ffeffcd315
Add cross-core int to accelerate task being awoken from another CPU. This adds a per-CPU interrupt that can be used to poke the CPU to go do something. In this case all that is implemented is a request to yield the current task, used in case a CPU unblocks a task that runs on another CPU. This gets rid of the limitation that inter-CPU communication using queues, muxes etc can take up to a FreeRTOS tick to happen. Specs! Sending an in in a queue of length 1 (essentially a semaphore) as quickly as possible (just a small delay in the sender, to make sure the receiver task gets swapped out) for 10 seconds. Number indicates the amount of ints transferred Old code: CPU0->CPU0: 42986 CPU0->CPU1,: 2999 New code: CPU0->CPU0: 42868 CPU0->CPU1: 62073 See merge request !155
214 lines
6 KiB
C
214 lines
6 KiB
C
// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <stdint.h>
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#include <string.h>
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#include "esp_attr.h"
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#include "esp_err.h"
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#include "rom/ets_sys.h"
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#include "rom/uart.h"
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#include "soc/cpu.h"
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#include "soc/dport_reg.h"
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#include "soc/io_mux_reg.h"
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#include "soc/rtc_cntl_reg.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "freertos/queue.h"
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#include "freertos/portmacro.h"
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#include "tcpip_adapter.h"
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#include "heap_alloc_caps.h"
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#include "sdkconfig.h"
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#include "esp_system.h"
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#include "esp_spi_flash.h"
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#include "nvs_flash.h"
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#include "esp_event.h"
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#include "esp_spi_flash.h"
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#include "esp_ipc.h"
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#include "esp_crosscore_int.h"
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#include "esp_log.h"
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#include "esp_vfs_dev.h"
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#include "esp_newlib.h"
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#include "esp_brownout.h"
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#include "esp_int_wdt.h"
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#include "esp_task_wdt.h"
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#include "trax.h"
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void start_cpu0(void) __attribute__((weak, alias("start_cpu0_default")));
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void start_cpu0_default(void) IRAM_ATTR;
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#if !CONFIG_FREERTOS_UNICORE
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static void IRAM_ATTR call_start_cpu1();
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void start_cpu1(void) __attribute__((weak, alias("start_cpu1_default")));
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void start_cpu1_default(void) IRAM_ATTR;
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static bool app_cpu_started = false;
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#endif //!CONFIG_FREERTOS_UNICORE
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static void do_global_ctors(void);
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static void main_task(void* args);
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extern void app_main(void);
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extern int _bss_start;
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extern int _bss_end;
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extern int _init_start;
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extern void (*__init_array_start)(void);
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extern void (*__init_array_end)(void);
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extern volatile int port_xSchedulerRunning[2];
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static const char* TAG = "cpu_start";
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/*
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* We arrive here after the bootloader finished loading the program from flash. The hardware is mostly uninitialized,
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* and the app CPU is in reset. We do have a stack, so we can do the initialization in C.
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*/
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void IRAM_ATTR call_start_cpu0()
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{
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//Kill wdt
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REG_CLR_BIT(RTC_CNTL_WDTCONFIG0_REG, RTC_CNTL_WDT_FLASHBOOT_MOD_EN);
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REG_CLR_BIT(0x6001f048, BIT(14)); //DR_REG_BB_BASE+48
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cpu_configure_region_protection();
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//Move exception vectors to IRAM
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asm volatile (\
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"wsr %0, vecbase\n" \
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::"r"(&_init_start));
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uartAttach();
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ets_install_uart_printf();
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memset(&_bss_start, 0, (&_bss_end - &_bss_start) * sizeof(_bss_start));
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// Initialize heap allocator
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heap_alloc_caps_init();
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ESP_EARLY_LOGI(TAG, "Pro cpu up.");
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#if !CONFIG_FREERTOS_UNICORE
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ESP_EARLY_LOGI(TAG, "Starting app cpu, entry point is %p", call_start_cpu1);
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//Un-stall the app cpu; the panic handler may have stalled it.
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CLEAR_PERI_REG_MASK(RTC_CNTL_SW_CPU_STALL_REG, RTC_CNTL_SW_STALL_APPCPU_C1_M);
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CLEAR_PERI_REG_MASK(RTC_CNTL_OPTIONS0_REG, RTC_CNTL_SW_STALL_APPCPU_C0_M);
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//Enable clock gating and reset the app cpu.
