2 FreeRTOS.org V5.1.1 - Copyright (C) 2003-2008 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 ***************************************************************************
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29 * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
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30 * and even write all or part of your application on your behalf. *
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31 * See http://www.OpenRTOS.com for details of the services we provide to *
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32 * expedite your project. *
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34 ***************************************************************************
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35 ***************************************************************************
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37 Please ensure to read the configuration and relevant port sections of the
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38 online documentation.
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40 http://www.FreeRTOS.org - Documentation, latest information, license and
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43 http://www.SafeRTOS.com - A version that is certified for use in safety
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46 http://www.OpenRTOS.com - Commercial support, development, porting,
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47 licensing and training services.
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53 + The created tasks now include calls to tskYIELD(), allowing them to be used
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54 with the cooperative scheduler.
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58 * This does the same as flop. c, but uses variables of type long instead of
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61 * As with flop. c, the tasks created in this file are a good test of the
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62 * scheduler context switch mechanism. The processor has to access 32bit
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63 * variables in two or four chunks (depending on the processor). The low
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64 * priority of these tasks means there is a high probability that a context
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65 * switch will occur mid calculation. See the flop. c documentation for
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68 * \page IntegerC integer.c
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69 * \ingroup DemoFiles
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76 + The constants used in the calculations are larger to ensure the
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77 optimiser does not truncate them to 16 bits.
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82 /* Scheduler include files. */
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83 #include "FreeRTOS.h"
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87 /* Demo program include files. */
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88 #include "integer.h"
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90 #define intgSTACK_SIZE ( ( unsigned portSHORT ) 256 )
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91 #define intgNUMBER_OF_TASKS ( 8 )
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93 /* Four tasks, each of which performs a different calculation on four byte
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94 variables. Each of the four is created twice. */
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95 static void vCompeteingIntMathTask1( void *pvParameters );
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96 static void vCompeteingIntMathTask2( void *pvParameters );
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97 static void vCompeteingIntMathTask3( void *pvParameters );
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98 static void vCompeteingIntMathTask4( void *pvParameters );
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100 /* These variables are used to check that all the tasks are still running. If a
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101 task gets a calculation wrong it will stop incrementing its check variable. */
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102 static volatile unsigned portSHORT usTaskCheck[ intgNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 0 };
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103 /*-----------------------------------------------------------*/
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105 void vStartIntegerMathTasks( unsigned portBASE_TYPE uxPriority )
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107 xTaskCreate( vCompeteingIntMathTask1, "IntMath1", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
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108 xTaskCreate( vCompeteingIntMathTask2, "IntMath2", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
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109 xTaskCreate( vCompeteingIntMathTask3, "IntMath3", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
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110 xTaskCreate( vCompeteingIntMathTask4, "IntMath4", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
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111 xTaskCreate( vCompeteingIntMathTask1, "IntMath5", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );
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112 xTaskCreate( vCompeteingIntMathTask2, "IntMath6", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );
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113 xTaskCreate( vCompeteingIntMathTask3, "IntMath7", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );
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114 xTaskCreate( vCompeteingIntMathTask4, "IntMath8", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );
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116 /*-----------------------------------------------------------*/
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118 static void vCompeteingIntMathTask1( void *pvParameters )
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120 portLONG l1, l2, l3, l4;
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121 portSHORT sError = pdFALSE;
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122 volatile unsigned portSHORT *pusTaskCheckVariable;
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123 const portLONG lAnswer = ( ( portLONG ) 74565L + ( portLONG ) 1234567L ) * ( portLONG ) -918L;
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124 const portCHAR * const pcTaskStartMsg = "Integer math task 1 started.\r\n";
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125 const portCHAR * const pcTaskFailMsg = "Integer math task 1 failed.\r\n";
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127 /* Queue a message for printing to say the task has started. */
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128 vPrintDisplayMessage( &pcTaskStartMsg );
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130 /* The variable this task increments to show it is still running is passed in
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131 as the parameter. */
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132 pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
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134 /* Keep performing a calculation and checking the result against a constant. */
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137 l1 = ( portLONG ) 74565L;
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138 l2 = ( portLONG ) 1234567L;
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139 l3 = ( portLONG ) -918L;
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141 l4 = ( l1 + l2 ) * l3;
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145 /* If the calculation does not match the expected constant, stop the
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146 increment of the check variable. */
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147 if( l4 != lAnswer )
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149 vPrintDisplayMessage( &pcTaskFailMsg );
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153 if( sError == pdFALSE )
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155 /* If the calculation has always been correct, increment the check
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156 variable so we know this task is still running okay. */
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157 ( *pusTaskCheckVariable )++;
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161 /*-----------------------------------------------------------*/
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163 static void vCompeteingIntMathTask2( void *pvParameters )
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165 portLONG l1, l2, l3, l4;
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166 portSHORT sError = pdFALSE;
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167 volatile unsigned portSHORT *pusTaskCheckVariable;
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168 const portLONG lAnswer = ( ( portLONG ) -389000L / ( portLONG ) 329999L ) * ( portLONG ) -89L;
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169 const portCHAR * const pcTaskStartMsg = "Integer math task 2 started.\r\n";
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170 const portCHAR * const pcTaskFailMsg = "Integer math task 2 failed.\r\n";
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172 /* Queue a message for printing to say the task has started. */
