2 FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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5 ***************************************************************************
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8 * Complete, revised, and edited pdf reference manuals are also *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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56 * This file implements the same demo and test as GenQTest.c, but uses the
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57 * light weight API in place of the fully featured API.
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59 * See the comments at the top of GenQTest.c for a description.
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65 /* Scheduler include files. */
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66 #include "FreeRTOS.h"
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71 /* Demo program include files. */
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72 #include "AltQTest.h"
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74 #define genqQUEUE_LENGTH ( 5 )
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75 #define genqNO_BLOCK ( 0 )
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77 #define genqMUTEX_LOW_PRIORITY ( tskIDLE_PRIORITY )
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78 #define genqMUTEX_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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79 #define genqMUTEX_MEDIUM_PRIORITY ( tskIDLE_PRIORITY + 2 )
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80 #define genqMUTEX_HIGH_PRIORITY ( tskIDLE_PRIORITY + 3 )
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82 /*-----------------------------------------------------------*/
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85 * Tests the behaviour of the xQueueAltSendToFront() and xQueueAltSendToBack()
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86 * macros by using both to fill a queue, then reading from the queue to
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87 * check the resultant queue order is as expected. Queue data is also
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90 static void prvSendFrontAndBackTest( void *pvParameters );
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93 * The following three tasks are used to demonstrate the mutex behaviour.
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94 * Each task is given a different priority to demonstrate the priority
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95 * inheritance mechanism.
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97 * The low priority task obtains a mutex. After this a high priority task
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98 * attempts to obtain the same mutex, causing its priority to be inherited
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99 * by the low priority task. The task with the inherited high priority then
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100 * resumes a medium priority task to ensure it is not blocked by the medium
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101 * priority task while it holds the inherited high priority. Once the mutex
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102 * is returned the task with the inherited priority returns to its original
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103 * low priority, and is therefore immediately preempted by first the high
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104 * priority task and then the medium prioroity task before it can continue.
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106 static void prvLowPriorityMutexTask( void *pvParameters );
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107 static void prvMediumPriorityMutexTask( void *pvParameters );
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108 static void prvHighPriorityMutexTask( void *pvParameters );
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110 /*-----------------------------------------------------------*/
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112 /* Flag that will be latched to pdTRUE should any unexpected behaviour be
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113 detected in any of the tasks. */
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114 static portBASE_TYPE xErrorDetected = pdFALSE;
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116 /* Counters that are incremented on each cycle of a test. This is used to
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117 detect a stalled task - a test that is no longer running. */
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118 static volatile unsigned portLONG ulLoopCounter = 0;
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119 static volatile unsigned portLONG ulLoopCounter2 = 0;
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121 /* The variable that is guarded by the mutex in the mutex demo tasks. */
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122 static volatile unsigned portLONG ulGuardedVariable = 0;
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124 /* Handles used in the mutext test to suspend and resume the high and medium
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125 priority mutex test tasks. */
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126 static xTaskHandle xHighPriorityMutexTask, xMediumPriorityMutexTask;
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128 /*-----------------------------------------------------------*/
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130 void vStartAltGenericQueueTasks( unsigned portBASE_TYPE uxPriority )
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132 xQueueHandle xQueue;
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133 xSemaphoreHandle xMutex;
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135 /* Create the queue that we are going to use for the
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136 prvSendFrontAndBackTest demo. */
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137 xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( unsigned portLONG ) );
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139 /* vQueueAddToRegistry() adds the queue to the queue registry, if one is
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140 in use. The queue registry is provided as a means for kernel aware
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141 debuggers to locate queues and has no purpose if a kernel aware debugger
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142 is not being used. The call to vQueueAddToRegistry() will be removed
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143 by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
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144 defined to be less than 1. */
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145 vQueueAddToRegistry( xQueue, ( signed portCHAR * ) "Alt_Gen_Test_Queue" );
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147 /* Create the demo task and pass it the queue just created. We are
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148 passing the queue handle by value so it does not matter that it is
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149 declared on the stack here. */
