V M / Mbed 2 deprecated NRF24L01_receiver

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Dependencies:   mbed nRF24L01P

mbed-rtos/rtx/rt_Task.c@0:fdfe93cb9255, 2013-05-27 (annotated)

Committer:
vmihalcut
Date:
Mon May 27 06:06:31 2013 +0000
Revision:
0:fdfe93cb9255
NRF24L01 receiver

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vmihalcut 0:fdfe93cb9255 1 /*----------------------------------------------------------------------------
vmihalcut 0:fdfe93cb9255 2 * RL-ARM - RTX
vmihalcut 0:fdfe93cb9255 3 *----------------------------------------------------------------------------
vmihalcut 0:fdfe93cb9255 4 * Name: RT_TASK.C
vmihalcut 0:fdfe93cb9255 5 * Purpose: Task functions and system start up.
vmihalcut 0:fdfe93cb9255 6 * Rev.: V4.60
vmihalcut 0:fdfe93cb9255 7 *----------------------------------------------------------------------------
vmihalcut 0:fdfe93cb9255 8 *
vmihalcut 0:fdfe93cb9255 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
vmihalcut 0:fdfe93cb9255 10 * All rights reserved.
vmihalcut 0:fdfe93cb9255 11 * Redistribution and use in source and binary forms, with or without
vmihalcut 0:fdfe93cb9255 12 * modification, are permitted provided that the following conditions are met:
vmihalcut 0:fdfe93cb9255 13 * - Redistributions of source code must retain the above copyright
vmihalcut 0:fdfe93cb9255 14 * notice, this list of conditions and the following disclaimer.
vmihalcut 0:fdfe93cb9255 15 * - Redistributions in binary form must reproduce the above copyright
vmihalcut 0:fdfe93cb9255 16 * notice, this list of conditions and the following disclaimer in the
vmihalcut 0:fdfe93cb9255 17 * documentation and/or other materials provided with the distribution.
vmihalcut 0:fdfe93cb9255 18 * - Neither the name of ARM nor the names of its contributors may be used
vmihalcut 0:fdfe93cb9255 19 * to endorse or promote products derived from this software without
vmihalcut 0:fdfe93cb9255 20 * specific prior written permission.
vmihalcut 0:fdfe93cb9255 21 *
vmihalcut 0:fdfe93cb9255 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
vmihalcut 0:fdfe93cb9255 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
vmihalcut 0:fdfe93cb9255 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
vmihalcut 0:fdfe93cb9255 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
vmihalcut 0:fdfe93cb9255 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
vmihalcut 0:fdfe93cb9255 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
vmihalcut 0:fdfe93cb9255 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
vmihalcut 0:fdfe93cb9255 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
vmihalcut 0:fdfe93cb9255 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
vmihalcut 0:fdfe93cb9255 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
vmihalcut 0:fdfe93cb9255 32 * POSSIBILITY OF SUCH DAMAGE.
