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244 lines
9.2 KiB
C
244 lines
9.2 KiB
C
/*
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FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* FreeRTOS tutorial books are available in pdf and paperback. *
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* Complete, revised, and edited pdf reference manuals are also *
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* available. *
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* *
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* Purchasing FreeRTOS documentation will not only help you, by *
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* ensuring you get running as quickly as possible and with an *
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* in-depth knowledge of how to use FreeRTOS, it will also help *
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* the FreeRTOS project to continue with its mission of providing *
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* professional grade, cross platform, de facto standard solutions *
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* for microcontrollers - completely free of charge! *
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* *
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* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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* *
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* Thank you for using FreeRTOS, and 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 modification to the GPL is included to allow you to
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distribute a combined work that includes FreeRTOS without being obliged to
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provide the source code for proprietary components outside of the FreeRTOS
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kernel. FreeRTOS is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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or 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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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the ARM7 port.
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*
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* Components that can be compiled to either ARM or THUMB mode are
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* contained in this file. The ISR routines, which can only be compiled
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* to ARM mode are contained in portISR.c.
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*----------------------------------------------------------*/
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/* Standard includes. */
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#include <stdlib.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Constants required to setup the task context. */
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#define portINITIAL_SPSR ( ( portSTACK_TYPE ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */
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#define portTHUMB_MODE_BIT ( ( portSTACK_TYPE ) 0x20 )
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#define portINSTRUCTION_SIZE ( ( portSTACK_TYPE ) 4 )
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#define portNO_CRITICAL_SECTION_NESTING ( ( portSTACK_TYPE ) 0 )
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/* Constants required to setup the tick ISR. */
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#define portENABLE_TIMER ( ( unsigned char ) 0x01 )
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#define portPRESCALE_VALUE 0x00
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#define portINTERRUPT_ON_MATCH ( ( unsigned long ) 0x01 )
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#define portRESET_COUNT_ON_MATCH ( ( unsigned long ) 0x02 )
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/* Constants required to setup the VIC for the tick ISR. */
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#define portTIMER_VIC_CHANNEL ( ( unsigned long ) 0x0004 )
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#define portTIMER_VIC_CHANNEL_BIT ( ( unsigned long ) 0x0010 )
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#define portTIMER_VIC_ENABLE ( ( unsigned long ) 0x0020 )
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/*-----------------------------------------------------------*/
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/* Setup the timer to generate the tick interrupts. */
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static void prvSetupTimerInterrupt( void );
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/*
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* The scheduler can only be started from ARM mode, so
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* vPortISRStartFirstSTask() is defined in portISR.c.
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*/
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extern void vPortISRStartFirstTask( 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 header file for description.
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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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portSTACK_TYPE *pxOriginalTOS;
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pxOriginalTOS = pxTopOfStack;
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/* Setup the initial stack of the task. The stack is set exactly as
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expected by the portRESTORE_CONTEXT() macro. */
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/* First on the stack is the return address - which in this case is the
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start of the task. The offset is added to make the return address appear
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as it would within an IRQ ISR. */
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*pxTopOfStack = ( portSTACK_TYPE ) pxCode + portINSTRUCTION_SIZE;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0xaaaaaaaa; /* R14 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x12121212; /* R12 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x11111111; /* R11 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x10101010; /* R10 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x09090909; /* R9 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x08080808; /* R8 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x07070707; /* R7 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x06060606; /* R6 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x05050505; /* R5 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x04040404; /* R4 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x03030303; /* R3 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x02020202; /* R2 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x01010101; /* R1 */
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pxTopOfStack--;
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/* When the task starts is will expect to find the function parameter in
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R0. */
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*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
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pxTopOfStack--;
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/* The last thing onto the stack is the status register, which is set for
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system mode, with interrupts enabled. */
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*pxTopOfStack = ( portSTACK_TYPE ) portINITIAL_SPSR;
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if( ( ( unsigned long ) pxCode & 0x01UL ) != 0x00 )
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{
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/* We want the task to start in thumb mode. */
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*pxTopOfStack |= portTHUMB_MODE_BIT;
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}
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pxTopOfStack--;
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/* Some optimisation levels use the stack differently to others. This
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means the interrupt flags cannot always be stored on the stack and will
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instead be stored in a variable, which is then saved as part of the
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tasks context. */
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*pxTopOfStack = portNO_CRITICAL_SECTION_NESTING;
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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portBASE_TYPE xPortStartScheduler( void )
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{
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/* Start the timer that generates the tick ISR. Interrupts are disabled
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here already. */
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prvSetupTimerInterrupt();
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/* Start the first task. */
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vPortISRStartFirstTask();
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/* Should not get here! */
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return 0;
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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 ARM port will require this function as there
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is nothing to return to. */
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}
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/*-----------------------------------------------------------*/
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/*
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* Setup the timer 0 to generate the tick interrupts at the required frequency.
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*/
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static void prvSetupTimerInterrupt( void )
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{
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unsigned long ulCompareMatch;
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extern void ( vTickISR )( void );
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/* A 1ms tick does not require the use of the timer prescale. This is
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defaulted to zero but can be used if necessary. */
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T0_PR = portPRESCALE_VALUE;
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/* Calculate the match value required for our wanted tick rate. */
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ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ;
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/* Protect against divide by zero. Using an if() statement still results
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in a warning - hence the #if. */
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#if portPRESCALE_VALUE != 0
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{
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ulCompareMatch /= ( portPRESCALE_VALUE + 1 );
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}
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#endif
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T0_MR0 = ulCompareMatch;
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/* Generate tick with timer 0 compare match. */
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T0_MCR = portRESET_COUNT_ON_MATCH | portINTERRUPT_ON_MATCH;
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/* Setup the VIC for the timer. */
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VICIntSelect &= ~( portTIMER_VIC_CHANNEL_BIT );
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VICIntEnable |= portTIMER_VIC_CHANNEL_BIT;
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/* The ISR installed depends on whether the preemptive or cooperative
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scheduler is being used. */
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VICVectAddr0 = ( long ) vTickISR;
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VICVectCntl0 = portTIMER_VIC_CHANNEL | portTIMER_VIC_ENABLE;
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/* Start the timer - interrupts are disabled when this function is called
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so it is okay to do this here. */
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T0_TCR = portENABLE_TIMER;
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}
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/*-----------------------------------------------------------*/
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