FreeRTOS/Demo/SuperH_SH7216_Renesas/RTOSDemo/flop.c - third_party/github/FreeRTOS/FreeRTOS-Kernel - Git at Google

 /*
     FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.
     All rights reserved

     VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

     This file is part of the FreeRTOS distribution.

     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.

     ***************************************************************************
     >>!   NOTE: The modification to the GPL is included to allow you to     !<<
     >>!   distribute a combined work that includes FreeRTOS without being   !<<
     >>!   obliged to provide the source code for proprietary components     !<<
     >>!   outside of the FreeRTOS kernel.                                   !<<
     ***************************************************************************

     FreeRTOS 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.  Full license text is available on the following
     link: http://www.freertos.org/a00114.html

     ***************************************************************************
      *                                                                       *
      *    FreeRTOS provides completely free yet professionally developed,    *
      *    robust, strictly quality controlled, supported, and cross          *
      *    platform software that is more than just the market leader, it     *
      *    is the industry's de facto standard.                               *
      *                                                                       *
      *    Help yourself get started quickly while simultaneously helping     *
      *    to support the FreeRTOS project by purchasing a FreeRTOS           *
      *    tutorial book, reference manual, or both:                          *
      *    http://www.FreeRTOS.org/Documentation                              *
      *                                                                       *
     ***************************************************************************

     http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
     the FAQ page "My application does not run, what could be wrong?".  Have you
     defined configASSERT()?

     http://www.FreeRTOS.org/support - In return for receiving this top quality
     embedded software for free we request you assist our global community by
     participating in the support forum.

     http://www.FreeRTOS.org/training - Investing in training allows your team to
     be as productive as possible as early as possible.  Now you can receive
     FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
     Ltd, and the world's leading authority on the world's leading RTOS.

     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
     including FreeRTOS+Trace - an indispensable productivity tool, a DOS
     compatible FAT file system, and our tiny thread aware UDP/IP stack.

     http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
     Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

     http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
     Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
     licenses offer ticketed support, indemnification and commercial middleware.

     http://www.SafeRTOS.com - High Integrity Systems also provide a safety
     engineered and independently SIL3 certified version for use in safety and
     mission critical applications that require provable dependability.

     1 tab == 4 spaces!
 */

 /*
  * Creates eight tasks, each of which loops continuously performing a floating
  * point calculation and in so doing test the floating point context switching.
  * This file also demonstrates the use of the xPortUsesFloatingPoint() function
  * which informs the kernel that the task requires its floating point context
  * saved on each switch.
  *
  * 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.
  */

 #include <stdlib.h>
 #include <math.h>

 /* Scheduler include files. */
 #include "FreeRTOS.h"
 #include "task.h"

 /* Demo program include files. */
 #include "flop.h"

 #define mathSTACK_SIZE		configMINIMAL_STACK_SIZE
 #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,
 otherwise the check variable will get incremented on each iteration of the
 tasks execution. */
 static volatile unsigned short usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };

 /*-----------------------------------------------------------*/

 void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
 {
 TaskHandle_t xCreatedTask;

 	/* Create one of the floating point tasks... */
 	xTaskCreate( vCompetingMathTask1, "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, &xCreatedTask );

 	/* ... then enable floating point support for the created task so its flop
 	flop registers are maintained in a consistent state. */
 	xPortUsesFloatingPoint( xCreatedTask );

 	xTaskCreate( vCompetingMathTask2, "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, &xCreatedTask );
 	xPortUsesFloatingPoint( xCreatedTask );

 	xTaskCreate( vCompetingMathTask3, "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, &xCreatedTask );
 	xPortUsesFloatingPoint( xCreatedTask );

 	xTaskCreate( vCompetingMathTask4, "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, &xCreatedTask );
 	xPortUsesFloatingPoint( xCreatedTask );

 	xTaskCreate( vCompetingMathTask1, "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, &xCreatedTask );
 	xPortUsesFloatingPoint( xCreatedTask );

 	xTaskCreate( vCompetingMathTask2, "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, &xCreatedTask );
 	xPortUsesFloatingPoint( xCreatedTask );