vmihalcut 0:fdfe93cb9255 33 *---------------------------------------------------------------------------*/
vmihalcut 0:fdfe93cb9255 34
vmihalcut 0:fdfe93cb9255 35 #include "rt_TypeDef.h"
vmihalcut 0:fdfe93cb9255 36 #include "RTX_Conf.h"
vmihalcut 0:fdfe93cb9255 37 #include "rt_System.h"
vmihalcut 0:fdfe93cb9255 38 #include "rt_Task.h"
vmihalcut 0:fdfe93cb9255 39 #include "rt_List.h"
vmihalcut 0:fdfe93cb9255 40 #include "rt_MemBox.h"
vmihalcut 0:fdfe93cb9255 41 #include "rt_Robin.h"
vmihalcut 0:fdfe93cb9255 42 #include "rt_HAL_CM.h"
vmihalcut 0:fdfe93cb9255 43
vmihalcut 0:fdfe93cb9255 44 /*----------------------------------------------------------------------------
vmihalcut 0:fdfe93cb9255 45 * Global Variables
vmihalcut 0:fdfe93cb9255 46 *---------------------------------------------------------------------------*/
vmihalcut 0:fdfe93cb9255 47
vmihalcut 0:fdfe93cb9255 48 /* Running and next task info. */
vmihalcut 0:fdfe93cb9255 49 struct OS_TSK os_tsk;
vmihalcut 0:fdfe93cb9255 50
vmihalcut 0:fdfe93cb9255 51 /* Task Control Blocks of idle demon */
vmihalcut 0:fdfe93cb9255 52 struct OS_TCB os_idle_TCB;
vmihalcut 0:fdfe93cb9255 53
vmihalcut 0:fdfe93cb9255 54
vmihalcut 0:fdfe93cb9255 55 /*----------------------------------------------------------------------------
vmihalcut 0:fdfe93cb9255 56 * Local Functions
vmihalcut 0:fdfe93cb9255 57 *---------------------------------------------------------------------------*/
vmihalcut 0:fdfe93cb9255 58
vmihalcut 0:fdfe93cb9255 59 OS_TID rt_get_TID (void) {
vmihalcut 0:fdfe93cb9255 60 U32 tid;
vmihalcut 0:fdfe93cb9255 61
vmihalcut 0:fdfe93cb9255 62 for (tid = 1; tid <= os_maxtaskrun; tid++) {
vmihalcut 0:fdfe93cb9255 63 if (os_active_TCB[tid-1] == NULL) {
vmihalcut 0:fdfe93cb9255 64 return ((OS_TID)tid);
vmihalcut 0:fdfe93cb9255 65 }
vmihalcut 0:fdfe93cb9255 66 }
vmihalcut 0:fdfe93cb9255 67 return (0);
vmihalcut 0:fdfe93cb9255 68 }
vmihalcut 0:fdfe93cb9255 69
vmihalcut 0:fdfe93cb9255 70 #if defined (__CC_ARM) && !defined (__MICROLIB)
vmihalcut 0:fdfe93cb9255 71 /*--------------------------- __user_perthread_libspace ---------------------*/
vmihalcut 0:fdfe93cb9255 72 extern void *__libspace_start;
vmihalcut 0:fdfe93cb9255 73
vmihalcut 0:fdfe93cb9255 74 void *__user_perthread_libspace (void) {
vmihalcut 0:fdfe93cb9255 75 /* Provide a separate libspace for each task. */
vmihalcut 0:fdfe93cb9255 76 if (os_tsk.run == NULL) {
vmihalcut 0:fdfe93cb9255 77 /* RTX not running yet. */
vmihalcut 0:fdfe93cb9255 78 return (&__libspace_start);
vmihalcut 0:fdfe93cb9255 79 }
vmihalcut 0:fdfe93cb9255 80 return (void *)(os_tsk.run->std_libspace);
vmihalcut 0:fdfe93cb9255 81 }
vmihalcut 0:fdfe93cb9255 82 #endif
vmihalcut 0:fdfe93cb9255 83
