2 FreeRTOS.org V4.6.1 - Copyright (C) 2003-2007 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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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 See http://www.FreeRTOS.org for documentation, latest information, license
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28 and contact details. Please ensure to read the configuration and relevant
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29 port sections of the online documentation.
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31 Also see http://www.SafeRTOS.com a version that has been certified for use
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32 in safety critical systems, plus commercial licensing, development and
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34 ***************************************************************************
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39 * Tests the extra queue functionality introduced in FreeRTOS.org V4.5.0 -
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40 * including xQueueSendToFront(), xQueueSendToBack(), xQueuePeek() and
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43 * See the comments above the prvSendFrontAndBackTest() and
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44 * prvLowPriorityMutexTask() prototypes below for more information.
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50 /* Scheduler include files. */
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51 #include "FreeRTOS.h"
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56 /* Demo program include files. */
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57 #include "GenQTest.h"
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59 #define genqQUEUE_LENGTH ( 5 )
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60 #define genqNO_BLOCK ( 0 )
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62 #define genqMUTEX_LOW_PRIORITY ( tskIDLE_PRIORITY )
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63 #define genqMUTEX_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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64 #define genqMUTEX_MEDIUM_PRIORITY ( tskIDLE_PRIORITY + 2 )
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65 #define genqMUTEX_HIGH_PRIORITY ( tskIDLE_PRIORITY + 3 )
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67 /*-----------------------------------------------------------*/
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70 * Tests the behaviour of the xQueueSendToFront() and xQueueSendToBack()
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71 * macros by using both to fill a queue, then reading from the queue to
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72 * check the resultant queue order is as expected. Queue data is also
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75 static void prvSendFrontAndBackTest( void *pvParameters );
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78 * The following three tasks are used to demonstrate the mutex behaviour.
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79 * Each task is given a different priority to demonstrate the priority
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80 * inheritance mechanism.
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82 * The low priority task obtains a mutex. After this a high priority task
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83 * attempts to obtain the same mutex, causing its priority to be inherited
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84 * by the low priority task. The task with the inherited high priority then
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85 * resumes a medium priority task to ensure it is not blocked by the medium
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86 * priority task while it holds the inherited high priority. Once the mutex
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87 * is returned the task with the inherited priority returns to its original
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88 * low priority, and is therefore immediately preempted by first the high
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89 * priority task and then the medium prioroity task before it can continue.
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91 static void prvLowPriorityMutexTask( void *pvParameters );
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92 static void prvMediumPriorityMutexTask( void *pvParameters );
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93 static void prvHighPriorityMutexTask( void *pvParameters );
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95 /*-----------------------------------------------------------*/
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97 /* Flag that will be latched to pdTRUE should any unexpected behaviour be
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98 detected in any of the tasks. */
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99 static portBASE_TYPE xErrorDetected = pdFALSE;
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101 /* Counters that are incremented on each cycle of a test. This is used to
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102 detect a stalled task - a test that is no longer running. */
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103 static volatile unsigned portLONG ulLoopCounter = 0;
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104 static volatile unsigned portLONG ulLoopCounter2 = 0;
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106 /* The variable that is guarded by the mutex in the mutex demo tasks. */
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107 static volatile unsigned portLONG ulGuardedVariable = 0;
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109 /* Handles used in the mutext test to suspend and resume the high and medium
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110 priority mutex test tasks. */
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111 static xTaskHandle xHighPriorityMutexTask, xMediumPriorityMutexTask;
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113 /*-----------------------------------------------------------*/
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115 void vStartGenericQueueTasks( unsigned portBASE_TYPE uxPriority )
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117 xQueueHandle xQueue;
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118 xSemaphoreHandle xMutex;
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120 /* Create the queue that we are going to use for the
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121 prvSendFrontAndBackTest demo. */
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122 xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( unsigned portLONG ) );
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124 /* Create the demo task and pass it the queue just created. We are
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125 passing the queue handle by value so it does not matter that it is
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126 declared on the stack here. */
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127 xTaskCreate( prvSendFrontAndBackTest, ( signed portCHAR * )"GenQ", configMINIMAL_STACK_SIZE, ( void * ) xQueue, uxPriority, NULL );
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129 /* Create the mutex used by the prvMutexTest task. */
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130 xMutex = xSemaphoreCreateMutex();
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132 /* Create the mutex demo tasks and pass it the mutex just created. We are
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133 passing the mutex handle by value so it does not matter that it is declared
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134 on the stack here. */
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135 xTaskCreate( prvLowPriorityMutexTask, ( signed portCHAR * )"MuLow", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_LOW_PRIORITY, NULL );
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136 xTaskCreate( prvMediumPriorityMutexTask, ( signed portCHAR * )"MuMed", configMINIMAL_STACK_SIZE, NULL, genqMUTEX_MEDIUM_PRIORITY, &xMediumPriorityMutexTask );
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137 xTaskCreate( prvHighPriorityMutexTask, ( signed portCHAR * )"MuHigh", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_HIGH_PRIORITY, &xHighPriorityMutexTask );
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139 /*-----------------------------------------------------------*/
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141 static void prvSendFrontAndBackTest( void *pvParameters )
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143 unsigned portLONG ulData, ulData2;
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144 xQueueHandle xQueue;
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147 void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
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149 const portCHAR * const pcTaskStartMsg = "Queue SendToFront/SendToBack/Peek test started.\r\n";
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151 /* Queue a message for printing to say the task has started. */
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152 vPrintDisplayMessage( &pcTaskStartMsg );
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155 xQueue = ( xQueueHandle ) pvParameters;
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159 /* The queue is empty, so sending an item to the back of the queue
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160 should have the same efect as sending it to the front of the queue.
