2 FreeRTOS.org V5.1.0 - 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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51 * Creates eight tasks, each of which loops continuously performing an (emulated)
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52 * floating point calculation.
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54 * All the tasks run at the idle priority and never block or yield. This causes
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55 * all eight tasks to time slice with the idle task. Running at the idle priority
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56 * means that these tasks will get pre-empted any time another task is ready to run
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57 * or a time slice occurs. More often than not the pre-emption will occur mid
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58 * calculation, creating a good test of the schedulers context switch mechanism - a
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59 * calculation producing an unexpected result could be a symptom of a corruption in
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60 * the context of a task.
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66 /* Scheduler include files. */
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67 #include "FreeRTOS.h"
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70 /* Demo program include files. */
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73 #define mathSTACK_SIZE configMINIMAL_STACK_SIZE
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74 #define mathNUMBER_OF_TASKS ( 8 )
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76 /* Four tasks, each of which performs a different floating point calculation.
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77 Each of the four is created twice. */
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78 static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters );
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79 static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters );
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80 static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters );
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81 static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters );
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83 /* These variables are used to check that all the tasks are still running. If a
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84 task gets a calculation wrong it will
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85 stop incrementing its check variable. */
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86 static volatile unsigned portSHORT usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 0 };
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88 /*-----------------------------------------------------------*/
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90 void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
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92 xTaskCreate( vCompetingMathTask1, ( signed portCHAR * ) "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
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93 xTaskCreate( vCompetingMathTask2, ( signed portCHAR * ) "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
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94 xTaskCreate( vCompetingMathTask3, ( signed portCHAR * ) "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
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95 xTaskCreate( vCompetingMathTask4, ( signed portCHAR * ) "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
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96 xTaskCreate( vCompetingMathTask1, ( signed portCHAR * ) "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );
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97 xTaskCreate( vCompetingMathTask2, ( signed portCHAR * ) "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );
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98 xTaskCreate( vCompetingMathTask3, ( signed portCHAR * ) "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );
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99 xTaskCreate( vCompetingMathTask4, ( signed portCHAR * ) "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );
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101 /*-----------------------------------------------------------*/
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103 static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )
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105 volatile portDOUBLE d1, d2, d3, d4;
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106 volatile unsigned portSHORT *pusTaskCheckVariable;
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107 volatile portDOUBLE dAnswer;
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108 portSHORT sError = pdFALSE;
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114 dAnswer = ( d1 + d2 ) * d3;
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116 /* The variable this task increments to show it is still running is passed in
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117 as the parameter. */
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118 pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
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120 /* Keep performing a calculation and checking the result against a constant. */
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127 d4 = ( d1 + d2 ) * d3;
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129 #if configUSE_PREEMPTION == 0
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133 /* If the calculation does not match the expected constant, stop the
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134 increment of the check variable. */
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135 if( fabs( d4 - dAnswer ) > 0.001 )
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140 if( sError == pdFALSE )
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142 /* If the calculation has always been correct, increment the check
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143 variable so we know this task is still running okay. */
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144 ( *pusTaskCheckVariable )++;
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147 #if configUSE_PREEMPTION == 0
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153 /*-----------------------------------------------------------*/
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155 static portTASK_FUNCTION( vCompetingMathTask2, pvParameters )
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157 volatile portDOUBLE d1, d2, d3, d4;
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158 volatile unsigned portSHORT *pusTaskCheckVariable;
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159 volatile portDOUBLE dAnswer;
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160 portSHORT sError = pdFALSE;
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166 dAnswer = ( d1 / d2 ) * d3;
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169 /* The variable this task increments to show it is still running is passed in
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170 as the parameter. */
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171 pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
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173 /* Keep performing a calculation and checking the result against a constant. */
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180 d4 = ( d1 / d2 ) * d3;
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182 #if configUSE_PREEMPTION == 0
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186 /* If the calculation does not match the expected constant, stop the
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187 increment of the check variable. */
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188 if( fabs( d4 - dAnswer ) > 0.001 )
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193 if( sError == pdFALSE )
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195 /* If the calculation has always been correct, increment the check
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196 variable so we know
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197 this task is still running okay. */
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198 ( *pusTaskCheckVariable )++;
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201 #if configUSE_PREEMPTION == 0
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206 /*-----------------------------------------------------------*/
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208 static portTASK_FUNCTION( vCompetingMathTask3, pvParameters )
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210 volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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211 volatile unsigned portSHORT *pusTaskCheckVariable;
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212 const size_t xArraySize = 10;
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214 portSHORT sError = pdFALSE;
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216 /* The variable this task increments to show it is still running is passed in
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217 as the parameter. */
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218 pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
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220 pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
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222 /* Keep filling an array, keeping a running total of the values placed in the
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223 array. Then run through the array adding up all the values. If the two totals
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224 do not match, stop the check variable from incrementing. */
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230 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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232 pdArray[ xPosition ] = ( portDOUBLE ) xPosition + 5.5;
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233 dTotal1 += ( portDOUBLE ) xPosition + 5.5;
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236 #if configUSE_PREEMPTION == 0
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240 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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242 dTotal2 += pdArray[ xPosition ];
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245 dDifference = dTotal1 - dTotal2;
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246 if( fabs( dDifference ) > 0.001 )
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251 #if configUSE_PREEMPTION == 0
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255 if( sError == pdFALSE )
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257 /* If the calculation has always been correct, increment the check
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258 variable so we know this task is still running okay. */
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259 ( *pusTaskCheckVariable )++;
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263 /*-----------------------------------------------------------*/
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265 static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )
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267 volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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268 volatile unsigned portSHORT *pusTaskCheckVariable;
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269 const size_t xArraySize = 10;
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271 portSHORT sError = pdFALSE;
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273 /* The variable this task increments to show it is still running is passed in
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274 as the parameter. */
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275 pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
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277 pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
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279 /* Keep filling an array, keeping a running total of the values placed in the
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280 array. Then run through the array adding up all the values. If the two totals
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281 do not match, stop the check variable from incrementing. */
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287 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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289 pdArray[ xPosition ] = ( portDOUBLE ) xPosition * 12.123;
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290 dTotal1 += ( portDOUBLE ) xPosition * 12.123;
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293 #if configUSE_PREEMPTION == 0
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297 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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299 dTotal2 += pdArray[ xPosition ];
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302 dDifference = dTotal1 - dTotal2;
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303 if( fabs( dDifference ) > 0.001 )
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308 #if configUSE_PREEMPTION == 0
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312 if( sError == pdFALSE )
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314 /* If the calculation has always been correct, increment the check
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315 variable so we know this task is still running okay. */
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316 ( *pusTaskCheckVariable )++;
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320 /*-----------------------------------------------------------*/
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322 /* This is called to check that all the created tasks are still running. */
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323 portBASE_TYPE xAreMathsTaskStillRunning( void )
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325 /* Keep a history of the check variables so we know if they have been incremented
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326 since the last call. */
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327 static unsigned portSHORT usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 0 };
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328 portBASE_TYPE xReturn = pdTRUE, xTask;
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330 /* Check the maths tasks are still running by ensuring their check variables
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331 are still incrementing. */
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332 for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
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334 if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
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336 /* The check has not incremented so an error exists. */
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340 usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
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