 	xTaskCreate( vCompetingMathTask3, "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, &xCreatedTask );
 	xPortUsesFloatingPoint( xCreatedTask );

 	xTaskCreate( vCompetingMathTask4, "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, &xCreatedTask );
 	xPortUsesFloatingPoint( xCreatedTask );
 }
 /*-----------------------------------------------------------*/

 static void vCompetingMathTask1( void *pvParameters )
 {
 volatile double d1, d2, d3, d4;
 volatile unsigned short *pusTaskCheckVariable;
 volatile double dAnswer;
 short sError = pdFALSE;

 	d1 = 123.4567;
 	d2 = 2345.6789;
 	d3 = -918.222;

 	/* Calculate the expected answer. */
 	dAnswer = ( d1 + d2 ) * d3;

 	/* 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(;;)
 	{
 		/* Perform the calculation. */
 		d1 = 123.4567;
 		d2 = 2345.6789;
 		d3 = -918.222;

 		d4 = ( d1 + d2 ) * d3;

 		/* If the calculation does not match the expected constant, stop the
 		increment of the check variable. */
 		if( fabs( d4 - dAnswer ) > 0.001 )
 		{
 			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 vCompetingMathTask2( void *pvParameters )
 {
 volatile double d1, d2, d3, d4;
 volatile unsigned short *pusTaskCheckVariable;
 volatile double dAnswer;
 short sError = pdFALSE;

 	d1 = -389.38;
 	d2 = 32498.2;
 	d3 = -2.0001;

 	/* Calculate the expected answer. */
 	dAnswer = ( d1 / d2 ) * d3;


 	/* 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( ;; )
 	{
 		/* Perform the calculation. */
 		d1 = -389.38;
 		d2 = 32498.2;
 		d3 = -2.0001;

 		d4 = ( d1 / d2 ) * d3;

 		/* If the calculation does not match the expected constant, stop the
 		increment of the check variable. */
 		if( fabs( d4 - dAnswer ) > 0.001 )
 		{
 			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 vCompetingMathTask3( void *pvParameters )
 {
 volatile double *pdArray, dTotal1, dTotal2, dDifference;
 volatile unsigned short *pusTaskCheckVariable;
 const size_t xArraySize = 10;
 size_t xPosition;
 short sError = pdFALSE;

 	/* The variable this task increments to show it is still running is passed
 	in as the parameter. */
 	pusTaskCheckVariable = ( unsigned short * ) pvParameters;

 	/* Allocate memory for use as an array. */
 	pdArray = ( double * ) pvPortMalloc( xArraySize * sizeof( double ) );

 	/* 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( xPosition = 0; xPosition < xArraySize; xPosition++ )
 		{
 			pdArray[ xPosition ] = ( double ) xPosition + 5.5;
 			dTotal1 += ( double ) xPosition + 5.5;
 		}

 		for( xPosition = 0; xPosition < xArraySize; xPosition++ )
 		{
 			dTotal2 += pdArray[ xPosition ];
 		}

 		dDifference = dTotal1 - dTotal2;
 		if( fabs( dDifference ) > 0.001 )
 		{
 			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 vCompetingMathTask4( void *pvParameters )
 {
 volatile double *pdArray, dTotal1, dTotal2, dDifference;
 volatile unsigned short *pusTaskCheckVariable;
 const size_t xArraySize = 10;
 size_t xPosition;
 short sError = pdFALSE;

 	/* The variable this task increments to show it is still running is passed in
 	as the parameter. */
 	pusTaskCheckVariable = ( unsigned short * ) pvParameters;

 	/* Allocate RAM for use as an array. */
 	pdArray = ( double * ) pvPortMalloc( xArraySize * sizeof( double ) );

 	/* 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( xPosition = 0; xPosition < xArraySize; xPosition++ )
 		{
 			pdArray[ xPosition ] = ( double ) xPosition * 12.123;
 			dTotal1 += ( double ) xPosition * 12.123;
 		}

 		for( xPosition = 0; xPosition < xArraySize; xPosition++ )
 		{
 			dTotal2 += pdArray[ xPosition ];
 		}

 		dDifference = dTotal1 - dTotal2;
 		if( fabs( dDifference ) > 0.001 )
 		{
 			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 )++;
 		}
 	}
 }
 /*-----------------------------------------------------------*/

 /* 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;
 }
	/*
	FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.
	All rights reserved

	VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

	This file is part of the FreeRTOS distribution.

