412 lines
16 KiB
C
412 lines
16 KiB
C
/*
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FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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***************************************************************************
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>>! NOTE: The modification to the GPL is included to allow you to !<<
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>>! distribute a combined work that includes FreeRTOS without being !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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***************************************************************************
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available on the following
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link: http://www.freertos.org/a00114.html
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that is more than just the market leader, it *
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* is the industry's de facto standard. *
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* *
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* Help yourself get started quickly while simultaneously helping *
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* to support the FreeRTOS project by purchasing a FreeRTOS *
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* tutorial book, reference manual, or both: *
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* http://www.FreeRTOS.org/Documentation *
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* *
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***************************************************************************
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http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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the FAQ page "My application does not run, what could be wrong?". Have you
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defined configASSERT()?
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http://www.FreeRTOS.org/support - In return for receiving this top quality
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embedded software for free we request you assist our global community by
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participating in the support forum.
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http://www.FreeRTOS.org/training - Investing in training allows your team to
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be as productive as possible as early as possible. Now you can receive
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FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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Ltd, and the world's leading authority on the world's leading RTOS.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and commercial middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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/*******************************************************************************
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// Copyright (c) 2003-2015 Cadence Design Systems, Inc.
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//
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// Permission is hereby granted, free of charge, to any person obtaining
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// a copy of this software and associated documentation files (the
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// "Software"), to deal in the Software without restriction, including
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// without limitation the rights to use, copy, modify, merge, publish,
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// distribute, sublicense, and/or sell copies of the Software, and to
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// permit persons to whom the Software is furnished to do so, subject to
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// the following conditions:
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//
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// The above copyright notice and this permission notice shall be included
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// in all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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// IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
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// CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
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// TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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--------------------------------------------------------------------------------
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*/
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#include <stdlib.h>
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#include <xtensa/config/core.h>
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#include "xtensa_rtos.h"
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#include "rom/ets_sys.h"
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#include "FreeRTOS.h"
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#include "task.h"
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#include "esp_panic.h"
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#include "esp_crosscore_int.h"
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/* Defined in portasm.h */
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extern void _frxt_tick_timer_init(void);
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/* Defined in xtensa_context.S */
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extern void _xt_coproc_init(void);
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/*-----------------------------------------------------------*/
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unsigned port_xSchedulerRunning[portNUM_PROCESSORS] = {0}; // Duplicate of inaccessible xSchedulerRunning; needed at startup to avoid counting nesting
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unsigned port_interruptNesting[portNUM_PROCESSORS] = {0}; // Interrupt nesting level
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/*-----------------------------------------------------------*/
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// User exception dispatcher when exiting
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void _xt_user_exit(void);
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/*
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* Stack initialization
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*/
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#if portUSING_MPU_WRAPPERS
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StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged )
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#else
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StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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#endif
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{
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StackType_t *sp, *tp;
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XtExcFrame *frame;
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#if XCHAL_CP_NUM > 0
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uint32_t *p;
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#endif
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/* Create interrupt stack frame aligned to 16 byte boundary */
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sp = (StackType_t *) (((UBaseType_t)(pxTopOfStack + 1) - XT_CP_SIZE - XT_STK_FRMSZ) & ~0xf);
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/* Clear the entire frame (do not use memset() because we don't depend on C library) */
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for (tp = sp; tp <= pxTopOfStack; ++tp)
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*tp = 0;
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frame = (XtExcFrame *) sp;
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/* Explicitly initialize certain saved registers */
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frame->pc = (UBaseType_t) pxCode; /* task entrypoint */
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frame->a0 = 0; /* to terminate GDB backtrace */
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frame->a1 = (UBaseType_t) sp + XT_STK_FRMSZ; /* physical top of stack frame */
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frame->exit = (UBaseType_t) _xt_user_exit; /* user exception exit dispatcher */
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/* Set initial PS to int level 0, EXCM disabled ('rfe' will enable), user mode. */
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/* Also set entry point argument parameter. */
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#ifdef __XTENSA_CALL0_ABI__
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frame->a2 = (UBaseType_t) pvParameters;
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frame->ps = PS_UM | PS_EXCM;
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#else
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/* + for windowed ABI also set WOE and CALLINC (pretend task was 'call4'd). */
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frame->a6 = (UBaseType_t) pvParameters;
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frame->ps = PS_UM | PS_EXCM | PS_WOE | PS_CALLINC(1);
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#endif
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#ifdef XT_USE_SWPRI
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/* Set the initial virtual priority mask value to all 1's. */
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frame->vpri = 0xFFFFFFFF;
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#endif
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#if XCHAL_CP_NUM > 0
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/* Init the coprocessor save area (see xtensa_context.h) */
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/* No access to TCB here, so derive indirectly. Stack growth is top to bottom.