vmihalcut 0:fdfe93cb9255 84 /*--------------------------- rt_init_context -------------------------------*/
vmihalcut 0:fdfe93cb9255 85
vmihalcut 0:fdfe93cb9255 86 void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
vmihalcut 0:fdfe93cb9255 87 /* Initialize general part of the Task Control Block. */
vmihalcut 0:fdfe93cb9255 88 p_TCB->cb_type = TCB;
vmihalcut 0:fdfe93cb9255 89 p_TCB->state = READY;
vmihalcut 0:fdfe93cb9255 90 p_TCB->prio = priority;
vmihalcut 0:fdfe93cb9255 91 p_TCB->p_lnk = NULL;
vmihalcut 0:fdfe93cb9255 92 p_TCB->p_rlnk = NULL;
vmihalcut 0:fdfe93cb9255 93 p_TCB->p_dlnk = NULL;
vmihalcut 0:fdfe93cb9255 94 p_TCB->p_blnk = NULL;
vmihalcut 0:fdfe93cb9255 95 p_TCB->delta_time = 0;
vmihalcut 0:fdfe93cb9255 96 p_TCB->interval_time = 0;
vmihalcut 0:fdfe93cb9255 97 p_TCB->events = 0;
vmihalcut 0:fdfe93cb9255 98 p_TCB->waits = 0;
vmihalcut 0:fdfe93cb9255 99 p_TCB->stack_frame = 0;
vmihalcut 0:fdfe93cb9255 100
vmihalcut 0:fdfe93cb9255 101 rt_init_stack (p_TCB, task_body);
vmihalcut 0:fdfe93cb9255 102 }
vmihalcut 0:fdfe93cb9255 103
vmihalcut 0:fdfe93cb9255 104
vmihalcut 0:fdfe93cb9255 105 /*--------------------------- rt_switch_req ---------------------------------*/
vmihalcut 0:fdfe93cb9255 106
vmihalcut 0:fdfe93cb9255 107 void rt_switch_req (P_TCB p_new) {
vmihalcut 0:fdfe93cb9255 108 /* Switch to next task (identified by "p_new"). */
vmihalcut 0:fdfe93cb9255 109 os_tsk.new_tsk = p_new;
vmihalcut 0:fdfe93cb9255 110 p_new->state = RUNNING;
vmihalcut 0:fdfe93cb9255 111 DBG_TASK_SWITCH(p_new->task_id);
vmihalcut 0:fdfe93cb9255 112 }
vmihalcut 0:fdfe93cb9255 113
vmihalcut 0:fdfe93cb9255 114
vmihalcut 0:fdfe93cb9255 115 /*--------------------------- rt_dispatch -----------------------------------*/
vmihalcut 0:fdfe93cb9255 116
vmihalcut 0:fdfe93cb9255 117 void rt_dispatch (P_TCB next_TCB) {
vmihalcut 0:fdfe93cb9255 118 /* Dispatch next task if any identified or dispatch highest ready task */
vmihalcut 0:fdfe93cb9255 119 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
vmihalcut 0:fdfe93cb9255 120 if (next_TCB == NULL) {
vmihalcut 0:fdfe93cb9255 121 /* Running task was blocked: continue with highest ready task */
vmihalcut 0:fdfe93cb9255 122 next_TCB = rt_get_first (&os_rdy);
vmihalcut 0:fdfe93cb9255 123 rt_switch_req (next_TCB);
vmihalcut 0:fdfe93cb9255 124 }
vmihalcut 0:fdfe93cb9255 125 else {
vmihalcut 0:fdfe93cb9255 126 /* Check which task continues */
vmihalcut 0:fdfe93cb9255 127 if (next_TCB->prio > os_tsk.run->prio) {
vmihalcut 0:fdfe93cb9255 128 /* preempt running task */
vmihalcut 0:fdfe93cb9255 129 rt_put_rdy_first (os_tsk.run);
vmihalcut 0:fdfe93cb9255 130 os_tsk.run->state = READY;
vmihalcut 0:fdfe93cb9255 131 rt_switch_req (next_TCB);
vmihalcut 0:fdfe93cb9255 132 }
vmihalcut 0:fdfe93cb9255 133 else {
