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354 lines
13 KiB
C
354 lines
13 KiB
C
/*
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FreeRTOS V7.0.2 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* FreeRTOS tutorial books are available in pdf and paperback. *
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* Complete, revised, and edited pdf reference manuals are also *
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* available. *
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* *
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* Purchasing FreeRTOS documentation will not only help you, by *
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* ensuring you get running as quickly as possible and with an *
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* in-depth knowledge of how to use FreeRTOS, it will also help *
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* the FreeRTOS project to continue with its mission of providing *
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* professional grade, cross platform, de facto standard solutions *
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* for microcontrollers - completely free of charge! *
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* *
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* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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* *
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* Thank you for using FreeRTOS, and 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 modification to the GPL is included to allow you to
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distribute a combined work that includes FreeRTOS without being obliged to
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provide the source code for proprietary components outside of the FreeRTOS
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kernel. FreeRTOS is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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or 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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Changes from V1.2.3
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+ The created tasks now include calls to tskYIELD(), allowing them to be used
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with the cooperative scheduler.
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*/
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/**
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* This does the same as flop. c, but uses variables of type long instead of
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* type double.
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*
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* As with flop. c, the tasks created in this file are a good test of the
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* scheduler context switch mechanism. The processor has to access 32bit
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* variables in two or four chunks (depending on the processor). The low
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* priority of these tasks means there is a high probability that a context
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* switch will occur mid calculation. See the flop. c documentation for
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* more information.
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*
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* \page IntegerC integer.c
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* \ingroup DemoFiles
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* <HR>
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*/
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/*
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Changes from V1.2.1
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+ The constants used in the calculations are larger to ensure the
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optimiser does not truncate them to 16 bits.
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*/
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#include <stdlib.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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#include "print.h"
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/* Demo program include files. */
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#include "integer.h"
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#define intgSTACK_SIZE ( ( unsigned short ) 256 )
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#define intgNUMBER_OF_TASKS ( 8 )
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/* Four tasks, each of which performs a different calculation on four byte
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variables. Each of the four is created twice. */
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static void vCompeteingIntMathTask1( void *pvParameters );
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static void vCompeteingIntMathTask2( void *pvParameters );
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static void vCompeteingIntMathTask3( void *pvParameters );
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static void vCompeteingIntMathTask4( void *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 stop incrementing its check variable. */
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static volatile unsigned short usTaskCheck[ intgNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
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/*-----------------------------------------------------------*/
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void vStartIntegerMathTasks( unsigned portBASE_TYPE uxPriority )
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{
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xTaskCreate( vCompeteingIntMathTask1, "IntMath1", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
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xTaskCreate( vCompeteingIntMathTask2, "IntMath2", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
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xTaskCreate( vCompeteingIntMathTask3, "IntMath3", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
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xTaskCreate( vCompeteingIntMathTask4, "IntMath4", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
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xTaskCreate( vCompeteingIntMathTask1, "IntMath5", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );
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xTaskCreate( vCompeteingIntMathTask2, "IntMath6", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );
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xTaskCreate( vCompeteingIntMathTask3, "IntMath7", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );
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xTaskCreate( vCompeteingIntMathTask4, "IntMath8", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );
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}
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/*-----------------------------------------------------------*/
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static void vCompeteingIntMathTask1( void *pvParameters )
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{
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long l1, l2, l3, l4;
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short sError = pdFALSE;
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volatile unsigned short *pusTaskCheckVariable;
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const long lAnswer = ( ( long ) 74565L + ( long ) 1234567L ) * ( long ) -918L;
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const char * const pcTaskStartMsg = "Integer math task 1 started.\r\n";
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const char * const pcTaskFailMsg = "Integer math task 1 failed.\r\n";
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage( &pcTaskStartMsg );
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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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l1 = ( long ) 74565L;
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l2 = ( long ) 1234567L;
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l3 = ( long ) -918L;
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l4 = ( l1 + l2 ) * l3;
