2 FreeRTOS.org V5.1.0 - Copyright (C) 2003-2008 Richard Barry.
\r
4 This file is part of the FreeRTOS.org distribution.
\r
6 FreeRTOS.org is free software; you can redistribute it and/or modify
\r
7 it under the terms of the GNU General Public License as published by
\r
8 the Free Software Foundation; either version 2 of the License, or
\r
9 (at your option) any later version.
\r
11 FreeRTOS.org is distributed in the hope that it will be useful,
\r
12 but WITHOUT ANY WARRANTY; without even the implied warranty of
\r
13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
\r
14 GNU General Public License for more details.
\r
16 You should have received a copy of the GNU General Public License
\r
17 along with FreeRTOS.org; if not, write to the Free Software
\r
18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
\r
20 A special exception to the GPL can be applied should you wish to distribute
\r
21 a combined work that includes FreeRTOS.org, without being obliged to provide
\r
22 the source code for any proprietary components. See the licensing section
\r
23 of http://www.FreeRTOS.org for full details of how and when the exception
\r
26 ***************************************************************************
\r
27 ***************************************************************************
\r
29 * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
\r
30 * and even write all or part of your application on your behalf. *
\r
31 * See http://www.OpenRTOS.com for details of the services we provide to *
\r
32 * expedite your project. *
\r
34 ***************************************************************************
\r
35 ***************************************************************************
\r
37 Please ensure to read the configuration and relevant port sections of the
\r
38 online documentation.
\r
40 http://www.FreeRTOS.org - Documentation, latest information, license and
\r
43 http://www.SafeRTOS.com - A version that is certified for use in safety
\r
46 http://www.OpenRTOS.com - Commercial support, development, porting,
\r
47 licensing and training services.
\r
52 * Tests the extra queue functionality introduced in FreeRTOS.org V4.5.0 -
\r
53 * including xQueueSendToFront(), xQueueSendToBack(), xQueuePeek() and
\r
56 * See the comments above the prvSendFrontAndBackTest() and
\r
57 * prvLowPriorityMutexTask() prototypes below for more information.
\r
63 /* Scheduler include files. */
\r
64 #include "FreeRTOS.h"
\r
69 /* Demo program include files. */
\r
70 #include "GenQTest.h"
\r
72 #define genqQUEUE_LENGTH ( 5 )
\r
73 #define genqNO_BLOCK ( 0 )
\r
75 #define genqMUTEX_LOW_PRIORITY ( tskIDLE_PRIORITY )
\r
76 #define genqMUTEX_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
77 #define genqMUTEX_MEDIUM_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
78 #define genqMUTEX_HIGH_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
80 /*-----------------------------------------------------------*/
\r
83 * Tests the behaviour of the xQueueSendToFront() and xQueueSendToBack()
\r
84 * macros by using both to fill a queue, then reading from the queue to
\r
85 * check the resultant queue order is as expected. Queue data is also
\r
88 static void prvSendFrontAndBackTest( void *pvParameters );
\r
91 * The following three tasks are used to demonstrate the mutex behaviour.
\r
92 * Each task is given a different priority to demonstrate the priority
\r
93 * inheritance mechanism.
\r
95 * The low priority task obtains a mutex. After this a high priority task
\r
96 * attempts to obtain the same mutex, causing its priority to be inherited
\r
97 * by the low priority task. The task with the inherited high priority then
\r
98 * resumes a medium priority task to ensure it is not blocked by the medium
\r
99 * priority task while it holds the inherited high priority. Once the mutex
\r
100 * is returned the task with the inherited priority returns to its original
\r
101 * low priority, and is therefore immediately preempted by first the high
\r
102 * priority task and then the medium prioroity task before it can continue.
