2 FreeRTOS.org V4.7.1 - 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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28 Please ensure to read the configuration and relevant port sections of the
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29 online documentation.
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31 +++ http://www.FreeRTOS.org +++
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32 Documentation, latest information, license and contact details.
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34 +++ http://www.SafeRTOS.com +++
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35 A version that is certified for use in safety critical systems.
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37 +++ http://www.OpenRTOS.com +++
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38 Commercial support, development, porting, licensing and training services.
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40 ***************************************************************************
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44 * Creates all the demo application tasks, then starts the scheduler. The WEB
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45 * documentation provides more details of the demo application tasks.
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47 * In addition to the standard demo tasks, the follow demo specific tasks are
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50 * The "Check" task. This only executes every three seconds but has the highest
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51 * priority so is guaranteed to get processor time. Its main function is to
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52 * check that all the other tasks are still operational. Most tasks maintain
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53 * a unique count that is incremented each time the task successfully completes
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54 * its function. Should any error occur within such a task the count is
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55 * permanently halted. The check task inspects the count of each task to ensure
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56 * it has changed since the last time the check task executed. If all the count
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57 * variables have changed all the tasks are still executing error free, and the
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58 * check task toggles the onboard LED. Should any task contain an error at any time
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59 * the LED toggle rate will change from 3 seconds to 500ms.
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64 /* Scheduler includes. */
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65 #include "FreeRTOS.h"
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68 #include "integer.h"
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69 #include "comtest2.h"
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70 #include "semtest.h"
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72 #include "dynamic.h"
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74 #include "GenQTest.h"
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76 #include "blocktim.h"
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78 #include "partest.h"
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79 #include "xcache_l.h"
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82 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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83 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
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84 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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85 #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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86 #define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
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87 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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88 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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90 #define mainCOM_TEST_BAUD_RATE ( 115200UL )
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91 #define mainCOM_TEST_LED ( 4 )
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93 #define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
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94 #define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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96 #define mainCHECK_TEST_LED ( 3 )
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98 static void prvRegTestTask1( void *pvParameters );
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99 static void prvRegTestTask2( void *pvParameters );
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100 static void prvFlashTask( void *pvParameters );
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101 static void prvErrorChecks( void *pvParameters );
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103 static unsigned portBASE_TYPE xRegTestStatus = pdPASS;
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104 static portSHORT prvCheckOtherTasksAreStillRunning( void );
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106 XIntc xInterruptController;
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107 extern void vPortISRWrapper( void );
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111 XCache_EnableICache( 0x80000000 );
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112 XCache_EnableDCache( 0x80000000 );
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115 XExc_mDisableExceptions( XEXC_NON_CRITICAL );
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116 XExc_RegisterHandler( XEXC_ID_NON_CRITICAL_INT, (XExceptionHandler)vPortISRWrapper, &xInterruptController );
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118 XIntc_Initialize( &xInterruptController, XPAR_OPB_INTC_0_DEVICE_ID );
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119 XIntc_Start( &xInterruptController, XIN_REAL_MODE );
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121 vParTestInitialise();
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123 /* Start the standard demo application tasks. */
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124 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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125 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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126 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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127 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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128 vStartBlockingQueueTasks ( mainQUEUE_BLOCK_PRIORITY );
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129 vStartDynamicPriorityTasks();
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130 vStartMathTasks( tskIDLE_PRIORITY );
