Freeman Oldman / NUCLEO_STM32F401RE_CC3000_ILI9341

The code from https://github.com/vpcola/Nucleo

mbed-rtos/rtx/rt_Task.c@0:5464d5e415e5, 2014-10-08 (annotated)

Committer:
sinrab
Date:
Wed Oct 08 11:00:24 2014 +0000
Revision:
0:5464d5e415e5
The code from https://github.com/vpcola/Nucleo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sinrab 0:5464d5e415e5 1 /*----------------------------------------------------------------------------
sinrab 0:5464d5e415e5 2 * RL-ARM - RTX
sinrab 0:5464d5e415e5 3 *----------------------------------------------------------------------------
sinrab 0:5464d5e415e5 4 * Name: RT_TASK.C
sinrab 0:5464d5e415e5 5 * Purpose: Task functions and system start up.
sinrab 0:5464d5e415e5 6 * Rev.: V4.60
sinrab 0:5464d5e415e5 7 *----------------------------------------------------------------------------
sinrab 0:5464d5e415e5 8 *
sinrab 0:5464d5e415e5 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
sinrab 0:5464d5e415e5 10 * All rights reserved.
sinrab 0:5464d5e415e5 11 * Redistribution and use in source and binary forms, with or without
sinrab 0:5464d5e415e5 12 * modification, are permitted provided that the following conditions are met:
sinrab 0:5464d5e415e5 13 * - Redistributions of source code must retain the above copyright
sinrab 0:5464d5e415e5 14 * notice, this list of conditions and the following disclaimer.
sinrab 0:5464d5e415e5 15 * - Redistributions in binary form must reproduce the above copyright
sinrab 0:5464d5e415e5 16 * notice, this list of conditions and the following disclaimer in the
sinrab 0:5464d5e415e5 17 * documentation and/or other materials provided with the distribution.
sinrab 0:5464d5e415e5 18 * - Neither the name of ARM nor the names of its contributors may be used
sinrab 0:5464d5e415e5 19 * to endorse or promote products derived from this software without
sinrab 0:5464d5e415e5 20 * specific prior written permission.
sinrab 0:5464d5e415e5 21 *
sinrab 0:5464d5e415e5 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
sinrab 0:5464d5e415e5 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
sinrab 0:5464d5e415e5 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
sinrab 0:5464d5e415e5 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
sinrab 0:5464d5e415e5 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
sinrab 0:5464d5e415e5 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
sinrab 0:5464d5e415e5 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
sinrab 0:5464d5e415e5 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
sinrab 0:5464d5e415e5 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
sinrab 0:5464d5e415e5 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
sinrab 0:5464d5e415e5 32 * POSSIBILITY OF SUCH DAMAGE.
sinrab 0:5464d5e415e5 33 *---------------------------------------------------------------------------*/
sinrab 0:5464d5e415e5 34
sinrab 0:5464d5e415e5 35 #include "rt_TypeDef.h"
sinrab 0:5464d5e415e5 36 #include "RTX_Conf.h"
sinrab 0:5464d5e415e5 37 #include "rt_System.h"
sinrab 0:5464d5e415e5 38 #include "rt_Task.h"
