Austin Blackstone / Mbed 2 deprecated client-lwip-lightswitch-demo-expanded

mbed client lightswitch demo

Dependencies:   mbed Socket lwip-eth lwip-sys lwip

Fork of mbed-client-classic-example-lwip by Austin Blackstone

mbed-rtos/rtx/TARGET_ARM7/rt_Task.c@11:cada08fc8a70, 2016-06-09 (annotated)

Committer:
mbedAustin
Date:
Thu Jun 09 17:08:36 2016 +0000
Revision:
11:cada08fc8a70
Commit for public Consumption

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedAustin 11:cada08fc8a70 1 /*----------------------------------------------------------------------------
mbedAustin 11:cada08fc8a70 2 * RL-ARM - RTX
mbedAustin 11:cada08fc8a70 3 *----------------------------------------------------------------------------
mbedAustin 11:cada08fc8a70 4 * Name: RT_TASK.C
mbedAustin 11:cada08fc8a70 5 * Purpose: Task functions and system start up.
mbedAustin 11:cada08fc8a70 6 * Rev.: V4.60
mbedAustin 11:cada08fc8a70 7 *----------------------------------------------------------------------------
mbedAustin 11:cada08fc8a70 8 *
mbedAustin 11:cada08fc8a70 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
mbedAustin 11:cada08fc8a70 10 * All rights reserved.
mbedAustin 11:cada08fc8a70 11 * Redistribution and use in source and binary forms, with or without
mbedAustin 11:cada08fc8a70 12 * modification, are permitted provided that the following conditions are met:
mbedAustin 11:cada08fc8a70 13 * - Redistributions of source code must retain the above copyright
mbedAustin 11:cada08fc8a70 14 * notice, this list of conditions and the following disclaimer.
mbedAustin 11:cada08fc8a70 15 * - Redistributions in binary form must reproduce the above copyright
mbedAustin 11:cada08fc8a70 16 * notice, this list of conditions and the following disclaimer in the
mbedAustin 11:cada08fc8a70 17 * documentation and/or other materials provided with the distribution.
mbedAustin 11:cada08fc8a70 18 * - Neither the name of ARM nor the names of its contributors may be used
mbedAustin 11:cada08fc8a70 19 * to endorse or promote products derived from this software without
mbedAustin 11:cada08fc8a70 20 * specific prior written permission.
mbedAustin 11:cada08fc8a70 21 *
mbedAustin 11:cada08fc8a70 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbedAustin 11:cada08fc8a70 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbedAustin 11:cada08fc8a70 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
mbedAustin 11:cada08fc8a70 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
mbedAustin 11:cada08fc8a70 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
mbedAustin 11:cada08fc8a70 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
mbedAustin 11:cada08fc8a70 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
mbedAustin 11:cada08fc8a70 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
mbedAustin 11:cada08fc8a70 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
mbedAustin 11:cada08fc8a70 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbedAustin 11:cada08fc8a70 32 * POSSIBILITY OF SUCH DAMAGE.
