kopia lustrzana https://github.com/espressif/esp-idf
422 wiersze
17 KiB
C
422 wiersze
17 KiB
C
/*
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* SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#pragma once
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#include "sdkconfig.h"
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/* Macros used instead ofsetoff() for better performance of interrupt handler */
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#if CONFIG_FREERTOS_USE_LIST_DATA_INTEGRITY_CHECK_BYTES
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/*
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pxTopOfStack (4) +
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xStateListItem (28) +
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xEventListItem (28) +
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uxPriority (4)
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*/
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#define PORT_OFFSET_PX_STACK 0x40
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#else
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/*
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pxTopOfStack (4) +
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xStateListItem (20) +
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xEventListItem (20) +
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uxPriority (4)
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*/
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#define PORT_OFFSET_PX_STACK 0x30
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#endif /* #if CONFIG_FREERTOS_USE_LIST_DATA_INTEGRITY_CHECK_BYTES */
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#define PORT_OFFSET_PX_END_OF_STACK ( \
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PORT_OFFSET_PX_STACK \
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+ 4 /* StackType_t * pxStack */ \
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+ CONFIG_FREERTOS_MAX_TASK_NAME_LEN /* pcTaskName[ configMAX_TASK_NAME_LEN ] */ \
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)
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#ifndef __ASSEMBLER__
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#include <stdint.h>
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#include "spinlock.h"
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#include "soc/interrupt_reg.h"
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#include "esp_macros.h"
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#include "esp_cpu.h"
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#include "esp_private/crosscore_int.h"
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#include "esp_memory_utils.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* --------------------------------------------------- Port Types ------------------------------------------------------
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* - Port specific types.
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* - The settings in this file configure FreeRTOS correctly for the given hardware and compiler.
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* - These settings should not be altered.
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* - The port types must come first as they are used further down in this file
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* ------------------------------------------------------------------------------------------------------------------ */
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#define portCHAR uint8_t
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#define portFLOAT float
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#define portDOUBLE double
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#define portLONG int32_t
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#define portSHORT int16_t
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#define portSTACK_TYPE uint8_t
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#define portBASE_TYPE int
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typedef portSTACK_TYPE StackType_t;
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typedef portBASE_TYPE BaseType_t;
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typedef unsigned portBASE_TYPE UBaseType_t;
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#if ( configUSE_16_BIT_TICKS == 1 )
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typedef uint16_t TickType_t;
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#define portMAX_DELAY ( TickType_t ) 0xffff
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#else
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typedef uint32_t TickType_t;
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#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
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#endif
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/* Task function macros as described on the FreeRTOS.org WEB site. */
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#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
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#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
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// interrupt module will mask interrupt with priority less than threshold
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#define RVHAL_EXCM_LEVEL 4
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/* ----------------------------------------------- Port Configurations -------------------------------------------------
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* - Configurations values supplied by each port
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* - Required by FreeRTOS
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* ------------------------------------------------------------------------------------------------------------------ */
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#define portCRITICAL_NESTING_IN_TCB 1
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#define portSTACK_GROWTH ( -1 )
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#define portTICK_PERIOD_MS ( ( TickType_t ) ( 1000 / configTICK_RATE_HZ ) )
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#define portBYTE_ALIGNMENT 16
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#define portNOP() __asm volatile (" nop ")
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/* ---------------------------------------------- Forward Declarations -------------------------------------------------
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* - Forward declarations of all the port functions and macros needed to implement the FreeRTOS porting interface
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* - These must come before definition/declaration of the FreeRTOS porting interface
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* ------------------------------------------------------------------------------------------------------------------ */
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/* ---------------------- Spinlocks ------------------------
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- Spinlocks added to match API with SMP FreeRTOS. Single core RISC-V does not need spin locks
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* ------------------------------------------------------ */
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typedef spinlock_t portMUX_TYPE; /**< Spinlock type used by FreeRTOS critical sections */
