Daoyu_Sofiane Yao_Belouka / mbed-rtos

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Dependents:   Mecatro_Gyro_Programme_Codeur_HC06

rtx/TARGET_ARM7/rt_Task.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_TASK.C
daoyu_sofiane 0:a8ed743bc1e1 5 * Purpose: Task functions and system start up.
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_System.h"
daoyu_sofiane 0:a8ed743bc1e1 38 #include "rt_Task.h"
daoyu_sofiane 0:a8ed743bc1e1 39 #include "rt_List.h"
daoyu_sofiane 0:a8ed743bc1e1 40 #include "rt_MemBox.h"
daoyu_sofiane 0:a8ed743bc1e1 41 #include "rt_Robin.h"
daoyu_sofiane 0:a8ed743bc1e1 42 #include "rt_HAL_CM.h"
daoyu_sofiane 0:a8ed743bc1e1 43
daoyu_sofiane 0:a8ed743bc1e1 44 /*----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 45 * Global Variables
daoyu_sofiane 0:a8ed743bc1e1 46 *---------------------------------------------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 47
daoyu_sofiane 0:a8ed743bc1e1 48 /* Running and next task info. */
daoyu_sofiane 0:a8ed743bc1e1 49 struct OS_TSK os_tsk;
daoyu_sofiane 0:a8ed743bc1e1 50
daoyu_sofiane 0:a8ed743bc1e1 51 /* Task Control Blocks of idle demon */
daoyu_sofiane 0:a8ed743bc1e1 52 struct OS_TCB os_idle_TCB;
daoyu_sofiane 0:a8ed743bc1e1 53
daoyu_sofiane 0:a8ed743bc1e1 54
daoyu_sofiane 0:a8ed743bc1e1 55 /*----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 56 * Local Functions
daoyu_sofiane 0:a8ed743bc1e1 57 *---------------------------------------------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 58
daoyu_sofiane 0:a8ed743bc1e1 59 OS_TID rt_get_TID (void) {
daoyu_sofiane 0:a8ed743bc1e1 60 U32 tid;
daoyu_sofiane 0:a8ed743bc1e1 61
daoyu_sofiane 0:a8ed743bc1e1 62 for (tid = 1; tid <= os_maxtaskrun; tid++) {
daoyu_sofiane 0:a8ed743bc1e1 63 if (os_active_TCB[tid-1] == NULL) {
daoyu_sofiane 0:a8ed743bc1e1 64 return ((OS_TID)tid);
daoyu_sofiane 0:a8ed743bc1e1 65 }
daoyu_sofiane 0:a8ed743bc1e1 66 }
daoyu_sofiane 0:a8ed743bc1e1 67 return (0);
daoyu_sofiane 0:a8ed743bc1e1 68 }
daoyu_sofiane 0:a8ed743bc1e1 69
daoyu_sofiane 0:a8ed743bc1e1 70 #if defined (__CC_ARM) && !defined (__MICROLIB)
daoyu_sofiane 0:a8ed743bc1e1 71 /*--------------------------- __user_perthread_libspace ---------------------*/
daoyu_sofiane 0:a8ed743bc1e1 72 extern void *__libspace_start;
daoyu_sofiane 0:a8ed743bc1e1 73
daoyu_sofiane 0:a8ed743bc1e1 74 void *__user_perthread_libspace (void) {
daoyu_sofiane 0:a8ed743bc1e1 75 /* Provide a separate libspace for each task. */
daoyu_sofiane 0:a8ed743bc1e1 76 if (os_tsk.run == NULL) {
daoyu_sofiane 0:a8ed743bc1e1 77 /* RTX not running yet. */
daoyu_sofiane 0:a8ed743bc1e1 78 return (&__libspace_start);
daoyu_sofiane 0:a8ed743bc1e1 79 }
daoyu_sofiane 0:a8ed743bc1e1 80 return (void *)(os_tsk.run->std_libspace);
daoyu_sofiane 0:a8ed743bc1e1 81 }
daoyu_sofiane 0:a8ed743bc1e1 82 #endif
daoyu_sofiane 0:a8ed743bc1e1 83
daoyu_sofiane 0:a8ed743bc1e1 84 /*--------------------------- rt_init_context -------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 85