sinrab 0:5464d5e415e5 39 #include "rt_List.h"
sinrab 0:5464d5e415e5 40 #include "rt_MemBox.h"
sinrab 0:5464d5e415e5 41 #include "rt_Robin.h"
sinrab 0:5464d5e415e5 42 #include "rt_HAL_CM.h"
sinrab 0:5464d5e415e5 43
sinrab 0:5464d5e415e5 44 /*----------------------------------------------------------------------------
sinrab 0:5464d5e415e5 45 * Global Variables
sinrab 0:5464d5e415e5 46 *---------------------------------------------------------------------------*/
sinrab 0:5464d5e415e5 47
sinrab 0:5464d5e415e5 48 /* Running and next task info. */
sinrab 0:5464d5e415e5 49 struct OS_TSK os_tsk;
sinrab 0:5464d5e415e5 50
sinrab 0:5464d5e415e5 51 /* Task Control Blocks of idle demon */
sinrab 0:5464d5e415e5 52 struct OS_TCB os_idle_TCB;
sinrab 0:5464d5e415e5 53
sinrab 0:5464d5e415e5 54
sinrab 0:5464d5e415e5 55 /*----------------------------------------------------------------------------
sinrab 0:5464d5e415e5 56 * Local Functions
sinrab 0:5464d5e415e5 57 *---------------------------------------------------------------------------*/
sinrab 0:5464d5e415e5 58
sinrab 0:5464d5e415e5 59 OS_TID rt_get_TID (void) {
sinrab 0:5464d5e415e5 60 U32 tid;
sinrab 0:5464d5e415e5 61
sinrab 0:5464d5e415e5 62 for (tid = 1; tid <= os_maxtaskrun; tid++) {
sinrab 0:5464d5e415e5 63 if (os_active_TCB[tid-1] == NULL) {
sinrab 0:5464d5e415e5 64 return ((OS_TID)tid);
sinrab 0:5464d5e415e5 65 }
sinrab 0:5464d5e415e5 66 }
sinrab 0:5464d5e415e5 67 return (0);
sinrab 0:5464d5e415e5 68 }
sinrab 0:5464d5e415e5 69
sinrab 0:5464d5e415e5 70 #if defined (__CC_ARM) && !defined (__MICROLIB)
sinrab 0:5464d5e415e5 71 /*--------------------------- __user_perthread_libspace ---------------------*/
sinrab 0:5464d5e415e5 72 extern void *__libspace_start;
sinrab 0:5464d5e415e5 73
sinrab 0:5464d5e415e5 74 void *__user_perthread_libspace (void) {
sinrab 0:5464d5e415e5 75 /* Provide a separate libspace for each task. */
sinrab 0:5464d5e415e5 76 if (os_tsk.run == NULL) {
sinrab 0:5464d5e415e5 77 /* RTX not running yet. */
sinrab 0:5464d5e415e5 78 return (&__libspace_start);
sinrab 0:5464d5e415e5 79 }
sinrab 0:5464d5e415e5 80 return (void *)(os_tsk.run->std_libspace);
sinrab 0:5464d5e415e5 81 }
sinrab 0:5464d5e415e5 82 #endif
sinrab 0:5464d5e415e5 83
sinrab 0:5464d5e415e5 84 /*--------------------------- rt_init_context -------------------------------*/
sinrab 0:5464d5e415e5 85
sinrab 0:5464d5e415e5 86 void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
sinrab 0:5464d5e415e5 87 /* Initialize general part of the Task Control Block. */
sinrab 0:5464d5e415e5 88 p_TCB->cb_type = TCB;
sinrab 0:5464d5e415e5 89 p_TCB->state = READY;
sinrab 0:5464d5e415e5 90 p_TCB->prio = priority;
sinrab 0:5464d5e415e5 91 p_TCB->p_lnk = NULL;
sinrab 0:5464d5e415e5 92 p_TCB->p_rlnk = NULL;
sinrab 0:5464d5e415e5 93 p_TCB->p_dlnk = NULL;
sinrab 0:5464d5e415e5 94 p_TCB->p_blnk = NULL;
sinrab 0:5464d5e415e5 95 p_TCB->delta_time = 0;
sinrab 0:5464d5e415e5 96 p_TCB->interval_time = 0;
sinrab 0:5464d5e415e5 97 p_TCB->events = 0;
sinrab 0:5464d5e415e5 98 p_TCB->waits = 0;
