Avion Radio IUT / Mbed 2 deprecated MecatroPWM

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

mbed-rtos/rtx/TARGET_ARM7/rt_Task.c@3:3bc2882232a6, 2021-04-15 (annotated)

Committer:
qmaker
Date:
Thu Apr 15 08:43:24 2021 +0000
Revision:
3:3bc2882232a6
Parent:
0:0d257bbf5c05 
en cours de dev

Who changed what in which revision?

UserRevisionLine numberNew contents of line
qmaker 0:0d257bbf5c05 1 /*----------------------------------------------------------------------------
qmaker 0:0d257bbf5c05 2 * RL-ARM - RTX
qmaker 0:0d257bbf5c05 3 *----------------------------------------------------------------------------
qmaker 0:0d257bbf5c05 4 * Name: RT_TASK.C
qmaker 0:0d257bbf5c05 5 * Purpose: Task functions and system start up.
qmaker 0:0d257bbf5c05 6 * Rev.: V4.60
qmaker 0:0d257bbf5c05 7 *----------------------------------------------------------------------------
qmaker 0:0d257bbf5c05 8 *
qmaker 0:0d257bbf5c05 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
qmaker 0:0d257bbf5c05 10 * All rights reserved.
qmaker 0:0d257bbf5c05 11 * Redistribution and use in source and binary forms, with or without
qmaker 0:0d257bbf5c05 12 * modification, are permitted provided that the following conditions are met:
qmaker 0:0d257bbf5c05 13 * - Redistributions of source code must retain the above copyright
qmaker 0:0d257bbf5c05 14 * notice, this list of conditions and the following disclaimer.
qmaker 0:0d257bbf5c05 15 * - Redistributions in binary form must reproduce the above copyright
qmaker 0:0d257bbf5c05 16 * notice, this list of conditions and the following disclaimer in the
qmaker 0:0d257bbf5c05 17 * documentation and/or other materials provided with the distribution.
qmaker 0:0d257bbf5c05 18 * - Neither the name of ARM nor the names of its contributors may be used
qmaker 0:0d257bbf5c05 19 * to endorse or promote products derived from this software without
qmaker 0:0d257bbf5c05 20 * specific prior written permission.
qmaker 0:0d257bbf5c05 21 *
qmaker 0:0d257bbf5c05 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
qmaker 0:0d257bbf5c05 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
qmaker 0:0d257bbf5c05 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
qmaker 0:0d257bbf5c05 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
qmaker 0:0d257bbf5c05 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
qmaker 0:0d257bbf5c05 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
qmaker 0:0d257bbf5c05 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
qmaker 0:0d257bbf5c05 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
qmaker 0:0d257bbf5c05 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
qmaker 0:0d257bbf5c05 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
qmaker 0:0d257bbf5c05 32 * POSSIBILITY OF SUCH DAMAGE.
qmaker 0:0d257bbf5c05 33 *---------------------------------------------------------------------------*/
qmaker 0:0d257bbf5c05 34
qmaker 0:0d257bbf5c05 35 #include "rt_TypeDef.h"
qmaker 0:0d257bbf5c05 36 #include "RTX_Conf.h"
qmaker 0:0d257bbf5c05 37 #include "rt_System.h"
