git.sur5r.net Git - freertos/blob - Demo/Common/Minimal/IntQueue.c

   1 /*\r
   2         FreeRTOS.org V5.1.0 - Copyright (C) 2003-2008 Richard Barry.\r
   3 \r
   4         This file is part of the FreeRTOS.org distribution.\r
   5 \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
  10 \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
  15 \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
  19 \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
  24         can be applied.\r
  25 \r
  26     ***************************************************************************\r
  27     ***************************************************************************\r
  28     *                                                                         *\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
  33     *                                                                         *\r
  34     ***************************************************************************\r
  35     ***************************************************************************\r
  36 \r
  37         Please ensure to read the configuration and relevant port sections of the\r
  38         online documentation.\r
  39 \r
  40         http://www.FreeRTOS.org - Documentation, latest information, license and\r
  41         contact details.\r
  42 \r
  43         http://www.SafeRTOS.com - A version that is certified for use in safety\r
  44         critical systems.\r
  45 \r
  46         http://www.OpenRTOS.com - Commercial support, development, porting,\r
  47         licensing and training services.\r
  48 */\r
  49 \r
  50 /*\r
  51  * This file defines one of the more complex set of demo/test tasks.  They are\r
  52  * designed to stress test the queue implementation though pseudo simultaneous\r
  53  * multiple reads and multiple writes from both tasks of varying priority and\r
  54  * interrupts.  The interrupts are prioritised such to ensure that nesting\r
  55  * occurs (for those ports that support it).\r
  56  *\r
  57  * The test ensures that, while being accessed from three tasks and two\r
  58  * interrupts, all the data sent to the queues is also received from\r
  59  * the same queue, and that no duplicate items are either sent or received.\r
  60  * The tests also ensure that a low priority task is never able to successfully\r
  61  * read from or write to a queue when a task of higher priority is attempting\r
  62  * the same operation.\r
  63  */\r
  64 \r
  65 /* Standard includes. */\r
  66 #include <string.h>\r
  67 \r
  68 /* SafeRTOS includes. */\r
  69 #include "FreeRTOS.h"\r
  70 #include "queue.h"\r
  71 #include "task.h"\r
  72 \r
  73 /* Demo app includes. */\r
  74 #include "IntQueue.h"\r
  75 #include "IntQueueTimer.h"\r
  76 \r
  77 /* Priorities used by test tasks. */\r
  78 #define intqHIGHER_PRIORITY             ( configMAX_PRIORITIES - 2 )\r
  79 #define intqLOWER_PRIORITY              ( tskIDLE_PRIORITY )\r
  80 \r
  81 /* The number of values to send/receive before checking that all values were\r
  82 processed as expected. */\r
  83 #define intqNUM_VALUES_TO_LOG   ( 200 )\r
  84 #define intqSHORT_DELAY                 ( 75 )\r
  85 \r
  86 /* The value by which the value being sent to or received from a queue should\r
  87 increment past intqNUM_VALUES_TO_LOG before we check that all values have been\r
  88 sent/received correctly.  This is done to ensure that all tasks and interrupts\r
  89 accessing the queue have completed their accesses with the\r
  90 intqNUM_VALUES_TO_LOG range. */\r
  91 #define intqVALUE_OVERRUN               ( 50 )\r
  92 \r
  93 /* The delay used by the polling task.  A short delay is used for code\r
  94 coverage. */\r
  95 #define intqONE_TICK_DELAY              ( 1 )\r
  96 \r
  97 /* Each task and interrupt is given a unique identifier.  This value is used to\r
  98 identify which task sent or received each value.  The identifier is also used\r
  99 to distinguish between two tasks that are running the same task function. */\r
 100 #define intqHIGH_PRIORITY_TASK1 ( ( unsigned portBASE_TYPE ) 1 )\r
 101 #define intqHIGH_PRIORITY_TASK2 ( ( unsigned portBASE_TYPE ) 2 )\r
 102 #define intqLOW_PRIORITY_TASK   ( ( unsigned portBASE_TYPE ) 3 )\r
 103 #define intqFIRST_INTERRUPT             ( ( unsigned portBASE_TYPE ) 4 )\r
 104 #define intqSECOND_INTERRUPT    ( ( unsigned portBASE_TYPE ) 5 )\r
 105 #define intqQUEUE_LENGTH                ( ( unsigned portBASE_TYPE ) 10 )\r
 106 \r
 107 /* At least intqMIN_ACCEPTABLE_TASK_COUNT values should be sent to/received\r
 108 from each queue by each task, otherwise an error is detected. */\r
 109 #define intqMIN_ACCEPTABLE_TASK_COUNT           ( 5 )\r
 110 \r
 111 /* Send the next value to the queue that is normally empty.  This is called\r
 112 from within the interrupts. */\r
 113 #define timerNORMALLY_EMPTY_TX()                                                                                                                                                                                        \\r
