Yasushi TAUCHI / Mbed 2 deprecated giken9_HTMLServer_Sample

ソースの整理中ですが、利用はできます。

Dependencies:   EthernetInterface HttpServer TextLCD mbed-rpc mbed-rtos mbed Socket lwip-eth lwip-sys lwip

mbed-rtos/rtx/rt_Task.c@2:14b689a85306, 2014-03-12 (annotated)

Committer:
yueee_yt
Date:
Wed Mar 12 04:39:15 2014 +0000
Revision:
2:14b689a85306
Parent:
0:7766f6712673 
bug fix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yueee_yt 0:7766f6712673 1 /*----------------------------------------------------------------------------
yueee_yt 0:7766f6712673 2 * RL-ARM - RTX
yueee_yt 0:7766f6712673 3 *----------------------------------------------------------------------------
yueee_yt 0:7766f6712673 4 * Name: RT_TASK.C
yueee_yt 0:7766f6712673 5 * Purpose: Task functions and system start up.
yueee_yt 0:7766f6712673 6 * Rev.: V4.60
yueee_yt 0:7766f6712673 7 *----------------------------------------------------------------------------
yueee_yt 0:7766f6712673 8 *
yueee_yt 0:7766f6712673 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
yueee_yt 0:7766f6712673 10 * All rights reserved.
yueee_yt 0:7766f6712673 11 * Redistribution and use in source and binary forms, with or without
yueee_yt 0:7766f6712673 12 * modification, are permitted provided that the following conditions are met:
yueee_yt 0:7766f6712673 13 * - Redistributions of source code must retain the above copyright
yueee_yt 0:7766f6712673 14 * notice, this list of conditions and the following disclaimer.
yueee_yt 0:7766f6712673 15 * - Redistributions in binary form must reproduce the above copyright
yueee_yt 0:7766f6712673 16 * notice, this list of conditions and the following disclaimer in the
yueee_yt 0:7766f6712673 17 * documentation and/or other materials provided with the distribution.
yueee_yt 0:7766f6712673 18 * - Neither the name of ARM nor the names of its contributors may be used
yueee_yt 0:7766f6712673 19 * to endorse or promote products derived from this software without
yueee_yt 0:7766f6712673 20 * specific prior written permission.
yueee_yt 0:7766f6712673 21 *
yueee_yt 0:7766f6712673 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
yueee_yt 0:7766f6712673 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
yueee_yt 0:7766f6712673 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
yueee_yt 0:7766f6712673 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
yueee_yt 0:7766f6712673 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
yueee_yt 0:7766f6712673 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
yueee_yt 0:7766f6712673 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
yueee_yt 0:7766f6712673 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
yueee_yt 0:7766f6712673 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
yueee_yt 0:7766f6712673 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
yueee_yt 0:7766f6712673 32 * POSSIBILITY OF SUCH DAMAGE.
yueee_yt 0:7766f6712673 33 *---------------------------------------------------------------------------*/
yueee_yt 0:7766f6712673 34
yueee_yt 0:7766f6712673 35 #include "rt_TypeDef.h"
yueee_yt 0:7766f6712673 36 #include "RTX_Conf.h"
yueee_yt 0:7766f6712673 37 #include "rt_System.h"
