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Dependents:   Mecatro_Filtre

rtx/TARGET_ARM7/rt_Task.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_TASK.C
mecatro_prod 0:4a2c9c1f5b9e 5 * Purpose: Task functions and system start up.
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_System.h"
mecatro_prod 0:4a2c9c1f5b9e 38 #include "rt_Task.h"
mecatro_prod 0:4a2c9c1f5b9e 39 #include "rt_List.h"
mecatro_prod 0:4a2c9c1f5b9e 40 #include "rt_MemBox.h"
mecatro_prod 0:4a2c9c1f5b9e 41 #include "rt_Robin.h"
mecatro_prod 0:4a2c9c1f5b9e 42 #include "rt_HAL_CM.h"
mecatro_prod 0:4a2c9c1f5b9e 43
mecatro_prod 0:4a2c9c1f5b9e 44 /*----------------------------------------------------------------------------
mecatro_prod 0:4a2c9c1f5b9e 45 * Global Variables
mecatro_prod 0:4a2c9c1f5b9e 46 *---------------------------------------------------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 47
mecatro_prod 0:4a2c9c1f5b9e 48 /* Running and next task info. */
mecatro_prod 0:4a2c9c1f5b9e 49 struct OS_TSK os_tsk;
mecatro_prod 0:4a2c9c1f5b9e 50
mecatro_prod 0:4a2c9c1f5b9e 51 /* Task Control Blocks of idle demon */
mecatro_prod 0:4a2c9c1f5b9e 52 struct OS_TCB os_idle_TCB;
mecatro_prod 0:4a2c9c1f5b9e 53
mecatro_prod 0:4a2c9c1f5b9e 54
mecatro_prod 0:4a2c9c1f5b9e 55 /*----------------------------------------------------------------------------
mecatro_prod 0:4a2c9c1f5b9e 56 * Local Functions
mecatro_prod 0:4a2c9c1f5b9e 57 *---------------------------------------------------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 58
mecatro_prod 0:4a2c9c1f5b9e 59 OS_TID rt_get_TID (void) {
mecatro_prod 0:4a2c9c1f5b9e 60 U32 tid;
mecatro_prod 0:4a2c9c1f5b9e 61
mecatro_prod 0:4a2c9c1f5b9e 62 for (tid = 1; tid <= os_maxtaskrun; tid++) {
mecatro_prod 0:4a2c9c1f5b9e 63 if (os_active_TCB[tid-1] == NULL) {
mecatro_prod 0:4a2c9c1f5b9e 64 return ((OS_TID)tid);
mecatro_prod 0:4a2c9c1f5b9e 65 }
mecatro_prod 0:4a2c9c1f5b9e 66 }
mecatro_prod 0:4a2c9c1f5b9e 67 return (0);
mecatro_prod 0:4a2c9c1f5b9e 68 }
mecatro_prod 0:4a2c9c1f5b9e 69
mecatro_prod 0:4a2c9c1f5b9e 70 #if defined (__CC_ARM) && !defined (__MICROLIB)
mecatro_prod 0:4a2c9c1f5b9e 71 /*--------------------------- __user_perthread_libspace ---------------------*/
mecatro_prod 0:4a2c9c1f5b9e 72 extern void *__libspace_start;
mecatro_prod 0:4a2c9c1f5b9e 73
mecatro_prod 0:4a2c9c1f5b9e 74 void *__user_perthread_libspace (void) {
mecatro_prod 0:4a2c9c1f5b9e 75 /* Provide a separate libspace for each task. */
mecatro_prod 0:4a2c9c1f5b9e 76 if (os_tsk.run == NULL) {
mecatro_prod 0:4a2c9c1f5b9e 77 /* RTX not running yet. */
mecatro_prod 0:4a2c9c1f5b9e 78 return (&__libspace_start);
mecatro_prod 0:4a2c9c1f5b9e 79 }
mecatro_prod 0:4a2c9c1f5b9e 80 return (void *)(os_tsk.run->std_libspace);
mecatro_prod 0:4a2c9c1f5b9e 81 }
mecatro_prod 0:4a2c9c1f5b9e 82 #endif
mecatro_prod 0:4a2c9c1f5b9e 83
