2 FreeRTOS V4.1.0 - 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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28 See http://www.FreeRTOS.org for documentation, latest information, license
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29 and contact details. Please ensure to read the configuration and relevant
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30 port sections of the online documentation.
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32 Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
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33 with commercial development and support options.
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34 ***************************************************************************
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37 /* ------------------------ System includes ------------------------------- */
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43 /* ------------------------ FreeRTOS includes ----------------------------- */
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44 #include "FreeRTOS.h"
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47 /* ------------------------ LWIP includes --------------------------------- */
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48 #include "lwip/api.h"
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49 #include "lwip/tcpip.h"
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50 #include "lwip/memp.h"
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52 /* ------------------------ Project includes ------------------------------ */
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53 #include "mcf5xxx.h"
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54 #include "mcf523x.h"
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58 #include "integer.h"
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60 #include "semtest.h"
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62 #include "dynamic.h"
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65 /* ------------------------ Defines --------------------------------------- */
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66 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 38400 )
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68 /* Priorities for the demo application tasks. */
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69 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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70 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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71 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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72 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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73 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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74 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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75 #define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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76 #define STACK_DEFAULT ( 1024 )
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78 /* Interval in which tasks are checked. */
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79 #define mainCHECK_PERIOD ( ( portTickType ) 2000 / portTICK_RATE_MS )
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81 /* Constants used by the vMemCheckTask() task. */
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82 #define mainCOUNT_INITIAL_VALUE ( ( unsigned portLONG ) 0 )
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83 #define mainNO_TASK ( 0 )
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85 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
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86 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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87 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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88 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
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90 /* ------------------------ Static variables ------------------------------ */
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91 xComPortHandle xSTDComPort = NULL;
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93 /* ------------------------ Static functions ------------------------------ */
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94 static portTASK_FUNCTION( vErrorChecks, pvParameters );
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95 static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG
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96 ulMemCheckTaskCount );
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97 static portTASK_FUNCTION( vMemCheckTask, pvParameters );
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99 /* ------------------------ Implementation -------------------------------- */
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101 main( int argc, char *argv[] )
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103 asm volatile ( "move.w #0x2000, %sr\n\t" );
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105 xSTDComPort = xSerialPortInitMinimal( 38400, 8 );
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108 /* Start the demo/test application tasks. */
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109 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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110 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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111 //vStartMathTasks( tskIDLE_PRIORITY );
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112 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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113 vStartDynamicPriorityTasks( );
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114 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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116 /* Start the webserver. */
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117 ( void )sys_thread_new( vBasicWEBServer, NULL, mainWEB_TASK_PRIORITY );
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119 /* Start the check task - which is defined in this file. */
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120 xTaskCreate( vErrorChecks, ( signed portCHAR * )"Check", 512, NULL,
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121 mainCHECK_TASK_PRIORITY, NULL );
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122 /* Now all the tasks have been started - start the scheduler. */
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123 vTaskStartScheduler( );
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125 /* Should never get here! */
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130 portTASK_FUNCTION( vErrorChecks, pvParameters )
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132 unsigned portLONG ulMemCheckTaskRunningCount;
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133 xTaskHandle xCreatedTask;
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135 /* The parameters are not used in this function. */
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136 ( void )pvParameters;
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140 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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141 xCreatedTask = mainNO_TASK;
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142 if( xTaskCreate( vMemCheckTask, ( signed portCHAR * )"MEM",
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143 configMINIMAL_STACK_SIZE, ( void * )&ulMemCheckTaskRunningCount,
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144 tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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146 xSerialPutChar( xSTDComPort, 'E', portMAX_DELAY );
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148 /* Delay until it is time to execute again. */
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149 vTaskDelay( mainCHECK_PERIOD );
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151 /* Delete the dynamically created task. */
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152 if( xCreatedTask != mainNO_TASK )
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154 vTaskDelete( xCreatedTask );
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157 if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
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159 xSerialPutChar( xSTDComPort, 'E', portMAX_DELAY );
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163 xSerialPutChar( xSTDComPort, '.', portMAX_DELAY );
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169 prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount )
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171 portLONG lReturn = ( portLONG ) pdPASS;
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173 /* Check all the demo tasks (other than the flash tasks) to ensure
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174 * that they are all still running, and that none of them have detected
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177 if( xAreIntegerMathsTaskStillRunning( ) != pdTRUE )
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179 lReturn = ( portLONG ) pdFAIL;
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182 if( xArePollingQueuesStillRunning( ) != pdTRUE )
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184 lReturn = ( portLONG ) pdFAIL;
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187 if( xAreSemaphoreTasksStillRunning( ) != pdTRUE )
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189 lReturn = ( portLONG ) pdFAIL;
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192 if( xAreDynamicPriorityTasksStillRunning( ) != pdTRUE )
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194 lReturn = ( portLONG ) pdFAIL;
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197 if( xAreBlockingQueuesStillRunning( ) != pdTRUE )
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199 lReturn = ( portLONG ) pdFAIL;
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202 if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
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204 /* The vMemCheckTask did not increment the counter - it must
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207 lReturn = ( portLONG ) pdFAIL;
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213 vMemCheckTask( void *pvParameters )
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215 unsigned portLONG *pulMemCheckTaskRunningCounter;
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216 void *pvMem1, *pvMem2, *pvMem3;
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217 static portLONG lErrorOccurred = pdFALSE;
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219 /* This task is dynamically created then deleted during each cycle of the
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220 vErrorChecks task to check the operation of the memory allocator. Each time
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221 the task is created memory is allocated for the stack and TCB. Each time
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222 the task is deleted this memory is returned to the heap. This task itself
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223 exercises the allocator by allocating and freeing blocks.
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225 The task executes at the idle priority so does not require a delay.
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227 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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228 vErrorChecks() task that this task is still executing without error. */
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230 pulMemCheckTaskRunningCounter = ( unsigned portLONG * )pvParameters;
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234 if( lErrorOccurred == pdFALSE )
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236 /* We have never seen an error so increment the counter. */
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237 ( *pulMemCheckTaskRunningCounter )++;
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240 /* Allocate some memory - just to give the allocator some extra
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241 exercise. This has to be in a critical section to ensure the
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242 task does not get deleted while it has memory allocated. */
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243 vTaskSuspendAll( );
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245 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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246 if( pvMem1 == NULL )
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248 lErrorOccurred = pdTRUE;
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252 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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253 vPortFree( pvMem1 );
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258 /* Again - with a different size block. */
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259 vTaskSuspendAll( );
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261 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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262 if( pvMem2 == NULL )
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264 lErrorOccurred = pdTRUE;
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268 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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269 vPortFree( pvMem2 );
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274 /* Again - with a different size block. */
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275 vTaskSuspendAll( );
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277 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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278 if( pvMem3 == NULL )
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280 lErrorOccurred = pdTRUE;
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284 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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285 vPortFree( pvMem3 );
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