/* | |
FreeRTOS V8.2.3 - 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 one or more tasks that repeatedly perform a set of integer | |
* calculations. The result of each run-time calculation is compared to the | |
* known expected result - with a mismatch being indicative of an error in the | |
* context switch mechanism. | |
*/ | |
#include <stdlib.h> | |
/* Scheduler include files. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Demo program include files. */ | |
#include "integer.h" | |
/* The constants used in the calculation. */ | |
#define intgCONST1 ( ( long ) 123 ) | |
#define intgCONST2 ( ( long ) 234567 ) | |
#define intgCONST3 ( ( long ) -3 ) | |
#define intgCONST4 ( ( long ) 7 ) | |
#define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 ) | |
#define intgSTACK_SIZE configMINIMAL_STACK_SIZE | |
/* As this is the minimal version, we will only create one task. */ | |
#define intgNUMBER_OF_TASKS ( 1 ) | |
/* The task function. Repeatedly performs a 32 bit calculation, checking the | |
result against the expected result. If the result is incorrect then the | |
context switch must have caused some corruption. */ | |
static portTASK_FUNCTION_PROTO( vCompeteingIntMathTask, pvParameters ); | |
/* Variables that are set to true within the calculation task to indicate | |
that the task is still executing. The check task sets the variable back to | |
false, flagging an error if the variable is still false the next time it | |
is called. */ | |
static volatile BaseType_t xTaskCheck[ intgNUMBER_OF_TASKS ] = { ( BaseType_t ) pdFALSE }; | |
/*-----------------------------------------------------------*/ | |
void vStartIntegerMathTasks( UBaseType_t uxPriority ) | |
{ | |
short sTask; | |
for( sTask = 0; sTask < intgNUMBER_OF_TASKS; sTask++ ) | |
{ | |
xTaskCreate( vCompeteingIntMathTask, "IntMath", intgSTACK_SIZE, ( void * ) &( xTaskCheck[ sTask ] ), uxPriority, ( TaskHandle_t * ) NULL ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static portTASK_FUNCTION( vCompeteingIntMathTask, pvParameters ) | |
{ | |
/* These variables are all effectively set to constants so they are volatile to | |
ensure the compiler does not just get rid of them. */ | |
volatile long lValue; | |
short sError = pdFALSE; | |
volatile BaseType_t *pxTaskHasExecuted; | |
/* Set a pointer to the variable we are going to set to true each | |
iteration. This is also a good test of the parameter passing mechanism | |
within each port. */ | |
pxTaskHasExecuted = ( volatile BaseType_t * ) pvParameters; | |
/* Keep performing a calculation and checking the result against a constant. */ | |
for( ;; ) | |
{ | |
/* Perform the calculation. This will store partial value in | |
registers, resulting in a good test of the context switch mechanism. */ | |
lValue = intgCONST1; | |
lValue += intgCONST2; | |
/* Yield in case cooperative scheduling is being used. */ | |
#if configUSE_PREEMPTION == 0 | |
{ | |
taskYIELD(); | |
} | |
#endif | |
/* Finish off the calculation. */ | |
lValue *= intgCONST3; | |
lValue /= intgCONST4; | |
/* If the calculation is found to be incorrect we stop setting the | |
TaskHasExecuted variable so the check task can see an error has | |
occurred. */ | |
if( lValue != intgEXPECTED_ANSWER ) /*lint !e774 volatile used to prevent this being optimised out. */ | |
{ | |
sError = pdTRUE; | |
} | |
if( sError == pdFALSE ) | |
{ | |
/* We have not encountered any errors, so set the flag that show | |
we are still executing. This will be periodically cleared by | |
the check task. */ | |
portENTER_CRITICAL(); | |
*pxTaskHasExecuted = pdTRUE; | |
portEXIT_CRITICAL(); | |
} | |
/* Yield in case cooperative scheduling is being used. */ | |
#if configUSE_PREEMPTION == 0 | |
{ | |
taskYIELD(); | |
} | |
#endif | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
/* This is called to check that all the created tasks are still running. */ | |
BaseType_t xAreIntegerMathsTaskStillRunning( void ) | |
{ | |
BaseType_t xReturn = pdTRUE; | |
short sTask; | |
/* Check the maths tasks are still running by ensuring their check variables | |
are still being set to true. */ | |
for( sTask = 0; sTask < intgNUMBER_OF_TASKS; sTask++ ) | |
{ | |
if( xTaskCheck[ sTask ] == pdFALSE ) | |
{ | |
/* The check has not incremented so an error exists. */ | |
xReturn = pdFALSE; | |
} | |
/* Reset the check variable so we can tell if it has been set by | |
the next time around. */ | |
xTaskCheck[ sTask ] = pdFALSE; | |
} | |
return xReturn; | |
} | |