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_A/rt_Task.c@49:77c8e4604045, 2014-11-06 (annotated)

Committer:
mbed_official
Date:
Thu Nov 06 13:00:11 2014 +0000
Revision:
49:77c8e4604045
Parent:
rtx_ca/rt_Task.c@48:e9a2c7cb57a4
Child:
68:d3d0e710b443
Synchronized with git revision 7b90c2ba137baaf9769219e0e8a7b8e8d1299c4f



Full URL: https://github.com/mbedmicro/mbed/commit/7b90c2ba137baaf9769219e0e8a7b8e8d1299c4f/



This target is not yet tested, so it can't be released as part of the official

SDK build for now.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 48:e9a2c7cb57a4 1 /*----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 2 * RL-ARM - RTX
mbed_official 48:e9a2c7cb57a4 3 *----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 4 * Name: RT_TASK.C
mbed_official 48:e9a2c7cb57a4 5 * Purpose: Task functions and system start up.
mbed_official 48:e9a2c7cb57a4 6 * Rev.: V4.60
mbed_official 48:e9a2c7cb57a4 7 *----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 8 *
mbed_official 48:e9a2c7cb57a4 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
mbed_official 48:e9a2c7cb57a4 10 * All rights reserved.
mbed_official 48:e9a2c7cb57a4 11 * Redistribution and use in source and binary forms, with or without
mbed_official 48:e9a2c7cb57a4 12 * modification, are permitted provided that the following conditions are met:
mbed_official 48:e9a2c7cb57a4 13 * - Redistributions of source code must retain the above copyright
mbed_official 48:e9a2c7cb57a4 14 * notice, this list of conditions and the following disclaimer.
mbed_official 48:e9a2c7cb57a4 15 * - Redistributions in binary form must reproduce the above copyright
mbed_official 48:e9a2c7cb57a4 16 * notice, this list of conditions and the following disclaimer in the
mbed_official 48:e9a2c7cb57a4 17 * documentation and/or other materials provided with the distribution.
mbed_official 48:e9a2c7cb57a4 18 * - Neither the name of ARM nor the names of its contributors may be used
mbed_official 48:e9a2c7cb57a4 19 * to endorse or promote products derived from this software without
mbed_official 48:e9a2c7cb57a4 20 * specific prior written permission.
mbed_official 48:e9a2c7cb57a4 21 *
mbed_official 48:e9a2c7cb57a4 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbed_official 48:e9a2c7cb57a4 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbed_official 48:e9a2c7cb57a4 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
mbed_official 48:e9a2c7cb57a4 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
mbed_official 48:e9a2c7cb57a4 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
mbed_official 48:e9a2c7cb57a4 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
mbed_official 48:e9a2c7cb57a4 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
mbed_official 48:e9a2c7cb57a4 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
mbed_official 48:e9a2c7cb57a4 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
mbed_official 48:e9a2c7cb57a4 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbed_official 48:e9a2c7cb57a4 32 * POSSIBILITY OF SUCH DAMAGE.
