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Added PPC440 demo that does not use any floating point hardware.

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Richard Barry 2009-06-30 19:42:21 +00:00
parent b49cf69600
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Demo/PPC440_Xilinx_Virtex5_GCC/RTOSDemo/flop/flop-reg-test.c Normal file
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/*
FreeRTOS.org V5.3.1 - Copyright (C) 2003-2009 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify it
under the terms of the GNU General Public License (version 2) as published
by the Free Software Foundation and modified by the FreeRTOS exception.
**NOTE** The exception to the GPL is included to allow you to distribute a
combined work that includes FreeRTOS.org without being obliged to provide
the source code for any proprietary components. Alternative commercial
license and support terms are also available upon request. See the
licensing section of http://www.FreeRTOS.org for full details.
FreeRTOS.org is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
more details.
You should have received a copy of the GNU General Public License along
with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
* *
* This is a concise, step by step, 'hands on' guide that describes both *
* general multitasking concepts and FreeRTOS specifics. It presents and *
* explains numerous examples that are written using the FreeRTOS API. *
* Full source code for all the examples is provided in an accompanying *
* .zip file. *
* *
***************************************************************************
1 tab == 4 spaces!
Please ensure to read the configuration and relevant port sections of the
online documentation.
http://www.FreeRTOS.org - Documentation, latest information, license and
contact details.
http://www.SafeRTOS.com - A version that is certified for use in safety
critical systems.
http://www.OpenRTOS.com - Commercial support, development, porting,
licensing and training services.
*/
/*
* Tests the floating point context save and restore mechanism.
*
* Two tasks are created - each of which is allocated a buffer of
* portNO_FLOP_REGISTERS_TO_SAVE 32bit variables into which the flop context
* of the task is saved when the task is switched out, and from which the
* flop context of the task is restored when the task is switch in. Prior to
* the tasks being created each position in the two buffers is filled with a
* unique value - this way the flop context of each task is different.
*
* The two test tasks never block so are always in either the Running or
* Ready state. They execute at the lowest priority so will get pre-empted
* regularly, although the yield frequently so will not get much execution
* time. The lack of execution time is not a problem as its only the
* switching in and out that is being tested.
*
* Whenever a task is moved from the Ready to the Running state its flop
* context will be loaded from the buffer, but while the task is in the
* Running state the buffer is not used and can contain any value - in this
* case and for test purposes the task itself clears the buffer to zero.
* The next time the task is moved out of the Running state into the
* Ready state the flop context will once more get saved to the buffer -
* overwriting the zeros.
*
* Therefore whenever the task is not in the Running state its buffer contains
* the most recent values of its floating point registers - the zeroing out
* of the buffer while the task was executing being used to ensure the values
* the buffer contains are not stale.
*
* When neither test task is in the Running state the buffers should contain
* the unique values allocated before the tasks were created. If so then
* the floating point context has been maintained. This check is performed
* by the 'check' task (defined in main.c) by calling
* xAreFlopRegisterTestsStillRunning().
*
* The test tasks also increment a value each time they execute.
* xAreFlopRegisterTestsStillRunning() also checks that this value has changed
* since it last ran to ensure the test tasks are still getting processing time.