	FreeRTOS is free software; you can redistribute it and/or modify it under
	the terms of the GNU General Public License (version 2) as published by the
	Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.

	***************************************************************************
	>>! NOTE: The modification to the GPL is included to allow you to !<<
	>>! distribute a combined work that includes FreeRTOS without being !<<
	>>! obliged to provide the source code for proprietary components !<<
	>>! outside of the FreeRTOS kernel. !<<
	***************************************************************************

	FreeRTOS 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. Full license text is available on the following
	link: http://www.freertos.org/a00114.html

	***************************************************************************
	* *
	* FreeRTOS provides completely free yet professionally developed, *
	* robust, strictly quality controlled, supported, and cross *
	* platform software that is more than just the market leader, it *
	* is the industry's de facto standard. *
	* *
	* Help yourself get started quickly while simultaneously helping *
	* to support the FreeRTOS project by purchasing a FreeRTOS *
	* tutorial book, reference manual, or both: *
	* http://www.FreeRTOS.org/Documentation *
	* *
	***************************************************************************

	http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
	the FAQ page "My application does not run, what could be wrong?". Have you
	defined configASSERT()?

	http://www.FreeRTOS.org/support - In return for receiving this top quality
	embedded software for free we request you assist our global community by
	participating in the support forum.

	http://www.FreeRTOS.org/training - Investing in training allows your team to
	be as productive as possible as early as possible. Now you can receive
	FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
	Ltd, and the world's leading authority on the world's leading RTOS.

	http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
	including FreeRTOS+Trace - an indispensable productivity tool, a DOS
	compatible FAT file system, and our tiny thread aware UDP/IP stack.

	http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
	Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

	http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
	Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
	licenses offer ticketed support, indemnification and commercial middleware.

	http://www.SafeRTOS.com - High Integrity Systems also provide a safety
	engineered and independently SIL3 certified version for use in safety and
	mission critical applications that require provable dependability.

	1 tab == 4 spaces!
	*/

	/*
	* Creates eight tasks, each of which loops continuously performing a floating
	* point calculation and in so doing test the floating point context switching.
	* This file also demonstrates the use of the xPortUsesFloatingPoint() function
	* which informs the kernel that the task requires its floating point context
	* saved on each switch.
	*
	* 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.
	*/

	#include <stdlib.h>
	#include <math.h>

	/* Scheduler include files. */
	#include "FreeRTOS.h"
	#include "task.h"

	/* Demo program include files. */
	#include "flop.h"

	#define mathSTACK_SIZE configMINIMAL_STACK_SIZE
	#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,
	otherwise the check variable will get incremented on each iteration of the
	tasks execution. */
	static volatile unsigned short usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };

	/-----------------------------------------------------------/

	void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
	{
	TaskHandle_t xCreatedTask;

	/* Create one of the floating point tasks... */
	xTaskCreate( vCompetingMathTask1, "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, &xCreatedTask );

	/* ... then enable floating point support for the created task so its flop
	flop registers are maintained in a consistent state. */
	xPortUsesFloatingPoint( xCreatedTask );

	xTaskCreate( vCompetingMathTask2, "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, &xCreatedTask );
	xPortUsesFloatingPoint( xCreatedTask );

	xTaskCreate( vCompetingMathTask3, "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, &xCreatedTask );
	xPortUsesFloatingPoint( xCreatedTask );

	xTaskCreate( vCompetingMathTask4, "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, &xCreatedTask );
	xPortUsesFloatingPoint( xCreatedTask );

	xTaskCreate( vCompetingMathTask1, "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, &xCreatedTask );
	xPortUsesFloatingPoint( xCreatedTask );

	xTaskCreate( vCompetingMathTask2, "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, &xCreatedTask );
	xPortUsesFloatingPoint( xCreatedTask );

