/* | |
FreeRTOS V9.0.1 - Copyright (C) 2017 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 * | |
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* http://www.FreeRTOS.org/Documentation * | |
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*************************************************************************** | |
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()? | |
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1 tab == 4 spaces! | |
*/ | |
/* | |
* Creates eight tasks, each of which loops continuously performing a 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. | |
*/ | |
/* Standard includes. */ | |
#include <stdlib.h> | |
#include <math.h> | |
/* Scheduler include files. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Demo program include files. */ | |
#include "flop.h" | |
#ifndef mathSTACK_SIZE | |
#define mathSTACK_SIZE configMINIMAL_STACK_SIZE | |
#endif | |
#define mathNUMBER_OF_TASKS ( 4 ) | |
/* Four tasks, each of which performs a different floating point calculation. | |
Each of the four is created twice. */ | |
static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters ); | |
static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters ); | |
static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters ); | |
static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters ); | |
/* These variables are used to check that all the tasks are still running. If a | |
task gets a calculation wrong it will stop setting its check variable. */ | |
static uint16_t usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( uint16_t ) 0 }; | |
/*-----------------------------------------------------------*/ | |
void vStartMathTasks( UBaseType_t 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 ); | |
} | |
/*-----------------------------------------------------------*/ | |
static portTASK_FUNCTION( vCompetingMathTask1, pvParameters ) | |
{ | |
volatile portDOUBLE d1, d2, d3, d4; | |
volatile uint16_t *pusTaskCheckVariable; | |
volatile portDOUBLE dAnswer; | |
short sError = pdFALSE; | |
/* Some ports require that tasks that use a hardware floating point unit | |
tell the kernel that they require a floating point context before any | |
floating point instructions are executed. */ | |
portTASK_USES_FLOATING_POINT(); | |
d1 = 123.4567; | |
d2 = 2345.6789; | |
d3 = -918.222; | |
dAnswer = ( d1 + d2 ) * d3; | |
/* The variable this task increments to show it is still running is passed in | |
as the parameter. */ | |
pusTaskCheckVariable = ( volatile uint16_t * ) 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; | |
#if configUSE_PREEMPTION == 0 | |
taskYIELD(); | |
#endif | |
/* 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 then set set the check | |
variable. The check variable will get set to pdFALSE each time | |
xAreMathsTaskStillRunning() is executed. */ | |
( *pusTaskCheckVariable ) = pdTRUE; | |
} | |
#if configUSE_PREEMPTION == 0 | |
taskYIELD(); | |
#endif | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static portTASK_FUNCTION( vCompetingMathTask2, pvParameters ) | |
{ | |
volatile portDOUBLE d1, d2, d3, d4; | |
volatile uint16_t *pusTaskCheckVariable; | |
volatile portDOUBLE dAnswer; | |
short sError = pdFALSE; | |
/* Some ports require that tasks that use a hardware floating point unit | |
tell the kernel that they require a floating point context before any | |
floating point instructions are executed. */ | |
portTASK_USES_FLOATING_POINT(); | |
d1 = -389.38; | |
d2 = 32498.2; | |
d3 = -2.0001; | |
dAnswer = ( d1 / d2 ) * d3; | |
/* The variable this task increments to show it is still running is passed in | |
as the parameter. */ | |
pusTaskCheckVariable = ( volatile uint16_t * ) 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; | |
#if configUSE_PREEMPTION == 0 | |
taskYIELD(); | |
#endif | |
/* 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 then set set the check | |
variable. The check variable will get set to pdFALSE each time | |
xAreMathsTaskStillRunning() is executed. */ | |
( *pusTaskCheckVariable ) = pdTRUE; | |
