2 * FreeRTOS Kernel V10.0.1
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3 * Copyright (C) 2017 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 /*-----------------------------------------------------------*/
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62 * Tests the behaviour of the xQueueSendToFront() and xQueueSendToBack()
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63 * macros by using both to fill a queue, then reading from the queue to
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64 * check the resultant queue order is as expected. Queue data is also
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67 static void prvSendFrontAndBackTest( void *pvParameters );
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70 * The following three tasks are used to demonstrate the mutex behaviour.
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71 * Each task is given a different priority to demonstrate the priority
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72 * inheritance mechanism.
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74 * The low priority task obtains a mutex. After this a high priority task
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75 * attempts to obtain the same mutex, causing its priority to be inherited
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76 * by the low priority task. The task with the inherited high priority then
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77 * resumes a medium priority task to ensure it is not blocked by the medium
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78 * priority task while it holds the inherited high priority. Once the mutex
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79 * is returned the task with the inherited priority returns to its original
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80 * low priority, and is therefore immediately preempted by first the high
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81 * priority task and then the medium priority task before it can continue.
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83 static void prvLowPriorityMutexTask( void *pvParameters );
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84 static void prvMediumPriorityMutexTask( void *pvParameters );
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85 static void prvHighPriorityMutexTask( void *pvParameters );
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88 * Tests the behaviour when a low priority task inherits the priority of a
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89 * higher priority task when taking two mutexes, and returns the mutexes in
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90 * first the same order as the two mutexes were obtained, and second the
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91 * opposite order as the two mutexes were obtained.
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93 static void prvTakeTwoMutexesReturnInSameOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex );
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94 static void prvTakeTwoMutexesReturnInDifferentOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex );
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96 #if( INCLUDE_xTaskAbortDelay == 1 )
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98 #if( configUSE_PREEMPTION == 0 )
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99 #error The additional tests included when INCLUDE_xTaskAbortDelay is 1 expect preemption to be used.
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102 /* Tests the behaviour when a low priority task inherits the priority of a
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103 high priority task only for the high priority task to timeout before
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104 obtaining the mutex. */
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105 static void prvHighPriorityTimeout( SemaphoreHandle_t xMutex );
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108 /*-----------------------------------------------------------*/
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110 /* Flag that will be latched to pdTRUE should any unexpected behaviour be
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111 detected in any of the tasks. */
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112 static volatile BaseType_t xErrorDetected = pdFALSE;
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114 /* Counters that are incremented on each cycle of a test. This is used to
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115 detect a stalled task - a test that is no longer running. */
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116 static volatile uint32_t ulLoopCounter = 0;
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117 static volatile uint32_t ulLoopCounter2 = 0;
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119 /* The variable that is guarded by the mutex in the mutex demo tasks. */
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120 static volatile uint32_t ulGuardedVariable = 0;
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122 /* Handles used in the mutex test to suspend and resume the high and medium
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123 priority mutex test tasks. */
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124 static TaskHandle_t xHighPriorityMutexTask, xMediumPriorityMutexTask;
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126 /* If INCLUDE_xTaskAbortDelay is 1 additional tests are performed, requiring an
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127 additional task. */
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128 #if( INCLUDE_xTaskAbortDelay == 1 )
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129 static TaskHandle_t xSecondMediumPriorityMutexTask;
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132 /* Lets the high priority semaphore task know that its wait for the semaphore
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133 was aborted, in which case not being able to obtain the semaphore is not to be
