Steven Kay / mbed-rtos

sk398

Fork of mbed-rtos by mbed official

rtx/TARGET_ARM7/rt_Task.c@107:5e95639cb109, 2016-03-30 (annotated)

Committer:
sk398
Date:
Wed Mar 30 02:21:27 2016 +0000
Revision:
107:5e95639cb109
Parent:
80:2dab120a94c2 
Car Sim not functioning - overflow of Mailpool and Queue; Going to try adopting an array system with counter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 80:2dab120a94c2 1 /*----------------------------------------------------------------------------
mbed_official 80:2dab120a94c2 2 * RL-ARM - RTX
mbed_official 80:2dab120a94c2 3 *----------------------------------------------------------------------------
mbed_official 80:2dab120a94c2 4 * Name: RT_TASK.C
mbed_official 80:2dab120a94c2 5 * Purpose: Task functions and system start up.
mbed_official 80:2dab120a94c2 6 * Rev.: V4.60
mbed_official 80:2dab120a94c2 7 *----------------------------------------------------------------------------
mbed_official 80:2dab120a94c2 8 *
mbed_official 80:2dab120a94c2 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
mbed_official 80:2dab120a94c2 10 * All rights reserved.
mbed_official 80:2dab120a94c2 11 * Redistribution and use in source and binary forms, with or without
mbed_official 80:2dab120a94c2 12 * modification, are permitted provided that the following conditions are met:
mbed_official 80:2dab120a94c2 13 * - Redistributions of source code must retain the above copyright
mbed_official 80:2dab120a94c2 14 * notice, this list of conditions and the following disclaimer.
mbed_official 80:2dab120a94c2 15 * - Redistributions in binary form must reproduce the above copyright
mbed_official 80:2dab120a94c2 16 * notice, this list of conditions and the following disclaimer in the
mbed_official 80:2dab120a94c2 17 * documentation and/or other materials provided with the distribution.
mbed_official 80:2dab120a94c2 18 * - Neither the name of ARM nor the names of its contributors may be used
mbed_official 80:2dab120a94c2 19 * to endorse or promote products derived from this software without
mbed_official 80:2dab120a94c2 20 * specific prior written permission.
mbed_official 80:2dab120a94c2 21 *
mbed_official 80:2dab120a94c2 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbed_official 80:2dab120a94c2 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbed_official 80:2dab120a94c2 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
mbed_official 80:2dab120a94c2 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
mbed_official 80:2dab120a94c2 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
mbed_official 80:2dab120a94c2 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
mbed_official 80:2dab120a94c2 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
mbed_official 80:2dab120a94c2 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
mbed_official 80:2dab120a94c2 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
mbed_official 80:2dab120a94c2 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbed_official 80:2dab120a94c2 32 * POSSIBILITY OF SUCH DAMAGE.
mbed_official 80:2dab120a94c2 33 *---------------------------------------------------------------------------*/
mbed_official 80:2dab120a94c2 34
mbed_official 80:2dab120a94c2 35 #include "rt_TypeDef.h"
mbed_official 80:2dab120a94c2 36 #include "RTX_Conf.h"
mbed_official 80:2dab120a94c2 37 #include "rt_System.h"
mbed_official 80:2dab120a94c2 38 #include "rt_Task.h"
mbed_official 80:2dab120a94c2 39 #include "rt_List.h"
mbed_official 80:2dab120a94c2 40 #include "rt_MemBox.h"