vmihalcut 0:fdfe93cb9255 134 /* put next task into ready list, no task switch takes place */
vmihalcut 0:fdfe93cb9255 135 next_TCB->state = READY;
vmihalcut 0:fdfe93cb9255 136 rt_put_prio (&os_rdy, next_TCB);
vmihalcut 0:fdfe93cb9255 137 }
vmihalcut 0:fdfe93cb9255 138 }
vmihalcut 0:fdfe93cb9255 139 }
vmihalcut 0:fdfe93cb9255 140
vmihalcut 0:fdfe93cb9255 141
vmihalcut 0:fdfe93cb9255 142 /*--------------------------- rt_block --------------------------------------*/
vmihalcut 0:fdfe93cb9255 143
vmihalcut 0:fdfe93cb9255 144 void rt_block (U16 timeout, U8 block_state) {
vmihalcut 0:fdfe93cb9255 145 /* Block running task and choose next ready task. */
vmihalcut 0:fdfe93cb9255 146 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
vmihalcut 0:fdfe93cb9255 147 /* "block_state" defines the appropriate task state */
vmihalcut 0:fdfe93cb9255 148 P_TCB next_TCB;
vmihalcut 0:fdfe93cb9255 149
vmihalcut 0:fdfe93cb9255 150 if (timeout) {
vmihalcut 0:fdfe93cb9255 151 if (timeout < 0xffff) {
vmihalcut 0:fdfe93cb9255 152 rt_put_dly (os_tsk.run, timeout);
vmihalcut 0:fdfe93cb9255 153 }
vmihalcut 0:fdfe93cb9255 154 os_tsk.run->state = block_state;
vmihalcut 0:fdfe93cb9255 155 next_TCB = rt_get_first (&os_rdy);
vmihalcut 0:fdfe93cb9255 156 rt_switch_req (next_TCB);
vmihalcut 0:fdfe93cb9255 157 }
vmihalcut 0:fdfe93cb9255 158 }
vmihalcut 0:fdfe93cb9255 159
vmihalcut 0:fdfe93cb9255 160
vmihalcut 0:fdfe93cb9255 161 /*--------------------------- rt_tsk_pass -----------------------------------*/
vmihalcut 0:fdfe93cb9255 162
vmihalcut 0:fdfe93cb9255 163 void rt_tsk_pass (void) {
vmihalcut 0:fdfe93cb9255 164 /* Allow tasks of same priority level to run cooperatively.*/
vmihalcut 0:fdfe93cb9255 165 P_TCB p_new;
vmihalcut 0:fdfe93cb9255 166
vmihalcut 0:fdfe93cb9255 167 p_new = rt_get_same_rdy_prio();
vmihalcut 0:fdfe93cb9255 168 if (p_new != NULL) {
vmihalcut 0:fdfe93cb9255 169 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
vmihalcut 0:fdfe93cb9255 170 os_tsk.run->state = READY;
vmihalcut 0:fdfe93cb9255 171 rt_switch_req (p_new);
vmihalcut 0:fdfe93cb9255 172 }
vmihalcut 0:fdfe93cb9255 173 }
vmihalcut 0:fdfe93cb9255 174
vmihalcut 0:fdfe93cb9255 175
vmihalcut 0:fdfe93cb9255 176 /*--------------------------- rt_tsk_self -----------------------------------*/
vmihalcut 0:fdfe93cb9255 177
vmihalcut 0:fdfe93cb9255 178 OS_TID rt_tsk_self (void) {
vmihalcut 0:fdfe93cb9255 179 /* Return own task identifier value. */
vmihalcut 0:fdfe93cb9255 180 if (os_tsk.run == NULL) {
vmihalcut 0:fdfe93cb9255 181 return (0);
vmihalcut 0:fdfe93cb9255 182 }
vmihalcut 0:fdfe93cb9255 183 return (os_tsk.run->task_id);
vmihalcut 0:fdfe93cb9255 184 }
vmihalcut 0:fdfe93cb9255 185
vmihalcut 0:fdfe93cb9255 186
