2 FreeRTOS.org V5.1.1 - Copyright (C) 2003-2008 Richard Barry.
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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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47 licensing and training services.
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52 * This file implements the same demo and test as GenQTest.c, but uses the
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53 * light weight API in place of the fully featured API.
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55 * See the comments at the top of GenQTest.c for a description.
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61 /* Scheduler include files. */
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62 #include "FreeRTOS.h"
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67 /* Demo program include files. */
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68 #include "AltQTest.h"
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70 #define genqQUEUE_LENGTH ( 5 )
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71 #define genqNO_BLOCK ( 0 )
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73 #define genqMUTEX_LOW_PRIORITY ( tskIDLE_PRIORITY )
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74 #define genqMUTEX_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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75 #define genqMUTEX_MEDIUM_PRIORITY ( tskIDLE_PRIORITY + 2 )
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76 #define genqMUTEX_HIGH_PRIORITY ( tskIDLE_PRIORITY + 3 )
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78 /*-----------------------------------------------------------*/
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81 * Tests the behaviour of the xQueueAltSendToFront() and xQueueAltSendToBack()
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82 * macros by using both to fill a queue, then reading from the queue to
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83 * check the resultant queue order is as expected. Queue data is also
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86 static void prvSendFrontAndBackTest( void *pvParameters );
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89 * The following three tasks are used to demonstrate the mutex behaviour.
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90 * Each task is given a different priority to demonstrate the priority
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91 * inheritance mechanism.
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93 * The low priority task obtains a mutex. After this a high priority task
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94 * attempts to obtain the same mutex, causing its priority to be inherited
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95 * by the low priority task. The task with the inherited high priority then
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96 * resumes a medium priority task to ensure it is not blocked by the medium
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97 * priority task while it holds the inherited high priority. Once the mutex
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98 * is returned the task with the inherited priority returns to its original
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99 * low priority, and is therefore immediately preempted by first the high
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100 * priority task and then the medium prioroity task before it can continue.
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102 static void prvLowPriorityMutexTask( void *pvParameters );
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103 static void prvMediumPriorityMutexTask( void *pvParameters );
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104 static void prvHighPriorityMutexTask( void *pvParameters );
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106 /*-----------------------------------------------------------*/
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108 /* Flag that will be latched to pdTRUE should any unexpected behaviour be
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109 detected in any of the tasks. */
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110 static portBASE_TYPE xErrorDetected = pdFALSE;
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112 /* Counters that are incremented on each cycle of a test. This is used to
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113 detect a stalled task - a test that is no longer running. */
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114 static volatile unsigned portLONG ulLoopCounter = 0;
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115 static volatile unsigned portLONG ulLoopCounter2 = 0;
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117 /* The variable that is guarded by the mutex in the mutex demo tasks. */
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118 static volatile unsigned portLONG ulGuardedVariable = 0;
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120 /* Handles used in the mutext test to suspend and resume the high and medium
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121 priority mutex test tasks. */
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122 static xTaskHandle xHighPriorityMutexTask, xMediumPriorityMutexTask;
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124 /*-----------------------------------------------------------*/
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126 void vStartAltGenericQueueTasks( unsigned portBASE_TYPE uxPriority )
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128 xQueueHandle xQueue;
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129 xSemaphoreHandle xMutex;
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131 /* Create the queue that we are going to use for the
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132 prvSendFrontAndBackTest demo. */
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133 xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( unsigned portLONG ) );
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135 /* vQueueAddToRegistry() adds the queue to the queue registry, if one is
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136 in use. The queue registry is provided as a means for kernel aware
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137 debuggers to locate queues and has no purpose if a kernel aware debugger
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138 is not being used. The call to vQueueAddToRegistry() will be removed
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139 by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
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140 defined to be less than 1. */
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141 vQueueAddToRegistry( xQueue, ( signed portCHAR * ) "Alt_Gen_Test_Queue" );
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143 /* Create the demo task and pass it the queue just created. We are
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144 passing the queue handle by value so it does not matter that it is
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145 declared on the stack here. */
