36372 mbed / Mbed 2 deprecated SP14P1_skeleton

skeleton for lab1

Dependencies:   AvailableMemory mbed-rtos mbed

Fork of helloaabbc by 32314 mbed

mbed-rtos/rtx/rt_Task.c@0:1c8f2727e9f5, 2014-04-03 (annotated)

Committer:
y7jin
Date:
Thu Apr 03 22:56:32 2014 +0000
Revision:
0:1c8f2727e9f5
hello

Who changed what in which revision?

UserRevisionLine numberNew contents of line
y7jin 0:1c8f2727e9f5 1 /*----------------------------------------------------------------------------
y7jin 0:1c8f2727e9f5 2 * RL-ARM - RTX
y7jin 0:1c8f2727e9f5 3 *----------------------------------------------------------------------------
y7jin 0:1c8f2727e9f5 4 * Name: RT_TASK.C
y7jin 0:1c8f2727e9f5 5 * Purpose: Task functions and system start up.
y7jin 0:1c8f2727e9f5 6 * Rev.: V4.60
y7jin 0:1c8f2727e9f5 7 *----------------------------------------------------------------------------
y7jin 0:1c8f2727e9f5 8 *
y7jin 0:1c8f2727e9f5 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
y7jin 0:1c8f2727e9f5 10 * All rights reserved.
y7jin 0:1c8f2727e9f5 11 * Redistribution and use in source and binary forms, with or without
y7jin 0:1c8f2727e9f5 12 * modification, are permitted provided that the following conditions are met:
y7jin 0:1c8f2727e9f5 13 * - Redistributions of source code must retain the above copyright
y7jin 0:1c8f2727e9f5 14 * notice, this list of conditions and the following disclaimer.
y7jin 0:1c8f2727e9f5 15 * - Redistributions in binary form must reproduce the above copyright
y7jin 0:1c8f2727e9f5 16 * notice, this list of conditions and the following disclaimer in the
y7jin 0:1c8f2727e9f5 17 * documentation and/or other materials provided with the distribution.
y7jin 0:1c8f2727e9f5 18 * - Neither the name of ARM nor the names of its contributors may be used
y7jin 0:1c8f2727e9f5 19 * to endorse or promote products derived from this software without
y7jin 0:1c8f2727e9f5 20 * specific prior written permission.
y7jin 0:1c8f2727e9f5 21 *
y7jin 0:1c8f2727e9f5 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
y7jin 0:1c8f2727e9f5 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
y7jin 0:1c8f2727e9f5 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
y7jin 0:1c8f2727e9f5 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
y7jin 0:1c8f2727e9f5 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
y7jin 0:1c8f2727e9f5 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
y7jin 0:1c8f2727e9f5 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
y7jin 0:1c8f2727e9f5 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
y7jin 0:1c8f2727e9f5 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
y7jin 0:1c8f2727e9f5 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
y7jin 0:1c8f2727e9f5 32 * POSSIBILITY OF SUCH DAMAGE.
y7jin 0:1c8f2727e9f5 33 *---------------------------------------------------------------------------*/
y7jin 0:1c8f2727e9f5 34
y7jin 0:1c8f2727e9f5 35 #include "rt_TypeDef.h"
y7jin 0:1c8f2727e9f5 36 #include "RTX_Config.h"
