/*!
\brief Invokes the scheduler
Increment systick counter, invoke scheduler and flag any context switching needed for PendSV to take care of.
*/
void SysTick_Handler(void) // 1KHz
{
os_KernelEnterCriticalSection();
// Increment systick counter
systick_count++;
// Run scheduler to determine if a context switch is needed
scheduler();
if (curr_task != next_task)
{
// Context switching needed
ScheduleContextSwitch();
}
os_KernelExitCriticalSection();
return;
}
void SysTick_Handler(void) // 1KHz
{
os_KernelEnterCriticalSection(); // TWP ... why???
// Increment systick counter
systick_count++;
//TWPV6: SysTick heartbeat on BLUE LED
switch (++ticker ) {
case( 1850 ):
unprotected_LED_blink( LED2 );
break;
case( 2000 ) :
ticker = 0;
unprotected_LED_blink( LED2 );
break;
} // end switch
// nothing more to do (yet) ... timed waiting and sleeping is not supported in this version
os_KernelExitCriticalSection();
return;
}
/// \brief Initialize the RTOS Kernel for creating objects.
/// \details Enable double-word stack alignment and initialize the Idle thread.
/// \return Status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osKernelInitialize shall be consistent in every CMSIS-RTOS.
osStatus osKernelInitialize (void)
{
os_KernelEnterCriticalSection();
// Enable double-word stack alignment
SCB->CCR |= SCB_CCR_STKALIGN_Msk; // Set STKALIGN bit (bit 9) of CCR
// Enable lazy stacking for interrupt handlers. This allows floating-point
// instructions to be used within interrupt handlers, but at the expense of
// extra stack usage.
//
ROM_FPULazyStackingEnable();
os_KernelExitCriticalSection();
// Initialize the Idle thread
// Needs SVC exceptions not masked
if (Init_threadIdle() != 0)
{
stop_cpu;
}
return osOK;
}
