2 FreeRTOS.org V5.1.0 - Copyright (C) 2003-2008 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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26 ***************************************************************************
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27 ***************************************************************************
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32 * expedite your project. *
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34 ***************************************************************************
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35 ***************************************************************************
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37 Please ensure to read the configuration and relevant port sections of the
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38 online documentation.
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40 http://www.FreeRTOS.org - Documentation, latest information, license and
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43 http://www.SafeRTOS.com - A version that is certified for use in safety
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46 http://www.OpenRTOS.com - Commercial support, development, porting,
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47 licensing and training services.
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51 * This is a version of BlockTim.c that uses the light weight API.
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53 * This file contains some test scenarios that ensure tasks do not exit queue
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54 * send or receive functions prematurely. A description of the tests is
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55 * included within the code.
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58 /* Kernel includes. */
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59 #include "FreeRTOS.h"
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63 /* Demo includes. */
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64 #include "AltBlock.h"
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66 /* Task priorities. */
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67 #define bktPRIMARY_PRIORITY ( 3 )
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68 #define bktSECONDARY_PRIORITY ( 2 )
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70 /* Task behaviour. */
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71 #define bktQUEUE_LENGTH ( 5 )
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72 #define bktSHORT_WAIT ( ( ( portTickType ) 20 ) / portTICK_RATE_MS )
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73 #define bktPRIMARY_BLOCK_TIME ( 10 )
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74 #define bktALLOWABLE_MARGIN ( 12 )
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75 #define bktTIME_TO_BLOCK ( 175 )
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76 #define bktDONT_BLOCK ( ( portTickType ) 0 )
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77 #define bktRUN_INDICATOR ( ( unsigned portBASE_TYPE ) 0x55 )
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79 /* The queue on which the tasks block. */
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80 static xQueueHandle xTestQueue;
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82 /* Handle to the secondary task is required by the primary task for calls
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83 to vTaskSuspend/Resume(). */
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84 static xTaskHandle xSecondary;
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86 /* Used to ensure that tasks are still executing without error. */
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87 static portBASE_TYPE xPrimaryCycles = 0, xSecondaryCycles = 0;
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88 static portBASE_TYPE xErrorOccurred = pdFALSE;
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90 /* Provides a simple mechanism for the primary task to know when the
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91 secondary task has executed. */
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92 static volatile unsigned portBASE_TYPE xRunIndicator;
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94 /* The two test tasks. Their behaviour is commented within the files. */
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95 static void vPrimaryBlockTimeTestTask( void *pvParameters );
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96 static void vSecondaryBlockTimeTestTask( void *pvParameters );
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98 /*-----------------------------------------------------------*/
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100 void vCreateAltBlockTimeTasks( void )
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102 /* Create the queue on which the two tasks block. */
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103 xTestQueue = xQueueCreate( bktQUEUE_LENGTH, sizeof( portBASE_TYPE ) );
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105 /* vQueueAddToRegistry() adds the queue to the queue registry, if one is
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106 in use. The queue registry is provided as a means for kernel aware
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107 debuggers to locate queues and has no purpose if a kernel aware debugger
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108 is not being used. The call to vQueueAddToRegistry() will be removed
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109 by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
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110 defined to be less than 1. */
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111 vQueueAddToRegistry( xTestQueue, ( signed portCHAR * ) "AltBlockQueue" );
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114 /* Create the two test tasks. */
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115 xTaskCreate( vPrimaryBlockTimeTestTask, ( signed portCHAR * )"FBTest1", configMINIMAL_STACK_SIZE, NULL, bktPRIMARY_PRIORITY, NULL );
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116 xTaskCreate( vSecondaryBlockTimeTestTask, ( signed portCHAR * )"FBTest2", configMINIMAL_STACK_SIZE, NULL, bktSECONDARY_PRIORITY, &xSecondary );
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118 /*-----------------------------------------------------------*/
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120 static void vPrimaryBlockTimeTestTask( void *pvParameters )
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122 portBASE_TYPE xItem, xData;
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123 portTickType xTimeWhenBlocking;
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124 portTickType xTimeToBlock, xBlockedTime;
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127 void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
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129 const portCHAR * const pcTaskStartMsg = "Alt primary block time test started.\r\n";
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131 /* Queue a message for printing to say the task has started. */
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132 vPrintDisplayMessage( &pcTaskStartMsg );
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135 ( void ) pvParameters;
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139 /*********************************************************************
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142 Simple block time wakeup test on queue receives. */
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143 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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145 /* The queue is empty. Attempt to read from the queue using a block
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146 time. When we wake, ensure the delta in time is as expected. */
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147 xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;
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149 /* A critical section is used to minimise the jitter in the time
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151 portENTER_CRITICAL();
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153 xTimeWhenBlocking = xTaskGetTickCount();
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155 /* We should unblock after xTimeToBlock having not received
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156 anything on the queue. */
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157 if( xQueueAltReceive( xTestQueue, &xData, xTimeToBlock ) != errQUEUE_EMPTY )
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159 xErrorOccurred = pdTRUE;
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162 /* How long were we blocked for? */
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163 xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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165 portEXIT_CRITICAL();
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167 if( xBlockedTime < xTimeToBlock )
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169 /* Should not have blocked for less than we requested. */
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170 xErrorOccurred = pdTRUE;
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173 if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
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175 /* Should not have blocked for longer than we requested,
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176 although we would not necessarily run as soon as we were
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177 unblocked so a margin is allowed. */
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178 xErrorOccurred = pdTRUE;
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183 #if configUSE_PREEMPTION == 0
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188 /*********************************************************************
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191 Simple block time wakeup test on queue sends.
