/* Create the queue on which the two tasks block. */\r
xTestQueue = xQueueCreate( bktQUEUE_LENGTH, sizeof( portBASE_TYPE ) );\r
\r
+ /* vQueueAddToRegistry() adds the queue to the queue registry, if one is\r
+ in use. The queue registry is provided as a means for kernel aware \r
+ debuggers to locate queues and has no purpose if a kernel aware debugger\r
+ is not being used. The call to vQueueAddToRegistry() will be removed\r
+ by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is \r
+ defined to be less than 1. */\r
+ vQueueAddToRegistry( xTestQueue, ( signed portCHAR * ) "AltBlockQueue" );\r
+\r
+\r
/* Create the two test tasks. */\r
xTaskCreate( vPrimaryBlockTimeTestTask, ( signed portCHAR * )"FBTest1", configMINIMAL_STACK_SIZE, NULL, bktPRIMARY_PRIORITY, NULL );\r
xTaskCreate( vSecondaryBlockTimeTestTask, ( signed portCHAR * )"FBTest2", configMINIMAL_STACK_SIZE, NULL, bktSECONDARY_PRIORITY, &xSecondary );\r
/* Create the queue used by the producer and consumer. */\r
xPolledQueue = xQueueCreate( pollqQUEUE_SIZE, ( unsigned portBASE_TYPE ) sizeof( unsigned portSHORT ) );\r
\r
+ /* vQueueAddToRegistry() adds the queue to the queue registry, if one is\r
+ in use. The queue registry is provided as a means for kernel aware \r
+ debuggers to locate queues and has no purpose if a kernel aware debugger\r
+ is not being used. The call to vQueueAddToRegistry() will be removed\r
+ by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is \r
+ defined to be less than 1. */\r
+ vQueueAddToRegistry( xPolledQueue, ( signed portCHAR * ) "AltPollQueue" );\r
+\r
+\r
/* Spawn the producer and consumer. */\r
xTaskCreate( vPolledQueueConsumer, ( signed portCHAR * ) "QConsNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL );\r
xTaskCreate( vPolledQueueProducer, ( signed portCHAR * ) "QProdNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL );\r
prvSendFrontAndBackTest demo. */\r
xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( unsigned portLONG ) );\r
\r
+ /* vQueueAddToRegistry() adds the queue to the queue registry, if one is\r
+ in use. The queue registry is provided as a means for kernel aware \r
+ debuggers to locate queues and has no purpose if a kernel aware debugger\r
+ is not being used. The call to vQueueAddToRegistry() will be removed\r
+ by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is \r
+ defined to be less than 1. */\r
+ vQueueAddToRegistry( xQueue, ( signed portCHAR * ) "Alt_Gen_Test_Queue" );\r
+\r
/* Create the demo task and pass it the queue just created. We are\r
passing the queue handle by value so it does not matter that it is\r
declared on the stack here. */\r
/* Create the mutex used by the prvMutexTest task. */\r
xMutex = xSemaphoreCreateMutex();\r
\r
+ /* vQueueAddToRegistry() adds the mutex to the registry, if one is\r
+ in use. The registry is provided as a means for kernel aware \r
+ debuggers to locate mutex and has no purpose if a kernel aware debugger\r
+ is not being used. The call to vQueueAddToRegistry() will be removed\r
+ by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is \r
+ defined to be less than 1. */\r
+ vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Alt_Q_Mutex" );\r
+\r
/* Create the mutex demo tasks and pass it the mutex just created. We are\r
passing the mutex handle by value so it does not matter that it is declared\r
on the stack here. */\r
prvSendFrontAndBackTest demo. */\r
xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( unsigned portLONG ) );\r
\r
+ /* vQueueAddToRegistry() adds the queue to the queue registry, if one is\r
+ in use. The queue registry is provided as a means for kernel aware \r
+ debuggers to locate queues and has no purpose if a kernel aware debugger\r
+ is not being used. The call to vQueueAddToRegistry() will be removed\r
+ by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is \r
+ defined to be less than 1. */\r
+ vQueueAddToRegistry( xQueue, ( signed portCHAR * ) "Gen_Queue_Test" );\r
+\r
/* Create the demo task and pass it the queue just created. We are\r
passing the queue handle by value so it does not matter that it is\r
declared on the stack here. */\r
/* Create the mutex used by the prvMutexTest task. */\r
xMutex = xSemaphoreCreateMutex();\r
\r
+ /* vQueueAddToRegistry() adds the mutex to the registry, if one is\r
+ in use. The registry is provided as a means for kernel aware \r
+ debuggers to locate mutexes and has no purpose if a kernel aware debugger\r
+ is not being used. The call to vQueueAddToRegistry() will be removed\r
+ by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is \r
+ defined to be less than 1. */\r
+ vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Gen_Queue_Mutex" );\r
+\r
/* Create the mutex demo tasks and pass it the mutex just created. We are\r
passing the mutex handle by value so it does not matter that it is declared\r
on the stack here. */\r
interrupts. */\r
xNormallyFullQueue = xQueueCreate( intqQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) );\r
xNormallyEmptyQueue = xQueueCreate( intqQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) );\r
+\r
+ /* vQueueAddToRegistry() adds the queue to the queue registry, if one is\r
+ in use. The queue registry is provided as a means for kernel aware \r
+ debuggers to locate queues and has no purpose if a kernel aware debugger\r
+ is not being used. The call to vQueueAddToRegistry() will be removed\r
+ by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is \r
+ defined to be less than 1. */\r
+ vQueueAddToRegistry( xNormallyFullQueue, ( signed portCHAR * ) "NormallyFull" );\r
+ vQueueAddToRegistry( xNormallyEmptyQueue, ( signed portCHAR * ) "NormallyEmpty" );\r
+\r
}\r
/*-----------------------------------------------------------*/\r
\r
/* Create the queue used by the producer and consumer. */\r
xPolledQueue = xQueueCreate( pollqQUEUE_SIZE, ( unsigned portBASE_TYPE ) sizeof( unsigned portSHORT ) );\r
\r
+ /* vQueueAddToRegistry() adds the queue to the queue registry, if one is\r
+ in use. The queue registry is provided as a means for kernel aware \r
+ debuggers to locate queues and has no purpose if a kernel aware debugger\r
+ is not being used. The call to vQueueAddToRegistry() will be removed\r
+ by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is \r
+ defined to be less than 1. */\r
+ vQueueAddToRegistry( xPolledQueue, ( signed portCHAR * ) "Poll_Test_Queue" );\r
+\r
/* Spawn the producer and consumer. */\r
xTaskCreate( vPolledQueueConsumer, ( signed portCHAR * ) "QConsNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL );\r
xTaskCreate( vPolledQueueProducer, ( signed portCHAR * ) "QProdNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL );\r
-/*
- FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.
-
- This file is part of the FreeRTOS.org distribution.
-
- FreeRTOS.org is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- FreeRTOS.org is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with FreeRTOS.org; if not, write to the Free Software
- Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
-
- A special exception to the GPL can be applied should you wish to distribute
- a combined work that includes FreeRTOS.org, without being obliged to provide
- the source code for any proprietary components. See the licensing section
- of http://www.FreeRTOS.org for full details of how and when the exception
- can be applied.
-
- ***************************************************************************
- ***************************************************************************
- * *
- * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
- * and even write all or part of your application on your behalf. *
- * See http://www.OpenRTOS.com for details of the services we provide to *
- * expedite your project. *
- * *
- ***************************************************************************
- ***************************************************************************
-
- Please ensure to read the configuration and relevant port sections of the
- online documentation.
-
- http://www.FreeRTOS.org - Documentation, latest information, license and
- contact details.
-
- http://www.SafeRTOS.com - A version that is certified for use in safety
- critical systems.
-
- http://www.OpenRTOS.com - Commercial support, development, porting,
- licensing and training services.
-*/
-
-
-/*
- * Tests the behaviour when data is peeked from a queue when there are
- * multiple tasks blocked on the queue.
- */
-
-
-#include <stdlib.h>
-
-/* Scheduler include files. */
-#include "FreeRTOS.h"
-#include "task.h"
-#include "queue.h"
-#include "semphr.h"
-
-/* Demo program include files. */
-#include "QPeek.h"
-
-#define qpeekQUEUE_LENGTH ( 5 )
-#define qpeekNO_BLOCK ( 0 )
-#define qpeekSHORT_DELAY ( 10 )
-
-#define qpeekLOW_PRIORITY ( tskIDLE_PRIORITY + 0 )
-#define qpeekMEDIUM_PRIORITY ( tskIDLE_PRIORITY + 1 )
-#define qpeekHIGH_PRIORITY ( tskIDLE_PRIORITY + 2 )
-#define qpeekHIGHEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
-
-/*-----------------------------------------------------------*/
-
-/*
- * The following three tasks are used to demonstrate the peeking behaviour.
- * Each task is given a different priority to demonstrate the order in which
- * tasks are woken as data is peeked from a queue.
- */
-static void prvLowPriorityPeekTask( void *pvParameters );
-static void prvMediumPriorityPeekTask( void *pvParameters );
-static void prvHighPriorityPeekTask( void *pvParameters );
-static void prvHighestPriorityPeekTask( void *pvParameters );
-
-/*-----------------------------------------------------------*/
-
-/* Flag that will be latched to pdTRUE should any unexpected behaviour be
-detected in any of the tasks. */
-static volatile portBASE_TYPE xErrorDetected = pdFALSE;
-
-/* Counter that is incremented on each cycle of a test. This is used to
-detect a stalled task - a test that is no longer running. */
-static volatile unsigned portLONG ulLoopCounter = 0;
-
-/* Handles to the test tasks. */
-xTaskHandle xMediumPriorityTask, xHighPriorityTask, xHighestPriorityTask;
-/*-----------------------------------------------------------*/
-
-void vStartQueuePeekTasks( void )
-{
-xQueueHandle xQueue;
-
- /* Create the queue that we are going to use for the test/demo. */
- xQueue = xQueueCreate( qpeekQUEUE_LENGTH, sizeof( unsigned portLONG ) );
-
- /* Create the demo tasks and pass it the queue just created. We are
- passing the queue handle by value so it does not matter that it is declared
- on the stack here. */
- xTaskCreate( prvLowPriorityPeekTask, ( signed portCHAR * )"PeekL", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekLOW_PRIORITY, NULL );
- xTaskCreate( prvMediumPriorityPeekTask, ( signed portCHAR * )"PeekM", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekMEDIUM_PRIORITY, &xMediumPriorityTask );
- xTaskCreate( prvHighPriorityPeekTask, ( signed portCHAR * )"PeekH1", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekHIGH_PRIORITY, &xHighPriorityTask );
- xTaskCreate( prvHighestPriorityPeekTask, ( signed portCHAR * )"PeekH2", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekHIGHEST_PRIORITY, &xHighestPriorityTask );
-}
-/*-----------------------------------------------------------*/
-
-static void prvHighestPriorityPeekTask( void *pvParameters )
-{
-xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
-unsigned portLONG ulValue;
-
- #ifdef USE_STDIO
- {
- void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
-
- const portCHAR * const pcTaskStartMsg = "Queue peek test started.\r\n";
-
- /* Queue a message for printing to say the task has started. */
- vPrintDisplayMessage( &pcTaskStartMsg );
- }
- #endif
-
- for( ;; )
- {
- /* Try peeking from the queue. The queue should be empty so we will
- block, allowing the high priority task to execute. */
- if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
- {
- /* We expected to have received something by the time we unblock. */
- xErrorDetected = pdTRUE;
- }
-
- /* When we reach here the high and medium priority tasks should still
- be blocked on the queue. We unblocked because the low priority task
- wrote a value to the queue, which we should have peeked. Peeking the
- data (rather than receiving it) will leave the data on the queue, so
- the high priority task should then have also been unblocked, but not
- yet executed. */
- if( ulValue != 0x11223344 )
- {
- /* We did not receive the expected value. */
- xErrorDetected = pdTRUE;
- }
-
- if( uxQueueMessagesWaiting( xQueue ) != 1 )
- {
- /* The message should have been left on the queue. */
- xErrorDetected = pdTRUE;
- }
-
- /* Now we are going to actually receive the data, so when the high
- priority task runs it will find the queue empty and return to the
- blocked state. */
- ulValue = 0;
- if( xQueueReceive( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
- {
- /* We expected to receive the value. */
- xErrorDetected = pdTRUE;
- }
-
- if( ulValue != 0x11223344 )
- {
- /* We did not receive the expected value - which should have been
- the same value as was peeked. */
- xErrorDetected = pdTRUE;
- }
-
- /* Now we will block again as the queue is once more empty. The low
- priority task can then execute again. */
- if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
- {
- /* We expected to have received something by the time we unblock. */
- xErrorDetected = pdTRUE;
- }
-
- /* When we get here the low priority task should have again written to the
- queue. */
- if( ulValue != 0x01234567 )
- {
- /* We did not receive the expected value. */
- xErrorDetected = pdTRUE;
- }
-
- if( uxQueueMessagesWaiting( xQueue ) != 1 )
- {
- /* The message should have been left on the queue. */
- xErrorDetected = pdTRUE;
- }
-
- /* We only peeked the data, so suspending ourselves now should enable
- the high priority task to also peek the data. The high priority task
- will have been unblocked when we peeked the data as we left the data
- in the queue. */
- vTaskSuspend( NULL );
-
-
-
- /* This time we are going to do the same as the above test, but the
- high priority task is going to receive the data, rather than peek it.