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#define portMUX_INITIALIZER_UNLOCKED SPINLOCK_INITIALIZER /**< Spinlock initializer */
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#define portMUX_FREE_VAL SPINLOCK_FREE /**< Spinlock is free. [refactor-todo] check if this is still required */
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#define portMUX_NO_TIMEOUT SPINLOCK_WAIT_FOREVER /**< When passed for 'timeout_cycles', spin forever if necessary. [refactor-todo] check if this is still required */
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#define portMUX_TRY_LOCK SPINLOCK_NO_WAIT /**< Try to acquire the spinlock a single time only. [refactor-todo] check if this is still required */
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#define portMUX_INITIALIZE(mux) spinlock_initialize(mux) /*< Initialize a spinlock to its unlocked state */
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// --------------------- Interrupts ------------------------
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BaseType_t xPortCheckIfInISR(void);
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// ------------------ Critical Sections --------------------
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#if ( configNUMBER_OF_CORES > 1 )
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/*
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These are always called with interrupts already disabled. We simply need to get/release the spinlocks
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*/
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extern portMUX_TYPE port_xTaskLock;
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extern portMUX_TYPE port_xISRLock;
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void vPortTakeLock( portMUX_TYPE *lock );
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void vPortReleaseLock( portMUX_TYPE *lock );
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#endif /* configNUMBER_OF_CORES > 1 */
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// ---------------------- Yielding -------------------------
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void vPortYield( void );
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static inline void __attribute__((always_inline)) vPortYieldCore( BaseType_t xCoreID );
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/**
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* @brief Set interrupt mask and return current interrupt enable register
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*
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* @return UBaseType_t Current interrupt enable register before set
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*/
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UBaseType_t ulPortSetInterruptMask(void);
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/**
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* @brief Clear current interrupt mask and set given mask
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*
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* @param mask Interrupt mask
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*/
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void vPortClearInterruptMask(UBaseType_t mask);
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/**
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* @brief Perform a context switch from an ISR
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*/
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void vPortYieldFromISR(void);
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#define portYIELD_FROM_ISR_CHECK(x) ({ \
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if ( (x) == pdTRUE ) { \
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vPortYieldFromISR(); \
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} \
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})
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#define portYIELD_FROM_ISR_NO_CHECK() vPortYieldFromISR()
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// ----------------------- System --------------------------
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static inline BaseType_t __attribute__((always_inline)) xPortGetCoreID( void );
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// --------------------- TCB Cleanup -----------------------
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/**
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* @brief TCB cleanup hook
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*
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* The portCLEAN_UP_TCB() macro is called in prvDeleteTCB() right before a
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* deleted task's memory is freed. We map that macro to this internal function
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* so that IDF FreeRTOS ports can inject some task pre-deletion operations.
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*
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* @note We can't use vPortCleanUpTCB() due to API compatibility issues. See
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* CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP. Todo: IDF-8097
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*/
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void vPortTCBPreDeleteHook( void *pxTCB );
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/* ------------------------------------------- FreeRTOS Porting Interface ----------------------------------------------
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* - Contains all the mappings of the macros required by FreeRTOS
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* - Most come after forward declare as porting macros map to declared functions
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* - Maps to forward declared functions
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* ------------------------------------------------------------------------------------------------------------------ */
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// --------------------- Interrupts ------------------------
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#define portDISABLE_INTERRUPTS() ulPortSetInterruptMask()
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#define portENABLE_INTERRUPTS() vPortClearInterruptMask(1)
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#define portRESTORE_INTERRUPTS(x) vPortClearInterruptMask(x)
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// ------------------ Critical Sections --------------------
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#if ( configNUMBER_OF_CORES > 1 )
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#define portGET_TASK_LOCK() vPortTakeLock(&port_xTaskLock)
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#define portRELEASE_TASK_LOCK() vPortReleaseLock(&port_xTaskLock)
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#define portGET_ISR_LOCK() vPortTakeLock(&port_xISRLock)
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#define portRELEASE_ISR_LOCK() vPortReleaseLock(&port_xISRLock)
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#endif /* configNUMBER_OF_CORES > 1 */
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//Critical sections used by FreeRTOS SMP
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extern void vTaskEnterCritical( void );
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extern void vTaskExitCritical( void );
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#define portENTER_CRITICAL_SMP() vTaskEnterCritical();
