317 lines
9.4 KiB
C
317 lines
9.4 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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/*
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Changes from V3.2.1
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+ CallReturn Depth increased from 8 to 10 levels to accomodate wizC/fedC V12.
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Changes from V3.2.0
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+ TBLPTRU is now initialised to zero during the initial stack creation of a new task. This solves
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an error on devices with more than 64kB ROM.
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Changes from V3.0.0
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+ ucCriticalNesting is now initialised to 0x7F to prevent interrupts from being
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handled before the scheduler is started.
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Changes from V3.0.1
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*/
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/* Scheduler include files. */
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#include <FreeRTOS.h>
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#include <task.h>
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#include <malloc.h>
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/*---------------------------------------------------------------------------
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* Implementation of functions defined in portable.h for the WizC PIC18 port.
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*---------------------------------------------------------------------------*/
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/*
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* We require the address of the pxCurrentTCB variable, but don't want to
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* know any details of its type.
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*/
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typedef void TCB_t;
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extern volatile TCB_t * volatile pxCurrentTCB;
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/*
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* Define minimal-stack constants
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* -----
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* FSR's:
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* STATUS, WREG, BSR, PRODH, PRODL, FSR0H, FSR0L,
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* FSR1H, FSR1L,TABLAT, (TBLPTRU), TBLPTRH, TBLPTRL,
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* (PCLATU), PCLATH
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* sfr's within parenthesis only on devices > 64kB
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* -----
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* Call/Return stack:
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* 2 bytes per entry on devices <= 64kB
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* 3 bytes per entry on devices > 64kB
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* -----
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* Other bytes:
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* 2 bytes: FunctionParameter for initial taskcode
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* 1 byte : Number of entries on call/return stack
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* 1 byte : ucCriticalNesting
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* 16 bytes: Free space on stack
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*/
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#if _ROMSIZE > 0x8000
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#define portSTACK_FSR_BYTES ( 15 )
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#define portSTACK_CALLRETURN_ENTRY_SIZE ( 3 )
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#else
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#define portSTACK_FSR_BYTES ( 13 )
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#define portSTACK_CALLRETURN_ENTRY_SIZE ( 2 )
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#endif
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#define portSTACK_MINIMAL_CALLRETURN_DEPTH ( 10 )
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#define portSTACK_OTHER_BYTES ( 20 )
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uint16_t usCalcMinStackSize = 0;
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/*-----------------------------------------------------------*/
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/*
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* We initialise ucCriticalNesting to the middle value an
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* uint8_t can contain. This way portENTER_CRITICAL()
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* and portEXIT_CRITICAL() can be called without interrupts
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* being enabled before the scheduler starts.
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*/
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register uint8_t ucCriticalNesting = 0x7F;
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/*-----------------------------------------------------------*/
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/*
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* Initialise the stack of a new task.
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* See portSAVE_CONTEXT macro for description.
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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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uint8_t ucScratch;
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/*
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* Get the size of the RAMarea in page 0 used by the compiler
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* We do this here already to avoid W-register conflicts.
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*/
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_Pragma("asm")
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movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE
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movwf PRODL,ACCESS ; PRODL is used as temp register
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_Pragma("asmend")
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ucScratch = PRODL;
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/*
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* Place a few bytes of known values on the bottom of the stack.
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* This is just useful for debugging.
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*/
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// *pxTopOfStack-- = 0x11;
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// *pxTopOfStack-- = 0x22;
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// *pxTopOfStack-- = 0x33;
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/*
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* Simulate how the stack would look after a call to vPortYield()
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* generated by the compiler.
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*/
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/*
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* First store the function parameters. This is where the task expects
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* to find them when it starts running.
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*/
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*pxTopOfStack-- = ( StackType_t ) ( (( uint16_t ) pvParameters >> 8) & 0x00ff );
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*pxTopOfStack-- = ( StackType_t ) ( ( uint16_t ) pvParameters & 0x00ff );
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/*
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* Next are all the registers that form part of the task context.
