72 extern void *__libspace_start;
mbed_official 49:77c8e4604045 73
mbed_official 49:77c8e4604045 74 void *__user_perthread_libspace (void) {
mbed_official 49:77c8e4604045 75 /* Provide a separate libspace for each task. */
mbed_official 49:77c8e4604045 76 if (os_tsk.run == NULL) {
mbed_official 49:77c8e4604045 77 /* RTX not running yet. */
mbed_official 49:77c8e4604045 78 return (&__libspace_start);
mbed_official 49:77c8e4604045 79 }
mbed_official 49:77c8e4604045 80 return (void *)(os_tsk.run->std_libspace);
mbed_official 49:77c8e4604045 81 }
mbed_official 49:77c8e4604045 82 #endif
mbed_official 49:77c8e4604045 83
mbed_official 49:77c8e4604045 84 /*--------------------------- rt_init_context -------------------------------*/
mbed_official 49:77c8e4604045 85
mbed_official 49:77c8e4604045 86 void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
mbed_official 49:77c8e4604045 87 /* Initialize general part of the Task Control Block. */
mbed_official 49:77c8e4604045 88 p_TCB->cb_type = TCB;
mbed_official 49:77c8e4604045 89 p_TCB->state = READY;
mbed_official 49:77c8e4604045 90 p_TCB->prio = priority;
mbed_official 49:77c8e4604045 91 p_TCB->p_lnk = NULL;
mbed_official 49:77c8e4604045 92 p_TCB->p_rlnk = NULL;
mbed_official 49:77c8e4604045 93 p_TCB->p_dlnk = NULL;
mbed_official 49:77c8e4604045 94 p_TCB->p_blnk = NULL;
mbed_official 49:77c8e4604045 95 p_TCB->delta_time = 0;
mbed_official 49:77c8e4604045 96 p_TCB->interval_time = 0;
mbed_official 49:77c8e4604045 97 p_TCB->events = 0;
mbed_official 49:77c8e4604045 98 p_TCB->waits = 0;
mbed_official 49:77c8e4604045 99 p_TCB->stack_frame = 0;
mbed_official 49:77c8e4604045 100
mbed_official 49:77c8e4604045 101 rt_init_stack (p_TCB, task_body);
mbed_official 49:77c8e4604045 102 }
mbed_official 49:77c8e4604045 103
mbed_official 49:77c8e4604045 104
mbed_official 49:77c8e4604045 105 /*--------------------------- rt_switch_req ---------------------------------*/
mbed_official 49:77c8e4604045 106
mbed_official 49:77c8e4604045 107 void rt_switch_req (P_TCB p_new) {
mbed_official 49:77c8e4604045 108 /* Switch to next task (identified by "p_new"). */
mbed_official 49:77c8e4604045 109 os_tsk.new_tsk = p_new;
mbed_official 49:77c8e4604045 110 p_new->state = RUNNING;
mbed_official 49:77c8e4604045 111 DBG_TASK_SWITCH(p_new->task_id);
mbed_official 49:77c8e4604045 112 }
mbed_official 49:77c8e4604045 113
mbed_official 49:77c8e4604045 114
mbed_official 49:77c8e4604045 115 /*--------------------------- rt_dispatch -----------------------------------*/
mbed_official 49:77c8e4604045 116
mbed_official 49:77c8e4604045 117 void rt_dispatch (P_TCB next_TCB) {
mbed_official 49:77c8e4604045 118 /* Dispatch next task if any identified or dispatch highest ready task */
mbed_official 49:77c8e4604045 119 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
mbed_official 49:77c8e4604045 120 if (next_TCB == NULL) {
mbed_official 49:77c8e4604045 121 /* Running task was blocked: continue with highest ready task */
mbed_official 49:77c8e4604045 122 next_TCB = rt_get_first (&os_rdy);
mbed_official 49:77c8e4604045 123 rt_switch_req (next_TCB);