- This means that the medium priority task should never peek the value. */
- if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
- {
- xErrorDetected = pdTRUE;
- }
-
- if( ulValue != 0xaabbaabb )
- {
- xErrorDetected = pdTRUE;
- }
-
- vTaskSuspend( NULL );
- }
-}
-/*-----------------------------------------------------------*/
-
-static void prvHighPriorityPeekTask( void *pvParameters )
-{
-xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
-unsigned portLONG ulValue;
-
- for( ;; )
- {
- /* Try peeking from the queue. The queue should be empty so we will
- block, allowing the medium priority task to execute. Both the high
- and highest priority tasks will then be blocked on the queue. */
- if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
- {
- /* We expected to have received something by the time we unblock. */
- xErrorDetected = pdTRUE;
- }
-
- /* When we get here the highest priority task should have peeked the data
- (unblocking this task) then suspended (allowing this task to also peek
- the data). */
- if( ulValue != 0x01234567 )
- {
- /* We did not receive the expected value. */
- xErrorDetected = pdTRUE;
- }
-
- if( uxQueueMessagesWaiting( xQueue ) != 1 )
- {
- /* The message should have been left on the queue. */
- xErrorDetected = pdTRUE;
- }
-
- /* We only peeked the data, so suspending ourselves now should enable
- the medium priority task to also peek the data. The medium priority task
- will have been unblocked when we peeked the data as we left the data
- in the queue. */
- vTaskSuspend( NULL );
-
-
- /* This time we are going actually receive the value, so the medium
- priority task will never peek the data - we removed it from the queue. */
- if( xQueueReceive( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
- {
- xErrorDetected = pdTRUE;
- }
-
- if( ulValue != 0xaabbaabb )
- {
- xErrorDetected = pdTRUE;
- }
-
- vTaskSuspend( NULL );
- }
-}
-/*-----------------------------------------------------------*/
-
-static void prvMediumPriorityPeekTask( void *pvParameters )
-{
-xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
-unsigned portLONG ulValue;
-
- for( ;; )
- {
- /* Try peeking from the queue. The queue should be empty so we will
- block, allowing the low priority task to execute. The highest, high
- and medium priority tasks will then all be blocked on the queue. */
- if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
- {
- /* We expected to have received something by the time we unblock. */
- xErrorDetected = pdTRUE;
- }
-
- /* When we get here the high priority task should have peeked the data
- (unblocking this task) then suspended (allowing this task to also peek
- the data). */
- if( ulValue != 0x01234567 )
- {
- /* We did not receive the expected value. */
- xErrorDetected = pdTRUE;
- }
-
- if( uxQueueMessagesWaiting( xQueue ) != 1 )
- {
- /* The message should have been left on the queue. */
- xErrorDetected = pdTRUE;
- }
-
- /* Just so we know the test is still running. */
- ulLoopCounter++;
-
- /* Now we can suspend ourselves so the low priority task can execute
- again. */
- vTaskSuspend( NULL );
- }
-}
-/*-----------------------------------------------------------*/
-
-static void prvLowPriorityPeekTask( void *pvParameters )
-{
-xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
-unsigned portLONG ulValue;
-
- for( ;; )
- {
- /* Write some data to the queue. This should unblock the highest
- priority task that is waiting to peek data from the queue. */
- ulValue = 0x11223344;
- if( xQueueSendToBack( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
- {
- /* We were expecting the queue to be empty so we should not of
- had a problem writing to the queue. */
- xErrorDetected = pdTRUE;
- }
-
- /* By the time we get here the data should have been removed from
- the queue. */
- if( uxQueueMessagesWaiting( xQueue ) != 0 )
- {
- xErrorDetected = pdTRUE;
- }
-
- /* Write another value to the queue, again waking the highest priority
- task that is blocked on the queue. */
- ulValue = 0x01234567;
- if( xQueueSendToBack( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
- {
- /* We were expecting the queue to be empty so we should not of
- had a problem writing to the queue. */
- xErrorDetected = pdTRUE;
- }
-
- /* All the other tasks should now have successfully peeked the data.
- The data is still in the queue so we should be able to receive it. */
- ulValue = 0;
- if( xQueueReceive( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
- {
- /* We expected to receive the data. */
- xErrorDetected = pdTRUE;
- }
-
- if( ulValue != 0x01234567 )
- {
- /* We did not receive the expected value. */
- }
-
- /* Lets just delay a while as this is an intensive test as we don't
- want to starve other tests of processing time. */
- vTaskDelay( qpeekSHORT_DELAY );
-
- /* Unsuspend the other tasks so we can repeat the test - this time
- however not all the other tasks will peek the data as the high
- priority task is actually going to remove it from the queue. Send
- to front is used just to be different. As the queue is empty it
- makes no difference to the result. */
- vTaskResume( xMediumPriorityTask );
- vTaskResume( xHighPriorityTask );
- vTaskResume( xHighestPriorityTask );
-
- ulValue = 0xaabbaabb;
- if( xQueueSendToFront( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
- {
- /* We were expecting the queue to be empty so we should not of
- had a problem writing to the queue. */
- xErrorDetected = pdTRUE;
- }
-
- /* This time we should find that the queue is empty. The high priority
- task actually removed the data rather than just peeking it. */
- if( xQueuePeek( xQueue, &ulValue, qpeekNO_BLOCK ) != errQUEUE_EMPTY )
- {
- /* We expected to receive the data. */
- xErrorDetected = pdTRUE;
- }
-
- /* Unsuspend the highest and high priority tasks so we can go back
- and repeat the whole thing. The medium priority task should not be
- suspended as it was not able to peek the data in this last case. */
- vTaskResume( xHighPriorityTask );
- vTaskResume( xHighestPriorityTask );
-
- /* Lets just delay a while as this is an intensive test as we don't
- want to starve other tests of processing time. */
- vTaskDelay( qpeekSHORT_DELAY );
- }
-}
-/*-----------------------------------------------------------*/
-
-/* This is called to check that all the created tasks are still running. */
-portBASE_TYPE xAreQueuePeekTasksStillRunning( void )
-{
-static unsigned portLONG ulLastLoopCounter = 0;
-
- /* If the demo task is still running then we expect the loopcounter to
- have incremented since this function was last called. */
- if( ulLastLoopCounter == ulLoopCounter )
- {
- xErrorDetected = pdTRUE;
- }
-
- ulLastLoopCounter = ulLoopCounter;
-
- /* Errors detected in the task itself will have latched xErrorDetected
- to true. */
-
- return !xErrorDetected;
-}
-
+/*\r
+ FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section\r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+ ***************************************************************************\r
+ * *\r
+ * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *\r
+ * and even write all or part of your application on your behalf. *\r
+ * See http://www.OpenRTOS.com for details of the services we provide to *\r
+ * expedite your project. *\r
+ * *\r
+ ***************************************************************************\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the\r
+ online documentation.\r
+\r
+ http://www.FreeRTOS.org - Documentation, latest information, license and \r
+ contact details.\r
+\r
+ http://www.SafeRTOS.com - A version that is certified for use in safety \r
+ critical systems.\r
+\r
+ http://www.OpenRTOS.com - Commercial support, development, porting, \r
+ licensing and training services.\r
+*/\r
+\r
+\r
+/* \r
+ * Tests the behaviour when data is peeked from a queue when there are\r
+ * multiple tasks blocked on the queue.\r
+ */\r
+\r
+\r
+#include <stdlib.h>\r
+\r
+/* Scheduler include files. */\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+#include "queue.h"\r
+#include "semphr.h"\r
+\r
+/* Demo program include files. */\r
+#include "QPeek.h"\r
+\r
+#define qpeekQUEUE_LENGTH ( 5 )\r
+#define qpeekNO_BLOCK ( 0 )\r
+#define qpeekSHORT_DELAY ( 10 )\r
+\r
+#define qpeekLOW_PRIORITY ( tskIDLE_PRIORITY + 0 )\r
+#define qpeekMEDIUM_PRIORITY ( tskIDLE_PRIORITY + 1 )\r
+#define qpeekHIGH_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
+#define qpeekHIGHEST_PRIORITY ( tskIDLE_PRIORITY + 3 )\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * The following three tasks are used to demonstrate the peeking behaviour.\r
+ * Each task is given a different priority to demonstrate the order in which\r
+ * tasks are woken as data is peeked from a queue.\r
+ */\r
+static void prvLowPriorityPeekTask( void *pvParameters );\r
+static void prvMediumPriorityPeekTask( void *pvParameters );\r
+static void prvHighPriorityPeekTask( void *pvParameters );\r
+static void prvHighestPriorityPeekTask( void *pvParameters );\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/* Flag that will be latched to pdTRUE should any unexpected behaviour be\r
+detected in any of the tasks. */\r
+static volatile portBASE_TYPE xErrorDetected = pdFALSE;\r
+\r
+/* Counter that is incremented on each cycle of a test. This is used to\r
+detect a stalled task - a test that is no longer running. */\r
+static volatile unsigned portLONG ulLoopCounter = 0;\r
+\r
+/* Handles to the test tasks. */\r
+xTaskHandle xMediumPriorityTask, xHighPriorityTask, xHighestPriorityTask;\r
+/*-----------------------------------------------------------*/\r
+\r
+void vStartQueuePeekTasks( void )\r
+{\r
+xQueueHandle xQueue;\r
+\r
+ /* Create the queue that we are going to use for the test/demo. */\r
+ xQueue = xQueueCreate( qpeekQUEUE_LENGTH, sizeof( unsigned portLONG ) );\r
+\r
+ /* vQueueAddToRegistry() adds the queue to the queue registry, if one is\r
+ in use. The queue registry is provided as a means for kernel aware \r
+ debuggers to locate queues and has no purpose if a kernel aware debugger\r
+ is not being used. The call to vQueueAddToRegistry() will be removed\r
+ by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is \r
+ defined to be less than 1. */\r
+ vQueueAddToRegistry( xQueue, ( signed portCHAR * ) "QPeek_Test_Queue" );\r
+\r
+ /* Create the demo tasks and pass it the queue just created. We are\r
+ passing the queue handle by value so it does not matter that it is declared\r
+ on the stack here. */\r
+ xTaskCreate( prvLowPriorityPeekTask, ( signed portCHAR * )"PeekL", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekLOW_PRIORITY, NULL );\r
+ xTaskCreate( prvMediumPriorityPeekTask, ( signed portCHAR * )"PeekM", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekMEDIUM_PRIORITY, &xMediumPriorityTask );\r
+ xTaskCreate( prvHighPriorityPeekTask, ( signed portCHAR * )"PeekH1", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekHIGH_PRIORITY, &xHighPriorityTask );\r
+ xTaskCreate( prvHighestPriorityPeekTask, ( signed portCHAR * )"PeekH2", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekHIGHEST_PRIORITY, &xHighestPriorityTask );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvHighestPriorityPeekTask( void *pvParameters )\r
+{\r
+xQueueHandle xQueue = ( xQueueHandle ) pvParameters;\r
+unsigned portLONG ulValue;\r
+\r
+ #ifdef USE_STDIO\r
+ {\r
+ void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );\r
+ \r
+ const portCHAR * const pcTaskStartMsg = "Queue peek test started.\r\n";\r
+\r
+ /* Queue a message for printing to say the task has started. */\r
+ vPrintDisplayMessage( &pcTaskStartMsg );\r
+ }\r
+ #endif\r
+\r
+ for( ;; )\r
+ {\r