vmihalcut 0:fdfe93cb9255 187 /*--------------------------- rt_tsk_prio -----------------------------------*/
vmihalcut 0:fdfe93cb9255 188
vmihalcut 0:fdfe93cb9255 189 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
vmihalcut 0:fdfe93cb9255 190 /* Change execution priority of a task to "new_prio". */
vmihalcut 0:fdfe93cb9255 191 P_TCB p_task;
vmihalcut 0:fdfe93cb9255 192
vmihalcut 0:fdfe93cb9255 193 if (task_id == 0) {
vmihalcut 0:fdfe93cb9255 194 /* Change execution priority of calling task. */
vmihalcut 0:fdfe93cb9255 195 os_tsk.run->prio = new_prio;
vmihalcut 0:fdfe93cb9255 196 run:if (rt_rdy_prio() > new_prio) {
vmihalcut 0:fdfe93cb9255 197 rt_put_prio (&os_rdy, os_tsk.run);
vmihalcut 0:fdfe93cb9255 198 os_tsk.run->state = READY;
vmihalcut 0:fdfe93cb9255 199 rt_dispatch (NULL);
vmihalcut 0:fdfe93cb9255 200 }
vmihalcut 0:fdfe93cb9255 201 return (OS_R_OK);
vmihalcut 0:fdfe93cb9255 202 }
vmihalcut 0:fdfe93cb9255 203
vmihalcut 0:fdfe93cb9255 204 /* Find the task in the "os_active_TCB" array. */
vmihalcut 0:fdfe93cb9255 205 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
vmihalcut 0:fdfe93cb9255 206 /* Task with "task_id" not found or not started. */
vmihalcut 0:fdfe93cb9255 207 return (OS_R_NOK);
vmihalcut 0:fdfe93cb9255 208 }
vmihalcut 0:fdfe93cb9255 209 p_task = os_active_TCB[task_id-1];
vmihalcut 0:fdfe93cb9255 210 p_task->prio = new_prio;
vmihalcut 0:fdfe93cb9255 211 if (p_task == os_tsk.run) {
vmihalcut 0:fdfe93cb9255 212 goto run;
vmihalcut 0:fdfe93cb9255 213 }
vmihalcut 0:fdfe93cb9255 214 rt_resort_prio (p_task);
vmihalcut 0:fdfe93cb9255 215 if (p_task->state == READY) {
vmihalcut 0:fdfe93cb9255 216 /* Task enqueued in a ready list. */
vmihalcut 0:fdfe93cb9255 217 p_task = rt_get_first (&os_rdy);
vmihalcut 0:fdfe93cb9255 218 rt_dispatch (p_task);
vmihalcut 0:fdfe93cb9255 219 }
vmihalcut 0:fdfe93cb9255 220 return (OS_R_OK);
vmihalcut 0:fdfe93cb9255 221 }
vmihalcut 0:fdfe93cb9255 222
vmihalcut 0:fdfe93cb9255 223 /*--------------------------- rt_tsk_delete ---------------------------------*/
vmihalcut 0:fdfe93cb9255 224
vmihalcut 0:fdfe93cb9255 225 OS_RESULT rt_tsk_delete (OS_TID task_id) {
vmihalcut 0:fdfe93cb9255 226 /* Terminate the task identified with "task_id". */
vmihalcut 0:fdfe93cb9255 227 P_TCB task_context;
vmihalcut 0:fdfe93cb9255 228
vmihalcut 0:fdfe93cb9255 229 if (task_id == 0 || task_id == os_tsk.run->task_id) {
vmihalcut 0:fdfe93cb9255 230 /* Terminate itself. */
vmihalcut 0:fdfe93cb9255 231 os_tsk.run->state = INACTIVE;
vmihalcut 0:fdfe93cb9255 232 os_tsk.run->tsk_stack = rt_get_PSP ();
vmihalcut 0:fdfe93cb9255 233 rt_stk_check ();
vmihalcut 0:fdfe93cb9255 234 os_active_TCB[os_tsk.run->task_id-1] = NULL;
vmihalcut 0:fdfe93cb9255 235
vmihalcut 0:fdfe93cb9255 236 os_tsk.run->stack = NULL;
