--- /dev/null
+/*\r
+ FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.\r
+ \r
+\r
+ ***************************************************************************\r
+ * *\r
+ * FreeRTOS tutorial books are available in pdf and paperback. *\r
+ * Complete, revised, and edited pdf reference manuals are also *\r
+ * available. *\r
+ * *\r
+ * Purchasing FreeRTOS documentation will not only help you, by *\r
+ * ensuring you get running as quickly as possible and with an *\r
+ * in-depth knowledge of how to use FreeRTOS, it will also help *\r
+ * the FreeRTOS project to continue with its mission of providing *\r
+ * professional grade, cross platform, de facto standard solutions *\r
+ * for microcontrollers - completely free of charge! *\r
+ * *\r
+ * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *\r
+ * *\r
+ * Thank you for using FreeRTOS, and thank you for your support! *\r
+ * *\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
+ >>>NOTE<<< The modification to the GPL is included to allow you to\r
+ distribute a combined work that includes FreeRTOS without being obliged to\r
+ provide the source code for proprietary components outside of the FreeRTOS\r
+ kernel. FreeRTOS is distributed in the hope that it will be useful, but\r
+ WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY\r
+ or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
+ more details. You should have received a copy of the GNU General Public\r
+ License and the FreeRTOS license exception along with FreeRTOS; if not it\r
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained\r
+ by writing to Richard Barry, contact details for whom are available on the\r
+ FreeRTOS WEB site.\r
+\r
+ 1 tab == 4 spaces!\r
+\r
+ http://www.FreeRTOS.org - Documentation, latest information, license and\r
+ contact details.\r
+\r
+ http://www.SafeRTOS.com - A version that is certified for use in safety\r
+ critical systems.\r
+\r
+ http://www.OpenRTOS.com - Commercial support, development, porting,\r
+ licensing and training services.\r
+*/\r
+\r
+/*\r
+ * Creates eight tasks, each of which loops continuously performing a floating \r
+ * point calculation - using single precision variables.\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
+ */\r
+\r
+#include <stdlib.h>\r
+#include <math.h>\r
+\r
+/* Scheduler include files. */\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+\r
+/* Demo program include files. */\r
+#include "flop.h"\r
+\r
+#define mathSTACK_SIZE configMINIMAL_STACK_SIZE\r
+#define mathNUMBER_OF_TASKS ( 8 )\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
+\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
+static volatile unsigned short usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+void vStartMathTasks( unsigned portBASE_TYPE uxPriority )\r
+{\r
+ xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );\r
+ xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );\r
+ xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );\r
+ xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );\r
+ xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );\r
+ xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );\r
+ xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );\r
+ xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )\r
+{\r
+volatile float f1, f2, f3, f4;\r
+volatile unsigned short *pusTaskCheckVariable;\r
+volatile float fAnswer;\r
+short sError = pdFALSE;\r
+\r
+ f1 = 123.4567F;\r
+ f2 = 2345.6789F;\r
+ f3 = -918.222F;\r
+\r
+ fAnswer = ( f1 + f2 ) * f3;\r
+\r
+ /* The variable this task increments to show it is still running is passed in \r
+ as the parameter. */\r
+ pusTaskCheckVariable = ( unsigned short * ) pvParameters;\r
+\r
+ /* Keep performing a calculation and checking the result against a constant. */\r
+ for(;;)\r
+ {\r
+ f1 = 123.4567F;\r
+ f2 = 2345.6789F;\r
+ f3 = -918.222F;\r
+\r
+ f4 = ( f1 + f2 ) * f3;\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( f4 - fAnswer ) > 0.001F )\r
