2 FreeRTOS V9.0.0 - Copyright (C) 2016 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 * Implementation of functions defined in portable.h for the MicroBlaze port.
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72 *----------------------------------------------------------*/
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75 /* Scheduler includes. */
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76 #include "FreeRTOS.h"
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79 /* Standard includes. */
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82 /* Hardware includes. */
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84 #include <xintc_i.h>
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85 #include <xtmrctr.h>
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87 #if( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
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88 #error configSUPPORT_DYNAMIC_ALLOCATION must be set to 1 to use this port.
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91 /* Tasks are started with interrupts enabled. */
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92 #define portINITIAL_MSR_STATE ( ( StackType_t ) 0x02 )
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94 /* Tasks are started with a critical section nesting of 0 - however prior
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95 to the scheduler being commenced we don't want the critical nesting level
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96 to reach zero, so it is initialised to a high value. */
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97 #define portINITIAL_NESTING_VALUE ( 0xff )
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99 /* Our hardware setup only uses one counter. */
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100 #define portCOUNTER_0 0
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102 /* The stack used by the ISR is filled with a known value to assist in
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104 #define portISR_STACK_FILL_VALUE 0x55555555
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106 /* Counts the nesting depth of calls to portENTER_CRITICAL(). Each task
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107 maintains it's own count, so this variable is saved as part of the task
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109 volatile UBaseType_t uxCriticalNesting = portINITIAL_NESTING_VALUE;
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111 /* To limit the amount of stack required by each task, this port uses a
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112 separate stack for interrupts. */
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113 uint32_t *pulISRStack;
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115 /*-----------------------------------------------------------*/
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118 * Sets up the periodic ISR used for the RTOS tick. This uses timer 0, but
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119 * could have alternatively used the watchdog timer or timer 1.
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121 static void prvSetupTimerInterrupt( void );
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122 /*-----------------------------------------------------------*/
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125 * Initialise the stack of a task to look exactly as if a call to
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126 * portSAVE_CONTEXT had been made.
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128 * See the header file portable.h.
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130 StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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132 extern void *_SDA2_BASE_, *_SDA_BASE_;
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133 const uint32_t ulR2 = ( uint32_t ) &_SDA2_BASE_;
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134 const uint32_t ulR13 = ( uint32_t ) &_SDA_BASE_;
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136 /* Place a few bytes of known values on the bottom of the stack.
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137 This is essential for the Microblaze port and these lines must
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138 not be omitted. The parameter value will overwrite the
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139 0x22222222 value during the function prologue. */
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140 *pxTopOfStack = ( StackType_t ) 0x11111111;
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142 *pxTopOfStack = ( StackType_t ) 0x22222222;
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144 *pxTopOfStack = ( StackType_t ) 0x33333333;
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147 /* First stack an initial value for the critical section nesting. This
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148 is initialised to zero as tasks are started with interrupts enabled. */
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149 *pxTopOfStack = ( StackType_t ) 0x00; /* R0. */
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151 /* Place an initial value for all the general purpose registers. */
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153 *pxTopOfStack = ( StackType_t ) ulR2; /* R2 - small data area. */
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155 *pxTopOfStack = ( StackType_t ) 0x03; /* R3. */
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157 *pxTopOfStack = ( StackType_t ) 0x04; /* R4. */
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159 *pxTopOfStack = ( StackType_t ) pvParameters;/* R5 contains the function call parameters. */
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161 *pxTopOfStack = ( StackType_t ) 0x06; /* R6. */
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163 *pxTopOfStack = ( StackType_t ) 0x07; /* R7. */
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165 *pxTopOfStack = ( StackType_t ) 0x08; /* R8. */
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167 *pxTopOfStack = ( StackType_t ) 0x09; /* R9. */
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169 *pxTopOfStack = ( StackType_t ) 0x0a; /* R10. */
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171 *pxTopOfStack = ( StackType_t ) 0x0b; /* R11. */
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173 *pxTopOfStack = ( StackType_t ) 0x0c; /* R12. */
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175 *pxTopOfStack = ( StackType_t ) ulR13; /* R13 - small data read write area. */
