2 FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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96 /* Standard includes. */
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99 /* Kernel includes. */
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100 #include "FreeRTOS.h"
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103 /* Machine includes */
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104 #include <machine/counter.h>
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105 #include <machine/ic.h>
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106 /*-----------------------------------------------------------*/
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108 /* The initial PSR has the Previous Interrupt Enabled (PIEN) flag set. */
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109 #define portINITIAL_PSR ( 0x00020000 )
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111 /*-----------------------------------------------------------*/
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114 * Perform any hardware configuration necessary to generate the tick interrupt.
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116 static void prvSetupTimerInterrupt( void );
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117 /*-----------------------------------------------------------*/
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119 StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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121 /* Make space on the stack for the context - this leaves a couple of spaces
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123 pxTopOfStack -= 20;
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125 /* Fill the registers with known values to assist debugging. */
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126 pxTopOfStack[ 16 ] = 0;
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127 pxTopOfStack[ 15 ] = portINITIAL_PSR;
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128 pxTopOfStack[ 14 ] = ( uint32_t ) pxCode;
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129 pxTopOfStack[ 13 ] = 0x00000000UL; /* R15. */
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130 pxTopOfStack[ 12 ] = 0x00000000UL; /* R14. */
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131 pxTopOfStack[ 11 ] = 0x0d0d0d0dUL;
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132 pxTopOfStack[ 10 ] = 0x0c0c0c0cUL;
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133 pxTopOfStack[ 9 ] = 0x0b0b0b0bUL;
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134 pxTopOfStack[ 8 ] = 0x0a0a0a0aUL;
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135 pxTopOfStack[ 7 ] = 0x09090909UL;
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136 pxTopOfStack[ 6 ] = 0x08080808UL;
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137 pxTopOfStack[ 5 ] = 0x07070707UL;
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138 pxTopOfStack[ 4 ] = 0x06060606UL;
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139 pxTopOfStack[ 3 ] = 0x05050505UL;
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140 pxTopOfStack[ 2 ] = 0x04040404UL;
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141 pxTopOfStack[ 1 ] = 0x03030303UL;
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142 pxTopOfStack[ 0 ] = ( uint32_t ) pvParameters;
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144 return pxTopOfStack;
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146 /*-----------------------------------------------------------*/
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148 BaseType_t xPortStartScheduler( void )
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150 /* Set-up the timer interrupt. */
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151 prvSetupTimerInterrupt();
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153 /* Integrated Interrupt Controller: Enable all interrupts. */
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156 /* Restore callee saved registers. */
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157 portRESTORE_CONTEXT();
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159 /* Should not get here. */
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162 /*-----------------------------------------------------------*/
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164 static void prvSetupTimerInterrupt( void )
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166 /* Enable timer interrupts */
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167 counter1->reload = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1;
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168 counter1->value = counter1->reload;
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169 counter1->mask = 1;
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171 /* Set the IRQ Handler priority and enable it. */
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172 irq[ IRQ_COUNTER1 ].ien = 1;
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174 /*-----------------------------------------------------------*/
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176 /* Trap 31 handler. */
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177 void interrupt31_handler( void ) __attribute__((naked));
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178 void interrupt31_handler( void )
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180 portSAVE_CONTEXT();
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181 __asm volatile ( "call vTaskSwitchContext" );
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182 portRESTORE_CONTEXT();
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184 /*-----------------------------------------------------------*/
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186 static void prvProcessTick( void ) __attribute__((noinline));
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187 static void prvProcessTick( void )
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189 if( xTaskIncrementTick() != pdFALSE )
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191 vTaskSwitchContext();
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194 /* Clear the Tick Interrupt. */
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195 counter1->expired = 0;
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197 /*-----------------------------------------------------------*/
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199 /* Timer 1 interrupt handler, used for tick interrupt. */
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200 void interrupt7_handler( void ) __attribute__((naked));
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201 void interrupt7_handler( void )
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203 portSAVE_CONTEXT();
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205 portRESTORE_CONTEXT();
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207 /*-----------------------------------------------------------*/
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209 void vPortEndScheduler( void )
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211 /* Nothing to do. Unlikely to want to end. */
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213 /*-----------------------------------------------------------*/
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