portable/MPLAB/PIC24_dsPIC/port.c - third_party/github/FreeRTOS/FreeRTOS-Kernel - Git at Google

 /*
  * FreeRTOS Kernel <DEVELOPMENT BRANCH>
  * Copyright (C) 2021 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * SPDX-License-Identifier: MIT
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
  * the Software without restriction, including without limitation the rights to
  * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
  * the Software, and to permit persons to whom the Software is furnished to do so,
  * subject to the following conditions:
  *
  * The above copyright notice and this permission notice shall be included in all
  * copies or substantial portions of the Software.
  *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
  * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
  * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
  * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
  * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  *
  * https://www.FreeRTOS.org
  * https://github.com/FreeRTOS
  *
  */

 /*
 	Changes from V4.2.1

 	+ Introduced the configKERNEL_INTERRUPT_PRIORITY definition.
 */

 /*-----------------------------------------------------------
  * Implementation of functions defined in portable.h for the PIC24 port.
  *----------------------------------------------------------*/

 /* Scheduler include files. */
 #include "FreeRTOS.h"
 #include "task.h"

 /* Hardware specifics. */
 #define portBIT_SET 1
 #define portTIMER_PRESCALE 8
 #define portINITIAL_SR	0

 /* Defined for backward compatability with project created prior to
 FreeRTOS.org V4.3.0. */
 #ifndef configKERNEL_INTERRUPT_PRIORITY
 	#define configKERNEL_INTERRUPT_PRIORITY 1
 #endif

 /* Use _T1Interrupt as the interrupt handler name if the application writer has
 not provided their own. */
 #ifndef configTICK_INTERRUPT_HANDLER
 	#define configTICK_INTERRUPT_HANDLER _T1Interrupt
 #endif /* configTICK_INTERRUPT_HANDLER */

 /* The program counter is only 23 bits. */
 #define portUNUSED_PR_BITS	0x7f

 /* Records the nesting depth of calls to portENTER_CRITICAL(). */
 UBaseType_t uxCriticalNesting = 0xef;

 #if configKERNEL_INTERRUPT_PRIORITY != 1
 	#error If configKERNEL_INTERRUPT_PRIORITY is not 1 then the #32 in the following macros needs changing to equal the portINTERRUPT_BITS value, which is ( configKERNEL_INTERRUPT_PRIORITY << 5 )
 #endif

 #if defined( __PIC24E__ ) || defined ( __PIC24F__ ) || defined( __PIC24FK__ ) || defined( __PIC24H__ )

     #ifdef __HAS_EDS__
 		#define portRESTORE_CONTEXT()																						\
 					asm volatile(	"MOV	_pxCurrentTCB, W0		\n"	/* Restore the stack pointer for the task. */		\
 							"MOV	[W0], W15				\n"																\
 							"POP	W0						\n"	/* Restore the critical nesting counter for the task. */	\
 							"MOV	W0, _uxCriticalNesting	\n"																\
 							"POP	DSWPAG					\n"																\
 							"POP    DSRPAG					\n"																\
 							"POP	CORCON					\n"																\
 							"POP	TBLPAG					\n"																\
 							"POP	RCOUNT					\n"	/* Restore the registers from the stack. */					\
 							"POP	W14						\n"																\
 							"POP.D	W12						\n"																\
 							"POP.D	W10						\n"																\
 							"POP.D	W8						\n"																\
 							"POP.D	W6						\n"																\
 							"POP.D	W4						\n"																\
 							"POP.D	W2						\n"																\
 							"POP.D	W0						\n"																\
 							"POP	SR						  " );
 	#else /* __HAS_EDS__ */
 		#define portRESTORE_CONTEXT()																						\
 			asm volatile(	"MOV	_pxCurrentTCB, W0		\n"	/* Restore the stack pointer for the task. */				\
 							"MOV	[W0], W15				\n"																\
 							"POP	W0						\n"	/* Restore the critical nesting counter for the task. */	\
 							"MOV	W0, _uxCriticalNesting	\n"																\
 							"POP	PSVPAG					\n"																\
 							"POP	CORCON					\n"																\
 							"POP	TBLPAG					\n"																\
 							"POP	RCOUNT					\n"	/* Restore the registers from the stack. */					\
 							"POP	W14						\n"																\
 							"POP.D	W12						\n"																\
 							"POP.D	W10						\n"																\
 							"POP.D	W8						\n"																\
 							"POP.D	W6						\n"																\
 							"POP.D	W4						\n"																\
 							"POP.D	W2						\n"																\
 							"POP.D	W0						\n"																\
 							"POP	SR						  " );
 		#endif /* __HAS_EDS__ */
 #endif /* MPLAB_PIC24_PORT */

