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Diffstat (limited to 'src/FreeRTOS-Sim-master/Demo/Common/Full/flop.c')
| -rw-r--r-- | src/FreeRTOS-Sim-master/Demo/Common/Full/flop.c | 373 |
1 files changed, 373 insertions, 0 deletions
diff --git a/src/FreeRTOS-Sim-master/Demo/Common/Full/flop.c b/src/FreeRTOS-Sim-master/Demo/Common/Full/flop.c new file mode 100644 index 0000000..e714a40 --- /dev/null +++ b/src/FreeRTOS-Sim-master/Demo/Common/Full/flop.c @@ -0,0 +1,373 @@ +/*
+ FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
+ All rights reserved
+
+ VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+ This file is part of the FreeRTOS distribution.
+
+ FreeRTOS is free software; you can redistribute it and/or modify it under
+ the terms of the GNU General Public License (version 2) as published by the
+ Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+ ***************************************************************************
+ >>! NOTE: The modification to the GPL is included to allow you to !<<
+ >>! distribute a combined work that includes FreeRTOS without being !<<
+ >>! obliged to provide the source code for proprietary components !<<
+ >>! outside of the FreeRTOS kernel. !<<
+ ***************************************************************************
+
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ FOR A PARTICULAR PURPOSE. Full license text is available on the following
+ link: http://www.freertos.org/a00114.html
+
+ ***************************************************************************
+ * *
+ * FreeRTOS provides completely free yet professionally developed, *
+ * robust, strictly quality controlled, supported, and cross *
+ * platform software that is more than just the market leader, it *
+ * is the industry's de facto standard. *
+ * *
+ * Help yourself get started quickly while simultaneously helping *
+ * to support the FreeRTOS project by purchasing a FreeRTOS *
+ * tutorial book, reference manual, or both: *
+ * http://www.FreeRTOS.org/Documentation *
+ * *
+ ***************************************************************************
+
+ http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
+ the FAQ page "My application does not run, what could be wrong?". Have you
+ defined configASSERT()?
+
+ http://www.FreeRTOS.org/support - In return for receiving this top quality
+ embedded software for free we request you assist our global community by
+ participating in the support forum.
+
+ http://www.FreeRTOS.org/training - Investing in training allows your team to
+ be as productive as possible as early as possible. Now you can receive
+ FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
+ Ltd, and the world's leading authority on the world's leading RTOS.
+
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+ including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+ compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+ http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
+ Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
+
+ http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
+ Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
+ licenses offer ticketed support, indemnification and commercial middleware.
+
+ http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+ engineered and independently SIL3 certified version for use in safety and
+ mission critical applications that require provable dependability.
+
+ 1 tab == 4 spaces!
+*/
+
+/*
+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;
+}
+
+
+
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