\r
104 static void prvLowPriorityMutexTask( void *pvParameters );
\r
105 static void prvMediumPriorityMutexTask( void *pvParameters );
\r
106 static void prvHighPriorityMutexTask( void *pvParameters );
\r
108 /*-----------------------------------------------------------*/
\r
110 /* Flag that will be latched to pdTRUE should any unexpected behaviour be
\r
111 detected in any of the tasks. */
\r
112 static portBASE_TYPE xErrorDetected = pdFALSE;
\r
114 /* Counters that are incremented on each cycle of a test. This is used to
\r
115 detect a stalled task - a test that is no longer running. */
\r
116 static volatile unsigned portLONG ulLoopCounter = 0;
\r
117 static volatile unsigned portLONG ulLoopCounter2 = 0;
\r
119 /* The variable that is guarded by the mutex in the mutex demo tasks. */
\r
120 static volatile unsigned portLONG ulGuardedVariable = 0;
\r
122 /* Handles used in the mutext test to suspend and resume the high and medium
\r
123 priority mutex test tasks. */
\r
124 static xTaskHandle xHighPriorityMutexTask, xMediumPriorityMutexTask;
\r
126 /*-----------------------------------------------------------*/
\r
128 void vStartGenericQueueTasks( unsigned portBASE_TYPE uxPriority )
\r
130 xQueueHandle xQueue;
\r
131 xSemaphoreHandle xMutex;
\r
133 /* Create the queue that we are going to use for the
\r
134 prvSendFrontAndBackTest demo. */
\r
135 xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( unsigned portLONG ) );
\r
137 /* vQueueAddToRegistry() adds the queue to the queue registry, if one is
\r
138 in use. The queue registry is provided as a means for kernel aware
\r
139 debuggers to locate queues and has no purpose if a kernel aware debugger
\r
140 is not being used. The call to vQueueAddToRegistry() will be removed
\r
141 by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
\r
142 defined to be less than 1. */
\r
143 vQueueAddToRegistry( xQueue, ( signed portCHAR * ) "Gen_Queue_Test" );
\r
145 /* Create the demo task and pass it the queue just created. We are
\r
146 passing the queue handle by value so it does not matter that it is
\r
147 declared on the stack here. */
\r
148 xTaskCreate( prvSendFrontAndBackTest, ( signed portCHAR * )"GenQ", configMINIMAL_STACK_SIZE, ( void * ) xQueue, uxPriority, NULL );
\r
150 /* Create the mutex used by the prvMutexTest task. */
\r
151 xMutex = xSemaphoreCreateMutex();
\r
153 /* vQueueAddToRegistry() adds the mutex to the registry, if one is
\r
154 in use. The registry is provided as a means for kernel aware
\r
155 debuggers to locate mutexes and has no purpose if a kernel aware debugger
\r
156 is not being used. The call to vQueueAddToRegistry() will be removed
\r
157 by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
\r
158 defined to be less than 1. */
\r
159 vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Gen_Queue_Mutex" );
\r
161 /* Create the mutex demo tasks and pass it the mutex just created. We are
\r
162 passing the mutex handle by value so it does not matter that it is declared
\r
163 on the stack here. */
\r
164 xTaskCreate( prvLowPriorityMutexTask, ( signed portCHAR * )"MuLow", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_LOW_PRIORITY, NULL );
\r
165 xTaskCreate( prvMediumPriorityMutexTask, ( signed portCHAR * )"MuMed", configMINIMAL_STACK_SIZE, NULL, genqMUTEX_MEDIUM_PRIORITY, &xMediumPriorityMutexTask );
\r
166 xTaskCreate( prvHighPriorityMutexTask, ( signed portCHAR * )"MuHigh", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_HIGH_PRIORITY, &xHighPriorityMutexTask );
\r
168 /*-----------------------------------------------------------*/
\r
170 static void prvSendFrontAndBackTest( void *pvParameters )
\r
172 unsigned portLONG ulData, ulData2;
\r
173 xQueueHandle xQueue;
\r
176 void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
\r
178 const portCHAR * const pcTaskStartMsg = "Queue SendToFront/SendToBack/Peek test started.\r\n";
\r
180 /* Queue a message for printing to say the task has started. */
\r
181 vPrintDisplayMessage( &pcTaskStartMsg );
\r
184 xQueue = ( xQueueHandle ) pvParameters;
\r
188 /* The queue is empty, so sending an item to the back of the queue
\r
189 should have the same efect as sending it to the front of the queue.