+ /* Try peeking from the queue. The queue should be empty so we will\r
+ block, allowing the high priority task to execute. */\r
+ if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )\r
+ {\r
+ /* We expected to have received something by the time we unblock. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ /* When we reach here the high and medium priority tasks should still\r
+ be blocked on the queue. We unblocked because the low priority task\r
+ wrote a value to the queue, which we should have peeked. Peeking the\r
+ data (rather than receiving it) will leave the data on the queue, so\r
+ the high priority task should then have also been unblocked, but not\r
+ yet executed. */\r
+ if( ulValue != 0x11223344 )\r
+ {\r
+ /* We did not receive the expected value. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ if( uxQueueMessagesWaiting( xQueue ) != 1 )\r
+ {\r
+ /* The message should have been left on the queue. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ /* Now we are going to actually receive the data, so when the high\r
+ priority task runs it will find the queue empty and return to the\r
+ blocked state. */\r
+ ulValue = 0;\r
+ if( xQueueReceive( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )\r
+ {\r
+ /* We expected to receive the value. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ if( ulValue != 0x11223344 )\r
+ {\r
+ /* We did not receive the expected value - which should have been\r
+ the same value as was peeked. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ /* Now we will block again as the queue is once more empty. The low \r
+ priority task can then execute again. */\r
+ if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )\r
+ {\r
+ /* We expected to have received something by the time we unblock. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ /* When we get here the low priority task should have again written to the\r
+ queue. */\r
+ if( ulValue != 0x01234567 )\r
+ {\r
+ /* We did not receive the expected value. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ if( uxQueueMessagesWaiting( xQueue ) != 1 )\r
+ {\r
+ /* The message should have been left on the queue. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ /* We only peeked the data, so suspending ourselves now should enable\r
+ the high priority task to also peek the data. The high priority task\r
+ will have been unblocked when we peeked the data as we left the data\r
+ in the queue. */\r
+ vTaskSuspend( NULL );\r
+\r
+\r
+\r
+ /* This time we are going to do the same as the above test, but the\r
+ high priority task is going to receive the data, rather than peek it.\r
+ This means that the medium priority task should never peek the value. */\r
+ if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )\r
+ {\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ if( ulValue != 0xaabbaabb )\r
+ {\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ vTaskSuspend( NULL ); \r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvHighPriorityPeekTask( void *pvParameters )\r
+{\r
+xQueueHandle xQueue = ( xQueueHandle ) pvParameters;\r
+unsigned portLONG ulValue;\r
+\r
+ for( ;; )\r
+ {\r
+ /* Try peeking from the queue. The queue should be empty so we will\r
+ block, allowing the medium priority task to execute. Both the high\r
+ and highest priority tasks will then be blocked on the queue. */\r
+ if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )\r
+ {\r
+ /* We expected to have received something by the time we unblock. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ /* When we get here the highest priority task should have peeked the data\r
+ (unblocking this task) then suspended (allowing this task to also peek\r
+ the data). */\r
+ if( ulValue != 0x01234567 )\r
+ {\r
+ /* We did not receive the expected value. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ if( uxQueueMessagesWaiting( xQueue ) != 1 )\r
+ {\r
+ /* The message should have been left on the queue. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ /* We only peeked the data, so suspending ourselves now should enable\r
+ the medium priority task to also peek the data. The medium priority task\r
+ will have been unblocked when we peeked the data as we left the data\r
+ in the queue. */\r
+ vTaskSuspend( NULL );\r
+\r
+\r
+ /* This time we are going actually receive the value, so the medium\r
+ priority task will never peek the data - we removed it from the queue. */\r
+ if( xQueueReceive( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )\r
+ {\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ if( ulValue != 0xaabbaabb )\r
+ {\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ vTaskSuspend( NULL ); \r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvMediumPriorityPeekTask( void *pvParameters )\r
+{\r
+xQueueHandle xQueue = ( xQueueHandle ) pvParameters;\r
+unsigned portLONG ulValue;\r
+\r
+ for( ;; )\r
+ {\r
+ /* Try peeking from the queue. The queue should be empty so we will\r
+ block, allowing the low priority task to execute. The highest, high\r
+ and medium priority tasks will then all be blocked on the queue. */\r
+ if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )\r
+ {\r
+ /* We expected to have received something by the time we unblock. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ /* When we get here the high priority task should have peeked the data\r
+ (unblocking this task) then suspended (allowing this task to also peek\r
+ the data). */\r
+ if( ulValue != 0x01234567 )\r
+ {\r
+ /* We did not receive the expected value. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ if( uxQueueMessagesWaiting( xQueue ) != 1 )\r
+ {\r
+ /* The message should have been left on the queue. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ /* Just so we know the test is still running. */\r
+ ulLoopCounter++;\r
+\r
+ /* Now we can suspend ourselves so the low priority task can execute\r
+ again. */\r
+ vTaskSuspend( NULL );\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvLowPriorityPeekTask( void *pvParameters )\r
+{\r
+xQueueHandle xQueue = ( xQueueHandle ) pvParameters;\r
+unsigned portLONG ulValue;\r
+\r
+ for( ;; )\r
+ {\r
+ /* Write some data to the queue. This should unblock the highest \r
+ priority task that is waiting to peek data from the queue. */\r
+ ulValue = 0x11223344;\r
+ if( xQueueSendToBack( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )\r
+ {\r
+ /* We were expecting the queue to be empty so we should not of\r
+ had a problem writing to the queue. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ /* By the time we get here the data should have been removed from\r
+ the queue. */\r
+ if( uxQueueMessagesWaiting( xQueue ) != 0 )\r
+ {\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ /* Write another value to the queue, again waking the highest priority\r
+ task that is blocked on the queue. */\r
+ ulValue = 0x01234567;\r
+ if( xQueueSendToBack( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )\r
+ {\r
+ /* We were expecting the queue to be empty so we should not of\r
+ had a problem writing to the queue. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ /* All the other tasks should now have successfully peeked the data.\r
+ The data is still in the queue so we should be able to receive it. */\r
+ ulValue = 0;\r
+ if( xQueueReceive( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )\r
+ {\r
+ /* We expected to receive the data. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ if( ulValue != 0x01234567 )\r
+ {\r
+ /* We did not receive the expected value. */\r
+ }\r
+ \r
+ /* Lets just delay a while as this is an intensive test as we don't\r
+ want to starve other tests of processing time. */\r
+ vTaskDelay( qpeekSHORT_DELAY );\r
+\r
+ /* Unsuspend the other tasks so we can repeat the test - this time\r
+ however not all the other tasks will peek the data as the high\r
+ priority task is actually going to remove it from the queue. Send\r
+ to front is used just to be different. As the queue is empty it\r
+ makes no difference to the result. */\r
+ vTaskResume( xMediumPriorityTask );\r
+ vTaskResume( xHighPriorityTask );\r
+ vTaskResume( xHighestPriorityTask );\r
+\r
+ ulValue = 0xaabbaabb;\r
+ if( xQueueSendToFront( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )\r
+ {\r
+ /* We were expecting the queue to be empty so we should not of\r
+ had a problem writing to the queue. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ /* This time we should find that the queue is empty. The high priority\r
+ task actually removed the data rather than just peeking it. */\r
+ if( xQueuePeek( xQueue, &ulValue, qpeekNO_BLOCK ) != errQUEUE_EMPTY )\r
+ {\r
+ /* We expected to receive the data. */\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ /* Unsuspend the highest and high priority tasks so we can go back\r
+ and repeat the whole thing. The medium priority task should not be\r
+ suspended as it was not able to peek the data in this last case. */\r
+ vTaskResume( xHighPriorityTask );\r
+ vTaskResume( xHighestPriorityTask ); \r
+\r
+ /* Lets just delay a while as this is an intensive test as we don't\r
+ want to starve other tests of processing time. */\r
+ vTaskDelay( qpeekSHORT_DELAY );\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+/* This is called to check that all the created tasks are still running. */\r
+portBASE_TYPE xAreQueuePeekTasksStillRunning( void )\r
+{\r
+static unsigned portLONG ulLastLoopCounter = 0;\r
+\r
+ /* If the demo task is still running then we expect the loopcounter to\r
+ have incremented since this function was last called. */\r
+ if( ulLastLoopCounter == ulLoopCounter )\r
+ {\r
+ xErrorDetected = pdTRUE;\r
+ }\r
+\r
+ ulLastLoopCounter = ulLoopCounter;\r
+\r
+ /* Errors detected in the task itself will have latched xErrorDetected\r
+ to true. */\r
+\r
+ return !xErrorDetected;\r
+}\r
+\r
-/*
- FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.
-
- This file is part of the FreeRTOS.org distribution.
-
- FreeRTOS.org is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- FreeRTOS.org is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with FreeRTOS.org; if not, write to the Free Software
- Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
-
- A special exception to the GPL can be applied should you wish to distribute
- a combined work that includes FreeRTOS.org, without being obliged to provide
- the source code for any proprietary components. See the licensing section
- of http://www.FreeRTOS.org for full details of how and when the exception
- can be applied.
-
- ***************************************************************************
- ***************************************************************************
- * *
- * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
- * and even write all or part of your application on your behalf. *
- * See http://www.OpenRTOS.com for details of the services we provide to *
- * expedite your project. *
- * *
- ***************************************************************************
- ***************************************************************************
-
- Please ensure to read the configuration and relevant port sections of the
- online documentation.
-
- http://www.FreeRTOS.org - Documentation, latest information, license and
- contact details.
-
- http://www.SafeRTOS.com - A version that is certified for use in safety
- critical systems.
-
- http://www.OpenRTOS.com - Commercial support, development, porting,
- licensing and training services.
-*/
-
-/*
- * This file contains some test scenarios that ensure tasks do not exit queue
- * send or receive functions prematurely. A description of the tests is
- * included within the code.