qmaker 0:0d257bbf5c05 38 #include "rt_Task.h"
qmaker 0:0d257bbf5c05 39 #include "rt_List.h"
qmaker 0:0d257bbf5c05 40 #include "rt_MemBox.h"
qmaker 0:0d257bbf5c05 41 #include "rt_Robin.h"
qmaker 0:0d257bbf5c05 42 #include "rt_HAL_CM.h"
qmaker 0:0d257bbf5c05 43
qmaker 0:0d257bbf5c05 44 /*----------------------------------------------------------------------------
qmaker 0:0d257bbf5c05 45 * Global Variables
qmaker 0:0d257bbf5c05 46 *---------------------------------------------------------------------------*/
qmaker 0:0d257bbf5c05 47
qmaker 0:0d257bbf5c05 48 /* Running and next task info. */
qmaker 0:0d257bbf5c05 49 struct OS_TSK os_tsk;
qmaker 0:0d257bbf5c05 50
qmaker 0:0d257bbf5c05 51 /* Task Control Blocks of idle demon */
qmaker 0:0d257bbf5c05 52 struct OS_TCB os_idle_TCB;
qmaker 0:0d257bbf5c05 53
qmaker 0:0d257bbf5c05 54
qmaker 0:0d257bbf5c05 55 /*----------------------------------------------------------------------------
qmaker 0:0d257bbf5c05 56 * Local Functions
qmaker 0:0d257bbf5c05 57 *---------------------------------------------------------------------------*/
qmaker 0:0d257bbf5c05 58
qmaker 0:0d257bbf5c05 59 OS_TID rt_get_TID (void) {
qmaker 0:0d257bbf5c05 60 U32 tid;
qmaker 0:0d257bbf5c05 61
qmaker 0:0d257bbf5c05 62 for (tid = 1; tid <= os_maxtaskrun; tid++) {
qmaker 0:0d257bbf5c05 63 if (os_active_TCB[tid-1] == NULL) {
qmaker 0:0d257bbf5c05 64 return ((OS_TID)tid);
qmaker 0:0d257bbf5c05 65 }
qmaker 0:0d257bbf5c05 66 }
qmaker 0:0d257bbf5c05 67 return (0);
qmaker 0:0d257bbf5c05 68 }
qmaker 0:0d257bbf5c05 69
qmaker 0:0d257bbf5c05 70 #if defined (__CC_ARM) && !defined (__MICROLIB)
qmaker 0:0d257bbf5c05 71 /*--------------------------- __user_perthread_libspace ---------------------*/
qmaker 0:0d257bbf5c05 72 extern void *__libspace_start;
qmaker 0:0d257bbf5c05 73
qmaker 0:0d257bbf5c05 74 void *__user_perthread_libspace (void) {
qmaker 0:0d257bbf5c05 75 /* Provide a separate libspace for each task. */
qmaker 0:0d257bbf5c05 76 if (os_tsk.run == NULL) {
qmaker 0:0d257bbf5c05 77 /* RTX not running yet. */
qmaker 0:0d257bbf5c05 78 return (&__libspace_start);
qmaker 0:0d257bbf5c05 79 }
qmaker 0:0d257bbf5c05 80 return (void *)(os_tsk.run->std_libspace);
qmaker 0:0d257bbf5c05 81 }
qmaker 0:0d257bbf5c05 82 #endif
qmaker 0:0d257bbf5c05 83
qmaker 0:0d257bbf5c05 84 /*--------------------------- rt_init_context -------------------------------*/
qmaker 0:0d257bbf5c05 85
qmaker 0:0d257bbf5c05 86 void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
qmaker 0:0d257bbf5c05 87 /* Initialize general part of the Task Control Block. */
qmaker 0:0d257bbf5c05 88 p_TCB->cb_type = TCB;
qmaker 0:0d257bbf5c05 89 p_TCB->state = READY;
qmaker 0:0d257bbf5c05 90 p_TCB->prio = priority;
qmaker 0:0d257bbf5c05 91 p_TCB->p_lnk = NULL;
qmaker 0:0d257bbf5c05 92 p_TCB->p_rlnk = NULL;
qmaker 0:0d257bbf5c05 93 p_TCB->p_dlnk = NULL;
qmaker 0:0d257bbf5c05 94 p_TCB->p_blnk = NULL;
qmaker 0:0d257bbf5c05 95 p_TCB->delta_time = 0;
qmaker 0:0d257bbf5c05 96 p_TCB->interval_time = 0;
qmaker 0:0d257bbf5c05 97 p_TCB->events = 0;
qmaker 0:0d257bbf5c05 98 p_TCB->waits = 0;
