2 * FreeRTOS Kernel V10.2.1
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3 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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30 * Tests the extra queue functionality introduced in FreeRTOS.org V4.5.0 -
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31 * including xQueueSendToFront(), xQueueSendToBack(), xQueuePeek() and
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34 * See the comments above the prvSendFrontAndBackTest() and
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35 * prvLowPriorityMutexTask() prototypes below for more information.
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38 /* Standard includes. */
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41 /* Scheduler include files. */
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42 #include "FreeRTOS.h"
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47 /* Demo program include files. */
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48 #include "GenQTest.h"
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50 #define genqQUEUE_LENGTH ( 5 )
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51 #define intsemNO_BLOCK ( 0 )
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52 #define genqSHORT_BLOCK ( pdMS_TO_TICKS( 2 ) )
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54 #define genqMUTEX_LOW_PRIORITY ( tskIDLE_PRIORITY )
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55 #define genqMUTEX_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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56 #define genqMUTEX_MEDIUM_PRIORITY ( tskIDLE_PRIORITY + 2 )
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57 #define genqMUTEX_HIGH_PRIORITY ( tskIDLE_PRIORITY + 3 )
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59 #ifndef genqMUTEX_TEST_TASK_STACK_SIZE
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60 #define genqMUTEX_TEST_TASK_STACK_SIZE configMINIMAL_STACK_SIZE
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63 #ifndef genqGENERIC_QUEUE_TEST_TASK_STACK_SIZE
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64 #define genqGENERIC_QUEUE_TEST_TASK_STACK_SIZE configMINIMAL_STACK_SIZE
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66 /*-----------------------------------------------------------*/
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69 * Tests the behaviour of the xQueueSendToFront() and xQueueSendToBack()
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70 * macros by using both to fill a queue, then reading from the queue to
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71 * check the resultant queue order is as expected. Queue data is also
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74 static void prvSendFrontAndBackTest( void *pvParameters );
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77 * The following three tasks are used to demonstrate the mutex behaviour.
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78 * Each task is given a different priority to demonstrate the priority
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79 * inheritance mechanism.
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81 * The low priority task obtains a mutex. After this a high priority task
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82 * attempts to obtain the same mutex, causing its priority to be inherited
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83 * by the low priority task. The task with the inherited high priority then
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84 * resumes a medium priority task to ensure it is not blocked by the medium
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85 * priority task while it holds the inherited high priority. Once the mutex
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86 * is returned the task with the inherited priority returns to its original
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87 * low priority, and is therefore immediately preempted by first the high
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88 * priority task and then the medium priority task before it can continue.
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90 static void prvLowPriorityMutexTask( void *pvParameters );
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91 static void prvMediumPriorityMutexTask( void *pvParameters );
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92 static void prvHighPriorityMutexTask( void *pvParameters );
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95 * Tests the behaviour when a low priority task inherits the priority of a
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96 * higher priority task when taking two mutexes, and returns the mutexes in
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97 * first the same order as the two mutexes were obtained, and second the
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98 * opposite order as the two mutexes were obtained.
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100 static void prvTakeTwoMutexesReturnInSameOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex );
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101 static void prvTakeTwoMutexesReturnInDifferentOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex );
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103 #if( INCLUDE_xTaskAbortDelay == 1 )
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105 #if( configUSE_PREEMPTION == 0 )
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106 #error The additional tests included when INCLUDE_xTaskAbortDelay is 1 expect preemption to be used.