daoyu_sofiane 0:a8ed743bc1e1 86 void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
daoyu_sofiane 0:a8ed743bc1e1 87 /* Initialize general part of the Task Control Block. */
daoyu_sofiane 0:a8ed743bc1e1 88 p_TCB->cb_type = TCB;
daoyu_sofiane 0:a8ed743bc1e1 89 p_TCB->state = READY;
daoyu_sofiane 0:a8ed743bc1e1 90 p_TCB->prio = priority;
daoyu_sofiane 0:a8ed743bc1e1 91 p_TCB->p_lnk = NULL;
daoyu_sofiane 0:a8ed743bc1e1 92 p_TCB->p_rlnk = NULL;
daoyu_sofiane 0:a8ed743bc1e1 93 p_TCB->p_dlnk = NULL;
daoyu_sofiane 0:a8ed743bc1e1 94 p_TCB->p_blnk = NULL;
daoyu_sofiane 0:a8ed743bc1e1 95 p_TCB->delta_time = 0;
daoyu_sofiane 0:a8ed743bc1e1 96 p_TCB->interval_time = 0;
daoyu_sofiane 0:a8ed743bc1e1 97 p_TCB->events = 0;
daoyu_sofiane 0:a8ed743bc1e1 98 p_TCB->waits = 0;
daoyu_sofiane 0:a8ed743bc1e1 99 p_TCB->stack_frame = 0;
daoyu_sofiane 0:a8ed743bc1e1 100
daoyu_sofiane 0:a8ed743bc1e1 101 rt_init_stack (p_TCB, task_body);
daoyu_sofiane 0:a8ed743bc1e1 102 }
daoyu_sofiane 0:a8ed743bc1e1 103
daoyu_sofiane 0:a8ed743bc1e1 104
daoyu_sofiane 0:a8ed743bc1e1 105 /*--------------------------- rt_switch_req ---------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 106
daoyu_sofiane 0:a8ed743bc1e1 107 void rt_switch_req (P_TCB p_new) {
daoyu_sofiane 0:a8ed743bc1e1 108 /* Switch to next task (identified by "p_new"). */
daoyu_sofiane 0:a8ed743bc1e1 109 os_tsk.new_tsk = p_new;
daoyu_sofiane 0:a8ed743bc1e1 110 p_new->state = RUNNING;
daoyu_sofiane 0:a8ed743bc1e1 111 DBG_TASK_SWITCH(p_new->task_id);
daoyu_sofiane 0:a8ed743bc1e1 112 }
daoyu_sofiane 0:a8ed743bc1e1 113
daoyu_sofiane 0:a8ed743bc1e1 114
daoyu_sofiane 0:a8ed743bc1e1 115 /*--------------------------- rt_dispatch -----------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 116
daoyu_sofiane 0:a8ed743bc1e1 117 void rt_dispatch (P_TCB next_TCB) {
daoyu_sofiane 0:a8ed743bc1e1 118 /* Dispatch next task if any identified or dispatch highest ready task */
daoyu_sofiane 0:a8ed743bc1e1 119 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
daoyu_sofiane 0:a8ed743bc1e1 120 if (next_TCB == NULL) {
daoyu_sofiane 0:a8ed743bc1e1 121 /* Running task was blocked: continue with highest ready task */
daoyu_sofiane 0:a8ed743bc1e1 122 next_TCB = rt_get_first (&os_rdy);
daoyu_sofiane 0:a8ed743bc1e1 123 rt_switch_req (next_TCB);
daoyu_sofiane 0:a8ed743bc1e1 124 }
daoyu_sofiane 0:a8ed743bc1e1 125 else {
daoyu_sofiane 0:a8ed743bc1e1 126 /* Check which task continues */
daoyu_sofiane 0:a8ed743bc1e1 127 if (next_TCB->prio > os_tsk.run->prio) {
daoyu_sofiane 0:a8ed743bc1e1 128 /* preempt running task */
daoyu_sofiane 0:a8ed743bc1e1 129 rt_put_rdy_first (os_tsk.run);
daoyu_sofiane 0:a8ed743bc1e1 130 os_tsk.run->state = READY;
daoyu_sofiane 0:a8ed743bc1e1 131 rt_switch_req (next_TCB);
daoyu_sofiane 0:a8ed743bc1e1 132 }
daoyu_sofiane 0:a8ed743bc1e1 133 else {
daoyu_sofiane 0:a8ed743bc1e1 134 /* put next task into ready list, no task switch takes place */