mbed_official 48:e9a2c7cb57a4 33 *---------------------------------------------------------------------------*/
mbed_official 48:e9a2c7cb57a4 34
mbed_official 48:e9a2c7cb57a4 35 #include "rt_TypeDef.h"
mbed_official 48:e9a2c7cb57a4 36 #include "RTX_Config.h"
mbed_official 48:e9a2c7cb57a4 37 #include "rt_System.h"
mbed_official 48:e9a2c7cb57a4 38 #include "rt_Task.h"
mbed_official 48:e9a2c7cb57a4 39 #include "rt_List.h"
mbed_official 48:e9a2c7cb57a4 40 #include "rt_MemBox.h"
mbed_official 48:e9a2c7cb57a4 41 #include "rt_Robin.h"
mbed_official 48:e9a2c7cb57a4 42 #ifdef __CORTEX_A9
mbed_official 48:e9a2c7cb57a4 43 #include "rt_HAL_CA.h"
mbed_official 48:e9a2c7cb57a4 44 #else
mbed_official 48:e9a2c7cb57a4 45 #include "rt_HAL_CM.h"
mbed_official 48:e9a2c7cb57a4 46 #endif
mbed_official 48:e9a2c7cb57a4 47
mbed_official 48:e9a2c7cb57a4 48 /*----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 49 * Global Variables
mbed_official 48:e9a2c7cb57a4 50 *---------------------------------------------------------------------------*/
mbed_official 48:e9a2c7cb57a4 51
mbed_official 48:e9a2c7cb57a4 52 /* Running and next task info. */
mbed_official 48:e9a2c7cb57a4 53 struct OS_TSK os_tsk;
mbed_official 48:e9a2c7cb57a4 54
mbed_official 48:e9a2c7cb57a4 55 /* Task Control Blocks of idle demon */
mbed_official 48:e9a2c7cb57a4 56 struct OS_TCB os_idle_TCB;
mbed_official 48:e9a2c7cb57a4 57
mbed_official 48:e9a2c7cb57a4 58
mbed_official 48:e9a2c7cb57a4 59 /*----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 60 * Local Functions
mbed_official 48:e9a2c7cb57a4 61 *---------------------------------------------------------------------------*/
mbed_official 48:e9a2c7cb57a4 62
mbed_official 48:e9a2c7cb57a4 63 static OS_TID rt_get_TID (void) {
mbed_official 48:e9a2c7cb57a4 64 U32 tid;
mbed_official 48:e9a2c7cb57a4 65
mbed_official 48:e9a2c7cb57a4 66 for (tid = 1; tid <= os_maxtaskrun; tid++) {
mbed_official 48:e9a2c7cb57a4 67 if (os_active_TCB[tid-1] == NULL) {
mbed_official 48:e9a2c7cb57a4 68 return ((OS_TID)tid);
mbed_official 48:e9a2c7cb57a4 69 }
mbed_official 48:e9a2c7cb57a4 70 }
mbed_official 48:e9a2c7cb57a4 71 return (0);
mbed_official 48:e9a2c7cb57a4 72 }
mbed_official 48:e9a2c7cb57a4 73
mbed_official 48:e9a2c7cb57a4 74
mbed_official 48:e9a2c7cb57a4 75 /*--------------------------- rt_init_context -------------------------------*/
mbed_official 48:e9a2c7cb57a4 76
mbed_official 48:e9a2c7cb57a4 77 static void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
mbed_official 48:e9a2c7cb57a4 78 /* Initialize general part of the Task Control Block. */
mbed_official 48:e9a2c7cb57a4 79 p_TCB->cb_type = TCB;
mbed_official 48:e9a2c7cb57a4 80 p_TCB->state = READY;
mbed_official 48:e9a2c7cb57a4 81 p_TCB->prio = priority;
mbed_official 48:e9a2c7cb57a4 82 p_TCB->p_lnk = NULL;
mbed_official 48:e9a2c7cb57a4 83 p_TCB->p_rlnk = NULL;
