2 FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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71 * Creates eight tasks, each of which loops continuously performing a floating
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72 * point calculation and in so doing test the floating point context switching.
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73 * This file also demonstrates the use of the xPortUsesFloatingPoint() function
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74 * which informs the kernel that the task requires its floating point context
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75 * saved on each switch.
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77 * All the tasks run at the idle priority and never block or yield. This causes
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78 * all eight tasks to time slice with the idle task. Running at the idle
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79 * priority means that these tasks will get pre-empted any time another task is
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80 * ready to run or a time slice occurs. More often than not the pre-emption
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81 * will occur mid calculation, creating a good test of the schedulers context
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82 * switch mechanism - a calculation producing an unexpected result could be a
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83 * symptom of a corruption in the context of a task.
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89 /* Scheduler include files. */
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90 #include "FreeRTOS.h"
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93 /* Demo program include files. */
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96 #define mathSTACK_SIZE configMINIMAL_STACK_SIZE
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97 #define mathNUMBER_OF_TASKS ( 8 )
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99 /* Four tasks, each of which performs a different floating point calculation.
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100 Each of the four is created twice. */
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101 static void vCompetingMathTask1( void *pvParameters );
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102 static void vCompetingMathTask2( void *pvParameters );
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103 static void vCompetingMathTask3( void *pvParameters );
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104 static void vCompetingMathTask4( void *pvParameters );
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106 /* These variables are used to check that all the tasks are still running. If a
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107 task gets a calculation wrong it will stop incrementing its check variable,
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108 otherwise the check variable will get incremented on each iteration of the
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109 tasks execution. */
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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 TaskHandle_t xCreatedTask;
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118 /* Create one of the floating point tasks... */
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119 xTaskCreate( vCompetingMathTask1, "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, &xCreatedTask );
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121 /* ... then enable floating point support for the created task so its flop
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122 flop registers are maintained in a consistent state. */
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123 xPortUsesFloatingPoint( xCreatedTask );
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125 xTaskCreate( vCompetingMathTask2, "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, &xCreatedTask );
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126 xPortUsesFloatingPoint( xCreatedTask );
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128 xTaskCreate( vCompetingMathTask3, "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, &xCreatedTask );
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129 xPortUsesFloatingPoint( xCreatedTask );
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131 xTaskCreate( vCompetingMathTask4, "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, &xCreatedTask );
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132 xPortUsesFloatingPoint( xCreatedTask );
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134 xTaskCreate( vCompetingMathTask1, "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, &xCreatedTask );
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135 xPortUsesFloatingPoint( xCreatedTask );
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137 xTaskCreate( vCompetingMathTask2, "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, &xCreatedTask );
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138 xPortUsesFloatingPoint( xCreatedTask );
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140 xTaskCreate( vCompetingMathTask3, "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, &xCreatedTask );
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141 xPortUsesFloatingPoint( xCreatedTask );
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143 xTaskCreate( vCompetingMathTask4, "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, &xCreatedTask );
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144 xPortUsesFloatingPoint( xCreatedTask );
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146 /*-----------------------------------------------------------*/
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148 static void vCompetingMathTask1( void *pvParameters )
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150 volatile double d1, d2, d3, d4;
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151 volatile unsigned short *pusTaskCheckVariable;
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152 volatile double dAnswer;
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153 short sError = pdFALSE;
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159 /* Calculate the expected answer. */
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160 dAnswer = ( d1 + d2 ) * d3;
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162 /* The variable this task increments to show it is still running is passed in
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163 as the parameter. */
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164 pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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166 /* Keep performing a calculation and checking the result against a constant. */
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169 /* Perform the calculation. */
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174 d4 = ( d1 + d2 ) * d3;
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176 /* If the calculation does not match the expected constant, stop the
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177 increment of the check variable. */
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178 if( fabs( d4 - dAnswer ) > 0.001 )
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183 if( sError == pdFALSE )
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185 /* If the calculation has always been correct, increment the check
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186 variable so we know this task is still running okay. */
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187 ( *pusTaskCheckVariable )++;
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191 /*-----------------------------------------------------------*/
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193 static void vCompetingMathTask2( void *pvParameters )
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195 volatile double d1, d2, d3, d4;
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196 volatile unsigned short *pusTaskCheckVariable;
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197 volatile double dAnswer;
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198 short sError = pdFALSE;