mbed_official 49:77c8e4604045 124 }
mbed_official 49:77c8e4604045 125 else {
mbed_official 49:77c8e4604045 126 /* Check which task continues */
mbed_official 49:77c8e4604045 127 if (next_TCB->prio > os_tsk.run->prio) {
mbed_official 49:77c8e4604045 128 /* preempt running task */
mbed_official 49:77c8e4604045 129 rt_put_rdy_first (os_tsk.run);
mbed_official 49:77c8e4604045 130 os_tsk.run->state = READY;
mbed_official 49:77c8e4604045 131 rt_switch_req (next_TCB);
mbed_official 49:77c8e4604045 132 }
mbed_official 49:77c8e4604045 133 else {
mbed_official 49:77c8e4604045 134 /* put next task into ready list, no task switch takes place */
mbed_official 49:77c8e4604045 135 next_TCB->state = READY;
mbed_official 49:77c8e4604045 136 rt_put_prio (&os_rdy, next_TCB);
mbed_official 49:77c8e4604045 137 }
mbed_official 49:77c8e4604045 138 }
mbed_official 49:77c8e4604045 139 }
mbed_official 49:77c8e4604045 140
mbed_official 49:77c8e4604045 141
mbed_official 49:77c8e4604045 142 /*--------------------------- rt_block --------------------------------------*/
mbed_official 49:77c8e4604045 143
mbed_official 49:77c8e4604045 144 void rt_block (U16 timeout, U8 block_state) {
mbed_official 49:77c8e4604045 145 /* Block running task and choose next ready task. */
mbed_official 49:77c8e4604045 146 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
mbed_official 49:77c8e4604045 147 /* "block_state" defines the appropriate task state */
mbed_official 49:77c8e4604045 148 P_TCB next_TCB;
mbed_official 49:77c8e4604045 149
mbed_official 49:77c8e4604045 150 if (timeout) {
mbed_official 49:77c8e4604045 151 if (timeout < 0xffff) {
mbed_official 49:77c8e4604045 152 rt_put_dly (os_tsk.run, timeout);
mbed_official 49:77c8e4604045 153 }
mbed_official 49:77c8e4604045 154 os_tsk.run->state = block_state;
mbed_official 49:77c8e4604045 155 next_TCB = rt_get_first (&os_rdy);
mbed_official 49:77c8e4604045 156 rt_switch_req (next_TCB);
mbed_official 49:77c8e4604045 157 }
mbed_official 49:77c8e4604045 158 }
mbed_official 49:77c8e4604045 159
mbed_official 49:77c8e4604045 160
mbed_official 49:77c8e4604045 161 /*--------------------------- rt_tsk_pass -----------------------------------*/
mbed_official 49:77c8e4604045 162
mbed_official 49:77c8e4604045 163 void rt_tsk_pass (void) {
mbed_official 49:77c8e4604045 164 /* Allow tasks of same priority level to run cooperatively.*/
mbed_official 49:77c8e4604045 165 P_TCB p_new;
mbed_official 49:77c8e4604045 166
mbed_official 49:77c8e4604045 167 p_new = rt_get_same_rdy_prio();
mbed_official 49:77c8e4604045 168 if (p_new != NULL) {
mbed_official 49:77c8e4604045 169 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
mbed_official 49:77c8e4604045 170 os_tsk.run->state = READY;
mbed_official 49:77c8e4604045 171 rt_switch_req (p_new);
mbed_official 49:77c8e4604045 172 }
mbed_official 49:77c8e4604045 173 }
mbed_official 49:77c8e4604045 174
mbed_official 49:77c8e4604045 175
mbed_official 49:77c8e4604045 176 /*--------------------------- rt_tsk_self -----------------------------------*/
mbed_official 49:77c8e4604045 177
mbed_official 49:77c8e4604045 178 OS_TID rt_tsk_self (void) {