mbed_official 48:e9a2c7cb57a4 84 p_TCB->p_dlnk = NULL;
mbed_official 48:e9a2c7cb57a4 85 p_TCB->p_blnk = NULL;
mbed_official 48:e9a2c7cb57a4 86 p_TCB->delta_time = 0;
mbed_official 48:e9a2c7cb57a4 87 p_TCB->interval_time = 0;
mbed_official 48:e9a2c7cb57a4 88 p_TCB->events = 0;
mbed_official 48:e9a2c7cb57a4 89 p_TCB->waits = 0;
mbed_official 48:e9a2c7cb57a4 90 p_TCB->stack_frame = 0;
mbed_official 48:e9a2c7cb57a4 91
mbed_official 48:e9a2c7cb57a4 92 if (p_TCB->priv_stack == 0) {
mbed_official 48:e9a2c7cb57a4 93 /* Allocate the memory space for the stack. */
mbed_official 48:e9a2c7cb57a4 94 p_TCB->stack = rt_alloc_box (mp_stk);
mbed_official 48:e9a2c7cb57a4 95 }
mbed_official 48:e9a2c7cb57a4 96 rt_init_stack (p_TCB, task_body);
mbed_official 48:e9a2c7cb57a4 97 }
mbed_official 48:e9a2c7cb57a4 98
mbed_official 48:e9a2c7cb57a4 99
mbed_official 48:e9a2c7cb57a4 100 /*--------------------------- rt_switch_req ---------------------------------*/
mbed_official 48:e9a2c7cb57a4 101
mbed_official 48:e9a2c7cb57a4 102 void rt_switch_req (P_TCB p_new) {
mbed_official 48:e9a2c7cb57a4 103 /* Switch to next task (identified by "p_new"). */
mbed_official 48:e9a2c7cb57a4 104 os_tsk.new = p_new;
mbed_official 48:e9a2c7cb57a4 105 p_new->state = RUNNING;
mbed_official 48:e9a2c7cb57a4 106 DBG_TASK_SWITCH(p_new->task_id);
mbed_official 48:e9a2c7cb57a4 107 }
mbed_official 48:e9a2c7cb57a4 108
mbed_official 48:e9a2c7cb57a4 109
mbed_official 48:e9a2c7cb57a4 110 /*--------------------------- rt_dispatch -----------------------------------*/
mbed_official 48:e9a2c7cb57a4 111
mbed_official 48:e9a2c7cb57a4 112 void rt_dispatch (P_TCB next_TCB) {
mbed_official 48:e9a2c7cb57a4 113 /* Dispatch next task if any identified or dispatch highest ready task */
mbed_official 48:e9a2c7cb57a4 114 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
mbed_official 48:e9a2c7cb57a4 115 if (next_TCB == NULL) {
mbed_official 48:e9a2c7cb57a4 116 /* Running task was blocked: continue with highest ready task */
mbed_official 48:e9a2c7cb57a4 117 next_TCB = rt_get_first (&os_rdy);
mbed_official 48:e9a2c7cb57a4 118 rt_switch_req (next_TCB);
mbed_official 48:e9a2c7cb57a4 119 }
mbed_official 48:e9a2c7cb57a4 120 else {
mbed_official 48:e9a2c7cb57a4 121 /* Check which task continues */
mbed_official 48:e9a2c7cb57a4 122 if (next_TCB->prio > os_tsk.run->prio) {
mbed_official 48:e9a2c7cb57a4 123 /* preempt running task */
mbed_official 48:e9a2c7cb57a4 124 rt_put_rdy_first (os_tsk.run);
mbed_official 48:e9a2c7cb57a4 125 os_tsk.run->state = READY;
mbed_official 48:e9a2c7cb57a4 126 rt_switch_req (next_TCB);
mbed_official 48:e9a2c7cb57a4 127 }
mbed_official 48:e9a2c7cb57a4 128 else {
mbed_official 48:e9a2c7cb57a4 129 /* put next task into ready list, no task switch takes place */
mbed_official 48:e9a2c7cb57a4 130 next_TCB->state = READY;
mbed_official 48:e9a2c7cb57a4 131 rt_put_prio (&os_rdy, next_TCB);
