2 FreeRTOS V8.1.0 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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67 * Creates eight tasks, each of which loops continuously performing an (emulated)
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68 * floating point calculation.
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70 * All the tasks run at the idle priority and never block or yield. This causes
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71 * all eight tasks to time slice with the idle task. Running at the idle priority
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72 * means that these tasks will get pre-empted any time another task is ready to run
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73 * or a time slice occurs. More often than not the pre-emption will occur mid
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74 * calculation, creating a good test of the schedulers context switch mechanism - a
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75 * calculation producing an unexpected result could be a symptom of a corruption in
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76 * the context of a task.
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82 /* Scheduler include files. */
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83 #include "FreeRTOS.h"
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86 /* Demo program include files. */
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89 #define mathSTACK_SIZE configMINIMAL_STACK_SIZE
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90 #define mathNUMBER_OF_TASKS ( 8 )
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92 /* Four tasks, each of which performs a different floating point calculation.
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93 Each of the four is created twice. */
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94 static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters );
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95 static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters );
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96 static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters );
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97 static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters );
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99 /* These variables are used to check that all the tasks are still running. If a
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100 task gets a calculation wrong it will
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101 stop incrementing its check variable. */
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102 static volatile unsigned long ulTaskCheck[ mathNUMBER_OF_TASKS ] = { 0 };
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104 /* Must be called before any hardware floating point operations are
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105 performed to let the RTOS portable layer know that this task requires
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106 a floating point context. */
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107 #if __TI_VFP_SUPPORT__
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108 extern void vPortTaskUsesFPU( void );
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111 /*-----------------------------------------------------------*/
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113 void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
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115 xTaskCreate( vCompetingMathTask1, "Math1", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 0 ] ), uxPriority, NULL );
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116 xTaskCreate( vCompetingMathTask2, "Math2", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 1 ] ), uxPriority, NULL );
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117 xTaskCreate( vCompetingMathTask3, "Math3", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 2 ] ), uxPriority, NULL );
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118 xTaskCreate( vCompetingMathTask4, "Math4", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 3 ] ), uxPriority, NULL );
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119 xTaskCreate( vCompetingMathTask1, "Math5", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 4 ] ), uxPriority, NULL );
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120 xTaskCreate( vCompetingMathTask2, "Math6", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 5 ] ), uxPriority, NULL );
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121 xTaskCreate( vCompetingMathTask3, "Math7", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 6 ] ), uxPriority, NULL );
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122 xTaskCreate( vCompetingMathTask4, "Math8", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 7 ] ), uxPriority, NULL );
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124 /*-----------------------------------------------------------*/
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126 static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )
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128 volatile portDOUBLE d1, d2, d3, d4;
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129 volatile unsigned long *pulTaskCheckVariable;
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130 volatile portDOUBLE dAnswer;
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131 short sError = pdFALSE;
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134 /* Must be called before any hardware floating point operations are
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135 performed to let the RTOS portable layer know that this task requires
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136 a floating point context. */
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137 #if __TI_VFP_SUPPORT__
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138 vPortTaskUsesFPU();
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145 dAnswer = ( d1 + d2 ) * d3;
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147 /* The variable this task increments to show it is still running is passed in
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148 as the parameter. */
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149 pulTaskCheckVariable = ( unsigned long * ) pvParameters;
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151 /* Keep performing a calculation and checking the result against a constant. */
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158 d4 = ( d1 + d2 ) * d3;
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160 #if configUSE_PREEMPTION == 0
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164 /* If the calculation does not match the expected constant, stop the
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165 increment of the check variable. */
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166 if( fabs( d4 - dAnswer ) > 0.001 )
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171 if( sError == pdFALSE )
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173 /* If the calculation has always been correct, increment the check
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174 variable so we know this task is still running okay. */
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175 ( *pulTaskCheckVariable )++;
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178 #if configUSE_PREEMPTION == 0
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184 /*-----------------------------------------------------------*/
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186 static portTASK_FUNCTION( vCompetingMathTask2, pvParameters )
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188 volatile portDOUBLE d1, d2, d3, d4;
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189 volatile unsigned long *pulTaskCheckVariable;
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190 volatile portDOUBLE dAnswer;
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191 short sError = pdFALSE;
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193 /* Must be called before any hardware floating point operations are
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194 performed to let the RTOS portable layer know that this task requires
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195 a floating point context. */
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196 #if __TI_VFP_SUPPORT__
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197 vPortTaskUsesFPU();
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204 dAnswer = ( d1 / d2 ) * d3;
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207 /* The variable this task increments to show it is still running is passed in
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208 as the parameter. */
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209 pulTaskCheckVariable = ( unsigned long * ) pvParameters;