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193 First fill the queue. It should be empty so all sends should pass. */
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194 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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196 if( xQueueAltSendToBack( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
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198 xErrorOccurred = pdTRUE;
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202 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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204 /* The queue is full. Attempt to write to the queue using a block
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205 time. When we wake, ensure the delta in time is as expected. */
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206 xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;
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208 portENTER_CRITICAL();
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210 xTimeWhenBlocking = xTaskGetTickCount();
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212 /* We should unblock after xTimeToBlock having not received
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213 anything on the queue. */
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214 if( xQueueAltSendToBack( xTestQueue, &xItem, xTimeToBlock ) != errQUEUE_FULL )
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216 xErrorOccurred = pdTRUE;
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219 /* How long were we blocked for? */
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220 xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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222 portEXIT_CRITICAL();
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224 if( xBlockedTime < xTimeToBlock )
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226 /* Should not have blocked for less than we requested. */
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227 xErrorOccurred = pdTRUE;
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230 if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
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232 /* Should not have blocked for longer than we requested,
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233 although we would not necessarily run as soon as we were
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234 unblocked so a margin is allowed. */
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235 xErrorOccurred = pdTRUE;
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239 #if configUSE_PREEMPTION == 0
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244 /*********************************************************************
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247 Wake the other task, it will block attempting to post to the queue.
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248 When we read from the queue the other task will wake, but before it
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249 can run we will post to the queue again. When the other task runs it
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250 will find the queue still full, even though it was woken. It should
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251 recognise that its block time has not expired and return to block for
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252 the remains of its block time.
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254 Wake the other task so it blocks attempting to post to the already
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257 vTaskResume( xSecondary );
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259 /* We need to wait a little to ensure the other task executes. */
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260 while( xRunIndicator != bktRUN_INDICATOR )
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262 /* The other task has not yet executed. */
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263 vTaskDelay( bktSHORT_WAIT );
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265 /* Make sure the other task is blocked on the queue. */
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266 vTaskDelay( bktSHORT_WAIT );
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269 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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271 /* Now when we make space on the queue the other task should wake
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272 but not execute as this task has higher priority. */
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273 if( xQueueAltReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
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275 xErrorOccurred = pdTRUE;
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278 /* Now fill the queue again before the other task gets a chance to
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279 execute. If the other task had executed we would find the queue
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280 full ourselves, and the other task have set xRunIndicator. */
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281 if( xQueueAltSendToBack( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
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283 xErrorOccurred = pdTRUE;
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286 if( xRunIndicator == bktRUN_INDICATOR )
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288 /* The other task should not have executed. */
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289 xErrorOccurred = pdTRUE;
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292 /* Raise the priority of the other task so it executes and blocks
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293 on the queue again. */
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294 vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
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296 /* The other task should now have re-blocked without exiting the
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298 if( xRunIndicator == bktRUN_INDICATOR )
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300 /* The other task should not have executed outside of the
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302 xErrorOccurred = pdTRUE;
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305 /* Set the priority back down. */
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306 vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
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309 /* Let the other task timeout. When it unblockes it will check that it
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310 unblocked at the correct time, then suspend itself. */
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311 while( xRunIndicator != bktRUN_INDICATOR )
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313 vTaskDelay( bktSHORT_WAIT );
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315 vTaskDelay( bktSHORT_WAIT );
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318 #if configUSE_PREEMPTION == 0
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322 /*********************************************************************
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325 As per test 3 - but with the send and receive the other way around.
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326 The other task blocks attempting to read from the queue.
