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Dependents:   Mecatro_Filtre

rtx/TARGET_ARM7/rt_System.c@0:4a2c9c1f5b9e, 2021-03-15 (annotated)

Committer:
mecatro_prod
Date:
Mon Mar 15 14:18:11 2021 +0000
Revision:
0:4a2c9c1f5b9e
Pas de changement

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mecatro_prod 0:4a2c9c1f5b9e 1 /*----------------------------------------------------------------------------
mecatro_prod 0:4a2c9c1f5b9e 2 * RL-ARM - RTX
mecatro_prod 0:4a2c9c1f5b9e 3 *----------------------------------------------------------------------------
mecatro_prod 0:4a2c9c1f5b9e 4 * Name: RT_SYSTEM.C
mecatro_prod 0:4a2c9c1f5b9e 5 * Purpose: System Task Manager
mecatro_prod 0:4a2c9c1f5b9e 6 * Rev.: V4.60
mecatro_prod 0:4a2c9c1f5b9e 7 *----------------------------------------------------------------------------
mecatro_prod 0:4a2c9c1f5b9e 8 *
mecatro_prod 0:4a2c9c1f5b9e 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
mecatro_prod 0:4a2c9c1f5b9e 10 * All rights reserved.
mecatro_prod 0:4a2c9c1f5b9e 11 * Redistribution and use in source and binary forms, with or without
mecatro_prod 0:4a2c9c1f5b9e 12 * modification, are permitted provided that the following conditions are met:
mecatro_prod 0:4a2c9c1f5b9e 13 * - Redistributions of source code must retain the above copyright
mecatro_prod 0:4a2c9c1f5b9e 14 * notice, this list of conditions and the following disclaimer.
mecatro_prod 0:4a2c9c1f5b9e 15 * - Redistributions in binary form must reproduce the above copyright
mecatro_prod 0:4a2c9c1f5b9e 16 * notice, this list of conditions and the following disclaimer in the
mecatro_prod 0:4a2c9c1f5b9e 17 * documentation and/or other materials provided with the distribution.
mecatro_prod 0:4a2c9c1f5b9e 18 * - Neither the name of ARM nor the names of its contributors may be used
mecatro_prod 0:4a2c9c1f5b9e 19 * to endorse or promote products derived from this software without
mecatro_prod 0:4a2c9c1f5b9e 20 * specific prior written permission.
mecatro_prod 0:4a2c9c1f5b9e 21 *
mecatro_prod 0:4a2c9c1f5b9e 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mecatro_prod 0:4a2c9c1f5b9e 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mecatro_prod 0:4a2c9c1f5b9e 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
mecatro_prod 0:4a2c9c1f5b9e 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
mecatro_prod 0:4a2c9c1f5b9e 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
mecatro_prod 0:4a2c9c1f5b9e 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
mecatro_prod 0:4a2c9c1f5b9e 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
mecatro_prod 0:4a2c9c1f5b9e 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
mecatro_prod 0:4a2c9c1f5b9e 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
mecatro_prod 0:4a2c9c1f5b9e 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mecatro_prod 0:4a2c9c1f5b9e 32 * POSSIBILITY OF SUCH DAMAGE.