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146 xTaskCreate( prvSendFrontAndBackTest, ( signed portCHAR * ) "FGenQ", configMINIMAL_STACK_SIZE, ( void * ) xQueue, uxPriority, NULL );
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148 /* Create the mutex used by the prvMutexTest task. */
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149 xMutex = xSemaphoreCreateMutex();
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151 /* vQueueAddToRegistry() adds the mutex to the registry, if one is
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152 in use. The registry is provided as a means for kernel aware
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153 debuggers to locate mutex and has no purpose if a kernel aware debugger
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154 is not being used. The call to vQueueAddToRegistry() will be removed
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155 by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
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156 defined to be less than 1. */
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157 vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Alt_Q_Mutex" );
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159 /* Create the mutex demo tasks and pass it the mutex just created. We are
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160 passing the mutex handle by value so it does not matter that it is declared
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161 on the stack here. */
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162 xTaskCreate( prvLowPriorityMutexTask, ( signed portCHAR * ) "FMuLow", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_LOW_PRIORITY, NULL );
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163 xTaskCreate( prvMediumPriorityMutexTask, ( signed portCHAR * ) "FMuMed", configMINIMAL_STACK_SIZE, NULL, genqMUTEX_MEDIUM_PRIORITY, &xMediumPriorityMutexTask );
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164 xTaskCreate( prvHighPriorityMutexTask, ( signed portCHAR * ) "FMuHigh", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_HIGH_PRIORITY, &xHighPriorityMutexTask );
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166 /*-----------------------------------------------------------*/
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168 static void prvSendFrontAndBackTest( void *pvParameters )
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170 unsigned portLONG ulData, ulData2;
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171 xQueueHandle xQueue;
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174 void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
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176 const portCHAR * const pcTaskStartMsg = "Alt queue SendToFront/SendToBack/Peek test started.\r\n";
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178 /* Queue a message for printing to say the task has started. */
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179 vPrintDisplayMessage( &pcTaskStartMsg );
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182 xQueue = ( xQueueHandle ) pvParameters;
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186 /* The queue is empty, so sending an item to the back of the queue
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187 should have the same efect as sending it to the front of the queue.
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189 First send to the front and check everything is as expected. */
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190 xQueueAltSendToFront( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );
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192 if( uxQueueMessagesWaiting( xQueue ) != 1 )
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194 xErrorDetected = pdTRUE;
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197 if( xQueueAltReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
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199 xErrorDetected = pdTRUE;
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202 /* The data we sent to the queue should equal the data we just received
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204 if( ulLoopCounter != ulData )
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206 xErrorDetected = pdTRUE;
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209 /* Then do the same, sending the data to the back, checking everything
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211 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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213 xErrorDetected = pdTRUE;
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216 xQueueAltSendToBack( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );
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218 if( uxQueueMessagesWaiting( xQueue ) != 1 )
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220 xErrorDetected = pdTRUE;
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223 if( xQueueAltReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
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225 xErrorDetected = pdTRUE;
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228 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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230 xErrorDetected = pdTRUE;
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233 /* The data we sent to the queue should equal the data we just received
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235 if( ulLoopCounter != ulData )
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237 xErrorDetected = pdTRUE;
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240 #if configUSE_PREEMPTION == 0
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246 /* Place 2, 3, 4 into the queue, adding items to the back of the queue. */
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247 for( ulData = 2; ulData < 5; ulData++ )
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249 xQueueAltSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK );
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252 /* Now the order in the queue should be 2, 3, 4, with 2 being the first
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253 thing to be read out. Now add 1 then 0 to the front of the queue. */
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254 if( uxQueueMessagesWaiting( xQueue ) != 3 )
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256 xErrorDetected = pdTRUE;
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259 xQueueAltSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );
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261 xQueueAltSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );
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263 /* Now the queue should be full, and when we read the data out we
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264 should receive 0, 1, 2, 3, 4. */
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265 if( uxQueueMessagesWaiting( xQueue ) != 5 )
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267 xErrorDetected = pdTRUE;
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270 if( xQueueAltSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
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272 xErrorDetected = pdTRUE;