mbed_official 48:e9a2c7cb57a4 132 }
mbed_official 48:e9a2c7cb57a4 133 }
mbed_official 48:e9a2c7cb57a4 134 }
mbed_official 48:e9a2c7cb57a4 135
mbed_official 48:e9a2c7cb57a4 136
mbed_official 48:e9a2c7cb57a4 137 /*--------------------------- rt_block --------------------------------------*/
mbed_official 48:e9a2c7cb57a4 138
mbed_official 48:e9a2c7cb57a4 139 void rt_block (U16 timeout, U8 block_state) {
mbed_official 48:e9a2c7cb57a4 140 /* Block running task and choose next ready task. */
mbed_official 48:e9a2c7cb57a4 141 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
mbed_official 48:e9a2c7cb57a4 142 /* "block_state" defines the appropriate task state */
mbed_official 48:e9a2c7cb57a4 143 P_TCB next_TCB;
mbed_official 48:e9a2c7cb57a4 144
mbed_official 48:e9a2c7cb57a4 145 if (timeout) {
mbed_official 48:e9a2c7cb57a4 146 if (timeout < 0xffff) {
mbed_official 48:e9a2c7cb57a4 147 rt_put_dly (os_tsk.run, timeout);
mbed_official 48:e9a2c7cb57a4 148 }
mbed_official 48:e9a2c7cb57a4 149 os_tsk.run->state = block_state;
mbed_official 48:e9a2c7cb57a4 150 next_TCB = rt_get_first (&os_rdy);
mbed_official 48:e9a2c7cb57a4 151 rt_switch_req (next_TCB);
mbed_official 48:e9a2c7cb57a4 152 }
mbed_official 48:e9a2c7cb57a4 153 }
mbed_official 48:e9a2c7cb57a4 154
mbed_official 48:e9a2c7cb57a4 155
mbed_official 48:e9a2c7cb57a4 156 /*--------------------------- rt_tsk_pass -----------------------------------*/
mbed_official 48:e9a2c7cb57a4 157
mbed_official 48:e9a2c7cb57a4 158 void rt_tsk_pass (void) {
mbed_official 48:e9a2c7cb57a4 159 /* Allow tasks of same priority level to run cooperatively.*/
mbed_official 48:e9a2c7cb57a4 160 P_TCB p_new;
mbed_official 48:e9a2c7cb57a4 161
mbed_official 48:e9a2c7cb57a4 162 p_new = rt_get_same_rdy_prio();
mbed_official 48:e9a2c7cb57a4 163 if (p_new != NULL) {
mbed_official 48:e9a2c7cb57a4 164 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
mbed_official 48:e9a2c7cb57a4 165 os_tsk.run->state = READY;
mbed_official 48:e9a2c7cb57a4 166 rt_switch_req (p_new);
mbed_official 48:e9a2c7cb57a4 167 }
mbed_official 48:e9a2c7cb57a4 168 }
mbed_official 48:e9a2c7cb57a4 169
mbed_official 48:e9a2c7cb57a4 170
mbed_official 48:e9a2c7cb57a4 171 /*--------------------------- rt_tsk_self -----------------------------------*/
mbed_official 48:e9a2c7cb57a4 172
mbed_official 48:e9a2c7cb57a4 173 OS_TID rt_tsk_self (void) {
mbed_official 48:e9a2c7cb57a4 174 /* Return own task identifier value. */
mbed_official 48:e9a2c7cb57a4 175 if (os_tsk.run == NULL) {
mbed_official 48:e9a2c7cb57a4 176 return (0);
mbed_official 48:e9a2c7cb57a4 177 }
mbed_official 48:e9a2c7cb57a4 178 return (os_tsk.run->task_id);
mbed_official 48:e9a2c7cb57a4 179 }
mbed_official 48:e9a2c7cb57a4 180
mbed_official 48:e9a2c7cb57a4 181
mbed_official 48:e9a2c7cb57a4 182 /*--------------------------- rt_tsk_prio -----------------------------------*/
