328 lines
11 KiB
C
328 lines
11 KiB
C
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/*
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* FreeRTOS Kernel V10.2.1
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* Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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*
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* 1 tab == 4 spaces!
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*/
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/*
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Changes from V1.2.3
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+ The created tasks now include calls to tskYIELD(), allowing them to be used
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with the cooperative scheduler.
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*/
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/**
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* This does the same as flop. c, but uses variables of type long instead of
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* type double.
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*
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* As with flop. c, the tasks created in this file are a good test of the
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* scheduler context switch mechanism. The processor has to access 32bit
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* variables in two or four chunks (depending on the processor). The low
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* priority of these tasks means there is a high probability that a context
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* switch will occur mid calculation. See the flop. c documentation for
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* more information.
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*
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* \page IntegerC integer.c
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* \ingroup DemoFiles
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* <HR>
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*/
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/*
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Changes from V1.2.1
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+ The constants used in the calculations are larger to ensure the
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optimiser does not truncate them to 16 bits.
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*/
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#include <stdlib.h>
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "print.h"
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/* Demo program include files. */
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#include "integer.h"
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#define intgSTACK_SIZE ( ( unsigned short ) 256 )
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#define intgNUMBER_OF_TASKS ( 8 )
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/* Four tasks, each of which performs a different calculation on four byte
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variables. Each of the four is created twice. */
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static void vCompeteingIntMathTask1( void *pvParameters );
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static void vCompeteingIntMathTask2( void *pvParameters );
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static void vCompeteingIntMathTask3( void *pvParameters );
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static void vCompeteingIntMathTask4( void *pvParameters );
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/* These variables are used to check that all the tasks are still running. If a
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task gets a calculation wrong it will stop incrementing its check variable. */
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static volatile unsigned short usTaskCheck[ intgNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
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/*-----------------------------------------------------------*/
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void vStartIntegerMathTasks( unsigned portBASE_TYPE uxPriority )
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{
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xTaskCreate( vCompeteingIntMathTask1, "IntMath1", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
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xTaskCreate( vCompeteingIntMathTask2, "IntMath2", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
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xTaskCreate( vCompeteingIntMathTask3, "IntMath3", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
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xTaskCreate( vCompeteingIntMathTask4, "IntMath4", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
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xTaskCreate( vCompeteingIntMathTask1, "IntMath5", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );
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xTaskCreate( vCompeteingIntMathTask2, "IntMath6", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );
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xTaskCreate( vCompeteingIntMathTask3, "IntMath7", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );
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xTaskCreate( vCompeteingIntMathTask4, "IntMath8", intgSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );
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}
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/*-----------------------------------------------------------*/
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static void vCompeteingIntMathTask1( void *pvParameters )
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{
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long l1, l2, l3, l4;
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short sError = pdFALSE;
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volatile unsigned short *pusTaskCheckVariable;
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const long lAnswer = ( ( long ) 74565L + ( long ) 1234567L ) * ( long ) -918L;
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const char * const pcTaskStartMsg = "Integer math task 1 started.\r\n";
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const char * const pcTaskFailMsg = "Integer math task 1 failed.\r\n";
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage( &pcTaskStartMsg );
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/* The variable this task increments to show it is still running is passed in
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as the parameter. */
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pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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/* Keep performing a calculation and checking the result against a constant. */
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for(;;)
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{
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l1 = ( long ) 74565L;
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l2 = ( long ) 1234567L;
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l3 = ( long ) -918L;
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l4 = ( l1 + l2 ) * l3;
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taskYIELD();
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/* If the calculation does not match the expected constant, stop the
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increment of the check variable. */
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if( l4 != lAnswer )
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{
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vPrintDisplayMessage( &pcTaskFailMsg );
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sError = pdTRUE;
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}
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if( sError == pdFALSE )
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{
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/* If the calculation has always been correct, increment the check
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variable so we know this task is still running okay. */
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( *pusTaskCheckVariable )++;
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}
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}
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}
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/*-----------------------------------------------------------*/
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static void vCompeteingIntMathTask2( void *pvParameters )
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{
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long l1, l2, l3, l4;
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short sError = pdFALSE;
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volatile unsigned short *pusTaskCheckVariable;
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const long lAnswer = ( ( long ) -389000L / ( long ) 329999L ) * ( long ) -89L;
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const char * const pcTaskStartMsg = "Integer math task 2 started.\r\n";
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const char * const pcTaskFailMsg = "Integer math task 2 failed.\r\n";
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage( &pcTaskStartMsg );
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/* The variable this task increments to show it is still running is passed in
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as the parameter. */
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pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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/* Keep performing a calculation and checking the result against a constant. */
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for( ;; )
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{
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l1 = -389000L;
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l2 = 329999L;
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l3 = -89L;
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l4 = ( l1 / l2 ) * l3;
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taskYIELD();
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/* If the calculation does not match the expected constant, stop the
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increment of the check variable. */
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if( l4 != lAnswer )
