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201 lines
7.9 KiB
C
Executable file
201 lines
7.9 KiB
C
Executable file
/*
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FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that has become a de facto standard. *
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* *
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* Help yourself get started quickly and support the FreeRTOS *
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* project by purchasing a FreeRTOS tutorial book, reference *
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* manual, or both from: http://www.FreeRTOS.org/Documentation *
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* *
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* Thank you! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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>>! NOTE: The modification to the GPL is included to allow you to !<<
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>>! distribute a combined work that includes FreeRTOS without being !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available from the following
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link: http://www.freertos.org/a00114.html
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1 tab == 4 spaces!
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***************************************************************************
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* *
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* Having a problem? Start by reading the FAQ "My application does *
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* not run, what could be wrong?" *
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* *
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* http://www.FreeRTOS.org/FAQHelp.html *
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* *
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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license and Real Time Engineers Ltd. contact details.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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/*
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* Creates one or more tasks that repeatedly perform a set of integer
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* calculations. The result of each run-time calculation is compared to the
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* known expected result - with a mismatch being indicative of an error in the
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* context switch mechanism.
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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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/* Demo program include files. */
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#include "integer.h"
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/* The constants used in the calculation. */
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#define intgCONST1 ( ( long ) 123 )
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#define intgCONST2 ( ( long ) 234567 )
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#define intgCONST3 ( ( long ) -3 )
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#define intgCONST4 ( ( long ) 7 )
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#define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )
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#define intgSTACK_SIZE configMINIMAL_STACK_SIZE
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/* As this is the minimal version, we will only create one task. */
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#define intgNUMBER_OF_TASKS ( 1 )
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/* The task function. Repeatedly performs a 32 bit calculation, checking the
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result against the expected result. If the result is incorrect then the
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context switch must have caused some corruption. */
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static portTASK_FUNCTION_PROTO( vCompeteingIntMathTask, pvParameters );
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/* Variables that are set to true within the calculation task to indicate
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that the task is still executing. The check task sets the variable back to
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false, flagging an error if the variable is still false the next time it
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is called. */
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static volatile BaseType_t xTaskCheck[ intgNUMBER_OF_TASKS ] = { ( BaseType_t ) pdFALSE };
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/*-----------------------------------------------------------*/
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void vStartIntegerMathTasks( UBaseType_t uxPriority )
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{
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short sTask;
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for( sTask = 0; sTask < intgNUMBER_OF_TASKS; sTask++ )
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{
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xTaskCreate( vCompeteingIntMathTask, "IntMath", intgSTACK_SIZE, ( void * ) &( xTaskCheck[ sTask ] ), uxPriority, ( TaskHandle_t * ) NULL );
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}
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}
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/*-----------------------------------------------------------*/
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static portTASK_FUNCTION( vCompeteingIntMathTask, pvParameters )
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{
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/* These variables are all effectively set to constants so they are volatile to
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ensure the compiler does not just get rid of them. */
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volatile long lValue;
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short sError = pdFALSE;
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volatile BaseType_t *pxTaskHasExecuted;
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/* Set a pointer to the variable we are going to set to true each
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iteration. This is also a good test of the parameter passing mechanism
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within each port. */
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pxTaskHasExecuted = ( volatile BaseType_t * ) 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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/* Perform the calculation. This will store partial value in
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registers, resulting in a good test of the context switch mechanism. */
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lValue = intgCONST1;
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lValue += intgCONST2;
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/* Yield in case cooperative scheduling is being used. */
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#if configUSE_PREEMPTION == 0
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{
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taskYIELD();
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}
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#endif
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/* Finish off the calculation. */
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lValue *= intgCONST3;
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lValue /= intgCONST4;
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/* If the calculation is found to be incorrect we stop setting the
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TaskHasExecuted variable so the check task can see an error has
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occurred. */
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if( lValue != intgEXPECTED_ANSWER ) /*lint !e774 volatile used to prevent this being optimised out. */
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{
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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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/* We have not encountered any errors, so set the flag that show
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we are still executing. This will be periodically cleared by
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the check task. */
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portENTER_CRITICAL();
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*pxTaskHasExecuted = pdTRUE;
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portEXIT_CRITICAL();
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}
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/* Yield in case cooperative scheduling is being used. */
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#if configUSE_PREEMPTION == 0
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{
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taskYIELD();
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}
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#endif
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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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BaseType_t xAreIntegerMathsTaskStillRunning( void )
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{
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BaseType_t xReturn = pdTRUE;
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short sTask;
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/* Check the maths tasks are still running by ensuring their check variables
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are still being set to true. */
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for( sTask = 0; sTask < intgNUMBER_OF_TASKS; sTask++ )
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{
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if( xTaskCheck[ sTask ] == pdFALSE )
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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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/* Reset the check variable so we can tell if it has been set by
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the next time around. */
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xTaskCheck[ sTask ] = pdFALSE;
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}
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return xReturn;
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}
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