[136] | 1 | #include "rca.h"
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| 2 | #include "rca_lib.h"
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| 3 |
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| 4 | extern "C" {
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| 5 | extern void yield(void);
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| 6 | extern void rca_ena_int(uint_t intno);
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| 7 | extern void rca_dis_int(uint_t intno);
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| 8 | }
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| 9 |
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| 10 | #ifdef RCA_ENABLE_PROFILING
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| 11 | volatile uint32_t rca_idle_result;
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| 12 | volatile uint32_t rca_isr_result;
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| 13 | volatile uint32_t rca_dispatch_result;
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| 14 | volatile uint32_t rca_timer_isr_result;
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| 15 | volatile uint32_t rca_usb_isr_result;
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| 16 | volatile uint32_t rca_sercom0_isr_result;
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| 17 | volatile uint32_t rca_sercom2_isr_result;
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| 18 | volatile uint32_t rca_sercom3_isr_result;
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| 19 | volatile uint32_t rca_sercom4_isr_result;
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| 20 | volatile uint32_t rca_sercom5_isr_result;
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| 21 | volatile uint32_t rca_eic_isr_result;
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| 22 | volatile uint32_t rca_tc5_isr_result;
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| 23 | volatile uint32_t rca_rtc_isr_result;
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| 24 |
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| 25 | static volatile uint32_t rca_idle_cnt;
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| 26 | static volatile uint32_t rca_isr_cnt;
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| 27 | static volatile uint32_t rca_dispatch_cnt;
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| 28 | static volatile uint32_t rca_timer_isr_cnt;
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| 29 | static volatile uint32_t rca_usb_isr_cnt;
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| 30 | static volatile uint32_t rca_sercom0_isr_cnt;
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| 31 | static volatile uint32_t rca_sercom2_isr_cnt;
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| 32 | static volatile uint32_t rca_sercom3_isr_cnt;
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| 33 | static volatile uint32_t rca_sercom4_isr_cnt;
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| 34 | static volatile uint32_t rca_sercom5_isr_cnt;
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| 35 | static volatile uint32_t rca_eic_isr_cnt;
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| 36 | static volatile uint32_t rca_tc5_isr_cnt;
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| 37 | static volatile uint32_t rca_rtc_isr_cnt;
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| 38 | static volatile uint32_t rca_profiling_cyccnt;
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| 39 | #endif /* RCA_ENABLE_PROFILING */
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| 40 |
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| 41 | Inline void
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| 42 | rca_di(void){
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| 43 | Asm("cpsid f":::"memory");
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| 44 | }
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| 45 |
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| 46 | /*
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| 47 | * FAULTMASKÌNA
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| 48 | */
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| 49 | Inline void
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| 50 | rca_ei(void){
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| 51 | Asm("cpsie f":::"memory");
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| 52 | }
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| 53 |
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| 54 | void
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| 55 | rca_init(intptr_t exinf)
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| 56 | {
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| 57 | init(); //wiring.c
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| 58 | }
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| 59 |
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| 60 | void
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| 61 | rca_ena_int(uint_t intno) {
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| 62 | if (ena_int(intno + 16) != E_OK) {
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| 63 | while(1); //ToDo
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| 64 | }
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| 65 |
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| 66 | }
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| 67 |
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| 68 | void
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| 69 | rca_dis_int(uint_t intno) {
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| 70 | if (dis_int(intno + 16) != E_OK) {
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| 71 | while(1); //ToDo
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| 72 | }
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| 73 | }
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| 74 |
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| 75 | extern const DeviceVectors exception_table;
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| 76 |
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| 77 | #ifdef RCA_RR_SCEDULE
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| 78 | static uint32_t time_slice = 0;
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| 79 | #endif /* RCA_RR_SCEDULE */
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| 80 |
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| 81 | /*
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| 82 | * Cyclic Handler
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| 83 | */
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| 84 | void
