-/*\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 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
- /* 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.
+*/
+
+
+/*
+ * 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
- * 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 portBASE_TYPE xPrimaryCycles = 0, xSecondaryCycles = 0;\r
-static 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
- /* 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
+/*
+ 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
-/* \r
- * Simple demonstration of the usage of counting semaphore.\r
- */\r
-\r
-/* Scheduler include files. */\r
-#include "FreeRTOS.h"\r
-#include "task.h"\r
-#include "semphr.h"\r
-\r
-/* Demo program include files. */\r
-#include "countsem.h"\r
-\r
-/* The maximum count value that the semaphore used for the demo can hold. */\r
-#define countMAX_COUNT_VALUE ( 200 )\r
-\r
-/* Constants used to indicate whether or not the semaphore should have been\r
-created with its maximum count value, or its minimum count value. These \r
-numbers are used to ensure that the pointers passed in as the task parameters\r
-are valid. */\r
-#define countSTART_AT_MAX_COUNT ( 0xaa )\r
-#define countSTART_AT_ZERO ( 0x55 )\r
-\r
-/* Two tasks are created for the test. One uses a semaphore created with its\r
-count value set to the maximum, and one with the count value set to zero. */\r
-#define countNUM_TEST_TASKS ( 2 )\r
-#define countDONT_BLOCK ( 0 )\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 portBASE_TYPE xErrorDetected = pdFALSE;\r
-\r
-/*-----------------------------------------------------------*/\r
-\r
-/*\r
- * The demo task. This simply counts the semaphore up to its maximum value,\r
- * the counts it back down again. The result of each semaphore 'give' and\r
- * 'take' is inspected, with an error being flagged if it is found not to be\r
- * the expected result.\r
- */\r
-static void prvCountingSemaphoreTask( void *pvParameters );\r
-\r
-/*\r
- * Utility function to increment the semaphore count value up from zero to\r
- * countMAX_COUNT_VALUE.\r
- */\r
-static void prvIncrementSemaphoreCount( xSemaphoreHandle xSemaphore, unsigned portBASE_TYPE *puxLoopCounter );\r
-\r
-/*\r
- * Utility function to decrement the semaphore count value up from \r
- * countMAX_COUNT_VALUE to zero.\r
- */\r
-static void prvDecrementSemaphoreCount( xSemaphoreHandle xSemaphore, unsigned portBASE_TYPE *puxLoopCounter );\r
-\r
-/*-----------------------------------------------------------*/\r
-\r
-/* The structure that is passed into the task as the task parameter. */\r
-typedef struct COUNT_SEM_STRUCT\r
-{\r
- /* The semaphore to be used for the demo. */\r
- xSemaphoreHandle xSemaphore;\r
-\r
- /* Set to countSTART_AT_MAX_COUNT if the semaphore should be created with\r
- its count value set to its max count value, or countSTART_AT_ZERO if it\r
- should have been created with its count value set to 0. */\r
- unsigned portBASE_TYPE uxExpectedStartCount; \r
-\r
- /* Incremented on each cycle of the demo task. Used to detect a stalled\r
- task. */\r
- unsigned portBASE_TYPE uxLoopCounter; \r
-} xCountSemStruct;\r
-\r
-/* Two structures are defined, one is passed to each test task. */\r
-static xCountSemStruct xParameters[ countNUM_TEST_TASKS ];\r
-\r
-/*-----------------------------------------------------------*/\r
-\r
-void vStartCountingSemaphoreTasks( void )\r
-{\r
- /* Create the semaphores that we are going to use for the test/demo. The\r
- first should be created such that it starts at its maximum count value,\r
- the second should be created such that it starts with a count value of zero. */\r
- xParameters[ 0 ].xSemaphore = xSemaphoreCreateCounting( countMAX_COUNT_VALUE, countMAX_COUNT_VALUE );\r
- xParameters[ 0 ].uxExpectedStartCount = countSTART_AT_MAX_COUNT;\r
- xParameters[ 0 ].uxLoopCounter = 0;\r
-\r
- xParameters[ 1 ].xSemaphore = xSemaphoreCreateCounting( countMAX_COUNT_VALUE, 0 );\r
- xParameters[ 1 ].uxExpectedStartCount = 0;\r
- xParameters[ 1 ].uxLoopCounter = 0;\r
-\r
- /* Were the semaphores created? */\r
- if( ( xParameters[ 0 ].xSemaphore != NULL ) || ( xParameters[ 1 ].xSemaphore != NULL ) )\r
- {\r
- /* Create the demo tasks, passing in the semaphore to use as the parameter. */\r
- xTaskCreate( prvCountingSemaphoreTask, ( signed portCHAR * ) "CNT1", configMINIMAL_STACK_SIZE, ( void * ) &( xParameters[ 0 ] ), tskIDLE_PRIORITY, NULL );\r