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#define portEXIT_CRITICAL_SMP() vTaskExitCritical();
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#if defined(__cplusplus) && (__cplusplus > 201703L)
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#define portENTER_CRITICAL(...) CHOOSE_MACRO_VA_ARG(portENTER_CRITICAL_IDF, portENTER_CRITICAL_SMP __VA_OPT__(,) __VA_ARGS__)(__VA_ARGS__)
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#define portEXIT_CRITICAL(...) CHOOSE_MACRO_VA_ARG(portEXIT_CRITICAL_IDF, portEXIT_CRITICAL_SMP __VA_OPT__(,) __VA_ARGS__)(__VA_ARGS__)
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#else
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#define portENTER_CRITICAL(...) CHOOSE_MACRO_VA_ARG(portENTER_CRITICAL_IDF, portENTER_CRITICAL_SMP, ##__VA_ARGS__)(__VA_ARGS__)
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#define portEXIT_CRITICAL(...) CHOOSE_MACRO_VA_ARG(portEXIT_CRITICAL_IDF, portEXIT_CRITICAL_SMP, ##__VA_ARGS__)(__VA_ARGS__)
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#endif
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#define portSET_INTERRUPT_MASK_FROM_ISR() ({ \
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unsigned int cur_level; \
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cur_level = REG_READ(INTERRUPT_CURRENT_CORE_INT_THRESH_REG); \
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vTaskEnterCritical(); \
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cur_level; \
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})
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#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) ({ \
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vTaskExitCritical(); \
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portRESTORE_INTERRUPTS(x); \
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})
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// ---------------------- Yielding -------------------------
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#define portYIELD() vPortYield()
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#if defined(__cplusplus) && (__cplusplus > 201703L)
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#define portYIELD_FROM_ISR(...) CHOOSE_MACRO_VA_ARG(portYIELD_FROM_ISR_CHECK, portYIELD_FROM_ISR_NO_CHECK __VA_OPT__(,) __VA_ARGS__)(__VA_ARGS__)
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#else
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#define portYIELD_FROM_ISR(...) CHOOSE_MACRO_VA_ARG(portYIELD_FROM_ISR_CHECK, portYIELD_FROM_ISR_NO_CHECK, ##__VA_ARGS__)(__VA_ARGS__)
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#endif
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#define portYIELD_CORE(x) vPortYieldCore(x)
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// ----------------------- System --------------------------
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#define portGET_CORE_ID() xPortGetCoreID()
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#define portCHECK_IF_IN_ISR() xPortCheckIfInISR()
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// ------------------- Run Time Stats ----------------------
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#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()
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#define portGET_RUN_TIME_COUNTER_VALUE() 0
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#ifdef CONFIG_FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER
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/* Coarse resolution time (us) */
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#define portALT_GET_RUN_TIME_COUNTER_VALUE(x) do {x = (uint32_t)esp_timer_get_time();} while(0)
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#endif
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// --------------------- TCB Cleanup -----------------------
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#define portCLEAN_UP_TCB( pxTCB ) vPortTCBPreDeleteHook( pxTCB )
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/* --------------------------------------------- Inline Implementations ------------------------------------------------
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* - Implementation of inline functions of the forward declares
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* - Should come after forward declare and FreeRTOS Porting interface, as implementation may use both.
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* - For implementation of non-inlined functions, see port.c, port_common.c, or other assembly files
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* ------------------------------------------------------------------------------------------------------------------ */
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// ---------------------- Yielding -------------------------
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static inline void __attribute__((always_inline)) vPortYieldCore( BaseType_t xCoreID )
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{
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esp_crosscore_int_send_yield( xCoreID );
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}
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// ----------------------- System --------------------------
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static inline BaseType_t __attribute__((always_inline)) xPortGetCoreID( void )
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{
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return (BaseType_t) esp_cpu_get_core_id();
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}
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/* ------------------------------------------------ IDF Compatibility --------------------------------------------------
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* - These macros and functions need to be defined for IDF to compile
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* ------------------------------------------------------------------------------------------------------------------ */
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static inline BaseType_t xPortInIsrContext(void)
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{
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//Just call the FreeRTOS port interface version
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return xPortCheckIfInISR();
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}
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// Added for backward compatibility with IDF
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#define xPortInterruptedFromISRContext() xPortInIsrContext()
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// ------------------ Critical Sections --------------------
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/*
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IDF style critical sections which are orthogonal to FreeRTOS critical sections. However, on single core, the IDF style
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critical sections simply disable interrupts, thus we discard the lock and timeout arguments.
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Note: The IDF Style critical sections are named differently to their counterparts present in the xtensa port as few IDF
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examples such as esp_zigbee_gateway, when compiled for RISC-V targets, have a reference to vPortEnterCritical()
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and vPortExitCritical() from precompiled libraries (.a) thereby failing linking.