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150 xTaskCreate( prvSendFrontAndBackTest, ( signed portCHAR * ) "FGenQ", configMINIMAL_STACK_SIZE, ( void * ) xQueue, uxPriority, NULL );
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152 /* Create the mutex used by the prvMutexTest task. */
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153 xMutex = xSemaphoreCreateMutex();
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155 /* vQueueAddToRegistry() adds the mutex to the registry, if one is
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156 in use. The registry is provided as a means for kernel aware
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157 debuggers to locate mutex and has no purpose if a kernel aware debugger
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158 is not being used. The call to vQueueAddToRegistry() will be removed
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159 by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
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160 defined to be less than 1. */
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161 vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Alt_Q_Mutex" );
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163 /* Create the mutex demo tasks and pass it the mutex just created. We are
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164 passing the mutex handle by value so it does not matter that it is declared
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165 on the stack here. */
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166 xTaskCreate( prvLowPriorityMutexTask, ( signed portCHAR * ) "FMuLow", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_LOW_PRIORITY, NULL );
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167 xTaskCreate( prvMediumPriorityMutexTask, ( signed portCHAR * ) "FMuMed", configMINIMAL_STACK_SIZE, NULL, genqMUTEX_MEDIUM_PRIORITY, &xMediumPriorityMutexTask );
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168 xTaskCreate( prvHighPriorityMutexTask, ( signed portCHAR * ) "FMuHigh", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_HIGH_PRIORITY, &xHighPriorityMutexTask );
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170 /*-----------------------------------------------------------*/
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172 static void prvSendFrontAndBackTest( void *pvParameters )
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174 unsigned portLONG ulData, ulData2;
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175 xQueueHandle xQueue;
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178 void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
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180 const portCHAR * const pcTaskStartMsg = "Alt queue SendToFront/SendToBack/Peek test started.\r\n";
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182 /* Queue a message for printing to say the task has started. */
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183 vPrintDisplayMessage( &pcTaskStartMsg );
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186 xQueue = ( xQueueHandle ) pvParameters;
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190 /* The queue is empty, so sending an item to the back of the queue
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191 should have the same efect as sending it to the front of the queue.
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193 First send to the front and check everything is as expected. */
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194 xQueueAltSendToFront( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );
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196 if( uxQueueMessagesWaiting( xQueue ) != 1 )
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198 xErrorDetected = pdTRUE;
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201 if( xQueueAltReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
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203 xErrorDetected = pdTRUE;
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206 /* The data we sent to the queue should equal the data we just received
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208 if( ulLoopCounter != ulData )
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210 xErrorDetected = pdTRUE;
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213 /* Then do the same, sending the data to the back, checking everything
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215 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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217 xErrorDetected = pdTRUE;
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220 xQueueAltSendToBack( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );
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222 if( uxQueueMessagesWaiting( xQueue ) != 1 )
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224 xErrorDetected = pdTRUE;
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227 if( xQueueAltReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
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229 xErrorDetected = pdTRUE;
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232 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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234 xErrorDetected = pdTRUE;
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237 /* The data we sent to the queue should equal the data we just received
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239 if( ulLoopCounter != ulData )
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241 xErrorDetected = pdTRUE;
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244 #if configUSE_PREEMPTION == 0
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250 /* Place 2, 3, 4 into the queue, adding items to the back of the queue. */
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251 for( ulData = 2; ulData < 5; ulData++ )
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253 xQueueAltSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK );
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256 /* Now the order in the queue should be 2, 3, 4, with 2 being the first
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257 thing to be read out. Now add 1 then 0 to the front of the queue. */
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258 if( uxQueueMessagesWaiting( xQueue ) != 3 )
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260 xErrorDetected = pdTRUE;
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263 xQueueAltSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );
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265 xQueueAltSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );
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267 /* Now the queue should be full, and when we read the data out we
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268 should receive 0, 1, 2, 3, 4. */
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269 if( uxQueueMessagesWaiting( xQueue ) != 5 )
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271 xErrorDetected = pdTRUE;
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274 if( xQueueAltSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
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276 xErrorDetected = pdTRUE;
