2 * FreeRTOS Kernel V10.0.0
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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. If you wish to use our Amazon
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14 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
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16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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23 * http://www.FreeRTOS.org
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24 * http://aws.amazon.com/freertos
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26 * 1 tab == 4 spaces!
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31 * Tests the extra queue functionality introduced in FreeRTOS.org V4.5.0 -
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32 * including xQueueSendToFront(), xQueueSendToBack(), xQueuePeek() and
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35 * See the comments above the prvSendFrontAndBackTest() and
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36 * prvLowPriorityMutexTask() prototypes below for more information.
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39 /* Standard includes. */
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42 /* Scheduler include files. */
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43 #include "FreeRTOS.h"
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48 /* Demo program include files. */
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49 #include "GenQTest.h"
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51 #define genqQUEUE_LENGTH ( 5 )
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52 #define intsemNO_BLOCK ( 0 )
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53 #define genqSHORT_BLOCK ( pdMS_TO_TICKS( 2 ) )
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55 #define genqMUTEX_LOW_PRIORITY ( tskIDLE_PRIORITY )
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56 #define genqMUTEX_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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57 #define genqMUTEX_MEDIUM_PRIORITY ( tskIDLE_PRIORITY + 2 )
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58 #define genqMUTEX_HIGH_PRIORITY ( tskIDLE_PRIORITY + 3 )
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60 /*-----------------------------------------------------------*/
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63 * Tests the behaviour of the xQueueSendToFront() and xQueueSendToBack()
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64 * macros by using both to fill a queue, then reading from the queue to
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65 * check the resultant queue order is as expected. Queue data is also
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68 static void prvSendFrontAndBackTest( void *pvParameters );
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71 * The following three tasks are used to demonstrate the mutex behaviour.
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72 * Each task is given a different priority to demonstrate the priority
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73 * inheritance mechanism.
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75 * The low priority task obtains a mutex. After this a high priority task
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76 * attempts to obtain the same mutex, causing its priority to be inherited
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77 * by the low priority task. The task with the inherited high priority then
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78 * resumes a medium priority task to ensure it is not blocked by the medium
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79 * priority task while it holds the inherited high priority. Once the mutex
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80 * is returned the task with the inherited priority returns to its original
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81 * low priority, and is therefore immediately preempted by first the high
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82 * priority task and then the medium priority task before it can continue.
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84 static void prvLowPriorityMutexTask( void *pvParameters );
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85 static void prvMediumPriorityMutexTask( void *pvParameters );
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86 static void prvHighPriorityMutexTask( void *pvParameters );
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89 * Tests the behaviour when a low priority task inherits the priority of a
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90 * higher priority task when taking two mutexes, and returns the mutexes in
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91 * first the same order as the two mutexes were obtained, and second the
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92 * opposite order as the two mutexes were obtained.
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94 static void prvTakeTwoMutexesReturnInSameOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex );
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95 static void prvTakeTwoMutexesReturnInDifferentOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex );
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97 #if( INCLUDE_xTaskAbortDelay == 1 )
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99 #if( configUSE_PREEMPTION == 0 )
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100 #error The additional tests included when INCLUDE_xTaskAbortDelay is 1 expect preemption to be used.
