329 lines
10 KiB
C
329 lines
10 KiB
C
/*
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* FreeRTOS Kernel V10.3.0
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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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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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*
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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 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,
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(void *)&(usTaskCheck[0]), uxPriority, NULL);
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xTaskCreate(vCompetingMathTask2, "Math2", mathSTACK_SIZE,
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(void *)&(usTaskCheck[1]), uxPriority, NULL);
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xTaskCreate(vCompetingMathTask3, "Math3", mathSTACK_SIZE,
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(void *)&(usTaskCheck[2]), uxPriority, NULL);
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xTaskCreate(vCompetingMathTask4, "Math4", mathSTACK_SIZE,
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(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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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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sError = pdTRUE;
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}
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if (sError == pdFALSE) {
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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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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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sError = pdTRUE;
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}
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if (sError == pdFALSE) {
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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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dTotal1 = 0.0;
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dTotal2 = 0.0;
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for (xPosition = 0; xPosition < xArraySize; xPosition++) {
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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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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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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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/* 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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dTotal1 = 0.0;
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dTotal2 = 0.0;
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for (xPosition = 0; xPosition < xArraySize; xPosition++) {
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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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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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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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/* 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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if (usTaskCheck[xTask] != pdTRUE) {
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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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} else {
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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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