*/
/* Standard includes files. */
#include <string.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/*-----------------------------------------------------------*/
#define flopNUMBER_OF_TASKS 2
#define flopSTART_VALUE ( 0x1 )
/*-----------------------------------------------------------*/
/* The two test tasks as described at the top of this file. */
static void vFlopTest1( void *pvParameters );
static void vFlopTest2( void *pvParameters );
/*-----------------------------------------------------------*/
/* Buffers into which the flop registers will be saved. There is a buffer for
both tasks. */
static volatile unsigned portLONG ulFlopRegisters[ flopNUMBER_OF_TASKS ][ portNO_FLOP_REGISTERS_TO_SAVE ];
/* Variables that are incremented by the tasks to indicate that they are still
running. */
static volatile unsigned portLONG ulFlop1CycleCount = 0, ulFlop2CycleCount = 0;
/*-----------------------------------------------------------*/
void vStartFlopRegTests( void )
{
xTaskHandle xTaskJustCreated;
unsigned portBASE_TYPE x, y, z = flopSTART_VALUE;
/* Fill the arrays into which the flop registers are to be saved with
known values. These are the values that will be written to the flop
registers when the tasks start, and as the tasks do not perform any
flop operations the values should never change. Each position in the
buffer contains a different value so the flop context of each task
will be different. */
for( x = 0; x < flopNUMBER_OF_TASKS; x++ )
{
for( y = 0; y < ( portNO_FLOP_REGISTERS_TO_SAVE - 1); y++ )
{
ulFlopRegisters[ x ][ y ] = z;
z++;
}
}
/* Create the first task. */
xTaskCreate( vFlopTest1, ( signed portCHAR * ) "flop1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTaskJustCreated );
/* The task tag value is a value that can be associated with a task, but
is not used by the scheduler itself. Its use is down to the application so
it makes a convenient place in this case to store the pointer to the buffer
into which the flop context of the task will be stored. The first created
task uses ulFlopRegisters[ 0 ], the second ulFlopRegisters[ 1 ]. */
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 0 ][ 0 ] ) );
/* Do the same for the second task. */
xTaskCreate( vFlopTest2, ( signed portCHAR * ) "flop2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTaskJustCreated );
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 1 ][ 0 ] ) );
}
/*-----------------------------------------------------------*/
static void vFlopTest1( void *pvParameters )
{
/* Just to remove compiler warning. */
( void ) pvParameters;
for( ;; )
{
/* The values from the buffer should have now been written to the flop
registers. Clear the buffer to ensure the same values then get written
back the next time the task runs. Being preempted during this memset
could cause the test to fail, hence the critical section. */
portENTER_CRITICAL();
memset( ( void * ) ulFlopRegisters[ 0 ], 0x00, ( portNO_FLOP_REGISTERS_TO_SAVE * sizeof( unsigned portBASE_TYPE ) ) );
portEXIT_CRITICAL();
/* We don't have to do anything other than indicate that we are
still running. */
ulFlop1CycleCount++;
taskYIELD();
}
}
/*-----------------------------------------------------------*/
static void vFlopTest2( void *pvParameters )
{
/* Just to remove compiler warning. */
( void ) pvParameters;
for( ;; )
{
/* The values from the buffer should have now been written to the flop
registers. Clear the buffer to ensure the same values then get written
back the next time the task runs. */
portENTER_CRITICAL();
memset( ( void * ) ulFlopRegisters[ 1 ], 0x00, ( portNO_FLOP_REGISTERS_TO_SAVE * sizeof( unsigned portBASE_TYPE ) ) );
portEXIT_CRITICAL();
/* We don't have to do anything other than indicate that we are
still running. */
ulFlop2CycleCount++;
taskYIELD();
}
}
/*-----------------------------------------------------------*/
portBASE_TYPE xAreFlopRegisterTestsStillRunning( void )
{
portBASE_TYPE xReturn = pdPASS;
unsigned portBASE_TYPE x, y, z = flopSTART_VALUE;
static unsigned portLONG ulLastFlop1CycleCount = 0, ulLastFlop2CycleCount = 0;
/* Called from the 'check' task.
The flop tasks cannot be currently running, check their saved registers
are as expected. The tests tasks do not perform any flop operations so
their registers should be as per their initial setting. */
for( x = 0; x < flopNUMBER_OF_TASKS; x++ )
{
for( y = 0; y < ( portNO_FLOP_REGISTERS_TO_SAVE - 1 ); y++ )
{
if( ulFlopRegisters[ x ][ y ] != z )
{
xReturn = pdFAIL;
break;
}
z++;
}
}
/* Check both tasks have actually been swapped in and out since this function
last executed. */
if( ulFlop1CycleCount == ulLastFlop1CycleCount )
{
xReturn = pdFAIL;
}
if( ulFlop2CycleCount == ulLastFlop2CycleCount )
{
xReturn = pdFAIL;
}
ulLastFlop1CycleCount = ulFlop1CycleCount;
ulLastFlop2CycleCount = ulFlop2CycleCount;
return xReturn;
}

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Demo/PPC440_Xilinx_Virtex5_GCC/RTOSDemo/flop/flop-reg-test.h Normal file
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/*
FreeRTOS.org V5.3.1 - Copyright (C) 2003-2009 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify it
under the terms of the GNU General Public License (version 2) as published
by the Free Software Foundation and modified by the FreeRTOS exception.
