CK Sin / Mbed 2 deprecated Ethernetwebsocket

Ethernetwebsoc

Dependencies:   C12832_lcd LM75B WebSocketClient mbed-rtos mbed Socket lwip-eth lwip-sys lwip

mbed-rtos/rtx/rt_Task.c@0:0ed2a7c7190c, 2013-05-31 (annotated)

Committer:
GordonSin
Date:
Fri May 31 04:09:54 2013 +0000
Revision:
0:0ed2a7c7190c
31/5/2013;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GordonSin 0:0ed2a7c7190c 1 /*----------------------------------------------------------------------------
GordonSin 0:0ed2a7c7190c 2 * RL-ARM - RTX
GordonSin 0:0ed2a7c7190c 3 *----------------------------------------------------------------------------
GordonSin 0:0ed2a7c7190c 4 * Name: RT_TASK.C
GordonSin 0:0ed2a7c7190c 5 * Purpose: Task functions and system start up.
GordonSin 0:0ed2a7c7190c 6 * Rev.: V4.50
GordonSin 0:0ed2a7c7190c 7 *----------------------------------------------------------------------------
GordonSin 0:0ed2a7c7190c 8 *
GordonSin 0:0ed2a7c7190c 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
GordonSin 0:0ed2a7c7190c 10 * All rights reserved.
GordonSin 0:0ed2a7c7190c 11 * Redistribution and use in source and binary forms, with or without
GordonSin 0:0ed2a7c7190c 12 * modification, are permitted provided that the following conditions are met:
GordonSin 0:0ed2a7c7190c 13 * - Redistributions of source code must retain the above copyright
GordonSin 0:0ed2a7c7190c 14 * notice, this list of conditions and the following disclaimer.
GordonSin 0:0ed2a7c7190c 15 * - Redistributions in binary form must reproduce the above copyright
GordonSin 0:0ed2a7c7190c 16 * notice, this list of conditions and the following disclaimer in the
GordonSin 0:0ed2a7c7190c 17 * documentation and/or other materials provided with the distribution.
GordonSin 0:0ed2a7c7190c 18 * - Neither the name of ARM nor the names of its contributors may be used
GordonSin 0:0ed2a7c7190c 19 * to endorse or promote products derived from this software without
GordonSin 0:0ed2a7c7190c 20 * specific prior written permission.
GordonSin 0:0ed2a7c7190c 21 *
GordonSin 0:0ed2a7c7190c 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
GordonSin 0:0ed2a7c7190c 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
GordonSin 0:0ed2a7c7190c 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
GordonSin 0:0ed2a7c7190c 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
GordonSin 0:0ed2a7c7190c 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
GordonSin 0:0ed2a7c7190c 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
GordonSin 0:0ed2a7c7190c 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
GordonSin 0:0ed2a7c7190c 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
GordonSin 0:0ed2a7c7190c 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
GordonSin 0:0ed2a7c7190c 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
GordonSin 0:0ed2a7c7190c 32 * POSSIBILITY OF SUCH DAMAGE.
GordonSin 0:0ed2a7c7190c 33 *---------------------------------------------------------------------------*/
GordonSin 0:0ed2a7c7190c 34
GordonSin 0:0ed2a7c7190c 35 #include "rt_TypeDef.h"
