2 FreeRTOS.org V5.1.0 - Copyright (C) 2003-2008 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 ***************************************************************************
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29 * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
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30 * and even write all or part of your application on your behalf. *
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32 * expedite your project. *
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34 ***************************************************************************
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35 ***************************************************************************
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37 Please ensure to read the configuration and relevant port sections of the
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38 online documentation.
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40 http://www.FreeRTOS.org - Documentation, latest information, license and
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43 http://www.SafeRTOS.com - A version that is certified for use in safety
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46 http://www.OpenRTOS.com - Commercial support, development, porting,
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47 licensing and training services.
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51 * This file contains some test scenarios that ensure tasks do not exit queue
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52 * send or receive functions prematurely. A description of the tests is
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53 * included within the code.
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56 /* Kernel includes. */
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57 #include "FreeRTOS.h"
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61 /* Demo includes. */
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62 #include "blocktim.h"
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64 /* Task priorities. */
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65 #define bktPRIMARY_PRIORITY ( 3 )
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66 #define bktSECONDARY_PRIORITY ( 2 )
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68 /* Task behaviour. */
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69 #define bktQUEUE_LENGTH ( 5 )
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70 #define bktSHORT_WAIT ( ( ( portTickType ) 20 ) / portTICK_RATE_MS )
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71 #define bktPRIMARY_BLOCK_TIME ( 10 )
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72 #define bktALLOWABLE_MARGIN ( 15 )
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73 #define bktTIME_TO_BLOCK ( 175 )
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74 #define bktDONT_BLOCK ( ( portTickType ) 0 )
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75 #define bktRUN_INDICATOR ( ( unsigned portBASE_TYPE ) 0x55 )
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77 /* The queue on which the tasks block. */
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78 static xQueueHandle xTestQueue;
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80 /* Handle to the secondary task is required by the primary task for calls
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81 to vTaskSuspend/Resume(). */
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82 static xTaskHandle xSecondary;
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84 /* Used to ensure that tasks are still executing without error. */
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85 static volatile portBASE_TYPE xPrimaryCycles = 0, xSecondaryCycles = 0;
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86 static volatile portBASE_TYPE xErrorOccurred = pdFALSE;
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88 /* Provides a simple mechanism for the primary task to know when the
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89 secondary task has executed. */
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90 static volatile unsigned portBASE_TYPE xRunIndicator;
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92 /* The two test tasks. Their behaviour is commented within the files. */
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93 static void vPrimaryBlockTimeTestTask( void *pvParameters );
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94 static void vSecondaryBlockTimeTestTask( void *pvParameters );
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96 /*-----------------------------------------------------------*/
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98 void vCreateBlockTimeTasks( void )
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100 /* Create the queue on which the two tasks block. */
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101 xTestQueue = xQueueCreate( bktQUEUE_LENGTH, sizeof( portBASE_TYPE ) );
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103 /* vQueueAddToRegistry() adds the queue to the queue registry, if one is
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104 in use. The queue registry is provided as a means for kernel aware
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105 debuggers to locate queues and has no purpose if a kernel aware debugger
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106 is not being used. The call to vQueueAddToRegistry() will be removed
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107 by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
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108 defined to be less than 1. */
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109 vQueueAddToRegistry( xTestQueue, ( signed portCHAR * ) "Block_Time_Queue" );
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111 /* Create the two test tasks. */
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112 xTaskCreate( vPrimaryBlockTimeTestTask, ( signed portCHAR * )"BTest1", configMINIMAL_STACK_SIZE, NULL, bktPRIMARY_PRIORITY, NULL );
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113 xTaskCreate( vSecondaryBlockTimeTestTask, ( signed portCHAR * )"BTest2", configMINIMAL_STACK_SIZE, NULL, bktSECONDARY_PRIORITY, &xSecondary );
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115 /*-----------------------------------------------------------*/
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117 static void vPrimaryBlockTimeTestTask( void *pvParameters )
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119 portBASE_TYPE xItem, xData;
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120 portTickType xTimeWhenBlocking;
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121 portTickType xTimeToBlock, xBlockedTime;
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123 ( void ) pvParameters;
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127 /*********************************************************************
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130 Simple block time wakeup test on queue receives. */
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131 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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133 /* The queue is empty. Attempt to read from the queue using a block
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134 time. When we wake, ensure the delta in time is as expected. */
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135 xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;
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137 xTimeWhenBlocking = xTaskGetTickCount();
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139 /* We should unblock after xTimeToBlock having not received
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140 anything on the queue. */
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141 if( xQueueReceive( xTestQueue, &xData, xTimeToBlock ) != errQUEUE_EMPTY )
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143 xErrorOccurred = pdTRUE;
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146 /* How long were we blocked for? */
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147 xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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149 if( xBlockedTime < xTimeToBlock )
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151 /* Should not have blocked for less than we requested. */
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152 xErrorOccurred = pdTRUE;
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155 if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
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157 /* Should not have blocked for longer than we requested,
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158 although we would not necessarily run as soon as we were
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159 unblocked so a margin is allowed. */
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160 xErrorOccurred = pdTRUE;
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164 /*********************************************************************
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167 Simple block time wakeup test on queue sends.
