Added flop support.
Richard Barry
15 years ago
parent
094945625d
commit
ebffeb7ae4
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/*
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FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS eBook *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/*
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* Creates eight tasks, each of which loops continuously performing an (emulated)
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* floating point calculation.
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*
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* All the tasks run at the idle priority and never block or yield. This causes
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* all eight tasks to time slice with the idle task. Running at the idle priority
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* means that these tasks will get pre-empted any time another task is ready to run
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* or a time slice occurs. More often than not the pre-emption will occur mid
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* calculation, creating a good test of the schedulers context switch mechanism - a
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* calculation producing an unexpected result could be a symptom of a corruption in
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* the context of a task.
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*/
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#include <stdlib.h>
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#include <math.h>
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Demo program include files. */
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#include "flop.h"
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#define mathSTACK_SIZE configMINIMAL_STACK_SIZE
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#define mathNUMBER_OF_TASKS ( 8 )
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/* Four tasks, each of which performs a different floating point calculation.
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Each of the four is created twice. */
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static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters );
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static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters );
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static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters );
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static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters );
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/* These variables are used to check that all the tasks are still running. If a
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task gets a calculation wrong it will
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stop incrementing its check variable. */
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static volatile unsigned short usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
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/*-----------------------------------------------------------*/
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void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
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{
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xTaskHandle xCreatedTask;
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/* Create one of the floating point tasks... */
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xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, &xCreatedTask );
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/* ... then enable floating point support for the created task so its flop
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flop registers are maintained in a consistent state. */
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xPortUsesFloatingPoint( xCreatedTask );
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xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, &xCreatedTask );
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xPortUsesFloatingPoint( xCreatedTask );
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xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, &xCreatedTask );
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xPortUsesFloatingPoint( xCreatedTask );
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xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, &xCreatedTask );
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xPortUsesFloatingPoint( xCreatedTask );
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xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, &xCreatedTask );
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xPortUsesFloatingPoint( xCreatedTask );
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xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, &xCreatedTask );
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xPortUsesFloatingPoint( xCreatedTask );
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xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, &xCreatedTask );
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xPortUsesFloatingPoint( xCreatedTask );
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xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, &xCreatedTask );
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xPortUsesFloatingPoint( xCreatedTask );
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}
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/*-----------------------------------------------------------*/
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static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )
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{
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volatile double d1, d2, d3, d4;
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volatile unsigned short *pusTaskCheckVariable;
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volatile double dAnswer;
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short sError = pdFALSE;
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d1 = 123.4567;
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d2 = 2345.6789;
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d3 = -918.222;
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dAnswer = ( d1 + d2 ) * d3;
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/* The variable this task increments to show it is still running is passed in
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as the parameter. */
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pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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/* Keep performing a calculation and checking the result against a constant. */
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for(;;)
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{
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d1 = 123.4567;
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d2 = 2345.6789;
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d3 = -918.222;
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d4 = ( d1 + d2 ) * d3;
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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/* If the calculation does not match the expected constant, stop the
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increment of the check variable. */
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if( fabs( d4 - dAnswer ) > 0.001 )
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{
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sError = pdTRUE;
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}
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if( sError == pdFALSE )
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{
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/* If the calculation has always been correct, increment the check
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variable so we know this task is still running okay. */
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( *pusTaskCheckVariable )++;
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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}
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}
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/*-----------------------------------------------------------*/
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static portTASK_FUNCTION( vCompetingMathTask2, pvParameters )
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{
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volatile double d1, d2, d3, d4;
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volatile unsigned short *pusTaskCheckVariable;
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volatile double dAnswer;
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short sError = pdFALSE;
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d1 = -389.38;
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d2 = 32498.2;
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d3 = -2.0001;
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dAnswer = ( d1 / d2 ) * d3;
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/* The variable this task increments to show it is still running is passed in
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as the parameter. */
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pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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/* Keep performing a calculation and checking the result against a constant. */
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for( ;; )
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{
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d1 = -389.38;
