*/\r
\r
/*\r
- * Creates eight tasks, each of which loops continuously performing an (emulated) \r
- * floating point calculation.\r
+ * Creates eight tasks, each of which loops continuously performing a floating \r
+ * point calculation and in so doing test the floating point context switching.\r
+ * This file also demonstrates the use of the xPortUsesFloatingPoint() function\r
+ * which informs the kernel that the task requires its floating point context\r
+ * saved on each switch.\r
*\r
* All the tasks run at the idle priority and never block or yield. This causes \r
- * all eight tasks to time slice with the idle task. Running at the idle priority \r
- * means that these tasks will get pre-empted any time another task is ready to run\r
- * or a time slice occurs. More often than not the pre-emption will occur mid \r
- * calculation, creating a good test of the schedulers context switch mechanism - a \r
- * calculation producing an unexpected result could be a symptom of a corruption in \r
- * the context of a task.\r
+ * all eight tasks to time slice with the idle task. Running at the idle \r
+ * priority means that these tasks will get pre-empted any time another task is \r
+ * ready to run or a time slice occurs. More often than not the pre-emption \r
+ * will occur mid calculation, creating a good test of the schedulers context \r
+ * switch mechanism - a calculation producing an unexpected result could be a \r
+ * symptom of a corruption in the context of a task.\r
*/\r
\r
#include <stdlib.h>\r
\r
/* Four tasks, each of which performs a different floating point calculation. \r
Each of the four is created twice. */\r
-static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters );\r
-static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters );\r
-static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters );\r
-static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters );\r
+static void vCompetingMathTask1( void *pvParameters );\r
+static void vCompetingMathTask2( void *pvParameters );\r
+static void vCompetingMathTask3( void *pvParameters );\r
+static void vCompetingMathTask4( void *pvParameters );\r
\r
/* These variables are used to check that all the tasks are still running. If a \r
-task gets a calculation wrong it will\r
-stop incrementing its check variable. */\r
+task gets a calculation wrong it will stop incrementing its check variable,\r
+otherwise the check variable will get incremented on each iteration of the \r
+tasks execution. */\r
static volatile unsigned short usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };\r
\r
/*-----------------------------------------------------------*/\r
}\r
/*-----------------------------------------------------------*/\r
\r
-static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )\r
+static void vCompetingMathTask1( void *pvParameters )\r
{\r
volatile double d1, d2, d3, d4;\r
volatile unsigned short *pusTaskCheckVariable;\r
d2 = 2345.6789;\r
d3 = -918.222;\r
\r
+ /* Calculate the expected answer. */\r
dAnswer = ( d1 + d2 ) * d3;\r
\r
/* The variable this task increments to show it is still running is passed in \r
/* Keep performing a calculation and checking the result against a constant. */\r
for(;;)\r
{\r
+ /* Perform the calculation. */\r
d1 = 123.4567;\r
d2 = 2345.6789;\r
d3 = -918.222;\r
\r
d4 = ( d1 + d2 ) * d3;\r
\r
- #if configUSE_PREEMPTION == 0\r
- taskYIELD();\r
- #endif\r
-\r
/* If the calculation does not match the expected constant, stop the \r
increment of the check variable. */\r
if( fabs( d4 - dAnswer ) > 0.001 )\r
variable so we know this task is still running okay. */\r
( *pusTaskCheckVariable )++;\r
}\r
-\r
- #if configUSE_PREEMPTION == 0\r
- taskYIELD();\r
- #endif\r
-\r
}\r
}\r
/*-----------------------------------------------------------*/\r
\r
-static portTASK_FUNCTION( vCompetingMathTask2, pvParameters )\r
+static void vCompetingMathTask2( void *pvParameters )\r