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169 First fill the queue. It should be empty so all sends should pass. */
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170 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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172 if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
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174 xErrorOccurred = pdTRUE;
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177 #if configUSE_PREEMPTION == 0
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182 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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184 /* The queue is full. Attempt to write to the queue using a block
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185 time. When we wake, ensure the delta in time is as expected. */
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186 xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;
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188 xTimeWhenBlocking = xTaskGetTickCount();
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190 /* We should unblock after xTimeToBlock having not received
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191 anything on the queue. */
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192 if( xQueueSend( xTestQueue, &xItem, xTimeToBlock ) != errQUEUE_FULL )
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194 xErrorOccurred = pdTRUE;
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197 /* How long were we blocked for? */
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198 xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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200 if( xBlockedTime < xTimeToBlock )
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202 /* Should not have blocked for less than we requested. */
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203 xErrorOccurred = pdTRUE;
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206 if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
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208 /* Should not have blocked for longer than we requested,
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209 although we would not necessarily run as soon as we were
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210 unblocked so a margin is allowed. */
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211 xErrorOccurred = pdTRUE;
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215 /*********************************************************************
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218 Wake the other task, it will block attempting to post to the queue.
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219 When we read from the queue the other task will wake, but before it
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220 can run we will post to the queue again. When the other task runs it
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221 will find the queue still full, even though it was woken. It should
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222 recognise that its block time has not expired and return to block for
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223 the remains of its block time.
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225 Wake the other task so it blocks attempting to post to the already
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228 vTaskResume( xSecondary );
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230 /* We need to wait a little to ensure the other task executes. */
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231 while( xRunIndicator != bktRUN_INDICATOR )
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233 /* The other task has not yet executed. */
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234 vTaskDelay( bktSHORT_WAIT );
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236 /* Make sure the other task is blocked on the queue. */
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237 vTaskDelay( bktSHORT_WAIT );
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240 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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242 /* Now when we make space on the queue the other task should wake
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243 but not execute as this task has higher priority. */
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244 if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
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246 xErrorOccurred = pdTRUE;
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249 /* Now fill the queue again before the other task gets a chance to
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250 execute. If the other task had executed we would find the queue
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251 full ourselves, and the other task have set xRunIndicator. */
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252 if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
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254 xErrorOccurred = pdTRUE;
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257 if( xRunIndicator == bktRUN_INDICATOR )
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259 /* The other task should not have executed. */
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260 xErrorOccurred = pdTRUE;
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263 /* Raise the priority of the other task so it executes and blocks
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264 on the queue again. */
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265 vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
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267 /* The other task should now have re-blocked without exiting the
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269 if( xRunIndicator == bktRUN_INDICATOR )
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271 /* The other task should not have executed outside of the
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273 xErrorOccurred = pdTRUE;
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276 /* Set the priority back down. */
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277 vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
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280 /* Let the other task timeout. When it unblockes it will check that it
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281 unblocked at the correct time, then suspend itself. */
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282 while( xRunIndicator != bktRUN_INDICATOR )
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284 vTaskDelay( bktSHORT_WAIT );
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286 vTaskDelay( bktSHORT_WAIT );
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290 /*********************************************************************
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293 As per test 3 - but with the send and receive the other way around.
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294 The other task blocks attempting to read from the queue.