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103 /* Tests the behaviour when a low priority task inherits the priority of a
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104 high priority task only for the high priority task to timeout before
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105 obtaining the mutex. */
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106 static void prvHighPriorityTimeout( SemaphoreHandle_t xMutex );
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109 /*-----------------------------------------------------------*/
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111 /* Flag that will be latched to pdTRUE should any unexpected behaviour be
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112 detected in any of the tasks. */
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113 static volatile BaseType_t xErrorDetected = pdFALSE;
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115 /* Counters that are incremented on each cycle of a test. This is used to
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116 detect a stalled task - a test that is no longer running. */
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117 static volatile uint32_t ulLoopCounter = 0;
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118 static volatile uint32_t ulLoopCounter2 = 0;
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120 /* The variable that is guarded by the mutex in the mutex demo tasks. */
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121 static volatile uint32_t ulGuardedVariable = 0;
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123 /* Handles used in the mutex test to suspend and resume the high and medium
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124 priority mutex test tasks. */
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125 static TaskHandle_t xHighPriorityMutexTask, xMediumPriorityMutexTask;
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127 /* If INCLUDE_xTaskAbortDelay is 1 additional tests are performed, requiring an
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128 additional task. */
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129 #if( INCLUDE_xTaskAbortDelay == 1 )
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130 static TaskHandle_t xSecondMediumPriorityMutexTask;
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133 /* Lets the high priority semaphore task know that its wait for the semaphore
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134 was aborted, in which case not being able to obtain the semaphore is not to be
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135 considered an error. */
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136 static volatile BaseType_t xBlockWasAborted = pdFALSE;
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138 /*-----------------------------------------------------------*/
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140 void vStartGenericQueueTasks( UBaseType_t uxPriority )
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142 QueueHandle_t xQueue;
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143 SemaphoreHandle_t xMutex;
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145 /* Create the queue that we are going to use for the
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146 prvSendFrontAndBackTest demo. */
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147 xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( uint32_t ) );
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149 if( xQueue != NULL )
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151 /* vQueueAddToRegistry() adds the queue to the queue registry, if one
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152 is in use. The queue registry is provided as a means for kernel aware
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153 debuggers to locate queues and has no purpose if a kernel aware debugger
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154 is not being used. The call to vQueueAddToRegistry() will be removed
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155 by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
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156 defined to be less than 1. */
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157 vQueueAddToRegistry( xQueue, "Gen_Queue_Test" );
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159 /* Create the demo task and pass it the queue just created. We are
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160 passing the queue handle by value so it does not matter that it is
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161 declared on the stack here. */
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162 xTaskCreate( prvSendFrontAndBackTest, "GenQ", configMINIMAL_STACK_SIZE, ( void * ) xQueue, uxPriority, NULL );
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165 /* Create the mutex used by the prvMutexTest task. */
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166 xMutex = xSemaphoreCreateMutex();
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168 if( xMutex != NULL )
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170 /* vQueueAddToRegistry() adds the mutex to the registry, if one is
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171 in use. The registry is provided as a means for kernel aware
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172 debuggers to locate mutexes and has no purpose if a kernel aware
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173 debugger is not being used. The call to vQueueAddToRegistry() will be
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174 removed by the pre-processor if configQUEUE_REGISTRY_SIZE is not
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175 defined or is defined to be less than 1. */
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176 vQueueAddToRegistry( ( QueueHandle_t ) xMutex, "Gen_Queue_Mutex" );
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178 /* Create the mutex demo tasks and pass it the mutex just created. We
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179 are passing the mutex handle by value so it does not matter that it is
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180 declared on the stack here. */
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181 xTaskCreate( prvLowPriorityMutexTask, "MuLow", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_LOW_PRIORITY, NULL );
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182 xTaskCreate( prvMediumPriorityMutexTask, "MuMed", configMINIMAL_STACK_SIZE, NULL, genqMUTEX_MEDIUM_PRIORITY, &xMediumPriorityMutexTask );
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183 xTaskCreate( prvHighPriorityMutexTask, "MuHigh", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_HIGH_PRIORITY, &xHighPriorityMutexTask );
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185 /* If INCLUDE_xTaskAbortDelay is set then additional tests are performed,
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186 requiring two instances of prvHighPriorityMutexTask(). */
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187 #if( INCLUDE_xTaskAbortDelay == 1 )
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189 xTaskCreate( prvHighPriorityMutexTask, "MuHigh2", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_MEDIUM_PRIORITY, &xSecondMediumPriorityMutexTask );
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191 #endif /* INCLUDE_xTaskAbortDelay */
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194 /*-----------------------------------------------------------*/
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196 static void prvSendFrontAndBackTest( void *pvParameters )
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198 uint32_t ulData, ulData2, ulLoopCounterSnapshot;
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199 QueueHandle_t xQueue;
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202 void vPrintDisplayMessage( const char * const * ppcMessageToSend );
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204 const char * const pcTaskStartMsg = "Queue SendToFront/SendToBack/Peek test started.\r\n";
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206 /* Queue a message for printing to say the task has started. */
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207 vPrintDisplayMessage( &pcTaskStartMsg );
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210 xQueue = ( QueueHandle_t ) pvParameters;
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214 /* The queue is empty, so sending an item to the back of the queue
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215 should have the same efect as sending it to the front of the queue.