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134 considered an error. */
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135 static volatile BaseType_t xBlockWasAborted = pdFALSE;
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137 /*-----------------------------------------------------------*/
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139 void vStartGenericQueueTasks( UBaseType_t uxPriority )
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141 QueueHandle_t xQueue;
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142 SemaphoreHandle_t xMutex;
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144 /* Create the queue that we are going to use for the
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145 prvSendFrontAndBackTest demo. */
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146 xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( uint32_t ) );
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148 if( xQueue != NULL )
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150 /* vQueueAddToRegistry() adds the queue to the queue registry, if one
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151 is in use. The queue registry is provided as a means for kernel aware
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152 debuggers to locate queues and has no purpose if a kernel aware debugger
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153 is not being used. The call to vQueueAddToRegistry() will be removed
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154 by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
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155 defined to be less than 1. */
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156 vQueueAddToRegistry( xQueue, "Gen_Queue_Test" );
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158 /* Create the demo task and pass it the queue just created. We are
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159 passing the queue handle by value so it does not matter that it is
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160 declared on the stack here. */
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161 xTaskCreate( prvSendFrontAndBackTest, "GenQ", configMINIMAL_STACK_SIZE, ( void * ) xQueue, uxPriority, NULL );
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164 /* Create the mutex used by the prvMutexTest task. */
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165 xMutex = xSemaphoreCreateMutex();
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167 if( xMutex != NULL )
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169 /* vQueueAddToRegistry() adds the mutex to the registry, if one is
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170 in use. The registry is provided as a means for kernel aware
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171 debuggers to locate mutexes and has no purpose if a kernel aware
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172 debugger is not being used. The call to vQueueAddToRegistry() will be
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173 removed by the pre-processor if configQUEUE_REGISTRY_SIZE is not
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174 defined or is defined to be less than 1. */
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175 vQueueAddToRegistry( ( QueueHandle_t ) xMutex, "Gen_Queue_Mutex" );
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177 /* Create the mutex demo tasks and pass it the mutex just created. We
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178 are passing the mutex handle by value so it does not matter that it is
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179 declared on the stack here. */
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180 xTaskCreate( prvLowPriorityMutexTask, "MuLow", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_LOW_PRIORITY, NULL );
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181 xTaskCreate( prvMediumPriorityMutexTask, "MuMed", configMINIMAL_STACK_SIZE, NULL, genqMUTEX_MEDIUM_PRIORITY, &xMediumPriorityMutexTask );
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182 xTaskCreate( prvHighPriorityMutexTask, "MuHigh", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_HIGH_PRIORITY, &xHighPriorityMutexTask );
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184 /* If INCLUDE_xTaskAbortDelay is set then additional tests are performed,
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185 requiring two instances of prvHighPriorityMutexTask(). */
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186 #if( INCLUDE_xTaskAbortDelay == 1 )
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188 xTaskCreate( prvHighPriorityMutexTask, "MuHigh2", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_MEDIUM_PRIORITY, &xSecondMediumPriorityMutexTask );
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190 #endif /* INCLUDE_xTaskAbortDelay */
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193 /*-----------------------------------------------------------*/
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195 static void prvSendFrontAndBackTest( void *pvParameters )
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197 uint32_t ulData, ulData2, ulLoopCounterSnapshot;
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198 QueueHandle_t xQueue;
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201 void vPrintDisplayMessage( const char * const * ppcMessageToSend );
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203 const char * const pcTaskStartMsg = "Queue SendToFront/SendToBack/Peek test started.\r\n";
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205 /* Queue a message for printing to say the task has started. */
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206 vPrintDisplayMessage( &pcTaskStartMsg );
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209 xQueue = ( QueueHandle_t ) pvParameters;
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213 /* The queue is empty, so sending an item to the back of the queue
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214 should have the same efect as sending it to the front of the queue.
