mbed official / mbed-rtos

Official mbed Real Time Operating System based on the RTX implementation of the CMSIS-RTOS API open standard.

Dependents:   denki-yohou_b TestY201 Network-RTOS NTPClient_HelloWorld ... more

Deprecated

This is the mbed 2 rtos library. mbed OS 5 integrates the mbed library with mbed-rtos. With this, we have provided thread safety for all mbed APIs. If you'd like to learn about using mbed OS 5, please see the docs.

rtx/TARGET_CORTEX_M/rt_Task.c@121:3da5f554d8bf, 2016-09-01 (annotated)

Committer:
<>
Date:
Thu Sep 01 15:13:42 2016 +0100
Revision:
121:3da5f554d8bf
Parent:
118:6635230e06ba
Child:
123:58563e6cba1e
RTOS rev121



Compatible with the mbed library v125



Changes:

- K64F: Revert to hardcoded stack pointer in RTX.

- Adding NCS36510 support.

- Add MAX32620 target support.

- Fix implicit declaration of function 'atexit'.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 49:77c8e4604045 1 /*----------------------------------------------------------------------------
mbed_official 112:53ace74b190c 2 * CMSIS-RTOS - RTX
mbed_official 49:77c8e4604045 3 *----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 4 * Name: RT_TASK.C
mbed_official 49:77c8e4604045 5 * Purpose: Task functions and system start up.
mbed_official 112:53ace74b190c 6 * Rev.: V4.80
mbed_official 49:77c8e4604045 7 *----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 8 *
mbed_official 112:53ace74b190c 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
mbed_official 49:77c8e4604045 10 * All rights reserved.
mbed_official 49:77c8e4604045 11 * Redistribution and use in source and binary forms, with or without
mbed_official 49:77c8e4604045 12 * modification, are permitted provided that the following conditions are met:
mbed_official 49:77c8e4604045 13 * - Redistributions of source code must retain the above copyright
mbed_official 49:77c8e4604045 14 * notice, this list of conditions and the following disclaimer.
mbed_official 49:77c8e4604045 15 * - Redistributions in binary form must reproduce the above copyright
mbed_official 49:77c8e4604045 16 * notice, this list of conditions and the following disclaimer in the
mbed_official 49:77c8e4604045 17 * documentation and/or other materials provided with the distribution.
mbed_official 49:77c8e4604045 18 * - Neither the name of ARM nor the names of its contributors may be used
mbed_official 49:77c8e4604045 19 * to endorse or promote products derived from this software without
mbed_official 49:77c8e4604045 20 * specific prior written permission.
mbed_official 49:77c8e4604045 21 *
mbed_official 49:77c8e4604045 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbed_official 49:77c8e4604045 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbed_official 49:77c8e4604045 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
mbed_official 49:77c8e4604045 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
mbed_official 49:77c8e4604045 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
mbed_official 49:77c8e4604045 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
mbed_official 49:77c8e4604045 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
mbed_official 49:77c8e4604045 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
mbed_official 49:77c8e4604045 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
mbed_official 49:77c8e4604045 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbed_official 49:77c8e4604045 32 * POSSIBILITY OF SUCH DAMAGE.