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109 /* Tests the behaviour when a low priority task inherits the priority of a
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110 high priority task only for the high priority task to timeout before
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111 obtaining the mutex. */
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112 static void prvHighPriorityTimeout( SemaphoreHandle_t xMutex );
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115 /*-----------------------------------------------------------*/
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117 /* Flag that will be latched to pdTRUE should any unexpected behaviour be
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118 detected in any of the tasks. */
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119 static volatile BaseType_t xErrorDetected = pdFALSE;
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121 /* Counters that are incremented on each cycle of a test. This is used to
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122 detect a stalled task - a test that is no longer running. */
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123 static volatile uint32_t ulLoopCounter = 0;
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124 static volatile uint32_t ulLoopCounter2 = 0;
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126 /* The variable that is guarded by the mutex in the mutex demo tasks. */
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127 static volatile uint32_t ulGuardedVariable = 0;
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129 /* Handles used in the mutex test to suspend and resume the high and medium
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130 priority mutex test tasks. */
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131 static TaskHandle_t xHighPriorityMutexTask, xMediumPriorityMutexTask;
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133 /* If INCLUDE_xTaskAbortDelay is 1 additional tests are performed, requiring an
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134 additional task. */
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135 #if( INCLUDE_xTaskAbortDelay == 1 )
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136 static TaskHandle_t xSecondMediumPriorityMutexTask;
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139 /* Lets the high priority semaphore task know that its wait for the semaphore
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140 was aborted, in which case not being able to obtain the semaphore is not to be
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141 considered an error. */
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142 static volatile BaseType_t xBlockWasAborted = pdFALSE;
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144 /*-----------------------------------------------------------*/
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146 void vStartGenericQueueTasks( UBaseType_t uxPriority )
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148 QueueHandle_t xQueue;
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149 SemaphoreHandle_t xMutex;
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151 /* Create the queue that we are going to use for the
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152 prvSendFrontAndBackTest demo. */
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153 xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( uint32_t ) );
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155 if( xQueue != NULL )
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157 /* vQueueAddToRegistry() adds the queue to the queue registry, if one
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158 is in use. The queue registry is provided as a means for kernel aware
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159 debuggers to locate queues and has no purpose if a kernel aware debugger
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160 is not being used. The call to vQueueAddToRegistry() will be removed
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161 by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
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162 defined to be less than 1. */
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163 vQueueAddToRegistry( xQueue, "Gen_Queue_Test" );
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165 /* Create the demo task and pass it the queue just created. We are
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166 passing the queue handle by value so it does not matter that it is
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167 declared on the stack here. */
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168 xTaskCreate( prvSendFrontAndBackTest, "GenQ", genqGENERIC_QUEUE_TEST_TASK_STACK_SIZE, ( void * ) xQueue, uxPriority, NULL );
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171 /* Create the mutex used by the prvMutexTest task. */
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172 xMutex = xSemaphoreCreateMutex();
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174 if( xMutex != NULL )
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176 /* vQueueAddToRegistry() adds the mutex to the registry, if one is
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177 in use. The registry is provided as a means for kernel aware
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178 debuggers to locate mutexes and has no purpose if a kernel aware
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179 debugger is not being used. The call to vQueueAddToRegistry() will be
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180 removed by the pre-processor if configQUEUE_REGISTRY_SIZE is not
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181 defined or is defined to be less than 1. */
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182 vQueueAddToRegistry( ( QueueHandle_t ) xMutex, "Gen_Queue_Mutex" );
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184 /* Create the mutex demo tasks and pass it the mutex just created. We
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185 are passing the mutex handle by value so it does not matter that it is
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186 declared on the stack here. */
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187 xTaskCreate( prvLowPriorityMutexTask, "MuLow", genqMUTEX_TEST_TASK_STACK_SIZE, ( void * ) xMutex, genqMUTEX_LOW_PRIORITY, NULL );
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188 xTaskCreate( prvMediumPriorityMutexTask, "MuMed", configMINIMAL_STACK_SIZE, NULL, genqMUTEX_MEDIUM_PRIORITY, &xMediumPriorityMutexTask );
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189 xTaskCreate( prvHighPriorityMutexTask, "MuHigh", genqMUTEX_TEST_TASK_STACK_SIZE, ( void * ) xMutex, genqMUTEX_HIGH_PRIORITY, &xHighPriorityMutexTask );
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191 /* If INCLUDE_xTaskAbortDelay is set then additional tests are performed,
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192 requiring two instances of prvHighPriorityMutexTask(). */
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193 #if( INCLUDE_xTaskAbortDelay == 1 )
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195 xTaskCreate( prvHighPriorityMutexTask, "MuHigh2", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_MEDIUM_PRIORITY, &xSecondMediumPriorityMutexTask );
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197 #endif /* INCLUDE_xTaskAbortDelay */
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200 /*-----------------------------------------------------------*/
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202 static void prvSendFrontAndBackTest( void *pvParameters )
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204 uint32_t ulData, ulData2, ulLoopCounterSnapshot;
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205 QueueHandle_t xQueue;
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208 void vPrintDisplayMessage( const char * const * ppcMessageToSend );
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210 const char * const pcTaskStartMsg = "Queue SendToFront/SendToBack/Peek test started.\r\n";
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212 /* Queue a message for printing to say the task has started. */
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213 vPrintDisplayMessage( &pcTaskStartMsg );
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216 xQueue = ( QueueHandle_t ) pvParameters;
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220 /* The queue is empty, so sending an item to the back of the queue
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221 should have the same effect as sending it to the front of the queue.
