From 25ad63182ed527bd4c6ab16f7173034240f4c431 Mon Sep 17 00:00:00 2001 From: richardbarry Date: Tue, 11 Jun 2013 18:46:00 +0000 Subject: [PATCH] Improve the error detection in some of the standard demo tasks. git-svn-id: https://svn.code.sf.net/p/freertos/code/trunk@1930 1d2547de-c912-0410-9cb9-b8ca96c0e9e2 --- FreeRTOS/Demo/Common/Minimal/IntQueue.c | 20 ++-- FreeRTOS/Demo/Common/Minimal/dynamic.c | 99 +++++++++++-------- FreeRTOS/Demo/Common/Minimal/flop.c | 126 ++++++++++++------------ 3 files changed, 134 insertions(+), 111 deletions(-) diff --git a/FreeRTOS/Demo/Common/Minimal/IntQueue.c b/FreeRTOS/Demo/Common/Minimal/IntQueue.c index c3ea4f7f5..919a3f7f7 100644 --- a/FreeRTOS/Demo/Common/Minimal/IntQueue.c +++ b/FreeRTOS/Demo/Common/Minimal/IntQueue.c @@ -56,19 +56,19 @@ *************************************************************************** - 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, + 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 + + 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. */ @@ -108,7 +108,7 @@ /* The number of values to send/receive before checking that all values were processed as expected. */ #define intqNUM_VALUES_TO_LOG ( 200 ) -#define intqSHORT_DELAY ( 75 ) +#define intqSHORT_DELAY ( 140 ) /* The value by which the value being sent to or received from a queue should increment past intqNUM_VALUES_TO_LOG before we check that all values have been @@ -236,15 +236,17 @@ void vStartInterruptQueueTasks( void ) /* Start the test tasks. */ xTaskCreate( prvHigherPriorityNormallyEmptyTask, ( signed portCHAR * ) "H1QRx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK1, intqHIGHER_PRIORITY, &xHighPriorityNormallyEmptyTask1 ); xTaskCreate( prvHigherPriorityNormallyEmptyTask, ( signed portCHAR * ) "H2QRx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK2, intqHIGHER_PRIORITY, &xHighPriorityNormallyEmptyTask2 ); - xTaskCreate( prvLowerPriorityNormallyEmptyTask, ( signed portCHAR * ) "LQRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL ); + xTaskCreate( prvLowerPriorityNormallyEmptyTask, ( signed portCHAR * ) "L1QRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL ); xTaskCreate( prv1stHigherPriorityNormallyFullTask, ( signed portCHAR * ) "H1QTx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK1, intqHIGHER_PRIORITY, &xHighPriorityNormallyFullTask1 ); xTaskCreate( prv2ndHigherPriorityNormallyFullTask, ( signed portCHAR * ) "H2QTx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK2, intqHIGHER_PRIORITY, &xHighPriorityNormallyFullTask2 ); - xTaskCreate( prvLowerPriorityNormallyFullTask, ( signed portCHAR * ) "LQRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL ); + xTaskCreate( prvLowerPriorityNormallyFullTask, ( signed portCHAR * ) "L2QRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL ); /* Create the queues that are accessed by multiple tasks and multiple interrupts. */ xNormallyFullQueue = xQueueCreate( intqQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) ); xNormallyEmptyQueue = xQueueCreate( intqQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) ); +// vTraceSetQueueName( xNormallyFullQueue, "NF" ); +// vTraceSetQueueName( xNormallyEmptyQueue, "NE" ); /* vQueueAddToRegistry() adds the queue to the queue registry, if one is in use. The queue registry is provided as a means for kernel aware diff --git a/FreeRTOS/Demo/Common/Minimal/dynamic.c b/FreeRTOS/Demo/Common/Minimal/dynamic.c index b1d4cfb47..620b91ae6 100644 --- a/FreeRTOS/Demo/Common/Minimal/dynamic.c +++ b/FreeRTOS/Demo/Common/Minimal/dynamic.c @@ -56,48 +56,48 @@ *************************************************************************** - 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, + 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 + + 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. */ /* - * The first test creates three tasks - two counter tasks (one continuous count - * and one limited count) and one controller. A "count" variable is shared - * between all three tasks. The two counter tasks should never be in a "ready" - * state at the same time. The controller task runs at the same priority as - * the continuous count task, and at a lower priority than the limited count + * The first test creates three tasks - two counter tasks (one continuous count + * and one limited count) and one controller. A "count" variable is shared + * between all three tasks. The two counter tasks should never be in a "ready" + * state at the same time. The controller task runs at the same priority as + * the continuous count task, and at a lower priority than the limited count * task. * * One counter task loops indefinitely, incrementing the shared count variable * on each iteration. To ensure it has exclusive access to the variable it - * raises it's priority above that of the controller task before each + * raises it's priority above that of the controller task before each * increment, lowering it again to it's original priority before starting the * next iteration. * * The other counter task increments the shared count variable on each * iteration of it's loop until the count has reached a limit of 0xff - at - * which point it suspends itself. It will not start a new loop until the - * controller task has made it "ready" again by calling vTaskResume (). - * This second counter task