/*\r
- FreeRTOS V7.5.3 - Copyright (C) 2013 Real Time Engineers Ltd. \r
+ FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd.\r
All rights reserved\r
\r
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
\r
- ***************************************************************************\r
- * *\r
- * FreeRTOS provides completely free yet professionally developed, *\r
- * robust, strictly quality controlled, supported, and cross *\r
- * platform software that has become a de facto standard. *\r
- * *\r
- * Help yourself get started quickly and support the FreeRTOS *\r
- * project by purchasing a FreeRTOS tutorial book, reference *\r
- * manual, or both from: http://www.FreeRTOS.org/Documentation *\r
- * *\r
- * Thank you! *\r
- * *\r
- ***************************************************************************\r
-\r
This file is part of the FreeRTOS distribution.\r
\r
FreeRTOS is free software; you can redistribute it and/or modify it under\r
the terms of the GNU General Public License (version 2) as published by the\r
- Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.\r
+ Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.\r
\r
- >>! NOTE: The modification to the GPL is included to allow you to distribute\r
- >>! a combined work that includes FreeRTOS without being obliged to provide\r
- >>! the source code for proprietary components outside of the FreeRTOS\r
- >>! kernel.\r
+ ***************************************************************************\r
+ >>! NOTE: The modification to the GPL is included to allow you to !<<\r
+ >>! distribute a combined work that includes FreeRTOS without being !<<\r
+ >>! obliged to provide the source code for proprietary components !<<\r
+ >>! outside of the FreeRTOS kernel. !<<\r
+ ***************************************************************************\r
\r
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
- FOR A PARTICULAR PURPOSE. Full license text is available from the following\r
+ FOR A PARTICULAR PURPOSE. Full license text is available on the following\r
link: http://www.freertos.org/a00114.html\r
\r
- 1 tab == 4 spaces!\r
-\r
***************************************************************************\r
* *\r
- * Having a problem? Start by reading the FAQ "My application does *\r
- * not run, what could be wrong?" *\r
+ * FreeRTOS provides completely free yet professionally developed, *\r
+ * robust, strictly quality controlled, supported, and cross *\r
+ * platform software that is more than just the market leader, it *\r
+ * is the industry's de facto standard. *\r
* *\r
- * http://www.FreeRTOS.org/FAQHelp.html *\r
+ * Help yourself get started quickly while simultaneously helping *\r
+ * to support the FreeRTOS project by purchasing a FreeRTOS *\r
+ * tutorial book, reference manual, or both: *\r
+ * http://www.FreeRTOS.org/Documentation *\r
* *\r
***************************************************************************\r
\r
- http://www.FreeRTOS.org - Documentation, books, training, latest versions,\r
- license and Real Time Engineers Ltd. contact details.\r
+ http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading\r
+ the FAQ page "My application does not run, what could be wrong?". Have you\r
+ defined configASSERT()?\r
+\r
+ http://www.FreeRTOS.org/support - In return for receiving this top quality\r
+ embedded software for free we request you assist our global community by\r
+ participating in the support forum.\r
+\r
+ http://www.FreeRTOS.org/training - Investing in training allows your team to\r
+ be as productive as possible as early as possible. Now you can receive\r
+ FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers\r
+ Ltd, and the world's leading authority on the world's leading RTOS.\r
\r
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
\r
- http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
- Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS\r
- licenses offer ticketed support, indemnification and middleware.\r
+ http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.\r
+ Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.\r
+\r
+ http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High\r
+ Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS\r
+ licenses offer ticketed support, indemnification and commercial middleware.\r
\r
http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
engineered and independently SIL3 certified version for use in safety and\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 stop incrementing its check variable. */\r
-static volatile unsigned portSHORT usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 0 };\r
+static volatile unsigned short usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };\r
\r
/* Buffers into which the flop registers will be saved. There is a buffer for \r
each task created within this file. Zeroing out this array is the normal and\r
safe option as this will cause the task to start with all zeros in its flop\r
context. */\r
-static unsigned portLONG ulFlopRegisters[ mathNUMBER_OF_TASKS ][ portNO_FLOP_REGISTERS_TO_SAVE ];\r
+static unsigned long ulFlopRegisters[ mathNUMBER_OF_TASKS ][ portNO_FLOP_REGISTERS_TO_SAVE ];\r
\r
/*-----------------------------------------------------------*/\r
\r
void vStartMathTasks( unsigned portBASE_TYPE uxPriority )\r
{\r
-xTaskHandle xTaskJustCreated;\r
+TaskHandle_t xTaskJustCreated;\r
portBASE_TYPE x, y;\r
\r
/* Place known values into the buffers into which the flop registers are \r
/* Create the first task - passing it the address of the check variable\r
that it is going to increment. This check variable is used as an \r
indication that the task is still running. */\r