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211 /* Keep performing a calculation and checking the result against a constant. */
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218 d4 = ( d1 / d2 ) * d3;
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220 #if configUSE_PREEMPTION == 0
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224 /* If the calculation does not match the expected constant, stop the
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225 increment of the check variable. */
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226 if( fabs( d4 - dAnswer ) > 0.001 )
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231 if( sError == pdFALSE )
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233 /* If the calculation has always been correct, increment the check
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234 variable so we know
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235 this task is still running okay. */
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236 ( *pulTaskCheckVariable )++;
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239 #if configUSE_PREEMPTION == 0
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244 /*-----------------------------------------------------------*/
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246 static portTASK_FUNCTION( vCompetingMathTask3, pvParameters )
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248 volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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249 volatile unsigned long *pulTaskCheckVariable;
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250 const size_t xArraySize = 10;
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252 short sError = pdFALSE;
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254 /* Must be called before any hardware floating point operations are
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255 performed to let the RTOS portable layer know that this task requires
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256 a floating point context. */
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257 #if __TI_VFP_SUPPORT__
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258 vPortTaskUsesFPU();
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261 /* The variable this task increments to show it is still running is passed in
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262 as the parameter. */
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263 pulTaskCheckVariable = ( unsigned long * ) pvParameters;
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265 pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
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267 /* Keep filling an array, keeping a running total of the values placed in the
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268 array. Then run through the array adding up all the values. If the two totals
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269 do not match, stop the check variable from incrementing. */
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275 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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277 pdArray[ xPosition ] = ( portDOUBLE ) xPosition + 5.5;
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278 dTotal1 += ( portDOUBLE ) xPosition + 5.5;
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281 #if configUSE_PREEMPTION == 0
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285 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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287 dTotal2 += pdArray[ xPosition ];
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290 dDifference = dTotal1 - dTotal2;
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291 if( fabs( dDifference ) > 0.001 )
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296 #if configUSE_PREEMPTION == 0
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300 if( sError == pdFALSE )
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302 /* If the calculation has always been correct, increment the check
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303 variable so we know this task is still running okay. */
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304 ( *pulTaskCheckVariable )++;
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308 /*-----------------------------------------------------------*/
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310 static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )
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312 volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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313 volatile unsigned long *pulTaskCheckVariable;
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314 const size_t xArraySize = 10;
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316 short sError = pdFALSE;
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318 /* Must be called before any hardware floating point operations are
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319 performed to let the RTOS portable layer know that this task requires
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320 a floating point context. */
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321 #if __TI_VFP_SUPPORT__
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322 vPortTaskUsesFPU();
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325 /* The variable this task increments to show it is still running is passed in
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326 as the parameter. */
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327 pulTaskCheckVariable = ( unsigned long * ) pvParameters;
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329 pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
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331 /* Keep filling an array, keeping a running total of the values placed in the
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332 array. Then run through the array adding up all the values. If the two totals
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333 do not match, stop the check variable from incrementing. */
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339 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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341 pdArray[ xPosition ] = ( portDOUBLE ) xPosition * 12.123;
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342 dTotal1 += ( portDOUBLE ) xPosition * 12.123;
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345 #if configUSE_PREEMPTION == 0
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349 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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351 dTotal2 += pdArray[ xPosition ];
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354 dDifference = dTotal1 - dTotal2;
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355 if( fabs( dDifference ) > 0.001 )
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360 #if configUSE_PREEMPTION == 0
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364 if( sError == pdFALSE )
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366 /* If the calculation has always been correct, increment the check
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367 variable so we know this task is still running okay. */
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368 ( *pulTaskCheckVariable )++;
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372 /*-----------------------------------------------------------*/
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374 /* This is called to check that all the created tasks are still running. */
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375 portBASE_TYPE xAreMathsTaskStillRunning( void )
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377 /* Keep a history of the check variables so we know if they have been incremented
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378 since the last call. */
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379 static unsigned long ulLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
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380 portBASE_TYPE xReturn = pdTRUE, xTask;
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382 /* Check the maths tasks are still running by ensuring their check variables
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383 are still incrementing. */
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384 for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
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386 if( ulTaskCheck[ xTask ] == ulLastTaskCheck[ xTask ] )
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388 /* The check has not incremented so an error exists. */
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392 ulLastTaskCheck[ xTask ] = ulTaskCheck[ xTask ];
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