2 FreeRTOS V9.0.0rc2 - 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 /* Standard includes. */
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73 /* Scheduler includes. */
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74 #include "FreeRTOS.h"
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78 #include "mmsystem.h"
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80 #pragma comment(lib, "winmm.lib")
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83 #define portMAX_INTERRUPTS ( ( uint32_t ) sizeof( uint32_t ) * 8UL ) /* The number of bits in an uint32_t. */
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84 #define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 )
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86 /* The priorities at which the various components of the simulation execute.
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87 Priorities are higher when a soak test is performed to lessen the effect of
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88 Windows interfering with the timing. */
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89 #define portSOAK_TEST
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90 #ifndef portSOAK_TEST
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91 #define portDELETE_SELF_THREAD_PRIORITY THREAD_PRIORITY_HIGHEST /* Must be highest. */
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92 #define portSIMULATED_INTERRUPTS_THREAD_PRIORITY THREAD_PRIORITY_NORMAL
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93 #define portSIMULATED_TIMER_THREAD_PRIORITY THREAD_PRIORITY_BELOW_NORMAL
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94 #define portTASK_THREAD_PRIORITY THREAD_PRIORITY_IDLE
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96 #define portDELETE_SELF_THREAD_PRIORITY THREAD_PRIORITY_TIME_CRITICAL /* Must be highest. */
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97 #define portSIMULATED_INTERRUPTS_THREAD_PRIORITY THREAD_PRIORITY_HIGHEST
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98 #define portSIMULATED_TIMER_THREAD_PRIORITY THREAD_PRIORITY_ABOVE_NORMAL
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99 #define portTASK_THREAD_PRIORITY THREAD_PRIORITY_NORMAL
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102 * Created as a high priority thread, this function uses a timer to simulate
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103 * a tick interrupt being generated on an embedded target. In this Windows
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104 * environment the timer does not achieve anything approaching real time
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105 * performance though.
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107 static DWORD WINAPI prvSimulatedPeripheralTimer( LPVOID lpParameter );
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110 * Process all the simulated interrupts - each represented by a bit in
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111 * ulPendingInterrupts variable.
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113 static void prvProcessSimulatedInterrupts( void );
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116 * Interrupt handlers used by the kernel itself. These are executed from the
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117 * simulated interrupt handler thread.
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119 static uint32_t prvProcessYieldInterrupt( void );
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120 static uint32_t prvProcessTickInterrupt( void );
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123 * Called when the process exits to let Windows know the high timer resolution
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124 * is no longer required.
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126 static BOOL WINAPI prvEndProcess( DWORD dwCtrlType );
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128 /*-----------------------------------------------------------*/
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130 /* The WIN32 simulator runs each task in a thread. The context switching is
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131 managed by the threads, so the task stack does not have to be managed directly,
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132 although the task stack is still used to hold an xThreadState structure this is
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133 the only thing it will ever hold. The structure indirectly maps the task handle
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134 to a thread handle. */
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137 /* Handle of the thread that executes the task. */
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142 /* Simulated interrupts waiting to be processed. This is a bit mask where each
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143 bit represents one interrupt, so a maximum of 32 interrupts can be simulated. */
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144 static volatile uint32_t ulPendingInterrupts = 0UL;
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146 /* An event used to inform the simulated interrupt processing thread (a high
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147 priority thread that simulated interrupt processing) that an interrupt is
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149 static void *pvInterruptEvent = NULL;
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151 /* Mutex used to protect all the simulated interrupt variables that are accessed
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152 by multiple threads. */
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153 static void *pvInterruptEventMutex = NULL;
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155 /* The critical nesting count for the currently executing task. This is
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156 initialised to a non-zero value so interrupts do not become enabled during
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157 the initialisation phase. As each task has its own critical nesting value
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158 ulCriticalNesting will get set to zero when the first task runs. This
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159 initialisation is probably not critical in this simulated environment as the
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160 simulated interrupt handlers do not get created until the FreeRTOS scheduler is
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162 static uint32_t ulCriticalNesting = 9999UL;
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164 /* Handlers for all the simulated software interrupts. The first two positions
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165 are used for the Yield and Tick interrupts so are handled slightly differently,
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166 all the other interrupts can be user defined. */
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167 static uint32_t (*ulIsrHandler[ portMAX_INTERRUPTS ])( void ) = { 0 };