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{
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vPrintDisplayMessage( &pcTaskFailMsg );
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sError = pdTRUE;
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}
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if( sError == pdFALSE )
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{
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/* If the calculation has always been correct, increment the check
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variable so we know this task is still running okay. */
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( *pusTaskCheckVariable )++;
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}
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}
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}
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/*-----------------------------------------------------------*/
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static void vCompeteingIntMathTask3( void *pvParameters )
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{
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long *plArray, lTotal1, lTotal2;
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short sError = pdFALSE;
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volatile unsigned short *pusTaskCheckVariable;
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const unsigned short usArraySize = ( unsigned short ) 250;
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unsigned short usPosition;
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const char * const pcTaskStartMsg = "Integer math task 3 started.\r\n";
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const char * const pcTaskFailMsg = "Integer math task 3 failed.\r\n";
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage( &pcTaskStartMsg );
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/* The variable this task increments to show it is still running is passed in
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as the parameter. */
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pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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/* Create the array we are going to use for our check calculation. */
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plArray = ( long * ) pvPortMalloc( ( size_t ) 250 * sizeof( long ) );
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/* Keep filling the array, keeping a running total of the values placed in the
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array. Then run through the array adding up all the values. If the two totals
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do not match, stop the check variable from incrementing. */
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for( ;; )
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{
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lTotal1 = ( long ) 0;
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lTotal2 = ( long ) 0;
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for( usPosition = 0; usPosition < usArraySize; usPosition++ )
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{
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plArray[ usPosition ] = ( long ) usPosition + ( long ) 5;
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lTotal1 += ( long ) usPosition + ( long ) 5;
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}
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taskYIELD();
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for( usPosition = 0; usPosition < usArraySize; usPosition++ )
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{
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lTotal2 += plArray[ usPosition ];
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}
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if( lTotal1 != lTotal2 )
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{
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vPrintDisplayMessage( &pcTaskFailMsg );
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sError = pdTRUE;
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}
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taskYIELD();
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if( sError == pdFALSE )
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{
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/* If the calculation has always been correct, increment the check
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variable so we know this task is still running okay. */
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( *pusTaskCheckVariable )++;
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}
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}
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}
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/*-----------------------------------------------------------*/
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static void vCompeteingIntMathTask4( void *pvParameters )
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{
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long *plArray, lTotal1, lTotal2;
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short sError = pdFALSE;
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volatile unsigned short *pusTaskCheckVariable;
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const unsigned short usArraySize = 250;
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unsigned short usPosition;
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const char * const pcTaskStartMsg = "Integer math task 4 started.\r\n";
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const char * const pcTaskFailMsg = "Integer math task 4 failed.\r\n";
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage( &pcTaskStartMsg );
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/* The variable this task increments to show it is still running is passed in
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as the parameter. */
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pusTaskCheckVariable = ( unsigned short * ) pvParameters;
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/* Create the array we are going to use for our check calculation. */
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plArray = ( long * ) pvPortMalloc( ( size_t ) 250 * sizeof( long ) );
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/* Keep filling the array, keeping a running total of the values placed in the
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array. Then run through the array adding up all the values. If the two totals
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do not match, stop the check variable from incrementing. */
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for( ;; )
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{
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lTotal1 = ( long ) 0;
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lTotal2 = ( long ) 0;
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for( usPosition = 0; usPosition < usArraySize; usPosition++ )
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{
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plArray[ usPosition ] = ( long ) usPosition * ( long ) 12;
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lTotal1 += ( long ) usPosition * ( long ) 12;
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}
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taskYIELD();
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for( usPosition = 0; usPosition < usArraySize; usPosition++ )
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{
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lTotal2 += plArray[ usPosition ];
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}
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if( lTotal1 != lTotal2 )
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{
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vPrintDisplayMessage( &pcTaskFailMsg );
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sError = pdTRUE;
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}
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taskYIELD();
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if( sError == pdFALSE )
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{
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/* If the calculation has always been correct, increment the check
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variable so we know this task is still running okay. */
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( *pusTaskCheckVariable )++;
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}
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}
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}
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/*-----------------------------------------------------------*/
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/* This is called to check that all the created tasks are still running. */
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portBASE_TYPE xAreIntegerMathsTaskStillRunning( void )
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{
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/* Keep a history of the check variables so we know if they have been incremented
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since the last call. */
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static unsigned short usLastTaskCheck[ intgNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
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portBASE_TYPE xReturn = pdTRUE, xTask;
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/* Check the maths tasks are still running by ensuring their check variables
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are still incrementing. */
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for( xTask = 0; xTask < intgNUMBER_OF_TASKS; xTask++ )
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{
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if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
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{
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/* The check has not incremented so an error exists. */
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xReturn = pdFALSE;
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}
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usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
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}
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return xReturn;
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}
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