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First version under SVN is V4.0.1
This commit is contained in:
Richard Barry
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918 changed files with 269038 additions and 0 deletions
336
Demo/Common/Full/flop.c
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336
Demo/Common/Full/flop.c
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/*
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FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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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
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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See http://www.FreeRTOS.org for documentation, latest information, license
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and contact details. Please ensure to read the configuration and relevant
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port sections of the online documentation.
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***************************************************************************
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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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* Creates eight tasks, each of which loops continuously performing an (emulated)
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* floating point calculation.
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*
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* All the tasks run at the idle priority and never block or yield. This causes
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* all eight tasks to time slice with the idle task. Running at the idle priority
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* means that these tasks will get pre-empted any time another task is ready to run
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* or a time slice occurs. More often than not the pre-emption will occur mid
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* calculation, creating a good test of the schedulers context switch mechanism - a
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* calculation producing an unexpected result could be a symptom of a corruption in
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* the context of a task.
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*
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* \page FlopC flop.c
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* \ingroup DemoFiles
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* <HR>
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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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#include "print.h"
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/* Demo program include files. */
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#include "flop.h"
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#define mathSTACK_SIZE ( ( unsigned portSHORT ) 512 )
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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 void vCompetingMathTask1( void *pvParameters );
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static void vCompetingMathTask2( void *pvParameters );
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static void vCompetingMathTask3( void *pvParameters );
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static void vCompetingMathTask4( 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
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stop incrementing its check variable. */
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static volatile unsigned portSHORT usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 0 };
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/*-----------------------------------------------------------*/
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void vStartMathTasks( unsigned portBASE_TYPE 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 void vCompetingMathTask1( void *pvParameters )
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{
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portDOUBLE d1, d2, d3, d4;
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volatile unsigned portSHORT *pusTaskCheckVariable;
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const portDOUBLE dAnswer = ( 123.4567 + 2345.6789 ) * -918.222;
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const portCHAR * const pcTaskStartMsg = "Math task 1 started.\r\n";
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const portCHAR * const pcTaskFailMsg = "Math task 1 failed.\r\n";
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portSHORT sError = pdFALSE;
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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 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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d1 = 123.4567;
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d2 = 2345.6789;
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d3 = -918.222;
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d4 = ( d1 + d2 ) * d3;
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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( fabs( d4 - dAnswer ) > 0.001 )
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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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taskYIELD();
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}
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}
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/*-----------------------------------------------------------*/
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static void vCompetingMathTask2( void *pvParameters )
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{
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portDOUBLE d1, d2, d3, d4;
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volatile unsigned portSHORT *pusTaskCheckVariable;
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const portDOUBLE dAnswer = ( -389.38 / 32498.2 ) * -2.0001;
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const portCHAR * const pcTaskStartMsg = "Math task 2 started.\r\n";
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const portCHAR * const pcTaskFailMsg = "Math task 2 failed.\r\n";
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portSHORT sError = pdFALSE;
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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 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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d1 = -389.38;
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d2 = 32498.2;
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d3 = -2.0001;
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d4 = ( d1 / d2 ) * d3;
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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( fabs( d4 - dAnswer ) > 0.001 )
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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
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this task is still running okay. */
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( *pusTaskCheckVariable )++;
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}
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taskYIELD();
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}
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}
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/*-----------------------------------------------------------*/
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static void vCompetingMathTask3( void *pvParameters )
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{
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portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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volatile unsigned portSHORT *pusTaskCheckVariable;
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const unsigned portSHORT usArraySize = 250;
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unsigned portSHORT usPosition;
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const portCHAR * const pcTaskStartMsg = "Math task 3 started.\r\n";
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const portCHAR * const pcTaskFailMsg = "Math task 3 failed.\r\n";
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portSHORT sError = pdFALSE;
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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 portSHORT * ) pvParameters;
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pdArray = ( portDOUBLE * ) pvPortMalloc( ( size_t ) 250 * sizeof( portDOUBLE ) );
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/* Keep filling an array, keeping a running total of the values placed in the
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array. Then run through the array adding up all the values. If the two totals
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do not match, stop the check variable from incrementing. */
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for( ;; )
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{
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dTotal1 = 0.0;
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dTotal2 = 0.0;
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for( usPosition = 0; usPosition < usArraySize; usPosition++ )
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{
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pdArray[ usPosition ] = ( portDOUBLE ) usPosition + 5.5;
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dTotal1 += ( portDOUBLE ) usPosition + 5.5;
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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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dTotal2 += pdArray[ usPosition ];
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}
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dDifference = dTotal1 - dTotal2;
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if( fabs( dDifference ) > 0.001 )
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{
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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 vCompetingMathTask4( void *pvParameters )
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{
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portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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volatile unsigned portSHORT *pusTaskCheckVariable;
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const unsigned portSHORT usArraySize = 250;
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unsigned portSHORT usPosition;
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const portCHAR * const pcTaskStartMsg = "Math task 4 started.\r\n";
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const portCHAR * const pcTaskFailMsg = "Math task 4 failed.\r\n";
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portSHORT sError = pdFALSE;
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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 portSHORT * ) pvParameters;
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pdArray = ( portDOUBLE * ) pvPortMalloc( ( size_t ) 250 * sizeof( portDOUBLE ) );
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/* Keep filling an array, keeping a running total of the values placed in the
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array. Then run through the array adding up all the values. If the two totals
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do not match, stop the check variable from incrementing. */
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for( ;; )
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{
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dTotal1 = 0.0;
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dTotal2 = 0.0;
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for( usPosition = 0; usPosition < usArraySize; usPosition++ )
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{
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pdArray[ usPosition ] = ( portDOUBLE ) usPosition * 12.123;
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dTotal1 += ( portDOUBLE ) usPosition * 12.123;
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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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dTotal2 += pdArray[ usPosition ];
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}
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dDifference = dTotal1 - dTotal2;
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if( fabs( dDifference ) > 0.001 )
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{
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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 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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