Danger-alarm/SOFTWARE-FreeRTOS/Common/Full/integer.c

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2024-06-03 16:27:41 +08:00
/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* Changes from V1.2.3
*
+ The created tasks now include calls to tskYIELD(), allowing them to be used
+ with the cooperative scheduler.
*/
/**
* This does the same as flop. c, but uses variables of type long instead of
* type double.
*
* As with flop. c, the tasks created in this file are a good test of the
* scheduler context switch mechanism. The processor has to access 32bit
* variables in two or four chunks (depending on the processor). The low
* priority of these tasks means there is a high probability that a context
* switch will occur mid calculation. See the flop. c documentation for
* more information.
*
* \page IntegerC integer.c
* \ingroup DemoFiles
* <HR>
*/
/*
* Changes from V1.2.1
*
+ The constants used in the calculations are larger to ensure the
+ optimiser does not truncate them to 16 bits.
*/
#include <stdlib.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "print.h"
/* Demo program include files. */
#include "integer.h"
#define intgSTACK_SIZE ( ( unsigned short ) 256 )
#define intgNUMBER_OF_TASKS ( 8 )
/* Four tasks, each of which performs a different calculation on four byte
* variables. Each of the four is created twice. */
static void vCompeteingIntMathTask1( void * pvParameters );
static void vCompeteingIntMathTask2( void * pvParameters );
static void vCompeteingIntMathTask3( void * pvParameters );
static void vCompeteingIntMathTask4( void * 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. */
static volatile unsigned short usTaskCheck[ intgNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
/*-----------------------------------------------------------*/
void vStartIntegerMathTasks( unsigned portBASE_TYPE uxPriority )
{
xTaskCreate( vCompeteingIntMathTask1, "IntMath1", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
xTaskCreate( vCompeteingIntMathTask2, "IntMath2", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
xTaskCreate( vCompeteingIntMathTask3, "IntMath3", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
xTaskCreate( vCompeteingIntMathTask4, "IntMath4", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
xTaskCreate( vCompeteingIntMathTask1, "IntMath5", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );
xTaskCreate( vCompeteingIntMathTask2, "IntMath6", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );
xTaskCreate( vCompeteingIntMathTask3, "IntMath7", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );
xTaskCreate( vCompeteingIntMathTask4, "IntMath8", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );
}
/*-----------------------------------------------------------*/
static void vCompeteingIntMathTask1( void * pvParameters )
{
long l1, l2, l3, l4;
short sError = pdFALSE;
volatile unsigned short * pusTaskCheckVariable;
const long lAnswer = ( ( long ) 74565L + ( long ) 1234567L ) * ( long ) -918L;
const char * const pcTaskStartMsg = "Integer math task 1 started.\r\n";
const char * const pcTaskFailMsg = "Integer math task 1 failed.\r\n";
/* Queue a message for printing to say the task has started. */
vPrintDisplayMessage( &pcTaskStartMsg );
/* The variable this task increments to show it is still running is passed in
* as the parameter. */
pusTaskCheckVariable = ( unsigned short * ) pvParameters;
/* Keep performing a calculation and checking the result against a constant. */
for( ; ; )
{
l1 = ( long ) 74565L;
l2 = ( long ) 1234567L;
l3 = ( long ) -918L;
l4 = ( l1 + l2 ) * l3;
taskYIELD();
/* If the calculation does not match the expected constant, stop the
* increment of the check variable. */
if( l4 != lAnswer )
{
vPrintDisplayMessage( &pcTaskFailMsg );
sError = pdTRUE;
}
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
* variable so we know this task is still running okay. */
( *pusTaskCheckVariable )++;
}
}
}
/*-----------------------------------------------------------*/
static void vCompeteingIntMathTask2( void * pvParameters )
{
long l1, l2, l3, l4;
short sError = pdFALSE;
volatile unsigned short * pusTaskCheckVariable;
const long lAnswer = ( ( long ) -389000L / ( long ) 329999L ) * ( long ) -89L;
const char * const pcTaskStartMsg = "Integer math task 2 started.\r\n";
const char * const pcTaskFailMsg = "Integer math task 2 failed.\r\n";
/* Queue a message for printing to say the task has started. */