 114         if( xQueueIsQueueFullFromISR( xNormallyEmptyQueue ) != pdTRUE )                                                                                                                 \\r
 115         {                                                                                                                                                                                                                                               \\r
 116         unsigned portBASE_TYPE uxSavedInterruptStatus;                                                                                                                                                  \\r
 117                 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();                                                                                                                     \\r
 118                 {                                                                                                                                                                                                                                       \\r
 119                         uxValueForNormallyEmptyQueue++;                                                                                                                                                                 \\r
 120                         xQueueSendFromISR( xNormallyEmptyQueue, ( void * ) &uxValueForNormallyEmptyQueue, &xHigherPriorityTaskWoken );  \\r
 121                 }                                                                                                                                                                                                                                       \\r
 122                 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );                                                                                                            \\r
 123         }                                                                                                                                                                                                                                               \\r
 124 \r
 125 /* Send the next value to the queue that is normally full.  This is called\r
 126 from within the interrupts. */\r
 127 #define timerNORMALLY_FULL_TX()                                                                                                                                                                                         \\r
 128         if( xQueueIsQueueFullFromISR( xNormallyFullQueue ) != pdTRUE )                                                                                                                  \\r
 129         {                                                                                                                                                                                                                                               \\r
 130         unsigned portBASE_TYPE uxSavedInterruptStatus;                                                                                                                                                  \\r
 131                 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();                                                                                                                     \\r
 132                 {                                                                                                                                                                                                                                       \\r
 133                         uxValueForNormallyFullQueue++;                                                                                                                                                                  \\r
 134                         xQueueSendFromISR( xNormallyFullQueue, ( void * ) &uxValueForNormallyFullQueue, &xHigherPriorityTaskWoken );    \                       \r
 135                 }                                                                                                                                                                                                                                       \\r
 136                 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );                                                                                                            \\r
 137         }                                                                                                                                                                                                                                               \\r
 138 \r
 139 /* Receive a value from the normally empty queue.  This is called from within\r
 140 an interrupt. */\r
 141 #define timerNORMALLY_EMPTY_RX()                                                                                                                                                        \\r
 142         if( xQueueReceiveFromISR( xNormallyEmptyQueue, &uxRxedValue, &xHigherPriorityTaskWoken ) != pdPASS )    \\r
