void rt_systick (void) {
if(NVIC_Pending(SYS_TICK_IRQn)){
rt_pop_req();
NVIC_UnpendIRQ(SYS_TICK_IRQn);
SYS_TICK_TIMER->IR = 0xF; // clear timer interrupt
return;
}
/* 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. */
#ifdef __CMSIS_RTOS
sysTimerTick();
#else
rt_tmr_tick ();
#endif
/* Switch back to highest ready task */
next = rt_get_first (&os_rdy);
rt_switch_req (next);
SYS_TICK_TIMER->IR = 0xF; // clear timer interrupt
}
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. */
#ifdef __CMSIS_RTOS
sysTimerTick();
#else
rt_tmr_tick ();
#endif
/* Switch back to highest ready task */
next = rt_get_first (&os_rdy);
rt_switch_req (next);
}
void rt_resume (U32 sleep_time) {
/* Resume OS scheduler after suspend */
P_TCB next;
U32 delta;
os_tsk.run->state = READY;
rt_put_rdy_first (os_tsk.run);
os_robin.task = NULL;
/* Update delays. */
if (os_dly.p_dlnk) {
delta = sleep_time;
if (delta >= os_dly.delta_time) {
delta -= os_dly.delta_time;
os_time += os_dly.delta_time;
os_dly.delta_time = 1;
while (os_dly.p_dlnk) {
rt_dec_dly();
if (delta == 0) break;
delta--;
os_time++;
}
} else {
os_time += delta;
os_dly.delta_time -= delta;
}
} else {
os_time += sleep_time;
}
/* Check the user timers. */
#ifdef __CMSIS_RTOS
sysUserTimerUpdate(sleep_time);
#else
if (os_tmr.next) {
delta = sleep_time;
if (delta >= os_tmr.tcnt) {
delta -= os_tmr.tcnt;
os_tmr.tcnt = 1;
while (os_tmr.next) {
rt_tmr_tick();
if (delta == 0) break;
delta--;
}
} else {
os_tmr.tcnt -= delta;
}
}
#endif
/* Switch back to highest ready task */
next = rt_get_first (&os_rdy);
rt_switch_req (next);
scheduler_suspended = 0;
rt_tsk_unlock();
}