	xTaskCreate( vCompetingMathTask3, "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, &xCreatedTask );
	xPortUsesFloatingPoint( xCreatedTask );

	xTaskCreate( vCompetingMathTask4, "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, &xCreatedTask );
	xPortUsesFloatingPoint( xCreatedTask );
	}
	/-----------------------------------------------------------/

	static void vCompetingMathTask1( void *pvParameters )
	{
	volatile double d1, d2, d3, d4;
	volatile unsigned short *pusTaskCheckVariable;
	volatile double dAnswer;
	short sError = pdFALSE;

	d1 = 123.4567;
	d2 = 2345.6789;
	d3 = -918.222;

	/* Calculate the expected answer. */
	dAnswer = ( d1 + d2 ) * d3;

	/* 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(;;)
	{
	/* Perform the calculation. */
	d1 = 123.4567;
	d2 = 2345.6789;
	d3 = -918.222;

	d4 = ( d1 + d2 ) * d3;

	/* If the calculation does not match the expected constant, stop the
	increment of the check variable. */
	if( fabs( d4 - dAnswer ) > 0.001 )
	{
	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 vCompetingMathTask2( void *pvParameters )
	{
	volatile double d1, d2, d3, d4;
	volatile unsigned short *pusTaskCheckVariable;
	volatile double dAnswer;
	short sError = pdFALSE;

	d1 = -389.38;
	d2 = 32498.2;
	d3 = -2.0001;

	/* Calculate the expected answer. */
	dAnswer = ( d1 / d2 ) * d3;


	/* 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( ;; )
	{
	/* Perform the calculation. */
	d1 = -389.38;
	d2 = 32498.2;
	d3 = -2.0001;

	d4 = ( d1 / d2 ) * d3;

	/* If the calculation does not match the expected constant, stop the
	increment of the check variable. */
	if( fabs( d4 - dAnswer ) > 0.001 )
	{
	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 vCompetingMathTask3( void *pvParameters )
	{
	volatile double *pdArray, dTotal1, dTotal2, dDifference;
	volatile unsigned short *pusTaskCheckVariable;
	const size_t xArraySize = 10;
	size_t xPosition;
	short sError = pdFALSE;

	/* The variable this task increments to show it is still running is passed
	in as the parameter. */
	pusTaskCheckVariable = ( unsigned short * ) pvParameters;

	/* Allocate memory for use as an array. */
	pdArray = ( double * ) pvPortMalloc( xArraySize * sizeof( double ) );

	/* 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( xPosition = 0; xPosition < xArraySize; xPosition++ )
	{
	pdArray[ xPosition ] = ( double ) xPosition + 5.5;
	dTotal1 += ( double ) xPosition + 5.5;
	}

	for( xPosition = 0; xPosition < xArraySize; xPosition++ )
	{
	dTotal2 += pdArray[ xPosition ];
	}

	dDifference = dTotal1 - dTotal2;
	if( fabs( dDifference ) > 0.001 )
	{
	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 vCompetingMathTask4( void *pvParameters )
	{
	volatile double *pdArray, dTotal1, dTotal2, dDifference;
	volatile unsigned short *pusTaskCheckVariable;
	const size_t xArraySize = 10;
	size_t xPosition;
	short sError = pdFALSE;

	/* The variable this task increments to show it is still running is passed in
	as the parameter. */
	pusTaskCheckVariable = ( unsigned short * ) pvParameters;

	/* Allocate RAM for use as an array. */
	pdArray = ( double * ) pvPortMalloc( xArraySize * sizeof( double ) );

	/* 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( xPosition = 0; xPosition < xArraySize; xPosition++ )
	{
	pdArray[ xPosition ] = ( double ) xPosition * 12.123;
	dTotal1 += ( double ) xPosition * 12.123;
	}

	for( xPosition = 0; xPosition < xArraySize; xPosition++ )
	{
	dTotal2 += pdArray[ xPosition ];
	}

	dDifference = dTotal1 - dTotal2;
	if( fabs( dDifference ) > 0.001 )
	{
	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 )++;
	}
	}
	}
	/-----------------------------------------------------------/

	/* 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;
	}