mbed_official 80:2dab120a94c2 41 #include "rt_Robin.h"
mbed_official 80:2dab120a94c2 42 #include "rt_HAL_CM.h"
mbed_official 80:2dab120a94c2 43
mbed_official 80:2dab120a94c2 44 /*----------------------------------------------------------------------------
mbed_official 80:2dab120a94c2 45 * Global Variables
mbed_official 80:2dab120a94c2 46 *---------------------------------------------------------------------------*/
mbed_official 80:2dab120a94c2 47
mbed_official 80:2dab120a94c2 48 /* Running and next task info. */
mbed_official 80:2dab120a94c2 49 struct OS_TSK os_tsk;
mbed_official 80:2dab120a94c2 50
mbed_official 80:2dab120a94c2 51 /* Task Control Blocks of idle demon */
mbed_official 80:2dab120a94c2 52 struct OS_TCB os_idle_TCB;
mbed_official 80:2dab120a94c2 53
mbed_official 80:2dab120a94c2 54
mbed_official 80:2dab120a94c2 55 /*----------------------------------------------------------------------------
mbed_official 80:2dab120a94c2 56 * Local Functions
mbed_official 80:2dab120a94c2 57 *---------------------------------------------------------------------------*/
mbed_official 80:2dab120a94c2 58
mbed_official 80:2dab120a94c2 59 OS_TID rt_get_TID (void) {
mbed_official 80:2dab120a94c2 60 U32 tid;
mbed_official 80:2dab120a94c2 61
mbed_official 80:2dab120a94c2 62 for (tid = 1; tid <= os_maxtaskrun; tid++) {
mbed_official 80:2dab120a94c2 63 if (os_active_TCB[tid-1] == NULL) {
mbed_official 80:2dab120a94c2 64 return ((OS_TID)tid);
mbed_official 80:2dab120a94c2 65 }
mbed_official 80:2dab120a94c2 66 }
mbed_official 80:2dab120a94c2 67 return (0);
mbed_official 80:2dab120a94c2 68 }
mbed_official 80:2dab120a94c2 69
mbed_official 80:2dab120a94c2 70 #if defined (__CC_ARM) && !defined (__MICROLIB)
mbed_official 80:2dab120a94c2 71 /*--------------------------- __user_perthread_libspace ---------------------*/
mbed_official 80:2dab120a94c2 72 extern void *__libspace_start;
mbed_official 80:2dab120a94c2 73
mbed_official 80:2dab120a94c2 74 void *__user_perthread_libspace (void) {
mbed_official 80:2dab120a94c2 75 /* Provide a separate libspace for each task. */
mbed_official 80:2dab120a94c2 76 if (os_tsk.run == NULL) {
mbed_official 80:2dab120a94c2 77 /* RTX not running yet. */
mbed_official 80:2dab120a94c2 78 return (&__libspace_start);
mbed_official 80:2dab120a94c2 79 }
mbed_official 80:2dab120a94c2 80 return (void *)(os_tsk.run->std_libspace);
mbed_official 80:2dab120a94c2 81 }
mbed_official 80:2dab120a94c2 82 #endif
mbed_official 80:2dab120a94c2 83
mbed_official 80:2dab120a94c2 84 /*--------------------------- rt_init_context -------------------------------*/
mbed_official 80:2dab120a94c2 85
mbed_official 80:2dab120a94c2 86 void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
mbed_official 80:2dab120a94c2 87 /* Initialize general part of the Task Control Block. */
mbed_official 80:2dab120a94c2 88 p_TCB->cb_type = TCB;
mbed_official 80:2dab120a94c2 89 p_TCB->state = READY;
mbed_official 80:2dab120a94c2 90 p_TCB->prio = priority;
mbed_official 80:2dab120a94c2 91 p_TCB->p_lnk = NULL;
mbed_official 80:2dab120a94c2 92 p_TCB->p_rlnk = NULL;
mbed_official 80:2dab120a94c2 93 p_TCB->p_dlnk = NULL;
mbed_official 80:2dab120a94c2 94 p_TCB->p_blnk = NULL;
mbed_official 80:2dab120a94c2 95 p_TCB->delta_time = 0;
mbed_official 80:2dab120a94c2 96 p_TCB->interval_time = 0;
mbed_official 80:2dab120a94c2 97 p_TCB->events = 0;
mbed_official 80:2dab120a94c2 98 p_TCB->waits = 0;
mbed_official 80:2dab120a94c2 99 p_TCB->stack_frame = 0;
mbed_official 80:2dab120a94c2 100