y7jin 0:1c8f2727e9f5 37 #include "rt_System.h"
y7jin 0:1c8f2727e9f5 38 #include "rt_Task.h"
y7jin 0:1c8f2727e9f5 39 #include "rt_List.h"
y7jin 0:1c8f2727e9f5 40 #include "rt_MemBox.h"
y7jin 0:1c8f2727e9f5 41 #include "rt_Robin.h"
y7jin 0:1c8f2727e9f5 42 #include "rt_HAL_CM.h"
y7jin 0:1c8f2727e9f5 43
y7jin 0:1c8f2727e9f5 44 /*----------------------------------------------------------------------------
y7jin 0:1c8f2727e9f5 45 * Global Variables
y7jin 0:1c8f2727e9f5 46 *---------------------------------------------------------------------------*/
y7jin 0:1c8f2727e9f5 47
y7jin 0:1c8f2727e9f5 48 /* Running and next task info. */
y7jin 0:1c8f2727e9f5 49 struct OS_TSK os_tsk;
y7jin 0:1c8f2727e9f5 50
y7jin 0:1c8f2727e9f5 51 /* Task Control Blocks of idle demon */
y7jin 0:1c8f2727e9f5 52 struct OS_TCB os_idle_TCB;
y7jin 0:1c8f2727e9f5 53
y7jin 0:1c8f2727e9f5 54
y7jin 0:1c8f2727e9f5 55 /*----------------------------------------------------------------------------
y7jin 0:1c8f2727e9f5 56 * Local Functions
y7jin 0:1c8f2727e9f5 57 *---------------------------------------------------------------------------*/
y7jin 0:1c8f2727e9f5 58
y7jin 0:1c8f2727e9f5 59 OS_TID rt_get_TID (void) {
y7jin 0:1c8f2727e9f5 60 U32 tid;
y7jin 0:1c8f2727e9f5 61
y7jin 0:1c8f2727e9f5 62 for (tid = 1; tid <= os_maxtaskrun; tid++) {
y7jin 0:1c8f2727e9f5 63 if (os_active_TCB[tid-1] == NULL) {
y7jin 0:1c8f2727e9f5 64 return ((OS_TID)tid);
y7jin 0:1c8f2727e9f5 65 }
y7jin 0:1c8f2727e9f5 66 }
y7jin 0:1c8f2727e9f5 67 return (0);
y7jin 0:1c8f2727e9f5 68 }
y7jin 0:1c8f2727e9f5 69
y7jin 0:1c8f2727e9f5 70 #if defined (__CC_ARM) && !defined (__MICROLIB)
y7jin 0:1c8f2727e9f5 71 /*--------------------------- __user_perthread_libspace ---------------------*/
y7jin 0:1c8f2727e9f5 72 extern void *__libspace_start;
y7jin 0:1c8f2727e9f5 73
y7jin 0:1c8f2727e9f5 74 void *__user_perthread_libspace (void) {
y7jin 0:1c8f2727e9f5 75 /* Provide a separate libspace for each task. */
y7jin 0:1c8f2727e9f5 76 if (os_tsk.run == NULL) {
y7jin 0:1c8f2727e9f5 77 /* RTX not running yet. */
y7jin 0:1c8f2727e9f5 78 return (&__libspace_start);
y7jin 0:1c8f2727e9f5 79 }
y7jin 0:1c8f2727e9f5 80 return (void *)(os_tsk.run->std_libspace);
y7jin 0:1c8f2727e9f5 81 }
y7jin 0:1c8f2727e9f5 82 #endif
y7jin 0:1c8f2727e9f5 83
y7jin 0:1c8f2727e9f5 84 /*--------------------------- rt_init_context -------------------------------*/
y7jin 0:1c8f2727e9f5 85
y7jin 0:1c8f2727e9f5 86 void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
y7jin 0:1c8f2727e9f5 87 /* Initialize general part of the Task Control Block. */
y7jin 0:1c8f2727e9f5 88 p_TCB->cb_type = TCB;
y7jin 0:1c8f2727e9f5 89 p_TCB->state = READY;
y7jin 0:1c8f2727e9f5 90 p_TCB->prio = priority;
y7jin 0:1c8f2727e9f5 91 p_TCB->p_lnk = NULL;
y7jin 0:1c8f2727e9f5 92 p_TCB->p_rlnk = NULL;
y7jin 0:1c8f2727e9f5 93 p_TCB->p_dlnk = NULL;
y7jin 0:1c8f2727e9f5 94 p_TCB->p_blnk = NULL;
y7jin 0:1c8f2727e9f5 95 p_TCB->delta_time = 0;
y7jin 0:1c8f2727e9f5 96 p_TCB->interval_time = 0;
y7jin 0:1c8f2727e9f5 97 p_TCB->events = 0;