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177 *pxTopOfStack = ( StackType_t ) pxCode; /* R14. */
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179 *pxTopOfStack = ( StackType_t ) 0x0f; /* R15. */
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181 *pxTopOfStack = ( StackType_t ) 0x10; /* R16. */
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183 *pxTopOfStack = ( StackType_t ) 0x11; /* R17. */
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185 *pxTopOfStack = ( StackType_t ) 0x12; /* R18. */
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187 *pxTopOfStack = ( StackType_t ) 0x13; /* R19. */
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189 *pxTopOfStack = ( StackType_t ) 0x14; /* R20. */
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191 *pxTopOfStack = ( StackType_t ) 0x15; /* R21. */
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193 *pxTopOfStack = ( StackType_t ) 0x16; /* R22. */
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195 *pxTopOfStack = ( StackType_t ) 0x17; /* R23. */
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197 *pxTopOfStack = ( StackType_t ) 0x18; /* R24. */
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199 *pxTopOfStack = ( StackType_t ) 0x19; /* R25. */
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201 *pxTopOfStack = ( StackType_t ) 0x1a; /* R26. */
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203 *pxTopOfStack = ( StackType_t ) 0x1b; /* R27. */
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205 *pxTopOfStack = ( StackType_t ) 0x1c; /* R28. */
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207 *pxTopOfStack = ( StackType_t ) 0x1d; /* R29. */
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209 *pxTopOfStack = ( StackType_t ) 0x1e; /* R30. */
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212 /* The MSR is stacked between R30 and R31. */
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213 *pxTopOfStack = portINITIAL_MSR_STATE;
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216 *pxTopOfStack = ( StackType_t ) 0x1f; /* R31. */
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219 /* Return a pointer to the top of the stack we have generated so this can
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220 be stored in the task control block for the task. */
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221 return pxTopOfStack;
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223 /*-----------------------------------------------------------*/
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225 BaseType_t xPortStartScheduler( void )
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227 extern void ( __FreeRTOS_interrupt_Handler )( void );
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228 extern void ( vStartFirstTask )( void );
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231 /* Setup the FreeRTOS interrupt handler. Code copied from crt0.s. */
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232 asm volatile ( "la r6, r0, __FreeRTOS_interrupt_handler \n\t" \
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233 "sw r6, r1, r0 \n\t" \
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234 "lhu r7, r1, r0 \n\t" \
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235 "shi r7, r0, 0x12 \n\t" \
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236 "shi r6, r0, 0x16 " );
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238 /* Setup the hardware to generate the tick. Interrupts are disabled when
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239 this function is called. */
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240 prvSetupTimerInterrupt();
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242 /* Allocate the stack to be used by the interrupt handler. */
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243 pulISRStack = ( uint32_t * ) pvPortMalloc( configMINIMAL_STACK_SIZE * sizeof( StackType_t ) );
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245 /* Restore the context of the first task that is going to run. */
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246 if( pulISRStack != NULL )
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248 /* Fill the ISR stack with a known value to facilitate debugging. */
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249 memset( pulISRStack, portISR_STACK_FILL_VALUE, configMINIMAL_STACK_SIZE * sizeof( StackType_t ) );
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250 pulISRStack += ( configMINIMAL_STACK_SIZE - 1 );
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252 /* Kick off the first task. */
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256 /* Should not get here as the tasks are now running! */
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259 /*-----------------------------------------------------------*/
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261 void vPortEndScheduler( void )
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263 /* Not implemented. */
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265 /*-----------------------------------------------------------*/
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268 * Manual context switch called by portYIELD or taskYIELD.
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270 void vPortYield( void )
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272 extern void VPortYieldASM( void );
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274 /* Perform the context switch in a critical section to assure it is
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275 not interrupted by the tick ISR. It is not a problem to do this as
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276 each task maintains it's own interrupt status. */
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277 portENTER_CRITICAL();
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278 /* Jump directly to the yield function to ensure there is no
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279 compiler generated prologue code. */
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280 asm volatile ( "bralid r14, VPortYieldASM \n\t" \
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281 "or r0, r0, r0 \n\t" );
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282 portEXIT_CRITICAL();
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284 /*-----------------------------------------------------------*/
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287 * Hardware initialisation to generate the RTOS tick.