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| 85 | rca_CycHandler(intptr_t exinf)
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| 86 | {
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| 87 | #ifdef RCA_RR_SCEDULE
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| 88 | int i;
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| 89 | if (++time_slice == RCA_RR_SCEDULE_CYCLE) {
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| 90 | time_slice = 0;
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| 91 | for(i = 1; i < 16; i++){
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| 92 | if (RCA_RR_SCEDULE & (i << i)) {
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| 93 | irot_rdq(i);
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| 94 | }
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| 95 | }
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| 96 | }
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| 97 | #endif /* RCA_RR_SCEDULE */
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| 98 | #ifdef RCA_ENABLE_PROFILING
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| 99 | rca_di();
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| 100 | rca_isr_cnt++;
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| 101 | rca_timer_isr_cnt++;
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| 102 | rca_profiling_cyccnt++;
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| 103 | if(rca_profiling_cyccnt == RCA_PROFILING_CYC_MS){
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| 104 | rca_idle_result= rca_idle_cnt;
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| 105 | rca_isr_result= rca_isr_cnt;
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| 106 | rca_dispatch_result= rca_dispatch_cnt;
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| 107 | rca_timer_isr_result= rca_timer_isr_cnt;
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| 108 | rca_usb_isr_result= rca_usb_isr_cnt;
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| 109 | rca_sercom0_isr_result= rca_sercom0_isr_cnt;
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| 110 | rca_sercom2_isr_result= rca_sercom2_isr_cnt;
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| 111 | rca_sercom3_isr_result= rca_sercom3_isr_cnt;
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| 112 | rca_sercom4_isr_result= rca_sercom4_isr_cnt;
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| 113 | rca_sercom5_isr_result= rca_sercom5_isr_cnt;
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| 114 | rca_eic_isr_result= rca_eic_isr_cnt;
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| 115 | rca_tc5_isr_result= rca_tc5_isr_cnt;
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| 116 | rca_rtc_isr_result= rca_rtc_isr_cnt;
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| 117 | rca_idle_cnt = 0;
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| 118 | rca_isr_cnt = 0;
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| 119 | rca_dispatch_cnt = 0;
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| 120 | rca_timer_isr_cnt = 0;
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| 121 | rca_usb_isr_cnt = 0;
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| 122 | rca_sercom0_isr_cnt = 0;
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| 123 | rca_sercom2_isr_cnt = 0;
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| 124 | rca_sercom3_isr_cnt = 0;
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| 125 | rca_sercom4_isr_cnt = 0;
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| 126 | rca_sercom5_isr_cnt = 0;
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| 127 | rca_eic_isr_cnt = 0;
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| 128 | rca_tc5_isr_cnt = 0;
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| 129 | rca_rtc_isr_cnt = 0;
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| 130 | rca_profiling_cyccnt = 0;
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| 131 | }
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| 132 | rca_ei();
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| 133 | #endif /* RCA_ENABLE_PROFILING */
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| 134 | ((void(*)(void))(exception_table.pfnSysTick_Handler))();
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| 135 | }
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| 136 |
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| 137 | /*
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| 138 | * Interrupt Handler
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| 139 | */
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| 140 | void
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| 141 | rca_USB_Handler(void)
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| 142 | {
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| 143 | #ifdef RCA_ENABLE_PROFILING
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| 144 | rca_di();
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| 145 | rca_usb_isr_cnt++;
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| 146 | rca_isr_cnt++;
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| 147 | rca_ei();
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| 148 | #endif /* RCA_ENABLE_PROFILING */
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| 149 | ((void(*)(void))(exception_table.pfnUSB_Handler))();
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| 150 | }
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| 151 |
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| 152 | void
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| 153 | rca_SERCOM0_Handler(void)
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| 154 | {
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| 155 | #ifdef RCA_ENABLE_PROFILING
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| 156 | rca_di();
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| 157 | rca_sercom0_isr_cnt++;
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| 158 | rca_isr_cnt++;
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| 159 | rca_ei();
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| 160 | #endif /* RCA_ENABLE_PROFILING */
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| 161 | ((void(*)(void))(exception_table.pfnSERCOM0_Handler))();
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| 162 | }
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| 163 |
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| 164 | #ifdef RCA_USE_SERIAL3
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| 165 | #define PIN_SERIAL3_RX 49 /* D5 */
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| 166 | #define PIN_SERIAL3_TX 48 /* D4 */
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| 167 |