mbed_official 48:e9a2c7cb57a4 183
mbed_official 48:e9a2c7cb57a4 184 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
mbed_official 48:e9a2c7cb57a4 185 /* Change execution priority of a task to "new_prio". */
mbed_official 48:e9a2c7cb57a4 186 P_TCB p_task;
mbed_official 48:e9a2c7cb57a4 187
mbed_official 48:e9a2c7cb57a4 188 if (task_id == 0) {
mbed_official 48:e9a2c7cb57a4 189 /* Change execution priority of calling task. */
mbed_official 48:e9a2c7cb57a4 190 os_tsk.run->prio = new_prio;
mbed_official 48:e9a2c7cb57a4 191 run:if (rt_rdy_prio() > new_prio) {
mbed_official 48:e9a2c7cb57a4 192 rt_put_prio (&os_rdy, os_tsk.run);
mbed_official 48:e9a2c7cb57a4 193 os_tsk.run->state = READY;
mbed_official 48:e9a2c7cb57a4 194 rt_dispatch (NULL);
mbed_official 48:e9a2c7cb57a4 195 }
mbed_official 48:e9a2c7cb57a4 196 return (OS_R_OK);
mbed_official 48:e9a2c7cb57a4 197 }
mbed_official 48:e9a2c7cb57a4 198
mbed_official 48:e9a2c7cb57a4 199 /* Find the task in the "os_active_TCB" array. */
mbed_official 48:e9a2c7cb57a4 200 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
mbed_official 48:e9a2c7cb57a4 201 /* Task with "task_id" not found or not started. */
mbed_official 48:e9a2c7cb57a4 202 return (OS_R_NOK);
mbed_official 48:e9a2c7cb57a4 203 }
mbed_official 48:e9a2c7cb57a4 204 p_task = os_active_TCB[task_id-1];
mbed_official 48:e9a2c7cb57a4 205 p_task->prio = new_prio;
mbed_official 48:e9a2c7cb57a4 206 if (p_task == os_tsk.run) {
mbed_official 48:e9a2c7cb57a4 207 goto run;
mbed_official 48:e9a2c7cb57a4 208 }
mbed_official 48:e9a2c7cb57a4 209 rt_resort_prio (p_task);
mbed_official 48:e9a2c7cb57a4 210 if (p_task->state == READY) {
mbed_official 48:e9a2c7cb57a4 211 /* Task enqueued in a ready list. */
mbed_official 48:e9a2c7cb57a4 212 p_task = rt_get_first (&os_rdy);
mbed_official 48:e9a2c7cb57a4 213 rt_dispatch (p_task);
mbed_official 48:e9a2c7cb57a4 214 }
mbed_official 48:e9a2c7cb57a4 215 return (OS_R_OK);
mbed_official 48:e9a2c7cb57a4 216 }
mbed_official 48:e9a2c7cb57a4 217
mbed_official 48:e9a2c7cb57a4 218
mbed_official 48:e9a2c7cb57a4 219 /*--------------------------- rt_tsk_create ---------------------------------*/
mbed_official 48:e9a2c7cb57a4 220
mbed_official 48:e9a2c7cb57a4 221 OS_TID rt_tsk_create (FUNCP task, U32 prio_stksz, void *stk, void *argv) {
mbed_official 48:e9a2c7cb57a4 222 /* Start a new task declared with "task". */
mbed_official 48:e9a2c7cb57a4 223 P_TCB task_context;
mbed_official 48:e9a2c7cb57a4 224 U32 i;
mbed_official 48:e9a2c7cb57a4 225
mbed_official 48:e9a2c7cb57a4 226 /* Priority 0 is reserved for idle task! */
mbed_official 48:e9a2c7cb57a4 227 if ((prio_stksz & 0xFF) == 0) {
mbed_official 48:e9a2c7cb57a4 228 prio_stksz += 1;
mbed_official 48:e9a2c7cb57a4 229 }
mbed_official 48:e9a2c7cb57a4 230 task_context = rt_alloc_box (mp_tcb);
mbed_official 48:e9a2c7cb57a4 231 if (task_context == NULL) {
