From d7eda24f8123e84f65c3fdfc7898c9d89da73e40 Mon Sep 17 00:00:00 2001 From: rtel Date: Tue, 12 Jan 2016 15:52:44 +0000 Subject: [PATCH] Kernel changes: Minor change to xQueueGenericReceive() to catch the extreme case of data being placed into a queue between a task timing out and leaving the xQueueGenericReceive() function. Added xSemaphoreGetCount() macro. Demo app changes: Updated countsem.c to test the new xSemaphoreGetCount() macro. git-svn-id: https://svn.code.sf.net/p/freertos/code/trunk@2401 1d2547de-c912-0410-9cb9-b8ca96c0e9e2 --- FreeRTOS/Demo/Common/Minimal/countsem.c | 27 +++++++++++++++---------- FreeRTOS/Source/include/FreeRTOS.h | 4 ++++ FreeRTOS/Source/include/semphr.h | 12 +++++++++++ FreeRTOS/Source/queue.c | 16 ++++++++++----- FreeRTOS/Source/tasks.c | 13 +++++++++--- 5 files changed, 53 insertions(+), 19 deletions(-) diff --git a/FreeRTOS/Demo/Common/Minimal/countsem.c b/FreeRTOS/Demo/Common/Minimal/countsem.c index bbf797d1c..bf6f2bbb8 100644 --- a/FreeRTOS/Demo/Common/Minimal/countsem.c +++ b/FreeRTOS/Demo/Common/Minimal/countsem.c @@ -68,7 +68,7 @@ */ -/* +/* * Simple demonstration of the usage of counting semaphore. */ @@ -84,7 +84,7 @@ #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 +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 ) @@ -118,7 +118,7 @@ static void prvCountingSemaphoreTask( void *pvParameters ); static void prvIncrementSemaphoreCount( SemaphoreHandle_t xSemaphore, UBaseType_t *puxLoopCounter ); /* - * Utility function to decrement the semaphore count value up from + * Utility function to decrement the semaphore count value up from * countMAX_COUNT_VALUE to zero. */ static void prvDecrementSemaphoreCount( SemaphoreHandle_t xSemaphore, UBaseType_t *puxLoopCounter ); @@ -134,11 +134,11 @@ typedef struct COUNT_SEM_STRUCT /* 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. */ - UBaseType_t uxExpectedStartCount; + UBaseType_t uxExpectedStartCount; /* Incremented on each cycle of the demo task. Used to detect a stalled task. */ - UBaseType_t uxLoopCounter; + UBaseType_t uxLoopCounter; } xCountSemStruct; /* Two structures are defined, one is passed to each test task. */ @@ -160,10 +160,10 @@ void vStartCountingSemaphoreTasks( void ) xParameters[ 1 ].uxLoopCounter = 0; /* vQueueAddToRegistry() adds the semaphore to the registry, if one is - in use. The registry is provided as a means for kernel aware + in use. The registry is provided as a means for kernel aware debuggers to locate semaphores and has no purpose if a kernel aware debugger is not being used. The call to vQueueAddToRegistry() will be removed - by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is + by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is defined to be less than 1. */ vQueueAddToRegistry( ( QueueHandle_t ) xParameters[ 0 ].xSemaphore, "Counting_Sem_1" ); vQueueAddToRegistry( ( QueueHandle_t ) xParameters[ 1 ].xSemaphore, "Counting_Sem_2" ); @@ -174,7 +174,7 @@ void vStartCountingSemaphoreTasks( void ) { /* Create the demo tasks, passing in the semaphore to use as the parameter. */ xTaskCreate( prvCountingSemaphoreTask, "CNT1", configMINIMAL_STACK_SIZE, ( void * ) &( xParameters[ 0 ] ), tskIDLE_PRIORITY, NULL ); - xTaskCreate( prvCountingSemaphoreTask, "CNT2", configMINIMAL_STACK_SIZE, ( void * ) &( xParameters[ 1 ] ), tskIDLE_PRIORITY, NULL ); + xTaskCreate( prvCountingSemaphoreTask, "CNT2", configMINIMAL_STACK_SIZE, ( void * ) &( xParameters[ 1 ] ), tskIDLE_PRIORITY, NULL ); } } /*-----------------------------------------------------------*/ @@ -193,6 +193,8 @@ UBaseType_t ux; /* We should be able to 'take' the semaphore countMAX_COUNT_VALUE times. */ for( ux = 0; ux < countMAX_COUNT_VALUE; ux++ ) { + configASSERT( xSemaphoreGetCount( xSemaphore ) == ( countMAX_COUNT_VALUE - ux ) ); + if( xSemaphoreTake( xSemaphore, countDONT_BLOCK ) != pdPASS ) { /* We expected to be able to take the semaphore. */ @@ -206,8 +208,9 @@ UBaseType_t ux; taskYIELD(); #endif - /* If the semaphore count is zero then we should not be able to 'take' + /* If the semaphore count is zero then we should not be able to 'take' the semaphore. */ + configASSERT( xSemaphoreGetCount( xSemaphore ) == 0 ); if( xSemaphoreTake( xSemaphore, countDONT_BLOCK ) == pdPASS ) { xErrorDetected = pdTRUE; @@ -219,7 +222,7 @@ static void prvIncrementSemaphoreCount( SemaphoreHandle_t xSemaphore, UBaseType_ { UBaseType_t ux; - /* If the semaphore count is zero then we should not be able to 'take' + /* If the semaphore count is zero then we should not be able to 'take' the semaphore. */ if( xSemaphoreTake( xSemaphore, countDONT_BLOCK ) == pdPASS ) { @@ -229,6 +232,8 @@ UBaseType_t ux; /* We should be able to 'give' the semaphore countMAX_COUNT_VALUE times. */ for( ux = 0; ux < countMAX_COUNT_VALUE; ux++ ) { + configASSERT( xSemaphoreGetCount( xSemaphore ) == ux ); + if( xSemaphoreGive( xSemaphore ) != pdPASS ) { /* We expected to be able to take the semaphore. */ @@ -257,7 +262,7 @@ xCountSemStruct *pxParameter; #ifdef USE_STDIO void vPrintDisplayMessage( const char * const * ppcMessageToSend ); - + const char * const pcTaskStartMsg = "Counting semaphore demo started.