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216 First send to the front and check everything is as expected. */
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217 ulLoopCounterSnapshot = ulLoopCounter;
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218 xQueueSendToFront( xQueue, ( void * ) &ulLoopCounterSnapshot, intsemNO_BLOCK );
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220 if( uxQueueMessagesWaiting( xQueue ) != 1 )
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222 xErrorDetected = pdTRUE;
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225 if( xQueueReceive( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != pdPASS )
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227 xErrorDetected = pdTRUE;
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230 /* The data we sent to the queue should equal the data we just received
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232 if( ulLoopCounter != ulData )
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234 xErrorDetected = pdTRUE;
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237 /* Then do the same, sending the data to the back, checking everything
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239 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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241 xErrorDetected = pdTRUE;
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244 ulLoopCounterSnapshot = ulLoopCounter;
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245 xQueueSendToBack( xQueue, ( void * ) &ulLoopCounterSnapshot, intsemNO_BLOCK );
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247 if( uxQueueMessagesWaiting( xQueue ) != 1 )
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249 xErrorDetected = pdTRUE;
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252 if( xQueueReceive( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != pdPASS )
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254 xErrorDetected = pdTRUE;
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257 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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259 xErrorDetected = pdTRUE;
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262 /* The data sent to the queue should equal the data just received from
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264 if( ulLoopCounter != ulData )
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266 xErrorDetected = pdTRUE;
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269 #if configUSE_PREEMPTION == 0
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275 /* Place 2, 3, 4 into the queue, adding items to the back of the queue. */
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276 for( ulData = 2; ulData < 5; ulData++ )
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278 xQueueSendToBack( xQueue, ( void * ) &ulData, intsemNO_BLOCK );
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281 /* Now the order in the queue should be 2, 3, 4, with 2 being the first
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282 thing to be read out. Now add 1 then 0 to the front of the queue. */
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283 if( uxQueueMessagesWaiting( xQueue ) != 3 )
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285 xErrorDetected = pdTRUE;
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288 xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK );
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290 xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK );
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292 /* Now the queue should be full, and when we read the data out we
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293 should receive 0, 1, 2, 3, 4. */
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294 if( uxQueueMessagesWaiting( xQueue ) != 5 )
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296 xErrorDetected = pdTRUE;
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299 if( xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
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301 xErrorDetected = pdTRUE;
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304 if( xQueueSendToBack( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
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306 xErrorDetected = pdTRUE;
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309 #if configUSE_PREEMPTION == 0
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313 /* Check the data we read out is in the expected order. */
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314 for( ulData = 0; ulData < genqQUEUE_LENGTH; ulData++ )
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316 /* Try peeking the data first. */
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317 if( xQueuePeek( xQueue, &ulData2, intsemNO_BLOCK ) != pdPASS )
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319 xErrorDetected = pdTRUE;
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322 if( ulData != ulData2 )
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324 xErrorDetected = pdTRUE;
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328 /* Now try receiving the data for real. The value should be the
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329 same. Clobber the value first so we know we really received it. */
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330 ulData2 = ~ulData2;
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331 if( xQueueReceive( xQueue, &ulData2, intsemNO_BLOCK ) != pdPASS )
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333 xErrorDetected = pdTRUE;
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336 if( ulData != ulData2 )
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338 xErrorDetected = pdTRUE;
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342 /* The queue should now be empty again. */
