/*
	FreeRTOS.org V5.2.0 - Copyright (C) 2003-2009 Richard Barry.

	This file is part of the FreeRTOS.org distribution.

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	under the terms of the GNU General Public License (version 2) as published
	by the Free Software Foundation and modified by the FreeRTOS exception.

	FreeRTOS.org is distributed in the hope that it will be useful,	but WITHOUT
	ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or 
	FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for 
	more details.

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	with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59 
	Temple Place, Suite 330, Boston, MA  02111-1307  USA.

	A special exception to the GPL is included to allow you to distribute a 
	combined work that includes FreeRTOS.org without being obliged to provide
	the source code for any proprietary components.  See the licensing section
	of http://www.FreeRTOS.org for full details.


	***************************************************************************
	*                                                                         *
	* Get the FreeRTOS eBook!  See http://www.FreeRTOS.org/Documentation      *
	*                                                                         *
	* This is a concise, step by step, 'hands on' guide that describes both   *
	* general multitasking concepts and FreeRTOS specifics. It presents and   *
	* explains numerous examples that are written using the FreeRTOS API.     *
	* Full source code for all the examples is provided in an accompanying    *
	* .zip file.                                                              *
	*                                                                         *
	***************************************************************************

	1 tab == 4 spaces!

	Please ensure to read the configuration and relevant port sections of the
	online documentation.

	http://www.FreeRTOS.org - Documentation, latest information, license and
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	http://www.SafeRTOS.com - A version that is certified for use in safety
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*/

/*
Changes from V1.2.3
	
	+ The created tasks now include calls to tskYIELD(), allowing them to be used
	  with the cooperative scheduler.
*/

/**
 * Creates eight tasks, each of which loops continuously performing an (emulated) 
 * floating point calculation.
 *
 * All the tasks run at the idle priority and never block or yield.  This causes 
 * all eight tasks to time slice with the idle task.  Running at the idle priority 
 * means that these tasks will get pre-empted any time another task is ready to run
 * or a time slice occurs.  More often than not the pre-emption will occur mid 
 * calculation, creating a good test of the schedulers context switch mechanism - a 
 * calculation producing an unexpected result could be a symptom of a corruption in 
 * the context of a task.
 *
 * \page FlopC flop.c
 * \ingroup DemoFiles
 * <HR>
 */

#include <stdlib.h>
#include <math.h>

/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "print.h"

/* Demo program include files. */
#include "flop.h"

#define mathSTACK_SIZE		( ( unsigned portSHORT ) 512 )
#define mathNUMBER_OF_TASKS  ( 8 )

/* Four tasks, each of which performs a different floating point calculation.  
Each of the four is created twice. */
static void vCompetingMathTask1( void *pvParameters );
static void vCompetingMathTask2( void *pvParameters );
static void vCompetingMathTask3( void *pvParameters );
static void vCompetingMathTask4( void *pvParameters );

/* These variables are used to check that all the tasks are still running.  If a 
task gets a calculation wrong it will
stop incrementing its check variable. */
static volatile unsigned portSHORT usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 0 };

/*-----------------------------------------------------------*/

void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
{
	xTaskCreate( vCompetingMathTask1, "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
	xTaskCreate( vCompetingMathTask2, "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
	xTaskCreate( vCompetingMathTask3, "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
	xTaskCreate( vCompetingMathTask4, "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
	xTaskCreate( vCompetingMathTask1, "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );
	xTaskCreate( vCompetingMathTask2, "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );
	xTaskCreate( vCompetingMathTask3, "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );
	xTaskCreate( vCompetingMathTask4, "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );
}
/*-----------------------------------------------------------*/

static void vCompetingMathTask1( void *pvParameters )
{
portDOUBLE d1, d2, d3, d4;
volatile unsigned portSHORT *pusTaskCheckVariable;
const portDOUBLE dAnswer = ( 123.4567 + 2345.6789 ) * -918.222;
const portCHAR * const pcTaskStartMsg = "Math task 1 started.\r\n";
const portCHAR * const pcTaskFailMsg = "Math task 1 failed.\r\n";
portSHORT sError = pdFALSE;

	/* Queue a message for printing to say the task has started. */
	vPrintDisplayMessage( &pcTaskStartMsg );

	/* The variable this task increments to show it is still running is passed in 
	as the parameter. */
	pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;

	/* Keep performing a calculation and checking the result against a constant. */
	for(;;)
	{
		d1 = 123.4567;
		d2 = 2345.6789;
		d3 = -918.222;

		d4 = ( d1 + d2 ) * d3;

		taskYIELD();

		/* If the calculation does not match the expected constant, stop the 
		increment of the check variable. */
		if( fabs( d4 - dAnswer ) > 0.001 )
		{
			vPrintDisplayMessage( &pcTaskFailMsg );
			sError = pdTRUE;
		}

		if( sError == pdFALSE )
		{
			/* If the calculation has always been correct, increment the check 
			variable so we know this task is still running okay. */
			( *pusTaskCheckVariable )++;
		}

		taskYIELD();
	}
}
/*-----------------------------------------------------------*/

static void vCompetingMathTask2( void *pvParameters )
{
portDOUBLE d1, d2, d3, d4;
volatile unsigned portSHORT *pusTaskCheckVariable;
const portDOUBLE dAnswer = ( -389.38 / 32498.2 ) * -2.0001;
const portCHAR * const pcTaskStartMsg = "Math task 2 started.\r\n";
const portCHAR * const pcTaskFailMsg = "Math task 2 failed.\r\n";
portSHORT sError = pdFALSE;