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*/
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void vPortEnterCritical(void);
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void vPortExitCritical(void);
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//IDF task critical sections
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#define portTRY_ENTER_CRITICAL(lock, timeout) ({(void) lock; (void) timeout; vPortEnterCritical(); pdPASS;})
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#define portENTER_CRITICAL_IDF(lock) ({(void) lock; vPortEnterCritical();})
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#define portEXIT_CRITICAL_IDF(lock) ({(void) lock; vPortExitCritical();})
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//IDF ISR critical sections
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#define portTRY_ENTER_CRITICAL_ISR(lock, timeout) ({(void) lock; (void) timeout; vPortEnterCritical(); pdPASS;})
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#define portENTER_CRITICAL_ISR(lock) ({(void) lock; vPortEnterCritical();})
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#define portEXIT_CRITICAL_ISR(lock) ({(void) lock; vPortExitCritical();})
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//IDF safe critical sections (they're the same)
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#define portENTER_CRITICAL_SAFE(lock) ({(void) lock; vPortEnterCritical();})
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#define portEXIT_CRITICAL_SAFE(lock) ({(void) lock; vPortExitCritical();})
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// ---------------------- Yielding -------------------------
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static inline bool IRAM_ATTR xPortCanYield(void)
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{
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uint32_t threshold = REG_READ(INTERRUPT_CURRENT_CORE_INT_THRESH_REG);
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#if SOC_INT_CLIC_SUPPORTED
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threshold = threshold >> (CLIC_CPU_INT_THRESH_S + (8 - NLBITS));
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/* When CLIC is supported, the lowest interrupt threshold level is 0.
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* Therefore, an interrupt threshold level above 0 would mean that we
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* are either in a critical section or in an ISR.
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*/
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return (threshold == 0);
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#endif /* SOC_INT_CLIC_SUPPORTED */
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/* when enter critical code, FreeRTOS will mask threshold to RVHAL_EXCM_LEVEL
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* and exit critical code, will recover threshold value (1). so threshold <= 1
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* means not in critical code
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*/
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return (threshold <= 1);
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}
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// Defined even for configNUMBER_OF_CORES > 1 for IDF compatibility
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#define portYIELD_WITHIN_API() esp_crosscore_int_send_yield(xPortGetCoreID())
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// ----------------------- System --------------------------
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void vPortSetStackWatchpoint(void *pxStackStart);
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// -------------------- Heap Related -----------------------
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/**
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* @brief Checks if a given piece of memory can be used to store a FreeRTOS list
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*
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* - Defined in heap_idf.c
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*
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* @param ptr Pointer to memory
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* @return true Memory can be used to store a List
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* @return false Otherwise
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*/
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bool xPortCheckValidListMem(const void *ptr);
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/**
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* @brief Checks if a given piece of memory can be used to store a task's TCB
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*
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* - Defined in heap_idf.c
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*
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* @param ptr Pointer to memory
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* @return true Memory can be used to store a TCB
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* @return false Otherwise
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*/
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bool xPortCheckValidTCBMem(const void *ptr);
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/**
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* @brief Checks if a given piece of memory can be used to store a task's stack
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*
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* - Defined in heap_idf.c
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*
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* @param ptr Pointer to memory
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* @return true Memory can be used to store a task stack
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* @return false Otherwise
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*/
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bool xPortcheckValidStackMem(const void *ptr);
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#define portVALID_LIST_MEM(ptr) xPortCheckValidListMem(ptr)
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#define portVALID_TCB_MEM(ptr) xPortCheckValidTCBMem(ptr)
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#define portVALID_STACK_MEM(ptr) xPortcheckValidStackMem(ptr)
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/* ------------------------------------------------------ Misc ---------------------------------------------------------
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* - Miscellaneous porting macros
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* - These are not part of the FreeRTOS porting interface, but are used by other FreeRTOS dependent components
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* ------------------------------------------------------------------------------------------------------------------ */
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// --------------------- App-Trace -------------------------
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#if CONFIG_APPTRACE_SV_ENABLE
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extern volatile BaseType_t xPortSwitchFlag;
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#define os_task_switch_is_pended(_cpu_) (xPortSwitchFlag)
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#else
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#define os_task_switch_is_pended(_cpu_) (false)
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#endif
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// --------------- Compatibility Includes ------------------
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/*
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ESP-IDF currently does not have a "Include what you use" policy. A lot of files implicitly pull in API through
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portmacro.h. Therefore, we need to keep these headers around for now to allow the rest of IDF to compile.
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[refactor-todo] Clean up ESP-IDF inclusion dependencies and add a inclusion check.
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*/
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#include <stdlib.h>
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#include <stdbool.h>
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#include <stdarg.h>
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#include "esp_attr.h"
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#include "esp_newlib.h"
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#include "esp_heap_caps.h"
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#include "esp_rom_sys.h"
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#include "esp_system.h" /* required by esp_get_...() functions in portable.h. [refactor-todo] Update portable.h */
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/* [refactor-todo] These includes are not directly used in this file. They are kept into to prevent a breaking change. Remove these. */
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#include <limits.h>
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/* [refactor-todo] introduce a port wrapper function to avoid including esp_timer.h into the public header */
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#if CONFIG_FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER
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#include "esp_timer.h"
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#endif
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#ifdef __cplusplus
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}
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#endif
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#endif // __ASSEMBLER__
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