2 FreeRTOS V7.5.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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6 ***************************************************************************
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8 * FreeRTOS provides completely free yet professionally developed, *
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9 * robust, strictly quality controlled, supported, and cross *
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10 * platform software that has become a de facto standard. *
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12 * Help yourself get started quickly and support the FreeRTOS *
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13 * project by purchasing a FreeRTOS tutorial book, reference *
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14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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18 ***************************************************************************
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20 This file is part of the FreeRTOS distribution.
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22 FreeRTOS is free software; you can redistribute it and/or modify it under
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23 the terms of the GNU General Public License (version 2) as published by the
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24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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26 >>! NOTE: The modification to the GPL is included to allow you to distribute
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27 >>! a combined work that includes FreeRTOS without being obliged to provide
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28 >>! the source code for proprietary components outside of the FreeRTOS
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31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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34 link: http://www.freertos.org/a00114.html
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38 ***************************************************************************
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40 * Having a problem? Start by reading the FAQ "My application does *
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41 * not run, what could be wrong?" *
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43 * http://www.FreeRTOS.org/FAQHelp.html *
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45 ***************************************************************************
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47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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48 license and Real Time Engineers Ltd. contact details.
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50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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56 licenses offer ticketed support, indemnification and middleware.
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58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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59 engineered and independently SIL3 certified version for use in safety and
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60 mission critical applications that require provable dependability.
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66 * Creates eight tasks, each of which loops continuously performing an (emulated)
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67 * floating point calculation.
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69 * All the tasks run at the idle priority and never block or yield. This causes
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70 * all eight tasks to time slice with the idle task. Running at the idle priority
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71 * means that these tasks will get pre-empted any time another task is ready to run
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72 * or a time slice occurs. More often than not the pre-emption will occur mid
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73 * calculation, creating a good test of the schedulers context switch mechanism - a
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74 * calculation producing an unexpected result could be a symptom of a corruption in
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75 * the context of a task.
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81 /* Scheduler include files. */
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82 #include "FreeRTOS.h"
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85 /* Demo program include files. */
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88 #define mathSTACK_SIZE configMINIMAL_STACK_SIZE
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89 #define mathNUMBER_OF_TASKS ( 8 )
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91 /* Four tasks, each of which performs a different floating point calculation.
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92 Each of the four is created twice. */
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93 static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters );
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94 static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters );
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95 static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters );
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96 static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters );
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98 /* These variables are used to check that all the tasks are still running. If a
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99 task gets a calculation wrong it will
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100 stop incrementing its check variable. */
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101 static volatile unsigned long ulTaskCheck[ mathNUMBER_OF_TASKS ] = { 0 };
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103 /* Must be called before any hardware floating point operations are
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104 performed to let the RTOS portable layer know that this task requires
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105 a floating point context. */
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106 #if __TI_VFP_SUPPORT__
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107 extern void vPortTaskUsesFPU( void );
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110 /*-----------------------------------------------------------*/
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112 void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
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114 xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math1", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 0 ] ), uxPriority, NULL );
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115 xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math2", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 1 ] ), uxPriority, NULL );
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116 xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math3", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 2 ] ), uxPriority, NULL );
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117 xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math4", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 3 ] ), uxPriority, NULL );
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118 xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math5", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 4 ] ), uxPriority, NULL );
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119 xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math6", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 5 ] ), uxPriority, NULL );
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120 xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math7", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 6 ] ), uxPriority, NULL );
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121 xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math8", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 7 ] ), uxPriority, NULL );
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123 /*-----------------------------------------------------------*/
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125 static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )
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127 volatile portDOUBLE d1, d2, d3, d4;
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128 volatile unsigned long *pulTaskCheckVariable;
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129 volatile portDOUBLE dAnswer;
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130 short sError = pdFALSE;
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133 /* Must be called before any hardware floating point operations are
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134 performed to let the RTOS portable layer know that this task requires
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135 a floating point context. */
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136 #if __TI_VFP_SUPPORT__
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137 vPortTaskUsesFPU();
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144 dAnswer = ( d1 + d2 ) * d3;
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146 /* The variable this task increments to show it is still running is passed in
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147 as the parameter. */
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148 pulTaskCheckVariable = ( unsigned long * ) pvParameters;
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150 /* Keep performing a calculation and checking the result against a constant. */
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157 d4 = ( d1 + d2 ) * d3;
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159 #if configUSE_PREEMPTION == 0
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163 /* If the calculation does not match the expected constant, stop the
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164 increment of the check variable. */
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165 if( fabs( d4 - dAnswer ) > 0.001 )
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170 if( sError == pdFALSE )
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172 /* If the calculation has always been correct, increment the check
