***************************************************************************\r
\r
\r
- http://www.FreeRTOS.org - Documentation, books, training, latest versions, \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, and our new\r
fully thread aware and reentrant UDP/IP stack.\r
\r
- http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High \r
- Integrity Systems, who sell the code with commercial support, \r
+ http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
+ Integrity Systems, who sell the code with commercial support,\r
indemnification and middleware, under the OpenRTOS brand.\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
+\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
\r
/* The number of values to send/receive before checking that all values were\r
processed as expected. */\r
#define intqNUM_VALUES_TO_LOG ( 200 )\r
-#define intqSHORT_DELAY ( 75 )\r
+#define intqSHORT_DELAY ( 140 )\r
\r
/* The value by which the value being sent to or received from a queue should\r
increment past intqNUM_VALUES_TO_LOG before we check that all values have been\r
/* Start the test tasks. */\r
xTaskCreate( prvHigherPriorityNormallyEmptyTask, ( signed portCHAR * ) "H1QRx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK1, intqHIGHER_PRIORITY, &xHighPriorityNormallyEmptyTask1 );\r
xTaskCreate( prvHigherPriorityNormallyEmptyTask, ( signed portCHAR * ) "H2QRx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK2, intqHIGHER_PRIORITY, &xHighPriorityNormallyEmptyTask2 );\r
- xTaskCreate( prvLowerPriorityNormallyEmptyTask, ( signed portCHAR * ) "LQRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL );\r
+ xTaskCreate( prvLowerPriorityNormallyEmptyTask, ( signed portCHAR * ) "L1QRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL );\r
xTaskCreate( prv1stHigherPriorityNormallyFullTask, ( signed portCHAR * ) "H1QTx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK1, intqHIGHER_PRIORITY, &xHighPriorityNormallyFullTask1 );\r
xTaskCreate( prv2ndHigherPriorityNormallyFullTask, ( signed portCHAR * ) "H2QTx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK2, intqHIGHER_PRIORITY, &xHighPriorityNormallyFullTask2 );\r
- xTaskCreate( prvLowerPriorityNormallyFullTask, ( signed portCHAR * ) "LQRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL );\r
+ xTaskCreate( prvLowerPriorityNormallyFullTask, ( signed portCHAR * ) "L2QRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL );\r
\r
/* Create the queues that are accessed by multiple tasks and multiple\r
interrupts. */\r
xNormallyFullQueue = xQueueCreate( intqQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) );\r
xNormallyEmptyQueue = xQueueCreate( intqQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) );\r
+// vTraceSetQueueName( xNormallyFullQueue, "NF" );\r
+// vTraceSetQueueName( xNormallyEmptyQueue, "NE" );\r
\r
/* vQueueAddToRegistry() adds the queue to the queue registry, if one is\r
in use. The queue registry is provided as a means for kernel aware\r
***************************************************************************\r
\r
\r
- http://www.FreeRTOS.org - Documentation, books, training, latest versions, \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, and our new\r
fully thread aware and reentrant UDP/IP stack.\r
\r
- http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High \r
- Integrity Systems, who sell the code with commercial support, \r
+ http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
+ Integrity Systems, who sell the code with commercial support,\r
indemnification and middleware, under the OpenRTOS brand.\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
+\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
\r
/*\r
- * The first test creates three tasks - two counter tasks (one continuous count \r
- * and one limited count) and one controller. A "count" variable is shared \r
- * between all three tasks. The two counter tasks should never be in a "ready" \r
- * state at the same time. The controller task runs at the same priority as \r
- * the continuous count task, and at a lower priority than the limited count \r
+ * The first test creates three tasks - two counter tasks (one continuous count\r
+ * and one limited count) and one controller. A "count" variable is shared\r
+ * between all three tasks. The two counter tasks should never be in a "ready"\r
+ * state at the same time. The controller task runs at the same priority as\r
+ * the continuous count task, and at a lower priority than the limited count\r
* task.\r
*\r
* One counter task loops indefinitely, incrementing the shared count variable\r
* on each iteration. To ensure it has exclusive access to the variable it\r
- * raises it's priority above that of the controller task before each \r