mbed_official 48:e9a2c7cb57a4 232 return (0);
mbed_official 48:e9a2c7cb57a4 233 }
mbed_official 48:e9a2c7cb57a4 234 /* If "size != 0" use a private user provided stack. */
mbed_official 48:e9a2c7cb57a4 235 task_context->stack = stk;
mbed_official 48:e9a2c7cb57a4 236 task_context->priv_stack = prio_stksz >> 8;
mbed_official 48:e9a2c7cb57a4 237 /* Pass parameter 'argv' to 'rt_init_context' */
mbed_official 48:e9a2c7cb57a4 238 task_context->msg = argv;
mbed_official 48:e9a2c7cb57a4 239 /* For 'size == 0' system allocates the user stack from the memory pool. */
mbed_official 48:e9a2c7cb57a4 240 rt_init_context (task_context, prio_stksz & 0xFF, task);
mbed_official 48:e9a2c7cb57a4 241
mbed_official 48:e9a2c7cb57a4 242 /* Find a free entry in 'os_active_TCB' table. */
mbed_official 48:e9a2c7cb57a4 243 i = rt_get_TID ();
mbed_official 48:e9a2c7cb57a4 244 os_active_TCB[i-1] = task_context;
mbed_official 48:e9a2c7cb57a4 245 task_context->task_id = i;
mbed_official 48:e9a2c7cb57a4 246 DBG_TASK_NOTIFY(task_context, __TRUE);
mbed_official 48:e9a2c7cb57a4 247 rt_dispatch (task_context);
mbed_official 48:e9a2c7cb57a4 248 return ((OS_TID)i);
mbed_official 48:e9a2c7cb57a4 249 }
mbed_official 48:e9a2c7cb57a4 250
mbed_official 48:e9a2c7cb57a4 251
mbed_official 48:e9a2c7cb57a4 252 /*--------------------------- rt_tsk_delete ---------------------------------*/
mbed_official 48:e9a2c7cb57a4 253
mbed_official 48:e9a2c7cb57a4 254 OS_RESULT rt_tsk_delete (OS_TID task_id) {
mbed_official 48:e9a2c7cb57a4 255 /* Terminate the task identified with "task_id". */
mbed_official 48:e9a2c7cb57a4 256 P_TCB task_context;
mbed_official 48:e9a2c7cb57a4 257
mbed_official 48:e9a2c7cb57a4 258 if (task_id == 0 || task_id == os_tsk.run->task_id) {
mbed_official 48:e9a2c7cb57a4 259 /* Terminate itself. */
mbed_official 48:e9a2c7cb57a4 260 os_tsk.run->state = INACTIVE;
mbed_official 48:e9a2c7cb57a4 261 os_tsk.run->tsk_stack = rt_get_PSP ();
mbed_official 48:e9a2c7cb57a4 262 rt_stk_check ();
mbed_official 48:e9a2c7cb57a4 263 os_active_TCB[os_tsk.run->task_id-1] = NULL;
mbed_official 48:e9a2c7cb57a4 264 rt_free_box (mp_stk, os_tsk.run->stack);
mbed_official 48:e9a2c7cb57a4 265 os_tsk.run->stack = NULL;
mbed_official 48:e9a2c7cb57a4 266 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
mbed_official 48:e9a2c7cb57a4 267 rt_free_box (mp_tcb, os_tsk.run);
mbed_official 48:e9a2c7cb57a4 268 os_tsk.run = NULL;
mbed_official 48:e9a2c7cb57a4 269 rt_dispatch (NULL);
mbed_official 48:e9a2c7cb57a4 270 /* The program should never come to this point. */
mbed_official 48:e9a2c7cb57a4 271 }
mbed_official 48:e9a2c7cb57a4 272 else {
mbed_official 48:e9a2c7cb57a4 273 /* Find the task in the "os_active_TCB" array. */
mbed_official 48:e9a2c7cb57a4 274 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