- */
-
-/* Kernel includes. */
-#include "FreeRTOS.h"
-#include "task.h"
-#include "queue.h"
-
-/* Demo includes. */
-#include "blocktim.h"
-
-/* Task priorities. */
-#define bktPRIMARY_PRIORITY ( 3 )
-#define bktSECONDARY_PRIORITY ( 2 )
-
-/* Task behaviour. */
-#define bktQUEUE_LENGTH ( 5 )
-#define bktSHORT_WAIT ( ( ( portTickType ) 20 ) / portTICK_RATE_MS )
-#define bktPRIMARY_BLOCK_TIME ( 10 )
-#define bktALLOWABLE_MARGIN ( 15 )
-#define bktTIME_TO_BLOCK ( 175 )
-#define bktDONT_BLOCK ( ( portTickType ) 0 )
-#define bktRUN_INDICATOR ( ( unsigned portBASE_TYPE ) 0x55 )
-
-/* The queue on which the tasks block. */
-static xQueueHandle xTestQueue;
-
-/* Handle to the secondary task is required by the primary task for calls
-to vTaskSuspend/Resume(). */
-static xTaskHandle xSecondary;
-
-/* Used to ensure that tasks are still executing without error. */
-static volatile portBASE_TYPE xPrimaryCycles = 0, xSecondaryCycles = 0;
-static volatile portBASE_TYPE xErrorOccurred = pdFALSE;
-
-/* Provides a simple mechanism for the primary task to know when the
-secondary task has executed. */
-static volatile unsigned portBASE_TYPE xRunIndicator;
-
-/* The two test tasks. Their behaviour is commented within the files. */
-static void vPrimaryBlockTimeTestTask( void *pvParameters );
-static void vSecondaryBlockTimeTestTask( void *pvParameters );
-
-/*-----------------------------------------------------------*/
-
-void vCreateBlockTimeTasks( void )
-{
- /* Create the queue on which the two tasks block. */
- xTestQueue = xQueueCreate( bktQUEUE_LENGTH, sizeof( portBASE_TYPE ) );
-
- /* Create the two test tasks. */
- xTaskCreate( vPrimaryBlockTimeTestTask, ( signed portCHAR * )"BTest1", configMINIMAL_STACK_SIZE, NULL, bktPRIMARY_PRIORITY, NULL );
- xTaskCreate( vSecondaryBlockTimeTestTask, ( signed portCHAR * )"BTest2", configMINIMAL_STACK_SIZE, NULL, bktSECONDARY_PRIORITY, &xSecondary );
-}
-/*-----------------------------------------------------------*/
-
-static void vPrimaryBlockTimeTestTask( void *pvParameters )
-{
-portBASE_TYPE xItem, xData;
-portTickType xTimeWhenBlocking;
-portTickType xTimeToBlock, xBlockedTime;
-
- ( void ) pvParameters;
-
- for( ;; )
- {
- /*********************************************************************
- Test 1
-
- Simple block time wakeup test on queue receives. */
- for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
- {
- /* The queue is empty. Attempt to read from the queue using a block
- time. When we wake, ensure the delta in time is as expected. */
- xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;
-
- xTimeWhenBlocking = xTaskGetTickCount();
-
- /* We should unblock after xTimeToBlock having not received
- anything on the queue. */
- if( xQueueReceive( xTestQueue, &xData, xTimeToBlock ) != errQUEUE_EMPTY )
- {
- xErrorOccurred = pdTRUE;
- }
-
- /* How long were we blocked for? */
- xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
-
- if( xBlockedTime < xTimeToBlock )
- {
- /* Should not have blocked for less than we requested. */
- xErrorOccurred = pdTRUE;
- }
-
- if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
- {
- /* Should not have blocked for longer than we requested,
- although we would not necessarily run as soon as we were
- unblocked so a margin is allowed. */
- xErrorOccurred = pdTRUE;
- }
- }
-
- /*********************************************************************
- Test 2
-
- Simple block time wakeup test on queue sends.
-
- First fill the queue. It should be empty so all sends should pass. */
- for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
- {
- if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
- {
- xErrorOccurred = pdTRUE;
- }
-
- #if configUSE_PREEMPTION == 0
- taskYIELD();
- #endif
- }
-
- for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
- {
- /* The queue is full. Attempt to write to the queue using a block
- time. When we wake, ensure the delta in time is as expected. */
- xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;
-
- xTimeWhenBlocking = xTaskGetTickCount();
-
- /* We should unblock after xTimeToBlock having not received
- anything on the queue. */
- if( xQueueSend( xTestQueue, &xItem, xTimeToBlock ) != errQUEUE_FULL )
- {
- xErrorOccurred = pdTRUE;
- }
-
- /* How long were we blocked for? */
- xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
-
- if( xBlockedTime < xTimeToBlock )
- {
- /* Should not have blocked for less than we requested. */
- xErrorOccurred = pdTRUE;
- }
-
- if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
- {
- /* Should not have blocked for longer than we requested,
- although we would not necessarily run as soon as we were
- unblocked so a margin is allowed. */
- xErrorOccurred = pdTRUE;
- }
- }
-
- /*********************************************************************
- Test 3
-
- Wake the other task, it will block attempting to post to the queue.
- When we read from the queue the other task will wake, but before it
- can run we will post to the queue again. When the other task runs it
- will find the queue still full, even though it was woken. It should
- recognise that its block time has not expired and return to block for
- the remains of its block time.
-
- Wake the other task so it blocks attempting to post to the already
- full queue. */
- xRunIndicator = 0;
- vTaskResume( xSecondary );
-
- /* We need to wait a little to ensure the other task executes. */
- while( xRunIndicator != bktRUN_INDICATOR )
- {
- /* The other task has not yet executed. */
- vTaskDelay( bktSHORT_WAIT );
- }
- /* Make sure the other task is blocked on the queue. */
- vTaskDelay( bktSHORT_WAIT );
- xRunIndicator = 0;
-
- for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
- {
- /* Now when we make space on the queue the other task should wake
- but not execute as this task has higher priority. */
- if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
- {
- xErrorOccurred = pdTRUE;
- }
-
- /* Now fill the queue again before the other task gets a chance to
- execute. If the other task had executed we would find the queue
- full ourselves, and the other task have set xRunIndicator. */
- if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
- {
- xErrorOccurred = pdTRUE;
- }
-
- if( xRunIndicator == bktRUN_INDICATOR )
- {
- /* The other task should not have executed. */
- xErrorOccurred = pdTRUE;
- }
-
- /* Raise the priority of the other task so it executes and blocks
- on the queue again. */
- vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
-
- /* The other task should now have re-blocked without exiting the
- queue function. */
- if( xRunIndicator == bktRUN_INDICATOR )
- {
- /* The other task should not have executed outside of the
- queue function. */
- xErrorOccurred = pdTRUE;
- }
-
- /* Set the priority back down. */
- vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
- }
-
- /* Let the other task timeout. When it unblockes it will check that it
- unblocked at the correct time, then suspend itself. */
- while( xRunIndicator != bktRUN_INDICATOR )
- {
- vTaskDelay( bktSHORT_WAIT );
- }
- vTaskDelay( bktSHORT_WAIT );
- xRunIndicator = 0;
-
-
- /*********************************************************************
- Test 4
-
- As per test 3 - but with the send and receive the other way around.
- The other task blocks attempting to read from the queue.
-
- Empty the queue. We should find that it is full. */
- for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
- {
- if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
- {
- xErrorOccurred = pdTRUE;
- }
- }
-
- /* Wake the other task so it blocks attempting to read from the
- already empty queue. */
- vTaskResume( xSecondary );
-
- /* We need to wait a little to ensure the other task executes. */
- while( xRunIndicator != bktRUN_INDICATOR )
- {
- vTaskDelay( bktSHORT_WAIT );
- }
- vTaskDelay( bktSHORT_WAIT );
- xRunIndicator = 0;
-
- for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
- {
- /* Now when we place an item on the queue the other task should
- wake but not execute as this task has higher priority. */
- if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
- {
- xErrorOccurred = pdTRUE;
- }
-
- /* Now empty the queue again before the other task gets a chance to
- execute. If the other task had executed we would find the queue
- empty ourselves, and the other task would be suspended. */
- if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
- {
- xErrorOccurred = pdTRUE;
- }
-
- if( xRunIndicator == bktRUN_INDICATOR )
- {
- /* The other task should not have executed. */
- xErrorOccurred = pdTRUE;
- }
-
- /* Raise the priority of the other task so it executes and blocks
- on the queue again. */
- vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
-
- /* The other task should now have re-blocked without exiting the
- queue function. */
- if( xRunIndicator == bktRUN_INDICATOR )
- {
- /* The other task should not have executed outside of the
- queue function. */
- xErrorOccurred = pdTRUE;
- }
- vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
- }
-
- /* Let the other task timeout. When it unblockes it will check that it
- unblocked at the correct time, then suspend itself. */
- while( xRunIndicator != bktRUN_INDICATOR )
- {
- vTaskDelay( bktSHORT_WAIT );
- }
- vTaskDelay( bktSHORT_WAIT );
-
- xPrimaryCycles++;
- }
-}
-/*-----------------------------------------------------------*/
-
-static void vSecondaryBlockTimeTestTask( void *pvParameters )
-{
-portTickType xTimeWhenBlocking, xBlockedTime;
-portBASE_TYPE xData;
-
- ( void ) pvParameters;
-
- for( ;; )
- {
- /*********************************************************************
- Test 1 and 2
-
- This task does does not participate in these tests. */
- vTaskSuspend( NULL );
-
- /*********************************************************************
- Test 3
-
- The first thing we do is attempt to read from the queue. It should be
- full so we block. Note the time before we block so we can check the
- wake time is as per that expected. */
- xTimeWhenBlocking = xTaskGetTickCount();
-
- /* We should unblock after bktTIME_TO_BLOCK having not received
- anything on the queue. */
- xData = 0;
- xRunIndicator = bktRUN_INDICATOR;
- if( xQueueSend( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_FULL )
- {
- xErrorOccurred = pdTRUE;
- }
-
- /* How long were we inside the send function? */
- xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
-
- /* We should not have blocked for less time than bktTIME_TO_BLOCK. */
- if( xBlockedTime < bktTIME_TO_BLOCK )
- {
- xErrorOccurred = pdTRUE;
- }
-
- /* We should of not blocked for much longer than bktALLOWABLE_MARGIN
- either. A margin is permitted as we would not necessarily run as
- soon as we unblocked. */
- if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
- {
- xErrorOccurred = pdTRUE;
- }
-
- /* Suspend ready for test 3. */
- xRunIndicator = bktRUN_INDICATOR;
- vTaskSuspend( NULL );
-
- /*********************************************************************
- Test 4
-
- As per test three, but with the send and receive reversed. */
- xTimeWhenBlocking = xTaskGetTickCount();
-
- /* We should unblock after bktTIME_TO_BLOCK having not received
- anything on the queue. */
- xRunIndicator = bktRUN_INDICATOR;
- if( xQueueReceive( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_EMPTY )
- {
- xErrorOccurred = pdTRUE;
- }
-
- xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
-
- /* We should not have blocked for less time than bktTIME_TO_BLOCK. */
- if( xBlockedTime < bktTIME_TO_BLOCK )
- {
- xErrorOccurred = pdTRUE;
- }
-
- /* We should of not blocked for much longer than bktALLOWABLE_MARGIN
- either. A margin is permitted as we would not necessarily run as soon
- as we unblocked. */
- if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
- {
- xErrorOccurred = pdTRUE;
- }
-
- xRunIndicator = bktRUN_INDICATOR;
-
- xSecondaryCycles++;
- }
-}
-/*-----------------------------------------------------------*/
-
-portBASE_TYPE xAreBlockTimeTestTasksStillRunning( void )
-{
-static portBASE_TYPE xLastPrimaryCycleCount = 0, xLastSecondaryCycleCount = 0;
-portBASE_TYPE xReturn = pdPASS;
-
- /* Have both tasks performed at least one cycle since this function was
- last called? */
- if( xPrimaryCycles == xLastPrimaryCycleCount )
- {
- xReturn = pdFAIL;
- }
-
- if( xSecondaryCycles == xLastSecondaryCycleCount )