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289 static void prvSetupTimerInterrupt( void )
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292 const uint32_t ulCounterValue = configCPU_CLOCK_HZ / configTICK_RATE_HZ;
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293 UBaseType_t uxMask;
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295 /* The OPB timer1 is used to generate the tick. Use the provided library
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296 functions to enable the timer and set the tick frequency. */
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297 XTmrCtr_mDisable( XPAR_OPB_TIMER_1_BASEADDR, XPAR_OPB_TIMER_1_DEVICE_ID );
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298 XTmrCtr_Initialize( &xTimer, XPAR_OPB_TIMER_1_DEVICE_ID );
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299 XTmrCtr_mSetLoadReg( XPAR_OPB_TIMER_1_BASEADDR, portCOUNTER_0, ulCounterValue );
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300 XTmrCtr_mSetControlStatusReg( XPAR_OPB_TIMER_1_BASEADDR, portCOUNTER_0, XTC_CSR_LOAD_MASK | XTC_CSR_INT_OCCURED_MASK );
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302 /* Set the timer interrupt enable bit while maintaining the other bit
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304 uxMask = XIntc_In32( ( XPAR_OPB_INTC_0_BASEADDR + XIN_IER_OFFSET ) );
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305 uxMask |= XPAR_OPB_TIMER_1_INTERRUPT_MASK;
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306 XIntc_Out32( ( XPAR_OPB_INTC_0_BASEADDR + XIN_IER_OFFSET ), ( uxMask ) );
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308 XTmrCtr_Start( &xTimer, XPAR_OPB_TIMER_1_DEVICE_ID );
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309 XTmrCtr_mSetControlStatusReg(XPAR_OPB_TIMER_1_BASEADDR, portCOUNTER_0, XTC_CSR_ENABLE_TMR_MASK | XTC_CSR_ENABLE_INT_MASK | XTC_CSR_AUTO_RELOAD_MASK | XTC_CSR_DOWN_COUNT_MASK | XTC_CSR_INT_OCCURED_MASK );
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310 XIntc_mAckIntr( XPAR_INTC_SINGLE_BASEADDR, 1 );
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312 /*-----------------------------------------------------------*/
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315 * The interrupt handler placed in the interrupt vector when the scheduler is
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316 * started. The task context has already been saved when this is called.
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317 * This handler determines the interrupt source and calls the relevant
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318 * peripheral handler.
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320 void vTaskISRHandler( void )
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322 static uint32_t ulPending;
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324 /* Which interrupts are pending? */
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325 ulPending = XIntc_In32( ( XPAR_INTC_SINGLE_BASEADDR + XIN_IVR_OFFSET ) );
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327 if( ulPending < XPAR_INTC_MAX_NUM_INTR_INPUTS )
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329 static XIntc_VectorTableEntry *pxTablePtr;
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330 static XIntc_Config *pxConfig;
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331 static uint32_t ulInterruptMask;
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333 ulInterruptMask = ( uint32_t ) 1 << ulPending;
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335 /* Get the configuration data using the device ID */
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336 pxConfig = &XIntc_ConfigTable[ ( uint32_t ) XPAR_INTC_SINGLE_DEVICE_ID ];
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338 pxTablePtr = &( pxConfig->HandlerTable[ ulPending ] );
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339 if( pxConfig->AckBeforeService & ( ulInterruptMask ) )
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341 XIntc_mAckIntr( pxConfig->BaseAddress, ulInterruptMask );
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342 pxTablePtr->Handler( pxTablePtr->CallBackRef );
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346 pxTablePtr->Handler( pxTablePtr->CallBackRef );
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347 XIntc_mAckIntr( pxConfig->BaseAddress, ulInterruptMask );
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351 /*-----------------------------------------------------------*/
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354 * Handler for the timer interrupt.
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356 void vTickISR( void *pvBaseAddress )
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360 /* Increment the RTOS tick - this might cause a task to unblock. */
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361 if( xTaskIncrementTick() != pdFALSE )
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363 vTaskSwitchContext();
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366 /* Clear the timer interrupt */
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367 ulCSR = XTmrCtr_mGetControlStatusReg(XPAR_OPB_TIMER_1_BASEADDR, 0);
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368 XTmrCtr_mSetControlStatusReg( XPAR_OPB_TIMER_1_BASEADDR, portCOUNTER_0, ulCSR );
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370 /*-----------------------------------------------------------*/
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