/* | |
FreeRTOS V7.4.1 - Copyright (C) 2013 Real Time Engineers Ltd. | |
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT | |
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
*************************************************************************** | |
* * | |
* FreeRTOS tutorial books are available in pdf and paperback. * | |
* Complete, revised, and edited pdf reference manuals are also * | |
* available. * | |
* * | |
* Purchasing FreeRTOS documentation will not only help you, by * | |
* ensuring you get running as quickly as possible and with an * | |
* in-depth knowledge of how to use FreeRTOS, it will also help * | |
* the FreeRTOS project to continue with its mission of providing * | |
* professional grade, cross platform, de facto standard solutions * | |
* for microcontrollers - completely free of charge! * | |
* * | |
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< * | |
* * | |
* Thank you for using FreeRTOS, and thank you for your support! * | |
* * | |
*************************************************************************** | |
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. See the GNU General Public License for more | |
details. You should have received a copy of the GNU General Public License | |
and the FreeRTOS license exception along with FreeRTOS; if not it can be | |
viewed here: http://www.freertos.org/a00114.html and also obtained by | |
writing to Real Time Engineers Ltd., contact details for whom are available | |
on the FreeRTOS WEB site. | |
1 tab == 4 spaces! | |
*************************************************************************** | |
* * | |
* Having a problem? Start by reading the FAQ "My application does * | |
* not run, what could be wrong?" * | |
* * | |
* http://www.FreeRTOS.org/FAQHelp.html * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
license and Real Time Engineers Ltd. contact details. | |
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
including FreeRTOS+Trace - an indispensable productivity tool, and our new | |
fully thread aware and reentrant UDP/IP stack. | |
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
Integrity Systems, who sell the code with commercial support, | |
indemnification and middleware, under the OpenRTOS brand. | |
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. | |
*/ | |
/* | |
* Creates eight tasks, each of which loops continuously performing an (emulated) | |
* 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. | |
*/ | |
#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 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 incrementing its check variable. */ | |
static volatile unsigned short usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 }; | |
/*-----------------------------------------------------------*/ | |
void vStartMathTasks( unsigned portBASE_TYPE uxPriority ) | |
{ | |
xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL ); | |
xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL ); | |
xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL ); | |
xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL ); | |
xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL ); | |
xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL ); | |
xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL ); | |
xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL ); | |
} | |
/*-----------------------------------------------------------*/ | |
static portTASK_FUNCTION( vCompetingMathTask1, pvParameters ) | |
{ | |
volatile portDOUBLE d1, d2, d3, d4; | |
volatile unsigned short *pusTaskCheckVariable; | |
volatile portDOUBLE dAnswer; | |
short sError = pdFALSE; | |
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 = ( unsigned short * ) 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, increment the check | |
variable so we know this task is still running okay. */ | |
( *pusTaskCheckVariable )++; | |
} | |
#if configUSE_PREEMPTION == 0 | |
taskYIELD(); | |
#endif | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static portTASK_FUNCTION( vCompetingMathTask2, pvParameters ) | |
{ | |
volatile portDOUBLE d1, d2, d3, d4; | |
volatile unsigned short *pusTaskCheckVariable; | |
volatile portDOUBLE dAnswer; | |
short sError = pdFALSE; | |
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 = ( unsigned short * ) 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, increment the check | |
variable so we know | |
this task is still running okay. */ | |
( *pusTaskCheckVariable )++; | |
} | |
#if configUSE_PREEMPTION == 0 | |
taskYIELD(); | |
#endif | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static portTASK_FUNCTION( vCompetingMathTask3, pvParameters ) | |
{ | |
volatile portDOUBLE *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; | |
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, increment the check | |
variable so we know this task is still running okay. */ | |
( *pusTaskCheckVariable )++; | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static portTASK_FUNCTION( vCompetingMathTask4, pvParameters ) | |
{ | |
volatile portDOUBLE *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; | |
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, 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; | |
} | |