yueee_yt 0:7766f6712673 38 #include "rt_Task.h"
yueee_yt 0:7766f6712673 39 #include "rt_List.h"
yueee_yt 0:7766f6712673 40 #include "rt_MemBox.h"
yueee_yt 0:7766f6712673 41 #include "rt_Robin.h"
yueee_yt 0:7766f6712673 42 #include "rt_HAL_CM.h"
yueee_yt 0:7766f6712673 43
yueee_yt 0:7766f6712673 44 /*----------------------------------------------------------------------------
yueee_yt 0:7766f6712673 45 * Global Variables
yueee_yt 0:7766f6712673 46 *---------------------------------------------------------------------------*/
yueee_yt 0:7766f6712673 47
yueee_yt 0:7766f6712673 48 /* Running and next task info. */
yueee_yt 0:7766f6712673 49 struct OS_TSK os_tsk;
yueee_yt 0:7766f6712673 50
yueee_yt 0:7766f6712673 51 /* Task Control Blocks of idle demon */
yueee_yt 0:7766f6712673 52 struct OS_TCB os_idle_TCB;
yueee_yt 0:7766f6712673 53
yueee_yt 0:7766f6712673 54
yueee_yt 0:7766f6712673 55 /*----------------------------------------------------------------------------
yueee_yt 0:7766f6712673 56 * Local Functions
yueee_yt 0:7766f6712673 57 *---------------------------------------------------------------------------*/
yueee_yt 0:7766f6712673 58
yueee_yt 0:7766f6712673 59 OS_TID rt_get_TID (void) {
yueee_yt 0:7766f6712673 60 U32 tid;
yueee_yt 0:7766f6712673 61
yueee_yt 0:7766f6712673 62 for (tid = 1; tid <= os_maxtaskrun; tid++) {
yueee_yt 0:7766f6712673 63 if (os_active_TCB[tid-1] == NULL) {
yueee_yt 0:7766f6712673 64 return ((OS_TID)tid);
yueee_yt 0:7766f6712673 65 }
yueee_yt 0:7766f6712673 66 }
yueee_yt 0:7766f6712673 67 return (0);
yueee_yt 0:7766f6712673 68 }
yueee_yt 0:7766f6712673 69
yueee_yt 0:7766f6712673 70 #if defined (__CC_ARM) && !defined (__MICROLIB)
yueee_yt 0:7766f6712673 71 /*--------------------------- __user_perthread_libspace ---------------------*/
yueee_yt 0:7766f6712673 72 extern void *__libspace_start;
yueee_yt 0:7766f6712673 73
yueee_yt 0:7766f6712673 74 void *__user_perthread_libspace (void) {
yueee_yt 0:7766f6712673 75 /* Provide a separate libspace for each task. */
yueee_yt 0:7766f6712673 76 if (os_tsk.run == NULL) {
yueee_yt 0:7766f6712673 77 /* RTX not running yet. */
yueee_yt 0:7766f6712673 78 return (&__libspace_start);
yueee_yt 0:7766f6712673 79 }
yueee_yt 0:7766f6712673 80 return (void *)(os_tsk.run->std_libspace);
yueee_yt 0:7766f6712673 81 }
yueee_yt 0:7766f6712673 82 #endif
yueee_yt 0:7766f6712673 83
yueee_yt 0:7766f6712673 84 /*--------------------------- rt_init_context -------------------------------*/
yueee_yt 0:7766f6712673 85
yueee_yt 0:7766f6712673 86 void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
yueee_yt 0:7766f6712673 87 /* Initialize general part of the Task Control Block. */
yueee_yt 0:7766f6712673 88 p_TCB->cb_type = TCB;
yueee_yt 0:7766f6712673 89 p_TCB->state = READY;
yueee_yt 0:7766f6712673 90 p_TCB->prio = priority;
yueee_yt 0:7766f6712673 91 p_TCB->p_lnk = NULL;
yueee_yt 0:7766f6712673 92 p_TCB->p_rlnk = NULL;
yueee_yt 0:7766f6712673 93 p_TCB->p_dlnk = NULL;
yueee_yt 0:7766f6712673 94 p_TCB->p_blnk = NULL;
yueee_yt 0:7766f6712673 95 p_TCB->delta_time = 0;
yueee_yt 0:7766f6712673 96 p_TCB->interval_time = 0;
yueee_yt 0:7766f6712673 97 p_TCB->events = 0;
