chore: upgrade FreeRTOS to v2 (CMSIS-RTOS_V2), update CubeMX project config
- Remove CMSIS-RTOS v1 (cmsis_os.h/cmsis_os.c), add CMSIS-RTOS v2 (cmsis_os2.c/freertos_os2.h/mpool.h) - Update FreeRTOS kernel, port, and headers to match v2 integration - Remove unused heap implementations, keep heap_4 - Update CubeMX project config (.mxproject, .ioc, CMakeLists.txt) - Update FreeRTOSConfig.h, freertos.c, main.c, stm32h7xx_it.c - Update application modules (master_machine, dmmotor) - Add CMSIS-RTOS2 headers, mpu_syscall_numbers.h, newlib/picolibc support
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+69
-61
@@ -1,6 +1,8 @@
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/*
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* FreeRTOS Kernel V10.3.1
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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* FreeRTOS Kernel V10.6.2
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* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* SPDX-License-Identifier: MIT
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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@@ -19,10 +21,9 @@
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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* 1 tab == 4 spaces!
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*/
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#ifndef STACK_MACROS_H
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@@ -44,86 +45,93 @@
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/*-----------------------------------------------------------*/
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#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) )
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/*
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* portSTACK_LIMIT_PADDING is a number of extra words to consider to be in
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* use on the stack.
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*/
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#ifndef portSTACK_LIMIT_PADDING
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#define portSTACK_LIMIT_PADDING 0
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#endif
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/* Only the current stack state is to be checked. */
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#define taskCHECK_FOR_STACK_OVERFLOW() \
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{ \
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/* Is the currently saved stack pointer within the stack limit? */ \
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if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
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{ \
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vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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} \
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}
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#if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) )
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/* Only the current stack state is to be checked. */
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#define taskCHECK_FOR_STACK_OVERFLOW() \
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do { \
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/* Is the currently saved stack pointer within the stack limit? */ \
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if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack + portSTACK_LIMIT_PADDING ) \
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{ \
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vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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} \
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} while( 0 )
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#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
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/*-----------------------------------------------------------*/
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#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) )
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#if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) )
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/* Only the current stack state is to be checked. */
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#define taskCHECK_FOR_STACK_OVERFLOW() \
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{ \
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\
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/* Is the currently saved stack pointer within the stack limit? */ \
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if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack ) \
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{ \
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vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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} \
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}
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/* Only the current stack state is to be checked. */
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#define taskCHECK_FOR_STACK_OVERFLOW() \
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do { \
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\
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/* Is the currently saved stack pointer within the stack limit? */ \
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if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack - portSTACK_LIMIT_PADDING ) \
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{ \
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vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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} \
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} while( 0 )
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#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
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/*-----------------------------------------------------------*/
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#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
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#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
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#define taskCHECK_FOR_STACK_OVERFLOW() \
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{ \
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const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack; \
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const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5; \
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\
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if( ( pulStack[ 0 ] != ulCheckValue ) || \
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( pulStack[ 1 ] != ulCheckValue ) || \
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( pulStack[ 2 ] != ulCheckValue ) || \
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( pulStack[ 3 ] != ulCheckValue ) ) \
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{ \
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vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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} \
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}
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#define taskCHECK_FOR_STACK_OVERFLOW() \
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do { \
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const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack; \
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const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5; \
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\
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if( ( pulStack[ 0 ] != ulCheckValue ) || \
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( pulStack[ 1 ] != ulCheckValue ) || \
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( pulStack[ 2 ] != ulCheckValue ) || \
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( pulStack[ 3 ] != ulCheckValue ) ) \
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{ \
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vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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} \
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} while( 0 )
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#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
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/*-----------------------------------------------------------*/
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#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
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#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
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#define taskCHECK_FOR_STACK_OVERFLOW() \
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{ \
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int8_t *pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack; \
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static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
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\
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\
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pcEndOfStack -= sizeof( ucExpectedStackBytes ); \
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\
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/* Has the extremity of the task stack ever been written over? */ \
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if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \
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{ \
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vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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} \
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}
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#define taskCHECK_FOR_STACK_OVERFLOW() \
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do { \
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int8_t * pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack; \
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static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
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\
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\
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pcEndOfStack -= sizeof( ucExpectedStackBytes ); \
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\
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/* Has the extremity of the task stack ever been written over? */ \
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if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \
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{ \
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vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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} \
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} while( 0 )
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#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
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/*-----------------------------------------------------------*/
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/* Remove stack overflow macro if not being used. */
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#ifndef taskCHECK_FOR_STACK_OVERFLOW
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#define taskCHECK_FOR_STACK_OVERFLOW()
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#define taskCHECK_FOR_STACK_OVERFLOW()
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#endif
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#endif /* STACK_MACROS_H */
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