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223 First send to the front and check everything is as expected. */
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224 ulLoopCounterSnapshot = ulLoopCounter;
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225 xQueueSendToFront( xQueue, ( void * ) &ulLoopCounterSnapshot, intsemNO_BLOCK );
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227 if( uxQueueMessagesWaiting( xQueue ) != 1 )
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229 xErrorDetected = pdTRUE;
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232 if( xQueueReceive( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != pdPASS )
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234 xErrorDetected = pdTRUE;
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237 /* The data we sent to the queue should equal the data we just received
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239 if( ulLoopCounter != ulData )
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241 xErrorDetected = pdTRUE;
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244 /* Then do the same, sending the data to the back, checking everything
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246 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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248 xErrorDetected = pdTRUE;
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251 ulLoopCounterSnapshot = ulLoopCounter;
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252 xQueueSendToBack( xQueue, ( void * ) &ulLoopCounterSnapshot, intsemNO_BLOCK );
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254 if( uxQueueMessagesWaiting( xQueue ) != 1 )
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256 xErrorDetected = pdTRUE;
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259 if( xQueueReceive( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != pdPASS )
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261 xErrorDetected = pdTRUE;
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264 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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266 xErrorDetected = pdTRUE;
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269 /* The data sent to the queue should equal the data just received from
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271 if( ulLoopCounter != ulData )
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273 xErrorDetected = pdTRUE;
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276 #if configUSE_PREEMPTION == 0
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282 /* Place 2, 3, 4 into the queue, adding items to the back of the queue. */
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283 for( ulData = 2; ulData < 5; ulData++ )
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285 xQueueSendToBack( xQueue, ( void * ) &ulData, intsemNO_BLOCK );
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288 /* Now the order in the queue should be 2, 3, 4, with 2 being the first
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289 thing to be read out. Now add 1 then 0 to the front of the queue. */
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290 if( uxQueueMessagesWaiting( xQueue ) != 3 )
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292 xErrorDetected = pdTRUE;
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295 xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK );
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297 xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK );
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299 /* Now the queue should be full, and when we read the data out we
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300 should receive 0, 1, 2, 3, 4. */
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301 if( uxQueueMessagesWaiting( xQueue ) != 5 )
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303 xErrorDetected = pdTRUE;
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306 if( xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
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308 xErrorDetected = pdTRUE;
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311 if( xQueueSendToBack( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
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313 xErrorDetected = pdTRUE;
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316 #if configUSE_PREEMPTION == 0
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320 /* Check the data we read out is in the expected order. */
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321 for( ulData = 0; ulData < genqQUEUE_LENGTH; ulData++ )
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323 /* Try peeking the data first. */
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324 if( xQueuePeek( xQueue, &ulData2, intsemNO_BLOCK ) != pdPASS )
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326 xErrorDetected = pdTRUE;
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329 if( ulData != ulData2 )
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331 xErrorDetected = pdTRUE;
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335 /* Now try receiving the data for real. The value should be the
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336 same. Clobber the value first so we know we really received it. */
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337 ulData2 = ~ulData2;
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338 if( xQueueReceive( xQueue, &ulData2, intsemNO_BLOCK ) != pdPASS )
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340 xErrorDetected = pdTRUE;
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343 if( ulData != ulData2 )
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345 xErrorDetected = pdTRUE;
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349 /* The queue should now be empty again. */
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350 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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352 xErrorDetected = pdTRUE;
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355 #if configUSE_PREEMPTION == 0
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360 /* Our queue is empty once more, add 10, 11 to the back. */
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362 if( xQueueSend( xQueue, &ulData, intsemNO_BLOCK ) != pdPASS )
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364 xErrorDetected = pdTRUE;
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367 if( xQueueSend( xQueue, &ulData, intsemNO_BLOCK ) != pdPASS )
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369 xErrorDetected = pdTRUE;
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372 if( uxQueueMessagesWaiting( xQueue ) != 2 )
