2 FreeRTOS V7.4.2 - 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 it can 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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76 * Creates eight tasks, each of which loops continuously performing a floating
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77 * point calculation.
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79 * All the tasks run at the idle priority and never block or yield. This causes
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80 * all eight tasks to time slice with the idle task. Running at the idle
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81 * priority means that these tasks will get pre-empted any time another task is
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82 * ready to run or a time slice occurs. More often than not the pre-emption
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83 * will occur mid calculation, creating a good test of the schedulers context
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84 * switch mechanism - a calculation producing an unexpected result could be a
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85 * symptom of a corruption in the context of a task.
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91 /* Scheduler include files. */
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92 #include "FreeRTOS.h"
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95 /* Demo program include files. */
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98 #define mathSTACK_SIZE configMINIMAL_STACK_SIZE
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99 #define mathNUMBER_OF_TASKS ( 4 )
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101 /* Four tasks, each of which performs a different floating point calculation.
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102 Each of the four is created twice. */
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103 static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters );
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104 static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters );
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105 static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters );
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106 static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters );
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108 /* These variables are used to check that all the tasks are still running. If a
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109 task gets a calculation wrong it will stop setting its check variable. */
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110 static volatile unsigned short usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
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112 /*-----------------------------------------------------------*/
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114 void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
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116 xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
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117 xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
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118 xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
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119 xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
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121 /*-----------------------------------------------------------*/
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123 static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )
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125 volatile portDOUBLE d1, d2, d3, d4;
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126 volatile unsigned short *pusTaskCheckVariable;
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127 volatile portDOUBLE dAnswer;
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128 short sError = pdFALSE;
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130 /* Some ports require that tasks that use a hardware floating point unit
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131 tell the kernel that they require a floating point context before any
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132 floating point instructions are executed. */
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133 portTASK_USES_FLOATING_POINT();
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139 dAnswer = ( d1 + d2 ) * d3;
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141 /* The variable this task increments to show it is still running is passed in
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142 as the parameter. */
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143 pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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145 /* Keep performing a calculation and checking the result against a constant. */
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152 d4 = ( d1 + d2 ) * d3;
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154 #if configUSE_PREEMPTION == 0
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158 /* If the calculation does not match the expected constant, stop the
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159 increment of the check variable. */
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160 if( fabs( d4 - dAnswer ) > 0.001 )
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165 if( sError == pdFALSE )
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167 /* If the calculation has always been correct then set set the check
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168 variable. The check variable will get set to pdFALSE each time
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169 xAreMathsTaskStillRunning() is executed. */
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170 ( *pusTaskCheckVariable ) = pdTRUE;
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173 #if configUSE_PREEMPTION == 0
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179 /*-----------------------------------------------------------*/
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181 static portTASK_FUNCTION( vCompetingMathTask2, pvParameters )
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183 volatile portDOUBLE d1, d2, d3, d4;
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184 volatile unsigned short *pusTaskCheckVariable;
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185 volatile portDOUBLE dAnswer;
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186 short sError = pdFALSE;
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188 /* Some ports require that tasks that use a hardware floating point unit
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189 tell the kernel that they require a floating point context before any
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190 floating point instructions are executed. */
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191 portTASK_USES_FLOATING_POINT();
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197 dAnswer = ( d1 / d2 ) * d3;
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200 /* The variable this task increments to show it is still running is passed in
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201 as the parameter. */
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202 pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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204 /* Keep performing a calculation and checking the result against a constant. */
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211 d4 = ( d1 / d2 ) * d3;
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213 #if configUSE_PREEMPTION == 0
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217 /* If the calculation does not match the expected constant, stop the
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218 increment of the check variable. */
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219 if( fabs( d4 - dAnswer ) > 0.001 )
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224 if( sError == pdFALSE )
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226 /* If the calculation has always been correct then set set the check
