1 /*This file has been prepared for Doxygen automatic documentation generation.*/
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2 /*! \file *********************************************************************
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4 * \brief FreeRTOS port source for AVR32 UC3.
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6 * - Compiler: GNU GCC for AVR32
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7 * - Supported devices: All AVR32 devices can be used.
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10 * \author Atmel Corporation: http://www.atmel.com \n
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11 * Support and FAQ: http://support.atmel.no/
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13 *****************************************************************************/
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16 FreeRTOS V7.5.1 - Copyright (C) 2013 Real Time Engineers Ltd.
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18 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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20 ***************************************************************************
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22 * FreeRTOS provides completely free yet professionally developed, *
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23 * robust, strictly quality controlled, supported, and cross *
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24 * platform software that has become a de facto standard. *
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26 * Help yourself get started quickly and support the FreeRTOS *
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27 * project by purchasing a FreeRTOS tutorial book, reference *
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28 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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32 ***************************************************************************
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34 This file is part of the FreeRTOS distribution.
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36 FreeRTOS is free software; you can redistribute it and/or modify it under
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37 the terms of the GNU General Public License (version 2) as published by the
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38 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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40 >>! NOTE: The modification to the GPL is included to allow you to distribute
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41 >>! a combined work that includes FreeRTOS without being obliged to provide
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42 >>! the source code for proprietary components outside of the FreeRTOS
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45 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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46 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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47 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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48 link: http://www.freertos.org/a00114.html
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52 ***************************************************************************
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54 * Having a problem? Start by reading the FAQ "My application does *
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55 * not run, what could be wrong?" *
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57 * http://www.FreeRTOS.org/FAQHelp.html *
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59 ***************************************************************************
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61 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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62 license and Real Time Engineers Ltd. contact details.
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64 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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65 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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66 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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68 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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69 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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70 licenses offer ticketed support, indemnification and middleware.
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72 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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73 engineered and independently SIL3 certified version for use in safety and
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74 mission critical applications that require provable dependability.
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80 /* Standard includes. */
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81 #include <sys/cpu.h>
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82 #include <sys/usart.h>
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85 /* Scheduler includes. */
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86 #include "FreeRTOS.h"
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89 /* AVR32 UC3 includes. */
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90 #include <avr32/io.h>
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92 #if( configTICK_USE_TC==1 )
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97 /* Constants required to setup the task context. */
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98 #define portINITIAL_SR ( ( portSTACK_TYPE ) 0x00400000 ) /* AVR32 : [M2:M0]=001 I1M=0 I0M=0, GM=0 */
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99 #define portINSTRUCTION_SIZE ( ( portSTACK_TYPE ) 0 )
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101 /* Each task maintains its own critical nesting variable. */
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102 #define portNO_CRITICAL_NESTING ( ( unsigned long ) 0 )
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103 volatile unsigned long ulCriticalNesting = 9999UL;
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105 #if( configTICK_USE_TC==0 )
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106 static void prvScheduleNextTick( void );
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108 static void prvClearTcInt( void );
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111 /* Setup the timer to generate the tick interrupts. */
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112 static void prvSetupTimerInterrupt( void );
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114 /*-----------------------------------------------------------*/
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117 * Low-level initialization routine called during startup, before the main
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119 * This version comes in replacement to the default one provided by Newlib.
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120 * Newlib's _init_startup only calls init_exceptions, but Newlib's exception
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121 * vectors are not compatible with the SCALL management in the current FreeRTOS
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122 * port. More low-level initializations are besides added here.