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217 First send to the front and check everything is as expected. */
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218 ulLoopCounterSnapshot = ulLoopCounter;
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219 xQueueSendToFront( xQueue, ( void * ) &ulLoopCounterSnapshot, intsemNO_BLOCK );
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221 if( uxQueueMessagesWaiting( xQueue ) != 1 )
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223 xErrorDetected = pdTRUE;
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226 if( xQueueReceive( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != pdPASS )
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228 xErrorDetected = pdTRUE;
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231 /* The data we sent to the queue should equal the data we just received
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233 if( ulLoopCounter != ulData )
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235 xErrorDetected = pdTRUE;
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238 /* Then do the same, sending the data to the back, checking everything
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240 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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242 xErrorDetected = pdTRUE;
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245 ulLoopCounterSnapshot = ulLoopCounter;
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246 xQueueSendToBack( xQueue, ( void * ) &ulLoopCounterSnapshot, intsemNO_BLOCK );
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248 if( uxQueueMessagesWaiting( xQueue ) != 1 )
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250 xErrorDetected = pdTRUE;
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253 if( xQueueReceive( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != pdPASS )
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255 xErrorDetected = pdTRUE;
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258 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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260 xErrorDetected = pdTRUE;
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263 /* The data sent to the queue should equal the data just received from
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265 if( ulLoopCounter != ulData )
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267 xErrorDetected = pdTRUE;
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270 #if configUSE_PREEMPTION == 0
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276 /* Place 2, 3, 4 into the queue, adding items to the back of the queue. */
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277 for( ulData = 2; ulData < 5; ulData++ )
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279 xQueueSendToBack( xQueue, ( void * ) &ulData, intsemNO_BLOCK );
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282 /* Now the order in the queue should be 2, 3, 4, with 2 being the first
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283 thing to be read out. Now add 1 then 0 to the front of the queue. */
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284 if( uxQueueMessagesWaiting( xQueue ) != 3 )
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286 xErrorDetected = pdTRUE;
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289 xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK );
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291 xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK );
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293 /* Now the queue should be full, and when we read the data out we
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294 should receive 0, 1, 2, 3, 4. */
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295 if( uxQueueMessagesWaiting( xQueue ) != 5 )
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297 xErrorDetected = pdTRUE;
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300 if( xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
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302 xErrorDetected = pdTRUE;
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305 if( xQueueSendToBack( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
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307 xErrorDetected = pdTRUE;
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310 #if configUSE_PREEMPTION == 0
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314 /* Check the data we read out is in the expected order. */
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315 for( ulData = 0; ulData < genqQUEUE_LENGTH; ulData++ )
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317 /* Try peeking the data first. */
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318 if( xQueuePeek( xQueue, &ulData2, intsemNO_BLOCK ) != pdPASS )
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320 xErrorDetected = pdTRUE;
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323 if( ulData != ulData2 )
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325 xErrorDetected = pdTRUE;
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329 /* Now try receiving the data for real. The value should be the
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330 same. Clobber the value first so we know we really received it. */
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331 ulData2 = ~ulData2;
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332 if( xQueueReceive( xQueue, &ulData2, intsemNO_BLOCK ) != pdPASS )
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334 xErrorDetected = pdTRUE;
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337 if( ulData != ulData2 )
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339 xErrorDetected = pdTRUE;
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343 /* The queue should now be empty again. */
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344 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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346 xErrorDetected = pdTRUE;
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349 #if configUSE_PREEMPTION == 0
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354 /* Our queue is empty once more, add 10, 11 to the back. */
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356 if( xQueueSend( xQueue, &ulData, intsemNO_BLOCK ) != pdPASS )
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358 xErrorDetected = pdTRUE;
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361 if( xQueueSend( xQueue, &ulData, intsemNO_BLOCK ) != pdPASS )