**NOTE** The exception to the GPL is included to allow you to distribute a
combined work that includes FreeRTOS.org without being obliged to provide
the source code for any proprietary components. Alternative commercial
license and support terms are also available upon request. See the
licensing section of http://www.FreeRTOS.org for full details.
FreeRTOS.org is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
more details.
You should have received a copy of the GNU General Public License along
with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
* *
* This is a concise, step by step, 'hands on' guide that describes both *
* general multitasking concepts and FreeRTOS specifics. It presents and *
* explains numerous examples that are written using the FreeRTOS API. *
* Full source code for all the examples is provided in an accompanying *
* .zip file. *
* *
***************************************************************************
1 tab == 4 spaces!
Please ensure to read the configuration and relevant port sections of the
online documentation.
http://www.FreeRTOS.org - Documentation, latest information, license and
contact details.
http://www.SafeRTOS.com - A version that is certified for use in safety
critical systems.
http://www.OpenRTOS.com - Commercial support, development, porting,
licensing and training services.
*/
#ifndef FLOP_REG_TEST_H
#define FLOP_REG_TEST_H
void vStartFlopRegTests( void );
portBASE_TYPE xAreFlopRegisterTestsStillRunning( void );
#endif

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Demo/PPC440_Xilinx_Virtex5_GCC/RTOSDemo/flop/flop.c Normal file
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/*
FreeRTOS.org V5.3.1 - Copyright (C) 2003-2009 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify it
under the terms of the GNU General Public License (version 2) as published
by the Free Software Foundation and modified by the FreeRTOS exception.
**NOTE** The exception to the GPL is included to allow you to distribute a
combined work that includes FreeRTOS.org without being obliged to provide
the source code for any proprietary components. Alternative commercial
license and support terms are also available upon request. See the
licensing section of http://www.FreeRTOS.org for full details.
FreeRTOS.org is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
more details.
You should have received a copy of the GNU General Public License along
with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
* *
* This is a concise, step by step, 'hands on' guide that describes both *
* general multitasking concepts and FreeRTOS specifics. It presents and *
* explains numerous examples that are written using the FreeRTOS API. *
* Full source code for all the examples is provided in an accompanying *
* .zip file. *
* *
***************************************************************************
1 tab == 4 spaces!
Please ensure to read the configuration and relevant port sections of the
online documentation.
http://www.FreeRTOS.org - Documentation, latest information, license and
contact details.
http://www.SafeRTOS.com - A version that is certified for use in safety
critical systems.
http://www.OpenRTOS.com - Commercial support, development, porting,
licensing and training services.
*/
/*
* Creates eight tasks, each of which loops continuously performing a
* floating point calculation.
*
* All the tasks run at the idle priority and never block or yield. This causes
* all eight tasks to time slice with the idle task. Running at the idle priority
* means that these tasks will get pre-empted any time another task is ready to run
* or a time slice occurs. More often than not the pre-emption will occur mid
* calculation, creating a good test of the schedulers context switch mechanism - a
* calculation producing an unexpected result could be a symptom of a corruption in
* the context of a task.
*
* This file demonstrates the use of the task tag and traceTASK_SWITCHED_IN and
* traceTASK_SWITCHED_OUT macros to save and restore the floating point context.