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173 variable so we know this task is still running okay. */
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174 ( *pulTaskCheckVariable )++;
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177 #if configUSE_PREEMPTION == 0
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183 /*-----------------------------------------------------------*/
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185 static portTASK_FUNCTION( vCompetingMathTask2, pvParameters )
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187 volatile portDOUBLE d1, d2, d3, d4;
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188 volatile unsigned long *pulTaskCheckVariable;
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189 volatile portDOUBLE dAnswer;
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190 short sError = pdFALSE;
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192 /* Must be called before any hardware floating point operations are
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193 performed to let the RTOS portable layer know that this task requires
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194 a floating point context. */
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195 #if __TI_VFP_SUPPORT__
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196 vPortTaskUsesFPU();
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203 dAnswer = ( d1 / d2 ) * d3;
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206 /* The variable this task increments to show it is still running is passed in
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207 as the parameter. */
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208 pulTaskCheckVariable = ( unsigned long * ) pvParameters;
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210 /* Keep performing a calculation and checking the result against a constant. */
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217 d4 = ( d1 / d2 ) * d3;
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219 #if configUSE_PREEMPTION == 0
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223 /* If the calculation does not match the expected constant, stop the
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224 increment of the check variable. */
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225 if( fabs( d4 - dAnswer ) > 0.001 )
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230 if( sError == pdFALSE )
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232 /* If the calculation has always been correct, increment the check
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233 variable so we know
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234 this task is still running okay. */
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235 ( *pulTaskCheckVariable )++;
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238 #if configUSE_PREEMPTION == 0
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243 /*-----------------------------------------------------------*/
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245 static portTASK_FUNCTION( vCompetingMathTask3, pvParameters )
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247 volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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248 volatile unsigned long *pulTaskCheckVariable;
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249 const size_t xArraySize = 10;
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251 short sError = pdFALSE;
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253 /* Must be called before any hardware floating point operations are
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254 performed to let the RTOS portable layer know that this task requires
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255 a floating point context. */
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256 #if __TI_VFP_SUPPORT__
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257 vPortTaskUsesFPU();
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260 /* The variable this task increments to show it is still running is passed in
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261 as the parameter. */
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262 pulTaskCheckVariable = ( unsigned long * ) pvParameters;
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264 pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
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266 /* Keep filling an array, keeping a running total of the values placed in the
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267 array. Then run through the array adding up all the values. If the two totals
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268 do not match, stop the check variable from incrementing. */
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274 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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276 pdArray[ xPosition ] = ( portDOUBLE ) xPosition + 5.5;
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277 dTotal1 += ( portDOUBLE ) xPosition + 5.5;
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280 #if configUSE_PREEMPTION == 0
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284 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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286 dTotal2 += pdArray[ xPosition ];
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289 dDifference = dTotal1 - dTotal2;
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290 if( fabs( dDifference ) > 0.001 )
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295 #if configUSE_PREEMPTION == 0
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299 if( sError == pdFALSE )
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301 /* If the calculation has always been correct, increment the check
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302 variable so we know this task is still running okay. */
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303 ( *pulTaskCheckVariable )++;
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307 /*-----------------------------------------------------------*/
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309 static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )
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311 volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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312 volatile unsigned long *pulTaskCheckVariable;
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313 const size_t xArraySize = 10;
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315 short sError = pdFALSE;
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317 /* Must be called before any hardware floating point operations are
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318 performed to let the RTOS portable layer know that this task requires
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319 a floating point context. */
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320 #if __TI_VFP_SUPPORT__
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321 vPortTaskUsesFPU();
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324 /* The variable this task increments to show it is still running is passed in
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325 as the parameter. */
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326 pulTaskCheckVariable = ( unsigned long * ) pvParameters;
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328 pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
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330 /* Keep filling an array, keeping a running total of the values placed in the
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331 array. Then run through the array adding up all the values. If the two totals
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332 do not match, stop the check variable from incrementing. */
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338 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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340 pdArray[ xPosition ] = ( portDOUBLE ) xPosition * 12.123;
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341 dTotal1 += ( portDOUBLE ) xPosition * 12.123;
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344 #if configUSE_PREEMPTION == 0
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348 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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350 dTotal2 += pdArray[ xPosition ];
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353 dDifference = dTotal1 - dTotal2;
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354 if( fabs( dDifference ) > 0.001 )
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359 #if configUSE_PREEMPTION == 0
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363 if( sError == pdFALSE )
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365 /* If the calculation has always been correct, increment the check
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366 variable so we know this task is still running okay. */
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367 ( *pulTaskCheckVariable )++;
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371 /*-----------------------------------------------------------*/
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373 /* This is called to check that all the created tasks are still running. */
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374 portBASE_TYPE xAreMathsTaskStillRunning( void )
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376 /* Keep a history of the check variables so we know if they have been incremented
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377 since the last call. */
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378 static unsigned long ulLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
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379 portBASE_TYPE xReturn = pdTRUE, xTask;
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381 /* Check the maths tasks are still running by ensuring their check variables
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382 are still incrementing. */
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383 for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
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385 if( ulTaskCheck[ xTask ] == ulLastTaskCheck[ xTask ] )
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387 /* The check has not incremented so an error exists. */
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391 ulLastTaskCheck[ xTask ] = ulTaskCheck[ xTask ];
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