mecatro_prod 0:4a2c9c1f5b9e 84 /*--------------------------- rt_init_context -------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 85
mecatro_prod 0:4a2c9c1f5b9e 86 void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
mecatro_prod 0:4a2c9c1f5b9e 87 /* Initialize general part of the Task Control Block. */
mecatro_prod 0:4a2c9c1f5b9e 88 p_TCB->cb_type = TCB;
mecatro_prod 0:4a2c9c1f5b9e 89 p_TCB->state = READY;
mecatro_prod 0:4a2c9c1f5b9e 90 p_TCB->prio = priority;
mecatro_prod 0:4a2c9c1f5b9e 91 p_TCB->p_lnk = NULL;
mecatro_prod 0:4a2c9c1f5b9e 92 p_TCB->p_rlnk = NULL;
mecatro_prod 0:4a2c9c1f5b9e 93 p_TCB->p_dlnk = NULL;
mecatro_prod 0:4a2c9c1f5b9e 94 p_TCB->p_blnk = NULL;
mecatro_prod 0:4a2c9c1f5b9e 95 p_TCB->delta_time = 0;
mecatro_prod 0:4a2c9c1f5b9e 96 p_TCB->interval_time = 0;
mecatro_prod 0:4a2c9c1f5b9e 97 p_TCB->events = 0;
mecatro_prod 0:4a2c9c1f5b9e 98 p_TCB->waits = 0;
mecatro_prod 0:4a2c9c1f5b9e 99 p_TCB->stack_frame = 0;
mecatro_prod 0:4a2c9c1f5b9e 100
mecatro_prod 0:4a2c9c1f5b9e 101 rt_init_stack (p_TCB, task_body);
mecatro_prod 0:4a2c9c1f5b9e 102 }
mecatro_prod 0:4a2c9c1f5b9e 103
mecatro_prod 0:4a2c9c1f5b9e 104
mecatro_prod 0:4a2c9c1f5b9e 105 /*--------------------------- rt_switch_req ---------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 106
mecatro_prod 0:4a2c9c1f5b9e 107 void rt_switch_req (P_TCB p_new) {
mecatro_prod 0:4a2c9c1f5b9e 108 /* Switch to next task (identified by "p_new"). */
mecatro_prod 0:4a2c9c1f5b9e 109 os_tsk.new_tsk = p_new;
mecatro_prod 0:4a2c9c1f5b9e 110 p_new->state = RUNNING;
mecatro_prod 0:4a2c9c1f5b9e 111 DBG_TASK_SWITCH(p_new->task_id);
mecatro_prod 0:4a2c9c1f5b9e 112 }
mecatro_prod 0:4a2c9c1f5b9e 113
mecatro_prod 0:4a2c9c1f5b9e 114
mecatro_prod 0:4a2c9c1f5b9e 115 /*--------------------------- rt_dispatch -----------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 116
mecatro_prod 0:4a2c9c1f5b9e 117 void rt_dispatch (P_TCB next_TCB) {
mecatro_prod 0:4a2c9c1f5b9e 118 /* Dispatch next task if any identified or dispatch highest ready task */
mecatro_prod 0:4a2c9c1f5b9e 119 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
mecatro_prod 0:4a2c9c1f5b9e 120 if (next_TCB == NULL) {
mecatro_prod 0:4a2c9c1f5b9e 121 /* Running task was blocked: continue with highest ready task */
mecatro_prod 0:4a2c9c1f5b9e 122 next_TCB = rt_get_first (&os_rdy);
mecatro_prod 0:4a2c9c1f5b9e 123 rt_switch_req (next_TCB);
mecatro_prod 0:4a2c9c1f5b9e 124 }
mecatro_prod 0:4a2c9c1f5b9e 125 else {
mecatro_prod 0:4a2c9c1f5b9e 126 /* Check which task continues */
mecatro_prod 0:4a2c9c1f5b9e 127 if (next_TCB->prio > os_tsk.run->prio) {
mecatro_prod 0:4a2c9c1f5b9e 128 /* preempt running task */
mecatro_prod 0:4a2c9c1f5b9e 129 rt_put_rdy_first (os_tsk.run);
mecatro_prod 0:4a2c9c1f5b9e 130 os_tsk.run->state = READY;
mecatro_prod 0:4a2c9c1f5b9e 131 rt_switch_req (next_TCB);
mecatro_prod 0:4a2c9c1f5b9e 132 }
mecatro_prod 0:4a2c9c1f5b9e 133 else {