+ {\r
+ sError = pdTRUE;\r
+ }\r
+\r
+ if( sError == pdFALSE )\r
+ {\r
+ /* If the calculation has always been correct, increment the check \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
+{\r
+volatile float f1, f2, f3, f4;\r
+volatile unsigned short *pusTaskCheckVariable;\r
+volatile float fAnswer;\r
+short sError = pdFALSE;\r
+\r
+ f1 = -389.38F;\r
+ f2 = 32498.2F;\r
+ f3 = -2.0001F;\r
+\r
+ fAnswer = ( f1 / f2 ) * f3;\r
+\r
+\r
+ /* The variable this task increments to show it is still running is passed in \r
+ as the parameter. */\r
+ pusTaskCheckVariable = ( unsigned short * ) pvParameters;\r
+\r
+ /* Keep performing a calculation and checking the result against a constant. */\r
+ for( ;; )\r
+ {\r
+ f1 = -389.38F;\r
+ f2 = 32498.2F;\r
+ f3 = -2.0001F;\r
+\r
+ f4 = ( f1 / f2 ) * f3;\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( f4 - fAnswer ) > 0.001F )\r
+ {\r
+ sError = pdTRUE;\r
+ }\r
+\r
+ if( sError == pdFALSE )\r
+ {\r
+ /* If the calculation has always been correct, increment the check \r
+ variable so we know\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
+{\r
+volatile float *pfArray, fTotal1, fTotal2, fDifference, fPosition;\r
+volatile unsigned short *pusTaskCheckVariable;\r
+const size_t xArraySize = 10;\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
+ pusTaskCheckVariable = ( unsigned short * ) pvParameters;\r
+\r
+ pfArray = ( float * ) pvPortMalloc( xArraySize * sizeof( float ) );\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
+ for( ;; )\r
+ {\r
+ fTotal1 = 0.0F;\r
+ fTotal2 = 0.0F;\r
+ fPosition = 0.0F;\r
+ \r
+ for( xPosition = 0; xPosition < xArraySize; xPosition++ )\r
+ {\r
+ pfArray[ xPosition ] = fPosition + 5.5F;\r
+ fTotal1 += fPosition + 5.5F; \r
+ }\r
+\r
+ #if configUSE_PREEMPTION == 0\r
+ taskYIELD();\r
+ #endif\r
+\r
+ for( xPosition = 0; xPosition < xArraySize; xPosition++ )\r
+ {\r
+ fTotal2 += pfArray[ xPosition ];\r
+ }\r
+\r
+ fDifference = fTotal1 - fTotal2;\r
+ if( fabs( fDifference ) > 0.001F )\r
+ {\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
+ variable so we know this task is still running okay. */\r
+ ( *pusTaskCheckVariable )++;\r
+ }\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )\r
+{\r
+volatile float *pfArray, fTotal1, fTotal2, fDifference, fPosition;\r
+volatile unsigned short *pusTaskCheckVariable;\r
+const size_t xArraySize = 10;\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
+ pusTaskCheckVariable = ( unsigned short * ) pvParameters;\r
+\r
+ pfArray = ( float * ) pvPortMalloc( xArraySize * sizeof( float ) );\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
+ for( ;; )\r
+ {\r
+ fTotal1 = 0.0F;\r
+ fTotal2 = 0.0F;\r
+ fPosition = 0.0F;\r
+\r
+ for( xPosition = 0; xPosition < xArraySize; xPosition++ )\r
+ {\r
+ pfArray[ xPosition ] = fPosition * 12.123F;\r
+ fTotal1 += fPosition * 12.123F; \r
+ }\r
+\r
+ #if configUSE_PREEMPTION == 0\r
+ taskYIELD();\r
+ #endif\r
+\r
+ for( xPosition = 0; xPosition < xArraySize; xPosition++ )\r
+ {\r
+ fTotal2 += pfArray[ xPosition ];\r
+ }\r
+\r
+ fDifference = fTotal1 - fTotal2;\r
+ if( fabs( fDifference ) > 0.001F )\r
+ {\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
+ variable so we know this task is still running okay. */\r
+ ( *pusTaskCheckVariable )++;\r
+ }\r
+ }\r
+} \r
+/*-----------------------------------------------------------*/\r
+\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
+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
+ are still incrementing. */\r
+ for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )\r
+ {\r
+ if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )\r
+ {\r
+ /* The check has not incremented so an error exists. */\r
+ xReturn = pdFALSE;\r
+ }\r
+\r
+ usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];\r
+ }\r
+\r
+ return xReturn;\r
+}\r
+\r
+\r
+\r
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