FreeRTOS/Common/Full/flop.c

   1 /*
   2     FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
   3
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  24
  25     This file is part of the FreeRTOS distribution.
  26
  27     FreeRTOS is free software; you can redistribute it and/or modify it under
  28     the terms of the GNU General Public License (version 2) as published by the
  29     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
  30     ***NOTE*** The exception to the GPL is included to allow you to distribute
  31     a combined work that includes FreeRTOS without being obliged to provide the
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  35     FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
  36     more details. You should have received a copy of the GNU General Public
  37     License and the FreeRTOS license exception along with FreeRTOS; if not it
  38     can be viewed here: http://www.freertos.org/a00114.html and also obtained
  39     by writing to Richard Barry, contact details for whom are available on the
  40     FreeRTOS WEB site.
  41
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  44     http://www.FreeRTOS.org - Documentation, latest information, license and
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  52 */
  53
  54 /*
  55 Changes from V1.2.3
  56
  57         + The created tasks now include calls to tskYIELD(), allowing them to be used
  58           with the cooperative scheduler.
  59 */
  60
  61 /**
  62  * Creates eight tasks, each of which loops continuously performing an (emulated)
  63  * floating point calculation.
  64  *
  65  * All the tasks run at the idle priority and never block or yield.  This causes
  66  * all eight tasks to time slice with the idle task.  Running at the idle priority
  67  * means that these tasks will get pre-empted any time another task is ready to run
  68  * or a time slice occurs.  More often than not the pre-emption will occur mid
  69  * calculation, creating a good test of the schedulers context switch mechanism - a
  70  * calculation producing an unexpected result could be a symptom of a corruption in
  71  * the context of a task.
  72  *
  73  * \page FlopC flop.c
  74  * \ingroup DemoFiles
  75  * <HR>
  76  */
  77
  78 #include <stdlib.h>
  79 #include <math.h>
  80
  81 /* Scheduler include files. */
  82 #include "FreeRTOS.h"
  83 #include "task.h"
  84 #include "print.h"
  85
  86 /* Demo program include files. */
  87 #include "flop.h"
  88
  89 #define mathSTACK_SIZE          ( ( unsigned short ) 512 )
  90 #define mathNUMBER_OF_TASKS  ( 8 )
  91
  92 /* Four tasks, each of which performs a different floating point calculation.
  93 Each of the four is created twice. */
  94 static void vCompetingMathTask1( void *pvParameters );
  95 static void vCompetingMathTask2( void *pvParameters );
  96 static void vCompetingMathTask3( void *pvParameters );
  97 static void vCompetingMathTask4( void *pvParameters );
  98
  99 /* These variables are used to check that all the tasks are still running.  If a
 100 task gets a calculation wrong it will
 101 stop incrementing its check variable. */
 102 static volatile unsigned short usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
 103
 104 /*-----------------------------------------------------------*/
 105
 106 void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
 107 {
 108         xTaskCreate( vCompetingMathTask1, "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
 109         xTaskCreate( vCompetingMathTask2, "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
 110         xTaskCreate( vCompetingMathTask3, "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
 111         xTaskCreate( vCompetingMathTask4, "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
 112         xTaskCreate( vCompetingMathTask1, "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );
 113         xTaskCreate( vCompetingMathTask2, "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );
 114         xTaskCreate( vCompetingMathTask3, "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );
 115         xTaskCreate( vCompetingMathTask4, "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );
 116 }
 117 /*-----------------------------------------------------------*/
 118
 119 static void vCompetingMathTask1( void *pvParameters )
 120 {
 121 portDOUBLE d1, d2, d3, d4;
 122 volatile unsigned short *pusTaskCheckVariable;
 123 const portDOUBLE dAnswer = ( 123.4567 + 2345.6789 ) * -918.222;
 124 const char * const pcTaskStartMsg = "Math task 1 started.\r\n";
 125 const char * const pcTaskFailMsg = "Math task 1 failed.\r\n";
 126 short sError = pdFALSE;
 127