mbed_official 49:77c8e4604045 33 *---------------------------------------------------------------------------*/
mbed_official 49:77c8e4604045 34
mbed_official 49:77c8e4604045 35 #include "rt_TypeDef.h"
mbed_official 112:53ace74b190c 36 #include "RTX_Config.h"
mbed_official 49:77c8e4604045 37 #include "rt_System.h"
mbed_official 49:77c8e4604045 38 #include "rt_Task.h"
mbed_official 49:77c8e4604045 39 #include "rt_List.h"
mbed_official 49:77c8e4604045 40 #include "rt_MemBox.h"
mbed_official 49:77c8e4604045 41 #include "rt_Robin.h"
mbed_official 49:77c8e4604045 42 #include "rt_HAL_CM.h"
Kojto 118:6635230e06ba 43 #include "rt_OsEventObserver.h"
mbed_official 49:77c8e4604045 44
mbed_official 49:77c8e4604045 45 /*----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 46 * Global Variables
mbed_official 49:77c8e4604045 47 *---------------------------------------------------------------------------*/
mbed_official 49:77c8e4604045 48
mbed_official 49:77c8e4604045 49 /* Running and next task info. */
mbed_official 49:77c8e4604045 50 struct OS_TSK os_tsk;
mbed_official 49:77c8e4604045 51
mbed_official 49:77c8e4604045 52 /* Task Control Blocks of idle demon */
mbed_official 49:77c8e4604045 53 struct OS_TCB os_idle_TCB;
mbed_official 49:77c8e4604045 54
mbed_official 49:77c8e4604045 55
mbed_official 49:77c8e4604045 56 /*----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 57 * Local Functions
mbed_official 49:77c8e4604045 58 *---------------------------------------------------------------------------*/
mbed_official 49:77c8e4604045 59
mbed_official 112:53ace74b190c 60 static OS_TID rt_get_TID (void) {
mbed_official 49:77c8e4604045 61 U32 tid;
mbed_official 49:77c8e4604045 62
mbed_official 112:53ace74b190c 63 for (tid = 1U; tid <= os_maxtaskrun; tid++) {
mbed_official 112:53ace74b190c 64 if (os_active_TCB[tid-1U] == NULL) {
mbed_official 49:77c8e4604045 65 return ((OS_TID)tid);
mbed_official 49:77c8e4604045 66 }
mbed_official 49:77c8e4604045 67 }
mbed_official 112:53ace74b190c 68 return (0U);
mbed_official 49:77c8e4604045 69 }
mbed_official 49:77c8e4604045 70
mbed_official 49:77c8e4604045 71
mbed_official 49:77c8e4604045 72 /*--------------------------- rt_init_context -------------------------------*/
mbed_official 49:77c8e4604045 73
mbed_official 112:53ace74b190c 74 static void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
mbed_official 49:77c8e4604045 75 /* Initialize general part of the Task Control Block. */
mbed_official 112:53ace74b190c 76 p_TCB->cb_type = TCB;
mbed_official 112:53ace74b190c 77 p_TCB->state = READY;
mbed_official 112:53ace74b190c 78 p_TCB->prio = priority;
mbed_official 112:53ace74b190c 79 p_TCB->prio_base = priority;
mbed_official 112:53ace74b190c 80 p_TCB->p_lnk = NULL;
mbed_official 112:53ace74b190c 81 p_TCB->p_rlnk = NULL;
mbed_official 112:53ace74b190c 82 p_TCB->p_dlnk = NULL;
mbed_official 112:53ace74b190c 83 p_TCB->p_blnk = NULL;
mbed_official 112:53ace74b190c 84 p_TCB->p_mlnk = NULL;
mbed_official 112:53ace74b190c 85 p_TCB->delta_time = 0U;
mbed_official 112:53ace74b190c 86 p_TCB->interval_time = 0U;
mbed_official 112:53ace74b190c 87 p_TCB->events = 0U;
mbed_official 112:53ace74b190c 88 p_TCB->waits = 0U;
mbed_official 112:53ace74b190c 89 p_TCB->stack_frame = 0U;
mbed_official 49:77c8e4604045 90
mbed_official 112:53ace74b190c 91 if (p_TCB->priv_stack == 0U) {
mbed_official 112:53ace74b190c 92 /* Allocate the memory space for the stack. */
mbed_official 112:53ace74b190c 93 p_TCB->stack = rt_alloc_box (mp_stk);
mbed_official 112:53ace74b190c 94 }
