2 FreeRTOS V8.2.3 - 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 - using single precision variables.
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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 priority
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76 * means that these tasks will get pre-empted any time another task is ready to run
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77 * or a time slice occurs. More often than not the pre-emption will occur mid
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78 * calculation, creating a good test of the schedulers context switch mechanism - a
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79 * calculation producing an unexpected result could be a symptom of a corruption in
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80 * 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 #define mathSTACK_SIZE configMINIMAL_STACK_SIZE
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94 #define mathNUMBER_OF_TASKS ( 8 )
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96 /* Four tasks, each of which performs a different floating point calculation.
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97 Each of the four is created twice. */
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98 static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters );
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99 static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters );
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100 static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters );
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101 static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters );
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103 /* These variables are used to check that all the tasks are still running. If a
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104 task gets a calculation wrong it will
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105 stop incrementing its check variable. */
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106 static volatile uint16_t usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( uint16_t ) 0 };
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108 /*-----------------------------------------------------------*/
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110 void vStartMathTasks( UBaseType_t uxPriority )
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112 xTaskCreate( vCompetingMathTask1, "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
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113 xTaskCreate( vCompetingMathTask2, "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
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114 xTaskCreate( vCompetingMathTask3, "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
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115 xTaskCreate( vCompetingMathTask4, "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
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116 xTaskCreate( vCompetingMathTask1, "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );
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117 xTaskCreate( vCompetingMathTask2, "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );
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118 xTaskCreate( vCompetingMathTask3, "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );
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119 xTaskCreate( vCompetingMathTask4, "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );
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121 /*-----------------------------------------------------------*/
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123 static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )
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125 volatile float f1, f2, f3, f4;
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126 volatile uint16_t *pusTaskCheckVariable;
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127 volatile float fAnswer;
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128 short sError = pdFALSE;
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134 fAnswer = ( f1 + f2 ) * f3;
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136 /* The variable this task increments to show it is still running is passed in
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137 as the parameter. */
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138 pusTaskCheckVariable = ( uint16_t * ) pvParameters;
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140 /* Keep performing a calculation and checking the result against a constant. */
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147 f4 = ( f1 + f2 ) * f3;
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149 #if configUSE_PREEMPTION == 0
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153 /* If the calculation does not match the expected constant, stop the
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154 increment of the check variable. */
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155 if( fabs( f4 - fAnswer ) > 0.001F )
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160 if( sError == pdFALSE )
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162 /* If the calculation has always been correct, increment the check
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163 variable so we know this task is still running okay. */
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164 ( *pusTaskCheckVariable )++;
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167 #if configUSE_PREEMPTION == 0
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173 /*-----------------------------------------------------------*/
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175 static portTASK_FUNCTION( vCompetingMathTask2, pvParameters )
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177 volatile float f1, f2, f3, f4;
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178 volatile uint16_t *pusTaskCheckVariable;
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179 volatile float fAnswer;
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180 short sError = pdFALSE;
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186 fAnswer = ( f1 / f2 ) * f3;
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189 /* The variable this task increments to show it is still running is passed in
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190 as the parameter. */
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191 pusTaskCheckVariable = ( uint16_t * ) pvParameters;
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193 /* Keep performing a calculation and checking the result against a constant. */
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200 f4 = ( f1 / f2 ) * f3;
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202 #if configUSE_PREEMPTION == 0
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206 /* If the calculation does not match the expected constant, stop the
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207 increment of the check variable. */
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208 if( fabs( f4 - fAnswer ) > 0.001F )
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213 if( sError == pdFALSE )
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215 /* If the calculation has always been correct, increment the check
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216 variable so we know
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217 this task is still running okay. */
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218 ( *pusTaskCheckVariable )++;
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221 #if configUSE_PREEMPTION == 0
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226 /*-----------------------------------------------------------*/
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228 static portTASK_FUNCTION( vCompetingMathTask3, pvParameters )
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230 volatile float *pfArray, fTotal1, fTotal2, fDifference, fPosition;
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231 volatile uint16_t *pusTaskCheckVariable;
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232 const size_t xArraySize = 10;
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234 short sError = pdFALSE;
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236 /* The variable this task increments to show it is still running is passed in
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237 as the parameter. */
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238 pusTaskCheckVariable = ( uint16_t * ) pvParameters;
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240 pfArray = ( float * ) pvPortMalloc( xArraySize * sizeof( float ) );
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242 /* Keep filling an array, keeping a running total of the values placed in the
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243 array. Then run through the array adding up all the values. If the two totals
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244 do not match, stop the check variable from incrementing. */
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251 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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253 pfArray[ xPosition ] = fPosition + 5.5F;
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254 fTotal1 += fPosition + 5.5F;
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257 #if configUSE_PREEMPTION == 0
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261 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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263 fTotal2 += pfArray[ xPosition ];
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266 fDifference = fTotal1 - fTotal2;
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267 if( fabs( fDifference ) > 0.001F )
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272 #if configUSE_PREEMPTION == 0
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276 if( sError == pdFALSE )
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278 /* If the calculation has always been correct, increment the check
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279 variable so we know this task is still running okay. */
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280 ( *pusTaskCheckVariable )++;
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284 /*-----------------------------------------------------------*/
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286 static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )
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288 volatile float *pfArray, fTotal1, fTotal2, fDifference, fPosition;
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289 volatile uint16_t *pusTaskCheckVariable;
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290 const size_t xArraySize = 10;
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292 short sError = pdFALSE;
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294 /* The variable this task increments to show it is still running is passed in
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295 as the parameter. */
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296 pusTaskCheckVariable = ( uint16_t * ) pvParameters;
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298 pfArray = ( float * ) pvPortMalloc( xArraySize * sizeof( float ) );
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300 /* Keep filling an array, keeping a running total of the values placed in the
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301 array. Then run through the array adding up all the values. If the two totals
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302 do not match, stop the check variable from incrementing. */
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309 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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311 pfArray[ xPosition ] = fPosition * 12.123F;
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312 fTotal1 += fPosition * 12.123F;
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315 #if configUSE_PREEMPTION == 0
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319 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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321 fTotal2 += pfArray[ xPosition ];
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324 fDifference = fTotal1 - fTotal2;
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325 if( fabs( fDifference ) > 0.001F )
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330 #if configUSE_PREEMPTION == 0
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334 if( sError == pdFALSE )
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336 /* If the calculation has always been correct, increment the check
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337 variable so we know this task is still running okay. */
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338 ( *pusTaskCheckVariable )++;
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342 /*-----------------------------------------------------------*/
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344 /* This is called to check that all the created tasks are still running. */
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345 BaseType_t xAreMathsTaskStillRunning( void )
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347 /* Keep a history of the check variables so we know if they have been incremented
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348 since the last call. */
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349 static uint16_t usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( uint16_t ) 0 };
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350 BaseType_t xReturn = pdTRUE, xTask;
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352 /* Check the maths tasks are still running by ensuring their check variables
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353 are still incrementing. */
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354 for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
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356 if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
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358 /* The check has not incremented so an error exists. */
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362 usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
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