mecatro_prod 0:4a2c9c1f5b9e 33 *---------------------------------------------------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 34
mecatro_prod 0:4a2c9c1f5b9e 35 #include "rt_TypeDef.h"
mecatro_prod 0:4a2c9c1f5b9e 36 #include "RTX_Conf.h"
mecatro_prod 0:4a2c9c1f5b9e 37 #include "rt_Task.h"
mecatro_prod 0:4a2c9c1f5b9e 38 #include "rt_System.h"
mecatro_prod 0:4a2c9c1f5b9e 39 #include "rt_Event.h"
mecatro_prod 0:4a2c9c1f5b9e 40 #include "rt_List.h"
mecatro_prod 0:4a2c9c1f5b9e 41 #include "rt_Mailbox.h"
mecatro_prod 0:4a2c9c1f5b9e 42 #include "rt_Semaphore.h"
mecatro_prod 0:4a2c9c1f5b9e 43 #include "rt_Time.h"
mecatro_prod 0:4a2c9c1f5b9e 44 #include "rt_Robin.h"
mecatro_prod 0:4a2c9c1f5b9e 45 #include "rt_HAL_CM.h"
mecatro_prod 0:4a2c9c1f5b9e 46
mecatro_prod 0:4a2c9c1f5b9e 47 /*----------------------------------------------------------------------------
mecatro_prod 0:4a2c9c1f5b9e 48 * Global Variables
mecatro_prod 0:4a2c9c1f5b9e 49 *---------------------------------------------------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 50
mecatro_prod 0:4a2c9c1f5b9e 51 int os_tick_irqn;
mecatro_prod 0:4a2c9c1f5b9e 52
mecatro_prod 0:4a2c9c1f5b9e 53 /*----------------------------------------------------------------------------
mecatro_prod 0:4a2c9c1f5b9e 54 * Local Variables
mecatro_prod 0:4a2c9c1f5b9e 55 *---------------------------------------------------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 56
mecatro_prod 0:4a2c9c1f5b9e 57 static volatile BIT os_lock;
mecatro_prod 0:4a2c9c1f5b9e 58 static volatile BIT os_psh_flag;
mecatro_prod 0:4a2c9c1f5b9e 59 static U8 pend_flags;
mecatro_prod 0:4a2c9c1f5b9e 60
mecatro_prod 0:4a2c9c1f5b9e 61 /*----------------------------------------------------------------------------
mecatro_prod 0:4a2c9c1f5b9e 62 * Global Functions
mecatro_prod 0:4a2c9c1f5b9e 63 *---------------------------------------------------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 64
mecatro_prod 0:4a2c9c1f5b9e 65 #if defined (__CC_ARM)
mecatro_prod 0:4a2c9c1f5b9e 66 __asm void $$RTX$$version (void) {
mecatro_prod 0:4a2c9c1f5b9e 67 /* Export a version number symbol for a version control. */
mecatro_prod 0:4a2c9c1f5b9e 68
mecatro_prod 0:4a2c9c1f5b9e 69 EXPORT __RL_RTX_VER
mecatro_prod 0:4a2c9c1f5b9e 70
mecatro_prod 0:4a2c9c1f5b9e 71 __RL_RTX_VER EQU 0x450
mecatro_prod 0:4a2c9c1f5b9e 72 }
mecatro_prod 0:4a2c9c1f5b9e 73 #endif
mecatro_prod 0:4a2c9c1f5b9e 74
mecatro_prod 0:4a2c9c1f5b9e 75
mecatro_prod 0:4a2c9c1f5b9e 76 /*--------------------------- rt_suspend ------------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 77 U32 rt_suspend (void) {
mecatro_prod 0:4a2c9c1f5b9e 78 /* Suspend OS scheduler */
mecatro_prod 0:4a2c9c1f5b9e 79 U32 delta = 0xFFFF;
mecatro_prod 0:4a2c9c1f5b9e 80