- xTaskCreate( prvCountingSemaphoreTask, ( signed portCHAR * ) "CNT2", configMINIMAL_STACK_SIZE, ( void * ) &( xParameters[ 1 ] ), tskIDLE_PRIORITY, NULL ); \r
- }\r
-}\r
-/*-----------------------------------------------------------*/\r
-\r
-static void prvDecrementSemaphoreCount( xSemaphoreHandle xSemaphore, unsigned portBASE_TYPE *puxLoopCounter )\r
-{\r
-unsigned portBASE_TYPE ux;\r
-\r
- /* If the semaphore count is at its maximum then we should not be able to\r
- 'give' the semaphore. */\r
- if( xSemaphoreGive( xSemaphore ) == pdPASS )\r
- {\r
- xErrorDetected = pdTRUE;\r
- }\r
-\r
- /* We should be able to 'take' the semaphore countMAX_COUNT_VALUE times. */\r
- for( ux = 0; ux < countMAX_COUNT_VALUE; ux++ )\r
- {\r
- if( xSemaphoreTake( xSemaphore, countDONT_BLOCK ) != pdPASS )\r
- {\r
- /* We expected to be able to take the semaphore. */\r
- xErrorDetected = pdTRUE;\r
- }\r
-\r
- ( *puxLoopCounter )++;\r
- }\r
-\r
- #if configUSE_PREEMPTION == 0\r
- taskYIELD();\r
- #endif\r
-\r
- /* If the semaphore count is zero then we should not be able to 'take' \r
- the semaphore. */\r
- if( xSemaphoreTake( xSemaphore, countDONT_BLOCK ) == pdPASS )\r
- {\r
- xErrorDetected = pdTRUE;\r
- }\r
-}\r
-/*-----------------------------------------------------------*/\r
-\r
-static void prvIncrementSemaphoreCount( xSemaphoreHandle xSemaphore, unsigned portBASE_TYPE *puxLoopCounter )\r
-{\r
-unsigned portBASE_TYPE ux;\r
-\r
- /* If the semaphore count is zero then we should not be able to 'take' \r
- the semaphore. */\r
- if( xSemaphoreTake( xSemaphore, countDONT_BLOCK ) == pdPASS )\r
- {\r
- xErrorDetected = pdTRUE;\r
- }\r
-\r
- /* We should be able to 'give' the semaphore countMAX_COUNT_VALUE times. */\r
- for( ux = 0; ux < countMAX_COUNT_VALUE; ux++ )\r
- {\r
- if( xSemaphoreGive( xSemaphore ) != pdPASS )\r
- {\r
- /* We expected to be able to take the semaphore. */\r
- xErrorDetected = pdTRUE;\r
- }\r
-\r
- ( *puxLoopCounter )++;\r
- }\r
-\r
- #if configUSE_PREEMPTION == 0\r
- taskYIELD();\r
- #endif\r
-\r
- /* If the semaphore count is at its maximum then we should not be able to\r
- 'give' the semaphore. */\r
- if( xSemaphoreGive( xSemaphore ) == pdPASS )\r
- {\r
- xErrorDetected = pdTRUE;\r
- }\r
-}\r
-/*-----------------------------------------------------------*/\r
-\r
-static void prvCountingSemaphoreTask( void *pvParameters )\r
-{\r
-xCountSemStruct *pxParameter;\r
-\r
- #ifdef USE_STDIO\r
- void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );\r
- \r
- const portCHAR * const pcTaskStartMsg = "Counting semaphore demo started.\r\n";\r
-\r
- /* Queue a message for printing to say the task has started. */\r
- vPrintDisplayMessage( &pcTaskStartMsg );\r
- #endif\r
-\r
- /* The semaphore to be used was passed as the parameter. */\r
- pxParameter = ( xCountSemStruct * ) pvParameters;\r
-\r
- /* Did we expect to find the semaphore already at its max count value, or\r
- at zero? */\r
- if( pxParameter->uxExpectedStartCount == countSTART_AT_MAX_COUNT )\r
- {\r
- prvDecrementSemaphoreCount( pxParameter->xSemaphore, &( pxParameter->uxLoopCounter ) );\r
- }\r
-\r
- /* Now we expect the semaphore count to be 0, so this time there is an\r
- error if we can take the semaphore. */\r
- if( xSemaphoreTake( pxParameter->xSemaphore, 0 ) == pdPASS )\r
- {\r
- xErrorDetected = pdTRUE;\r
- }\r
-\r
- for( ;; )\r
- {\r
- prvIncrementSemaphoreCount( pxParameter->xSemaphore, &( pxParameter->uxLoopCounter ) );\r
- prvDecrementSemaphoreCount( pxParameter->xSemaphore, &( pxParameter->uxLoopCounter ) );\r
- }\r
-}\r
-/*-----------------------------------------------------------*/\r
-\r
-portBASE_TYPE xAreCountingSemaphoreTasksStillRunning( void )\r
-{\r
-static unsigned portBASE_TYPE uxLastCount0 = 0, uxLastCount1 = 0;\r
-portBASE_TYPE xReturn = pdPASS;\r
-\r
- /* Return fail if any 'give' or 'take' did not result in the expected\r
- behaviour. */\r
- if( xErrorDetected != pdFALSE )\r
- {\r
- xReturn = pdFAIL;\r
- }\r
-\r
- /* Return fail if either task is not still incrementing its loop counter. */\r
- if( uxLastCount0 == xParameters[ 0 ].uxLoopCounter )\r
- {\r
- xReturn = pdFAIL;\r
- }\r
- else\r
- {\r
- uxLastCount0 = xParameters[ 0 ].uxLoopCounter;\r
- }\r
-\r
- if( uxLastCount1 == xParameters[ 1 ].uxLoopCounter )\r
- {\r
- xReturn = pdFAIL;\r
- }\r
- else\r
- {\r
- uxLastCount1 = xParameters[ 1 ].uxLoopCounter;\r
- }\r
-\r
- return xReturn;\r
-}\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.
