Daoyu_Sofiane Yao_Belouka / mbed-rtos

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Dependents:   Mecatro_Gyro_Programme_Codeur_HC06

rtx/TARGET_ARM7/rt_System.c@0:a8ed743bc1e1, 2021-04-16 (annotated)

Committer:
daoyu_sofiane
Date:
Fri Apr 16 09:25:33 2021 +0000
Revision:
0:a8ed743bc1e1
Projet Gyropode

Who changed what in which revision?

UserRevisionLine numberNew contents of line
daoyu_sofiane 0:a8ed743bc1e1 1 /*----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 2 * RL-ARM - RTX
daoyu_sofiane 0:a8ed743bc1e1 3 *----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 4 * Name: RT_SYSTEM.C
daoyu_sofiane 0:a8ed743bc1e1 5 * Purpose: System Task Manager
daoyu_sofiane 0:a8ed743bc1e1 6 * Rev.: V4.60
daoyu_sofiane 0:a8ed743bc1e1 7 *----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 8 *
daoyu_sofiane 0:a8ed743bc1e1 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
daoyu_sofiane 0:a8ed743bc1e1 10 * All rights reserved.
daoyu_sofiane 0:a8ed743bc1e1 11 * Redistribution and use in source and binary forms, with or without
daoyu_sofiane 0:a8ed743bc1e1 12 * modification, are permitted provided that the following conditions are met:
daoyu_sofiane 0:a8ed743bc1e1 13 * - Redistributions of source code must retain the above copyright
daoyu_sofiane 0:a8ed743bc1e1 14 * notice, this list of conditions and the following disclaimer.
daoyu_sofiane 0:a8ed743bc1e1 15 * - Redistributions in binary form must reproduce the above copyright
daoyu_sofiane 0:a8ed743bc1e1 16 * notice, this list of conditions and the following disclaimer in the
daoyu_sofiane 0:a8ed743bc1e1 17 * documentation and/or other materials provided with the distribution.
daoyu_sofiane 0:a8ed743bc1e1 18 * - Neither the name of ARM nor the names of its contributors may be used
daoyu_sofiane 0:a8ed743bc1e1 19 * to endorse or promote products derived from this software without
daoyu_sofiane 0:a8ed743bc1e1 20 * specific prior written permission.
daoyu_sofiane 0:a8ed743bc1e1 21 *
daoyu_sofiane 0:a8ed743bc1e1 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
daoyu_sofiane 0:a8ed743bc1e1 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
daoyu_sofiane 0:a8ed743bc1e1 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
daoyu_sofiane 0:a8ed743bc1e1 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
daoyu_sofiane 0:a8ed743bc1e1 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
daoyu_sofiane 0:a8ed743bc1e1 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
daoyu_sofiane 0:a8ed743bc1e1 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
daoyu_sofiane 0:a8ed743bc1e1 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
daoyu_sofiane 0:a8ed743bc1e1 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
daoyu_sofiane 0:a8ed743bc1e1 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
daoyu_sofiane 0:a8ed743bc1e1 32 * POSSIBILITY OF SUCH DAMAGE.