- xTaskCreate( vCompetingMathTask1, ( signed portCHAR * ) "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, &xTaskJustCreated );\r
+ xTaskCreate( vCompetingMathTask1, "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, &xTaskJustCreated );\r
\r
/* The task tag value is a value that can be associated with a task, but \r
is not used by the scheduler itself. Its use is down to the application so\r
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 0 ][ 0 ] ) );\r
\r
/* Create another 7 tasks, allocating a buffer for each. */\r
- xTaskCreate( vCompetingMathTask2, ( signed portCHAR * ) "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, &xTaskJustCreated );\r
+ xTaskCreate( vCompetingMathTask2, "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, &xTaskJustCreated );\r
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 1 ][ 0 ] ) );\r
\r
- xTaskCreate( vCompetingMathTask3, ( signed portCHAR * ) "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, &xTaskJustCreated );\r
+ xTaskCreate( vCompetingMathTask3, "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, &xTaskJustCreated );\r
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 2 ][ 0 ] ) );\r
\r
- xTaskCreate( vCompetingMathTask4, ( signed portCHAR * ) "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, &xTaskJustCreated );\r
+ xTaskCreate( vCompetingMathTask4, "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, &xTaskJustCreated );\r
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 3 ][ 0 ] ) );\r
\r
- xTaskCreate( vCompetingMathTask1, ( signed portCHAR * ) "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, &xTaskJustCreated );\r
+ xTaskCreate( vCompetingMathTask1, "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, &xTaskJustCreated );\r
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 4 ][ 0 ] ) );\r
\r
- xTaskCreate( vCompetingMathTask2, ( signed portCHAR * ) "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, &xTaskJustCreated );\r
+ xTaskCreate( vCompetingMathTask2, "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, &xTaskJustCreated );\r
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 5 ][ 0 ] ) );\r
\r
- xTaskCreate( vCompetingMathTask3, ( signed portCHAR * ) "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, &xTaskJustCreated );\r
+ xTaskCreate( vCompetingMathTask3, "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, &xTaskJustCreated );\r
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 6 ][ 0 ] ) );\r
\r
- xTaskCreate( vCompetingMathTask4, ( signed portCHAR * ) "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, &xTaskJustCreated );\r
+ xTaskCreate( vCompetingMathTask4, "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, &xTaskJustCreated );\r
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 7 ][ 0 ] ) );\r
}\r
/*-----------------------------------------------------------*/\r
static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )\r
{\r
volatile portFLOAT ff1, ff2, ff3, ff4;\r
-volatile unsigned portSHORT *pusTaskCheckVariable;\r
+volatile unsigned short *pusTaskCheckVariable;\r
volatile portFLOAT fAnswer;\r
-portSHORT sError = pdFALSE;\r
+short sError = pdFALSE;\r
\r
ff1 = 123.4567F;\r
ff2 = 2345.6789F;\r
\r
/* The variable this task increments to show it is still running is passed in \r
as the parameter. */\r
- pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;\r
+ pusTaskCheckVariable = ( unsigned short * ) pvParameters;\r
\r
/* Keep performing a calculation and checking the result against a constant. */\r
for(;;)\r
static portTASK_FUNCTION( vCompetingMathTask2, pvParameters )\r
{\r
volatile portFLOAT ff1, ff2, ff3, ff4;\r
-volatile unsigned portSHORT *pusTaskCheckVariable;\r
+volatile unsigned short *pusTaskCheckVariable;\r
volatile portFLOAT fAnswer;\r
-portSHORT sError = pdFALSE;\r
+short sError = pdFALSE;\r
\r
ff1 = -389.38F;\r
ff2 = 32498.2F;\r
\r
/* The variable this task increments to show it is still running is passed in \r
as the parameter. */\r
- pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;\r
+ pusTaskCheckVariable = ( unsigned short * ) pvParameters;\r
\r
/* Keep performing a calculation and checking the result against a constant. */\r
for( ;; )\r
static portTASK_FUNCTION( vCompetingMathTask3, pvParameters )\r
{\r
volatile portFLOAT *pfArray, fTotal1, fTotal2, fDifference;\r
-volatile unsigned portSHORT *pusTaskCheckVariable;\r
+volatile unsigned short *pusTaskCheckVariable;\r
const size_t xArraySize = 10;\r
size_t xPosition;\r
-portSHORT sError = pdFALSE;\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
- pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;\r
+ pusTaskCheckVariable = ( unsigned short * ) pvParameters;\r
\r
pfArray = ( portFLOAT * ) pvPortMalloc( xArraySize * sizeof( portFLOAT ) );\r
\r
static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )\r
{\r
volatile portFLOAT *pfArray, fTotal1, fTotal2, fDifference;\r
-volatile unsigned portSHORT *pusTaskCheckVariable;\r
+volatile unsigned short *pusTaskCheckVariable;\r
const size_t xArraySize = 10;\r
size_t xPosition;\r
-portSHORT sError = pdFALSE;\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
- pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;\r
+ pusTaskCheckVariable = ( unsigned short * ) pvParameters;\r
\r
pfArray = ( portFLOAT * ) pvPortMalloc( xArraySize * sizeof( portFLOAT ) );\r
\r
{\r
/* Keep a history of the check variables so we know if they have been incremented \r
since the last call. */\r
-static unsigned portSHORT usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 0 };\r
+static unsigned short usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };\r
portBASE_TYPE xReturn = pdTRUE, xTask;\r
\r
/* Check the maths tasks are still running by ensuring their check variables \r
projects / freertos / blobdiff