Pierre Provent / USBHost

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Dependents:   TEST_USB_Nucleo_F429ZI Essais_USB_Nucleo_F429ZI SID_V3_Nucleo_F429ZI SID_V4_Nucleo_F429ZI_copy

mbed-rtos/rtx/TARGET_ARM7/rt_Task.c@0:77ca32e8e04e, 2020-09-25 (annotated)

Committer:
pierreprovent
Date:
Fri Sep 25 10:17:49 2020 +0000
Revision:
0:77ca32e8e04e
Programme acquisition en enregistrement sur clef USB carte Nucleo F429ZI cours ELE118 Cnam

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pierreprovent 0:77ca32e8e04e 1 /*----------------------------------------------------------------------------
pierreprovent 0:77ca32e8e04e 2 * RL-ARM - RTX
pierreprovent 0:77ca32e8e04e 3 *----------------------------------------------------------------------------
pierreprovent 0:77ca32e8e04e 4 * Name: RT_TASK.C
pierreprovent 0:77ca32e8e04e 5 * Purpose: Task functions and system start up.
pierreprovent 0:77ca32e8e04e 6 * Rev.: V4.60
pierreprovent 0:77ca32e8e04e 7 *----------------------------------------------------------------------------
pierreprovent 0:77ca32e8e04e 8 *
pierreprovent 0:77ca32e8e04e 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
pierreprovent 0:77ca32e8e04e 10 * All rights reserved.
pierreprovent 0:77ca32e8e04e 11 * Redistribution and use in source and binary forms, with or without
pierreprovent 0:77ca32e8e04e 12 * modification, are permitted provided that the following conditions are met:
pierreprovent 0:77ca32e8e04e 13 * - Redistributions of source code must retain the above copyright
pierreprovent 0:77ca32e8e04e 14 * notice, this list of conditions and the following disclaimer.
pierreprovent 0:77ca32e8e04e 15 * - Redistributions in binary form must reproduce the above copyright
pierreprovent 0:77ca32e8e04e 16 * notice, this list of conditions and the following disclaimer in the
pierreprovent 0:77ca32e8e04e 17 * documentation and/or other materials provided with the distribution.
pierreprovent 0:77ca32e8e04e 18 * - Neither the name of ARM nor the names of its contributors may be used
pierreprovent 0:77ca32e8e04e 19 * to endorse or promote products derived from this software without
pierreprovent 0:77ca32e8e04e 20 * specific prior written permission.
pierreprovent 0:77ca32e8e04e 21 *
pierreprovent 0:77ca32e8e04e 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
pierreprovent 0:77ca32e8e04e 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
pierreprovent 0:77ca32e8e04e 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
pierreprovent 0:77ca32e8e04e 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
pierreprovent 0:77ca32e8e04e 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
pierreprovent 0:77ca32e8e04e 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
pierreprovent 0:77ca32e8e04e 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
pierreprovent 0:77ca32e8e04e 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
pierreprovent 0:77ca32e8e04e 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
pierreprovent 0:77ca32e8e04e 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
pierreprovent 0:77ca32e8e04e 32 * POSSIBILITY OF SUCH DAMAGE.
