/* | |
FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd. | |
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* * | |
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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. | |
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>>! distribute a combined work that includes FreeRTOS without being !<< | |
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>>! outside of the FreeRTOS kernel. !<< | |
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY | |
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FOR A PARTICULAR PURPOSE. Full license text is available from the following | |
link: http://www.freertos.org/a00114.html | |
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* * | |
* Having a problem? Start by reading the FAQ "My application does * | |
* not run, what could be wrong?" * | |
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* http://www.FreeRTOS.org/FAQHelp.html * | |
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*/ | |
/* | |
* Creates one or more tasks that repeatedly perform a set of integer | |
* calculations. The result of each run-time calculation is compared to the | |
* known expected result - with a mismatch being indicative of an error in the | |
* context switch mechanism. | |
*/ | |
#include <stdlib.h> | |
/* Scheduler include files. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Demo program include files. */ | |
#include "integer.h" | |
/* The constants used in the calculation. */ | |
#define intgCONST1 ( ( long ) 123 ) | |
#define intgCONST2 ( ( long ) 234567 ) | |
#define intgCONST3 ( ( long ) -3 ) | |
#define intgCONST4 ( ( long ) 7 ) | |
#define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 ) | |
#define intgSTACK_SIZE configMINIMAL_STACK_SIZE | |
/* As this is the minimal version, we will only create one task. */ | |
#define intgNUMBER_OF_TASKS ( 1 ) | |
/* The task function. Repeatedly performs a 32 bit calculation, checking the | |
result against the expected result. If the result is incorrect then the | |
context switch must have caused some corruption. */ | |
static portTASK_FUNCTION_PROTO( vCompeteingIntMathTask, pvParameters ); | |
/* Variables that are set to true within the calculation task to indicate | |
that the task is still executing. The check task sets the variable back to | |
false, flagging an error if the variable is still false the next time it | |
is called. */ | |
static volatile signed portBASE_TYPE xTaskCheck[ intgNUMBER_OF_TASKS ] = { ( signed portBASE_TYPE ) pdFALSE }; | |
/*-----------------------------------------------------------*/ | |
void vStartIntegerMathTasks( unsigned portBASE_TYPE uxPriority ) | |
{ | |
short sTask; | |
for( sTask = 0; sTask < intgNUMBER_OF_TASKS; sTask++ ) | |
{ | |
xTaskCreate( vCompeteingIntMathTask, "IntMath", intgSTACK_SIZE, ( void * ) &( xTaskCheck[ sTask ] ), uxPriority, ( TaskHandle_t * ) NULL ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static portTASK_FUNCTION( vCompeteingIntMathTask, pvParameters ) | |
{ | |
/* These variables are all effectively set to constants so they are volatile to | |
ensure the compiler does not just get rid of them. */ | |
volatile long lValue; | |
short sError = pdFALSE; | |
volatile signed portBASE_TYPE *pxTaskHasExecuted; | |
/* Set a pointer to the variable we are going to set to true each | |
iteration. This is also a good test of the parameter passing mechanism | |
within each port. */ | |
pxTaskHasExecuted = ( volatile signed portBASE_TYPE * ) pvParameters; | |
/* Keep performing a calculation and checking the result against a constant. */ | |
for( ;; ) | |
{ | |
/* Perform the calculation. This will store partial value in | |
registers, resulting in a good test of the context switch mechanism. */ | |
lValue = intgCONST1; | |
lValue += intgCONST2; | |
/* Yield in case cooperative scheduling is being used. */ | |
#if configUSE_PREEMPTION == 0 | |
{ | |
taskYIELD(); | |
} | |
#endif | |
/* Finish off the calculation. */ | |
lValue *= intgCONST3; | |
lValue /= intgCONST4; | |
/* If the calculation is found to be incorrect we stop setting the | |
TaskHasExecuted variable so the check task can see an error has | |
occurred. */ | |
if( lValue != intgEXPECTED_ANSWER ) /*lint !e774 volatile used to prevent this being optimised out. */ | |
{ | |
sError = pdTRUE; | |
} | |
if( sError == pdFALSE ) | |
{ | |
/* We have not encountered any errors, so set the flag that show | |
we are still executing. This will be periodically cleared by | |
the check task. */ | |
portENTER_CRITICAL(); | |
*pxTaskHasExecuted = pdTRUE; | |
portEXIT_CRITICAL(); | |
} | |
/* Yield in case cooperative scheduling is being used. */ | |
#if configUSE_PREEMPTION == 0 | |
{ | |
taskYIELD(); | |
} | |
#endif | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
/* This is called to check that all the created tasks are still running. */ | |
portBASE_TYPE xAreIntegerMathsTaskStillRunning( void ) | |
{ | |
portBASE_TYPE xReturn = pdTRUE; | |
short sTask; | |
/* Check the maths tasks are still running by ensuring their check variables | |
are still being set to true. */ | |
for( sTask = 0; sTask < intgNUMBER_OF_TASKS; sTask++ ) | |
{ | |
if( xTaskCheck[ sTask ] == pdFALSE ) | |
{ | |
/* The check has not incremented so an error exists. */ | |
xReturn = pdFALSE; | |
} | |
/* Reset the check variable so we can tell if it has been set by | |
the next time around. */ | |
xTaskCheck[ sTask ] = pdFALSE; | |
} | |
return xReturn; | |
} | |