- {
- xReturn = pdFAIL;
- }
-
- if( xErrorOccurred == pdTRUE )
- {
- xReturn = pdFAIL;
- }
-
- xLastSecondaryCycleCount = xSecondaryCycles;
- xLastPrimaryCycleCount = xPrimaryCycles;
-
- return xReturn;
-}
+/*\r
+ FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section\r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+ ***************************************************************************\r
+ * *\r
+ * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *\r
+ * and even write all or part of your application on your behalf. *\r
+ * See http://www.OpenRTOS.com for details of the services we provide to *\r
+ * expedite your project. *\r
+ * *\r
+ ***************************************************************************\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the\r
+ online documentation.\r
+\r
+ http://www.FreeRTOS.org - Documentation, latest information, license and \r
+ contact details.\r
+\r
+ http://www.SafeRTOS.com - A version that is certified for use in safety \r
+ critical systems.\r
+\r
+ http://www.OpenRTOS.com - Commercial support, development, porting, \r
+ licensing and training services.\r
+*/\r
+\r
+/*\r
+ * This file contains some test scenarios that ensure tasks do not exit queue\r
+ * send or receive functions prematurely. A description of the tests is\r
+ * included within the code.\r
+ */\r
+\r
+/* Kernel includes. */\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+#include "queue.h"\r
+\r
+/* Demo includes. */\r
+#include "blocktim.h"\r
+\r
+/* Task priorities. */\r
+#define bktPRIMARY_PRIORITY ( 3 )\r
+#define bktSECONDARY_PRIORITY ( 2 )\r
+\r
+/* Task behaviour. */\r
+#define bktQUEUE_LENGTH ( 5 )\r
+#define bktSHORT_WAIT ( ( ( portTickType ) 20 ) / portTICK_RATE_MS )\r
+#define bktPRIMARY_BLOCK_TIME ( 10 )\r
+#define bktALLOWABLE_MARGIN ( 15 )\r
+#define bktTIME_TO_BLOCK ( 175 )\r
+#define bktDONT_BLOCK ( ( portTickType ) 0 )\r
+#define bktRUN_INDICATOR ( ( unsigned portBASE_TYPE ) 0x55 )\r
+\r
+/* The queue on which the tasks block. */\r
+static xQueueHandle xTestQueue;\r
+\r
+/* Handle to the secondary task is required by the primary task for calls\r
+to vTaskSuspend/Resume(). */\r
+static xTaskHandle xSecondary;\r
+\r
+/* Used to ensure that tasks are still executing without error. */\r
+static volatile portBASE_TYPE xPrimaryCycles = 0, xSecondaryCycles = 0;\r
+static volatile portBASE_TYPE xErrorOccurred = pdFALSE;\r
+\r
+/* Provides a simple mechanism for the primary task to know when the\r
+secondary task has executed. */\r
+static volatile unsigned portBASE_TYPE xRunIndicator;\r
+\r
+/* The two test tasks. Their behaviour is commented within the files. */\r
+static void vPrimaryBlockTimeTestTask( void *pvParameters );\r
+static void vSecondaryBlockTimeTestTask( void *pvParameters );\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+void vCreateBlockTimeTasks( void )\r
+{\r
+ /* Create the queue on which the two tasks block. */\r
+ xTestQueue = xQueueCreate( bktQUEUE_LENGTH, sizeof( portBASE_TYPE ) );\r
+\r
+ /* vQueueAddToRegistry() adds the queue to the queue registry, if one is\r
+ in use. The queue registry is provided as a means for kernel aware \r
+ debuggers to locate queues and has no purpose if a kernel aware debugger\r
+ is not being used. The call to vQueueAddToRegistry() will be removed\r
+ by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is \r
+ defined to be less than 1. */\r
+ vQueueAddToRegistry( xTestQueue, ( signed portCHAR * ) "Block_Time_Queue" );\r
+\r
+ /* Create the two test tasks. */\r
+ xTaskCreate( vPrimaryBlockTimeTestTask, ( signed portCHAR * )"BTest1", configMINIMAL_STACK_SIZE, NULL, bktPRIMARY_PRIORITY, NULL );\r
+ xTaskCreate( vSecondaryBlockTimeTestTask, ( signed portCHAR * )"BTest2", configMINIMAL_STACK_SIZE, NULL, bktSECONDARY_PRIORITY, &xSecondary );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void vPrimaryBlockTimeTestTask( void *pvParameters )\r
+{\r
+portBASE_TYPE xItem, xData;\r
+portTickType xTimeWhenBlocking;\r
+portTickType xTimeToBlock, xBlockedTime;\r
+\r
+ ( void ) pvParameters;\r
+\r
+ for( ;; )\r
+ {\r
+ /*********************************************************************\r
+ Test 1\r
+\r
+ Simple block time wakeup test on queue receives. */\r
+ for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )\r
+ {\r
+ /* The queue is empty. Attempt to read from the queue using a block\r
+ time. When we wake, ensure the delta in time is as expected. */\r
+ xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;\r
+\r
+ xTimeWhenBlocking = xTaskGetTickCount();\r
+ \r
+ /* We should unblock after xTimeToBlock having not received\r
+ anything on the queue. */\r
+ if( xQueueReceive( xTestQueue, &xData, xTimeToBlock ) != errQUEUE_EMPTY )\r
+ {\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+\r
+ /* How long were we blocked for? */\r
+ xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;\r
+\r
+ if( xBlockedTime < xTimeToBlock )\r
+ {\r
+ /* Should not have blocked for less than we requested. */\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+\r
+ if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )\r
+ {\r
+ /* Should not have blocked for longer than we requested,\r
+ although we would not necessarily run as soon as we were\r
+ unblocked so a margin is allowed. */\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+ }\r
+\r
+ /*********************************************************************\r
+ Test 2\r
+\r
+ Simple block time wakeup test on queue sends.\r
+\r
+ First fill the queue. It should be empty so all sends should pass. */\r
+ for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )\r
+ {\r
+ if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )\r
+ {\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+\r
+ #if configUSE_PREEMPTION == 0\r
+ taskYIELD();\r
+ #endif\r
+ }\r
+\r
+ for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )\r
+ {\r
+ /* The queue is full. Attempt to write to the queue using a block\r
+ time. When we wake, ensure the delta in time is as expected. */\r
+ xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;\r
+\r
+ xTimeWhenBlocking = xTaskGetTickCount();\r
+ \r
+ /* We should unblock after xTimeToBlock having not received\r
+ anything on the queue. */\r
+ if( xQueueSend( xTestQueue, &xItem, xTimeToBlock ) != errQUEUE_FULL )\r
+ {\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+\r
+ /* How long were we blocked for? */\r
+ xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;\r
+\r
+ if( xBlockedTime < xTimeToBlock )\r
+ {\r
+ /* Should not have blocked for less than we requested. */\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+\r
+ if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )\r
+ {\r
+ /* Should not have blocked for longer than we requested,\r
+ although we would not necessarily run as soon as we were\r
+ unblocked so a margin is allowed. */\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+ }\r
+\r
+ /*********************************************************************\r
+ Test 3\r
+\r
+ Wake the other task, it will block attempting to post to the queue.\r
+ When we read from the queue the other task will wake, but before it\r
+ can run we will post to the queue again. When the other task runs it\r
+ will find the queue still full, even though it was woken. It should\r
+ recognise that its block time has not expired and return to block for\r
+ the remains of its block time.\r
+\r
+ Wake the other task so it blocks attempting to post to the already\r
+ full queue. */\r
+ xRunIndicator = 0;\r
+ vTaskResume( xSecondary );\r
+\r
+ /* We need to wait a little to ensure the other task executes. */\r
+ while( xRunIndicator != bktRUN_INDICATOR )\r
+ {\r
+ /* The other task has not yet executed. */\r
+ vTaskDelay( bktSHORT_WAIT );\r
+ }\r
+ /* Make sure the other task is blocked on the queue. */\r
+ vTaskDelay( bktSHORT_WAIT );\r
+ xRunIndicator = 0;\r
+\r
+ for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )\r
+ {\r
+ /* Now when we make space on the queue the other task should wake\r
+ but not execute as this task has higher priority. */ \r
+ if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )\r
+ {\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+\r
+ /* Now fill the queue again before the other task gets a chance to\r
+ execute. If the other task had executed we would find the queue\r
+ full ourselves, and the other task have set xRunIndicator. */\r
+ if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )\r
+ {\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+\r
+ if( xRunIndicator == bktRUN_INDICATOR )\r
+ {\r
+ /* The other task should not have executed. */\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+\r
+ /* Raise the priority of the other task so it executes and blocks\r
+ on the queue again. */\r
+ vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );\r
+\r
+ /* The other task should now have re-blocked without exiting the\r
+ queue function. */\r
+ if( xRunIndicator == bktRUN_INDICATOR )\r
+ {\r
+ /* The other task should not have executed outside of the\r
+ queue function. */\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+\r
+ /* Set the priority back down. */\r
+ vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY ); \r
+ }\r
+\r
+ /* Let the other task timeout. When it unblockes it will check that it\r
+ unblocked at the correct time, then suspend itself. */\r
+ while( xRunIndicator != bktRUN_INDICATOR )\r
+ {\r
+ vTaskDelay( bktSHORT_WAIT );\r
+ }\r
+ vTaskDelay( bktSHORT_WAIT );\r
+ xRunIndicator = 0;\r
+\r
+\r
+ /*********************************************************************\r
+ Test 4\r
+\r
+ As per test 3 - but with the send and receive the other way around.\r
+ The other task blocks attempting to read from the queue.\r
+\r
+ Empty the queue. We should find that it is full. */\r
+ for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )\r
+ {\r
+ if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )\r
+ {\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+ }\r
+ \r
+ /* Wake the other task so it blocks attempting to read from the\r
+ already empty queue. */\r
+ vTaskResume( xSecondary );\r
+\r
+ /* We need to wait a little to ensure the other task executes. */\r
+ while( xRunIndicator != bktRUN_INDICATOR )\r
+ {\r
+ vTaskDelay( bktSHORT_WAIT );\r
+ }\r
+ vTaskDelay( bktSHORT_WAIT );\r
+ xRunIndicator = 0;\r
+\r
+ for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )\r
+ {\r
+ /* Now when we place an item on the queue the other task should\r
+ wake but not execute as this task has higher priority. */ \r
+ if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )\r
+ {\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+\r
+ /* Now empty the queue again before the other task gets a chance to\r
+ execute. If the other task had executed we would find the queue\r
+ empty ourselves, and the other task would be suspended. */\r
+ if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )\r
+ {\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+\r
+ if( xRunIndicator == bktRUN_INDICATOR )\r
+ {\r
+ /* The other task should not have executed. */\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+\r
+ /* Raise the priority of the other task so it executes and blocks\r
+ on the queue again. */\r
+ vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );\r
+\r
+ /* The other task should now have re-blocked without exiting the\r
+ queue function. */\r
+ if( xRunIndicator == bktRUN_INDICATOR )\r
+ {\r
+ /* The other task should not have executed outside of the\r
+ queue function. */\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+ vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY ); \r
+ }\r
+\r
+ /* Let the other task timeout. When it unblockes it will check that it\r
+ unblocked at the correct time, then suspend itself. */\r
+ while( xRunIndicator != bktRUN_INDICATOR )\r
+ {\r
+ vTaskDelay( bktSHORT_WAIT );\r
+ }\r
+ vTaskDelay( bktSHORT_WAIT );\r
+\r
+ xPrimaryCycles++;\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void vSecondaryBlockTimeTestTask( void *pvParameters )\r
+{\r
+portTickType xTimeWhenBlocking, xBlockedTime;\r
+portBASE_TYPE xData;\r
+\r
+ ( void ) pvParameters;\r
+\r
+ for( ;; )\r
+ {\r
+ /*********************************************************************\r
+ Test 1 and 2\r
+\r