GordonSin 0:0ed2a7c7190c 36 #include "RTX_Config.h"
GordonSin 0:0ed2a7c7190c 37 #include "rt_System.h"
GordonSin 0:0ed2a7c7190c 38 #include "rt_Task.h"
GordonSin 0:0ed2a7c7190c 39 #include "rt_List.h"
GordonSin 0:0ed2a7c7190c 40 #include "rt_MemBox.h"
GordonSin 0:0ed2a7c7190c 41 #include "rt_Robin.h"
GordonSin 0:0ed2a7c7190c 42 #include "rt_HAL_CM.h"
GordonSin 0:0ed2a7c7190c 43
GordonSin 0:0ed2a7c7190c 44 /*----------------------------------------------------------------------------
GordonSin 0:0ed2a7c7190c 45 * Global Variables
GordonSin 0:0ed2a7c7190c 46 *---------------------------------------------------------------------------*/
GordonSin 0:0ed2a7c7190c 47
GordonSin 0:0ed2a7c7190c 48 /* Running and next task info. */
GordonSin 0:0ed2a7c7190c 49 struct OS_TSK os_tsk;
GordonSin 0:0ed2a7c7190c 50
GordonSin 0:0ed2a7c7190c 51 /* Task Control Blocks of idle demon */
GordonSin 0:0ed2a7c7190c 52 struct OS_TCB os_idle_TCB;
GordonSin 0:0ed2a7c7190c 53
GordonSin 0:0ed2a7c7190c 54
GordonSin 0:0ed2a7c7190c 55 /*----------------------------------------------------------------------------
GordonSin 0:0ed2a7c7190c 56 * Local Functions
GordonSin 0:0ed2a7c7190c 57 *---------------------------------------------------------------------------*/
GordonSin 0:0ed2a7c7190c 58
GordonSin 0:0ed2a7c7190c 59 OS_TID rt_get_TID (void) {
GordonSin 0:0ed2a7c7190c 60 U32 tid;
GordonSin 0:0ed2a7c7190c 61
GordonSin 0:0ed2a7c7190c 62 for (tid = 1; tid <= os_maxtaskrun; tid++) {
GordonSin 0:0ed2a7c7190c 63 if (os_active_TCB[tid-1] == NULL) {
GordonSin 0:0ed2a7c7190c 64 return ((OS_TID)tid);
GordonSin 0:0ed2a7c7190c 65 }
GordonSin 0:0ed2a7c7190c 66 }
GordonSin 0:0ed2a7c7190c 67 return (0);
GordonSin 0:0ed2a7c7190c 68 }
GordonSin 0:0ed2a7c7190c 69
GordonSin 0:0ed2a7c7190c 70 #if defined (__CC_ARM) && !defined (__MICROLIB)
GordonSin 0:0ed2a7c7190c 71 /*--------------------------- __user_perthread_libspace ---------------------*/
GordonSin 0:0ed2a7c7190c 72 extern void *__libspace_start;
GordonSin 0:0ed2a7c7190c 73
GordonSin 0:0ed2a7c7190c 74 void *__user_perthread_libspace (void) {
GordonSin 0:0ed2a7c7190c 75 /* Provide a separate libspace for each task. */
GordonSin 0:0ed2a7c7190c 76 if (os_tsk.run == NULL) {
GordonSin 0:0ed2a7c7190c 77 /* RTX not running yet. */
GordonSin 0:0ed2a7c7190c 78 return (&__libspace_start);
GordonSin 0:0ed2a7c7190c 79 }
GordonSin 0:0ed2a7c7190c 80 return (void *)(os_tsk.run->std_libspace);
GordonSin 0:0ed2a7c7190c 81 }
GordonSin 0:0ed2a7c7190c 82 #endif
GordonSin 0:0ed2a7c7190c 83
GordonSin 0:0ed2a7c7190c 84 /*--------------------------- rt_init_context -------------------------------*/
GordonSin 0:0ed2a7c7190c 85
GordonSin 0:0ed2a7c7190c 86 void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
GordonSin 0:0ed2a7c7190c 87 /* Initialize general part of the Task Control Block. */
GordonSin 0:0ed2a7c7190c 88 p_TCB->cb_type = TCB;
GordonSin 0:0ed2a7c7190c 89 p_TCB->state = READY;
GordonSin 0:0ed2a7c7190c 90 p_TCB->prio = priority;
GordonSin 0:0ed2a7c7190c 91 p_TCB->p_lnk = NULL;