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374 xErrorDetected = pdTRUE;
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377 /* Now we should have 10, 11 in the queue. Add 7, 8, 9 to the
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379 for( ulData = 9; ulData >= 7; ulData-- )
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381 if( xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != pdPASS )
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383 xErrorDetected = pdTRUE;
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387 /* Now check that the queue is full, and that receiving data provides
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388 the expected sequence of 7, 8, 9, 10, 11. */
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389 if( uxQueueMessagesWaiting( xQueue ) != 5 )
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391 xErrorDetected = pdTRUE;
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394 if( xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
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396 xErrorDetected = pdTRUE;
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399 if( xQueueSendToBack( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
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401 xErrorDetected = pdTRUE;
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404 #if configUSE_PREEMPTION == 0
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408 /* Check the data we read out is in the expected order. */
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409 for( ulData = 7; ulData < ( 7 + genqQUEUE_LENGTH ); ulData++ )
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411 if( xQueueReceive( xQueue, &ulData2, intsemNO_BLOCK ) != pdPASS )
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413 xErrorDetected = pdTRUE;
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416 if( ulData != ulData2 )
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418 xErrorDetected = pdTRUE;
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422 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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424 xErrorDetected = pdTRUE;
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427 /* Increment the loop counter to indicate these tasks are still
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432 /*-----------------------------------------------------------*/
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434 #if( INCLUDE_xTaskAbortDelay == 1 )
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436 static void prvHighPriorityTimeout( SemaphoreHandle_t xMutex )
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438 static UBaseType_t uxLoopCount = 0;
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440 /* The tests in this function are very similar, the slight variations
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441 are for code coverage purposes. */
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443 /* Take the mutex. It should be available now. Check before and after
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444 taking that the holder is reported correctly. */
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445 if( xSemaphoreGetMutexHolder( xMutex ) != NULL )
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447 xErrorDetected = pdTRUE;
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449 if( xSemaphoreTake( xMutex, intsemNO_BLOCK ) != pdPASS )
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451 xErrorDetected = pdTRUE;
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453 if( xSemaphoreGetMutexHolder( xMutex ) != xTaskGetCurrentTaskHandle() )
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455 xErrorDetected = pdTRUE;
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458 /* This task's priority should be as per that assigned when the task was
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460 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
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462 xErrorDetected = pdTRUE;
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465 /* Now unsuspend the high priority task. This will attempt to take the
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466 mutex, and block when it finds it cannot obtain it. */
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467 vTaskResume( xHighPriorityMutexTask );
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469 /* This task should now have inherited the priority of the high priority
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470 task as by now the high priority task will have attempted to obtain the
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472 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
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474 xErrorDetected = pdTRUE;
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477 /* Unblock a second medium priority task. It too will attempt to take
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478 the mutex and enter the Blocked state - it won't run yet though as this
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479 task has inherited a priority above it. */
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480 vTaskResume( xSecondMediumPriorityMutexTask );
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482 /* This task should still have the priority of the high priority task as
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483 that had already been inherited as is the highest priority of the three
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484 tasks using the mutex. */
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485 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
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487 xErrorDetected = pdTRUE;
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490 /* On some loops, block for a short while to provide additional
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491 code coverage. Blocking here will allow the medium priority task to
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492 execute and so also block on the mutex so when the high priority task
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493 causes this task to disinherit the high priority it is inherited down to
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494 the priority of the medium priority task. When there is no delay the
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495 medium priority task will not run until after the disinheritance, so
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496 this task will disinherit back to its base priority, then only up to the
