2 FreeRTOS V4.6.1 - copyright (C) 2003-2006 Richard Barry.
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3 MCF5235 Port - Copyright (C) 2006 Christian Walter.
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5 This file is part of the FreeRTOS distribution.
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7 FreeRTOS is free software; you can redistribute it and/or modify
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8 it under the terms of the GNU General Public License as published by
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9 the Free Software Foundation; either version 2 of the License, or
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10 (at your option) any later version.
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12 FreeRTOS is distributed in the hope that it will be useful,
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13 but WITHOUT ANY WARRANTY; without even the implied warranty of
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14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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15 GNU General Public License for more details.
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17 You should have received a copy of the GNU General Public License
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18 along with FreeRTOS; if not, write to the Free Software
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19 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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21 A special exception to the GPL can be applied should you wish to distribute
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22 a combined work that includes FreeRTOS, without being obliged to provide
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23 the source code for any proprietary components. See the licensing section
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24 of http://www.FreeRTOS.org for full details of how and when the exception
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27 ***************************************************************************
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29 Please ensure to read the configuration and relevant port sections of the
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30 online documentation.
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32 +++ http://www.FreeRTOS.org +++
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33 Documentation, latest information, license and contact details.
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35 +++ http://www.SafeRTOS.com +++
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36 A version that is certified for use in safety critical systems.
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38 +++ http://www.OpenRTOS.com +++
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39 Commercial support, development, porting, licensing and training services.
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41 ***************************************************************************
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44 /* ------------------------ System includes ------------------------------- */
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50 /* ------------------------ FreeRTOS includes ----------------------------- */
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51 #include "FreeRTOS.h"
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54 /* ------------------------ LWIP includes --------------------------------- */
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55 #include "lwip/api.h"
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56 #include "lwip/tcpip.h"
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57 #include "lwip/memp.h"
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59 /* ------------------------ Project includes ------------------------------ */
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60 #include "mcf5xxx.h"
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61 #include "mcf523x.h"
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65 #include "integer.h"
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67 #include "semtest.h"
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69 #include "dynamic.h"
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72 /* ------------------------ Defines --------------------------------------- */
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73 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 38400 )
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75 /* Priorities for the demo application tasks. */
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76 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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77 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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78 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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79 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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80 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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81 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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82 #define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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83 #define STACK_DEFAULT ( 1024 )
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85 /* Interval in which tasks are checked. */
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86 #define mainCHECK_PERIOD ( ( portTickType ) 2000 / portTICK_RATE_MS )
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88 /* Constants used by the vMemCheckTask() task. */
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89 #define mainCOUNT_INITIAL_VALUE ( ( unsigned portLONG ) 0 )
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90 #define mainNO_TASK ( 0 )
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92 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
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93 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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94 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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95 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
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97 /* ------------------------ Static variables ------------------------------ */
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98 xComPortHandle xSTDComPort = NULL;
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100 /* ------------------------ Static functions ------------------------------ */
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101 static portTASK_FUNCTION( vErrorChecks, pvParameters );
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102 static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG
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103 ulMemCheckTaskCount );
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104 static portTASK_FUNCTION( vMemCheckTask, pvParameters );
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106 /* ------------------------ Implementation -------------------------------- */
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108 main( int argc, char *argv[] )
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110 asm volatile ( "move.w #0x2000, %sr\n\t" );
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112 xSTDComPort = xSerialPortInitMinimal( 38400, 8 );
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115 /* Start the demo/test application tasks. */
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116 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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117 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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118 //vStartMathTasks( tskIDLE_PRIORITY );
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119 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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120 vStartDynamicPriorityTasks( );
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121 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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123 /* Start the webserver. */