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169 /* Pointer to the TCB of the currently executing task. */
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170 extern void *pxCurrentTCB;
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172 /* Used to ensure nothing is processed during the startup sequence. */
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173 static BaseType_t xPortRunning = pdFALSE;
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175 /*-----------------------------------------------------------*/
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177 static DWORD WINAPI prvSimulatedPeripheralTimer( LPVOID lpParameter )
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179 TickType_t xMinimumWindowsBlockTime;
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180 TIMECAPS xTimeCaps;
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182 /* Set the timer resolution to the maximum possible. */
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183 if( timeGetDevCaps( &xTimeCaps, sizeof( xTimeCaps ) ) == MMSYSERR_NOERROR )
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185 xMinimumWindowsBlockTime = ( TickType_t ) xTimeCaps.wPeriodMin;
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186 timeBeginPeriod( xTimeCaps.wPeriodMin );
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188 /* Register an exit handler so the timeBeginPeriod() function can be
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189 matched with a timeEndPeriod() when the application exits. */
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190 SetConsoleCtrlHandler( prvEndProcess, TRUE );
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194 xMinimumWindowsBlockTime = ( TickType_t ) 20;
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197 /* Just to prevent compiler warnings. */
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198 ( void ) lpParameter;
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202 /* Wait until the timer expires and we can access the simulated interrupt
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203 variables. *NOTE* this is not a 'real time' way of generating tick
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204 events as the next wake time should be relative to the previous wake
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205 time, not the time that Sleep() is called. It is done this way to
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206 prevent overruns in this very non real time simulated/emulated
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208 if( portTICK_PERIOD_MS < xMinimumWindowsBlockTime )
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210 Sleep( xMinimumWindowsBlockTime );
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214 Sleep( portTICK_PERIOD_MS );
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217 configASSERT( xPortRunning );
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219 WaitForSingleObject( pvInterruptEventMutex, INFINITE );
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221 /* The timer has expired, generate the simulated tick event. */
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222 ulPendingInterrupts |= ( 1 << portINTERRUPT_TICK );
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224 /* The interrupt is now pending - notify the simulated interrupt
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226 if( ulCriticalNesting == 0 )
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228 SetEvent( pvInterruptEvent );
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231 /* Give back the mutex so the simulated interrupt handler unblocks
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232 and can access the interrupt handler variables. */
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233 ReleaseMutex( pvInterruptEventMutex );
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237 /* Should never reach here - MingW complains if you leave this line out,
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238 MSVC complains if you put it in. */
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242 /*-----------------------------------------------------------*/
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244 static BOOL WINAPI prvEndProcess( DWORD dwCtrlType )
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246 TIMECAPS xTimeCaps;
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248 ( void ) dwCtrlType;
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250 if( timeGetDevCaps( &xTimeCaps, sizeof( xTimeCaps ) ) == MMSYSERR_NOERROR )
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252 /* Match the call to timeBeginPeriod( xTimeCaps.wPeriodMin ) made when
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253 the process started with a timeEndPeriod() as the process exits. */
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254 timeEndPeriod( xTimeCaps.wPeriodMin );
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259 /*-----------------------------------------------------------*/
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261 StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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263 xThreadState *pxThreadState = NULL;
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264 int8_t *pcTopOfStack = ( int8_t * ) pxTopOfStack;
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266 #ifdef portSOAK_TEST
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268 /* Ensure highest priority class is inherited. */
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269 if( !SetPriorityClass( GetCurrentProcess(), REALTIME_PRIORITY_CLASS ) )
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271 printf( "SetPriorityClass() failed\r\n" );
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276 /* In this simulated case a stack is not initialised, but instead a thread
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277 is created that will execute the task being created. The thread handles
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278 the context switching itself. The xThreadState object is placed onto
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279 the stack that was created for the task - so the stack buffer is still
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280 used, just not in the conventional way. It will not be used for anything
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281 other than holding this structure. */
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282 pxThreadState = ( xThreadState * ) ( pcTopOfStack - sizeof( xThreadState ) );
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284 /* Create the thread itself. */
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285 pxThreadState->pvThread = CreateThread( NULL, 0, ( LPTHREAD_START_ROUTINE ) pxCode, pvParameters, CREATE_SUSPENDED, NULL );
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286 configASSERT( pxThreadState->pvThread );
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287 SetThreadAffinityMask( pxThreadState->pvThread, 0x01 );