mbed_official 49:77c8e4604045 95 rt_init_stack (p_TCB, task_body);
mbed_official 49:77c8e4604045 96 }
mbed_official 49:77c8e4604045 97
mbed_official 49:77c8e4604045 98
mbed_official 49:77c8e4604045 99 /*--------------------------- rt_switch_req ---------------------------------*/
mbed_official 49:77c8e4604045 100
mbed_official 49:77c8e4604045 101 void rt_switch_req (P_TCB p_new) {
mbed_official 49:77c8e4604045 102 /* Switch to next task (identified by "p_new"). */
mbed_official 49:77c8e4604045 103 os_tsk.new_tsk = p_new;
mbed_official 49:77c8e4604045 104 p_new->state = RUNNING;
Kojto 118:6635230e06ba 105 if (osEventObs && osEventObs->thread_switch) {
Kojto 118:6635230e06ba 106 osEventObs->thread_switch(p_new->context);
Kojto 118:6635230e06ba 107 }
mbed_official 49:77c8e4604045 108 DBG_TASK_SWITCH(p_new->task_id);
mbed_official 49:77c8e4604045 109 }
mbed_official 49:77c8e4604045 110
mbed_official 49:77c8e4604045 111
mbed_official 49:77c8e4604045 112 /*--------------------------- rt_dispatch -----------------------------------*/
mbed_official 49:77c8e4604045 113
mbed_official 49:77c8e4604045 114 void rt_dispatch (P_TCB next_TCB) {
mbed_official 49:77c8e4604045 115 /* Dispatch next task if any identified or dispatch highest ready task */
mbed_official 49:77c8e4604045 116 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
mbed_official 49:77c8e4604045 117 if (next_TCB == NULL) {
mbed_official 49:77c8e4604045 118 /* Running task was blocked: continue with highest ready task */
mbed_official 49:77c8e4604045 119 next_TCB = rt_get_first (&os_rdy);
mbed_official 49:77c8e4604045 120 rt_switch_req (next_TCB);
mbed_official 49:77c8e4604045 121 }
mbed_official 49:77c8e4604045 122 else {
mbed_official 49:77c8e4604045 123 /* Check which task continues */
mbed_official 49:77c8e4604045 124 if (next_TCB->prio > os_tsk.run->prio) {
mbed_official 49:77c8e4604045 125 /* preempt running task */
mbed_official 49:77c8e4604045 126 rt_put_rdy_first (os_tsk.run);
mbed_official 49:77c8e4604045 127 os_tsk.run->state = READY;
mbed_official 49:77c8e4604045 128 rt_switch_req (next_TCB);
mbed_official 49:77c8e4604045 129 }
mbed_official 49:77c8e4604045 130 else {
mbed_official 49:77c8e4604045 131 /* put next task into ready list, no task switch takes place */
mbed_official 49:77c8e4604045 132 next_TCB->state = READY;
mbed_official 49:77c8e4604045 133 rt_put_prio (&os_rdy, next_TCB);
mbed_official 49:77c8e4604045 134 }
mbed_official 49:77c8e4604045 135 }
mbed_official 49:77c8e4604045 136 }
mbed_official 49:77c8e4604045 137
mbed_official 49:77c8e4604045 138
mbed_official 49:77c8e4604045 139 /*--------------------------- rt_block --------------------------------------*/
mbed_official 49:77c8e4604045 140
mbed_official 49:77c8e4604045 141 void rt_block (U16 timeout, U8 block_state) {
mbed_official 49:77c8e4604045 142 /* Block running task and choose next ready task. */
mbed_official 49:77c8e4604045 143 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
mbed_official 49:77c8e4604045 144 /* "block_state" defines the appropriate task state */
mbed_official 49:77c8e4604045 145 P_TCB next_TCB;
mbed_official 49:77c8e4604045 146
mbed_official 49:77c8e4604045 147 if (timeout) {
mbed_official 112:53ace74b190c 148 if (timeout < 0xFFFFU) {
mbed_official 49:77c8e4604045 149 rt_put_dly (os_tsk.run, timeout);
mbed_official 49:77c8e4604045 150 }
mbed_official 49:77c8e4604045 151 os_tsk.run->state = block_state;
mbed_official 49:77c8e4604045 152 next_TCB = rt_get_first (&os_rdy);
mbed_official 49:77c8e4604045 153 rt_switch_req (next_TCB);
mbed_official 49:77c8e4604045 154 }