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363 xErrorDetected = pdTRUE;
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366 if( uxQueueMessagesWaiting( xQueue ) != 2 )
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368 xErrorDetected = pdTRUE;
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371 /* Now we should have 10, 11 in the queue. Add 7, 8, 9 to the
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373 for( ulData = 9; ulData >= 7; ulData-- )
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375 if( xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != pdPASS )
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377 xErrorDetected = pdTRUE;
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381 /* Now check that the queue is full, and that receiving data provides
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382 the expected sequence of 7, 8, 9, 10, 11. */
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383 if( uxQueueMessagesWaiting( xQueue ) != 5 )
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385 xErrorDetected = pdTRUE;
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388 if( xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
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390 xErrorDetected = pdTRUE;
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393 if( xQueueSendToBack( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
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395 xErrorDetected = pdTRUE;
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398 #if configUSE_PREEMPTION == 0
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402 /* Check the data we read out is in the expected order. */
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403 for( ulData = 7; ulData < ( 7 + genqQUEUE_LENGTH ); ulData++ )
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405 if( xQueueReceive( xQueue, &ulData2, intsemNO_BLOCK ) != pdPASS )
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407 xErrorDetected = pdTRUE;
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410 if( ulData != ulData2 )
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412 xErrorDetected = pdTRUE;
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416 if( uxQueueMessagesWaiting( xQueue ) != 0 )
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418 xErrorDetected = pdTRUE;
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421 /* Increment the loop counter to indicate these tasks are still
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426 /*-----------------------------------------------------------*/
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428 #if( INCLUDE_xTaskAbortDelay == 1 )
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430 static void prvHighPriorityTimeout( SemaphoreHandle_t xMutex )
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432 static UBaseType_t uxLoopCount = 0;
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434 /* The tests in this function are very similar, the slight variations
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435 are for code coverage purposes. */
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437 /* Take the mutex. It should be available now. */
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438 if( xSemaphoreTake( xMutex, intsemNO_BLOCK ) != pdPASS )
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440 xErrorDetected = pdTRUE;
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443 /* This task's priority should be as per that assigned when the task was
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445 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
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447 xErrorDetected = pdTRUE;
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450 /* Now unsuspend the high priority task. This will attempt to take the
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451 mutex, and block when it finds it cannot obtain it. */
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452 vTaskResume( xHighPriorityMutexTask );
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454 /* This task should now have inherited the priority of the high priority
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455 task as by now the high priority task will have attempted to obtain the
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457 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
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459 xErrorDetected = pdTRUE;
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462 /* Unblock a second medium priority task. It too will attempt to take
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463 the mutex and enter the Blocked state - it won't run yet though as this
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464 task has inherited a priority above it. */
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465 vTaskResume( xSecondMediumPriorityMutexTask );
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467 /* This task should still have the priority of the high priority task as
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468 that had already been inherited as is the highest priority of the three
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469 tasks using the mutex. */
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470 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
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472 xErrorDetected = pdTRUE;
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475 /* On some loops, block for a short while to provide additional
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476 code coverage. Blocking here will allow the medium priority task to
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477 execute and so also block on the mutex so when the high priority task
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478 causes this task to disinherit the high priority it is inherited down to
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479 the priority of the medium priority task. When there is no delay the
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480 medium priority task will not run until after the disinheritance, so
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481 this task will disinherit back to its base priority, then only up to the
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482 medium priority after the medium priority has executed. */
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483 vTaskDelay( uxLoopCount & ( UBaseType_t ) 0x07 );
