TMS570LS0432: Data Abort Exception on Software Reset with FreeRTOS

/** @file sys_main.c 
*   @brief Application main file
*   @date 11-Dec-2018
*   @version 04.07.01
*
*   This file contains an empty main function,
*   which can be used for the application.
*/

/* 
* Copyright (C) 2009-2018 Texas Instruments Incorporated - www.ti.com 
* 
* 
*  Redistribution and use in source and binary forms, with or without 
*  modification, are permitted provided that the following conditions 
*  are met:
*
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*    notice, this list of conditions and the following disclaimer.
*
*    Redistributions in binary form must reproduce the above copyright
*    notice, this list of conditions and the following disclaimer in the 
*    documentation and/or other materials provided with the   
*    distribution.
*
*    Neither the name of Texas Instruments Incorporated nor the names of
*    its contributors may be used to endorse or promote products derived
*    from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
*  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
*  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
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*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/


/* USER CODE BEGIN (0) */
/* USER CODE END */

/* Include Files */

#include "sys_common.h"

/* USER CODE BEGIN (1) */
/* USER CODE END */

/** @fn void main(void)
*   @brief Application main function
*   @note This function is empty by default.
*
*   This function is called after startup.
*   The user can use this function to implement the application.
*/

/* USER CODE BEGIN (2) */
#include "FreeRTOS.h"
#include "os_task.h"
#include "gio.h"
#include "spi.h"
#include "reg_system.h"

void toggle_led();
void blinkTask(void *pvParameters);
void soft_reset();

xTaskHandle blinkTaskHandle;

/* USER CODE END */

int main(void)
{
/* USER CODE BEGIN (3) */
    gioInit();
    spiInit();

    xTaskCreate(blinkTask, "Blinky", configMINIMAL_STACK_SIZE,
                NULL, 1, &blinkTaskHandle);

    vTaskStartScheduler();


/* USER CODE END */

    return 0;
}


/* USER CODE BEGIN (4) */
void toggle_led(){
    gioToggleBit(spiPORT2, SPI_PIN_SIMO);
    gioToggleBit(spiPORT2, SPI_PIN_SOMI);
    gioToggleBit(spiPORT2, SPI_PIN_CLK);
}

void blinkTask(void *pvParameters){
    uint8_t blinky_counter = 0;

    while(1){
        toggle_led();

        blinky_counter++;
        if(blinky_counter == 6)
            soft_reset();
        vTaskDelay(300);
    }
}

void soft_reset(){
    systemREG1->SYSECR = 0x8000U;
}

/* USER CODE END */