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497 medium priority after the medium priority has executed. */
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498 vTaskDelay( uxLoopCount & ( UBaseType_t ) 0x07 );
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500 /* Now force the high priority task to unblock. It will fail to obtain
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501 the mutex and go back to the suspended state - allowing this task to
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502 execute again. xBlockWasAborted is set to pdTRUE so the higher priority
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503 task knows that its failure to obtain the semaphore is not an error. */
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504 xBlockWasAborted = pdTRUE;
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505 if( xTaskAbortDelay( xHighPriorityMutexTask ) != pdPASS )
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507 xErrorDetected = pdTRUE;
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510 /* This task has inherited the priority of xHighPriorityMutexTask so
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511 could still be running even though xHighPriorityMutexTask is no longer
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512 blocked. Delay for a short while to ensure xHighPriorityMutexTask gets
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513 a chance to run - indicated by this task changing priority. It should
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514 disinherit the high priority task, but then inherit the priority of the
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515 medium priority task that is waiting for the same mutex. */
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516 while( uxTaskPriorityGet( NULL ) != genqMUTEX_MEDIUM_PRIORITY )
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518 /* If this task gets stuck here then the check variables will stop
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519 incrementing and the check task will detect the error. */
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520 vTaskDelay( genqSHORT_BLOCK );
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523 /* Now force the medium priority task to unblock. xBlockWasAborted is
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524 set to pdTRUE so the medium priority task knows that its failure to
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525 obtain the semaphore is not an error. */
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526 xBlockWasAborted = pdTRUE;
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527 if( xTaskAbortDelay( xSecondMediumPriorityMutexTask ) != pdPASS )
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529 xErrorDetected = pdTRUE;
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532 /* This time no other tasks are waiting for the mutex, so this task
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533 should return to its base priority. This might not happen straight
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534 away as it is running at the same priority as the task it just
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536 while( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
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538 /* If this task gets stuck here then the check variables will stop
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539 incrementing and the check task will detect the error. */
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540 vTaskDelay( genqSHORT_BLOCK );
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543 /* Give the semaphore back ready for the next test. Check the mutex
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544 holder before and after using the "FromISR" version for code coverage. */
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545 if( xSemaphoreGetMutexHolderFromISR( xMutex ) != xTaskGetCurrentTaskHandle() )
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547 xErrorDetected = pdTRUE;
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549 xSemaphoreGive( xMutex );
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550 if( xSemaphoreGetMutexHolderFromISR( xMutex ) != NULL )
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552 xErrorDetected = pdTRUE;
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555 configASSERT( xErrorDetected == pdFALSE );
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559 /* Now do the same again, but this time unsuspend the tasks in the
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560 opposite order. This takes a different path though the code because
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561 when the high priority task has its block aborted there is already
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562 another task in the list of tasks waiting for the mutex, and the
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563 low priority task drops down to that priority, rather than dropping
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564 down to its base priority before inheriting the priority of the medium
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566 if( xSemaphoreTake( xMutex, intsemNO_BLOCK ) != pdPASS )
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568 xErrorDetected = pdTRUE;
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571 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
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573 xErrorDetected = pdTRUE;
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576 /* This time unsuspend the medium priority task first. This will
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577 attempt to take the mutex, and block when it finds it cannot obtain it. */
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578 vTaskResume( xSecondMediumPriorityMutexTask );
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580 /* This time this task should now have inherited the priority of the
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582 if( uxTaskPriorityGet( NULL ) != genqMUTEX_MEDIUM_PRIORITY )
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584 xErrorDetected = pdTRUE;
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587 /* This time the high priority task in unsuspended second. */
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588 vTaskResume( xHighPriorityMutexTask );
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590 /* The high priority task should already have run, causing this task to
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591 inherit a priority for the second time. */
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592 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
