Danger-alarm/SOFTWARE-FreeRTOS/Common/Full/flop.c
2024-06-03 16:27:41 +08:00

330 lines
12 KiB
C

/*
* 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.
*/
/**
* Creates eight tasks, each of which loops continuously performing an (emulated)
* floating point calculation.
*
* All the tasks run at the idle priority and never block or yield. This causes
* all eight tasks to time slice with the idle task. Running at the idle priority
* means that these tasks will get pre-empted any time another task is ready to run
* or a time slice occurs. More often than not the pre-emption will occur mid
* calculation, creating a good test of the schedulers context switch mechanism - a
* calculation producing an unexpected result could be a symptom of a corruption in
* the context of a task.
*
* \page FlopC flop.c
* \ingroup DemoFiles
* <HR>
*/
#include <stdlib.h>
#include <math.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "print.h"
/* Demo program include files. */
#include "flop.h"
#define mathSTACK_SIZE ( ( unsigned short ) 512 )
#define mathNUMBER_OF_TASKS ( 8 )
/* Four tasks, each of which performs a different floating point calculation.
* Each of the four is created twice. */
static void vCompetingMathTask1( void * pvParameters );
static void vCompetingMathTask2( void * pvParameters );
static void vCompetingMathTask3( void * pvParameters );
static void vCompetingMathTask4( 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[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
/*-----------------------------------------------------------*/
void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
{
xTaskCreate( vCompetingMathTask1, "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask2, "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask3, "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask4, "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask1, "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask2, "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask3, "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask4, "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );
}
/*-----------------------------------------------------------*/
static void vCompetingMathTask1( void * pvParameters )
{
portDOUBLE d1, d2, d3, d4;
volatile unsigned short * pusTaskCheckVariable;
const portDOUBLE dAnswer = ( 123.4567 + 2345.6789 ) * -918.222;
const char * const pcTaskStartMsg = "Math task 1 started.\r\n";
const char * const pcTaskFailMsg = "Math task 1 failed.\r\n";
short sError = pdFALSE;
/* 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( ; ; )
{
d1 = 123.4567;
d2 = 2345.6789;
d3 = -918.222;
d4 = ( d1 + d2 ) * d3;
taskYIELD();
/* If the calculation does not match the expected constant, stop the
* increment of the check variable. */
if( fabs( d4 - dAnswer ) > 0.001 )
{
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 )++;
}
taskYIELD();
}
}
/*-----------------------------------------------------------*/
static void vCompetingMathTask2( void * pvParameters )
{
portDOUBLE d1, d2, d3, d4;
volatile unsigned short * pusTaskCheckVariable;
const portDOUBLE dAnswer = ( -389.38 / 32498.2 ) * -2.0001;
const char * const pcTaskStartMsg = "Math task 2 started.\r\n";
const char * const pcTaskFailMsg = "Math task 2 failed.\r\n";
short sError = pdFALSE;
/* 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( ; ; )
{
d1 = -389.38;
d2 = 32498.2;
d3 = -2.0001;
d4 = ( d1 / d2 ) * d3;
taskYIELD();
/* If the calculation does not match the expected constant, stop the
* increment of the check variable. */
if( fabs( d4 - dAnswer ) > 0.001 )
{
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 )++;
}
taskYIELD();
}
}
/*-----------------------------------------------------------*/
static void vCompetingMathTask3( void * pvParameters )
{
portDOUBLE * pdArray, dTotal1, dTotal2, dDifference;
volatile unsigned short * pusTaskCheckVariable;
const unsigned short usArraySize = 250;
unsigned short usPosition;
const char * const pcTaskStartMsg = "Math task 3 started.\r\n";
const char * const pcTaskFailMsg = "Math task 3 failed.\r\n";
short sError = pdFALSE;
/* 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;
pdArray = ( portDOUBLE * ) pvPortMalloc( ( size_t ) 250 * sizeof( portDOUBLE ) );
/* Keep filling an 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( ; ; )
{
dTotal1 = 0.0;
dTotal2 = 0.0;
for( usPosition = 0; usPosition < usArraySize; usPosition++ )
{
pdArray[ usPosition ] = ( portDOUBLE ) usPosition + 5.5;
dTotal1 += ( portDOUBLE ) usPosition + 5.5;
}
taskYIELD();
for( usPosition = 0; usPosition < usArraySize; usPosition++ )
{
dTotal2 += pdArray[ usPosition ];
}
dDifference = dTotal1 - dTotal2;
if( fabs( dDifference ) > 0.001 )
{
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 vCompetingMathTask4( void * pvParameters )
{
portDOUBLE * pdArray, dTotal1, dTotal2, dDifference;
volatile unsigned short * pusTaskCheckVariable;
const unsigned short usArraySize = 250;
unsigned short usPosition;
const char * const pcTaskStartMsg = "Math task 4 started.\r\n";
const char * const pcTaskFailMsg = "Math task 4 failed.\r\n";
short sError = pdFALSE;
/* 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;
pdArray = ( portDOUBLE * ) pvPortMalloc( ( size_t ) 250 * sizeof( portDOUBLE ) );
/* Keep filling an 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( ; ; )
{
dTotal1 = 0.0;
dTotal2 = 0.0;
for( usPosition = 0; usPosition < usArraySize; usPosition++ )
{
pdArray[ usPosition ] = ( portDOUBLE ) usPosition * 12.123;
dTotal1 += ( portDOUBLE ) usPosition * 12.123;
}
taskYIELD();
for( usPosition = 0; usPosition < usArraySize; usPosition++ )
{
dTotal2 += pdArray[ usPosition ];
}
dDifference = dTotal1 - dTotal2;
if( fabs( dDifference ) > 0.001 )
{
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 xAreMathsTaskStillRunning( void )
{
/* Keep a history of the check variables so we know if they have been incremented
* since the last call. */
static unsigned short usLastTaskCheck[ mathNUMBER_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 < mathNUMBER_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;
}