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Dependencies:   mbed

mbed-rtos/rtx/rt_Task.c@0:52468b19aa21, 2020-07-29 (annotated)

Committer:
alanffrench
Date:
Wed Jul 29 18:51:38 2020 +0000
Revision:
0:52468b19aa21
Threads

Who changed what in which revision?

UserRevisionLine numberNew contents of line
alanffrench 0:52468b19aa21 1 /*----------------------------------------------------------------------------
alanffrench 0:52468b19aa21 2 * RL-ARM - RTX
alanffrench 0:52468b19aa21 3 *----------------------------------------------------------------------------
alanffrench 0:52468b19aa21 4 * Name: RT_TASK.C
alanffrench 0:52468b19aa21 5 * Purpose: Task functions and system start up.
alanffrench 0:52468b19aa21 6 * Rev.: V4.60
alanffrench 0:52468b19aa21 7 *----------------------------------------------------------------------------
alanffrench 0:52468b19aa21 8 *
alanffrench 0:52468b19aa21 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
alanffrench 0:52468b19aa21 10 * All rights reserved.
alanffrench 0:52468b19aa21 11 * Redistribution and use in source and binary forms, with or without
alanffrench 0:52468b19aa21 12 * modification, are permitted provided that the following conditions are met:
alanffrench 0:52468b19aa21 13 * - Redistributions of source code must retain the above copyright
alanffrench 0:52468b19aa21 14 * notice, this list of conditions and the following disclaimer.
alanffrench 0:52468b19aa21 15 * - Redistributions in binary form must reproduce the above copyright
alanffrench 0:52468b19aa21 16 * notice, this list of conditions and the following disclaimer in the
alanffrench 0:52468b19aa21 17 * documentation and/or other materials provided with the distribution.
alanffrench 0:52468b19aa21 18 * - Neither the name of ARM nor the names of its contributors may be used
alanffrench 0:52468b19aa21 19 * to endorse or promote products derived from this software without
alanffrench 0:52468b19aa21 20 * specific prior written permission.
alanffrench 0:52468b19aa21 21 *
alanffrench 0:52468b19aa21 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
alanffrench 0:52468b19aa21 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
alanffrench 0:52468b19aa21 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
alanffrench 0:52468b19aa21 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
alanffrench 0:52468b19aa21 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
alanffrench 0:52468b19aa21 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
alanffrench 0:52468b19aa21 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
alanffrench 0:52468b19aa21 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
alanffrench 0:52468b19aa21 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
alanffrench 0:52468b19aa21 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
alanffrench 0:52468b19aa21 32 * POSSIBILITY OF SUCH DAMAGE.
alanffrench 0:52468b19aa21 33 *---------------------------------------------------------------------------*/
alanffrench 0:52468b19aa21 34
alanffrench 0:52468b19aa21 35 #include "rt_TypeDef.h"
alanffrench 0:52468b19aa21 36 #include "RTX_Config.h"
alanffrench 0:52468b19aa21 37 #include "rt_System.h"
alanffrench 0:52468b19aa21 38 #include "rt_Task.h"
alanffrench 0:52468b19aa21 39 #include "rt_List.h"
alanffrench 0:52468b19aa21 40 #include "rt_MemBox.h"
