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https://github.com/FreeRTOS/FreeRTOS-Kernel.git
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Added PPC440 demo that does not use any floating point hardware.
This commit is contained in:
Richard Barry
parent
b49cf69600
commit
3634ebb497
113 changed files with 26580 additions and 0 deletions
402
Demo/PPC440_Xilinx_Virtex5_GCC/RTOSDemo/flop/flop.c
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402
Demo/PPC440_Xilinx_Virtex5_GCC/RTOSDemo/flop/flop.c
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/*
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FreeRTOS.org V5.3.1 - Copyright (C) 2003-2009 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify it
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under the terms of the GNU General Public License (version 2) as published
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by the 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 a
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combined work that includes FreeRTOS.org without being obliged to provide
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the source code for any proprietary components. Alternative commercial
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license and support terms are also available upon request. See the
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licensing section of http://www.FreeRTOS.org for full details.
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FreeRTOS.org 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.
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You should have received a copy of the GNU General Public License along
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with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59
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Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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***************************************************************************
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* *
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* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
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* *
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* This is a concise, step by step, 'hands on' guide that describes both *
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* general multitasking concepts and FreeRTOS specifics. It presents and *
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* explains numerous examples that are written using the FreeRTOS API. *
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* Full source code for all the examples is provided in an accompanying *
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* .zip file. *
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* *
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***************************************************************************
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1 tab == 4 spaces!
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Please ensure to read the configuration and relevant port sections of the
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online documentation.
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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 a
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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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* This file demonstrates the use of the task tag and traceTASK_SWITCHED_IN and
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* traceTASK_SWITCHED_OUT macros to save and restore the floating point context.
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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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/* Misc. definitions. */
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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 stop incrementing its check variable. */
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static volatile unsigned portSHORT usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 0 };
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/* Buffers into which the flop registers will be saved. There is a buffer for
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each task created within this file. Zeroing out this array is the normal and
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safe option as this will cause the task to start with all zeros in its flop
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context. */
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static unsigned portLONG ulFlopRegisters[ mathNUMBER_OF_TASKS ][ portNO_FLOP_REGISTERS_TO_SAVE ];
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/*-----------------------------------------------------------*/
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void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
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{
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xTaskHandle xTaskJustCreated;
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portBASE_TYPE x, y;
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/* Place known values into the buffers into which the flop registers are
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to be saved. This is for debug purposes only, it is not normally
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required. The last position in each array is left at zero as the status
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register will be loaded from there.
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It is intended that these values can be viewed being loaded into the
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flop registers when a task is started - however the Insight debugger
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does not seem to want to show the flop register values. */
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for( x = 0; x < mathNUMBER_OF_TASKS; x++ )
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{
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for( y = 0; y < ( portNO_FLOP_REGISTERS_TO_SAVE - 1 ); y++ )
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{
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ulFlopRegisters[ x ][ y ] = ( x + 1 );
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}
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}
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/* Create the first task - passing it the address of the check variable
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that it is going to increment. This check variable is used as an
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indication that the task is still running. */
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xTaskCreate( vCompetingMathTask1, ( signed portCHAR * ) "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, &xTaskJustCreated );
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/* The task tag value is a value that can be associated with a task, but
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is not used by the scheduler itself. Its use is down to the application so
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it makes a convenient place in this case to store the pointer to the buffer
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into which the flop context of the task will be stored. The first created
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task uses ulFlopRegisters[ 0 ], the second ulFlopRegisters[ 1 ], etc. */
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vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 0 ][ 0 ] ) );
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/* Create another 7 tasks, allocating a buffer for each. */
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xTaskCreate( vCompetingMathTask2, ( signed portCHAR * ) "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, &xTaskJustCreated );
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vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 1 ][ 0 ] ) );
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xTaskCreate( vCompetingMathTask3, ( signed portCHAR * ) "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, &xTaskJustCreated );
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vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 2 ][ 0 ] ) );
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xTaskCreate( vCompetingMathTask4, ( signed portCHAR * ) "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, &xTaskJustCreated );
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vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 3 ][ 0 ] ) );
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xTaskCreate( vCompetingMathTask1, ( signed portCHAR * ) "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, &xTaskJustCreated );
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vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 4 ][ 0 ] ) );
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xTaskCreate( vCompetingMathTask2, ( signed portCHAR * ) "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, &xTaskJustCreated );
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vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 5 ][ 0 ] ) );
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xTaskCreate( vCompetingMathTask3, ( signed portCHAR * ) "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, &xTaskJustCreated );
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vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 6 ][ 0 ] ) );
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xTaskCreate( vCompetingMathTask4, ( signed portCHAR * ) "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, &xTaskJustCreated );
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vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 7 ][ 0 ] ) );
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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 portFLOAT ff1, ff2, ff3, ff4;
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volatile unsigned portSHORT *pusTaskCheckVariable;
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volatile portFLOAT fAnswer;
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portSHORT sError = pdFALSE;
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ff1 = 123.4567F;
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ff2 = 2345.6789F;
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ff3 = -918.222F;
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fAnswer = ( ff1 + ff2 ) * ff3;
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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 portSHORT * ) 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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ff1 = 123.4567F;
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ff2 = 2345.6789F;
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ff3 = -918.222F;
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ff4 = ( ff1 + ff2 ) * ff3;
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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( ff4 - 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 portFLOAT ff1, ff2, ff3, ff4;
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volatile unsigned portSHORT *pusTaskCheckVariable;
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volatile portFLOAT fAnswer;
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portSHORT sError = pdFALSE;
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ff1 = -389.38F;
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ff2 = 32498.2F;
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ff3 = -2.0001F;
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fAnswer = ( ff1 / ff2 ) * ff3;
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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 portSHORT * ) 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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ff1 = -389.38F;
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ff2 = 32498.2F;
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ff3 = -2.0001F;
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ff4 = ( ff1 / ff2 ) * ff3;
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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( ff4 - 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 portFLOAT *pfArray, fTotal1, fTotal2, fDifference;
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volatile unsigned portSHORT *pusTaskCheckVariable;
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const size_t xArraySize = 10;
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size_t xPosition;
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portSHORT 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 portSHORT * ) pvParameters;
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pfArray = ( portFLOAT * ) pvPortMalloc( xArraySize * sizeof( portFLOAT ) );
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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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for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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{
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pfArray[ xPosition ] = ( portFLOAT ) xPosition + 5.5F;
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fTotal1 += ( portFLOAT ) xPosition + 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 portFLOAT *pfArray, fTotal1, fTotal2, fDifference;
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volatile unsigned portSHORT *pusTaskCheckVariable;
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const size_t xArraySize = 10;
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size_t xPosition;
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portSHORT 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 portSHORT * ) pvParameters;
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pfArray = ( portFLOAT * ) pvPortMalloc( xArraySize * sizeof( portFLOAT ) );
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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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for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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{
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pfArray[ xPosition ] = ( portFLOAT ) xPosition * 12.123F;
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fTotal1 += ( portFLOAT ) xPosition * 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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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 portSHORT usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 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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