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227 variable. The check variable will get set to pdFALSE each time
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228 xAreMathsTaskStillRunning() is executed. */
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229 ( *pusTaskCheckVariable ) = pdTRUE;
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232 #if configUSE_PREEMPTION == 0
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237 /*-----------------------------------------------------------*/
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239 static portTASK_FUNCTION( vCompetingMathTask3, pvParameters )
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241 volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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242 volatile unsigned short *pusTaskCheckVariable;
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243 const size_t xArraySize = 10;
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245 short sError = pdFALSE;
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247 /* Some ports require that tasks that use a hardware floating point unit
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248 tell the kernel that they require a floating point context before any
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249 floating point instructions are executed. */
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250 portTASK_USES_FLOATING_POINT();
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252 /* The variable this task increments to show it is still running is passed in
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253 as the parameter. */
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254 pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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256 pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
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258 /* Keep filling an array, keeping a running total of the values placed in the
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259 array. Then run through the array adding up all the values. If the two totals
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260 do not match, stop the check variable from incrementing. */
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266 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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268 pdArray[ xPosition ] = ( portDOUBLE ) xPosition + 5.5;
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269 dTotal1 += ( portDOUBLE ) xPosition + 5.5;
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272 #if configUSE_PREEMPTION == 0
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276 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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278 dTotal2 += pdArray[ xPosition ];
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281 dDifference = dTotal1 - dTotal2;
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282 if( fabs( dDifference ) > 0.001 )
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287 #if configUSE_PREEMPTION == 0
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291 if( sError == pdFALSE )
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293 /* If the calculation has always been correct then set set the check
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294 variable. The check variable will get set to pdFALSE each time
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295 xAreMathsTaskStillRunning() is executed. */
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296 ( *pusTaskCheckVariable ) = pdTRUE;
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300 /*-----------------------------------------------------------*/
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302 static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )
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304 volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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305 volatile unsigned short *pusTaskCheckVariable;
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306 const size_t xArraySize = 10;
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308 short sError = pdFALSE;
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310 /* Some ports require that tasks that use a hardware floating point unit
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311 tell the kernel that they require a floating point context before any
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312 floating point instructions are executed. */
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313 portTASK_USES_FLOATING_POINT();
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315 /* The variable this task increments to show it is still running is passed in
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316 as the parameter. */
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317 pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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319 pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
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321 /* Keep filling an array, keeping a running total of the values placed in the
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322 array. Then run through the array adding up all the values. If the two totals
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323 do not match, stop the check variable from incrementing. */
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329 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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331 pdArray[ xPosition ] = ( portDOUBLE ) xPosition * 12.123;
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332 dTotal1 += ( portDOUBLE ) xPosition * 12.123;
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335 #if configUSE_PREEMPTION == 0
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339 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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341 dTotal2 += pdArray[ xPosition ];
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344 dDifference = dTotal1 - dTotal2;
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345 if( fabs( dDifference ) > 0.001 )
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350 #if configUSE_PREEMPTION == 0
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354 if( sError == pdFALSE )
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356 /* If the calculation has always been correct then set set the check
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357 variable. The check variable will get set to pdFALSE each time
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358 xAreMathsTaskStillRunning() is executed. */
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359 ( *pusTaskCheckVariable ) = pdTRUE;
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363 /*-----------------------------------------------------------*/
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365 /* This is called to check that all the created tasks are still running. */
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366 portBASE_TYPE xAreMathsTaskStillRunning( void )
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368 portBASE_TYPE xReturn = pdPASS, xTask;
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370 /* Check the maths tasks are still running by ensuring their check variables
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371 have been set to pdPASS. */
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372 for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
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374 if( usTaskCheck[ xTask ] != pdTRUE )
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376 /* The check has not been set so the associated task has either
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377 stalled or detected an error. */
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382 /* Reset the variable so it can be checked again the next time this
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383 function is executed. */
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384 usTaskCheck[ xTask ] = pdFALSE;
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