daoyu_sofiane 0:a8ed743bc1e1 33 *---------------------------------------------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 34
daoyu_sofiane 0:a8ed743bc1e1 35 #include "rt_TypeDef.h"
daoyu_sofiane 0:a8ed743bc1e1 36 #include "RTX_Conf.h"
daoyu_sofiane 0:a8ed743bc1e1 37 #include "rt_Task.h"
daoyu_sofiane 0:a8ed743bc1e1 38 #include "rt_System.h"
daoyu_sofiane 0:a8ed743bc1e1 39 #include "rt_Event.h"
daoyu_sofiane 0:a8ed743bc1e1 40 #include "rt_List.h"
daoyu_sofiane 0:a8ed743bc1e1 41 #include "rt_Mailbox.h"
daoyu_sofiane 0:a8ed743bc1e1 42 #include "rt_Semaphore.h"
daoyu_sofiane 0:a8ed743bc1e1 43 #include "rt_Time.h"
daoyu_sofiane 0:a8ed743bc1e1 44 #include "rt_Robin.h"
daoyu_sofiane 0:a8ed743bc1e1 45 #include "rt_HAL_CM.h"
daoyu_sofiane 0:a8ed743bc1e1 46
daoyu_sofiane 0:a8ed743bc1e1 47 /*----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 48 * Global Variables
daoyu_sofiane 0:a8ed743bc1e1 49 *---------------------------------------------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 50
daoyu_sofiane 0:a8ed743bc1e1 51 int os_tick_irqn;
daoyu_sofiane 0:a8ed743bc1e1 52
daoyu_sofiane 0:a8ed743bc1e1 53 /*----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 54 * Local Variables
daoyu_sofiane 0:a8ed743bc1e1 55 *---------------------------------------------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 56
daoyu_sofiane 0:a8ed743bc1e1 57 static volatile BIT os_lock;
daoyu_sofiane 0:a8ed743bc1e1 58 static volatile BIT os_psh_flag;
daoyu_sofiane 0:a8ed743bc1e1 59 static U8 pend_flags;
daoyu_sofiane 0:a8ed743bc1e1 60
daoyu_sofiane 0:a8ed743bc1e1 61 /*----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 62 * Global Functions
daoyu_sofiane 0:a8ed743bc1e1 63 *---------------------------------------------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 64
daoyu_sofiane 0:a8ed743bc1e1 65 #if defined (__CC_ARM)
daoyu_sofiane 0:a8ed743bc1e1 66 __asm void $$RTX$$version (void) {
daoyu_sofiane 0:a8ed743bc1e1 67 /* Export a version number symbol for a version control. */
daoyu_sofiane 0:a8ed743bc1e1 68
daoyu_sofiane 0:a8ed743bc1e1 69 EXPORT __RL_RTX_VER
daoyu_sofiane 0:a8ed743bc1e1 70
daoyu_sofiane 0:a8ed743bc1e1 71 __RL_RTX_VER EQU 0x450
daoyu_sofiane 0:a8ed743bc1e1 72 }
daoyu_sofiane 0:a8ed743bc1e1 73 #endif
daoyu_sofiane 0:a8ed743bc1e1 74
daoyu_sofiane 0:a8ed743bc1e1 75
daoyu_sofiane 0:a8ed743bc1e1 76 /*--------------------------- rt_suspend ------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 77 U32 rt_suspend (void) {
daoyu_sofiane 0:a8ed743bc1e1 78 /* Suspend OS scheduler */
daoyu_sofiane 0:a8ed743bc1e1 79 U32 delta = 0xFFFF;
daoyu_sofiane 0:a8ed743bc1e1 80
daoyu_sofiane 0:a8ed743bc1e1 81 rt_tsk_lock();
daoyu_sofiane 0:a8ed743bc1e1 82
daoyu_sofiane 0:a8ed743bc1e1 83 if (os_dly.p_dlnk) {