+*/
+
+
+/*
+ * Simple demonstration of the usage of counting semaphore.
+ */
+
+/* Scheduler include files. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "semphr.h"
+
+/* Demo program include files. */
+#include "countsem.h"
+
+/* The maximum count value that the semaphore used for the demo can hold. */
+#define countMAX_COUNT_VALUE ( 200 )
+
+/* Constants used to indicate whether or not the semaphore should have been
+created with its maximum count value, or its minimum count value. These
+numbers are used to ensure that the pointers passed in as the task parameters
+are valid. */
+#define countSTART_AT_MAX_COUNT ( 0xaa )
+#define countSTART_AT_ZERO ( 0x55 )
+
+/* Two tasks are created for the test. One uses a semaphore created with its
+count value set to the maximum, and one with the count value set to zero. */
+#define countNUM_TEST_TASKS ( 2 )
+#define countDONT_BLOCK ( 0 )
+
+/*-----------------------------------------------------------*/
+
+/* Flag that will be latched to pdTRUE should any unexpected behaviour be
+detected in any of the tasks. */
+static volatile portBASE_TYPE xErrorDetected = pdFALSE;
+
+/*-----------------------------------------------------------*/
+
+/*
+ * The demo task. This simply counts the semaphore up to its maximum value,
+ * the counts it back down again. The result of each semaphore 'give' and
+ * 'take' is inspected, with an error being flagged if it is found not to be
+ * the expected result.
+ */
+static void prvCountingSemaphoreTask( void *pvParameters );
+
+/*
+ * Utility function to increment the semaphore count value up from zero to
+ * countMAX_COUNT_VALUE.
+ */
+static void prvIncrementSemaphoreCount( xSemaphoreHandle xSemaphore, unsigned portBASE_TYPE *puxLoopCounter );
+
+/*
+ * Utility function to decrement the semaphore count value up from
+ * countMAX_COUNT_VALUE to zero.
+ */
+static void prvDecrementSemaphoreCount( xSemaphoreHandle xSemaphore, unsigned portBASE_TYPE *puxLoopCounter );
+
+/*-----------------------------------------------------------*/
+
+/* The structure that is passed into the task as the task parameter. */
+typedef struct COUNT_SEM_STRUCT
+{
+ /* The semaphore to be used for the demo. */
+ xSemaphoreHandle xSemaphore;
+
+ /* Set to countSTART_AT_MAX_COUNT if the semaphore should be created with
+ its count value set to its max count value, or countSTART_AT_ZERO if it
+ should have been created with its count value set to 0. */
+ unsigned portBASE_TYPE uxExpectedStartCount;
+
+ /* Incremented on each cycle of the demo task. Used to detect a stalled
+ task. */
+ unsigned portBASE_TYPE uxLoopCounter;
+} xCountSemStruct;
+
+/* Two structures are defined, one is passed to each test task. */
+static volatile xCountSemStruct xParameters[ countNUM_TEST_TASKS ];
+
+/*-----------------------------------------------------------*/
+
+void vStartCountingSemaphoreTasks( void )
+{
+ /* Create the semaphores that we are going to use for the test/demo. The
+ first should be created such that it starts at its maximum count value,
+ the second should be created such that it starts with a count value of zero. */
+ xParameters[ 0 ].xSemaphore = xSemaphoreCreateCounting( countMAX_COUNT_VALUE, countMAX_COUNT_VALUE );
+ xParameters[ 0 ].uxExpectedStartCount = countSTART_AT_MAX_COUNT;
+ xParameters[ 0 ].uxLoopCounter = 0;
+
+ xParameters[ 1 ].xSemaphore = xSemaphoreCreateCounting( countMAX_COUNT_VALUE, 0 );
+ xParameters[ 1 ].uxExpectedStartCount = 0;
+ xParameters[ 1 ].uxLoopCounter = 0;
+
+ /* Were the semaphores created? */
+ if( ( xParameters[ 0 ].xSemaphore != NULL ) || ( xParameters[ 1 ].xSemaphore != NULL ) )
+ {
+ /* Create the demo tasks, passing in the semaphore to use as the parameter. */
+ xTaskCreate( prvCountingSemaphoreTask, ( signed portCHAR * ) "CNT1", configMINIMAL_STACK_SIZE, ( void * ) &( xParameters[ 0 ] ), tskIDLE_PRIORITY, NULL );
+ xTaskCreate( prvCountingSemaphoreTask, ( signed portCHAR * ) "CNT2", configMINIMAL_STACK_SIZE, ( void * ) &( xParameters[ 1 ] ), tskIDLE_PRIORITY, NULL );
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvDecrementSemaphoreCount( xSemaphoreHandle xSemaphore, unsigned portBASE_TYPE *puxLoopCounter )
+{
+unsigned portBASE_TYPE ux;
+
+ /* If the semaphore count is at its maximum then we should not be able to
+ 'give' the semaphore. */
+ if( xSemaphoreGive( xSemaphore ) == pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* We should be able to 'take' the semaphore countMAX_COUNT_VALUE times. */
+ for( ux = 0; ux < countMAX_COUNT_VALUE; ux++ )
+ {