vPrintDisplayMessage( &pcTaskStartMsg );
/* The variable this task increments to show it is still running is passed in
* as the parameter. */
pusTaskCheckVariable = ( unsigned short * ) pvParameters;
/* Keep performing a calculation and checking the result against a constant. */
for( ; ; )
{
l1 = -389000L;
l2 = 329999L;
l3 = -89L;
l4 = ( l1 / l2 ) * l3;
taskYIELD();
/* If the calculation does not match the expected constant, stop the
* increment of the check variable. */
if( l4 != lAnswer )
{
vPrintDisplayMessage( &pcTaskFailMsg );
sError = pdTRUE;
}
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
* variable so we know this task is still running okay. */
( *pusTaskCheckVariable )++;
}
}
}
/*-----------------------------------------------------------*/
static void vCompeteingIntMathTask3( void * pvParameters )
{
long * plArray, lTotal1, lTotal2;
short sError = pdFALSE;
volatile unsigned short * pusTaskCheckVariable;
const unsigned short usArraySize = ( unsigned short ) 250;
unsigned short usPosition;
const char * const pcTaskStartMsg = "Integer math task 3 started.\r\n";
const char * const pcTaskFailMsg = "Integer math task 3 failed.\r\n";
/* Queue a message for printing to say the task has started. */
vPrintDisplayMessage( &pcTaskStartMsg );
/* The variable this task increments to show it is still running is passed in
* as the parameter. */
pusTaskCheckVariable = ( unsigned short * ) pvParameters;
/* Create the array we are going to use for our check calculation. */
plArray = ( long * ) pvPortMalloc( ( size_t ) 250 * sizeof( long ) );
/* Keep filling the 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( ; ; )
{
lTotal1 = ( long ) 0;
lTotal2 = ( long ) 0;
for( usPosition = 0; usPosition < usArraySize; usPosition++ )
{
plArray[ usPosition ] = ( long ) usPosition + ( long ) 5;
lTotal1 += ( long ) usPosition + ( long ) 5;
}
taskYIELD();
for( usPosition = 0; usPosition < usArraySize; usPosition++ )
{
lTotal2 += plArray[ usPosition ];
}
if( lTotal1 != lTotal2 )
{
vPrintDisplayMessage( &pcTaskFailMsg );
sError = pdTRUE;
}
taskYIELD();
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
* variable so we know this task is still running okay. */
( *pusTaskCheckVariable )++;
}
}
}
/*-----------------------------------------------------------*/
static void vCompeteingIntMathTask4( void * pvParameters )
{
long * plArray, lTotal1, lTotal2;
short sError = pdFALSE;
volatile unsigned short * pusTaskCheckVariable;
const unsigned short usArraySize = 250;
unsigned short usPosition;
const char * const pcTaskStartMsg = "Integer math task 4 started.\r\n";
const char * const pcTaskFailMsg = "Integer math task 4 failed.\r\n";
/* Queue a message for printing to say the task has started. */
vPrintDisplayMessage( &pcTaskStartMsg );
/* The variable this task increments to show it is still running is passed in
* as the parameter. */
pusTaskCheckVariable = ( unsigned short * ) pvParameters;
/* Create the array we are going to use for our check calculation. */
plArray = ( long * ) pvPortMalloc( ( size_t ) 250 * sizeof( long ) );
/* Keep filling the 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( ; ; )
{
lTotal1 = ( long ) 0;
lTotal2 = ( long ) 0;
for( usPosition = 0; usPosition < usArraySize; usPosition++ )
{
plArray[ usPosition ] = ( long ) usPosition * ( long ) 12;
lTotal1 += ( long ) usPosition * ( long ) 12;
}
taskYIELD();
for( usPosition = 0; usPosition < usArraySize; usPosition++ )
{
lTotal2 += plArray[ usPosition ];
}
if( lTotal1 != lTotal2 )
{
vPrintDisplayMessage( &pcTaskFailMsg );
sError = pdTRUE;
}
taskYIELD();
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
* variable so we know this task is still running okay. */
( *pusTaskCheckVariable )++;
}
}
}
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running. */
portBASE_TYPE xAreIntegerMathsTaskStillRunning( void )
{
/* Keep a history of the check variables so we know if they have been incremented
* since the last call. */
static unsigned short usLastTaskCheck[ intgNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
portBASE_TYPE xReturn = pdTRUE, xTask;
/* Check the maths tasks are still running by ensuring their check variables
* are still incrementing. */
for( xTask = 0; xTask < intgNUMBER_OF_TASKS; xTask++ )
{
if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
{
/* The check has not incremented so an error exists. */
xReturn = pdFALSE;
}
usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
}
return xReturn;
}