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275 if( xQueueAltSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
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277 xErrorDetected = pdTRUE;
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280 #if configUSE_PREEMPTION == 0
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284 /* Check the data we read out is in the expected order. */
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285 for( ulData = 0; ulData < genqQUEUE_LENGTH; ulData++ )
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287 /* Try peeking the data first. */
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288 if( xQueueAltPeek( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
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290 xErrorDetected = pdTRUE;
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293 if( ulData != ulData2 )
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295 xErrorDetected = pdTRUE;
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299 /* Now try receiving the data for real. The value should be the
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300 same. Clobber the value first so we know we really received it. */
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301 ulData2 = ~ulData2;
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302 if( xQueueAltReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
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304 xErrorDetected = pdTRUE;
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307 if( ulData != ulData2 )
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309 xErrorDetected = pdTRUE;
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313 /* The queue should now be empty again. */
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314 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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316 xErrorDetected = pdTRUE;
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319 #if configUSE_PREEMPTION == 0
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324 /* Our queue is empty once more, add 10, 11 to the back. */
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326 if( xQueueAltSendToBack( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )
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328 xErrorDetected = pdTRUE;
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331 if( xQueueAltSendToBack( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )
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333 xErrorDetected = pdTRUE;
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336 if( uxQueueMessagesWaiting( xQueue ) != 2 )
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338 xErrorDetected = pdTRUE;
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341 /* Now we should have 10, 11 in the queue. Add 7, 8, 9 to the
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343 for( ulData = 9; ulData >= 7; ulData-- )
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345 if( xQueueAltSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
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347 xErrorDetected = pdTRUE;
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351 /* Now check that the queue is full, and that receiving data provides
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352 the expected sequence of 7, 8, 9, 10, 11. */
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353 if( uxQueueMessagesWaiting( xQueue ) != 5 )
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355 xErrorDetected = pdTRUE;
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358 if( xQueueAltSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
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360 xErrorDetected = pdTRUE;
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363 if( xQueueAltSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
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365 xErrorDetected = pdTRUE;
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368 #if configUSE_PREEMPTION == 0
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372 /* Check the data we read out is in the expected order. */
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373 for( ulData = 7; ulData < ( 7 + genqQUEUE_LENGTH ); ulData++ )
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375 if( xQueueAltReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
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377 xErrorDetected = pdTRUE;
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380 if( ulData != ulData2 )
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382 xErrorDetected = pdTRUE;
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386 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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388 xErrorDetected = pdTRUE;
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394 /*-----------------------------------------------------------*/
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396 static void prvLowPriorityMutexTask( void *pvParameters )
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398 xSemaphoreHandle xMutex = ( xSemaphoreHandle ) pvParameters;
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401 void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
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403 const portCHAR * const pcTaskStartMsg = "Fast mutex with priority inheritance test started.\r\n";
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405 /* Queue a message for printing to say the task has started. */
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406 vPrintDisplayMessage( &pcTaskStartMsg );
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409 ( void ) pvParameters;
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414 /* Take the mutex. It should be available now. */
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415 if( xSemaphoreAltTake( xMutex, genqNO_BLOCK ) != pdPASS )
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417 xErrorDetected = pdTRUE;
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420 /* Set our guarded variable to a known start value. */
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421 ulGuardedVariable = 0;
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423 /* Our priority should be as per that assigned when the task was
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425 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
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427 xErrorDetected = pdTRUE;
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430 /* Now unsuspend the high priority task. This will attempt to take the
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431 mutex, and block when it finds it cannot obtain it. */
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432 vTaskResume( xHighPriorityMutexTask );
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434 /* We should now have inherited the prioritoy of the high priority task,
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435 as by now it will have attempted to get the mutex. */
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436 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
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438 xErrorDetected = pdTRUE;