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124 ( void )sys_thread_new( vBasicWEBServer, NULL, mainWEB_TASK_PRIORITY );
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126 /* Start the check task - which is defined in this file. */
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127 xTaskCreate( vErrorChecks, ( signed portCHAR * )"Check", 512, NULL,
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128 mainCHECK_TASK_PRIORITY, NULL );
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129 /* Now all the tasks have been started - start the scheduler. */
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130 vTaskStartScheduler( );
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132 /* Should never get here! */
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137 portTASK_FUNCTION( vErrorChecks, pvParameters )
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139 unsigned portLONG ulMemCheckTaskRunningCount;
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140 xTaskHandle xCreatedTask;
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142 /* The parameters are not used in this function. */
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143 ( void )pvParameters;
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147 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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148 xCreatedTask = mainNO_TASK;
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149 if( xTaskCreate( vMemCheckTask, ( signed portCHAR * )"MEM",
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150 configMINIMAL_STACK_SIZE, ( void * )&ulMemCheckTaskRunningCount,
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151 tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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153 xSerialPutChar( xSTDComPort, 'E', portMAX_DELAY );
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155 /* Delay until it is time to execute again. */
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156 vTaskDelay( mainCHECK_PERIOD );
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158 /* Delete the dynamically created task. */
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159 if( xCreatedTask != mainNO_TASK )
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161 vTaskDelete( xCreatedTask );
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164 if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
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166 xSerialPutChar( xSTDComPort, 'E', portMAX_DELAY );
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170 xSerialPutChar( xSTDComPort, '.', portMAX_DELAY );
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176 prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount )
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178 portLONG lReturn = ( portLONG ) pdPASS;
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180 /* Check all the demo tasks (other than the flash tasks) to ensure
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181 * that they are all still running, and that none of them have detected
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184 if( xAreIntegerMathsTaskStillRunning( ) != pdTRUE )
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186 lReturn = ( portLONG ) pdFAIL;
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189 if( xArePollingQueuesStillRunning( ) != pdTRUE )
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191 lReturn = ( portLONG ) pdFAIL;
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194 if( xAreSemaphoreTasksStillRunning( ) != pdTRUE )
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196 lReturn = ( portLONG ) pdFAIL;
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199 if( xAreDynamicPriorityTasksStillRunning( ) != pdTRUE )
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201 lReturn = ( portLONG ) pdFAIL;
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204 if( xAreBlockingQueuesStillRunning( ) != pdTRUE )
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206 lReturn = ( portLONG ) pdFAIL;
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209 if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
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211 /* The vMemCheckTask did not increment the counter - it must
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214 lReturn = ( portLONG ) pdFAIL;
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220 vMemCheckTask( void *pvParameters )
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222 unsigned portLONG *pulMemCheckTaskRunningCounter;
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223 void *pvMem1, *pvMem2, *pvMem3;
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224 static portLONG lErrorOccurred = pdFALSE;
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226 /* This task is dynamically created then deleted during each cycle of the
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227 vErrorChecks task to check the operation of the memory allocator. Each time
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228 the task is created memory is allocated for the stack and TCB. Each time
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229 the task is deleted this memory is returned to the heap. This task itself
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230 exercises the allocator by allocating and freeing blocks.
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232 The task executes at the idle priority so does not require a delay.
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234 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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235 vErrorChecks() task that this task is still executing without error. */
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237 pulMemCheckTaskRunningCounter = ( unsigned portLONG * )pvParameters;
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241 if( lErrorOccurred == pdFALSE )
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243 /* We have never seen an error so increment the counter. */
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244 ( *pulMemCheckTaskRunningCounter )++;
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247 /* Allocate some memory - just to give the allocator some extra
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248 exercise. This has to be in a critical section to ensure the
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249 task does not get deleted while it has memory allocated. */
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250 vTaskSuspendAll( );
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252 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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253 if( pvMem1 == NULL )
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255 lErrorOccurred = pdTRUE;
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259 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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260 vPortFree( pvMem1 );
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265 /* Again - with a different size block. */
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266 vTaskSuspendAll( );
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268 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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269 if( pvMem2 == NULL )
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271 lErrorOccurred = pdTRUE;
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275 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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276 vPortFree( pvMem2 );
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281 /* Again - with a different size block. */
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282 vTaskSuspendAll( );
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284 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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285 if( pvMem3 == NULL )
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287 lErrorOccurred = pdTRUE;
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291 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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292 vPortFree( pvMem3 );
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