GordonSin 0:0ed2a7c7190c 92 p_TCB->p_rlnk = NULL;
GordonSin 0:0ed2a7c7190c 93 p_TCB->p_dlnk = NULL;
GordonSin 0:0ed2a7c7190c 94 p_TCB->p_blnk = NULL;
GordonSin 0:0ed2a7c7190c 95 p_TCB->delta_time = 0;
GordonSin 0:0ed2a7c7190c 96 p_TCB->interval_time = 0;
GordonSin 0:0ed2a7c7190c 97 p_TCB->events = 0;
GordonSin 0:0ed2a7c7190c 98 p_TCB->waits = 0;
GordonSin 0:0ed2a7c7190c 99 p_TCB->stack_frame = 0;
GordonSin 0:0ed2a7c7190c 100
GordonSin 0:0ed2a7c7190c 101 rt_init_stack (p_TCB, task_body);
GordonSin 0:0ed2a7c7190c 102 }
GordonSin 0:0ed2a7c7190c 103
GordonSin 0:0ed2a7c7190c 104
GordonSin 0:0ed2a7c7190c 105 /*--------------------------- rt_switch_req ---------------------------------*/
GordonSin 0:0ed2a7c7190c 106
GordonSin 0:0ed2a7c7190c 107 void rt_switch_req (P_TCB p_new) {
GordonSin 0:0ed2a7c7190c 108 /* Switch to next task (identified by "p_new"). */
GordonSin 0:0ed2a7c7190c 109 os_tsk.new = p_new;
GordonSin 0:0ed2a7c7190c 110 p_new->state = RUNNING;
GordonSin 0:0ed2a7c7190c 111 DBG_TASK_SWITCH(p_new->task_id);
GordonSin 0:0ed2a7c7190c 112 }
GordonSin 0:0ed2a7c7190c 113
GordonSin 0:0ed2a7c7190c 114
GordonSin 0:0ed2a7c7190c 115 /*--------------------------- rt_dispatch -----------------------------------*/
GordonSin 0:0ed2a7c7190c 116
GordonSin 0:0ed2a7c7190c 117 void rt_dispatch (P_TCB next_TCB) {
GordonSin 0:0ed2a7c7190c 118 /* Dispatch next task if any identified or dispatch highest ready task */
GordonSin 0:0ed2a7c7190c 119 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
GordonSin 0:0ed2a7c7190c 120 if (next_TCB == NULL) {
GordonSin 0:0ed2a7c7190c 121 /* Running task was blocked: continue with highest ready task */
GordonSin 0:0ed2a7c7190c 122 next_TCB = rt_get_first (&os_rdy);
GordonSin 0:0ed2a7c7190c 123 rt_switch_req (next_TCB);
GordonSin 0:0ed2a7c7190c 124 }
GordonSin 0:0ed2a7c7190c 125 else {
GordonSin 0:0ed2a7c7190c 126 /* Check which task continues */
GordonSin 0:0ed2a7c7190c 127 if (next_TCB->prio > os_tsk.run->prio) {
GordonSin 0:0ed2a7c7190c 128 /* preempt running task */
GordonSin 0:0ed2a7c7190c 129 rt_put_rdy_first (os_tsk.run);
GordonSin 0:0ed2a7c7190c 130 os_tsk.run->state = READY;
GordonSin 0:0ed2a7c7190c 131 rt_switch_req (next_TCB);
GordonSin 0:0ed2a7c7190c 132 }
GordonSin 0:0ed2a7c7190c 133 else {
GordonSin 0:0ed2a7c7190c 134 /* put next task into ready list, no task switch takes place */
GordonSin 0:0ed2a7c7190c 135 next_TCB->state = READY;
GordonSin 0:0ed2a7c7190c 136 rt_put_prio (&os_rdy, next_TCB);
GordonSin 0:0ed2a7c7190c 137 }
GordonSin 0:0ed2a7c7190c 138 }
GordonSin 0:0ed2a7c7190c 139 }
GordonSin 0:0ed2a7c7190c 140
GordonSin 0:0ed2a7c7190c 141
GordonSin 0:0ed2a7c7190c 142 /*--------------------------- rt_block --------------------------------------*/
GordonSin 0:0ed2a7c7190c 143
GordonSin 0:0ed2a7c7190c 144 void rt_block (U16 timeout, U8 block_state) {
GordonSin 0:0ed2a7c7190c 145 /* Block running task and choose next ready task. */
GordonSin 0:0ed2a7c7190c 146 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