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328 Empty the queue. We should find that it is full. */
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329 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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331 if( xQueueAltReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
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333 xErrorOccurred = pdTRUE;
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337 /* Wake the other task so it blocks attempting to read from the
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338 already empty queue. */
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339 vTaskResume( xSecondary );
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341 /* We need to wait a little to ensure the other task executes. */
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342 while( xRunIndicator != bktRUN_INDICATOR )
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344 vTaskDelay( bktSHORT_WAIT );
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346 vTaskDelay( bktSHORT_WAIT );
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349 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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351 /* Now when we place an item on the queue the other task should
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352 wake but not execute as this task has higher priority. */
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353 if( xQueueAltSendToBack( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
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355 xErrorOccurred = pdTRUE;
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358 /* Now empty the queue again before the other task gets a chance to
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359 execute. If the other task had executed we would find the queue
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360 empty ourselves, and the other task would be suspended. */
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361 if( xQueueAltReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
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363 xErrorOccurred = pdTRUE;
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366 if( xRunIndicator == bktRUN_INDICATOR )
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368 /* The other task should not have executed. */
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369 xErrorOccurred = pdTRUE;
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372 /* Raise the priority of the other task so it executes and blocks
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373 on the queue again. */
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374 vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
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376 /* The other task should now have re-blocked without exiting the
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378 if( xRunIndicator == bktRUN_INDICATOR )
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380 /* The other task should not have executed outside of the
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382 xErrorOccurred = pdTRUE;
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384 vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
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387 /* Let the other task timeout. When it unblockes it will check that it
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388 unblocked at the correct time, then suspend itself. */
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389 while( xRunIndicator != bktRUN_INDICATOR )
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391 vTaskDelay( bktSHORT_WAIT );
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393 vTaskDelay( bktSHORT_WAIT );
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398 /*-----------------------------------------------------------*/
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400 static void vSecondaryBlockTimeTestTask( void *pvParameters )
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402 portTickType xTimeWhenBlocking, xBlockedTime;
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403 portBASE_TYPE xData;
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406 void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
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408 const portCHAR * const pcTaskStartMsg = "Alt secondary block time test started.\r\n";
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410 /* Queue a message for printing to say the task has started. */
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411 vPrintDisplayMessage( &pcTaskStartMsg );
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414 ( void ) pvParameters;
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418 /*********************************************************************
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421 This task does does not participate in these tests. */
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422 vTaskSuspend( NULL );
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424 /*********************************************************************
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427 The first thing we do is attempt to read from the queue. It should be
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428 full so we block. Note the time before we block so we can check the
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429 wake time is as per that expected. */
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430 portENTER_CRITICAL();
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432 xTimeWhenBlocking = xTaskGetTickCount();
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434 /* We should unblock after bktTIME_TO_BLOCK having not received
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435 anything on the queue. */
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437 xRunIndicator = bktRUN_INDICATOR;
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438 if( xQueueAltSendToBack( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_FULL )
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440 xErrorOccurred = pdTRUE;
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443 /* How long were we inside the send function? */
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444 xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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446 portEXIT_CRITICAL();
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448 /* We should not have blocked for less time than bktTIME_TO_BLOCK. */
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449 if( xBlockedTime < bktTIME_TO_BLOCK )
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451 xErrorOccurred = pdTRUE;
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454 /* We should of not blocked for much longer than bktALLOWABLE_MARGIN
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455 either. A margin is permitted as we would not necessarily run as
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456 soon as we unblocked. */
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457 if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
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459 xErrorOccurred = pdTRUE;
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462 /* Suspend ready for test 3. */
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463 xRunIndicator = bktRUN_INDICATOR;
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464 vTaskSuspend( NULL );
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466 /*********************************************************************
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469 As per test three, but with the send and receive reversed. */
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470 portENTER_CRITICAL();
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472 xTimeWhenBlocking = xTaskGetTickCount();
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474 /* We should unblock after bktTIME_TO_BLOCK having not received
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475 anything on the queue. */
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476 xRunIndicator = bktRUN_INDICATOR;
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477 if( xQueueAltReceive( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_EMPTY )
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479 xErrorOccurred = pdTRUE;
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482 xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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484 portEXIT_CRITICAL();
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486 /* We should not have blocked for less time than bktTIME_TO_BLOCK. */
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487 if( xBlockedTime < bktTIME_TO_BLOCK )
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489 xErrorOccurred = pdTRUE;
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492 /* We should of not blocked for much longer than bktALLOWABLE_MARGIN
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493 either. A margin is permitted as we would not necessarily run as soon
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494 as we unblocked. */
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495 if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
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497 xErrorOccurred = pdTRUE;
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500 xRunIndicator = bktRUN_INDICATOR;
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502 xSecondaryCycles++;
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505 /*-----------------------------------------------------------*/
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507 portBASE_TYPE xAreAltBlockTimeTestTasksStillRunning( void )
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509 static portBASE_TYPE xLastPrimaryCycleCount = 0, xLastSecondaryCycleCount = 0;
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510 portBASE_TYPE xReturn = pdPASS;
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512 /* Have both tasks performed at least one cycle since this function was
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514 if( xPrimaryCycles == xLastPrimaryCycleCount )
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519 if( xSecondaryCycles == xLastSecondaryCycleCount )
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524 if( xErrorOccurred == pdTRUE )
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529 xLastSecondaryCycleCount = xSecondaryCycles;
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530 xLastPrimaryCycleCount = xPrimaryCycles;
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