yueee_yt 0:7766f6712673 98 p_TCB->waits = 0;
yueee_yt 0:7766f6712673 99 p_TCB->stack_frame = 0;
yueee_yt 0:7766f6712673 100
yueee_yt 0:7766f6712673 101 rt_init_stack (p_TCB, task_body);
yueee_yt 0:7766f6712673 102 }
yueee_yt 0:7766f6712673 103
yueee_yt 0:7766f6712673 104
yueee_yt 0:7766f6712673 105 /*--------------------------- rt_switch_req ---------------------------------*/
yueee_yt 0:7766f6712673 106
yueee_yt 0:7766f6712673 107 void rt_switch_req (P_TCB p_new) {
yueee_yt 0:7766f6712673 108 /* Switch to next task (identified by "p_new"). */
yueee_yt 0:7766f6712673 109 os_tsk.new_tsk = p_new;
yueee_yt 0:7766f6712673 110 p_new->state = RUNNING;
yueee_yt 0:7766f6712673 111 DBG_TASK_SWITCH(p_new->task_id);
yueee_yt 0:7766f6712673 112 }
yueee_yt 0:7766f6712673 113
yueee_yt 0:7766f6712673 114
yueee_yt 0:7766f6712673 115 /*--------------------------- rt_dispatch -----------------------------------*/
yueee_yt 0:7766f6712673 116
yueee_yt 0:7766f6712673 117 void rt_dispatch (P_TCB next_TCB) {
yueee_yt 0:7766f6712673 118 /* Dispatch next task if any identified or dispatch highest ready task */
yueee_yt 0:7766f6712673 119 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
yueee_yt 0:7766f6712673 120 if (next_TCB == NULL) {
yueee_yt 0:7766f6712673 121 /* Running task was blocked: continue with highest ready task */
yueee_yt 0:7766f6712673 122 next_TCB = rt_get_first (&os_rdy);
yueee_yt 0:7766f6712673 123 rt_switch_req (next_TCB);
yueee_yt 0:7766f6712673 124 }
yueee_yt 0:7766f6712673 125 else {
yueee_yt 0:7766f6712673 126 /* Check which task continues */
yueee_yt 0:7766f6712673 127 if (next_TCB->prio > os_tsk.run->prio) {
yueee_yt 0:7766f6712673 128 /* preempt running task */
yueee_yt 0:7766f6712673 129 rt_put_rdy_first (os_tsk.run);
yueee_yt 0:7766f6712673 130 os_tsk.run->state = READY;
yueee_yt 0:7766f6712673 131 rt_switch_req (next_TCB);
yueee_yt 0:7766f6712673 132 }
yueee_yt 0:7766f6712673 133 else {
yueee_yt 0:7766f6712673 134 /* put next task into ready list, no task switch takes place */
yueee_yt 0:7766f6712673 135 next_TCB->state = READY;
yueee_yt 0:7766f6712673 136 rt_put_prio (&os_rdy, next_TCB);
yueee_yt 0:7766f6712673 137 }
yueee_yt 0:7766f6712673 138 }
yueee_yt 0:7766f6712673 139 }
yueee_yt 0:7766f6712673 140
yueee_yt 0:7766f6712673 141
yueee_yt 0:7766f6712673 142 /*--------------------------- rt_block --------------------------------------*/
yueee_yt 0:7766f6712673 143
yueee_yt 0:7766f6712673 144 void rt_block (U16 timeout, U8 block_state) {
yueee_yt 0:7766f6712673 145 /* Block running task and choose next ready task. */
yueee_yt 0:7766f6712673 146 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
yueee_yt 0:7766f6712673 147 /* "block_state" defines the appropriate task state */
yueee_yt 0:7766f6712673 148 P_TCB next_TCB;
yueee_yt 0:7766f6712673 149
yueee_yt 0:7766f6712673 150 if (timeout) {
yueee_yt 0:7766f6712673 151 if (timeout < 0xffff) {
yueee_yt 0:7766f6712673 152 rt_put_dly (os_tsk.run, timeout);
yueee_yt 0:7766f6712673 153 }
yueee_yt 0:7766f6712673 154 os_tsk.run->state = block_state;
yueee_yt 0:7766f6712673 155 next_TCB = rt_get_first (&os_rdy);
yueee_yt 0:7766f6712673 156 rt_switch_req (next_TCB);