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485 /* Now force the high priority task to unblock. It will fail to obtain
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486 the mutex and go back to the suspended state - allowing this task to
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487 execute again. xBlockWasAborted is set to pdTRUE so the higher priority
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488 task knows that its failure to obtain the semaphore is not an error. */
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489 xBlockWasAborted = pdTRUE;
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490 if( xTaskAbortDelay( xHighPriorityMutexTask ) != pdPASS )
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492 xErrorDetected = pdTRUE;
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495 /* This task has inherited the priority of xHighPriorityMutexTask so
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496 could still be running even though xHighPriorityMutexTask is no longer
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497 blocked. Delay for a short while to ensure xHighPriorityMutexTask gets
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498 a chance to run - indicated by this task changing priority. It should
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499 disinherit the high priority task, but then inherit the priority of the
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500 medium priority task that is waiting for the same mutex. */
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501 while( uxTaskPriorityGet( NULL ) != genqMUTEX_MEDIUM_PRIORITY )
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503 /* If this task gets stuck here then the check variables will stop
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504 incrementing and the check task will detect the error. */
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505 vTaskDelay( genqSHORT_BLOCK );
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508 /* Now force the medium priority task to unblock. xBlockWasAborted is
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509 set to pdTRUE so the medium priority task knows that its failure to
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510 obtain the semaphore is not an error. */
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511 xBlockWasAborted = pdTRUE;
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512 if( xTaskAbortDelay( xSecondMediumPriorityMutexTask ) != pdPASS )
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514 xErrorDetected = pdTRUE;
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517 /* This time no other tasks are waiting for the mutex, so this task
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518 should return to its base priority. This might not happen straight
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519 away as it is running at the same priority as the task it just
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521 while( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
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523 /* If this task gets stuck here then the check variables will stop
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524 incrementing and the check task will detect the error. */
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525 vTaskDelay( genqSHORT_BLOCK );
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528 /* Give the semaphore back ready for the next test. */
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529 xSemaphoreGive( xMutex );
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531 configASSERT( xErrorDetected == pdFALSE );
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535 /* Now do the same again, but this time unsuspend the tasks in the
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536 opposite order. This takes a different path though the code because
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537 when the high priority task has its block aborted there is already
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538 another task in the list of tasks waiting for the mutex, and the
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539 low priority task drops down to that priority, rather than dropping
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540 down to its base priority before inheriting the priority of the medium
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542 if( xSemaphoreTake( xMutex, intsemNO_BLOCK ) != pdPASS )
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544 xErrorDetected = pdTRUE;
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547 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
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549 xErrorDetected = pdTRUE;
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552 /* This time unsuspend the medium priority task first. This will
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553 attempt to take the mutex, and block when it finds it cannot obtain it. */
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554 vTaskResume( xSecondMediumPriorityMutexTask );
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556 /* This time this task should now have inherited the priority of the
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558 if( uxTaskPriorityGet( NULL ) != genqMUTEX_MEDIUM_PRIORITY )
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560 xErrorDetected = pdTRUE;
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563 /* This time the high priority task in unsuspended second. */
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564 vTaskResume( xHighPriorityMutexTask );
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566 /* The high priority task should already have run, causing this task to
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567 inherit a priority for the second time. */
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568 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
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570 xErrorDetected = pdTRUE;
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573 /* This time, when the high priority task has its delay aborted and it
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574 fails to obtain the mutex this task will immediately have its priority
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575 lowered down to that of the highest priority task waiting on the mutex,
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576 which is the medium priority task. */
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577 xBlockWasAborted = pdTRUE;