vmihalcut 0:fdfe93cb9255 237 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
vmihalcut 0:fdfe93cb9255 238 os_tsk.run = NULL;
vmihalcut 0:fdfe93cb9255 239 rt_dispatch (NULL);
vmihalcut 0:fdfe93cb9255 240 /* The program should never come to this point. */
vmihalcut 0:fdfe93cb9255 241 }
vmihalcut 0:fdfe93cb9255 242 else {
vmihalcut 0:fdfe93cb9255 243 /* Find the task in the "os_active_TCB" array. */
vmihalcut 0:fdfe93cb9255 244 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
vmihalcut 0:fdfe93cb9255 245 /* Task with "task_id" not found or not started. */
vmihalcut 0:fdfe93cb9255 246 return (OS_R_NOK);
vmihalcut 0:fdfe93cb9255 247 }
vmihalcut 0:fdfe93cb9255 248 task_context = os_active_TCB[task_id-1];
vmihalcut 0:fdfe93cb9255 249 rt_rmv_list (task_context);
vmihalcut 0:fdfe93cb9255 250 rt_rmv_dly (task_context);
vmihalcut 0:fdfe93cb9255 251 os_active_TCB[task_id-1] = NULL;
vmihalcut 0:fdfe93cb9255 252
vmihalcut 0:fdfe93cb9255 253 task_context->stack = NULL;
vmihalcut 0:fdfe93cb9255 254 DBG_TASK_NOTIFY(task_context, __FALSE);
vmihalcut 0:fdfe93cb9255 255 }
vmihalcut 0:fdfe93cb9255 256 return (OS_R_OK);
vmihalcut 0:fdfe93cb9255 257 }
vmihalcut 0:fdfe93cb9255 258
vmihalcut 0:fdfe93cb9255 259
vmihalcut 0:fdfe93cb9255 260 /*--------------------------- rt_sys_init -----------------------------------*/
vmihalcut 0:fdfe93cb9255 261
vmihalcut 0:fdfe93cb9255 262 #ifdef __CMSIS_RTOS
vmihalcut 0:fdfe93cb9255 263 void rt_sys_init (void) {
vmihalcut 0:fdfe93cb9255 264 #else
vmihalcut 0:fdfe93cb9255 265 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
vmihalcut 0:fdfe93cb9255 266 #endif
vmihalcut 0:fdfe93cb9255 267 /* Initialize system and start up task declared with "first_task". */
vmihalcut 0:fdfe93cb9255 268 U32 i;
vmihalcut 0:fdfe93cb9255 269
vmihalcut 0:fdfe93cb9255 270 DBG_INIT();
vmihalcut 0:fdfe93cb9255 271
vmihalcut 0:fdfe93cb9255 272 /* Initialize dynamic memory and task TCB pointers to NULL. */
vmihalcut 0:fdfe93cb9255 273 for (i = 0; i < os_maxtaskrun; i++) {
vmihalcut 0:fdfe93cb9255 274 os_active_TCB[i] = NULL;
vmihalcut 0:fdfe93cb9255 275 }
vmihalcut 0:fdfe93cb9255 276
vmihalcut 0:fdfe93cb9255 277 /* Set up TCB of idle demon */
vmihalcut 0:fdfe93cb9255 278 os_idle_TCB.task_id = 255;
vmihalcut 0:fdfe93cb9255 279 os_idle_TCB.priv_stack = idle_task_stack_size;
vmihalcut 0:fdfe93cb9255 280 os_idle_TCB.stack = idle_task_stack;
vmihalcut 0:fdfe93cb9255 281 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
vmihalcut 0:fdfe93cb9255 282
vmihalcut 0:fdfe93cb9255 283 /* Set up ready list: initially empty */
vmihalcut 0:fdfe93cb9255 284 os_rdy.cb_type = HCB;
vmihalcut 0:fdfe93cb9255 285 os_rdy.p_lnk = NULL;
vmihalcut 0:fdfe93cb9255 286 /* Set up delay list: initially empty */
vmihalcut 0:fdfe93cb9255 287 os_dly.cb_type = HCB;