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*/
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*pxTopOfStack-- = ( StackType_t ) 0x11; /* STATUS. */
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*pxTopOfStack-- = ( StackType_t ) 0x22; /* WREG. */
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*pxTopOfStack-- = ( StackType_t ) 0x33; /* BSR. */
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*pxTopOfStack-- = ( StackType_t ) 0x44; /* PRODH. */
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*pxTopOfStack-- = ( StackType_t ) 0x55; /* PRODL. */
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*pxTopOfStack-- = ( StackType_t ) 0x66; /* FSR0H. */
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*pxTopOfStack-- = ( StackType_t ) 0x77; /* FSR0L. */
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*pxTopOfStack-- = ( StackType_t ) 0x88; /* FSR1H. */
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*pxTopOfStack-- = ( StackType_t ) 0x99; /* FSR1L. */
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*pxTopOfStack-- = ( StackType_t ) 0xAA; /* TABLAT. */
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#if _ROMSIZE > 0x8000
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*pxTopOfStack-- = ( StackType_t ) 0x00; /* TBLPTRU. */
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#endif
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*pxTopOfStack-- = ( StackType_t ) 0xCC; /* TBLPTRH. */
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*pxTopOfStack-- = ( StackType_t ) 0xDD; /* TBLPTRL. */
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#if _ROMSIZE > 0x8000
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*pxTopOfStack-- = ( StackType_t ) 0xEE; /* PCLATU. */
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#endif
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*pxTopOfStack-- = ( StackType_t ) 0xFF; /* PCLATH. */
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/*
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* Next the compiler's scratchspace.
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*/
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while(ucScratch-- > 0)
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{
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*pxTopOfStack-- = ( StackType_t ) 0;
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}
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/*
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* The only function return address so far is the address of the task entry.
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* The order is TOSU/TOSH/TOSL. For devices > 64kB, TOSU is put on the
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* stack, too. TOSU is always written as zero here because wizC does not allow
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* functionpointers to point above 64kB in ROM.
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*/
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#if _ROMSIZE > 0x8000
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*pxTopOfStack-- = ( StackType_t ) 0;
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#endif
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*pxTopOfStack-- = ( StackType_t ) ( ( ( uint16_t ) pxCode >> 8 ) & 0x00ff );
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*pxTopOfStack-- = ( StackType_t ) ( ( uint16_t ) pxCode & 0x00ff );
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/*
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* Store the number of return addresses on the hardware stack.
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* So far only the address of the task entry point.
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*/
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*pxTopOfStack-- = ( StackType_t ) 1;
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/*
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* The code generated by wizC does not maintain separate
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* stack and frame pointers. Therefore the portENTER_CRITICAL macro cannot
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* use the stack as per other ports. Instead a variable is used to keep
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* track of the critical section nesting. This variable has to be stored
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* as part of the task context and is initially set to zero.
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*/
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*pxTopOfStack-- = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING;
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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uint16_t usPortCALCULATE_MINIMAL_STACK_SIZE( void )
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{
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/*
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* Fetch the size of compiler's scratchspace.
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*/
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_Pragma("asm")
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movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE
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movlb usCalcMinStackSize>>8
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movwf usCalcMinStackSize,BANKED
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_Pragma("asmend")
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/*
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* Add minimum needed stackspace
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*/
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usCalcMinStackSize += ( portSTACK_FSR_BYTES )
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+ ( portSTACK_MINIMAL_CALLRETURN_DEPTH * portSTACK_CALLRETURN_ENTRY_SIZE )
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+ ( portSTACK_OTHER_BYTES );
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return(usCalcMinStackSize);
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}
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/*-----------------------------------------------------------*/
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BaseType_t xPortStartScheduler( void )
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{
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extern void portSetupTick( void );
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/*
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* Setup a timer for the tick ISR for the preemptive scheduler.
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*/
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portSetupTick();
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/*
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* Restore the context of the first task to run.
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*/
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portRESTORE_CONTEXT();
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/*
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* This point should never be reached during execution.
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*/
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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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/*
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* It is unlikely that the scheduler for the PIC port will get stopped
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* once running. When called a reset is done which is probably the
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* most valid action.
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*/
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_Pragma(asmline reset);
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}
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/*-----------------------------------------------------------*/
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/*
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* Manual context switch. This is similar to the tick context switch,
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* but does not increment the tick count. It must be identical to the
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* tick context switch in how it stores the stack of a task.
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*/
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void vPortYield( void )
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{
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/*
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* Save the context of the current task.
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*/
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portSAVE_CONTEXT( portINTERRUPTS_UNCHANGED );
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/*
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* Switch to the highest priority task that is ready to run.
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*/
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vTaskSwitchContext();
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/*
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* Start executing the task we have just switched to.
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*/
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portRESTORE_CONTEXT();
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}
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/*-----------------------------------------------------------*/
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#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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void *pvPortMalloc( uint16_t usWantedSize )
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{
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void *pvReturn;
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vTaskSuspendAll();
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{
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pvReturn = malloc( ( malloc_t ) usWantedSize );
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}
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xTaskResumeAll();
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return pvReturn;
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}
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#endif /* configSUPPORT_STATIC_ALLOCATION */
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/*-----------------------------------------------------------*/
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#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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void vPortFree( void *pv )
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{
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if( pv )
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{
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vTaskSuspendAll();
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{
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free( pv );
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}
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xTaskResumeAll();
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}
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}
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#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
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