+ if( xSemaphoreTake( xSemaphore, countDONT_BLOCK ) != pdPASS )
+ {
+ /* We expected to be able to take the semaphore. */
+ xErrorDetected = pdTRUE;
+ }
+
+ ( *puxLoopCounter )++;
+ }
+
+ #if configUSE_PREEMPTION == 0
+ taskYIELD();
+ #endif
+
+ /* If the semaphore count is zero then we should not be able to 'take'
+ the semaphore. */
+ if( xSemaphoreTake( xSemaphore, countDONT_BLOCK ) == pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvIncrementSemaphoreCount( xSemaphoreHandle xSemaphore, unsigned portBASE_TYPE *puxLoopCounter )
+{
+unsigned portBASE_TYPE ux;
+
+ /* If the semaphore count is zero then we should not be able to 'take'
+ the semaphore. */
+ if( xSemaphoreTake( xSemaphore, countDONT_BLOCK ) == pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* We should be able to 'give' the semaphore countMAX_COUNT_VALUE times. */
+ for( ux = 0; ux < countMAX_COUNT_VALUE; ux++ )
+ {
+ if( xSemaphoreGive( xSemaphore ) != pdPASS )
+ {
+ /* We expected to be able to take the semaphore. */
+ xErrorDetected = pdTRUE;
+ }
+
+ ( *puxLoopCounter )++;
+ }
+
+ #if configUSE_PREEMPTION == 0
+ taskYIELD();
+ #endif
+
+ /* If the semaphore count is at its maximum then we should not be able to
+ 'give' the semaphore. */
+ if( xSemaphoreGive( xSemaphore ) == pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvCountingSemaphoreTask( void *pvParameters )
+{
+xCountSemStruct *pxParameter;
+
+ #ifdef USE_STDIO
+ void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
+
+ const portCHAR * const pcTaskStartMsg = "Counting semaphore demo started.\r\n";
+
+ /* Queue a message for printing to say the task has started. */
+ vPrintDisplayMessage( &pcTaskStartMsg );
+ #endif
+
+ /* The semaphore to be used was passed as the parameter. */
+ pxParameter = ( xCountSemStruct * ) pvParameters;
+
+ /* Did we expect to find the semaphore already at its max count value, or
+ at zero? */
+ if( pxParameter->uxExpectedStartCount == countSTART_AT_MAX_COUNT )
+ {
+ prvDecrementSemaphoreCount( pxParameter->xSemaphore, &( pxParameter->uxLoopCounter ) );
+ }
+
+ /* Now we expect the semaphore count to be 0, so this time there is an
+ error if we can take the semaphore. */
+ if( xSemaphoreTake( pxParameter->xSemaphore, 0 ) == pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ for( ;; )
+ {
+ prvIncrementSemaphoreCount( pxParameter->xSemaphore, &( pxParameter->uxLoopCounter ) );
+ prvDecrementSemaphoreCount( pxParameter->xSemaphore, &( pxParameter->uxLoopCounter ) );
+ }
+}
+/*-----------------------------------------------------------*/
+
+portBASE_TYPE xAreCountingSemaphoreTasksStillRunning( void )
+{
+static unsigned portBASE_TYPE uxLastCount0 = 0, uxLastCount1 = 0;
+portBASE_TYPE xReturn = pdPASS;
+
+ /* Return fail if any 'give' or 'take' did not result in the expected
+ behaviour. */
+ if( xErrorDetected != pdFALSE )
+ {
+ xReturn = pdFAIL;
+ }
+
+ /* Return fail if either task is not still incrementing its loop counter. */
+ if( uxLastCount0 == xParameters[ 0 ].uxLoopCounter )
+ {
+ xReturn = pdFAIL;
+ }
+ else
+ {
+ uxLastCount0 = xParameters[ 0 ].uxLoopCounter;
+ }
+
+ if( uxLastCount1 == xParameters[ 1 ].uxLoopCounter )
+ {
+ xReturn = pdFAIL;
+ }
+ else
+ {
+ uxLastCount1 = xParameters[ 1 ].uxLoopCounter;
+ }
+
+ 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 unsigned portSHORT usCheckVariable = ( unsigned portSHORT ) 0;\r
-static portBASE_TYPE xSuspendedQueueSendError = pdFALSE;\r
-static 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
- 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
+/*
+ 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 tasks defined on this page demonstrate the use of recursive mutexes.\r
-\r
- For recursive mutex functionality the created mutex should be created using\r
- xSemaphoreCreateRecursiveMutex(), then be manipulated\r
- using the xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() API\r
- functions.\r
-\r
- This demo creates three tasks all of which access the same recursive mutex:\r
-\r
- prvRecursiveMutexControllingTask() has the highest priority so executes \r
- first and grabs the mutex. It then performs some recursive accesses - \r
- between each of which it sleeps for a short period to let the lower \r
- priority tasks execute. When it has completed its demo functionality\r
- it gives the mutex back before suspending itself.\r
-\r
- prvRecursiveMutexBlockingTask() attempts to access the mutex by performing\r
- a blocking 'take'. The blocking task has a lower priority than the \r
