2 FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not itcan be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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76 * Tests the floating point context save and restore mechanism.
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78 * Two tasks are created - each of which is allocated a buffer of
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79 * portNO_FLOP_REGISTERS_TO_SAVE 32bit variables into which the flop context
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80 * of the task is saved when the task is switched out, and from which the
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81 * flop context of the task is restored when the task is switch in. Prior to
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82 * the tasks being created each position in the two buffers is filled with a
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83 * unique value - this way the flop context of each task is different.
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85 * The two test tasks never block so are always in either the Running or
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86 * Ready state. They execute at the lowest priority so will get pre-empted
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87 * regularly, although the yield frequently so will not get much execution
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88 * time. The lack of execution time is not a problem as its only the
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89 * switching in and out that is being tested.
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91 * Whenever a task is moved from the Ready to the Running state its flop
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92 * context will be loaded from the buffer, but while the task is in the
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93 * Running state the buffer is not used and can contain any value - in this
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94 * case and for test purposes the task itself clears the buffer to zero.
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95 * The next time the task is moved out of the Running state into the
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96 * Ready state the flop context will once more get saved to the buffer -
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97 * overwriting the zeros.
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99 * Therefore whenever the task is not in the Running state its buffer contains
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100 * the most recent values of its floating point registers - the zeroing out
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101 * of the buffer while the task was executing being used to ensure the values
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102 * the buffer contains are not stale.
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104 * When neither test task is in the Running state the buffers should contain
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105 * the unique values allocated before the tasks were created. If so then
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106 * the floating point context has been maintained. This check is performed
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107 * by the 'check' task (defined in main.c) by calling
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108 * xAreFlopRegisterTestsStillRunning().
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110 * The test tasks also increment a value each time they execute.
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111 * xAreFlopRegisterTestsStillRunning() also checks that this value has changed
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112 * since it last ran to ensure the test tasks are still getting processing time.
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115 /* Standard includes files. */
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116 #include <string.h>
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118 /* Scheduler include files. */
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119 #include "FreeRTOS.h"
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122 /*-----------------------------------------------------------*/
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124 #define flopNUMBER_OF_TASKS 2
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125 #define flopSTART_VALUE ( 0x1 )
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127 /*-----------------------------------------------------------*/
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129 /* The two test tasks as described at the top of this file. */
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130 static void vFlopTest1( void *pvParameters );
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131 static void vFlopTest2( void *pvParameters );
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133 /*-----------------------------------------------------------*/
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135 /* Buffers into which the flop registers will be saved. There is a buffer for
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137 static volatile unsigned long ulFlopRegisters[ flopNUMBER_OF_TASKS ][ portNO_FLOP_REGISTERS_TO_SAVE ];
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139 /* Variables that are incremented by the tasks to indicate that they are still
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141 static volatile unsigned long ulFlop1CycleCount = 0, ulFlop2CycleCount = 0;
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143 /*-----------------------------------------------------------*/
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145 void vStartFlopRegTests( void )
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147 xTaskHandle xTaskJustCreated;
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148 unsigned portBASE_TYPE x, y, z = flopSTART_VALUE;
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150 /* Fill the arrays into which the flop registers are to be saved with
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151 known values. These are the values that will be written to the flop
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152 registers when the tasks start, and as the tasks do not perform any
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153 flop operations the values should never change. Each position in the
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154 buffer contains a different value so the flop context of each task
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155 will be different. */
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156 for( x = 0; x < flopNUMBER_OF_TASKS; x++ )
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158 for( y = 0; y < ( portNO_FLOP_REGISTERS_TO_SAVE - 1); y++ )
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160 ulFlopRegisters[ x ][ y ] = z;
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166 /* Create the first task. */
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167 xTaskCreate( vFlopTest1, ( signed char * ) "flop1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTaskJustCreated );
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169 /* The task tag value is a value that can be associated with a task, but
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170 is not used by the scheduler itself. Its use is down to the application so
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171 it makes a convenient place in this case to store the pointer to the buffer
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172 into which the flop context of the task will be stored. The first created
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173 task uses ulFlopRegisters[ 0 ], the second ulFlopRegisters[ 1 ]. */
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174 vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 0 ][ 0 ] ) );
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176 /* Do the same for the second task. */
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177 xTaskCreate( vFlopTest2, ( signed char * ) "flop2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTaskJustCreated );
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178 vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 1 ][ 0 ] ) );
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180 /*-----------------------------------------------------------*/
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182 static void vFlopTest1( void *pvParameters )
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184 /* Just to remove compiler warning. */
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185 ( void ) pvParameters;
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189 /* The values from the buffer should have now been written to the flop
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190 registers. Clear the buffer to ensure the same values then get written
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191 back the next time the task runs. Being preempted during this memset
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192 could cause the test to fail, hence the critical section. */
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193 portENTER_CRITICAL();
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194 memset( ( void * ) ulFlopRegisters[ 0 ], 0x00, ( portNO_FLOP_REGISTERS_TO_SAVE * sizeof( unsigned portBASE_TYPE ) ) );
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195 portEXIT_CRITICAL();
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197 /* We don't have to do anything other than indicate that we are
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199 ulFlop1CycleCount++;
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203 /*-----------------------------------------------------------*/
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205 static void vFlopTest2( void *pvParameters )
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207 /* Just to remove compiler warning. */
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208 ( void ) pvParameters;
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212 /* The values from the buffer should have now been written to the flop
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213 registers. Clear the buffer to ensure the same values then get written
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214 back the next time the task runs. */
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215 portENTER_CRITICAL();
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216 memset( ( void * ) ulFlopRegisters[ 1 ], 0x00, ( portNO_FLOP_REGISTERS_TO_SAVE * sizeof( unsigned portBASE_TYPE ) ) );
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217 portEXIT_CRITICAL();
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219 /* We don't have to do anything other than indicate that we are
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221 ulFlop2CycleCount++;
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225 /*-----------------------------------------------------------*/
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227 portBASE_TYPE xAreFlopRegisterTestsStillRunning( void )
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229 portBASE_TYPE xReturn = pdPASS;
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230 unsigned portBASE_TYPE x, y, z = flopSTART_VALUE;
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231 static unsigned long ulLastFlop1CycleCount = 0, ulLastFlop2CycleCount = 0;
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233 /* Called from the 'check' task.
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235 The flop tasks cannot be currently running, check their saved registers
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236 are as expected. The tests tasks do not perform any flop operations so
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237 their registers should be as per their initial setting. */
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238 for( x = 0; x < flopNUMBER_OF_TASKS; x++ )
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240 for( y = 0; y < ( portNO_FLOP_REGISTERS_TO_SAVE - 1 ); y++ )
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242 if( ulFlopRegisters[ x ][ y ] != z )
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252 /* Check both tasks have actually been swapped in and out since this function
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254 if( ulFlop1CycleCount == ulLastFlop1CycleCount )
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259 if( ulFlop2CycleCount == ulLastFlop2CycleCount )
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264 ulLastFlop1CycleCount = ulFlop1CycleCount;
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265 ulLastFlop2CycleCount = ulFlop2CycleCount;
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