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343 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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345 xErrorDetected = pdTRUE;
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348 #if configUSE_PREEMPTION == 0
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353 /* Our queue is empty once more, add 10, 11 to the back. */
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355 if( xQueueSend( xQueue, &ulData, intsemNO_BLOCK ) != pdPASS )
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357 xErrorDetected = pdTRUE;
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360 if( xQueueSend( xQueue, &ulData, intsemNO_BLOCK ) != pdPASS )
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362 xErrorDetected = pdTRUE;
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365 if( uxQueueMessagesWaiting( xQueue ) != 2 )
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367 xErrorDetected = pdTRUE;
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370 /* Now we should have 10, 11 in the queue. Add 7, 8, 9 to the
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372 for( ulData = 9; ulData >= 7; ulData-- )
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374 if( xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != pdPASS )
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376 xErrorDetected = pdTRUE;
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380 /* Now check that the queue is full, and that receiving data provides
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381 the expected sequence of 7, 8, 9, 10, 11. */
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382 if( uxQueueMessagesWaiting( xQueue ) != 5 )
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384 xErrorDetected = pdTRUE;
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387 if( xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
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389 xErrorDetected = pdTRUE;
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392 if( xQueueSendToBack( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
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394 xErrorDetected = pdTRUE;
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397 #if configUSE_PREEMPTION == 0
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401 /* Check the data we read out is in the expected order. */
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402 for( ulData = 7; ulData < ( 7 + genqQUEUE_LENGTH ); ulData++ )
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404 if( xQueueReceive( xQueue, &ulData2, intsemNO_BLOCK ) != pdPASS )
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406 xErrorDetected = pdTRUE;
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409 if( ulData != ulData2 )
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411 xErrorDetected = pdTRUE;
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415 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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417 xErrorDetected = pdTRUE;
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420 /* Increment the loop counter to indicate these tasks are still
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425 /*-----------------------------------------------------------*/
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427 #if( INCLUDE_xTaskAbortDelay == 1 )
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429 static void prvHighPriorityTimeout( SemaphoreHandle_t xMutex )
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431 static UBaseType_t uxLoopCount = 0;
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433 /* The tests in this function are very similar, the slight variations
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434 are for code coverage purposes. */
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436 /* Take the mutex. It should be available now. */
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437 if( xSemaphoreTake( xMutex, intsemNO_BLOCK ) != pdPASS )
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439 xErrorDetected = pdTRUE;
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442 /* This task's priority should be as per that assigned when the task was
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444 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
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446 xErrorDetected = pdTRUE;
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449 /* Now unsuspend the high priority task. This will attempt to take the
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450 mutex, and block when it finds it cannot obtain it. */
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451 vTaskResume( xHighPriorityMutexTask );
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453 /* This task should now have inherited the priority of the high priority
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454 task as by now the high priority task will have attempted to obtain the
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456 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
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458 xErrorDetected = pdTRUE;
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461 /* Unblock a second medium priority task. It too will attempt to take
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462 the mutex and enter the Blocked state - it won't run yet though as this
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463 task has inherited a priority above it. */
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464 vTaskResume( xSecondMediumPriorityMutexTask );
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466 /* This task should still have the priority of the high priority task as
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467 that had already been inherited as is the highest priority of the three
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468 tasks using the mutex. */