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173 vPrintDisplayMessage( &pcTaskStartMsg );
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175 /* The variable this task increments to show it is still running is passed in
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176 as the parameter. */
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177 pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
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179 /* Keep performing a calculation and checking the result against a constant. */
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186 l4 = ( l1 / l2 ) * l3;
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190 /* If the calculation does not match the expected constant, stop the
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191 increment of the check variable. */
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192 if( l4 != lAnswer )
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194 vPrintDisplayMessage( &pcTaskFailMsg );
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198 if( sError == pdFALSE )
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200 /* If the calculation has always been correct, increment the check
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201 variable so we know this task is still running okay. */
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202 ( *pusTaskCheckVariable )++;
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206 /*-----------------------------------------------------------*/
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208 static void vCompeteingIntMathTask3( void *pvParameters )
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210 portLONG *plArray, lTotal1, lTotal2;
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211 portSHORT sError = pdFALSE;
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212 volatile unsigned portSHORT *pusTaskCheckVariable;
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213 const unsigned portSHORT usArraySize = ( unsigned portSHORT ) 250;
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214 unsigned portSHORT usPosition;
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215 const portCHAR * const pcTaskStartMsg = "Integer math task 3 started.\r\n";
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216 const portCHAR * const pcTaskFailMsg = "Integer math task 3 failed.\r\n";
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218 /* Queue a message for printing to say the task has started. */
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219 vPrintDisplayMessage( &pcTaskStartMsg );
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221 /* The variable this task increments to show it is still running is passed in
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222 as the parameter. */
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223 pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
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225 /* Create the array we are going to use for our check calculation. */
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226 plArray = ( portLONG * ) pvPortMalloc( ( size_t ) 250 * sizeof( portLONG ) );
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228 /* Keep filling the array, keeping a running total of the values placed in the
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229 array. Then run through the array adding up all the values. If the two totals
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230 do not match, stop the check variable from incrementing. */
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233 lTotal1 = ( portLONG ) 0;
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234 lTotal2 = ( portLONG ) 0;
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236 for( usPosition = 0; usPosition < usArraySize; usPosition++ )
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238 plArray[ usPosition ] = ( portLONG ) usPosition + ( portLONG ) 5;
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239 lTotal1 += ( portLONG ) usPosition + ( portLONG ) 5;
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244 for( usPosition = 0; usPosition < usArraySize; usPosition++ )
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246 lTotal2 += plArray[ usPosition ];
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249 if( lTotal1 != lTotal2 )
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251 vPrintDisplayMessage( &pcTaskFailMsg );
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257 if( sError == pdFALSE )
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259 /* If the calculation has always been correct, increment the check
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260 variable so we know this task is still running okay. */
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261 ( *pusTaskCheckVariable )++;
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265 /*-----------------------------------------------------------*/
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267 static void vCompeteingIntMathTask4( void *pvParameters )
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269 portLONG *plArray, lTotal1, lTotal2;
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270 portSHORT sError = pdFALSE;
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271 volatile unsigned portSHORT *pusTaskCheckVariable;
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272 const unsigned portSHORT usArraySize = 250;
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273 unsigned portSHORT usPosition;
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274 const portCHAR * const pcTaskStartMsg = "Integer math task 4 started.\r\n";
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275 const portCHAR * const pcTaskFailMsg = "Integer math task 4 failed.\r\n";
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277 /* Queue a message for printing to say the task has started. */
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278 vPrintDisplayMessage( &pcTaskStartMsg );
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280 /* The variable this task increments to show it is still running is passed in
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281 as the parameter. */
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282 pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
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284 /* Create the array we are going to use for our check calculation. */
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285 plArray = ( portLONG * ) pvPortMalloc( ( size_t ) 250 * sizeof( portLONG ) );
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287 /* Keep filling the array, keeping a running total of the values placed in the
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288 array. Then run through the array adding up all the values. If the two totals
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289 do not match, stop the check variable from incrementing. */
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292 lTotal1 = ( portLONG ) 0;
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293 lTotal2 = ( portLONG ) 0;
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295 for( usPosition = 0; usPosition < usArraySize; usPosition++ )
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297 plArray[ usPosition ] = ( portLONG ) usPosition * ( portLONG ) 12;
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298 lTotal1 += ( portLONG ) usPosition * ( portLONG ) 12;
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303 for( usPosition = 0; usPosition < usArraySize; usPosition++ )
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305 lTotal2 += plArray[ usPosition ];
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309 if( lTotal1 != lTotal2 )
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311 vPrintDisplayMessage( &pcTaskFailMsg );
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317 if( sError == pdFALSE )
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319 /* If the calculation has always been correct, increment the check
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320 variable so we know this task is still running okay. */
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321 ( *pusTaskCheckVariable )++;
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325 /*-----------------------------------------------------------*/
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327 /* This is called to check that all the created tasks are still running. */
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328 portBASE_TYPE xAreIntegerMathsTaskStillRunning( void )
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330 /* Keep a history of the check variables so we know if they have been incremented
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331 since the last call. */
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332 static unsigned portSHORT usLastTaskCheck[ intgNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 0 };
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333 portBASE_TYPE xReturn = pdTRUE, xTask;
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335 /* Check the maths tasks are still running by ensuring their check variables
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336 are still incrementing. */
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337 for( xTask = 0; xTask < intgNUMBER_OF_TASKS; xTask++ )
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339 if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
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341 /* The check has not incremented so an error exists. */
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345 usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
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