daoyu_sofiane 0:a8ed743bc1e1 84 delta = os_dly.delta_time;
daoyu_sofiane 0:a8ed743bc1e1 85 }
daoyu_sofiane 0:a8ed743bc1e1 86 #ifndef __CMSIS_RTOS
daoyu_sofiane 0:a8ed743bc1e1 87 if (os_tmr.next) {
daoyu_sofiane 0:a8ed743bc1e1 88 if (os_tmr.tcnt < delta) delta = os_tmr.tcnt;
daoyu_sofiane 0:a8ed743bc1e1 89 }
daoyu_sofiane 0:a8ed743bc1e1 90 #endif
daoyu_sofiane 0:a8ed743bc1e1 91
daoyu_sofiane 0:a8ed743bc1e1 92 return (delta);
daoyu_sofiane 0:a8ed743bc1e1 93 }
daoyu_sofiane 0:a8ed743bc1e1 94
daoyu_sofiane 0:a8ed743bc1e1 95
daoyu_sofiane 0:a8ed743bc1e1 96 /*--------------------------- rt_resume -------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 97 void rt_resume (U32 sleep_time) {
daoyu_sofiane 0:a8ed743bc1e1 98 /* Resume OS scheduler after suspend */
daoyu_sofiane 0:a8ed743bc1e1 99 P_TCB next;
daoyu_sofiane 0:a8ed743bc1e1 100 U32 delta;
daoyu_sofiane 0:a8ed743bc1e1 101
daoyu_sofiane 0:a8ed743bc1e1 102 os_tsk.run->state = READY;
daoyu_sofiane 0:a8ed743bc1e1 103 rt_put_rdy_first (os_tsk.run);
daoyu_sofiane 0:a8ed743bc1e1 104
daoyu_sofiane 0:a8ed743bc1e1 105 os_robin.task = NULL;
daoyu_sofiane 0:a8ed743bc1e1 106
daoyu_sofiane 0:a8ed743bc1e1 107 /* Update delays. */
daoyu_sofiane 0:a8ed743bc1e1 108 if (os_dly.p_dlnk) {
daoyu_sofiane 0:a8ed743bc1e1 109 delta = sleep_time;
daoyu_sofiane 0:a8ed743bc1e1 110 if (delta >= os_dly.delta_time) {
daoyu_sofiane 0:a8ed743bc1e1 111 delta -= os_dly.delta_time;
daoyu_sofiane 0:a8ed743bc1e1 112 os_time += os_dly.delta_time;
daoyu_sofiane 0:a8ed743bc1e1 113 os_dly.delta_time = 1;
daoyu_sofiane 0:a8ed743bc1e1 114 while (os_dly.p_dlnk) {
daoyu_sofiane 0:a8ed743bc1e1 115 rt_dec_dly();
daoyu_sofiane 0:a8ed743bc1e1 116 if (delta == 0) break;
daoyu_sofiane 0:a8ed743bc1e1 117 delta--;
daoyu_sofiane 0:a8ed743bc1e1 118 os_time++;
daoyu_sofiane 0:a8ed743bc1e1 119 }
daoyu_sofiane 0:a8ed743bc1e1 120 } else {
daoyu_sofiane 0:a8ed743bc1e1 121 os_time += delta;
daoyu_sofiane 0:a8ed743bc1e1 122 os_dly.delta_time -= delta;
daoyu_sofiane 0:a8ed743bc1e1 123 }
daoyu_sofiane 0:a8ed743bc1e1 124 } else {
daoyu_sofiane 0:a8ed743bc1e1 125 os_time += sleep_time;
daoyu_sofiane 0:a8ed743bc1e1 126 }
daoyu_sofiane 0:a8ed743bc1e1 127
daoyu_sofiane 0:a8ed743bc1e1 128 #ifndef __CMSIS_RTOS
daoyu_sofiane 0:a8ed743bc1e1 129 /* Check the user timers. */
daoyu_sofiane 0:a8ed743bc1e1 130 if (os_tmr.next) {
daoyu_sofiane 0:a8ed743bc1e1 131 delta = sleep_time;
daoyu_sofiane 0:a8ed743bc1e1 132 if (delta >= os_tmr.tcnt) {
daoyu_sofiane 0:a8ed743bc1e1 133 delta -= os_tmr.tcnt;
daoyu_sofiane 0:a8ed743bc1e1 134 os_tmr.tcnt = 1;
daoyu_sofiane 0:a8ed743bc1e1 135 while (os_tmr.next) {
daoyu_sofiane 0:a8ed743bc1e1 136 rt_tmr_tick();
daoyu_sofiane 0:a8ed743bc1e1 137 if (delta == 0) break;
daoyu_sofiane 0:a8ed743bc1e1 138 delta--;
daoyu_sofiane 0:a8ed743bc1e1 139 }