mbedAustin 11:cada08fc8a70 33 *---------------------------------------------------------------------------*/
mbedAustin 11:cada08fc8a70 34
mbedAustin 11:cada08fc8a70 35 #include "rt_TypeDef.h"
mbedAustin 11:cada08fc8a70 36 #include "RTX_Conf.h"
mbedAustin 11:cada08fc8a70 37 #include "rt_System.h"
mbedAustin 11:cada08fc8a70 38 #include "rt_Task.h"
mbedAustin 11:cada08fc8a70 39 #include "rt_List.h"
mbedAustin 11:cada08fc8a70 40 #include "rt_MemBox.h"
mbedAustin 11:cada08fc8a70 41 #include "rt_Robin.h"
mbedAustin 11:cada08fc8a70 42 #include "rt_HAL_CM.h"
mbedAustin 11:cada08fc8a70 43
mbedAustin 11:cada08fc8a70 44 /*----------------------------------------------------------------------------
mbedAustin 11:cada08fc8a70 45 * Global Variables
mbedAustin 11:cada08fc8a70 46 *---------------------------------------------------------------------------*/
mbedAustin 11:cada08fc8a70 47
mbedAustin 11:cada08fc8a70 48 /* Running and next task info. */
mbedAustin 11:cada08fc8a70 49 struct OS_TSK os_tsk;
mbedAustin 11:cada08fc8a70 50
mbedAustin 11:cada08fc8a70 51 /* Task Control Blocks of idle demon */
mbedAustin 11:cada08fc8a70 52 struct OS_TCB os_idle_TCB;
mbedAustin 11:cada08fc8a70 53
mbedAustin 11:cada08fc8a70 54
mbedAustin 11:cada08fc8a70 55 /*----------------------------------------------------------------------------
mbedAustin 11:cada08fc8a70 56 * Local Functions
mbedAustin 11:cada08fc8a70 57 *---------------------------------------------------------------------------*/
mbedAustin 11:cada08fc8a70 58
mbedAustin 11:cada08fc8a70 59 OS_TID rt_get_TID (void) {
mbedAustin 11:cada08fc8a70 60 U32 tid;
mbedAustin 11:cada08fc8a70 61
mbedAustin 11:cada08fc8a70 62 for (tid = 1; tid <= os_maxtaskrun; tid++) {
mbedAustin 11:cada08fc8a70 63 if (os_active_TCB[tid-1] == NULL) {
mbedAustin 11:cada08fc8a70 64 return ((OS_TID)tid);
mbedAustin 11:cada08fc8a70 65 }
mbedAustin 11:cada08fc8a70 66 }
mbedAustin 11:cada08fc8a70 67 return (0);
mbedAustin 11:cada08fc8a70 68 }
mbedAustin 11:cada08fc8a70 69
mbedAustin 11:cada08fc8a70 70 #if defined (__CC_ARM) && !defined (__MICROLIB)
mbedAustin 11:cada08fc8a70 71 /*--------------------------- __user_perthread_libspace ---------------------*/
mbedAustin 11:cada08fc8a70 72 extern void *__libspace_start;
mbedAustin 11:cada08fc8a70 73
mbedAustin 11:cada08fc8a70 74 void *__user_perthread_libspace (void) {
mbedAustin 11:cada08fc8a70 75 /* Provide a separate libspace for each task. */
mbedAustin 11:cada08fc8a70 76 if (os_tsk.run == NULL) {
mbedAustin 11:cada08fc8a70 77 /* RTX not running yet. */
mbedAustin 11:cada08fc8a70 78 return (&__libspace_start);
mbedAustin 11:cada08fc8a70 79 }
mbedAustin 11:cada08fc8a70 80 return (void *)(os_tsk.run->std_libspace);
mbedAustin 11:cada08fc8a70 81 }
mbedAustin 11:cada08fc8a70 82 #endif
mbedAustin 11:cada08fc8a70 83
mbedAustin 11:cada08fc8a70 84 /*--------------------------- rt_init_context -------------------------------*/