mbed_official 48:e9a2c7cb57a4 275 /* Task with "task_id" not found or not started. */
mbed_official 48:e9a2c7cb57a4 276 return (OS_R_NOK);
mbed_official 48:e9a2c7cb57a4 277 }
mbed_official 48:e9a2c7cb57a4 278 task_context = os_active_TCB[task_id-1];
mbed_official 48:e9a2c7cb57a4 279 rt_rmv_list (task_context);
mbed_official 48:e9a2c7cb57a4 280 rt_rmv_dly (task_context);
mbed_official 48:e9a2c7cb57a4 281 os_active_TCB[task_id-1] = NULL;
mbed_official 48:e9a2c7cb57a4 282 rt_free_box (mp_stk, task_context->stack);
mbed_official 48:e9a2c7cb57a4 283 task_context->stack = NULL;
mbed_official 48:e9a2c7cb57a4 284 DBG_TASK_NOTIFY(task_context, __FALSE);
mbed_official 48:e9a2c7cb57a4 285 rt_free_box (mp_tcb, task_context);
mbed_official 48:e9a2c7cb57a4 286 }
mbed_official 48:e9a2c7cb57a4 287 return (OS_R_OK);
mbed_official 48:e9a2c7cb57a4 288 }
mbed_official 48:e9a2c7cb57a4 289
mbed_official 48:e9a2c7cb57a4 290
mbed_official 48:e9a2c7cb57a4 291 /*--------------------------- rt_sys_init -----------------------------------*/
mbed_official 48:e9a2c7cb57a4 292
mbed_official 48:e9a2c7cb57a4 293 #ifdef __CMSIS_RTOS
mbed_official 48:e9a2c7cb57a4 294 void rt_sys_init (void) {
mbed_official 48:e9a2c7cb57a4 295 #else
mbed_official 48:e9a2c7cb57a4 296 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
mbed_official 48:e9a2c7cb57a4 297 #endif
mbed_official 48:e9a2c7cb57a4 298 /* Initialize system and start up task declared with "first_task". */
mbed_official 48:e9a2c7cb57a4 299 U32 i;
mbed_official 48:e9a2c7cb57a4 300
mbed_official 48:e9a2c7cb57a4 301 DBG_INIT();
mbed_official 48:e9a2c7cb57a4 302
mbed_official 48:e9a2c7cb57a4 303 /* Initialize dynamic memory and task TCB pointers to NULL. */
mbed_official 48:e9a2c7cb57a4 304 for (i = 0; i < os_maxtaskrun; i++) {
mbed_official 48:e9a2c7cb57a4 305 os_active_TCB[i] = NULL;
mbed_official 48:e9a2c7cb57a4 306 }
mbed_official 48:e9a2c7cb57a4 307 rt_init_box (&mp_tcb, mp_tcb_size, sizeof(struct OS_TCB));
mbed_official 48:e9a2c7cb57a4 308 rt_init_box (&mp_stk, mp_stk_size, BOX_ALIGN_8 | (U16)(os_stackinfo));
mbed_official 48:e9a2c7cb57a4 309 rt_init_box ((U32 *)m_tmr, mp_tmr_size, sizeof(struct OS_TMR));
mbed_official 48:e9a2c7cb57a4 310
mbed_official 48:e9a2c7cb57a4 311 /* Set up TCB of idle demon */
mbed_official 48:e9a2c7cb57a4 312 os_idle_TCB.task_id = 255;
mbed_official 48:e9a2c7cb57a4 313 os_idle_TCB.priv_stack = 0;
mbed_official 48:e9a2c7cb57a4 314 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
mbed_official 48:e9a2c7cb57a4 315
mbed_official 48:e9a2c7cb57a4 316 /* Set up ready list: initially empty */
mbed_official 48:e9a2c7cb57a4 317 os_rdy.cb_type = HCB;
mbed_official 48:e9a2c7cb57a4 318 os_rdy.p_lnk = NULL;
mbed_official 48:e9a2c7cb57a4 319 /* Set up delay list: initially empty */
mbed_official 48:e9a2c7cb57a4 320 os_dly.cb_type = HCB;
mbed_official 48:e9a2c7cb57a4 321 os_dly.p_dlnk = NULL;