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288 SetThreadPriorityBoost( pxThreadState->pvThread, TRUE );
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289 SetThreadPriority( pxThreadState->pvThread, portTASK_THREAD_PRIORITY );
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291 return ( StackType_t * ) pxThreadState;
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293 /*-----------------------------------------------------------*/
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295 BaseType_t xPortStartScheduler( void )
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298 int32_t lSuccess = pdPASS;
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299 xThreadState *pxThreadState;
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301 /* Install the interrupt handlers used by the scheduler itself. */
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302 vPortSetInterruptHandler( portINTERRUPT_YIELD, prvProcessYieldInterrupt );
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303 vPortSetInterruptHandler( portINTERRUPT_TICK, prvProcessTickInterrupt );
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305 /* Create the events and mutexes that are used to synchronise all the
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307 pvInterruptEventMutex = CreateMutex( NULL, FALSE, NULL );
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308 pvInterruptEvent = CreateEvent( NULL, FALSE, FALSE, NULL );
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310 if( ( pvInterruptEventMutex == NULL ) || ( pvInterruptEvent == NULL ) )
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315 /* Set the priority of this thread such that it is above the priority of
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316 the threads that run tasks. This higher priority is required to ensure
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317 simulated interrupts take priority over tasks. */
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318 pvHandle = GetCurrentThread();
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319 if( pvHandle == NULL )
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324 if( lSuccess == pdPASS )
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326 if( SetThreadPriority( pvHandle, portSIMULATED_INTERRUPTS_THREAD_PRIORITY ) == 0 )
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330 SetThreadPriorityBoost( pvHandle, TRUE );
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331 SetThreadAffinityMask( pvHandle, 0x01 );
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334 if( lSuccess == pdPASS )
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336 /* Start the thread that simulates the timer peripheral to generate
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337 tick interrupts. The priority is set below that of the simulated
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338 interrupt handler so the interrupt event mutex is used for the
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339 handshake / overrun protection. */
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340 pvHandle = CreateThread( NULL, 0, prvSimulatedPeripheralTimer, NULL, CREATE_SUSPENDED, NULL );
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341 if( pvHandle != NULL )
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343 SetThreadPriority( pvHandle, portSIMULATED_TIMER_THREAD_PRIORITY );
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344 SetThreadPriorityBoost( pvHandle, TRUE );
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345 SetThreadAffinityMask( pvHandle, 0x01 );
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346 ResumeThread( pvHandle );
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349 /* Start the highest priority task by obtaining its associated thread
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350 state structure, in which is stored the thread handle. */
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351 pxThreadState = ( xThreadState * ) *( ( size_t * ) pxCurrentTCB );
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352 ulCriticalNesting = portNO_CRITICAL_NESTING;
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354 /* Bump up the priority of the thread that is going to run, in the
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355 hope that this will assist in getting the Windows thread scheduler to
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356 behave as an embedded engineer might expect. */
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357 ResumeThread( pxThreadState->pvThread );
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359 /* Handle all simulated interrupts - including yield requests and
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360 simulated ticks. */
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361 prvProcessSimulatedInterrupts();
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364 /* Would not expect to return from prvProcessSimulatedInterrupts(), so should
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368 /*-----------------------------------------------------------*/
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370 static uint32_t prvProcessYieldInterrupt( void )
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374 /*-----------------------------------------------------------*/
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376 static uint32_t prvProcessTickInterrupt( void )
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378 uint32_t ulSwitchRequired;
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380 /* Process the tick itself. */
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381 configASSERT( xPortRunning );
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382 ulSwitchRequired = ( uint32_t ) xTaskIncrementTick();
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384 return ulSwitchRequired;
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386 /*-----------------------------------------------------------*/
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388 static void prvProcessSimulatedInterrupts( void )
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390 uint32_t ulSwitchRequired, i;
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391 xThreadState *pxThreadState;
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392 void *pvObjectList[ 2 ];
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395 /* Going to block on the mutex that ensured exclusive access to the simulated
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396 interrupt objects, and the event that signals that a simulated interrupt
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397 should be processed. */
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398 pvObjectList[ 0 ] = pvInterruptEventMutex;
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399 pvObjectList[ 1 ] = pvInterruptEvent;
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401 /* Create a pending tick to ensure the first task is started as soon as
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402 this thread pends. */