y7jin 0:1c8f2727e9f5 98 p_TCB->waits = 0;
y7jin 0:1c8f2727e9f5 99 p_TCB->stack_frame = 0;
y7jin 0:1c8f2727e9f5 100
y7jin 0:1c8f2727e9f5 101 rt_init_stack (p_TCB, task_body);
y7jin 0:1c8f2727e9f5 102 }
y7jin 0:1c8f2727e9f5 103
y7jin 0:1c8f2727e9f5 104
y7jin 0:1c8f2727e9f5 105 /*--------------------------- rt_switch_req ---------------------------------*/
y7jin 0:1c8f2727e9f5 106
y7jin 0:1c8f2727e9f5 107 void rt_switch_req (P_TCB p_new) {
y7jin 0:1c8f2727e9f5 108 /* Switch to next task (identified by "p_new"). */
y7jin 0:1c8f2727e9f5 109 os_tsk.new_tsk = p_new;
y7jin 0:1c8f2727e9f5 110 p_new->state = RUNNING;
y7jin 0:1c8f2727e9f5 111 DBG_TASK_SWITCH(p_new->task_id);
y7jin 0:1c8f2727e9f5 112 }
y7jin 0:1c8f2727e9f5 113
y7jin 0:1c8f2727e9f5 114
y7jin 0:1c8f2727e9f5 115 /*--------------------------- rt_dispatch -----------------------------------*/
y7jin 0:1c8f2727e9f5 116
y7jin 0:1c8f2727e9f5 117 void rt_dispatch (P_TCB next_TCB) {
y7jin 0:1c8f2727e9f5 118 /* Dispatch next task if any identified or dispatch highest ready task */
y7jin 0:1c8f2727e9f5 119 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
y7jin 0:1c8f2727e9f5 120 if (next_TCB == NULL) {
y7jin 0:1c8f2727e9f5 121 /* Running task was blocked: continue with highest ready task */
y7jin 0:1c8f2727e9f5 122 next_TCB = rt_get_first (&os_rdy);
y7jin 0:1c8f2727e9f5 123 rt_switch_req (next_TCB);
y7jin 0:1c8f2727e9f5 124 }
y7jin 0:1c8f2727e9f5 125 else {
y7jin 0:1c8f2727e9f5 126 /* Check which task continues */
y7jin 0:1c8f2727e9f5 127 if (next_TCB->prio > os_tsk.run->prio) {
y7jin 0:1c8f2727e9f5 128 /* preempt running task */
y7jin 0:1c8f2727e9f5 129 rt_put_rdy_first (os_tsk.run);
y7jin 0:1c8f2727e9f5 130 os_tsk.run->state = READY;
y7jin 0:1c8f2727e9f5 131 rt_switch_req (next_TCB);
y7jin 0:1c8f2727e9f5 132 }
y7jin 0:1c8f2727e9f5 133 else {
y7jin 0:1c8f2727e9f5 134 /* put next task into ready list, no task switch takes place */
y7jin 0:1c8f2727e9f5 135 next_TCB->state = READY;
y7jin 0:1c8f2727e9f5 136 rt_put_prio (&os_rdy, next_TCB);
y7jin 0:1c8f2727e9f5 137 }
y7jin 0:1c8f2727e9f5 138 }
y7jin 0:1c8f2727e9f5 139 }
y7jin 0:1c8f2727e9f5 140
y7jin 0:1c8f2727e9f5 141
y7jin 0:1c8f2727e9f5 142 /*--------------------------- rt_block --------------------------------------*/
y7jin 0:1c8f2727e9f5 143
y7jin 0:1c8f2727e9f5 144 void rt_block (U16 timeout, U8 block_state) {
y7jin 0:1c8f2727e9f5 145 /* Block running task and choose next ready task. */
y7jin 0:1c8f2727e9f5 146 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
y7jin 0:1c8f2727e9f5 147 /* "block_state" defines the appropriate task state */
y7jin 0:1c8f2727e9f5 148 P_TCB next_TCB;
y7jin 0:1c8f2727e9f5 149
y7jin 0:1c8f2727e9f5 150 if (timeout) {
y7jin 0:1c8f2727e9f5 151 if (timeout < 0xffff) {
y7jin 0:1c8f2727e9f5 152 rt_put_dly (os_tsk.run, timeout);
y7jin 0:1c8f2727e9f5 153 }
y7jin 0:1c8f2727e9f5 154 os_tsk.run->state = block_state;
y7jin 0:1c8f2727e9f5 155 next_TCB = rt_get_first (&os_rdy);
y7jin 0:1c8f2727e9f5 156 rt_switch_req (next_TCB);
