2 FreeRTOS V7.5.1 - 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 a floating
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67 * point calculation and in so doing test the floating point context switching.
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68 * This file also demonstrates the use of the xPortUsesFloatingPoint() function
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69 * which informs the kernel that the task requires its floating point context
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70 * saved on each switch.
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72 * All the tasks run at the idle priority and never block or yield. This causes
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73 * all eight tasks to time slice with the idle task. Running at the idle
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74 * priority means that these tasks will get pre-empted any time another task is
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75 * ready to run or a time slice occurs. More often than not the pre-emption
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76 * will occur mid calculation, creating a good test of the schedulers context
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77 * switch mechanism - a calculation producing an unexpected result could be a
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78 * symptom of a corruption in the context of a task.
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84 /* Scheduler include files. */
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85 #include "FreeRTOS.h"
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88 /* Demo program include files. */
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91 #define mathSTACK_SIZE configMINIMAL_STACK_SIZE
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92 #define mathNUMBER_OF_TASKS ( 8 )
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94 /* Four tasks, each of which performs a different floating point calculation.
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95 Each of the four is created twice. */
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96 static void vCompetingMathTask1( void *pvParameters );
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97 static void vCompetingMathTask2( void *pvParameters );
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98 static void vCompetingMathTask3( void *pvParameters );
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99 static void vCompetingMathTask4( void *pvParameters );
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101 /* These variables are used to check that all the tasks are still running. If a
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102 task gets a calculation wrong it will stop incrementing its check variable,
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103 otherwise the check variable will get incremented on each iteration of the
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104 tasks execution. */
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105 static volatile unsigned short usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
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107 /*-----------------------------------------------------------*/
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109 void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
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111 xTaskHandle xCreatedTask;
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113 /* Create one of the floating point tasks... */
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114 xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, &xCreatedTask );
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116 /* ... then enable floating point support for the created task so its flop
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117 flop registers are maintained in a consistent state. */
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118 xPortUsesFloatingPoint( xCreatedTask );
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120 xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, &xCreatedTask );
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121 xPortUsesFloatingPoint( xCreatedTask );
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123 xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, &xCreatedTask );
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124 xPortUsesFloatingPoint( xCreatedTask );
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126 xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, &xCreatedTask );
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127 xPortUsesFloatingPoint( xCreatedTask );
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129 xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, &xCreatedTask );
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130 xPortUsesFloatingPoint( xCreatedTask );
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132 xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, &xCreatedTask );
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133 xPortUsesFloatingPoint( xCreatedTask );
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135 xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, &xCreatedTask );
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136 xPortUsesFloatingPoint( xCreatedTask );
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138 xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, &xCreatedTask );
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139 xPortUsesFloatingPoint( xCreatedTask );
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141 /*-----------------------------------------------------------*/
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143 static void vCompetingMathTask1( void *pvParameters )
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145 volatile double d1, d2, d3, d4;
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146 volatile unsigned short *pusTaskCheckVariable;
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147 volatile double dAnswer;
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148 short sError = pdFALSE;
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154 /* Calculate the expected answer. */
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155 dAnswer = ( d1 + d2 ) * d3;
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157 /* The variable this task increments to show it is still running is passed in
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158 as the parameter. */
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159 pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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161 /* Keep performing a calculation and checking the result against a constant. */
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164 /* Perform the calculation. */
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169 d4 = ( d1 + d2 ) * d3;
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171 /* If the calculation does not match the expected constant, stop the
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172 increment of the check variable. */
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173 if( fabs( d4 - dAnswer ) > 0.001 )
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178 if( sError == pdFALSE )
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180 /* If the calculation has always been correct, increment the check
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181 variable so we know this task is still running okay. */
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182 ( *pusTaskCheckVariable )++;
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186 /*-----------------------------------------------------------*/
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188 static void vCompetingMathTask2( void *pvParameters )
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190 volatile double d1, d2, d3, d4;
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191 volatile unsigned short *pusTaskCheckVariable;