 #if defined( __dsPIC30F__ ) || defined( __dsPIC33F__ )

 	#define portRESTORE_CONTEXT()																						\
 		asm volatile(	"MOV	_pxCurrentTCB, W0		\n"	/* Restore the stack pointer for the task. */				\
 						"MOV	[W0], W15				\n"																\
 						"POP	W0						\n"	/* Restore the critical nesting counter for the task. */	\
 						"MOV	W0, _uxCriticalNesting	\n"																\
 						"POP	PSVPAG					\n"																\
 						"POP	CORCON					\n"																\
 						"POP	DOENDH					\n"																\
 						"POP	DOENDL					\n"																\
 						"POP	DOSTARTH				\n"																\
 						"POP	DOSTARTL				\n"																\
 						"POP	DCOUNT					\n"																\
 						"POP	ACCBU					\n"																\
 						"POP	ACCBH					\n"																\
 						"POP	ACCBL					\n"																\
 						"POP	ACCAU					\n"																\
 						"POP	ACCAH					\n"																\
 						"POP	ACCAL					\n"																\
 						"POP	TBLPAG					\n"																\
 						"POP	RCOUNT					\n"	/* Restore the registers from the stack. */					\
 						"POP	W14						\n"																\
 						"POP.D	W12						\n"																\
 						"POP.D	W10						\n"																\
 						"POP.D	W8						\n"																\
 						"POP.D	W6						\n"																\
 						"POP.D	W4						\n"																\
 						"POP.D	W2						\n"																\
 						"POP.D	W0						\n"																\
 						"POP	SR						  " );

 #endif /* MPLAB_DSPIC_PORT */

 #ifndef portRESTORE_CONTEXT
 	#error Unrecognised device selected

 	/* Note:  dsPIC parts with EDS are not supported as there is no easy way to
 	recover the hardware stacked copies for DOCOUNT, DOHIGH, DOLOW. */
 #endif

 /*
  * Setup the timer used to generate the tick interrupt.
  */
 void vApplicationSetupTickTimerInterrupt( void );

 /*
  * See header file for description.
  */
 StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
 {
 uint16_t usCode;
 UBaseType_t i;

 const StackType_t xInitialStack[] =
 {
 	0x1111,	/* W1 */
 	0x2222, /* W2 */
 	0x3333, /* W3 */
 	0x4444, /* W4 */
 	0x5555, /* W5 */
 	0x6666, /* W6 */
 	0x7777, /* W7 */
 	0x8888, /* W8 */
 	0x9999, /* W9 */
 	0xaaaa, /* W10 */
 	0xbbbb, /* W11 */
 	0xcccc, /* W12 */
 	0xdddd, /* W13 */
 	0xeeee, /* W14 */
 	0xcdce, /* RCOUNT */
 	0xabac, /* TBLPAG */

 	/* dsPIC specific registers. */
 	#ifdef MPLAB_DSPIC_PORT
 		0x0202, /* ACCAL */
 		0x0303, /* ACCAH */
 		0x0404, /* ACCAU */
 		0x0505, /* ACCBL */
 		0x0606, /* ACCBH */
 		0x0707, /* ACCBU */
 		0x0808, /* DCOUNT */
 		0x090a, /* DOSTARTL */
 		0x1010, /* DOSTARTH */
 		0x1110, /* DOENDL */
 		0x1212, /* DOENDH */
 	#endif
 };

 	/* Setup the stack as if a yield had occurred.