mbed_official 49:77c8e4604045 155 }
mbed_official 49:77c8e4604045 156
mbed_official 49:77c8e4604045 157
mbed_official 49:77c8e4604045 158 /*--------------------------- rt_tsk_pass -----------------------------------*/
mbed_official 49:77c8e4604045 159
mbed_official 49:77c8e4604045 160 void rt_tsk_pass (void) {
mbed_official 49:77c8e4604045 161 /* Allow tasks of same priority level to run cooperatively.*/
mbed_official 49:77c8e4604045 162 P_TCB p_new;
mbed_official 49:77c8e4604045 163
mbed_official 49:77c8e4604045 164 p_new = rt_get_same_rdy_prio();
mbed_official 49:77c8e4604045 165 if (p_new != NULL) {
mbed_official 49:77c8e4604045 166 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
mbed_official 49:77c8e4604045 167 os_tsk.run->state = READY;
mbed_official 49:77c8e4604045 168 rt_switch_req (p_new);
mbed_official 49:77c8e4604045 169 }
mbed_official 49:77c8e4604045 170 }
mbed_official 49:77c8e4604045 171
mbed_official 49:77c8e4604045 172
mbed_official 49:77c8e4604045 173 /*--------------------------- rt_tsk_self -----------------------------------*/
mbed_official 49:77c8e4604045 174
mbed_official 49:77c8e4604045 175 OS_TID rt_tsk_self (void) {
mbed_official 49:77c8e4604045 176 /* Return own task identifier value. */
mbed_official 49:77c8e4604045 177 if (os_tsk.run == NULL) {
mbed_official 112:53ace74b190c 178 return (0U);
mbed_official 49:77c8e4604045 179 }
mbed_official 112:53ace74b190c 180 return ((OS_TID)os_tsk.run->task_id);
mbed_official 49:77c8e4604045 181 }
mbed_official 49:77c8e4604045 182
mbed_official 49:77c8e4604045 183
mbed_official 49:77c8e4604045 184 /*--------------------------- rt_tsk_prio -----------------------------------*/
mbed_official 49:77c8e4604045 185
mbed_official 49:77c8e4604045 186 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
mbed_official 49:77c8e4604045 187 /* Change execution priority of a task to "new_prio". */
mbed_official 49:77c8e4604045 188 P_TCB p_task;
mbed_official 49:77c8e4604045 189
mbed_official 112:53ace74b190c 190 if (task_id == 0U) {
mbed_official 49:77c8e4604045 191 /* Change execution priority of calling task. */
mbed_official 112:53ace74b190c 192 os_tsk.run->prio = new_prio;
mbed_official 112:53ace74b190c 193 os_tsk.run->prio_base = new_prio;
mbed_official 49:77c8e4604045 194 run:if (rt_rdy_prio() > new_prio) {
mbed_official 49:77c8e4604045 195 rt_put_prio (&os_rdy, os_tsk.run);
mbed_official 49:77c8e4604045 196 os_tsk.run->state = READY;
mbed_official 49:77c8e4604045 197 rt_dispatch (NULL);
mbed_official 49:77c8e4604045 198 }
mbed_official 49:77c8e4604045 199 return (OS_R_OK);
mbed_official 49:77c8e4604045 200 }
mbed_official 49:77c8e4604045 201
mbed_official 49:77c8e4604045 202 /* Find the task in the "os_active_TCB" array. */
mbed_official 112:53ace74b190c 203 if ((task_id > os_maxtaskrun) || (os_active_TCB[task_id-1U] == NULL)) {
mbed_official 49:77c8e4604045 204 /* Task with "task_id" not found or not started. */
mbed_official 49:77c8e4604045 205 return (OS_R_NOK);
mbed_official 49:77c8e4604045 206 }
mbed_official 112:53ace74b190c 207 p_task = os_active_TCB[task_id-1U];
mbed_official 112:53ace74b190c 208 p_task->prio = new_prio;
mbed_official 112:53ace74b190c 209 p_task->prio_base = new_prio;
mbed_official 49:77c8e4604045 210 if (p_task == os_tsk.run) {
mbed_official 49:77c8e4604045 211 goto run;
mbed_official 49:77c8e4604045 212 }
mbed_official 49:77c8e4604045 213 rt_resort_prio (p_task);
mbed_official 49:77c8e4604045 214 if (p_task->state == READY) {
mbed_official 49:77c8e4604045 215 /* Task enqueued in a ready list. */