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192 volatile double dAnswer;
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193 short sError = pdFALSE;
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199 /* Calculate the expected answer. */
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200 dAnswer = ( d1 / d2 ) * d3;
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203 /* The variable this task increments to show it is still running is passed in
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204 as the parameter. */
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205 pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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207 /* Keep performing a calculation and checking the result against a constant. */
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210 /* Perform the calculation. */
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215 d4 = ( d1 / d2 ) * d3;
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217 /* If the calculation does not match the expected constant, stop the
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218 increment of the check variable. */
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219 if( fabs( d4 - dAnswer ) > 0.001 )
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224 if( sError == pdFALSE )
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226 /* If the calculation has always been correct, increment the check
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227 variable so we know
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228 this task is still running okay. */
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229 ( *pusTaskCheckVariable )++;
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233 /*-----------------------------------------------------------*/
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235 static void vCompetingMathTask3( void *pvParameters )
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237 volatile double *pdArray, dTotal1, dTotal2, dDifference;
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238 volatile unsigned short *pusTaskCheckVariable;
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239 const size_t xArraySize = 10;
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241 short sError = pdFALSE;
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243 /* The variable this task increments to show it is still running is passed
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244 in as the parameter. */
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245 pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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247 /* Allocate memory for use as an array. */
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248 pdArray = ( double * ) pvPortMalloc( xArraySize * sizeof( double ) );
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250 /* Keep filling an array, keeping a running total of the values placed in
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251 the array. Then run through the array adding up all the values. If the two
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252 totals do not match, stop the check variable from incrementing. */
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258 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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260 pdArray[ xPosition ] = ( double ) xPosition + 5.5;
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261 dTotal1 += ( double ) xPosition + 5.5;
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264 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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266 dTotal2 += pdArray[ xPosition ];
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269 dDifference = dTotal1 - dTotal2;
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270 if( fabs( dDifference ) > 0.001 )
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275 if( sError == pdFALSE )
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277 /* If the calculation has always been correct, increment the check
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278 variable so we know this task is still running okay. */
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279 ( *pusTaskCheckVariable )++;
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283 /*-----------------------------------------------------------*/
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285 static void vCompetingMathTask4( void *pvParameters )
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287 volatile double *pdArray, dTotal1, dTotal2, dDifference;
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288 volatile unsigned short *pusTaskCheckVariable;
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289 const size_t xArraySize = 10;
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291 short sError = pdFALSE;
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293 /* The variable this task increments to show it is still running is passed in
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294 as the parameter. */
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295 pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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297 /* Allocate RAM for use as an array. */
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298 pdArray = ( double * ) pvPortMalloc( xArraySize * sizeof( double ) );
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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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308 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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310 pdArray[ xPosition ] = ( double ) xPosition * 12.123;
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311 dTotal1 += ( double ) xPosition * 12.123;
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314 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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316 dTotal2 += pdArray[ xPosition ];
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319 dDifference = dTotal1 - dTotal2;
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320 if( fabs( dDifference ) > 0.001 )
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325 if( sError == pdFALSE )
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327 /* If the calculation has always been correct, increment the check
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328 variable so we know this task is still running okay. */
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329 ( *pusTaskCheckVariable )++;
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333 /*-----------------------------------------------------------*/
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335 /* This is called to check that all the created tasks are still running. */
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336 portBASE_TYPE xAreMathsTaskStillRunning( void )
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338 /* Keep a history of the check variables so we know if they have been
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339 incremented since the last call. */
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340 static unsigned short usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
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341 portBASE_TYPE xReturn = pdTRUE, xTask;
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343 /* Check the maths tasks are still running by ensuring their check variables
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344 are still incrementing. */
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345 for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
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347 if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
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349 /* The check has not incremented so an error exists. */
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353 usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
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