 	Save the low bytes of the program counter. */
 	usCode = ( uint16_t ) pxCode;
 	*pxTopOfStack = ( StackType_t ) usCode;
 	pxTopOfStack++;

 	/* Save the high byte of the program counter.  This will always be zero
 	here as it is passed in a 16bit pointer.  If the address is greater than
 	16 bits then the pointer will point to a jump table. */
 	*pxTopOfStack = ( StackType_t ) 0;
 	pxTopOfStack++;

 	/* Status register with interrupts enabled. */
 	*pxTopOfStack = portINITIAL_SR;
 	pxTopOfStack++;

 	/* Parameters are passed in W0. */
 	*pxTopOfStack = ( StackType_t ) pvParameters;
 	pxTopOfStack++;

 	for( i = 0; i < ( sizeof( xInitialStack ) / sizeof( StackType_t ) ); i++ )
 	{
 		*pxTopOfStack = xInitialStack[ i ];
 		pxTopOfStack++;
 	}

 	*pxTopOfStack = CORCON;
 	pxTopOfStack++;

 	#if defined(__HAS_EDS__)
 		*pxTopOfStack = DSRPAG;
 		pxTopOfStack++;
 		*pxTopOfStack = DSWPAG;
 		pxTopOfStack++;
 	#else /* __HAS_EDS__ */
 		*pxTopOfStack = PSVPAG;
 		pxTopOfStack++;
 	#endif /* __HAS_EDS__ */

 	/* Finally the critical nesting depth. */
 	*pxTopOfStack = 0x00;
 	pxTopOfStack++;

 	return pxTopOfStack;
 }
 /*-----------------------------------------------------------*/

 BaseType_t xPortStartScheduler( void )
 {
 	/* Setup a timer for the tick ISR. */
 	vApplicationSetupTickTimerInterrupt();

 	/* Restore the context of the first task to run. */
 	portRESTORE_CONTEXT();

 	/* Simulate the end of the yield function. */
 	asm volatile ( "return" );

 	/* Should not reach here. */
 	return pdTRUE;
 }
 /*-----------------------------------------------------------*/

 void vPortEndScheduler( void )
 {
 	/* Not implemented in ports where there is nothing to return to.
 	Artificially force an assert. */
 	configASSERT( uxCriticalNesting == 1000UL );
 }
 /*-----------------------------------------------------------*/

 /*
  * Setup a timer for a regular tick.
  */
 __attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void )
 {
 const uint32_t ulCompareMatch = ( ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) / configTICK_RATE_HZ ) - 1;

 	/* Prescale of 8. */
 	T1CON = 0;
 	TMR1 = 0;

 	PR1 = ( uint16_t ) ulCompareMatch;

 	/* Setup timer 1 interrupt priority. */
 	IPC0bits.T1IP = configKERNEL_INTERRUPT_PRIORITY;

 	/* Clear the interrupt as a starting condition. */
 	IFS0bits.T1IF = 0;

 	/* Enable the interrupt. */
 	IEC0bits.T1IE = 1;

 	/* Setup the prescale value. */
 	T1CONbits.TCKPS0 = 1;
 	T1CONbits.TCKPS1 = 0;

