2 FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /******************************************************************************
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71 * This project provides two demo applications. A simple blinky style project,
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72 * and a more comprehensive test and demo application. The
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73 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting (defined in this file) is used to
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74 * select between the two. The simply blinky demo is implemented and described
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75 * in main_blinky.c. The more comprehensive test and demo application is
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76 * implemented and described in main_full.c.
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78 * This file implements the code that is not demo specific, including the
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79 * hardware setup and FreeRTOS hook functions.
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82 /* Kernel includes. */
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83 #include "FreeRTOS.h"
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86 /* Standard demo includes. */
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87 #include "partest.h"
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88 #include "QueueOverwrite.h"
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89 #include "QueueSet.h"
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90 #include "EventGroupsDemo.h"
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92 /* Hardware specific includes. */
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93 #include "ConfigPerformance.h"
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95 /* Core configuration fuse settings */
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96 #pragma config FMIIEN = OFF, FETHIO = OFF, PGL1WAY = OFF, PMDL1WAY = OFF, IOL1WAY = OFF, FUSBIDIO = OFF
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97 #pragma config FNOSC = SPLL, FSOSCEN = OFF, IESO = OFF, POSCMOD = EC
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98 #pragma config OSCIOFNC = OFF, FCKSM = CSECMD, FWDTEN = OFF, FDMTEN = OFF
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99 #pragma config DMTINTV = WIN_127_128, WDTSPGM = STOP, WINDIS= NORMAL
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100 #pragma config WDTPS = PS1048576, FWDTWINSZ = WINSZ_25, DMTCNT = DMT31
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101 #pragma config FPLLIDIV = DIV_3, FPLLRNG = RANGE_13_26_MHZ, FPLLICLK = PLL_POSC
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102 #pragma config FPLLMULT = MUL_50, FPLLODIV = DIV_2, UPLLFSEL = FREQ_12MHZ, UPLLEN = OFF
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103 #pragma config EJTAGBEN = NORMAL, DBGPER = PG_ALL, FSLEEP = OFF, FECCCON = OFF_UNLOCKED
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104 #pragma config BOOTISA = MIPS32, TRCEN = ON, ICESEL = ICS_PGx2, JTAGEN = OFF, DEBUG = ON
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105 #pragma config CP = OFF
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106 #pragma config_alt FWDTEN=OFF
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107 #pragma config_alt USERID = 0x1234u
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109 /*-----------------------------------------------------------*/
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111 /* Set mainCREATE_SIMPLE_BLINKY_DEMO_ONLY to one to run the simple blinky demo,
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112 or 0 to run the more comprehensive test and demo application. */
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113 #define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 0
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115 /*-----------------------------------------------------------*/
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118 * Set up the hardware ready to run this demo.
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120 static void prvSetupHardware( void );
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123 * main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
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124 * main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
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126 extern void main_blinky( void );
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127 extern void main_full( void );
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129 /*-----------------------------------------------------------*/
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132 * Create the demo tasks then start the scheduler.
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136 /* Prepare the hardware to run this demo. */
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137 prvSetupHardware();
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139 /* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top
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141 #if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1
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153 /*-----------------------------------------------------------*/
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155 static void prvSetupHardware( void )
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157 /* Configure the hardware for maximum performance. */
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158 vHardwareConfigurePerformance();
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160 /* Setup to use the external interrupt controller. */
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161 vHardwareUseMultiVectoredInterrupts();
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163 portDISABLE_INTERRUPTS();
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165 /* Setup the digital IO for the LED's. */
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166 vParTestInitialise();
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168 /*-----------------------------------------------------------*/
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170 void vApplicationMallocFailedHook( void )
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172 /* vApplicationMallocFailedHook() will only be called if
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173 configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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174 function that will get called if a call to pvPortMalloc() fails.
