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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70 /******************************************************************************
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71 * This project provides two demo applications. A simple blinky style project,
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72 * and a more comprehensive test and demo application. The
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73 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting (defined in this file) is used to
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74 * select between the two. The simply blinky demo is implemented and described
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75 * in main_blinky.c. The more comprehensive test and demo application is
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76 * implemented and described in main_full.c.
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78 * This file implements the code that is not demo specific, including the
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79 * hardware setup and FreeRTOS hook functions. It also contains a dummy
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80 * interrupt service routine called Dummy_IRQHandler() that is provided as an
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81 * example of how to use interrupt safe FreeRTOS API functions (those that end
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84 *****************************************************************************/
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86 /* FreeRTOS includes. */
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87 #include "FreeRTOS.h"
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90 /* Demo app includes. */
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91 #include "UARTCommandConsole.h"
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93 /* Demo application include. */
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94 #include "QueueSet.h"
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96 /* Library includes. */
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99 /* Set mainCREATE_SIMPLE_BLINKY_DEMO_ONLY to one to run the simple blinky demo,
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100 or 0 to run the more comprehensive test and demo application. */
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101 #define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 0
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103 /*-----------------------------------------------------------*/
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106 * Perform any application specific hardware configuration.
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108 static void prvSetupHardware( void );
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111 * Prototypes for the FreeRTOS hook/callback functions. See the comments in
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112 * the implementation of each function for more information.
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114 void vApplicationMallocFailedHook( void );
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115 void vApplicationIdleHook( void );
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116 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
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117 void vApplicationTickHook( void );
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120 * main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
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121 * main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
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123 extern void main_blinky( void );
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124 extern void main_full( void );
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126 /*-----------------------------------------------------------*/
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128 /* Used in the run time stats calculations. */
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129 static unsigned long ulClocksPer10thOfAMilliSecond = 0UL;
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131 /*-----------------------------------------------------------*/
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135 /* Prepare the hardware for the demo. */
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136 prvSetupHardware();
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138 /* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top
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140 #if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1
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150 /*-----------------------------------------------------------*/
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152 static void prvSetupHardware( void )
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154 /* Initialisation is performed by the Atmel board support package. */
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157 /*-----------------------------------------------------------*/
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159 void vApplicationMallocFailedHook( void )
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161 /* vApplicationMallocFailedHook() will only be called if
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162 configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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163 function that will get called if a call to pvPortMalloc() fails.
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164 pvPortMalloc() is called internally by the kernel whenever a task, queue,
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165 timer or semaphore is created. It is also called by various parts of the
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166 demo application. If heap_1.c or heap_2.c are used, then the size of the
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167 heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
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168 FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
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169 to query the size of free heap space that remains (although it does not
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170 provide information on how the remaining heap might be fragmented). */
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171 taskDISABLE_INTERRUPTS();
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174 /*-----------------------------------------------------------*/
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176 void vApplicationIdleHook( void )
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178 /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
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179 to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
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180 task. It is essential that code added to this hook function never attempts
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181 to block in any way (for example, call xQueueReceive() with a block time
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182 specified, or call vTaskDelay()). If the application makes use of the
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183 vTaskDelete() API function (as this demo application does) then it is also
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184 important that vApplicationIdleHook() is permitted to return to its calling
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185 function, because it is the responsibility of the idle task to clean up
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186 memory allocated by the kernel to any task that has since been deleted. */
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188 /*-----------------------------------------------------------*/
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190 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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192 ( void ) pcTaskName;
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195 /* Run time stack overflow checking is performed if
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196 configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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197 function is called if a stack overflow is detected. */