 	/* Start the timer. */
 	T1CONbits.TON = 1;
 }
 /*-----------------------------------------------------------*/

 void vPortEnterCritical( void )
 {
 	portDISABLE_INTERRUPTS();
 	uxCriticalNesting++;
 }
 /*-----------------------------------------------------------*/

 void vPortExitCritical( void )
 {
 	configASSERT( uxCriticalNesting );
 	uxCriticalNesting--;
 	if( uxCriticalNesting == 0 )
 	{
 		portENABLE_INTERRUPTS();
 	}
 }
 /*-----------------------------------------------------------*/

 void __attribute__((__interrupt__, auto_psv)) configTICK_INTERRUPT_HANDLER( void )
 {
 	/* Clear the timer interrupt. */
 	IFS0bits.T1IF = 0;

 	if( xTaskIncrementTick() != pdFALSE )
 	{
 		portYIELD();
 	}
 }
	/*
	* FreeRTOS Kernel <DEVELOPMENT BRANCH>
	* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
	*
	* SPDX-License-Identifier: MIT
	*
	* Permission is hereby granted, free of charge, to any person obtaining a copy of
	* this software and associated documentation files (the "Software"), to deal in
	* the Software without restriction, including without limitation the rights to
	* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
	* the Software, and to permit persons to whom the Software is furnished to do so,
	* subject to the following conditions:
	*
	* The above copyright notice and this permission notice shall be included in all
	* copies or substantial portions of the Software.
	*
	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
	* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
	* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
	* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
	* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
	* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
	*
	* https://www.FreeRTOS.org
	* https://github.com/FreeRTOS
	*
	*/

	/*
	Changes from V4.2.1

	+ Introduced the configKERNEL_INTERRUPT_PRIORITY definition.
	*/

	/*-----------------------------------------------------------
	* Implementation of functions defined in portable.h for the PIC24 port.
	----------------------------------------------------------/

	/* Scheduler include files. */
	#include "FreeRTOS.h"
	#include "task.h"

	/* Hardware specifics. */
	#define portBIT_SET 1
	#define portTIMER_PRESCALE 8
	#define portINITIAL_SR 0

	/* Defined for backward compatability with project created prior to
	FreeRTOS.org V4.3.0. */
	#ifndef configKERNEL_INTERRUPT_PRIORITY
	#define configKERNEL_INTERRUPT_PRIORITY 1
	#endif

	/* Use _T1Interrupt as the interrupt handler name if the application writer has
	not provided their own. */
	#ifndef configTICK_INTERRUPT_HANDLER
	#define configTICK_INTERRUPT_HANDLER _T1Interrupt
	#endif /* configTICK_INTERRUPT_HANDLER */

	/* The program counter is only 23 bits. */
	#define portUNUSED_PR_BITS 0x7f

	/* Records the nesting depth of calls to portENTER_CRITICAL(). */
	UBaseType_t uxCriticalNesting = 0xef;

	#if configKERNEL_INTERRUPT_PRIORITY != 1
	#error If configKERNEL_INTERRUPT_PRIORITY is not 1 then the #32 in the following macros needs changing to equal the portINTERRUPT_BITS value, which is ( configKERNEL_INTERRUPT_PRIORITY << 5 )
	#endif

	#if defined( __PIC24E__ ) \|\| defined ( __PIC24F__ ) \|\| defined( __PIC24FK__ ) \|\| defined( __PIC24H__ )