mecatro_prod 0:4a2c9c1f5b9e 134 /* put next task into ready list, no task switch takes place */
mecatro_prod 0:4a2c9c1f5b9e 135 next_TCB->state = READY;
mecatro_prod 0:4a2c9c1f5b9e 136 rt_put_prio (&os_rdy, next_TCB);
mecatro_prod 0:4a2c9c1f5b9e 137 }
mecatro_prod 0:4a2c9c1f5b9e 138 }
mecatro_prod 0:4a2c9c1f5b9e 139 }
mecatro_prod 0:4a2c9c1f5b9e 140
mecatro_prod 0:4a2c9c1f5b9e 141
mecatro_prod 0:4a2c9c1f5b9e 142 /*--------------------------- rt_block --------------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 143
mecatro_prod 0:4a2c9c1f5b9e 144 void rt_block (U16 timeout, U8 block_state) {
mecatro_prod 0:4a2c9c1f5b9e 145 /* Block running task and choose next ready task. */
mecatro_prod 0:4a2c9c1f5b9e 146 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
mecatro_prod 0:4a2c9c1f5b9e 147 /* "block_state" defines the appropriate task state */
mecatro_prod 0:4a2c9c1f5b9e 148 P_TCB next_TCB;
mecatro_prod 0:4a2c9c1f5b9e 149
mecatro_prod 0:4a2c9c1f5b9e 150 if (timeout) {
mecatro_prod 0:4a2c9c1f5b9e 151 if (timeout < 0xffff) {
mecatro_prod 0:4a2c9c1f5b9e 152 rt_put_dly (os_tsk.run, timeout);
mecatro_prod 0:4a2c9c1f5b9e 153 }
mecatro_prod 0:4a2c9c1f5b9e 154 os_tsk.run->state = block_state;
mecatro_prod 0:4a2c9c1f5b9e 155 next_TCB = rt_get_first (&os_rdy);
mecatro_prod 0:4a2c9c1f5b9e 156 rt_switch_req (next_TCB);
mecatro_prod 0:4a2c9c1f5b9e 157 }
mecatro_prod 0:4a2c9c1f5b9e 158 }
mecatro_prod 0:4a2c9c1f5b9e 159
mecatro_prod 0:4a2c9c1f5b9e 160
mecatro_prod 0:4a2c9c1f5b9e 161 /*--------------------------- rt_tsk_pass -----------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 162
mecatro_prod 0:4a2c9c1f5b9e 163 void rt_tsk_pass (void) {
mecatro_prod 0:4a2c9c1f5b9e 164 /* Allow tasks of same priority level to run cooperatively.*/
mecatro_prod 0:4a2c9c1f5b9e 165 P_TCB p_new;
mecatro_prod 0:4a2c9c1f5b9e 166
mecatro_prod 0:4a2c9c1f5b9e 167 p_new = rt_get_same_rdy_prio();
mecatro_prod 0:4a2c9c1f5b9e 168 if (p_new != NULL) {
mecatro_prod 0:4a2c9c1f5b9e 169 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
mecatro_prod 0:4a2c9c1f5b9e 170 os_tsk.run->state = READY;
mecatro_prod 0:4a2c9c1f5b9e 171 rt_switch_req (p_new);
mecatro_prod 0:4a2c9c1f5b9e 172 }
mecatro_prod 0:4a2c9c1f5b9e 173 }
mecatro_prod 0:4a2c9c1f5b9e 174
mecatro_prod 0:4a2c9c1f5b9e 175
mecatro_prod 0:4a2c9c1f5b9e 176 /*--------------------------- rt_tsk_self -----------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 177
mecatro_prod 0:4a2c9c1f5b9e 178 OS_TID rt_tsk_self (void) {
mecatro_prod 0:4a2c9c1f5b9e 179 /* Return own task identifier value. */
mecatro_prod 0:4a2c9c1f5b9e 180 if (os_tsk.run == NULL) {
mecatro_prod 0:4a2c9c1f5b9e 181 return (0);
mecatro_prod 0:4a2c9c1f5b9e 182 }
mecatro_prod 0:4a2c9c1f5b9e 183 return (os_tsk.run->task_id);
mecatro_prod 0:4a2c9c1f5b9e 184 }
mecatro_prod 0:4a2c9c1f5b9e 185
mecatro_prod 0:4a2c9c1f5b9e 186
mecatro_prod 0:4a2c9c1f5b9e 187 /*--------------------------- rt_tsk_prio -----------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 188