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| 168 | Uart Serial3(&sercom2, PIN_SERIAL3_RX, PIN_SERIAL3_TX);
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| 169 |
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| 170 | void
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| 171 | rca_SERCOM2_Handler(void)
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| 172 | {
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| 173 | #ifdef RCA_ENABLE_PROFILING
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| 174 | rca_di();
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| 175 | rca_sercom2_isr_cnt++;
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| 176 | rca_isr_cnt++;
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| 177 | rca_ei();
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| 178 | #endif /* RCA_ENABLE_PROFILING */
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| 179 | Serial3.IrqHandler();
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| 180 | }
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| 181 | #endif /* RCA_USE_SERIAL3 */
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| 182 |
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| 183 | void
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| 184 | rca_SERCOM3_Handler(void)
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| 185 | {
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| 186 | #ifdef RCA_ENABLE_PROFILING
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| 187 | rca_di();
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| 188 | rca_sercom3_isr_cnt++;
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| 189 | rca_isr_cnt++;
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| 190 | rca_ei();
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| 191 | #endif /* RCA_ENABLE_PROFILING */
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| 192 | ((void(*)(void))(exception_table.pfnSERCOM3_Handler))();
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| 193 | }
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| 194 |
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| 195 | void
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| 196 | rca_SERCOM4_Handler(void)
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| 197 | {
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| 198 | #ifdef RCA_ENABLE_PROFILING
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| 199 | rca_di();
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| 200 | rca_sercom4_isr_cnt++;
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| 201 | rca_isr_cnt++;
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| 202 | rca_ei();
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| 203 | #endif /* RCA_ENABLE_PROFILING */
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| 204 | ((void(*)(void))(exception_table.pfnSERCOM4_Handler))();
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| 205 | }
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| 206 |
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| 207 | #ifdef TOPPERS_USE_ARDUINO_SERIAL
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| 208 | void
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| 209 | rca_SERCOM5_Handler(void)
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| 210 | {
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| 211 | #ifdef RCA_ENABLE_PROFILING
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| 212 | rca_di();
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| 213 | rca_sercom5_isr_cnt++;
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| 214 | rca_isr_cnt++;
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| 215 | rca_ei();
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| 216 | #endif /* RCA_ENABLE_PROFILING */
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| 217 | ((void(*)(void))(exception_table.pfnSERCOM5_Handler))();
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| 218 | }
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| 219 | #endif /* TOPPERS_USE_ARDUINO_SERIAL */
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| 220 |
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| 221 | void
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| 222 | rca_EIC_Handler(void)
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| 223 | {
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| 224 | #ifdef RCA_ENABLE_PROFILING
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| 225 | rca_di();
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| 226 | rca_eic_isr_cnt++;
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| 227 | rca_isr_cnt++;
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| 228 | rca_ei();
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| 229 | #endif /* RCA_ENABLE_PROFILING */
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| 230 | ((void(*)(void))(exception_table.pfnEIC_Handler))();
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| 231 | }
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| 232 |
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| 233 | void
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| 234 | rca_TC5_Handler(void)
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| 235 | {
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| 236 | #ifdef RCA_ENABLE_PROFILING
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| 237 | rca_di();
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| 238 | rca_tc5_isr_cnt++;
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| 239 | rca_isr_cnt++;
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| 240 | rca_ei();
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| 241 | #endif /* RCA_ENABLE_PROFILING */
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| 242 | ((void(*)(void))(exception_table.pfnTC5_Handler))();
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| 243 | }
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| 244 |
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| 245 | void
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| 246 | rca_RTC_Handler(void)
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| 247 | {
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| 248 | #ifdef RCA_ENABLE_PROFILING
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| 249 | rca_di();
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| 250 | rca_rtc_isr_cnt++;
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| 251 | rca_isr_cnt++;
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| 252 | rca_ei();
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| 253 | #endif /* RCA_ENABLE_PROFILING */
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| 254 | ((void(*)(void))(exception_table.pfnRTC_Handler))();