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441 /* We can attempt to set our priority to the test priority - between the
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442 idle priority and the medium/high test priorities, but our actual
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443 prioroity should remain at the high priority. */
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444 vTaskPrioritySet( NULL, genqMUTEX_TEST_PRIORITY );
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445 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
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447 xErrorDetected = pdTRUE;
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450 /* Now unsuspend the medium priority task. This should not run as our
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451 inherited priority is above that of the medium priority task. */
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452 vTaskResume( xMediumPriorityMutexTask );
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454 /* If the did run then it will have incremented our guarded variable. */
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455 if( ulGuardedVariable != 0 )
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457 xErrorDetected = pdTRUE;
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460 /* When we give back the semaphore our priority should be disinherited
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461 back to the priority to which we attempted to set ourselves. This means
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462 that when the high priority task next blocks, the medium priority task
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463 should execute and increment the guarded variable. When we next run
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464 both the high and medium priority tasks will have been suspended again. */
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465 if( xSemaphoreAltGive( xMutex ) != pdPASS )
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467 xErrorDetected = pdTRUE;
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470 /* Check that the guarded variable did indeed increment... */
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471 if( ulGuardedVariable != 1 )
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473 xErrorDetected = pdTRUE;
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476 /* ... and that our priority has been disinherited to
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477 genqMUTEX_TEST_PRIORITY. */
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478 if( uxTaskPriorityGet( NULL ) != genqMUTEX_TEST_PRIORITY )
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480 xErrorDetected = pdTRUE;
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483 /* Set our priority back to our original priority ready for the next
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484 loop around this test. */
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485 vTaskPrioritySet( NULL, genqMUTEX_LOW_PRIORITY );
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487 /* Just to show we are still running. */
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490 #if configUSE_PREEMPTION == 0
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495 /*-----------------------------------------------------------*/
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497 static void prvMediumPriorityMutexTask( void *pvParameters )
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499 ( void ) pvParameters;
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503 /* The medium priority task starts by suspending itself. The low
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504 priority task will unsuspend this task when required. */
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505 vTaskSuspend( NULL );
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507 /* When this task unsuspends all it does is increment the guarded
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508 variable, this is so the low priority task knows that it has
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510 ulGuardedVariable++;
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513 /*-----------------------------------------------------------*/
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515 static void prvHighPriorityMutexTask( void *pvParameters )
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517 xSemaphoreHandle xMutex = ( xSemaphoreHandle ) pvParameters;
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519 ( void ) pvParameters;
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523 /* The high priority task starts by suspending itself. The low
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524 priority task will unsuspend this task when required. */
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525 vTaskSuspend( NULL );
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527 /* When this task unsuspends all it does is attempt to obtain
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528 the mutex. It should find the mutex is not available so a
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529 block time is specified. */
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530 if( xSemaphoreAltTake( xMutex, portMAX_DELAY ) != pdPASS )
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532 xErrorDetected = pdTRUE;
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535 /* When we eventually obtain the mutex we just give it back then
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536 return to suspend ready for the next test. */
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537 if( xSemaphoreAltGive( xMutex ) != pdPASS )
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539 xErrorDetected = pdTRUE;
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543 /*-----------------------------------------------------------*/
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545 /* This is called to check that all the created tasks are still running. */
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546 portBASE_TYPE xAreAltGenericQueueTasksStillRunning( void )
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548 static unsigned portLONG ulLastLoopCounter = 0, ulLastLoopCounter2 = 0;
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550 /* If the demo task is still running then we expect the loopcounters to
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551 have incremented since this function was last called. */
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552 if( ulLastLoopCounter == ulLoopCounter )
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554 xErrorDetected = pdTRUE;
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557 if( ulLastLoopCounter2 == ulLoopCounter2 )
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559 xErrorDetected = pdTRUE;
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562 ulLastLoopCounter = ulLoopCounter;
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563 ulLastLoopCounter2 = ulLoopCounter2;
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565 /* Errors detected in the task itself will have latched xErrorDetected
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568 return !xErrorDetected;
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