y7jin 0:1c8f2727e9f5 157 }
y7jin 0:1c8f2727e9f5 158 }
y7jin 0:1c8f2727e9f5 159
y7jin 0:1c8f2727e9f5 160
y7jin 0:1c8f2727e9f5 161 /*--------------------------- rt_tsk_pass -----------------------------------*/
y7jin 0:1c8f2727e9f5 162
y7jin 0:1c8f2727e9f5 163 void rt_tsk_pass (void) {
y7jin 0:1c8f2727e9f5 164 /* Allow tasks of same priority level to run cooperatively.*/
y7jin 0:1c8f2727e9f5 165 P_TCB p_new;
y7jin 0:1c8f2727e9f5 166
y7jin 0:1c8f2727e9f5 167 p_new = rt_get_same_rdy_prio();
y7jin 0:1c8f2727e9f5 168 if (p_new != NULL) {
y7jin 0:1c8f2727e9f5 169 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
y7jin 0:1c8f2727e9f5 170 os_tsk.run->state = READY;
y7jin 0:1c8f2727e9f5 171 rt_switch_req (p_new);
y7jin 0:1c8f2727e9f5 172 }
y7jin 0:1c8f2727e9f5 173 }
y7jin 0:1c8f2727e9f5 174
y7jin 0:1c8f2727e9f5 175
y7jin 0:1c8f2727e9f5 176 /*--------------------------- rt_tsk_self -----------------------------------*/
y7jin 0:1c8f2727e9f5 177
y7jin 0:1c8f2727e9f5 178 OS_TID rt_tsk_self (void) {
y7jin 0:1c8f2727e9f5 179 /* Return own task identifier value. */
y7jin 0:1c8f2727e9f5 180 if (os_tsk.run == NULL) {
y7jin 0:1c8f2727e9f5 181 return (0);
y7jin 0:1c8f2727e9f5 182 }
y7jin 0:1c8f2727e9f5 183 return (os_tsk.run->task_id);
y7jin 0:1c8f2727e9f5 184 }
y7jin 0:1c8f2727e9f5 185
y7jin 0:1c8f2727e9f5 186
y7jin 0:1c8f2727e9f5 187 /*--------------------------- rt_tsk_prio -----------------------------------*/
y7jin 0:1c8f2727e9f5 188
y7jin 0:1c8f2727e9f5 189 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
y7jin 0:1c8f2727e9f5 190 /* Change execution priority of a task to "new_prio". */
y7jin 0:1c8f2727e9f5 191 P_TCB p_task;
y7jin 0:1c8f2727e9f5 192
y7jin 0:1c8f2727e9f5 193 if (task_id == 0) {
y7jin 0:1c8f2727e9f5 194 /* Change execution priority of calling task. */
y7jin 0:1c8f2727e9f5 195 os_tsk.run->prio = new_prio;
y7jin 0:1c8f2727e9f5 196 run:if (rt_rdy_prio() > new_prio) {
y7jin 0:1c8f2727e9f5 197 rt_put_prio (&os_rdy, os_tsk.run);
y7jin 0:1c8f2727e9f5 198 os_tsk.run->state = READY;
y7jin 0:1c8f2727e9f5 199 rt_dispatch (NULL);
y7jin 0:1c8f2727e9f5 200 }
y7jin 0:1c8f2727e9f5 201 return (OS_R_OK);
y7jin 0:1c8f2727e9f5 202 }
y7jin 0:1c8f2727e9f5 203
y7jin 0:1c8f2727e9f5 204 /* Find the task in the "os_active_TCB" array. */
y7jin 0:1c8f2727e9f5 205 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
y7jin 0:1c8f2727e9f5 206 /* Task with "task_id" not found or not started. */
y7jin 0:1c8f2727e9f5 207 return (OS_R_NOK);
y7jin 0:1c8f2727e9f5 208 }
y7jin 0:1c8f2727e9f5 209 p_task = os_active_TCB[task_id-1];
y7jin 0:1c8f2727e9f5 210 p_task->prio = new_prio;
y7jin 0:1c8f2727e9f5 211 if (p_task == os_tsk.run) {
y7jin 0:1c8f2727e9f5 212 goto run;
y7jin 0:1c8f2727e9f5 213 }
y7jin 0:1c8f2727e9f5 214 rt_resort_prio (p_task);
y7jin 0:1c8f2727e9f5 215 if (p_task->state == READY) {
y7jin 0:1c8f2727e9f5 216 /* Task enqueued in a ready list. */
y7jin 0:1c8f2727e9f5 217 p_task = rt_get_first (&os_rdy);
y7jin 0:1c8f2727e9f5 218 rt_dispatch (p_task);