mbedAustin 11:cada08fc8a70 85
mbedAustin 11:cada08fc8a70 86 void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
mbedAustin 11:cada08fc8a70 87 /* Initialize general part of the Task Control Block. */
mbedAustin 11:cada08fc8a70 88 p_TCB->cb_type = TCB;
mbedAustin 11:cada08fc8a70 89 p_TCB->state = READY;
mbedAustin 11:cada08fc8a70 90 p_TCB->prio = priority;
mbedAustin 11:cada08fc8a70 91 p_TCB->p_lnk = NULL;
mbedAustin 11:cada08fc8a70 92 p_TCB->p_rlnk = NULL;
mbedAustin 11:cada08fc8a70 93 p_TCB->p_dlnk = NULL;
mbedAustin 11:cada08fc8a70 94 p_TCB->p_blnk = NULL;
mbedAustin 11:cada08fc8a70 95 p_TCB->delta_time = 0;
mbedAustin 11:cada08fc8a70 96 p_TCB->interval_time = 0;
mbedAustin 11:cada08fc8a70 97 p_TCB->events = 0;
mbedAustin 11:cada08fc8a70 98 p_TCB->waits = 0;
mbedAustin 11:cada08fc8a70 99 p_TCB->stack_frame = 0;
mbedAustin 11:cada08fc8a70 100
mbedAustin 11:cada08fc8a70 101 rt_init_stack (p_TCB, task_body);
mbedAustin 11:cada08fc8a70 102 }
mbedAustin 11:cada08fc8a70 103
mbedAustin 11:cada08fc8a70 104
mbedAustin 11:cada08fc8a70 105 /*--------------------------- rt_switch_req ---------------------------------*/
mbedAustin 11:cada08fc8a70 106
mbedAustin 11:cada08fc8a70 107 void rt_switch_req (P_TCB p_new) {
mbedAustin 11:cada08fc8a70 108 /* Switch to next task (identified by "p_new"). */
mbedAustin 11:cada08fc8a70 109 os_tsk.new_tsk = p_new;
mbedAustin 11:cada08fc8a70 110 p_new->state = RUNNING;
mbedAustin 11:cada08fc8a70 111 DBG_TASK_SWITCH(p_new->task_id);
mbedAustin 11:cada08fc8a70 112 }
mbedAustin 11:cada08fc8a70 113
mbedAustin 11:cada08fc8a70 114
mbedAustin 11:cada08fc8a70 115 /*--------------------------- rt_dispatch -----------------------------------*/
mbedAustin 11:cada08fc8a70 116
mbedAustin 11:cada08fc8a70 117 void rt_dispatch (P_TCB next_TCB) {
mbedAustin 11:cada08fc8a70 118 /* Dispatch next task if any identified or dispatch highest ready task */
mbedAustin 11:cada08fc8a70 119 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
mbedAustin 11:cada08fc8a70 120 if (next_TCB == NULL) {
mbedAustin 11:cada08fc8a70 121 /* Running task was blocked: continue with highest ready task */
mbedAustin 11:cada08fc8a70 122 next_TCB = rt_get_first (&os_rdy);
mbedAustin 11:cada08fc8a70 123 rt_switch_req (next_TCB);
mbedAustin 11:cada08fc8a70 124 }
mbedAustin 11:cada08fc8a70 125 else {
mbedAustin 11:cada08fc8a70 126 /* Check which task continues */
mbedAustin 11:cada08fc8a70 127 if (next_TCB->prio > os_tsk.run->prio) {
mbedAustin 11:cada08fc8a70 128 /* preempt running task */
mbedAustin 11:cada08fc8a70 129 rt_put_rdy_first (os_tsk.run);
mbedAustin 11:cada08fc8a70 130 os_tsk.run->state = READY;
mbedAustin 11:cada08fc8a70 131 rt_switch_req (next_TCB);
mbedAustin 11:cada08fc8a70 132 }
mbedAustin 11:cada08fc8a70 133 else {