} | |
#if configUSE_PREEMPTION == 0 | |
taskYIELD(); | |
#endif | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static portTASK_FUNCTION( vCompetingMathTask3, pvParameters ) | |
{ | |
volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference; | |
volatile uint16_t *pusTaskCheckVariable; | |
const size_t xArraySize = 10; | |
size_t xPosition; | |
short sError = pdFALSE; | |
/* Some ports require that tasks that use a hardware floating point unit | |
tell the kernel that they require a floating point context before any | |
floating point instructions are executed. */ | |
portTASK_USES_FLOATING_POINT(); | |
/* The variable this task increments to show it is still running is passed in | |
as the parameter. */ | |
pusTaskCheckVariable = ( volatile uint16_t * ) pvParameters; | |
pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * 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( xPosition = 0; xPosition < xArraySize; xPosition++ ) | |
{ | |
pdArray[ xPosition ] = ( portDOUBLE ) xPosition + 5.5; | |
dTotal1 += ( portDOUBLE ) xPosition + 5.5; | |
} | |
#if configUSE_PREEMPTION == 0 | |
taskYIELD(); | |
#endif | |
for( xPosition = 0; xPosition < xArraySize; xPosition++ ) | |
{ | |
dTotal2 += pdArray[ xPosition ]; | |
} | |
dDifference = dTotal1 - dTotal2; | |
if( fabs( dDifference ) > 0.001 ) | |
{ | |
sError = pdTRUE; | |
} | |
#if configUSE_PREEMPTION == 0 | |
taskYIELD(); | |
#endif | |
if( sError == pdFALSE ) | |
{ | |
/* If the calculation has always been correct then set set the check | |
variable. The check variable will get set to pdFALSE each time | |
xAreMathsTaskStillRunning() is executed. */ | |
( *pusTaskCheckVariable ) = pdTRUE; | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static portTASK_FUNCTION( vCompetingMathTask4, pvParameters ) | |
{ | |
volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference; | |
volatile uint16_t *pusTaskCheckVariable; | |
const size_t xArraySize = 10; | |
size_t xPosition; | |
short sError = pdFALSE; | |
/* Some ports require that tasks that use a hardware floating point unit | |
tell the kernel that they require a floating point context before any | |
floating point instructions are executed. */ | |
portTASK_USES_FLOATING_POINT(); | |
/* The variable this task increments to show it is still running is passed in | |
as the parameter. */ | |
pusTaskCheckVariable = ( volatile uint16_t * ) pvParameters; | |
pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * 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( xPosition = 0; xPosition < xArraySize; xPosition++ ) | |
{ | |
pdArray[ xPosition ] = ( portDOUBLE ) xPosition * 12.123; | |
dTotal1 += ( portDOUBLE ) xPosition * 12.123; | |
} | |
#if configUSE_PREEMPTION == 0 | |
taskYIELD(); | |
#endif | |
for( xPosition = 0; xPosition < xArraySize; xPosition++ ) | |
{ | |
dTotal2 += pdArray[ xPosition ]; | |
} | |
dDifference = dTotal1 - dTotal2; | |
if( fabs( dDifference ) > 0.001 ) | |
{ | |
sError = pdTRUE; | |
} | |
#if configUSE_PREEMPTION == 0 | |
taskYIELD(); | |
#endif | |
if( sError == pdFALSE ) | |
{ | |
/* If the calculation has always been correct then set set the check | |
variable. The check variable will get set to pdFALSE each time | |
xAreMathsTaskStillRunning() is executed. */ | |
( *pusTaskCheckVariable ) = pdTRUE; | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
/* This is called to check that all the created tasks are still running. */ | |
BaseType_t xAreMathsTaskStillRunning( void ) | |
{ | |
BaseType_t xReturn = pdPASS, xTask; | |
/* Check the maths tasks are still running by ensuring their check variables | |
have been set to pdPASS. */ | |
for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ ) | |
{ | |
if( usTaskCheck[ xTask ] != pdTRUE ) | |
{ | |
/* The check has not been set so the associated task has either | |
stalled or detected an error. */ | |
xReturn = pdFAIL; | |
} | |
else | |
{ | |
/* Reset the variable so it can be checked again the next time this | |
function is executed. */ | |
usTaskCheck[ xTask ] = pdFALSE; | |
} | |
} | |
return xReturn; | |
} | |