mecatro_prod 0:4a2c9c1f5b9e 189 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
mecatro_prod 0:4a2c9c1f5b9e 190 /* Change execution priority of a task to "new_prio". */
mecatro_prod 0:4a2c9c1f5b9e 191 P_TCB p_task;
mecatro_prod 0:4a2c9c1f5b9e 192
mecatro_prod 0:4a2c9c1f5b9e 193 if (task_id == 0) {
mecatro_prod 0:4a2c9c1f5b9e 194 /* Change execution priority of calling task. */
mecatro_prod 0:4a2c9c1f5b9e 195 os_tsk.run->prio = new_prio;
mecatro_prod 0:4a2c9c1f5b9e 196 run:if (rt_rdy_prio() > new_prio) {
mecatro_prod 0:4a2c9c1f5b9e 197 rt_put_prio (&os_rdy, os_tsk.run);
mecatro_prod 0:4a2c9c1f5b9e 198 os_tsk.run->state = READY;
mecatro_prod 0:4a2c9c1f5b9e 199 rt_dispatch (NULL);
mecatro_prod 0:4a2c9c1f5b9e 200 }
mecatro_prod 0:4a2c9c1f5b9e 201 return (OS_R_OK);
mecatro_prod 0:4a2c9c1f5b9e 202 }
mecatro_prod 0:4a2c9c1f5b9e 203
mecatro_prod 0:4a2c9c1f5b9e 204 /* Find the task in the "os_active_TCB" array. */
mecatro_prod 0:4a2c9c1f5b9e 205 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
mecatro_prod 0:4a2c9c1f5b9e 206 /* Task with "task_id" not found or not started. */
mecatro_prod 0:4a2c9c1f5b9e 207 return (OS_R_NOK);
mecatro_prod 0:4a2c9c1f5b9e 208 }
mecatro_prod 0:4a2c9c1f5b9e 209 p_task = os_active_TCB[task_id-1];
mecatro_prod 0:4a2c9c1f5b9e 210 p_task->prio = new_prio;
mecatro_prod 0:4a2c9c1f5b9e 211 if (p_task == os_tsk.run) {
mecatro_prod 0:4a2c9c1f5b9e 212 goto run;
mecatro_prod 0:4a2c9c1f5b9e 213 }
mecatro_prod 0:4a2c9c1f5b9e 214 rt_resort_prio (p_task);
mecatro_prod 0:4a2c9c1f5b9e 215 if (p_task->state == READY) {
mecatro_prod 0:4a2c9c1f5b9e 216 /* Task enqueued in a ready list. */
mecatro_prod 0:4a2c9c1f5b9e 217 p_task = rt_get_first (&os_rdy);
mecatro_prod 0:4a2c9c1f5b9e 218 rt_dispatch (p_task);
mecatro_prod 0:4a2c9c1f5b9e 219 }
mecatro_prod 0:4a2c9c1f5b9e 220 return (OS_R_OK);
mecatro_prod 0:4a2c9c1f5b9e 221 }
mecatro_prod 0:4a2c9c1f5b9e 222
mecatro_prod 0:4a2c9c1f5b9e 223 /*--------------------------- rt_tsk_delete ---------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 224
mecatro_prod 0:4a2c9c1f5b9e 225 OS_RESULT rt_tsk_delete (OS_TID task_id) {
mecatro_prod 0:4a2c9c1f5b9e 226 /* Terminate the task identified with "task_id". */
mecatro_prod 0:4a2c9c1f5b9e 227 P_TCB task_context;
mecatro_prod 0:4a2c9c1f5b9e 228
mecatro_prod 0:4a2c9c1f5b9e 229 if (task_id == 0 || task_id == os_tsk.run->task_id) {
mecatro_prod 0:4a2c9c1f5b9e 230 /* Terminate itself. */
mecatro_prod 0:4a2c9c1f5b9e 231 os_tsk.run->state = INACTIVE;
mecatro_prod 0:4a2c9c1f5b9e 232 os_tsk.run->tsk_stack = 0;
mecatro_prod 0:4a2c9c1f5b9e 233 rt_stk_check ();
mecatro_prod 0:4a2c9c1f5b9e 234 os_active_TCB[os_tsk.run->task_id-1] = NULL;
mecatro_prod 0:4a2c9c1f5b9e 235
mecatro_prod 0:4a2c9c1f5b9e 236 os_tsk.run->stack = NULL;
mecatro_prod 0:4a2c9c1f5b9e 237 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