mbedAustin 11:cada08fc8a70 134 /* put next task into ready list, no task switch takes place */
mbedAustin 11:cada08fc8a70 135 next_TCB->state = READY;
mbedAustin 11:cada08fc8a70 136 rt_put_prio (&os_rdy, next_TCB);
mbedAustin 11:cada08fc8a70 137 }
mbedAustin 11:cada08fc8a70 138 }
mbedAustin 11:cada08fc8a70 139 }
mbedAustin 11:cada08fc8a70 140
mbedAustin 11:cada08fc8a70 141
mbedAustin 11:cada08fc8a70 142 /*--------------------------- rt_block --------------------------------------*/
mbedAustin 11:cada08fc8a70 143
mbedAustin 11:cada08fc8a70 144 void rt_block (U16 timeout, U8 block_state) {
mbedAustin 11:cada08fc8a70 145 /* Block running task and choose next ready task. */
mbedAustin 11:cada08fc8a70 146 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
mbedAustin 11:cada08fc8a70 147 /* "block_state" defines the appropriate task state */
mbedAustin 11:cada08fc8a70 148 P_TCB next_TCB;
mbedAustin 11:cada08fc8a70 149
mbedAustin 11:cada08fc8a70 150 if (timeout) {
mbedAustin 11:cada08fc8a70 151 if (timeout < 0xffff) {
mbedAustin 11:cada08fc8a70 152 rt_put_dly (os_tsk.run, timeout);
mbedAustin 11:cada08fc8a70 153 }
mbedAustin 11:cada08fc8a70 154 os_tsk.run->state = block_state;
mbedAustin 11:cada08fc8a70 155 next_TCB = rt_get_first (&os_rdy);
mbedAustin 11:cada08fc8a70 156 rt_switch_req (next_TCB);
mbedAustin 11:cada08fc8a70 157 }
mbedAustin 11:cada08fc8a70 158 }
mbedAustin 11:cada08fc8a70 159
mbedAustin 11:cada08fc8a70 160
mbedAustin 11:cada08fc8a70 161 /*--------------------------- rt_tsk_pass -----------------------------------*/
mbedAustin 11:cada08fc8a70 162
mbedAustin 11:cada08fc8a70 163 void rt_tsk_pass (void) {
mbedAustin 11:cada08fc8a70 164 /* Allow tasks of same priority level to run cooperatively.*/
mbedAustin 11:cada08fc8a70 165 P_TCB p_new;
mbedAustin 11:cada08fc8a70 166
mbedAustin 11:cada08fc8a70 167 p_new = rt_get_same_rdy_prio();
mbedAustin 11:cada08fc8a70 168 if (p_new != NULL) {
mbedAustin 11:cada08fc8a70 169 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
mbedAustin 11:cada08fc8a70 170 os_tsk.run->state = READY;
mbedAustin 11:cada08fc8a70 171 rt_switch_req (p_new);
mbedAustin 11:cada08fc8a70 172 }
mbedAustin 11:cada08fc8a70 173 }
mbedAustin 11:cada08fc8a70 174
mbedAustin 11:cada08fc8a70 175
mbedAustin 11:cada08fc8a70 176 /*--------------------------- rt_tsk_self -----------------------------------*/
mbedAustin 11:cada08fc8a70 177
mbedAustin 11:cada08fc8a70 178 OS_TID rt_tsk_self (void) {
mbedAustin 11:cada08fc8a70 179 /* Return own task identifier value. */
mbedAustin 11:cada08fc8a70 180 if (os_tsk.run == NULL) {
mbedAustin 11:cada08fc8a70 181 return (0);
mbedAustin 11:cada08fc8a70 182 }
mbedAustin 11:cada08fc8a70 183 return (os_tsk.run->task_id);
mbedAustin 11:cada08fc8a70 184 }
mbedAustin 11:cada08fc8a70 185
mbedAustin 11:cada08fc8a70 186
mbedAustin 11:cada08fc8a70 187 /*--------------------------- rt_tsk_prio -----------------------------------*/