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162 First send to the front and check everything is as expected. */
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163 xQueueSendToFront( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );
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165 if( uxQueueMessagesWaiting( xQueue ) != 1 )
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167 xErrorDetected = pdTRUE;
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170 if( xQueueReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
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172 xErrorDetected = pdTRUE;
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175 /* The data we sent to the queue should equal the data we just received
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177 if( ulLoopCounter != ulData )
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179 xErrorDetected = pdTRUE;
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182 /* Then do the same, sending the data to the back, checking everything
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184 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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186 xErrorDetected = pdTRUE;
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189 xQueueSendToBack( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );
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191 if( uxQueueMessagesWaiting( xQueue ) != 1 )
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193 xErrorDetected = pdTRUE;
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196 if( xQueueReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
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198 xErrorDetected = pdTRUE;
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201 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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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 #if configUSE_PREEMPTION == 0
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219 /* Place 2, 3, 4 into the queue, adding items to the back of the queue. */
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220 for( ulData = 2; ulData < 5; ulData++ )
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222 xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK );
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225 /* Now the order in the queue should be 2, 3, 4, with 2 being the first
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226 thing to be read out. Now add 1 then 0 to the front of the queue. */
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227 if( uxQueueMessagesWaiting( xQueue ) != 3 )
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229 xErrorDetected = pdTRUE;
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232 xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );
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234 xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );
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236 /* Now the queue should be full, and when we read the data out we
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237 should receive 0, 1, 2, 3, 4. */
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238 if( uxQueueMessagesWaiting( xQueue ) != 5 )
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240 xErrorDetected = pdTRUE;
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243 if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
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245 xErrorDetected = pdTRUE;
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248 if( xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
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250 xErrorDetected = pdTRUE;
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253 #if configUSE_PREEMPTION == 0
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257 /* Check the data we read out is in the expected order. */
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258 for( ulData = 0; ulData < genqQUEUE_LENGTH; ulData++ )
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260 /* Try peeking the data first. */
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261 if( xQueuePeek( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
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263 xErrorDetected = pdTRUE;
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266 if( ulData != ulData2 )
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268 xErrorDetected = pdTRUE;
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272 /* Now try receiving the data for real. The value should be the
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273 same. Clobber the value first so we know we really received it. */
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274 ulData2 = ~ulData2;
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275 if( xQueueReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
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277 xErrorDetected = pdTRUE;
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280 if( ulData != ulData2 )
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282 xErrorDetected = pdTRUE;
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286 /* The queue should now be empty again. */
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287 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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289 xErrorDetected = pdTRUE;
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292 #if configUSE_PREEMPTION == 0
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297 /* Our queue is empty once more, add 10, 11 to the back. */
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299 if( xQueueSend( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )
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301 xErrorDetected = pdTRUE;
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304 if( xQueueSend( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )
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306 xErrorDetected = pdTRUE;
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309 if( uxQueueMessagesWaiting( xQueue ) != 2 )
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311 xErrorDetected = pdTRUE;
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314 /* Now we should have 10, 11 in the queue. Add 7, 8, 9 to the
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316 for( ulData = 9; ulData >= 7; ulData-- )
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318 if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
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320 xErrorDetected = pdTRUE;
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324 /* Now check that the queue is full, and that receiving data provides
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325 the expected sequence of 7, 8, 9, 10, 11. */
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326 if( uxQueueMessagesWaiting( xQueue ) != 5 )
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328 xErrorDetected = pdTRUE;
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331 if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
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333 xErrorDetected = pdTRUE;
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336 if( xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
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338 xErrorDetected = pdTRUE;
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341 #if configUSE_PREEMPTION == 0
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345 /* Check the data we read out is in the expected order. */
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346 for( ulData = 7; ulData < ( 7 + genqQUEUE_LENGTH ); ulData++ )
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348 if( xQueueReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
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350 xErrorDetected = pdTRUE;
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353 if( ulData != ulData2 )
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355 xErrorDetected = pdTRUE;
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359 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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361 xErrorDetected = pdTRUE;
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367 /*-----------------------------------------------------------*/
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369 static void prvLowPriorityMutexTask( void *pvParameters )
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371 xSemaphoreHandle xMutex = ( xSemaphoreHandle ) pvParameters;
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374 void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
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376 const portCHAR * const pcTaskStartMsg = "Mutex with priority inheritance test started.\r\n";