daoyu_sofiane 0:a8ed743bc1e1 140 } else {
daoyu_sofiane 0:a8ed743bc1e1 141 os_tmr.tcnt -= delta;
daoyu_sofiane 0:a8ed743bc1e1 142 }
daoyu_sofiane 0:a8ed743bc1e1 143 }
daoyu_sofiane 0:a8ed743bc1e1 144 #endif
daoyu_sofiane 0:a8ed743bc1e1 145
daoyu_sofiane 0:a8ed743bc1e1 146 /* Switch back to highest ready task */
daoyu_sofiane 0:a8ed743bc1e1 147 next = rt_get_first (&os_rdy);
daoyu_sofiane 0:a8ed743bc1e1 148 rt_switch_req (next);
daoyu_sofiane 0:a8ed743bc1e1 149
daoyu_sofiane 0:a8ed743bc1e1 150 rt_tsk_unlock();
daoyu_sofiane 0:a8ed743bc1e1 151 }
daoyu_sofiane 0:a8ed743bc1e1 152
daoyu_sofiane 0:a8ed743bc1e1 153
daoyu_sofiane 0:a8ed743bc1e1 154 /*--------------------------- rt_tsk_lock -----------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 155
daoyu_sofiane 0:a8ed743bc1e1 156 void rt_tsk_lock (void) {
daoyu_sofiane 0:a8ed743bc1e1 157 /* Prevent task switching by locking out scheduler */
daoyu_sofiane 0:a8ed743bc1e1 158 OS_X_LOCK(os_tick_irqn);
daoyu_sofiane 0:a8ed743bc1e1 159 os_lock = __TRUE;
daoyu_sofiane 0:a8ed743bc1e1 160 OS_X_UNPEND (&pend_flags);
daoyu_sofiane 0:a8ed743bc1e1 161 }
daoyu_sofiane 0:a8ed743bc1e1 162
daoyu_sofiane 0:a8ed743bc1e1 163
daoyu_sofiane 0:a8ed743bc1e1 164 /*--------------------------- rt_tsk_unlock ---------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 165
daoyu_sofiane 0:a8ed743bc1e1 166 void rt_tsk_unlock (void) {
daoyu_sofiane 0:a8ed743bc1e1 167 /* Unlock scheduler and re-enable task switching */
daoyu_sofiane 0:a8ed743bc1e1 168 OS_X_UNLOCK(os_tick_irqn);
daoyu_sofiane 0:a8ed743bc1e1 169 os_lock = __FALSE;
daoyu_sofiane 0:a8ed743bc1e1 170 OS_X_PEND (pend_flags, os_psh_flag);
daoyu_sofiane 0:a8ed743bc1e1 171 os_psh_flag = __FALSE;
daoyu_sofiane 0:a8ed743bc1e1 172 }
daoyu_sofiane 0:a8ed743bc1e1 173
daoyu_sofiane 0:a8ed743bc1e1 174
daoyu_sofiane 0:a8ed743bc1e1 175 /*--------------------------- rt_psh_req ------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 176
daoyu_sofiane 0:a8ed743bc1e1 177 void rt_psh_req (void) {
daoyu_sofiane 0:a8ed743bc1e1 178 /* Initiate a post service handling request if required. */
daoyu_sofiane 0:a8ed743bc1e1 179 if (os_lock == __FALSE) {
daoyu_sofiane 0:a8ed743bc1e1 180 OS_PEND_IRQ ();
daoyu_sofiane 0:a8ed743bc1e1 181 }
daoyu_sofiane 0:a8ed743bc1e1 182 else {
daoyu_sofiane 0:a8ed743bc1e1 183 os_psh_flag = __TRUE;
daoyu_sofiane 0:a8ed743bc1e1 184 }
daoyu_sofiane 0:a8ed743bc1e1 185 }
daoyu_sofiane 0:a8ed743bc1e1 186
daoyu_sofiane 0:a8ed743bc1e1 187
daoyu_sofiane 0:a8ed743bc1e1 188 /*--------------------------- rt_pop_req ------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 189
daoyu_sofiane 0:a8ed743bc1e1 190 void rt_pop_req (void) {
daoyu_sofiane 0:a8ed743bc1e1 191 /* Process an ISR post service requests. */
daoyu_sofiane 0:a8ed743bc1e1 192 struct OS_XCB *p_CB;
