2 FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
\r
5 ***************************************************************************
\r
7 * FreeRTOS tutorial books are available in pdf and paperback. *
\r
8 * Complete, revised, and edited pdf reference manuals are also *
\r
11 * Purchasing FreeRTOS documentation will not only help you, by *
\r
12 * ensuring you get running as quickly as possible and with an *
\r
13 * in-depth knowledge of how to use FreeRTOS, it will also help *
\r
14 * the FreeRTOS project to continue with its mission of providing *
\r
15 * professional grade, cross platform, de facto standard solutions *
\r
16 * for microcontrollers - completely free of charge! *
\r
18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
\r
20 * Thank you for using FreeRTOS, and thank you for your support! *
\r
22 ***************************************************************************
\r
25 This file is part of the FreeRTOS distribution.
\r
27 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
28 the terms of the GNU General Public License (version 2) as published by the
\r
29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
\r
30 >>>NOTE<<< The modification to the GPL is included to allow you to
\r
31 distribute a combined work that includes FreeRTOS without being obliged to
\r
32 provide the source code for proprietary components outside of the FreeRTOS
\r
33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
\r
34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
\r
35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
\r
36 more details. You should have received a copy of the GNU General Public
\r
37 License and the FreeRTOS license exception along with FreeRTOS; if not it
\r
38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
\r
39 by writing to Richard Barry, contact details for whom are available on the
\r
44 http://www.FreeRTOS.org - Documentation, latest information, license and
\r
47 http://www.SafeRTOS.com - A version that is certified for use in safety
\r
50 http://www.OpenRTOS.com - Commercial support, development, porting,
\r
51 licensing and training services.
\r
56 * Tests the extra queue functionality introduced in FreeRTOS.org V4.5.0 -
\r
57 * including xQueueSendToFront(), xQueueSendToBack(), xQueuePeek() and
\r
60 * See the comments above the prvSendFrontAndBackTest() and
\r
61 * prvLowPriorityMutexTask() prototypes below for more information.
\r
67 /* Scheduler include files. */
\r
68 #include "FreeRTOS.h"
\r
73 /* Demo program include files. */
\r
74 #include "GenQTest.h"
\r
76 #define genqQUEUE_LENGTH ( 5 )
\r
77 #define genqNO_BLOCK ( 0 )
\r
79 #define genqMUTEX_LOW_PRIORITY ( tskIDLE_PRIORITY )
\r
80 #define genqMUTEX_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
81 #define genqMUTEX_MEDIUM_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
82 #define genqMUTEX_HIGH_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
84 /*-----------------------------------------------------------*/
\r
87 * Tests the behaviour of the xQueueSendToFront() and xQueueSendToBack()
\r
88 * macros by using both to fill a queue, then reading from the queue to
\r
89 * check the resultant queue order is as expected. Queue data is also
\r
92 static void prvSendFrontAndBackTest( void *pvParameters );
\r
95 * The following three tasks are used to demonstrate the mutex behaviour.
\r
96 * Each task is given a different priority to demonstrate the priority
\r
97 * inheritance mechanism.
\r
99 * The low priority task obtains a mutex. After this a high priority task
\r
100 * attempts to obtain the same mutex, causing its priority to be inherited
\r
101 * by the low priority task. The task with the inherited high priority then
\r
102 * resumes a medium priority task to ensure it is not blocked by the medium
\r
103 * priority task while it holds the inherited high priority. Once the mutex
\r
104 * is returned the task with the inherited priority returns to its original
\r
105 * low priority, and is therefore immediately preempted by first the high
\r
106 * priority task and then the medium prioroity task before it can continue.