alanffrench 0:52468b19aa21 41 #include "rt_Robin.h"
alanffrench 0:52468b19aa21 42 #include "rt_HAL_CM.h"
alanffrench 0:52468b19aa21 43
alanffrench 0:52468b19aa21 44 /*----------------------------------------------------------------------------
alanffrench 0:52468b19aa21 45 * Global Variables
alanffrench 0:52468b19aa21 46 *---------------------------------------------------------------------------*/
alanffrench 0:52468b19aa21 47
alanffrench 0:52468b19aa21 48 /* Running and next task info. */
alanffrench 0:52468b19aa21 49 struct OS_TSK os_tsk;
alanffrench 0:52468b19aa21 50
alanffrench 0:52468b19aa21 51 /* Task Control Blocks of idle demon */
alanffrench 0:52468b19aa21 52 struct OS_TCB os_idle_TCB;
alanffrench 0:52468b19aa21 53
alanffrench 0:52468b19aa21 54
alanffrench 0:52468b19aa21 55 /*----------------------------------------------------------------------------
alanffrench 0:52468b19aa21 56 * Local Functions
alanffrench 0:52468b19aa21 57 *---------------------------------------------------------------------------*/
alanffrench 0:52468b19aa21 58
alanffrench 0:52468b19aa21 59 OS_TID rt_get_TID (void) {
alanffrench 0:52468b19aa21 60 U32 tid;
alanffrench 0:52468b19aa21 61
alanffrench 0:52468b19aa21 62 for (tid = 1; tid <= os_maxtaskrun; tid++) {
alanffrench 0:52468b19aa21 63 if (os_active_TCB[tid-1] == NULL) {
alanffrench 0:52468b19aa21 64 return ((OS_TID)tid);
alanffrench 0:52468b19aa21 65 }
alanffrench 0:52468b19aa21 66 }
alanffrench 0:52468b19aa21 67 return (0);
alanffrench 0:52468b19aa21 68 }
alanffrench 0:52468b19aa21 69
alanffrench 0:52468b19aa21 70 #if defined (__CC_ARM) && !defined (__MICROLIB)
alanffrench 0:52468b19aa21 71 /*--------------------------- __user_perthread_libspace ---------------------*/
alanffrench 0:52468b19aa21 72 extern void *__libspace_start;
alanffrench 0:52468b19aa21 73
alanffrench 0:52468b19aa21 74 void *__user_perthread_libspace (void) {
alanffrench 0:52468b19aa21 75 /* Provide a separate libspace for each task. */
alanffrench 0:52468b19aa21 76 if (os_tsk.run == NULL) {
alanffrench 0:52468b19aa21 77 /* RTX not running yet. */
alanffrench 0:52468b19aa21 78 return (&__libspace_start);
alanffrench 0:52468b19aa21 79 }
alanffrench 0:52468b19aa21 80 return (void *)(os_tsk.run->std_libspace);
alanffrench 0:52468b19aa21 81 }
alanffrench 0:52468b19aa21 82 #endif
alanffrench 0:52468b19aa21 83
alanffrench 0:52468b19aa21 84 /*--------------------------- rt_init_context -------------------------------*/
alanffrench 0:52468b19aa21 85
alanffrench 0:52468b19aa21 86 void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
alanffrench 0:52468b19aa21 87 /* Initialize general part of the Task Control Block. */
alanffrench 0:52468b19aa21 88 p_TCB->cb_type = TCB;
alanffrench 0:52468b19aa21 89 p_TCB->state = READY;
alanffrench 0:52468b19aa21 90 p_TCB->prio = priority;
alanffrench 0:52468b19aa21 91 p_TCB->p_lnk = NULL;
alanffrench 0:52468b19aa21 92 p_TCB->p_rlnk = NULL;
alanffrench 0:52468b19aa21 93 p_TCB->p_dlnk = NULL;
alanffrench 0:52468b19aa21 94 p_TCB->p_blnk = NULL;
alanffrench 0:52468b19aa21 95 p_TCB->delta_time = 0;
alanffrench 0:52468b19aa21 96 p_TCB->interval_time = 0;
alanffrench 0:52468b19aa21 97 p_TCB->events = 0;
alanffrench 0:52468b19aa21 98 p_TCB->waits = 0;
alanffrench 0:52468b19aa21 99 p_TCB->stack_frame = 0;
alanffrench 0:52468b19aa21 100