mbedAustin 11:cada08fc8a70 188
mbedAustin 11:cada08fc8a70 189 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
mbedAustin 11:cada08fc8a70 190 /* Change execution priority of a task to "new_prio". */
mbedAustin 11:cada08fc8a70 191 P_TCB p_task;
mbedAustin 11:cada08fc8a70 192
mbedAustin 11:cada08fc8a70 193 if (task_id == 0) {
mbedAustin 11:cada08fc8a70 194 /* Change execution priority of calling task. */
mbedAustin 11:cada08fc8a70 195 os_tsk.run->prio = new_prio;
mbedAustin 11:cada08fc8a70 196 run:if (rt_rdy_prio() > new_prio) {
mbedAustin 11:cada08fc8a70 197 rt_put_prio (&os_rdy, os_tsk.run);
mbedAustin 11:cada08fc8a70 198 os_tsk.run->state = READY;
mbedAustin 11:cada08fc8a70 199 rt_dispatch (NULL);
mbedAustin 11:cada08fc8a70 200 }
mbedAustin 11:cada08fc8a70 201 return (OS_R_OK);
mbedAustin 11:cada08fc8a70 202 }
mbedAustin 11:cada08fc8a70 203
mbedAustin 11:cada08fc8a70 204 /* Find the task in the "os_active_TCB" array. */
mbedAustin 11:cada08fc8a70 205 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
mbedAustin 11:cada08fc8a70 206 /* Task with "task_id" not found or not started. */
mbedAustin 11:cada08fc8a70 207 return (OS_R_NOK);
mbedAustin 11:cada08fc8a70 208 }
mbedAustin 11:cada08fc8a70 209 p_task = os_active_TCB[task_id-1];
mbedAustin 11:cada08fc8a70 210 p_task->prio = new_prio;
mbedAustin 11:cada08fc8a70 211 if (p_task == os_tsk.run) {
mbedAustin 11:cada08fc8a70 212 goto run;
mbedAustin 11:cada08fc8a70 213 }
mbedAustin 11:cada08fc8a70 214 rt_resort_prio (p_task);
mbedAustin 11:cada08fc8a70 215 if (p_task->state == READY) {
mbedAustin 11:cada08fc8a70 216 /* Task enqueued in a ready list. */
mbedAustin 11:cada08fc8a70 217 p_task = rt_get_first (&os_rdy);
mbedAustin 11:cada08fc8a70 218 rt_dispatch (p_task);
mbedAustin 11:cada08fc8a70 219 }
mbedAustin 11:cada08fc8a70 220 return (OS_R_OK);
mbedAustin 11:cada08fc8a70 221 }
mbedAustin 11:cada08fc8a70 222
mbedAustin 11:cada08fc8a70 223 /*--------------------------- rt_tsk_delete ---------------------------------*/
mbedAustin 11:cada08fc8a70 224
mbedAustin 11:cada08fc8a70 225 OS_RESULT rt_tsk_delete (OS_TID task_id) {
mbedAustin 11:cada08fc8a70 226 /* Terminate the task identified with "task_id". */
mbedAustin 11:cada08fc8a70 227 P_TCB task_context;
mbedAustin 11:cada08fc8a70 228
mbedAustin 11:cada08fc8a70 229 if (task_id == 0 || task_id == os_tsk.run->task_id) {
mbedAustin 11:cada08fc8a70 230 /* Terminate itself. */
mbedAustin 11:cada08fc8a70 231 os_tsk.run->state = INACTIVE;
mbedAustin 11:cada08fc8a70 232 os_tsk.run->tsk_stack = 0;
mbedAustin 11:cada08fc8a70 233 rt_stk_check ();
mbedAustin 11:cada08fc8a70 234 os_active_TCB[os_tsk.run->task_id-1] = NULL;
mbedAustin 11:cada08fc8a70 235
mbedAustin 11:cada08fc8a70 236 os_tsk.run->stack = NULL;
mbedAustin 11:cada08fc8a70 237 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
