X-Git-Url: https://git.sur5r.net/?a=blobdiff_plain;f=FreeRTOS%2FDemo%2FCommon%2FMinimal%2Fflop.c;h=2b6e4addc855ed1976c7fce554a400dd36681b4b;hb=a0a9466899eecea835bb76ea867bff7d87e38d98;hp=75867f783e4615efd7a791941a738a93fc050880;hpb=69644b6878075d157a1dcface6a6136d1fce91c2;p=freertos diff --git a/FreeRTOS/Demo/Common/Minimal/flop.c b/FreeRTOS/Demo/Common/Minimal/flop.c index 75867f783..2b6e4addc 100644 --- a/FreeRTOS/Demo/Common/Minimal/flop.c +++ b/FreeRTOS/Demo/Common/Minimal/flop.c @@ -1,48 +1,38 @@ /* - FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd. + FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd. + All rights reserved - FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT - http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** * * - * FreeRTOS tutorial books are available in pdf and paperback. * - * Complete, revised, and edited pdf reference manuals are also * - * available. * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * * * - * Purchasing FreeRTOS documentation will not only help you, by * - * ensuring you get running as quickly as possible and with an * - * in-depth knowledge of how to use FreeRTOS, it will also help * - * the FreeRTOS project to continue with its mission of providing * - * professional grade, cross platform, de facto standard solutions * - * for microcontrollers - completely free of charge! * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * * * - * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * - * * - * Thank you for using FreeRTOS, and thank you for your support! * + * Thank you! * * * *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation AND MODIFIED BY the FreeRTOS exception. + Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. - >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to - distribute a combined work that includes FreeRTOS without being obliged to - provide the source code for proprietary components outside of the FreeRTOS - kernel. + >>! NOTE: The modification to the GPL is included to allow you to !<< + >>! distribute a combined work that includes FreeRTOS without being !<< + >>! obliged to provide the source code for proprietary components !<< + >>! outside of the FreeRTOS kernel. !<< FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. See the GNU General Public License for more - details. You should have received a copy of the GNU General Public License - and the FreeRTOS license exception along with FreeRTOS; if not itcan be - viewed here: http://www.freertos.org/a00114.html and also obtained by - writing to Real Time Engineers Ltd., contact details for whom are available - on the FreeRTOS WEB site. + FOR A PARTICULAR PURPOSE. Full license text is available from the following + link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! @@ -55,34 +45,35 @@ * * *************************************************************************** - - http://www.FreeRTOS.org - Documentation, books, training, latest versions, + http://www.FreeRTOS.org - Documentation, books, training, latest versions, license and Real Time Engineers Ltd. contact details. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool, and our new - fully thread aware and reentrant UDP/IP stack. - - http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems, who sell the code with commercial support, - indemnification and middleware, under the OpenRTOS brand. - - http://www.SafeRTOS.com - High Integrity Systems also provide a safety - engineered and independently SIL3 certified version for use in safety and + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. + + http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and mission critical applications that require provable dependability. + + 1 tab == 4 spaces! */ /* - * Creates eight tasks, each of which loops continuously performing an (emulated) - * floating point calculation. + * Creates eight tasks, each of which loops continuously performing a floating + * point calculation. * - * All the tasks run at the idle priority and never block or yield. This causes - * all eight tasks to time slice with the idle task. Running at the idle priority - * means that these tasks will get pre-empted any time another task is ready to run - * or a time slice occurs. More often than not the pre-emption will occur mid - * calculation, creating a good test of the schedulers context switch mechanism - a - * calculation producing an unexpected result could be a symptom of a corruption in - * the context of a task. + * All the tasks run at the idle priority and never block or yield. This causes + * all eight tasks to time slice with the idle task. Running at the idle + * priority means that these tasks will get pre-empted any time another task is + * ready to run or a time slice occurs. More often than not the pre-emption + * will occur mid calculation, creating a good test of the schedulers context + * switch mechanism - a calculation producing an unexpected result could be a + * symptom of a corruption in the context of a task. */ #include @@ -96,51 +87,51 @@ #include "flop.h" #define mathSTACK_SIZE configMINIMAL_STACK_SIZE -#define mathNUMBER_OF_TASKS ( 8 ) +#define mathNUMBER_OF_TASKS ( 4 ) -/* Four tasks, each of which performs a different floating point calculation. +/* Four tasks, each of which performs a different floating point calculation. Each of the four is created twice. */ static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters ); static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters ); static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters ); static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters ); -/* These variables are used to check that all the tasks are still running. If a -task gets a calculation wrong it will -stop incrementing its check variable. */ -static volatile unsigned short usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 }; +/* These variables are used to check that all the tasks are still running. If a +task gets a calculation wrong it will stop setting its check variable. */ +static volatile uint16_t usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( uint16_t ) 0 }; /*-----------------------------------------------------------*/ -void vStartMathTasks( unsigned portBASE_TYPE uxPriority ) +void vStartMathTasks( UBaseType_t uxPriority ) { - xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL ); - xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL ); - xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL ); - xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL ); - xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL ); - xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL ); - xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL ); - xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL ); + xTaskCreate( vCompetingMathTask1, "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL ); + xTaskCreate( vCompetingMathTask2, "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL ); + xTaskCreate( vCompetingMathTask3, "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL ); + xTaskCreate( vCompetingMathTask4, "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL ); } /*-----------------------------------------------------------*/ static portTASK_FUNCTION( vCompetingMathTask1, pvParameters ) { volatile portDOUBLE d1, d2, d3, d4; -volatile unsigned short *pusTaskCheckVariable; +volatile uint16_t *pusTaskCheckVariable; volatile portDOUBLE dAnswer; short sError = pdFALSE; + /* Some ports require that tasks that use a hardware floating point unit + tell the kernel that they require a floating point context before any + floating point instructions are executed. */ + portTASK_USES_FLOATING_POINT(); + d1 = 123.4567; d2 = 2345.6789; d3 = -918.222; dAnswer = ( d1 + d2 ) * d3; - /* The variable this task increments to show it is still running is passed in + /* The variable this task increments to show it is still running is passed in as the parameter. */ - pusTaskCheckVariable = ( unsigned short * ) pvParameters; + pusTaskCheckVariable = ( uint16_t * ) pvParameters; /* Keep performing a calculation and checking the result against a constant. */ for(;;) @@ -155,7 +146,7 @@ short sError = pdFALSE; taskYIELD(); #endif - /* If the calculation does not match the expected constant, stop the + /* If the calculation does not match the expected constant, stop the increment of the check variable. */ if( fabs( d4 - dAnswer ) > 0.001 ) { @@ -164,9 +155,10 @@ short sError = pdFALSE; if( sError == pdFALSE ) { - /* If the calculation has always been correct, increment the check - variable so we know this task is still running okay. */ - ( *pusTaskCheckVariable )++; + /* If the calculation has always been correct then set set the check + variable. The check variable will get set to pdFALSE each time + xAreMathsTaskStillRunning() is executed. */ + ( *pusTaskCheckVariable ) = pdTRUE; } #if configUSE_PREEMPTION == 0 @@ -180,10 +172,15 @@ short sError = pdFALSE; static portTASK_FUNCTION( vCompetingMathTask2, pvParameters ) { volatile portDOUBLE d1, d2, d3, d4; -volatile unsigned short *pusTaskCheckVariable; +volatile uint16_t *pusTaskCheckVariable; volatile portDOUBLE dAnswer; short sError = pdFALSE; + /* Some ports require that tasks that use a hardware floating point unit + tell the kernel that they require a floating point context before any + floating point instructions are executed. */ + portTASK_USES_FLOATING_POINT(); + d1 = -389.38; d2 = 32498.2; d3 = -2.0001; @@ -191,9 +188,9 @@ short sError = pdFALSE; dAnswer = ( d1 / d2 ) * d3; - /* The variable this task increments to show it is still running is passed in + /* The variable this task increments to show it is still running is passed in as the parameter. */ - pusTaskCheckVariable = ( unsigned short * ) pvParameters; + pusTaskCheckVariable = ( uint16_t * ) pvParameters; /* Keep performing a calculation and checking the result against a constant. */ for( ;; ) @@ -207,8 +204,8 @@ short sError = pdFALSE; #if configUSE_PREEMPTION == 0 taskYIELD(); #endif - - /* If the calculation does not match the expected constant, stop the + + /* If the calculation does not match the expected constant, stop the increment of the check variable. */ if( fabs( d4 - dAnswer ) > 0.001 ) { @@ -217,10 +214,10 @@ short sError = pdFALSE; if( sError == pdFALSE ) { - /* If the calculation has always been correct, increment the check - variable so we know - this task is still running okay. */ - ( *pusTaskCheckVariable )++; + /* If the calculation has always been correct then set set the check + variable. The check variable will get set to pdFALSE each time + xAreMathsTaskStillRunning() is executed. */ + ( *pusTaskCheckVariable ) = pdTRUE; } #if configUSE_PREEMPTION == 0 @@ -233,19 +230,24 @@ short sError = pdFALSE; static portTASK_FUNCTION( vCompetingMathTask3, pvParameters ) { volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference; -volatile unsigned short *pusTaskCheckVariable; +volatile uint16_t *pusTaskCheckVariable; const size_t xArraySize = 10; size_t xPosition; short sError = pdFALSE; - /* The variable this task increments to show it is still running is passed in + /* Some ports require that tasks that use a hardware floating point unit + tell the kernel that they require a floating point context before any + floating point instructions are executed. */ + portTASK_USES_FLOATING_POINT(); + + /* The variable this task increments to show it is still running is passed in as the parameter. */ - pusTaskCheckVariable = ( unsigned short * ) pvParameters; + pusTaskCheckVariable = ( uint16_t * ) pvParameters; pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) ); - /* Keep filling an array, keeping a running total of the values placed in the - array. Then run through the array adding up all the values. If the two totals + /* Keep filling an array, keeping a running total of the values placed in the + array. Then run through the array adding up all the values. If the two totals do not match, stop the check variable from incrementing. */ for( ;; ) { @@ -255,7 +257,7 @@ short sError = pdFALSE; for( xPosition = 0; xPosition < xArraySize; xPosition++ ) { pdArray[ xPosition ] = ( portDOUBLE ) xPosition + 5.5; - dTotal1 += ( portDOUBLE ) xPosition + 5.5; + dTotal1 += ( portDOUBLE ) xPosition + 5.5; } #if configUSE_PREEMPTION == 0 @@ -279,9 +281,10 @@ short sError = pdFALSE; if( sError == pdFALSE ) { - /* If the calculation has always been correct, increment the check - variable so we know this task is still running okay. */ - ( *pusTaskCheckVariable )++; + /* If the calculation has always been correct then set set the check + variable. The check variable will get set to pdFALSE each time + xAreMathsTaskStillRunning() is executed. */ + ( *pusTaskCheckVariable ) = pdTRUE; } } } @@ -290,19 +293,24 @@ short sError = pdFALSE; static portTASK_FUNCTION( vCompetingMathTask4, pvParameters ) { volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference; -volatile unsigned short *pusTaskCheckVariable; +volatile uint16_t *pusTaskCheckVariable; const size_t xArraySize = 10; size_t xPosition; short sError = pdFALSE; - /* The variable this task increments to show it is still running is passed in + /* Some ports require that tasks that use a hardware floating point unit + tell the kernel that they require a floating point context before any + floating point instructions are executed. */ + portTASK_USES_FLOATING_POINT(); + + /* The variable this task increments to show it is still running is passed in as the parameter. */ - pusTaskCheckVariable = ( unsigned short * ) pvParameters; + pusTaskCheckVariable = ( uint16_t * ) pvParameters; pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) ); - /* Keep filling an array, keeping a running total of the values placed in the - array. Then run through the array adding up all the values. If the two totals + /* Keep filling an array, keeping a running total of the values placed in the + array. Then run through the array adding up all the values. If the two totals do not match, stop the check variable from incrementing. */ for( ;; ) { @@ -312,7 +320,7 @@ short sError = pdFALSE; for( xPosition = 0; xPosition < xArraySize; xPosition++ ) { pdArray[ xPosition ] = ( portDOUBLE ) xPosition * 12.123; - dTotal1 += ( portDOUBLE ) xPosition * 12.123; + dTotal1 += ( portDOUBLE ) xPosition * 12.123; } #if configUSE_PREEMPTION == 0 @@ -336,33 +344,36 @@ short sError = pdFALSE; if( sError == pdFALSE ) { - /* If the calculation has always been correct, increment the check - variable so we know this task is still running okay. */ - ( *pusTaskCheckVariable )++; + /* If the calculation has always been correct then set set the check + variable. The check variable will get set to pdFALSE each time + xAreMathsTaskStillRunning() is executed. */ + ( *pusTaskCheckVariable ) = pdTRUE; } } -} +} /*-----------------------------------------------------------*/ /* This is called to check that all the created tasks are still running. */ -portBASE_TYPE xAreMathsTaskStillRunning( void ) +BaseType_t xAreMathsTaskStillRunning( void ) { -/* Keep a history of the check variables so we know if they have been incremented -since the last call. */ -static unsigned short usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 }; -portBASE_TYPE xReturn = pdTRUE, xTask; +BaseType_t xReturn = pdPASS, xTask; - /* Check the maths tasks are still running by ensuring their check variables - are still incrementing. */ + /* Check the maths tasks are still running by ensuring their check variables + have been set to pdPASS. */ for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ ) { - if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] ) + if( usTaskCheck[ xTask ] != pdTRUE ) { - /* The check has not incremented so an error exists. */ - xReturn = pdFALSE; + /* The check has not been set so the associated task has either + stalled or detected an error. */ + xReturn = pdFAIL; + } + else + { + /* Reset the variable so it can be checked again the next time this + function is executed. */ + usTaskCheck[ xTask ] = pdFALSE; } - - usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ]; } return xReturn;