mbed_official 80:2dab120a94c2 101 rt_init_stack (p_TCB, task_body);
mbed_official 80:2dab120a94c2 102 }
mbed_official 80:2dab120a94c2 103
mbed_official 80:2dab120a94c2 104
mbed_official 80:2dab120a94c2 105 /*--------------------------- rt_switch_req ---------------------------------*/
mbed_official 80:2dab120a94c2 106
mbed_official 80:2dab120a94c2 107 void rt_switch_req (P_TCB p_new) {
mbed_official 80:2dab120a94c2 108 /* Switch to next task (identified by "p_new"). */
mbed_official 80:2dab120a94c2 109 os_tsk.new_tsk = p_new;
mbed_official 80:2dab120a94c2 110 p_new->state = RUNNING;
mbed_official 80:2dab120a94c2 111 DBG_TASK_SWITCH(p_new->task_id);
mbed_official 80:2dab120a94c2 112 }
mbed_official 80:2dab120a94c2 113
mbed_official 80:2dab120a94c2 114
mbed_official 80:2dab120a94c2 115 /*--------------------------- rt_dispatch -----------------------------------*/
mbed_official 80:2dab120a94c2 116
mbed_official 80:2dab120a94c2 117 void rt_dispatch (P_TCB next_TCB) {
mbed_official 80:2dab120a94c2 118 /* Dispatch next task if any identified or dispatch highest ready task */
mbed_official 80:2dab120a94c2 119 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
mbed_official 80:2dab120a94c2 120 if (next_TCB == NULL) {
mbed_official 80:2dab120a94c2 121 /* Running task was blocked: continue with highest ready task */
mbed_official 80:2dab120a94c2 122 next_TCB = rt_get_first (&os_rdy);
mbed_official 80:2dab120a94c2 123 rt_switch_req (next_TCB);
mbed_official 80:2dab120a94c2 124 }
mbed_official 80:2dab120a94c2 125 else {
mbed_official 80:2dab120a94c2 126 /* Check which task continues */
mbed_official 80:2dab120a94c2 127 if (next_TCB->prio > os_tsk.run->prio) {
mbed_official 80:2dab120a94c2 128 /* preempt running task */
mbed_official 80:2dab120a94c2 129 rt_put_rdy_first (os_tsk.run);
mbed_official 80:2dab120a94c2 130 os_tsk.run->state = READY;
mbed_official 80:2dab120a94c2 131 rt_switch_req (next_TCB);
mbed_official 80:2dab120a94c2 132 }
mbed_official 80:2dab120a94c2 133 else {
mbed_official 80:2dab120a94c2 134 /* put next task into ready list, no task switch takes place */
mbed_official 80:2dab120a94c2 135 next_TCB->state = READY;
mbed_official 80:2dab120a94c2 136 rt_put_prio (&os_rdy, next_TCB);
mbed_official 80:2dab120a94c2 137 }
mbed_official 80:2dab120a94c2 138 }
mbed_official 80:2dab120a94c2 139 }
mbed_official 80:2dab120a94c2 140
mbed_official 80:2dab120a94c2 141
mbed_official 80:2dab120a94c2 142 /*--------------------------- rt_block --------------------------------------*/
mbed_official 80:2dab120a94c2 143
mbed_official 80:2dab120a94c2 144 void rt_block (U16 timeout, U8 block_state) {
mbed_official 80:2dab120a94c2 145 /* Block running task and choose next ready task. */
mbed_official 80:2dab120a94c2 146 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
mbed_official 80:2dab120a94c2 147 /* "block_state" defines the appropriate task state */
mbed_official 80:2dab120a94c2 148 P_TCB next_TCB;
mbed_official 80:2dab120a94c2 149
mbed_official 80:2dab120a94c2 150 if (timeout) {
mbed_official 80:2dab120a94c2 151 if (timeout < 0xffff) {
mbed_official 80:2dab120a94c2 152 rt_put_dly (os_tsk.run, timeout);
mbed_official 80:2dab120a94c2 153 }
mbed_official 80:2dab120a94c2 154 os_tsk.run->state = block_state;
mbed_official 80:2dab120a94c2 155 next_TCB = rt_get_first (&os_rdy);
mbed_official 80:2dab120a94c2 156 rt_switch_req (next_TCB);
mbed_official 80:2dab120a94c2 157 }
mbed_official 80:2dab120a94c2 158 }
mbed_official 80:2dab120a94c2 159
mbed_official 80:2dab120a94c2 160