mbed_official 49:77c8e4604045 216 p_task = rt_get_first (&os_rdy);
mbed_official 49:77c8e4604045 217 rt_dispatch (p_task);
mbed_official 49:77c8e4604045 218 }
mbed_official 49:77c8e4604045 219 return (OS_R_OK);
mbed_official 49:77c8e4604045 220 }
mbed_official 49:77c8e4604045 221
mbed_official 112:53ace74b190c 222
mbed_official 112:53ace74b190c 223 /*--------------------------- rt_tsk_create ---------------------------------*/
mbed_official 112:53ace74b190c 224
mbed_official 112:53ace74b190c 225 OS_TID rt_tsk_create (FUNCP task, U32 prio_stksz, void *stk, void *argv) {
mbed_official 112:53ace74b190c 226 /* Start a new task declared with "task". */
mbed_official 112:53ace74b190c 227 P_TCB task_context;
mbed_official 112:53ace74b190c 228 U32 i;
mbed_official 112:53ace74b190c 229
mbed_official 112:53ace74b190c 230 /* Priority 0 is reserved for idle task! */
mbed_official 112:53ace74b190c 231 if ((prio_stksz & 0xFFU) == 0U) {
mbed_official 112:53ace74b190c 232 prio_stksz += 1U;
mbed_official 112:53ace74b190c 233 }
mbed_official 112:53ace74b190c 234 task_context = rt_alloc_box (mp_tcb);
mbed_official 112:53ace74b190c 235 if (task_context == NULL) {
mbed_official 112:53ace74b190c 236 return (0U);
mbed_official 112:53ace74b190c 237 }
mbed_official 112:53ace74b190c 238 /* If "size != 0" use a private user provided stack. */
mbed_official 112:53ace74b190c 239 task_context->stack = stk;
mbed_official 112:53ace74b190c 240 task_context->priv_stack = prio_stksz >> 8;
mbed_official 112:53ace74b190c 241
mbed_official 112:53ace74b190c 242 /* Find a free entry in 'os_active_TCB' table. */
mbed_official 112:53ace74b190c 243 i = rt_get_TID ();
mbed_official 112:53ace74b190c 244 if (i == 0U) {
mbed_official 112:53ace74b190c 245 return (0U);
mbed_official 112:53ace74b190c 246 }
mbed_official 112:53ace74b190c 247 task_context->task_id = (U8)i;
mbed_official 112:53ace74b190c 248 /* Pass parameter 'argv' to 'rt_init_context' */
mbed_official 112:53ace74b190c 249 task_context->msg = argv;
mbed_official 112:53ace74b190c 250 /* For 'size == 0' system allocates the user stack from the memory pool. */
mbed_official 112:53ace74b190c 251 rt_init_context (task_context, (U8)(prio_stksz & 0xFFU), task);
mbed_official 112:53ace74b190c 252
mbed_official 112:53ace74b190c 253 os_active_TCB[i-1U] = task_context;
mbed_official 112:53ace74b190c 254 DBG_TASK_NOTIFY(task_context, __TRUE);
mbed_official 112:53ace74b190c 255 rt_dispatch (task_context);
mbed_official 112:53ace74b190c 256 return ((OS_TID)i);
mbed_official 112:53ace74b190c 257 }
mbed_official 112:53ace74b190c 258
mbed_official 112:53ace74b190c 259
mbed_official 49:77c8e4604045 260 /*--------------------------- rt_tsk_delete ---------------------------------*/
mbed_official 49:77c8e4604045 261
mbed_official 49:77c8e4604045 262 OS_RESULT rt_tsk_delete (OS_TID task_id) {
mbed_official 49:77c8e4604045 263 /* Terminate the task identified with "task_id". */
mbed_official 112:53ace74b190c 264 P_TCB task_context;
mbed_official 112:53ace74b190c 265 P_TCB p_TCB;
mbed_official 112:53ace74b190c 266 P_MUCB p_MCB, p_MCB0;
mbed_official 49:77c8e4604045 267
mbed_official 112:53ace74b190c 268 if ((task_id == 0U) || (task_id == os_tsk.run->task_id)) {
mbed_official 49:77c8e4604045 269 /* Terminate itself. */
mbed_official 49:77c8e4604045 270 os_tsk.run->state = INACTIVE;
mbed_official 49:77c8e4604045 271 os_tsk.run->tsk_stack = rt_get_PSP ();
mbed_official 49:77c8e4604045 272 rt_stk_check ();
mbed_official 112:53ace74b190c 273 p_MCB = os_tsk.run->p_mlnk;
mbed_official 112:53ace74b190c 274 while (p_MCB) {