{\r
volatile double d1, d2, d3, d4;\r
volatile unsigned short *pusTaskCheckVariable;\r
d2 = 32498.2;\r
d3 = -2.0001;\r
\r
+ /* Calculate the expected answer. */\r
dAnswer = ( d1 / d2 ) * d3;\r
\r
\r
/* Keep performing a calculation and checking the result against a constant. */\r
for( ;; )\r
{\r
+ /* Perform the calculation. */\r
d1 = -389.38;\r
d2 = 32498.2;\r
d3 = -2.0001;\r
\r
d4 = ( d1 / d2 ) * d3;\r
\r
- #if configUSE_PREEMPTION == 0\r
- taskYIELD();\r
- #endif\r
- \r
/* If the calculation does not match the expected constant, stop the \r
increment of the check variable. */\r
if( fabs( d4 - dAnswer ) > 0.001 )\r
this task is still running okay. */\r
( *pusTaskCheckVariable )++;\r
}\r
-\r
- #if configUSE_PREEMPTION == 0\r
- taskYIELD();\r
- #endif\r
}\r
}\r
/*-----------------------------------------------------------*/\r
\r
-static portTASK_FUNCTION( vCompetingMathTask3, pvParameters )\r
+static void vCompetingMathTask3( void *pvParameters )\r
{\r
volatile double *pdArray, dTotal1, dTotal2, dDifference;\r
volatile unsigned short *pusTaskCheckVariable;\r
size_t xPosition;\r
short sError = pdFALSE;\r
\r
- /* The variable this task increments to show it is still running is passed in \r
- as the parameter. */\r
+ /* The variable this task increments to show it is still running is passed \r
+ in as the parameter. */\r
pusTaskCheckVariable = ( unsigned short * ) pvParameters;\r
\r
+ /* Allocate memory for use as an array. */\r
pdArray = ( double * ) pvPortMalloc( xArraySize * sizeof( double ) );\r
\r
- /* Keep filling an array, keeping a running total of the values placed in the \r
- array. Then run through the array adding up all the values. If the two totals \r
- do not match, stop the check variable from incrementing. */\r
+ /* Keep filling an array, keeping a running total of the values placed in \r
+ the array. Then run through the array adding up all the values. If the two \r
+ totals do not match, stop the check variable from incrementing. */\r
for( ;; )\r
{\r
dTotal1 = 0.0;\r
dTotal1 += ( double ) xPosition + 5.5; \r
}\r
\r
- #if configUSE_PREEMPTION == 0\r
- taskYIELD();\r
- #endif\r
-\r
for( xPosition = 0; xPosition < xArraySize; xPosition++ )\r
{\r
dTotal2 += pdArray[ xPosition ];\r
sError = pdTRUE;\r
}\r
\r
- #if configUSE_PREEMPTION == 0\r
- taskYIELD();\r
- #endif\r
-\r
if( sError == pdFALSE )\r
{\r
/* If the calculation has always been correct, increment the check \r
}\r
/*-----------------------------------------------------------*/\r
\r
-static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )\r
+static void vCompetingMathTask4( void *pvParameters )\r
{\r
volatile double *pdArray, dTotal1, dTotal2, dDifference;\r
volatile unsigned short *pusTaskCheckVariable;\r
as the parameter. */\r
pusTaskCheckVariable = ( unsigned short * ) pvParameters;\r
\r
+ /* Allocate RAM for use as an array. */\r
pdArray = ( double * ) pvPortMalloc( xArraySize * sizeof( double ) );\r
\r
/* Keep filling an array, keeping a running total of the values placed in the \r
dTotal1 += ( double ) xPosition * 12.123; \r
}\r
\r
- #if configUSE_PREEMPTION == 0\r
- taskYIELD();\r
- #endif\r
-\r
for( xPosition = 0; xPosition < xArraySize; xPosition++ )\r
{\r
dTotal2 += pdArray[ xPosition ];\r
sError = pdTRUE;\r
}\r
\r
- #if configUSE_PREEMPTION == 0\r
- taskYIELD();\r
- #endif\r
-\r
if( sError == pdFALSE )\r
{\r
/* If the calculation has always been correct, increment the check \r
/* This is called to check that all the created tasks are still running. */\r
portBASE_TYPE xAreMathsTaskStillRunning( void )\r
{\r
-/* Keep a history of the check variables so we know if they have been incremented \r
-since the last call. */\r
+/* Keep a history of the check variables so we know if they have been \r
+incremented since the last call. */\r
static unsigned short usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };\r
portBASE_TYPE xReturn = pdTRUE, xTask;\r
\r
projects / freertos / blobdiff