vmihalcut 0:fdfe93cb9255 288 os_dly.p_dlnk = NULL;
vmihalcut 0:fdfe93cb9255 289 os_dly.p_blnk = NULL;
vmihalcut 0:fdfe93cb9255 290 os_dly.delta_time = 0;
vmihalcut 0:fdfe93cb9255 291
vmihalcut 0:fdfe93cb9255 292 /* Fix SP and systemvariables to assume idle task is running */
vmihalcut 0:fdfe93cb9255 293 /* Transform main program into idle task by assuming idle TCB */
vmihalcut 0:fdfe93cb9255 294 #ifndef __CMSIS_RTOS
vmihalcut 0:fdfe93cb9255 295 rt_set_PSP (os_idle_TCB.tsk_stack+32);
vmihalcut 0:fdfe93cb9255 296 #endif
vmihalcut 0:fdfe93cb9255 297 os_tsk.run = &os_idle_TCB;
vmihalcut 0:fdfe93cb9255 298 os_tsk.run->state = RUNNING;
vmihalcut 0:fdfe93cb9255 299
vmihalcut 0:fdfe93cb9255 300 /* Initialize ps queue */
vmihalcut 0:fdfe93cb9255 301 os_psq->first = 0;
vmihalcut 0:fdfe93cb9255 302 os_psq->last = 0;
vmihalcut 0:fdfe93cb9255 303 os_psq->size = os_fifo_size;
vmihalcut 0:fdfe93cb9255 304
vmihalcut 0:fdfe93cb9255 305 rt_init_robin ();
vmihalcut 0:fdfe93cb9255 306
vmihalcut 0:fdfe93cb9255 307 /* Intitialize SVC and PendSV */
vmihalcut 0:fdfe93cb9255 308 rt_svc_init ();
vmihalcut 0:fdfe93cb9255 309
vmihalcut 0:fdfe93cb9255 310 #ifndef __CMSIS_RTOS
vmihalcut 0:fdfe93cb9255 311 /* Intitialize and start system clock timer */
vmihalcut 0:fdfe93cb9255 312 os_tick_irqn = os_tick_init ();
vmihalcut 0:fdfe93cb9255 313 if (os_tick_irqn >= 0) {
vmihalcut 0:fdfe93cb9255 314 OS_X_INIT(os_tick_irqn);
vmihalcut 0:fdfe93cb9255 315 }
vmihalcut 0:fdfe93cb9255 316
vmihalcut 0:fdfe93cb9255 317 /* Start up first user task before entering the endless loop */
vmihalcut 0:fdfe93cb9255 318 rt_tsk_create (first_task, prio_stksz, stk, NULL);
vmihalcut 0:fdfe93cb9255 319 #endif
vmihalcut 0:fdfe93cb9255 320 }
vmihalcut 0:fdfe93cb9255 321
vmihalcut 0:fdfe93cb9255 322
vmihalcut 0:fdfe93cb9255 323 /*--------------------------- rt_sys_start ----------------------------------*/
vmihalcut 0:fdfe93cb9255 324
vmihalcut 0:fdfe93cb9255 325 #ifdef __CMSIS_RTOS
vmihalcut 0:fdfe93cb9255 326 void rt_sys_start (void) {
vmihalcut 0:fdfe93cb9255 327 /* Start system */
vmihalcut 0:fdfe93cb9255 328
vmihalcut 0:fdfe93cb9255 329 /* Intitialize and start system clock timer */
vmihalcut 0:fdfe93cb9255 330 os_tick_irqn = os_tick_init ();
vmihalcut 0:fdfe93cb9255 331 if (os_tick_irqn >= 0) {
vmihalcut 0:fdfe93cb9255 332 OS_X_INIT(os_tick_irqn);
vmihalcut 0:fdfe93cb9255 333 }
vmihalcut 0:fdfe93cb9255 334 }
vmihalcut 0:fdfe93cb9255 335 #endif
vmihalcut 0:fdfe93cb9255 336
vmihalcut 0:fdfe93cb9255 337 /*----------------------------------------------------------------------------
vmihalcut 0:fdfe93cb9255 338 * end of file
vmihalcut 0:fdfe93cb9255 339 *---------------------------------------------------------------------------*/