mbed_official 112:53ace74b190c 275 /* Release mutexes owned by this task */
mbed_official 112:53ace74b190c 276 if (p_MCB->p_lnk) {
mbed_official 112:53ace74b190c 277 /* A task is waiting for mutex. */
mbed_official 112:53ace74b190c 278 p_TCB = rt_get_first ((P_XCB)p_MCB);
mbed_official 112:53ace74b190c 279 #ifdef __CMSIS_RTOS
mbed_official 112:53ace74b190c 280 rt_ret_val (p_TCB, 0U/*osOK*/);
mbed_official 112:53ace74b190c 281 #else
mbed_official 112:53ace74b190c 282 rt_ret_val (p_TCB, OS_R_MUT);
mbed_official 112:53ace74b190c 283 #endif
mbed_official 112:53ace74b190c 284 rt_rmv_dly (p_TCB);
mbed_official 112:53ace74b190c 285 p_TCB->state = READY;
mbed_official 112:53ace74b190c 286 rt_put_prio (&os_rdy, p_TCB);
mbed_official 112:53ace74b190c 287 /* A waiting task becomes the owner of this mutex. */
mbed_official 112:53ace74b190c 288 p_MCB0 = p_MCB->p_mlnk;
mbed_official 112:53ace74b190c 289 p_MCB->level = 1U;
mbed_official 112:53ace74b190c 290 p_MCB->owner = p_TCB;
mbed_official 112:53ace74b190c 291 p_MCB->p_mlnk = p_TCB->p_mlnk;
mbed_official 112:53ace74b190c 292 p_TCB->p_mlnk = p_MCB;
mbed_official 112:53ace74b190c 293 p_MCB = p_MCB0;
mbed_official 112:53ace74b190c 294 }
mbed_official 112:53ace74b190c 295 else {
mbed_official 112:53ace74b190c 296 p_MCB0 = p_MCB->p_mlnk;
mbed_official 112:53ace74b190c 297 p_MCB->level = 0U;
mbed_official 112:53ace74b190c 298 p_MCB->owner = NULL;
mbed_official 112:53ace74b190c 299 p_MCB->p_mlnk = NULL;
mbed_official 112:53ace74b190c 300 p_MCB = p_MCB0;
mbed_official 112:53ace74b190c 301 }
mbed_official 112:53ace74b190c 302 }
mbed_official 112:53ace74b190c 303 os_active_TCB[os_tsk.run->task_id-1U] = NULL;
mbed_official 112:53ace74b190c 304 rt_free_box (mp_stk, os_tsk.run->stack);
mbed_official 49:77c8e4604045 305 os_tsk.run->stack = NULL;
mbed_official 49:77c8e4604045 306 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
mbed_official 112:53ace74b190c 307 rt_free_box (mp_tcb, os_tsk.run);
mbed_official 49:77c8e4604045 308 os_tsk.run = NULL;
mbed_official 49:77c8e4604045 309 rt_dispatch (NULL);
mbed_official 49:77c8e4604045 310 /* The program should never come to this point. */
mbed_official 49:77c8e4604045 311 }
mbed_official 49:77c8e4604045 312 else {
mbed_official 49:77c8e4604045 313 /* Find the task in the "os_active_TCB" array. */
mbed_official 112:53ace74b190c 314 if ((task_id > os_maxtaskrun) || (os_active_TCB[task_id-1U] == NULL)) {
mbed_official 49:77c8e4604045 315 /* Task with "task_id" not found or not started. */
mbed_official 49:77c8e4604045 316 return (OS_R_NOK);
mbed_official 49:77c8e4604045 317 }
mbed_official 112:53ace74b190c 318 task_context = os_active_TCB[task_id-1U];
mbed_official 49:77c8e4604045 319 rt_rmv_list (task_context);
mbed_official 49:77c8e4604045 320 rt_rmv_dly (task_context);
mbed_official 112:53ace74b190c 321 p_MCB = task_context->p_mlnk;
mbed_official 112:53ace74b190c 322 while (p_MCB) {
mbed_official 112:53ace74b190c 323 /* Release mutexes owned by this task */
mbed_official 112:53ace74b190c 324 if (p_MCB->p_lnk) {
mbed_official 112:53ace74b190c 325 /* A task is waiting for mutex. */
mbed_official 112:53ace74b190c 326 p_TCB = rt_get_first ((P_XCB)p_MCB);
mbed_official 112:53ace74b190c 327 #ifdef __CMSIS_RTOS
mbed_official 112:53ace74b190c 328 rt_ret_val (p_TCB, 0U/*osOK*/);
mbed_official 112:53ace74b190c 329 #else
mbed_official 112:53ace74b190c 330 rt_ret_val (p_TCB, OS_R_MUT);
mbed_official 112:53ace74b190c 331 #endif
mbed_official 112:53ace74b190c 332 rt_rmv_dly (p_TCB);
mbed_official 112:53ace74b190c 333 p_TCB->state = READY;
