/*\r
- FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.\r
- \r
+ FreeRTOS V8.0.0:rc1 - Copyright (C) 2014 Real Time Engineers Ltd. \r
+ All rights reserved\r
+\r
+ VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
\r
***************************************************************************\r
* *\r
- * FreeRTOS tutorial books are available in pdf and paperback. *\r
- * Complete, revised, and edited pdf reference manuals are also *\r
- * available. *\r
- * *\r
- * Purchasing FreeRTOS documentation will not only help you, by *\r
- * ensuring you get running as quickly as possible and with an *\r
- * in-depth knowledge of how to use FreeRTOS, it will also help *\r
- * the FreeRTOS project to continue with its mission of providing *\r
- * professional grade, cross platform, de facto standard solutions *\r
- * for microcontrollers - completely free of charge! *\r
+ * FreeRTOS provides completely free yet professionally developed, *\r
+ * robust, strictly quality controlled, supported, and cross *\r
+ * platform software that has become a de facto standard. *\r
* *\r
- * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *\r
+ * Help yourself get started quickly and support the FreeRTOS *\r
+ * project by purchasing a FreeRTOS tutorial book, reference *\r
+ * manual, or both from: http://www.FreeRTOS.org/Documentation *\r
* *\r
- * Thank you for using FreeRTOS, and thank you for your support! *\r
+ * Thank you! *\r
* *\r
***************************************************************************\r
\r
-\r
This file is part of the FreeRTOS distribution.\r
\r
FreeRTOS is free software; you can redistribute it and/or modify it under\r
the terms of the GNU General Public License (version 2) as published by the\r
- Free Software Foundation AND MODIFIED BY the FreeRTOS exception.\r
- >>>NOTE<<< The modification to the GPL is included to allow you to\r
- distribute a combined work that includes FreeRTOS without being obliged to\r
- provide the source code for proprietary components outside of the FreeRTOS\r
- kernel. FreeRTOS is distributed in the hope that it will be useful, but\r
- WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY\r
- or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
- more details. You should have received a copy of the GNU General Public\r
- License and the FreeRTOS license exception along with FreeRTOS; if not it\r
- can be viewed here: http://www.freertos.org/a00114.html and also obtained\r
- by writing to Richard Barry, contact details for whom are available on the\r
- FreeRTOS WEB site.\r
+ Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.\r
+\r
+ >>! NOTE: The modification to the GPL is included to allow you to distribute\r
+ >>! a combined work that includes FreeRTOS without being obliged to provide\r
+ >>! the source code for proprietary components outside of the FreeRTOS\r
+ >>! kernel.\r
+\r
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
+ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
+ FOR A PARTICULAR PURPOSE. Full license text is available from the following\r
+ link: http://www.freertos.org/a00114.html\r
\r
1 tab == 4 spaces!\r
- \r
+\r
***************************************************************************\r
* *\r
* Having a problem? Start by reading the FAQ "My application does *\r
- * not run, what could be wrong? *\r
+ * not run, what could be wrong?" *\r
* *\r
* http://www.FreeRTOS.org/FAQHelp.html *\r
* *\r
***************************************************************************\r
\r
- \r
- http://www.FreeRTOS.org - Documentation, training, latest information, \r
- license and contact details.\r
- \r
+ http://www.FreeRTOS.org - Documentation, books, training, latest versions,\r
+ license and Real Time Engineers Ltd. contact details.\r
+\r
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
- including FreeRTOS+Trace - an indispensable productivity tool.\r
+ including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
+ compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
+\r
+ http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
+ Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS\r
+ licenses offer ticketed support, indemnification and middleware.\r
+\r
+ http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
+ engineered and independently SIL3 certified version for use in safety and\r
+ mission critical applications that require provable dependability.\r
\r
- Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell \r
- the code with commercial support, indemnification, and middleware, under \r
- the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also\r
- provide a safety engineered and independently SIL3 certified version under \r
- the SafeRTOS brand: http://www.SafeRTOS.com.\r
+ 1 tab == 4 spaces!\r
*/\r
\r
/*\r
- * Creates eight tasks, each of which loops continuously performing an (emulated) \r
- * floating point calculation.\r
+ * Creates eight tasks, each of which loops continuously performing a floating \r
+ * point calculation.\r
*\r
- * All the tasks run at the idle priority and never block or yield. This causes \r
- * all eight tasks to time slice with the idle task. Running at the idle priority \r
- * means that these tasks will get pre-empted any time another task is ready to run\r
