2 FreeRTOS V8.1.1 - 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 a floating
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68 * 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
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72 * priority means that these tasks will get pre-empted any time another task is
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73 * ready to run or a time slice occurs. More often than not the pre-emption
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74 * will occur mid calculation, creating a good test of the schedulers context
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75 * switch mechanism - a calculation producing an unexpected result could be a
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76 * symptom of a corruption in 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 ( 4 )
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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 stop setting its check variable. */
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101 static volatile uint16_t usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( uint16_t ) 0 };
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103 /*-----------------------------------------------------------*/
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105 void vStartMathTasks( UBaseType_t uxPriority )
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107 xTaskCreate( vCompetingMathTask1, "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
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108 xTaskCreate( vCompetingMathTask2, "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
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109 xTaskCreate( vCompetingMathTask3, "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
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110 xTaskCreate( vCompetingMathTask4, "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
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112 /*-----------------------------------------------------------*/
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114 static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )
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116 volatile portDOUBLE d1, d2, d3, d4;
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117 volatile uint16_t *pusTaskCheckVariable;
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118 volatile portDOUBLE dAnswer;
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119 short sError = pdFALSE;
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121 /* Some ports require that tasks that use a hardware floating point unit
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122 tell the kernel that they require a floating point context before any
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123 floating point instructions are executed. */
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124 portTASK_USES_FLOATING_POINT();
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130 dAnswer = ( d1 + d2 ) * d3;
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132 /* The variable this task increments to show it is still running is passed in
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133 as the parameter. */
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134 pusTaskCheckVariable = ( uint16_t * ) pvParameters;
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136 /* Keep performing a calculation and checking the result against a constant. */
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143 d4 = ( d1 + d2 ) * d3;
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145 #if configUSE_PREEMPTION == 0
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149 /* If the calculation does not match the expected constant, stop the
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150 increment of the check variable. */
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151 if( fabs( d4 - dAnswer ) > 0.001 )
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156 if( sError == pdFALSE )
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158 /* If the calculation has always been correct then set set the check
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159 variable. The check variable will get set to pdFALSE each time
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160 xAreMathsTaskStillRunning() is executed. */
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161 ( *pusTaskCheckVariable ) = pdTRUE;
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164 #if configUSE_PREEMPTION == 0
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170 /*-----------------------------------------------------------*/
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172 static portTASK_FUNCTION( vCompetingMathTask2, pvParameters )
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174 volatile portDOUBLE d1, d2, d3, d4;
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175 volatile uint16_t *pusTaskCheckVariable;
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176 volatile portDOUBLE dAnswer;
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177 short sError = pdFALSE;
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179 /* Some ports require that tasks that use a hardware floating point unit
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180 tell the kernel that they require a floating point context before any
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181 floating point instructions are executed. */
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182 portTASK_USES_FLOATING_POINT();
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188 dAnswer = ( d1 / d2 ) * d3;
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191 /* The variable this task increments to show it is still running is passed in
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192 as the parameter. */
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193 pusTaskCheckVariable = ( uint16_t * ) pvParameters;
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195 /* Keep performing a calculation and checking the result against a constant. */
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202 d4 = ( d1 / d2 ) * d3;
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204 #if configUSE_PREEMPTION == 0
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208 /* If the calculation does not match the expected constant, stop the
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209 increment of the check variable. */
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210 if( fabs( d4 - dAnswer ) > 0.001 )
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215 if( sError == pdFALSE )
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217 /* If the calculation has always been correct then set set the check
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218 variable. The check variable will get set to pdFALSE each time
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219 xAreMathsTaskStillRunning() is executed. */
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220 ( *pusTaskCheckVariable ) = pdTRUE;
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223 #if configUSE_PREEMPTION == 0
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228 /*-----------------------------------------------------------*/
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230 static portTASK_FUNCTION( vCompetingMathTask3, pvParameters )
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232 volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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233 volatile uint16_t *pusTaskCheckVariable;
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234 const size_t xArraySize = 10;
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236 short sError = pdFALSE;
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238 /* Some ports require that tasks that use a hardware floating point unit
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239 tell the kernel that they require a floating point context before any
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240 floating point instructions are executed. */
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241 portTASK_USES_FLOATING_POINT();
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243 /* The variable this task increments to show it is still running is passed in
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244 as the parameter. */
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245 pusTaskCheckVariable = ( uint16_t * ) pvParameters;
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247 pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
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249 /* Keep filling an array, keeping a running total of the values placed in the
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250 array. Then run through the array adding up all the values. If the two totals
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251 do not match, stop the check variable from incrementing. */
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257 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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259 pdArray[ xPosition ] = ( portDOUBLE ) xPosition + 5.5;
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260 dTotal1 += ( portDOUBLE ) xPosition + 5.5;
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263 #if configUSE_PREEMPTION == 0
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267 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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269 dTotal2 += pdArray[ xPosition ];
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272 dDifference = dTotal1 - dTotal2;
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273 if( fabs( dDifference ) > 0.001 )
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278 #if configUSE_PREEMPTION == 0
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282 if( sError == pdFALSE )
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284 /* If the calculation has always been correct then set set the check
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285 variable. The check variable will get set to pdFALSE each time
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286 xAreMathsTaskStillRunning() is executed. */
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287 ( *pusTaskCheckVariable ) = pdTRUE;
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291 /*-----------------------------------------------------------*/
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293 static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )
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295 volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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296 volatile uint16_t *pusTaskCheckVariable;
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297 const size_t xArraySize = 10;
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299 short sError = pdFALSE;
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301 /* Some ports require that tasks that use a hardware floating point unit
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302 tell the kernel that they require a floating point context before any
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303 floating point instructions are executed. */
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304 portTASK_USES_FLOATING_POINT();
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306 /* The variable this task increments to show it is still running is passed in
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307 as the parameter. */
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308 pusTaskCheckVariable = ( uint16_t * ) pvParameters;
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310 pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
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312 /* Keep filling an array, keeping a running total of the values placed in the
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313 array. Then run through the array adding up all the values. If the two totals
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314 do not match, stop the check variable from incrementing. */
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320 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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322 pdArray[ xPosition ] = ( portDOUBLE ) xPosition * 12.123;
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323 dTotal1 += ( portDOUBLE ) xPosition * 12.123;
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326 #if configUSE_PREEMPTION == 0
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330 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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332 dTotal2 += pdArray[ xPosition ];
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335 dDifference = dTotal1 - dTotal2;
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336 if( fabs( dDifference ) > 0.001 )
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341 #if configUSE_PREEMPTION == 0
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345 if( sError == pdFALSE )
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347 /* If the calculation has always been correct then set set the check
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348 variable. The check variable will get set to pdFALSE each time
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349 xAreMathsTaskStillRunning() is executed. */
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350 ( *pusTaskCheckVariable ) = pdTRUE;
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354 /*-----------------------------------------------------------*/
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356 /* This is called to check that all the created tasks are still running. */
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357 BaseType_t xAreMathsTaskStillRunning( void )
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359 BaseType_t xReturn = pdPASS, xTask;
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361 /* Check the maths tasks are still running by ensuring their check variables
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362 have been set to pdPASS. */
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363 for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
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365 if( usTaskCheck[ xTask ] != pdTRUE )
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367 /* The check has not been set so the associated task has either
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368 stalled or detected an error. */
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373 /* Reset the variable so it can be checked again the next time this
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374 function is executed. */
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375 usTaskCheck[ xTask ] = pdFALSE;
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