mbedAustin 11:cada08fc8a70 238 os_tsk.run = NULL;
mbedAustin 11:cada08fc8a70 239 rt_dispatch (NULL);
mbedAustin 11:cada08fc8a70 240 /* The program should never come to this point. */
mbedAustin 11:cada08fc8a70 241 }
mbedAustin 11:cada08fc8a70 242 else {
mbedAustin 11:cada08fc8a70 243 /* Find the task in the "os_active_TCB" array. */
mbedAustin 11:cada08fc8a70 244 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
mbedAustin 11:cada08fc8a70 245 /* Task with "task_id" not found or not started. */
mbedAustin 11:cada08fc8a70 246 return (OS_R_NOK);
mbedAustin 11:cada08fc8a70 247 }
mbedAustin 11:cada08fc8a70 248 task_context = os_active_TCB[task_id-1];
mbedAustin 11:cada08fc8a70 249 rt_rmv_list (task_context);
mbedAustin 11:cada08fc8a70 250 rt_rmv_dly (task_context);
mbedAustin 11:cada08fc8a70 251 os_active_TCB[task_id-1] = NULL;
mbedAustin 11:cada08fc8a70 252
mbedAustin 11:cada08fc8a70 253 task_context->stack = NULL;
mbedAustin 11:cada08fc8a70 254 DBG_TASK_NOTIFY(task_context, __FALSE);
mbedAustin 11:cada08fc8a70 255 }
mbedAustin 11:cada08fc8a70 256 return (OS_R_OK);
mbedAustin 11:cada08fc8a70 257 }
mbedAustin 11:cada08fc8a70 258
mbedAustin 11:cada08fc8a70 259
mbedAustin 11:cada08fc8a70 260 /*--------------------------- rt_sys_init -----------------------------------*/
mbedAustin 11:cada08fc8a70 261
mbedAustin 11:cada08fc8a70 262 #ifdef __CMSIS_RTOS
mbedAustin 11:cada08fc8a70 263 void rt_sys_init (void) {
mbedAustin 11:cada08fc8a70 264 #else
mbedAustin 11:cada08fc8a70 265 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
mbedAustin 11:cada08fc8a70 266 #endif
mbedAustin 11:cada08fc8a70 267 /* Initialize system and start up task declared with "first_task". */
mbedAustin 11:cada08fc8a70 268 U32 i;
mbedAustin 11:cada08fc8a70 269
mbedAustin 11:cada08fc8a70 270 DBG_INIT();
mbedAustin 11:cada08fc8a70 271
mbedAustin 11:cada08fc8a70 272 /* Initialize dynamic memory and task TCB pointers to NULL. */
mbedAustin 11:cada08fc8a70 273 for (i = 0; i < os_maxtaskrun; i++) {
mbedAustin 11:cada08fc8a70 274 os_active_TCB[i] = NULL;
mbedAustin 11:cada08fc8a70 275 }
mbedAustin 11:cada08fc8a70 276
mbedAustin 11:cada08fc8a70 277 /* Set up TCB of idle demon */
mbedAustin 11:cada08fc8a70 278 os_idle_TCB.task_id = 255;
mbedAustin 11:cada08fc8a70 279 os_idle_TCB.priv_stack = idle_task_stack_size;
mbedAustin 11:cada08fc8a70 280 os_idle_TCB.stack = idle_task_stack;
mbedAustin 11:cada08fc8a70 281 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
mbedAustin 11:cada08fc8a70 282
mbedAustin 11:cada08fc8a70 283 /* Set up ready list: initially empty */
mbedAustin 11:cada08fc8a70 284 os_rdy.cb_type = HCB;
mbedAustin 11:cada08fc8a70 285 os_rdy.p_lnk = NULL;
mbedAustin 11:cada08fc8a70 286 /* Set up delay list: initially empty */
mbedAustin 11:cada08fc8a70 287 os_dly.cb_type = HCB;
mbedAustin 11:cada08fc8a70 288 os_dly.p_dlnk = NULL;
mbedAustin 11:cada08fc8a70 289 os_dly.p_blnk = NULL;
