-/*\r
- * FreeRTOS Kernel V10.1.0\r
- * Copyright (C) 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.\r
- *\r
- * Permission is hereby granted, free of charge, to any person obtaining a copy of\r
- * this software and associated documentation files (the "Software"), to deal in\r
- * the Software without restriction, including without limitation the rights to\r
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of\r
- * the Software, and to permit persons to whom the Software is furnished to do so,\r
- * subject to the following conditions:\r
- *\r
- * The above copyright notice and this permission notice shall be included in all\r
- * copies or substantial portions of the Software.\r
- *\r
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\r
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS\r
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR\r
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER\r
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN\r
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.\r
- *\r
- * http://www.FreeRTOS.org\r
- * http://aws.amazon.com/freertos\r
- *\r
- * 1 tab == 4 spaces!\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 ( ( TickType_t ) 128 / portTICK_PERIOD_MS )\r
-#define priLOOPS ( 5 )\r
-#define priMAX_COUNT ( ( unsigned long ) 0xff )\r
-#define priNO_BLOCK ( ( TickType_t ) 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 TaskHandle_t 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 long ulCounter;\r
-\r
-/* Variables used to check that the tasks are still operating without error.\r
-Each complete iteration of the controller task increments this variable\r
-provided no errors have been found. The variable maintaining the same value\r
-is therefore indication of an error. */\r
-static volatile unsigned short usCheckVariable = ( unsigned short ) 0;\r
-static volatile portBASE_TYPE xSuspendedQueueSendError = pdFALSE;\r
-static volatile portBASE_TYPE xSuspendedQueueReceiveError = pdFALSE;\r
-\r
-/* Queue used by the second test. */\r
-static QueueHandle_t 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 long ) );\r
-\r
- /* vQueueAddToRegistry() adds the queue to the queue registry, if one is\r
- in use. The queue registry is provided as a means for kernel aware\r
- debuggers to locate queues and has no purpose if a kernel aware debugger\r
- is not being used. The call to vQueueAddToRegistry() will be removed\r
- by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is\r
- defined to be less than 1. */\r
- vQueueAddToRegistry( xSuspendedTestQueue, ( signed char * ) "Suspended_Test_Queue" );\r
-\r
- xTaskCreate( vContinuousIncrementTask, "CNT_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY, &xContinousIncrementHandle );\r
- xTaskCreate( vLimitedIncrementTask, "LIM_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY + 1, &xLimitedIncrementHandle );\r
- xTaskCreate( vCounterControlTask, "C_CTRL", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\r
- xTaskCreate( vQueueSendWhenSuspendedTask, "SUSP_TX", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\r
- xTaskCreate( vQueueReceiveWhenSuspendedTask, "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 long *pulCounter;\r
-\r
- /* Take a pointer to the shared variable from the parameters passed into\r
- the task. */\r
- pulCounter = ( unsigned long * ) 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 long *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 long * ) 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 long ulLastCounter;\r
-short sLoops;\r
-short 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 long ) 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 long ) 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 long ulValueToSend = ( unsigned long ) 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 long ulExpectedValue = ( unsigned long ) 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 short usLastTaskCheck = ( unsigned short ) 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
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