alanffrench 0:52468b19aa21 101 rt_init_stack (p_TCB, task_body);
alanffrench 0:52468b19aa21 102 }
alanffrench 0:52468b19aa21 103
alanffrench 0:52468b19aa21 104
alanffrench 0:52468b19aa21 105 /*--------------------------- rt_switch_req ---------------------------------*/
alanffrench 0:52468b19aa21 106
alanffrench 0:52468b19aa21 107 void rt_switch_req (P_TCB p_new) {
alanffrench 0:52468b19aa21 108 /* Switch to next task (identified by "p_new"). */
alanffrench 0:52468b19aa21 109 os_tsk.new_tsk = p_new;
alanffrench 0:52468b19aa21 110 p_new->state = RUNNING;
alanffrench 0:52468b19aa21 111 DBG_TASK_SWITCH(p_new->task_id);
alanffrench 0:52468b19aa21 112 }
alanffrench 0:52468b19aa21 113
alanffrench 0:52468b19aa21 114
alanffrench 0:52468b19aa21 115 /*--------------------------- rt_dispatch -----------------------------------*/
alanffrench 0:52468b19aa21 116
alanffrench 0:52468b19aa21 117 void rt_dispatch (P_TCB next_TCB) {
alanffrench 0:52468b19aa21 118 /* Dispatch next task if any identified or dispatch highest ready task */
alanffrench 0:52468b19aa21 119 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
alanffrench 0:52468b19aa21 120 if (next_TCB == NULL) {
alanffrench 0:52468b19aa21 121 /* Running task was blocked: continue with highest ready task */
alanffrench 0:52468b19aa21 122 next_TCB = rt_get_first (&os_rdy);
alanffrench 0:52468b19aa21 123 rt_switch_req (next_TCB);
alanffrench 0:52468b19aa21 124 }
alanffrench 0:52468b19aa21 125 else {
alanffrench 0:52468b19aa21 126 /* Check which task continues */
alanffrench 0:52468b19aa21 127 if (next_TCB->prio > os_tsk.run->prio) {
alanffrench 0:52468b19aa21 128 /* preempt running task */
alanffrench 0:52468b19aa21 129 rt_put_rdy_first (os_tsk.run);
alanffrench 0:52468b19aa21 130 os_tsk.run->state = READY;
alanffrench 0:52468b19aa21 131 rt_switch_req (next_TCB);
alanffrench 0:52468b19aa21 132 }
alanffrench 0:52468b19aa21 133 else {
alanffrench 0:52468b19aa21 134 /* put next task into ready list, no task switch takes place */
alanffrench 0:52468b19aa21 135 next_TCB->state = READY;
alanffrench 0:52468b19aa21 136 rt_put_prio (&os_rdy, next_TCB);
alanffrench 0:52468b19aa21 137 }
alanffrench 0:52468b19aa21 138 }
alanffrench 0:52468b19aa21 139 }
alanffrench 0:52468b19aa21 140
alanffrench 0:52468b19aa21 141
alanffrench 0:52468b19aa21 142 /*--------------------------- rt_block --------------------------------------*/
alanffrench 0:52468b19aa21 143
alanffrench 0:52468b19aa21 144 void rt_block (U16 timeout, U8 block_state) {
alanffrench 0:52468b19aa21 145 /* Block running task and choose next ready task. */
alanffrench 0:52468b19aa21 146 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
alanffrench 0:52468b19aa21 147 /* "block_state" defines the appropriate task state */
alanffrench 0:52468b19aa21 148 P_TCB next_TCB;
alanffrench 0:52468b19aa21 149
alanffrench 0:52468b19aa21 150 if (timeout) {
alanffrench 0:52468b19aa21 151 if (timeout < 0xffff) {
alanffrench 0:52468b19aa21 152 rt_put_dly (os_tsk.run, timeout);
alanffrench 0:52468b19aa21 153 }
alanffrench 0:52468b19aa21 154 os_tsk.run->state = block_state;
alanffrench 0:52468b19aa21 155 next_TCB = rt_get_first (&os_rdy);
alanffrench 0:52468b19aa21 156 rt_switch_req (next_TCB);
alanffrench 0:52468b19aa21 157 }
alanffrench 0:52468b19aa21 158 }
alanffrench 0:52468b19aa21 159