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124 void _init_startup(void)
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126 /* Import the Exception Vector Base Address. */
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129 #if configHEAP_INIT
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130 extern void __heap_start__;
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131 extern void __heap_end__;
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132 portBASE_TYPE *pxMem;
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135 /* Load the Exception Vector Base Address in the corresponding system register. */
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136 Set_system_register( AVR32_EVBA, ( int ) &_evba );
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138 /* Enable exceptions. */
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139 ENABLE_ALL_EXCEPTIONS();
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141 /* Initialize interrupt handling. */
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142 INTC_init_interrupts();
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144 #if configHEAP_INIT
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146 /* Initialize the heap used by malloc. */
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147 for( pxMem = &__heap_start__; pxMem < ( portBASE_TYPE * )&__heap_end__; )
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149 *pxMem++ = 0xA5A5A5A5;
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154 /* Give the used CPU clock frequency to Newlib, so it can work properly. */
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155 set_cpu_hz( configCPU_CLOCK_HZ );
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157 /* Code section present if and only if the debug trace is activated. */
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160 static const gpio_map_t DBG_USART_GPIO_MAP =
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162 { configDBG_USART_RX_PIN, configDBG_USART_RX_FUNCTION },
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163 { configDBG_USART_TX_PIN, configDBG_USART_TX_FUNCTION }
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166 /* Initialize the USART used for the debug trace with the configured parameters. */
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167 set_usart_base( ( void * ) configDBG_USART );
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168 gpio_enable_module( DBG_USART_GPIO_MAP,
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169 sizeof( DBG_USART_GPIO_MAP ) / sizeof( DBG_USART_GPIO_MAP[0] ) );
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170 usart_init( configDBG_USART_BAUDRATE );
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174 /*-----------------------------------------------------------*/
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177 * malloc, realloc and free are meant to be called through respectively
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178 * pvPortMalloc, pvPortRealloc and vPortFree.
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179 * The latter functions call the former ones from within sections where tasks
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180 * are suspended, so the latter functions are task-safe. __malloc_lock and
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181 * __malloc_unlock use the same mechanism to also keep the former functions
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182 * task-safe as they may be called directly from Newlib's functions.
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183 * However, all these functions are interrupt-unsafe and SHALL THEREFORE NOT BE
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184 * CALLED FROM WITHIN AN INTERRUPT, because __malloc_lock and __malloc_unlock do
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185 * not call portENTER_CRITICAL and portEXIT_CRITICAL in order not to disable
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186 * interrupts during memory allocation management as this may be a very time-
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187 * consuming process.
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191 * Lock routine called by Newlib on malloc / realloc / free entry to guarantee a
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192 * safe section as memory allocation management uses global data.
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193 * See the aforementioned details.
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195 void __malloc_lock(struct _reent *ptr)
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201 * Unlock routine called by Newlib on malloc / realloc / free exit to guarantee
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202 * a safe section as memory allocation management uses global data.
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203 * See the aforementioned details.
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205 void __malloc_unlock(struct _reent *ptr)
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209 /*-----------------------------------------------------------*/
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211 /* Added as there is no such function in FreeRTOS. */
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212 void *pvPortRealloc( void *pv, size_t xWantedSize )
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218 pvReturn = realloc( pv, xWantedSize );
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224 /*-----------------------------------------------------------*/
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226 /* The cooperative scheduler requires a normal IRQ service routine to
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227 simply increment the system tick. */
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228 /* The preemptive scheduler is defined as "naked" as the full context is saved
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229 on entry as part of the context switch. */
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230 __attribute__((__naked__)) static void vTick( void )
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232 /* Save the context of the interrupted task. */
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233 portSAVE_CONTEXT_OS_INT();
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235 #if( configTICK_USE_TC==1 )
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236 /* Clear the interrupt flag. */
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239 /* Schedule the COUNT&COMPARE match interrupt in (configCPU_CLOCK_HZ/configTICK_RATE_HZ)
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240 clock cycles from now. */
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241 prvScheduleNextTick();
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244 /* Because FreeRTOS is not supposed to run with nested interrupts, put all OS
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245 calls in a critical section . */
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246 portENTER_CRITICAL();
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247 xTaskIncrementTick();
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248 portEXIT_CRITICAL();
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250 /* Restore the context of the "elected task". */
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251 portRESTORE_CONTEXT_OS_INT();
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253 /*-----------------------------------------------------------*/
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255 __attribute__((__naked__)) void SCALLYield( void )
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257 /* Save the context of the interrupted task. */
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258 portSAVE_CONTEXT_SCALL();
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259 vTaskSwitchContext();
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260 portRESTORE_CONTEXT_SCALL();
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262 /*-----------------------------------------------------------*/
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264 /* The code generated by the GCC compiler uses the stack in different ways at
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265 different optimisation levels. The interrupt flags can therefore not always
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266 be saved to the stack. Instead the critical section nesting level is stored
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267 in a variable, which is then saved as part of the stack context. */
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268 __attribute__((__noinline__)) void vPortEnterCritical( void )
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270 /* Disable interrupts */
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271 portDISABLE_INTERRUPTS();
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273 /* Now interrupts are disabled ulCriticalNesting can be accessed
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274 directly. Increment ulCriticalNesting to keep a count of how many times
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275 portENTER_CRITICAL() has been called. */
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276 ulCriticalNesting++;
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278 /*-----------------------------------------------------------*/
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280 __attribute__((__noinline__)) void vPortExitCritical( void )
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282 if(ulCriticalNesting > portNO_CRITICAL_NESTING)
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284 ulCriticalNesting--;
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285 if( ulCriticalNesting == portNO_CRITICAL_NESTING )
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287 /* Enable all interrupt/exception. */
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288 portENABLE_INTERRUPTS();
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292 /*-----------------------------------------------------------*/
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295 * Initialise the stack of a task to look exactly as if a call to
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296 * portSAVE_CONTEXT had been called.