 143         {                                                                                                                                                                                                               \\r
 144                 prvQueueAccessLogError( __LINE__ );                                                                                                                                     \\r
 145         }                                                                                                                                                                                                               \\r
 146         else                                                                                                                                                                                                    \\r
 147         {                                                                                                                                                                                                               \\r
 148                 prvRecordValue_NormallyEmpty( uxRxedValue, intqSECOND_INTERRUPT );                                                                      \\r
 149         }\r
 150 \r
 151 /* Receive a value from the normally full queue.  This is called from within\r
 152 an interrupt. */\r
 153 #define timerNORMALLY_FULL_RX()                                                                                                                                                         \\r
 154         if( xQueueReceiveFromISR( xNormallyFullQueue, &uxRxedValue, &xHigherPriorityTaskWoken ) == pdPASS )             \\r
 155         {                                                                                                                                                                                                               \\r
 156                 prvRecordValue_NormallyFull( uxRxedValue, intqSECOND_INTERRUPT );                                                                       \\r
 157         }                                                                                                                                                                                                               \\r
 158 \r
 159 \r
 160 /*-----------------------------------------------------------*/\r
 161 \r
 162 /* The two queues used by the test. */\r
 163 static xQueueHandle xNormallyEmptyQueue, xNormallyFullQueue;\r
 164 \r
 165 /* Variables used to detect a stall in one of the tasks. */\r
 166 static unsigned portBASE_TYPE uxHighPriorityLoops1 = 0, uxHighPriorityLoops2 = 0, uxLowPriorityLoops1 = 0, uxLowPriorityLoops2 = 0;\r
 167 \r
 168 /* Any unexpected behaviour sets xErrorStatus to fail and log the line that\r
 169 caused the error in xErrorLine. */\r
 170 static portBASE_TYPE xErrorStatus = pdPASS;\r
 171 static unsigned portBASE_TYPE xErrorLine = ( unsigned portBASE_TYPE ) 0;\r
 172 \r
 173 /* Used for sequencing between tasks. */\r
 174 static portBASE_TYPE xWasSuspended = pdFALSE;\r
 175 \r
 176 /* The values that are sent to the queues.  An incremented value is sent each\r
 177 time to each queue. */\r
 178 volatile unsigned portBASE_TYPE uxValueForNormallyEmptyQueue = 0, uxValueForNormallyFullQueue = 0;\r
 179 \r
 180 /* A handle to some of the tasks is required so they can be suspended/resumed. */\r
 181 xTaskHandle xHighPriorityNormallyEmptyTask1, xHighPriorityNormallyEmptyTask2, xHighPriorityNormallyFullTask1, xHighPriorityNormallyFullTask2;\r
 182 \r
 183 /* When a value is received in a queue the value is ticked off in the array\r
 184 the array position of the value is set to a the identifier of the task or\r
 185 interrupt that accessed the queue.  This way missing or duplicate values can be\r
 186 detected. */\r
 187 static unsigned portCHAR ucNormallyEmptyReceivedValues[ intqNUM_VALUES_TO_LOG ] = { 0 };\r
 188 static unsigned portCHAR ucNormallyFullReceivedValues[ intqNUM_VALUES_TO_LOG ] = { 0 };\r
 189 \r
 190 /* The test tasks themselves. */\r
 191 static void prvLowerPriorityNormallyEmptyTask( void *pvParameters );\r
 192 static void prvLowerPriorityNormallyFullTask( void *pvParameters );\r
 193 static void prvHigherPriorityNormallyEmptyTask( void *pvParameters );\r
 194 static void prv1stHigherPriorityNormallyFullTask( void *pvParameters );\r
 195 static void prv2ndHigherPriorityNormallyFullTask( void *pvParameters );\r
 196 \r
 197 /* Used to mark the positions within the ucNormallyEmptyReceivedValues and\r
 198 ucNormallyFullReceivedValues arrays, while checking for duplicates. */\r
 199 static void prvRecordValue_NormallyEmpty( unsigned portBASE_TYPE uxValue, unsigned portBASE_TYPE uxSource );\r
 200 static void prvRecordValue_NormallyFull( unsigned portBASE_TYPE uxValue, unsigned portBASE_TYPE uxSource );\r
 201 \r
 202 /* Logs the line on which an error occurred. */\r
 203 static void prvQueueAccessLogError( unsigned portBASE_TYPE uxLine );\r
 204 \r
 205 /*-----------------------------------------------------------*/\r
 206 \r
 207 void vStartInterruptQueueTasks( void )\r
 208 {\r