*/
#include <stdlib.h>
#include <math.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo program include files. */
#include "flop.h"
/* Misc. definitions. */
#define mathSTACK_SIZE configMINIMAL_STACK_SIZE
#define mathNUMBER_OF_TASKS ( 8 )
/* Four tasks, each of which performs a different floating point calculation.
Each of the four is created twice. */
static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters );
static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters );
static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters );
static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters );
/* These variables are used to check that all the tasks are still running. If a
task gets a calculation wrong it will stop incrementing its check variable. */
static volatile unsigned portSHORT usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 0 };
/* Buffers into which the flop registers will be saved. There is a buffer for
each task created within this file. Zeroing out this array is the normal and
safe option as this will cause the task to start with all zeros in its flop
context. */
static unsigned portLONG ulFlopRegisters[ mathNUMBER_OF_TASKS ][ portNO_FLOP_REGISTERS_TO_SAVE ];
/*-----------------------------------------------------------*/
void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
{
xTaskHandle xTaskJustCreated;
portBASE_TYPE x, y;
/* Place known values into the buffers into which the flop registers are
to be saved. This is for debug purposes only, it is not normally
required. The last position in each array is left at zero as the status
register will be loaded from there.
It is intended that these values can be viewed being loaded into the
flop registers when a task is started - however the Insight debugger
does not seem to want to show the flop register values. */
for( x = 0; x < mathNUMBER_OF_TASKS; x++ )
{
for( y = 0; y < ( portNO_FLOP_REGISTERS_TO_SAVE - 1 ); y++ )
{
ulFlopRegisters[ x ][ y ] = ( x + 1 );
}
}
/* Create the first task - passing it the address of the check variable
that it is going to increment. This check variable is used as an
indication that the task is still running. */
xTaskCreate( vCompetingMathTask1, ( signed portCHAR * ) "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, &xTaskJustCreated );
/* The task tag value is a value that can be associated with a task, but
is not used by the scheduler itself. Its use is down to the application so
it makes a convenient place in this case to store the pointer to the buffer
into which the flop context of the task will be stored. The first created
task uses ulFlopRegisters[ 0 ], the second ulFlopRegisters[ 1 ], etc. */
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 0 ][ 0 ] ) );
/* Create another 7 tasks, allocating a buffer for each. */
xTaskCreate( vCompetingMathTask2, ( signed portCHAR * ) "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, &xTaskJustCreated );
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 1 ][ 0 ] ) );
xTaskCreate( vCompetingMathTask3, ( signed portCHAR * ) "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, &xTaskJustCreated );
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 2 ][ 0 ] ) );
xTaskCreate( vCompetingMathTask4, ( signed portCHAR * ) "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, &xTaskJustCreated );
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 3 ][ 0 ] ) );
xTaskCreate( vCompetingMathTask1, ( signed portCHAR * ) "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, &xTaskJustCreated );
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 4 ][ 0 ] ) );
xTaskCreate( vCompetingMathTask2, ( signed portCHAR * ) "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, &xTaskJustCreated );
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 5 ][ 0 ] ) );
xTaskCreate( vCompetingMathTask3, ( signed portCHAR * ) "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, &xTaskJustCreated );
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 6 ][ 0 ] ) );
xTaskCreate( vCompetingMathTask4, ( signed portCHAR * ) "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, &xTaskJustCreated );
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 7 ][ 0 ] ) );
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )
{
volatile portFLOAT ff1, ff2, ff3, ff4;
volatile unsigned portSHORT *pusTaskCheckVariable;
volatile portFLOAT fAnswer;
portSHORT sError = pdFALSE;
ff1 = 123.4567F;
ff2 = 2345.6789F;
ff3 = -918.222F;
fAnswer = ( ff1 + ff2 ) * ff3;
/* The variable this task increments to show it is still running is passed in
as the parameter. */
pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