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taskYIELD();
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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( l4 != lAnswer )
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{
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vPrintDisplayMessage( &pcTaskFailMsg );
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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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}
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}
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/*-----------------------------------------------------------*/
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static void vCompeteingIntMathTask2( void *pvParameters )
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{
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long l1, l2, l3, l4;
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short sError = pdFALSE;
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volatile unsigned short *pusTaskCheckVariable;
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const long lAnswer = ( ( long ) -389000L / ( long ) 329999L ) * ( long ) -89L;
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const char * const pcTaskStartMsg = "Integer math task 2 started.\r\n";
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const char * const pcTaskFailMsg = "Integer math task 2 failed.\r\n";
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage( &pcTaskStartMsg );
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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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l1 = -389000L;
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l2 = 329999L;
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l3 = -89L;
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l4 = ( l1 / l2 ) * l3;
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taskYIELD();
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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( l4 != lAnswer )
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{
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vPrintDisplayMessage( &pcTaskFailMsg );
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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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}
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}
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/*-----------------------------------------------------------*/
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static void vCompeteingIntMathTask3( void *pvParameters )
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{
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long *plArray, lTotal1, lTotal2;
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short sError = pdFALSE;
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volatile unsigned short *pusTaskCheckVariable;
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const unsigned short usArraySize = ( unsigned short ) 250;
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unsigned short usPosition;
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const char * const pcTaskStartMsg = "Integer math task 3 started.\r\n";
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const char * const pcTaskFailMsg = "Integer math task 3 failed.\r\n";
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage( &pcTaskStartMsg );
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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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/* Create the array we are going to use for our check calculation. */
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plArray = ( long * ) pvPortMalloc( ( size_t ) 250 * sizeof( long ) );
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/* Keep filling the 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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lTotal1 = ( long ) 0;
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lTotal2 = ( long ) 0;
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for( usPosition = 0; usPosition < usArraySize; usPosition++ )
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{
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plArray[ usPosition ] = ( long ) usPosition + ( long ) 5;
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lTotal1 += ( long ) usPosition + ( long ) 5;
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}
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taskYIELD();
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for( usPosition = 0; usPosition < usArraySize; usPosition++ )
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{
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lTotal2 += plArray[ usPosition ];
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}
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if( lTotal1 != lTotal2 )
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{
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vPrintDisplayMessage( &pcTaskFailMsg );
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sError = pdTRUE;
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}
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taskYIELD();
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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 void vCompeteingIntMathTask4( void *pvParameters )
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{
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long *plArray, lTotal1, lTotal2;
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short sError = pdFALSE;
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volatile unsigned short *pusTaskCheckVariable;
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const unsigned short usArraySize = 250;
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unsigned short usPosition;
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const char * const pcTaskStartMsg = "Integer math task 4 started.\r\n";
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const char * const pcTaskFailMsg = "Integer math task 4 failed.\r\n";
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage( &pcTaskStartMsg );
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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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/* Create the array we are going to use for our check calculation. */
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plArray = ( long * ) pvPortMalloc( ( size_t ) 250 * sizeof( long ) );
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/* Keep filling the 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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lTotal1 = ( long ) 0;
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lTotal2 = ( long ) 0;
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for( usPosition = 0; usPosition < usArraySize; usPosition++ )
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{
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plArray[ usPosition ] = ( long ) usPosition * ( long ) 12;
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lTotal1 += ( long ) usPosition * ( long ) 12;
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}
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taskYIELD();
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for( usPosition = 0; usPosition < usArraySize; usPosition++ )
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{
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lTotal2 += plArray[ usPosition ];
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}
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if( lTotal1 != lTotal2 )
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{
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vPrintDisplayMessage( &pcTaskFailMsg );
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sError = pdTRUE;
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}
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taskYIELD();
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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 xAreIntegerMathsTaskStillRunning( 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[ intgNUMBER_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 < intgNUMBER_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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