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* Description: This function is called if a task accidentally returns. In other words, a task should
* either be an infinite loop or delete itself when done.
*
* Arguments : ptcb is a pointer to the task control block of the task that is returning.
*
* Note(s) : none
*********************************************************************************************************
*/
#if OS_CPU_HOOKS_EN > 0u
void OSTaskReturnHook (OS_TCB *ptcb)
{
#if OS_APP_HOOKS_EN > 0u
App_TaskReturnHook(ptcb);
#else
(void)ptcb;
#endif
}
#endif
/*
*********************************************************************************************************
* STATISTIC TASK HOOK
*
* Description: This function is called every second by uC/OS-II's statistics task. This allows your
* application to add functionality to the statistics task.
*
* Arguments : none
*********************************************************************************************************
*/
#if OS_CPU_HOOKS_EN > 0u
void OSTaskStatHook (void)
{
#if OS_APP_HOOKS_EN > 0u
App_TaskStatHook();
#endif
}
#endif
/*
*********************************************************************************************************
* INITIALIZE A TASK'S STACK
*
* Description: This function is called by either OSTaskCreate() or OSTaskCreateExt() to initialize the
* stack frame of the task being created. This function is highly processor specific.
*
* Arguments : task is a pointer to the task code
*
* p_arg is a pointer to a user supplied data area that will be passed to the task
* when the task first executes.
*
* ptos is a pointer to the top of stack. It is assumed that 'ptos' points to
* a 'free' entry on the task stack. If OS_STK_GROWTH is set to 1 then
* 'ptos' will contain the HIGHEST valid address of the stack. Similarly, if
* OS_STK_GROWTH is set to 0, the 'ptos' will contains the LOWEST valid address
* of the stack.
*
* opt specifies options that can be used to alter the behavior of OSTaskStkInit().
* (see uCOS_II.H for OS_TASK_OPT_xxx).
*
* Returns : Always returns the location of the new top-of-stack once the processor registers have
* been placed on the stack in the proper order.
*
* Note(s) : 1) Interrupts are enabled when your task starts executing.
* 2) All tasks run in Thread mode, using process stack.
*********************************************************************************************************
*/
OS_STK *OSTaskStkInit (void (*task)(void *p_arg), void *p_arg, OS_STK *ptos, INT16U opt)
{
OS_STK *stk;
(void)opt; /* 'opt' is not used, prevent warning */
stk = ptos; /* Load stack pointer */
/* Registers stacked as if auto-saved on exception */
*(stk) = (INT32U)0x01000000uL; /* xPSR */
*(--stk) = (INT32U)task; /* Entry Point */
*(--stk) = (INT32U)OS_TaskReturn; /* R14 (LR) */
*(--stk) = (INT32U)0x12121212uL; /* R12 */
*(--stk) = (INT32U)0x03030303uL; /* R3 */
*(--stk) = (INT32U)0x02020202uL; /* R2 */
*(--stk) = (INT32U)0x01010101uL; /* R1 */
*(--stk) = (INT32U)p_arg; /* R0 : argument */
/* Remaining registers saved on process stack */
*(--stk) = (INT32U)0x11111111uL; /* R11 */
*(--stk) = (INT32U)0x10101010uL; /* R10 */
*(--stk) = (INT32U)0x09090909uL; /* R9 */
*(--stk) = (INT32U)0x08080808uL; /* R8 */
*(--stk) = (INT32U)0x07070707uL; /* R7 */
*(--stk) = (INT32U)0x06060606uL; /* R6 */
*(--stk) = (INT32U)0x05050505uL; /* R5 */
*(--stk) = (INT32U)0x04040404uL; /* R4 */
return (stk);
}
/*
*********************************************************************************************************
* TASK SWITCH HOOK
*
* Description: This function is called when a task switch is performed. This allows you to perform other
* operations during a context switch.
*
* Arguments : none
*
* Note(s) : 1) Interrupts are disabled during this call.
