281 lines
9.5 KiB
C
281 lines
9.5 KiB
C
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/*
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* FreeRTOS Kernel V10.2.1
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* Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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*
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* 1 tab == 4 spaces!
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*/
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* The critical nesting value is initialised to a non zero value to ensure
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interrupts don't accidentally become enabled before the scheduler is started. */
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#define portINITIAL_CRITICAL_NESTING ( ( uint16_t ) 10 )
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/* Initial PSW value allocated to a newly created task.
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* 1100011000000000
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* ||||||||-------------- Fill byte
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* |||||||--------------- Carry Flag cleared
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* |||||----------------- In-service priority Flags set to low level
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* ||||------------------ Register bank Select 0 Flag cleared
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* |||------------------- Auxiliary Carry Flag cleared
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* ||-------------------- Register bank Select 1 Flag cleared
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* |--------------------- Zero Flag set
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* ---------------------- Global Interrupt Flag set (enabled)
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*/
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#define portPSW ( 0xc6UL )
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/* The address of the pxCurrentTCB variable, but don't know or need to know its
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type. */
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typedef void TCB_t;
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extern volatile TCB_t * volatile pxCurrentTCB;
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/* Each task maintains a count of the critical section nesting depth. Each time
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a critical section is entered the count is incremented. Each time a critical
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section is exited the count is decremented - with interrupts only being
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re-enabled if the count is zero.
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usCriticalNesting will get set to zero when the scheduler starts, but must
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not be initialised to zero as that could cause problems during the startup
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sequence. */
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volatile uint16_t usCriticalNesting = portINITIAL_CRITICAL_NESTING;
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/*-----------------------------------------------------------*/
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/*
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* Sets up the periodic ISR used for the RTOS tick using the interval timer.
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* The application writer can define configSETUP_TICK_INTERRUPT() (in
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* FreeRTOSConfig.h) such that their own tick interrupt configuration is used
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* in place of prvSetupTimerInterrupt().
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*/
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static void prvSetupTimerInterrupt( void );
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#ifndef configSETUP_TICK_INTERRUPT
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/* The user has not provided their own tick interrupt configuration so use
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the definition in this file (which uses the interval timer). */
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#define configSETUP_TICK_INTERRUPT() prvSetupTimerInterrupt()
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#endif /* configSETUP_TICK_INTERRUPT */
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/*
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* Defined in portasm.s87, this function starts the scheduler by loading the
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* context of the first task to run.
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*/
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extern void vPortStartFirstTask( void );
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/*
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* Used to catch tasks that attempt to return from their implementing function.
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*/
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static void prvTaskExitError( void );
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/*-----------------------------------------------------------*/
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/*
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* Initialise the stack of a task to look exactly as if a call to
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* portSAVE_CONTEXT had been called.
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*
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* See the header file portable.h.
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*/
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StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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{
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uint32_t *pulLocal;
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/* With large code and large data sizeof( StackType_t ) == 2, and
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sizeof( StackType_t * ) == 4. With small code and small data
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sizeof( StackType_t ) == 2 and sizeof( StackType_t * ) == 2. */
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#if __DATA_MODEL__ == __DATA_MODEL_FAR__
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{
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/* Parameters are passed in on the stack, and written using a 32-bit value
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hence a space is left for the second two bytes. */
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pxTopOfStack--;
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/* Write in the parameter value. */
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pulLocal = ( uint32_t * ) pxTopOfStack;
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*pulLocal = ( uint32_t ) pvParameters;
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pxTopOfStack--;
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/* The return address, leaving space for the first two bytes of the
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32-bit value. See the comments above the prvTaskExitError() prototype
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at the top of this file. */
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pxTopOfStack--;
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pulLocal = ( uint32_t * ) pxTopOfStack;
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*pulLocal = ( uint32_t ) prvTaskExitError;
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pxTopOfStack--;
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/* The start address / PSW value is also written in as a 32-bit value,
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so leave a space for the second two bytes. */
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pxTopOfStack--;
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/* Task function start address combined with the PSW. */
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pulLocal = ( uint32_t * ) pxTopOfStack;
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*pulLocal = ( ( ( uint32_t ) pxCode ) | ( portPSW << 24UL ) );
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pxTopOfStack--;
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/* An initial value for the AX register. */
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*pxTopOfStack = ( StackType_t ) 0x1111;
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pxTopOfStack--;
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}
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#else
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{
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/* The return address, leaving space for the first two bytes of the
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32-bit value. See the comments above the prvTaskExitError() prototype