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* //p = (uint32_t *) xMPUSettings->coproc_area;
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*/
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p = (uint32_t *)(((uint32_t) pxTopOfStack - XT_CP_SIZE) & ~0xf);
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p[0] = 0;
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p[1] = 0;
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p[2] = (((uint32_t) p) + 12 + XCHAL_TOTAL_SA_ALIGN - 1) & -XCHAL_TOTAL_SA_ALIGN;
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#endif
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return sp;
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}
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/*-----------------------------------------------------------*/
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void vPortEndScheduler( void )
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{
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/* It is unlikely that the Xtensa port will get stopped. If required simply
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disable the tick interrupt here. */
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}
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/*-----------------------------------------------------------*/
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BaseType_t xPortStartScheduler( void )
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{
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// Interrupts are disabled at this point and stack contains PS with enabled interrupts when task context is restored
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#if XCHAL_CP_NUM > 0
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/* Initialize co-processor management for tasks. Leave CPENABLE alone. */
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_xt_coproc_init();
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#endif
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/* Init the tick divisor value */
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_xt_tick_divisor_init();
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/* Setup the hardware to generate the tick. */
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_frxt_tick_timer_init();
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port_xSchedulerRunning[xPortGetCoreID()] = 1;
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// Cannot be directly called from C; never returns
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__asm__ volatile ("call0 _frxt_dispatch\n");
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/* Should not get here. */
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return pdTRUE;
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}
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/*-----------------------------------------------------------*/
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BaseType_t xPortSysTickHandler( void )
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{
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BaseType_t ret;
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portbenchmarkIntLatency();
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ret = xTaskIncrementTick();
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if( ret != pdFALSE )
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{
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portYIELD_FROM_ISR();
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}
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return ret;
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}
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void vPortYieldOtherCore( BaseType_t coreid ) {
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esp_crosscore_int_send_yield( coreid );
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}
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/*-----------------------------------------------------------*/
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/*
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* Used to set coprocessor area in stack. Current hack is to reuse MPU pointer for coprocessor area.
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*/
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#if portUSING_MPU_WRAPPERS
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void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint16_t usStackDepth )
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{
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#if XCHAL_CP_NUM > 0
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xMPUSettings->coproc_area = (StackType_t*)((((uint32_t)(pxBottomOfStack + usStackDepth - 1)) - XT_CP_SIZE ) & ~0xf);
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/* NOTE: we cannot initialize the coprocessor save area here because FreeRTOS is going to
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* clear the stack area after we return. This is done in pxPortInitialiseStack().
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*/
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#endif
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}
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#endif
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void vPortAssertIfInISR()
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{
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configASSERT(port_interruptNesting[xPortGetCoreID()]==0)
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}
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/*
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* For kernel use: Initialize a per-CPU mux. Mux will be initialized unlocked.
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*/
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void vPortCPUInitializeMutex(portMUX_TYPE *mux) {
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
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ets_printf("Initializing mux %p\n", mux);
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mux->lastLockedFn="(never locked)";
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mux->lastLockedLine=-1;
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#endif
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mux->mux=portMUX_FREE_VAL;
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}
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/*
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* For kernel use: Acquire a per-CPU mux. Spinlocks, so don't hold on to these muxes for too long.
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*/
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
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void vPortCPUAcquireMutex(portMUX_TYPE *mux, const char *fnName, int line) {
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#else
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void vPortCPUAcquireMutex(portMUX_TYPE *mux) {
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#endif
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#if !CONFIG_FREERTOS_UNICORE
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uint32_t res;
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uint32_t recCnt;
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unsigned int irqStatus;
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
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uint32_t cnt=(1<<16);
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if ( (mux->mux & portMUX_MAGIC_MASK) != portMUX_MAGIC_VAL ) {
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ets_printf("ERROR: vPortCPUAcquireMutex: mux %p is uninitialized (0x%X)! Called from %s line %d.\n", mux, mux->mux, fnName, line);
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mux->mux=portMUX_FREE_VAL;
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}
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#endif
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irqStatus=portENTER_CRITICAL_NESTED();
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do {
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//Lock mux if it's currently unlocked
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res=(xPortGetCoreID()<<portMUX_VAL_SHIFT)|portMUX_MAGIC_VAL;
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uxPortCompareSet(&mux->mux, portMUX_FREE_VAL, &res);
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//If it wasn't free and we're the owner of the lock, we are locking recursively.
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if ( (res != portMUX_FREE_VAL) && (((res&portMUX_VAL_MASK)>>portMUX_VAL_SHIFT) == xPortGetCoreID()) ) {
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//Mux was already locked by us. Just bump the recurse count by one.
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recCnt=(res&portMUX_CNT_MASK)>>portMUX_CNT_SHIFT;
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recCnt++;
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG_RECURSIVE
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ets_printf("Recursive lock: recCnt=%d last non-recursive lock %s line %d, curr %s line %d\n", recCnt, mux->lastLockedFn, mux->lastLockedLine, fnName, line);
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#endif
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mux->mux=portMUX_MAGIC_VAL|(recCnt<<portMUX_CNT_SHIFT)|(xPortGetCoreID()<<portMUX_VAL_SHIFT);
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break;
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}
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
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cnt--;
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if (cnt==0) {
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ets_printf("Timeout on mux! last non-recursive lock %s line %d, curr %s line %d\n", mux->lastLockedFn, mux->lastLockedLine, fnName, line);
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ets_printf("Mux value %X\n", mux->mux);
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}
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#endif
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} while (res!=portMUX_FREE_VAL);
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
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if (res==portMUX_FREE_VAL) { //initial lock
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mux->lastLockedFn=fnName;
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mux->lastLockedLine=line;
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}
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#endif
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portEXIT_CRITICAL_NESTED(irqStatus);
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#endif
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}
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/*
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* For kernel use: Release a per-CPU mux. Returns true if everything is OK, false if mux
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* was already unlocked or is locked by a different core.
