mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-08-19 09:38:32 -04:00
Core kernel code:
+ Introduce xSemaphoreGenericGiveFromISR() as an optimisation when giving semaphores and mutexes from an interrupt. Demo applications: + Update IntSemTest.c to provide more code coverage in xSemaphoreGenericGiveFromISR(). + Ensure the MMU is turned on in the RZ IAR demo. It was already on in the RZ ARM demo.
This commit is contained in:
Richard Barry
parent
b3c040fc27
commit
3b0854bf96
9 changed files with 509 additions and 179 deletions
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@ -91,6 +91,10 @@
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/* A block time of 0 means 'don't block'. */
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#define intsemNO_BLOCK 0
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/* The maximum count value for the counting semaphore given from an
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interrupt. */
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#define intsemMAX_COUNT 3
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/*-----------------------------------------------------------*/
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/*
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@ -106,6 +110,26 @@
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static void vInterruptMutexSlaveTask( void *pvParameters );
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static void vInterruptMutexMasterTask( void *pvParameters );
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/*
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* A test whereby the master takes the shared and interrupt mutexes in that
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* order, then gives them back in the same order, ensuring the priority
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* inheritance is behaving as expected at each step.
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*/
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static void prvTakeAndGiveInTheSameOrder( void );
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/*
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* A test whereby the master takes the shared and interrupt mutexes in that
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* order, then gives them back in the opposite order to which they were taken,
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* ensuring the priority inheritance is behaving as expected at each step.
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*/
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static void prvTakeAndGiveInTheOppositeOrder( void );
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/*
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* A simple task that interacts with an interrupt using a counting semaphore,
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* primarily for code coverage purposes.
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*/
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static void vInterruptCountingSemaphoreTask( void *pvParameters );
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/*-----------------------------------------------------------*/
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/* Flag that will be latched to pdTRUE should any unexpected behaviour be
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@ -114,7 +138,7 @@ static volatile BaseType_t xErrorDetected = pdFALSE;
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/* Counters that are incremented on each cycle of a test. This is used to
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detect a stalled task - a test that is no longer running. */
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static volatile uint32_t ulMasterLoops = 0;
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static volatile uint32_t ulMasterLoops = 0, ulCountingSemaphoreLoops = 0;
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/* Handles of the test tasks that must be accessed from other test tasks. */
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static TaskHandle_t xSlaveHandle;
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@ -124,6 +148,9 @@ not be used given in interrupts (and definitely never taken in an interrupt)
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there are some circumstances when it may be desirable. */
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static SemaphoreHandle_t xISRMutex = NULL;
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/* A counting semaphore which is given from an interrupt. */
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static SemaphoreHandle_t xISRCountingSemaphore = NULL;
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/* A mutex which is shared between the master and slave tasks - the master
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does both sharing of this mutex with the slave and receiving a mutex from the
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interrupt. */
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@ -132,15 +159,20 @@ static SemaphoreHandle_t xMasterSlaveMutex = NULL;
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/* Flag that allows the master task to control when the interrupt gives or does
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not give the mutex. There is no mutual exclusion on this variable, but this is
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only test code and it should be fine in the 32=bit test environment. */
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static BaseType_t xOkToGiveMutex = pdFALSE;
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static BaseType_t xOkToGiveMutex = pdFALSE, xOkToGiveCountingSemaphore = pdFALSE;
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/* Used to coordinate timing between tasks and the interrupt. */
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const TickType_t xInterruptGivePeriod = pdMS_TO_TICKS( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS );
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/*-----------------------------------------------------------*/
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void vStartInterruptSemaphoreTasks( void )
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{
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/* Create the mutex that is given from an interrupt. */
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/* Create the semaphores that are given from an interrupt. */
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xISRMutex = xSemaphoreCreateMutex();
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configASSERT( xISRMutex );
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xISRCountingSemaphore = xSemaphoreCreateCounting( intsemMAX_COUNT, 0 );
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configASSERT( xISRCountingSemaphore );
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/* Create the mutex that is shared between the master and slave tasks (the
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master receives a mutex from an interrupt and shares a mutex with the
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@ -151,163 +183,26 @@ void vStartInterruptSemaphoreTasks( void )
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/* Create the tasks that share mutexes between then and with interrupts. */
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xTaskCreate( vInterruptMutexSlaveTask, "IntMuS", configMINIMAL_STACK_SIZE, NULL, intsemSLAVE_PRIORITY, &xSlaveHandle );
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xTaskCreate( vInterruptMutexMasterTask, "IntMuM", configMINIMAL_STACK_SIZE, NULL, intsemMASTER_PRIORITY, NULL );
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/* Create the task that blocks on the counting semaphore. */
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xTaskCreate( vInterruptCountingSemaphoreTask, "IntCnt", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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}
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/*-----------------------------------------------------------*/
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static void vInterruptMutexMasterTask( void *pvParameters )
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{
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const TickType_t xInterruptGivePeriod = pdMS_TO_TICKS( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS );
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/* Just to avoid compiler warnings. */
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( void ) pvParameters;
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for( ;; )
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{
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/* Ensure the slave is suspended, and that this task is running at the
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lower priority as expected as the start conditions. */
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#if( INCLUDE_eTaskGetState == 1 )
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{
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configASSERT( eTaskGetState( xSlaveHandle ) == eSuspended );
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}
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#endif /* INCLUDE_eTaskGetState */
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if( uxTaskPriorityGet( NULL ) != intsemMASTER_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* Take the semaphore that is shared with the slave. */
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if( xSemaphoreTake( xMasterSlaveMutex, intsemNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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/* This task now has the mutex. Unsuspend the slave so it too
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attempts to take the mutex. */
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vTaskResume( xSlaveHandle );
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/* The slave has the higher priority so should now have executed and
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blocked on the semaphore. */
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#if( INCLUDE_eTaskGetState == 1 )
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{
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configASSERT( eTaskGetState( xSlaveHandle ) == eBlocked );
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}
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#endif /* INCLUDE_eTaskGetState */
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/* This task should now have inherited the priority of the slave
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task. */
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if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* Now wait a little longer than the time between ISR gives to also
