mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-04-21 22:11:57 -04:00
57cc3389a5
Bug fix - issue introduced in V8.2.2 when the current timer list is empty and the overflow timer list is not empty. Add PIC32MZ EF (floating point) support and update the MZ demo project to test the flop context switching. Improve efficiency of the stack overflow checking. Add CLI to RX71M demo. General tidy up of new RZ and RX projects - including ensuring the UART driver copes with 0 length strings. Add stack overflow checking to the [old] PIC24 demo.
389 lines
14 KiB
C
389 lines
14 KiB
C
/*
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FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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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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***************************************************************************
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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 !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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***************************************************************************
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available on the following
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link: http://www.freertos.org/a00114.html
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that is more than just the market leader, it *
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* is the industry's de facto standard. *
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* *
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* Help yourself get started quickly while simultaneously helping *
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* to support the FreeRTOS project by purchasing a FreeRTOS *
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* tutorial book, reference manual, or both: *
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* http://www.FreeRTOS.org/Documentation *
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* *
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***************************************************************************
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http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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the FAQ page "My application does not run, what could be wrong?". Have you
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defined configASSERT()?
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http://www.FreeRTOS.org/support - In return for receiving this top quality
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embedded software for free we request you assist our global community by
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participating in the support forum.
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http://www.FreeRTOS.org/training - Investing in training allows your team to
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be as productive as possible as early as possible. Now you can receive
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FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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Ltd, and the world's leading authority on the world's leading RTOS.
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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, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and commercial middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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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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#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_mz.h"
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#define mathSTACK_SIZE (configMINIMAL_STACK_SIZE + 100)
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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
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stop incrementing its check variable. */
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static volatile unsigned long ulTaskCheck[ mathNUMBER_OF_TASKS ] = { 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 * ) &( ulTaskCheck[ 0 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask2, "Math2", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 1 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask3, "Math3", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 2 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask4, "Math4", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 3 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask1, "Math5", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 4 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask2, "Math6", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 5 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask3, "Math7", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 6 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask4, "Math8", mathSTACK_SIZE, ( void * ) &( ulTaskCheck[ 7 ] ), uxPriority, NULL );
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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 portDOUBLE d1, d2, d3, d4;
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volatile unsigned long *pulTaskCheckVariable;
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volatile portDOUBLE dAnswer;
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short sError = pdFALSE;
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/* Must be called before any hardware floating point operations are
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performed to let the RTOS portable layer know that this task requires
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a floating point context. */
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portTASK_USES_FLOATING_POINT();
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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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dAnswer = ( d1 + d2 ) * d3;
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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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pulTaskCheckVariable = ( unsigned long * ) 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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#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( d4 - dAnswer ) > 0.001 )
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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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( *pulTaskCheckVariable )++;
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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 portDOUBLE d1, d2, d3, d4;
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volatile unsigned long *pulTaskCheckVariable;
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volatile portDOUBLE dAnswer;
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short sError = pdFALSE;
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/* Must be called before any hardware floating point operations are
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performed to let the RTOS portable layer know that this task requires
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a floating point context. */
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portTASK_USES_FLOATING_POINT();
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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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dAnswer = ( d1 / d2 ) * d3;
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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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pulTaskCheckVariable = ( unsigned long * ) 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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#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( d4 - dAnswer ) > 0.001 )
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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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( *pulTaskCheckVariable )++;
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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 portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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volatile unsigned long *pulTaskCheckVariable;
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const size_t xArraySize = 10;
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size_t xPosition;
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short sError = pdFALSE;
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/* Must be called before any hardware floating point operations are
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performed to let the RTOS portable layer know that this task requires
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a floating point context. */
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portTASK_USES_FLOATING_POINT();
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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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pulTaskCheckVariable = ( unsigned long * ) pvParameters;
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pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * 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( xPosition = 0; xPosition < xArraySize; xPosition++ )
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{
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pdArray[ xPosition ] = ( portDOUBLE ) xPosition + 5.5;
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dTotal1 += ( portDOUBLE ) xPosition + 5.5;
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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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dTotal2 += pdArray[ xPosition ];
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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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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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( *pulTaskCheckVariable )++;
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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 portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
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volatile unsigned long *pulTaskCheckVariable;
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const size_t xArraySize = 10;
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size_t xPosition;
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short sError = pdFALSE;
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/* Must be called before any hardware floating point operations are
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performed to let the RTOS portable layer know that this task requires
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a floating point context. */
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portTASK_USES_FLOATING_POINT();
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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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pulTaskCheckVariable = ( unsigned long * ) pvParameters;
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pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * 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( xPosition = 0; xPosition < xArraySize; xPosition++ )
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{
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pdArray[ xPosition ] = ( portDOUBLE ) xPosition * 12.123;
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dTotal1 += ( portDOUBLE ) xPosition * 12.123;
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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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dTotal2 += pdArray[ xPosition ];
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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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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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( *pulTaskCheckVariable )++;
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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 long ulLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 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( ulTaskCheck[ xTask ] == ulLastTaskCheck[ 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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ulLastTaskCheck[ xTask ] = ulTaskCheck[ xTask ];
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}
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return xReturn;
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}
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