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298 * See header file for description.
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300 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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302 /* Setup the initial stack of the task. The stack is set exactly as
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303 expected by the portRESTORE_CONTEXT() macro. */
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305 /* When the task starts, it will expect to find the function parameter in R12. */
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307 *pxTopOfStack-- = ( portSTACK_TYPE ) 0x08080808; /* R8 */
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308 *pxTopOfStack-- = ( portSTACK_TYPE ) 0x09090909; /* R9 */
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309 *pxTopOfStack-- = ( portSTACK_TYPE ) 0x0A0A0A0A; /* R10 */
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310 *pxTopOfStack-- = ( portSTACK_TYPE ) 0x0B0B0B0B; /* R11 */
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311 *pxTopOfStack-- = ( portSTACK_TYPE ) pvParameters; /* R12 */
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312 *pxTopOfStack-- = ( portSTACK_TYPE ) 0xDEADBEEF; /* R14/LR */
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313 *pxTopOfStack-- = ( portSTACK_TYPE ) pxCode + portINSTRUCTION_SIZE; /* R15/PC */
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314 *pxTopOfStack-- = ( portSTACK_TYPE ) portINITIAL_SR; /* SR */
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315 *pxTopOfStack-- = ( portSTACK_TYPE ) 0xFF0000FF; /* R0 */
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316 *pxTopOfStack-- = ( portSTACK_TYPE ) 0x01010101; /* R1 */
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317 *pxTopOfStack-- = ( portSTACK_TYPE ) 0x02020202; /* R2 */
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318 *pxTopOfStack-- = ( portSTACK_TYPE ) 0x03030303; /* R3 */
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319 *pxTopOfStack-- = ( portSTACK_TYPE ) 0x04040404; /* R4 */
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320 *pxTopOfStack-- = ( portSTACK_TYPE ) 0x05050505; /* R5 */
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321 *pxTopOfStack-- = ( portSTACK_TYPE ) 0x06060606; /* R6 */
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322 *pxTopOfStack-- = ( portSTACK_TYPE ) 0x07070707; /* R7 */
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323 *pxTopOfStack = ( portSTACK_TYPE ) portNO_CRITICAL_NESTING; /* ulCriticalNesting */
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325 return pxTopOfStack;
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327 /*-----------------------------------------------------------*/
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329 portBASE_TYPE xPortStartScheduler( void )
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331 /* Start the timer that generates the tick ISR. Interrupts are disabled
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333 prvSetupTimerInterrupt();
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335 /* Start the first task. */
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336 portRESTORE_CONTEXT();
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338 /* Should not get here! */
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341 /*-----------------------------------------------------------*/
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343 void vPortEndScheduler( void )
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345 /* It is unlikely that the AVR32 port will require this function as there
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346 is nothing to return to. */
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348 /*-----------------------------------------------------------*/
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350 /* Schedule the COUNT&COMPARE match interrupt in (configCPU_CLOCK_HZ/configTICK_RATE_HZ)
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351 clock cycles from now. */
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352 #if( configTICK_USE_TC==0 )
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353 static void prvScheduleFirstTick(void)
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355 unsigned long lCycles;
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357 lCycles = Get_system_register(AVR32_COUNT);
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358 lCycles += (configCPU_CLOCK_HZ/configTICK_RATE_HZ);
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359 // If lCycles ends up to be 0, make it 1 so that the COMPARE and exception
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360 // generation feature does not get disabled.