+ * raises it's priority above that of the controller task before each\r
* increment, lowering it again to it's original priority before starting the\r
* next iteration.\r
*\r
* The other counter task increments the shared count variable on each\r
* iteration of it's loop until the count has reached a limit of 0xff - at\r
- * which point it suspends itself. It will not start a new loop until the \r
- * controller task has made it "ready" again by calling vTaskResume (). \r
- * This second counter task operates at a higher priority than controller \r
- * task so does not need to worry about mutual exclusion of the counter \r
+ * which point it suspends itself. It will not start a new loop until the\r
+ * controller task has made it "ready" again by calling vTaskResume ().\r
+ * This second counter task operates at a higher priority than controller\r
+ * task so does not need to worry about mutual exclusion of the counter\r
* variable.\r
*\r
* The controller task is in two sections. The first section controls and\r
- * monitors the continuous count task. When this section is operational the \r
- * limited count task is suspended. Likewise, the second section controls \r
- * and monitors the limited count task. When this section is operational the \r
+ * monitors the continuous count task. When this section is operational the\r
+ * limited count task is suspended. Likewise, the second section controls\r
+ * and monitors the limited count task. When this section is operational the\r
* continuous count task is suspended.\r
*\r
* In the first section the controller task first takes a copy of the shared\r
* the continuous count task will execute and increment the shared variable.\r
* When the controller task wakes it checks that the continuous count task\r
* has executed by comparing the copy of the shared variable with its current\r
- * value. This time, to ensure mutual exclusion, the scheduler itself is \r
- * suspended with a call to vTaskSuspendAll (). This is for demonstration \r
+ * value. This time, to ensure mutual exclusion, the scheduler itself is\r
+ * suspended with a call to vTaskSuspendAll (). This is for demonstration\r
* purposes only and is not a recommended technique due to its inefficiency.\r
*\r
- * After a fixed number of iterations the controller task suspends the \r
+ * After a fixed number of iterations the controller task suspends the\r
* continuous count task, and moves on to its second section.\r
*\r
* At the start of the second section the shared variable is cleared to zero.\r
* a check on the shared variable to ensure everything is as expected.\r
*\r
*\r
- * The second test consists of a couple of very simple tasks that post onto a \r
+ * The second test consists of a couple of very simple tasks that post onto a\r
* queue while the scheduler is suspended. This test was added to test parts\r
* of the scheduler not exercised by the first test.\r
*\r
to the controller task to prevent them having to be file scope. */\r
static xTaskHandle xContinousIncrementHandle, xLimitedIncrementHandle;\r
\r
-/* The shared counter variable. This is passed in as a parameter to the two \r
+/* The shared counter variable. This is passed in as a parameter to the two\r
counter variables for demonstration purposes. */\r
static unsigned long ulCounter;\r
\r
/* Queue used by the second test. */\r
xQueueHandle xSuspendedTestQueue;\r
\r
+/* The value the queue receive task expects to receive next. This is file\r
+scope so xAreDynamicPriorityTasksStillRunning() can ensure it is still\r
+incrementing. */\r
+static unsigned long ulExpectedValue = ( unsigned long ) 0;\r
+\r
/*-----------------------------------------------------------*/\r
/*\r
* Start the three tasks as described at the top of the file.\r
xSuspendedTestQueue = xQueueCreate( priSUSPENDED_QUEUE_LENGTH, sizeof( unsigned long ) );\r
\r
/* vQueueAddToRegistry() adds the queue to the queue registry, if one is\r
- in use. The queue registry is provided as a means for kernel aware \r
+ in use. The queue registry is provided as a means for kernel aware\r
debuggers to locate queues and has no purpose if a kernel aware debugger\r
is not being used. The call to vQueueAddToRegistry() will be removed\r
- by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is \r
+ by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is\r
defined to be less than 1. */\r
vQueueAddToRegistry( xSuspendedTestQueue, ( signed char * ) "Suspended_Test_Queue" );\r
\r
\r
/*\r
* Just loops around incrementing the shared variable until the limit has been\r
- * reached. Once the limit has been reached it suspends itself. \r
+ * reached. Once the limit has been reached it suspends itself.\r
*/\r
static portTASK_FUNCTION( vLimitedIncrementTask, pvParameters )\r