alanffrench 0:52468b19aa21 160
alanffrench 0:52468b19aa21 161 /*--------------------------- rt_tsk_pass -----------------------------------*/
alanffrench 0:52468b19aa21 162
alanffrench 0:52468b19aa21 163 void rt_tsk_pass (void) {
alanffrench 0:52468b19aa21 164 /* Allow tasks of same priority level to run cooperatively.*/
alanffrench 0:52468b19aa21 165 P_TCB p_new;
alanffrench 0:52468b19aa21 166
alanffrench 0:52468b19aa21 167 p_new = rt_get_same_rdy_prio();
alanffrench 0:52468b19aa21 168 if (p_new != NULL) {
alanffrench 0:52468b19aa21 169 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
alanffrench 0:52468b19aa21 170 os_tsk.run->state = READY;
alanffrench 0:52468b19aa21 171 rt_switch_req (p_new);
alanffrench 0:52468b19aa21 172 }
alanffrench 0:52468b19aa21 173 }
alanffrench 0:52468b19aa21 174
alanffrench 0:52468b19aa21 175
alanffrench 0:52468b19aa21 176 /*--------------------------- rt_tsk_self -----------------------------------*/
alanffrench 0:52468b19aa21 177
alanffrench 0:52468b19aa21 178 OS_TID rt_tsk_self (void) {
alanffrench 0:52468b19aa21 179 /* Return own task identifier value. */
alanffrench 0:52468b19aa21 180 if (os_tsk.run == NULL) {
alanffrench 0:52468b19aa21 181 return (0);
alanffrench 0:52468b19aa21 182 }
alanffrench 0:52468b19aa21 183 return (os_tsk.run->task_id);
alanffrench 0:52468b19aa21 184 }
alanffrench 0:52468b19aa21 185
alanffrench 0:52468b19aa21 186
alanffrench 0:52468b19aa21 187 /*--------------------------- rt_tsk_prio -----------------------------------*/
alanffrench 0:52468b19aa21 188
alanffrench 0:52468b19aa21 189 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
alanffrench 0:52468b19aa21 190 /* Change execution priority of a task to "new_prio". */
alanffrench 0:52468b19aa21 191 P_TCB p_task;
alanffrench 0:52468b19aa21 192
alanffrench 0:52468b19aa21 193 if (task_id == 0) {
alanffrench 0:52468b19aa21 194 /* Change execution priority of calling task. */
alanffrench 0:52468b19aa21 195 os_tsk.run->prio = new_prio;
alanffrench 0:52468b19aa21 196 run:if (rt_rdy_prio() > new_prio) {
alanffrench 0:52468b19aa21 197 rt_put_prio (&os_rdy, os_tsk.run);
alanffrench 0:52468b19aa21 198 os_tsk.run->state = READY;
alanffrench 0:52468b19aa21 199 rt_dispatch (NULL);
alanffrench 0:52468b19aa21 200 }
alanffrench 0:52468b19aa21 201 return (OS_R_OK);
alanffrench 0:52468b19aa21 202 }
alanffrench 0:52468b19aa21 203
alanffrench 0:52468b19aa21 204 /* Find the task in the "os_active_TCB" array. */
alanffrench 0:52468b19aa21 205 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
alanffrench 0:52468b19aa21 206 /* Task with "task_id" not found or not started. */
alanffrench 0:52468b19aa21 207 return (OS_R_NOK);
alanffrench 0:52468b19aa21 208 }
alanffrench 0:52468b19aa21 209 p_task = os_active_TCB[task_id-1];
alanffrench 0:52468b19aa21 210 p_task->prio = new_prio;
alanffrench 0:52468b19aa21 211 if (p_task == os_tsk.run) {
alanffrench 0:52468b19aa21 212 goto run;
alanffrench 0:52468b19aa21 213 }
alanffrench 0:52468b19aa21 214 rt_resort_prio (p_task);
alanffrench 0:52468b19aa21 215 if (p_task->state == READY) {
alanffrench 0:52468b19aa21 216 /* Task enqueued in a ready list. */
alanffrench 0:52468b19aa21 217 p_task = rt_get_first (&os_rdy);
alanffrench 0:52468b19aa21 218 rt_dispatch (p_task);
alanffrench 0:52468b19aa21 219 }
alanffrench 0:52468b19aa21 220 return (OS_R_OK);
