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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

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    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or

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

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*/

/*

 * Creates eight tasks, each of which loops continuously performing a

 * 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.

 *

 * This file demonstrates the use of the task tag and traceTASK_SWITCHED_IN and

 * traceTASK_SWITCHED_OUT macros to save and restore the floating point context.

 */

#include <stdlib.h>

#include <math.h>

/* Scheduler include files. */

#include "FreeRTOS.h"

#include "task.h"

/* Demo program include files. */

#include "flop.h"

/* Misc. definitions. */

#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 };

/* Buffers into which the flop registers will be saved.  There is a buffer for

each task created within this file.  Zeroing out this array is the normal and

safe option as this will cause the task to start with all zeros in its flop

context. */

static unsigned long ulFlopRegisters[ mathNUMBER_OF_TASKS ][ portNO_FLOP_REGISTERS_TO_SAVE ];

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

void vStartMathTasks( unsigned portBASE_TYPE uxPriority )

{

xTaskHandle xTaskJustCreated;

portBASE_TYPE x, y;

        /* Place known values into the buffers into which the flop registers are

        to be saved.  This is for debug purposes only, it is not normally

        required.  The last position in each array is left at zero as the status

        register will be loaded from there.

        It is intended that these values can be viewed being loaded into the

        flop registers when a task is started - however the Insight debugger

        does not seem to want to show the flop register values. */

        for( x = 0; x < mathNUMBER_OF_TASKS; x++ )

        {

                for( y = 0; y < ( portNO_FLOP_REGISTERS_TO_SAVE - 1 ); y++ )

                {

                        ulFlopRegisters[ x ][ y ] = ( x + 1 );

                }

        }

        /* Create the first task - passing it the address of the check variable

        that it is going to increment.  This check variable is used as an

        indication that the task is still running. */

        xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, &xTaskJustCreated );

        /* The task     tag value is a value that can be associated with a task, but

        is not used by the scheduler itself.  Its use is down to the application so

        it makes a convenient place in this case to store the pointer to the buffer

        into which the flop context of the task will be stored.  The first created

        task uses ulFlopRegisters[ 0 ], the second ulFlopRegisters[ 1 ], etc. */

        vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 0 ][ 0 ] ) );

        /* Create another 7 tasks, allocating a buffer for each. */

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

        vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 1 ][ 0 ] ) );

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

        vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 2 ][ 0 ] ) );

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

        vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 3 ][ 0 ] ) );

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

        vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 4 ][ 0 ] ) );

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

        vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 5 ][ 0 ] ) );

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

        vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 6 ][ 0 ] ) );

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

        vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 7 ][ 0 ] ) );

}

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

static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )

{

volatile portFLOAT ff1, ff2, ff3, ff4;

volatile unsigned short *pusTaskCheckVariable;

volatile portFLOAT fAnswer;

short sError = pdFALSE;

        ff1 = 123.4567F;

        ff2 = 2345.6789F;

        ff3 = -918.222F;

        fAnswer = ( ff1 + ff2 ) * ff3;

        /* 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(;;)

        {

                ff1 = 123.4567F;

                ff2 = 2345.6789F;

                ff3 = -918.222F;

                ff4 = ( ff1 + ff2 ) * ff3;

                #if configUSE_PREEMPTION == 0

                        taskYIELD();

                #endif

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

                increment of the check variable. */

                if( fabs( ff4 - fAnswer ) > 0.001F )

                {

                        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 portFLOAT ff1, ff2, ff3, ff4;

volatile unsigned short *pusTaskCheckVariable;

volatile portFLOAT fAnswer;

short sError = pdFALSE;

        ff1 = -389.38F;

        ff2 = 32498.2F;

        ff3 = -2.0001F;

        fAnswer = ( ff1 / ff2 ) * ff3;

        /* 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( ;; )

        {

                ff1 = -389.38F;

                ff2 = 32498.2F;

                ff3 = -2.0001F;

                ff4 = ( ff1 / ff2 ) * ff3;

                #if configUSE_PREEMPTION == 0

                        taskYIELD();

                #endif

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

                increment of the check variable. */

                if( fabs( ff4 - fAnswer ) > 0.001F )

                {

                        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 portFLOAT *pfArray, fTotal1, fTotal2, fDifference;

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;

        pfArray = ( portFLOAT * ) pvPortMalloc( xArraySize * sizeof( portFLOAT ) );

        /* 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( ;; )

        {

                fTotal1 = 0.0F;

                fTotal2 = 0.0F;

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

                {

                        pfArray[ xPosition ] = ( portFLOAT ) xPosition + 5.5F;

                        fTotal1 += ( portFLOAT ) xPosition + 5.5F;

                }

                #if configUSE_PREEMPTION == 0

                        taskYIELD();

                #endif

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

                {

                        fTotal2 += pfArray[ xPosition ];

                }

                fDifference = fTotal1 - fTotal2;

                if( fabs( fDifference ) > 0.001F )

                {

                        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 portFLOAT *pfArray, fTotal1, fTotal2, fDifference;

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;

        pfArray = ( portFLOAT * ) pvPortMalloc( xArraySize * sizeof( portFLOAT ) );

        /* 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( ;; )

        {

                fTotal1 = 0.0F;

                fTotal2 = 0.0F;

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

                {

                        pfArray[ xPosition ] = ( portFLOAT ) xPosition * 12.123F;

                        fTotal1 += ( portFLOAT ) xPosition * 12.123F;

                }

                #if configUSE_PREEMPTION == 0

                        taskYIELD();

                #endif

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

                {

                        fTotal2 += pfArray[ xPosition ];

                }

                fDifference = fTotal1 - fTotal2;

                if( fabs( fDifference ) > 0.001F )

                {

                        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;

}