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Add FreeRTOS-Plus directory.
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Richard Barry
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225
FreeRTOS/Demo/Common/Minimal/integer.c
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FreeRTOS/Demo/Common/Minimal/integer.c
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/*
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FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* FreeRTOS tutorial books are available in pdf and paperback. *
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* Complete, revised, and edited pdf reference manuals are also *
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* available. *
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* *
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* Purchasing FreeRTOS documentation will not only help you, by *
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* ensuring you get running as quickly as possible and with an *
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* in-depth knowledge of how to use FreeRTOS, it will also help *
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* the FreeRTOS project to continue with its mission of providing *
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* professional grade, cross platform, de facto standard solutions *
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* for microcontrollers - completely free of charge! *
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* *
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* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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* *
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* Thank you for using FreeRTOS, and thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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>>>NOTE<<< The modification to the GPL is included to allow you to
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distribute a combined work that includes FreeRTOS without being obliged to
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provide the source code for proprietary components outside of the FreeRTOS
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kernel. FreeRTOS is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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***************************************************************************
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* *
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* Having a problem? Start by reading the FAQ "My application does *
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* not run, what could be wrong? *
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* *
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* http://www.FreeRTOS.org/FAQHelp.html *
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* *
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, training, latest information,
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license and contact details.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool.
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Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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the code with commercial support, indemnification, and middleware, under
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the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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provide a safety engineered and independently SIL3 certified version under
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the SafeRTOS brand: http://www.SafeRTOS.com.
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*/
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/*
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* This version of integer. c is for use on systems that have limited stack
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* space and no display facilities. The complete version can be found in
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* the Demo/Common/Full directory.
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*
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* As with the full version, the tasks created in this file are a good test
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* of the scheduler context switch mechanism. The processor has to access
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* 32bit variables in two or four chunks (depending on the processor). The low
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* priority of these tasks means there is a high probability that a context
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* switch will occur mid calculation. See flop. c documentation for
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* more information.
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*
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*/
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/*
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Changes from V1.2.1
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+ The constants used in the calculations are larger to ensure the
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optimiser does not truncate them to 16 bits.
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Changes from V1.2.3
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+ uxTaskCheck is now just used as a boolean. Instead of incrementing
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the variable each cycle of the task, the variable is simply set to
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true. sAreIntegerMathsTaskStillRunning() sets it back to false and
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expects it to have been set back to true by the time it is called
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again.
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+ A division has been included in the calculation.
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*/
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#include <stdlib.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 "integer.h"
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/* The constants used in the calculation. */
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#define intgCONST1 ( ( long ) 123 )
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#define intgCONST2 ( ( long ) 234567 )
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#define intgCONST3 ( ( long ) -3 )
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#define intgCONST4 ( ( long ) 7 )
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#define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )
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#define intgSTACK_SIZE configMINIMAL_STACK_SIZE
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/* As this is the minimal version, we will only create one task. */
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#define intgNUMBER_OF_TASKS ( 1 )
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/* The task function. Repeatedly performs a 32 bit calculation, checking the
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result against the expected result. If the result is incorrect then the
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context switch must have caused some corruption. */
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static portTASK_FUNCTION_PROTO( vCompeteingIntMathTask, pvParameters );
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/* Variables that are set to true within the calculation task to indicate
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that the task is still executing. The check task sets the variable back to
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false, flagging an error if the variable is still false the next time it
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is called. */
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static volatile signed portBASE_TYPE xTaskCheck[ intgNUMBER_OF_TASKS ] = { ( signed portBASE_TYPE ) pdFALSE };
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/*-----------------------------------------------------------*/
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void vStartIntegerMathTasks( unsigned portBASE_TYPE uxPriority )
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{
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short sTask;
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for( sTask = 0; sTask < intgNUMBER_OF_TASKS; sTask++ )
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{
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xTaskCreate( vCompeteingIntMathTask, ( signed char * ) "IntMath", intgSTACK_SIZE, ( void * ) &( xTaskCheck[ sTask ] ), uxPriority, ( xTaskHandle * ) NULL );
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}
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}
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/*-----------------------------------------------------------*/
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static portTASK_FUNCTION( vCompeteingIntMathTask, pvParameters )
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{
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/* These variables are all effectively set to constants so they are volatile to
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ensure the compiler does not just get rid of them. */
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volatile long lValue;
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short sError = pdFALSE;
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volatile signed portBASE_TYPE *pxTaskHasExecuted;
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/* Set a pointer to the variable we are going to set to true each
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iteration. This is also a good test of the parameter passing mechanism
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within each port. */
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pxTaskHasExecuted = ( volatile signed portBASE_TYPE * ) 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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/* Perform the calculation. This will store partial value in
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registers, resulting in a good test of the context switch mechanism. */
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lValue = intgCONST1;
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lValue += intgCONST2;
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/* Yield in case cooperative scheduling is being used. */
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#if configUSE_PREEMPTION == 0
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{
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taskYIELD();
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}
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#endif
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/* Finish off the calculation. */
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lValue *= intgCONST3;
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lValue /= intgCONST4;
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/* If the calculation is found to be incorrect we stop setting the
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TaskHasExecuted variable so the check task can see an error has
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occurred. */
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if( lValue != intgEXPECTED_ANSWER ) /*lint !e774 volatile used to prevent this being optimised out. */
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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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/* We have not encountered any errors, so set the flag that show
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we are still executing. This will be periodically cleared by
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the check task. */
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portENTER_CRITICAL();
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*pxTaskHasExecuted = pdTRUE;
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portEXIT_CRITICAL();
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}
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/* Yield in case cooperative scheduling is being used. */
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#if configUSE_PREEMPTION == 0
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{
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taskYIELD();
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}
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#endif
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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 xAreIntegerMathsTaskStillRunning( void )
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{
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portBASE_TYPE xReturn = pdTRUE;
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short sTask;
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/* Check the maths tasks are still running by ensuring their check variables
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are still being set to true. */
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for( sTask = 0; sTask < intgNUMBER_OF_TASKS; sTask++ )
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{
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if( xTaskCheck[ sTask ] == pdFALSE )
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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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/* Reset the check variable so we can tell if it has been set by
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the next time around. */
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xTaskCheck[ sTask ] = pdFALSE;
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}
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return xReturn;
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}
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