347 lines
12 KiB
C
347 lines
12 KiB
C
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/*
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* FreeRTOS V202212.00
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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/*
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* Creates eight tasks, each of which loops continuously performing a floating
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* 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
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* priority means that these tasks will get pre-empted any time another task is
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* ready to run or a time slice occurs. More often than not the pre-emption
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* will occur mid calculation, creating a good test of the schedulers context
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* switch mechanism - a calculation producing an unexpected result could be a
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* symptom of a corruption in the context of a task.
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*/
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/* Standard includes. */
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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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#ifndef mathSTACK_SIZE
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#define mathSTACK_SIZE configMINIMAL_STACK_SIZE
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#endif
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#define mathNUMBER_OF_TASKS ( 4 )
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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 setting its check variable. */
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static uint16_t usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( uint16_t ) 0 };
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/*-----------------------------------------------------------*/
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void vStartMathTasks( UBaseType_t 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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}
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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 uint16_t * pusTaskCheckVariable;
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volatile portDOUBLE dAnswer;
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short sError = pdFALSE;
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/* Some ports require that tasks that use a hardware floating point unit
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* tell the kernel that they require a floating point context before any
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* floating point instructions are executed. */
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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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pusTaskCheckVariable = ( volatile uint16_t * ) 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 then set set the check
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* variable. The check variable will get set to pdFALSE each time
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* xAreMathsTaskStillRunning() is executed. */
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( *pusTaskCheckVariable ) = 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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}
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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 uint16_t * pusTaskCheckVariable;
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volatile portDOUBLE dAnswer;
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short sError = pdFALSE;
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/* Some ports require that tasks that use a hardware floating point unit
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* tell the kernel that they require a floating point context before any
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* floating point instructions are executed. */
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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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pusTaskCheckVariable = ( volatile uint16_t * ) 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 then set set the check
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* variable. The check variable will get set to pdFALSE each time
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* xAreMathsTaskStillRunning() is executed. */
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( *pusTaskCheckVariable ) = 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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}
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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 uint16_t * pusTaskCheckVariable;
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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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/* Some ports require that tasks that use a hardware floating point unit
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* tell the kernel that they require a floating point context before any
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* floating point instructions are executed. */
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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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pusTaskCheckVariable = ( volatile uint16_t * ) 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 then set set the check
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* variable. The check variable will get set to pdFALSE each time
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* xAreMathsTaskStillRunning() is executed. */
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( *pusTaskCheckVariable ) = pdTRUE;
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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 uint16_t * pusTaskCheckVariable;
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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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/* Some ports require that tasks that use a hardware floating point unit
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* tell the kernel that they require a floating point context before any
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* floating point instructions are executed. */
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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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pusTaskCheckVariable = ( volatile uint16_t * ) 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 then set set the check
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* variable. The check variable will get set to pdFALSE each time
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* xAreMathsTaskStillRunning() is executed. */
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( *pusTaskCheckVariable ) = pdTRUE;
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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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BaseType_t xAreMathsTaskStillRunning( void )
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{
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BaseType_t xReturn = pdPASS, xTask;
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/* Check the maths tasks are still running by ensuring their check variables
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* have been set to pdPASS. */
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for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
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{
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if( usTaskCheck[ xTask ] != pdTRUE )
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{
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/* The check has not been set so the associated task has either
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* stalled or detected an error. */
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xReturn = pdFAIL;
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}
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else
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{
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/* Reset the variable so it can be checked again the next time this
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* function is executed. */
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usTaskCheck[ xTask ] = pdFALSE;
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}
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}
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return xReturn;
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}
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