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594 xErrorDetected = pdTRUE;
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597 /* This time, when the high priority task has its delay aborted and it
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598 fails to obtain the mutex this task will immediately have its priority
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599 lowered down to that of the highest priority task waiting on the mutex,
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600 which is the medium priority task. */
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601 xBlockWasAborted = pdTRUE;
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602 if( xTaskAbortDelay( xHighPriorityMutexTask ) != pdPASS )
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604 xErrorDetected = pdTRUE;
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607 while( uxTaskPriorityGet( NULL ) != genqMUTEX_MEDIUM_PRIORITY )
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609 /* If this task gets stuck here then the check variables will stop
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610 incrementing and the check task will detect the error. */
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611 vTaskDelay( genqSHORT_BLOCK );
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614 /* And finally, when the medium priority task also have its delay
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615 aborted there are no other tasks waiting for the mutex so this task
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616 returns to its base priority. */
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617 xBlockWasAborted = pdTRUE;
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618 if( xTaskAbortDelay( xSecondMediumPriorityMutexTask ) != pdPASS )
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620 xErrorDetected = pdTRUE;
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623 while( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
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625 /* If this task gets stuck here then the check variables will stop
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626 incrementing and the check task will detect the error. */
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627 vTaskDelay( genqSHORT_BLOCK );
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630 /* Give the semaphore back ready for the next test. */
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631 xSemaphoreGive( xMutex );
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633 configASSERT( xErrorDetected == pdFALSE );
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635 /* uxLoopCount is used to add a variable delay, and in-so-doing provide
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636 additional code coverage. */
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640 #endif /* INCLUDE_xTaskAbortDelay == 1 */
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641 /*-----------------------------------------------------------*/
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643 static void prvTakeTwoMutexesReturnInDifferentOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex )
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645 /* Take the mutex. It should be available now. */
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646 if( xSemaphoreTake( xMutex, intsemNO_BLOCK ) != pdPASS )
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648 xErrorDetected = pdTRUE;
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651 /* Set the guarded variable to a known start value. */
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652 ulGuardedVariable = 0;
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654 /* This task's priority should be as per that assigned when the task was
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656 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
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658 xErrorDetected = pdTRUE;
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661 /* Now unsuspend the high priority task. This will attempt to take the
\r
662 mutex, and block when it finds it cannot obtain it. */
\r
663 vTaskResume( xHighPriorityMutexTask );
\r
665 #if configUSE_PREEMPTION == 0
\r
669 /* Ensure the task is reporting its priority as blocked and not
\r
670 suspended (as it would have done in versions up to V7.5.3). */
\r
671 #if( INCLUDE_eTaskGetState == 1 )
\r
673 configASSERT( eTaskGetState( xHighPriorityMutexTask ) == eBlocked );
\r
675 #endif /* INCLUDE_eTaskGetState */
\r
677 /* This task should now have inherited the priority of the high priority
\r
678 task as by now the high priority task will have attempted to obtain the
\r
680 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
\r
682 xErrorDetected = pdTRUE;
\r
685 /* Attempt to set the priority of this task to the test priority -
\r
686 between the idle priority and the medium/high test priorities, but the
\r
687 actual priority should remain at the high priority. */
\r
688 vTaskPrioritySet( NULL, genqMUTEX_TEST_PRIORITY );
\r
689 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
\r
691 xErrorDetected = pdTRUE;
\r
694 /* Now unsuspend the medium priority task. This should not run as the
\r
695 inherited priority of this task is above that of the medium priority
\r
697 vTaskResume( xMediumPriorityMutexTask );
\r
699 /* If the medium priority task did run then it will have incremented the
\r
700 guarded variable. */
\r
701 if( ulGuardedVariable != 0 )
\r
703 xErrorDetected = pdTRUE;
\r
706 /* Take the local mutex too, so two mutexes are now held. */
\r
707 if( xSemaphoreTake( xLocalMutex, intsemNO_BLOCK ) != pdPASS )
\r
709 xErrorDetected = pdTRUE;
\r
712 /* When the semaphore is given back the priority of this task should not
\r
713 yet be disinherited because the local mutex is still held. This is a
\r
714 simplification to allow FreeRTOS to be integrated with middleware that
\r
715 attempts to hold multiple mutexes without bloating the code with complex
\r
716 algorithms. It is possible that the high priority mutex task will
\r
717 execute as it shares a priority with this task. */
\r
718 if( xSemaphoreGive( xMutex ) != pdPASS )
\r
720 xErrorDetected = pdTRUE;
\r
723 #if configUSE_PREEMPTION == 0
\r
727 /* The guarded variable is only incremented by the medium priority task,
\r
728 which still should not have executed as this task should remain at the
\r
729 higher priority, ensure this is the case. */
\r
730 if( ulGuardedVariable != 0 )
\r
732 xErrorDetected = pdTRUE;
\r
735 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
\r
737 xErrorDetected = pdTRUE;
\r
740 /* Now also give back the local mutex, taking the held count back to 0.
