FreeRTOS/Common/Full/integer.c

   1 /*
   2     FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
   3
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  25     This file is part of the FreeRTOS distribution.
  26
  27     FreeRTOS is free software; you can redistribute it and/or modify it under
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  29     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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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  * This does the same as flop. c, but uses variables of type long instead of
  63  * type double.
  64  *
  65  * As with flop. c, the tasks created in this file are a good test of the
  66  * scheduler context switch mechanism.  The processor has to access 32bit
  67  * variables in two or four chunks (depending on the processor).  The low
  68  * priority of these tasks means there is a high probability that a context
  69  * switch will occur mid calculation.  See the flop. c documentation for
  70  * more information.
  71  *
  72  * \page IntegerC integer.c
  73  * \ingroup DemoFiles
  74  * <HR>
  75  */
  76
  77 /*
  78 Changes from V1.2.1
  79
  80         + The constants used in the calculations are larger to ensure the
  81           optimiser does not truncate them to 16 bits.
  82 */
  83
  84 #include <stdlib.h>
  85
  86 /* Scheduler include files. */
  87 #include "FreeRTOS.h"
  88 #include "task.h"
  89 #include "print.h"
  90
  91 /* Demo program include files. */
  92 #include "integer.h"
  93
  94 #define intgSTACK_SIZE          ( ( unsigned short ) 256 )
  95 #define intgNUMBER_OF_TASKS  ( 8 )
  96
  97 /* Four tasks, each of which performs a different calculation on four byte
  98 variables.  Each of the four is created twice. */
  99 static void vCompeteingIntMathTask1( void *pvParameters );
 100 static void vCompeteingIntMathTask2( void *pvParameters );
 101 static void vCompeteingIntMathTask3( void *pvParameters );
 102 static void vCompeteingIntMathTask4( void *pvParameters );
 103
 104 /* These variables are used to check that all the tasks are still running.  If a
 105 task gets a calculation wrong it will stop incrementing its check variable. */
 106 static volatile unsigned short usTaskCheck[ intgNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
 107 /*-----------------------------------------------------------*/
 108
 109 void vStartIntegerMathTasks( unsigned portBASE_TYPE uxPriority )
 110 {
 111         xTaskCreate( vCompeteingIntMathTask1, "IntMath1", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
 112         xTaskCreate( vCompeteingIntMathTask2, "IntMath2", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
 113         xTaskCreate( vCompeteingIntMathTask3, "IntMath3", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
 114         xTaskCreate( vCompeteingIntMathTask4, "IntMath4", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
 115         xTaskCreate( vCompeteingIntMathTask1, "IntMath5", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );
 116         xTaskCreate( vCompeteingIntMathTask2, "IntMath6", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );
 117         xTaskCreate( vCompeteingIntMathTask3, "IntMath7", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );
 118         xTaskCreate( vCompeteingIntMathTask4, "IntMath8", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );
 119 }
 120 /*-----------------------------------------------------------*/
 121
 122 static void vCompeteingIntMathTask1( void *pvParameters )
 123 {
 124 long l1, l2, l3, l4;
 125 short sError = pdFALSE;
 126 volatile unsigned short *pusTaskCheckVariable;
 127 const long lAnswer = ( ( long ) 74565L + ( long ) 1234567L ) * ( long ) -918L;
 128 const char * const pcTaskStartMsg = "Integer math task 1 started.\r\n";
 129 const char * const pcTaskFailMsg = "Integer math task 1 failed.\r\n";
 130
 131         /* Queue a message for printing to say the task has started. */
 132         vPrintDisplayMessage( &pcTaskStartMsg );
 133
 134         /* The variable this task increments to show it is still running is passed in
 135         as the parameter. */
 136         pusTaskCheckVariable = ( unsigned short * ) pvParameters;
 137
 138         /* Keep performing a calculation and checking the result against a constant. */
 139         for(;;)
 140         {
 141                 l1 = ( long ) 74565L;