mbed_official 80:2dab120a94c2 161 /*--------------------------- rt_tsk_pass -----------------------------------*/
mbed_official 80:2dab120a94c2 162
mbed_official 80:2dab120a94c2 163 void rt_tsk_pass (void) {
mbed_official 80:2dab120a94c2 164 /* Allow tasks of same priority level to run cooperatively.*/
mbed_official 80:2dab120a94c2 165 P_TCB p_new;
mbed_official 80:2dab120a94c2 166
mbed_official 80:2dab120a94c2 167 p_new = rt_get_same_rdy_prio();
mbed_official 80:2dab120a94c2 168 if (p_new != NULL) {
mbed_official 80:2dab120a94c2 169 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
mbed_official 80:2dab120a94c2 170 os_tsk.run->state = READY;
mbed_official 80:2dab120a94c2 171 rt_switch_req (p_new);
mbed_official 80:2dab120a94c2 172 }
mbed_official 80:2dab120a94c2 173 }
mbed_official 80:2dab120a94c2 174
mbed_official 80:2dab120a94c2 175
mbed_official 80:2dab120a94c2 176 /*--------------------------- rt_tsk_self -----------------------------------*/
mbed_official 80:2dab120a94c2 177
mbed_official 80:2dab120a94c2 178 OS_TID rt_tsk_self (void) {
mbed_official 80:2dab120a94c2 179 /* Return own task identifier value. */
mbed_official 80:2dab120a94c2 180 if (os_tsk.run == NULL) {
mbed_official 80:2dab120a94c2 181 return (0);
mbed_official 80:2dab120a94c2 182 }
mbed_official 80:2dab120a94c2 183 return (os_tsk.run->task_id);
mbed_official 80:2dab120a94c2 184 }
mbed_official 80:2dab120a94c2 185
mbed_official 80:2dab120a94c2 186
mbed_official 80:2dab120a94c2 187 /*--------------------------- rt_tsk_prio -----------------------------------*/
mbed_official 80:2dab120a94c2 188
mbed_official 80:2dab120a94c2 189 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
mbed_official 80:2dab120a94c2 190 /* Change execution priority of a task to "new_prio". */
mbed_official 80:2dab120a94c2 191 P_TCB p_task;
mbed_official 80:2dab120a94c2 192
mbed_official 80:2dab120a94c2 193 if (task_id == 0) {
mbed_official 80:2dab120a94c2 194 /* Change execution priority of calling task. */
mbed_official 80:2dab120a94c2 195 os_tsk.run->prio = new_prio;
mbed_official 80:2dab120a94c2 196 run:if (rt_rdy_prio() > new_prio) {
mbed_official 80:2dab120a94c2 197 rt_put_prio (&os_rdy, os_tsk.run);
mbed_official 80:2dab120a94c2 198 os_tsk.run->state = READY;
mbed_official 80:2dab120a94c2 199 rt_dispatch (NULL);
mbed_official 80:2dab120a94c2 200 }
mbed_official 80:2dab120a94c2 201 return (OS_R_OK);
mbed_official 80:2dab120a94c2 202 }
mbed_official 80:2dab120a94c2 203
mbed_official 80:2dab120a94c2 204 /* Find the task in the "os_active_TCB" array. */
mbed_official 80:2dab120a94c2 205 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
mbed_official 80:2dab120a94c2 206 /* Task with "task_id" not found or not started. */
mbed_official 80:2dab120a94c2 207 return (OS_R_NOK);
mbed_official 80:2dab120a94c2 208 }
mbed_official 80:2dab120a94c2 209 p_task = os_active_TCB[task_id-1];
mbed_official 80:2dab120a94c2 210 p_task->prio = new_prio;
mbed_official 80:2dab120a94c2 211 if (p_task == os_tsk.run) {
mbed_official 80:2dab120a94c2 212 goto run;
mbed_official 80:2dab120a94c2 213 }
mbed_official 80:2dab120a94c2 214 rt_resort_prio (p_task);
mbed_official 80:2dab120a94c2 215 if (p_task->state == READY) {
mbed_official 80:2dab120a94c2 216 /* Task enqueued in a ready list. */
mbed_official 80:2dab120a94c2 217 p_task = rt_get_first (&os_rdy);
mbed_official 80:2dab120a94c2 218 rt_dispatch (p_task);
mbed_official 80:2dab120a94c2 219 }
mbed_official 80:2dab120a94c2 220 return (OS_R_OK);
mbed_official 80:2dab120a94c2 221 }
mbed_official 80:2dab120a94c2 222