mbed_official 112:53ace74b190c 334 rt_put_prio (&os_rdy, p_TCB);
mbed_official 112:53ace74b190c 335 /* A waiting task becomes the owner of this mutex. */
mbed_official 112:53ace74b190c 336 p_MCB0 = p_MCB->p_mlnk;
mbed_official 112:53ace74b190c 337 p_MCB->level = 1U;
mbed_official 112:53ace74b190c 338 p_MCB->owner = p_TCB;
mbed_official 112:53ace74b190c 339 p_MCB->p_mlnk = p_TCB->p_mlnk;
mbed_official 112:53ace74b190c 340 p_TCB->p_mlnk = p_MCB;
mbed_official 112:53ace74b190c 341 p_MCB = p_MCB0;
mbed_official 112:53ace74b190c 342 }
mbed_official 112:53ace74b190c 343 else {
mbed_official 112:53ace74b190c 344 p_MCB0 = p_MCB->p_mlnk;
mbed_official 112:53ace74b190c 345 p_MCB->level = 0U;
mbed_official 112:53ace74b190c 346 p_MCB->owner = NULL;
mbed_official 112:53ace74b190c 347 p_MCB->p_mlnk = NULL;
mbed_official 112:53ace74b190c 348 p_MCB = p_MCB0;
mbed_official 112:53ace74b190c 349 }
mbed_official 112:53ace74b190c 350 }
mbed_official 112:53ace74b190c 351 os_active_TCB[task_id-1U] = NULL;
mbed_official 112:53ace74b190c 352 rt_free_box (mp_stk, task_context->stack);
mbed_official 49:77c8e4604045 353 task_context->stack = NULL;
mbed_official 49:77c8e4604045 354 DBG_TASK_NOTIFY(task_context, __FALSE);
mbed_official 112:53ace74b190c 355 rt_free_box (mp_tcb, task_context);
mbed_official 112:53ace74b190c 356 if (rt_rdy_prio() > os_tsk.run->prio) {
mbed_official 112:53ace74b190c 357 /* Ready task has higher priority than running task. */
mbed_official 112:53ace74b190c 358 os_tsk.run->state = READY;
mbed_official 112:53ace74b190c 359 rt_put_prio (&os_rdy, os_tsk.run);
mbed_official 112:53ace74b190c 360 rt_dispatch (NULL);
mbed_official 112:53ace74b190c 361 }
mbed_official 49:77c8e4604045 362 }
mbed_official 49:77c8e4604045 363 return (OS_R_OK);
mbed_official 49:77c8e4604045 364 }
mbed_official 49:77c8e4604045 365
mbed_official 49:77c8e4604045 366
mbed_official 49:77c8e4604045 367 /*--------------------------- rt_sys_init -----------------------------------*/
mbed_official 49:77c8e4604045 368
mbed_official 49:77c8e4604045 369 #ifdef __CMSIS_RTOS
mbed_official 49:77c8e4604045 370 void rt_sys_init (void) {
mbed_official 49:77c8e4604045 371 #else
mbed_official 49:77c8e4604045 372 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
mbed_official 49:77c8e4604045 373 #endif
mbed_official 49:77c8e4604045 374 /* Initialize system and start up task declared with "first_task". */
mbed_official 49:77c8e4604045 375 U32 i;
mbed_official 49:77c8e4604045 376
mbed_official 49:77c8e4604045 377 DBG_INIT();
mbed_official 49:77c8e4604045 378
mbed_official 49:77c8e4604045 379 /* Initialize dynamic memory and task TCB pointers to NULL. */
mbed_official 112:53ace74b190c 380 for (i = 0U; i < os_maxtaskrun; i++) {
mbed_official 49:77c8e4604045 381 os_active_TCB[i] = NULL;
mbed_official 49:77c8e4604045 382 }
mbed_official 112:53ace74b190c 383 rt_init_box (mp_tcb, (U32)mp_tcb_size, sizeof(struct OS_TCB));
mbed_official 112:53ace74b190c 384 rt_init_box (mp_stk, mp_stk_size, BOX_ALIGN_8 | (U16)(os_stackinfo));
mbed_official 112:53ace74b190c 385 rt_init_box ((U32 *)m_tmr, (U32)mp_tmr_size, sizeof(struct OS_TMR));
mbed_official 49:77c8e4604045 386
mbed_official 49:77c8e4604045 387 /* Set up TCB of idle demon */
mbed_official 112:53ace74b190c 388 os_idle_TCB.task_id = 255U;
mbed_official 112:53ace74b190c 389 os_idle_TCB.priv_stack = 0U;
mbed_official 112:53ace74b190c 390 rt_init_context (&os_idle_TCB, 0U, os_idle_demon);
mbed_official 49:77c8e4604045 391
mbed_official 49:77c8e4604045 392 /* Set up ready list: initially empty */
