From a6163888f3c56123b1db313743c6147ba498732c Mon Sep 17 00:00:00 2001 From: Yuval Adam Date: Fri, 8 Aug 2014 14:42:07 +0300 Subject: Add third_party libs --- third_party/FreeRTOS/Demo/Common/Minimal/flop.c | 383 ++++++++++++++++++++++++ 1 file changed, 383 insertions(+) create mode 100644 third_party/FreeRTOS/Demo/Common/Minimal/flop.c (limited to 'third_party/FreeRTOS/Demo/Common/Minimal/flop.c') diff --git a/third_party/FreeRTOS/Demo/Common/Minimal/flop.c b/third_party/FreeRTOS/Demo/Common/Minimal/flop.c new file mode 100644 index 0000000..e45ec64 --- /dev/null +++ b/third_party/FreeRTOS/Demo/Common/Minimal/flop.c @@ -0,0 +1,383 @@ +/* + FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * + *************************************************************************** + + 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 modification 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. Full license text is available from the following + link: http://www.freertos.org/a00114.html + + 1 tab == 4 spaces! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong?" * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. + + http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! +*/ + +/* + * 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. + */ + +#include +#include + +/* 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 ( 4 ) + +/* 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 setting 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 ); +} +/*-----------------------------------------------------------*/ + +static portTASK_FUNCTION( vCompetingMathTask1, pvParameters ) +{ +volatile portDOUBLE d1, d2, d3, d4; +volatile unsigned short *pusTaskCheckVariable; +volatile portDOUBLE dAnswer; +short sError = pdFALSE; + + /* Some ports require that tasks that use a hardware floating point unit + tell the kernel that they require a floating point context before any + floating point instructions are executed. */ + portTASK_USES_FLOATING_POINT(); + + 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 then set set the check + variable. The check variable will get set to pdFALSE each time + xAreMathsTaskStillRunning() is executed. */ + ( *pusTaskCheckVariable ) = pdTRUE; + } + + #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; + + /* Some ports require that tasks that use a hardware floating point unit + tell the kernel that they require a floating point context before any + floating point instructions are executed. */ + portTASK_USES_FLOATING_POINT(); + + 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 then set set the check + variable. The check variable will get set to pdFALSE each time + xAreMathsTaskStillRunning() is executed. */ + ( *pusTaskCheckVariable ) = pdTRUE; + } + + #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; + + /* Some ports require that tasks that use a hardware floating point unit + tell the kernel that they require a floating point context before any + floating point instructions are executed. */ + portTASK_USES_FLOATING_POINT(); + + /* 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 then set set the check + variable. The check variable will get set to pdFALSE each time + xAreMathsTaskStillRunning() is executed. */ + ( *pusTaskCheckVariable ) = pdTRUE; + } + } +} +/*-----------------------------------------------------------*/ + +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; + + /* Some ports require that tasks that use a hardware floating point unit + tell the kernel that they require a floating point context before any + floating point instructions are executed. */ + portTASK_USES_FLOATING_POINT(); + + /* 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 then set set the check + variable. The check variable will get set to pdFALSE each time + xAreMathsTaskStillRunning() is executed. */ + ( *pusTaskCheckVariable ) = pdTRUE; + } + } +} +/*-----------------------------------------------------------*/ + +/* This is called to check that all the created tasks are still running. */ +portBASE_TYPE xAreMathsTaskStillRunning( void ) +{ +portBASE_TYPE xReturn = pdPASS, xTask; + + /* Check the maths tasks are still running by ensuring their check variables + have been set to pdPASS. */ + for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ ) + { + if( usTaskCheck[ xTask ] != pdTRUE ) + { + /* The check has not been set so the associated task has either + stalled or detected an error. */ + xReturn = pdFAIL; + } + else + { + /* Reset the variable so it can be checked again the next time this + function is executed. */ + usTaskCheck[ xTask ] = pdFALSE; + } + } + + return xReturn; +} + + + -- cgit v1.3.1