sinrab 0:5464d5e415e5 99 p_TCB->stack_frame = 0;
sinrab 0:5464d5e415e5 100
sinrab 0:5464d5e415e5 101 rt_init_stack (p_TCB, task_body);
sinrab 0:5464d5e415e5 102 }
sinrab 0:5464d5e415e5 103
sinrab 0:5464d5e415e5 104
sinrab 0:5464d5e415e5 105 /*--------------------------- rt_switch_req ---------------------------------*/
sinrab 0:5464d5e415e5 106
sinrab 0:5464d5e415e5 107 void rt_switch_req (P_TCB p_new) {
sinrab 0:5464d5e415e5 108 /* Switch to next task (identified by "p_new"). */
sinrab 0:5464d5e415e5 109 os_tsk.new_tsk = p_new;
sinrab 0:5464d5e415e5 110 p_new->state = RUNNING;
sinrab 0:5464d5e415e5 111 DBG_TASK_SWITCH(p_new->task_id);
sinrab 0:5464d5e415e5 112 }
sinrab 0:5464d5e415e5 113
sinrab 0:5464d5e415e5 114
sinrab 0:5464d5e415e5 115 /*--------------------------- rt_dispatch -----------------------------------*/
sinrab 0:5464d5e415e5 116
sinrab 0:5464d5e415e5 117 void rt_dispatch (P_TCB next_TCB) {
sinrab 0:5464d5e415e5 118 /* Dispatch next task if any identified or dispatch highest ready task */
sinrab 0:5464d5e415e5 119 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
sinrab 0:5464d5e415e5 120 if (next_TCB == NULL) {
sinrab 0:5464d5e415e5 121 /* Running task was blocked: continue with highest ready task */
sinrab 0:5464d5e415e5 122 next_TCB = rt_get_first (&os_rdy);
sinrab 0:5464d5e415e5 123 rt_switch_req (next_TCB);
sinrab 0:5464d5e415e5 124 }
sinrab 0:5464d5e415e5 125 else {
sinrab 0:5464d5e415e5 126 /* Check which task continues */
sinrab 0:5464d5e415e5 127 if (next_TCB->prio > os_tsk.run->prio) {
sinrab 0:5464d5e415e5 128 /* preempt running task */
sinrab 0:5464d5e415e5 129 rt_put_rdy_first (os_tsk.run);
sinrab 0:5464d5e415e5 130 os_tsk.run->state = READY;
sinrab 0:5464d5e415e5 131 rt_switch_req (next_TCB);
sinrab 0:5464d5e415e5 132 }
sinrab 0:5464d5e415e5 133 else {
sinrab 0:5464d5e415e5 134 /* put next task into ready list, no task switch takes place */
sinrab 0:5464d5e415e5 135 next_TCB->state = READY;
sinrab 0:5464d5e415e5 136 rt_put_prio (&os_rdy, next_TCB);
sinrab 0:5464d5e415e5 137 }
sinrab 0:5464d5e415e5 138 }
sinrab 0:5464d5e415e5 139 }
sinrab 0:5464d5e415e5 140
sinrab 0:5464d5e415e5 141
sinrab 0:5464d5e415e5 142 /*--------------------------- rt_block --------------------------------------*/
sinrab 0:5464d5e415e5 143
sinrab 0:5464d5e415e5 144 void rt_block (U16 timeout, U8 block_state) {
sinrab 0:5464d5e415e5 145 /* Block running task and choose next ready task. */
sinrab 0:5464d5e415e5 146 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
sinrab 0:5464d5e415e5 147 /* "block_state" defines the appropriate task state */
sinrab 0:5464d5e415e5 148 P_TCB next_TCB;
sinrab 0:5464d5e415e5 149
sinrab 0:5464d5e415e5 150 if (timeout) {
sinrab 0:5464d5e415e5 151 if (timeout < 0xffff) {
sinrab 0:5464d5e415e5 152 rt_put_dly (os_tsk.run, timeout);
sinrab 0:5464d5e415e5 153 }
sinrab 0:5464d5e415e5 154 os_tsk.run->state = block_state;
sinrab 0:5464d5e415e5 155 next_TCB = rt_get_first (&os_rdy);
sinrab 0:5464d5e415e5 156 rt_switch_req (next_TCB);
sinrab 0:5464d5e415e5 157 }