y7jin 0:1c8f2727e9f5 219 }
y7jin 0:1c8f2727e9f5 220 return (OS_R_OK);
y7jin 0:1c8f2727e9f5 221 }
y7jin 0:1c8f2727e9f5 222
y7jin 0:1c8f2727e9f5 223 /*--------------------------- rt_tsk_delete ---------------------------------*/
y7jin 0:1c8f2727e9f5 224
y7jin 0:1c8f2727e9f5 225 OS_RESULT rt_tsk_delete (OS_TID task_id) {
y7jin 0:1c8f2727e9f5 226 /* Terminate the task identified with "task_id". */
y7jin 0:1c8f2727e9f5 227 P_TCB task_context;
y7jin 0:1c8f2727e9f5 228
y7jin 0:1c8f2727e9f5 229 if (task_id == 0 || task_id == os_tsk.run->task_id) {
y7jin 0:1c8f2727e9f5 230 /* Terminate itself. */
y7jin 0:1c8f2727e9f5 231 os_tsk.run->state = INACTIVE;
y7jin 0:1c8f2727e9f5 232 os_tsk.run->tsk_stack = rt_get_PSP ();
y7jin 0:1c8f2727e9f5 233 rt_stk_check ();
y7jin 0:1c8f2727e9f5 234 os_active_TCB[os_tsk.run->task_id-1] = NULL;
y7jin 0:1c8f2727e9f5 235
y7jin 0:1c8f2727e9f5 236 os_tsk.run->stack = NULL;
y7jin 0:1c8f2727e9f5 237 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
y7jin 0:1c8f2727e9f5 238 os_tsk.run = NULL;
y7jin 0:1c8f2727e9f5 239 rt_dispatch (NULL);
y7jin 0:1c8f2727e9f5 240 /* The program should never come to this point. */
y7jin 0:1c8f2727e9f5 241 }
y7jin 0:1c8f2727e9f5 242 else {
y7jin 0:1c8f2727e9f5 243 /* Find the task in the "os_active_TCB" array. */
y7jin 0:1c8f2727e9f5 244 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
y7jin 0:1c8f2727e9f5 245 /* Task with "task_id" not found or not started. */
y7jin 0:1c8f2727e9f5 246 return (OS_R_NOK);
y7jin 0:1c8f2727e9f5 247 }
y7jin 0:1c8f2727e9f5 248 task_context = os_active_TCB[task_id-1];
y7jin 0:1c8f2727e9f5 249 rt_rmv_list (task_context);
y7jin 0:1c8f2727e9f5 250 rt_rmv_dly (task_context);
y7jin 0:1c8f2727e9f5 251 os_active_TCB[task_id-1] = NULL;
y7jin 0:1c8f2727e9f5 252
y7jin 0:1c8f2727e9f5 253 task_context->stack = NULL;
y7jin 0:1c8f2727e9f5 254 DBG_TASK_NOTIFY(task_context, __FALSE);
y7jin 0:1c8f2727e9f5 255 }
y7jin 0:1c8f2727e9f5 256 return (OS_R_OK);
y7jin 0:1c8f2727e9f5 257 }
y7jin 0:1c8f2727e9f5 258
y7jin 0:1c8f2727e9f5 259
y7jin 0:1c8f2727e9f5 260 /*--------------------------- rt_sys_init -----------------------------------*/
y7jin 0:1c8f2727e9f5 261
y7jin 0:1c8f2727e9f5 262 #ifdef __CMSIS_RTOS
y7jin 0:1c8f2727e9f5 263 void rt_sys_init (void) {
y7jin 0:1c8f2727e9f5 264 #else
y7jin 0:1c8f2727e9f5 265 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
y7jin 0:1c8f2727e9f5 266 #endif
y7jin 0:1c8f2727e9f5 267 /* Initialize system and start up task declared with "first_task". */
y7jin 0:1c8f2727e9f5 268 U32 i;
y7jin 0:1c8f2727e9f5 269
y7jin 0:1c8f2727e9f5 270 DBG_INIT();
y7jin 0:1c8f2727e9f5 271
y7jin 0:1c8f2727e9f5 272 /* Initialize dynamic memory and task TCB pointers to NULL. */
y7jin 0:1c8f2727e9f5 273 for (i = 0; i < os_maxtaskrun; i++) {
y7jin 0:1c8f2727e9f5 274 os_active_TCB[i] = NULL;
y7jin 0:1c8f2727e9f5 275 }
y7jin 0:1c8f2727e9f5 276
y7jin 0:1c8f2727e9f5 277 /* Set up TCB of idle demon */
y7jin 0:1c8f2727e9f5 278 os_idle_TCB.task_id = 255;