qmaker 0:0d257bbf5c05 99 p_TCB->stack_frame = 0;
qmaker 0:0d257bbf5c05 100
qmaker 0:0d257bbf5c05 101 rt_init_stack (p_TCB, task_body);
qmaker 0:0d257bbf5c05 102 }
qmaker 0:0d257bbf5c05 103
qmaker 0:0d257bbf5c05 104
qmaker 0:0d257bbf5c05 105 /*--------------------------- rt_switch_req ---------------------------------*/
qmaker 0:0d257bbf5c05 106
qmaker 0:0d257bbf5c05 107 void rt_switch_req (P_TCB p_new) {
qmaker 0:0d257bbf5c05 108 /* Switch to next task (identified by "p_new"). */
qmaker 0:0d257bbf5c05 109 os_tsk.new_tsk = p_new;
qmaker 0:0d257bbf5c05 110 p_new->state = RUNNING;
qmaker 0:0d257bbf5c05 111 DBG_TASK_SWITCH(p_new->task_id);
qmaker 0:0d257bbf5c05 112 }
qmaker 0:0d257bbf5c05 113
qmaker 0:0d257bbf5c05 114
qmaker 0:0d257bbf5c05 115 /*--------------------------- rt_dispatch -----------------------------------*/
qmaker 0:0d257bbf5c05 116
qmaker 0:0d257bbf5c05 117 void rt_dispatch (P_TCB next_TCB) {
qmaker 0:0d257bbf5c05 118 /* Dispatch next task if any identified or dispatch highest ready task */
qmaker 0:0d257bbf5c05 119 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
qmaker 0:0d257bbf5c05 120 if (next_TCB == NULL) {
qmaker 0:0d257bbf5c05 121 /* Running task was blocked: continue with highest ready task */
qmaker 0:0d257bbf5c05 122 next_TCB = rt_get_first (&os_rdy);
qmaker 0:0d257bbf5c05 123 rt_switch_req (next_TCB);
qmaker 0:0d257bbf5c05 124 }
qmaker 0:0d257bbf5c05 125 else {
qmaker 0:0d257bbf5c05 126 /* Check which task continues */
qmaker 0:0d257bbf5c05 127 if (next_TCB->prio > os_tsk.run->prio) {
qmaker 0:0d257bbf5c05 128 /* preempt running task */
qmaker 0:0d257bbf5c05 129 rt_put_rdy_first (os_tsk.run);
qmaker 0:0d257bbf5c05 130 os_tsk.run->state = READY;
qmaker 0:0d257bbf5c05 131 rt_switch_req (next_TCB);
qmaker 0:0d257bbf5c05 132 }
qmaker 0:0d257bbf5c05 133 else {
qmaker 0:0d257bbf5c05 134 /* put next task into ready list, no task switch takes place */
qmaker 0:0d257bbf5c05 135 next_TCB->state = READY;
qmaker 0:0d257bbf5c05 136 rt_put_prio (&os_rdy, next_TCB);
qmaker 0:0d257bbf5c05 137 }
qmaker 0:0d257bbf5c05 138 }
qmaker 0:0d257bbf5c05 139 }
qmaker 0:0d257bbf5c05 140
qmaker 0:0d257bbf5c05 141
qmaker 0:0d257bbf5c05 142 /*--------------------------- rt_block --------------------------------------*/
qmaker 0:0d257bbf5c05 143
qmaker 0:0d257bbf5c05 144 void rt_block (U16 timeout, U8 block_state) {
qmaker 0:0d257bbf5c05 145 /* Block running task and choose next ready task. */
qmaker 0:0d257bbf5c05 146 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
qmaker 0:0d257bbf5c05 147 /* "block_state" defines the appropriate task state */
qmaker 0:0d257bbf5c05 148 P_TCB next_TCB;
qmaker 0:0d257bbf5c05 149
qmaker 0:0d257bbf5c05 150 if (timeout) {
qmaker 0:0d257bbf5c05 151 if (timeout < 0xffff) {
qmaker 0:0d257bbf5c05 152 rt_put_dly (os_tsk.run, timeout);
qmaker 0:0d257bbf5c05 153 }
qmaker 0:0d257bbf5c05 154 os_tsk.run->state = block_state;
qmaker 0:0d257bbf5c05 155 next_TCB = rt_get_first (&os_rdy);
qmaker 0:0d257bbf5c05 156 rt_switch_req (next_TCB);
qmaker 0:0d257bbf5c05 157 }
qmaker 0:0d257bbf5c05 158 }