sinrab 0:5464d5e415e5 158 }
sinrab 0:5464d5e415e5 159
sinrab 0:5464d5e415e5 160
sinrab 0:5464d5e415e5 161 /*--------------------------- rt_tsk_pass -----------------------------------*/
sinrab 0:5464d5e415e5 162
sinrab 0:5464d5e415e5 163 void rt_tsk_pass (void) {
sinrab 0:5464d5e415e5 164 /* Allow tasks of same priority level to run cooperatively.*/
sinrab 0:5464d5e415e5 165 P_TCB p_new;
sinrab 0:5464d5e415e5 166
sinrab 0:5464d5e415e5 167 p_new = rt_get_same_rdy_prio();
sinrab 0:5464d5e415e5 168 if (p_new != NULL) {
sinrab 0:5464d5e415e5 169 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
sinrab 0:5464d5e415e5 170 os_tsk.run->state = READY;
sinrab 0:5464d5e415e5 171 rt_switch_req (p_new);
sinrab 0:5464d5e415e5 172 }
sinrab 0:5464d5e415e5 173 }
sinrab 0:5464d5e415e5 174
sinrab 0:5464d5e415e5 175
sinrab 0:5464d5e415e5 176 /*--------------------------- rt_tsk_self -----------------------------------*/
sinrab 0:5464d5e415e5 177
sinrab 0:5464d5e415e5 178 OS_TID rt_tsk_self (void) {
sinrab 0:5464d5e415e5 179 /* Return own task identifier value. */
sinrab 0:5464d5e415e5 180 if (os_tsk.run == NULL) {
sinrab 0:5464d5e415e5 181 return (0);
sinrab 0:5464d5e415e5 182 }
sinrab 0:5464d5e415e5 183 return (os_tsk.run->task_id);
sinrab 0:5464d5e415e5 184 }
sinrab 0:5464d5e415e5 185
sinrab 0:5464d5e415e5 186
sinrab 0:5464d5e415e5 187 /*--------------------------- rt_tsk_prio -----------------------------------*/
sinrab 0:5464d5e415e5 188
sinrab 0:5464d5e415e5 189 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
sinrab 0:5464d5e415e5 190 /* Change execution priority of a task to "new_prio". */
sinrab 0:5464d5e415e5 191 P_TCB p_task;
sinrab 0:5464d5e415e5 192
sinrab 0:5464d5e415e5 193 if (task_id == 0) {
sinrab 0:5464d5e415e5 194 /* Change execution priority of calling task. */
sinrab 0:5464d5e415e5 195 os_tsk.run->prio = new_prio;
sinrab 0:5464d5e415e5 196 run:if (rt_rdy_prio() > new_prio) {
sinrab 0:5464d5e415e5 197 rt_put_prio (&os_rdy, os_tsk.run);
sinrab 0:5464d5e415e5 198 os_tsk.run->state = READY;
sinrab 0:5464d5e415e5 199 rt_dispatch (NULL);
sinrab 0:5464d5e415e5 200 }
sinrab 0:5464d5e415e5 201 return (OS_R_OK);
sinrab 0:5464d5e415e5 202 }
sinrab 0:5464d5e415e5 203
sinrab 0:5464d5e415e5 204 /* Find the task in the "os_active_TCB" array. */
sinrab 0:5464d5e415e5 205 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
sinrab 0:5464d5e415e5 206 /* Task with "task_id" not found or not started. */
sinrab 0:5464d5e415e5 207 return (OS_R_NOK);
sinrab 0:5464d5e415e5 208 }
sinrab 0:5464d5e415e5 209 p_task = os_active_TCB[task_id-1];
sinrab 0:5464d5e415e5 210 p_task->prio = new_prio;
sinrab 0:5464d5e415e5 211 if (p_task == os_tsk.run) {
sinrab 0:5464d5e415e5 212 goto run;
sinrab 0:5464d5e415e5 213 }
sinrab 0:5464d5e415e5 214 rt_resort_prio (p_task);
sinrab 0:5464d5e415e5 215 if (p_task->state == READY) {
sinrab 0:5464d5e415e5 216 /* Task enqueued in a ready list. */
sinrab 0:5464d5e415e5 217 p_task = rt_get_first (&os_rdy);
sinrab 0:5464d5e415e5 218 rt_dispatch (p_task);
sinrab 0:5464d5e415e5 219 }