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578 if( xTaskAbortDelay( xHighPriorityMutexTask ) != pdPASS )
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580 xErrorDetected = pdTRUE;
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583 while( uxTaskPriorityGet( NULL ) != genqMUTEX_MEDIUM_PRIORITY )
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585 /* If this task gets stuck here then the check variables will stop
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586 incrementing and the check task will detect the error. */
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587 vTaskDelay( genqSHORT_BLOCK );
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590 /* And finally, when the medium priority task also have its delay
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591 aborted there are no other tasks waiting for the mutex so this task
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592 returns to its base priority. */
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593 xBlockWasAborted = pdTRUE;
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594 if( xTaskAbortDelay( xSecondMediumPriorityMutexTask ) != pdPASS )
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596 xErrorDetected = pdTRUE;
\r
599 while( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
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601 /* If this task gets stuck here then the check variables will stop
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602 incrementing and the check task will detect the error. */
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603 vTaskDelay( genqSHORT_BLOCK );
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606 /* Give the semaphore back ready for the next test. */
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607 xSemaphoreGive( xMutex );
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609 configASSERT( xErrorDetected == pdFALSE );
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611 /* uxLoopCount is used to add a variable delay, and in-so-doing provide
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612 additional code coverage. */
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616 #endif /* INCLUDE_xTaskAbortDelay == 1 */
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617 /*-----------------------------------------------------------*/
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619 static void prvTakeTwoMutexesReturnInDifferentOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex )
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621 /* Take the mutex. It should be available now. */
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622 if( xSemaphoreTake( xMutex, intsemNO_BLOCK ) != pdPASS )
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624 xErrorDetected = pdTRUE;
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627 /* Set the guarded variable to a known start value. */
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628 ulGuardedVariable = 0;
\r
630 /* This task's priority should be as per that assigned when the task was
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632 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
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634 xErrorDetected = pdTRUE;
\r
637 /* Now unsuspend the high priority task. This will attempt to take the
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638 mutex, and block when it finds it cannot obtain it. */
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639 vTaskResume( xHighPriorityMutexTask );
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641 #if configUSE_PREEMPTION == 0
\r
645 /* Ensure the task is reporting its priority as blocked and not
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646 suspended (as it would have done in versions up to V7.5.3). */
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647 #if( INCLUDE_eTaskGetState == 1 )
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649 configASSERT( eTaskGetState( xHighPriorityMutexTask ) == eBlocked );
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651 #endif /* INCLUDE_eTaskGetState */
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653 /* This task should now have inherited the priority of the high priority
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654 task as by now the high priority task will have attempted to obtain the
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656 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
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658 xErrorDetected = pdTRUE;
\r
661 /* Attempt to set the priority of this task to the test priority -
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662 between the idle priority and the medium/high test priorities, but the
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663 actual priority should remain at the high priority. */
\r
664 vTaskPrioritySet( NULL, genqMUTEX_TEST_PRIORITY );
\r
665 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
\r
667 xErrorDetected = pdTRUE;
\r
670 /* Now unsuspend the medium priority task. This should not run as the
\r
671 inherited priority of this task is above that of the medium priority
\r
673 vTaskResume( xMediumPriorityMutexTask );
\r
675 /* If the medium priority task did run then it will have incremented the
\r
676 guarded variable. */
\r
677 if( ulGuardedVariable != 0 )
\r
679 xErrorDetected = pdTRUE;
\r
682 /* Take the local mutex too, so two mutexes are now held. */
\r
683 if( xSemaphoreTake( xLocalMutex, intsemNO_BLOCK ) != pdPASS )
\r
685 xErrorDetected = pdTRUE;
\r
688 /* When the semaphore is given back the priority of this task should not
\r
689 yet be disinherited because the local mutex is still held. This is a
\r
690 simplification to allow FreeRTOS to be integrated with middleware that
\r
691 attempts to hold multiple mutexes without bloating the code with complex
\r
692 algorithms. It is possible that the high priority mutex task will
\r
693 execute as it shares a priority with this task. */
\r
694 if( xSemaphoreGive( xMutex ) != pdPASS )
\r
696 xErrorDetected = pdTRUE;
\r
699 #if configUSE_PREEMPTION == 0
\r
703 /* The guarded variable is only incremented by the medium priority task,
\r
704 which still should not have executed as this task should remain at the
\r
705 higher priority, ensure this is the case. */
\r
706 if( ulGuardedVariable != 0 )
\r
708 xErrorDetected = pdTRUE;
\r
711 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
\r
713 xErrorDetected = pdTRUE;
\r
716 /* Now also give back the local mutex, taking the held count back to 0.