GordonSin 0:0ed2a7c7190c 147 /* "block_state" defines the appropriate task state */
GordonSin 0:0ed2a7c7190c 148 P_TCB next_TCB;
GordonSin 0:0ed2a7c7190c 149
GordonSin 0:0ed2a7c7190c 150 if (timeout) {
GordonSin 0:0ed2a7c7190c 151 if (timeout < 0xffff) {
GordonSin 0:0ed2a7c7190c 152 rt_put_dly (os_tsk.run, timeout);
GordonSin 0:0ed2a7c7190c 153 }
GordonSin 0:0ed2a7c7190c 154 os_tsk.run->state = block_state;
GordonSin 0:0ed2a7c7190c 155 next_TCB = rt_get_first (&os_rdy);
GordonSin 0:0ed2a7c7190c 156 rt_switch_req (next_TCB);
GordonSin 0:0ed2a7c7190c 157 }
GordonSin 0:0ed2a7c7190c 158 }
GordonSin 0:0ed2a7c7190c 159
GordonSin 0:0ed2a7c7190c 160
GordonSin 0:0ed2a7c7190c 161 /*--------------------------- rt_tsk_pass -----------------------------------*/
GordonSin 0:0ed2a7c7190c 162
GordonSin 0:0ed2a7c7190c 163 void rt_tsk_pass (void) {
GordonSin 0:0ed2a7c7190c 164 /* Allow tasks of same priority level to run cooperatively.*/
GordonSin 0:0ed2a7c7190c 165 P_TCB p_new;
GordonSin 0:0ed2a7c7190c 166
GordonSin 0:0ed2a7c7190c 167 p_new = rt_get_same_rdy_prio();
GordonSin 0:0ed2a7c7190c 168 if (p_new != NULL) {
GordonSin 0:0ed2a7c7190c 169 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
GordonSin 0:0ed2a7c7190c 170 os_tsk.run->state = READY;
GordonSin 0:0ed2a7c7190c 171 rt_switch_req (p_new);
GordonSin 0:0ed2a7c7190c 172 }
GordonSin 0:0ed2a7c7190c 173 }
GordonSin 0:0ed2a7c7190c 174
GordonSin 0:0ed2a7c7190c 175
GordonSin 0:0ed2a7c7190c 176 /*--------------------------- rt_tsk_self -----------------------------------*/
GordonSin 0:0ed2a7c7190c 177
GordonSin 0:0ed2a7c7190c 178 OS_TID rt_tsk_self (void) {
GordonSin 0:0ed2a7c7190c 179 /* Return own task identifier value. */
GordonSin 0:0ed2a7c7190c 180 if (os_tsk.run == NULL) {
GordonSin 0:0ed2a7c7190c 181 return (0);
GordonSin 0:0ed2a7c7190c 182 }
GordonSin 0:0ed2a7c7190c 183 return (os_tsk.run->task_id);
GordonSin 0:0ed2a7c7190c 184 }
GordonSin 0:0ed2a7c7190c 185
GordonSin 0:0ed2a7c7190c 186
GordonSin 0:0ed2a7c7190c 187 /*--------------------------- rt_tsk_prio -----------------------------------*/
GordonSin 0:0ed2a7c7190c 188
GordonSin 0:0ed2a7c7190c 189 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
GordonSin 0:0ed2a7c7190c 190 /* Change execution priority of a task to "new_prio". */
GordonSin 0:0ed2a7c7190c 191 P_TCB p_task;
GordonSin 0:0ed2a7c7190c 192
GordonSin 0:0ed2a7c7190c 193 if (task_id == 0) {
GordonSin 0:0ed2a7c7190c 194 /* Change execution priority of calling task. */
GordonSin 0:0ed2a7c7190c 195 os_tsk.run->prio = new_prio;
GordonSin 0:0ed2a7c7190c 196 run:if (rt_rdy_prio() > new_prio) {
GordonSin 0:0ed2a7c7190c 197 rt_put_prio (&os_rdy, os_tsk.run);
GordonSin 0:0ed2a7c7190c 198 os_tsk.run->state = READY;
GordonSin 0:0ed2a7c7190c 199 rt_dispatch (NULL);
GordonSin 0:0ed2a7c7190c 200 }
GordonSin 0:0ed2a7c7190c 201 return (OS_R_OK);
GordonSin 0:0ed2a7c7190c 202 }
GordonSin 0:0ed2a7c7190c 203
GordonSin 0:0ed2a7c7190c 204 /* Find the task in the "os_active_TCB" array. */
GordonSin 0:0ed2a7c7190c 205 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