daoyu_sofiane 0:a8ed743bc1e1 135 next_TCB->state = READY;
daoyu_sofiane 0:a8ed743bc1e1 136 rt_put_prio (&os_rdy, next_TCB);
daoyu_sofiane 0:a8ed743bc1e1 137 }
daoyu_sofiane 0:a8ed743bc1e1 138 }
daoyu_sofiane 0:a8ed743bc1e1 139 }
daoyu_sofiane 0:a8ed743bc1e1 140
daoyu_sofiane 0:a8ed743bc1e1 141
daoyu_sofiane 0:a8ed743bc1e1 142 /*--------------------------- rt_block --------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 143
daoyu_sofiane 0:a8ed743bc1e1 144 void rt_block (U16 timeout, U8 block_state) {
daoyu_sofiane 0:a8ed743bc1e1 145 /* Block running task and choose next ready task. */
daoyu_sofiane 0:a8ed743bc1e1 146 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
daoyu_sofiane 0:a8ed743bc1e1 147 /* "block_state" defines the appropriate task state */
daoyu_sofiane 0:a8ed743bc1e1 148 P_TCB next_TCB;
daoyu_sofiane 0:a8ed743bc1e1 149
daoyu_sofiane 0:a8ed743bc1e1 150 if (timeout) {
daoyu_sofiane 0:a8ed743bc1e1 151 if (timeout < 0xffff) {
daoyu_sofiane 0:a8ed743bc1e1 152 rt_put_dly (os_tsk.run, timeout);
daoyu_sofiane 0:a8ed743bc1e1 153 }
daoyu_sofiane 0:a8ed743bc1e1 154 os_tsk.run->state = block_state;
daoyu_sofiane 0:a8ed743bc1e1 155 next_TCB = rt_get_first (&os_rdy);
daoyu_sofiane 0:a8ed743bc1e1 156 rt_switch_req (next_TCB);
daoyu_sofiane 0:a8ed743bc1e1 157 }
daoyu_sofiane 0:a8ed743bc1e1 158 }
daoyu_sofiane 0:a8ed743bc1e1 159
daoyu_sofiane 0:a8ed743bc1e1 160
daoyu_sofiane 0:a8ed743bc1e1 161 /*--------------------------- rt_tsk_pass -----------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 162
daoyu_sofiane 0:a8ed743bc1e1 163 void rt_tsk_pass (void) {
daoyu_sofiane 0:a8ed743bc1e1 164 /* Allow tasks of same priority level to run cooperatively.*/
daoyu_sofiane 0:a8ed743bc1e1 165 P_TCB p_new;
daoyu_sofiane 0:a8ed743bc1e1 166
daoyu_sofiane 0:a8ed743bc1e1 167 p_new = rt_get_same_rdy_prio();
daoyu_sofiane 0:a8ed743bc1e1 168 if (p_new != NULL) {
daoyu_sofiane 0:a8ed743bc1e1 169 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
daoyu_sofiane 0:a8ed743bc1e1 170 os_tsk.run->state = READY;
daoyu_sofiane 0:a8ed743bc1e1 171 rt_switch_req (p_new);
daoyu_sofiane 0:a8ed743bc1e1 172 }
daoyu_sofiane 0:a8ed743bc1e1 173 }
daoyu_sofiane 0:a8ed743bc1e1 174
daoyu_sofiane 0:a8ed743bc1e1 175
daoyu_sofiane 0:a8ed743bc1e1 176 /*--------------------------- rt_tsk_self -----------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 177
daoyu_sofiane 0:a8ed743bc1e1 178 OS_TID rt_tsk_self (void) {
daoyu_sofiane 0:a8ed743bc1e1 179 /* Return own task identifier value. */
daoyu_sofiane 0:a8ed743bc1e1 180 if (os_tsk.run == NULL) {
daoyu_sofiane 0:a8ed743bc1e1 181 return (0);
daoyu_sofiane 0:a8ed743bc1e1 182 }
daoyu_sofiane 0:a8ed743bc1e1 183 return (os_tsk.run->task_id);
daoyu_sofiane 0:a8ed743bc1e1 184 }
daoyu_sofiane 0:a8ed743bc1e1 185
daoyu_sofiane 0:a8ed743bc1e1 186
daoyu_sofiane 0:a8ed743bc1e1 187 /*--------------------------- rt_tsk_prio -----------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 188