\r
741 This time the priority of this task should be disinherited back to the
\r
742 priority to which it was set while the mutex was held. This means
\r
743 the medium priority task should execute and increment the guarded
\r
744 variable. When this task next runs both the high and medium priority
\r
745 tasks will have been suspended again. */
\r
746 if( xSemaphoreGive( xLocalMutex ) != pdPASS )
\r
748 xErrorDetected = pdTRUE;
\r
751 #if configUSE_PREEMPTION == 0
\r
755 /* Check the guarded variable did indeed increment... */
\r
756 if( ulGuardedVariable != 1 )
\r
758 xErrorDetected = pdTRUE;
\r
761 /* ... and that the priority of this task has been disinherited to
\r
762 genqMUTEX_TEST_PRIORITY. */
\r
763 if( uxTaskPriorityGet( NULL ) != genqMUTEX_TEST_PRIORITY )
\r
765 xErrorDetected = pdTRUE;
\r
768 /* Set the priority of this task back to its original value, ready for
\r
769 the next loop around this test. */
\r
770 vTaskPrioritySet( NULL, genqMUTEX_LOW_PRIORITY );
\r
772 /*-----------------------------------------------------------*/
\r
774 static void prvTakeTwoMutexesReturnInSameOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex )
\r
776 /* Take the mutex. It should be available now. */
\r
777 if( xSemaphoreTake( xMutex, intsemNO_BLOCK ) != pdPASS )
\r
779 xErrorDetected = pdTRUE;
\r
782 /* Set the guarded variable to a known start value. */
\r
783 ulGuardedVariable = 0;
\r
785 /* This task's priority should be as per that assigned when the task was
\r
787 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
\r
789 xErrorDetected = pdTRUE;
\r
792 /* Now unsuspend the high priority task. This will attempt to take the
\r
793 mutex, and block when it finds it cannot obtain it. */
\r
794 vTaskResume( xHighPriorityMutexTask );
\r
796 #if configUSE_PREEMPTION == 0
\r
800 /* Ensure the task is reporting its priority as blocked and not
\r
801 suspended (as it would have done in versions up to V7.5.3). */
\r
802 #if( INCLUDE_eTaskGetState == 1 )
\r
804 configASSERT( eTaskGetState( xHighPriorityMutexTask ) == eBlocked );
\r
806 #endif /* INCLUDE_eTaskGetState */
\r
808 /* This task should now have inherited the priority of the high priority
\r
809 task as by now the high priority task will have attempted to obtain the
\r
811 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
\r
813 xErrorDetected = pdTRUE;
\r
816 /* Now unsuspend the medium priority task. This should not run as the
\r
817 inherited priority of this task is above that of the medium priority
\r
819 vTaskResume( xMediumPriorityMutexTask );
\r
821 /* If the medium priority task did run then it will have incremented the
\r
822 guarded variable. */
\r
823 if( ulGuardedVariable != 0 )
\r
825 xErrorDetected = pdTRUE;
\r
828 /* Take the local mutex too, so two mutexes are now held. */
\r
829 if( xSemaphoreTake( xLocalMutex, intsemNO_BLOCK ) != pdPASS )
\r
831 xErrorDetected = pdTRUE;
\r
834 /* When the local semaphore is given back the priority of this task should
\r
835 not yet be disinherited because the shared mutex is still held. This is a
\r
836 simplification to allow FreeRTOS to be integrated with middleware that
\r
837 attempts to hold multiple mutexes without bloating the code with complex
\r
838 algorithms. It is possible that the high priority mutex task will
\r
839 execute as it shares a priority with this task. */
\r
840 if( xSemaphoreGive( xLocalMutex ) != pdPASS )
\r
842 xErrorDetected = pdTRUE;
\r
845 #if configUSE_PREEMPTION == 0
\r
849 /* The guarded variable is only incremented by the medium priority task,
\r
850 which still should not have executed as this task should remain at the
\r
851 higher priority, ensure this is the case. */
\r
852 if( ulGuardedVariable != 0 )
\r
854 xErrorDetected = pdTRUE;
\r
857 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
\r
859 xErrorDetected = pdTRUE;
\r
862 /* Now also give back the shared mutex, taking the held count back to 0.