/* Keep performing a calculation and checking the result against a constant. */
for(;;)
{
ff1 = 123.4567F;
ff2 = 2345.6789F;
ff3 = -918.222F;
ff4 = ( ff1 + ff2 ) * ff3;
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* If the calculation does not match the expected constant, stop the
increment of the check variable. */
if( fabs( ff4 - fAnswer ) > 0.001F )
{
sError = pdTRUE;
}
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
variable so we know this task is still running okay. */
( *pusTaskCheckVariable )++;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask2, pvParameters )
{
volatile portFLOAT ff1, ff2, ff3, ff4;
volatile unsigned portSHORT *pusTaskCheckVariable;
volatile portFLOAT fAnswer;
portSHORT sError = pdFALSE;
ff1 = -389.38F;
ff2 = 32498.2F;
ff3 = -2.0001F;
fAnswer = ( ff1 / ff2 ) * ff3;
/* The variable this task increments to show it is still running is passed in
as the parameter. */
pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
/* Keep performing a calculation and checking the result against a constant. */
for( ;; )
{
ff1 = -389.38F;
ff2 = 32498.2F;
ff3 = -2.0001F;
ff4 = ( ff1 / ff2 ) * ff3;
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* If the calculation does not match the expected constant, stop the
increment of the check variable. */
if( fabs( ff4 - fAnswer ) > 0.001F )
{
sError = pdTRUE;
}
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
variable so we know
this task is still running okay. */
( *pusTaskCheckVariable )++;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask3, pvParameters )
{
volatile portFLOAT *pfArray, fTotal1, fTotal2, fDifference;
volatile unsigned portSHORT *pusTaskCheckVariable;
const size_t xArraySize = 10;
size_t xPosition;
portSHORT sError = pdFALSE;
/* The variable this task increments to show it is still running is passed in
as the parameter. */
pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
pfArray = ( portFLOAT * ) pvPortMalloc( xArraySize * sizeof( portFLOAT ) );
/* Keep filling an array, keeping a running total of the values placed in the
array. Then run through the array adding up all the values. If the two totals
do not match, stop the check variable from incrementing. */
for( ;; )
{
fTotal1 = 0.0F;
fTotal2 = 0.0F;
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
pfArray[ xPosition ] = ( portFLOAT ) xPosition + 5.5F;
fTotal1 += ( portFLOAT ) xPosition + 5.5F;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
fTotal2 += pfArray[ xPosition ];
}
fDifference = fTotal1 - fTotal2;
if( fabs( fDifference ) > 0.001F )
{
sError = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
variable so we know this task is still running okay. */
( *pusTaskCheckVariable )++;
}
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )
{
volatile portFLOAT *pfArray, fTotal1, fTotal2, fDifference;
volatile unsigned portSHORT *pusTaskCheckVariable;
const size_t xArraySize = 10;
size_t xPosition;
portSHORT sError = pdFALSE;
/* The variable this task increments to show it is still running is passed in
as the parameter. */
pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
pfArray = ( portFLOAT * ) pvPortMalloc( xArraySize * sizeof( portFLOAT ) );
/* Keep filling an array, keeping a running total of the values placed in the
array. Then run through the array adding up all the values. If the two totals
do not match, stop the check variable from incrementing. */
for( ;; )
{
fTotal1 = 0.0F;
fTotal2 = 0.0F;
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
pfArray[ xPosition ] = ( portFLOAT ) xPosition * 12.123F;
fTotal1 += ( portFLOAT ) xPosition * 12.123F;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
fTotal2 += pfArray[ xPosition ];
}
fDifference = fTotal1 - fTotal2;
if( fabs( fDifference ) > 0.001F )
{
sError = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
variable so we know this task is still running okay. */
( *pusTaskCheckVariable )++;
}
}
}
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running. */
portBASE_TYPE xAreMathsTaskStillRunning( void )
{
/* Keep a history of the check variables so we know if they have been incremented
since the last call. */
static unsigned portSHORT usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 0 };
portBASE_TYPE xReturn = pdTRUE, xTask;
/* Check the maths tasks are still running by ensuring their check variables
are still incrementing. */
for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
{
if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
{
/* The check has not incremented so an error exists. */
xReturn = pdFALSE;
}
usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
}
return xReturn;
}