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*/
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
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portBASE_TYPE vPortCPUReleaseMutex(portMUX_TYPE *mux, const char *fnName, int line) {
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#else
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portBASE_TYPE vPortCPUReleaseMutex(portMUX_TYPE *mux) {
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#endif
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#if !CONFIG_FREERTOS_UNICORE
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uint32_t res=0;
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uint32_t recCnt;
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unsigned int irqStatus;
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portBASE_TYPE ret=pdTRUE;
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// ets_printf("Unlock %p\n", mux);
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irqStatus=portENTER_CRITICAL_NESTED();
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
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const char *lastLockedFn=mux->lastLockedFn;
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int lastLockedLine=mux->lastLockedLine;
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mux->lastLockedFn=fnName;
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mux->lastLockedLine=line;
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if ( (mux->mux & portMUX_MAGIC_MASK) != portMUX_MAGIC_VAL ) ets_printf("ERROR: vPortCPUReleaseMutex: mux %p is uninitialized (0x%X)!\n", mux, mux->mux);
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#endif
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//Unlock mux if it's currently locked with a recurse count of 0
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res=portMUX_FREE_VAL;
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uxPortCompareSet(&mux->mux, (xPortGetCoreID()<<portMUX_VAL_SHIFT)|portMUX_MAGIC_VAL, &res);
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if ( ((res&portMUX_VAL_MASK)>>portMUX_VAL_SHIFT) == xPortGetCoreID() ) {
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//Lock is valid, we can return safely. Just need to check if it's a recursive lock; if so we need to decrease the refcount.
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if ( ((res&portMUX_CNT_MASK)>>portMUX_CNT_SHIFT)!=0) {
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//We locked this, but the reccount isn't zero. Decrease refcount and continue.
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recCnt=(res&portMUX_CNT_MASK)>>portMUX_CNT_SHIFT;
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recCnt--;
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG_RECURSIVE
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ets_printf("Recursive unlock: recCnt=%d last locked %s line %d, curr %s line %d\n", recCnt, lastLockedFn, lastLockedLine, fnName, line);
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#endif
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mux->mux=portMUX_MAGIC_VAL|(recCnt<<portMUX_CNT_SHIFT)|(xPortGetCoreID()<<portMUX_VAL_SHIFT);
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}
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} else if ( res == portMUX_FREE_VAL ) {
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
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ets_printf("ERROR: vPortCPUReleaseMutex: mux %p was already unlocked!\n", mux);
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ets_printf("Last non-recursive unlock %s line %d, curr unlock %s line %d\n", lastLockedFn, lastLockedLine, fnName, line);
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#endif
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ret=pdFALSE;
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} else {
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#ifdef CONFIG_FREERTOS_PORTMUX_DEBUG
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ets_printf("ERROR: vPortCPUReleaseMutex: mux %p wasn't locked by this core (%d) but by core %d (ret=%x, mux=%x).\n", mux, xPortGetCoreID(), ((res&portMUX_VAL_MASK)>>portMUX_VAL_SHIFT), res, mux->mux);
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ets_printf("Last non-recursive lock %s line %d\n", lastLockedFn, lastLockedLine);
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ets_printf("Called by %s line %d\n", fnName, line);
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#endif
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ret=pdFALSE;
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}
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portEXIT_CRITICAL_NESTED(irqStatus);
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return ret;
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#else //!CONFIG_FREERTOS_UNICORE
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return 0;
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#endif
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}
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#if CONFIG_FREERTOS_BREAK_ON_SCHEDULER_START_JTAG
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void vPortFirstTaskHook(TaskFunction_t function) {
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esp_set_breakpoint_if_jtag(function);
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}
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#endif
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void vPortSetStackWatchpoint( void* pxStackStart ) {
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//Set watchpoint 1 to watch the last 32 bytes of the stack.
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//Unfortunately, the Xtensa watchpoints can't set a watchpoint on a random [base - base+n] region because
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//the size works by masking off the lowest address bits. For that reason, we futz a bit and watch the lowest 32
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//bytes of the stack we can actually watch. In general, this can cause the watchpoint to be triggered at most
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//28 bytes early. The value 32 is chosen because it's larger than the stack canary, which in FreeRTOS is 20 bytes.
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//This way, we make sure we trigger before/when the stack canary is corrupted, not after.
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int addr=(int)pxStackStart;
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addr=(addr+31)&(~31);
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esp_set_watchpoint(1, (char*)addr, 32, ESP_WATCHPOINT_STORE);
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}
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