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| 255 | }
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| 256 |
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| 257 | /*
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| 258 | * For delay
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| 259 | */
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| 260 | void
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| 261 | yield(void){
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| 262 | #ifdef RCA_RR_SCEDULE
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| 263 | time_slice = 0;
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| 264 | #endif /* RCA_RR_SCEDULE */
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| 265 | #ifdef RCA_ENABLE_PROFILING
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| 266 | rca_di();
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| 267 | rca_dispatch_cnt++;
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| 268 | rca_ei();
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| 269 | #endif /* RCA_ENABLE_PROFILING */
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| 270 | dly_tsk(0);
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| 271 | }
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| 272 |
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| 273 | extern void setup(void);
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| 274 | extern void loop(void);
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| 275 |
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| 276 | void
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| 277 | rca_maintask(intptr_t exinf)
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| 278 | {
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| 279 | syslog(LOG_NOTICE, "Arduino Main Task start!");
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| 280 | dly_tsk(1);
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| 281 | #ifdef USBCON
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| 282 | USBDevice.init();
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| 283 | USBDevice.attach();
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| 284 | #endif /* USBCON */
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| 285 |
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| 286 | setup();
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| 287 |
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| 288 | chg_pri(0, RCA_MAINTASK_LOOP_PRI);
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| 289 |
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| 290 | while(1){
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| 291 | loop();
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| 292 | if (serialEventRun) serialEventRun();
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| 293 | }
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| 294 | }
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| 295 |
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| 296 | #define RCA_TASK_BODY(NUM) \
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| 297 | extern void task##NUM##_setup(void); \
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| 298 | extern void task##NUM##_loop(void); \
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| 299 | \
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| 300 | void \
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| 301 | rca_task##NUM(intptr_t exinf) \
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| 302 | { \
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| 303 | syslog(LOG_NOTICE, "Arduino Task" #NUM " start!"); \
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| 304 | dly_tsk(1); \
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| 305 | \
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| 306 | task##NUM##_setup(); \
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| 307 | \
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| 308 | chg_pri(0, RCA_TASK##NUM##_LOOP_PRI); \
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| 309 | \
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| 310 | while(1){ \
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| 311 | task##NUM##_loop(); \
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| 312 | } \
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| 313 | }
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| 314 |
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| 315 | #if RCA_NUM_TASK > 0
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| 316 | RCA_TASK_BODY(1)
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| 317 | #endif /* RCA_NUM_TASK > 0 */
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| 318 |
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| 319 | #if RCA_NUM_TASK > 1
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| 320 | RCA_TASK_BODY(2)
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| 321 | #endif /* RCA_NUM_TASK > 1 */
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| 322 |
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| 323 | #if RCA_NUM_TASK > 2
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| 324 | RCA_TASK_BODY(3)
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| 325 | #endif /* RCA_NUM_TASK > 2 */
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| 326 |
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| 327 | #if RCA_NUM_TASK > 3
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| 328 | RCA_TASK_BODY(4)
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| 329 | #endif /* RCA_NUM_TASK > 3 */
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| 330 |
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| 331 | #if RCA_NUM_TASK > 4
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| 332 | RCA_TASK_BODY(5)
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| 333 | #endif /* RCA_NUM_TASK > 4 */
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| 334 |
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| 335 | #ifdef RCA_ENABLE_PROFILING
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| 336 | void
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| 337 | rca_idle_task(intptr_t exinf) {
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| 338 | while(1){
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| 339 | rca_di();
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| 340 | rca_idle_cnt++;
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| 341 | rca_ei();
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| 342 | }
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| 343 | }
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| 344 | #endif /* RCA_ENABLE_PROFILING */
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