+ This task does does not participate in these tests. */\r
+ vTaskSuspend( NULL );\r
+\r
+ /*********************************************************************\r
+ Test 3\r
+\r
+ The first thing we do is attempt to read from the queue. It should be\r
+ full so we block. Note the time before we block so we can check the\r
+ wake time is as per that expected. */\r
+ xTimeWhenBlocking = xTaskGetTickCount();\r
+ \r
+ /* We should unblock after bktTIME_TO_BLOCK having not received\r
+ anything on the queue. */\r
+ xData = 0;\r
+ xRunIndicator = bktRUN_INDICATOR;\r
+ if( xQueueSend( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_FULL )\r
+ {\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+\r
+ /* How long were we inside the send function? */\r
+ xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;\r
+\r
+ /* We should not have blocked for less time than bktTIME_TO_BLOCK. */\r
+ if( xBlockedTime < bktTIME_TO_BLOCK )\r
+ {\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+\r
+ /* We should of not blocked for much longer than bktALLOWABLE_MARGIN\r
+ either. A margin is permitted as we would not necessarily run as\r
+ soon as we unblocked. */\r
+ if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )\r
+ {\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+\r
+ /* Suspend ready for test 3. */\r
+ xRunIndicator = bktRUN_INDICATOR;\r
+ vTaskSuspend( NULL );\r
+\r
+ /*********************************************************************\r
+ Test 4\r
+\r
+ As per test three, but with the send and receive reversed. */\r
+ xTimeWhenBlocking = xTaskGetTickCount();\r
+ \r
+ /* We should unblock after bktTIME_TO_BLOCK having not received\r
+ anything on the queue. */\r
+ xRunIndicator = bktRUN_INDICATOR;\r
+ if( xQueueReceive( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_EMPTY )\r
+ {\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+\r
+ xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;\r
+\r
+ /* We should not have blocked for less time than bktTIME_TO_BLOCK. */\r
+ if( xBlockedTime < bktTIME_TO_BLOCK )\r
+ {\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+\r
+ /* We should of not blocked for much longer than bktALLOWABLE_MARGIN\r
+ either. A margin is permitted as we would not necessarily run as soon\r
+ as we unblocked. */\r
+ if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )\r
+ {\r
+ xErrorOccurred = pdTRUE;\r
+ }\r
+\r
+ xRunIndicator = bktRUN_INDICATOR;\r
+\r
+ xSecondaryCycles++;\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+portBASE_TYPE xAreBlockTimeTestTasksStillRunning( void )\r
+{\r
+static portBASE_TYPE xLastPrimaryCycleCount = 0, xLastSecondaryCycleCount = 0;\r
+portBASE_TYPE xReturn = pdPASS;\r
+\r
+ /* Have both tasks performed at least one cycle since this function was\r
+ last called? */\r
+ if( xPrimaryCycles == xLastPrimaryCycleCount )\r
+ {\r
+ xReturn = pdFAIL;\r
+ }\r
+\r
+ if( xSecondaryCycles == xLastSecondaryCycleCount )\r
+ {\r
+ xReturn = pdFAIL;\r
+ }\r
+\r
+ if( xErrorOccurred == pdTRUE )\r
+ {\r
+ xReturn = pdFAIL;\r
+ }\r
+\r
+ xLastSecondaryCycleCount = xSecondaryCycles;\r
+ xLastPrimaryCycleCount = xPrimaryCycles;\r
+\r
+ return xReturn;\r
+}\r
xParameters[ 1 ].xSemaphore = xSemaphoreCreateCounting( countMAX_COUNT_VALUE, 0 );
xParameters[ 1 ].uxExpectedStartCount = 0;
xParameters[ 1 ].uxLoopCounter = 0;
+\r
+ /* vQueueAddToRegistry() adds the semaphore to the registry, if one is\r
+ in use. The registry is provided as a means for kernel aware \r
+ debuggers to locate semaphores and has no purpose if a kernel aware debugger\r
+ is not being used. The call to vQueueAddToRegistry() will be removed\r
+ by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is \r
+ defined to be less than 1. */\r
+ vQueueAddToRegistry( ( xQueueHandle ) xParameters[ 0 ].xSemaphore, ( signed portCHAR * ) "Counting_Sem_1" );\r
+ vQueueAddToRegistry( ( xQueueHandle ) xParameters[ 1 ].xSemaphore, ( signed portCHAR * ) "Counting_Sem_2" );\r
+\r
/* Were the semaphores created? */
if( ( xParameters[ 0 ].xSemaphore != NULL ) || ( xParameters[ 1 ].xSemaphore != NULL ) )
-/*
- FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.
-
- This file is part of the FreeRTOS.org distribution.
-
- FreeRTOS.org is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- FreeRTOS.org is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with FreeRTOS.org; if not, write to the Free Software
- Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
-
- A special exception to the GPL can be applied should you wish to distribute
- a combined work that includes FreeRTOS.org, without being obliged to provide
- the source code for any proprietary components. See the licensing section
- of http://www.FreeRTOS.org for full details of how and when the exception
- can be applied.
-
- ***************************************************************************
- ***************************************************************************
- * *
- * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
- * and even write all or part of your application on your behalf. *
- * See http://www.OpenRTOS.com for details of the services we provide to *
- * expedite your project. *
- * *
- ***************************************************************************
- ***************************************************************************
-
- Please ensure to read the configuration and relevant port sections of the
- online documentation.
-
- http://www.FreeRTOS.org - Documentation, latest information, license and
- contact details.
-
- http://www.SafeRTOS.com - A version that is certified for use in safety
- critical systems.
-
- http://www.OpenRTOS.com - Commercial support, development, porting,
- licensing and training services.
-*/
-
-/*
- * The first test creates three tasks - two counter tasks (one continuous count
- * and one limited count) and one controller. A "count" variable is shared
- * between all three tasks. The two counter tasks should never be in a "ready"
- * state at the same time. The controller task runs at the same priority as
- * the continuous count task, and at a lower priority than the limited count
- * task.
- *
- * One counter task loops indefinitely, incrementing the shared count variable
- * on each iteration. To ensure it has exclusive access to the variable it
- * raises it's priority above that of the controller task before each
- * increment, lowering it again to it's original priority before starting the
- * next iteration.
- *
- * The other counter task increments the shared count variable on each
- * iteration of it's loop until the count has reached a limit of 0xff - at
- * which point it suspends itself. It will not start a new loop until the
- * controller task has made it "ready" again by calling vTaskResume ().
- * This second counter task operates at a higher priority than controller
- * task so does not need to worry about mutual exclusion of the counter
- * variable.
- *
- * The controller task is in two sections. The first section controls and
- * monitors the continuous count task. When this section is operational the
- * limited count task is suspended. Likewise, the second section controls
- * and monitors the limited count task. When this section is operational the
- * continuous count task is suspended.
- *
- * In the first section the controller task first takes a copy of the shared
- * count variable. To ensure mutual exclusion on the count variable it
- * suspends the continuous count task, resuming it again when the copy has been
- * taken. The controller task then sleeps for a fixed period - during which
- * the continuous count task will execute and increment the shared variable.
- * When the controller task wakes it checks that the continuous count task
- * has executed by comparing the copy of the shared variable with its current
- * value. This time, to ensure mutual exclusion, the scheduler itself is
- * suspended with a call to vTaskSuspendAll (). This is for demonstration
- * purposes only and is not a recommended technique due to its inefficiency.
- *
- * After a fixed number of iterations the controller task suspends the
- * continuous count task, and moves on to its second section.
- *
- * At the start of the second section the shared variable is cleared to zero.
- * The limited count task is then woken from it's suspension by a call to
- * vTaskResume (). As this counter task operates at a higher priority than
- * the controller task the controller task should not run again until the
- * shared variable has been counted up to the limited value causing the counter
- * task to suspend itself. The next line after vTaskResume () is therefore
- * a check on the shared variable to ensure everything is as expected.
- *
- *
- * The second test consists of a couple of very simple tasks that post onto a
- * queue while the scheduler is suspended. This test was added to test parts
- * of the scheduler not exercised by the first test.
- *
- */
-
-#include <stdlib.h>
-
-/* Scheduler include files. */
-#include "FreeRTOS.h"
-#include "task.h"
-#include "semphr.h"
-
-/* Demo app include files. */
-#include "dynamic.h"
-
-/* Function that implements the "limited count" task as described above. */
-static portTASK_FUNCTION_PROTO( vLimitedIncrementTask, pvParameters );
-
-/* Function that implements the "continuous count" task as described above. */
-static portTASK_FUNCTION_PROTO( vContinuousIncrementTask, pvParameters );
-
-/* Function that implements the controller task as described above. */
-static portTASK_FUNCTION_PROTO( vCounterControlTask, pvParameters );
-
-static portTASK_FUNCTION_PROTO( vQueueReceiveWhenSuspendedTask, pvParameters );
-static portTASK_FUNCTION_PROTO( vQueueSendWhenSuspendedTask, pvParameters );
-
-/* Demo task specific constants. */
-#define priSTACK_SIZE ( configMINIMAL_STACK_SIZE )
-#define priSLEEP_TIME ( ( portTickType ) 128 / portTICK_RATE_MS )
-#define priLOOPS ( 5 )
-#define priMAX_COUNT ( ( unsigned portLONG ) 0xff )
-#define priNO_BLOCK ( ( portTickType ) 0 )
-#define priSUSPENDED_QUEUE_LENGTH ( 1 )
-
-/*-----------------------------------------------------------*/
-
-/* Handles to the two counter tasks. These could be passed in as parameters
-to the controller task to prevent them having to be file scope. */
-static xTaskHandle xContinousIncrementHandle, xLimitedIncrementHandle;
-
-/* The shared counter variable. This is passed in as a parameter to the two
-counter variables for demonstration purposes. */
-static unsigned portLONG ulCounter;
-
-/* Variables used to check that the tasks are still operating without error.
-Each complete iteration of the controller task increments this variable
-provided no errors have been found. The variable maintaining the same value
-is therefore indication of an error. */
-static volatile unsigned portSHORT usCheckVariable = ( unsigned portSHORT ) 0;
-static volatile portBASE_TYPE xSuspendedQueueSendError = pdFALSE;
-static volatile portBASE_TYPE xSuspendedQueueReceiveError = pdFALSE;
-
-/* Queue used by the second test. */
-xQueueHandle xSuspendedTestQueue;
-
-/*-----------------------------------------------------------*/
-/*
- * Start the three tasks as described at the top of the file.
- * Note that the limited count task is given a higher priority.
- */
-void vStartDynamicPriorityTasks( void )
-{
- xSuspendedTestQueue = xQueueCreate( priSUSPENDED_QUEUE_LENGTH, sizeof( unsigned portLONG ) );
- xTaskCreate( vContinuousIncrementTask, ( signed portCHAR * ) "CNT_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY, &xContinousIncrementHandle );
- xTaskCreate( vLimitedIncrementTask, ( signed portCHAR * ) "LIM_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY + 1, &xLimitedIncrementHandle );
- xTaskCreate( vCounterControlTask, ( signed portCHAR * ) "C_CTRL", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
- xTaskCreate( vQueueSendWhenSuspendedTask, ( signed portCHAR * ) "SUSP_TX", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
- xTaskCreate( vQueueReceiveWhenSuspendedTask, ( signed portCHAR * ) "SUSP_RX", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
-}
-/*-----------------------------------------------------------*/
-
-/*
- * Just loops around incrementing the shared variable until the limit has been
- * reached. Once the limit has been reached it suspends itself.