mecatro_prod 0:4a2c9c1f5b9e 81 rt_tsk_lock();
mecatro_prod 0:4a2c9c1f5b9e 82
mecatro_prod 0:4a2c9c1f5b9e 83 if (os_dly.p_dlnk) {
mecatro_prod 0:4a2c9c1f5b9e 84 delta = os_dly.delta_time;
mecatro_prod 0:4a2c9c1f5b9e 85 }
mecatro_prod 0:4a2c9c1f5b9e 86 #ifndef __CMSIS_RTOS
mecatro_prod 0:4a2c9c1f5b9e 87 if (os_tmr.next) {
mecatro_prod 0:4a2c9c1f5b9e 88 if (os_tmr.tcnt < delta) delta = os_tmr.tcnt;
mecatro_prod 0:4a2c9c1f5b9e 89 }
mecatro_prod 0:4a2c9c1f5b9e 90 #endif
mecatro_prod 0:4a2c9c1f5b9e 91
mecatro_prod 0:4a2c9c1f5b9e 92 return (delta);
mecatro_prod 0:4a2c9c1f5b9e 93 }
mecatro_prod 0:4a2c9c1f5b9e 94
mecatro_prod 0:4a2c9c1f5b9e 95
mecatro_prod 0:4a2c9c1f5b9e 96 /*--------------------------- rt_resume -------------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 97 void rt_resume (U32 sleep_time) {
mecatro_prod 0:4a2c9c1f5b9e 98 /* Resume OS scheduler after suspend */
mecatro_prod 0:4a2c9c1f5b9e 99 P_TCB next;
mecatro_prod 0:4a2c9c1f5b9e 100 U32 delta;
mecatro_prod 0:4a2c9c1f5b9e 101
mecatro_prod 0:4a2c9c1f5b9e 102 os_tsk.run->state = READY;
mecatro_prod 0:4a2c9c1f5b9e 103 rt_put_rdy_first (os_tsk.run);
mecatro_prod 0:4a2c9c1f5b9e 104
mecatro_prod 0:4a2c9c1f5b9e 105 os_robin.task = NULL;
mecatro_prod 0:4a2c9c1f5b9e 106
mecatro_prod 0:4a2c9c1f5b9e 107 /* Update delays. */
mecatro_prod 0:4a2c9c1f5b9e 108 if (os_dly.p_dlnk) {
mecatro_prod 0:4a2c9c1f5b9e 109 delta = sleep_time;
mecatro_prod 0:4a2c9c1f5b9e 110 if (delta >= os_dly.delta_time) {
mecatro_prod 0:4a2c9c1f5b9e 111 delta -= os_dly.delta_time;
mecatro_prod 0:4a2c9c1f5b9e 112 os_time += os_dly.delta_time;
mecatro_prod 0:4a2c9c1f5b9e 113 os_dly.delta_time = 1;
mecatro_prod 0:4a2c9c1f5b9e 114 while (os_dly.p_dlnk) {
mecatro_prod 0:4a2c9c1f5b9e 115 rt_dec_dly();
mecatro_prod 0:4a2c9c1f5b9e 116 if (delta == 0) break;
mecatro_prod 0:4a2c9c1f5b9e 117 delta--;
mecatro_prod 0:4a2c9c1f5b9e 118 os_time++;
mecatro_prod 0:4a2c9c1f5b9e 119 }
mecatro_prod 0:4a2c9c1f5b9e 120 } else {
mecatro_prod 0:4a2c9c1f5b9e 121 os_time += delta;
mecatro_prod 0:4a2c9c1f5b9e 122 os_dly.delta_time -= delta;
mecatro_prod 0:4a2c9c1f5b9e 123 }
mecatro_prod 0:4a2c9c1f5b9e 124 } else {
mecatro_prod 0:4a2c9c1f5b9e 125 os_time += sleep_time;
mecatro_prod 0:4a2c9c1f5b9e 126 }
mecatro_prod 0:4a2c9c1f5b9e 127
mecatro_prod 0:4a2c9c1f5b9e 128 #ifndef __CMSIS_RTOS
mecatro_prod 0:4a2c9c1f5b9e 129 /* Check the user timers. */
mecatro_prod 0:4a2c9c1f5b9e 130 if (os_tmr.next) {
mecatro_prod 0:4a2c9c1f5b9e 131 delta = sleep_time;
mecatro_prod 0:4a2c9c1f5b9e 132 if (delta >= os_tmr.tcnt) {
mecatro_prod 0:4a2c9c1f5b9e 133 delta -= os_tmr.tcnt;
mecatro_prod 0:4a2c9c1f5b9e 134 os_tmr.tcnt = 1;
mecatro_prod 0:4a2c9c1f5b9e 135 while (os_tmr.next) {
mecatro_prod 0:4a2c9c1f5b9e 136 rt_tmr_tick();
mecatro_prod 0:4a2c9c1f5b9e 137 if (delta == 0) break;