pierreprovent 0:77ca32e8e04e 33 *---------------------------------------------------------------------------*/
pierreprovent 0:77ca32e8e04e 34
pierreprovent 0:77ca32e8e04e 35 #include "rt_TypeDef.h"
pierreprovent 0:77ca32e8e04e 36 #include "RTX_Conf.h"
pierreprovent 0:77ca32e8e04e 37 #include "rt_System.h"
pierreprovent 0:77ca32e8e04e 38 #include "rt_Task.h"
pierreprovent 0:77ca32e8e04e 39 #include "rt_List.h"
pierreprovent 0:77ca32e8e04e 40 #include "rt_MemBox.h"
pierreprovent 0:77ca32e8e04e 41 #include "rt_Robin.h"
pierreprovent 0:77ca32e8e04e 42 #include "rt_HAL_CM.h"
pierreprovent 0:77ca32e8e04e 43
pierreprovent 0:77ca32e8e04e 44 /*----------------------------------------------------------------------------
pierreprovent 0:77ca32e8e04e 45 * Global Variables
pierreprovent 0:77ca32e8e04e 46 *---------------------------------------------------------------------------*/
pierreprovent 0:77ca32e8e04e 47
pierreprovent 0:77ca32e8e04e 48 /* Running and next task info. */
pierreprovent 0:77ca32e8e04e 49 struct OS_TSK os_tsk;
pierreprovent 0:77ca32e8e04e 50
pierreprovent 0:77ca32e8e04e 51 /* Task Control Blocks of idle demon */
pierreprovent 0:77ca32e8e04e 52 struct OS_TCB os_idle_TCB;
pierreprovent 0:77ca32e8e04e 53
pierreprovent 0:77ca32e8e04e 54
pierreprovent 0:77ca32e8e04e 55 /*----------------------------------------------------------------------------
pierreprovent 0:77ca32e8e04e 56 * Local Functions
pierreprovent 0:77ca32e8e04e 57 *---------------------------------------------------------------------------*/
pierreprovent 0:77ca32e8e04e 58
pierreprovent 0:77ca32e8e04e 59 OS_TID rt_get_TID (void) {
pierreprovent 0:77ca32e8e04e 60 U32 tid;
pierreprovent 0:77ca32e8e04e 61
pierreprovent 0:77ca32e8e04e 62 for (tid = 1; tid <= os_maxtaskrun; tid++) {
pierreprovent 0:77ca32e8e04e 63 if (os_active_TCB[tid-1] == NULL) {
pierreprovent 0:77ca32e8e04e 64 return ((OS_TID)tid);
pierreprovent 0:77ca32e8e04e 65 }
pierreprovent 0:77ca32e8e04e 66 }
pierreprovent 0:77ca32e8e04e 67 return (0);
pierreprovent 0:77ca32e8e04e 68 }
pierreprovent 0:77ca32e8e04e 69
pierreprovent 0:77ca32e8e04e 70 #if defined (__CC_ARM) && !defined (__MICROLIB)
pierreprovent 0:77ca32e8e04e 71 /*--------------------------- __user_perthread_libspace ---------------------*/
pierreprovent 0:77ca32e8e04e 72 extern void *__libspace_start;
pierreprovent 0:77ca32e8e04e 73
pierreprovent 0:77ca32e8e04e 74 void *__user_perthread_libspace (void) {
pierreprovent 0:77ca32e8e04e 75 /* Provide a separate libspace for each task. */
pierreprovent 0:77ca32e8e04e 76 if (os_tsk.run == NULL) {
pierreprovent 0:77ca32e8e04e 77 /* RTX not running yet. */
pierreprovent 0:77ca32e8e04e 78 return (&__libspace_start);
pierreprovent 0:77ca32e8e04e 79 }
pierreprovent 0:77ca32e8e04e 80 return (void *)(os_tsk.run->std_libspace);
pierreprovent 0:77ca32e8e04e 81 }
pierreprovent 0:77ca32e8e04e 82 #endif
pierreprovent 0:77ca32e8e04e 83
pierreprovent 0:77ca32e8e04e 84 /*--------------------------- rt_init_context -------------------------------*/