- * or a time slice occurs. More often than not the pre-emption will occur mid \r
- * calculation, creating a good test of the schedulers context switch mechanism - a \r
- * calculation producing an unexpected result could be a symptom of a corruption in \r
- * the context of a task.\r
+ * All the tasks run at the idle priority and never block or yield. This causes\r
+ * all eight tasks to time slice with the idle task. Running at the idle \r
+ * priority means that these tasks will get pre-empted any time another task is \r
+ * ready to run or a time slice occurs. More often than not the pre-emption \r
+ * will occur mid calculation, creating a good test of the schedulers context \r
+ * switch mechanism - a calculation producing an unexpected result could be a \r
+ * symptom of a corruption in the context of a task.\r
*/\r
\r
#include <stdlib.h>\r
#include "flop.h"\r
\r
#define mathSTACK_SIZE configMINIMAL_STACK_SIZE\r
-#define mathNUMBER_OF_TASKS ( 8 )\r
+#define mathNUMBER_OF_TASKS ( 4 )\r
\r
-/* Four tasks, each of which performs a different floating point calculation. \r
+/* Four tasks, each of which performs a different floating point calculation.\r
Each of the four is created twice. */\r
static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters );\r
static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters );\r
static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters );\r
static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters );\r
\r
-/* These variables are used to check that all the tasks are still running. If a \r
-task gets a calculation wrong it will\r
-stop incrementing its check variable. */\r
+/* These variables are used to check that all the tasks are still running. If a\r
+task gets a calculation wrong it will stop setting its check variable. */\r
static volatile unsigned short usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };\r
\r
/*-----------------------------------------------------------*/\r
\r
void vStartMathTasks( unsigned portBASE_TYPE uxPriority )\r
{\r
- xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );\r
- xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );\r
- xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );\r
- xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );\r
- xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );\r
- xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );\r
- xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );\r
- xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );\r
+ xTaskCreate( vCompetingMathTask1, "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );\r
+ xTaskCreate( vCompetingMathTask2, "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );\r
+ xTaskCreate( vCompetingMathTask3, "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );\r
+ xTaskCreate( vCompetingMathTask4, "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );\r
}\r
/*-----------------------------------------------------------*/\r
\r
volatile portDOUBLE dAnswer;\r
short sError = pdFALSE;\r
\r
+ /* Some ports require that tasks that use a hardware floating point unit\r
+ tell the kernel that they require a floating point context before any\r
+ floating point instructions are executed. */\r
+ portTASK_USES_FLOATING_POINT();\r
+\r
d1 = 123.4567;\r
d2 = 2345.6789;\r
d3 = -918.222;\r
\r
dAnswer = ( d1 + d2 ) * d3;\r
\r
- /* The variable this task increments to show it is still running is passed in \r
+ /* The variable this task increments to show it is still running is passed in\r
as the parameter. */\r
pusTaskCheckVariable = ( unsigned short * ) pvParameters;\r
\r
taskYIELD();\r
#endif\r
\r
- /* If the calculation does not match the expected constant, stop the \r
+ /* If the calculation does not match the expected constant, stop the\r
increment of the check variable. */\r
if( fabs( d4 - dAnswer ) > 0.001 )\r
{\r
\r
if( sError == pdFALSE )\r
{\r
- /* If the calculation has always been correct, increment the check \r
- variable so we know this task is still running okay. */\r
- ( *pusTaskCheckVariable )++;\r
+ /* If the calculation has always been correct then set set the check\r
+ variable. The check variable will get set to pdFALSE each time\r
+ xAreMathsTaskStillRunning() is executed. */\r
+ ( *pusTaskCheckVariable ) = pdTRUE;\r
}\r
\r
#if configUSE_PREEMPTION == 0\r
volatile portDOUBLE dAnswer;\r
short sError = pdFALSE;\r
\r
+ /* Some ports require that tasks that use a hardware floating point unit\r
+ tell the kernel that they require a floating point context before any\r
+ floating point instructions are executed. */\r
+ portTASK_USES_FLOATING_POINT();\r
+\r
d1 = -389.38;\r
d2 = 32498.2;\r
d3 = -2.0001;\r
dAnswer = ( d1 / d2 ) * d3;\r
\r
\r
- /* The variable this task increments to show it is still running is passed in \r
+ /* The variable this task increments to show it is still running is passed in\r
as the parameter. */\r
pusTaskCheckVariable = ( unsigned short * ) pvParameters;\r
\r
#if configUSE_PREEMPTION == 0\r
taskYIELD();\r
#endif\r
- \r
- /* If the calculation does not match the expected constant, stop the \r
+\r
+ /* If the calculation does not match the expected constant, stop the\r
increment of the check variable. */\r
if( fabs( d4 - dAnswer ) > 0.001 )\r
