2 FreeRTOS V8.2.1 - Copyright (C) 2015 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 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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71 * Creates eight tasks, each of which loops continuously performing a floating
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72 * point calculation.
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74 * All the tasks run at the idle priority and never block or yield. This causes
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75 * all eight tasks to time slice with the idle task. Running at the idle
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76 * priority means that these tasks will get pre-empted any time another task is
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77 * ready to run or a time slice occurs. More often than not the pre-emption
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78 * will occur mid calculation, creating a good test of the schedulers context
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79 * switch mechanism - a calculation producing an unexpected result could be a
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80 * symptom of a corruption in the context of a task.
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86 /* Scheduler include files. */
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87 #include "FreeRTOS.h"
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90 /* Demo program include files. */
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93 #ifndef mathSTACK_SIZE
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94 #define mathSTACK_SIZE configMINIMAL_STACK_SIZE
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97 #define mathNUMBER_OF_TASKS ( 4 )
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99 /* Four tasks, each of which performs a different floating point calculation.
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100 Each of the four is created twice. */
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101 static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters );
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102 static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters );
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103 static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters );
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104 static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters );
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106 /* These variables are used to check that all the tasks are still running. If a
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107 task gets a calculation wrong it will stop setting its check variable. */
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108 static volatile uint16_t usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( uint16_t ) 0 };
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110 /*-----------------------------------------------------------*/
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112 void vStartMathTasks( UBaseType_t uxPriority )
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114 xTaskCreate( vCompetingMathTask1, "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
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115 xTaskCreate( vCompetingMathTask2, "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
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116 xTaskCreate( vCompetingMathTask3, "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
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117 xTaskCreate( vCompetingMathTask4, "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
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119 /*-----------------------------------------------------------*/
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121 static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )
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123 volatile portDOUBLE d1, d2, d3, d4;
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124 volatile uint16_t *pusTaskCheckVariable;
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125 volatile portDOUBLE dAnswer;
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126 short sError = pdFALSE;
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128 /* Some ports require that tasks that use a hardware floating point unit
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129 tell the kernel that they require a floating point context before any
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130 floating point instructions are executed. */
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131 portTASK_USES_FLOATING_POINT();
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137 dAnswer = ( d1 + d2 ) * d3;
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139 /* The variable this task increments to show it is still running is passed in
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140 as the parameter. */
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141 pusTaskCheckVariable = ( uint16_t * ) pvParameters;
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143 /* Keep performing a calculation and checking the result against a constant. */
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150 d4 = ( d1 + d2 ) * d3;
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152 #if configUSE_PREEMPTION == 0
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156 /* If the calculation does not match the expected constant, stop the
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157 increment of the check variable. */
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158 if( fabs( d4 - dAnswer ) > 0.001 )
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163 if( sError == pdFALSE )
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165 /* If the calculation has always been correct then set set the check
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166 variable. The check variable will get set to pdFALSE each time
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167 xAreMathsTaskStillRunning() is executed. */
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168 ( *pusTaskCheckVariable ) = pdTRUE;
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171 #if configUSE_PREEMPTION == 0
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177 /*-----------------------------------------------------------*/
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179 static portTASK_FUNCTION( vCompetingMathTask2, pvParameters )
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181 volatile portDOUBLE d1, d2, d3, d4;
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182 volatile uint16_t *pusTaskCheckVariable;
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183 volatile portDOUBLE dAnswer;
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184 short sError = pdFALSE;
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186 /* Some ports require that tasks that use a hardware floating point unit
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187 tell the kernel that they require a floating point context before any
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188 floating point instructions are executed. */
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189 portTASK_USES_FLOATING_POINT();
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195 dAnswer = ( d1 / d2 ) * d3;
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198 /* The variable this task increments to show it is still running is passed in
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199 as the parameter. */
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200 pusTaskCheckVariable = ( uint16_t * ) pvParameters;
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202 /* Keep performing a calculation and checking the result against a constant. */
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209 d4 = ( d1 / d2 ) * d3;
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211 #if configUSE_PREEMPTION == 0
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215 /* If the calculation does not match the expected constant, stop the
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216 increment of the check variable. */
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217 if( fabs( d4 - dAnswer ) > 0.001 )
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222 if( sError == pdFALSE )