sinrab 0:5464d5e415e5 220 return (OS_R_OK);
sinrab 0:5464d5e415e5 221 }
sinrab 0:5464d5e415e5 222
sinrab 0:5464d5e415e5 223 /*--------------------------- rt_tsk_delete ---------------------------------*/
sinrab 0:5464d5e415e5 224
sinrab 0:5464d5e415e5 225 OS_RESULT rt_tsk_delete (OS_TID task_id) {
sinrab 0:5464d5e415e5 226 /* Terminate the task identified with "task_id". */
sinrab 0:5464d5e415e5 227 P_TCB task_context;
sinrab 0:5464d5e415e5 228
sinrab 0:5464d5e415e5 229 if (task_id == 0 || task_id == os_tsk.run->task_id) {
sinrab 0:5464d5e415e5 230 /* Terminate itself. */
sinrab 0:5464d5e415e5 231 os_tsk.run->state = INACTIVE;
sinrab 0:5464d5e415e5 232 os_tsk.run->tsk_stack = rt_get_PSP ();
sinrab 0:5464d5e415e5 233 rt_stk_check ();
sinrab 0:5464d5e415e5 234 os_active_TCB[os_tsk.run->task_id-1] = NULL;
sinrab 0:5464d5e415e5 235
sinrab 0:5464d5e415e5 236 os_tsk.run->stack = NULL;
sinrab 0:5464d5e415e5 237 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
sinrab 0:5464d5e415e5 238 os_tsk.run = NULL;
sinrab 0:5464d5e415e5 239 rt_dispatch (NULL);
sinrab 0:5464d5e415e5 240 /* The program should never come to this point. */
sinrab 0:5464d5e415e5 241 }
sinrab 0:5464d5e415e5 242 else {
sinrab 0:5464d5e415e5 243 /* Find the task in the "os_active_TCB" array. */
sinrab 0:5464d5e415e5 244 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
sinrab 0:5464d5e415e5 245 /* Task with "task_id" not found or not started. */
sinrab 0:5464d5e415e5 246 return (OS_R_NOK);
sinrab 0:5464d5e415e5 247 }
sinrab 0:5464d5e415e5 248 task_context = os_active_TCB[task_id-1];
sinrab 0:5464d5e415e5 249 rt_rmv_list (task_context);
sinrab 0:5464d5e415e5 250 rt_rmv_dly (task_context);
sinrab 0:5464d5e415e5 251 os_active_TCB[task_id-1] = NULL;
sinrab 0:5464d5e415e5 252
sinrab 0:5464d5e415e5 253 task_context->stack = NULL;
sinrab 0:5464d5e415e5 254 DBG_TASK_NOTIFY(task_context, __FALSE);
sinrab 0:5464d5e415e5 255 }
sinrab 0:5464d5e415e5 256 return (OS_R_OK);
sinrab 0:5464d5e415e5 257 }
sinrab 0:5464d5e415e5 258
sinrab 0:5464d5e415e5 259
sinrab 0:5464d5e415e5 260 /*--------------------------- rt_sys_init -----------------------------------*/
sinrab 0:5464d5e415e5 261
sinrab 0:5464d5e415e5 262 #ifdef __CMSIS_RTOS
sinrab 0:5464d5e415e5 263 void rt_sys_init (void) {
sinrab 0:5464d5e415e5 264 #else
sinrab 0:5464d5e415e5 265 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
sinrab 0:5464d5e415e5 266 #endif
sinrab 0:5464d5e415e5 267 /* Initialize system and start up task declared with "first_task". */
sinrab 0:5464d5e415e5 268 U32 i;
sinrab 0:5464d5e415e5 269
sinrab 0:5464d5e415e5 270 DBG_INIT();
sinrab 0:5464d5e415e5 271
sinrab 0:5464d5e415e5 272 /* Initialize dynamic memory and task TCB pointers to NULL. */
sinrab 0:5464d5e415e5 273 for (i = 0; i < os_maxtaskrun; i++) {
sinrab 0:5464d5e415e5 274 os_active_TCB[i] = NULL;
sinrab 0:5464d5e415e5 275 }
sinrab 0:5464d5e415e5 276
sinrab 0:5464d5e415e5 277 /* Set up TCB of idle demon */
sinrab 0:5464d5e415e5 278 os_idle_TCB.task_id = 255;
sinrab 0:5464d5e415e5 279 os_idle_TCB.priv_stack = idle_task_stack_size;
