2 FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not itcan be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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78 + The created tasks now include calls to tskYIELD(), allowing them to be used
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79 with the cooperative scheduler.
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83 * Creates eight tasks, each of which loops continuously performing an (emulated)
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84 * floating point calculation.
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86 * All the tasks run at the idle priority and never block or yield. This causes
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87 * all eight tasks to time slice with the idle task. Running at the idle priority
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88 * means that these tasks will get pre-empted any time another task is ready to run
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89 * or a time slice occurs. More often than not the pre-emption will occur mid
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90 * calculation, creating a good test of the schedulers context switch mechanism - a
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91 * calculation producing an unexpected result could be a symptom of a corruption in
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92 * the context of a task.
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94 * \page FlopC flop.c
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95 * \ingroup DemoFiles
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102 /* Scheduler include files. */
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103 #include "FreeRTOS.h"
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107 /* Demo program include files. */
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110 #define mathSTACK_SIZE ( ( unsigned short ) 512 )
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111 #define mathNUMBER_OF_TASKS ( 8 )
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113 /* Four tasks, each of which performs a different floating point calculation.
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114 Each of the four is created twice. */
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115 static void vCompetingMathTask1( void *pvParameters );
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116 static void vCompetingMathTask2( void *pvParameters );
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117 static void vCompetingMathTask3( void *pvParameters );
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118 static void vCompetingMathTask4( void *pvParameters );
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120 /* These variables are used to check that all the tasks are still running. If a
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121 task gets a calculation wrong it will
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122 stop incrementing its check variable. */
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123 static volatile unsigned short usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
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125 /*-----------------------------------------------------------*/
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127 void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
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129 xTaskCreate( vCompetingMathTask1, "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
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130 xTaskCreate( vCompetingMathTask2, "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
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131 xTaskCreate( vCompetingMathTask3, "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
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132 xTaskCreate( vCompetingMathTask4, "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
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133 xTaskCreate( vCompetingMathTask1, "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );
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134 xTaskCreate( vCompetingMathTask2, "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );
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135 xTaskCreate( vCompetingMathTask3, "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );
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136 xTaskCreate( vCompetingMathTask4, "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );
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138 /*-----------------------------------------------------------*/
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140 static void vCompetingMathTask1( void *pvParameters )
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142 portDOUBLE d1, d2, d3, d4;
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143 volatile unsigned short *pusTaskCheckVariable;
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144 const portDOUBLE dAnswer = ( 123.4567 + 2345.6789 ) * -918.222;
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145 const char * const pcTaskStartMsg = "Math task 1 started.\r\n";
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146 const char * const pcTaskFailMsg = "Math task 1 failed.\r\n";
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147 short sError = pdFALSE;
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149 /* Queue a message for printing to say the task has started. */
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150 vPrintDisplayMessage( &pcTaskStartMsg );
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152 /* The variable this task increments to show it is still running is passed in
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153 as the parameter. */
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154 pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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156 /* Keep performing a calculation and checking the result against a constant. */
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163 d4 = ( d1 + d2 ) * d3;
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167 /* If the calculation does not match the expected constant, stop the
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168 increment of the check variable. */
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169 if( fabs( d4 - dAnswer ) > 0.001 )
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171 vPrintDisplayMessage( &pcTaskFailMsg );
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175 if( sError == pdFALSE )
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177 /* If the calculation has always been correct, increment the check
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178 variable so we know this task is still running okay. */
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179 ( *pusTaskCheckVariable )++;
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185 /*-----------------------------------------------------------*/
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187 static void vCompetingMathTask2( void *pvParameters )
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189 portDOUBLE d1, d2, d3, d4;
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190 volatile unsigned short *pusTaskCheckVariable;
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191 const portDOUBLE dAnswer = ( -389.38 / 32498.2 ) * -2.0001;
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192 const char * const pcTaskStartMsg = "Math task 2 started.\r\n";
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193 const char * const pcTaskFailMsg = "Math task 2 failed.\r\n";
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194 short sError = pdFALSE;
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196 /* Queue a message for printing to say the task has started. */
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197 vPrintDisplayMessage( &pcTaskStartMsg );
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199 /* The variable this task increments to show it is still running is passed in
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200 as the parameter. */
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201 pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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203 /* Keep performing a calculation and checking the result against a constant. */
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210 d4 = ( d1 / d2 ) * d3;
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214 /* If the calculation does not match the expected constant, stop the