 142                 l2 = ( long ) 1234567L;
 143                 l3 = ( long ) -918L;
 144
 145                 l4 = ( l1 + l2 ) * l3;
 146
 147                 taskYIELD();
 148
 149                 /* If the calculation does not match the expected constant, stop the
 150                 increment of the check variable. */
 151                 if( l4 != lAnswer )
 152                 {
 153                         vPrintDisplayMessage( &pcTaskFailMsg );
 154                         sError = pdTRUE;
 155                 }
 156
 157                 if( sError == pdFALSE )
 158                 {
 159                         /* If the calculation has always been correct, increment the check
 160                         variable so we know     this task is still running okay. */
 161                         ( *pusTaskCheckVariable )++;
 162                 }
 163         }
 164 }
 165 /*-----------------------------------------------------------*/
 166
 167 static void vCompeteingIntMathTask2( void *pvParameters )
 168 {
 169 long l1, l2, l3, l4;
 170 short sError = pdFALSE;
 171 volatile unsigned short *pusTaskCheckVariable;
 172 const long lAnswer = ( ( long ) -389000L / ( long ) 329999L ) * ( long ) -89L;
 173 const char * const pcTaskStartMsg = "Integer math task 2 started.\r\n";
 174 const char * const pcTaskFailMsg = "Integer math task 2 failed.\r\n";
 175
 176         /* Queue a message for printing to say the task has started. */
 177         vPrintDisplayMessage( &pcTaskStartMsg );
 178
 179         /* The variable this task increments to show it is still running is passed in
 180         as the parameter. */
 181         pusTaskCheckVariable = ( unsigned short * ) pvParameters;
 182
 183         /* Keep performing a calculation and checking the result against a constant. */
 184         for( ;; )
 185         {
 186                 l1 = -389000L;
 187                 l2 = 329999L;
 188                 l3 = -89L;
 189
 190                 l4 = ( l1 / l2 ) * l3;
 191
 192                 taskYIELD();
 193
 194                 /* If the calculation does not match the expected constant, stop the
 195                 increment of the check variable. */
 196                 if( l4 != lAnswer )
 197                 {
 198                         vPrintDisplayMessage( &pcTaskFailMsg );
 199                         sError = pdTRUE;
 200                 }
 201
 202                 if( sError == pdFALSE )
 203                 {
 204                         /* If the calculation has always been correct, increment the check
 205                         variable so we know this task is still running okay. */
 206                         ( *pusTaskCheckVariable )++;
 207                 }
 208         }
 209 }
 210 /*-----------------------------------------------------------*/
 211
 212 static void vCompeteingIntMathTask3( void *pvParameters )
 213 {
 214 long *plArray, lTotal1, lTotal2;
 215 short sError = pdFALSE;
 216 volatile unsigned short *pusTaskCheckVariable;
 217 const unsigned short usArraySize = ( unsigned short ) 250;
 218 unsigned short usPosition;
 219 const char * const pcTaskStartMsg = "Integer math task 3 started.\r\n";
 220 const char * const pcTaskFailMsg = "Integer math task 3 failed.\r\n";
 221
 222         /* Queue a message for printing to say the task has started. */
 223         vPrintDisplayMessage( &pcTaskStartMsg );
 224
 225         /* The variable this task increments to show it is still running is passed in
 226         as the parameter. */
 227         pusTaskCheckVariable = ( unsigned short * ) pvParameters;
 228
 229         /* Create the array we are going to use for our check calculation. */
 230         plArray = ( long * ) pvPortMalloc( ( size_t ) 250 * sizeof( long ) );
 231
 232         /* Keep filling the array, keeping a running total of the values placed in the
 233         array.  Then run through the array adding up all the values.  If the two totals
 234         do not match, stop the check variable from incrementing. */
 235         for( ;; )
 236         {
 237                 lTotal1 = ( long ) 0;
 238                 lTotal2 = ( long ) 0;
 239
 240                 for( usPosition = 0; usPosition < usArraySize; usPosition++ )
 241                 {
 242                         plArray[ usPosition ] = ( long ) usPosition + ( long ) 5;
 243                         lTotal1 += ( long ) usPosition + ( long ) 5;
 244                 }
 245
 246                 taskYIELD();