qmaker 0:0d257bbf5c05 159
qmaker 0:0d257bbf5c05 160
qmaker 0:0d257bbf5c05 161 /*--------------------------- rt_tsk_pass -----------------------------------*/
qmaker 0:0d257bbf5c05 162
qmaker 0:0d257bbf5c05 163 void rt_tsk_pass (void) {
qmaker 0:0d257bbf5c05 164 /* Allow tasks of same priority level to run cooperatively.*/
qmaker 0:0d257bbf5c05 165 P_TCB p_new;
qmaker 0:0d257bbf5c05 166
qmaker 0:0d257bbf5c05 167 p_new = rt_get_same_rdy_prio();
qmaker 0:0d257bbf5c05 168 if (p_new != NULL) {
qmaker 0:0d257bbf5c05 169 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
qmaker 0:0d257bbf5c05 170 os_tsk.run->state = READY;
qmaker 0:0d257bbf5c05 171 rt_switch_req (p_new);
qmaker 0:0d257bbf5c05 172 }
qmaker 0:0d257bbf5c05 173 }
qmaker 0:0d257bbf5c05 174
qmaker 0:0d257bbf5c05 175
qmaker 0:0d257bbf5c05 176 /*--------------------------- rt_tsk_self -----------------------------------*/
qmaker 0:0d257bbf5c05 177
qmaker 0:0d257bbf5c05 178 OS_TID rt_tsk_self (void) {
qmaker 0:0d257bbf5c05 179 /* Return own task identifier value. */
qmaker 0:0d257bbf5c05 180 if (os_tsk.run == NULL) {
qmaker 0:0d257bbf5c05 181 return (0);
qmaker 0:0d257bbf5c05 182 }
qmaker 0:0d257bbf5c05 183 return (os_tsk.run->task_id);
qmaker 0:0d257bbf5c05 184 }
qmaker 0:0d257bbf5c05 185
qmaker 0:0d257bbf5c05 186
qmaker 0:0d257bbf5c05 187 /*--------------------------- rt_tsk_prio -----------------------------------*/
qmaker 0:0d257bbf5c05 188
qmaker 0:0d257bbf5c05 189 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
qmaker 0:0d257bbf5c05 190 /* Change execution priority of a task to "new_prio". */
qmaker 0:0d257bbf5c05 191 P_TCB p_task;
qmaker 0:0d257bbf5c05 192
qmaker 0:0d257bbf5c05 193 if (task_id == 0) {
qmaker 0:0d257bbf5c05 194 /* Change execution priority of calling task. */
qmaker 0:0d257bbf5c05 195 os_tsk.run->prio = new_prio;
qmaker 0:0d257bbf5c05 196 run:if (rt_rdy_prio() > new_prio) {
qmaker 0:0d257bbf5c05 197 rt_put_prio (&os_rdy, os_tsk.run);
qmaker 0:0d257bbf5c05 198 os_tsk.run->state = READY;
qmaker 0:0d257bbf5c05 199 rt_dispatch (NULL);
qmaker 0:0d257bbf5c05 200 }
qmaker 0:0d257bbf5c05 201 return (OS_R_OK);
qmaker 0:0d257bbf5c05 202 }
qmaker 0:0d257bbf5c05 203
qmaker 0:0d257bbf5c05 204 /* Find the task in the "os_active_TCB" array. */
qmaker 0:0d257bbf5c05 205 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
qmaker 0:0d257bbf5c05 206 /* Task with "task_id" not found or not started. */
qmaker 0:0d257bbf5c05 207 return (OS_R_NOK);
qmaker 0:0d257bbf5c05 208 }
qmaker 0:0d257bbf5c05 209 p_task = os_active_TCB[task_id-1];
qmaker 0:0d257bbf5c05 210 p_task->prio = new_prio;
qmaker 0:0d257bbf5c05 211 if (p_task == os_tsk.run) {
qmaker 0:0d257bbf5c05 212 goto run;
qmaker 0:0d257bbf5c05 213 }
qmaker 0:0d257bbf5c05 214 rt_resort_prio (p_task);
qmaker 0:0d257bbf5c05 215 if (p_task->state == READY) {
qmaker 0:0d257bbf5c05 216 /* Task enqueued in a ready list. */
qmaker 0:0d257bbf5c05 217 p_task = rt_get_first (&os_rdy);
qmaker 0:0d257bbf5c05 218 rt_dispatch (p_task);
qmaker 0:0d257bbf5c05 219 }
qmaker 0:0d257bbf5c05 220 return (OS_R_OK);