pierreprovent 0:77ca32e8e04e 85
pierreprovent 0:77ca32e8e04e 86 void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
pierreprovent 0:77ca32e8e04e 87 /* Initialize general part of the Task Control Block. */
pierreprovent 0:77ca32e8e04e 88 p_TCB->cb_type = TCB;
pierreprovent 0:77ca32e8e04e 89 p_TCB->state = READY;
pierreprovent 0:77ca32e8e04e 90 p_TCB->prio = priority;
pierreprovent 0:77ca32e8e04e 91 p_TCB->p_lnk = NULL;
pierreprovent 0:77ca32e8e04e 92 p_TCB->p_rlnk = NULL;
pierreprovent 0:77ca32e8e04e 93 p_TCB->p_dlnk = NULL;
pierreprovent 0:77ca32e8e04e 94 p_TCB->p_blnk = NULL;
pierreprovent 0:77ca32e8e04e 95 p_TCB->delta_time = 0;
pierreprovent 0:77ca32e8e04e 96 p_TCB->interval_time = 0;
pierreprovent 0:77ca32e8e04e 97 p_TCB->events = 0;
pierreprovent 0:77ca32e8e04e 98 p_TCB->waits = 0;
pierreprovent 0:77ca32e8e04e 99 p_TCB->stack_frame = 0;
pierreprovent 0:77ca32e8e04e 100
pierreprovent 0:77ca32e8e04e 101 rt_init_stack (p_TCB, task_body);
pierreprovent 0:77ca32e8e04e 102 }
pierreprovent 0:77ca32e8e04e 103
pierreprovent 0:77ca32e8e04e 104
pierreprovent 0:77ca32e8e04e 105 /*--------------------------- rt_switch_req ---------------------------------*/
pierreprovent 0:77ca32e8e04e 106
pierreprovent 0:77ca32e8e04e 107 void rt_switch_req (P_TCB p_new) {
pierreprovent 0:77ca32e8e04e 108 /* Switch to next task (identified by "p_new"). */
pierreprovent 0:77ca32e8e04e 109 os_tsk.new_tsk = p_new;
pierreprovent 0:77ca32e8e04e 110 p_new->state = RUNNING;
pierreprovent 0:77ca32e8e04e 111 DBG_TASK_SWITCH(p_new->task_id);
pierreprovent 0:77ca32e8e04e 112 }
pierreprovent 0:77ca32e8e04e 113
pierreprovent 0:77ca32e8e04e 114
pierreprovent 0:77ca32e8e04e 115 /*--------------------------- rt_dispatch -----------------------------------*/
pierreprovent 0:77ca32e8e04e 116
pierreprovent 0:77ca32e8e04e 117 void rt_dispatch (P_TCB next_TCB) {
pierreprovent 0:77ca32e8e04e 118 /* Dispatch next task if any identified or dispatch highest ready task */
pierreprovent 0:77ca32e8e04e 119 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
pierreprovent 0:77ca32e8e04e 120 if (next_TCB == NULL) {
pierreprovent 0:77ca32e8e04e 121 /* Running task was blocked: continue with highest ready task */
pierreprovent 0:77ca32e8e04e 122 next_TCB = rt_get_first (&os_rdy);
pierreprovent 0:77ca32e8e04e 123 rt_switch_req (next_TCB);
pierreprovent 0:77ca32e8e04e 124 }
pierreprovent 0:77ca32e8e04e 125 else {
pierreprovent 0:77ca32e8e04e 126 /* Check which task continues */
pierreprovent 0:77ca32e8e04e 127 if (next_TCB->prio > os_tsk.run->prio) {
pierreprovent 0:77ca32e8e04e 128 /* preempt running task */
pierreprovent 0:77ca32e8e04e 129 rt_put_rdy_first (os_tsk.run);
pierreprovent 0:77ca32e8e04e 130 os_tsk.run->state = READY;
pierreprovent 0:77ca32e8e04e 131 rt_switch_req (next_TCB);
pierreprovent 0:77ca32e8e04e 132 }
pierreprovent 0:77ca32e8e04e 133 else {
pierreprovent 0:77ca32e8e04e 134 /* put next task into ready list, no task switch takes place */