alanffrench 0:52468b19aa21 221 }
alanffrench 0:52468b19aa21 222
alanffrench 0:52468b19aa21 223 /*--------------------------- rt_tsk_delete ---------------------------------*/
alanffrench 0:52468b19aa21 224
alanffrench 0:52468b19aa21 225 OS_RESULT rt_tsk_delete (OS_TID task_id) {
alanffrench 0:52468b19aa21 226 /* Terminate the task identified with "task_id". */
alanffrench 0:52468b19aa21 227 P_TCB task_context;
alanffrench 0:52468b19aa21 228
alanffrench 0:52468b19aa21 229 if (task_id == 0 || task_id == os_tsk.run->task_id) {
alanffrench 0:52468b19aa21 230 /* Terminate itself. */
alanffrench 0:52468b19aa21 231 os_tsk.run->state = INACTIVE;
alanffrench 0:52468b19aa21 232 os_tsk.run->tsk_stack = rt_get_PSP ();
alanffrench 0:52468b19aa21 233 rt_stk_check ();
alanffrench 0:52468b19aa21 234 os_active_TCB[os_tsk.run->task_id-1] = NULL;
alanffrench 0:52468b19aa21 235
alanffrench 0:52468b19aa21 236 os_tsk.run->stack = NULL;
alanffrench 0:52468b19aa21 237 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
alanffrench 0:52468b19aa21 238 os_tsk.run = NULL;
alanffrench 0:52468b19aa21 239 rt_dispatch (NULL);
alanffrench 0:52468b19aa21 240 /* The program should never come to this point. */
alanffrench 0:52468b19aa21 241 }
alanffrench 0:52468b19aa21 242 else {
alanffrench 0:52468b19aa21 243 /* Find the task in the "os_active_TCB" array. */
alanffrench 0:52468b19aa21 244 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
alanffrench 0:52468b19aa21 245 /* Task with "task_id" not found or not started. */
alanffrench 0:52468b19aa21 246 return (OS_R_NOK);
alanffrench 0:52468b19aa21 247 }
alanffrench 0:52468b19aa21 248 task_context = os_active_TCB[task_id-1];
alanffrench 0:52468b19aa21 249 rt_rmv_list (task_context);
alanffrench 0:52468b19aa21 250 rt_rmv_dly (task_context);
alanffrench 0:52468b19aa21 251 os_active_TCB[task_id-1] = NULL;
alanffrench 0:52468b19aa21 252
alanffrench 0:52468b19aa21 253 task_context->stack = NULL;
alanffrench 0:52468b19aa21 254 DBG_TASK_NOTIFY(task_context, __FALSE);
alanffrench 0:52468b19aa21 255 }
alanffrench 0:52468b19aa21 256 return (OS_R_OK);
alanffrench 0:52468b19aa21 257 }
alanffrench 0:52468b19aa21 258
alanffrench 0:52468b19aa21 259
alanffrench 0:52468b19aa21 260 /*--------------------------- rt_sys_init -----------------------------------*/
alanffrench 0:52468b19aa21 261
alanffrench 0:52468b19aa21 262 #ifdef __CMSIS_RTOS
alanffrench 0:52468b19aa21 263 void rt_sys_init (void) {
alanffrench 0:52468b19aa21 264 #else
alanffrench 0:52468b19aa21 265 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
alanffrench 0:52468b19aa21 266 #endif
alanffrench 0:52468b19aa21 267 /* Initialize system and start up task declared with "first_task". */
alanffrench 0:52468b19aa21 268 U32 i;
alanffrench 0:52468b19aa21 269
alanffrench 0:52468b19aa21 270 DBG_INIT();
alanffrench 0:52468b19aa21 271
alanffrench 0:52468b19aa21 272 /* Initialize dynamic memory and task TCB pointers to NULL. */
alanffrench 0:52468b19aa21 273 for (i = 0; i < os_maxtaskrun; i++) {
alanffrench 0:52468b19aa21 274 os_active_TCB[i] = NULL;
alanffrench 0:52468b19aa21 275 }
alanffrench 0:52468b19aa21 276
alanffrench 0:52468b19aa21 277 /* Set up TCB of idle demon */
alanffrench 0:52468b19aa21 278 os_idle_TCB.task_id = 255;
alanffrench 0:52468b19aa21 279 os_idle_TCB.priv_stack = idle_task_stack_size;
