2 FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 ***************************************************************************
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29 * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
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30 * and even write all or part of your application on your behalf. *
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31 * See http://www.OpenRTOS.com for details of the services we provide to *
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32 * expedite your project. *
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34 ***************************************************************************
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35 ***************************************************************************
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37 Please ensure to read the configuration and relevant port sections of the
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38 online documentation.
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40 http://www.FreeRTOS.org - Documentation, latest information, license and
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43 http://www.SafeRTOS.com - A version that is certified for use in safety
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46 http://www.OpenRTOS.com - Commercial support, development, porting,
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47 licensing and training services.
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50 /*-----------------------------------------------------------
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51 * Implementation of functions defined in portable.h for the ARM CM3 port.
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52 *----------------------------------------------------------*/
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54 /* Scheduler includes. */
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55 #include "FreeRTOS.h"
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58 /* For backward compatibility, ensure configKERNEL_INTERRUPT_PRIORITY is
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59 defined. The value should also ensure backward compatibility.
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60 FreeRTOS.org versions prior to V4.4.0 did not include this definition. */
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61 #ifndef configKERNEL_INTERRUPT_PRIORITY
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62 #define configKERNEL_INTERRUPT_PRIORITY 255
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65 /* Constants required to manipulate the NVIC. */
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66 #define portNVIC_SYSTICK_CTRL ( ( volatile unsigned portLONG *) 0xe000e010 )
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67 #define portNVIC_SYSTICK_LOAD ( ( volatile unsigned portLONG *) 0xe000e014 )
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68 #define portNVIC_INT_CTRL ( ( volatile unsigned portLONG *) 0xe000ed04 )
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69 #define portNVIC_SYSPRI2 ( ( volatile unsigned portLONG *) 0xe000ed20 )
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70 #define portNVIC_SYSTICK_CLK 0x00000004
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71 #define portNVIC_SYSTICK_INT 0x00000002
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72 #define portNVIC_SYSTICK_ENABLE 0x00000001
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73 #define portNVIC_PENDSVSET 0x10000000
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74 #define portNVIC_PENDSV_PRI ( ( ( unsigned portLONG ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )
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75 #define portNVIC_SYSTICK_PRI ( ( ( unsigned portLONG ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )
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77 /* Constants required to set up the initial stack. */
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78 #define portINITIAL_XPSR ( 0x01000000 )
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80 /* The priority used by the kernel is assigned to a variable to make access
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81 from inline assembler easier. */
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82 const unsigned portLONG ulKernelPriority = configKERNEL_INTERRUPT_PRIORITY;
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84 /* Each task maintains its own interrupt status in the critical nesting
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86 unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
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89 * Setup the timer to generate the tick interrupts.
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91 static void prvSetupTimerInterrupt( void );
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94 * Exception handlers.
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96 void xPortPendSVHandler( void ) __attribute__ (( naked ));
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97 void xPortSysTickHandler( void );
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98 void vPortSVCHandler( void ) __attribute__ (( naked ));
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101 * Start first task is a separate function so it can be tested in isolation.
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103 void vPortStartFirstTask( unsigned long ulValue ) __attribute__ (( naked ));
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105 /*-----------------------------------------------------------*/
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108 * See header file for description.
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110 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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112 /* Simulate the stack frame as it would be created by a context switch
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114 *pxTopOfStack = portINITIAL_XPSR; /* xPSR */
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116 *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */
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118 *pxTopOfStack = 0; /* LR */
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119 pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
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120 *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
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121 pxTopOfStack -= 9; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
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122 *pxTopOfStack = 0x00000000; /* uxCriticalNesting. */
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124 return pxTopOfStack;
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126 /*-----------------------------------------------------------*/
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128 void vPortSVCHandler( void )
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131 " ldr r3, pxCurrentTCBConst2 \n" /* Restore the context. */
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132 " ldr r1, [r3] \n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
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133 " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */
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134 " ldmia r0!, {r1, r4-r11} \n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
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135 " ldr r2, uxCriticalNestingConst2 \n" /* Restore the critical nesting count used by the task. */
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137 " msr psp, r0 \n" /* Restore the task stack pointer. */
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139 " msr basepri, r0 \n"
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140 " orr r14, #0xd \n"
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144 "pxCurrentTCBConst2: .word pxCurrentTCB \n"
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145 "uxCriticalNestingConst2: .word uxCriticalNesting \n"
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148 /*-----------------------------------------------------------*/
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150 void vPortStartFirstTask( unsigned long ulValue )
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152 /* ulValue is used from the asm code, but the compiler does not know
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153 this so remove the warning. */
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157 " msr msp, r0 \n" /* Set the msp back to the start of the stack. */
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158 " svc 0 \n" /* System call to start first task. */
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161 /*-----------------------------------------------------------*/
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164 * See header file for description.
