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213 lines
8.2 KiB
C
213 lines
8.2 KiB
C
/*
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FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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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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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the MSP430X port.
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*----------------------------------------------------------*/
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/* Constants required for hardware setup. The tick ISR runs off the ACLK,
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not the MCLK. */
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#define portACLK_FREQUENCY_HZ ( ( portTickType ) 32768 )
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#define portINITIAL_CRITICAL_NESTING ( ( unsigned short ) 10 )
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#define portFLAGS_INT_ENABLED ( ( portSTACK_TYPE ) 0x08 )
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/* We require the address of the pxCurrentTCB variable, but don't want to know
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any details of its type. */
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typedef void tskTCB;
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extern volatile tskTCB * volatile pxCurrentTCB;
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/* Each task maintains a count of the critical section nesting depth. Each
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time a critical section is entered the count is incremented. Each time a
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critical section is exited the count is decremented - with interrupts only
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being 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 this will cause problems during the startup
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sequence. */
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volatile unsigned short 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. This uses timer 0, but
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* could have alternatively used the watchdog timer or timer 1.
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*/
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void vPortSetupTimerInterrupt( 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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portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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{
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unsigned short *pusTopOfStack;
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unsigned long *pulTopOfStack;
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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 and can be included if required.
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*pxTopOfStack = ( portSTACK_TYPE ) 0x1111;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x2222;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x3333;
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pxTopOfStack--;
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*/
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/* Data types are need either 16 bits or 32 bits depending on the data
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and code model used. */
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if( sizeof( pxCode ) == sizeof( unsigned short ) )
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{
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pusTopOfStack = ( unsigned short * ) pxTopOfStack;
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*pusTopOfStack = ( unsigned short ) pxCode;
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}
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else
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{
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/* Make room for a 20 bit value stored as a 32 bit value. */
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pusTopOfStack = ( unsigned short * ) pxTopOfStack;
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pusTopOfStack--;
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pulTopOfStack = ( unsigned long * ) pusTopOfStack;
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*pulTopOfStack = ( unsigned long ) pxCode;
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pusTopOfStack = ( unsigned short * ) pulTopOfStack;
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}
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pusTopOfStack--;
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*pusTopOfStack = portFLAGS_INT_ENABLED;
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pusTopOfStack -= ( sizeof( portSTACK_TYPE ) / 2 );
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/* From here on the size of stacked items depends on the memory model. */
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pxTopOfStack = ( portSTACK_TYPE * ) pusTopOfStack;
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/* Next the general purpose registers. */
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#ifdef PRELOAD_REGISTER_VALUES
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*pxTopOfStack = ( portSTACK_TYPE ) 0xffff;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0xeeee;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0xdddd;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0xbbbb;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0xaaaa;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x9999;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x8888;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x5555;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x6666;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x5555;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x4444;
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pxTopOfStack--;
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#else
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pxTopOfStack -= 3;
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*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
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pxTopOfStack -= 9;
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#endif
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/* A variable is used to keep track of the critical section nesting.
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This variable has to be stored as part of the task context and is
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initially set to zero. */
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*pxTopOfStack = ( portSTACK_TYPE ) portNO_CRITICAL_SECTION_NESTING;
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/* Return a pointer to the top of the stack we have generated so this can
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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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void vPortEndScheduler( void )
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{
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/* It is unlikely that the MSP430 port will get stopped. If required simply
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disable the tick interrupt here. */
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}
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/*-----------------------------------------------------------*/
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/*
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* Hardware initialisation to generate the RTOS tick.
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*/
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void vPortSetupTimerInterrupt( void )
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{
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vApplicationSetupTimerInterrupt();
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}
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/*-----------------------------------------------------------*/
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#pragma vector=configTICK_VECTOR
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interrupt void vTickISREntry( void )
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{
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extern void vPortTickISR( void );
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#if configUSE_PREEMPTION == 1
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extern void vPortPreemptiveTickISR( void );
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vPortPreemptiveTickISR();
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#else
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extern void vPortCooperativeTickISR( void );
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vPortCooperativeTickISR();
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#endif
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}
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