daoyu_sofiane 0:a8ed743bc1e1 189 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
daoyu_sofiane 0:a8ed743bc1e1 190 /* Change execution priority of a task to "new_prio". */
daoyu_sofiane 0:a8ed743bc1e1 191 P_TCB p_task;
daoyu_sofiane 0:a8ed743bc1e1 192
daoyu_sofiane 0:a8ed743bc1e1 193 if (task_id == 0) {
daoyu_sofiane 0:a8ed743bc1e1 194 /* Change execution priority of calling task. */
daoyu_sofiane 0:a8ed743bc1e1 195 os_tsk.run->prio = new_prio;
daoyu_sofiane 0:a8ed743bc1e1 196 run:if (rt_rdy_prio() > new_prio) {
daoyu_sofiane 0:a8ed743bc1e1 197 rt_put_prio (&os_rdy, os_tsk.run);
daoyu_sofiane 0:a8ed743bc1e1 198 os_tsk.run->state = READY;
daoyu_sofiane 0:a8ed743bc1e1 199 rt_dispatch (NULL);
daoyu_sofiane 0:a8ed743bc1e1 200 }
daoyu_sofiane 0:a8ed743bc1e1 201 return (OS_R_OK);
daoyu_sofiane 0:a8ed743bc1e1 202 }
daoyu_sofiane 0:a8ed743bc1e1 203
daoyu_sofiane 0:a8ed743bc1e1 204 /* Find the task in the "os_active_TCB" array. */
daoyu_sofiane 0:a8ed743bc1e1 205 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
daoyu_sofiane 0:a8ed743bc1e1 206 /* Task with "task_id" not found or not started. */
daoyu_sofiane 0:a8ed743bc1e1 207 return (OS_R_NOK);
daoyu_sofiane 0:a8ed743bc1e1 208 }
daoyu_sofiane 0:a8ed743bc1e1 209 p_task = os_active_TCB[task_id-1];
daoyu_sofiane 0:a8ed743bc1e1 210 p_task->prio = new_prio;
daoyu_sofiane 0:a8ed743bc1e1 211 if (p_task == os_tsk.run) {
daoyu_sofiane 0:a8ed743bc1e1 212 goto run;
daoyu_sofiane 0:a8ed743bc1e1 213 }
daoyu_sofiane 0:a8ed743bc1e1 214 rt_resort_prio (p_task);
daoyu_sofiane 0:a8ed743bc1e1 215 if (p_task->state == READY) {
daoyu_sofiane 0:a8ed743bc1e1 216 /* Task enqueued in a ready list. */
daoyu_sofiane 0:a8ed743bc1e1 217 p_task = rt_get_first (&os_rdy);
daoyu_sofiane 0:a8ed743bc1e1 218 rt_dispatch (p_task);
daoyu_sofiane 0:a8ed743bc1e1 219 }
daoyu_sofiane 0:a8ed743bc1e1 220 return (OS_R_OK);
daoyu_sofiane 0:a8ed743bc1e1 221 }
daoyu_sofiane 0:a8ed743bc1e1 222
daoyu_sofiane 0:a8ed743bc1e1 223 /*--------------------------- rt_tsk_delete ---------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 224
daoyu_sofiane 0:a8ed743bc1e1 225 OS_RESULT rt_tsk_delete (OS_TID task_id) {
daoyu_sofiane 0:a8ed743bc1e1 226 /* Terminate the task identified with "task_id". */
daoyu_sofiane 0:a8ed743bc1e1 227 P_TCB task_context;
daoyu_sofiane 0:a8ed743bc1e1 228
daoyu_sofiane 0:a8ed743bc1e1 229 if (task_id == 0 || task_id == os_tsk.run->task_id) {
daoyu_sofiane 0:a8ed743bc1e1 230 /* Terminate itself. */
daoyu_sofiane 0:a8ed743bc1e1 231 os_tsk.run->state = INACTIVE;
daoyu_sofiane 0:a8ed743bc1e1 232 os_tsk.run->tsk_stack = 0;
daoyu_sofiane 0:a8ed743bc1e1 233 rt_stk_check ();
daoyu_sofiane 0:a8ed743bc1e1 234 os_active_TCB[os_tsk.run->task_id-1] = NULL;
daoyu_sofiane 0:a8ed743bc1e1 235
daoyu_sofiane 0:a8ed743bc1e1 236 os_tsk.run->stack = NULL;
daoyu_sofiane 0:a8ed743bc1e1 237 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