pierreprovent 0:77ca32e8e04e 135 next_TCB->state = READY;
pierreprovent 0:77ca32e8e04e 136 rt_put_prio (&os_rdy, next_TCB);
pierreprovent 0:77ca32e8e04e 137 }
pierreprovent 0:77ca32e8e04e 138 }
pierreprovent 0:77ca32e8e04e 139 }
pierreprovent 0:77ca32e8e04e 140
pierreprovent 0:77ca32e8e04e 141
pierreprovent 0:77ca32e8e04e 142 /*--------------------------- rt_block --------------------------------------*/
pierreprovent 0:77ca32e8e04e 143
pierreprovent 0:77ca32e8e04e 144 void rt_block (U16 timeout, U8 block_state) {
pierreprovent 0:77ca32e8e04e 145 /* Block running task and choose next ready task. */
pierreprovent 0:77ca32e8e04e 146 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
pierreprovent 0:77ca32e8e04e 147 /* "block_state" defines the appropriate task state */
pierreprovent 0:77ca32e8e04e 148 P_TCB next_TCB;
pierreprovent 0:77ca32e8e04e 149
pierreprovent 0:77ca32e8e04e 150 if (timeout) {
pierreprovent 0:77ca32e8e04e 151 if (timeout < 0xffff) {
pierreprovent 0:77ca32e8e04e 152 rt_put_dly (os_tsk.run, timeout);
pierreprovent 0:77ca32e8e04e 153 }
pierreprovent 0:77ca32e8e04e 154 os_tsk.run->state = block_state;
pierreprovent 0:77ca32e8e04e 155 next_TCB = rt_get_first (&os_rdy);
pierreprovent 0:77ca32e8e04e 156 rt_switch_req (next_TCB);
pierreprovent 0:77ca32e8e04e 157 }
pierreprovent 0:77ca32e8e04e 158 }
pierreprovent 0:77ca32e8e04e 159
pierreprovent 0:77ca32e8e04e 160
pierreprovent 0:77ca32e8e04e 161 /*--------------------------- rt_tsk_pass -----------------------------------*/
pierreprovent 0:77ca32e8e04e 162
pierreprovent 0:77ca32e8e04e 163 void rt_tsk_pass (void) {
pierreprovent 0:77ca32e8e04e 164 /* Allow tasks of same priority level to run cooperatively.*/
pierreprovent 0:77ca32e8e04e 165 P_TCB p_new;
pierreprovent 0:77ca32e8e04e 166
pierreprovent 0:77ca32e8e04e 167 p_new = rt_get_same_rdy_prio();
pierreprovent 0:77ca32e8e04e 168 if (p_new != NULL) {
pierreprovent 0:77ca32e8e04e 169 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
pierreprovent 0:77ca32e8e04e 170 os_tsk.run->state = READY;
pierreprovent 0:77ca32e8e04e 171 rt_switch_req (p_new);
pierreprovent 0:77ca32e8e04e 172 }
pierreprovent 0:77ca32e8e04e 173 }
pierreprovent 0:77ca32e8e04e 174
pierreprovent 0:77ca32e8e04e 175
pierreprovent 0:77ca32e8e04e 176 /*--------------------------- rt_tsk_self -----------------------------------*/
pierreprovent 0:77ca32e8e04e 177
pierreprovent 0:77ca32e8e04e 178 OS_TID rt_tsk_self (void) {
pierreprovent 0:77ca32e8e04e 179 /* Return own task identifier value. */
pierreprovent 0:77ca32e8e04e 180 if (os_tsk.run == NULL) {
pierreprovent 0:77ca32e8e04e 181 return (0);
pierreprovent 0:77ca32e8e04e 182 }
pierreprovent 0:77ca32e8e04e 183 return (os_tsk.run->task_id);
pierreprovent 0:77ca32e8e04e 184 }
pierreprovent 0:77ca32e8e04e 185
pierreprovent 0:77ca32e8e04e 186
pierreprovent 0:77ca32e8e04e 187 /*--------------------------- rt_tsk_prio -----------------------------------*/