mbed_official 49:77c8e4604045 179 /* Return own task identifier value. */
mbed_official 49:77c8e4604045 180 if (os_tsk.run == NULL) {
mbed_official 49:77c8e4604045 181 return (0);
mbed_official 49:77c8e4604045 182 }
mbed_official 49:77c8e4604045 183 return (os_tsk.run->task_id);
mbed_official 49:77c8e4604045 184 }
mbed_official 49:77c8e4604045 185
mbed_official 49:77c8e4604045 186
mbed_official 49:77c8e4604045 187 /*--------------------------- rt_tsk_prio -----------------------------------*/
mbed_official 49:77c8e4604045 188
mbed_official 49:77c8e4604045 189 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
mbed_official 49:77c8e4604045 190 /* Change execution priority of a task to "new_prio". */
mbed_official 49:77c8e4604045 191 P_TCB p_task;
mbed_official 49:77c8e4604045 192
mbed_official 49:77c8e4604045 193 if (task_id == 0) {
mbed_official 49:77c8e4604045 194 /* Change execution priority of calling task. */
mbed_official 49:77c8e4604045 195 os_tsk.run->prio = new_prio;
mbed_official 49:77c8e4604045 196 run:if (rt_rdy_prio() > new_prio) {
mbed_official 49:77c8e4604045 197 rt_put_prio (&os_rdy, os_tsk.run);
mbed_official 49:77c8e4604045 198 os_tsk.run->state = READY;
mbed_official 49:77c8e4604045 199 rt_dispatch (NULL);
mbed_official 49:77c8e4604045 200 }
mbed_official 49:77c8e4604045 201 return (OS_R_OK);
mbed_official 49:77c8e4604045 202 }
mbed_official 49:77c8e4604045 203
mbed_official 49:77c8e4604045 204 /* Find the task in the "os_active_TCB" array. */
mbed_official 49:77c8e4604045 205 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
mbed_official 49:77c8e4604045 206 /* Task with "task_id" not found or not started. */
mbed_official 49:77c8e4604045 207 return (OS_R_NOK);
mbed_official 49:77c8e4604045 208 }
mbed_official 49:77c8e4604045 209 p_task = os_active_TCB[task_id-1];
mbed_official 49:77c8e4604045 210 p_task->prio = new_prio;
mbed_official 49:77c8e4604045 211 if (p_task == os_tsk.run) {
mbed_official 49:77c8e4604045 212 goto run;
mbed_official 49:77c8e4604045 213 }
mbed_official 49:77c8e4604045 214 rt_resort_prio (p_task);
mbed_official 49:77c8e4604045 215 if (p_task->state == READY) {
mbed_official 49:77c8e4604045 216 /* Task enqueued in a ready list. */
mbed_official 49:77c8e4604045 217 p_task = rt_get_first (&os_rdy);
mbed_official 49:77c8e4604045 218 rt_dispatch (p_task);
mbed_official 49:77c8e4604045 219 }
mbed_official 49:77c8e4604045 220 return (OS_R_OK);
mbed_official 49:77c8e4604045 221 }
mbed_official 49:77c8e4604045 222
mbed_official 49:77c8e4604045 223 /*--------------------------- rt_tsk_delete ---------------------------------*/
mbed_official 49:77c8e4604045 224
mbed_official 49:77c8e4604045 225 OS_RESULT rt_tsk_delete (OS_TID task_id) {
mbed_official 49:77c8e4604045 226 /* Terminate the task identified with "task_id". */
mbed_official 49:77c8e4604045 227 P_TCB task_context;
mbed_official 49:77c8e4604045 228
mbed_official 49:77c8e4604045 229 if (task_id == 0 || task_id == os_tsk.run->task_id) {
mbed_official 49:77c8e4604045 230 /* Terminate itself. */
mbed_official 49:77c8e4604045 231 os_tsk.run->state = INACTIVE;