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d2 = 32498.2;
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d3 = -2.0001;
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d4 = ( d1 / d2 ) * d3;
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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/* If the calculation does not match the expected constant, stop the
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increment of the check variable. */
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if( fabs( d4 - dAnswer ) > 0.001 )
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{
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sError = pdTRUE;
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}
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if( sError == pdFALSE )
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{
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/* If the calculation has always been correct, increment the check
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variable so we know
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this task is still running okay. */
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( *pusTaskCheckVariable )++;
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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}
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}
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/*-----------------------------------------------------------*/
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static portTASK_FUNCTION( vCompetingMathTask3, pvParameters )
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{
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volatile double *pdArray, dTotal1, dTotal2, dDifference;
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volatile unsigned short *pusTaskCheckVariable;
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const size_t xArraySize = 10;
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size_t xPosition;
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short sError = pdFALSE;
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/* The variable this task increments to show it is still running is passed in
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as the parameter. */
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pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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pdArray = ( double * ) pvPortMalloc( xArraySize * sizeof( double ) );
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/* Keep filling an array, keeping a running total of the values placed in the
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array. Then run through the array adding up all the values. If the two totals
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do not match, stop the check variable from incrementing. */
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for( ;; )
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{
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dTotal1 = 0.0;
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dTotal2 = 0.0;
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for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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{
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pdArray[ xPosition ] = ( double ) xPosition + 5.5;
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dTotal1 += ( double ) xPosition + 5.5;
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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{
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dTotal2 += pdArray[ xPosition ];
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}
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dDifference = dTotal1 - dTotal2;
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if( fabs( dDifference ) > 0.001 )
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{
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sError = pdTRUE;
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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if( sError == pdFALSE )
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{
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/* If the calculation has always been correct, increment the check
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variable so we know this task is still running okay. */
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( *pusTaskCheckVariable )++;
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}
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}
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}
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/*-----------------------------------------------------------*/
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static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )
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{
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volatile double *pdArray, dTotal1, dTotal2, dDifference;
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volatile unsigned short *pusTaskCheckVariable;
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const size_t xArraySize = 10;
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size_t xPosition;
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short sError = pdFALSE;
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/* The variable this task increments to show it is still running is passed in
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as the parameter. */
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pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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pdArray = ( double * ) pvPortMalloc( xArraySize * sizeof( double ) );
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/* Keep filling an array, keeping a running total of the values placed in the
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array. Then run through the array adding up all the values. If the two totals
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do not match, stop the check variable from incrementing. */
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for( ;; )
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{
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dTotal1 = 0.0;
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dTotal2 = 0.0;
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for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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{
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pdArray[ xPosition ] = ( double ) xPosition * 12.123;
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dTotal1 += ( double ) xPosition * 12.123;
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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{
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dTotal2 += pdArray[ xPosition ];
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}
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dDifference = dTotal1 - dTotal2;
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if( fabs( dDifference ) > 0.001 )
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{
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sError = pdTRUE;
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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if( sError == pdFALSE )
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{
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/* If the calculation has always been correct, increment the check
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variable so we know this task is still running okay. */
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( *pusTaskCheckVariable )++;
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}
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}
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}
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/*-----------------------------------------------------------*/
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/* This is called to check that all the created tasks are still running. */
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portBASE_TYPE xAreMathsTaskStillRunning( void )
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{
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/* Keep a history of the check variables so we know if they have been incremented
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since the last call. */
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static unsigned short usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
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portBASE_TYPE xReturn = pdTRUE, xTask;
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/* Check the maths tasks are still running by ensuring their check variables
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are still incrementing. */
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for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
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{
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if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
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{
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/* The check has not incremented so an error exists. */
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xReturn = pdFALSE;
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}
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usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
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}
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return xReturn;
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}
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