qmaker 0:0d257bbf5c05 221 }
qmaker 0:0d257bbf5c05 222
qmaker 0:0d257bbf5c05 223 /*--------------------------- rt_tsk_delete ---------------------------------*/
qmaker 0:0d257bbf5c05 224
qmaker 0:0d257bbf5c05 225 OS_RESULT rt_tsk_delete (OS_TID task_id) {
qmaker 0:0d257bbf5c05 226 /* Terminate the task identified with "task_id". */
qmaker 0:0d257bbf5c05 227 P_TCB task_context;
qmaker 0:0d257bbf5c05 228
qmaker 0:0d257bbf5c05 229 if (task_id == 0 || task_id == os_tsk.run->task_id) {
qmaker 0:0d257bbf5c05 230 /* Terminate itself. */
qmaker 0:0d257bbf5c05 231 os_tsk.run->state = INACTIVE;
qmaker 0:0d257bbf5c05 232 os_tsk.run->tsk_stack = 0;
qmaker 0:0d257bbf5c05 233 rt_stk_check ();
qmaker 0:0d257bbf5c05 234 os_active_TCB[os_tsk.run->task_id-1] = NULL;
qmaker 0:0d257bbf5c05 235
qmaker 0:0d257bbf5c05 236 os_tsk.run->stack = NULL;
qmaker 0:0d257bbf5c05 237 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
qmaker 0:0d257bbf5c05 238 os_tsk.run = NULL;
qmaker 0:0d257bbf5c05 239 rt_dispatch (NULL);
qmaker 0:0d257bbf5c05 240 /* The program should never come to this point. */
qmaker 0:0d257bbf5c05 241 }
qmaker 0:0d257bbf5c05 242 else {
qmaker 0:0d257bbf5c05 243 /* Find the task in the "os_active_TCB" array. */
qmaker 0:0d257bbf5c05 244 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
qmaker 0:0d257bbf5c05 245 /* Task with "task_id" not found or not started. */
qmaker 0:0d257bbf5c05 246 return (OS_R_NOK);
qmaker 0:0d257bbf5c05 247 }
qmaker 0:0d257bbf5c05 248 task_context = os_active_TCB[task_id-1];
qmaker 0:0d257bbf5c05 249 rt_rmv_list (task_context);
qmaker 0:0d257bbf5c05 250 rt_rmv_dly (task_context);
qmaker 0:0d257bbf5c05 251 os_active_TCB[task_id-1] = NULL;
qmaker 0:0d257bbf5c05 252
qmaker 0:0d257bbf5c05 253 task_context->stack = NULL;
qmaker 0:0d257bbf5c05 254 DBG_TASK_NOTIFY(task_context, __FALSE);
qmaker 0:0d257bbf5c05 255 }
qmaker 0:0d257bbf5c05 256 return (OS_R_OK);
qmaker 0:0d257bbf5c05 257 }
qmaker 0:0d257bbf5c05 258
qmaker 0:0d257bbf5c05 259
qmaker 0:0d257bbf5c05 260 /*--------------------------- rt_sys_init -----------------------------------*/
qmaker 0:0d257bbf5c05 261
qmaker 0:0d257bbf5c05 262 #ifdef __CMSIS_RTOS
qmaker 0:0d257bbf5c05 263 void rt_sys_init (void) {
qmaker 0:0d257bbf5c05 264 #else
qmaker 0:0d257bbf5c05 265 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
qmaker 0:0d257bbf5c05 266 #endif
qmaker 0:0d257bbf5c05 267 /* Initialize system and start up task declared with "first_task". */
qmaker 0:0d257bbf5c05 268 U32 i;
qmaker 0:0d257bbf5c05 269
qmaker 0:0d257bbf5c05 270 DBG_INIT();
qmaker 0:0d257bbf5c05 271
qmaker 0:0d257bbf5c05 272 /* Initialize dynamic memory and task TCB pointers to NULL. */
qmaker 0:0d257bbf5c05 273 for (i = 0; i < os_maxtaskrun; i++) {
qmaker 0:0d257bbf5c05 274 os_active_TCB[i] = NULL;
qmaker 0:0d257bbf5c05 275 }
qmaker 0:0d257bbf5c05 276
qmaker 0:0d257bbf5c05 277 /* Set up TCB of idle demon */
qmaker 0:0d257bbf5c05 278 os_idle_TCB.task_id = 255;
qmaker 0:0d257bbf5c05 279 os_idle_TCB.priv_stack = idle_task_stack_size;
qmaker 0:0d257bbf5c05 280 os_idle_TCB.stack = idle_task_stack;