 209         /* Start the test tasks. */\r
 210         xTaskCreate( prvHigherPriorityNormallyEmptyTask, ( signed portCHAR * ) "H1QRx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK1, intqHIGHER_PRIORITY, &xHighPriorityNormallyEmptyTask1 );\r
 211         xTaskCreate( prvHigherPriorityNormallyEmptyTask, ( signed portCHAR * ) "H2QRx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK2, intqHIGHER_PRIORITY, &xHighPriorityNormallyEmptyTask2 );\r
 212         xTaskCreate( prvLowerPriorityNormallyEmptyTask, ( signed portCHAR * ) "LQRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL );\r
 213         xTaskCreate( prv1stHigherPriorityNormallyFullTask, ( signed portCHAR * ) "H1QTx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK1, intqHIGHER_PRIORITY, &xHighPriorityNormallyFullTask1 );\r
 214         xTaskCreate( prv2ndHigherPriorityNormallyFullTask, ( signed portCHAR * ) "H1QTx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK2, intqHIGHER_PRIORITY, &xHighPriorityNormallyFullTask2 );\r
 215         xTaskCreate( prvLowerPriorityNormallyFullTask, ( signed portCHAR * ) "LQRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL );\r
 216 \r
 217         /* Create the queues that are accessed by multiple tasks and multiple\r
 218         interrupts. */\r
 219         xNormallyFullQueue = xQueueCreate( intqQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) );\r
 220         xNormallyEmptyQueue = xQueueCreate( intqQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) );\r
 221 \r
 222         /* vQueueAddToRegistry() adds the queue to the queue registry, if one is\r
 223         in use.  The queue registry is provided as a means for kernel aware\r
 224         debuggers to locate queues and has no purpose if a kernel aware debugger\r
 225         is not being used.  The call to vQueueAddToRegistry() will be removed\r
 226         by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is\r
 227         defined to be less than 1. */\r
 228         vQueueAddToRegistry( xNormallyFullQueue, ( signed portCHAR * ) "NormallyFull" );\r
 229         vQueueAddToRegistry( xNormallyEmptyQueue, ( signed portCHAR * ) "NormallyEmpty" );\r
 230 }\r
 231 /*-----------------------------------------------------------*/\r
 232 \r
 233 static void prvRecordValue_NormallyFull( unsigned portBASE_TYPE uxValue, unsigned portBASE_TYPE uxSource )\r
 234 {\r
 235         if( uxValue < intqNUM_VALUES_TO_LOG )\r
 236         {\r
 237                 /* We don't expect to receive the same value twice, so if the value\r
 238                 has already been marked as received an error has occurred. */\r
 239                 if( ucNormallyFullReceivedValues[ uxValue ] != 0x00 )\r
 240                 {\r
 241                         prvQueueAccessLogError( __LINE__ );\r
 242                 }\r
 243 \r
 244                 /* Log that this value has been received. */\r
 245                 ucNormallyFullReceivedValues[ uxValue ] = uxSource;\r
 246         }\r
 247 }\r
 248 /*-----------------------------------------------------------*/\r
 249 \r
 250 static void prvRecordValue_NormallyEmpty( unsigned portBASE_TYPE uxValue, unsigned portBASE_TYPE uxSource )\r
 251 {\r
 252         if( uxValue < intqNUM_VALUES_TO_LOG )\r
 253         {\r
 254                 /* We don't expect to receive the same value twice, so if the value\r
 255                 has already been marked as received an error has occurred. */\r
 256                 if( ucNormallyEmptyReceivedValues[ uxValue ] != 0x00 )\r
 257                 {\r
 258                         prvQueueAccessLogError( __LINE__ );\r
 259                 }\r
 260 \r
 261                 /* Log that this value has been received. */\r
 262                 ucNormallyEmptyReceivedValues[ uxValue ] = uxSource;\r
 263         }\r
 264 }\r
 265 /*-----------------------------------------------------------*/\r
 266 \r
 267 static void prvQueueAccessLogError( unsigned portBASE_TYPE uxLine )\r
 268 {\r
 269         /* Latch the line number that caused the error. */\r
 270         xErrorLine = uxLine;\r
 271         xErrorStatus = pdFAIL;\r
 272 }\r
 273 /*-----------------------------------------------------------*/\r
 274 \r
 275 static void prvHigherPriorityNormallyEmptyTask( void *pvParameters )\r
 276 {\r
 277 unsigned portBASE_TYPE uxRxed, ux, uxTask1, uxTask2, uxErrorCount1 = 0, uxErrorCount2 = 0;\r
 278 \r
 279         /* The timer should not be started until after the scheduler has started.\r
 280         More than one task is running this code so we check the parameter value\r
 281         to determine which task should start the timer. */\r
 282         if( ( unsigned portBASE_TYPE ) pvParameters == intqHIGH_PRIORITY_TASK1 )\r
 283         {\r
 284                 vInitialiseTimerForIntQueueTest();\r
 285         }\r
 286 \r
 287         for( ;; )\r
 288         {\r
 289                 /* Block waiting to receive a value from the normally empty queue.\r
 290                 Interrupts will write to the queue so we should receive a value. */\r
 291                 if( xQueueReceive( xNormallyEmptyQueue, &uxRxed, intqSHORT_DELAY ) != pdPASS )\r
