/* | |
* FreeRTOS Kernel V10.3.0 | |
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. | |
* | |
* Permission is hereby granted, free of charge, to any person obtaining a copy of | |
* this software and associated documentation files (the "Software"), to deal in | |
* the Software without restriction, including without limitation the rights to | |
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of | |
* the Software, and to permit persons to whom the Software is furnished to do so, | |
* subject to the following conditions: | |
* | |
* The above copyright notice and this permission notice shall be included in all | |
* copies or substantial portions of the Software. | |
* | |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS | |
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR | |
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER | |
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN | |
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | |
* | |
* http://www.FreeRTOS.org | |
* http://aws.amazon.com/freertos | |
* | |
* 1 tab == 4 spaces! | |
*/ | |
/* | |
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 short ) 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 short usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 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 short *pusTaskCheckVariable; | |
const portDOUBLE dAnswer = ( 123.4567 + 2345.6789 ) * -918.222; | |
const char * const pcTaskStartMsg = "Math task 1 started.\r\n"; | |
const char * const pcTaskFailMsg = "Math task 1 failed.\r\n"; | |
short 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 short * ) 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 short *pusTaskCheckVariable; | |
const portDOUBLE dAnswer = ( -389.38 / 32498.2 ) * -2.0001; | |
const char * const pcTaskStartMsg = "Math task 2 started.\r\n"; | |
const char * const pcTaskFailMsg = "Math task 2 failed.\r\n"; | |
short 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 short * ) 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 short *pusTaskCheckVariable; | |
const unsigned short usArraySize = 250; | |
unsigned short usPosition; | |
const char * const pcTaskStartMsg = "Math task 3 started.\r\n"; | |
const char * const pcTaskFailMsg = "Math task 3 failed.\r\n"; | |
short 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 short * ) 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 short *pusTaskCheckVariable; | |
const unsigned short usArraySize = 250; | |
unsigned short usPosition; | |
const char * const pcTaskStartMsg = "Math task 4 started.\r\n"; | |
const char * const pcTaskFailMsg = "Math task 4 failed.\r\n"; | |
short 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 short * ) 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 short usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 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; | |
} | |