- */
-static portTASK_FUNCTION( vLimitedIncrementTask, pvParameters )
-{
-unsigned portLONG *pulCounter;
-
- /* Take a pointer to the shared variable from the parameters passed into
- the task. */
- pulCounter = ( unsigned portLONG * ) pvParameters;
-
- /* This will run before the control task, so the first thing it does is
- suspend - the control task will resume it when ready. */
- vTaskSuspend( NULL );
-
- for( ;; )
- {
- /* Just count up to a value then suspend. */
- ( *pulCounter )++;
-
- if( *pulCounter >= priMAX_COUNT )
- {
- vTaskSuspend( NULL );
- }
- }
-}
-/*-----------------------------------------------------------*/
-
-/*
- * Just keep counting the shared variable up. The control task will suspend
- * this task when it wants.
- */
-static portTASK_FUNCTION( vContinuousIncrementTask, pvParameters )
-{
-unsigned portLONG *pulCounter;
-unsigned portBASE_TYPE uxOurPriority;
-
- /* Take a pointer to the shared variable from the parameters passed into
- the task. */
- pulCounter = ( unsigned portLONG * ) pvParameters;
-
- /* Query our priority so we can raise it when exclusive access to the
- shared variable is required. */
- uxOurPriority = uxTaskPriorityGet( NULL );
-
- for( ;; )
- {
- /* Raise our priority above the controller task to ensure a context
- switch does not occur while we are accessing this variable. */
- vTaskPrioritySet( NULL, uxOurPriority + 1 );
- ( *pulCounter )++;
- vTaskPrioritySet( NULL, uxOurPriority );
- }
-}
-/*-----------------------------------------------------------*/
-
-/*
- * Controller task as described above.
- */
-static portTASK_FUNCTION( vCounterControlTask, pvParameters )
-{
-unsigned portLONG ulLastCounter;
-portSHORT sLoops;
-portSHORT sError = pdFALSE;
-
- /* Just to stop warning messages. */
- ( void ) pvParameters;
-
- for( ;; )
- {
- /* Start with the counter at zero. */
- ulCounter = ( unsigned portLONG ) 0;
-
- /* First section : */
-
- /* Check the continuous count task is running. */
- for( sLoops = 0; sLoops < priLOOPS; sLoops++ )
- {
- /* Suspend the continuous count task so we can take a mirror of the
- shared variable without risk of corruption. */
- vTaskSuspend( xContinousIncrementHandle );
- ulLastCounter = ulCounter;
- vTaskResume( xContinousIncrementHandle );
-
- /* Now delay to ensure the other task has processor time. */
- vTaskDelay( priSLEEP_TIME );
-
- /* Check the shared variable again. This time to ensure mutual
- exclusion the whole scheduler will be locked. This is just for
- demo purposes! */
- vTaskSuspendAll();
- {
- if( ulLastCounter == ulCounter )
- {
- /* The shared variable has not changed. There is a problem
- with the continuous count task so flag an error. */
- sError = pdTRUE;
- }
- }
- xTaskResumeAll();
- }
-
-
- /* Second section: */
-
- /* Suspend the continuous counter task so it stops accessing the shared variable. */
- vTaskSuspend( xContinousIncrementHandle );
-
- /* Reset the variable. */
- ulCounter = ( unsigned portLONG ) 0;
-
- /* Resume the limited count task which has a higher priority than us.
- We should therefore not return from this call until the limited count
- task has suspended itself with a known value in the counter variable. */
- vTaskResume( xLimitedIncrementHandle );
-
- /* Does the counter variable have the expected value? */
- if( ulCounter != priMAX_COUNT )
- {
- sError = pdTRUE;
- }
-
- if( sError == pdFALSE )
- {
- /* If no errors have occurred then increment the check variable. */
- portENTER_CRITICAL();
- usCheckVariable++;
- portEXIT_CRITICAL();
- }
-
- /* Resume the continuous count task and do it all again. */
- vTaskResume( xContinousIncrementHandle );
- }
-}
-/*-----------------------------------------------------------*/
-
-static portTASK_FUNCTION( vQueueSendWhenSuspendedTask, pvParameters )
-{
-static unsigned portLONG ulValueToSend = ( unsigned portLONG ) 0;
-
- /* Just to stop warning messages. */
- ( void ) pvParameters;
-
- for( ;; )
- {
- vTaskSuspendAll();
- {
- /* We must not block while the scheduler is suspended! */
- if( xQueueSend( xSuspendedTestQueue, ( void * ) &ulValueToSend, priNO_BLOCK ) != pdTRUE )
- {
- xSuspendedQueueSendError = pdTRUE;
- }
- }
- xTaskResumeAll();
-
- vTaskDelay( priSLEEP_TIME );
-
- ++ulValueToSend;
- }
-}
-/*-----------------------------------------------------------*/
-
-static portTASK_FUNCTION( vQueueReceiveWhenSuspendedTask, pvParameters )
-{
-static unsigned portLONG ulExpectedValue = ( unsigned portLONG ) 0, ulReceivedValue;
-portBASE_TYPE xGotValue;
-
- /* Just to stop warning messages. */
- ( void ) pvParameters;
-
- for( ;; )
- {
- do
- {
- /* Suspending the scheduler here is fairly pointless and
- undesirable for a normal application. It is done here purely
- to test the scheduler. The inner xTaskResumeAll() should
- never return pdTRUE as the scheduler is still locked by the
- outer call. */
- vTaskSuspendAll();
- {
- vTaskSuspendAll();
- {
- xGotValue = xQueueReceive( xSuspendedTestQueue, ( void * ) &ulReceivedValue, priNO_BLOCK );
- }
- if( xTaskResumeAll() )
- {
- xSuspendedQueueReceiveError = pdTRUE;
- }
- }
- xTaskResumeAll();
-
- #if configUSE_PREEMPTION == 0
- {
- taskYIELD();
- }
- #endif
-
- } while( xGotValue == pdFALSE );
-
- if( ulReceivedValue != ulExpectedValue )
- {
- xSuspendedQueueReceiveError = pdTRUE;
- }
-
- ++ulExpectedValue;
- }
-}
-/*-----------------------------------------------------------*/
-
-/* Called to check that all the created tasks are still running without error. */
-portBASE_TYPE xAreDynamicPriorityTasksStillRunning( void )
-{
-/* Keep a history of the check variables so we know if it has been incremented
-since the last call. */
-static unsigned portSHORT usLastTaskCheck = ( unsigned portSHORT ) 0;
-portBASE_TYPE xReturn = pdTRUE;
-
- /* Check the tasks are still running by ensuring the check variable
- is still incrementing. */
-
- if( usCheckVariable == usLastTaskCheck )
- {
- /* The check has not incremented so an error exists. */
- xReturn = pdFALSE;
- }
-
- if( xSuspendedQueueSendError == pdTRUE )
- {
- xReturn = pdFALSE;
- }
-
- if( xSuspendedQueueReceiveError == pdTRUE )
- {
- xReturn = pdFALSE;
- }
-
- usLastTaskCheck = usCheckVariable;
- return xReturn;
-}
+/*\r
+ FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section \r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+ ***************************************************************************\r
+ * *\r
+ * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *\r
+ * and even write all or part of your application on your behalf. *\r
+ * See http://www.OpenRTOS.com for details of the services we provide to *\r
+ * expedite your project. *\r
+ * *\r
+ ***************************************************************************\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the\r
+ online documentation.\r
+\r
+ http://www.FreeRTOS.org - Documentation, latest information, license and \r
+ contact details.\r
+\r
+ http://www.SafeRTOS.com - A version that is certified for use in safety \r
+ critical systems.\r
+\r
+ http://www.OpenRTOS.com - Commercial support, development, porting, \r
+ licensing and training services.\r
+*/\r
+\r
+/*\r
+ * The first test creates three tasks - two counter tasks (one continuous count \r
+ * and one limited count) and one controller. A "count" variable is shared \r
+ * between all three tasks. The two counter tasks should never be in a "ready" \r
+ * state at the same time. The controller task runs at the same priority as \r
+ * the continuous count task, and at a lower priority than the limited count \r
+ * task.\r
+ *\r
+ * One counter task loops indefinitely, incrementing the shared count variable\r
+ * on each iteration. To ensure it has exclusive access to the variable it\r
+ * raises it's priority above that of the controller task before each \r
+ * increment, lowering it again to it's original priority before starting the\r
+ * next iteration.\r
+ *\r
+ * The other counter task increments the shared count variable on each\r
+ * iteration of it's loop until the count has reached a limit of 0xff - at\r
+ * which point it suspends itself. It will not start a new loop until the \r
+ * controller task has made it "ready" again by calling vTaskResume (). \r
+ * This second counter task operates at a higher priority than controller \r
+ * task so does not need to worry about mutual exclusion of the counter \r
+ * variable.\r
+ *\r
+ * The controller task is in two sections. The first section controls and\r
+ * monitors the continuous count task. When this section is operational the \r
+ * limited count task is suspended. Likewise, the second section controls \r
+ * and monitors the limited count task. When this section is operational the \r
+ * continuous count task is suspended.\r
+ *\r
+ * In the first section the controller task first takes a copy of the shared\r
+ * count variable. To ensure mutual exclusion on the count variable it\r
+ * suspends the continuous count task, resuming it again when the copy has been\r
+ * taken. The controller task then sleeps for a fixed period - during which\r
+ * the continuous count task will execute and increment the shared variable.\r
+ * When the controller task wakes it checks that the continuous count task\r
+ * has executed by comparing the copy of the shared variable with its current\r
+ * value. This time, to ensure mutual exclusion, the scheduler itself is \r
+ * suspended with a call to vTaskSuspendAll (). This is for demonstration \r
+ * purposes only and is not a recommended technique due to its inefficiency.\r
+ *\r
+ * After a fixed number of iterations the controller task suspends the \r
+ * continuous count task, and moves on to its second section.\r
+ *\r
+ * At the start of the second section the shared variable is cleared to zero.\r
+ * The limited count task is then woken from it's suspension by a call to\r
+ * vTaskResume (). As this counter task operates at a higher priority than\r
+ * the controller task the controller task should not run again until the\r
+ * shared variable has been counted up to the limited value causing the counter\r
+ * task to suspend itself. The next line after vTaskResume () is therefore\r
+ * a check on the shared variable to ensure everything is as expected.\r
+ *\r
+ *\r
+ * The second test consists of a couple of very simple tasks that post onto a \r
+ * queue while the scheduler is suspended. This test was added to test parts\r
+ * of the scheduler not exercised by the first test.\r
+ *\r
+ */\r
+\r
+#include <stdlib.h>\r
+\r
+/* Scheduler include files. */\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+#include "semphr.h"\r
+\r
+/* Demo app include files. */\r
+#include "dynamic.h"\r
+\r
+/* Function that implements the "limited count" task as described above. */\r