 292                 {\r
 293                         prvQueueAccessLogError( __LINE__ );\r
 294                 }\r
 295                 else\r
 296                 {\r
 297                         /* Note which value was received so we can check all expected\r
 298                         values are received and no values are duplicated. */\r
 299                         prvRecordValue_NormallyEmpty( uxRxed, ( unsigned portBASE_TYPE ) pvParameters );\r
 300                 }\r
 301 \r
 302                 /* Ensure the other task running this code gets a chance to execute. */\r
 303                 taskYIELD();\r
 304 \r
 305                 if( ( unsigned portBASE_TYPE ) pvParameters == intqHIGH_PRIORITY_TASK1 )\r
 306                 {\r
 307                         /* Have we received all the expected values? */\r
 308                         if( uxValueForNormallyEmptyQueue > ( intqNUM_VALUES_TO_LOG + intqVALUE_OVERRUN ) )\r
 309                         {\r
 310                                 vTaskSuspend( xHighPriorityNormallyEmptyTask2 );\r
 311 \r
 312                                 uxTask1 = 0;\r
 313                                 uxTask2 = 0;\r
 314 \r
 315                                 /* Loop through the array, checking that both tasks have\r
 316                                 placed values into the array, and that no values are missing.\r
 317                                 Start at 1 as we expect position 0 to be unused. */\r
 318                                 for( ux = 1; ux < intqNUM_VALUES_TO_LOG; ux++ )\r
 319                                 {\r
 320                                         if( ucNormallyEmptyReceivedValues[ ux ] == 0 )\r
 321                                         {\r
 322                                                 /* A value is missing. */\r
 323                                                 prvQueueAccessLogError( __LINE__ );\r
 324                                         }\r
 325                                         else\r
 326                                         {\r
 327                                                 if( ucNormallyEmptyReceivedValues[ ux ] == intqHIGH_PRIORITY_TASK1 )\r
 328                                                 {\r
 329                                                         /* Value was placed into the array by task 1. */\r
 330                                                         uxTask1++;\r
 331                                                 }\r
 332                                                 else if( ucNormallyEmptyReceivedValues[ ux ] == intqHIGH_PRIORITY_TASK2 )\r
 333                                                 {\r
 334                                                         /* Value was placed into the array by task 2. */\r
 335                                                         uxTask2++;\r
 336                                                 }\r
 337                                         }\r
 338                                 }\r
 339 \r
 340                                 if( uxTask1 < intqMIN_ACCEPTABLE_TASK_COUNT )\r
 341                                 {\r
 342                                         /* Only task 2 seemed to log any values. */\r
 343                                         uxErrorCount1++;\r
 344                                         if( uxErrorCount1 > 2 )\r
 345                                         {\r
 346                                                 prvQueueAccessLogError( __LINE__ );\r
 347                                         }\r
 348                                 }\r
 349                                 else\r
 350                                 {\r
 351                                         uxErrorCount1 = 0;\r
 352                                 }\r
 353 \r
 354                                 if( uxTask2 < intqMIN_ACCEPTABLE_TASK_COUNT  )\r
 355                                 {\r
 356                                         /* Only task 1 seemed to log any values. */\r
 357                                         uxErrorCount2++;\r
 358                                         if( uxErrorCount2 > 2 )\r
 359                                         {\r
 360                                                 prvQueueAccessLogError( __LINE__ );\r
 361                                         }\r
 362                                 }\r
 363                                 else\r
 364                                 {\r
 365                                         uxErrorCount2 = 0;\r
 366                                 }\r
 367 \r
 368                                 /* Clear the array again, ready to start a new cycle. */\r
 369                                 memset( ucNormallyEmptyReceivedValues, 0x00, sizeof( ucNormallyEmptyReceivedValues ) );\r
 370 \r
 371                                 uxHighPriorityLoops1++;\r
 372                                 uxValueForNormallyEmptyQueue = 0;\r
 373 \r
 374                                 /* Suspend ourselves, allowing the lower priority task to\r
 375                                 actually receive something from the queue.  Until now it\r