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469 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
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471 xErrorDetected = pdTRUE;
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474 /* On some loops, block for a short while to provide additional
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475 code coverage. Blocking here will allow the medium priority task to
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476 execute and so also block on the mutex so when the high priority task
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477 causes this task to disinherit the high priority it is inherited down to
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478 the priority of the medium priority task. When there is no delay the
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479 medium priority task will not run until after the disinheritance, so
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480 this task will disinherit back to its base priority, then only up to the
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481 medium priority after the medium priority has executed. */
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482 vTaskDelay( uxLoopCount & ( UBaseType_t ) 0x07 );
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484 /* Now force the high priority task to unblock. It will fail to obtain
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485 the mutex and go back to the suspended state - allowing this task to
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486 execute again. xBlockWasAborted is set to pdTRUE so the higher priority
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487 task knows that its failure to obtain the semaphore is not an error. */
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488 xBlockWasAborted = pdTRUE;
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489 if( xTaskAbortDelay( xHighPriorityMutexTask ) != pdPASS )
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491 xErrorDetected = pdTRUE;
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494 /* This task has inherited the priority of xHighPriorityMutexTask so
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495 could still be running even though xHighPriorityMutexTask is no longer
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496 blocked. Delay for a short while to ensure xHighPriorityMutexTask gets
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497 a chance to run - indicated by this task changing priority. It should
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498 disinherit the high priority task, but then inherit the priority of the
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499 medium priority task that is waiting for the same mutex. */
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500 while( uxTaskPriorityGet( NULL ) != genqMUTEX_MEDIUM_PRIORITY )
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502 /* If this task gets stuck here then the check variables will stop
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503 incrementing and the check task will detect the error. */
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504 vTaskDelay( genqSHORT_BLOCK );
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507 /* Now force the medium priority task to unblock. xBlockWasAborted is
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508 set to pdTRUE so the medium priority task knows that its failure to
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509 obtain the semaphore is not an error. */
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510 xBlockWasAborted = pdTRUE;
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511 if( xTaskAbortDelay( xSecondMediumPriorityMutexTask ) != pdPASS )
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513 xErrorDetected = pdTRUE;
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516 /* This time no other tasks are waiting for the mutex, so this task
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517 should return to its base priority. This might not happen straight
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518 away as it is running at the same priority as the task it just
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520 while( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
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522 /* If this task gets stuck here then the check variables will stop
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523 incrementing and the check task will detect the error. */
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524 vTaskDelay( genqSHORT_BLOCK );
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527 /* Give the semaphore back ready for the next test. */
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528 xSemaphoreGive( xMutex );
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530 configASSERT( xErrorDetected == pdFALSE );
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534 /* Now do the same again, but this time unsuspend the tasks in the
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535 opposite order. This takes a different path though the code because
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536 when the high priority task has its block aborted there is already
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537 another task in the list of tasks waiting for the mutex, and the
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538 low priority task drops down to that priority, rather than dropping
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539 down to its base priority before inheriting the priority of the medium
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541 if( xSemaphoreTake( xMutex, intsemNO_BLOCK ) != pdPASS )
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543 xErrorDetected = pdTRUE;
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546 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