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279 if( xQueueAltSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
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281 xErrorDetected = pdTRUE;
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284 #if configUSE_PREEMPTION == 0
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288 /* Check the data we read out is in the expected order. */
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289 for( ulData = 0; ulData < genqQUEUE_LENGTH; ulData++ )
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291 /* Try peeking the data first. */
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292 if( xQueueAltPeek( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
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294 xErrorDetected = pdTRUE;
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297 if( ulData != ulData2 )
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299 xErrorDetected = pdTRUE;
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303 /* Now try receiving the data for real. The value should be the
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304 same. Clobber the value first so we know we really received it. */
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305 ulData2 = ~ulData2;
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306 if( xQueueAltReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
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308 xErrorDetected = pdTRUE;
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311 if( ulData != ulData2 )
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313 xErrorDetected = pdTRUE;
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317 /* The queue should now be empty again. */
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318 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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320 xErrorDetected = pdTRUE;
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323 #if configUSE_PREEMPTION == 0
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328 /* Our queue is empty once more, add 10, 11 to the back. */
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330 if( xQueueAltSendToBack( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )
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332 xErrorDetected = pdTRUE;
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335 if( xQueueAltSendToBack( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )
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337 xErrorDetected = pdTRUE;
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340 if( uxQueueMessagesWaiting( xQueue ) != 2 )
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342 xErrorDetected = pdTRUE;
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345 /* Now we should have 10, 11 in the queue. Add 7, 8, 9 to the
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347 for( ulData = 9; ulData >= 7; ulData-- )
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349 if( xQueueAltSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
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351 xErrorDetected = pdTRUE;
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355 /* Now check that the queue is full, and that receiving data provides
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356 the expected sequence of 7, 8, 9, 10, 11. */
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357 if( uxQueueMessagesWaiting( xQueue ) != 5 )
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359 xErrorDetected = pdTRUE;
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362 if( xQueueAltSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
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364 xErrorDetected = pdTRUE;
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367 if( xQueueAltSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
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369 xErrorDetected = pdTRUE;
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372 #if configUSE_PREEMPTION == 0
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376 /* Check the data we read out is in the expected order. */
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377 for( ulData = 7; ulData < ( 7 + genqQUEUE_LENGTH ); ulData++ )
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379 if( xQueueAltReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
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381 xErrorDetected = pdTRUE;
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384 if( ulData != ulData2 )
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386 xErrorDetected = pdTRUE;
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390 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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392 xErrorDetected = pdTRUE;
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398 /*-----------------------------------------------------------*/
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400 static void prvLowPriorityMutexTask( void *pvParameters )
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402 xSemaphoreHandle xMutex = ( xSemaphoreHandle ) pvParameters;
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405 void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
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407 const portCHAR * const pcTaskStartMsg = "Fast mutex with priority inheritance test started.\r\n";
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409 /* Queue a message for printing to say the task has started. */
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410 vPrintDisplayMessage( &pcTaskStartMsg );
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413 ( void ) pvParameters;
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418 /* Take the mutex. It should be available now. */
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419 if( xSemaphoreAltTake( xMutex, genqNO_BLOCK ) != pdPASS )
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421 xErrorDetected = pdTRUE;
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424 /* Set our guarded variable to a known start value. */
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425 ulGuardedVariable = 0;
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427 /* Our priority should be as per that assigned when the task was
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429 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
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431 xErrorDetected = pdTRUE;
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434 /* Now unsuspend the high priority task. This will attempt to take the
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435 mutex, and block when it finds it cannot obtain it. */
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436 vTaskResume( xHighPriorityMutexTask );
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438 /* We should now have inherited the prioritoy of the high priority task,
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439 as by now it will have attempted to get the mutex. */
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440 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
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442 xErrorDetected = pdTRUE;