 128         /* Queue a message for printing to say the task has started. */
 129         vPrintDisplayMessage( &pcTaskStartMsg );
 130
 131         /* The variable this task increments to show it is still running is passed in
 132         as the parameter. */
 133         pusTaskCheckVariable = ( unsigned short * ) pvParameters;
 134
 135         /* Keep performing a calculation and checking the result against a constant. */
 136         for(;;)
 137         {
 138                 d1 = 123.4567;
 139                 d2 = 2345.6789;
 140                 d3 = -918.222;
 141
 142                 d4 = ( d1 + d2 ) * d3;
 143
 144                 taskYIELD();
 145
 146                 /* If the calculation does not match the expected constant, stop the
 147                 increment of the check variable. */
 148                 if( fabs( d4 - dAnswer ) > 0.001 )
 149                 {
 150                         vPrintDisplayMessage( &pcTaskFailMsg );
 151                         sError = pdTRUE;
 152                 }
 153
 154                 if( sError == pdFALSE )
 155                 {
 156                         /* If the calculation has always been correct, increment the check
 157                         variable so we know this task is still running okay. */
 158                         ( *pusTaskCheckVariable )++;
 159                 }
 160
 161                 taskYIELD();
 162         }
 163 }
 164 /*-----------------------------------------------------------*/
 165
 166 static void vCompetingMathTask2( void *pvParameters )
 167 {
 168 portDOUBLE d1, d2, d3, d4;
 169 volatile unsigned short *pusTaskCheckVariable;
 170 const portDOUBLE dAnswer = ( -389.38 / 32498.2 ) * -2.0001;
 171 const char * const pcTaskStartMsg = "Math task 2 started.\r\n";
 172 const char * const pcTaskFailMsg = "Math task 2 failed.\r\n";
 173 short sError = pdFALSE;
 174
 175         /* Queue a message for printing to say the task has started. */
 176         vPrintDisplayMessage( &pcTaskStartMsg );
 177
 178         /* The variable this task increments to show it is still running is passed in
 179         as the parameter. */
 180         pusTaskCheckVariable = ( unsigned short * ) pvParameters;
 181
 182         /* Keep performing a calculation and checking the result against a constant. */
 183         for( ;; )
 184         {
 185                 d1 = -389.38;
 186                 d2 = 32498.2;
 187                 d3 = -2.0001;
 188
 189                 d4 = ( d1 / d2 ) * d3;
 190
 191                 taskYIELD();
 192
 193                 /* If the calculation does not match the expected constant, stop the
 194                 increment of the check variable. */
 195                 if( fabs( d4 - dAnswer ) > 0.001 )
 196                 {
 197                         vPrintDisplayMessage( &pcTaskFailMsg );
 198                         sError = pdTRUE;
 199                 }
 200
 201                 if( sError == pdFALSE )
 202                 {
 203                         /* If the calculation has always been correct, increment the check
 204                         variable so we know
 205                         this task is still running okay. */
 206                         ( *pusTaskCheckVariable )++;
 207                 }
 208
 209                 taskYIELD();
 210         }
 211 }
 212 /*-----------------------------------------------------------*/
 213
 214 static void vCompetingMathTask3( void *pvParameters )
 215 {
 216 portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
 217 volatile unsigned short *pusTaskCheckVariable;
 218 const unsigned short usArraySize = 250;
 219 unsigned short usPosition;
 220 const char * const pcTaskStartMsg = "Math task 3 started.\r\n";
 221 const char * const pcTaskFailMsg = "Math task 3 failed.\r\n";
 222 short sError = pdFALSE;
 223
 224         /* Queue a message for printing to say the task has started. */
 225         vPrintDisplayMessage( &pcTaskStartMsg );
 226
 227         /* The variable this task increments to show it is still running is passed in
 228         as the parameter. */
 229         pusTaskCheckVariable = ( unsigned short * ) pvParameters;
 230
 231         pdArray = ( portDOUBLE * ) pvPortMalloc( ( size_t ) 250 * sizeof( portDOUBLE ) );
 232
 233         /* Keep filling an array, keeping a running total of the values placed in the
 234         array.  Then run through the array adding up all the values.  If the two totals
 235         do not match, stop the check variable from incrementing. */
 236         for( ;; )
 237         {
 238                 dTotal1 = 0.0;
 239                 dTotal2 = 0.0;
 240
 241                 for( usPosition = 0; usPosition < usArraySize; usPosition++ )