daoyu_sofiane 0:a8ed743bc1e1 193 P_TCB next;
daoyu_sofiane 0:a8ed743bc1e1 194 U32 idx;
daoyu_sofiane 0:a8ed743bc1e1 195
daoyu_sofiane 0:a8ed743bc1e1 196 os_tsk.run->state = READY;
daoyu_sofiane 0:a8ed743bc1e1 197 rt_put_rdy_first (os_tsk.run);
daoyu_sofiane 0:a8ed743bc1e1 198
daoyu_sofiane 0:a8ed743bc1e1 199 idx = os_psq->last;
daoyu_sofiane 0:a8ed743bc1e1 200 while (os_psq->count) {
daoyu_sofiane 0:a8ed743bc1e1 201 p_CB = os_psq->q[idx].id;
daoyu_sofiane 0:a8ed743bc1e1 202 if (p_CB->cb_type == TCB) {
daoyu_sofiane 0:a8ed743bc1e1 203 /* Is of TCB type */
daoyu_sofiane 0:a8ed743bc1e1 204 rt_evt_psh ((P_TCB)p_CB, (U16)os_psq->q[idx].arg);
daoyu_sofiane 0:a8ed743bc1e1 205 }
daoyu_sofiane 0:a8ed743bc1e1 206 else if (p_CB->cb_type == MCB) {
daoyu_sofiane 0:a8ed743bc1e1 207 /* Is of MCB type */
daoyu_sofiane 0:a8ed743bc1e1 208 rt_mbx_psh ((P_MCB)p_CB, (void *)os_psq->q[idx].arg);
daoyu_sofiane 0:a8ed743bc1e1 209 }
daoyu_sofiane 0:a8ed743bc1e1 210 else {
daoyu_sofiane 0:a8ed743bc1e1 211 /* Must be of SCB type */
daoyu_sofiane 0:a8ed743bc1e1 212 rt_sem_psh ((P_SCB)p_CB);
daoyu_sofiane 0:a8ed743bc1e1 213 }
daoyu_sofiane 0:a8ed743bc1e1 214 if (++idx == os_psq->size) idx = 0;
daoyu_sofiane 0:a8ed743bc1e1 215 rt_dec (&os_psq->count);
daoyu_sofiane 0:a8ed743bc1e1 216 }
daoyu_sofiane 0:a8ed743bc1e1 217 os_psq->last = idx;
daoyu_sofiane 0:a8ed743bc1e1 218
daoyu_sofiane 0:a8ed743bc1e1 219 next = rt_get_first (&os_rdy);
daoyu_sofiane 0:a8ed743bc1e1 220 rt_switch_req (next);
daoyu_sofiane 0:a8ed743bc1e1 221 }
daoyu_sofiane 0:a8ed743bc1e1 222
daoyu_sofiane 0:a8ed743bc1e1 223
daoyu_sofiane 0:a8ed743bc1e1 224 /*--------------------------- os_tick_init ----------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 225
daoyu_sofiane 0:a8ed743bc1e1 226 __weak int os_tick_init (void) {
daoyu_sofiane 0:a8ed743bc1e1 227 /* Initialize SysTick timer as system tick timer. */
daoyu_sofiane 0:a8ed743bc1e1 228 rt_systick_init ();
daoyu_sofiane 0:a8ed743bc1e1 229 return (SYS_TICK_IRQn); /* Return IRQ number of SysTick timer */
daoyu_sofiane 0:a8ed743bc1e1 230 }
daoyu_sofiane 0:a8ed743bc1e1 231
daoyu_sofiane 0:a8ed743bc1e1 232
daoyu_sofiane 0:a8ed743bc1e1 233 /*--------------------------- os_tick_irqack --------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 234
daoyu_sofiane 0:a8ed743bc1e1 235 __weak void os_tick_irqack (void) {
daoyu_sofiane 0:a8ed743bc1e1 236 /* Acknowledge timer interrupt. */
daoyu_sofiane 0:a8ed743bc1e1 237 }
daoyu_sofiane 0:a8ed743bc1e1 238
daoyu_sofiane 0:a8ed743bc1e1 239
daoyu_sofiane 0:a8ed743bc1e1 240 /*--------------------------- rt_systick ------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 241
daoyu_sofiane 0:a8ed743bc1e1 242 extern void sysTimerTick(void);
daoyu_sofiane 0:a8ed743bc1e1 243