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365 Set_system_register(AVR32_COMPARE, lCycles);
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368 __attribute__((__noinline__)) static void prvScheduleNextTick(void)
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370 unsigned long lCycles, lCount;
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372 lCycles = Get_system_register(AVR32_COMPARE);
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373 lCycles += (configCPU_CLOCK_HZ/configTICK_RATE_HZ);
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374 // If lCycles ends up to be 0, make it 1 so that the COMPARE and exception
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375 // generation feature does not get disabled.
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380 lCount = Get_system_register(AVR32_COUNT);
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381 if( lCycles < lCount )
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382 { // We missed a tick, recover for the next.
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383 lCycles += (configCPU_CLOCK_HZ/configTICK_RATE_HZ);
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385 Set_system_register(AVR32_COMPARE, lCycles);
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388 __attribute__((__noinline__)) static void prvClearTcInt(void)
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390 AVR32_TC.channel[configTICK_TC_CHANNEL].sr;
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393 /*-----------------------------------------------------------*/
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395 /* Setup the timer to generate the tick interrupts. */
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396 static void prvSetupTimerInterrupt(void)
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398 #if( configTICK_USE_TC==1 )
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400 volatile avr32_tc_t *tc = &AVR32_TC;
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402 // Options for waveform genration.
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403 tc_waveform_opt_t waveform_opt =
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405 .channel = configTICK_TC_CHANNEL, /* Channel selection. */
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407 .bswtrg = TC_EVT_EFFECT_NOOP, /* Software trigger effect on TIOB. */
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408 .beevt = TC_EVT_EFFECT_NOOP, /* External event effect on TIOB. */
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409 .bcpc = TC_EVT_EFFECT_NOOP, /* RC compare effect on TIOB. */
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410 .bcpb = TC_EVT_EFFECT_NOOP, /* RB compare effect on TIOB. */
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412 .aswtrg = TC_EVT_EFFECT_NOOP, /* Software trigger effect on TIOA. */
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413 .aeevt = TC_EVT_EFFECT_NOOP, /* External event effect on TIOA. */
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414 .acpc = TC_EVT_EFFECT_NOOP, /* RC compare effect on TIOA: toggle. */
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415 .acpa = TC_EVT_EFFECT_NOOP, /* RA compare effect on TIOA: toggle (other possibilities are none, set and clear). */
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417 .wavsel = TC_WAVEFORM_SEL_UP_MODE_RC_TRIGGER,/* Waveform selection: Up mode without automatic trigger on RC compare. */
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418 .enetrg = FALSE, /* External event trigger enable. */
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419 .eevt = 0, /* External event selection. */
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420 .eevtedg = TC_SEL_NO_EDGE, /* External event edge selection. */
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421 .cpcdis = FALSE, /* Counter disable when RC compare. */
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422 .cpcstop = FALSE, /* Counter clock stopped with RC compare. */
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424 .burst = FALSE, /* Burst signal selection. */
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425 .clki = FALSE, /* Clock inversion. */
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426 .tcclks = TC_CLOCK_SOURCE_TC2 /* Internal source clock 2. */
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429 tc_interrupt_t tc_interrupt =
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443 /* Disable all interrupt/exception. */
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444 portDISABLE_INTERRUPTS();
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446 /* Register the compare interrupt handler to the interrupt controller and
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447 enable the compare interrupt. */
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449 #if( configTICK_USE_TC==1 )
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451 INTC_register_interrupt(&vTick, configTICK_TC_IRQ, INT0);
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453 /* Initialize the timer/counter. */
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454 tc_init_waveform(tc, &waveform_opt);
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456 /* Set the compare triggers.
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457 Remember TC counter is 16-bits, so counting second is not possible!
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458 That's why we configure it to count ms. */
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459 tc_write_rc( tc, configTICK_TC_CHANNEL, ( configPBA_CLOCK_HZ / 4) / configTICK_RATE_HZ );
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461 tc_configure_interrupts( tc, configTICK_TC_CHANNEL, &tc_interrupt );
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463 /* Start the timer/counter. */
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464 tc_start(tc, configTICK_TC_CHANNEL);
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468 INTC_register_interrupt(&vTick, AVR32_CORE_COMPARE_IRQ, INT0);
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469 prvScheduleFirstTick();
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