text: /*----------------------------------------------------------------------------
   *      RL-ARM - RTX
   *----------------------------------------------------------------------------
   *      Name:    RT_ROBIN.C
   *      Purpose: Round Robin Task switching
   *      Rev.:    V4.60
   *----------------------------------------------------------------------------
   *
   * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
   * All rights reserved.
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *  - Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   *  - 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.
   *  - Neither the name of ARM  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 AND CONTRIBUTORS "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 COPYRIGHT HOLDERS AND CONTRIBUTORS 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 "rt_TypeDef.h"
  #include "RTX_Config.h"
  #include "rt_List.h"
  #include "rt_Task.h"
  #include "rt_Time.h"
  #include "rt_Robin.h"
  #ifdef __CORTEX_A9
  #include "rt_HAL_CA.h"
  #else
  #include "rt_HAL_CM.h"
  #endif
  
  /*----------------------------------------------------------------------------
   *      Global Variables
   *---------------------------------------------------------------------------*/
  
  struct OS_ROBIN os_robin;
  
  
  /*----------------------------------------------------------------------------
   *      Global Functions
   *---------------------------------------------------------------------------*/
  
  /*--------------------------- rt_init_robin ---------------------------------*/
  
  __weak void rt_init_robin (void) {
    /* Initialize Round Robin variables. */
    os_robin.task = NULL;
    os_robin.tout = (U16)os_rrobin;
  }
  
  /*--------------------------- rt_chk_robin ----------------------------------*/
  
  __weak void rt_chk_robin (void) {
    /* Check if Round Robin timeout expired and switch to the next ready task.*/
    P_TCB p_new;
  
    if (os_robin.task != os_rdy.p_lnk) {
      /* New task was suspended, reset Round Robin timeout. */
      os_robin.task = os_rdy.p_lnk;
      os_robin.time = (U16)os_time + os_robin.tout - 1;
    }
    if (os_robin.time == (U16)os_time) {
      /* Round Robin timeout has expired, swap Robin tasks. */
      os_robin.task = NULL;
      p_new = rt_get_first (&os_rdy);
      rt_put_prio ((P_XCB)&os_rdy, p_new);
    }
  }
  
  /*----------------------------------------------------------------------------
   * end of file
   *---------------------------------------------------------------------------*/
  
  