GordonSin 0:0ed2a7c7190c 206 /* Task with "task_id" not found or not started. */
GordonSin 0:0ed2a7c7190c 207 return (OS_R_NOK);
GordonSin 0:0ed2a7c7190c 208 }
GordonSin 0:0ed2a7c7190c 209 p_task = os_active_TCB[task_id-1];
GordonSin 0:0ed2a7c7190c 210 p_task->prio = new_prio;
GordonSin 0:0ed2a7c7190c 211 if (p_task == os_tsk.run) {
GordonSin 0:0ed2a7c7190c 212 goto run;
GordonSin 0:0ed2a7c7190c 213 }
GordonSin 0:0ed2a7c7190c 214 rt_resort_prio (p_task);
GordonSin 0:0ed2a7c7190c 215 if (p_task->state == READY) {
GordonSin 0:0ed2a7c7190c 216 /* Task enqueued in a ready list. */
GordonSin 0:0ed2a7c7190c 217 p_task = rt_get_first (&os_rdy);
GordonSin 0:0ed2a7c7190c 218 rt_dispatch (p_task);
GordonSin 0:0ed2a7c7190c 219 }
GordonSin 0:0ed2a7c7190c 220 return (OS_R_OK);
GordonSin 0:0ed2a7c7190c 221 }
GordonSin 0:0ed2a7c7190c 222
GordonSin 0:0ed2a7c7190c 223 /*--------------------------- rt_tsk_delete ---------------------------------*/
GordonSin 0:0ed2a7c7190c 224
GordonSin 0:0ed2a7c7190c 225 OS_RESULT rt_tsk_delete (OS_TID task_id) {
GordonSin 0:0ed2a7c7190c 226 /* Terminate the task identified with "task_id". */
GordonSin 0:0ed2a7c7190c 227 P_TCB task_context;
GordonSin 0:0ed2a7c7190c 228
GordonSin 0:0ed2a7c7190c 229 if (task_id == 0 || task_id == os_tsk.run->task_id) {
GordonSin 0:0ed2a7c7190c 230 /* Terminate itself. */
GordonSin 0:0ed2a7c7190c 231 os_tsk.run->state = INACTIVE;
GordonSin 0:0ed2a7c7190c 232 os_tsk.run->tsk_stack = rt_get_PSP ();
GordonSin 0:0ed2a7c7190c 233 rt_stk_check ();
GordonSin 0:0ed2a7c7190c 234 os_active_TCB[os_tsk.run->task_id-1] = NULL;
GordonSin 0:0ed2a7c7190c 235
GordonSin 0:0ed2a7c7190c 236 os_tsk.run->stack = NULL;
GordonSin 0:0ed2a7c7190c 237 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
GordonSin 0:0ed2a7c7190c 238 os_tsk.run = NULL;
GordonSin 0:0ed2a7c7190c 239 rt_dispatch (NULL);
GordonSin 0:0ed2a7c7190c 240 /* The program should never come to this point. */
GordonSin 0:0ed2a7c7190c 241 }
GordonSin 0:0ed2a7c7190c 242 else {
GordonSin 0:0ed2a7c7190c 243 /* Find the task in the "os_active_TCB" array. */
GordonSin 0:0ed2a7c7190c 244 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
GordonSin 0:0ed2a7c7190c 245 /* Task with "task_id" not found or not started. */
GordonSin 0:0ed2a7c7190c 246 return (OS_R_NOK);
GordonSin 0:0ed2a7c7190c 247 }
GordonSin 0:0ed2a7c7190c 248 task_context = os_active_TCB[task_id-1];
GordonSin 0:0ed2a7c7190c 249 rt_rmv_list (task_context);
GordonSin 0:0ed2a7c7190c 250 rt_rmv_dly (task_context);
GordonSin 0:0ed2a7c7190c 251 os_active_TCB[task_id-1] = NULL;
GordonSin 0:0ed2a7c7190c 252
GordonSin 0:0ed2a7c7190c 253 task_context->stack = NULL;
GordonSin 0:0ed2a7c7190c 254 DBG_TASK_NOTIFY(task_context, __FALSE);
GordonSin 0:0ed2a7c7190c 255 }
GordonSin 0:0ed2a7c7190c 256 return (OS_R_OK);
GordonSin 0:0ed2a7c7190c 257 }
GordonSin 0:0ed2a7c7190c 258
GordonSin 0:0ed2a7c7190c 259
GordonSin 0:0ed2a7c7190c 260 /*--------------------------- rt_sys_init -----------------------------------*/
GordonSin 0:0ed2a7c7190c 261 void rt_sys_init (void) {