- controlling task so by the time it executes the mutex has already been\r
- taken by the controlling task, causing the blocking task to block. It \r
- does not unblock until the controlling task has given the mutex back, \r
- and it does not actually run until the controlling task has suspended \r
- itself (due to the relative priorities). When it eventually does obtain\r
- the mutex all it does is give the mutex back prior to also suspending \r
- itself. At this point both the controlling task and the blocking task are \r
- suspended.\r
-\r
- prvRecursiveMutexPollingTask() runs at the idle priority. It spins round\r
- a tight loop attempting to obtain the mutex with a non-blocking call. As\r
- the lowest priority task it will not successfully obtain the mutex until\r
- both the controlling and blocking tasks are suspended. Once it eventually \r
- does obtain the mutex it first unsuspends both the controlling task and\r
- blocking task prior to giving the mutex back - resulting in the polling\r
- task temporarily inheriting the controlling tasks priority.\r
-*/\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 "recmutex.h"\r
-\r
-/* Priorities assigned to the three tasks. */\r
-#define recmuCONTROLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
-#define recmuBLOCKING_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )\r
-#define recmuPOLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 0 )\r
-\r
-/* The recursive call depth. */\r
-#define recmuMAX_COUNT ( 10 )\r
-\r
-/* Misc. */\r
-#define recmuSHORT_DELAY ( 20 / portTICK_RATE_MS )\r
-#define recmuNO_DELAY ( ( portTickType ) 0 )\r
-#define recmuTWO_TICK_DELAY ( ( portTickType ) 2 )\r
-\r
-/* The three tasks as described at the top of this file. */\r
-static void prvRecursiveMutexControllingTask( void *pvParameters );\r
-static void prvRecursiveMutexBlockingTask( void *pvParameters );\r
-static void prvRecursiveMutexPollingTask( void *pvParameters );\r
-\r
-/* The mutex used by the demo. */\r
-static xSemaphoreHandle xMutex;\r
-\r
-/* Variables used to detect and latch errors. */\r
-static portBASE_TYPE xErrorOccurred = pdFALSE, xControllingIsSuspended = pdFALSE, xBlockingIsSuspended = pdFALSE;\r
-static unsigned portBASE_TYPE uxControllingCycles = 0, uxBlockingCycles, uxPollingCycles = 0;\r
-\r
-/* Handles of the two higher priority tasks, required so they can be resumed \r
-(unsuspended). */\r
-static xTaskHandle xControllingTaskHandle, xBlockingTaskHandle;\r
-\r
-/*-----------------------------------------------------------*/\r
-\r
-void vStartRecursiveMutexTasks( void )\r
-{\r
- /* Just creates the mutex and the three tasks. */\r
-\r
- xMutex = xSemaphoreCreateRecursiveMutex();\r
-\r
- if( xMutex != NULL )\r
- {\r
- xTaskCreate( prvRecursiveMutexControllingTask, "Rec1", configMINIMAL_STACK_SIZE, NULL, recmuCONTROLLING_TASK_PRIORITY, &xControllingTaskHandle );\r
- xTaskCreate( prvRecursiveMutexBlockingTask, "Rec2", configMINIMAL_STACK_SIZE, NULL, recmuBLOCKING_TASK_PRIORITY, &xBlockingTaskHandle );\r
- xTaskCreate( prvRecursiveMutexPollingTask, "Rec3", configMINIMAL_STACK_SIZE, NULL, recmuPOLLING_TASK_PRIORITY, NULL );\r
- }\r
-}\r
-/*-----------------------------------------------------------*/\r
-\r
-static void prvRecursiveMutexControllingTask( void *pvParameters )\r
-{\r
-unsigned portBASE_TYPE ux;\r
-\r
- for( ;; )\r
- {\r
- /* Should not be able to 'give' the mutex, as we have not yet 'taken'\r
- it. */\r
- if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )\r
- {\r
- xErrorOccurred = pdTRUE;\r
- }\r
-\r
- for( ux = 0; ux < recmuMAX_COUNT; ux++ )\r
- {\r
- /* We should now be able to take the mutex as many times as\r
- we like. A one tick delay is used so the polling task will\r
- inherit our priority on all but the first cycle of this task. \r
- If we did not block attempting to receive the mutex then no\r
- priority inheritance would occur. */\r
- if( xSemaphoreTakeRecursive( xMutex, recmuTWO_TICK_DELAY ) != pdPASS )\r
- {\r
- xErrorOccurred = pdTRUE;\r
- }\r
-\r
- /* Ensure the other task attempting to access the mutex (and the\r
- other demo tasks) are able to execute. */\r
- vTaskDelay( recmuSHORT_DELAY );\r
- }\r
-\r
- /* For each time we took the mutex, give it back. */\r
- for( ux = 0; ux < recmuMAX_COUNT; ux++ )\r
- {\r
- /* Ensure the other task attempting to access the mutex (and the\r
- other demo tasks) are able to execute. */\r
- vTaskDelay( recmuSHORT_DELAY );\r
-\r
- /* We should now be able to give the mutex as many times as we\r
- took it. */\r
- if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )\r