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175 pvPortMalloc() is called internally by the kernel whenever a task, queue,
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176 timer or semaphore is created. It is also called by various parts of the
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177 demo application. If heap_1.c or heap_2.c are used, then the size of the
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178 heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
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179 FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
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180 to query the size of free heap space that remains (although it does not
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181 provide information on how the remaining heap might be fragmented). */
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182 taskDISABLE_INTERRUPTS();
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185 /*-----------------------------------------------------------*/
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187 void vApplicationIdleHook( void )
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189 /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
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190 to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
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191 task. It is essential that code added to this hook function never attempts
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192 to block in any way (for example, call xQueueReceive() with a block time
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193 specified, or call vTaskDelay()). If the application makes use of the
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194 vTaskDelete() API function (as this demo application does) then it is also
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195 important that vApplicationIdleHook() is permitted to return to its calling
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196 function, because it is the responsibility of the idle task to clean up
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197 memory allocated by the kernel to any task that has since been deleted. */
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199 /*-----------------------------------------------------------*/
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201 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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203 ( void ) pcTaskName;
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206 /* Run time task stack overflow checking is performed if
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207 configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
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208 called if a task stack overflow is detected. Note the system/interrupt
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209 stack is not checked. */
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210 taskDISABLE_INTERRUPTS();
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213 /*-----------------------------------------------------------*/
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215 void vApplicationTickHook( void )
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217 /* This function will be called by each tick interrupt if
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218 configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h. User code can be
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219 added here, but the tick hook is called from an interrupt context, so
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220 code must not attempt to block, and only the interrupt safe FreeRTOS API
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221 functions can be used (those that end in FromISR()). */
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223 #if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0 )
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225 /* Call the periodic queue overwrite from ISR demo. */
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226 vQueueOverwritePeriodicISRDemo();
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228 /* Call the queue set ISR test function. */
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229 vQueueSetAccessQueueSetFromISR();
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231 /* Exercise event groups from interrupts. */
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232 vPeriodicEventGroupsProcessing();
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236 /*-----------------------------------------------------------*/
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238 extern void vAssertCalled( const char * pcFile, unsigned long ulLine )
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240 volatile char *pcFileName;
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241 volatile unsigned long ulLineNumber;
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243 /* Prevent things that are useful to view in the debugger from being
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245 pcFileName = ( char * ) pcFile;
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246 ( void ) pcFileName;
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247 ulLineNumber = ulLine;
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249 /* Set ulLineNumber to 0 in the debugger to break out of this loop and
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250 return to the line that triggered the assert. */
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251 while( ulLineNumber != 0 )
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253 __asm volatile( "NOP" );
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254 __asm volatile( "NOP" );
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255 __asm volatile( "NOP" );
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256 __asm volatile( "NOP" );
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257 __asm volatile( "NOP" );
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260 /*-----------------------------------------------------------*/
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262 /* This function overrides the normal _weak_ generic handler. */
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263 void _general_exception_handler(void)
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266 EXCEP_IRQ = 0, /* interrupt */
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267 EXCEP_AdEL = 4, /* address error exception (load or ifetch) */
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268 EXCEP_AdES, /* address error exception (store) */
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269 EXCEP_IBE, /* bus error (ifetch) */
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270 EXCEP_DBE, /* bus error (load/store) */
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271 EXCEP_Sys, /* syscall */
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272 EXCEP_Bp, /* breakpoint */
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273 EXCEP_RI, /* reserved instruction */
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274 EXCEP_CpU, /* coprocessor unusable */
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275 EXCEP_Overflow, /* arithmetic overflow */
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276 EXCEP_Trap, /* trap (possible divide by zero) */
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277 EXCEP_IS1 = 16, /* implementation specfic 1 */
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278 EXCEP_CEU, /* CorExtend Unuseable */
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279 EXCEP_C2E /* coprocessor 2 */
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282 static unsigned long _epc_code;
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283 static unsigned long _excep_addr;
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285 asm volatile( "mfc0 %0,$13" : "=r" (_epc_code) );
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286 asm volatile( "mfc0 %0,$14" : "=r" (_excep_addr) );
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288 _excep_code = ( _epc_code & 0x0000007C ) >> 2;
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292 /* Examine _excep_code to identify the type of exception. Examine
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293 _excep_addr to find the address that caused the exception */
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