{\r
\r
if( sError == pdFALSE )\r
{\r
- /* If the calculation has always been correct, increment the check \r
- variable so we know\r
- this task is still running okay. */\r
- ( *pusTaskCheckVariable )++;\r
+ /* If the calculation has always been correct then set set the check\r
+ variable. The check variable will get set to pdFALSE each time\r
+ xAreMathsTaskStillRunning() is executed. */\r
+ ( *pusTaskCheckVariable ) = pdTRUE;\r
}\r
\r
#if configUSE_PREEMPTION == 0\r
size_t xPosition;\r
short sError = pdFALSE;\r
\r
- /* The variable this task increments to show it is still running is passed in \r
+ /* Some ports require that tasks that use a hardware floating point unit\r
+ tell the kernel that they require a floating point context before any\r
+ floating point instructions are executed. */\r
+ portTASK_USES_FLOATING_POINT();\r
+\r
+ /* The variable this task increments to show it is still running is passed in\r
as the parameter. */\r
pusTaskCheckVariable = ( unsigned short * ) pvParameters;\r
\r
pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );\r
\r
- /* Keep filling an array, keeping a running total of the values placed in the \r
- array. Then run through the array adding up all the values. If the two totals \r
+ /* Keep filling an array, keeping a running total of the values placed in the\r
+ array. Then run through the array adding up all the values. If the two totals\r
do not match, stop the check variable from incrementing. */\r
for( ;; )\r
{\r
for( xPosition = 0; xPosition < xArraySize; xPosition++ )\r
{\r
pdArray[ xPosition ] = ( portDOUBLE ) xPosition + 5.5;\r
- dTotal1 += ( portDOUBLE ) xPosition + 5.5; \r
+ dTotal1 += ( portDOUBLE ) xPosition + 5.5;\r
}\r
\r
#if configUSE_PREEMPTION == 0\r
\r
if( sError == pdFALSE )\r
{\r
- /* If the calculation has always been correct, increment the check \r
- variable so we know this task is still running okay. */\r
- ( *pusTaskCheckVariable )++;\r
+ /* If the calculation has always been correct then set set the check\r
+ variable. The check variable will get set to pdFALSE each time\r
+ xAreMathsTaskStillRunning() is executed. */\r
+ ( *pusTaskCheckVariable ) = pdTRUE;\r
}\r
}\r
}\r
size_t xPosition;\r
short sError = pdFALSE;\r
\r
- /* The variable this task increments to show it is still running is passed in \r
+ /* Some ports require that tasks that use a hardware floating point unit\r
+ tell the kernel that they require a floating point context before any\r
+ floating point instructions are executed. */\r
+ portTASK_USES_FLOATING_POINT();\r
+\r
+ /* The variable this task increments to show it is still running is passed in\r
as the parameter. */\r
pusTaskCheckVariable = ( unsigned short * ) pvParameters;\r
\r
pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );\r
\r
- /* Keep filling an array, keeping a running total of the values placed in the \r
- array. Then run through the array adding up all the values. If the two totals \r
+ /* Keep filling an array, keeping a running total of the values placed in the\r
+ array. Then run through the array adding up all the values. If the two totals\r
do not match, stop the check variable from incrementing. */\r
for( ;; )\r
{\r
for( xPosition = 0; xPosition < xArraySize; xPosition++ )\r
{\r
pdArray[ xPosition ] = ( portDOUBLE ) xPosition * 12.123;\r
- dTotal1 += ( portDOUBLE ) xPosition * 12.123; \r
+ dTotal1 += ( portDOUBLE ) xPosition * 12.123;\r
}\r
\r
#if configUSE_PREEMPTION == 0\r
\r
if( sError == pdFALSE )\r
{\r
- /* If the calculation has always been correct, increment the check \r
- variable so we know this task is still running okay. */\r
- ( *pusTaskCheckVariable )++;\r
+ /* If the calculation has always been correct then set set the check\r
+ variable. The check variable will get set to pdFALSE each time\r
+ xAreMathsTaskStillRunning() is executed. */\r
+ ( *pusTaskCheckVariable ) = pdTRUE;\r
}\r
}\r
-} \r
+}\r
/*-----------------------------------------------------------*/\r
\r
/* This is called to check that all the created tasks are still running. */\r
portBASE_TYPE xAreMathsTaskStillRunning( void )\r
{\r
-/* Keep a history of the check variables so we know if they have been incremented \r
-since the last call. */\r
-static unsigned short usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };\r
-portBASE_TYPE xReturn = pdTRUE, xTask;\r
+portBASE_TYPE xReturn = pdPASS, xTask;\r
\r
- /* Check the maths tasks are still running by ensuring their check variables \r
- are still incrementing. */\r
+ /* Check the maths tasks are still running by ensuring their check variables\r
+ have been set to pdPASS. */\r
for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )\r
{\r
- if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )\r
+ if( usTaskCheck[ xTask ] != pdTRUE )\r
{\r
- /* The check has not incremented so an error exists. */\r
- xReturn = pdFALSE;\r
+ /* The check has not been set so the associated task has either\r
+ stalled or detected an error. */\r
+ xReturn = pdFAIL;\r
+ }\r
+ else\r
+ {\r
+ /* Reset the variable so it can be checked again the next time this\r
+ function is executed. */\r
+ usTaskCheck[ xTask ] = pdFALSE;\r
}\r
-\r
- usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];\r
}\r
-\r
+ \r
return xReturn;\r
}\r
\r
projects / freertos / blobdiff