+static portTASK_FUNCTION_PROTO( vLimitedIncrementTask, pvParameters );\r
+\r
+/* Function that implements the "continuous count" task as described above. */\r
+static portTASK_FUNCTION_PROTO( vContinuousIncrementTask, pvParameters );\r
+\r
+/* Function that implements the controller task as described above. */\r
+static portTASK_FUNCTION_PROTO( vCounterControlTask, pvParameters );\r
+\r
+static portTASK_FUNCTION_PROTO( vQueueReceiveWhenSuspendedTask, pvParameters );\r
+static portTASK_FUNCTION_PROTO( vQueueSendWhenSuspendedTask, pvParameters );\r
+\r
+/* Demo task specific constants. */\r
+#define priSTACK_SIZE ( configMINIMAL_STACK_SIZE )\r
+#define priSLEEP_TIME ( ( portTickType ) 128 / portTICK_RATE_MS )\r
+#define priLOOPS ( 5 )\r
+#define priMAX_COUNT ( ( unsigned portLONG ) 0xff )\r
+#define priNO_BLOCK ( ( portTickType ) 0 )\r
+#define priSUSPENDED_QUEUE_LENGTH ( 1 )\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/* Handles to the two counter tasks. These could be passed in as parameters\r
+to the controller task to prevent them having to be file scope. */\r
+static xTaskHandle xContinousIncrementHandle, xLimitedIncrementHandle;\r
+\r
+/* The shared counter variable. This is passed in as a parameter to the two \r
+counter variables for demonstration purposes. */\r
+static unsigned portLONG ulCounter;\r
+\r
+/* Variables used to check that the tasks are still operating without error.\r
+Each complete iteration of the controller task increments this variable\r
+provided no errors have been found. The variable maintaining the same value\r
+is therefore indication of an error. */\r
+static volatile unsigned portSHORT usCheckVariable = ( unsigned portSHORT ) 0;\r
+static volatile portBASE_TYPE xSuspendedQueueSendError = pdFALSE;\r
+static volatile portBASE_TYPE xSuspendedQueueReceiveError = pdFALSE;\r
+\r
+/* Queue used by the second test. */\r
+xQueueHandle xSuspendedTestQueue;\r
+\r
+/*-----------------------------------------------------------*/\r
+/*\r
+ * Start the three tasks as described at the top of the file.\r
+ * Note that the limited count task is given a higher priority.\r
+ */\r
+void vStartDynamicPriorityTasks( void )\r
+{\r
+ xSuspendedTestQueue = xQueueCreate( priSUSPENDED_QUEUE_LENGTH, sizeof( unsigned portLONG ) );\r
+\r
+ /* vQueueAddToRegistry() adds the queue to the queue registry, if one is\r
+ in use. The queue registry is provided as a means for kernel aware \r
+ debuggers to locate queues and has no purpose if a kernel aware debugger\r
+ is not being used. The call to vQueueAddToRegistry() will be removed\r
+ by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is \r
+ defined to be less than 1. */\r
+ vQueueAddToRegistry( xSuspendedTestQueue, ( signed portCHAR * ) "Suspended_Test_Queue" );\r
+\r
+ xTaskCreate( vContinuousIncrementTask, ( signed portCHAR * ) "CNT_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY, &xContinousIncrementHandle );\r
+ xTaskCreate( vLimitedIncrementTask, ( signed portCHAR * ) "LIM_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY + 1, &xLimitedIncrementHandle );\r
+ xTaskCreate( vCounterControlTask, ( signed portCHAR * ) "C_CTRL", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\r
+ xTaskCreate( vQueueSendWhenSuspendedTask, ( signed portCHAR * ) "SUSP_TX", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\r
+ xTaskCreate( vQueueReceiveWhenSuspendedTask, ( signed portCHAR * ) "SUSP_RX", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * Just loops around incrementing the shared variable until the limit has been\r
+ * reached. Once the limit has been reached it suspends itself. \r
+ */\r
+static portTASK_FUNCTION( vLimitedIncrementTask, pvParameters )\r
+{\r
+unsigned portLONG *pulCounter;\r
+\r
+ /* Take a pointer to the shared variable from the parameters passed into\r
+ the task. */\r
+ pulCounter = ( unsigned portLONG * ) pvParameters;\r
+\r
+ /* This will run before the control task, so the first thing it does is\r
+ suspend - the control task will resume it when ready. */\r
+ vTaskSuspend( NULL );\r
+\r
+ for( ;; )\r
+ {\r
+ /* Just count up to a value then suspend. */\r
+ ( *pulCounter )++; \r
+ \r
+ if( *pulCounter >= priMAX_COUNT )\r
+ {\r
+ vTaskSuspend( NULL );\r
+ } \r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * Just keep counting the shared variable up. The control task will suspend\r
+ * this task when it wants.\r
+ */\r
+static portTASK_FUNCTION( vContinuousIncrementTask, pvParameters )\r
+{\r
+unsigned portLONG *pulCounter;\r
+unsigned portBASE_TYPE uxOurPriority;\r
+\r
+ /* Take a pointer to the shared variable from the parameters passed into\r
+ the task. */\r
+ pulCounter = ( unsigned portLONG * ) pvParameters;\r
+\r
+ /* Query our priority so we can raise it when exclusive access to the \r
+ shared variable is required. */\r
+ uxOurPriority = uxTaskPriorityGet( NULL );\r
+\r
+ for( ;; )\r
+ {\r
+ /* Raise our priority above the controller task to ensure a context\r
+ switch does not occur while we are accessing this variable. */\r
+ vTaskPrioritySet( NULL, uxOurPriority + 1 );\r
+ ( *pulCounter )++; \r
+ vTaskPrioritySet( NULL, uxOurPriority );\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * Controller task as described above.\r
+ */\r
+static portTASK_FUNCTION( vCounterControlTask, pvParameters )\r
+{\r
+unsigned portLONG ulLastCounter;\r
+portSHORT sLoops;\r
+portSHORT sError = pdFALSE;\r
+\r
+ /* Just to stop warning messages. */\r
+ ( void ) pvParameters;\r
+\r
+ for( ;; )\r
+ {\r
+ /* Start with the counter at zero. */\r
+ ulCounter = ( unsigned portLONG ) 0;\r
+\r
+ /* First section : */\r
+\r
+ /* Check the continuous count task is running. */\r
+ for( sLoops = 0; sLoops < priLOOPS; sLoops++ )\r
+ {\r
+ /* Suspend the continuous count task so we can take a mirror of the\r
+ shared variable without risk of corruption. */\r
+ vTaskSuspend( xContinousIncrementHandle );\r
+ ulLastCounter = ulCounter;\r
+ vTaskResume( xContinousIncrementHandle );\r
+ \r
+ /* Now delay to ensure the other task has processor time. */\r
+ vTaskDelay( priSLEEP_TIME );\r
+\r
+ /* Check the shared variable again. This time to ensure mutual \r
+ exclusion the whole scheduler will be locked. This is just for\r
+ demo purposes! */\r
+ vTaskSuspendAll();\r
+ {\r
+ if( ulLastCounter == ulCounter )\r
+ {\r
+ /* The shared variable has not changed. There is a problem\r
+ with the continuous count task so flag an error. */\r
+ sError = pdTRUE;\r
+ }\r
+ }\r
+ xTaskResumeAll();\r
+ }\r
+\r
+\r
+ /* Second section: */\r
+\r
+ /* Suspend the continuous counter task so it stops accessing the shared variable. */\r
+ vTaskSuspend( xContinousIncrementHandle );\r
+\r
+ /* Reset the variable. */\r
+ ulCounter = ( unsigned portLONG ) 0;\r
+\r
+ /* Resume the limited count task which has a higher priority than us.\r
+ We should therefore not return from this call until the limited count\r
+ task has suspended itself with a known value in the counter variable. */\r
+ vTaskResume( xLimitedIncrementHandle );\r
+\r
+ /* Does the counter variable have the expected value? */\r
+ if( ulCounter != priMAX_COUNT )\r
+ {\r
+ sError = pdTRUE;\r
+ }\r
+\r
+ if( sError == pdFALSE )\r
+ {\r
+ /* If no errors have occurred then increment the check variable. */\r
+ portENTER_CRITICAL();\r
+ usCheckVariable++;\r
+ portEXIT_CRITICAL();\r
+ }\r
+\r
+ /* Resume the continuous count task and do it all again. */\r
+ vTaskResume( xContinousIncrementHandle );\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static portTASK_FUNCTION( vQueueSendWhenSuspendedTask, pvParameters )\r
+{\r
+static unsigned portLONG ulValueToSend = ( unsigned portLONG ) 0;\r
+\r
+ /* Just to stop warning messages. */\r
+ ( void ) pvParameters;\r
+\r
+ for( ;; )\r
+ {\r
+ vTaskSuspendAll();\r
+ {\r
+ /* We must not block while the scheduler is suspended! */\r
+ if( xQueueSend( xSuspendedTestQueue, ( void * ) &ulValueToSend, priNO_BLOCK ) != pdTRUE )\r
+ {\r
+ xSuspendedQueueSendError = pdTRUE;\r
+ }\r
+ }\r
+ xTaskResumeAll();\r
+\r
+ vTaskDelay( priSLEEP_TIME );\r
+\r
+ ++ulValueToSend;\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static portTASK_FUNCTION( vQueueReceiveWhenSuspendedTask, pvParameters )\r
+{\r
+static unsigned portLONG ulExpectedValue = ( unsigned portLONG ) 0, ulReceivedValue;\r
+portBASE_TYPE xGotValue;\r
+\r
+ /* Just to stop warning messages. */\r
+ ( void ) pvParameters;\r
+\r
+ for( ;; )\r
+ {\r
+ do\r
+ {\r
+ /* Suspending the scheduler here is fairly pointless and \r
+ undesirable for a normal application. It is done here purely\r
+ to test the scheduler. The inner xTaskResumeAll() should\r
+ never return pdTRUE as the scheduler is still locked by the\r
+ outer call. */\r
+ vTaskSuspendAll();\r
+ {\r
+ vTaskSuspendAll();\r
+ {\r
+ xGotValue = xQueueReceive( xSuspendedTestQueue, ( void * ) &ulReceivedValue, priNO_BLOCK );\r
+ }\r
+ if( xTaskResumeAll() )\r
+ {\r
+ xSuspendedQueueReceiveError = pdTRUE;\r
+ }\r
+ }\r
+ xTaskResumeAll();\r
+\r
+ #if configUSE_PREEMPTION == 0\r
+ {\r
+ taskYIELD();\r
+ }\r
+ #endif\r
+\r
+ } while( xGotValue == pdFALSE );\r
+\r
+ if( ulReceivedValue != ulExpectedValue )\r
+ {\r
+ xSuspendedQueueReceiveError = pdTRUE;\r
+ }\r
+\r
+ ++ulExpectedValue;\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+/* Called to check that all the created tasks are still running without error. */\r
+portBASE_TYPE xAreDynamicPriorityTasksStillRunning( void )\r
+{\r
+/* Keep a history of the check variables so we know if it has been incremented \r
+since the last call. */\r
+static unsigned portSHORT usLastTaskCheck = ( unsigned portSHORT ) 0;\r
+portBASE_TYPE xReturn = pdTRUE;\r
+\r
+ /* Check the tasks are still running by ensuring the check variable\r
+ is still incrementing. */\r
+\r
+ if( usCheckVariable == usLastTaskCheck )\r
+ {\r
+ /* The check has not incremented so an error exists. */\r
+ xReturn = pdFALSE;\r
+ }\r
+\r
+ if( xSuspendedQueueSendError == pdTRUE )\r
+ {\r
+ xReturn = pdFALSE;\r
+ }\r
+\r
+ if( xSuspendedQueueReceiveError == pdTRUE )\r
+ {\r
+ xReturn = pdFALSE;\r
+ }\r
+\r
+ usLastTaskCheck = usCheckVariable;\r
+ return xReturn;\r
+}\r
{
/* Just creates the mutex and the three tasks. */
- xMutex = xSemaphoreCreateRecursiveMutex();
+ xMutex = xSemaphoreCreateRecursiveMutex();\r
+\r
+ /* vQueueAddToRegistry() adds the mutex to the registry, if one is\r
+ in use. The registry is provided as a means for kernel aware \r
+ debuggers to locate mutex and has no purpose if a kernel aware debugger\r
+ is not being used. The call to vQueueAddToRegistry() will be removed\r
+ by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is \r
+ defined to be less than 1. */\r
+ vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Recursive_Mutex" );\r
+
if( xMutex != NULL )
{
projects / freertos / commitdiff