* 2) It is assumed that the global pointer 'OSTCBHighRdy' points to the TCB of the task that
* will be 'switched in' (i.e. the highest priority task) and, 'OSTCBCur' points to the
* task being switched out (i.e. the preempted task).
*********************************************************************************************************
*/
#if (OS_CPU_HOOKS_EN > 0u) && (OS_TASK_SW_HOOK_EN > 0u)
void OSTaskSwHook (void)
{
#if OS_APP_HOOKS_EN > 0u
App_TaskSwHook();
#endif
}
#endif
/*
*********************************************************************************************************
* OS_TCBInit() HOOK
*
* Description: This function is called by OS_TCBInit() after setting up most of the TCB.
*
* Arguments : ptcb is a pointer to the TCB of the task being created.
*
* Note(s) : 1) Interrupts may or may not be ENABLED during this call.
*********************************************************************************************************
*/
#if OS_CPU_HOOKS_EN > 0u
void OSTCBInitHook (OS_TCB *ptcb)
{
#if OS_APP_HOOKS_EN > 0u
App_TCBInitHook(ptcb);
#else
(void)ptcb; /* Prevent compiler warning */
#endif
}
#endif
/*
*********************************************************************************************************
* TICK HOOK
*
* Description: This function is called every tick.
*
* Arguments : none
*
* Note(s) : 1) Interrupts may or may not be ENABLED during this call.
*********************************************************************************************************
*/
#if (OS_CPU_HOOKS_EN > 0u) && (OS_TIME_TICK_HOOK_EN > 0u)
void OSTimeTickHook (void)
{
#if OS_APP_HOOKS_EN > 0u
App_TimeTickHook();
#endif
#if OS_TMR_EN > 0u
OSTmrCtr++;
if (OSTmrCtr >= (OS_TICKS_PER_SEC / OS_TMR_CFG_TICKS_PER_SEC))
{
OSTmrCtr = 0;
OSTmrSignal();
}
#endif
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* SYS TICK HANDLER
*
* Description: Handle the system tick (SysTick) interrupt, which is used to generate the uC/OS-II tick
* interrupt.
*
* Arguments : None.
*
* Note(s) : 1) This function MUST be placed on entry 15 of the Cortex-M3 vector table.
*********************************************************************************************************
*/
void OS_CPU_SysTickHandler (void)
{
OS_CPU_SR cpu_sr;
OS_ENTER_CRITICAL(); /* Tell uC/OS-II that we are starting an ISR */
OSIntNesting++;
OS_EXIT_CRITICAL();
OSTimeTick(); /* Call uC/OS-II's OSTimeTick() */
OSIntExit(); /* Tell uC/OS-II that we are leaving the ISR */
}
/*$PAGE*/
/*
*********************************************************************************************************
* INITIALIZE SYS TICK
*
* Description: Initialize the SysTick.
*
* Arguments : cnts Number of SysTick counts between two OS tick interrupts.
*
* Note(s) : 1) This function MUST be called after OSStart() & after processor initialization.
*********************************************************************************************************
*/
void OS_CPU_SysTickInit (INT32U cnts)
{
INT32U prio;
OS_CPU_CM3_NVIC_ST_RELOAD = cnts - 1u;
/* Set SysTick handler prio. */
prio = OS_CPU_CM3_NVIC_SHPRI3;
prio &= DEF_BIT_FIELD(24, 0);
prio |= DEF_BIT_MASK(OS_CPU_CFG_SYSTICK_PRIO, 24);
OS_CPU_CM3_NVIC_SHPRI3 = prio;
/* Enable timer. */
OS_CPU_CM3_NVIC_ST_CTRL |= OS_CPU_CM3_NVIC_ST_CTRL_CLK_SRC |
OS_CPU_CM3_NVIC_ST_CTRL_ENABLE;
/* Enable timer interrupt. */
OS_CPU_CM3_NVIC_ST_CTRL |= OS_CPU_CM3_NVIC_ST_CTRL_INTEN;
}
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