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215 increment of the check variable. */
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216 if( fabs( d4 - dAnswer ) > 0.001 )
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218 vPrintDisplayMessage( &pcTaskFailMsg );
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222 if( sError == pdFALSE )
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224 /* If the calculation has always been correct, increment the check
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225 variable so we know
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226 this task is still running okay. */
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227 ( *pusTaskCheckVariable )++;
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233 /*-----------------------------------------------------------*/
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235 static void vCompetingMathTask3( void *pvParameters )
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237 portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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238 volatile unsigned short *pusTaskCheckVariable;
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239 const unsigned short usArraySize = 250;
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240 unsigned short usPosition;
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241 const char * const pcTaskStartMsg = "Math task 3 started.\r\n";
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242 const char * const pcTaskFailMsg = "Math task 3 failed.\r\n";
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243 short sError = pdFALSE;
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245 /* Queue a message for printing to say the task has started. */
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246 vPrintDisplayMessage( &pcTaskStartMsg );
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248 /* The variable this task increments to show it is still running is passed in
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249 as the parameter. */
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250 pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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252 pdArray = ( portDOUBLE * ) pvPortMalloc( ( size_t ) 250 * sizeof( portDOUBLE ) );
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254 /* Keep filling an array, keeping a running total of the values placed in the
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255 array. Then run through the array adding up all the values. If the two totals
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256 do not match, stop the check variable from incrementing. */
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262 for( usPosition = 0; usPosition < usArraySize; usPosition++ )
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264 pdArray[ usPosition ] = ( portDOUBLE ) usPosition + 5.5;
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265 dTotal1 += ( portDOUBLE ) usPosition + 5.5;
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270 for( usPosition = 0; usPosition < usArraySize; usPosition++ )
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272 dTotal2 += pdArray[ usPosition ];
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275 dDifference = dTotal1 - dTotal2;
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276 if( fabs( dDifference ) > 0.001 )
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278 vPrintDisplayMessage( &pcTaskFailMsg );
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284 if( sError == pdFALSE )
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286 /* If the calculation has always been correct, increment the check
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287 variable so we know this task is still running okay. */
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288 ( *pusTaskCheckVariable )++;
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292 /*-----------------------------------------------------------*/
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294 static void vCompetingMathTask4( void *pvParameters )
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296 portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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297 volatile unsigned short *pusTaskCheckVariable;
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298 const unsigned short usArraySize = 250;
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299 unsigned short usPosition;
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300 const char * const pcTaskStartMsg = "Math task 4 started.\r\n";
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301 const char * const pcTaskFailMsg = "Math task 4 failed.\r\n";
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302 short sError = pdFALSE;
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304 /* Queue a message for printing to say the task has started. */
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305 vPrintDisplayMessage( &pcTaskStartMsg );
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307 /* The variable this task increments to show it is still running is passed in
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308 as the parameter. */
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309 pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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311 pdArray = ( portDOUBLE * ) pvPortMalloc( ( size_t ) 250 * sizeof( portDOUBLE ) );
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313 /* Keep filling an array, keeping a running total of the values placed in the
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314 array. Then run through the array adding up all the values. If the two totals
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315 do not match, stop the check variable from incrementing. */
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321 for( usPosition = 0; usPosition < usArraySize; usPosition++ )
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323 pdArray[ usPosition ] = ( portDOUBLE ) usPosition * 12.123;
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324 dTotal1 += ( portDOUBLE ) usPosition * 12.123;
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329 for( usPosition = 0; usPosition < usArraySize; usPosition++ )
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331 dTotal2 += pdArray[ usPosition ];
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334 dDifference = dTotal1 - dTotal2;
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335 if( fabs( dDifference ) > 0.001 )
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337 vPrintDisplayMessage( &pcTaskFailMsg );
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343 if( sError == pdFALSE )
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345 /* If the calculation has always been correct, increment the check
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346 variable so we know this task is still running okay. */
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347 ( *pusTaskCheckVariable )++;
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351 /*-----------------------------------------------------------*/
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353 /* This is called to check that all the created tasks are still running. */
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354 portBASE_TYPE xAreMathsTaskStillRunning( void )
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356 /* Keep a history of the check variables so we know if they have been incremented
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357 since the last call. */
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358 static unsigned short usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
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359 portBASE_TYPE xReturn = pdTRUE, xTask;
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361 /* Check the maths tasks are still running by ensuring their check variables
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362 are still incrementing. */
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363 for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
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365 if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
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367 /* The check has not incremented so an error exists. */
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371 usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
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