\r
108 static void prvLowPriorityMutexTask( void *pvParameters );
\r
109 static void prvMediumPriorityMutexTask( void *pvParameters );
\r
110 static void prvHighPriorityMutexTask( void *pvParameters );
\r
112 /*-----------------------------------------------------------*/
\r
114 /* Flag that will be latched to pdTRUE should any unexpected behaviour be
\r
115 detected in any of the tasks. */
\r
116 static portBASE_TYPE xErrorDetected = pdFALSE;
\r
118 /* Counters that are incremented on each cycle of a test. This is used to
\r
119 detect a stalled task - a test that is no longer running. */
\r
120 static volatile unsigned portLONG ulLoopCounter = 0;
\r
121 static volatile unsigned portLONG ulLoopCounter2 = 0;
\r
123 /* The variable that is guarded by the mutex in the mutex demo tasks. */
\r
124 static volatile unsigned portLONG ulGuardedVariable = 0;
\r
126 /* Handles used in the mutext test to suspend and resume the high and medium
\r
127 priority mutex test tasks. */
\r
128 static xTaskHandle xHighPriorityMutexTask, xMediumPriorityMutexTask;
\r
130 /*-----------------------------------------------------------*/
\r
132 void vStartGenericQueueTasks( unsigned portBASE_TYPE uxPriority )
\r
134 xQueueHandle xQueue;
\r
135 xSemaphoreHandle xMutex;
\r
137 /* Create the queue that we are going to use for the
\r
138 prvSendFrontAndBackTest demo. */
\r
139 xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( unsigned portLONG ) );
\r
141 /* vQueueAddToRegistry() adds the queue to the queue registry, if one is
\r
142 in use. The queue registry is provided as a means for kernel aware
\r
143 debuggers to locate queues and has no purpose if a kernel aware debugger
\r
144 is not being used. The call to vQueueAddToRegistry() will be removed
\r
145 by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
\r
146 defined to be less than 1. */
\r
147 vQueueAddToRegistry( xQueue, ( signed portCHAR * ) "Gen_Queue_Test" );
\r
149 /* Create the demo task and pass it the queue just created. We are
\r
150 passing the queue handle by value so it does not matter that it is
\r
151 declared on the stack here. */
\r
152 xTaskCreate( prvSendFrontAndBackTest, ( signed portCHAR * )"GenQ", configMINIMAL_STACK_SIZE, ( void * ) xQueue, uxPriority, NULL );
\r
154 /* Create the mutex used by the prvMutexTest task. */
\r
155 xMutex = xSemaphoreCreateMutex();
\r
157 /* vQueueAddToRegistry() adds the mutex to the registry, if one is
\r
158 in use. The registry is provided as a means for kernel aware
\r
159 debuggers to locate mutexes and has no purpose if a kernel aware debugger
\r
160 is not being used. The call to vQueueAddToRegistry() will be removed
\r
161 by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
\r
162 defined to be less than 1. */
\r
163 vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Gen_Queue_Mutex" );
\r
165 /* Create the mutex demo tasks and pass it the mutex just created. We are
\r
166 passing the mutex handle by value so it does not matter that it is declared
\r
167 on the stack here. */
\r
168 xTaskCreate( prvLowPriorityMutexTask, ( signed portCHAR * )"MuLow", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_LOW_PRIORITY, NULL );
\r
169 xTaskCreate( prvMediumPriorityMutexTask, ( signed portCHAR * )"MuMed", configMINIMAL_STACK_SIZE, NULL, genqMUTEX_MEDIUM_PRIORITY, &xMediumPriorityMutexTask );
\r
170 xTaskCreate( prvHighPriorityMutexTask, ( signed portCHAR * )"MuHigh", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_HIGH_PRIORITY, &xHighPriorityMutexTask );
\r
172 /*-----------------------------------------------------------*/
\r
174 static void prvSendFrontAndBackTest( void *pvParameters )
\r
176 unsigned portLONG ulData, ulData2;
\r
177 xQueueHandle xQueue;
\r
180 void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
\r
182 const portCHAR * const pcTaskStartMsg = "Queue SendToFront/SendToBack/Peek test started.\r\n";
\r
184 /* Queue a message for printing to say the task has started. */
\r
185 vPrintDisplayMessage( &pcTaskStartMsg );
\r
188 xQueue = ( xQueueHandle ) pvParameters;
\r
192 /* The queue is empty, so sending an item to the back of the queue
\r
193 should have the same efect as sending it to the front of the queue.