\r\n"; /* Queue a message for printing to say the task has started. */ diff --git a/FreeRTOS/Source/include/FreeRTOS.h b/FreeRTOS/Source/include/FreeRTOS.h index a0e55e6d8..9d7a3f332 100644 --- a/FreeRTOS/Source/include/FreeRTOS.h +++ b/FreeRTOS/Source/include/FreeRTOS.h @@ -776,6 +776,10 @@ extern "C" { #define configSUPPORT_STATIC_ALLOCATION 0 #endif +#if( ( configUSE_RECURSIVE_MUTEXES == 1 ) && ( configUSE_MUTEXES != 1 ) ) + #error configUSE_MUTEXES must be set to 1 to use recursive mutexes +#endif + #if( portTICK_TYPE_IS_ATOMIC == 0 ) /* Either variables of tick type cannot be read atomically, or portTICK_TYPE_IS_ATOMIC was not set - map the critical sections used when diff --git a/FreeRTOS/Source/include/semphr.h b/FreeRTOS/Source/include/semphr.h index ab00d09d7..4a1e72969 100644 --- a/FreeRTOS/Source/include/semphr.h +++ b/FreeRTOS/Source/include/semphr.h @@ -839,6 +839,18 @@ typedef QueueHandle_t SemaphoreHandle_t; */ #define xSemaphoreGetMutexHolder( xSemaphore ) xQueueGetMutexHolder( ( xSemaphore ) ) +/** + * semphr.h + * 
TaskHandle_t xSemaphoreGetCount( SemaphoreHandle_t xMutex );
+ * + * If the semaphore is a counting semaphore then xSemaphoreGetCount() returns + * its current count value. If the semaphore is a binary semaphore then + * xSemaphoreGetCount() returns 1 if the semaphore is available, and 0 if the + * semaphore is not available. + * + */ +#define xSemaphoreGetCount( xSemaphore ) uxQueueMessagesWaiting( ( QueueHandle_t ) ( xSemaphore ) ) + #endif /* SEMAPHORE_H */ diff --git a/FreeRTOS/Source/queue.c b/FreeRTOS/Source/queue.c index b74b4efa1..0404b881a 100644 --- a/FreeRTOS/Source/queue.c +++ b/FreeRTOS/Source/queue.c @@ -797,8 +797,6 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue; prvUnlockQueue( pxQueue ); ( void ) xTaskResumeAll(); - /* Return to the original privilege level before exiting the - function. */ traceQUEUE_SEND_FAILED( pxQueue ); return errQUEUE_FULL; } @@ -1385,7 +1383,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue; taskENTER_CRITICAL(); { /* Is there data in the queue now? To be running the calling task - must be the highest priority task wanting to access the queue. */ + must be the highest priority task wanting to access the queue. */ if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 ) { /* Remember the read position in case the queue is only being @@ -1541,8 +1539,16 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue; { prvUnlockQueue( pxQueue ); ( void ) xTaskResumeAll(); - traceQUEUE_RECEIVE_FAILED( pxQueue ); - return errQUEUE_EMPTY; + + if( prvIsQueueEmpty( pxQueue ) != pdFALSE ) + { + traceQUEUE_RECEIVE_FAILED( pxQueue ); + return errQUEUE_EMPTY; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } } } } diff --git a/FreeRTOS/Source/tasks.c b/FreeRTOS/Source/tasks.c index 04208ca4a..c3c343ab4 100644 --- a/FreeRTOS/Source/tasks.c +++ b/FreeRTOS/Source/tasks.c @@ -1618,7 +1618,7 @@ uint16_t usIdleTaskStackSize = tskIDLE_STACK_SIZE; configASSERT( xReturn ); } - /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0, + /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0, meaning xIdleTaskHandle is not used anywhere else. */ ( void ) xIdleTaskHandle; } @@ -2732,9 +2732,13 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters ) /* Stop warnings. */ ( void ) pvParameters; + /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE + SCHEDULER IS STARTED. **/ + for( ;; ) { - /* See if any tasks have been deleted. */ + /* See if any tasks have deleted themselves - if so then the idle task + is responsible for freeing the deleted task's TCB and stack. */ prvCheckTasksWaitingTermination(); #if ( configUSE_PREEMPTION == 0 ) @@ -3029,7 +3033,7 @@ UBaseType_t x; the calling task. */ pxTCB = prvGetTCBFromHandle( xTaskToModify ); - vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 ); + vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 ); } #endif /* portUSING_MPU_WRAPPERS */ @@ -3069,6 +3073,9 @@ UBaseType_t uxPriority; static void prvCheckTasksWaitingTermination( void ) { + + /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/ + #if ( INCLUDE_vTaskDelete == 1 ) { BaseType_t xListIsEmpty; -- 2.39.5