qmaker 0:0d257bbf5c05 281 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
qmaker 0:0d257bbf5c05 282
qmaker 0:0d257bbf5c05 283 /* Set up ready list: initially empty */
qmaker 0:0d257bbf5c05 284 os_rdy.cb_type = HCB;
qmaker 0:0d257bbf5c05 285 os_rdy.p_lnk = NULL;
qmaker 0:0d257bbf5c05 286 /* Set up delay list: initially empty */
qmaker 0:0d257bbf5c05 287 os_dly.cb_type = HCB;
qmaker 0:0d257bbf5c05 288 os_dly.p_dlnk = NULL;
qmaker 0:0d257bbf5c05 289 os_dly.p_blnk = NULL;
qmaker 0:0d257bbf5c05 290 os_dly.delta_time = 0;
qmaker 0:0d257bbf5c05 291
qmaker 0:0d257bbf5c05 292 /* Fix SP and systemvariables to assume idle task is running */
qmaker 0:0d257bbf5c05 293 /* Transform main program into idle task by assuming idle TCB */
qmaker 0:0d257bbf5c05 294 #ifndef __CMSIS_RTOS
qmaker 0:0d257bbf5c05 295 rt_set_PSP (os_idle_TCB.tsk_stack);
qmaker 0:0d257bbf5c05 296 #endif
qmaker 0:0d257bbf5c05 297 os_tsk.run = &os_idle_TCB;
qmaker 0:0d257bbf5c05 298 os_tsk.run->state = RUNNING;
qmaker 0:0d257bbf5c05 299
qmaker 0:0d257bbf5c05 300 /* Initialize ps queue */
qmaker 0:0d257bbf5c05 301 os_psq->first = 0;
qmaker 0:0d257bbf5c05 302 os_psq->last = 0;
qmaker 0:0d257bbf5c05 303 os_psq->size = os_fifo_size;
qmaker 0:0d257bbf5c05 304
qmaker 0:0d257bbf5c05 305 rt_init_robin ();
qmaker 0:0d257bbf5c05 306
qmaker 0:0d257bbf5c05 307 /* Intitialize SVC and PendSV */
qmaker 0:0d257bbf5c05 308 rt_svc_init ();
qmaker 0:0d257bbf5c05 309
qmaker 0:0d257bbf5c05 310 #ifndef __CMSIS_RTOS
qmaker 0:0d257bbf5c05 311 /* Intitialize and start system clock timer */
qmaker 0:0d257bbf5c05 312 os_tick_irqn = os_tick_init ();
qmaker 0:0d257bbf5c05 313 if (os_tick_irqn >= 0) {
qmaker 0:0d257bbf5c05 314 OS_X_INIT(os_tick_irqn);
qmaker 0:0d257bbf5c05 315 }
qmaker 0:0d257bbf5c05 316
qmaker 0:0d257bbf5c05 317 /* Start up first user task before entering the endless loop */
qmaker 0:0d257bbf5c05 318 rt_tsk_create (first_task, prio_stksz, stk, NULL);
qmaker 0:0d257bbf5c05 319 #endif
qmaker 0:0d257bbf5c05 320 }
qmaker 0:0d257bbf5c05 321
qmaker 0:0d257bbf5c05 322
qmaker 0:0d257bbf5c05 323 /*--------------------------- rt_sys_start ----------------------------------*/
qmaker 0:0d257bbf5c05 324
qmaker 0:0d257bbf5c05 325 #ifdef __CMSIS_RTOS
qmaker 0:0d257bbf5c05 326 void rt_sys_start (void) {
qmaker 0:0d257bbf5c05 327 /* Start system */
qmaker 0:0d257bbf5c05 328
qmaker 0:0d257bbf5c05 329 /* Intitialize and start system clock timer */
qmaker 0:0d257bbf5c05 330 os_tick_irqn = os_tick_init ();
qmaker 0:0d257bbf5c05 331 if (os_tick_irqn >= 0) {
qmaker 0:0d257bbf5c05 332 OS_X_INIT(os_tick_irqn);
qmaker 0:0d257bbf5c05 333 }
qmaker 0:0d257bbf5c05 334 extern void RestoreContext();
qmaker 0:0d257bbf5c05 335 RestoreContext(); // Start the first task
qmaker 0:0d257bbf5c05 336 }
qmaker 0:0d257bbf5c05 337 #endif
qmaker 0:0d257bbf5c05 338
qmaker 0:0d257bbf5c05 339 /*----------------------------------------------------------------------------
qmaker 0:0d257bbf5c05 340 * end of file
qmaker 0:0d257bbf5c05 341 *---------------------------------------------------------------------------*/