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378 /* Queue a message for printing to say the task has started. */
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379 vPrintDisplayMessage( &pcTaskStartMsg );
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384 /* Take the mutex. It should be available now. */
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385 if( xSemaphoreTake( xMutex, genqNO_BLOCK ) != pdPASS )
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387 xErrorDetected = pdTRUE;
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390 /* Set our guarded variable to a known start value. */
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391 ulGuardedVariable = 0;
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393 /* Our priority should be as per that assigned when the task was
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395 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
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397 xErrorDetected = pdTRUE;
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400 /* Now unsuspend the high priority task. This will attempt to take the
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401 mutex, and block when it finds it cannot obtain it. */
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402 vTaskResume( xHighPriorityMutexTask );
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404 /* We should now have inherited the prioritoy of the high priority task,
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405 as by now it will have attempted to get the mutex. */
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406 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
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408 xErrorDetected = pdTRUE;
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411 /* We can attempt to set our priority to the test priority - between the
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412 idle priority and the medium/high test priorities, but our actual
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413 prioroity should remain at the high priority. */
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414 vTaskPrioritySet( NULL, genqMUTEX_TEST_PRIORITY );
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415 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
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417 xErrorDetected = pdTRUE;
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420 /* Now unsuspend the medium priority task. This should not run as our
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421 inherited priority is above that of the medium priority task. */
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422 vTaskResume( xMediumPriorityMutexTask );
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424 /* If the did run then it will have incremented our guarded variable. */
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425 if( ulGuardedVariable != 0 )
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427 xErrorDetected = pdTRUE;
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430 /* When we give back the semaphore our priority should be disinherited
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431 back to the priority to which we attempted to set ourselves. This means
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432 that when the high priority task next blocks, the medium priority task
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433 should execute and increment the guarded variable. When we next run
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434 both the high and medium priority tasks will have been suspended again. */
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435 if( xSemaphoreGive( xMutex ) != pdPASS )
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437 xErrorDetected = pdTRUE;
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440 /* Check that the guarded variable did indeed increment... */
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441 if( ulGuardedVariable != 1 )
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443 xErrorDetected = pdTRUE;
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446 /* ... and that our priority has been disinherited to
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447 genqMUTEX_TEST_PRIORITY. */
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448 if( uxTaskPriorityGet( NULL ) != genqMUTEX_TEST_PRIORITY )
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450 xErrorDetected = pdTRUE;
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453 /* Set our priority back to our original priority ready for the next
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454 loop around this test. */
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455 vTaskPrioritySet( NULL, genqMUTEX_LOW_PRIORITY );
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457 /* Just to show we are still running. */
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460 #if configUSE_PREEMPTION == 0
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465 /*-----------------------------------------------------------*/
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467 static void prvMediumPriorityMutexTask( void *pvParameters )
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469 ( void ) pvParameters;
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473 /* The medium priority task starts by suspending itself. The low
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474 priority task will unsuspend this task when required. */
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475 vTaskSuspend( NULL );
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477 /* When this task unsuspends all it does is increment the guarded
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478 variable, this is so the low priority task knows that it has
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480 ulGuardedVariable++;
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483 /*-----------------------------------------------------------*/
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485 static void prvHighPriorityMutexTask( void *pvParameters )
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487 xSemaphoreHandle xMutex = ( xSemaphoreHandle ) pvParameters;
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491 /* The high priority task starts by suspending itself. The low
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492 priority task will unsuspend this task when required. */
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493 vTaskSuspend( NULL );
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495 /* When this task unsuspends all it does is attempt to obtain
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496 the mutex. It should find the mutex is not available so a
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497 block time is specified. */
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498 if( xSemaphoreTake( xMutex, portMAX_DELAY ) != pdPASS )
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500 xErrorDetected = pdTRUE;
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503 /* When we eventually obtain the mutex we just give it back then
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504 return to suspend ready for the next test. */
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505 if( xSemaphoreGive( xMutex ) != pdPASS )
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507 xErrorDetected = pdTRUE;
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511 /*-----------------------------------------------------------*/
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513 /* This is called to check that all the created tasks are still running. */
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514 portBASE_TYPE xAreGenericQueueTasksStillRunning( void )
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516 static unsigned portLONG ulLastLoopCounter = 0, ulLastLoopCounter2 = 0;
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518 /* If the demo task is still running then we expect the loopcounters to
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519 have incremented since this function was last called. */
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520 if( ulLastLoopCounter == ulLoopCounter )
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522 xErrorDetected = pdTRUE;
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525 if( ulLastLoopCounter2 == ulLoopCounter2 )
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527 xErrorDetected = pdTRUE;
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530 ulLastLoopCounter = ulLoopCounter;
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531 ulLastLoopCounter2 = ulLoopCounter2;
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533 /* Errors detected in the task itself will have latched xErrorDetected
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536 return !xErrorDetected;
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