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296 Empty the queue. We should find that it is full. */
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297 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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299 if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
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301 xErrorOccurred = pdTRUE;
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305 /* Wake the other task so it blocks attempting to read from the
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306 already empty queue. */
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307 vTaskResume( xSecondary );
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309 /* We need to wait a little to ensure the other task executes. */
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310 while( xRunIndicator != bktRUN_INDICATOR )
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312 vTaskDelay( bktSHORT_WAIT );
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314 vTaskDelay( bktSHORT_WAIT );
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317 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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319 /* Now when we place an item on the queue the other task should
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320 wake but not execute as this task has higher priority. */
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321 if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
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323 xErrorOccurred = pdTRUE;
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326 /* Now empty the queue again before the other task gets a chance to
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327 execute. If the other task had executed we would find the queue
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328 empty ourselves, and the other task would be suspended. */
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329 if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
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331 xErrorOccurred = pdTRUE;
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334 if( xRunIndicator == bktRUN_INDICATOR )
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336 /* The other task should not have executed. */
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337 xErrorOccurred = pdTRUE;
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340 /* Raise the priority of the other task so it executes and blocks
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341 on the queue again. */
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342 vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
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344 /* The other task should now have re-blocked without exiting the
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346 if( xRunIndicator == bktRUN_INDICATOR )
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348 /* The other task should not have executed outside of the
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350 xErrorOccurred = pdTRUE;
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352 vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
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355 /* Let the other task timeout. When it unblockes it will check that it
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356 unblocked at the correct time, then suspend itself. */
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357 while( xRunIndicator != bktRUN_INDICATOR )
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359 vTaskDelay( bktSHORT_WAIT );
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361 vTaskDelay( bktSHORT_WAIT );
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366 /*-----------------------------------------------------------*/
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368 static void vSecondaryBlockTimeTestTask( void *pvParameters )
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370 portTickType xTimeWhenBlocking, xBlockedTime;
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371 portBASE_TYPE xData;
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373 ( void ) pvParameters;
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377 /*********************************************************************
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380 This task does does not participate in these tests. */
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381 vTaskSuspend( NULL );
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383 /*********************************************************************
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386 The first thing we do is attempt to read from the queue. It should be
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387 full so we block. Note the time before we block so we can check the
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388 wake time is as per that expected. */
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389 xTimeWhenBlocking = xTaskGetTickCount();
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391 /* We should unblock after bktTIME_TO_BLOCK having not received
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392 anything on the queue. */
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394 xRunIndicator = bktRUN_INDICATOR;
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395 if( xQueueSend( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_FULL )
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397 xErrorOccurred = pdTRUE;
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400 /* How long were we inside the send function? */
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401 xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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403 /* We should not have blocked for less time than bktTIME_TO_BLOCK. */
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404 if( xBlockedTime < bktTIME_TO_BLOCK )
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406 xErrorOccurred = pdTRUE;
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409 /* We should of not blocked for much longer than bktALLOWABLE_MARGIN
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410 either. A margin is permitted as we would not necessarily run as
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411 soon as we unblocked. */
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412 if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
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414 xErrorOccurred = pdTRUE;
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417 /* Suspend ready for test 3. */
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418 xRunIndicator = bktRUN_INDICATOR;
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419 vTaskSuspend( NULL );
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421 /*********************************************************************
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424 As per test three, but with the send and receive reversed. */
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425 xTimeWhenBlocking = xTaskGetTickCount();
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427 /* We should unblock after bktTIME_TO_BLOCK having not received
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428 anything on the queue. */
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429 xRunIndicator = bktRUN_INDICATOR;
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430 if( xQueueReceive( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_EMPTY )
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432 xErrorOccurred = pdTRUE;
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435 xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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437 /* We should not have blocked for less time than bktTIME_TO_BLOCK. */
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438 if( xBlockedTime < bktTIME_TO_BLOCK )
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440 xErrorOccurred = pdTRUE;
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443 /* We should of not blocked for much longer than bktALLOWABLE_MARGIN
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444 either. A margin is permitted as we would not necessarily run as soon
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445 as we unblocked. */
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446 if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
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448 xErrorOccurred = pdTRUE;
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451 xRunIndicator = bktRUN_INDICATOR;
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453 xSecondaryCycles++;
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456 /*-----------------------------------------------------------*/
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458 portBASE_TYPE xAreBlockTimeTestTasksStillRunning( void )
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460 static portBASE_TYPE xLastPrimaryCycleCount = 0, xLastSecondaryCycleCount = 0;
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461 portBASE_TYPE xReturn = pdPASS;
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463 /* Have both tasks performed at least one cycle since this function was
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465 if( xPrimaryCycles == xLastPrimaryCycleCount )
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470 if( xSecondaryCycles == xLastSecondaryCycleCount )
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475 if( xErrorOccurred == pdTRUE )
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480 xLastSecondaryCycleCount = xSecondaryCycles;
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481 xLastPrimaryCycleCount = xPrimaryCycles;
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