2 FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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71 BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER.
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73 Note1: This driver is used specifically to provide an interface to the
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74 FreeRTOS+CLI command interpreter. It is *not* intended to be a generic
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75 serial port driver. Nor is it intended to be used as an example of an
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76 efficient implementation. In particular, a queue is used to buffer
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77 received characters, which is fine in this case as key presses arrive
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78 slowly, but a DMA and/or RAM buffer should be used in place of the queue in
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79 applications that expect higher throughput.
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81 Note2: This driver does not attempt to handle UART errors.
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84 /* Scheduler includes. */
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85 #include "FreeRTOS.h"
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90 /* Demo application includes. */
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93 /* Xilinx includes. */
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94 #include "xuartps.h"
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95 #include "xscugic.h"
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96 #include "xil_exception.h"
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98 /* The UART interrupts of interest when receiving. */
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99 #define serRECEIVE_INTERRUPT_MASK ( XUARTPS_IXR_RXOVR | XUARTPS_IXR_RXFULL | XUARTPS_IXR_TOUT )
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101 /* The UART interrupts of interest when transmitting. */
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102 #define serTRANSMIT_IINTERRUPT_MASK ( XUARTPS_IXR_TXEMPTY )
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104 /*-----------------------------------------------------------*/
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106 /* The UART being used. */
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107 static XUartPs xUARTInstance;
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109 /* The interrupt controller, which is configred by the hardware setup routines
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110 defined in main(). */
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111 extern XScuGic xInterruptController;
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113 /* The queue into which received key presses are placed. NOTE THE COMMENTS AT
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114 THE TOP OF THIS FILE REGARDING THE USE OF QUEUES FOR THIS PURPOSE. */
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115 static QueueHandle_t xRxQueue = NULL;
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117 /* The semaphore used to indicate the end of a transmission. */
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118 static SemaphoreHandle_t xTxCompleteSemaphore = NULL;
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120 /*-----------------------------------------------------------*/
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123 * The UART interrupt handler is defined in this file to provide more control,
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124 * but still uses parts of the Xilinx provided driver.
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126 void prvUART_Handler( void *pvNotUsed );
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128 /*-----------------------------------------------------------*/
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131 * See the serial2.h header file.
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133 xComPortHandle xSerialPortInitMinimal( uint32_t ulWantedBaud, UBaseType_t uxQueueLength )
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135 BaseType_t xStatus;
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136 XUartPs_Config *pxConfig;
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138 /* Create the queue used to hold received characters. NOTE THE COMMENTS AT
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139 THE TOP OF THIS FILE REGARDING THE USE OF QUEUES FOR THIS PURPSOE. */
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140 xRxQueue = xQueueCreate( uxQueueLength, sizeof( char ) );
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141 configASSERT( xRxQueue );
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143 /* Create the semaphore used to signal the end of a transmission, then take
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144 the semaphore so it is in the correct state the first time
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145 xSerialSendString() is called. A block time of zero is used when taking
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146 the semaphore as it is guaranteed to be available (it was just created). */
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147 xTxCompleteSemaphore = xSemaphoreCreateBinary();
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148 configASSERT( xTxCompleteSemaphore );
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149 xSemaphoreTake( xTxCompleteSemaphore, 0 );
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151 /* Look up the UART configuration then initialise the dirver. */
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152 pxConfig = XUartPs_LookupConfig( XPAR_XUARTPS_0_DEVICE_ID );
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154 /* Initialise the driver. */
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155 xStatus = XUartPs_CfgInitialize( &xUARTInstance, pxConfig, XPAR_PS7_UART_1_BASEADDR );
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156 configASSERT( xStatus == XST_SUCCESS );
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157 ( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */
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159 /* Misc. parameter configuration. */
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160 XUartPs_SetBaudRate( &xUARTInstance, ulWantedBaud );
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161 XUartPs_SetOperMode( &xUARTInstance, XUARTPS_OPER_MODE_NORMAL );
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163 /* Install the interrupt service routine that is defined within this
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165 xStatus = XScuGic_Connect( &xInterruptController, XPAR_XUARTPS_1_INTR, (Xil_ExceptionHandler) prvUART_Handler, (void *) &xUARTInstance );
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166 configASSERT( xStatus == XST_SUCCESS );
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167 ( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */
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169 /* Ensure interrupts start clear. */
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170 XUartPs_WriteReg( XPAR_PS7_UART_1_BASEADDR, XUARTPS_ISR_OFFSET, XUARTPS_IXR_MASK );
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172 /* Enable the UART interrupt within the GIC. */
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173 XScuGic_Enable( &xInterruptController, XPAR_XUARTPS_1_INTR );
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175 /* Enable the interrupts of interest in the UART. */
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176 XUartPs_SetInterruptMask( &xUARTInstance, XUARTPS_IXR_RXFULL | XUARTPS_IXR_RXOVR | XUARTPS_IXR_TOUT | XUARTPS_IXR_TXEMPTY );
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178 /* Set the receive timeout. */
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179 XUartPs_SetRecvTimeout( &xUARTInstance, 8 );
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181 return ( xComPortHandle ) 0;
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183 /*-----------------------------------------------------------*/
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185 BaseType_t xSerialGetChar( xComPortHandle pxPort, signed char *pcRxedChar, TickType_t xBlockTime )
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187 BaseType_t xReturn;
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189 /* Only a single port is supported. */
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192 /* Obtain a received character from the queue - entering the Blocked state
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193 (so not consuming any processing time) to wait for a character if one is not
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194 already available. */
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195 xReturn = xQueueReceive( xRxQueue, pcRxedChar, xBlockTime );
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198 /*-----------------------------------------------------------*/
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200 void vSerialPutString( xComPortHandle pxPort, const signed char * const pcString, unsigned short usStringLength )
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202 const TickType_t xMaxWait = 200UL / portTICK_PERIOD_MS;
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204 /* Only a single port is supported. */
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207 /* Start the transmission. The interrupt service routine will complete the
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208 transmission if necessary. */
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209 XUartPs_Send( &xUARTInstance, ( void * ) pcString, usStringLength );
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211 /* Wait until the string has been transmitted before exiting this function,
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212 otherwise there is a risk the calling function will overwrite the string
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213 pointed to by the pcString parameter while it is still being transmitted.