\r
863 This time the priority of this task should be disinherited back to the
\r
864 priority at which it was created. This means the medium priority task
\r
865 should execute and increment the guarded variable. When this task next runs
\r
866 both the high and medium priority tasks will have been suspended again. */
\r
867 if( xSemaphoreGive( xMutex ) != pdPASS )
\r
869 xErrorDetected = pdTRUE;
\r
872 #if configUSE_PREEMPTION == 0
\r
876 /* Check the guarded variable did indeed increment... */
\r
877 if( ulGuardedVariable != 1 )
\r
879 xErrorDetected = pdTRUE;
\r
882 /* ... and that the priority of this task has been disinherited to
\r
883 genqMUTEX_LOW_PRIORITY. */
\r
884 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
\r
886 xErrorDetected = pdTRUE;
\r
889 /*-----------------------------------------------------------*/
\r
891 static void prvLowPriorityMutexTask( void *pvParameters )
\r
893 SemaphoreHandle_t xMutex = ( SemaphoreHandle_t ) pvParameters, xLocalMutex;
\r
896 void vPrintDisplayMessage( const char * const * ppcMessageToSend );
\r
898 const char * const pcTaskStartMsg = "Mutex with priority inheritance test started.\r\n";
\r
900 /* Queue a message for printing to say the task has started. */
\r
901 vPrintDisplayMessage( &pcTaskStartMsg );
\r
904 /* The local mutex is used to check the 'mutexs held' count. */
\r
905 xLocalMutex = xSemaphoreCreateMutex();
\r
906 configASSERT( xLocalMutex );
\r
910 /* The first tests exercise the priority inheritance when two mutexes
\r
911 are taken then returned in a different order to which they were
\r
913 prvTakeTwoMutexesReturnInDifferentOrder( xMutex, xLocalMutex );
\r
915 /* Just to show this task is still running. */
\r
918 #if configUSE_PREEMPTION == 0
\r
922 /* The second tests exercise the priority inheritance when two mutexes
\r
923 are taken then returned in the same order in which they were taken. */
\r
924 prvTakeTwoMutexesReturnInSameOrder( xMutex, xLocalMutex );
\r
926 /* Just to show this task is still running. */
\r
929 #if configUSE_PREEMPTION == 0
\r
933 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
935 /* Tests the behaviour when a low priority task inherits the
\r
936 priority of a high priority task only for the high priority task to
\r
937 timeout before obtaining the mutex. */
\r
938 prvHighPriorityTimeout( xMutex );
\r
943 /*-----------------------------------------------------------*/
\r
945 static void prvMediumPriorityMutexTask( void *pvParameters )
\r
947 ( void ) pvParameters;
\r
951 /* The medium priority task starts by suspending itself. The low
\r
952 priority task will unsuspend this task when required. */
\r
953 vTaskSuspend( NULL );
\r
955 /* When this task unsuspends all it does is increment the guarded
\r
956 variable, this is so the low priority task knows that it has
\r
958 ulGuardedVariable++;
\r
961 /*-----------------------------------------------------------*/
\r
963 static void prvHighPriorityMutexTask( void *pvParameters )
\r
965 SemaphoreHandle_t xMutex = ( SemaphoreHandle_t ) pvParameters;
\r
969 /* The high priority task starts by suspending itself. The low
\r
970 priority task will unsuspend this task when required. */
\r
971 vTaskSuspend( NULL );
\r
973 /* When this task unsuspends all it does is attempt to obtain the
\r
974 mutex. It should find the mutex is not available so a block time is
\r
976 if( xSemaphoreTake( xMutex, portMAX_DELAY ) != pdPASS )
\r
978 /* This task would expect to obtain the mutex unless its wait for
\r
979 the mutex was aborted. */
\r
980 if( xBlockWasAborted == pdFALSE )
\r
982 xErrorDetected = pdTRUE;
\r
986 xBlockWasAborted = pdFALSE;
\r
991 /* When the mutex is eventually obtained it is just given back before
\r
992 returning to suspend ready for the next cycle. */
\r
993 if( xSemaphoreGive( xMutex ) != pdPASS )
\r
995 xErrorDetected = pdTRUE;
\r
1000 /*-----------------------------------------------------------*/
\r
1003 /* This is called to check that all the created tasks are still running. */
\r
1004 BaseType_t xAreGenericQueueTasksStillRunning( void )
\r
1006 static uint32_t ulLastLoopCounter = 0, ulLastLoopCounter2 = 0;
\r
1008 /* If the demo task is still running then we expect the loop counters to
\r
1009 have incremented since this function was last called. */
\r
1010 if( ulLastLoopCounter == ulLoopCounter )
\r
1012 xErrorDetected = pdTRUE;
\r
1015 if( ulLastLoopCounter2 == ulLoopCounter2 )
\r
1017 xErrorDetected = pdTRUE;
\r
1020 ulLastLoopCounter = ulLoopCounter;
\r
1021 ulLastLoopCounter2 = ulLoopCounter2;
\r
1023 /* Errors detected in the task itself will have latched xErrorDetected
\r
1026 return ( BaseType_t ) !xErrorDetected;
\r