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131 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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132 vStartQueuePeekTasks();
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133 vCreateBlockTimeTasks();
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135 xTaskCreate( prvRegTestTask1, "Regtest1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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136 xTaskCreate( prvRegTestTask2, "Regtest2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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137 xTaskCreate( prvErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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139 /* The suicide tasks must be started last as they record the number of other
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140 tasks that exist within the system. The value is then used to ensure at run
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141 time the number of tasks that exists is within expected bounds. */
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142 vCreateSuicidalTasks( mainDEATH_PRIORITY );
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144 /* Now start the scheduler. Following this call the created tasks should
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146 vTaskStartScheduler( );
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148 /* vTaskStartScheduler() will only return if an error occurs while the
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149 idle task is being created. */
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155 static portSHORT prvCheckOtherTasksAreStillRunning( void )
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157 portBASE_TYPE lReturn = pdPASS;
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159 /* The demo tasks maintain a count that increments every cycle of the task
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160 provided that the task has never encountered an error. This function
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161 checks the counts maintained by the tasks to ensure they are still being
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162 incremented. A count remaining at the same value between calls therefore
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163 indicates that an error has been detected. */
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165 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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170 if( xAreComTestTasksStillRunning() != pdTRUE )
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175 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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180 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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185 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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190 if( xAreMathsTaskStillRunning() != pdTRUE )
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195 if( xIsCreateTaskStillRunning() != pdTRUE )
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200 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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205 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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210 if ( xAreQueuePeekTasksStillRunning() != pdTRUE )
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215 /* Have the register test tasks found any errors? */
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216 if( xRegTestStatus != pdPASS )
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223 /*-----------------------------------------------------------*/
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225 static void prvErrorChecks( void *pvParameters )
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227 portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY, xLastExecutionTime;
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228 volatile unsigned portBASE_TYPE uxFreeStack;
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230 uxFreeStack = uxTaskGetStackHighWaterMark( NULL );
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232 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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233 works correctly. */
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234 xLastExecutionTime = xTaskGetTickCount();
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236 /* Cycle for ever, delaying then checking all the other tasks are still
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237 operating without error. */
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240 uxFreeStack = uxTaskGetStackHighWaterMark( NULL );
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242 /* Wait until it is time to check again. The time we wait here depends
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243 on whether an error has been detected or not. When an error is
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244 detected the time is shortened resulting in a faster LED flash rate. */
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245 /* Perform this check every mainCHECK_DELAY milliseconds. */
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246 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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248 /* See if the other tasks are all ok. */
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249 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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251 /* An error occurred in one of the tasks so shorten the delay
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252 period - which has the effect of increasing the frequency of the
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254 xDelayPeriod = mainERROR_CHECK_DELAY;
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258 vParTestToggleLED( mainCHECK_TEST_LED );
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261 /*-----------------------------------------------------------*/
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264 static void prvRegTestTask1( void *pvParameters )
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268 "RegTest1Start: \n\t" \
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279 " li 10, 10 \n\t" \
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280 " li 11, 11 \n\t" \
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281 " li 12, 12 \n\t" \
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282 " li 13, 13 \n\t" \
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283 " li 14, 14 \n\t" \
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284 " li 15, 15 \n\t" \
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285 " li 16, 16 \n\t" \
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286 " li 17, 17 \n\t" \
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287 " li 18, 18 \n\t" \
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288 " li 19, 19 \n\t" \
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289 " li 20, 20 \n\t" \
