2 FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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97 * It is intended that the tasks and timers in this file cause interrupts to
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98 * nest at least one level deeper than they would otherwise.
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100 * A timer is configured to create an interrupt at moderately high frequency,
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101 * as defined by the tmrtestHIGH_FREQUENCY_TIMER_TEST_HZ constant. The
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102 * interrupt priority is by configHIGH_FREQUENCY_TIMER_PRIORITY, which is set
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103 * to ( configMAX_SYSCALL_INTERRUPT_PRIORITY - 1UL ), the second highest
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104 * priority from which interrupt safe FreeRTOS API calls can be made.
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106 * The timer interrupt handler counts the number of times it is called. When
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107 * it has determined that the number of calls means that 10ms has passed, it
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108 * 'gives' a semaphore, and resets it call count.
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110 * A high priority task is used to receive the data posted to the queue by the
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111 * interrupt service routine. The task should, then, leave the blocked state
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112 * and 'take' the available semaphore every 10ms. The frequency at which it
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113 * actually leaves the blocked state is verified by the demo's check task (see
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114 * the the documentation for the entire demo on the FreeRTOS.org web site),
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115 * which then flags an error if the frequency lower than expected.
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118 /* Standard includes. */
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119 #include <stdlib.h>
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120 #include <string.h>
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122 /* Scheduler includes. */
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123 #include "FreeRTOS.h"
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125 #include "semphr.h"
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127 /* Demo application includes. */
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128 #include "InterruptNestTest.h"
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130 /* TriCore specific includes. */
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131 #include <tc1782.h>
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132 #include <machine/intrinsics.h>
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133 #include <machine/cint.h>
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134 #include <machine/wdtcon.h>
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136 /* This constant is specific to this test application. It allows the high
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137 frequency (interrupt nesting test) timer to know how often to trigger, and the
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138 check task to know how many iterations to expect at any given time. */
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139 #define tmrtestHIGH_FREQUENCY_TIMER_TEST_HZ ( 8931UL )
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142 * The handler for the high priority timer interrupt.
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144 static void prvPortHighFrequencyTimerHandler( int iArg ) __attribute__((longcall));
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147 * The task that receives messages posted to a queue by the higher priority
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150 static void prvHighFrequencyTimerTask( void *pvParameters );
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152 /* Constants used to configure the timer and determine how often the task
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153 should receive data. */
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154 static const unsigned long ulCompareMatchValue = configPERIPHERAL_CLOCK_HZ / tmrtestHIGH_FREQUENCY_TIMER_TEST_HZ;
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155 static const unsigned long ulInterruptsPer10ms = tmrtestHIGH_FREQUENCY_TIMER_TEST_HZ / 100UL;
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156 static const unsigned long ulSemaphoreGiveRate_ms = 10UL;
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158 /* The semaphore used to synchronise the interrupt with the task. */
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159 static SemaphoreHandle_t xHighFrequencyTimerSemaphore = NULL;
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161 /* Holds the count of the number of times the task is unblocked by the timer. */
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162 static volatile unsigned long ulHighFrequencyTaskIterations = 0UL;
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164 /*-----------------------------------------------------------*/
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166 void vSetupInterruptNestingTest( void )
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168 unsigned long ulCompareMatchBits;
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170 /* Create the semaphore used to communicate between the high frequency
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171 interrupt and the task. */
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172 vSemaphoreCreateBinary( xHighFrequencyTimerSemaphore );
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173 configASSERT( xHighFrequencyTimerSemaphore );
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175 /* Create the task that pends on the semaphore that is given by the
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176 high frequency interrupt. */
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177 xTaskCreate( prvHighFrequencyTimerTask, "HFTmr", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
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179 /* Setup the interrupt itself. The STM module clock divider is setup when
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180 the tick interrupt is configured - which is when the scheduler is started -
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181 so there is no need to do it here.
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183 The tick interrupt uses compare match 0, so this test uses compare match
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184 1, which means shifting up the values by 16 before writing them to the
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186 ulCompareMatchBits = ( 0x1fUL - __CLZ( ulCompareMatchValue ) );
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187 ulCompareMatchBits <<= 16UL;
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189 /* Write the values to the relevant SMT registers, without changing other
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191 taskENTER_CRITICAL();
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193 STM_CMCON.reg &= ~( 0x1fUL << 16UL );
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194 STM_CMCON.reg |= ulCompareMatchBits;
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195 STM_CMP1.reg = ulCompareMatchValue;
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197 if( 0 != _install_int_handler( configHIGH_FREQUENCY_TIMER_PRIORITY, prvPortHighFrequencyTimerHandler, 0 ) )
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199 /* Set-up the interrupt. */
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200 STM_SRC1.reg = ( configHIGH_FREQUENCY_TIMER_PRIORITY | 0x00005000UL );
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202 /* Enable the Interrupt. */
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203 STM_ISRR.reg &= ~( 0x03UL << 2UL );
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204 STM_ISRR.reg |= ( 0x1UL << 2UL );
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205 STM_ICR.reg &= ~( 0x07UL << 4UL );
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206 STM_ICR.reg |= ( 0x5UL << 4UL );
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210 /* Failed to install the interrupt. */
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211 configASSERT( ( ( volatile void * ) NULL ) );
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214 taskEXIT_CRITICAL();
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216 /*-----------------------------------------------------------*/
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218 unsigned long ulInterruptNestingTestGetIterationCount( unsigned long *pulExpectedIncFrequency_ms )
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220 unsigned long ulReturn;
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222 *pulExpectedIncFrequency_ms = ulSemaphoreGiveRate_ms;
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223 portENTER_CRITICAL();
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225 ulReturn = ulHighFrequencyTaskIterations;
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226 ulHighFrequencyTaskIterations = 0UL;
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231 /*-----------------------------------------------------------*/
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233 static void prvHighFrequencyTimerTask( void *pvParameters )
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235 /* Just to remove compiler warnings about the unused parameter. */
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236 ( void ) pvParameters;
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240 /* Wait for the next trigger from the high frequency timer interrupt. */
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241 xSemaphoreTake( xHighFrequencyTimerSemaphore, portMAX_DELAY );
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243 /* Just count how many times the task has been unblocked before
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244 returning to wait for the semaphore again. */
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245 ulHighFrequencyTaskIterations++;
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248 /*-----------------------------------------------------------*/
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250 static void prvPortHighFrequencyTimerHandler( int iArg )
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252 static volatile unsigned long ulExecutionCounter = 0UL;
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253 unsigned long ulHigherPriorityTaskWoken = pdFALSE;
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255 /* Just to avoid compiler warnings about unused parameters. */
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258 /* Clear the interrupt source. */
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259 STM_ISRR.reg = 1UL << 2UL;
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261 /* Reload the Compare Match register for X ticks into the future.*/
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262 STM_CMP1.reg += ulCompareMatchValue;
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264 ulExecutionCounter++;
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266 if( ulExecutionCounter >= ulInterruptsPer10ms )
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268 ulExecutionCounter = xSemaphoreGiveFromISR( xHighFrequencyTimerSemaphore, &ulHigherPriorityTaskWoken );
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270 /* If the semaphore was given ulExeuctionCounter will now be pdTRUE. */
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271 configASSERT( ulExecutionCounter == pdTRUE );
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273 /* Start counting again. */
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274 ulExecutionCounter = 0UL;
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277 /* Context switch on exit if necessary. */
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278 portYIELD_FROM_ISR( ulHigherPriorityTaskWoken );
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