- {\r
- xErrorOccurred = pdTRUE;\r
- }\r
- }\r
-\r
- /* Having given it back the same number of times as it was taken, we\r
- should no longer be the mutex owner, so the next give sh ould fail. */\r
- if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )\r
- {\r
- xErrorOccurred = pdTRUE;\r
- }\r
-\r
- /* Keep count of the number of cycles this task has performed so a \r
- stall can be detected. */\r
- uxControllingCycles++;\r
-\r
- /* Suspend ourselves to the blocking task can execute. */\r
- xControllingIsSuspended = pdTRUE;\r
- vTaskSuspend( NULL );\r
- xControllingIsSuspended = pdFALSE;\r
- }\r
-}\r
-/*-----------------------------------------------------------*/\r
-\r
-static void prvRecursiveMutexBlockingTask( void *pvParameters )\r
-{\r
- for( ;; )\r
- {\r
- /* Attempt to obtain the mutex. We should block until the \r
- controlling task has given up the mutex, and not actually execute\r
- past this call until the controlling task is suspended. */\r
- if( xSemaphoreTakeRecursive( xMutex, portMAX_DELAY ) == pdPASS )\r
- {\r
- if( xControllingIsSuspended != pdTRUE )\r
- {\r
- /* Did not expect to execute until the controlling task was\r
- suspended. */\r
- xErrorOccurred = pdTRUE;\r
- }\r
- else\r
- {\r
- /* Give the mutex back before suspending ourselves to allow\r
- the polling task to obtain the mutex. */\r
- if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )\r
- {\r
- xErrorOccurred = pdTRUE;\r
- }\r
-\r
- xBlockingIsSuspended = pdTRUE;\r
- vTaskSuspend( NULL );\r
- xBlockingIsSuspended = pdFALSE;\r
- }\r
- }\r
- else\r
- {\r
- /* We should not leave the xSemaphoreTakeRecursive() function\r
- until the mutex was obtained. */\r
- xErrorOccurred = pdTRUE;\r
- }\r
-\r
- /* The controlling and blocking tasks should be in lock step. */\r
- if( uxControllingCycles != ( uxBlockingCycles + 1 ) )\r
- {\r
- xErrorOccurred = pdTRUE;\r
- }\r
-\r
- /* Keep count of the number of cycles this task has performed so a \r
- stall can be detected. */\r
- uxBlockingCycles++;\r
- }\r
-}\r
-/*-----------------------------------------------------------*/\r
-\r
-static void prvRecursiveMutexPollingTask( void *pvParameters )\r
-{\r
- for( ;; )\r
- {\r
- /* Keep attempting to obtain the mutex. We should only obtain it when\r
- the blocking task has suspended itself. */\r
- if( xSemaphoreTakeRecursive( xMutex, recmuNO_DELAY ) == pdPASS )\r
- {\r
- /* Is the blocking task suspended? */\r
- if( xBlockingIsSuspended != pdTRUE )\r
- {\r
- xErrorOccurred = pdTRUE;\r
- }\r
- else\r
- {\r
- /* Keep count of the number of cycles this task has performed so \r
- a stall can be detected. */\r
- uxPollingCycles++;\r
-\r
- /* We can resume the other tasks here even though they have a\r
- higher priority than the polling task. When they execute they\r
- will attempt to obtain the mutex but fail because the polling\r
- task is still the mutex holder. The polling task (this task)\r
- will then inherit the higher priority. */ \r
- vTaskResume( xBlockingTaskHandle );\r
- vTaskResume( xControllingTaskHandle );\r
- \r
- /* Release the mutex, disinheriting the higher priority again. */\r
- if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )\r
- {\r
- xErrorOccurred = pdTRUE;\r
- }\r
- }\r
- }\r
-\r
- #if configUSE_PREEMPTION == 0\r
- {\r
- taskYIELD();\r
- }\r
- #endif\r
- }\r
-}\r
-/*-----------------------------------------------------------*/\r
-\r
-/* This is called to check that all the created tasks are still running. */\r
-portBASE_TYPE xAreRecursiveMutexTasksStillRunning( void )\r
-{\r
-portBASE_TYPE xReturn;\r
-static unsigned portBASE_TYPE uxLastControllingCycles = 0, uxLastBlockingCycles = 0, uxLastPollingCycles = 0;\r
-\r
- /* Is the controlling task still cycling? */\r
- if( uxLastControllingCycles == uxControllingCycles )\r
- {\r
- xErrorOccurred = pdTRUE;\r
- }\r
- else\r
- {\r
- uxLastControllingCycles = uxControllingCycles;\r
- }\r
-\r
- /* Is the blocking task still cycling? */\r
- if( uxLastBlockingCycles == uxBlockingCycles )\r
- {\r
- xErrorOccurred = pdTRUE;\r
- }\r
- else\r
- {\r
- uxLastBlockingCycles = uxBlockingCycles;\r
- }\r
-\r
- /* Is the polling task still cycling? */\r
- if( uxLastPollingCycles == uxPollingCycles )\r
- {\r
- xErrorOccurred = pdTRUE;\r
- }\r
- else\r
- {\r
- uxLastPollingCycles = uxPollingCycles;\r
- }\r
-\r
- if( xErrorOccurred == pdTRUE )\r
- {\r
- xReturn = pdFAIL;\r
- }\r
- else\r
- {\r
- xReturn = pdTRUE;\r
- }\r
-\r
- return xReturn;\r
-}\r
-\r
-\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.
