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217 lines
8.4 KiB
C++
217 lines
8.4 KiB
C++
//****************************************************************************
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// Product: "Blinky" example, EK-TM4C123GXL board, cooperative Vanilla kernel
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// Last updated for version 5.5.0
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// Last updated on 2015-09-23
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//
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// Q u a n t u m L e a P s
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// ---------------------------
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// innovating embedded systems
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//
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// Copyright (C) Quantum Leaps, LLC. All rights reserved.
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//
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// This program is open source software: you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as published
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// by the Free Software Foundation, either version 3 of the License, or
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// (at your option) any later version.
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//
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// Alternatively, this program may be distributed and modified under the
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// terms of Quantum Leaps commercial licenses, which expressly supersede
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// the GNU General Public License and are specifically designed for
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// licensees interested in retaining the proprietary status of their code.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <www.gnu.org/licenses/>.
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//
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// Contact information:
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// https://state-machine.com
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// <info@state-machine.com>
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//****************************************************************************
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#include "qpcpp.hpp"
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#include "blinky.hpp"
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#include "bsp.hpp"
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#include "TM4C123GH6PM.h" // the device specific header (TI)
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#include "rom.h" // the built-in ROM functions (TI)
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#include "sysctl.h" // system control driver (TI)
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#include "gpio.h" // GPIO driver (TI)
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// add other drivers if necessary...
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#ifdef Q_SPY
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#error Simple Blinky Application does not provide Spy build configuration
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#endif
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//Q_DEFINE_THIS_FILE
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// !!!!!!!!!!!!!!!!!!!!!!!!!!!!! CAUTION !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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// Assign a priority to EVERY ISR explicitly by calling NVIC_SetPriority().
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// DO NOT LEAVE THE ISR PRIORITIES AT THE DEFAULT VALUE!
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//
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enum KernelUnawareISRs { // see NOTE00
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// ...
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MAX_KERNEL_UNAWARE_CMSIS_PRI // keep always last
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};
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// "kernel-unaware" interrupts can't overlap "kernel-aware" interrupts
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Q_ASSERT_COMPILE(MAX_KERNEL_UNAWARE_CMSIS_PRI <= QF_AWARE_ISR_CMSIS_PRI);
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enum KernelAwareISRs {
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SYSTICK_PRIO = QF_AWARE_ISR_CMSIS_PRI, // see NOTE00
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// ...
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MAX_KERNEL_AWARE_CMSIS_PRI // keep always last
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};
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// "kernel-aware" interrupts should not overlap the PendSV priority
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Q_ASSERT_COMPILE(MAX_KERNEL_AWARE_CMSIS_PRI <= (0xFF >>(8-__NVIC_PRIO_BITS)));
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// Local-scope objects -------------------------------------------------------
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#define LED_RED (1U << 1)
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#define LED_GREEN (1U << 3)
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#define LED_BLUE (1U << 2)
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#define BTN_SW1 (1U << 4)
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#define BTN_SW2 (1U << 0)
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// ISRs used in this project =================================================
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extern "C" {
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//............................................................................
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void SysTick_Handler(void); // prototype
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void SysTick_Handler(void) {
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QF::TICK_X(0U, nullptr); // process time events for rate 0
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}
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} // extern "C"
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// BSP functions =============================================================
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void BSP_init(void) {
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// NOTE: SystemInit() already called from the startup code
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// but SystemCoreClock needs to be updated
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//
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SystemCoreClockUpdate();
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// configure the FPU usage by choosing one of the options...
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// Do NOT to use the automatic FPU state preservation and
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// do NOT to use the FPU lazy stacking.
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//
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// NOTE:
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// Use the following setting when FPU is used only by active objects
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// and NOT in any ISR. This setting is very efficient, but if any ISRs
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// start using the FPU, this can lead to corruption of the FPU registers.
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//
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FPU->FPCCR &= ~((1U << FPU_FPCCR_ASPEN_Pos) | (1U << FPU_FPCCR_LSPEN_Pos));
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// enable clock for to the peripherals used by this application...