\r
717 This time the priority of this task should be disinherited back to the
\r
718 priority to which it was set while the mutex was held. This means
\r
719 the medium priority task should execute and increment the guarded
\r
720 variable. When this task next runs both the high and medium priority
\r
721 tasks will have been suspended again. */
\r
722 if( xSemaphoreGive( xLocalMutex ) != pdPASS )
\r
724 xErrorDetected = pdTRUE;
\r
727 #if configUSE_PREEMPTION == 0
\r
731 /* Check the guarded variable did indeed increment... */
\r
732 if( ulGuardedVariable != 1 )
\r
734 xErrorDetected = pdTRUE;
\r
737 /* ... and that the priority of this task has been disinherited to
\r
738 genqMUTEX_TEST_PRIORITY. */
\r
739 if( uxTaskPriorityGet( NULL ) != genqMUTEX_TEST_PRIORITY )
\r
741 xErrorDetected = pdTRUE;
\r
744 /* Set the priority of this task back to its original value, ready for
\r
745 the next loop around this test. */
\r
746 vTaskPrioritySet( NULL, genqMUTEX_LOW_PRIORITY );
\r
748 /*-----------------------------------------------------------*/
\r
750 static void prvTakeTwoMutexesReturnInSameOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex )
\r
752 /* Take the mutex. It should be available now. */
\r
753 if( xSemaphoreTake( xMutex, intsemNO_BLOCK ) != pdPASS )
\r
755 xErrorDetected = pdTRUE;
\r
758 /* Set the guarded variable to a known start value. */
\r
759 ulGuardedVariable = 0;
\r
761 /* This task's priority should be as per that assigned when the task was
\r
763 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
\r
765 xErrorDetected = pdTRUE;
\r
768 /* Now unsuspend the high priority task. This will attempt to take the
\r
769 mutex, and block when it finds it cannot obtain it. */
\r
770 vTaskResume( xHighPriorityMutexTask );
\r
772 #if configUSE_PREEMPTION == 0
\r
776 /* Ensure the task is reporting its priority as blocked and not
\r
777 suspended (as it would have done in versions up to V7.5.3). */
\r
778 #if( INCLUDE_eTaskGetState == 1 )
\r
780 configASSERT( eTaskGetState( xHighPriorityMutexTask ) == eBlocked );
\r
782 #endif /* INCLUDE_eTaskGetState */
\r
784 /* This task should now have inherited the priority of the high priority
\r
785 task as by now the high priority task will have attempted to obtain the
\r
787 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
\r
789 xErrorDetected = pdTRUE;
\r
792 /* Now unsuspend the medium priority task. This should not run as the
\r
793 inherited priority of this task is above that of the medium priority
\r
795 vTaskResume( xMediumPriorityMutexTask );
\r
797 /* If the medium priority task did run then it will have incremented the
\r
798 guarded variable. */
\r
799 if( ulGuardedVariable != 0 )
\r
801 xErrorDetected = pdTRUE;
\r
804 /* Take the local mutex too, so two mutexes are now held. */
\r
805 if( xSemaphoreTake( xLocalMutex, intsemNO_BLOCK ) != pdPASS )
\r
807 xErrorDetected = pdTRUE;
\r
810 /* When the local semaphore is given back the priority of this task should
\r
811 not yet be disinherited because the shared mutex is still held. This is a
\r
812 simplification to allow FreeRTOS to be integrated with middleware that
\r
813 attempts to hold multiple mutexes without bloating the code with complex
\r
814 algorithms. It is possible that the high priority mutex task will
\r
815 execute as it shares a priority with this task. */
\r
816 if( xSemaphoreGive( xLocalMutex ) != pdPASS )
\r
818 xErrorDetected = pdTRUE;
\r
821 #if configUSE_PREEMPTION == 0
\r
825 /* The guarded variable is only incremented by the medium priority task,
\r
826 which still should not have executed as this task should remain at the
\r
827 higher priority, ensure this is the case. */
\r
828 if( ulGuardedVariable != 0 )
\r
830 xErrorDetected = pdTRUE;
\r
833 if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
\r
835 xErrorDetected = pdTRUE;
\r
838 /* Now also give back the shared mutex, taking the held count back to 0.