mbed_official 49:77c8e4604045 232 os_tsk.run->tsk_stack = rt_get_PSP ();
mbed_official 49:77c8e4604045 233 rt_stk_check ();
mbed_official 49:77c8e4604045 234 os_active_TCB[os_tsk.run->task_id-1] = NULL;
mbed_official 49:77c8e4604045 235
mbed_official 49:77c8e4604045 236 os_tsk.run->stack = NULL;
mbed_official 49:77c8e4604045 237 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
mbed_official 49:77c8e4604045 238 os_tsk.run = NULL;
mbed_official 49:77c8e4604045 239 rt_dispatch (NULL);
mbed_official 49:77c8e4604045 240 /* The program should never come to this point. */
mbed_official 49:77c8e4604045 241 }
mbed_official 49:77c8e4604045 242 else {
mbed_official 49:77c8e4604045 243 /* Find the task in the "os_active_TCB" array. */
mbed_official 49:77c8e4604045 244 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
mbed_official 49:77c8e4604045 245 /* Task with "task_id" not found or not started. */
mbed_official 49:77c8e4604045 246 return (OS_R_NOK);
mbed_official 49:77c8e4604045 247 }
mbed_official 49:77c8e4604045 248 task_context = os_active_TCB[task_id-1];
mbed_official 49:77c8e4604045 249 rt_rmv_list (task_context);
mbed_official 49:77c8e4604045 250 rt_rmv_dly (task_context);
mbed_official 49:77c8e4604045 251 os_active_TCB[task_id-1] = NULL;
mbed_official 49:77c8e4604045 252
mbed_official 49:77c8e4604045 253 task_context->stack = NULL;
mbed_official 49:77c8e4604045 254 DBG_TASK_NOTIFY(task_context, __FALSE);
mbed_official 49:77c8e4604045 255 }
mbed_official 49:77c8e4604045 256 return (OS_R_OK);
mbed_official 49:77c8e4604045 257 }
mbed_official 49:77c8e4604045 258
mbed_official 49:77c8e4604045 259
mbed_official 49:77c8e4604045 260 /*--------------------------- rt_sys_init -----------------------------------*/
mbed_official 49:77c8e4604045 261
mbed_official 49:77c8e4604045 262 #ifdef __CMSIS_RTOS
mbed_official 49:77c8e4604045 263 void rt_sys_init (void) {
mbed_official 49:77c8e4604045 264 #else
mbed_official 49:77c8e4604045 265 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
mbed_official 49:77c8e4604045 266 #endif
mbed_official 49:77c8e4604045 267 /* Initialize system and start up task declared with "first_task". */
mbed_official 49:77c8e4604045 268 U32 i;
mbed_official 49:77c8e4604045 269
mbed_official 49:77c8e4604045 270 DBG_INIT();
mbed_official 49:77c8e4604045 271
mbed_official 49:77c8e4604045 272 /* Initialize dynamic memory and task TCB pointers to NULL. */
mbed_official 49:77c8e4604045 273 for (i = 0; i < os_maxtaskrun; i++) {
mbed_official 49:77c8e4604045 274 os_active_TCB[i] = NULL;
mbed_official 49:77c8e4604045 275 }
mbed_official 49:77c8e4604045 276
mbed_official 49:77c8e4604045 277 /* Set up TCB of idle demon */
mbed_official 49:77c8e4604045 278 os_idle_TCB.task_id = 255;
mbed_official 49:77c8e4604045 279 os_idle_TCB.priv_stack = idle_task_stack_size;
mbed_official 49:77c8e4604045 280 os_idle_TCB.stack = idle_task_stack;
mbed_official 49:77c8e4604045 281 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
mbed_official 49:77c8e4604045 282
mbed_official 49:77c8e4604045 283 /* Set up ready list: initially empty */
mbed_official 49:77c8e4604045 284 os_rdy.cb_type = HCB;
