2 FreeRTOS.org V5.1.0 - Copyright (C) 2003-2008 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 ***************************************************************************
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29 * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
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30 * and even write all or part of your application on your behalf. *
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31 * See http://www.OpenRTOS.com for details of the services we provide to *
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32 * expedite your project. *
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34 ***************************************************************************
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35 ***************************************************************************
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37 Please ensure to read the configuration and relevant port sections of the
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38 online documentation.
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40 http://www.FreeRTOS.org - Documentation, latest information, license and
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43 http://www.SafeRTOS.com - A version that is certified for use in safety
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46 http://www.OpenRTOS.com - Commercial support, development, porting,
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47 licensing and training services.
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52 * Creates all the demo application tasks, then starts the scheduler. The WEB
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53 * documentation provides more details of the standard demo application tasks.
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54 * In addition to the standard demo tasks, the following tasks and tests are
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55 * defined and/or created within this file:
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57 * "Check" task - This only executes every five seconds but has a high priority
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58 * to ensure it gets processor time. Its main function is to check that all the
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59 * standard demo tasks are still operational. While no errors have been
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60 * discovered the check task will toggle an LED every 5 seconds - the toggle
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61 * rate increasing to 500ms being a visual indication that at least one task has
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62 * reported unexpected behaviour.
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64 * "Reg test" tasks - These fill the registers with known values, then check
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65 * that each register still contains its expected value. Each task uses
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66 * different values. The tasks run with very low priority so get preempted very
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67 * frequently. A register containing an unexpected value is indicative of an
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68 * error in the context switching mechanism.
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72 /* Standard includes. */
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75 /* Scheduler includes. */
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76 #include "FreeRTOS.h"
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81 /* Demo app includes. */
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84 #include "blocktim.h"
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86 #include "partest.h"
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87 #include "semtest.h"
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89 #include "GenQTest.h"
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91 #include "recmutex.h"
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92 #include "IntQueue.h"
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93 #include "comtest2.h"
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95 /*-----------------------------------------------------------*/
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97 /* The time between cycles of the 'check' functionality - as described at the
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98 top of this file. */
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99 #define mainNO_ERROR_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
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101 /* The rate at which the LED controlled by the 'check' task will flash should an
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102 error have been detected. */
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103 #define mainERROR_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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105 /* The LED controlled by the 'check' task. */
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106 #define mainCHECK_LED ( 3 )
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108 /* ComTest constants - there is no free LED for the comtest tasks. */
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109 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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110 #define mainCOM_TEST_LED ( 5 )
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112 /* Task priorities. */
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113 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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114 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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115 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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116 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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117 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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118 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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120 /* The WEB server task uses more stack than most other tasks because of its
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121 reliance on using sprintf(). */
122 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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124 static unsigned portLONG ulErrorCode = 0UL;
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127 * Configure the hardware for the demo.
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129 static void prvSetupHardware( void );
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132 * Implements the 'check' task functionality as described at the top of this
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135 static void prvCheckTask( void *pvParameters );
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138 * The task that implements the WEB server.
140 extern void vuIP_Task( void *pvParameters );
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142 /*-----------------------------------------------------------*/
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146 /* Setup the hardware ready for this demo. */
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147 prvSetupHardware();
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149 /* Create the WEB server task. */
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150 xTaskCreate( vuIP_Task, ( signed portCHAR * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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152 /* Start the standard demo tasks. */
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153 vStartLEDFlashTasks( tskIDLE_PRIORITY );
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154 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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155 vCreateBlockTimeTasks();
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156 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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157 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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158 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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159 vStartQueuePeekTasks();
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160 vStartRecursiveMutexTasks();
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162 /* Create the check task. */
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163 xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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165 /* Start the scheduler. */
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166 vTaskStartScheduler();
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168 /* Will only get here if there was insufficient memory to create the idle
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172 /*-----------------------------------------------------------*/
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174 static void prvCheckTask( void *pvParameters )
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176 portTickType xLastExecutionTime;
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178 ( void ) pvParameters;
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180 /* Initialise the variable used to control our iteration rate prior to
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182 xLastExecutionTime = xTaskGetTickCount();
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186 /* Wait until it is time to run the tests again. */
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187 vTaskDelayUntil( &xLastExecutionTime, mainNO_ERROR_PERIOD );
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189 /* Has an error been found in any task? */
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190 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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192 ulErrorCode |= 0x01UL;
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195 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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197 ulErrorCode |= 0x02UL;
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200 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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202 ulErrorCode |= 0x04UL;
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205 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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207 ulErrorCode |= 0x20UL;
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210 if( xArePollingQueuesStillRunning() != pdTRUE )
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212 ulErrorCode |= 0x40UL;
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215 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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217 ulErrorCode |= 0x80UL;
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220 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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222 ulErrorCode |= 0x100UL;
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226 /*-----------------------------------------------------------*/
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228 unsigned portLONG ulGetErrorCode( void )
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230 return ulErrorCode;
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232 /*-----------------------------------------------------------*/
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234 void prvSetupHardware( void )
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236 __attribute__ ((section(".cfmconfig")))
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237 static const unsigned long _cfm[6] = {
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238 0, /* KEY_UPPER 0x00000400 */
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239 0, /* KEY_LOWER 0x00000404 */
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240 0, /* CFMPROT 0x00000408 */
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241 0, /* CFMSACC 0x0000040C */
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242 0, /* CFMDACC 0x00000410 */
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243 0, /* CFMSEC 0x00000414 */
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246 /* Just to stop compiler warnings. */
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249 /* Ensure the watchdog is disabled. */
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252 /* Initialize IPSBAR (0x40000000). */
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254 "move.l #0x40000000,%d0 \n"
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255 "andi.l #0xC0000000,%d0 \n"
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256 "add.l #0x1,%d0 \n"
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257 "move.l %d0,0x40000000 "
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260 /* Initialize FLASHBAR (0x00) */
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262 "move.l #0x00,%d0 \n"
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263 "andi.l #0xFFF80000,%d0 \n"
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264 "add.l #0x41,%d0 \n"
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265 "movec %d0,%FLASHBAR "
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268 portDISABLE_INTERRUPTS();
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271 MCF_SCM_RAMBAR = MCF_SCM_RAMBAR_BA( RAMBAR_ADDRESS ) | MCF_SCM_RAMBAR_BDE;
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273 /* Multiply 25MHz crystal by 12 to get 60MHz clock. */
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274 MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD(4) | MCF_CLOCK_SYNCR_CLKSRC| MCF_CLOCK_SYNCR_PLLMODE | MCF_CLOCK_SYNCR_PLLEN ;
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275 while (!(MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK))
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279 /* Setup the port used to toggle LEDs. */
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280 vParTestInitialise();
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282 /*-----------------------------------------------------------*/
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284 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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286 /* This will get called if a stack overflow is detected during the context
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287 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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288 problems within nested interrupts, but only do this for debug purposes as
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289 it will increase the context switch time. */
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292 ( void ) pcTaskName;
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296 /*-----------------------------------------------------------*/
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