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/*

    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.

    ***************************************************************************

    *                                                                         *

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    ***************************************************************************

    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 exception 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.  See the GNU General Public License for

    more details. You should have received a copy of the GNU General Public

    License and the FreeRTOS license exception along with FreeRTOS; if not it

    can be viewed here: http://www.freertos.org/a00114.html and also obtained

    by writing to Richard Barry, contact details for whom are available on the

    FreeRTOS WEB site.

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*/

/*

 * 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.

 */

#include <stdlib.h>

#include <math.h>

/* Scheduler include files. */

#include "FreeRTOS.h"

#include "task.h"

/* Demo program include files. */

#include "flop.h"

#define mathSTACK_SIZE          configMINIMAL_STACK_SIZE

#define mathNUMBER_OF_TASKS  ( 8 )

/* Four tasks, each of which performs a different floating point calculation.

Each of the four is created twice. */

static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters );

static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters );

static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters );

static portTASK_FUNCTION_PROTO( vCompetingMathTask4, 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, ( signed char * ) "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );

        xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );

        xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );

        xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );

        xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );

        xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );

        xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );

        xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );

}

/*-----------------------------------------------------------*/

static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )

{

volatile portDOUBLE d1, d2, d3, d4;

volatile unsigned short *pusTaskCheckVariable;

volatile portDOUBLE dAnswer;

short sError = pdFALSE;

        d1 = 123.4567;

        d2 = 2345.6789;

        d3 = -918.222;

        dAnswer = ( d1 + d2 ) * d3;

        /* 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;

                #if configUSE_PREEMPTION == 0

                        taskYIELD();

                #endif

                /* If the calculation does not match the expected constant, stop the

                increment of the check variable. */

                if( fabs( d4 - dAnswer ) > 0.001 )

                {

                        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 )++;

                }

                #if configUSE_PREEMPTION == 0

                        taskYIELD();

                #endif

        }

}

/*-----------------------------------------------------------*/

static portTASK_FUNCTION( vCompetingMathTask2, pvParameters )

{

volatile portDOUBLE d1, d2, d3, d4;

volatile unsigned short *pusTaskCheckVariable;

volatile portDOUBLE dAnswer;

short sError = pdFALSE;

        d1 = -389.38;

        d2 = 32498.2;

        d3 = -2.0001;

        dAnswer = ( d1 / d2 ) * d3;

        /* 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;

                #if configUSE_PREEMPTION == 0

                        taskYIELD();

                #endif

                /* If the calculation does not match the expected constant, stop the

                increment of the check variable. */

                if( fabs( d4 - dAnswer ) > 0.001 )

                {

                        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 )++;

                }

                #if configUSE_PREEMPTION == 0

                        taskYIELD();

                #endif

        }

}

/*-----------------------------------------------------------*/

static portTASK_FUNCTION( vCompetingMathTask3, pvParameters )

{

volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;

volatile unsigned short *pusTaskCheckVariable;

const size_t xArraySize = 10;

size_t xPosition;

short sError = pdFALSE;

        /* The variable this task increments to show it is still running is passed in

        as the parameter. */

        pusTaskCheckVariable = ( unsigned short * ) pvParameters;

        pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * 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( xPosition = 0; xPosition < xArraySize; xPosition++ )

                {

                        pdArray[ xPosition ] = ( portDOUBLE ) xPosition + 5.5;

                        dTotal1 += ( portDOUBLE ) xPosition + 5.5;

                }

                #if configUSE_PREEMPTION == 0

                        taskYIELD();

                #endif

                for( xPosition = 0; xPosition < xArraySize; xPosition++ )

                {

                        dTotal2 += pdArray[ xPosition ];

                }

                dDifference = dTotal1 - dTotal2;

                if( fabs( dDifference ) > 0.001 )

                {

                        sError = pdTRUE;

                }

                #if configUSE_PREEMPTION == 0

                        taskYIELD();

                #endif

                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 portTASK_FUNCTION( vCompetingMathTask4, pvParameters )

{

volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;

volatile unsigned short *pusTaskCheckVariable;

const size_t xArraySize = 10;

size_t xPosition;

short sError = pdFALSE;

        /* The variable this task increments to show it is still running is passed in

        as the parameter. */

        pusTaskCheckVariable = ( unsigned short * ) pvParameters;

        pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * 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( xPosition = 0; xPosition < xArraySize; xPosition++ )

                {

                        pdArray[ xPosition ] = ( portDOUBLE ) xPosition * 12.123;

                        dTotal1 += ( portDOUBLE ) xPosition * 12.123;

                }

                #if configUSE_PREEMPTION == 0

                        taskYIELD();

                #endif

                for( xPosition = 0; xPosition < xArraySize; xPosition++ )

                {

                        dTotal2 += pdArray[ xPosition ];

                }

                dDifference = dTotal1 - dTotal2;

                if( fabs( dDifference ) > 0.001 )

                {

                        sError = pdTRUE;

                }

                #if configUSE_PREEMPTION == 0

                        taskYIELD();

                #endif

                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;

}