325 lines
11 KiB
C
325 lines
11 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 - using single precision variables.
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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.h"
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#define mathSTACK_SIZE configMINIMAL_STACK_SIZE
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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 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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xTaskCreate( vCompetingMathTask1, "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask2, "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask3, "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask4, "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 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 float f1, f2, f3, f4;
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volatile uint16_t * pusTaskCheckVariable;
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volatile float fAnswer;
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short sError = pdFALSE;
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f1 = 123.4567F;
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f2 = 2345.6789F;
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f3 = -918.222F;
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fAnswer = ( f1 + f2 ) * f3;
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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 = ( 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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f1 = 123.4567F;
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f2 = 2345.6789F;
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f3 = -918.222F;
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f4 = ( f1 + f2 ) * f3;
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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( f4 - fAnswer ) > 0.001F )
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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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( *pusTaskCheckVariable )++;
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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 float f1, f2, f3, f4;
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volatile uint16_t * pusTaskCheckVariable;
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volatile float fAnswer;
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short sError = pdFALSE;
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f1 = -389.38F;
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f2 = 32498.2F;
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f3 = -2.0001F;
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fAnswer = ( f1 / f2 ) * f3;
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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 = ( 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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f1 = -389.38F;
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f2 = 32498.2F;
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f3 = -2.0001F;
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f4 = ( f1 / f2 ) * f3;
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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( f4 - fAnswer ) > 0.001F )
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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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( *pusTaskCheckVariable )++;
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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 float * pfArray, fTotal1, fTotal2, fDifference, fPosition;
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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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/* 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 = ( uint16_t * ) pvParameters;
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pfArray = ( float * ) pvPortMalloc( xArraySize * sizeof( float ) );
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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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fTotal1 = 0.0F;
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fTotal2 = 0.0F;
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fPosition = 0.0F;
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for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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{
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pfArray[ xPosition ] = fPosition + 5.5F;
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fTotal1 += fPosition + 5.5F;
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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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fTotal2 += pfArray[ xPosition ];
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}
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fDifference = fTotal1 - fTotal2;
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if( fabs( fDifference ) > 0.001F )
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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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( *pusTaskCheckVariable )++;
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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 float * pfArray, fTotal1, fTotal2, fDifference, fPosition;
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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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/* 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 = ( uint16_t * ) pvParameters;
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pfArray = ( float * ) pvPortMalloc( xArraySize * sizeof( float ) );
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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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fTotal1 = 0.0F;
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fTotal2 = 0.0F;
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fPosition = 0.0F;
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for( xPosition = 0; xPosition < xArraySize; xPosition++ )
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{
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pfArray[ xPosition ] = fPosition * 12.123F;
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fTotal1 += fPosition * 12.123F;
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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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fTotal2 += pfArray[ xPosition ];
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}
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fDifference = fTotal1 - fTotal2;
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if( fabs( fDifference ) > 0.001F )
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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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( *pusTaskCheckVariable )++;
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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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/* 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 uint16_t usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( uint16_t ) 0 };
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BaseType_t 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( usTaskCheck[ xTask ] == usLastTaskCheck[ 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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usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
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}
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return xReturn;
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}
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