 242                 {
 243                         pdArray[ usPosition ] = ( portDOUBLE ) usPosition + 5.5;
 244                         dTotal1 += ( portDOUBLE ) usPosition + 5.5;
 245                 }
 246
 247                 taskYIELD();
 248
 249                 for( usPosition = 0; usPosition < usArraySize; usPosition++ )
 250                 {
 251                         dTotal2 += pdArray[ usPosition ];
 252                 }
 253
 254                 dDifference = dTotal1 - dTotal2;
 255                 if( fabs( dDifference ) > 0.001 )
 256                 {
 257                         vPrintDisplayMessage( &pcTaskFailMsg );
 258                         sError = pdTRUE;
 259                 }
 260
 261                 taskYIELD();
 262
 263                 if( sError == pdFALSE )
 264                 {
 265                         /* If the calculation has always been correct, increment the check
 266                         variable so we know     this task is still running okay. */
 267                         ( *pusTaskCheckVariable )++;
 268                 }
 269         }
 270 }
 271 /*-----------------------------------------------------------*/
 272
 273 static void vCompetingMathTask4( void *pvParameters )
 274 {
 275 portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
 276 volatile unsigned short *pusTaskCheckVariable;
 277 const unsigned short usArraySize = 250;
 278 unsigned short usPosition;
 279 const char * const pcTaskStartMsg = "Math task 4 started.\r\n";
 280 const char * const pcTaskFailMsg = "Math task 4 failed.\r\n";
 281 short sError = pdFALSE;
 282
 283         /* Queue a message for printing to say the task has started. */
 284         vPrintDisplayMessage( &pcTaskStartMsg );
 285
 286         /* The variable this task increments to show it is still running is passed in
 287         as the parameter. */
 288         pusTaskCheckVariable = ( unsigned short * ) pvParameters;
 289
 290         pdArray = ( portDOUBLE * ) pvPortMalloc( ( size_t ) 250 * sizeof( portDOUBLE ) );
 291
 292         /* Keep filling an array, keeping a running total of the values placed in the
 293         array.  Then run through the array adding up all the values.  If the two totals
 294         do not match, stop the check variable from incrementing. */
 295         for( ;; )
 296         {
 297                 dTotal1 = 0.0;
 298                 dTotal2 = 0.0;
 299
 300                 for( usPosition = 0; usPosition < usArraySize; usPosition++ )
 301                 {
 302                         pdArray[ usPosition ] = ( portDOUBLE ) usPosition * 12.123;
 303                         dTotal1 += ( portDOUBLE ) usPosition * 12.123;
 304                 }
 305
 306                 taskYIELD();
 307
 308                 for( usPosition = 0; usPosition < usArraySize; usPosition++ )
 309                 {
 310                         dTotal2 += pdArray[ usPosition ];
 311                 }
 312
 313                 dDifference = dTotal1 - dTotal2;
 314                 if( fabs( dDifference ) > 0.001 )
 315                 {
 316                         vPrintDisplayMessage( &pcTaskFailMsg );
 317                         sError = pdTRUE;
 318                 }
 319
 320                 taskYIELD();
 321
 322                 if( sError == pdFALSE )
 323                 {
 324                         /* If the calculation has always been correct, increment the check
 325                         variable so we know     this task is still running okay. */
 326                         ( *pusTaskCheckVariable )++;
 327                 }
 328         }
 329 }
 330 /*-----------------------------------------------------------*/
 331
 332 /* This is called to check that all the created tasks are still running. */
 333 portBASE_TYPE xAreMathsTaskStillRunning( void )
 334 {
 335 /* Keep a history of the check variables so we know if they have been incremented
 336 since the last call. */
 337 static unsigned short usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
 338 portBASE_TYPE xReturn = pdTRUE, xTask;
 339
 340         /* Check the maths tasks are still running by ensuring their check variables
 341         are still incrementing. */
 342         for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
 343         {
 344                 if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
 345                 {
 346                         /* The check has not incremented so an error exists. */
 347                         xReturn = pdFALSE;
 348                 }
 349
 350                 usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
 351         }
 352
 353         return xReturn;
 354 }
 355
 356
 357