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Improve the error detection in some of the standard demo tasks.

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Richard Barry 2013-06-11 18:46:00 +00:00
parent 3b004f9900
commit f038fd6a86
3 changed files with 134 additions and 111 deletions
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126
FreeRTOS/Demo/Common/Minimal/flop.c
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@ -56,33 +56,33 @@
***************************************************************************
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
/*
* Creates eight tasks, each of which loops continuously performing an (emulated)
* floating point calculation.
* 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.
* 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.
*/
#include <stdlib.h>
@ -96,18 +96,17 @@
#include "flop.h"
#define mathSTACK_SIZE configMINIMAL_STACK_SIZE
#define mathNUMBER_OF_TASKS ( 8 )
#define mathNUMBER_OF_TASKS ( 4 )
/* Four tasks, each of which performs a different floating point calculation.
/* 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. */
/* These variables are used to check that all the tasks are still running. If a
task gets a calculation wrong it will stop setting its check variable. */
static volatile unsigned short usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
/*-----------------------------------------------------------*/
@ -118,10 +117,6 @@ void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );
}
/*-----------------------------------------------------------*/
@ -143,7 +138,7 @@ short sError = pdFALSE;
dAnswer = ( d1 + d2 ) * d3;
/* The variable this task increments to show it is still running is passed in
/* The variable this task increments to show it is still running is passed in
as the parameter. */
pusTaskCheckVariable = ( unsigned short * ) pvParameters;
@ -160,7 +155,7 @@ short sError = pdFALSE;
taskYIELD();
#endif
/* If the calculation does not match the expected constant, stop the
/* If the calculation does not match the expected constant, stop the
increment of the check variable. */
if( fabs( d4 - dAnswer ) > 0.001 )
{
@ -169,9 +164,10 @@ short sError = pdFALSE;
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 the calculation has always been correct then set set the check
variable. The check variable will get set to pdFALSE each time
xAreMathsTaskStillRunning() is executed. */
( *pusTaskCheckVariable ) = pdTRUE;
}
#if configUSE_PREEMPTION == 0
@ -201,7 +197,7 @@ short sError = pdFALSE;
dAnswer = ( d1 / d2 ) * d3;
/* The variable this task increments to show it is still running is passed in
/* The variable this task increments to show it is still running is passed in
as the parameter. */
pusTaskCheckVariable = ( unsigned short * ) pvParameters;
@ -217,8 +213,8 @@ short sError = pdFALSE;
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* If the calculation does not match the expected constant, stop the
/* If the calculation does not match the expected constant, stop the
increment of the check variable. */
if( fabs( d4 - dAnswer ) > 0.001 )
{
@ -227,10 +223,10 @@ short sError = pdFALSE;
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 the calculation has always been correct then set set the check
variable. The check variable will get set to pdFALSE each time
xAreMathsTaskStillRunning() is executed. */
( *pusTaskCheckVariable ) = pdTRUE;
}
#if configUSE_PREEMPTION == 0
@ -253,14 +249,14 @@ short sError = pdFALSE;
floating point instructions are executed. */
portTASK_USES_FLOATING_POINT();
/* The variable this task increments to show it is still running is passed in
/* The variable this task increments to show it is still running is passed in
as the parameter. */
pusTaskCheckVariable = ( unsigned short * ) pvParameters;
pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
/* 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
/* 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( ;; )
{
@ -270,7 +266,7 @@ short sError = pdFALSE;
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
pdArray[ xPosition ] = ( portDOUBLE ) xPosition + 5.5;
dTotal1 += ( portDOUBLE ) xPosition + 5.5;
dTotal1 += ( portDOUBLE ) xPosition + 5.5;
}
#if configUSE_PREEMPTION == 0
@ -294,9 +290,10 @@ short sError = pdFALSE;
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 the calculation has always been correct then set set the check
variable. The check variable will get set to pdFALSE each time
xAreMathsTaskStillRunning() is executed. */
( *pusTaskCheckVariable ) = pdTRUE;
}
}
}
@ -315,14 +312,14 @@ short sError = pdFALSE;
floating point instructions are executed. */
portTASK_USES_FLOATING_POINT();
/* The variable this task increments to show it is still running is passed in
/* The variable this task increments to show it is still running is passed in
as the parameter. */
pusTaskCheckVariable = ( unsigned short * ) pvParameters;
pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
/* 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
/* 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( ;; )
{
@ -332,7 +329,7 @@ short sError = pdFALSE;
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
pdArray[ xPosition ] = ( portDOUBLE ) xPosition * 12.123;
dTotal1 += ( portDOUBLE ) xPosition * 12.123;
dTotal1 += ( portDOUBLE ) xPosition * 12.123;
}
#if configUSE_PREEMPTION == 0
@ -356,35 +353,38 @@ short sError = pdFALSE;
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 the calculation has always been correct then set set the check
variable. The check variable will get set to pdFALSE each time
xAreMathsTaskStillRunning() is executed. */
( *pusTaskCheckVariable ) = pdTRUE;
}
}
}
}
/*-----------------------------------------------------------*/
/* 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 short usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
portBASE_TYPE xReturn = pdTRUE, xTask;
portBASE_TYPE xReturn = pdPASS, xTask;
/* Check the maths tasks are still running by ensuring their check variables
are still incrementing. */
/* Check the maths tasks are still running by ensuring their check variables
have been set to pdPASS. */
for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
{
if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
if( usTaskCheck[ xTask ] != pdTRUE )
{
/* The check has not incremented so an error exists. */
xReturn = pdFALSE;
/* The check has not been set so the associated task has either
stalled or detected an error. */
xReturn = pdFAIL;
}
else
{
/* Reset the variable so it can be checked again the next time this
function is executed. */
usTaskCheck[ xTask ] = pdFALSE;
}
usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
}
return xReturn;
}