y7jin 0:1c8f2727e9f5 279 os_idle_TCB.priv_stack = idle_task_stack_size;
y7jin 0:1c8f2727e9f5 280 os_idle_TCB.stack = idle_task_stack;
y7jin 0:1c8f2727e9f5 281 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
y7jin 0:1c8f2727e9f5 282
y7jin 0:1c8f2727e9f5 283 /* Set up ready list: initially empty */
y7jin 0:1c8f2727e9f5 284 os_rdy.cb_type = HCB;
y7jin 0:1c8f2727e9f5 285 os_rdy.p_lnk = NULL;
y7jin 0:1c8f2727e9f5 286 /* Set up delay list: initially empty */
y7jin 0:1c8f2727e9f5 287 os_dly.cb_type = HCB;
y7jin 0:1c8f2727e9f5 288 os_dly.p_dlnk = NULL;
y7jin 0:1c8f2727e9f5 289 os_dly.p_blnk = NULL;
y7jin 0:1c8f2727e9f5 290 os_dly.delta_time = 0;
y7jin 0:1c8f2727e9f5 291
y7jin 0:1c8f2727e9f5 292 /* Fix SP and systemvariables to assume idle task is running */
y7jin 0:1c8f2727e9f5 293 /* Transform main program into idle task by assuming idle TCB */
y7jin 0:1c8f2727e9f5 294 #ifndef __CMSIS_RTOS
y7jin 0:1c8f2727e9f5 295 rt_set_PSP (os_idle_TCB.tsk_stack+32);
y7jin 0:1c8f2727e9f5 296 #endif
y7jin 0:1c8f2727e9f5 297 os_tsk.run = &os_idle_TCB;
y7jin 0:1c8f2727e9f5 298 os_tsk.run->state = RUNNING;
y7jin 0:1c8f2727e9f5 299
y7jin 0:1c8f2727e9f5 300 /* Initialize ps queue */
y7jin 0:1c8f2727e9f5 301 os_psq->first = 0;
y7jin 0:1c8f2727e9f5 302 os_psq->last = 0;
y7jin 0:1c8f2727e9f5 303 os_psq->size = os_fifo_size;
y7jin 0:1c8f2727e9f5 304
y7jin 0:1c8f2727e9f5 305 rt_init_robin ();
y7jin 0:1c8f2727e9f5 306
y7jin 0:1c8f2727e9f5 307 /* Intitialize SVC and PendSV */
y7jin 0:1c8f2727e9f5 308 rt_svc_init ();
y7jin 0:1c8f2727e9f5 309
y7jin 0:1c8f2727e9f5 310 #ifndef __CMSIS_RTOS
y7jin 0:1c8f2727e9f5 311 /* Intitialize and start system clock timer */
y7jin 0:1c8f2727e9f5 312 os_tick_irqn = os_tick_init ();
y7jin 0:1c8f2727e9f5 313 if (os_tick_irqn >= 0) {
y7jin 0:1c8f2727e9f5 314 OS_X_INIT(os_tick_irqn);
y7jin 0:1c8f2727e9f5 315 }
y7jin 0:1c8f2727e9f5 316
y7jin 0:1c8f2727e9f5 317 /* Start up first user task before entering the endless loop */
y7jin 0:1c8f2727e9f5 318 rt_tsk_create (first_task, prio_stksz, stk, NULL);
y7jin 0:1c8f2727e9f5 319 #endif
y7jin 0:1c8f2727e9f5 320 }
y7jin 0:1c8f2727e9f5 321
y7jin 0:1c8f2727e9f5 322
y7jin 0:1c8f2727e9f5 323 /*--------------------------- rt_sys_start ----------------------------------*/
y7jin 0:1c8f2727e9f5 324
y7jin 0:1c8f2727e9f5 325 #ifdef __CMSIS_RTOS
y7jin 0:1c8f2727e9f5 326 void rt_sys_start (void) {
y7jin 0:1c8f2727e9f5 327 /* Start system */
y7jin 0:1c8f2727e9f5 328
y7jin 0:1c8f2727e9f5 329 /* Intitialize and start system clock timer */
y7jin 0:1c8f2727e9f5 330 os_tick_irqn = os_tick_init ();
y7jin 0:1c8f2727e9f5 331 if (os_tick_irqn >= 0) {
y7jin 0:1c8f2727e9f5 332 OS_X_INIT(os_tick_irqn);
y7jin 0:1c8f2727e9f5 333 }
y7jin 0:1c8f2727e9f5 334 }
y7jin 0:1c8f2727e9f5 335 #endif
y7jin 0:1c8f2727e9f5 336
y7jin 0:1c8f2727e9f5 337 /*----------------------------------------------------------------------------
y7jin 0:1c8f2727e9f5 338 * end of file
y7jin 0:1c8f2727e9f5 339 *---------------------------------------------------------------------------*/