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370 lines
13 KiB
C
370 lines
13 KiB
C
/*
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FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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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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***************************************************************************
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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 !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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***************************************************************************
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available on the following
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link: http://www.freertos.org/a00114.html
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that is more than just the market leader, it *
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* is the industry's de facto standard. *
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* *
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* Help yourself get started quickly while simultaneously helping *
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* to support the FreeRTOS project by purchasing a FreeRTOS *
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* tutorial book, reference manual, or both: *
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* http://www.FreeRTOS.org/Documentation *
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* *
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***************************************************************************
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http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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the FAQ page "My application does not run, what could be wrong?". Have you
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defined configASSERT()?
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http://www.FreeRTOS.org/support - In return for receiving this top quality
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embedded software for free we request you assist our global community by
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participating in the support forum.
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http://www.FreeRTOS.org/training - Investing in training allows your team to
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be as productive as possible as early as possible. Now you can receive
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FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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Ltd, and the world's leading authority on the world's leading RTOS.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and commercial middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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/*
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* Creates eight tasks, each of which loops continuously performing a floating
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* point calculation - using single precision variables.
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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 uint16_t usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( uint16_t ) 0 };
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/*-----------------------------------------------------------*/
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void vStartMathTasks( UBaseType_t uxPriority )
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{
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xTaskCreate( vCompetingMathTask1, "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask2, "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask3, "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask4, "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask1, "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask2, "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask3, "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask4, "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );
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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 float f1, f2, f3, f4;
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volatile uint16_t *pusTaskCheckVariable;
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volatile float fAnswer;
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short sError = pdFALSE;
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f1 = 123.4567F;
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f2 = 2345.6789F;
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f3 = -918.222F;
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fAnswer = ( f1 + f2 ) * f3;
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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 = ( uint16_t * ) 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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f1 = 123.4567F;
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f2 = 2345.6789F;
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f3 = -918.222F;
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f4 = ( f1 + f2 ) * f3;
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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( f4 - fAnswer ) > 0.001F )
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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 float f1, f2, f3, f4;
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volatile uint16_t *pusTaskCheckVariable;
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volatile float fAnswer;
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short sError = pdFALSE;
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f1 = -389.38F;
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f2 = 32498.2F;
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f3 = -2.0001F;
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fAnswer = ( f1 / f2 ) * f3;
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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 = ( uint16_t * ) 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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f1 = -389.38F;
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f2 = 32498.2F;
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f3 = -2.0001F;
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f4 = ( f1 / f2 ) * f3;
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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( f4 - fAnswer ) > 0.001F )
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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 float *pfArray, fTotal1, fTotal2, fDifference, fPosition;
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volatile uint16_t *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 = ( uint16_t * ) pvParameters;
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pfArray = ( float * ) pvPortMalloc( xArraySize * sizeof( float ) );
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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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fTotal1 = 0.0F;
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fTotal2 = 0.0F;
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fPosition = 0.0F;
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for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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{
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pfArray[ xPosition ] = fPosition + 5.5F;
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fTotal1 += fPosition + 5.5F;
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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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fTotal2 += pfArray[ xPosition ];
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}
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fDifference = fTotal1 - fTotal2;
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if( fabs( fDifference ) > 0.001F )
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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 float *pfArray, fTotal1, fTotal2, fDifference, fPosition;
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volatile uint16_t *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 = ( uint16_t * ) pvParameters;
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pfArray = ( float * ) pvPortMalloc( xArraySize * sizeof( float ) );
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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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fTotal1 = 0.0F;
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fTotal2 = 0.0F;
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fPosition = 0.0F;
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for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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{
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pfArray[ xPosition ] = fPosition * 12.123F;
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fTotal1 += fPosition * 12.123F;
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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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fTotal2 += pfArray[ xPosition ];
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}
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fDifference = fTotal1 - fTotal2;
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if( fabs( fDifference ) > 0.001F )
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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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BaseType_t 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 uint16_t usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( uint16_t ) 0 };
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BaseType_t 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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