+*/
+
+/*
+ The tasks defined on this page demonstrate the use of recursive mutexes.
+
+ For recursive mutex functionality the created mutex should be created using
+ xSemaphoreCreateRecursiveMutex(), then be manipulated
+ using the xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() API
+ functions.
+
+ This demo creates three tasks all of which access the same recursive mutex:
+
+ prvRecursiveMutexControllingTask() has the highest priority so executes
+ first and grabs the mutex. It then performs some recursive accesses -
+ between each of which it sleeps for a short period to let the lower
+ priority tasks execute. When it has completed its demo functionality
+ it gives the mutex back before suspending itself.
+
+ prvRecursiveMutexBlockingTask() attempts to access the mutex by performing
+ a blocking 'take'. The blocking task has a lower priority than the
+ controlling task so by the time it executes the mutex has already been
+ taken by the controlling task, causing the blocking task to block. It
+ does not unblock until the controlling task has given the mutex back,
+ and it does not actually run until the controlling task has suspended
+ itself (due to the relative priorities). When it eventually does obtain
+ the mutex all it does is give the mutex back prior to also suspending
+ itself. At this point both the controlling task and the blocking task are
+ suspended.
+
+ prvRecursiveMutexPollingTask() runs at the idle priority. It spins round
+ a tight loop attempting to obtain the mutex with a non-blocking call. As
+ the lowest priority task it will not successfully obtain the mutex until
+ both the controlling and blocking tasks are suspended. Once it eventually
+ does obtain the mutex it first unsuspends both the controlling task and
+ blocking task prior to giving the mutex back - resulting in the polling
+ task temporarily inheriting the controlling tasks priority.
+*/
+
+/* Scheduler include files. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "semphr.h"
+
+/* Demo app include files. */
+#include "recmutex.h"
+
+/* Priorities assigned to the three tasks. */
+#define recmuCONTROLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
+#define recmuBLOCKING_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
+#define recmuPOLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 0 )
+
+/* The recursive call depth. */
+#define recmuMAX_COUNT ( 10 )
+
+/* Misc. */
+#define recmuSHORT_DELAY ( 20 / portTICK_RATE_MS )
+#define recmuNO_DELAY ( ( portTickType ) 0 )
+#define recmuTWO_TICK_DELAY ( ( portTickType ) 2 )
+
+/* The three tasks as described at the top of this file. */
+static void prvRecursiveMutexControllingTask( void *pvParameters );
+static void prvRecursiveMutexBlockingTask( void *pvParameters );
+static void prvRecursiveMutexPollingTask( void *pvParameters );
+
+/* The mutex used by the demo. */
+static xSemaphoreHandle xMutex;
+
+/* Variables used to detect and latch errors. */
+static volatile portBASE_TYPE xErrorOccurred = pdFALSE, xControllingIsSuspended = pdFALSE, xBlockingIsSuspended = pdFALSE;
+static volatile unsigned portBASE_TYPE uxControllingCycles = 0, uxBlockingCycles, uxPollingCycles = 0;
+
+/* Handles of the two higher priority tasks, required so they can be resumed
+(unsuspended). */
+static xTaskHandle xControllingTaskHandle, xBlockingTaskHandle;
+
+/*-----------------------------------------------------------*/
+
+void vStartRecursiveMutexTasks( void )
+{
+ /* Just creates the mutex and the three tasks. */
+
+ xMutex = xSemaphoreCreateRecursiveMutex();
+
+ if( xMutex != NULL )
+ {
+ xTaskCreate( prvRecursiveMutexControllingTask, "Rec1", configMINIMAL_STACK_SIZE, NULL, recmuCONTROLLING_TASK_PRIORITY, &xControllingTaskHandle );
+ xTaskCreate( prvRecursiveMutexBlockingTask, "Rec2", configMINIMAL_STACK_SIZE, NULL, recmuBLOCKING_TASK_PRIORITY, &xBlockingTaskHandle );
+ xTaskCreate( prvRecursiveMutexPollingTask, "Rec3", configMINIMAL_STACK_SIZE, NULL, recmuPOLLING_TASK_PRIORITY, NULL );
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvRecursiveMutexControllingTask( void *pvParameters )
+{
+unsigned portBASE_TYPE ux;
+
+ for( ;; )
+ {
+ /* Should not be able to 'give' the mutex, as we have not yet 'taken'
+ it. */
+ if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )
+ {
+ xErrorOccurred = pdTRUE;
+ }
+
+ for( ux = 0; ux < recmuMAX_COUNT; ux++ )
+ {
+ /* We should now be able to take the mutex as many times as
+ we like. A one tick delay is used so the polling task will
+ inherit our priority on all but the first cycle of this task.