pierreprovent 0:77ca32e8e04e 188
pierreprovent 0:77ca32e8e04e 189 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
pierreprovent 0:77ca32e8e04e 190 /* Change execution priority of a task to "new_prio". */
pierreprovent 0:77ca32e8e04e 191 P_TCB p_task;
pierreprovent 0:77ca32e8e04e 192
pierreprovent 0:77ca32e8e04e 193 if (task_id == 0) {
pierreprovent 0:77ca32e8e04e 194 /* Change execution priority of calling task. */
pierreprovent 0:77ca32e8e04e 195 os_tsk.run->prio = new_prio;
pierreprovent 0:77ca32e8e04e 196 run:if (rt_rdy_prio() > new_prio) {
pierreprovent 0:77ca32e8e04e 197 rt_put_prio (&os_rdy, os_tsk.run);
pierreprovent 0:77ca32e8e04e 198 os_tsk.run->state = READY;
pierreprovent 0:77ca32e8e04e 199 rt_dispatch (NULL);
pierreprovent 0:77ca32e8e04e 200 }
pierreprovent 0:77ca32e8e04e 201 return (OS_R_OK);
pierreprovent 0:77ca32e8e04e 202 }
pierreprovent 0:77ca32e8e04e 203
pierreprovent 0:77ca32e8e04e 204 /* Find the task in the "os_active_TCB" array. */
pierreprovent 0:77ca32e8e04e 205 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
pierreprovent 0:77ca32e8e04e 206 /* Task with "task_id" not found or not started. */
pierreprovent 0:77ca32e8e04e 207 return (OS_R_NOK);
pierreprovent 0:77ca32e8e04e 208 }
pierreprovent 0:77ca32e8e04e 209 p_task = os_active_TCB[task_id-1];
pierreprovent 0:77ca32e8e04e 210 p_task->prio = new_prio;
pierreprovent 0:77ca32e8e04e 211 if (p_task == os_tsk.run) {
pierreprovent 0:77ca32e8e04e 212 goto run;
pierreprovent 0:77ca32e8e04e 213 }
pierreprovent 0:77ca32e8e04e 214 rt_resort_prio (p_task);
pierreprovent 0:77ca32e8e04e 215 if (p_task->state == READY) {
pierreprovent 0:77ca32e8e04e 216 /* Task enqueued in a ready list. */
pierreprovent 0:77ca32e8e04e 217 p_task = rt_get_first (&os_rdy);
pierreprovent 0:77ca32e8e04e 218 rt_dispatch (p_task);
pierreprovent 0:77ca32e8e04e 219 }
pierreprovent 0:77ca32e8e04e 220 return (OS_R_OK);
pierreprovent 0:77ca32e8e04e 221 }
pierreprovent 0:77ca32e8e04e 222
pierreprovent 0:77ca32e8e04e 223 /*--------------------------- rt_tsk_delete ---------------------------------*/
pierreprovent 0:77ca32e8e04e 224
pierreprovent 0:77ca32e8e04e 225 OS_RESULT rt_tsk_delete (OS_TID task_id) {
pierreprovent 0:77ca32e8e04e 226 /* Terminate the task identified with "task_id". */
pierreprovent 0:77ca32e8e04e 227 P_TCB task_context;
pierreprovent 0:77ca32e8e04e 228
pierreprovent 0:77ca32e8e04e 229 if (task_id == 0 || task_id == os_tsk.run->task_id) {
pierreprovent 0:77ca32e8e04e 230 /* Terminate itself. */
pierreprovent 0:77ca32e8e04e 231 os_tsk.run->state = INACTIVE;
pierreprovent 0:77ca32e8e04e 232 os_tsk.run->tsk_stack = 0;
pierreprovent 0:77ca32e8e04e 233 rt_stk_check ();
pierreprovent 0:77ca32e8e04e 234 os_active_TCB[os_tsk.run->task_id-1] = NULL;
pierreprovent 0:77ca32e8e04e 235
pierreprovent 0:77ca32e8e04e 236 os_tsk.run->stack = NULL;
pierreprovent 0:77ca32e8e04e 237 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
