text: /*
      FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
      All rights reserved
  
      VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
  
      This file is part of the FreeRTOS distribution.
  
      FreeRTOS is free software; you can redistribute it and/or modify it under
      the terms of the GNU General Public License (version 2) as published by the
      Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
  
      ***************************************************************************
      >>!   NOTE: The modification to the GPL is included to allow you to     !<<
      >>!   distribute a combined work that includes FreeRTOS without being   !<<
      >>!   obliged to provide the source code for proprietary components     !<<
      >>!   outside of the FreeRTOS kernel.                                   !<<
      ***************************************************************************
  
      FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
      WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
      FOR A PARTICULAR PURPOSE.  Full license text is available on the following
      link: http://www.freertos.org/a00114.html
  
      ***************************************************************************
       *                                                                       *
       *    FreeRTOS provides completely free yet professionally developed,    *
       *    robust, strictly quality controlled, supported, and cross          *
       *    platform software that is more than just the market leader, it     *
       *    is the industry's de facto standard.                               *
       *                                                                       *
       *    Help yourself get started quickly while simultaneously helping     *
       *    to support the FreeRTOS project by purchasing a FreeRTOS           *
       *    tutorial book, reference manual, or both:                          *
       *    http://www.FreeRTOS.org/Documentation                              *
       *                                                                       *
      ***************************************************************************
  
      http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
      the FAQ page "My application does not run, what could be wrong?".  Have you
      defined configASSERT()?
  
      http://www.FreeRTOS.org/support - In return for receiving this top quality
      embedded software for free we request you assist our global community by
      participating in the support forum.
  
      http://www.FreeRTOS.org/training - Investing in training allows your team to
      be as productive as possible as early as possible.  Now you can receive
      FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
      Ltd, and the world's leading authority on the world's leading RTOS.
  
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      including FreeRTOS+Trace - an indispensable productivity tool, a DOS
      compatible FAT file system, and our tiny thread aware UDP/IP stack.
  
      http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
      Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
  
      http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
      Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
      licenses offer ticketed support, indemnification and commercial middleware.
  
      http://www.SafeRTOS.com - High Integrity Systems also provide a safety
      engineered and independently SIL3 certified version for use in safety and
      mission critical applications that require provable dependability.
  
      1 tab == 4 spaces!
  */
  
  
  #include <stdlib.h>
  #include <avr/interrupt.h>
  #include <avr/sleep.h>
  #include <avr/wdt.h>
  
  #include "Arduino_FreeRTOS.h"
  #include "task.h"
  
  /*-----------------------------------------------------------
   * Implementation of functions defined in portable.h for the AVR port.
   *----------------------------------------------------------*/
  
  /* Start tasks with interrupts enabled. */
  #define portFLAGS_INT_ENABLED                   ( (StackType_t) 0x80 )
  
  #define	portSCHEDULER_ISR                       WDT_vect
  
  /*-----------------------------------------------------------*/
  
  /* We require the address of the pxCurrentTCB variable, but don't want to know
  any details of its type. */
  typedef void TCB_t;
  extern volatile TCB_t * volatile pxCurrentTCB;
  
  /*-----------------------------------------------------------*/
  /*
   * Perform hardware setup to enable ticks from Watchdog Timer.
   */
  static void prvSetupTimerInterrupt( void );
  