 376                                 will have been prevented from doing so by the higher\r
 377                                 priority tasks.  The lower priority task will resume us\r
 378                                 if it receives something.  We will then resume the other\r
 379                                 higher priority task. */\r
 380                                 vTaskSuspend( NULL );\r
 381                                 vTaskResume( xHighPriorityNormallyEmptyTask2 );\r
 382                         }\r
 383                 }\r
 384         }\r
 385 }\r
 386 /*-----------------------------------------------------------*/\r
 387 \r
 388 static void prvLowerPriorityNormallyEmptyTask( void *pvParameters )\r
 389 {\r
 390 unsigned portBASE_TYPE uxValue, uxRxed;\r
 391 portBASE_TYPE xQueueStatus;\r
 392 \r
 393         /* The parameters are not being used so avoid compiler warnings. */\r
 394         ( void ) pvParameters;\r
 395 \r
 396         for( ;; )\r
 397         {\r
 398                 if( ( xQueueStatus = xQueueReceive( xNormallyEmptyQueue, &uxRxed, intqONE_TICK_DELAY ) ) != errQUEUE_EMPTY )\r
 399                 {\r
 400                         /* We should only obtain a value when the high priority task is\r
 401                         suspended. */\r
 402                         if( xTaskIsTaskSuspended( xHighPriorityNormallyEmptyTask1 ) == pdFALSE )\r
 403                         {\r
 404                                 prvQueueAccessLogError( __LINE__ );\r
 405                         }\r
 406 \r
 407                         prvRecordValue_NormallyEmpty( uxRxed, intqLOW_PRIORITY_TASK );\r
 408 \r
 409                         /* Wake the higher priority task again. */\r
 410                         vTaskResume( xHighPriorityNormallyEmptyTask1 );\r
 411                         uxLowPriorityLoops1++;\r
 412                 }\r
 413                 else\r
 414                 {\r
 415                         /* Raise our priority while we send so we can preempt the higher\r
 416                         priority task, and ensure we get the Tx value into the queue. */\r
 417                         vTaskPrioritySet( NULL, intqHIGHER_PRIORITY + 1 );\r
 418 \r
 419                         portENTER_CRITICAL();\r
 420                         {\r
 421                                 uxValueForNormallyEmptyQueue++;\r
 422                                 uxValue = uxValueForNormallyEmptyQueue;                         \r
 423                         }\r
 424                         portEXIT_CRITICAL();\r
 425 \r
 426                         if( xQueueSend( xNormallyEmptyQueue, &uxValue, portMAX_DELAY ) != pdPASS )\r
 427                         {\r
 428                                 prvQueueAccessLogError( __LINE__ );\r
 429                         }\r
 430 \r
 431                         vTaskPrioritySet( NULL, intqLOWER_PRIORITY );\r
 432                 }\r
 433         }\r
 434 }\r
 435 /*-----------------------------------------------------------*/\r
 436 \r
 437 static void prv1stHigherPriorityNormallyFullTask( void *pvParameters )\r
 438 {\r
 439 unsigned portBASE_TYPE uxValueToTx, ux;\r
 440 portBASE_TYPE xQueueStatus;\r
 441 \r
 442         /* The parameters are not being used so avoid compiler warnings. */\r
 443         ( void ) pvParameters;\r
 444 \r
 445         /* Make sure the queue starts full or near full.  >> 1 as there are two\r
 446         high priority tasks. */\r
 447         for( ux = 0; ux < ( intqQUEUE_LENGTH >> 1 ); ux++ )\r
 448         {\r
 449                 portENTER_CRITICAL();\r
 450                 {\r
 451                         uxValueForNormallyFullQueue++;\r
 452                         uxValueToTx = uxValueForNormallyFullQueue;                      \r
 453                 }\r
 454                 portEXIT_CRITICAL();\r
 455 \r
 456                 xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY );\r
 457         }\r
 458 \r
 459         for( ;; )\r
 460         {\r
 461                 portENTER_CRITICAL();\r
 462                 {\r
 463                         uxValueForNormallyFullQueue++;\r
 464                         uxValueToTx = uxValueForNormallyFullQueue;                      \r
 465                 }\r
 466                 portEXIT_CRITICAL();\r
 467 \r
 468                 if( ( xQueueStatus = xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY ) ) != pdPASS )\r
 469                 {\r
 470                         /* intqHIGH_PRIORITY_TASK2 is never suspended so we would not\r
 471                         expect it to ever time out. */\r
 472                         prvQueueAccessLogError( __LINE__ );\r
 473                 }\r
 474 \r
 475                 /* Allow the other task running this code to run. */\r
 476                 taskYIELD();\r
 477 \r
 478                 /* Have all the expected values been sent to the queue? */\r
 479                 if( uxValueToTx > ( intqNUM_VALUES_TO_LOG + intqVALUE_OVERRUN ) )\r
 480                 {\r
 481                         /* Make sure the other high priority task completes its send of\r