yueee_yt 0:7766f6712673 157 }
yueee_yt 0:7766f6712673 158 }
yueee_yt 0:7766f6712673 159
yueee_yt 0:7766f6712673 160
yueee_yt 0:7766f6712673 161 /*--------------------------- rt_tsk_pass -----------------------------------*/
yueee_yt 0:7766f6712673 162
yueee_yt 0:7766f6712673 163 void rt_tsk_pass (void) {
yueee_yt 0:7766f6712673 164 /* Allow tasks of same priority level to run cooperatively.*/
yueee_yt 0:7766f6712673 165 P_TCB p_new;
yueee_yt 0:7766f6712673 166
yueee_yt 0:7766f6712673 167 p_new = rt_get_same_rdy_prio();
yueee_yt 0:7766f6712673 168 if (p_new != NULL) {
yueee_yt 0:7766f6712673 169 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
yueee_yt 0:7766f6712673 170 os_tsk.run->state = READY;
yueee_yt 0:7766f6712673 171 rt_switch_req (p_new);
yueee_yt 0:7766f6712673 172 }
yueee_yt 0:7766f6712673 173 }
yueee_yt 0:7766f6712673 174
yueee_yt 0:7766f6712673 175
yueee_yt 0:7766f6712673 176 /*--------------------------- rt_tsk_self -----------------------------------*/
yueee_yt 0:7766f6712673 177
yueee_yt 0:7766f6712673 178 OS_TID rt_tsk_self (void) {
yueee_yt 0:7766f6712673 179 /* Return own task identifier value. */
yueee_yt 0:7766f6712673 180 if (os_tsk.run == NULL) {
yueee_yt 0:7766f6712673 181 return (0);
yueee_yt 0:7766f6712673 182 }
yueee_yt 0:7766f6712673 183 return (os_tsk.run->task_id);
yueee_yt 0:7766f6712673 184 }
yueee_yt 0:7766f6712673 185
yueee_yt 0:7766f6712673 186
yueee_yt 0:7766f6712673 187 /*--------------------------- rt_tsk_prio -----------------------------------*/
yueee_yt 0:7766f6712673 188
yueee_yt 0:7766f6712673 189 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
yueee_yt 0:7766f6712673 190 /* Change execution priority of a task to "new_prio". */
yueee_yt 0:7766f6712673 191 P_TCB p_task;
yueee_yt 0:7766f6712673 192
yueee_yt 0:7766f6712673 193 if (task_id == 0) {
yueee_yt 0:7766f6712673 194 /* Change execution priority of calling task. */
yueee_yt 0:7766f6712673 195 os_tsk.run->prio = new_prio;
yueee_yt 0:7766f6712673 196 run:if (rt_rdy_prio() > new_prio) {
yueee_yt 0:7766f6712673 197 rt_put_prio (&os_rdy, os_tsk.run);
yueee_yt 0:7766f6712673 198 os_tsk.run->state = READY;
yueee_yt 0:7766f6712673 199 rt_dispatch (NULL);
yueee_yt 0:7766f6712673 200 }
yueee_yt 0:7766f6712673 201 return (OS_R_OK);
yueee_yt 0:7766f6712673 202 }
yueee_yt 0:7766f6712673 203
yueee_yt 0:7766f6712673 204 /* Find the task in the "os_active_TCB" array. */
yueee_yt 0:7766f6712673 205 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
yueee_yt 0:7766f6712673 206 /* Task with "task_id" not found or not started. */
yueee_yt 0:7766f6712673 207 return (OS_R_NOK);
yueee_yt 0:7766f6712673 208 }
yueee_yt 0:7766f6712673 209 p_task = os_active_TCB[task_id-1];
yueee_yt 0:7766f6712673 210 p_task->prio = new_prio;
yueee_yt 0:7766f6712673 211 if (p_task == os_tsk.run) {
yueee_yt 0:7766f6712673 212 goto run;
yueee_yt 0:7766f6712673 213 }
yueee_yt 0:7766f6712673 214 rt_resort_prio (p_task);
yueee_yt 0:7766f6712673 215 if (p_task->state == READY) {
yueee_yt 0:7766f6712673 216 /* Task enqueued in a ready list. */
yueee_yt 0:7766f6712673 217 p_task = rt_get_first (&os_rdy);
yueee_yt 0:7766f6712673 218 rt_dispatch (p_task);
