/* | |
* 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. | |
*/ | |
/** | |
* This does the same as flop. c, but uses variables of type long instead of | |
* type double. | |
* | |
* As with flop. c, the tasks created in this file are a good test of the | |
* scheduler context switch mechanism. The processor has to access 32bit | |
* variables in two or four chunks (depending on the processor). The low | |
* priority of these tasks means there is a high probability that a context | |
* switch will occur mid calculation. See the flop. c documentation for | |
* more information. | |
* | |
* \page IntegerC integer.c | |
* \ingroup DemoFiles | |
* <HR> | |
*/ | |
/* | |
Changes from V1.2.1 | |
+ The constants used in the calculations are larger to ensure the | |
optimiser does not truncate them to 16 bits. | |
*/ | |
#include <stdlib.h> | |
/* Scheduler include files. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "print.h" | |
/* Demo program include files. */ | |
#include "integer.h" | |
#define intgSTACK_SIZE ( ( unsigned short ) 256 ) | |
#define intgNUMBER_OF_TASKS ( 8 ) | |
/* Four tasks, each of which performs a different calculation on four byte | |
variables. Each of the four is created twice. */ | |
static void vCompeteingIntMathTask1( void *pvParameters ); | |
static void vCompeteingIntMathTask2( void *pvParameters ); | |
static void vCompeteingIntMathTask3( void *pvParameters ); | |
static void vCompeteingIntMathTask4( 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[ intgNUMBER_OF_TASKS ] = { ( unsigned short ) 0 }; | |
/*-----------------------------------------------------------*/ | |
void vStartIntegerMathTasks( unsigned portBASE_TYPE uxPriority ) | |
{ | |
xTaskCreate( vCompeteingIntMathTask1, "IntMath1", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL ); | |
xTaskCreate( vCompeteingIntMathTask2, "IntMath2", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL ); | |
xTaskCreate( vCompeteingIntMathTask3, "IntMath3", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL ); | |
xTaskCreate( vCompeteingIntMathTask4, "IntMath4", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL ); | |
xTaskCreate( vCompeteingIntMathTask1, "IntMath5", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL ); | |
xTaskCreate( vCompeteingIntMathTask2, "IntMath6", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL ); | |
xTaskCreate( vCompeteingIntMathTask3, "IntMath7", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL ); | |
xTaskCreate( vCompeteingIntMathTask4, "IntMath8", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void vCompeteingIntMathTask1( void *pvParameters ) | |
{ | |
long l1, l2, l3, l4; | |
short sError = pdFALSE; | |
volatile unsigned short *pusTaskCheckVariable; | |
const long lAnswer = ( ( long ) 74565L + ( long ) 1234567L ) * ( long ) -918L; | |
const char * const pcTaskStartMsg = "Integer math task 1 started.\r\n"; | |
const char * const pcTaskFailMsg = "Integer math task 1 failed.\r\n"; | |
/* 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(;;) | |
{ | |
l1 = ( long ) 74565L; | |
l2 = ( long ) 1234567L; | |
l3 = ( long ) -918L; | |
l4 = ( l1 + l2 ) * l3; | |
taskYIELD(); | |
/* If the calculation does not match the expected constant, stop the | |
increment of the check variable. */ | |
if( l4 != lAnswer ) | |
{ | |
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 )++; | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void vCompeteingIntMathTask2( void *pvParameters ) | |
{ | |
long l1, l2, l3, l4; | |
short sError = pdFALSE; | |
volatile unsigned short *pusTaskCheckVariable; | |
const long lAnswer = ( ( long ) -389000L / ( long ) 329999L ) * ( long ) -89L; | |
const char * const pcTaskStartMsg = "Integer math task 2 started.\r\n"; | |
const char * const pcTaskFailMsg = "Integer math task 2 failed.\r\n"; | |
/* 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( ;; ) | |
{ | |
l1 = -389000L; | |
l2 = 329999L; | |
l3 = -89L; | |
l4 = ( l1 / l2 ) * l3; | |
taskYIELD(); | |
/* If the calculation does not match the expected constant, stop the | |
increment of the check variable. */ | |
if( l4 != lAnswer ) | |
{ | |
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 )++; | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void vCompeteingIntMathTask3( void *pvParameters ) | |
{ | |
long *plArray, lTotal1, lTotal2; | |
short sError = pdFALSE; | |
volatile unsigned short *pusTaskCheckVariable; | |
const unsigned short usArraySize = ( unsigned short ) 250; | |
unsigned short usPosition; | |
const char * const pcTaskStartMsg = "Integer math task 3 started.\r\n"; | |
const char * const pcTaskFailMsg = "Integer math task 3 failed.\r\n"; | |
/* 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; | |
/* Create the array we are going to use for our check calculation. */ | |
plArray = ( long * ) pvPortMalloc( ( size_t ) 250 * sizeof( long ) ); | |
/* Keep filling the 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( ;; ) | |
{ | |
lTotal1 = ( long ) 0; | |
lTotal2 = ( long ) 0; | |
for( usPosition = 0; usPosition < usArraySize; usPosition++ ) | |
{ | |
plArray[ usPosition ] = ( long ) usPosition + ( long ) 5; | |
lTotal1 += ( long ) usPosition + ( long ) 5; | |
} | |
taskYIELD(); | |
for( usPosition = 0; usPosition < usArraySize; usPosition++ ) | |
{ | |
lTotal2 += plArray[ usPosition ]; | |
} | |
if( lTotal1 != lTotal2 ) | |
{ | |
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 vCompeteingIntMathTask4( void *pvParameters ) | |
{ | |
long *plArray, lTotal1, lTotal2; | |
short sError = pdFALSE; | |
volatile unsigned short *pusTaskCheckVariable; | |
const unsigned short usArraySize = 250; | |
unsigned short usPosition; | |
const char * const pcTaskStartMsg = "Integer math task 4 started.\r\n"; | |
const char * const pcTaskFailMsg = "Integer math task 4 failed.\r\n"; | |
/* 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; | |
/* Create the array we are going to use for our check calculation. */ | |
plArray = ( long * ) pvPortMalloc( ( size_t ) 250 * sizeof( long ) ); | |
/* Keep filling the 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( ;; ) | |
{ | |
lTotal1 = ( long ) 0; | |
lTotal2 = ( long ) 0; | |
for( usPosition = 0; usPosition < usArraySize; usPosition++ ) | |
{ | |
plArray[ usPosition ] = ( long ) usPosition * ( long ) 12; | |
lTotal1 += ( long ) usPosition * ( long ) 12; | |
} | |
taskYIELD(); | |
for( usPosition = 0; usPosition < usArraySize; usPosition++ ) | |
{ | |
lTotal2 += plArray[ usPosition ]; | |
} | |
if( lTotal1 != lTotal2 ) | |
{ | |
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 xAreIntegerMathsTaskStillRunning( void ) | |
{ | |
/* Keep a history of the check variables so we know if they have been incremented | |
since the last call. */ | |
static unsigned short usLastTaskCheck[ intgNUMBER_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 < intgNUMBER_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; | |
} |