operates at a higher priority than controller - * task so does not need to worry about mutual exclusion of the counter + * which point it suspends itself. It will not start a new loop until the + * controller task has made it "ready" again by calling vTaskResume (). + * This second counter task operates at a higher priority than controller + * task so does not need to worry about mutual exclusion of the counter * variable. * * The controller task is in two sections. The first section controls and - * monitors the continuous count task. When this section is operational the - * limited count task is suspended. Likewise, the second section controls - * and monitors the limited count task. When this section is operational the + * monitors the continuous count task. When this section is operational the + * limited count task is suspended. Likewise, the second section controls + * and monitors the limited count task. When this section is operational the * continuous count task is suspended. * * In the first section the controller task first takes a copy of the shared @@ -107,11 +107,11 @@ * the continuous count task will execute and increment the shared variable. * When the controller task wakes it checks that the continuous count task * has executed by comparing the copy of the shared variable with its current - * value. This time, to ensure mutual exclusion, the scheduler itself is - * suspended with a call to vTaskSuspendAll (). This is for demonstration + * value. This time, to ensure mutual exclusion, the scheduler itself is + * suspended with a call to vTaskSuspendAll (). This is for demonstration * purposes only and is not a recommended technique due to its inefficiency. * - * After a fixed number of iterations the controller task suspends the + * After a fixed number of iterations the controller task suspends the * continuous count task, and moves on to its second section. * * At the start of the second section the shared variable is cleared to zero. @@ -123,7 +123,7 @@ * a check on the shared variable to ensure everything is as expected. * * - * The second test consists of a couple of very simple tasks that post onto a + * The second test consists of a couple of very simple tasks that post onto a * queue while the scheduler is suspended. This test was added to test parts * of the scheduler not exercised by the first test. * @@ -165,7 +165,7 @@ static portTASK_FUNCTION_PROTO( vQueueSendWhenSuspendedTask, pvParameters ); to the controller task to prevent them having to be file scope. */ static xTaskHandle xContinousIncrementHandle, xLimitedIncrementHandle; -/* The shared counter variable. This is passed in as a parameter to the two +/* The shared counter variable. This is passed in as a parameter to the two counter variables for demonstration purposes. */ static unsigned long ulCounter; @@ -180,6 +180,11 @@ static volatile portBASE_TYPE xSuspendedQueueReceiveError = pdFALSE; /* Queue used by the second test. */ xQueueHandle xSuspendedTestQueue; +/* The value the queue receive task expects to receive next. This is file +scope so xAreDynamicPriorityTasksStillRunning() can ensure it is still +incrementing. */ +static unsigned long ulExpectedValue = ( unsigned long ) 0; + /*-----------------------------------------------------------*/ /* * Start the three tasks as described at the top of the file. @@ -190,10 +195,10 @@ void vStartDynamicPriorityTasks( void ) xSuspendedTestQueue = xQueueCreate( priSUSPENDED_QUEUE_LENGTH, sizeof( unsigned long ) ); /* vQueueAddToRegistry() adds the queue to the queue registry, if one is - in use. The queue registry is provided as a means for kernel aware + in use. The queue registry is provided as a means for kernel aware debuggers to locate queues and has no purpose if a kernel aware debugger is not being used. The call to vQueueAddToRegistry() will be removed - by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is + by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is defined to be less than 1. */ vQueueAddToRegistry( xSuspendedTestQueue, ( signed char * ) "Suspended_Test_Queue" ); @@ -207,7 +212,7 @@ void vStartDynamicPriorityTasks( void ) /* * Just loops around incrementing the shared variable until the limit has been - * reached. Once the limit has been reached it suspends itself. + * reached. Once the limit has been reached it suspends itself. */ static portTASK_FUNCTION( vLimitedIncrementTask, pvParameters ) { @@ -224,12 +229,12 @@ unsigned long *pulCounter; for( ;; ) { /* Just count up to a value then suspend. */ - ( *pulCounter )++; - + ( *pulCounter )++; + if( *pulCounter >= priMAX_COUNT ) { vTaskSuspend( NULL ); - } + } } } /*-----------------------------------------------------------*/ @@ -247,7 +252,7 @@ unsigned portBASE_TYPE uxOurPriority; the task. */ pulCounter = ( unsigned long * ) pvParameters; - /* Query our priority so we can raise it when exclusive access to the + /* Query our priority so we can raise it when exclusive access to the shared variable is required. */ uxOurPriority = uxTaskPriorityGet( NULL ); @@ -256,7 +261,7 @@ unsigned portBASE_TYPE uxOurPriority; /* Raise our priority above the controller task to ensure a context switch does not occur while we are accessing this variable. */ vTaskPrioritySet( NULL, uxOurPriority + 1 ); - ( *pulCounter )++; + ( *pulCounter )++; vTaskPrioritySet( NULL, uxOurPriority ); } } @@ -289,11 +294,11 @@ short sError = pdFALSE; vTaskSuspend( xContinousIncrementHandle ); ulLastCounter = ulCounter; vTaskResume( xContinousIncrementHandle ); - + /* Now delay to ensure the other task has processor time. */ vTaskDelay( priSLEEP_TIME ); - /* Check the shared variable again. This time to ensure mutual + /* Check the shared variable again. This time to ensure mutual exclusion the whole scheduler will be locked. This is just for demo purposes! */ vTaskSuspendAll(); @@ -370,7 +375,7 @@ static unsigned long ulValueToSend = ( unsigned long ) 0; static portTASK_FUNCTION( vQueueReceiveWhenSuspendedTask, pvParameters ) { -static unsigned long ulExpectedValue = ( unsigned long ) 0, ulReceivedValue; +unsigned long ulReceivedValue; portBASE_TYPE xGotValue; /* Just to stop warning messages. */ @@ -380,7 +385,7 @@ portBASE_TYPE xGotValue; { do { - /* Suspending the scheduler here is fairly pointless and + /* Suspending the scheduler here is fairly pointless and undesirable for a normal application. It is done here purely to test the scheduler. The inner xTaskResumeAll() should never return pdTRUE as the scheduler is still locked by the @@ -391,7 +396,7 @@ portBASE_TYPE xGotValue; { xGotValue = xQueueReceive( xSuspendedTestQueue, ( void * ) &ulReceivedValue, priNO_BLOCK ); } - if( xTaskResumeAll() ) + if( xTaskResumeAll() != pdFALSE ) { xSuspendedQueueReceiveError = pdTRUE; } @@ -411,7 +416,13 @@ portBASE_TYPE xGotValue; xSuspendedQueueReceiveError = pdTRUE; } - ++ulExpectedValue; + if( xSuspendedQueueReceiveError != pdTRUE ) + { + /* Only increment the variable if an error has not occurred. This + allows xAreDynamicPriorityTasksStillRunning() to check for stalled + tasks as well as explicit errors. */ + ++ulExpectedValue; + } } } /*-----------------------------------------------------------*/ @@ -419,9 +430,10 @@ portBASE_TYPE xGotValue; /* Called to check that all the created tasks are still running without error. */ portBASE_TYPE xAreDynamicPriorityTasksStillRunning( void ) { -/* Keep a history of the check variables so we know if it has been incremented +/* Keep a history of the check variables so we know if it has been incremented since the last call. */ static unsigned short usLastTaskCheck = ( unsigned short ) 0; +static unsigned long ulLastExpectedValue = ( unsigned long ) 0U; portBASE_TYPE xReturn = pdTRUE; /* Check the tasks are still running by ensuring the check variable @@ -433,6 +445,13 @@ portBASE_TYPE xReturn = pdTRUE; xReturn = pdFALSE; } + if( ulExpectedValue == ulLastExpectedValue ) + { + /* The value being received by the queue receive task has not + incremented so an error exists. */ + xReturn = pdFALSE; + } + if( xSuspendedQueueSendError == pdTRUE ) { xReturn = pdFALSE; @@ -444,5 +463,7 @@ portBASE_TYPE xReturn = pdTRUE; } usLastTaskCheck = usCheckVariable; + ulLastExpectedValue = ulExpectedValue; + return xReturn; } diff --git a/FreeRTOS/Demo/Common/Minimal/flop.c b/FreeRTOS/Demo/Common/Minimal/flop.c index 0d3673da5..f5216c057 100644 --- a/FreeRTOS/Demo/Common/Minimal/flop.c +++ b/FreeRTOS/Demo/Common/Minimal/flop.c @@ -56,33 +56,33 @@ *************************************************************************** - 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, + 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 + + 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. */ /* - * 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 @@ -96,18 +96,17 @@ #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. */ +/* 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 unsigned short usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 }; /*-----------------------------------------------------------*/ @@ -118,10 +117,6 @@ void vStartMathTasks( unsigned portBASE_TYPE uxPriority ) 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 ); } /*-----------------------------------------------------------*/ @@ -143,7 +138,7 @@ 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; @@ -160,7 +155,7 @@ 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 ) { @@ -169,9 +164,10 @@ 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 @@ -201,7 +197,7 @@ 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; @@ -217,8 +213,8 @@ 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 ) { @@ -227,10 +223,10 @@ 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 @@ -253,14 +249,14 @@ short sError = pdFALSE; floating point instructions are executed. */ portTASK_USES_FLOATING_POINT(); - /* 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; 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( ;; ) { @@ -270,7 +266,7 @@ 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 @@ -294,9 +290,10 @@ 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; } } } @@ -315,14 +312,14 @@ short sError = pdFALSE; floating point instructions are executed. */ portTASK_USES_FLOATING_POINT(); - /* 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; 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( ;; ) { @@ -332,7 +329,7 @@ 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 @@ -356,35 +353,38 @@ 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 ) { -/* 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; +portBASE_TYPE 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; } -- 2.39.5