mecatro_prod 0:4a2c9c1f5b9e 138 delta--;
mecatro_prod 0:4a2c9c1f5b9e 139 }
mecatro_prod 0:4a2c9c1f5b9e 140 } else {
mecatro_prod 0:4a2c9c1f5b9e 141 os_tmr.tcnt -= delta;
mecatro_prod 0:4a2c9c1f5b9e 142 }
mecatro_prod 0:4a2c9c1f5b9e 143 }
mecatro_prod 0:4a2c9c1f5b9e 144 #endif
mecatro_prod 0:4a2c9c1f5b9e 145
mecatro_prod 0:4a2c9c1f5b9e 146 /* Switch back to highest ready task */
mecatro_prod 0:4a2c9c1f5b9e 147 next = rt_get_first (&os_rdy);
mecatro_prod 0:4a2c9c1f5b9e 148 rt_switch_req (next);
mecatro_prod 0:4a2c9c1f5b9e 149
mecatro_prod 0:4a2c9c1f5b9e 150 rt_tsk_unlock();
mecatro_prod 0:4a2c9c1f5b9e 151 }
mecatro_prod 0:4a2c9c1f5b9e 152
mecatro_prod 0:4a2c9c1f5b9e 153
mecatro_prod 0:4a2c9c1f5b9e 154 /*--------------------------- rt_tsk_lock -----------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 155
mecatro_prod 0:4a2c9c1f5b9e 156 void rt_tsk_lock (void) {
mecatro_prod 0:4a2c9c1f5b9e 157 /* Prevent task switching by locking out scheduler */
mecatro_prod 0:4a2c9c1f5b9e 158 OS_X_LOCK(os_tick_irqn);
mecatro_prod 0:4a2c9c1f5b9e 159 os_lock = __TRUE;
mecatro_prod 0:4a2c9c1f5b9e 160 OS_X_UNPEND (&pend_flags);
mecatro_prod 0:4a2c9c1f5b9e 161 }
mecatro_prod 0:4a2c9c1f5b9e 162
mecatro_prod 0:4a2c9c1f5b9e 163
mecatro_prod 0:4a2c9c1f5b9e 164 /*--------------------------- rt_tsk_unlock ---------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 165
mecatro_prod 0:4a2c9c1f5b9e 166 void rt_tsk_unlock (void) {
mecatro_prod 0:4a2c9c1f5b9e 167 /* Unlock scheduler and re-enable task switching */
mecatro_prod 0:4a2c9c1f5b9e 168 OS_X_UNLOCK(os_tick_irqn);
mecatro_prod 0:4a2c9c1f5b9e 169 os_lock = __FALSE;
mecatro_prod 0:4a2c9c1f5b9e 170 OS_X_PEND (pend_flags, os_psh_flag);
mecatro_prod 0:4a2c9c1f5b9e 171 os_psh_flag = __FALSE;
mecatro_prod 0:4a2c9c1f5b9e 172 }
mecatro_prod 0:4a2c9c1f5b9e 173
mecatro_prod 0:4a2c9c1f5b9e 174
mecatro_prod 0:4a2c9c1f5b9e 175 /*--------------------------- rt_psh_req ------------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 176
mecatro_prod 0:4a2c9c1f5b9e 177 void rt_psh_req (void) {
mecatro_prod 0:4a2c9c1f5b9e 178 /* Initiate a post service handling request if required. */
mecatro_prod 0:4a2c9c1f5b9e 179 if (os_lock == __FALSE) {
mecatro_prod 0:4a2c9c1f5b9e 180 OS_PEND_IRQ ();
mecatro_prod 0:4a2c9c1f5b9e 181 }
mecatro_prod 0:4a2c9c1f5b9e 182 else {
mecatro_prod 0:4a2c9c1f5b9e 183 os_psh_flag = __TRUE;
mecatro_prod 0:4a2c9c1f5b9e 184 }
mecatro_prod 0:4a2c9c1f5b9e 185 }
mecatro_prod 0:4a2c9c1f5b9e 186
mecatro_prod 0:4a2c9c1f5b9e 187
mecatro_prod 0:4a2c9c1f5b9e 188 /*--------------------------- rt_pop_req ------------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 189
mecatro_prod 0:4a2c9c1f5b9e 190 void rt_pop_req (void) {
mecatro_prod 0:4a2c9c1f5b9e 191 /* Process an ISR post service requests. */