  /*-----------------------------------------------------------*/
  
  /*
   * Macro to save all the general purpose registers, the save the stack pointer
   * into the TCB.
   *
   * The first thing we do is save the flags then disable interrupts.  This is to
   * guard our stack against having a context switch interrupt after we have already
   * pushed the registers onto the stack - causing the 32 registers to be on the
   * stack twice.
   *
   * r1 is set to zero as the compiler expects it to be thus, however some
   * of the math routines make use of R1.
   *
   * The interrupts will have been disabled during the call to portSAVE_CONTEXT()
   * so we need not worry about reading/writing to the stack pointer.
   */
  #if defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__)
  /* 3-Byte PC Save */
  #define portSAVE_CONTEXT()                                                      \
          __asm__ __volatile__ (  "push   r0                                      \n\t"   \
                                  "in		r0, __SREG__                    \n\t"   \
                                  "cli                                            \n\t"   \
                                  "push	r0                                      \n\t"   \
                                  "in     r0, 0x3b                                \n\t"   \
                                  "push   r0                                      \n\t"   \
                                  "in     r0, 0x3c                                \n\t"   \
                                  "push   r0                                      \n\t"   \
                                  "push   r1                                      \n\t"   \
                                  "clr    r1                                      \n\t"   \
                                  "push   r2                                      \n\t"   \
                                  "push   r3                                      \n\t"   \
                                  "push   r4                                      \n\t"   \
                                  "push   r5                                      \n\t"   \
                                  "push   r6                                      \n\t"   \
                                  "push   r7                                      \n\t"   \
                                  "push   r8                                      \n\t"   \
                                  "push   r9                                      \n\t"   \
                                  "push   r10                                     \n\t"   \
                                  "push   r11                                     \n\t"   \
                                  "push   r12                                     \n\t"   \
                                  "push   r13                                     \n\t"   \
                                  "push   r14                                     \n\t"   \
                                  "push   r15                                     \n\t"   \
                                  "push   r16                                     \n\t"   \
                                  "push   r17                                     \n\t"   \
                                  "push   r18                                     \n\t"   \
                                  "push   r19                                     \n\t"   \
                                  "push   r20                                     \n\t"   \
                                  "push   r21                                     \n\t"   \
                                  "push   r22                                     \n\t"   \
                                  "push   r23                                     \n\t"   \
                                  "push   r24                                     \n\t"   \
                                  "push   r25                                     \n\t"   \
                                  "push   r26                                     \n\t"   \
                                  "push   r27                                     \n\t"   \
                                  "push   r28                                     \n\t"   \
                                  "push   r29                                     \n\t"   \
                                  "push   r30                                     \n\t"   \
                                  "push   r31                                     \n\t"   \
                                  "lds    r26, pxCurrentTCB                       \n\t"   \
                                  "lds    r27, pxCurrentTCB + 1                   \n\t"   \
                                  "in     r0, 0x3d                                \n\t"   \
                                  "st     x+, r0                                  \n\t"   \
                                  "in     r0, 0x3e                                \n\t"   \
                                  "st     x+, r0                                  \n\t"   \
                               );
  #else
  /* 2-Byte PC Save */
  #define portSAVE_CONTEXT()                                                              \
          __asm__ __volatile__ (  "push   r0                                      \n\t"   \
                                  "in     r0, __SREG__                            \n\t"   \
                                  "cli                                            \n\t"   \
                                  "push   r0                                      \n\t"   \
                                  "push   r1                                      \n\t"   \
                                  "clr    r1                                      \n\t"   \
                                  "push   r2                                      \n\t"   \
                                  "push   r3                                      \n\t"   \
                                  "push   r4                                      \n\t"   \
                                  "push   r5                                      \n\t"   \
                                  "push   r6                                      \n\t"   \
                                  "push   r7                                      \n\t"   \
                                  "push   r8                                      \n\t"   \
                                  "push   r9                                      \n\t"   \
                                  "push   r10                                     \n\t"   \
                                  "push   r11                                     \n\t"   \
                                  "push   r12                                     \n\t"   \
                                  "push   r13                                     \n\t"   \
                                  "push   r14                                     \n\t"   \
                                  "push   r15                                     \n\t"   \
                                  "push   r16                                     \n\t"   \
                                  "push   r17                                     \n\t"   \
                                  "push   r18                                     \n\t"   \
                                  "push   r19                                     \n\t"   \
                                  "push   r20                                     \n\t"   \
                                  "push   r21                                     \n\t"   \
                                  "push   r22                                     \n\t"   \
                                  "push   r23                                     \n\t"   \
                                  "push   r24                                     \n\t"   \
                                  "push   r25                                     \n\t"   \
                                  "push   r26                                     \n\t"   \
                                  "push   r27                                     \n\t"   \
                                  "push   r28                                     \n\t"   \
                                  "push   r29                                     \n\t"   \
                                  "push   r30                                     \n\t"   \
                                  "push   r31                                     \n\t"   \
                                  "lds    r26, pxCurrentTCB                       \n\t"   \
                                  "lds    r27, pxCurrentTCB + 1                   \n\t"   \
                                  "in     r0, 0x3d                                \n\t"   \
                                  "st     x+, r0                                  \n\t"   \
                                  "in     r0, 0x3e                                \n\t"   \
                                  "st     x+, r0                                  \n\t"   \
                               );
  #endif
  