\r
195 First send to the front and check everything is as expected. */
\r
196 xQueueSendToFront( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );
\r
198 if( uxQueueMessagesWaiting( xQueue ) != 1 )
\r
200 xErrorDetected = pdTRUE;
\r
203 if( xQueueReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
\r
205 xErrorDetected = pdTRUE;
\r
208 /* The data we sent to the queue should equal the data we just received
\r
210 if( ulLoopCounter != ulData )
\r
212 xErrorDetected = pdTRUE;
\r
215 /* Then do the same, sending the data to the back, checking everything
\r
217 if( uxQueueMessagesWaiting( xQueue ) != 0 )
\r
219 xErrorDetected = pdTRUE;
\r
222 xQueueSendToBack( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );
\r
224 if( uxQueueMessagesWaiting( xQueue ) != 1 )
\r
226 xErrorDetected = pdTRUE;
\r
229 if( xQueueReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
\r
231 xErrorDetected = pdTRUE;
\r
234 if( uxQueueMessagesWaiting( xQueue ) != 0 )
\r
236 xErrorDetected = pdTRUE;
\r
239 /* The data we sent to the queue should equal the data we just received
\r
241 if( ulLoopCounter != ulData )
\r
243 xErrorDetected = pdTRUE;
\r
246 #if configUSE_PREEMPTION == 0
\r
252 /* Place 2, 3, 4 into the queue, adding items to the back of the queue. */
\r
253 for( ulData = 2; ulData < 5; ulData++ )
\r
255 xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK );
\r
258 /* Now the order in the queue should be 2, 3, 4, with 2 being the first
\r
259 thing to be read out. Now add 1 then 0 to the front of the queue. */
\r
260 if( uxQueueMessagesWaiting( xQueue ) != 3 )
\r
262 xErrorDetected = pdTRUE;
\r
265 xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );
\r
267 xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );
\r
269 /* Now the queue should be full, and when we read the data out we
\r
270 should receive 0, 1, 2, 3, 4. */
\r
271 if( uxQueueMessagesWaiting( xQueue ) != 5 )
\r
273 xErrorDetected = pdTRUE;
\r
276 if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
\r
278 xErrorDetected = pdTRUE;
\r
281 if( xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
\r
283 xErrorDetected = pdTRUE;
\r
286 #if configUSE_PREEMPTION == 0
\r
290 /* Check the data we read out is in the expected order. */
\r
291 for( ulData = 0; ulData < genqQUEUE_LENGTH; ulData++ )
\r
293 /* Try peeking the data first. */
\r
294 if( xQueuePeek( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
\r
296 xErrorDetected = pdTRUE;
\r
299 if( ulData != ulData2 )
\r
301 xErrorDetected = pdTRUE;
\r
305 /* Now try receiving the data for real. The value should be the
\r
306 same. Clobber the value first so we know we really received it. */
\r
307 ulData2 = ~ulData2;
\r
308 if( xQueueReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
\r
310 xErrorDetected = pdTRUE;
\r
313 if( ulData != ulData2 )
\r
315 xErrorDetected = pdTRUE;
\r
319 /* The queue should now be empty again. */
\r
320 if( uxQueueMessagesWaiting( xQueue ) != 0 )
\r
322 xErrorDetected = pdTRUE;
\r
325 #if configUSE_PREEMPTION == 0
\r
330 /* Our queue is empty once more, add 10, 11 to the back. */
\r
332 if( xQueueSend( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )
\r
334 xErrorDetected = pdTRUE;
\r
337 if( xQueueSend( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )
\r
339 xErrorDetected = pdTRUE;
\r
342 if( uxQueueMessagesWaiting( xQueue ) != 2 )
\r
344 xErrorDetected = pdTRUE;
\r
347 /* Now we should have 10, 11 in the queue. Add 7, 8, 9 to the
\r
349 for( ulData = 9; ulData >= 7; ulData-- )
\r
351 if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
\r
353 xErrorDetected = pdTRUE;
\r
357 /* Now check that the queue is full, and that receiving data provides
\r
358 the expected sequence of 7, 8, 9, 10, 11. */
\r
359 if( uxQueueMessagesWaiting( xQueue ) != 5 )
\r
361 xErrorDetected = pdTRUE;
\r
364 if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
\r
366 xErrorDetected = pdTRUE;
\r
369 if( xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
\r
371 xErrorDetected = pdTRUE;
\r
374 #if configUSE_PREEMPTION == 0
\r
378 /* Check the data we read out is in the expected order. */
\r
379 for( ulData = 7; ulData < ( 7 + genqQUEUE_LENGTH ); ulData++ )
\r
381 if( xQueueReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
\r
383 xErrorDetected = pdTRUE;
\r
386 if( ulData != ulData2 )
\r
388 xErrorDetected = pdTRUE;
\r
392 if( uxQueueMessagesWaiting( xQueue ) != 0 )
\r
394 xErrorDetected = pdTRUE;
\r
400 /*-----------------------------------------------------------*/
\r
402 static void prvLowPriorityMutexTask( void *pvParameters )
\r
404 xSemaphoreHandle xMutex = ( xSemaphoreHandle ) pvParameters;
\r
407 void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
\r
409 const portCHAR * const pcTaskStartMsg = "Mutex with priority inheritance test started.\r\n";
\r