mbed_official 80:2dab120a94c2 223 /*--------------------------- rt_tsk_delete ---------------------------------*/
mbed_official 80:2dab120a94c2 224
mbed_official 80:2dab120a94c2 225 OS_RESULT rt_tsk_delete (OS_TID task_id) {
mbed_official 80:2dab120a94c2 226 /* Terminate the task identified with "task_id". */
mbed_official 80:2dab120a94c2 227 P_TCB task_context;
mbed_official 80:2dab120a94c2 228
mbed_official 80:2dab120a94c2 229 if (task_id == 0 || task_id == os_tsk.run->task_id) {
mbed_official 80:2dab120a94c2 230 /* Terminate itself. */
mbed_official 80:2dab120a94c2 231 os_tsk.run->state = INACTIVE;
mbed_official 80:2dab120a94c2 232 os_tsk.run->tsk_stack = 0;
mbed_official 80:2dab120a94c2 233 rt_stk_check ();
mbed_official 80:2dab120a94c2 234 os_active_TCB[os_tsk.run->task_id-1] = NULL;
mbed_official 80:2dab120a94c2 235
mbed_official 80:2dab120a94c2 236 os_tsk.run->stack = NULL;
mbed_official 80:2dab120a94c2 237 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
mbed_official 80:2dab120a94c2 238 os_tsk.run = NULL;
mbed_official 80:2dab120a94c2 239 rt_dispatch (NULL);
mbed_official 80:2dab120a94c2 240 /* The program should never come to this point. */
mbed_official 80:2dab120a94c2 241 }
mbed_official 80:2dab120a94c2 242 else {
mbed_official 80:2dab120a94c2 243 /* Find the task in the "os_active_TCB" array. */
mbed_official 80:2dab120a94c2 244 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
mbed_official 80:2dab120a94c2 245 /* Task with "task_id" not found or not started. */
mbed_official 80:2dab120a94c2 246 return (OS_R_NOK);
mbed_official 80:2dab120a94c2 247 }
mbed_official 80:2dab120a94c2 248 task_context = os_active_TCB[task_id-1];
mbed_official 80:2dab120a94c2 249 rt_rmv_list (task_context);
mbed_official 80:2dab120a94c2 250 rt_rmv_dly (task_context);
mbed_official 80:2dab120a94c2 251 os_active_TCB[task_id-1] = NULL;
mbed_official 80:2dab120a94c2 252
mbed_official 80:2dab120a94c2 253 task_context->stack = NULL;
mbed_official 80:2dab120a94c2 254 DBG_TASK_NOTIFY(task_context, __FALSE);
mbed_official 80:2dab120a94c2 255 }
mbed_official 80:2dab120a94c2 256 return (OS_R_OK);
mbed_official 80:2dab120a94c2 257 }
mbed_official 80:2dab120a94c2 258
mbed_official 80:2dab120a94c2 259
mbed_official 80:2dab120a94c2 260 /*--------------------------- rt_sys_init -----------------------------------*/
mbed_official 80:2dab120a94c2 261
mbed_official 80:2dab120a94c2 262 #ifdef __CMSIS_RTOS
mbed_official 80:2dab120a94c2 263 void rt_sys_init (void) {
mbed_official 80:2dab120a94c2 264 #else
mbed_official 80:2dab120a94c2 265 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
mbed_official 80:2dab120a94c2 266 #endif
mbed_official 80:2dab120a94c2 267 /* Initialize system and start up task declared with "first_task". */
mbed_official 80:2dab120a94c2 268 U32 i;
mbed_official 80:2dab120a94c2 269
mbed_official 80:2dab120a94c2 270 DBG_INIT();
mbed_official 80:2dab120a94c2 271
mbed_official 80:2dab120a94c2 272 /* Initialize dynamic memory and task TCB pointers to NULL. */
mbed_official 80:2dab120a94c2 273 for (i = 0; i < os_maxtaskrun; i++) {
mbed_official 80:2dab120a94c2 274 os_active_TCB[i] = NULL;
mbed_official 80:2dab120a94c2 275 }
mbed_official 80:2dab120a94c2 276
mbed_official 80:2dab120a94c2 277 /* Set up TCB of idle demon */
mbed_official 80:2dab120a94c2 278 os_idle_TCB.task_id = 255;
mbed_official 80:2dab120a94c2 279 os_idle_TCB.priv_stack = idle_task_stack_size;
mbed_official 80:2dab120a94c2 280 os_idle_TCB.stack = idle_task_stack;