daoyu_sofiane 0:a8ed743bc1e1 238 os_tsk.run = NULL;
daoyu_sofiane 0:a8ed743bc1e1 239 rt_dispatch (NULL);
daoyu_sofiane 0:a8ed743bc1e1 240 /* The program should never come to this point. */
daoyu_sofiane 0:a8ed743bc1e1 241 }
daoyu_sofiane 0:a8ed743bc1e1 242 else {
daoyu_sofiane 0:a8ed743bc1e1 243 /* Find the task in the "os_active_TCB" array. */
daoyu_sofiane 0:a8ed743bc1e1 244 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
daoyu_sofiane 0:a8ed743bc1e1 245 /* Task with "task_id" not found or not started. */
daoyu_sofiane 0:a8ed743bc1e1 246 return (OS_R_NOK);
daoyu_sofiane 0:a8ed743bc1e1 247 }
daoyu_sofiane 0:a8ed743bc1e1 248 task_context = os_active_TCB[task_id-1];
daoyu_sofiane 0:a8ed743bc1e1 249 rt_rmv_list (task_context);
daoyu_sofiane 0:a8ed743bc1e1 250 rt_rmv_dly (task_context);
daoyu_sofiane 0:a8ed743bc1e1 251 os_active_TCB[task_id-1] = NULL;
daoyu_sofiane 0:a8ed743bc1e1 252
daoyu_sofiane 0:a8ed743bc1e1 253 task_context->stack = NULL;
daoyu_sofiane 0:a8ed743bc1e1 254 DBG_TASK_NOTIFY(task_context, __FALSE);
daoyu_sofiane 0:a8ed743bc1e1 255 }
daoyu_sofiane 0:a8ed743bc1e1 256 return (OS_R_OK);
daoyu_sofiane 0:a8ed743bc1e1 257 }
daoyu_sofiane 0:a8ed743bc1e1 258
daoyu_sofiane 0:a8ed743bc1e1 259
daoyu_sofiane 0:a8ed743bc1e1 260 /*--------------------------- rt_sys_init -----------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 261
daoyu_sofiane 0:a8ed743bc1e1 262 #ifdef __CMSIS_RTOS
daoyu_sofiane 0:a8ed743bc1e1 263 void rt_sys_init (void) {
daoyu_sofiane 0:a8ed743bc1e1 264 #else
daoyu_sofiane 0:a8ed743bc1e1 265 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
daoyu_sofiane 0:a8ed743bc1e1 266 #endif
daoyu_sofiane 0:a8ed743bc1e1 267 /* Initialize system and start up task declared with "first_task". */
daoyu_sofiane 0:a8ed743bc1e1 268 U32 i;
daoyu_sofiane 0:a8ed743bc1e1 269
daoyu_sofiane 0:a8ed743bc1e1 270 DBG_INIT();
daoyu_sofiane 0:a8ed743bc1e1 271
daoyu_sofiane 0:a8ed743bc1e1 272 /* Initialize dynamic memory and task TCB pointers to NULL. */
daoyu_sofiane 0:a8ed743bc1e1 273 for (i = 0; i < os_maxtaskrun; i++) {
daoyu_sofiane 0:a8ed743bc1e1 274 os_active_TCB[i] = NULL;
daoyu_sofiane 0:a8ed743bc1e1 275 }
daoyu_sofiane 0:a8ed743bc1e1 276
daoyu_sofiane 0:a8ed743bc1e1 277 /* Set up TCB of idle demon */
daoyu_sofiane 0:a8ed743bc1e1 278 os_idle_TCB.task_id = 255;
daoyu_sofiane 0:a8ed743bc1e1 279 os_idle_TCB.priv_stack = idle_task_stack_size;
daoyu_sofiane 0:a8ed743bc1e1 280 os_idle_TCB.stack = idle_task_stack;
daoyu_sofiane 0:a8ed743bc1e1 281 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
daoyu_sofiane 0:a8ed743bc1e1 282
daoyu_sofiane 0:a8ed743bc1e1 283 /* Set up ready list: initially empty */
daoyu_sofiane 0:a8ed743bc1e1 284 os_rdy.cb_type = HCB;
daoyu_sofiane 0:a8ed743bc1e1 285 os_rdy.p_lnk = NULL;
daoyu_sofiane 0:a8ed743bc1e1 286 /* Set up delay list: initially empty */
daoyu_sofiane 0:a8ed743bc1e1 287 os_dly.cb_type = HCB;
daoyu_sofiane 0:a8ed743bc1e1 288 os_dly.p_dlnk = NULL;