GordonSin 0:0ed2a7c7190c 262 /* Initialize system and start up task declared with "first_task". */
GordonSin 0:0ed2a7c7190c 263 U32 i;
GordonSin 0:0ed2a7c7190c 264
GordonSin 0:0ed2a7c7190c 265 DBG_INIT();
GordonSin 0:0ed2a7c7190c 266
GordonSin 0:0ed2a7c7190c 267 /* Initialize dynamic memory and task TCB pointers to NULL. */
GordonSin 0:0ed2a7c7190c 268 for (i = 0; i < os_maxtaskrun; i++) {
GordonSin 0:0ed2a7c7190c 269 os_active_TCB[i] = NULL;
GordonSin 0:0ed2a7c7190c 270 }
GordonSin 0:0ed2a7c7190c 271
GordonSin 0:0ed2a7c7190c 272 /* Set up TCB of idle demon */
GordonSin 0:0ed2a7c7190c 273 os_idle_TCB.task_id = 255;
GordonSin 0:0ed2a7c7190c 274 os_idle_TCB.priv_stack = idle_task_stack_size;
GordonSin 0:0ed2a7c7190c 275 os_idle_TCB.stack = idle_task_stack;
GordonSin 0:0ed2a7c7190c 276 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
GordonSin 0:0ed2a7c7190c 277
GordonSin 0:0ed2a7c7190c 278 /* Set up ready list: initially empty */
GordonSin 0:0ed2a7c7190c 279 os_rdy.cb_type = HCB;
GordonSin 0:0ed2a7c7190c 280 os_rdy.p_lnk = NULL;
GordonSin 0:0ed2a7c7190c 281 /* Set up delay list: initially empty */
GordonSin 0:0ed2a7c7190c 282 os_dly.cb_type = HCB;
GordonSin 0:0ed2a7c7190c 283 os_dly.p_dlnk = NULL;
GordonSin 0:0ed2a7c7190c 284 os_dly.p_blnk = NULL;
GordonSin 0:0ed2a7c7190c 285 os_dly.delta_time = 0;
GordonSin 0:0ed2a7c7190c 286
GordonSin 0:0ed2a7c7190c 287 /* Fix SP and systemvariables to assume idle task is running */
GordonSin 0:0ed2a7c7190c 288 /* Transform main program into idle task by assuming idle TCB */
GordonSin 0:0ed2a7c7190c 289 os_tsk.run = &os_idle_TCB;
GordonSin 0:0ed2a7c7190c 290 os_tsk.run->state = RUNNING;
GordonSin 0:0ed2a7c7190c 291
GordonSin 0:0ed2a7c7190c 292 /* Initialize ps queue */
GordonSin 0:0ed2a7c7190c 293 os_psq->first = 0;
GordonSin 0:0ed2a7c7190c 294 os_psq->last = 0;
GordonSin 0:0ed2a7c7190c 295 os_psq->size = os_fifo_size;
GordonSin 0:0ed2a7c7190c 296
GordonSin 0:0ed2a7c7190c 297 rt_init_robin ();
GordonSin 0:0ed2a7c7190c 298
GordonSin 0:0ed2a7c7190c 299 /* Intitialize SVC and PendSV */
GordonSin 0:0ed2a7c7190c 300 rt_svc_init ();
GordonSin 0:0ed2a7c7190c 301 }
GordonSin 0:0ed2a7c7190c 302
GordonSin 0:0ed2a7c7190c 303
GordonSin 0:0ed2a7c7190c 304 /*--------------------------- rt_sys_start ----------------------------------*/
GordonSin 0:0ed2a7c7190c 305 void rt_sys_start (void) {
GordonSin 0:0ed2a7c7190c 306 /* Start system */
GordonSin 0:0ed2a7c7190c 307
GordonSin 0:0ed2a7c7190c 308 /* Intitialize and start system clock timer */
GordonSin 0:0ed2a7c7190c 309 os_tick_irqn = os_tick_init ();
GordonSin 0:0ed2a7c7190c 310 if (os_tick_irqn >= 0) {
GordonSin 0:0ed2a7c7190c 311 OS_X_INIT(os_tick_irqn);
GordonSin 0:0ed2a7c7190c 312 }
GordonSin 0:0ed2a7c7190c 313 }
GordonSin 0:0ed2a7c7190c 314
GordonSin 0:0ed2a7c7190c 315 /*----------------------------------------------------------------------------
GordonSin 0:0ed2a7c7190c 316 * end of file
GordonSin 0:0ed2a7c7190c 317 *---------------------------------------------------------------------------*/