text: /**************************************************************************/
  /*!
      @file     rtos.c
      @author   hathach (tinyusb.org)
  
      @section LICENSE
  
      Software License Agreement (BSD License)
  
      Copyright (c) 2018, Adafruit Industries (adafruit.com)
      All rights reserved.
  
      Redistribution and use in source and binary forms, with or without
      modification, are permitted provided that the following conditions are met:
      1. Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
      2. Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
      3. Neither the name of the copyright holders nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
  
      THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
      EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
      WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
      DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
      DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
      (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
      LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
      ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
      (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
      SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
  /**************************************************************************/
  
  #include "Arduino.h"
  
  SchedulerRTOS Scheduler;
  
  static void _redirect_task(void* arg)
  {
    SchedulerRTOS::taskfunc_t taskfunc = (SchedulerRTOS::taskfunc_t) arg;
  
    while(1)
    {
      taskfunc();
      yield();
    }
  }
  
  SchedulerRTOS::SchedulerRTOS(void)
  {
  }
  
  bool SchedulerRTOS::startLoop(taskfunc_t task, uint32_t stack_size, uint32_t prio, const char* name)
  {
    static char const * const name_default = "unnamed_task";
    if (name == NULL)
    {
      name = name_default;
    }
    TaskHandle_t  handle;
    return pdPASS == xTaskCreate( _redirect_task, name, stack_size, (void*) task, prio, &handle);
  }
  
  
  //--------------------------------------------------------------------+
  // Hooks
  //--------------------------------------------------------------------+
  
  extern "C"
  {
  
  void yield(void)
  {
  #ifdef USE_TINYUSB
      tud_cdc_write_flush();
  #endif
  
    taskYIELD();
  }
  
  void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName )
  {
    LOG_LV1("RTOS", "Task %s: stack Overflow !!!", pcTaskName);
    while(CFG_DEBUG) yield();
  }
  
  void vApplicationMallocFailedHook(void)
  {
    LOG_LV1("RTOS", "Task %s: failed to Malloc", pcTaskGetName(xTaskGetCurrentTaskHandle()));
    while(CFG_DEBUG) yield();
  }
  
  /* configSUPPORT_STATIC_ALLOCATION is set to 1, so the application must provide an
   * implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
   * used by the Idle task. */
  void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
  {
    /* If the buffers to be provided to the Idle task are declared inside this
     * function then they must be declared static - otherwise they will be allocated on
     * the stack and so not exists after this function exits. */
    static StaticTask_t xIdleTaskTCB;
    static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
  
    /* Pass out a pointer to the StaticTask_t structure in which the Idle task's
      state will be stored. */
    *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
  
    /* Pass out the array that will be used as the Idle task's stack. */
    *ppxIdleTaskStackBuffer = uxIdleTaskStack;
  
    /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
      Note that, as the array is necessarily of type StackType_t,
      configMINIMAL_STACK_SIZE is specified in words, not bytes. */
    *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
  }
  
  /* configSUPPORT_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
   * application must provide an implementation of vApplicationGetTimerTaskMemory()
   * to provide the memory that is used by the Timer service task. */
  void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize )
  {
    /* If the buffers to be provided to the Timer task are declared inside this
     * function then they must be declared static - otherwise they will be allocated on
     * the stack and so not exists after this function exits. */
    static StaticTask_t xTimerTaskTCB;
    static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
  
    /* Pass out a pointer to the StaticTask_t structure in which the Timer
      task's state will be stored. */
    *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
  
    /* Pass out the array that will be used as the Timer task's stack. */
    *ppxTimerTaskStackBuffer = uxTimerTaskStack;
  
    /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
      Note that, as the array is necessarily of type StackType_t,
      configTIMER_TASK_STACK_DEPTH is specified in words, not bytes. */
    *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
  }
  
  } // extern C
  