mbed_official 48:e9a2c7cb57a4 322 os_dly.p_blnk = NULL;
mbed_official 48:e9a2c7cb57a4 323 os_dly.delta_time = 0;
mbed_official 48:e9a2c7cb57a4 324
mbed_official 48:e9a2c7cb57a4 325 /* Fix SP and system variables to assume idle task is running */
mbed_official 48:e9a2c7cb57a4 326 /* Transform main program into idle task by assuming idle TCB */
mbed_official 48:e9a2c7cb57a4 327 #ifndef __CMSIS_RTOS
mbed_official 48:e9a2c7cb57a4 328 rt_set_PSP (os_idle_TCB.tsk_stack+32);
mbed_official 48:e9a2c7cb57a4 329 #endif
mbed_official 48:e9a2c7cb57a4 330 os_tsk.run = &os_idle_TCB;
mbed_official 48:e9a2c7cb57a4 331 os_tsk.run->state = RUNNING;
mbed_official 48:e9a2c7cb57a4 332
mbed_official 48:e9a2c7cb57a4 333 /* Initialize ps queue */
mbed_official 48:e9a2c7cb57a4 334 os_psq->first = 0;
mbed_official 48:e9a2c7cb57a4 335 os_psq->last = 0;
mbed_official 48:e9a2c7cb57a4 336 os_psq->size = os_fifo_size;
mbed_official 48:e9a2c7cb57a4 337
mbed_official 48:e9a2c7cb57a4 338 rt_init_robin ();
mbed_official 48:e9a2c7cb57a4 339
mbed_official 48:e9a2c7cb57a4 340 /* Initialize SVC and PendSV */
mbed_official 48:e9a2c7cb57a4 341 rt_svc_init ();
mbed_official 48:e9a2c7cb57a4 342
mbed_official 48:e9a2c7cb57a4 343 #ifndef __CMSIS_RTOS
mbed_official 48:e9a2c7cb57a4 344 /* Initialize and start system clock timer */
mbed_official 48:e9a2c7cb57a4 345 os_tick_irqn = os_tick_init ();
mbed_official 48:e9a2c7cb57a4 346 if (os_tick_irqn >= 0) {
mbed_official 48:e9a2c7cb57a4 347 OS_X_INIT(os_tick_irqn);
mbed_official 48:e9a2c7cb57a4 348 }
mbed_official 48:e9a2c7cb57a4 349
mbed_official 48:e9a2c7cb57a4 350 /* Start up first user task before entering the endless loop */
mbed_official 48:e9a2c7cb57a4 351 rt_tsk_create (first_task, prio_stksz, stk, NULL);
mbed_official 48:e9a2c7cb57a4 352 #endif
mbed_official 48:e9a2c7cb57a4 353 }
mbed_official 48:e9a2c7cb57a4 354
mbed_official 48:e9a2c7cb57a4 355
mbed_official 48:e9a2c7cb57a4 356 /*--------------------------- rt_sys_start ----------------------------------*/
mbed_official 48:e9a2c7cb57a4 357
mbed_official 48:e9a2c7cb57a4 358 #ifdef __CMSIS_RTOS
mbed_official 48:e9a2c7cb57a4 359 void rt_sys_start (void) {
mbed_official 48:e9a2c7cb57a4 360 /* Start system */
mbed_official 48:e9a2c7cb57a4 361
mbed_official 48:e9a2c7cb57a4 362 /* Initialize and start system clock timer */
mbed_official 48:e9a2c7cb57a4 363 os_tick_irqn = os_tick_init ();
mbed_official 48:e9a2c7cb57a4 364 if (os_tick_irqn >= 0) {
mbed_official 48:e9a2c7cb57a4 365 OS_X_INIT(os_tick_irqn);
mbed_official 48:e9a2c7cb57a4 366 }
mbed_official 48:e9a2c7cb57a4 367 }
mbed_official 48:e9a2c7cb57a4 368 #endif
mbed_official 48:e9a2c7cb57a4 369
mbed_official 48:e9a2c7cb57a4 370 /*----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 371 * end of file
mbed_official 48:e9a2c7cb57a4 372 *---------------------------------------------------------------------------*/