2 FreeRTOS V7.0.2 - Copyright (C) 2011 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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54 /*-----------------------------------------------------------
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55 * Implementation of functions defined in portable.h for the ARM CM4F port.
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56 *----------------------------------------------------------*/
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58 /* Scheduler includes. */
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59 #include "FreeRTOS.h"
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62 #ifndef __TARGET_FPU_VFP
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63 #error This port can only be used when the project options are configured to enable hardware floating point support.
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66 /* Constants required to manipulate the NVIC. */
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67 #define portNVIC_SYSTICK_CTRL ( ( volatile unsigned long *) 0xe000e010 )
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68 #define portNVIC_SYSTICK_LOAD ( ( volatile unsigned long *) 0xe000e014 )
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69 #define portNVIC_INT_CTRL ( ( volatile unsigned long *) 0xe000ed04 )
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70 #define portNVIC_SYSPRI2 ( ( volatile unsigned long *) 0xe000ed20 )
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71 #define portNVIC_SYSTICK_CLK 0x00000004
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72 #define portNVIC_SYSTICK_INT 0x00000002
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73 #define portNVIC_SYSTICK_ENABLE 0x00000001
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74 #define portNVIC_PENDSVSET 0x10000000
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75 #define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )
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76 #define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )
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78 /* Constants required to manipulate the VFP. */
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79 #define portFPCCR ( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */
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80 #define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL )
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82 /* Constants required to set up the initial stack. */
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83 #define portINITIAL_XPSR ( 0x01000000 )
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84 #define portINITIAL_EXEC_RETURN ( 0xfffffffd )
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86 /* Each task maintains its own interrupt status in the critical nesting
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88 static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
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91 * Setup the timer to generate the tick interrupts.
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93 static void prvSetupTimerInterrupt( void );
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96 * Exception handlers.
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98 void xPortPendSVHandler( void );
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99 void xPortSysTickHandler( void );
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100 void vPortSVCHandler( void );
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103 * Start first task is a separate function so it can be tested in isolation.
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105 static void prvStartFirstTask( void );
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108 * Functions defined in portasm.s to enable the VFP.
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110 static void prvEnableVFP( void );
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112 /*-----------------------------------------------------------*/
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115 * See header file for description.
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117 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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119 /* Simulate the stack frame as it would be created by a context switch
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122 /* Offset added to account for the way the MCU uses the stack on entry/exit
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123 of interrupts, and to ensure alignment. */
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126 *pxTopOfStack = portINITIAL_XPSR; /* xPSR */
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128 *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */
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130 *pxTopOfStack = 0; /* LR */
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132 /* Save code space by skipping register initialisation. */
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133 pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
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134 *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
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136 /* A save method is being used that requiers each task to maintain its
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137 own exec return value. */
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139 *pxTopOfStack = portINITIAL_EXEC_RETURN;
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141 pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
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143 return pxTopOfStack;
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145 /*-----------------------------------------------------------*/
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147 __asm void vPortSVCHandler( void )
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151 /* Get the location of the current TCB. */
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152 ldr r3, =pxCurrentTCB
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155 /* Pop the core registers. */
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156 ldmia r0!, {r4-r11, r14}
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162 /*-----------------------------------------------------------*/
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164 __asm void prvStartFirstTask( void )
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168 /* Use the NVIC offset register to locate the stack. */
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169 ldr r0, =0xE000ED08
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172 /* Set the msp back to the start of the stack. */
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174 /* Globally enable interrupts. */
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176 /* Call SVC to start the first task. */
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180 /*-----------------------------------------------------------*/
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182 __asm void prvEnableVFP( void )
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186 /* The FPU enable bits are in the CPACR. */
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187 ldr.w r0, =0xE000ED88
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190 /* Enable CP10 and CP11 coprocessors, then save back. */
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191 orr r1, r1, #( 0xf << 20 )
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196 /*-----------------------------------------------------------*/
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199 * See header file for description.
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201 portBASE_TYPE xPortStartScheduler( void )
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203 /* Make PendSV, CallSV and SysTick the same priroity as the kernel. */
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204 *(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
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205 *(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;
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207 /* Start the timer that generates the tick ISR. Interrupts are disabled
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209 prvSetupTimerInterrupt();
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211 /* Initialise the critical nesting count ready for the first task. */
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212 uxCriticalNesting = 0;
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214 /* Ensure the VFP is enabled - it should be anyway. */
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217 /* Lazy save always. */
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218 *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;
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220 /* Start the first task. */
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221 prvStartFirstTask();
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223 /* Should not get here! */
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226 /*-----------------------------------------------------------*/
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228 void vPortEndScheduler( void )
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230 /* It is unlikely that the CM4F port will require this function as there
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231 is nothing to return to. */
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233 /*-----------------------------------------------------------*/
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235 void vPortYieldFromISR( void )
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237 /* Set a PendSV to request a context switch. */
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238 *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
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240 /*-----------------------------------------------------------*/
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242 void vPortEnterCritical( void )
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244 portDISABLE_INTERRUPTS();
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245 uxCriticalNesting++;
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247 /*-----------------------------------------------------------*/
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249 void vPortExitCritical( void )
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251 uxCriticalNesting--;
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252 if( uxCriticalNesting == 0 )
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254 portENABLE_INTERRUPTS();
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257 /*-----------------------------------------------------------*/
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259 __asm void xPortPendSVHandler( void )
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261 extern uxCriticalNesting;
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262 extern pxCurrentTCB;
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263 extern vTaskSwitchContext;
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269 /* Get the location of the current TCB. */
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270 ldr r3, =pxCurrentTCB
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273 /* Is the task using the FPU context? If so, push high vfp registers. */
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276 vstmdbeq r0!, {s16-s31}
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278 /* Save the core registers. */
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279 stmdb r0!, {r4-r11, r14}
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281 /* Save the new top of stack into the first member of the TCB. */
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284 stmdb sp!, {r3, r14}
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285 mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
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287 bl vTaskSwitchContext
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290 ldmia sp!, {r3, r14}
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292 /* The first item in pxCurrentTCB is the task top of stack. */
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296 /* Pop the core registers. */
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297 ldmia r0!, {r4-r11, r14}
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299 /* Is the task using the FPU context? If so, pop the high vfp registers
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303 vldmiaeq r0!, {s16-s31}
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309 /*-----------------------------------------------------------*/
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311 void xPortSysTickHandler( void )
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313 unsigned long ulDummy;
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315 /* If using preemption, also force a context switch. */
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316 #if configUSE_PREEMPTION == 1
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317 *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
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320 ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
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322 vTaskIncrementTick();
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324 portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
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326 /*-----------------------------------------------------------*/
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329 * Setup the systick timer to generate the tick interrupts at the required
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332 void prvSetupTimerInterrupt( void )
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334 /* Configure SysTick to interrupt at the requested rate. */
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335 *(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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336 *(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
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338 /*-----------------------------------------------------------*/
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340 __asm void vPortSetInterruptMask( void )
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344 mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
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349 /*-----------------------------------------------------------*/
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351 __asm void vPortClearInterruptMask( void )
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