\r
191 First send to the front and check everything is as expected. */
\r
192 xQueueSendToFront( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );
\r
194 if( uxQueueMessagesWaiting( xQueue ) != 1 )
\r
196 xErrorDetected = pdTRUE;
\r
199 if( xQueueReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
\r
201 xErrorDetected = pdTRUE;
\r
204 /* The data we sent to the queue should equal the data we just received
\r
206 if( ulLoopCounter != ulData )
\r
208 xErrorDetected = pdTRUE;
\r
211 /* Then do the same, sending the data to the back, checking everything
\r
213 if( uxQueueMessagesWaiting( xQueue ) != 0 )
\r
215 xErrorDetected = pdTRUE;
\r
218 xQueueSendToBack( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );
\r
220 if( uxQueueMessagesWaiting( xQueue ) != 1 )
\r
222 xErrorDetected = pdTRUE;
\r
225 if( xQueueReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
\r
227 xErrorDetected = pdTRUE;
\r
230 if( uxQueueMessagesWaiting( xQueue ) != 0 )
\r
232 xErrorDetected = pdTRUE;
\r
235 /* The data we sent to the queue should equal the data we just received
\r
237 if( ulLoopCounter != ulData )
\r
239 xErrorDetected = pdTRUE;
\r
242 #if configUSE_PREEMPTION == 0
\r
248 /* Place 2, 3, 4 into the queue, adding items to the back of the queue. */
\r
249 for( ulData = 2; ulData < 5; ulData++ )
\r
251 xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK );
\r
254 /* Now the order in the queue should be 2, 3, 4, with 2 being the first
\r
255 thing to be read out. Now add 1 then 0 to the front of the queue. */
\r
256 if( uxQueueMessagesWaiting( xQueue ) != 3 )
\r
258 xErrorDetected = pdTRUE;
\r
261 xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );
\r
263 xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );
\r
265 /* Now the queue should be full, and when we read the data out we
\r
266 should receive 0, 1, 2, 3, 4. */
\r
267 if( uxQueueMessagesWaiting( xQueue ) != 5 )
\r
269 xErrorDetected = pdTRUE;
\r
272 if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
\r
274 xErrorDetected = pdTRUE;
\r
277 if( xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
\r
279 xErrorDetected = pdTRUE;
\r
282 #if configUSE_PREEMPTION == 0
\r
286 /* Check the data we read out is in the expected order. */
\r
287 for( ulData = 0; ulData < genqQUEUE_LENGTH; ulData++ )
\r
289 /* Try peeking the data first. */
\r
290 if( xQueuePeek( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
\r
292 xErrorDetected = pdTRUE;
\r
295 if( ulData != ulData2 )
\r
297 xErrorDetected = pdTRUE;
\r
301 /* Now try receiving the data for real. The value should be the
\r
302 same. Clobber the value first so we know we really received it. */
\r
303 ulData2 = ~ulData2;
\r
304 if( xQueueReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
\r
306 xErrorDetected = pdTRUE;
\r
309 if( ulData != ulData2 )
\r
311 xErrorDetected = pdTRUE;
\r
315 /* The queue should now be empty again. */
\r
316 if( uxQueueMessagesWaiting( xQueue ) != 0 )
\r
318 xErrorDetected = pdTRUE;
\r
321 #if configUSE_PREEMPTION == 0
\r
326 /* Our queue is empty once more, add 10, 11 to the back. */
\r
328 if( xQueueSend( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )
\r
330 xErrorDetected = pdTRUE;
\r
333 if( xQueueSend( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )
\r
335 xErrorDetected = pdTRUE;
\r
338 if( uxQueueMessagesWaiting( xQueue ) != 2 )
\r
340 xErrorDetected = pdTRUE;
\r
343 /* Now we should have 10, 11 in the queue. Add 7, 8, 9 to the
\r
345 for( ulData = 9; ulData >= 7; ulData-- )
\r
347 if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
\r
349 xErrorDetected = pdTRUE;
\r
353 /* Now check that the queue is full, and that receiving data provides
\r
354 the expected sequence of 7, 8, 9, 10, 11. */
\r
355 if( uxQueueMessagesWaiting( xQueue ) != 5 )
\r
357 xErrorDetected = pdTRUE;
\r
360 if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
\r
362 xErrorDetected = pdTRUE;
\r
365 if( xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
\r
367 xErrorDetected = pdTRUE;
\r
370 #if configUSE_PREEMPTION == 0
\r
374 /* Check the data we read out is in the expected order. */
\r
375 for( ulData = 7; ulData < ( 7 + genqQUEUE_LENGTH ); ulData++ )
\r
377 if( xQueueReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
\r
379 xErrorDetected = pdTRUE;
\r
382 if( ulData != ulData2 )
\r
384 xErrorDetected = pdTRUE;
\r
388 if( uxQueueMessagesWaiting( xQueue ) != 0 )
\r
390 xErrorDetected = pdTRUE;
\r
396 /*-----------------------------------------------------------*/
\r
398 static void prvLowPriorityMutexTask( void *pvParameters )
\r
400 xSemaphoreHandle xMutex = ( xSemaphoreHandle ) pvParameters;
\r
403 void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
\r
405 const portCHAR * const pcTaskStartMsg = "Mutex with priority inheritance test started.\r\n";
\r