\r
839 This time the priority of this task should be disinherited back to the
\r
840 priority at which it was created. This means the medium priority task
\r
841 should execute and increment the guarded variable. When this task next runs
\r
842 both the high and medium priority tasks will have been suspended again. */
\r
843 if( xSemaphoreGive( xMutex ) != pdPASS )
\r
845 xErrorDetected = pdTRUE;
\r
848 #if configUSE_PREEMPTION == 0
\r
852 /* Check the guarded variable did indeed increment... */
\r
853 if( ulGuardedVariable != 1 )
\r
855 xErrorDetected = pdTRUE;
\r
858 /* ... and that the priority of this task has been disinherited to
\r
859 genqMUTEX_LOW_PRIORITY. */
\r
860 if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
\r
862 xErrorDetected = pdTRUE;
\r
865 /*-----------------------------------------------------------*/
\r
867 static void prvLowPriorityMutexTask( void *pvParameters )
\r
869 SemaphoreHandle_t xMutex = ( SemaphoreHandle_t ) pvParameters, xLocalMutex;
\r
872 void vPrintDisplayMessage( const char * const * ppcMessageToSend );
\r
874 const char * const pcTaskStartMsg = "Mutex with priority inheritance test started.\r\n";
\r
876 /* Queue a message for printing to say the task has started. */
\r
877 vPrintDisplayMessage( &pcTaskStartMsg );
\r
880 /* The local mutex is used to check the 'mutexs held' count. */
\r
881 xLocalMutex = xSemaphoreCreateMutex();
\r
882 configASSERT( xLocalMutex );
\r
886 /* The first tests exercise the priority inheritance when two mutexes
\r
887 are taken then returned in a different order to which they were
\r
889 prvTakeTwoMutexesReturnInDifferentOrder( xMutex, xLocalMutex );
\r
891 /* Just to show this task is still running. */
\r
894 #if configUSE_PREEMPTION == 0
\r
898 /* The second tests exercise the priority inheritance when two mutexes
\r
899 are taken then returned in the same order in which they were taken. */
\r
900 prvTakeTwoMutexesReturnInSameOrder( xMutex, xLocalMutex );
\r
902 /* Just to show this task is still running. */
\r
905 #if configUSE_PREEMPTION == 0
\r
909 #if( INCLUDE_xTaskAbortDelay == 1 )
\r
911 /* Tests the behaviour when a low priority task inherits the
\r
912 priority of a high priority task only for the high priority task to
\r
913 timeout before obtaining the mutex. */
\r
914 prvHighPriorityTimeout( xMutex );
\r
919 /*-----------------------------------------------------------*/
\r
921 static void prvMediumPriorityMutexTask( void *pvParameters )
\r
923 ( void ) pvParameters;
\r
927 /* The medium priority task starts by suspending itself. The low
\r
928 priority task will unsuspend this task when required. */
\r
929 vTaskSuspend( NULL );
\r
931 /* When this task unsuspends all it does is increment the guarded
\r
932 variable, this is so the low priority task knows that it has
\r
934 ulGuardedVariable++;
\r
937 /*-----------------------------------------------------------*/
\r
939 static void prvHighPriorityMutexTask( void *pvParameters )
\r
941 SemaphoreHandle_t xMutex = ( SemaphoreHandle_t ) pvParameters;
\r
945 /* The high priority task starts by suspending itself. The low
\r
946 priority task will unsuspend this task when required. */
\r
947 vTaskSuspend( NULL );
\r
949 /* When this task unsuspends all it does is attempt to obtain the
\r
950 mutex. It should find the mutex is not available so a block time is
\r
952 if( xSemaphoreTake( xMutex, portMAX_DELAY ) != pdPASS )
\r
954 /* This task would expect to obtain the mutex unless its wait for
\r
955 the mutex was aborted. */
\r
956 if( xBlockWasAborted == pdFALSE )
\r
958 xErrorDetected = pdTRUE;
\r
962 xBlockWasAborted = pdFALSE;
\r
967 /* When the mutex is eventually obtained it is just given back before
\r
968 returning to suspend ready for the next cycle. */
\r
969 if( xSemaphoreGive( xMutex ) != pdPASS )
\r
971 xErrorDetected = pdTRUE;
\r
976 /*-----------------------------------------------------------*/
\r
979 /* This is called to check that all the created tasks are still running. */
\r
980 BaseType_t xAreGenericQueueTasksStillRunning( void )
\r
982 static uint32_t ulLastLoopCounter = 0, ulLastLoopCounter2 = 0;
\r
984 /* If the demo task is still running then we expect the loop counters to
\r
985 have incremented since this function was last called. */
\r
986 if( ulLastLoopCounter == ulLoopCounter )
\r
988 xErrorDetected = pdTRUE;
\r
991 if( ulLastLoopCounter2 == ulLoopCounter2 )
\r
993 xErrorDetected = pdTRUE;
\r
996 ulLastLoopCounter = ulLoopCounter;
\r
997 ulLastLoopCounter2 = ulLoopCounter2;
\r
999 /* Errors detected in the task itself will have latched xErrorDetected
\r
1002 return ( BaseType_t ) !xErrorDetected;
\r