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SET_PERI_REG_MASK(DPORT_APPCPU_CTRL_B_REG, DPORT_APPCPU_CLKGATE_EN);
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CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_C_REG, DPORT_APPCPU_RUNSTALL);
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SET_PERI_REG_MASK(DPORT_APPCPU_CTRL_A_REG, DPORT_APPCPU_RESETTING);
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CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_A_REG, DPORT_APPCPU_RESETTING);
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ets_set_appcpu_boot_addr((uint32_t)call_start_cpu1);
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while (!app_cpu_started) {
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ets_delay_us(100);
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}
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#else
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ESP_EARLY_LOGI(TAG, "Single core mode");
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CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_B_REG, DPORT_APPCPU_CLKGATE_EN);
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#endif
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ESP_EARLY_LOGI(TAG, "Pro cpu start user code");
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start_cpu0();
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}
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#if !CONFIG_FREERTOS_UNICORE
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void IRAM_ATTR call_start_cpu1()
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{
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asm volatile (\
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"wsr %0, vecbase\n" \
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::"r"(&_init_start));
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cpu_configure_region_protection();
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ESP_EARLY_LOGI(TAG, "App cpu up.");
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app_cpu_started = 1;
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start_cpu1();
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}
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#endif //!CONFIG_FREERTOS_UNICORE
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void start_cpu0_default(void)
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{
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//Enable trace memory and immediately start trace.
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#if CONFIG_MEMMAP_TRACEMEM
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#if CONFIG_MEMMAP_TRACEMEM_TWOBANKS
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trax_enable(TRAX_ENA_PRO_APP);
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#else
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trax_enable(TRAX_ENA_PRO);
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#endif
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trax_start_trace(TRAX_DOWNCOUNT_WORDS);
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#endif
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esp_set_cpu_freq(); // set CPU frequency configured in menuconfig
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uart_div_modify(0, (APB_CLK_FREQ << 4) / 115200);
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#if CONFIG_BROWNOUT_DET
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esp_brownout_init();
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#endif
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#if CONFIG_INT_WDT
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esp_int_wdt_init();
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#endif
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#if CONFIG_TASK_WDT
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esp_task_wdt_init();
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#endif
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esp_setup_syscalls();
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esp_vfs_dev_uart_register();
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esp_reent_init(_GLOBAL_REENT);
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const char* default_uart_dev = "/dev/uart/0";
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_GLOBAL_REENT->_stdout = fopen(default_uart_dev, "w");
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_GLOBAL_REENT->_stderr = fopen(default_uart_dev, "w");
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_GLOBAL_REENT->_stdin = fopen(default_uart_dev, "r");
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do_global_ctors();
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#if !CONFIG_FREERTOS_UNICORE
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esp_crosscore_int_init();
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#endif
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esp_ipc_init();
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spi_flash_init();
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xTaskCreatePinnedToCore(&main_task, "main",
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ESP_TASK_MAIN_STACK, NULL,
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ESP_TASK_MAIN_PRIO, NULL, 0);
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ESP_LOGI(TAG, "Starting scheduler on PRO CPU.");
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vTaskStartScheduler();
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}
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#if !CONFIG_FREERTOS_UNICORE
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void start_cpu1_default(void)
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{
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#if CONFIG_MEMMAP_TRACEMEM_TWOBANKS
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trax_start_trace(TRAX_DOWNCOUNT_WORDS);
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#endif
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// Wait for FreeRTOS initialization to finish on PRO CPU
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while (port_xSchedulerRunning[0] == 0) {
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;
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}
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esp_crosscore_int_init();
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ESP_LOGI(TAG, "Starting scheduler on APP CPU.");
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xPortStartScheduler();
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}
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#endif //!CONFIG_FREERTOS_UNICORE
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static void do_global_ctors(void)
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{
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void (**p)(void);
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for (p = &__init_array_end - 1; p >= &__init_array_start; --p) {
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(*p)();
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}
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}
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static void main_task(void* args)
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{
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app_main();
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vTaskDelete(NULL);
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}
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