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214 The calling task will wait in the Blocked state (so not consuming any
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215 processing time) until the semaphore is available. */
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216 xSemaphoreTake( xTxCompleteSemaphore, xMaxWait );
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218 /*-----------------------------------------------------------*/
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220 signed portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, signed char cOutChar, TickType_t xBlockTime )
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222 /* Only a single port is supported. */
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225 /* Send the character. */
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226 XUartPs_Send( &xUARTInstance, ( void * ) &cOutChar, sizeof( cOutChar ) );
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228 /* Wait for the transmission to be complete so the semaphore is left in the
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229 correct state for the next time vSerialPutString() is called. */
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230 xSemaphoreTake( xTxCompleteSemaphore, xBlockTime );
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234 /*-----------------------------------------------------------*/
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236 void vSerialClose(xComPortHandle xPort)
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238 /* Not supported as not required by the demo application. */
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241 /*-----------------------------------------------------------*/
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243 void prvUART_Handler( void *pvNotUsed )
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245 extern unsigned int XUartPs_SendBuffer( XUartPs *InstancePtr );
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246 uint32_t ulActiveInterrupts, ulChannelStatusRegister;
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247 BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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250 configASSERT( pvNotUsed == &xUARTInstance );
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252 /* Remove compile warnings if configASSERT() is not defined. */
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253 ( void ) pvNotUsed;
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255 /* Read the interrupt ID register to see which interrupt is active. */
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256 ulActiveInterrupts = XUartPs_ReadReg(XPAR_PS7_UART_1_BASEADDR, XUARTPS_IMR_OFFSET);
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257 ulActiveInterrupts &= XUartPs_ReadReg(XPAR_PS7_UART_1_BASEADDR, XUARTPS_ISR_OFFSET);
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259 /* Are any receive events of interest active? */
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260 if( ( ulActiveInterrupts & serRECEIVE_INTERRUPT_MASK ) != 0 )
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262 /* Read the Channel Status Register to determine if there is any data in
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264 ulChannelStatusRegister = XUartPs_ReadReg( XPAR_PS7_UART_1_BASEADDR, XUARTPS_SR_OFFSET );
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266 /* Move data from the Rx FIFO to the Rx queue. NOTE THE COMMENTS AT THE
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267 TOP OF THIS FILE ABOUT USING QUEUES FOR THIS PURPSOE. */
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268 while( ( ulChannelStatusRegister & XUARTPS_SR_RXEMPTY ) == 0 )
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270 cChar = XUartPs_ReadReg( XPAR_PS7_UART_1_BASEADDR, XUARTPS_FIFO_OFFSET );
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272 /* If writing to the queue unblocks a task, and the unblocked task
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273 has a priority above the currently running task (the task that this
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274 interrupt interrupted), then xHigherPriorityTaskWoken will be set
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275 to pdTRUE inside the xQueueSendFromISR() function.
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276 xHigherPriorityTaskWoken is then passed to portYIELD_FROM_ISR() at
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277 the end of this interrupt handler to request a context switch so the
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278 interrupt returns directly to the (higher priority) unblocked
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280 xQueueSendFromISR( xRxQueue, &cChar, &xHigherPriorityTaskWoken );
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281 ulChannelStatusRegister = XUartPs_ReadReg( XPAR_PS7_UART_1_BASEADDR, XUARTPS_SR_OFFSET );
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285 /* Are any transmit events of interest active? */
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286 if( ( ulActiveInterrupts & serTRANSMIT_IINTERRUPT_MASK ) != 0 )
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288 if( xUARTInstance.SendBuffer.RemainingBytes == 0 )
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290 /* Give back the semaphore to indicate that the tranmission is
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291 complete. If giving the semaphore unblocks a task, and the
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292 unblocked task has a priority above the currently running task (the
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293 task that this interrupt interrupted), then xHigherPriorityTaskWoken
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294 will be set to pdTRUE inside the xSemaphoreGiveFromISR() function.
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295 xHigherPriorityTaskWoken is then passed to portYIELD_FROM_ISR() at
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296 the end of this interrupt handler to request a context switch so the
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297 interrupt returns directly to the (higher priority) unblocked
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299 xSemaphoreGiveFromISR( xTxCompleteSemaphore, &xHigherPriorityTaskWoken );
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301 /* No more data to transmit. */
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302 XUartPs_WriteReg( XPAR_PS7_UART_1_BASEADDR, XUARTPS_IDR_OFFSET, XUARTPS_IXR_TXEMPTY );
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306 /* More data to send. */
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307 XUartPs_SendBuffer( &xUARTInstance );
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311 /* portYIELD_FROM_ISR() will request a context switch if executing this
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312 interrupt handler caused a task to leave the blocked state, and the task
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313 that left the blocked state has a higher priority than the currently running
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314 task (the task this interrupt interrupted). See the comment above the calls
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315 to xSemaphoreGiveFromISR() and xQueueSendFromISR() within this function. */
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316 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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318 /* Clear the interrupt status. */
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319 XUartPs_WriteReg( XPAR_PS7_UART_1_BASEADDR, XUARTPS_ISR_OFFSET, ulActiveInterrupts );
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