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198 taskDISABLE_INTERRUPTS();
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201 /*-----------------------------------------------------------*/
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203 void vApplicationTickHook( void )
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205 /* This function will be called by each tick interrupt if
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206 configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h. User code can be
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207 added here, but the tick hook is called from an interrupt context, so
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208 code must not attempt to block, and only the interrupt safe FreeRTOS API
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209 functions can be used (those that end in FromISR()). */
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211 /* The semaphore and associated task are not created when the simple blinky
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213 #if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0
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215 /* Write to a queue that is in use as part of the queue set demo to
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216 demonstrate using queue sets from an ISR. */
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217 vQueueSetAccessQueueSetFromISR();
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219 #endif /* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY */
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221 /*-----------------------------------------------------------*/
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223 void vMainConfigureTimerForRunTimeStats( void )
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225 /* Used by the optional run-time stats gathering functionality. */
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227 /* How many clocks are there per tenth of a millisecond? */
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228 ulClocksPer10thOfAMilliSecond = configCPU_CLOCK_HZ / 10000UL;
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230 /*-----------------------------------------------------------*/
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232 unsigned long ulMainGetRunTimeCounterValue( void )
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234 unsigned long ulSysTickCounts, ulTickCount, ulReturn;
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235 const unsigned long ulSysTickReloadValue = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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236 volatile unsigned long * const pulCurrentSysTickCount = ( ( volatile unsigned long *) 0xe000e018 );
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237 volatile unsigned long * const pulInterruptCTRLState = ( ( volatile unsigned long *) 0xe000ed04 );
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238 const unsigned long ulSysTickPendingBit = 0x04000000UL;
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240 /* Used by the optional run-time stats gathering functionality. */
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243 /* NOTE: There are potentially race conditions here. However, it is used
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244 anyway to keep the examples simple, and to avoid reliance on a separate
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245 timer peripheral. */
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248 /* The SysTick is a down counter. How many clocks have passed since it was
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250 ulSysTickCounts = ulSysTickReloadValue - *pulCurrentSysTickCount;
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252 /* How many times has it overflowed? */
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253 ulTickCount = xTaskGetTickCountFromISR();
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255 /* This is called from the context switch, so will be called from a
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256 critical section. xTaskGetTickCountFromISR() contains its own critical
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257 section, and the ISR safe critical sections are not designed to nest,
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258 so reset the critical section. */
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259 portSET_INTERRUPT_MASK_FROM_ISR();
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261 /* Is there a SysTick interrupt pending? */
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262 if( ( *pulInterruptCTRLState & ulSysTickPendingBit ) != 0UL )
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264 /* There is a SysTick interrupt pending, so the SysTick has overflowed
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265 but the tick count not yet incremented. */
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268 /* Read the SysTick again, as the overflow might have occurred since
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269 it was read last. */
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270 ulSysTickCounts = ulSysTickReloadValue - *pulCurrentSysTickCount;
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273 /* Convert the tick count into tenths of a millisecond. THIS ASSUMES
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274 configTICK_RATE_HZ is 1000! */
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275 ulReturn = ( ulTickCount * 10UL ) ;
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277 /* Add on the number of tenths of a millisecond that have passed since the
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278 tick count last got updated. */
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279 ulReturn += ( ulSysTickCounts / ulClocksPer10thOfAMilliSecond );
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283 /*-----------------------------------------------------------*/
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285 #ifdef JUST_AN_EXAMPLE_ISR
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287 void Dummy_IRQHandler(void)
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289 long lHigherPriorityTaskWoken = pdFALSE;
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291 /* Clear the interrupt if necessary. */
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292 Dummy_ClearITPendingBit();
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294 /* This interrupt does nothing more than demonstrate how to synchronise a
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295 task with an interrupt. A semaphore is used for this purpose. Note
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296 lHigherPriorityTaskWoken is initialised to zero. Only FreeRTOS API functions
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297 that end in "FromISR" can be called from an ISR. */
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298 xSemaphoreGiveFromISR( xTestSemaphore, &lHigherPriorityTaskWoken );
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300 /* If there was a task that was blocked on the semaphore, and giving the
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301 semaphore caused the task to unblock, and the unblocked task has a priority
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302 higher than the current Running state task (the task that this interrupt
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303 interrupted), then lHigherPriorityTaskWoken will have been set to pdTRUE
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304 internally within xSemaphoreGiveFromISR(). Passing pdTRUE into the
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305 portEND_SWITCHING_ISR() macro will result in a context switch being pended to
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306 ensure this interrupt returns directly to the unblocked, higher priority,
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307 task. Passing pdFALSE into portEND_SWITCHING_ISR() has no effect. */
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308 portEND_SWITCHING_ISR( lHigherPriorityTaskWoken );
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311 #endif /* JUST_AN_EXAMPLE_ISR */
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