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290 " li 21, 21 \n\t" \
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291 " li 22, 22 \n\t" \
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292 " li 23, 23 \n\t" \
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293 " li 24, 24 \n\t" \
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294 " li 25, 25 \n\t" \
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295 " li 26, 26 \n\t" \
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296 " li 27, 27 \n\t" \
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297 " li 28, 28 \n\t" \
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298 " li 29, 29 \n\t" \
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299 " li 30, 30 \n\t" \
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300 " li 31, 31 \n\t" \
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305 " cmpwi 0, 1 \n\t" \
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306 " bne RegTest1Fail \n\t" \
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307 " cmpwi 2, 2 \n\t" \
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308 " bne RegTest1Fail \n\t" \
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309 " cmpwi 3, 3 \n\t" \
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310 " bne RegTest1Fail \n\t" \
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311 " cmpwi 4, 4 \n\t" \
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312 " bne RegTest1Fail \n\t" \
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313 " cmpwi 5, 5 \n\t" \
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314 " bne RegTest1Fail \n\t" \
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315 " cmpwi 6, 6 \n\t" \
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316 " bne RegTest1Fail \n\t" \
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317 " cmpwi 7, 7 \n\t" \
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318 " bne RegTest1Fail \n\t" \
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319 " cmpwi 8, 8 \n\t" \
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320 " bne RegTest1Fail \n\t" \
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321 " cmpwi 9, 9 \n\t" \
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322 " bne RegTest1Fail \n\t" \
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323 " cmpwi 10, 10 \n\t" \
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324 " bne RegTest1Fail \n\t" \
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325 " cmpwi 11, 11 \n\t" \
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326 " bne RegTest1Fail \n\t" \
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327 " cmpwi 12, 12 \n\t" \
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328 " bne RegTest1Fail \n\t" \
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329 " cmpwi 13, 13 \n\t" \
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330 " bne RegTest1Fail \n\t" \
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331 " cmpwi 14, 14 \n\t" \
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332 " bne RegTest1Fail \n\t" \
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333 " cmpwi 15, 15 \n\t" \
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334 " bne RegTest1Fail \n\t" \
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335 " cmpwi 16, 16 \n\t" \
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336 " bne RegTest1Fail \n\t" \
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337 " cmpwi 17, 17 \n\t" \
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338 " bne RegTest1Fail \n\t" \
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339 " cmpwi 18, 18 \n\t" \
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340 " bne RegTest1Fail \n\t" \
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341 " cmpwi 19, 19 \n\t" \
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342 " bne RegTest1Fail \n\t" \
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343 " cmpwi 20, 20 \n\t" \
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344 " bne RegTest1Fail \n\t" \
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345 " cmpwi 21, 21 \n\t" \
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346 " bne RegTest1Fail \n\t" \
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347 " cmpwi 22, 22 \n\t" \
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348 " bne RegTest1Fail \n\t" \
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349 " cmpwi 23, 23 \n\t" \
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350 " bne RegTest1Fail \n\t" \
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351 " cmpwi 24, 24 \n\t" \
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352 " bne RegTest1Fail \n\t" \
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353 " cmpwi 25, 25 \n\t" \
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354 " bne RegTest1Fail \n\t" \
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355 " cmpwi 26, 26 \n\t" \
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356 " bne RegTest1Fail \n\t" \
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357 " cmpwi 27, 27 \n\t" \
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358 " bne RegTest1Fail \n\t" \
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359 " cmpwi 28, 28 \n\t" \
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360 " bne RegTest1Fail \n\t" \
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361 " cmpwi 29, 29 \n\t" \
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362 " bne RegTest1Fail \n\t" \
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363 " cmpwi 30, 30 \n\t" \
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364 " bne RegTest1Fail \n\t" \
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365 " cmpwi 31, 31 \n\t" \
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366 " bne RegTest1Fail \n\t" \
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368 " b RegTest1Start \n\t" \
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370 "RegTest1Fail: \n\t" \
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372 " xor 0, 0, 0 \n\t" \
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373 " stw 0, xRegTestStatus( 0 ) \n\t" \
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375 " b RegTest1Start \n\t" \
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379 static void prvRegTestTask2( void *pvParameters )
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383 "RegTest2Start: \n\t" \
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394 " li 10, 110 \n\t" \
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395 " li 11, 111 \n\t" \
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396 " li 12, 112 \n\t" \
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397 " li 13, 113 \n\t" \
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398 " li 14, 114 \n\t" \
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399 " li 15, 115 \n\t" \
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400 " li 16, 116 \n\t" \
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401 " li 17, 117 \n\t" \
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402 " li 18, 118 \n\t" \