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at the top of this file. */
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pxTopOfStack--;
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pulLocal = ( uint32_t * ) pxTopOfStack;
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*pulLocal = ( uint32_t ) prvTaskExitError;
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pxTopOfStack--;
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/* Task function. Again as it is written as a 32-bit value a space is
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left on the stack for the second two bytes. */
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pxTopOfStack--;
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/* Task function start address combined with the PSW. */
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pulLocal = ( uint32_t * ) pxTopOfStack;
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*pulLocal = ( ( ( uint32_t ) pxCode ) | ( portPSW << 24UL ) );
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pxTopOfStack--;
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/* The parameter is passed in AX. */
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*pxTopOfStack = ( StackType_t ) pvParameters;
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pxTopOfStack--;
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}
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#endif
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/* An initial value for the HL register. */
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*pxTopOfStack = ( StackType_t ) 0x2222;
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pxTopOfStack--;
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/* CS and ES registers. */
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*pxTopOfStack = ( StackType_t ) 0x0F00;
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pxTopOfStack--;
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/* The remaining general purpose registers DE and BC */
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*pxTopOfStack = ( StackType_t ) 0xDEDE;
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0xBCBC;
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pxTopOfStack--;
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/* Finally the critical section nesting count is set to zero when the task
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first starts. */
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*pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING;
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/* Return a pointer to the top of the stack that has been generated so it
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can be stored in the task control block for the task. */
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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static void prvTaskExitError( void )
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{
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/* A function that implements a task must not exit or attempt to return to
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its caller as there is nothing to return to. If a task wants to exit it
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should instead call vTaskDelete( NULL ).
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Artificially force an assert() to be triggered if configASSERT() is
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defined, then stop here so application writers can catch the error. */
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configASSERT( usCriticalNesting == ~0U );
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portDISABLE_INTERRUPTS();
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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BaseType_t xPortStartScheduler( void )
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{
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/* Setup the hardware to generate the tick. Interrupts are disabled when
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this function is called. */
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configSETUP_TICK_INTERRUPT();
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/* Restore the context of the first task that is going to run. */
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vPortStartFirstTask();
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/* Execution should not reach here as the tasks are now running!
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prvSetupTimerInterrupt() is called here to prevent the compiler outputting
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a warning about a statically declared function not being referenced in the
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case that the application writer has provided their own tick interrupt
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configuration routine (and defined configSETUP_TICK_INTERRUPT() such that
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their own routine will be called in place of prvSetupTimerInterrupt()). */
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prvSetupTimerInterrupt();
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return pdTRUE;
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}
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/*-----------------------------------------------------------*/
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void vPortEndScheduler( void )
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{
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/* It is unlikely that the RL78 port will get stopped. */
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}
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/*-----------------------------------------------------------*/
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static void prvSetupTimerInterrupt( void )
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{
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const uint16_t usClockHz = 15000UL; /* Internal clock. */
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const uint16_t usCompareMatch = ( usClockHz / configTICK_RATE_HZ ) + 1UL;
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/* Use the internal 15K clock. */
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OSMC = ( uint8_t ) 0x16;
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#ifdef RTCEN
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{
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/* Supply the interval timer clock. */
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RTCEN = ( uint8_t ) 1U;
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/* Disable INTIT interrupt. */
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ITMK = ( uint8_t ) 1;
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/* Disable ITMC operation. */
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ITMC = ( uint8_t ) 0x0000;
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/* Clear INIT interrupt. */
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ITIF = ( uint8_t ) 0;
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/* Set interval and enable interrupt operation. */
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ITMC = usCompareMatch | 0x8000U;
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/* Enable INTIT interrupt. */
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ITMK = ( uint8_t ) 0;
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}
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#endif
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#ifdef TMKAEN
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{
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/* Supply the interval timer clock. */
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TMKAEN = ( uint8_t ) 1U;
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/* Disable INTIT interrupt. */
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TMKAMK = ( uint8_t ) 1;
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/* Disable ITMC operation. */
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ITMC = ( uint8_t ) 0x0000;
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/* Clear INIT interrupt. */
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TMKAIF = ( uint8_t ) 0;
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/* Set interval and enable interrupt operation. */
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ITMC = usCompareMatch | 0x8000U;
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/* Enable INTIT interrupt. */
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TMKAMK = ( uint8_t ) 0;
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}
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#endif
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}
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/*-----------------------------------------------------------*/
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