	#ifdef __HAS_EDS__
	#define portRESTORE_CONTEXT() \
	asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
	"MOV [W0], W15 \n" \
	"POP W0 \n" /* Restore the critical nesting counter for the task. */ \
	"MOV W0, _uxCriticalNesting \n" \
	"POP DSWPAG \n" \
	"POP DSRPAG \n" \
	"POP CORCON \n" \
	"POP TBLPAG \n" \
	"POP RCOUNT \n" /* Restore the registers from the stack. */ \
	"POP W14 \n" \
	"POP.D W12 \n" \
	"POP.D W10 \n" \
	"POP.D W8 \n" \
	"POP.D W6 \n" \
	"POP.D W4 \n" \
	"POP.D W2 \n" \
	"POP.D W0 \n" \
	"POP SR " );
	#else /* __HAS_EDS__ */
	#define portRESTORE_CONTEXT() \
	asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
	"MOV [W0], W15 \n" \
	"POP W0 \n" /* Restore the critical nesting counter for the task. */ \
	"MOV W0, _uxCriticalNesting \n" \
	"POP PSVPAG \n" \
	"POP CORCON \n" \
	"POP TBLPAG \n" \
	"POP RCOUNT \n" /* Restore the registers from the stack. */ \
	"POP W14 \n" \
	"POP.D W12 \n" \
	"POP.D W10 \n" \
	"POP.D W8 \n" \
	"POP.D W6 \n" \
	"POP.D W4 \n" \
	"POP.D W2 \n" \
	"POP.D W0 \n" \
	"POP SR " );
	#endif /* __HAS_EDS__ */
	#endif /* MPLAB_PIC24_PORT */

	#if defined( __dsPIC30F__ ) \|\| defined( __dsPIC33F__ )

	#define portRESTORE_CONTEXT() \
	asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
	"MOV [W0], W15 \n" \
	"POP W0 \n" /* Restore the critical nesting counter for the task. */ \
	"MOV W0, _uxCriticalNesting \n" \
	"POP PSVPAG \n" \
	"POP CORCON \n" \
	"POP DOENDH \n" \
	"POP DOENDL \n" \
	"POP DOSTARTH \n" \
	"POP DOSTARTL \n" \
	"POP DCOUNT \n" \
	"POP ACCBU \n" \
	"POP ACCBH \n" \
	"POP ACCBL \n" \
	"POP ACCAU \n" \
	"POP ACCAH \n" \
	"POP ACCAL \n" \
	"POP TBLPAG \n" \
	"POP RCOUNT \n" /* Restore the registers from the stack. */ \
	"POP W14 \n" \
	"POP.D W12 \n" \
	"POP.D W10 \n" \
	"POP.D W8 \n" \
	"POP.D W6 \n" \
	"POP.D W4 \n" \
	"POP.D W2 \n" \
	"POP.D W0 \n" \
	"POP SR " );

	#endif /* MPLAB_DSPIC_PORT */

	#ifndef portRESTORE_CONTEXT
	#error Unrecognised device selected

	/* Note: dsPIC parts with EDS are not supported as there is no easy way to
	recover the hardware stacked copies for DOCOUNT, DOHIGH, DOLOW. */
	#endif

	/*
	* Setup the timer used to generate the tick interrupt.
	*/
	void vApplicationSetupTickTimerInterrupt( void );

	/*
	* See header file for description.
	*/
	StackType_t pxPortInitialiseStack( StackType_t pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
	{
	uint16_t usCode;
	UBaseType_t i;

	const StackType_t xInitialStack[] =
	{
	0x1111, /* W1 */
	0x2222, /* W2 */
	0x3333, /* W3 */
	0x4444, /* W4 */
	0x5555, /* W5 */
	0x6666, /* W6 */
	0x7777, /* W7 */
	0x8888, /* W8 */
	0x9999, /* W9 */
	0xaaaa, /* W10 */
	0xbbbb, /* W11 */
	0xcccc, /* W12 */
	0xdddd, /* W13 */
	0xeeee, /* W14 */
	0xcdce, /* RCOUNT */
	0xabac, /* TBLPAG */

	/* dsPIC specific registers. */
	#ifdef MPLAB_DSPIC_PORT
	0x0202, /* ACCAL */
	0x0303, /* ACCAH */
	0x0404, /* ACCAU */
	0x0505, /* ACCBL */
	0x0606, /* ACCBH */
	0x0707, /* ACCBU */
	0x0808, /* DCOUNT */
	0x090a, /* DOSTARTL */
	0x1010, /* DOSTARTH */
	0x1110, /* DOENDL */
	0x1212, /* DOENDH */
	#endif
	};

	/* Setup the stack as if a yield had occurred.