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166 portBASE_TYPE xPortStartScheduler( void )
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168 /* Make PendSV, CallSV and SysTick the same priroity as the kernel. */
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169 *(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
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170 *(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;
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172 /* Start the timer that generates the tick ISR. Interrupts are disabled
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174 prvSetupTimerInterrupt();
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176 /* Start the first task. */
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177 vPortStartFirstTask( *((unsigned portLONG *) 0 ) );
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179 /* Should not get here! */
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182 /*-----------------------------------------------------------*/
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184 void vPortEndScheduler( void )
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186 /* It is unlikely that the CM3 port will require this function as there
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187 is nothing to return to. */
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189 /*-----------------------------------------------------------*/
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191 void vPortYieldFromISR( void )
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193 /* Set a PendSV to request a context switch. */
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194 *(portNVIC_INT_CTRL) |= portNVIC_PENDSVSET;
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196 /* This function is also called in response to a Yield(), so we want
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197 the yield to occur immediately. */
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198 portENABLE_INTERRUPTS();
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200 /*-----------------------------------------------------------*/
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202 void vPortEnterCritical( void )
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204 portDISABLE_INTERRUPTS();
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205 uxCriticalNesting++;
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207 /*-----------------------------------------------------------*/
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209 void vPortExitCritical( void )
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211 uxCriticalNesting--;
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212 if( uxCriticalNesting == 0 )
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214 portENABLE_INTERRUPTS();
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217 /*-----------------------------------------------------------*/
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219 void xPortPendSVHandler( void )
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221 /* This is a naked function. */
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227 " ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */
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228 " ldr r2, [r3] \n"
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230 " ldr r1, uxCriticalNestingConst \n" /* Save the remaining registers and the critical nesting count onto the task stack. */
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232 " stmdb r0!, {r1,r4-r11} \n"
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233 " str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */
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235 " stmdb sp!, {r3, r14} \n"
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236 " bl vTaskSwitchContext \n"
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237 " ldmia sp!, {r3, r14} \n"
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238 " \n" /* Restore the context, including the critical nesting count. */
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239 " ldr r1, [r3] \n"
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240 " ldr r2, uxCriticalNestingConst \n"
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241 " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */
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242 " ldmia r0!, {r1, r4-r11} \n" /* Pop the registers and the critical nesting count. */
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243 " str r1, [r2] \n" /* Save the new critical nesting value into ulCriticalNesting. */
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245 " orr r14, #0xd \n"
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246 " \n" /* Exit with interrupts in the state required by the task. */
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247 " cbnz r1, sv_disable_interrupts \n" /* If the nesting count is greater than 0 we need to exit with interrupts masked. */
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250 "sv_disable_interrupts: \n"
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251 " ldr r1, =ulKernelPriority \n"
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253 " msr basepri, r1 \n"
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257 "pxCurrentTCBConst: .word pxCurrentTCB \n"
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258 "uxCriticalNestingConst: .word uxCriticalNesting \n"
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261 /*-----------------------------------------------------------*/
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263 void xPortSysTickHandler( void )
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265 /* If using preemption, also force a context switch. */
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266 #if configUSE_PREEMPTION == 1
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267 *(portNVIC_INT_CTRL) |= portNVIC_PENDSVSET;
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270 vTaskIncrementTick();
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272 /*-----------------------------------------------------------*/
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275 * Setup the systick timer to generate the tick interrupts at the required
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278 void prvSetupTimerInterrupt( void )
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280 /* Configure SysTick to interrupt at the requested rate. */
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281 *(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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282 *(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
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284 /*-----------------------------------------------------------*/
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