mecatro_prod 0:4a2c9c1f5b9e 192 struct OS_XCB *p_CB;
mecatro_prod 0:4a2c9c1f5b9e 193 P_TCB next;
mecatro_prod 0:4a2c9c1f5b9e 194 U32 idx;
mecatro_prod 0:4a2c9c1f5b9e 195
mecatro_prod 0:4a2c9c1f5b9e 196 os_tsk.run->state = READY;
mecatro_prod 0:4a2c9c1f5b9e 197 rt_put_rdy_first (os_tsk.run);
mecatro_prod 0:4a2c9c1f5b9e 198
mecatro_prod 0:4a2c9c1f5b9e 199 idx = os_psq->last;
mecatro_prod 0:4a2c9c1f5b9e 200 while (os_psq->count) {
mecatro_prod 0:4a2c9c1f5b9e 201 p_CB = os_psq->q[idx].id;
mecatro_prod 0:4a2c9c1f5b9e 202 if (p_CB->cb_type == TCB) {
mecatro_prod 0:4a2c9c1f5b9e 203 /* Is of TCB type */
mecatro_prod 0:4a2c9c1f5b9e 204 rt_evt_psh ((P_TCB)p_CB, (U16)os_psq->q[idx].arg);
mecatro_prod 0:4a2c9c1f5b9e 205 }
mecatro_prod 0:4a2c9c1f5b9e 206 else if (p_CB->cb_type == MCB) {
mecatro_prod 0:4a2c9c1f5b9e 207 /* Is of MCB type */
mecatro_prod 0:4a2c9c1f5b9e 208 rt_mbx_psh ((P_MCB)p_CB, (void *)os_psq->q[idx].arg);
mecatro_prod 0:4a2c9c1f5b9e 209 }
mecatro_prod 0:4a2c9c1f5b9e 210 else {
mecatro_prod 0:4a2c9c1f5b9e 211 /* Must be of SCB type */
mecatro_prod 0:4a2c9c1f5b9e 212 rt_sem_psh ((P_SCB)p_CB);
mecatro_prod 0:4a2c9c1f5b9e 213 }
mecatro_prod 0:4a2c9c1f5b9e 214 if (++idx == os_psq->size) idx = 0;
mecatro_prod 0:4a2c9c1f5b9e 215 rt_dec (&os_psq->count);
mecatro_prod 0:4a2c9c1f5b9e 216 }
mecatro_prod 0:4a2c9c1f5b9e 217 os_psq->last = idx;
mecatro_prod 0:4a2c9c1f5b9e 218
mecatro_prod 0:4a2c9c1f5b9e 219 next = rt_get_first (&os_rdy);
mecatro_prod 0:4a2c9c1f5b9e 220 rt_switch_req (next);
mecatro_prod 0:4a2c9c1f5b9e 221 }
mecatro_prod 0:4a2c9c1f5b9e 222
mecatro_prod 0:4a2c9c1f5b9e 223
mecatro_prod 0:4a2c9c1f5b9e 224 /*--------------------------- os_tick_init ----------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 225
mecatro_prod 0:4a2c9c1f5b9e 226 __weak int os_tick_init (void) {
mecatro_prod 0:4a2c9c1f5b9e 227 /* Initialize SysTick timer as system tick timer. */
mecatro_prod 0:4a2c9c1f5b9e 228 rt_systick_init ();
mecatro_prod 0:4a2c9c1f5b9e 229 return (SYS_TICK_IRQn); /* Return IRQ number of SysTick timer */
mecatro_prod 0:4a2c9c1f5b9e 230 }
mecatro_prod 0:4a2c9c1f5b9e 231
mecatro_prod 0:4a2c9c1f5b9e 232
mecatro_prod 0:4a2c9c1f5b9e 233 /*--------------------------- os_tick_irqack --------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 234
mecatro_prod 0:4a2c9c1f5b9e 235 __weak void os_tick_irqack (void) {
mecatro_prod 0:4a2c9c1f5b9e 236 /* Acknowledge timer interrupt. */
mecatro_prod 0:4a2c9c1f5b9e 237 }
mecatro_prod 0:4a2c9c1f5b9e 238
mecatro_prod 0:4a2c9c1f5b9e 239
mecatro_prod 0:4a2c9c1f5b9e 240 /*--------------------------- rt_systick ------------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 241
mecatro_prod 0:4a2c9c1f5b9e 242 extern void sysTimerTick(void);
mecatro_prod 0:4a2c9c1f5b9e 243
