INT16S start_rtcs_scheduler(void)
/*****************************************************************************
* Input : -
* Output : -
* Function : The RTCS scheduler
******************************************************************************/
{
// contains temp status of semaphores.
// INT16U semaphores_task = 0;
ENTER_CRITICAL();
task_setup();
init_tasks();
systick_init();
EXIT_CRITICAL();
while(1)
{
if (systick_get())
{
systick_decrement();
for (rtcs_i = 0; rtcs_i < LAST_TASK+1; rtcs_i++)
{
if ((task_state[rtcs_i] == RUNNING) && (task_time[rtcs_i] > 0))
{
task_time[rtcs_i]--;
}
}
for (rtcs_i = 0; rtcs_i < LAST_TASK+1; rtcs_i++)
{
if _READY(rtcs_i)
{
task_time[rtcs_i] = 0;
current_task = rtcs_i;
// Call task.
(*task[rtcs_i])();
}
}
} // if (tick_flag)
} // while(!)
return 0;
}
int16_t start_rtcs_scheduler(void)
/*****************************************************************************
* Input : -
* Output : -
* Function : The RTCS scheduler
******************************************************************************/
{
// contains temp status of semaphores.
// INT16U semaphores_task = 0;
ENTER_CRITICAL();
timer0_systick_init();
timer0_systick_start();
task_setup();
init_tasks();
EXIT_CRITICAL();
while(1)
{
//Simple and no good implementation of timer incrementation
//This needs to be changed into a correct interrupt handler.
if (Xil_In32(XSCUTIMER_0_INT_STATUS_REG) & 0x00000001)
{
// Clear SCUtimer interrupt flag
Xil_Out32(XSCUTIMER_0_INT_STATUS_REG,0x00000001);
//increment tick
systick_increment();
//increment systime
systime_increment();
}
if (systick_get())
{
systick_decrement();
for (rtcs_i = 0; rtcs_i < LAST_TASK+1; rtcs_i++)
{
if ((task_state[rtcs_i] == RUNNING) && (task_time[rtcs_i] > 0))
{
task_time[rtcs_i]--;
}
}
for (rtcs_i = 0; rtcs_i < LAST_TASK+1; rtcs_i++)
{
if _READY(rtcs_i)
{
task_time[rtcs_i] = 0;
current_task = rtcs_i;
// Call task.
(*task[rtcs_i])();
}
}
if(err_overload_hndlr != NULL)
{
//call overload error handler
(*err_overload_hndlr)(systick_get()); //if tick > 0 the cpu is overloaded
}
}
} // while(!)
return 0;
}