mecatro_prod 0:4a2c9c1f5b9e 238 os_tsk.run = NULL;
mecatro_prod 0:4a2c9c1f5b9e 239 rt_dispatch (NULL);
mecatro_prod 0:4a2c9c1f5b9e 240 /* The program should never come to this point. */
mecatro_prod 0:4a2c9c1f5b9e 241 }
mecatro_prod 0:4a2c9c1f5b9e 242 else {
mecatro_prod 0:4a2c9c1f5b9e 243 /* Find the task in the "os_active_TCB" array. */
mecatro_prod 0:4a2c9c1f5b9e 244 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
mecatro_prod 0:4a2c9c1f5b9e 245 /* Task with "task_id" not found or not started. */
mecatro_prod 0:4a2c9c1f5b9e 246 return (OS_R_NOK);
mecatro_prod 0:4a2c9c1f5b9e 247 }
mecatro_prod 0:4a2c9c1f5b9e 248 task_context = os_active_TCB[task_id-1];
mecatro_prod 0:4a2c9c1f5b9e 249 rt_rmv_list (task_context);
mecatro_prod 0:4a2c9c1f5b9e 250 rt_rmv_dly (task_context);
mecatro_prod 0:4a2c9c1f5b9e 251 os_active_TCB[task_id-1] = NULL;
mecatro_prod 0:4a2c9c1f5b9e 252
mecatro_prod 0:4a2c9c1f5b9e 253 task_context->stack = NULL;
mecatro_prod 0:4a2c9c1f5b9e 254 DBG_TASK_NOTIFY(task_context, __FALSE);
mecatro_prod 0:4a2c9c1f5b9e 255 }
mecatro_prod 0:4a2c9c1f5b9e 256 return (OS_R_OK);
mecatro_prod 0:4a2c9c1f5b9e 257 }
mecatro_prod 0:4a2c9c1f5b9e 258
mecatro_prod 0:4a2c9c1f5b9e 259
mecatro_prod 0:4a2c9c1f5b9e 260 /*--------------------------- rt_sys_init -----------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 261
mecatro_prod 0:4a2c9c1f5b9e 262 #ifdef __CMSIS_RTOS
mecatro_prod 0:4a2c9c1f5b9e 263 void rt_sys_init (void) {
mecatro_prod 0:4a2c9c1f5b9e 264 #else
mecatro_prod 0:4a2c9c1f5b9e 265 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
mecatro_prod 0:4a2c9c1f5b9e 266 #endif
mecatro_prod 0:4a2c9c1f5b9e 267 /* Initialize system and start up task declared with "first_task". */
mecatro_prod 0:4a2c9c1f5b9e 268 U32 i;
mecatro_prod 0:4a2c9c1f5b9e 269
mecatro_prod 0:4a2c9c1f5b9e 270 DBG_INIT();
mecatro_prod 0:4a2c9c1f5b9e 271
mecatro_prod 0:4a2c9c1f5b9e 272 /* Initialize dynamic memory and task TCB pointers to NULL. */
mecatro_prod 0:4a2c9c1f5b9e 273 for (i = 0; i < os_maxtaskrun; i++) {
mecatro_prod 0:4a2c9c1f5b9e 274 os_active_TCB[i] = NULL;
mecatro_prod 0:4a2c9c1f5b9e 275 }
mecatro_prod 0:4a2c9c1f5b9e 276
mecatro_prod 0:4a2c9c1f5b9e 277 /* Set up TCB of idle demon */
mecatro_prod 0:4a2c9c1f5b9e 278 os_idle_TCB.task_id = 255;
mecatro_prod 0:4a2c9c1f5b9e 279 os_idle_TCB.priv_stack = idle_task_stack_size;
mecatro_prod 0:4a2c9c1f5b9e 280 os_idle_TCB.stack = idle_task_stack;
mecatro_prod 0:4a2c9c1f5b9e 281 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
mecatro_prod 0:4a2c9c1f5b9e 282
mecatro_prod 0:4a2c9c1f5b9e 283 /* Set up ready list: initially empty */
mecatro_prod 0:4a2c9c1f5b9e 284 os_rdy.cb_type = HCB;
mecatro_prod 0:4a2c9c1f5b9e 285 os_rdy.p_lnk = NULL;
mecatro_prod 0:4a2c9c1f5b9e 286 /* Set up delay list: initially empty */
mecatro_prod 0:4a2c9c1f5b9e 287 os_dly.cb_type = HCB;
mecatro_prod 0:4a2c9c1f5b9e 288 os_dly.p_dlnk = NULL;
mecatro_prod 0:4a2c9c1f5b9e 289 os_dly.p_blnk = NULL;