 482                         any values below intqNUM_VALUE_TO_LOG. */\r
 483                         vTaskDelay( intqSHORT_DELAY );\r
 484 \r
 485                         vTaskSuspend( xHighPriorityNormallyFullTask2 );\r
 486 \r
 487                         if( xWasSuspended == pdTRUE )\r
 488                         {\r
 489                                 /* We would have expected the other high priority task to have\r
 490                                 set this back to false by now. */\r
 491                                 prvQueueAccessLogError( __LINE__ );\r
 492                         }\r
 493 \r
 494                         /* Set the suspended flag so an error is not logged if the other\r
 495                         task recognises a time out when it is unsuspended. */\r
 496                         xWasSuspended = pdTRUE;\r
 497 \r
 498                         /* Start at 1 as we expect position 0 to be unused. */\r
 499                         for( ux = 1; ux < intqNUM_VALUES_TO_LOG; ux++ )\r
 500                         {\r
 501                                 if( ucNormallyFullReceivedValues[ ux ] == 0 )\r
 502                                 {\r
 503                                         /* A value was missing. */\r
 504                                         prvQueueAccessLogError( __LINE__ );\r
 505                                 }\r
 506                         }\r
 507 \r
 508                         /* Reset the array ready for the next cycle. */\r
 509                         memset( ucNormallyFullReceivedValues, 0x00, sizeof( ucNormallyFullReceivedValues ) );\r
 510 \r
 511                         uxHighPriorityLoops2++;\r
 512                         uxValueForNormallyFullQueue = 0;\r
 513 \r
 514                         /* Suspend ourselves, allowing the lower priority task to\r
 515                         actually receive something from the queue.  Until now it\r
 516                         will have been prevented from doing so by the higher\r
 517                         priority tasks.  The lower priority task will resume us\r
 518                         if it receives something.  We will then resume the other\r
 519                         higher priority task. */\r
 520                         vTaskSuspend( NULL );\r
 521                         vTaskResume( xHighPriorityNormallyFullTask2 );\r
 522                 }\r
 523         }\r
 524 }\r
 525 /*-----------------------------------------------------------*/\r
 526 \r
 527 static void prv2ndHigherPriorityNormallyFullTask( void *pvParameters )\r
 528 {\r
 529 unsigned portBASE_TYPE uxValueToTx, ux;\r
 530 portBASE_TYPE xQueueStatus;\r
 531 \r
 532         /* The parameters are not being used so avoid compiler warnings. */\r
 533         ( void ) pvParameters;\r
 534 \r
 535         /* Make sure the queue starts full or near full.  >> 1 as there are two\r
 536         high priority tasks. */\r
 537         for( ux = 0; ux < ( intqQUEUE_LENGTH >> 1 ); ux++ )\r
 538         {\r
 539                 portENTER_CRITICAL();\r
 540                 {\r
 541                         uxValueForNormallyFullQueue++;\r
 542                         uxValueToTx = uxValueForNormallyFullQueue;                      \r
 543                 }\r
 544                 portEXIT_CRITICAL();\r
 545 \r
 546                 xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY );\r
 547         }\r
 548 \r
 549         for( ;; )\r
 550         {\r
 551                 portENTER_CRITICAL();\r
 552                 {\r
 553                         uxValueForNormallyFullQueue++;\r
 554                         uxValueToTx = uxValueForNormallyFullQueue;                      \r
 555                 }\r
 556                 portEXIT_CRITICAL();\r
 557 \r
 558                 if( ( xQueueStatus = xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY ) ) != pdPASS )\r
 559                 {\r
 560                         if( xWasSuspended != pdTRUE )\r
 561                         {\r
 562                                 /* It is ok to time out if the task has been suspended. */\r
 563                                 prvQueueAccessLogError( __LINE__ );\r
 564                         }\r
 565                 }\r
 566 \r
 567                 xWasSuspended = pdFALSE;\r
 568 \r
 569                 taskYIELD();\r
 570         }\r
 571 }\r
 572 /*-----------------------------------------------------------*/\r
 573 \r
 574 static void prvLowerPriorityNormallyFullTask( void *pvParameters )\r
 575 {\r
 576 unsigned portBASE_TYPE uxValue, uxTxed = 9999;\r
 577 portBASE_TYPE xQueueStatus;\r
 578 \r
 579         /* The parameters are not being used so avoid compiler warnings. */\r
 580         ( void ) pvParameters;\r
 581 \r
 582         for( ;; )\r
 583         {\r
 584                 if( ( xQueueStatus = xQueueSend( xNormallyFullQueue, &uxTxed, intqONE_TICK_DELAY ) ) != errQUEUE_FULL )\r
 585                 {\r
 586                         /* We would only expect to succeed when the higher priority task\r
 587                         is suspended. */\r
 588                         if( xTaskIsTaskSuspended( xHighPriorityNormallyFullTask1 ) == pdFALSE )\r
