void rt_block (U16 timeout, U8 block_state) {
/* Block running task and choose next ready task. */
/* "timeout" sets a time-out value or is 0xffff (=no time-out). */
/* "block_state" defines the appropriate task state */
P_TCB next_TCB;
if (timeout) {
if (timeout < 0xffff) {
rt_put_dly (os_tsk.run, timeout);
}
os_tsk.run->state = block_state;
next_TCB = rt_get_first (&os_rdy);
rt_switch_req (next_TCB);
}
}
void rt_systick (void) {
/* Check for system clock update, suspend running task. */
P_TCB next;
os_tsk.run->state = READY;
rt_put_rdy_first (os_tsk.run);
/* Check Round Robin timeout. */
rt_chk_robin ();
/* Update delays. */
os_time++;
rt_dec_dly ();
/* Check the user timers. */
rt_tmr_tick ();
/* Switch back to highest ready task */
next = rt_get_first (&os_rdy);
rt_switch_req (next);
}
void rt_sys_init (void) {
#else
void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
#endif
/* Initialize system and start up task declared with "first_task". */
U32 i;
DBG_INIT();
/* Initialize dynamic memory and task TCB pointers to NULL. */
for (i = 0U; i < os_maxtaskrun; i++) {
os_active_TCB[i] = NULL;
}
rt_init_box (mp_tcb, (U32)mp_tcb_size, sizeof(struct OS_TCB));
rt_init_box (mp_stk, mp_stk_size, BOX_ALIGN_8 | (U16)(os_stackinfo));
rt_init_box ((U32 *)m_tmr, (U32)mp_tmr_size, sizeof(struct OS_TMR));
/* Set up TCB of idle demon */
os_idle_TCB.task_id = 255U;
os_idle_TCB.priv_stack = 0U;
rt_init_context (&os_idle_TCB, 0U, os_idle_demon);
/* Set up ready list: initially empty */
os_rdy.cb_type = HCB;
os_rdy.p_lnk = NULL;
/* Set up delay list: initially empty */
os_dly.cb_type = HCB;
os_dly.p_dlnk = NULL;
os_dly.p_blnk = NULL;
os_dly.delta_time = 0U;
/* Fix SP and system variables to assume idle task is running */
/* Transform main program into idle task by assuming idle TCB */
#ifndef __CMSIS_RTOS
rt_set_PSP (os_idle_TCB.tsk_stack+32U);
#endif
os_tsk.run = &os_idle_TCB;
os_tsk.run->state = RUNNING;
/* Set the current thread to idle, so that on exit from this SVCall we do not
* de-reference a NULL TCB. */
rt_switch_req(&os_idle_TCB);
/* Initialize ps queue */
os_psq->first = 0U;
os_psq->last = 0U;
os_psq->size = os_fifo_size;
rt_init_robin ();
#ifndef __CMSIS_RTOS
/* Initialize SVC and PendSV */
rt_svc_init ();
/* Initialize and start system clock timer */
os_tick_irqn = os_tick_init ();
if (os_tick_irqn >= 0) {
OS_X_INIT((U32)os_tick_irqn);
}
/* Start up first user task before entering the endless loop */
rt_tsk_create (first_task, prio_stksz, stk, NULL);
#endif
}