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548 xErrorDetected = pdTRUE;
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551 /* This time unsuspend the medium priority task first. This will
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552 attempt to take the mutex, and block when it finds it cannot obtain it. */
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553 vTaskResume( xSecondMediumPriorityMutexTask );
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555 /* This time this task should now have inherited the priority of the
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557 if( uxTaskPriorityGet( NULL ) != genqMUTEX_MEDIUM_PRIORITY )
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559 xErrorDetected = pdTRUE;
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562 /* This time the high priority task in unsuspended second. */
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563 vTaskResume( xHighPriorityMutexTask );
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565 /* The high priority task should already have run, causing this task to
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566 inherit a priority for the second time. */
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567 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
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569 xErrorDetected = pdTRUE;
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572 /* This time, when the high priority task has its delay aborted and it
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573 fails to obtain the mutex this task will immediately have its priority
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574 lowered down to that of the highest priority task waiting on the mutex,
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575 which is the medium priority task. */
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576 xBlockWasAborted = pdTRUE;
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577 if( xTaskAbortDelay( xHighPriorityMutexTask ) != pdPASS )
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579 xErrorDetected = pdTRUE;
\r
582 while( uxTaskPriorityGet( NULL ) != genqMUTEX_MEDIUM_PRIORITY )
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584 /* If this task gets stuck here then the check variables will stop
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585 incrementing and the check task will detect the error. */
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586 vTaskDelay( genqSHORT_BLOCK );
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589 /* And finally, when the medium priority task also have its delay
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590 aborted there are no other tasks waiting for the mutex so this task
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591 returns to its base priority. */
\r
592 xBlockWasAborted = pdTRUE;
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593 if( xTaskAbortDelay( xSecondMediumPriorityMutexTask ) != pdPASS )
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595 xErrorDetected = pdTRUE;
\r
598 while( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
\r
600 /* If this task gets stuck here then the check variables will stop
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601 incrementing and the check task will detect the error. */
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602 vTaskDelay( genqSHORT_BLOCK );
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605 /* Give the semaphore back ready for the next test. */
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606 xSemaphoreGive( xMutex );
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608 configASSERT( xErrorDetected == pdFALSE );
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610 /* uxLoopCount is used to add a variable delay, and in-so-doing provide
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611 additional code coverage. */
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615 #endif /* INCLUDE_xTaskAbortDelay == 1 */
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616 /*-----------------------------------------------------------*/
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618 static void prvTakeTwoMutexesReturnInDifferentOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex )
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620 /* Take the mutex. It should be available now. */
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621 if( xSemaphoreTake( xMutex, intsemNO_BLOCK ) != pdPASS )
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623 xErrorDetected = pdTRUE;
\r
626 /* Set the guarded variable to a known start value. */
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627 ulGuardedVariable = 0;
\r
629 /* This task's priority should be as per that assigned when the task was
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631 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
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633 xErrorDetected = pdTRUE;
\r
636 /* Now unsuspend the high priority task. This will attempt to take the
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637 mutex, and block when it finds it cannot obtain it. */
\r
638 vTaskResume( xHighPriorityMutexTask );
\r
640 #if configUSE_PREEMPTION == 0
\r
644 /* Ensure the task is reporting its priority as blocked and not
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645 suspended (as it would have done in versions up to V7.5.3). */
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646 #if( INCLUDE_eTaskGetState == 1 )
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648 configASSERT( eTaskGetState( xHighPriorityMutexTask ) == eBlocked );
\r
650 #endif /* INCLUDE_eTaskGetState */
\r
652 /* This task should now have inherited the priority of the high priority
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653 task as by now the high priority task will have attempted to obtain the
\r
655 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