mbed_official 49:77c8e4604045 285 os_rdy.p_lnk = NULL;
mbed_official 49:77c8e4604045 286 /* Set up delay list: initially empty */
mbed_official 49:77c8e4604045 287 os_dly.cb_type = HCB;
mbed_official 49:77c8e4604045 288 os_dly.p_dlnk = NULL;
mbed_official 49:77c8e4604045 289 os_dly.p_blnk = NULL;
mbed_official 49:77c8e4604045 290 os_dly.delta_time = 0;
mbed_official 49:77c8e4604045 291
mbed_official 49:77c8e4604045 292 /* Fix SP and systemvariables to assume idle task is running */
mbed_official 49:77c8e4604045 293 /* Transform main program into idle task by assuming idle TCB */
mbed_official 49:77c8e4604045 294 #ifndef __CMSIS_RTOS
mbed_official 49:77c8e4604045 295 rt_set_PSP (os_idle_TCB.tsk_stack+32);
mbed_official 49:77c8e4604045 296 #endif
mbed_official 49:77c8e4604045 297 os_tsk.run = &os_idle_TCB;
mbed_official 49:77c8e4604045 298 os_tsk.run->state = RUNNING;
mbed_official 49:77c8e4604045 299
mbed_official 49:77c8e4604045 300 /* Initialize ps queue */
mbed_official 49:77c8e4604045 301 os_psq->first = 0;
mbed_official 49:77c8e4604045 302 os_psq->last = 0;
mbed_official 49:77c8e4604045 303 os_psq->size = os_fifo_size;
mbed_official 49:77c8e4604045 304
mbed_official 49:77c8e4604045 305 rt_init_robin ();
mbed_official 49:77c8e4604045 306
mbed_official 49:77c8e4604045 307 /* Intitialize SVC and PendSV */
mbed_official 49:77c8e4604045 308 rt_svc_init ();
mbed_official 49:77c8e4604045 309
mbed_official 49:77c8e4604045 310 #ifndef __CMSIS_RTOS
mbed_official 49:77c8e4604045 311 /* Intitialize and start system clock timer */
mbed_official 49:77c8e4604045 312 os_tick_irqn = os_tick_init ();
mbed_official 49:77c8e4604045 313 if (os_tick_irqn >= 0) {
mbed_official 49:77c8e4604045 314 OS_X_INIT(os_tick_irqn);
mbed_official 49:77c8e4604045 315 }
mbed_official 49:77c8e4604045 316
mbed_official 49:77c8e4604045 317 /* Start up first user task before entering the endless loop */
mbed_official 49:77c8e4604045 318 rt_tsk_create (first_task, prio_stksz, stk, NULL);
mbed_official 49:77c8e4604045 319 #endif
mbed_official 49:77c8e4604045 320 }
mbed_official 49:77c8e4604045 321
mbed_official 49:77c8e4604045 322
mbed_official 49:77c8e4604045 323 /*--------------------------- rt_sys_start ----------------------------------*/
mbed_official 49:77c8e4604045 324
mbed_official 49:77c8e4604045 325 #ifdef __CMSIS_RTOS
mbed_official 49:77c8e4604045 326 void rt_sys_start (void) {
mbed_official 49:77c8e4604045 327 /* Start system */
mbed_official 49:77c8e4604045 328
mbed_official 49:77c8e4604045 329 /* Intitialize and start system clock timer */
mbed_official 49:77c8e4604045 330 os_tick_irqn = os_tick_init ();
mbed_official 49:77c8e4604045 331 if (os_tick_irqn >= 0) {
mbed_official 49:77c8e4604045 332 OS_X_INIT(os_tick_irqn);
mbed_official 49:77c8e4604045 333 }
mbed_official 49:77c8e4604045 334 }
mbed_official 49:77c8e4604045 335 #endif
mbed_official 49:77c8e4604045 336
mbed_official 49:77c8e4604045 337 /*----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 338 * end of file
mbed_official 49:77c8e4604045 339 *---------------------------------------------------------------------------*/