yueee_yt 0:7766f6712673 219 }
yueee_yt 0:7766f6712673 220 return (OS_R_OK);
yueee_yt 0:7766f6712673 221 }
yueee_yt 0:7766f6712673 222
yueee_yt 0:7766f6712673 223 /*--------------------------- rt_tsk_delete ---------------------------------*/
yueee_yt 0:7766f6712673 224
yueee_yt 0:7766f6712673 225 OS_RESULT rt_tsk_delete (OS_TID task_id) {
yueee_yt 0:7766f6712673 226 /* Terminate the task identified with "task_id". */
yueee_yt 0:7766f6712673 227 P_TCB task_context;
yueee_yt 0:7766f6712673 228
yueee_yt 0:7766f6712673 229 if (task_id == 0 || task_id == os_tsk.run->task_id) {
yueee_yt 0:7766f6712673 230 /* Terminate itself. */
yueee_yt 0:7766f6712673 231 os_tsk.run->state = INACTIVE;
yueee_yt 0:7766f6712673 232 os_tsk.run->tsk_stack = rt_get_PSP ();
yueee_yt 0:7766f6712673 233 rt_stk_check ();
yueee_yt 0:7766f6712673 234 os_active_TCB[os_tsk.run->task_id-1] = NULL;
yueee_yt 0:7766f6712673 235
yueee_yt 0:7766f6712673 236 os_tsk.run->stack = NULL;
yueee_yt 0:7766f6712673 237 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
yueee_yt 0:7766f6712673 238 os_tsk.run = NULL;
yueee_yt 0:7766f6712673 239 rt_dispatch (NULL);
yueee_yt 0:7766f6712673 240 /* The program should never come to this point. */
yueee_yt 0:7766f6712673 241 }
yueee_yt 0:7766f6712673 242 else {
yueee_yt 0:7766f6712673 243 /* Find the task in the "os_active_TCB" array. */
yueee_yt 0:7766f6712673 244 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
yueee_yt 0:7766f6712673 245 /* Task with "task_id" not found or not started. */
yueee_yt 0:7766f6712673 246 return (OS_R_NOK);
yueee_yt 0:7766f6712673 247 }
yueee_yt 0:7766f6712673 248 task_context = os_active_TCB[task_id-1];
yueee_yt 0:7766f6712673 249 rt_rmv_list (task_context);
yueee_yt 0:7766f6712673 250 rt_rmv_dly (task_context);
yueee_yt 0:7766f6712673 251 os_active_TCB[task_id-1] = NULL;
yueee_yt 0:7766f6712673 252
yueee_yt 0:7766f6712673 253 task_context->stack = NULL;
yueee_yt 0:7766f6712673 254 DBG_TASK_NOTIFY(task_context, __FALSE);
yueee_yt 0:7766f6712673 255 }
yueee_yt 0:7766f6712673 256 return (OS_R_OK);
yueee_yt 0:7766f6712673 257 }
yueee_yt 0:7766f6712673 258
yueee_yt 0:7766f6712673 259
yueee_yt 0:7766f6712673 260 /*--------------------------- rt_sys_init -----------------------------------*/
yueee_yt 0:7766f6712673 261
yueee_yt 0:7766f6712673 262 #ifdef __CMSIS_RTOS
yueee_yt 0:7766f6712673 263 void rt_sys_init (void) {
yueee_yt 0:7766f6712673 264 #else
yueee_yt 0:7766f6712673 265 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
yueee_yt 0:7766f6712673 266 #endif
yueee_yt 0:7766f6712673 267 /* Initialize system and start up task declared with "first_task". */
yueee_yt 0:7766f6712673 268 U32 i;
yueee_yt 0:7766f6712673 269
yueee_yt 0:7766f6712673 270 DBG_INIT();
yueee_yt 0:7766f6712673 271
yueee_yt 0:7766f6712673 272 /* Initialize dynamic memory and task TCB pointers to NULL. */
yueee_yt 0:7766f6712673 273 for (i = 0; i < os_maxtaskrun; i++) {
yueee_yt 0:7766f6712673 274 os_active_TCB[i] = NULL;
yueee_yt 0:7766f6712673 275 }
yueee_yt 0:7766f6712673 276
yueee_yt 0:7766f6712673 277 /* Set up TCB of idle demon */
yueee_yt 0:7766f6712673 278 os_idle_TCB.task_id = 255;