 247
 248                 for( usPosition = 0; usPosition < usArraySize; usPosition++ )
 249                 {
 250                         lTotal2 += plArray[ usPosition ];
 251                 }
 252
 253                 if( lTotal1 != lTotal2 )
 254                 {
 255                         vPrintDisplayMessage( &pcTaskFailMsg );
 256                         sError = pdTRUE;
 257                 }
 258
 259                 taskYIELD();
 260
 261                 if( sError == pdFALSE )
 262                 {
 263                         /* If the calculation has always been correct, increment the check
 264                         variable so we know     this task is still running okay. */
 265                         ( *pusTaskCheckVariable )++;
 266                 }
 267         }
 268 }
 269 /*-----------------------------------------------------------*/
 270
 271 static void vCompeteingIntMathTask4( void *pvParameters )
 272 {
 273 long *plArray, lTotal1, lTotal2;
 274 short sError = pdFALSE;
 275 volatile unsigned short *pusTaskCheckVariable;
 276 const unsigned short usArraySize = 250;
 277 unsigned short usPosition;
 278 const char * const pcTaskStartMsg = "Integer math task 4 started.\r\n";
 279 const char * const pcTaskFailMsg = "Integer math task 4 failed.\r\n";
 280
 281         /* Queue a message for printing to say the task has started. */
 282         vPrintDisplayMessage( &pcTaskStartMsg );
 283
 284         /* The variable this task increments to show it is still running is passed in
 285         as the parameter. */
 286         pusTaskCheckVariable = ( unsigned short * ) pvParameters;
 287
 288         /* Create the array we are going to use for our check calculation. */
 289         plArray = ( long * ) pvPortMalloc( ( size_t ) 250 * sizeof( long ) );
 290
 291         /* Keep filling the array, keeping a running total of the values placed in the
 292         array.  Then run through the array adding up all the values.  If the two totals
 293         do not match, stop the check variable from incrementing. */
 294         for( ;; )
 295         {
 296                 lTotal1 = ( long ) 0;
 297                 lTotal2 = ( long ) 0;
 298
 299                 for( usPosition = 0; usPosition < usArraySize; usPosition++ )
 300                 {
 301                         plArray[ usPosition ] = ( long ) usPosition * ( long ) 12;
 302                         lTotal1 += ( long ) usPosition * ( long ) 12;
 303                 }
 304
 305                 taskYIELD();
 306
 307                 for( usPosition = 0; usPosition < usArraySize; usPosition++ )
 308                 {
 309                         lTotal2 += plArray[ usPosition ];
 310                 }
 311
 312
 313                 if( lTotal1 != lTotal2 )
 314                 {
 315                         vPrintDisplayMessage( &pcTaskFailMsg );
 316                         sError = pdTRUE;
 317                 }
 318
 319                 taskYIELD();
 320
 321                 if( sError == pdFALSE )
 322                 {
 323                         /* If the calculation has always been correct, increment the check
 324                         variable so we know     this task is still running okay. */
 325                         ( *pusTaskCheckVariable )++;
 326                 }
 327         }
 328 }
 329 /*-----------------------------------------------------------*/
 330
 331 /* This is called to check that all the created tasks are still running. */
 332 portBASE_TYPE xAreIntegerMathsTaskStillRunning( void )
 333 {
 334 /* Keep a history of the check variables so we know if they have been incremented
 335 since the last call. */
 336 static unsigned short usLastTaskCheck[ intgNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
 337 portBASE_TYPE xReturn = pdTRUE, xTask;
 338
 339         /* Check the maths tasks are still running by ensuring their check variables
 340         are still incrementing. */
 341         for( xTask = 0; xTask < intgNUMBER_OF_TASKS; xTask++ )
 342         {
 343                 if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
 344                 {
 345                         /* The check has not incremented so an error exists. */
 346                         xReturn = pdFALSE;
 347                 }
 348
 349                 usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
 350         }
 351
 352         return xReturn;
 353 }