407 /* Queue a message for printing to say the task has started. */
\r
408 vPrintDisplayMessage( &pcTaskStartMsg );
\r
413 /* Take the mutex. It should be available now. */
\r
414 if( xSemaphoreTake( xMutex, genqNO_BLOCK ) != pdPASS )
\r
416 xErrorDetected = pdTRUE;
\r
419 /* Set our guarded variable to a known start value. */
\r
420 ulGuardedVariable = 0;
\r
422 /* Our priority should be as per that assigned when the task was
\r
424 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
\r
426 xErrorDetected = pdTRUE;
\r
429 /* Now unsuspend the high priority task. This will attempt to take the
\r
430 mutex, and block when it finds it cannot obtain it. */
\r
431 vTaskResume( xHighPriorityMutexTask );
\r
433 /* We should now have inherited the prioritoy of the high priority task,
\r
434 as by now it will have attempted to get the mutex. */
\r
435 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
\r
437 xErrorDetected = pdTRUE;
\r
440 /* We can attempt to set our priority to the test priority - between the
\r
441 idle priority and the medium/high test priorities, but our actual
\r
442 prioroity should remain at the high priority. */
\r
443 vTaskPrioritySet( NULL, genqMUTEX_TEST_PRIORITY );
\r
444 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
\r
446 xErrorDetected = pdTRUE;
\r
449 /* Now unsuspend the medium priority task. This should not run as our
\r
450 inherited priority is above that of the medium priority task. */
\r
451 vTaskResume( xMediumPriorityMutexTask );
\r
453 /* If the did run then it will have incremented our guarded variable. */
\r
454 if( ulGuardedVariable != 0 )
\r
456 xErrorDetected = pdTRUE;
\r
459 /* When we give back the semaphore our priority should be disinherited
\r
460 back to the priority to which we attempted to set ourselves. This means
\r
461 that when the high priority task next blocks, the medium priority task
\r
462 should execute and increment the guarded variable. When we next run
\r
463 both the high and medium priority tasks will have been suspended again. */
\r
464 if( xSemaphoreGive( xMutex ) != pdPASS )
\r
466 xErrorDetected = pdTRUE;
\r
469 /* Check that the guarded variable did indeed increment... */
\r
470 if( ulGuardedVariable != 1 )
\r
472 xErrorDetected = pdTRUE;
\r
475 /* ... and that our priority has been disinherited to
\r
476 genqMUTEX_TEST_PRIORITY. */
\r
477 if( uxTaskPriorityGet( NULL ) != genqMUTEX_TEST_PRIORITY )
\r
479 xErrorDetected = pdTRUE;
\r
482 /* Set our priority back to our original priority ready for the next
\r
483 loop around this test. */
\r
484 vTaskPrioritySet( NULL, genqMUTEX_LOW_PRIORITY );
\r
486 /* Just to show we are still running. */
\r
489 #if configUSE_PREEMPTION == 0
\r
494 /*-----------------------------------------------------------*/
\r
496 static void prvMediumPriorityMutexTask( void *pvParameters )
\r
498 ( void ) pvParameters;
\r
502 /* The medium priority task starts by suspending itself. The low
\r
503 priority task will unsuspend this task when required. */
\r
504 vTaskSuspend( NULL );
\r
506 /* When this task unsuspends all it does is increment the guarded
\r
507 variable, this is so the low priority task knows that it has
\r
509 ulGuardedVariable++;
\r
512 /*-----------------------------------------------------------*/
\r
514 static void prvHighPriorityMutexTask( void *pvParameters )
\r
516 xSemaphoreHandle xMutex = ( xSemaphoreHandle ) pvParameters;
\r
520 /* The high priority task starts by suspending itself. The low
\r
521 priority task will unsuspend this task when required. */
\r
522 vTaskSuspend( NULL );
\r
524 /* When this task unsuspends all it does is attempt to obtain
\r
525 the mutex. It should find the mutex is not available so a
\r
526 block time is specified. */
\r
527 if( xSemaphoreTake( xMutex, portMAX_DELAY ) != pdPASS )
\r
529 xErrorDetected = pdTRUE;
\r
532 /* When we eventually obtain the mutex we just give it back then
\r
533 return to suspend ready for the next test. */
\r
534 if( xSemaphoreGive( xMutex ) != pdPASS )
\r
536 xErrorDetected = pdTRUE;
\r
540 /*-----------------------------------------------------------*/
\r
542 /* This is called to check that all the created tasks are still running. */
\r
543 portBASE_TYPE xAreGenericQueueTasksStillRunning( void )
\r
545 static unsigned portLONG ulLastLoopCounter = 0, ulLastLoopCounter2 = 0;
\r
547 /* If the demo task is still running then we expect the loopcounters to
\r
548 have incremented since this function was last called. */
\r
549 if( ulLastLoopCounter == ulLoopCounter )
\r
551 xErrorDetected = pdTRUE;
\r
554 if( ulLastLoopCounter2 == ulLoopCounter2 )
\r
556 xErrorDetected = pdTRUE;
\r
559 ulLastLoopCounter = ulLoopCounter;
\r
560 ulLastLoopCounter2 = ulLoopCounter2;
\r
562 /* Errors detected in the task itself will have latched xErrorDetected
\r
565 return !xErrorDetected;
\r