	/* Queue a message for printing to say the task has started. */
	vPrintDisplayMessage( &pcTaskStartMsg );

	/* The variable this task increments to show it is still running is passed in 
	as the parameter. */
	pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;

	/* Keep performing a calculation and checking the result against a constant. */
	for( ;; )
	{
		d1 = -389.38;
		d2 = 32498.2;
		d3 = -2.0001;

		d4 = ( d1 / d2 ) * d3;

		taskYIELD();
		
		/* If the calculation does not match the expected constant, stop the 
		increment of the check variable. */
		if( fabs( d4 - dAnswer ) > 0.001 )
		{
			vPrintDisplayMessage( &pcTaskFailMsg );
			sError = pdTRUE;
		}

		if( sError == pdFALSE )
		{
			/* If the calculation has always been correct, increment the check 
			variable so we know
			this task is still running okay. */
			( *pusTaskCheckVariable )++;
		}

		taskYIELD();
	}
}
/*-----------------------------------------------------------*/

static void vCompetingMathTask3( void *pvParameters )
{
portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
volatile unsigned portSHORT *pusTaskCheckVariable;
const unsigned portSHORT usArraySize = 250;
unsigned portSHORT usPosition;
const portCHAR * const pcTaskStartMsg = "Math task 3 started.\r\n";
const portCHAR * const pcTaskFailMsg = "Math task 3 failed.\r\n";
portSHORT sError = pdFALSE;

	/* Queue a message for printing to say the task has started. */
	vPrintDisplayMessage( &pcTaskStartMsg );

	/* The variable this task increments to show it is still running is passed in 
	as the parameter. */
	pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;

	pdArray = ( portDOUBLE * ) pvPortMalloc( ( size_t ) 250 * sizeof( portDOUBLE ) );

	/* Keep filling an array, keeping a running total of the values placed in the 
	array.  Then run through the array adding up all the values.  If the two totals 
	do not match, stop the check variable from incrementing. */
	for( ;; )
	{
		dTotal1 = 0.0;
		dTotal2 = 0.0;

		for( usPosition = 0; usPosition < usArraySize; usPosition++ )
		{
			pdArray[ usPosition ] = ( portDOUBLE ) usPosition + 5.5;
			dTotal1 += ( portDOUBLE ) usPosition + 5.5;	
		}

		taskYIELD();

		for( usPosition = 0; usPosition < usArraySize; usPosition++ )
		{
			dTotal2 += pdArray[ usPosition ];
		}

		dDifference = dTotal1 - dTotal2;
		if( fabs( dDifference ) > 0.001 )
		{
			vPrintDisplayMessage( &pcTaskFailMsg );
			sError = pdTRUE;
		}

		taskYIELD();

		if( sError == pdFALSE )
		{
			/* If the calculation has always been correct, increment the check 
			variable so we know	this task is still running okay. */
			( *pusTaskCheckVariable )++;
		}
	}
}
/*-----------------------------------------------------------*/

static void vCompetingMathTask4( void *pvParameters )
{
portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
volatile unsigned portSHORT *pusTaskCheckVariable;
const unsigned portSHORT usArraySize = 250;
unsigned portSHORT usPosition;
const portCHAR * const pcTaskStartMsg = "Math task 4 started.\r\n";
const portCHAR * const pcTaskFailMsg = "Math task 4 failed.\r\n";
portSHORT sError = pdFALSE;

	/* Queue a message for printing to say the task has started. */
	vPrintDisplayMessage( &pcTaskStartMsg );

	/* The variable this task increments to show it is still running is passed in 
	as the parameter. */
	pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;

	pdArray = ( portDOUBLE * ) pvPortMalloc( ( size_t ) 250 * sizeof( portDOUBLE ) );

	/* Keep filling an array, keeping a running total of the values placed in the 
	array.  Then run through the array adding up all the values.  If the two totals 
	do not match, stop the check variable from incrementing. */
	for( ;; )
	{
		dTotal1 = 0.0;
		dTotal2 = 0.0;

		for( usPosition = 0; usPosition < usArraySize; usPosition++ )
		{
			pdArray[ usPosition ] = ( portDOUBLE ) usPosition * 12.123;
			dTotal1 += ( portDOUBLE ) usPosition * 12.123;	
		}

		taskYIELD();

		for( usPosition = 0; usPosition < usArraySize; usPosition++ )
		{
			dTotal2 += pdArray[ usPosition ];
		}

		dDifference = dTotal1 - dTotal2;
		if( fabs( dDifference ) > 0.001 )
		{
			vPrintDisplayMessage( &pcTaskFailMsg );
			sError = pdTRUE;
		}

		taskYIELD();

		if( sError == pdFALSE )
		{
			/* If the calculation has always been correct, increment the check 
			variable so we know	this task is still running okay. */
			( *pusTaskCheckVariable )++;
		}
	}
}
/*-----------------------------------------------------------*/

/* This is called to check that all the created tasks are still running. */
portBASE_TYPE xAreMathsTaskStillRunning( void )
{
/* Keep a history of the check variables so we know if they have been incremented 
since the last call. */
static unsigned portSHORT usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 0 };
portBASE_TYPE xReturn = pdTRUE, xTask;

	/* Check the maths tasks are still running by ensuring their check variables 
	are still incrementing. */
	for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
	{
		if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
		{
			/* The check has not incremented so an error exists. */
			xReturn = pdFALSE;
		}

		usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
	}

	return xReturn;
}