sinrab 0:5464d5e415e5 280 os_idle_TCB.stack = idle_task_stack;
sinrab 0:5464d5e415e5 281 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
sinrab 0:5464d5e415e5 282
sinrab 0:5464d5e415e5 283 /* Set up ready list: initially empty */
sinrab 0:5464d5e415e5 284 os_rdy.cb_type = HCB;
sinrab 0:5464d5e415e5 285 os_rdy.p_lnk = NULL;
sinrab 0:5464d5e415e5 286 /* Set up delay list: initially empty */
sinrab 0:5464d5e415e5 287 os_dly.cb_type = HCB;
sinrab 0:5464d5e415e5 288 os_dly.p_dlnk = NULL;
sinrab 0:5464d5e415e5 289 os_dly.p_blnk = NULL;
sinrab 0:5464d5e415e5 290 os_dly.delta_time = 0;
sinrab 0:5464d5e415e5 291
sinrab 0:5464d5e415e5 292 /* Fix SP and systemvariables to assume idle task is running */
sinrab 0:5464d5e415e5 293 /* Transform main program into idle task by assuming idle TCB */
sinrab 0:5464d5e415e5 294 #ifndef __CMSIS_RTOS
sinrab 0:5464d5e415e5 295 rt_set_PSP (os_idle_TCB.tsk_stack+32);
sinrab 0:5464d5e415e5 296 #endif
sinrab 0:5464d5e415e5 297 os_tsk.run = &os_idle_TCB;
sinrab 0:5464d5e415e5 298 os_tsk.run->state = RUNNING;
sinrab 0:5464d5e415e5 299
sinrab 0:5464d5e415e5 300 /* Initialize ps queue */
sinrab 0:5464d5e415e5 301 os_psq->first = 0;
sinrab 0:5464d5e415e5 302 os_psq->last = 0;
sinrab 0:5464d5e415e5 303 os_psq->size = os_fifo_size;
sinrab 0:5464d5e415e5 304
sinrab 0:5464d5e415e5 305 rt_init_robin ();
sinrab 0:5464d5e415e5 306
sinrab 0:5464d5e415e5 307 /* Intitialize SVC and PendSV */
sinrab 0:5464d5e415e5 308 rt_svc_init ();
sinrab 0:5464d5e415e5 309
sinrab 0:5464d5e415e5 310 #ifndef __CMSIS_RTOS
sinrab 0:5464d5e415e5 311 /* Intitialize and start system clock timer */
sinrab 0:5464d5e415e5 312 os_tick_irqn = os_tick_init ();
sinrab 0:5464d5e415e5 313 if (os_tick_irqn >= 0) {
sinrab 0:5464d5e415e5 314 OS_X_INIT(os_tick_irqn);
sinrab 0:5464d5e415e5 315 }
sinrab 0:5464d5e415e5 316
sinrab 0:5464d5e415e5 317 /* Start up first user task before entering the endless loop */
sinrab 0:5464d5e415e5 318 rt_tsk_create (first_task, prio_stksz, stk, NULL);
sinrab 0:5464d5e415e5 319 #endif
sinrab 0:5464d5e415e5 320 }
sinrab 0:5464d5e415e5 321
sinrab 0:5464d5e415e5 322
sinrab 0:5464d5e415e5 323 /*--------------------------- rt_sys_start ----------------------------------*/
sinrab 0:5464d5e415e5 324
sinrab 0:5464d5e415e5 325 #ifdef __CMSIS_RTOS
sinrab 0:5464d5e415e5 326 void rt_sys_start (void) {
sinrab 0:5464d5e415e5 327 /* Start system */
sinrab 0:5464d5e415e5 328
sinrab 0:5464d5e415e5 329 /* Intitialize and start system clock timer */
sinrab 0:5464d5e415e5 330 os_tick_irqn = os_tick_init ();
sinrab 0:5464d5e415e5 331 if (os_tick_irqn >= 0) {
sinrab 0:5464d5e415e5 332 OS_X_INIT(os_tick_irqn);
sinrab 0:5464d5e415e5 333 }
sinrab 0:5464d5e415e5 334 }
sinrab 0:5464d5e415e5 335 #endif
sinrab 0:5464d5e415e5 336
sinrab 0:5464d5e415e5 337 /*----------------------------------------------------------------------------
sinrab 0:5464d5e415e5 338 * end of file
sinrab 0:5464d5e415e5 339 *---------------------------------------------------------------------------*/
sinrab 0:5464d5e415e5 340