	Save the low bytes of the program counter. */
	usCode = ( uint16_t ) pxCode;
	*pxTopOfStack = ( StackType_t ) usCode;
	pxTopOfStack++;

	/* Save the high byte of the program counter. This will always be zero
	here as it is passed in a 16bit pointer. If the address is greater than
	16 bits then the pointer will point to a jump table. */
	*pxTopOfStack = ( StackType_t ) 0;
	pxTopOfStack++;

	/* Status register with interrupts enabled. */
	*pxTopOfStack = portINITIAL_SR;
	pxTopOfStack++;

	/* Parameters are passed in W0. */
	*pxTopOfStack = ( StackType_t ) pvParameters;
	pxTopOfStack++;

	for( i = 0; i < ( sizeof( xInitialStack ) / sizeof( StackType_t ) ); i++ )
	{
	*pxTopOfStack = xInitialStack[ i ];
	pxTopOfStack++;
	}

	*pxTopOfStack = CORCON;
	pxTopOfStack++;

	#if defined(__HAS_EDS__)
	*pxTopOfStack = DSRPAG;
	pxTopOfStack++;
	*pxTopOfStack = DSWPAG;
	pxTopOfStack++;
	#else /* __HAS_EDS__ */
	*pxTopOfStack = PSVPAG;
	pxTopOfStack++;
	#endif /* __HAS_EDS__ */

	/* Finally the critical nesting depth. */
	*pxTopOfStack = 0x00;
	pxTopOfStack++;

	return pxTopOfStack;
	}
	/-----------------------------------------------------------/

	BaseType_t xPortStartScheduler( void )
	{
	/* Setup a timer for the tick ISR. */
	vApplicationSetupTickTimerInterrupt();

	/* Restore the context of the first task to run. */
	portRESTORE_CONTEXT();

	/* Simulate the end of the yield function. */
	asm volatile ( "return" );

	/* Should not reach here. */
	return pdTRUE;
	}
	/-----------------------------------------------------------/

	void vPortEndScheduler( void )
	{
	/* Not implemented in ports where there is nothing to return to.
	Artificially force an assert. */
	configASSERT( uxCriticalNesting == 1000UL );
	}
	/-----------------------------------------------------------/

	/*
	* Setup a timer for a regular tick.
	*/
	__attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void )
	{
	const uint32_t ulCompareMatch = ( ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) / configTICK_RATE_HZ ) - 1;

	/* Prescale of 8. */
	T1CON = 0;
	TMR1 = 0;

	PR1 = ( uint16_t ) ulCompareMatch;

	/* Setup timer 1 interrupt priority. */
	IPC0bits.T1IP = configKERNEL_INTERRUPT_PRIORITY;

	/* Clear the interrupt as a starting condition. */
	IFS0bits.T1IF = 0;

	/* Enable the interrupt. */
	IEC0bits.T1IE = 1;

	/* Setup the prescale value. */
	T1CONbits.TCKPS0 = 1;
	T1CONbits.TCKPS1 = 0;

	/* Start the timer. */
	T1CONbits.TON = 1;
	}
	/-----------------------------------------------------------/

	void vPortEnterCritical( void )
	{
	portDISABLE_INTERRUPTS();
	uxCriticalNesting++;
	}
	/-----------------------------------------------------------/

	void vPortExitCritical( void )
	{
	configASSERT( uxCriticalNesting );
	uxCriticalNesting--;
	if( uxCriticalNesting == 0 )
	{
	portENABLE_INTERRUPTS();
	}
	}
	/-----------------------------------------------------------/

	void __attribute__((__interrupt__, auto_psv)) configTICK_INTERRUPT_HANDLER( void )
	{
	/* Clear the timer interrupt. */
	IFS0bits.T1IF = 0;

	if( xTaskIncrementTick() != pdFALSE )
	{
	portYIELD();
	}
	}