daoyu_sofiane 0:a8ed743bc1e1 289 os_dly.p_blnk = NULL;
daoyu_sofiane 0:a8ed743bc1e1 290 os_dly.delta_time = 0;
daoyu_sofiane 0:a8ed743bc1e1 291
daoyu_sofiane 0:a8ed743bc1e1 292 /* Fix SP and systemvariables to assume idle task is running */
daoyu_sofiane 0:a8ed743bc1e1 293 /* Transform main program into idle task by assuming idle TCB */
daoyu_sofiane 0:a8ed743bc1e1 294 #ifndef __CMSIS_RTOS
daoyu_sofiane 0:a8ed743bc1e1 295 rt_set_PSP (os_idle_TCB.tsk_stack);
daoyu_sofiane 0:a8ed743bc1e1 296 #endif
daoyu_sofiane 0:a8ed743bc1e1 297 os_tsk.run = &os_idle_TCB;
daoyu_sofiane 0:a8ed743bc1e1 298 os_tsk.run->state = RUNNING;
daoyu_sofiane 0:a8ed743bc1e1 299
daoyu_sofiane 0:a8ed743bc1e1 300 /* Initialize ps queue */
daoyu_sofiane 0:a8ed743bc1e1 301 os_psq->first = 0;
daoyu_sofiane 0:a8ed743bc1e1 302 os_psq->last = 0;
daoyu_sofiane 0:a8ed743bc1e1 303 os_psq->size = os_fifo_size;
daoyu_sofiane 0:a8ed743bc1e1 304
daoyu_sofiane 0:a8ed743bc1e1 305 rt_init_robin ();
daoyu_sofiane 0:a8ed743bc1e1 306
daoyu_sofiane 0:a8ed743bc1e1 307 /* Intitialize SVC and PendSV */
daoyu_sofiane 0:a8ed743bc1e1 308 rt_svc_init ();
daoyu_sofiane 0:a8ed743bc1e1 309
daoyu_sofiane 0:a8ed743bc1e1 310 #ifndef __CMSIS_RTOS
daoyu_sofiane 0:a8ed743bc1e1 311 /* Intitialize and start system clock timer */
daoyu_sofiane 0:a8ed743bc1e1 312 os_tick_irqn = os_tick_init ();
daoyu_sofiane 0:a8ed743bc1e1 313 if (os_tick_irqn >= 0) {
daoyu_sofiane 0:a8ed743bc1e1 314 OS_X_INIT(os_tick_irqn);
daoyu_sofiane 0:a8ed743bc1e1 315 }
daoyu_sofiane 0:a8ed743bc1e1 316
daoyu_sofiane 0:a8ed743bc1e1 317 /* Start up first user task before entering the endless loop */
daoyu_sofiane 0:a8ed743bc1e1 318 rt_tsk_create (first_task, prio_stksz, stk, NULL);
daoyu_sofiane 0:a8ed743bc1e1 319 #endif
daoyu_sofiane 0:a8ed743bc1e1 320 }
daoyu_sofiane 0:a8ed743bc1e1 321
daoyu_sofiane 0:a8ed743bc1e1 322
daoyu_sofiane 0:a8ed743bc1e1 323 /*--------------------------- rt_sys_start ----------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 324
daoyu_sofiane 0:a8ed743bc1e1 325 #ifdef __CMSIS_RTOS
daoyu_sofiane 0:a8ed743bc1e1 326 void rt_sys_start (void) {
daoyu_sofiane 0:a8ed743bc1e1 327 /* Start system */
daoyu_sofiane 0:a8ed743bc1e1 328
daoyu_sofiane 0:a8ed743bc1e1 329 /* Intitialize and start system clock timer */
daoyu_sofiane 0:a8ed743bc1e1 330 os_tick_irqn = os_tick_init ();
daoyu_sofiane 0:a8ed743bc1e1 331 if (os_tick_irqn >= 0) {
daoyu_sofiane 0:a8ed743bc1e1 332 OS_X_INIT(os_tick_irqn);
daoyu_sofiane 0:a8ed743bc1e1 333 }
daoyu_sofiane 0:a8ed743bc1e1 334 extern void RestoreContext();
daoyu_sofiane 0:a8ed743bc1e1 335 RestoreContext(); // Start the first task
daoyu_sofiane 0:a8ed743bc1e1 336 }
daoyu_sofiane 0:a8ed743bc1e1 337 #endif
daoyu_sofiane 0:a8ed743bc1e1 338
daoyu_sofiane 0:a8ed743bc1e1 339 /*----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 340 * end of file
daoyu_sofiane 0:a8ed743bc1e1 341 *---------------------------------------------------------------------------*/