mecatro_prod 0:4a2c9c1f5b9e 244 void rt_systick (void) {
mecatro_prod 0:4a2c9c1f5b9e 245 if(NVIC_Pending(SYS_TICK_IRQn)){
mecatro_prod 0:4a2c9c1f5b9e 246 rt_pop_req();
mecatro_prod 0:4a2c9c1f5b9e 247 NVIC_UnpendIRQ(SYS_TICK_IRQn);
mecatro_prod 0:4a2c9c1f5b9e 248 SYS_TICK_TIMER->IR = 0xF; // clear timer interrupt
mecatro_prod 0:4a2c9c1f5b9e 249 return;
mecatro_prod 0:4a2c9c1f5b9e 250 }
mecatro_prod 0:4a2c9c1f5b9e 251 /* Check for system clock update, suspend running task. */
mecatro_prod 0:4a2c9c1f5b9e 252 P_TCB next;
mecatro_prod 0:4a2c9c1f5b9e 253
mecatro_prod 0:4a2c9c1f5b9e 254 os_tsk.run->state = READY;
mecatro_prod 0:4a2c9c1f5b9e 255 rt_put_rdy_first (os_tsk.run);
mecatro_prod 0:4a2c9c1f5b9e 256
mecatro_prod 0:4a2c9c1f5b9e 257 /* Check Round Robin timeout. */
mecatro_prod 0:4a2c9c1f5b9e 258 rt_chk_robin ();
mecatro_prod 0:4a2c9c1f5b9e 259
mecatro_prod 0:4a2c9c1f5b9e 260 /* Update delays. */
mecatro_prod 0:4a2c9c1f5b9e 261 os_time++;
mecatro_prod 0:4a2c9c1f5b9e 262 rt_dec_dly ();
mecatro_prod 0:4a2c9c1f5b9e 263
mecatro_prod 0:4a2c9c1f5b9e 264 /* Check the user timers. */
mecatro_prod 0:4a2c9c1f5b9e 265 #ifdef __CMSIS_RTOS
mecatro_prod 0:4a2c9c1f5b9e 266 sysTimerTick();
mecatro_prod 0:4a2c9c1f5b9e 267 #else
mecatro_prod 0:4a2c9c1f5b9e 268 rt_tmr_tick ();
mecatro_prod 0:4a2c9c1f5b9e 269 #endif
mecatro_prod 0:4a2c9c1f5b9e 270
mecatro_prod 0:4a2c9c1f5b9e 271 /* Switch back to highest ready task */
mecatro_prod 0:4a2c9c1f5b9e 272 next = rt_get_first (&os_rdy);
mecatro_prod 0:4a2c9c1f5b9e 273 rt_switch_req (next);
mecatro_prod 0:4a2c9c1f5b9e 274 SYS_TICK_TIMER->IR = 0xF; // clear timer interrupt
mecatro_prod 0:4a2c9c1f5b9e 275 }
mecatro_prod 0:4a2c9c1f5b9e 276
mecatro_prod 0:4a2c9c1f5b9e 277 /*--------------------------- rt_stk_check ----------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 278 __weak void rt_stk_check (void) {
mecatro_prod 0:4a2c9c1f5b9e 279 /* Check for stack overflow. */
mecatro_prod 0:4a2c9c1f5b9e 280 if (os_tsk.run->task_id == 0x01) {
mecatro_prod 0:4a2c9c1f5b9e 281 // TODO: For the main thread the check should be done against the main heap pointer
mecatro_prod 0:4a2c9c1f5b9e 282 } else {
mecatro_prod 0:4a2c9c1f5b9e 283 if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) ||
mecatro_prod 0:4a2c9c1f5b9e 284 (os_tsk.run->stack[0] != MAGIC_WORD)) {
mecatro_prod 0:4a2c9c1f5b9e 285 os_error (OS_ERR_STK_OVF);
mecatro_prod 0:4a2c9c1f5b9e 286 }
mecatro_prod 0:4a2c9c1f5b9e 287 }
mecatro_prod 0:4a2c9c1f5b9e 288 }
mecatro_prod 0:4a2c9c1f5b9e 289
mecatro_prod 0:4a2c9c1f5b9e 290 /*----------------------------------------------------------------------------
mecatro_prod 0:4a2c9c1f5b9e 291 * end of file
mecatro_prod 0:4a2c9c1f5b9e 292 *---------------------------------------------------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 293