mecatro_prod 0:4a2c9c1f5b9e 290 os_dly.delta_time = 0;
mecatro_prod 0:4a2c9c1f5b9e 291
mecatro_prod 0:4a2c9c1f5b9e 292 /* Fix SP and systemvariables to assume idle task is running */
mecatro_prod 0:4a2c9c1f5b9e 293 /* Transform main program into idle task by assuming idle TCB */
mecatro_prod 0:4a2c9c1f5b9e 294 #ifndef __CMSIS_RTOS
mecatro_prod 0:4a2c9c1f5b9e 295 rt_set_PSP (os_idle_TCB.tsk_stack);
mecatro_prod 0:4a2c9c1f5b9e 296 #endif
mecatro_prod 0:4a2c9c1f5b9e 297 os_tsk.run = &os_idle_TCB;
mecatro_prod 0:4a2c9c1f5b9e 298 os_tsk.run->state = RUNNING;
mecatro_prod 0:4a2c9c1f5b9e 299
mecatro_prod 0:4a2c9c1f5b9e 300 /* Initialize ps queue */
mecatro_prod 0:4a2c9c1f5b9e 301 os_psq->first = 0;
mecatro_prod 0:4a2c9c1f5b9e 302 os_psq->last = 0;
mecatro_prod 0:4a2c9c1f5b9e 303 os_psq->size = os_fifo_size;
mecatro_prod 0:4a2c9c1f5b9e 304
mecatro_prod 0:4a2c9c1f5b9e 305 rt_init_robin ();
mecatro_prod 0:4a2c9c1f5b9e 306
mecatro_prod 0:4a2c9c1f5b9e 307 /* Intitialize SVC and PendSV */
mecatro_prod 0:4a2c9c1f5b9e 308 rt_svc_init ();
mecatro_prod 0:4a2c9c1f5b9e 309
mecatro_prod 0:4a2c9c1f5b9e 310 #ifndef __CMSIS_RTOS
mecatro_prod 0:4a2c9c1f5b9e 311 /* Intitialize and start system clock timer */
mecatro_prod 0:4a2c9c1f5b9e 312 os_tick_irqn = os_tick_init ();
mecatro_prod 0:4a2c9c1f5b9e 313 if (os_tick_irqn >= 0) {
mecatro_prod 0:4a2c9c1f5b9e 314 OS_X_INIT(os_tick_irqn);
mecatro_prod 0:4a2c9c1f5b9e 315 }
mecatro_prod 0:4a2c9c1f5b9e 316
mecatro_prod 0:4a2c9c1f5b9e 317 /* Start up first user task before entering the endless loop */
mecatro_prod 0:4a2c9c1f5b9e 318 rt_tsk_create (first_task, prio_stksz, stk, NULL);
mecatro_prod 0:4a2c9c1f5b9e 319 #endif
mecatro_prod 0:4a2c9c1f5b9e 320 }
mecatro_prod 0:4a2c9c1f5b9e 321
mecatro_prod 0:4a2c9c1f5b9e 322
mecatro_prod 0:4a2c9c1f5b9e 323 /*--------------------------- rt_sys_start ----------------------------------*/
mecatro_prod 0:4a2c9c1f5b9e 324
mecatro_prod 0:4a2c9c1f5b9e 325 #ifdef __CMSIS_RTOS
mecatro_prod 0:4a2c9c1f5b9e 326 void rt_sys_start (void) {
mecatro_prod 0:4a2c9c1f5b9e 327 /* Start system */
mecatro_prod 0:4a2c9c1f5b9e 328
mecatro_prod 0:4a2c9c1f5b9e 329 /* Intitialize and start system clock timer */
mecatro_prod 0:4a2c9c1f5b9e 330 os_tick_irqn = os_tick_init ();
mecatro_prod 0:4a2c9c1f5b9e 331 if (os_tick_irqn >= 0) {
mecatro_prod 0:4a2c9c1f5b9e 332 OS_X_INIT(os_tick_irqn);
mecatro_prod 0:4a2c9c1f5b9e 333 }
mecatro_prod 0:4a2c9c1f5b9e 334 extern void RestoreContext();
mecatro_prod 0:4a2c9c1f5b9e 335 RestoreContext(); // Start the first task
mecatro_prod 0:4a2c9c1f5b9e 336 }
mecatro_prod 0:4a2c9c1f5b9e 337 #endif
mecatro_prod 0:4a2c9c1f5b9e 338
mecatro_prod 0:4a2c9c1f5b9e 339 /*----------------------------------------------------------------------------
mecatro_prod 0:4a2c9c1f5b9e 340 * end of file
mecatro_prod 0:4a2c9c1f5b9e 341 *---------------------------------------------------------------------------*/