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403 " li 19, 119 \n\t" \
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404 " li 20, 120 \n\t" \
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405 " li 21, 121 \n\t" \
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406 " li 22, 122 \n\t" \
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407 " li 23, 123 \n\t" \
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408 " li 24, 124 \n\t" \
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409 " li 25, 125 \n\t" \
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410 " li 26, 126 \n\t" \
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411 " li 27, 127 \n\t" \
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412 " li 28, 128 \n\t" \
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413 " li 29, 129 \n\t" \
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414 " li 30, 130 \n\t" \
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415 " li 31, 131 \n\t" \
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420 " cmpwi 0, 11 \n\t" \
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421 " bne RegTest2Fail \n\t" \
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422 " cmpwi 2, 12 \n\t" \
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423 " bne RegTest2Fail \n\t" \
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424 " cmpwi 3, 13 \n\t" \
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425 " bne RegTest2Fail \n\t" \
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426 " cmpwi 4, 14 \n\t" \
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427 " bne RegTest2Fail \n\t" \
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428 " cmpwi 5, 15 \n\t" \
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429 " bne RegTest2Fail \n\t" \
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430 " cmpwi 6, 16 \n\t" \
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431 " bne RegTest2Fail \n\t" \
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432 " cmpwi 7, 17 \n\t" \
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433 " bne RegTest2Fail \n\t" \
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434 " cmpwi 8, 18 \n\t" \
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435 " bne RegTest2Fail \n\t" \
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436 " cmpwi 9, 19 \n\t" \
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437 " bne RegTest2Fail \n\t" \
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438 " cmpwi 10, 110 \n\t" \
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439 " bne RegTest2Fail \n\t" \
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440 " cmpwi 11, 111 \n\t" \
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441 " bne RegTest2Fail \n\t" \
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442 " cmpwi 12, 112 \n\t" \
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443 " bne RegTest2Fail \n\t" \
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444 " cmpwi 13, 113 \n\t" \
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445 " bne RegTest2Fail \n\t" \
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446 " cmpwi 14, 114 \n\t" \
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447 " bne RegTest2Fail \n\t" \
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448 " cmpwi 15, 115 \n\t" \
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449 " bne RegTest2Fail \n\t" \
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450 " cmpwi 16, 116 \n\t" \
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451 " bne RegTest2Fail \n\t" \
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452 " cmpwi 17, 117 \n\t" \
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453 " bne RegTest2Fail \n\t" \
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454 " cmpwi 18, 118 \n\t" \
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455 " bne RegTest2Fail \n\t" \
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456 " cmpwi 19, 119 \n\t" \
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457 " bne RegTest2Fail \n\t" \
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458 " cmpwi 20, 120 \n\t" \
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459 " bne RegTest2Fail \n\t" \
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460 " cmpwi 21, 121 \n\t" \
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461 " bne RegTest2Fail \n\t" \
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462 " cmpwi 22, 122 \n\t" \
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463 " bne RegTest2Fail \n\t" \
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464 " cmpwi 23, 123 \n\t" \
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465 " bne RegTest2Fail \n\t" \
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466 " cmpwi 24, 124 \n\t" \
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467 " bne RegTest2Fail \n\t" \
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468 " cmpwi 25, 125 \n\t" \
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469 " bne RegTest2Fail \n\t" \
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470 " cmpwi 26, 126 \n\t" \
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471 " bne RegTest2Fail \n\t" \
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472 " cmpwi 27, 127 \n\t" \
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473 " bne RegTest2Fail \n\t" \
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474 " cmpwi 28, 128 \n\t" \
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475 " bne RegTest2Fail \n\t" \
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476 " cmpwi 29, 129 \n\t" \
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477 " bne RegTest2Fail \n\t" \
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478 " cmpwi 30, 130 \n\t" \
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479 " bne RegTest2Fail \n\t" \
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480 " cmpwi 31, 131 \n\t" \
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481 " bne RegTest2Fail \n\t" \
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483 " b RegTest2Start \n\t" \
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485 "RegTest2Fail: \n\t" \
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487 " xor 0, 0, 0 \n\t" \
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488 " stw 0, xRegTestStatus( 0 ) \n\t" \
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490 " b RegTest2Start \n\t" \
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497 static void prvRegTestTask2( void *pvParameters )
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499 volatile unsigned int i= 0;
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508 static void prvRegTestTask1( void *pvParameters )
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510 volatile unsigned int i= 0;
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521 void vApplicationStackOverflowHook( xTaskHandle xTask, signed portCHAR *pcTaskName );
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522 void vApplicationStackOverflowHook( xTaskHandle xTask, signed portCHAR *pcTaskName )
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projects / freertos / blob