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445 /* We can attempt to set our priority to the test priority - between the
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446 idle priority and the medium/high test priorities, but our actual
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447 prioroity should remain at the high priority. */
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448 vTaskPrioritySet( NULL, genqMUTEX_TEST_PRIORITY );
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449 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
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451 xErrorDetected = pdTRUE;
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454 /* Now unsuspend the medium priority task. This should not run as our
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455 inherited priority is above that of the medium priority task. */
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456 vTaskResume( xMediumPriorityMutexTask );
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458 /* If the did run then it will have incremented our guarded variable. */
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459 if( ulGuardedVariable != 0 )
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461 xErrorDetected = pdTRUE;
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464 /* When we give back the semaphore our priority should be disinherited
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465 back to the priority to which we attempted to set ourselves. This means
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466 that when the high priority task next blocks, the medium priority task
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467 should execute and increment the guarded variable. When we next run
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468 both the high and medium priority tasks will have been suspended again. */
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469 if( xSemaphoreAltGive( xMutex ) != pdPASS )
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471 xErrorDetected = pdTRUE;
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474 /* Check that the guarded variable did indeed increment... */
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475 if( ulGuardedVariable != 1 )
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477 xErrorDetected = pdTRUE;
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480 /* ... and that our priority has been disinherited to
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481 genqMUTEX_TEST_PRIORITY. */
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482 if( uxTaskPriorityGet( NULL ) != genqMUTEX_TEST_PRIORITY )
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484 xErrorDetected = pdTRUE;
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487 /* Set our priority back to our original priority ready for the next
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488 loop around this test. */
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489 vTaskPrioritySet( NULL, genqMUTEX_LOW_PRIORITY );
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491 /* Just to show we are still running. */
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494 #if configUSE_PREEMPTION == 0
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499 /*-----------------------------------------------------------*/
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501 static void prvMediumPriorityMutexTask( void *pvParameters )
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503 ( void ) pvParameters;
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507 /* The medium priority task starts by suspending itself. The low
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508 priority task will unsuspend this task when required. */
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509 vTaskSuspend( NULL );
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511 /* When this task unsuspends all it does is increment the guarded
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512 variable, this is so the low priority task knows that it has
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514 ulGuardedVariable++;
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517 /*-----------------------------------------------------------*/
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519 static void prvHighPriorityMutexTask( void *pvParameters )
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521 xSemaphoreHandle xMutex = ( xSemaphoreHandle ) pvParameters;
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523 ( void ) pvParameters;
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527 /* The high priority task starts by suspending itself. The low
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528 priority task will unsuspend this task when required. */
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529 vTaskSuspend( NULL );
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531 /* When this task unsuspends all it does is attempt to obtain
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532 the mutex. It should find the mutex is not available so a
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533 block time is specified. */
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534 if( xSemaphoreAltTake( xMutex, portMAX_DELAY ) != pdPASS )
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536 xErrorDetected = pdTRUE;
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539 /* When we eventually obtain the mutex we just give it back then
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540 return to suspend ready for the next test. */
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541 if( xSemaphoreAltGive( xMutex ) != pdPASS )
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543 xErrorDetected = pdTRUE;
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547 /*-----------------------------------------------------------*/
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549 /* This is called to check that all the created tasks are still running. */
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550 portBASE_TYPE xAreAltGenericQueueTasksStillRunning( void )
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552 static unsigned portLONG ulLastLoopCounter = 0, ulLastLoopCounter2 = 0;
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554 /* If the demo task is still running then we expect the loopcounters to
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555 have incremented since this function was last called. */
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556 if( ulLastLoopCounter == ulLoopCounter )
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558 xErrorDetected = pdTRUE;
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561 if( ulLastLoopCounter2 == ulLoopCounter2 )
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563 xErrorDetected = pdTRUE;
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566 ulLastLoopCounter = ulLoopCounter;
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567 ulLastLoopCounter2 = ulLoopCounter2;
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569 /* Errors detected in the task itself will have latched xErrorDetected
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572 return !xErrorDetected;
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