mbedAustin 11:cada08fc8a70 290 os_dly.delta_time = 0;
mbedAustin 11:cada08fc8a70 291
mbedAustin 11:cada08fc8a70 292 /* Fix SP and systemvariables to assume idle task is running */
mbedAustin 11:cada08fc8a70 293 /* Transform main program into idle task by assuming idle TCB */
mbedAustin 11:cada08fc8a70 294 #ifndef __CMSIS_RTOS
mbedAustin 11:cada08fc8a70 295 rt_set_PSP (os_idle_TCB.tsk_stack);
mbedAustin 11:cada08fc8a70 296 #endif
mbedAustin 11:cada08fc8a70 297 os_tsk.run = &os_idle_TCB;
mbedAustin 11:cada08fc8a70 298 os_tsk.run->state = RUNNING;
mbedAustin 11:cada08fc8a70 299
mbedAustin 11:cada08fc8a70 300 /* Initialize ps queue */
mbedAustin 11:cada08fc8a70 301 os_psq->first = 0;
mbedAustin 11:cada08fc8a70 302 os_psq->last = 0;
mbedAustin 11:cada08fc8a70 303 os_psq->size = os_fifo_size;
mbedAustin 11:cada08fc8a70 304
mbedAustin 11:cada08fc8a70 305 rt_init_robin ();
mbedAustin 11:cada08fc8a70 306
mbedAustin 11:cada08fc8a70 307 /* Intitialize SVC and PendSV */
mbedAustin 11:cada08fc8a70 308 rt_svc_init ();
mbedAustin 11:cada08fc8a70 309
mbedAustin 11:cada08fc8a70 310 #ifndef __CMSIS_RTOS
mbedAustin 11:cada08fc8a70 311 /* Intitialize and start system clock timer */
mbedAustin 11:cada08fc8a70 312 os_tick_irqn = os_tick_init ();
mbedAustin 11:cada08fc8a70 313 if (os_tick_irqn >= 0) {
mbedAustin 11:cada08fc8a70 314 OS_X_INIT(os_tick_irqn);
mbedAustin 11:cada08fc8a70 315 }
mbedAustin 11:cada08fc8a70 316
mbedAustin 11:cada08fc8a70 317 /* Start up first user task before entering the endless loop */
mbedAustin 11:cada08fc8a70 318 rt_tsk_create (first_task, prio_stksz, stk, NULL);
mbedAustin 11:cada08fc8a70 319 #endif
mbedAustin 11:cada08fc8a70 320 }
mbedAustin 11:cada08fc8a70 321
mbedAustin 11:cada08fc8a70 322
mbedAustin 11:cada08fc8a70 323 /*--------------------------- rt_sys_start ----------------------------------*/
mbedAustin 11:cada08fc8a70 324
mbedAustin 11:cada08fc8a70 325 #ifdef __CMSIS_RTOS
mbedAustin 11:cada08fc8a70 326 void rt_sys_start (void) {
mbedAustin 11:cada08fc8a70 327 /* Start system */
mbedAustin 11:cada08fc8a70 328
mbedAustin 11:cada08fc8a70 329 /* Intitialize and start system clock timer */
mbedAustin 11:cada08fc8a70 330 os_tick_irqn = os_tick_init ();
mbedAustin 11:cada08fc8a70 331 if (os_tick_irqn >= 0) {
mbedAustin 11:cada08fc8a70 332 OS_X_INIT(os_tick_irqn);
mbedAustin 11:cada08fc8a70 333 }
mbedAustin 11:cada08fc8a70 334 extern void RestoreContext();
mbedAustin 11:cada08fc8a70 335 RestoreContext(); // Start the first task
mbedAustin 11:cada08fc8a70 336 }
mbedAustin 11:cada08fc8a70 337 #endif
mbedAustin 11:cada08fc8a70 338
mbedAustin 11:cada08fc8a70 339 /*----------------------------------------------------------------------------
mbedAustin 11:cada08fc8a70 340 * end of file
mbedAustin 11:cada08fc8a70 341 *---------------------------------------------------------------------------*/