 589                         {\r
 590                                 prvQueueAccessLogError( __LINE__ );\r
 591                         }\r
 592 \r
 593                         vTaskResume( xHighPriorityNormallyFullTask1 );\r
 594                         uxLowPriorityLoops2++;\r
 595                 }\r
 596                 else\r
 597                 {\r
 598                         /* Raise our priority while we receive so we can preempt the higher\r
 599                         priority task, and ensure we get the value from the queue. */\r
 600                         vTaskPrioritySet( NULL, intqHIGHER_PRIORITY + 1 );\r
 601 \r
 602                         if( xQueueReceive( xNormallyFullQueue, &uxValue, portMAX_DELAY ) != pdPASS )\r
 603                         {\r
 604                                 prvQueueAccessLogError( __LINE__ );\r
 605                         }\r
 606                         else\r
 607                         {\r
 608                                 prvRecordValue_NormallyFull( uxValue, intqLOW_PRIORITY_TASK );\r
 609                         }\r
 610 \r
 611                         vTaskPrioritySet( NULL, intqLOWER_PRIORITY );\r
 612                 }\r
 613         }\r
 614 }\r
 615 /*-----------------------------------------------------------*/\r
 616 \r
 617 portBASE_TYPE xFirstTimerHandler( void )\r
 618 {\r
 619 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE, uxRxedValue;\r
 620 static unsigned portBASE_TYPE uxNextOperation = 0;\r
 621 \r
 622         /* Called from a timer interrupt.  Perform various read and write\r
 623         accesses on the queues. */\r
 624 \r
 625         uxNextOperation++;\r
 626 \r
 627         if( uxNextOperation & ( unsigned portBASE_TYPE ) 0x01 )\r
 628         {\r
 629                 timerNORMALLY_EMPTY_TX();\r
 630                 timerNORMALLY_EMPTY_TX();\r
 631                 timerNORMALLY_EMPTY_TX();\r
 632         }\r
 633         else\r
 634         {\r
 635                 timerNORMALLY_FULL_RX();\r
 636                 timerNORMALLY_FULL_RX();\r
 637                 timerNORMALLY_FULL_RX();\r
 638         }\r
 639 \r
 640         return xHigherPriorityTaskWoken;\r
 641 }\r
 642 /*-----------------------------------------------------------*/\r
 643 \r
 644 portBASE_TYPE xSecondTimerHandler( void )\r
 645 {\r
 646 unsigned portBASE_TYPE uxRxedValue;\r
 647 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;\r
 648 static unsigned portBASE_TYPE uxNextOperation = 0;\r
 649 \r
 650         /* Called from a timer interrupt.  Perform various read and write\r
 651         accesses on the queues. */\r
 652 \r
 653         uxNextOperation++;\r
 654 \r
 655         if( uxNextOperation & ( unsigned portBASE_TYPE ) 0x01 )\r
 656         {\r
 657                 timerNORMALLY_EMPTY_TX();\r
 658                 timerNORMALLY_EMPTY_TX();\r
 659 \r
 660                 timerNORMALLY_EMPTY_RX();\r
 661                 timerNORMALLY_EMPTY_RX();\r
 662         }\r
 663         else\r
 664         {\r
 665                 timerNORMALLY_FULL_RX();\r
 666                 timerNORMALLY_FULL_TX();\r
 667                 timerNORMALLY_FULL_TX();\r
 668                 timerNORMALLY_FULL_TX();\r
 669                 timerNORMALLY_FULL_TX();\r
 670         }\r
 671 \r
 672         return xHigherPriorityTaskWoken;\r
 673 }\r
 674 /*-----------------------------------------------------------*/\r
 675 \r
 676 \r
 677 portBASE_TYPE xAreIntQueueTasksStillRunning( void )\r
 678 {\r
 679 static unsigned portBASE_TYPE uxLastHighPriorityLoops1 = 0, uxLastHighPriorityLoops2 = 0, uxLastLowPriorityLoops1 = 0, uxLastLowPriorityLoops2 = 0;\r
 680 \r
 681         /* xErrorStatus can be set outside of this function.  This function just\r
 682         checks that all the tasks are still cycling. */\r
 683 \r
 684         if( uxHighPriorityLoops1 == uxLastHighPriorityLoops1 )\r
 685         {\r
 686                 /* The high priority 1 task has stalled. */\r
 687                 prvQueueAccessLogError( __LINE__ );\r
 688         }\r
 689 \r
 690         uxLastHighPriorityLoops1 = uxHighPriorityLoops1;\r
 691 \r
 692         if( uxHighPriorityLoops2 == uxLastHighPriorityLoops2 )\r
 693         {\r
 694                 /* The high priority 2 task has stalled. */\r
 695                 prvQueueAccessLogError( __LINE__ );\r
 696         }\r
 697 \r
 698         uxLastHighPriorityLoops2 = uxHighPriorityLoops2;\r
 699 \r
 700         if( uxLowPriorityLoops1 == uxLastLowPriorityLoops1 )\r
 701         {\r
 702                 /* The low priority 1 task has stalled. */\r
 703                 prvQueueAccessLogError( __LINE__ );\r
 704         }\r
 705 \r
 706         uxLastLowPriorityLoops1 = uxLowPriorityLoops1;\r
 707 \r
 708         if( uxLowPriorityLoops2 == uxLastLowPriorityLoops2 )\r
 709         {\r
 710                 /* The low priority 2 task has stalled. */\r
 711                 prvQueueAccessLogError( __LINE__ );\r
 712         }\r
 713 \r
 714         uxLastLowPriorityLoops2 = uxLowPriorityLoops2;\r
 715 \r
 716         return xErrorStatus;\r
 717 }\r
 718 \r