static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )
{
volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
volatile uint16_t *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 = ( uint16_t * ) 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;
}
}
}
static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )
{
volatile portDOUBLE d1, d2, d3, d4;
volatile uint16_t *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 = ( volatile uint16_t * ) 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
}
}
void sonar_driver_task(void *pParam){
int i = 0;
portTASK_USES_FLOATING_POINT();
rpi_irq_enable(RPI_IRQ_ID_GPIO_0);
while(1){
for(i = 0; i < MAX_SONARS; ++i){
runMeasureCycle(i);
vTaskDelay(10);
}
}
vTaskDelete(NULL);
(void)pParam;
}
static void prvRegTestTask2( void *pvParameters )
{
extern void vRegTest2( volatile unsigned long * );
/* Avoid compiler warnings. */
( void ) pvParameters;
/* Must be called before any hardware floating point operations are
performed to let the RTOS portable layer know that this task requires
a floating point context. */
portTASK_USES_FLOATING_POINT();
/* Pass the address of the RegTest2 loop counter into the test function,
which is necessarily implemented in assembler. */
vRegTest2( &ulRegTest2Cycles );
/* vRegTest1 should never exit! */
vTaskDelete( NULL );
}