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SYSCTL->RCGCGPIO |= (1U << 5); // enable Run mode for GPIOF
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// configure the LEDs and push buttons
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GPIOF->DIR |= (LED_RED | LED_GREEN | LED_BLUE); // set direction: output
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GPIOF->DEN |= (LED_RED | LED_GREEN | LED_BLUE); // digital enable
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GPIOF->DATA_Bits[LED_RED] = 0U; // turn the LED off
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GPIOF->DATA_Bits[LED_GREEN] = 0U; // turn the LED off
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GPIOF->DATA_Bits[LED_BLUE] = 0U; // turn the LED off
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// configure the Buttons
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GPIOF->DIR &= ~(BTN_SW1 | BTN_SW2); // set direction: input
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ROM_GPIOPadConfigSet(GPIOF_BASE, (BTN_SW1 | BTN_SW2),
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GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
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}
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//............................................................................
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void BSP_ledOff(void) {
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GPIOF->DATA_Bits[LED_GREEN] = 0U;
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}
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//............................................................................
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void BSP_ledOn(void) {
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// exercise the FPU with some floating point computations
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float volatile x = 3.1415926F;
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x = x + 2.7182818F;
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GPIOF->DATA_Bits[LED_GREEN] = 0xFFU;
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}
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// QF callbacks ==============================================================
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void QF::onStartup(void) {
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// set up the SysTick timer to fire at BSP_TICKS_PER_SEC rate
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SysTick_Config(SystemCoreClock / BSP_TICKS_PER_SEC);
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// assing all priority bits for preemption-prio. and none to sub-prio.
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NVIC_SetPriorityGrouping(0U);
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// set priorities of ALL ISRs used in the system, see NOTE00
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//
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// !!!!!!!!!!!!!!!!!!!!!!!!!!! CAUTION !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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// Assign a priority to EVERY ISR explicitly by calling NVIC_SetPriority().
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// DO NOT LEAVE THE ISR PRIORITIES AT THE DEFAULT VALUE!
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//
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NVIC_SetPriority(SysTick_IRQn, SYSTICK_PRIO);
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// ...
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// enable IRQs...
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}
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//............................................................................
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void QF::onCleanup(void) {
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}
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//............................................................................
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void QV::onIdle(void) { // CATION: called with interrupts DISABLED, NOTE01
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// toggle LED2 on and then off, see NOTE01
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GPIOF->DATA_Bits[LED_BLUE] = 0xFFU;
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GPIOF->DATA_Bits[LED_BLUE] = 0x00U;
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#ifdef NDEBUG
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// Put the CPU and peripherals to the low-power mode.
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// you might need to customize the clock management for your application,
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// see the datasheet for your particular Cortex-M3 MCU.
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//
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QV_CPU_SLEEP(); // atomically go to sleep and enable interrupts
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#else
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QF_INT_ENABLE(); // just enable interrupts
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#endif
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}
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//............................................................................
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extern "C" Q_NORETURN Q_onAssert(char const * const module, int_t const loc) {
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//
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// NOTE: add here your application-specific error handling
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//
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(void)module;
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(void)loc;
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QS_ASSERTION(module, loc, 10000U);
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NVIC_SystemReset();
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}
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//****************************************************************************
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// NOTE00:
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// The QF_AWARE_ISR_CMSIS_PRI constant from the QF port specifies the highest
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// ISR priority that is disabled by the QF framework. The value is suitable
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// for the NVIC_SetPriority() CMSIS function.
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//
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// Only ISRs prioritized at or below the QF_AWARE_ISR_CMSIS_PRI level (i.e.,
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// with the numerical values of priorities equal or higher than
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// QF_AWARE_ISR_CMSIS_PRI) are allowed to call any QF services. These ISRs
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// are "QF-aware".
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//
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// Conversely, any ISRs prioritized above the QF_AWARE_ISR_CMSIS_PRI priority
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// level (i.e., with the numerical values of priorities less than
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// QF_AWARE_ISR_CMSIS_PRI) are never disabled and are not aware of the kernel.
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// Such "QF-unaware" ISRs cannot call any QF services. The only mechanism
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// by which a "QF-unaware" ISR can communicate with the QF framework is by
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// triggering a "QF-aware" ISR, which can post/publish events.
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//
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// NOTE01:
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// The QV::onIdle() callback is called with interrupts disabled, because the
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// determination of the idle condition might change by any interrupt posting
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// an event. QV::onIdle() must internally enable interrupts, ideally
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// atomically with putting the CPU to the power-saving mode.
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//
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// NOTE02:
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// One of the LEDs is used to visualize the idle loop activity. The brightness
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// of the LED is proportional to the frequency of invcations of the idle loop.
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// Please note that the LED is toggled with interrupts locked, so no interrupt
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// execution time contributes to the brightness of the User LED.
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//
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