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403 ulPendingInterrupts |= ( 1 << portINTERRUPT_TICK );
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404 SetEvent( pvInterruptEvent );
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406 xPortRunning = pdTRUE;
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410 WaitForMultipleObjects( sizeof( pvObjectList ) / sizeof( void * ), pvObjectList, TRUE, INFINITE );
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412 /* Used to indicate whether the simulated interrupt processing has
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413 necessitated a context switch to another task/thread. */
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414 ulSwitchRequired = pdFALSE;
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416 /* For each interrupt we are interested in processing, each of which is
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417 represented by a bit in the 32bit ulPendingInterrupts variable. */
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418 for( i = 0; i < portMAX_INTERRUPTS; i++ )
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420 /* Is the simulated interrupt pending? */
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421 if( ulPendingInterrupts & ( 1UL << i ) )
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423 /* Is a handler installed? */
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424 if( ulIsrHandler[ i ] != NULL )
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426 /* Run the actual handler. */
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427 if( ulIsrHandler[ i ]() != pdFALSE )
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429 ulSwitchRequired |= ( 1 << i );
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433 /* Clear the interrupt pending bit. */
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434 ulPendingInterrupts &= ~( 1UL << i );
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438 if( ulSwitchRequired != pdFALSE )
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440 void *pvOldCurrentTCB;
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442 pvOldCurrentTCB = pxCurrentTCB;
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444 /* Select the next task to run. */
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445 vTaskSwitchContext();
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447 /* If the task selected to enter the running state is not the task
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448 that is already in the running state. */
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449 if( pvOldCurrentTCB != pxCurrentTCB )
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451 /* Suspend the old thread. */
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452 pxThreadState = ( xThreadState *) *( ( size_t * ) pvOldCurrentTCB );
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453 SuspendThread( pxThreadState->pvThread );
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455 /* Ensure the thread is actually suspended by performing a
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456 synchronous operation that can only complete when the thread is
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457 actually suspended. The below code asks for dummy register
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459 xContext.ContextFlags = CONTEXT_INTEGER;
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460 ( void ) GetThreadContext( pxThreadState->pvThread, &xContext );
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462 /* Obtain the state of the task now selected to enter the
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464 pxThreadState = ( xThreadState * ) ( *( size_t *) pxCurrentTCB );
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465 ResumeThread( pxThreadState->pvThread );
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469 ReleaseMutex( pvInterruptEventMutex );
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472 /*-----------------------------------------------------------*/
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474 void vPortDeleteThread( void *pvTaskToDelete )
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476 xThreadState *pxThreadState;
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477 uint32_t ulErrorCode;
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479 /* Remove compiler warnings if configASSERT() is not defined. */
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480 ( void ) ulErrorCode;
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482 /* Find the handle of the thread being deleted. */
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483 pxThreadState = ( xThreadState * ) ( *( size_t *) pvTaskToDelete );
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485 /* Check that the thread is still valid, it might have been closed by
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486 vPortCloseRunningThread() - which will be the case if the task associated
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487 with the thread originally deleted itself rather than being deleted by a
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489 if( pxThreadState->pvThread != NULL )
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491 WaitForSingleObject( pvInterruptEventMutex, INFINITE );
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493 ulErrorCode = TerminateThread( pxThreadState->pvThread, 0 );
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494 configASSERT( ulErrorCode );
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496 ulErrorCode = CloseHandle( pxThreadState->pvThread );
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497 configASSERT( ulErrorCode );
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499 ReleaseMutex( pvInterruptEventMutex );
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502 /*-----------------------------------------------------------*/
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504 void vPortCloseRunningThread( void *pvTaskToDelete, volatile BaseType_t *pxPendYield )
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506 xThreadState *pxThreadState;
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508 uint32_t ulErrorCode;
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510 /* Remove compiler warnings if configASSERT() is not defined. */
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511 ( void ) ulErrorCode;
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513 /* Find the handle of the thread being deleted. */
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514 pxThreadState = ( xThreadState * ) ( *( size_t *) pvTaskToDelete );
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515 pvThread = pxThreadState->pvThread;
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517 /* Raise the Windows priority of the thread to ensure the FreeRTOS scheduler
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518 does not run and swap it out before it is closed. If that were to happen
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519 the thread would never run again and effectively be a thread handle and