alanffrench 0:52468b19aa21 280 os_idle_TCB.stack = idle_task_stack;
alanffrench 0:52468b19aa21 281 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
alanffrench 0:52468b19aa21 282
alanffrench 0:52468b19aa21 283 /* Set up ready list: initially empty */
alanffrench 0:52468b19aa21 284 os_rdy.cb_type = HCB;
alanffrench 0:52468b19aa21 285 os_rdy.p_lnk = NULL;
alanffrench 0:52468b19aa21 286 /* Set up delay list: initially empty */
alanffrench 0:52468b19aa21 287 os_dly.cb_type = HCB;
alanffrench 0:52468b19aa21 288 os_dly.p_dlnk = NULL;
alanffrench 0:52468b19aa21 289 os_dly.p_blnk = NULL;
alanffrench 0:52468b19aa21 290 os_dly.delta_time = 0;
alanffrench 0:52468b19aa21 291
alanffrench 0:52468b19aa21 292 /* Fix SP and systemvariables to assume idle task is running */
alanffrench 0:52468b19aa21 293 /* Transform main program into idle task by assuming idle TCB */
alanffrench 0:52468b19aa21 294 #ifndef __CMSIS_RTOS
alanffrench 0:52468b19aa21 295 rt_set_PSP (os_idle_TCB.tsk_stack+32);
alanffrench 0:52468b19aa21 296 #endif
alanffrench 0:52468b19aa21 297 os_tsk.run = &os_idle_TCB;
alanffrench 0:52468b19aa21 298 os_tsk.run->state = RUNNING;
alanffrench 0:52468b19aa21 299
alanffrench 0:52468b19aa21 300 /* Initialize ps queue */
alanffrench 0:52468b19aa21 301 os_psq->first = 0;
alanffrench 0:52468b19aa21 302 os_psq->last = 0;
alanffrench 0:52468b19aa21 303 os_psq->size = os_fifo_size;
alanffrench 0:52468b19aa21 304
alanffrench 0:52468b19aa21 305 rt_init_robin ();
alanffrench 0:52468b19aa21 306
alanffrench 0:52468b19aa21 307 /* Intitialize SVC and PendSV */
alanffrench 0:52468b19aa21 308 rt_svc_init ();
alanffrench 0:52468b19aa21 309
alanffrench 0:52468b19aa21 310 #ifndef __CMSIS_RTOS
alanffrench 0:52468b19aa21 311 /* Intitialize and start system clock timer */
alanffrench 0:52468b19aa21 312 os_tick_irqn = os_tick_init ();
alanffrench 0:52468b19aa21 313 if (os_tick_irqn >= 0) {
alanffrench 0:52468b19aa21 314 OS_X_INIT(os_tick_irqn);
alanffrench 0:52468b19aa21 315 }
alanffrench 0:52468b19aa21 316
alanffrench 0:52468b19aa21 317 /* Start up first user task before entering the endless loop */
alanffrench 0:52468b19aa21 318 rt_tsk_create (first_task, prio_stksz, stk, NULL);
alanffrench 0:52468b19aa21 319 #endif
alanffrench 0:52468b19aa21 320 }
alanffrench 0:52468b19aa21 321
alanffrench 0:52468b19aa21 322
alanffrench 0:52468b19aa21 323 /*--------------------------- rt_sys_start ----------------------------------*/
alanffrench 0:52468b19aa21 324
alanffrench 0:52468b19aa21 325 #ifdef __CMSIS_RTOS
alanffrench 0:52468b19aa21 326 void rt_sys_start (void) {
alanffrench 0:52468b19aa21 327 /* Start system */
alanffrench 0:52468b19aa21 328
alanffrench 0:52468b19aa21 329 /* Intitialize and start system clock timer */
alanffrench 0:52468b19aa21 330 os_tick_irqn = os_tick_init ();
alanffrench 0:52468b19aa21 331 if (os_tick_irqn >= 0) {
alanffrench 0:52468b19aa21 332 OS_X_INIT(os_tick_irqn);
alanffrench 0:52468b19aa21 333 }
alanffrench 0:52468b19aa21 334 }
alanffrench 0:52468b19aa21 335 #endif
alanffrench 0:52468b19aa21 336
alanffrench 0:52468b19aa21 337 /*----------------------------------------------------------------------------
alanffrench 0:52468b19aa21 338 * end of file
alanffrench 0:52468b19aa21 339 *---------------------------------------------------------------------------*/