+ If we did not block attempting to receive the mutex then no
+ priority inheritance would occur. */
+ if( xSemaphoreTakeRecursive( xMutex, recmuTWO_TICK_DELAY ) != pdPASS )
+ {
+ xErrorOccurred = pdTRUE;
+ }
+
+ /* Ensure the other task attempting to access the mutex (and the
+ other demo tasks) are able to execute. */
+ vTaskDelay( recmuSHORT_DELAY );
+ }
+
+ /* For each time we took the mutex, give it back. */
+ for( ux = 0; ux < recmuMAX_COUNT; ux++ )
+ {
+ /* Ensure the other task attempting to access the mutex (and the
+ other demo tasks) are able to execute. */
+ vTaskDelay( recmuSHORT_DELAY );
+
+ /* We should now be able to give the mutex as many times as we
+ took it. */
+ if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
+ {
+ xErrorOccurred = pdTRUE;
+ }
+ }
+
+ /* Having given it back the same number of times as it was taken, we
+ should no longer be the mutex owner, so the next give sh ould fail. */
+ if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )
+ {
+ xErrorOccurred = pdTRUE;
+ }
+
+ /* Keep count of the number of cycles this task has performed so a
+ stall can be detected. */
+ uxControllingCycles++;
+
+ /* Suspend ourselves to the blocking task can execute. */
+ xControllingIsSuspended = pdTRUE;
+ vTaskSuspend( NULL );
+ xControllingIsSuspended = pdFALSE;
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvRecursiveMutexBlockingTask( void *pvParameters )
+{
+ for( ;; )
+ {
+ /* Attempt to obtain the mutex. We should block until the
+ controlling task has given up the mutex, and not actually execute
+ past this call until the controlling task is suspended. */
+ if( xSemaphoreTakeRecursive( xMutex, portMAX_DELAY ) == pdPASS )
+ {
+ if( xControllingIsSuspended != pdTRUE )
+ {
+ /* Did not expect to execute until the controlling task was
+ suspended. */
+ xErrorOccurred = pdTRUE;
+ }
+ else
+ {
+ /* Give the mutex back before suspending ourselves to allow
+ the polling task to obtain the mutex. */
+ if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
+ {
+ xErrorOccurred = pdTRUE;
+ }
+
+ xBlockingIsSuspended = pdTRUE;
+ vTaskSuspend( NULL );
+ xBlockingIsSuspended = pdFALSE;
+ }
+ }
+ else
+ {
+ /* We should not leave the xSemaphoreTakeRecursive() function
+ until the mutex was obtained. */
+ xErrorOccurred = pdTRUE;
+ }
+
+ /* The controlling and blocking tasks should be in lock step. */
+ if( uxControllingCycles != ( uxBlockingCycles + 1 ) )
+ {
+ xErrorOccurred = pdTRUE;
+ }
+
+ /* Keep count of the number of cycles this task has performed so a
+ stall can be detected. */
+ uxBlockingCycles++;
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvRecursiveMutexPollingTask( void *pvParameters )
+{
+ for( ;; )
+ {
+ /* Keep attempting to obtain the mutex. We should only obtain it when
+ the blocking task has suspended itself. */
+ if( xSemaphoreTakeRecursive( xMutex, recmuNO_DELAY ) == pdPASS )
+ {
+ /* Is the blocking task suspended? */
+ if( xBlockingIsSuspended != pdTRUE )
+ {
+ xErrorOccurred = pdTRUE;
+ }
+ else
+ {
+ /* Keep count of the number of cycles this task has performed so
+ a stall can be detected. */
+ uxPollingCycles++;
+
+ /* We can resume the other tasks here even though they have a
+ higher priority than the polling task. When they execute they
+ will attempt to obtain the mutex but fail because the polling
+ task is still the mutex holder. The polling task (this task)
+ will then inherit the higher priority. */
+ vTaskResume( xBlockingTaskHandle );
+ vTaskResume( xControllingTaskHandle );
+
+ /* Release the mutex, disinheriting the higher priority again. */
+ if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
+ {
+ xErrorOccurred = pdTRUE;
+ }
+ }
+ }
+
+ #if configUSE_PREEMPTION == 0
+ {
+ taskYIELD();
+ }
+ #endif
+ }
+}
+/*-----------------------------------------------------------*/
+
+/* This is called to check that all the created tasks are still running. */
+portBASE_TYPE xAreRecursiveMutexTasksStillRunning( void )
+{
+portBASE_TYPE xReturn;
+static unsigned portBASE_TYPE uxLastControllingCycles = 0, uxLastBlockingCycles = 0, uxLastPollingCycles = 0;
+
+ /* Is the controlling task still cycling? */
+ if( uxLastControllingCycles == uxControllingCycles )
+ {
+ xErrorOccurred = pdTRUE;
+ }
+ else
+ {
+ uxLastControllingCycles = uxControllingCycles;
+ }
+
+ /* Is the blocking task still cycling? */
+ if( uxLastBlockingCycles == uxBlockingCycles )
+ {
+ xErrorOccurred = pdTRUE;
+ }
+ else
+ {
+ uxLastBlockingCycles = uxBlockingCycles;
+ }
+
+ /* Is the polling task still cycling? */
+ if( uxLastPollingCycles == uxPollingCycles )
+ {
+ xErrorOccurred = pdTRUE;
+ }
+ else
+ {
+ uxLastPollingCycles = uxPollingCycles;
+ }
+
+ if( xErrorOccurred == pdTRUE )
+ {
+ xReturn = pdFAIL;
+ }
+ else
+ {
+ xReturn = pdTRUE;
+ }
+
+ return xReturn;
+}
+
+
+
+
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