411 /* Queue a message for printing to say the task has started. */
\r
412 vPrintDisplayMessage( &pcTaskStartMsg );
\r
417 /* Take the mutex. It should be available now. */
\r
418 if( xSemaphoreTake( xMutex, genqNO_BLOCK ) != pdPASS )
\r
420 xErrorDetected = pdTRUE;
\r
423 /* Set our guarded variable to a known start value. */
\r
424 ulGuardedVariable = 0;
\r
426 /* Our priority should be as per that assigned when the task was
\r
428 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
\r
430 xErrorDetected = pdTRUE;
\r
433 /* Now unsuspend the high priority task. This will attempt to take the
\r
434 mutex, and block when it finds it cannot obtain it. */
\r
435 vTaskResume( xHighPriorityMutexTask );
\r
437 /* We should now have inherited the prioritoy of the high priority task,
\r
438 as by now it will have attempted to get the mutex. */
\r
439 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
\r
441 xErrorDetected = pdTRUE;
\r
444 /* We can attempt to set our priority to the test priority - between the
\r
445 idle priority and the medium/high test priorities, but our actual
\r
446 prioroity should remain at the high priority. */
\r
447 vTaskPrioritySet( NULL, genqMUTEX_TEST_PRIORITY );
\r
448 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
\r
450 xErrorDetected = pdTRUE;
\r
453 /* Now unsuspend the medium priority task. This should not run as our
\r
454 inherited priority is above that of the medium priority task. */
\r
455 vTaskResume( xMediumPriorityMutexTask );
\r
457 /* If the did run then it will have incremented our guarded variable. */
\r
458 if( ulGuardedVariable != 0 )
\r
460 xErrorDetected = pdTRUE;
\r
463 /* When we give back the semaphore our priority should be disinherited
\r
464 back to the priority to which we attempted to set ourselves. This means
\r
465 that when the high priority task next blocks, the medium priority task
\r
466 should execute and increment the guarded variable. When we next run
\r
467 both the high and medium priority tasks will have been suspended again. */
\r
468 if( xSemaphoreGive( xMutex ) != pdPASS )
\r
470 xErrorDetected = pdTRUE;
\r
473 /* Check that the guarded variable did indeed increment... */
\r
474 if( ulGuardedVariable != 1 )
\r
476 xErrorDetected = pdTRUE;
\r
479 /* ... and that our priority has been disinherited to
\r
480 genqMUTEX_TEST_PRIORITY. */
\r
481 if( uxTaskPriorityGet( NULL ) != genqMUTEX_TEST_PRIORITY )
\r
483 xErrorDetected = pdTRUE;
\r
486 /* Set our priority back to our original priority ready for the next
\r
487 loop around this test. */
\r
488 vTaskPrioritySet( NULL, genqMUTEX_LOW_PRIORITY );
\r
490 /* Just to show we are still running. */
\r
493 #if configUSE_PREEMPTION == 0
\r
498 /*-----------------------------------------------------------*/
\r
500 static void prvMediumPriorityMutexTask( void *pvParameters )
\r
502 ( void ) pvParameters;
\r
506 /* The medium priority task starts by suspending itself. The low
\r
507 priority task will unsuspend this task when required. */
\r
508 vTaskSuspend( NULL );
\r
510 /* When this task unsuspends all it does is increment the guarded
\r
511 variable, this is so the low priority task knows that it has
\r
513 ulGuardedVariable++;
\r
516 /*-----------------------------------------------------------*/
\r
518 static void prvHighPriorityMutexTask( void *pvParameters )
\r
520 xSemaphoreHandle xMutex = ( xSemaphoreHandle ) pvParameters;
\r
524 /* The high priority task starts by suspending itself. The low
\r
525 priority task will unsuspend this task when required. */
\r
526 vTaskSuspend( NULL );
\r
528 /* When this task unsuspends all it does is attempt to obtain
\r
529 the mutex. It should find the mutex is not available so a
\r
530 block time is specified. */
\r
531 if( xSemaphoreTake( xMutex, portMAX_DELAY ) != pdPASS )
\r
533 xErrorDetected = pdTRUE;
\r
536 /* When we eventually obtain the mutex we just give it back then
\r
537 return to suspend ready for the next test. */
\r
538 if( xSemaphoreGive( xMutex ) != pdPASS )
\r
540 xErrorDetected = pdTRUE;
\r
544 /*-----------------------------------------------------------*/
\r
546 /* This is called to check that all the created tasks are still running. */
\r
547 portBASE_TYPE xAreGenericQueueTasksStillRunning( void )
\r
549 static unsigned portLONG ulLastLoopCounter = 0, ulLastLoopCounter2 = 0;
\r
551 /* If the demo task is still running then we expect the loopcounters to
\r
552 have incremented since this function was last called. */
\r
553 if( ulLastLoopCounter == ulLoopCounter )
\r
555 xErrorDetected = pdTRUE;
\r
558 if( ulLastLoopCounter2 == ulLoopCounter2 )
\r
560 xErrorDetected = pdTRUE;
\r
563 ulLastLoopCounter = ulLoopCounter;
\r
564 ulLastLoopCounter2 = ulLoopCounter2;
\r
566 /* Errors detected in the task itself will have latched xErrorDetected
\r
569 return !xErrorDetected;
\r