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657 xErrorDetected = pdTRUE;
\r
660 /* Attempt to set the priority of this task to the test priority -
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661 between the idle priority and the medium/high test priorities, but the
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662 actual priority should remain at the high priority. */
\r
663 vTaskPrioritySet( NULL, genqMUTEX_TEST_PRIORITY );
\r
664 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
\r
666 xErrorDetected = pdTRUE;
\r
669 /* Now unsuspend the medium priority task. This should not run as the
\r
670 inherited priority of this task is above that of the medium priority
\r
672 vTaskResume( xMediumPriorityMutexTask );
\r
674 /* If the medium priority task did run then it will have incremented the
\r
675 guarded variable. */
\r
676 if( ulGuardedVariable != 0 )
\r
678 xErrorDetected = pdTRUE;
\r
681 /* Take the local mutex too, so two mutexes are now held. */
\r
682 if( xSemaphoreTake( xLocalMutex, intsemNO_BLOCK ) != pdPASS )
\r
684 xErrorDetected = pdTRUE;
\r
687 /* When the semaphore is given back the priority of this task should not
\r
688 yet be disinherited because the local mutex is still held. This is a
\r
689 simplification to allow FreeRTOS to be integrated with middleware that
\r
690 attempts to hold multiple mutexes without bloating the code with complex
\r
691 algorithms. It is possible that the high priority mutex task will
\r
692 execute as it shares a priority with this task. */
\r
693 if( xSemaphoreGive( xMutex ) != pdPASS )
\r
695 xErrorDetected = pdTRUE;
\r
698 #if configUSE_PREEMPTION == 0
\r
702 /* The guarded variable is only incremented by the medium priority task,
\r
703 which still should not have executed as this task should remain at the
\r
704 higher priority, ensure this is the case. */
\r
705 if( ulGuardedVariable != 0 )
\r
707 xErrorDetected = pdTRUE;
\r
710 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
\r
712 xErrorDetected = pdTRUE;
\r
715 /* Now also give back the local mutex, taking the held count back to 0.
\r
716 This time the priority of this task should be disinherited back to the
\r
717 priority to which it was set while the mutex was held. This means
\r
718 the medium priority task should execute and increment the guarded
\r
719 variable. When this task next runs both the high and medium priority
\r
720 tasks will have been suspended again. */
\r
721 if( xSemaphoreGive( xLocalMutex ) != pdPASS )
\r
723 xErrorDetected = pdTRUE;
\r
726 #if configUSE_PREEMPTION == 0
\r
730 /* Check the guarded variable did indeed increment... */
\r
731 if( ulGuardedVariable != 1 )
\r
733 xErrorDetected = pdTRUE;
\r
736 /* ... and that the priority of this task has been disinherited to
\r
737 genqMUTEX_TEST_PRIORITY. */
\r
738 if( uxTaskPriorityGet( NULL ) != genqMUTEX_TEST_PRIORITY )
\r
740 xErrorDetected = pdTRUE;
\r
743 /* Set the priority of this task back to its original value, ready for
\r
744 the next loop around this test. */
\r
745 vTaskPrioritySet( NULL, genqMUTEX_LOW_PRIORITY );
\r
747 /*-----------------------------------------------------------*/
\r
749 static void prvTakeTwoMutexesReturnInSameOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex )
\r
751 /* Take the mutex. It should be available now. */
\r
752 if( xSemaphoreTake( xMutex, intsemNO_BLOCK ) != pdPASS )
\r
754 xErrorDetected = pdTRUE;
\r
757 /* Set the guarded variable to a known start value. */
\r
758 ulGuardedVariable = 0;
\r
760 /* This task's priority should be as per that assigned when the task was
\r
762 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
\r
764 xErrorDetected = pdTRUE;
\r
767 /* Now unsuspend the high priority task. This will attempt to take the
\r
768 mutex, and block when it finds it cannot obtain it. */
\r
769 vTaskResume( xHighPriorityMutexTask );
\r
771 #if configUSE_PREEMPTION == 0
\r
775 /* Ensure the task is reporting its priority as blocked and not
\r
776 suspended (as it would have done in versions up to V7.5.3). */
\r
777 #if( INCLUDE_eTaskGetState == 1 )
\r
779 configASSERT( eTaskGetState( xHighPriorityMutexTask ) == eBlocked );
\r
781 #endif /* INCLUDE_eTaskGetState */
\r
783 /* This task should now have inherited the priority of the high priority
\r
784 task as by now the high priority task will have attempted to obtain the
\r
786 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
\r
788 xErrorDetected = pdTRUE;
\r
791 /* Now unsuspend the medium priority task. This should not run as the
\r
792 inherited priority of this task is above that of the medium priority
\r
794 vTaskResume( xMediumPriorityMutexTask );
\r
796 /* If the medium priority task did run then it will have incremented the
\r
797 guarded variable. */
\r
798 if( ulGuardedVariable != 0 )
\r
800 xErrorDetected = pdTRUE;
\r
803 /* Take the local mutex too, so two mutexes are now held. */
\r
804 if( xSemaphoreTake( xLocalMutex, intsemNO_BLOCK ) != pdPASS )
\r
806 xErrorDetected = pdTRUE;
\r
809 /* When the local semaphore is given back the priority of this task should
\r
810 not yet be disinherited because the shared mutex is still held. This is a
\r
811 simplification to allow FreeRTOS to be integrated with middleware that
\r
812 attempts to hold multiple mutexes without bloating the code with complex
\r
813 algorithms. It is possible that the high priority mutex task will
\r
814 execute as it shares a priority with this task. */
\r
815 if( xSemaphoreGive( xLocalMutex ) != pdPASS )
\r
817 xErrorDetected = pdTRUE;
\r
820 #if configUSE_PREEMPTION == 0
\r
824 /* The guarded variable is only incremented by the medium priority task,
\r
825 which still should not have executed as this task should remain at the
\r
826 higher priority, ensure this is the case. */
\r
827 if( ulGuardedVariable != 0 )
\r
829 xErrorDetected = pdTRUE;
\r
832 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
\r
834 xErrorDetected = pdTRUE;
\r
837 /* Now also give back the shared mutex, taking the held count back to 0.