  /*
   * Opposite to portSAVE_CONTEXT().  Interrupts will have been disabled during
   * the context save so we can write to the stack pointer.
   */
  #if defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__)
  /* 3-Byte PC Restore */
  #define portRESTORE_CONTEXT()                                                           \
          __asm__ __volatile__ (  "lds    r26, pxCurrentTCB                       \n\t"   \
                                  "lds    r27, pxCurrentTCB + 1                   \n\t"   \
                                  "ld     r28, x+                                 \n\t"   \
                                  "out    __SP_L__, r28                           \n\t"   \
                                  "ld     r29, x+                                 \n\t"   \
                                  "out    __SP_H__, r29                           \n\t"   \
                                  "pop    r31                                     \n\t"   \
                                  "pop    r30                                     \n\t"   \
                                  "pop    r29                                     \n\t"   \
                                  "pop    r28                                     \n\t"   \
                                  "pop    r27                                     \n\t"   \
                                  "pop    r26                                     \n\t"   \
                                  "pop    r25                                     \n\t"   \
                                  "pop    r24                                     \n\t"   \
                                  "pop    r23                                     \n\t"   \
                                  "pop    r22                                     \n\t"   \
                                  "pop    r21                                     \n\t"   \
                                  "pop    r20                                     \n\t"   \
                                  "pop    r19                                     \n\t"   \
                                  "pop    r18                                     \n\t"   \
                                  "pop    r17                                     \n\t"   \
                                  "pop    r16                                     \n\t"   \
                                  "pop    r15                                     \n\t"   \
                                  "pop    r14                                     \n\t"   \
                                  "pop    r13                                     \n\t"   \
                                  "pop    r12                                     \n\t"   \
                                  "pop    r11                                     \n\t"   \
                                  "pop    r10                                     \n\t"   \
                                  "pop    r9                                      \n\t"   \
                                  "pop    r8                                      \n\t"   \
                                  "pop    r7                                      \n\t"   \
                                  "pop    r6                                      \n\t"   \
                                  "pop    r5                                      \n\t"   \
                                  "pop    r4                                      \n\t"   \
                                  "pop    r3                                      \n\t"   \
                                  "pop    r2                                      \n\t"   \
                                  "pop    r1                                      \n\t"   \
                                  "pop    r0                                      \n\t"   \
                                  "out    0x3c, r0                                \n\t"   \
                                  "pop    r0                                      \n\t"   \
                                  "out    0x3b, r0                                \n\t"   \
                                  "pop    r0                                      \n\t"   \
                                  "out    __SREG__, r0                            \n\t"   \
                                  "pop    r0                                      \n\t"   \
                               );
  #else
  /* 2-Byte PC Restore */
  #define portRESTORE_CONTEXT()                                                           \
          __asm__ __volatile__ (  "lds    r26, pxCurrentTCB                       \n\t"   \
                                  "lds    r27, pxCurrentTCB + 1                   \n\t"   \
                                  "ld     r28, x+                                 \n\t"   \
                                  "out    __SP_L__, r28                           \n\t"   \
                                  "ld     r29, x+                                 \n\t"   \
                                  "out    __SP_H__, r29                           \n\t"   \
                                  "pop    r31                                     \n\t"   \
                                  "pop    r30                                     \n\t"   \
                                  "pop    r29                                     \n\t"   \
                                  "pop    r28                                     \n\t"   \
                                  "pop    r27                                     \n\t"   \
                                  "pop    r26                                     \n\t"   \
                                  "pop    r25                                     \n\t"   \
                                  "pop    r24                                     \n\t"   \
                                  "pop    r23                                     \n\t"   \
                                  "pop    r22                                     \n\t"   \
                                  "pop    r21                                     \n\t"   \
                                  "pop    r20                                     \n\t"   \
                                  "pop    r19                                     \n\t"   \
                                  "pop    r18                                     \n\t"   \
                                  "pop    r17                                     \n\t"   \
                                  "pop    r16                                     \n\t"   \
                                  "pop    r15                                     \n\t"   \
                                  "pop    r14                                     \n\t"   \
                                  "pop    r13                                     \n\t"   \
                                  "pop    r12                                     \n\t"   \
                                  "pop    r11                                     \n\t"   \
                                  "pop    r10                                     \n\t"   \
                                  "pop    r9                                      \n\t"   \
                                  "pop    r8                                      \n\t"   \
                                  "pop    r7                                      \n\t"   \
                                  "pop    r6                                      \n\t"   \
                                  "pop    r5                                      \n\t"   \
                                  "pop    r4                                      \n\t"   \
                                  "pop    r3                                      \n\t"   \
                                  "pop    r2                                      \n\t"   \
                                  "pop    r1                                      \n\t"   \
                                  "pop    r0                                      \n\t"   \
                                  "out    __SREG__, r0                            \n\t"   \
                                  "pop    r0                                      \n\t"   \
                               );
  #endif
  /*-----------------------------------------------------------*/
  
