/* | |
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*************************************************************************** | |
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*/ | |
/* | |
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 portSHORT ) 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 portSHORT usTaskCheck[ intgNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 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 ) | |
{ | |
portLONG l1, l2, l3, l4; | |
portSHORT sError = pdFALSE; | |
volatile unsigned portSHORT *pusTaskCheckVariable; | |
const portLONG lAnswer = ( ( portLONG ) 74565L + ( portLONG ) 1234567L ) * ( portLONG ) -918L; | |
const portCHAR * const pcTaskStartMsg = "Integer math task 1 started.\r\n"; | |
const portCHAR * 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 portSHORT * ) pvParameters; | |
/* Keep performing a calculation and checking the result against a constant. */ | |
for(;;) | |
{ | |
l1 = ( portLONG ) 74565L; | |
l2 = ( portLONG ) 1234567L; | |
l3 = ( portLONG ) -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 ) | |
{ | |
portLONG l1, l2, l3, l4; | |
portSHORT sError = pdFALSE; | |
volatile unsigned portSHORT *pusTaskCheckVariable; | |
const portLONG lAnswer = ( ( portLONG ) -389000L / ( portLONG ) 329999L ) * ( portLONG ) -89L; | |
const portCHAR * const pcTaskStartMsg = "Integer math task 2 started.\r\n"; | |
const portCHAR * 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 portSHORT * ) 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 ) | |
{ | |
portLONG *plArray, lTotal1, lTotal2; | |
portSHORT sError = pdFALSE; | |
volatile unsigned portSHORT *pusTaskCheckVariable; | |
const unsigned portSHORT usArraySize = ( unsigned portSHORT ) 250; | |
unsigned portSHORT usPosition; | |
const portCHAR * const pcTaskStartMsg = "Integer math task 3 started.\r\n"; | |
const portCHAR * 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 portSHORT * ) pvParameters; | |
/* Create the array we are going to use for our check calculation. */ | |
plArray = ( portLONG * ) pvPortMalloc( ( size_t ) 250 * sizeof( portLONG ) ); | |
/* 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 = ( portLONG ) 0; | |
lTotal2 = ( portLONG ) 0; | |
for( usPosition = 0; usPosition < usArraySize; usPosition++ ) | |
{ | |
plArray[ usPosition ] = ( portLONG ) usPosition + ( portLONG ) 5; | |
lTotal1 += ( portLONG ) usPosition + ( portLONG ) 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 ) | |
{ | |
portLONG *plArray, lTotal1, lTotal2; | |
portSHORT sError = pdFALSE; | |
volatile unsigned portSHORT *pusTaskCheckVariable; | |
const unsigned portSHORT usArraySize = 250; | |
unsigned portSHORT usPosition; | |
const portCHAR * const pcTaskStartMsg = "Integer math task 4 started.\r\n"; | |
const portCHAR * 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 portSHORT * ) pvParameters; | |
/* Create the array we are going to use for our check calculation. */ | |
plArray = ( portLONG * ) pvPortMalloc( ( size_t ) 250 * sizeof( portLONG ) ); | |
/* 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 = ( portLONG ) 0; | |
lTotal2 = ( portLONG ) 0; | |
for( usPosition = 0; usPosition < usArraySize; usPosition++ ) | |
{ | |
plArray[ usPosition ] = ( portLONG ) usPosition * ( portLONG ) 12; | |
lTotal1 += ( portLONG ) usPosition * ( portLONG ) 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 portSHORT usLastTaskCheck[ intgNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 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; | |
} |