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204 /* Calculate the expected answer. */
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205 dAnswer = ( d1 / d2 ) * d3;
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208 /* The variable this task increments to show it is still running is passed in
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209 as the parameter. */
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210 pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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212 /* Keep performing a calculation and checking the result against a constant. */
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215 /* Perform the calculation. */
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220 d4 = ( d1 / d2 ) * d3;
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222 /* If the calculation does not match the expected constant, stop the
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223 increment of the check variable. */
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224 if( fabs( d4 - dAnswer ) > 0.001 )
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229 if( sError == pdFALSE )
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231 /* If the calculation has always been correct, increment the check
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232 variable so we know
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233 this task is still running okay. */
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234 ( *pusTaskCheckVariable )++;
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238 /*-----------------------------------------------------------*/
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240 static void vCompetingMathTask3( void *pvParameters )
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242 volatile double *pdArray, dTotal1, dTotal2, dDifference;
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243 volatile unsigned short *pusTaskCheckVariable;
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244 const size_t xArraySize = 10;
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246 short sError = pdFALSE;
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248 /* The variable this task increments to show it is still running is passed
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249 in as the parameter. */
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250 pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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252 /* Allocate memory for use as an array. */
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253 pdArray = ( double * ) pvPortMalloc( xArraySize * sizeof( double ) );
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255 /* Keep filling an array, keeping a running total of the values placed in
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256 the array. Then run through the array adding up all the values. If the two
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257 totals do not match, stop the check variable from incrementing. */
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263 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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265 pdArray[ xPosition ] = ( double ) xPosition + 5.5;
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266 dTotal1 += ( double ) xPosition + 5.5;
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269 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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271 dTotal2 += pdArray[ xPosition ];
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274 dDifference = dTotal1 - dTotal2;
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275 if( fabs( dDifference ) > 0.001 )
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280 if( sError == pdFALSE )
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282 /* If the calculation has always been correct, increment the check
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283 variable so we know this task is still running okay. */
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284 ( *pusTaskCheckVariable )++;
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288 /*-----------------------------------------------------------*/
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290 static void vCompetingMathTask4( void *pvParameters )
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292 volatile double *pdArray, dTotal1, dTotal2, dDifference;
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293 volatile unsigned short *pusTaskCheckVariable;
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294 const size_t xArraySize = 10;
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296 short sError = pdFALSE;
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298 /* The variable this task increments to show it is still running is passed in
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299 as the parameter. */
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300 pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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302 /* Allocate RAM for use as an array. */
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303 pdArray = ( double * ) pvPortMalloc( xArraySize * sizeof( double ) );
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305 /* Keep filling an array, keeping a running total of the values placed in the
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306 array. Then run through the array adding up all the values. If the two totals
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307 do not match, stop the check variable from incrementing. */
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313 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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315 pdArray[ xPosition ] = ( double ) xPosition * 12.123;
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316 dTotal1 += ( double ) xPosition * 12.123;
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319 for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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321 dTotal2 += pdArray[ xPosition ];
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324 dDifference = dTotal1 - dTotal2;
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325 if( fabs( dDifference ) > 0.001 )
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330 if( sError == pdFALSE )
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332 /* If the calculation has always been correct, increment the check
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333 variable so we know this task is still running okay. */
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334 ( *pusTaskCheckVariable )++;
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338 /*-----------------------------------------------------------*/
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340 /* This is called to check that all the created tasks are still running. */
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341 portBASE_TYPE xAreMathsTaskStillRunning( void )
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343 /* Keep a history of the check variables so we know if they have been
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344 incremented since the last call. */
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345 static unsigned short usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
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346 portBASE_TYPE xReturn = pdTRUE, xTask;
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348 /* Check the maths tasks are still running by ensuring their check variables
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349 are still incrementing. */
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350 for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
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352 if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
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354 /* The check has not incremented so an error exists. */
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358 usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
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