{\r
for( ;; )\r
{\r
/* Just count up to a value then suspend. */\r
- ( *pulCounter )++; \r
- \r
+ ( *pulCounter )++;\r
+\r
if( *pulCounter >= priMAX_COUNT )\r
{\r
vTaskSuspend( NULL );\r
- } \r
+ }\r
}\r
}\r
/*-----------------------------------------------------------*/\r
the task. */\r
pulCounter = ( unsigned long * ) pvParameters;\r
\r
- /* Query our priority so we can raise it when exclusive access to the \r
+ /* Query our priority so we can raise it when exclusive access to the\r
shared variable is required. */\r
uxOurPriority = uxTaskPriorityGet( NULL );\r
\r
/* Raise our priority above the controller task to ensure a context\r
switch does not occur while we are accessing this variable. */\r
vTaskPrioritySet( NULL, uxOurPriority + 1 );\r
- ( *pulCounter )++; \r
+ ( *pulCounter )++;\r
vTaskPrioritySet( NULL, uxOurPriority );\r
}\r
}\r
vTaskSuspend( xContinousIncrementHandle );\r
ulLastCounter = ulCounter;\r
vTaskResume( xContinousIncrementHandle );\r
- \r
+\r
/* Now delay to ensure the other task has processor time. */\r
vTaskDelay( priSLEEP_TIME );\r
\r
- /* Check the shared variable again. This time to ensure mutual \r
+ /* Check the shared variable again. This time to ensure mutual\r
exclusion the whole scheduler will be locked. This is just for\r
demo purposes! */\r
vTaskSuspendAll();\r
\r
static portTASK_FUNCTION( vQueueReceiveWhenSuspendedTask, pvParameters )\r
{\r
-static unsigned long ulExpectedValue = ( unsigned long ) 0, ulReceivedValue;\r
+unsigned long ulReceivedValue;\r
portBASE_TYPE xGotValue;\r
\r
/* Just to stop warning messages. */\r
{\r
do\r
{\r
- /* Suspending the scheduler here is fairly pointless and \r
+ /* Suspending the scheduler here is fairly pointless and\r
undesirable for a normal application. It is done here purely\r
to test the scheduler. The inner xTaskResumeAll() should\r
never return pdTRUE as the scheduler is still locked by the\r
{\r
xGotValue = xQueueReceive( xSuspendedTestQueue, ( void * ) &ulReceivedValue, priNO_BLOCK );\r
}\r
- if( xTaskResumeAll() )\r
+ if( xTaskResumeAll() != pdFALSE )\r
{\r
xSuspendedQueueReceiveError = pdTRUE;\r
}\r
xSuspendedQueueReceiveError = pdTRUE;\r
}\r
\r
- ++ulExpectedValue;\r
+ if( xSuspendedQueueReceiveError != pdTRUE )\r
+ {\r
+ /* Only increment the variable if an error has not occurred. This\r
+ allows xAreDynamicPriorityTasksStillRunning() to check for stalled\r
+ tasks as well as explicit errors. */\r
+ ++ulExpectedValue;\r
+ }\r
}\r
}\r
/*-----------------------------------------------------------*/\r
/* Called to check that all the created tasks are still running without error. */\r
portBASE_TYPE xAreDynamicPriorityTasksStillRunning( void )\r
{\r
-/* Keep a history of the check variables so we know if it has been incremented \r
+/* Keep a history of the check variables so we know if it has been incremented\r
since the last call. */\r
static unsigned short usLastTaskCheck = ( unsigned short ) 0;\r
+static unsigned long ulLastExpectedValue = ( unsigned long ) 0U;\r
portBASE_TYPE xReturn = pdTRUE;\r
\r
/* Check the tasks are still running by ensuring the check variable\r
xReturn = pdFALSE;\r
}\r
\r
+ if( ulExpectedValue == ulLastExpectedValue )\r
+ {\r
+ /* The value being received by the queue receive task has not\r
+ incremented so an error exists. */\r
+ xReturn = pdFALSE;\r
+ }\r
+\r
if( xSuspendedQueueSendError == pdTRUE )\r
{\r
xReturn = pdFALSE;\r
}\r
\r
usLastTaskCheck = usCheckVariable;\r
+ ulLastExpectedValue = ulExpectedValue;\r
+\r
return xReturn;\r
}\r
***************************************************************************\r
\r
\r
- http://www.FreeRTOS.org - Documentation, books, training, latest versions, \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, and our new\r
fully thread aware and reentrant UDP/IP stack.\r
\r
- http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High \r
- Integrity Systems, who sell the code with commercial support, \r
+ http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
+ Integrity Systems, who sell the code with commercial support,\r
indemnification and middleware, under the OpenRTOS brand.\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
+\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
\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
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
}\r
/*-----------------------------------------------------------*/\r
\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
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
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
+ /* 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
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
+ /* 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 / commitdiff