mbed_official 49:77c8e4604045 393 os_rdy.cb_type = HCB;
mbed_official 49:77c8e4604045 394 os_rdy.p_lnk = NULL;
mbed_official 49:77c8e4604045 395 /* Set up delay list: initially empty */
mbed_official 49:77c8e4604045 396 os_dly.cb_type = HCB;
mbed_official 49:77c8e4604045 397 os_dly.p_dlnk = NULL;
mbed_official 49:77c8e4604045 398 os_dly.p_blnk = NULL;
mbed_official 112:53ace74b190c 399 os_dly.delta_time = 0U;
mbed_official 49:77c8e4604045 400
mbed_official 112:53ace74b190c 401 /* Fix SP and system variables to assume idle task is running */
mbed_official 49:77c8e4604045 402 /* Transform main program into idle task by assuming idle TCB */
mbed_official 49:77c8e4604045 403 #ifndef __CMSIS_RTOS
mbed_official 112:53ace74b190c 404 rt_set_PSP (os_idle_TCB.tsk_stack+32U);
mbed_official 49:77c8e4604045 405 #endif
mbed_official 49:77c8e4604045 406 os_tsk.run = &os_idle_TCB;
mbed_official 49:77c8e4604045 407 os_tsk.run->state = RUNNING;
mbed_official 49:77c8e4604045 408
Kojto 118:6635230e06ba 409 /* Set the current thread to idle, so that on exit from this SVCall we do not
Kojto 118:6635230e06ba 410 * de-reference a NULL TCB. */
Kojto 118:6635230e06ba 411 rt_switch_req(&os_idle_TCB);
Kojto 118:6635230e06ba 412
mbed_official 49:77c8e4604045 413 /* Initialize ps queue */
mbed_official 112:53ace74b190c 414 os_psq->first = 0U;
mbed_official 112:53ace74b190c 415 os_psq->last = 0U;
mbed_official 49:77c8e4604045 416 os_psq->size = os_fifo_size;
mbed_official 49:77c8e4604045 417
mbed_official 49:77c8e4604045 418 rt_init_robin ();
mbed_official 49:77c8e4604045 419
mbed_official 112:53ace74b190c 420 #ifndef __CMSIS_RTOS
mbed_official 112:53ace74b190c 421 /* Initialize SVC and PendSV */
mbed_official 49:77c8e4604045 422 rt_svc_init ();
mbed_official 49:77c8e4604045 423
mbed_official 112:53ace74b190c 424 /* Initialize and start system clock timer */
mbed_official 49:77c8e4604045 425 os_tick_irqn = os_tick_init ();
mbed_official 49:77c8e4604045 426 if (os_tick_irqn >= 0) {
mbed_official 112:53ace74b190c 427 OS_X_INIT((U32)os_tick_irqn);
mbed_official 49:77c8e4604045 428 }
mbed_official 49:77c8e4604045 429
mbed_official 49:77c8e4604045 430 /* Start up first user task before entering the endless loop */
mbed_official 49:77c8e4604045 431 rt_tsk_create (first_task, prio_stksz, stk, NULL);
mbed_official 49:77c8e4604045 432 #endif
mbed_official 49:77c8e4604045 433 }
mbed_official 49:77c8e4604045 434
mbed_official 49:77c8e4604045 435
mbed_official 49:77c8e4604045 436 /*--------------------------- rt_sys_start ----------------------------------*/
mbed_official 49:77c8e4604045 437
mbed_official 49:77c8e4604045 438 #ifdef __CMSIS_RTOS
mbed_official 49:77c8e4604045 439 void rt_sys_start (void) {
mbed_official 49:77c8e4604045 440 /* Start system */
mbed_official 49:77c8e4604045 441
mbed_official 112:53ace74b190c 442 /* Initialize SVC and PendSV */
mbed_official 112:53ace74b190c 443 rt_svc_init ();
mbed_official 112:53ace74b190c 444
mbed_official 112:53ace74b190c 445 /* Initialize and start system clock timer */
mbed_official 49:77c8e4604045 446 os_tick_irqn = os_tick_init ();
mbed_official 49:77c8e4604045 447 if (os_tick_irqn >= 0) {
mbed_official 112:53ace74b190c 448 OS_X_INIT((U32)os_tick_irqn);
mbed_official 49:77c8e4604045 449 }
mbed_official 49:77c8e4604045 450 }
mbed_official 49:77c8e4604045 451 #endif
mbed_official 49:77c8e4604045 452
mbed_official 49:77c8e4604045 453 /*----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 454 * end of file
mbed_official 49:77c8e4604045 455 *---------------------------------------------------------------------------*/