pierreprovent 0:77ca32e8e04e 238 os_tsk.run = NULL;
pierreprovent 0:77ca32e8e04e 239 rt_dispatch (NULL);
pierreprovent 0:77ca32e8e04e 240 /* The program should never come to this point. */
pierreprovent 0:77ca32e8e04e 241 }
pierreprovent 0:77ca32e8e04e 242 else {
pierreprovent 0:77ca32e8e04e 243 /* Find the task in the "os_active_TCB" array. */
pierreprovent 0:77ca32e8e04e 244 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
pierreprovent 0:77ca32e8e04e 245 /* Task with "task_id" not found or not started. */
pierreprovent 0:77ca32e8e04e 246 return (OS_R_NOK);
pierreprovent 0:77ca32e8e04e 247 }
pierreprovent 0:77ca32e8e04e 248 task_context = os_active_TCB[task_id-1];
pierreprovent 0:77ca32e8e04e 249 rt_rmv_list (task_context);
pierreprovent 0:77ca32e8e04e 250 rt_rmv_dly (task_context);
pierreprovent 0:77ca32e8e04e 251 os_active_TCB[task_id-1] = NULL;
pierreprovent 0:77ca32e8e04e 252
pierreprovent 0:77ca32e8e04e 253 task_context->stack = NULL;
pierreprovent 0:77ca32e8e04e 254 DBG_TASK_NOTIFY(task_context, __FALSE);
pierreprovent 0:77ca32e8e04e 255 }
pierreprovent 0:77ca32e8e04e 256 return (OS_R_OK);
pierreprovent 0:77ca32e8e04e 257 }
pierreprovent 0:77ca32e8e04e 258
pierreprovent 0:77ca32e8e04e 259
pierreprovent 0:77ca32e8e04e 260 /*--------------------------- rt_sys_init -----------------------------------*/
pierreprovent 0:77ca32e8e04e 261
pierreprovent 0:77ca32e8e04e 262 #ifdef __CMSIS_RTOS
pierreprovent 0:77ca32e8e04e 263 void rt_sys_init (void) {
pierreprovent 0:77ca32e8e04e 264 #else
pierreprovent 0:77ca32e8e04e 265 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
pierreprovent 0:77ca32e8e04e 266 #endif
pierreprovent 0:77ca32e8e04e 267 /* Initialize system and start up task declared with "first_task". */
pierreprovent 0:77ca32e8e04e 268 U32 i;
pierreprovent 0:77ca32e8e04e 269
pierreprovent 0:77ca32e8e04e 270 DBG_INIT();
pierreprovent 0:77ca32e8e04e 271
pierreprovent 0:77ca32e8e04e 272 /* Initialize dynamic memory and task TCB pointers to NULL. */
pierreprovent 0:77ca32e8e04e 273 for (i = 0; i < os_maxtaskrun; i++) {
pierreprovent 0:77ca32e8e04e 274 os_active_TCB[i] = NULL;
pierreprovent 0:77ca32e8e04e 275 }
pierreprovent 0:77ca32e8e04e 276
pierreprovent 0:77ca32e8e04e 277 /* Set up TCB of idle demon */
pierreprovent 0:77ca32e8e04e 278 os_idle_TCB.task_id = 255;
pierreprovent 0:77ca32e8e04e 279 os_idle_TCB.priv_stack = idle_task_stack_size;
pierreprovent 0:77ca32e8e04e 280 os_idle_TCB.stack = idle_task_stack;
pierreprovent 0:77ca32e8e04e 281 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
pierreprovent 0:77ca32e8e04e 282
pierreprovent 0:77ca32e8e04e 283 /* Set up ready list: initially empty */
pierreprovent 0:77ca32e8e04e 284 os_rdy.cb_type = HCB;
pierreprovent 0:77ca32e8e04e 285 os_rdy.p_lnk = NULL;
pierreprovent 0:77ca32e8e04e 286 /* Set up delay list: initially empty */
pierreprovent 0:77ca32e8e04e 287 os_dly.cb_type = HCB;
pierreprovent 0:77ca32e8e04e 288 os_dly.p_dlnk = NULL;
pierreprovent 0:77ca32e8e04e 289 os_dly.p_blnk = NULL;