\r
838 This time the priority of this task should be disinherited back to the
\r
839 priority at which it was created. This means the medium priority task
\r
840 should execute and increment the guarded variable. When this task next runs
\r
841 both the high and medium priority tasks will have been suspended again. */
\r
842 if( xSemaphoreGive( xMutex ) != pdPASS )
\r
844 xErrorDetected = pdTRUE;
\r
847 #if configUSE_PREEMPTION == 0
\r
851 /* Check the guarded variable did indeed increment... */
\r
852 if( ulGuardedVariable != 1 )
\r
854 xErrorDetected = pdTRUE;
\r
857 /* ... and that the priority of this task has been disinherited to
\r
858 genqMUTEX_LOW_PRIORITY. */
\r
859 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
\r
861 xErrorDetected = pdTRUE;
\r
864 /*-----------------------------------------------------------*/
\r
866 static void prvLowPriorityMutexTask( void *pvParameters )
\r
868 SemaphoreHandle_t xMutex = ( SemaphoreHandle_t ) pvParameters, xLocalMutex;
\r
871 void vPrintDisplayMessage( const char * const * ppcMessageToSend );
\r
873 const char * const pcTaskStartMsg = "Mutex with priority inheritance test started.\r\n";
\r
875 /* Queue a message for printing to say the task has started. */
\r
876 vPrintDisplayMessage( &pcTaskStartMsg );
\r
879 /* The local mutex is used to check the 'mutexs held' count. */
\r
880 xLocalMutex = xSemaphoreCreateMutex();
\r
881 configASSERT( xLocalMutex );
\r
885 /* The first tests exercise the priority inheritance when two mutexes
\r
886 are taken then returned in a different order to which they were
\r
888 prvTakeTwoMutexesReturnInDifferentOrder( xMutex, xLocalMutex );
\r
890 /* Just to show this task is still running. */
\r
893 #if configUSE_PREEMPTION == 0
\r
897 /* The second tests exercise the priority inheritance when two mutexes
\r
898 are taken then returned in the same order in which they were taken. */
\r
899 prvTakeTwoMutexesReturnInSameOrder( xMutex, xLocalMutex );
\r
901 /* Just to show this task is still running. */
\r
904 #if configUSE_PREEMPTION == 0
\r
908 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
910 /* Tests the behaviour when a low priority task inherits the
\r
911 priority of a high priority task only for the high priority task to
\r
912 timeout before obtaining the mutex. */
\r
913 prvHighPriorityTimeout( xMutex );
\r
918 /*-----------------------------------------------------------*/
\r
920 static void prvMediumPriorityMutexTask( void *pvParameters )
\r
922 ( void ) pvParameters;
\r
926 /* The medium priority task starts by suspending itself. The low
\r
927 priority task will unsuspend this task when required. */
\r
928 vTaskSuspend( NULL );
\r
930 /* When this task unsuspends all it does is increment the guarded
\r
931 variable, this is so the low priority task knows that it has
\r
933 ulGuardedVariable++;
\r
936 /*-----------------------------------------------------------*/
\r
938 static void prvHighPriorityMutexTask( void *pvParameters )
\r
940 SemaphoreHandle_t xMutex = ( SemaphoreHandle_t ) pvParameters;
\r
944 /* The high priority task starts by suspending itself. The low
\r
945 priority task will unsuspend this task when required. */
\r
946 vTaskSuspend( NULL );
\r
948 /* When this task unsuspends all it does is attempt to obtain the
\r
949 mutex. It should find the mutex is not available so a block time is
\r
951 if( xSemaphoreTake( xMutex, portMAX_DELAY ) != pdPASS )
\r
953 /* This task would expect to obtain the mutex unless its wait for
\r
954 the mutex was aborted. */
\r
955 if( xBlockWasAborted == pdFALSE )
\r
957 xErrorDetected = pdTRUE;
\r
961 xBlockWasAborted = pdFALSE;
\r
966 /* When the mutex is eventually obtained it is just given back before
\r
967 returning to suspend ready for the next cycle. */
\r
968 if( xSemaphoreGive( xMutex ) != pdPASS )
\r
970 xErrorDetected = pdTRUE;
\r
975 /*-----------------------------------------------------------*/
\r
978 /* This is called to check that all the created tasks are still running. */
\r
979 BaseType_t xAreGenericQueueTasksStillRunning( void )
\r
981 static uint32_t ulLastLoopCounter = 0, ulLastLoopCounter2 = 0;
\r
983 /* If the demo task is still running then we expect the loop counters to
\r
984 have incremented since this function was last called. */
\r
985 if( ulLastLoopCounter == ulLoopCounter )
\r
987 xErrorDetected = pdTRUE;
\r
990 if( ulLastLoopCounter2 == ulLoopCounter2 )
\r
992 xErrorDetected = pdTRUE;
\r
995 ulLastLoopCounter = ulLoopCounter;
\r
996 ulLastLoopCounter2 = ulLoopCounter2;
\r
998 /* Errors detected in the task itself will have latched xErrorDetected
\r
1001 return ( BaseType_t ) !xErrorDetected;
\r