2 FreeRTOS V7.4.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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76 * It is intended that the tasks and timers in this file cause interrupts to
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77 * nest at least one level deeper than they would otherwise.
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79 * A timer is configured to create an interrupt at moderately high frequency,
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80 * as defined by the tmrtestHIGH_FREQUENCY_TIMER_TEST_HZ constant. The
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81 * interrupt priority is by configHIGH_FREQUENCY_TIMER_PRIORITY, which is set
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82 * to ( configMAX_SYSCALL_INTERRUPT_PRIORITY - 1UL ), the second highest
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83 * priority from which interrupt safe FreeRTOS API calls can be made.
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85 * The timer interrupt handler counts the number of times it is called. When
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86 * it has determined that the number of calls means that 10ms has passed, it
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87 * 'gives' a semaphore, and resets it call count.
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89 * A high priority task is used to receive the data posted to the queue by the
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90 * interrupt service routine. The task should, then, leave the blocked state
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91 * and 'take' the available semaphore every 10ms. The frequency at which it
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92 * actually leaves the blocked state is verified by the demo's check task (see
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93 * the the documentation for the entire demo on the FreeRTOS.org web site),
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94 * which then flags an error if the frequency lower than expected.
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97 /* Standard includes. */
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101 /* Scheduler includes. */
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102 #include "FreeRTOS.h"
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104 #include "semphr.h"
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106 /* Demo application includes. */
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107 #include "InterruptNestTest.h"
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109 /* TriCore specific includes. */
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110 #include <tc1782.h>
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111 #include <machine/intrinsics.h>
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112 #include <machine/cint.h>
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113 #include <machine/wdtcon.h>
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115 /* This constant is specific to this test application. It allows the high
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116 frequency (interrupt nesting test) timer to know how often to trigger, and the
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117 check task to know how many iterations to expect at any given time. */
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118 #define tmrtestHIGH_FREQUENCY_TIMER_TEST_HZ ( 8931UL )
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121 * The handler for the high priority timer interrupt.
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123 static void prvPortHighFrequencyTimerHandler( int iArg ) __attribute__((longcall));
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126 * The task that receives messages posted to a queue by the higher priority
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129 static void prvHighFrequencyTimerTask( void *pvParameters );
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131 /* Constants used to configure the timer and determine how often the task
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132 should receive data. */
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133 static const unsigned long ulCompareMatchValue = configPERIPHERAL_CLOCK_HZ / tmrtestHIGH_FREQUENCY_TIMER_TEST_HZ;
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134 static const unsigned long ulInterruptsPer10ms = tmrtestHIGH_FREQUENCY_TIMER_TEST_HZ / 100UL;
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135 static const unsigned long ulSemaphoreGiveRate_ms = 10UL;
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137 /* The semaphore used to synchronise the interrupt with the task. */
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138 static xSemaphoreHandle xHighFrequencyTimerSemaphore = NULL;
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140 /* Holds the count of the number of times the task is unblocked by the timer. */
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141 static volatile unsigned long ulHighFrequencyTaskIterations = 0UL;
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143 /*-----------------------------------------------------------*/
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145 void vSetupInterruptNestingTest( void )
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147 unsigned long ulCompareMatchBits;
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149 /* Create the semaphore used to communicate between the high frequency
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150 interrupt and the task. */
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151 vSemaphoreCreateBinary( xHighFrequencyTimerSemaphore );
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152 configASSERT( xHighFrequencyTimerSemaphore );
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154 /* Create the task that pends on the semaphore that is given by the
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155 high frequency interrupt. */
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156 xTaskCreate( prvHighFrequencyTimerTask, ( signed char * ) "HFTmr", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
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158 /* Setup the interrupt itself. The STM module clock divider is setup when
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159 the tick interrupt is configured - which is when the scheduler is started -
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160 so there is no need to do it here.
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162 The tick interrupt uses compare match 0, so this test uses compare match
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163 1, which means shifting up the values by 16 before writing them to the
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165 ulCompareMatchBits = ( 0x1fUL - __CLZ( ulCompareMatchValue ) );
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166 ulCompareMatchBits <<= 16UL;
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168 /* Write the values to the relevant SMT registers, without changing other
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170 taskENTER_CRITICAL();
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172 STM_CMCON.reg &= ~( 0x1fUL << 16UL );
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173 STM_CMCON.reg |= ulCompareMatchBits;
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174 STM_CMP1.reg = ulCompareMatchValue;
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176 if( 0 != _install_int_handler( configHIGH_FREQUENCY_TIMER_PRIORITY, prvPortHighFrequencyTimerHandler, 0 ) )
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178 /* Set-up the interrupt. */
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179 STM_SRC1.reg = ( configHIGH_FREQUENCY_TIMER_PRIORITY | 0x00005000UL );
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181 /* Enable the Interrupt. */
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182 STM_ISRR.reg &= ~( 0x03UL << 2UL );
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183 STM_ISRR.reg |= ( 0x1UL << 2UL );
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184 STM_ICR.reg &= ~( 0x07UL << 4UL );
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185 STM_ICR.reg |= ( 0x5UL << 4UL );
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189 /* Failed to install the interrupt. */
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190 configASSERT( ( ( volatile void * ) NULL ) );
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193 taskEXIT_CRITICAL();
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195 /*-----------------------------------------------------------*/
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197 unsigned long ulInterruptNestingTestGetIterationCount( unsigned long *pulExpectedIncFrequency_ms )
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199 unsigned long ulReturn;
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201 *pulExpectedIncFrequency_ms = ulSemaphoreGiveRate_ms;
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202 portENTER_CRITICAL();
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204 ulReturn = ulHighFrequencyTaskIterations;
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205 ulHighFrequencyTaskIterations = 0UL;
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210 /*-----------------------------------------------------------*/
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212 static void prvHighFrequencyTimerTask( void *pvParameters )
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214 /* Just to remove compiler warnings about the unused parameter. */
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215 ( void ) pvParameters;
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219 /* Wait for the next trigger from the high frequency timer interrupt. */
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220 xSemaphoreTake( xHighFrequencyTimerSemaphore, portMAX_DELAY );
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222 /* Just count how many times the task has been unblocked before
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223 returning to wait for the semaphore again. */
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224 ulHighFrequencyTaskIterations++;
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227 /*-----------------------------------------------------------*/
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229 static void prvPortHighFrequencyTimerHandler( int iArg )
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231 static volatile unsigned long ulExecutionCounter = 0UL;
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232 unsigned long ulHigherPriorityTaskWoken = pdFALSE;
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234 /* Just to avoid compiler warnings about unused parameters. */
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237 /* Clear the interrupt source. */
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238 STM_ISRR.reg = 1UL << 2UL;
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240 /* Reload the Compare Match register for X ticks into the future.*/
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241 STM_CMP1.reg += ulCompareMatchValue;
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243 ulExecutionCounter++;
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245 if( ulExecutionCounter >= ulInterruptsPer10ms )
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247 ulExecutionCounter = xSemaphoreGiveFromISR( xHighFrequencyTimerSemaphore, &ulHigherPriorityTaskWoken );
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249 /* If the semaphore was given ulExeuctionCounter will now be pdTRUE. */
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250 configASSERT( ulExecutionCounter == pdTRUE );
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252 /* Start counting again. */
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253 ulExecutionCounter = 0UL;
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256 /* Context switch on exit if necessary. */
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257 portYIELD_FROM_ISR( ulHigherPriorityTaskWoken );
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