pierreprovent 0:77ca32e8e04e 290 os_dly.delta_time = 0;
pierreprovent 0:77ca32e8e04e 291
pierreprovent 0:77ca32e8e04e 292 /* Fix SP and systemvariables to assume idle task is running */
pierreprovent 0:77ca32e8e04e 293 /* Transform main program into idle task by assuming idle TCB */
pierreprovent 0:77ca32e8e04e 294 #ifndef __CMSIS_RTOS
pierreprovent 0:77ca32e8e04e 295 rt_set_PSP (os_idle_TCB.tsk_stack);
pierreprovent 0:77ca32e8e04e 296 #endif
pierreprovent 0:77ca32e8e04e 297 os_tsk.run = &os_idle_TCB;
pierreprovent 0:77ca32e8e04e 298 os_tsk.run->state = RUNNING;
pierreprovent 0:77ca32e8e04e 299
pierreprovent 0:77ca32e8e04e 300 /* Initialize ps queue */
pierreprovent 0:77ca32e8e04e 301 os_psq->first = 0;
pierreprovent 0:77ca32e8e04e 302 os_psq->last = 0;
pierreprovent 0:77ca32e8e04e 303 os_psq->size = os_fifo_size;
pierreprovent 0:77ca32e8e04e 304
pierreprovent 0:77ca32e8e04e 305 rt_init_robin ();
pierreprovent 0:77ca32e8e04e 306
pierreprovent 0:77ca32e8e04e 307 /* Intitialize SVC and PendSV */
pierreprovent 0:77ca32e8e04e 308 rt_svc_init ();
pierreprovent 0:77ca32e8e04e 309
pierreprovent 0:77ca32e8e04e 310 #ifndef __CMSIS_RTOS
pierreprovent 0:77ca32e8e04e 311 /* Intitialize and start system clock timer */
pierreprovent 0:77ca32e8e04e 312 os_tick_irqn = os_tick_init ();
pierreprovent 0:77ca32e8e04e 313 if (os_tick_irqn >= 0) {
pierreprovent 0:77ca32e8e04e 314 OS_X_INIT(os_tick_irqn);
pierreprovent 0:77ca32e8e04e 315 }
pierreprovent 0:77ca32e8e04e 316
pierreprovent 0:77ca32e8e04e 317 /* Start up first user task before entering the endless loop */
pierreprovent 0:77ca32e8e04e 318 rt_tsk_create (first_task, prio_stksz, stk, NULL);
pierreprovent 0:77ca32e8e04e 319 #endif
pierreprovent 0:77ca32e8e04e 320 }
pierreprovent 0:77ca32e8e04e 321
pierreprovent 0:77ca32e8e04e 322
pierreprovent 0:77ca32e8e04e 323 /*--------------------------- rt_sys_start ----------------------------------*/
pierreprovent 0:77ca32e8e04e 324
pierreprovent 0:77ca32e8e04e 325 #ifdef __CMSIS_RTOS
pierreprovent 0:77ca32e8e04e 326 void rt_sys_start (void) {
pierreprovent 0:77ca32e8e04e 327 /* Start system */
pierreprovent 0:77ca32e8e04e 328
pierreprovent 0:77ca32e8e04e 329 /* Intitialize and start system clock timer */
pierreprovent 0:77ca32e8e04e 330 os_tick_irqn = os_tick_init ();
pierreprovent 0:77ca32e8e04e 331 if (os_tick_irqn >= 0) {
pierreprovent 0:77ca32e8e04e 332 OS_X_INIT(os_tick_irqn);
pierreprovent 0:77ca32e8e04e 333 }
pierreprovent 0:77ca32e8e04e 334 extern void RestoreContext();
pierreprovent 0:77ca32e8e04e 335 RestoreContext(); // Start the first task
pierreprovent 0:77ca32e8e04e 336 }
pierreprovent 0:77ca32e8e04e 337 #endif
pierreprovent 0:77ca32e8e04e 338
pierreprovent 0:77ca32e8e04e 339 /*----------------------------------------------------------------------------
pierreprovent 0:77ca32e8e04e 340 * end of file
pierreprovent 0:77ca32e8e04e 341 *---------------------------------------------------------------------------*/