yueee_yt 0:7766f6712673 279 os_idle_TCB.priv_stack = idle_task_stack_size;
yueee_yt 0:7766f6712673 280 os_idle_TCB.stack = idle_task_stack;
yueee_yt 0:7766f6712673 281 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
yueee_yt 0:7766f6712673 282
yueee_yt 0:7766f6712673 283 /* Set up ready list: initially empty */
yueee_yt 0:7766f6712673 284 os_rdy.cb_type = HCB;
yueee_yt 0:7766f6712673 285 os_rdy.p_lnk = NULL;
yueee_yt 0:7766f6712673 286 /* Set up delay list: initially empty */
yueee_yt 0:7766f6712673 287 os_dly.cb_type = HCB;
yueee_yt 0:7766f6712673 288 os_dly.p_dlnk = NULL;
yueee_yt 0:7766f6712673 289 os_dly.p_blnk = NULL;
yueee_yt 0:7766f6712673 290 os_dly.delta_time = 0;
yueee_yt 0:7766f6712673 291
yueee_yt 0:7766f6712673 292 /* Fix SP and systemvariables to assume idle task is running */
yueee_yt 0:7766f6712673 293 /* Transform main program into idle task by assuming idle TCB */
yueee_yt 0:7766f6712673 294 #ifndef __CMSIS_RTOS
yueee_yt 0:7766f6712673 295 rt_set_PSP (os_idle_TCB.tsk_stack+32);
yueee_yt 0:7766f6712673 296 #endif
yueee_yt 0:7766f6712673 297 os_tsk.run = &os_idle_TCB;
yueee_yt 0:7766f6712673 298 os_tsk.run->state = RUNNING;
yueee_yt 0:7766f6712673 299
yueee_yt 0:7766f6712673 300 /* Initialize ps queue */
yueee_yt 0:7766f6712673 301 os_psq->first = 0;
yueee_yt 0:7766f6712673 302 os_psq->last = 0;
yueee_yt 0:7766f6712673 303 os_psq->size = os_fifo_size;
yueee_yt 0:7766f6712673 304
yueee_yt 0:7766f6712673 305 rt_init_robin ();
yueee_yt 0:7766f6712673 306
yueee_yt 0:7766f6712673 307 /* Intitialize SVC and PendSV */
yueee_yt 0:7766f6712673 308 rt_svc_init ();
yueee_yt 0:7766f6712673 309
yueee_yt 0:7766f6712673 310 #ifndef __CMSIS_RTOS
yueee_yt 0:7766f6712673 311 /* Intitialize and start system clock timer */
yueee_yt 0:7766f6712673 312 os_tick_irqn = os_tick_init ();
yueee_yt 0:7766f6712673 313 if (os_tick_irqn >= 0) {
yueee_yt 0:7766f6712673 314 OS_X_INIT(os_tick_irqn);
yueee_yt 0:7766f6712673 315 }
yueee_yt 0:7766f6712673 316
yueee_yt 0:7766f6712673 317 /* Start up first user task before entering the endless loop */
yueee_yt 0:7766f6712673 318 rt_tsk_create (first_task, prio_stksz, stk, NULL);
yueee_yt 0:7766f6712673 319 #endif
yueee_yt 0:7766f6712673 320 }
yueee_yt 0:7766f6712673 321
yueee_yt 0:7766f6712673 322
yueee_yt 0:7766f6712673 323 /*--------------------------- rt_sys_start ----------------------------------*/
yueee_yt 0:7766f6712673 324
yueee_yt 0:7766f6712673 325 #ifdef __CMSIS_RTOS
yueee_yt 0:7766f6712673 326 void rt_sys_start (void) {
yueee_yt 0:7766f6712673 327 /* Start system */
yueee_yt 0:7766f6712673 328
yueee_yt 0:7766f6712673 329 /* Intitialize and start system clock timer */
yueee_yt 0:7766f6712673 330 os_tick_irqn = os_tick_init ();
yueee_yt 0:7766f6712673 331 if (os_tick_irqn >= 0) {
yueee_yt 0:7766f6712673 332 OS_X_INIT(os_tick_irqn);
yueee_yt 0:7766f6712673 333 }
yueee_yt 0:7766f6712673 334 }
yueee_yt 0:7766f6712673 335 #endif
yueee_yt 0:7766f6712673 336
yueee_yt 0:7766f6712673 337 /*----------------------------------------------------------------------------
yueee_yt 0:7766f6712673 338 * end of file
yueee_yt 0:7766f6712673 339 *---------------------------------------------------------------------------*/