mbed_official 80:2dab120a94c2 281 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
mbed_official 80:2dab120a94c2 282
mbed_official 80:2dab120a94c2 283 /* Set up ready list: initially empty */
mbed_official 80:2dab120a94c2 284 os_rdy.cb_type = HCB;
mbed_official 80:2dab120a94c2 285 os_rdy.p_lnk = NULL;
mbed_official 80:2dab120a94c2 286 /* Set up delay list: initially empty */
mbed_official 80:2dab120a94c2 287 os_dly.cb_type = HCB;
mbed_official 80:2dab120a94c2 288 os_dly.p_dlnk = NULL;
mbed_official 80:2dab120a94c2 289 os_dly.p_blnk = NULL;
mbed_official 80:2dab120a94c2 290 os_dly.delta_time = 0;
mbed_official 80:2dab120a94c2 291
mbed_official 80:2dab120a94c2 292 /* Fix SP and systemvariables to assume idle task is running */
mbed_official 80:2dab120a94c2 293 /* Transform main program into idle task by assuming idle TCB */
mbed_official 80:2dab120a94c2 294 #ifndef __CMSIS_RTOS
mbed_official 80:2dab120a94c2 295 rt_set_PSP (os_idle_TCB.tsk_stack);
mbed_official 80:2dab120a94c2 296 #endif
mbed_official 80:2dab120a94c2 297 os_tsk.run = &os_idle_TCB;
mbed_official 80:2dab120a94c2 298 os_tsk.run->state = RUNNING;
mbed_official 80:2dab120a94c2 299
mbed_official 80:2dab120a94c2 300 /* Initialize ps queue */
mbed_official 80:2dab120a94c2 301 os_psq->first = 0;
mbed_official 80:2dab120a94c2 302 os_psq->last = 0;
mbed_official 80:2dab120a94c2 303 os_psq->size = os_fifo_size;
mbed_official 80:2dab120a94c2 304
mbed_official 80:2dab120a94c2 305 rt_init_robin ();
mbed_official 80:2dab120a94c2 306
mbed_official 80:2dab120a94c2 307 /* Intitialize SVC and PendSV */
mbed_official 80:2dab120a94c2 308 rt_svc_init ();
mbed_official 80:2dab120a94c2 309
mbed_official 80:2dab120a94c2 310 #ifndef __CMSIS_RTOS
mbed_official 80:2dab120a94c2 311 /* Intitialize and start system clock timer */
mbed_official 80:2dab120a94c2 312 os_tick_irqn = os_tick_init ();
mbed_official 80:2dab120a94c2 313 if (os_tick_irqn >= 0) {
mbed_official 80:2dab120a94c2 314 OS_X_INIT(os_tick_irqn);
mbed_official 80:2dab120a94c2 315 }
mbed_official 80:2dab120a94c2 316
mbed_official 80:2dab120a94c2 317 /* Start up first user task before entering the endless loop */
mbed_official 80:2dab120a94c2 318 rt_tsk_create (first_task, prio_stksz, stk, NULL);
mbed_official 80:2dab120a94c2 319 #endif
mbed_official 80:2dab120a94c2 320 }
mbed_official 80:2dab120a94c2 321
mbed_official 80:2dab120a94c2 322
mbed_official 80:2dab120a94c2 323 /*--------------------------- rt_sys_start ----------------------------------*/
mbed_official 80:2dab120a94c2 324
mbed_official 80:2dab120a94c2 325 #ifdef __CMSIS_RTOS
mbed_official 80:2dab120a94c2 326 void rt_sys_start (void) {
mbed_official 80:2dab120a94c2 327 /* Start system */
mbed_official 80:2dab120a94c2 328
mbed_official 80:2dab120a94c2 329 /* Intitialize and start system clock timer */
mbed_official 80:2dab120a94c2 330 os_tick_irqn = os_tick_init ();
mbed_official 80:2dab120a94c2 331 if (os_tick_irqn >= 0) {
mbed_official 80:2dab120a94c2 332 OS_X_INIT(os_tick_irqn);
mbed_official 80:2dab120a94c2 333 }
mbed_official 80:2dab120a94c2 334 extern void RestoreContext();
mbed_official 80:2dab120a94c2 335 RestoreContext(); // Start the first task
mbed_official 80:2dab120a94c2 336 }
mbed_official 80:2dab120a94c2 337 #endif
mbed_official 80:2dab120a94c2 338
mbed_official 80:2dab120a94c2 339 /*----------------------------------------------------------------------------
mbed_official 80:2dab120a94c2 340 * end of file
mbed_official 80:2dab120a94c2 341 *---------------------------------------------------------------------------*/