  
  /*
   * See header file for description.
   */
  StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
  {
  uint16_t usAddress;
  
  	/* Place a few bytes of known values on the bottom of the stack.
  	This is just useful for debugging. */
  
  	*pxTopOfStack = 0x11;
  	pxTopOfStack--;
  	*pxTopOfStack = 0x22;
  	pxTopOfStack--;
  	*pxTopOfStack = 0x33;
  	pxTopOfStack--;
  
  	/* Simulate how the stack would look after a call to vPortYield() generated by
  	the compiler. */
  
  	/* The start of the task code will be popped off the stack last, so place
  	it on first. */
  
  #if defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__)
  	/* The AVR ATmega2560/ATmega2561 have 256KBytes of program memory and a 17-bit
  	 * program counter.  When a code address is stored on the stack, it takes 3 bytes
  	 * instead of 2 for the other ATmega* chips.
  	 *
  	 * Store 0 as the top byte since we force all task routines to the bottom 128K
  	 * of flash. We do this by using the .lowtext label in the linker script.
  	 *
  	 * In order to do this properly, we would need to get a full 3-byte pointer to
  	 * pxCode.  That requires a change to GCC.  Not likely to happen any time soon.
  	 */
  	usAddress = ( uint16_t ) pxCode;
  	*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
  	pxTopOfStack--;
  
  	usAddress >>= 8;
  	*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
  	pxTopOfStack--;
  
  	*pxTopOfStack = 0;
  	pxTopOfStack--;
  #else
  	usAddress = ( uint16_t ) pxCode;
  	*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
  	pxTopOfStack--;
  
  	usAddress >>= 8;
  	*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
  	pxTopOfStack--;
  #endif
  
  	/* Next simulate the stack as if after a call to portSAVE_CONTEXT().
  	portSAVE_CONTEXT places the flags on the stack immediately after r0
  	to ensure the interrupts get disabled as soon as possible, and so ensuring
  	the stack use is minimal should a context switch interrupt occur. */
  	*pxTopOfStack = ( StackType_t ) 0x00;	/* R0 */
  	pxTopOfStack--;
  	*pxTopOfStack = portFLAGS_INT_ENABLED;
  	pxTopOfStack--;
  
  #if defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__)
  
  	/* If we have an ATmega256x, we are also saving the RAMPZ and EIND registers.
  	 * We should default those to 0.
  	 */
  	*pxTopOfStack = ( StackType_t ) 0x00;	/* EIND */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x00;	/* RAMPZ */
  	pxTopOfStack--;
  
  #endif
  
  	/* Now the remaining registers.   The compiler expects R1 to be 0. */
  	*pxTopOfStack = ( StackType_t ) 0x00;	/* R1 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x02;	/* R2 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x03;	/* R3 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x04;	/* R4 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x05;	/* R5 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x06;	/* R6 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x07;	/* R7 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x08;	/* R8 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x09;	/* R9 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x10;	/* R10 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x11;	/* R11 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x12;	/* R12 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x13;	/* R13 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x14;	/* R14 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x15;	/* R15 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x16;	/* R16 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x17;	/* R17 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x18;	/* R18 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x19;	/* R19 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x20;	/* R20 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x21;	/* R21 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x22;	/* R22 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x23;	/* R23 */
  	pxTopOfStack--;
  
  	/* Place the parameter on the stack in the expected location. */
  	usAddress = ( uint16_t ) pvParameters;
  	*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
  	pxTopOfStack--;
  
  	usAddress >>= 8;
  	*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
  	pxTopOfStack--;
  