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521 SetThreadPriority( pvThread, portDELETE_SELF_THREAD_PRIORITY );
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523 /* This function will not return, therefore a yield is set as pending to
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524 ensure a context switch occurs away from this thread on the next tick. */
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525 *pxPendYield = pdTRUE;
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527 /* Mark the thread associated with this task as invalid so
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528 vPortDeleteThread() does not try to terminate it. */
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529 pxThreadState->pvThread = NULL;
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531 /* Close the thread. */
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532 ulErrorCode = CloseHandle( pvThread );
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533 configASSERT( ulErrorCode );
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537 /*-----------------------------------------------------------*/
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539 void vPortEndScheduler( void )
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541 /* This function IS NOT TESTED! */
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542 TerminateProcess( GetCurrentProcess(), 0 );
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544 /*-----------------------------------------------------------*/
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546 void vPortGenerateSimulatedInterrupt( uint32_t ulInterruptNumber )
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548 configASSERT( xPortRunning );
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550 if( ( ulInterruptNumber < portMAX_INTERRUPTS ) && ( pvInterruptEventMutex != NULL ) )
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552 /* Yield interrupts are processed even when critical nesting is
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554 WaitForSingleObject( pvInterruptEventMutex, INFINITE );
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555 ulPendingInterrupts |= ( 1 << ulInterruptNumber );
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557 /* The simulated interrupt is now held pending, but don't actually
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558 process it yet if this call is within a critical section. It is
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559 possible for this to be in a critical section as calls to wait for
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560 mutexes are accumulative. */
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561 if( ulCriticalNesting == 0 )
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563 SetEvent( pvInterruptEvent );
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566 ReleaseMutex( pvInterruptEventMutex );
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569 /*-----------------------------------------------------------*/
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571 void vPortSetInterruptHandler( uint32_t ulInterruptNumber, uint32_t (*pvHandler)( void ) )
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573 if( ulInterruptNumber < portMAX_INTERRUPTS )
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575 if( pvInterruptEventMutex != NULL )
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577 WaitForSingleObject( pvInterruptEventMutex, INFINITE );
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578 ulIsrHandler[ ulInterruptNumber ] = pvHandler;
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579 ReleaseMutex( pvInterruptEventMutex );
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583 ulIsrHandler[ ulInterruptNumber ] = pvHandler;
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587 /*-----------------------------------------------------------*/
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589 void vPortEnterCritical( void )
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591 if( xPortRunning == pdTRUE )
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593 /* The interrupt event mutex is held for the entire critical section,
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594 effectively disabling (simulated) interrupts. */
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595 WaitForSingleObject( pvInterruptEventMutex, INFINITE );
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596 ulCriticalNesting++;
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600 ulCriticalNesting++;
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603 /*-----------------------------------------------------------*/
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605 void vPortExitCritical( void )
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607 int32_t lMutexNeedsReleasing;
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609 /* The interrupt event mutex should already be held by this thread as it was
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610 obtained on entry to the critical section. */
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612 lMutexNeedsReleasing = pdTRUE;
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614 if( ulCriticalNesting > portNO_CRITICAL_NESTING )
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616 if( ulCriticalNesting == ( portNO_CRITICAL_NESTING + 1 ) )
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618 ulCriticalNesting--;
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620 /* Were any interrupts set to pending while interrupts were
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621 (simulated) disabled? */
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622 if( ulPendingInterrupts != 0UL )
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624 configASSERT( xPortRunning );
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625 SetEvent( pvInterruptEvent );
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627 /* Mutex will be released now, so does not require releasing
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628 on function exit. */
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629 lMutexNeedsReleasing = pdFALSE;
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630 ReleaseMutex( pvInterruptEventMutex );
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635 /* Tick interrupts will still not be processed as the critical
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636 nesting depth will not be zero. */
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637 ulCriticalNesting--;
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641 if( pvInterruptEventMutex != NULL )
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643 if( lMutexNeedsReleasing == pdTRUE )
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645 configASSERT( xPortRunning );
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646 ReleaseMutex( pvInterruptEventMutex );
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650 /*-----------------------------------------------------------*/
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