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224 /* If the calculation has always been correct then set set the check
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225 variable. The check variable will get set to pdFALSE each time
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226 xAreMathsTaskStillRunning() is executed. */
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227 ( *pusTaskCheckVariable ) = pdTRUE;
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230 #if configUSE_PREEMPTION == 0
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235 /*-----------------------------------------------------------*/
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237 static portTASK_FUNCTION( vCompetingMathTask3, pvParameters )
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239 volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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240 volatile uint16_t *pusTaskCheckVariable;
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241 const size_t xArraySize = 10;
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243 short sError = pdFALSE;
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245 /* Some ports require that tasks that use a hardware floating point unit
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246 tell the kernel that they require a floating point context before any
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247 floating point instructions are executed. */
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248 portTASK_USES_FLOATING_POINT();
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250 /* The variable this task increments to show it is still running is passed in
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251 as the parameter. */
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252 pusTaskCheckVariable = ( uint16_t * ) pvParameters;
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254 pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
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256 /* Keep filling an array, keeping a running total of the values placed in the
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257 array. Then run through the array adding up all the values. If the two totals
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258 do not match, stop the check variable from incrementing. */
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264 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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266 pdArray[ xPosition ] = ( portDOUBLE ) xPosition + 5.5;
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267 dTotal1 += ( portDOUBLE ) xPosition + 5.5;
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270 #if configUSE_PREEMPTION == 0
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274 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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276 dTotal2 += pdArray[ xPosition ];
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279 dDifference = dTotal1 - dTotal2;
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280 if( fabs( dDifference ) > 0.001 )
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285 #if configUSE_PREEMPTION == 0
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289 if( sError == pdFALSE )
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291 /* If the calculation has always been correct then set set the check
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292 variable. The check variable will get set to pdFALSE each time
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293 xAreMathsTaskStillRunning() is executed. */
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294 ( *pusTaskCheckVariable ) = pdTRUE;
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298 /*-----------------------------------------------------------*/
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300 static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )
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302 volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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303 volatile uint16_t *pusTaskCheckVariable;
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304 const size_t xArraySize = 10;
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306 short sError = pdFALSE;
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308 /* Some ports require that tasks that use a hardware floating point unit
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309 tell the kernel that they require a floating point context before any
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310 floating point instructions are executed. */
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311 portTASK_USES_FLOATING_POINT();
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313 /* The variable this task increments to show it is still running is passed in
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314 as the parameter. */
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315 pusTaskCheckVariable = ( uint16_t * ) pvParameters;
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317 pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
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319 /* Keep filling an array, keeping a running total of the values placed in the
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320 array. Then run through the array adding up all the values. If the two totals
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321 do not match, stop the check variable from incrementing. */
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327 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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329 pdArray[ xPosition ] = ( portDOUBLE ) xPosition * 12.123;
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330 dTotal1 += ( portDOUBLE ) xPosition * 12.123;
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333 #if configUSE_PREEMPTION == 0
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337 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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339 dTotal2 += pdArray[ xPosition ];
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342 dDifference = dTotal1 - dTotal2;
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343 if( fabs( dDifference ) > 0.001 )
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348 #if configUSE_PREEMPTION == 0
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352 if( sError == pdFALSE )
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354 /* If the calculation has always been correct then set set the check
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355 variable. The check variable will get set to pdFALSE each time
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356 xAreMathsTaskStillRunning() is executed. */
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357 ( *pusTaskCheckVariable ) = pdTRUE;
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361 /*-----------------------------------------------------------*/
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363 /* This is called to check that all the created tasks are still running. */
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364 BaseType_t xAreMathsTaskStillRunning( void )
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366 BaseType_t xReturn = pdPASS, xTask;
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368 /* Check the maths tasks are still running by ensuring their check variables
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369 have been set to pdPASS. */
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370 for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
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372 if( usTaskCheck[ xTask ] != pdTRUE )
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374 /* The check has not been set so the associated task has either
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375 stalled or detected an error. */
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380 /* Reset the variable so it can be checked again the next time this
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381 function is executed. */
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382 usTaskCheck[ xTask ] = pdFALSE;
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