  	*pxTopOfStack = ( StackType_t ) 0x26;	/* R26 X */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x27;	/* R27 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x28;	/* R28 Y */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x29;	/* R29 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x30;	/* R30 Z */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x031;	/* R31 */
  	pxTopOfStack--;
  
  	/*lint +e950 +e611 +e923 */
  
  	return pxTopOfStack;
  }
  /*-----------------------------------------------------------*/
  
  BaseType_t xPortStartScheduler( void )
  {
  
  	/* Setup the relevant timer hardware to generate the tick. */
  	prvSetupTimerInterrupt();
  
  	/* Restore the context of the first task that is going to run. */
  	portRESTORE_CONTEXT();
  
  	/* Simulate a function call end as generated by the compiler.  We will now
  	jump to the start of the task the context of which we have just restored. */
  	__asm__ __volatile__ ( "ret" );
  
  	/* Should not get here. */
  	return pdTRUE;
  }
  /*-----------------------------------------------------------*/
  
  void vPortEndScheduler( void )
  {
  	/* It is unlikely that the AVR port will get stopped.  If required simply
  	disable the tick interrupt here. */
  
  	wdt_disable();	// disable Watchdog Timer
  }
  /*-----------------------------------------------------------*/
  
  /*
   * Manual context switch.  The first thing we do is save the registers so we
   * can use a naked attribute.
   */
  void vPortYield( void ) __attribute__ ( ( hot, flatten, naked ) );
  void vPortYield( void )
  {
  	portSAVE_CONTEXT();
  	vTaskSwitchContext();
  	portRESTORE_CONTEXT();
  
  	__asm__ __volatile__ ( "ret" );
  }
  /*-----------------------------------------------------------*/
  
  /*
   * Context switch function used by the tick.  This must be identical to
   * vPortYield() from the call to vTaskSwitchContext() onwards.  The only
   * difference from vPortYield() is the tick count is incremented as the
   * call comes from the tick ISR.
   */
  void vPortYieldFromTick( void ) __attribute__ ( ( hot, flatten, naked ) );
  void vPortYieldFromTick( void )
  {
  	portSAVE_CONTEXT();
  	
  	sleep_reset();		//	 reset the sleep_mode() faster than sleep_disable();
  
  	if( xTaskIncrementTick() != pdFALSE )
  	{
  		vTaskSwitchContext();
  	}
  
  	portRESTORE_CONTEXT();
  
  	__asm__ __volatile__ ( "ret" );
  }
  /*-----------------------------------------------------------*/
  
  //initialize watchdog
  void prvSetupTimerInterrupt( void )
  {
  	//reset watchdog
  	wdt_reset();
  
  	//set up WDT Interrupt (rather than the WDT Reset).
  	wdt_interrupt_enable( portUSE_WDTO );
  }
  
  /*-----------------------------------------------------------*/
  
  #if configUSE_PREEMPTION == 1
  
  	/*
  	 * Tick ISR for preemptive scheduler.  We can use a naked attribute as
  	 * the context is saved at the start of vPortYieldFromTick().  The tick
  	 * count is incremented after the context is saved.
  	 *
  	 * use ISR_NOBLOCK where there is an important timer running, that should preempt the scheduler.
  	 *
  	 */
  //	ISR(portSCHEDULER_ISR, ISR_NAKED ISR_NOBLOCK) __attribute__ ((hot, flatten));
  	ISR(portSCHEDULER_ISR, ISR_NAKED) __attribute__ ((hot, flatten));
  	ISR(portSCHEDULER_ISR)
  	{
  		vPortYieldFromTick();
  		__asm__ __volatile__ ( "reti" );
  	}
  
  #else
  	/*
  	 * Tick ISR for the cooperative scheduler.  All this does is increment the
  	 * tick count.  We don't need to switch context, this can only be done by
  	 * manual calls to taskYIELD();
  	 *
  	 * use ISR_NOBLOCK where there is an important timer running, that should preempt the scheduler.
  	 */
  //	ISR(portSCHEDULER_ISR, ISR_NOBLOCK) __attribute__ ((hot, flatten));
  	ISR(portSCHEDULER_ISR) __attribute__ ((hot, flatten));
  	ISR(portSCHEDULER_ISR)
  	{
  		xTaskIncrementTick();
  	}
  
  #endif // configUSE_PREEMPTION
  