daoyu_sofiane 0:a8ed743bc1e1 244 void rt_systick (void) {
daoyu_sofiane 0:a8ed743bc1e1 245 if(NVIC_Pending(SYS_TICK_IRQn)){
daoyu_sofiane 0:a8ed743bc1e1 246 rt_pop_req();
daoyu_sofiane 0:a8ed743bc1e1 247 NVIC_UnpendIRQ(SYS_TICK_IRQn);
daoyu_sofiane 0:a8ed743bc1e1 248 SYS_TICK_TIMER->IR = 0xF; // clear timer interrupt
daoyu_sofiane 0:a8ed743bc1e1 249 return;
daoyu_sofiane 0:a8ed743bc1e1 250 }
daoyu_sofiane 0:a8ed743bc1e1 251 /* Check for system clock update, suspend running task. */
daoyu_sofiane 0:a8ed743bc1e1 252 P_TCB next;
daoyu_sofiane 0:a8ed743bc1e1 253
daoyu_sofiane 0:a8ed743bc1e1 254 os_tsk.run->state = READY;
daoyu_sofiane 0:a8ed743bc1e1 255 rt_put_rdy_first (os_tsk.run);
daoyu_sofiane 0:a8ed743bc1e1 256
daoyu_sofiane 0:a8ed743bc1e1 257 /* Check Round Robin timeout. */
daoyu_sofiane 0:a8ed743bc1e1 258 rt_chk_robin ();
daoyu_sofiane 0:a8ed743bc1e1 259
daoyu_sofiane 0:a8ed743bc1e1 260 /* Update delays. */
daoyu_sofiane 0:a8ed743bc1e1 261 os_time++;
daoyu_sofiane 0:a8ed743bc1e1 262 rt_dec_dly ();
daoyu_sofiane 0:a8ed743bc1e1 263
daoyu_sofiane 0:a8ed743bc1e1 264 /* Check the user timers. */
daoyu_sofiane 0:a8ed743bc1e1 265 #ifdef __CMSIS_RTOS
daoyu_sofiane 0:a8ed743bc1e1 266 sysTimerTick();
daoyu_sofiane 0:a8ed743bc1e1 267 #else
daoyu_sofiane 0:a8ed743bc1e1 268 rt_tmr_tick ();
daoyu_sofiane 0:a8ed743bc1e1 269 #endif
daoyu_sofiane 0:a8ed743bc1e1 270
daoyu_sofiane 0:a8ed743bc1e1 271 /* Switch back to highest ready task */
daoyu_sofiane 0:a8ed743bc1e1 272 next = rt_get_first (&os_rdy);
daoyu_sofiane 0:a8ed743bc1e1 273 rt_switch_req (next);
daoyu_sofiane 0:a8ed743bc1e1 274 SYS_TICK_TIMER->IR = 0xF; // clear timer interrupt
daoyu_sofiane 0:a8ed743bc1e1 275 }
daoyu_sofiane 0:a8ed743bc1e1 276
daoyu_sofiane 0:a8ed743bc1e1 277 /*--------------------------- rt_stk_check ----------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 278 __weak void rt_stk_check (void) {
daoyu_sofiane 0:a8ed743bc1e1 279 /* Check for stack overflow. */
daoyu_sofiane 0:a8ed743bc1e1 280 if (os_tsk.run->task_id == 0x01) {
daoyu_sofiane 0:a8ed743bc1e1 281 // TODO: For the main thread the check should be done against the main heap pointer
daoyu_sofiane 0:a8ed743bc1e1 282 } else {
daoyu_sofiane 0:a8ed743bc1e1 283 if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) ||
daoyu_sofiane 0:a8ed743bc1e1 284 (os_tsk.run->stack[0] != MAGIC_WORD)) {
daoyu_sofiane 0:a8ed743bc1e1 285 os_error (OS_ERR_STK_OVF);
daoyu_sofiane 0:a8ed743bc1e1 286 }
daoyu_sofiane 0:a8ed743bc1e1 287 }
daoyu_sofiane 0:a8ed743bc1e1 288 }
daoyu_sofiane 0:a8ed743bc1e1 289
daoyu_sofiane 0:a8ed743bc1e1 290 /*----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 291 * end of file
daoyu_sofiane 0:a8ed743bc1e1 292 *---------------------------------------------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 293