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obtain the ISR mutex. */
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xOkToGiveMutex = pdTRUE;
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if( xSemaphoreTake( xISRMutex, ( xInterruptGivePeriod * 2 ) ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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xOkToGiveMutex = pdFALSE;
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/* Attempting to take again immediately should fail as the mutex is
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already held. */
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if( xSemaphoreTake( xISRMutex, intsemNO_BLOCK ) != pdFAIL )
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{
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xErrorDetected = pdTRUE;
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}
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/* Should still be at the priority of the slave task. */
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if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* Give back the ISR semaphore to ensure the priority is not
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disinherited as the shared mutex (which the higher priority task is
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attempting to obtain) is still held. */
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if( xSemaphoreGive( xISRMutex ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* Finally give back the shared mutex. This time the higher priority
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task should run before this task runs again - so this task should have
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disinherited the priority and the higher priority task should be in the
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suspended state again. */
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if( xSemaphoreGive( xMasterSlaveMutex ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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if( uxTaskPriorityGet( NULL ) != intsemMASTER_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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#if( INCLUDE_eTaskGetState == 1 )
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{
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configASSERT( eTaskGetState( xSlaveHandle ) == eSuspended );
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}
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#endif /* INCLUDE_eTaskGetState */
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prvTakeAndGiveInTheSameOrder();
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/* Ensure not to starve out other tests. */
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ulMasterLoops++;
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vTaskDelay( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS );
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/* Repeat exactly up to the point where the mutexes are given back.
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This time the shared mutex is given back first. */
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if( xSemaphoreTake( xMasterSlaveMutex, intsemNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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vTaskResume( xSlaveHandle );
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#if( INCLUDE_eTaskGetState == 1 )
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{
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configASSERT( eTaskGetState( xSlaveHandle ) == eBlocked );
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}
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#endif /* INCLUDE_eTaskGetState */
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if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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xOkToGiveMutex = pdTRUE;
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if( xSemaphoreTake( xISRMutex, ( xInterruptGivePeriod * 2 ) ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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xOkToGiveMutex = pdFALSE;
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if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* This is where the differences start as this time the shared mutex is
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given back first. This time to the higher priority task should run
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before this task gets to the point of releasing the interrupt mutex - so
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this task should have disinherited the priority and the higher priority
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task should be in the suspended state again. */
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if( xSemaphoreGive( xMasterSlaveMutex ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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/* Give back the interrupt semaphore too, so the mutex held count goes
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back to 0. The mutex will then have to be reset so the ISR can give it
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in the next cycle. */
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xSemaphoreGive( xISRMutex );
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xQueueReset( ( QueueHandle_t ) xISRMutex );
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prvTakeAndGiveInTheOppositeOrder();
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/* Ensure not to starve out other tests. */
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ulMasterLoops++;
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@ -316,6 +211,201 @@ const TickType_t xInterruptGivePeriod = pdMS_TO_TICKS( intsemINTERRUPT_MUTEX_GIV
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}
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/*-----------------------------------------------------------*/
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static void prvTakeAndGiveInTheSameOrder( void )
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{
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/* Ensure the slave is suspended, and that this task is running at the
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lower priority as expected as the start conditions. */
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#if( INCLUDE_eTaskGetState == 1 )
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{
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configASSERT( eTaskGetState( xSlaveHandle ) == eSuspended );
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}
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#endif /* INCLUDE_eTaskGetState */
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if( uxTaskPriorityGet( NULL ) != intsemMASTER_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* Take the semaphore that is shared with the slave. */
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if( xSemaphoreTake( xMasterSlaveMutex, intsemNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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/* This task now has the mutex. Unsuspend the slave so it too
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attempts to take the mutex. */
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vTaskResume( xSlaveHandle );
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/* The slave has the higher priority so should now have executed and
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blocked on the semaphore. */
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#if( INCLUDE_eTaskGetState == 1 )
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{
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configASSERT( eTaskGetState( xSlaveHandle ) == eBlocked );
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}
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#endif /* INCLUDE_eTaskGetState */
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/* This task should now have inherited the priority of the slave
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task. */
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if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* Now wait a little longer than the time between ISR gives to also
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obtain the ISR mutex. */
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xOkToGiveMutex = pdTRUE;
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if( xSemaphoreTake( xISRMutex, ( xInterruptGivePeriod * 2 ) ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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xOkToGiveMutex = pdFALSE;
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/* Attempting to take again immediately should fail as the mutex is
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already held. */
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if( xSemaphoreTake( xISRMutex, intsemNO_BLOCK ) != pdFAIL )
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{
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xErrorDetected = pdTRUE;
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}
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/* Should still be at the priority of the slave task. */
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if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* Give back the ISR semaphore to ensure the priority is not
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disinherited as the shared mutex (which the higher priority task is
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attempting to obtain) is still held. */
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if( xSemaphoreGive( xISRMutex ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* Finally give back the shared mutex. This time the higher priority
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task should run before this task runs again - so this task should have
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disinherited the priority and the higher priority task should be in the
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suspended state again. */
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if( xSemaphoreGive( xMasterSlaveMutex ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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if( uxTaskPriorityGet( NULL ) != intsemMASTER_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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#if( INCLUDE_eTaskGetState == 1 )
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{
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configASSERT( eTaskGetState( xSlaveHandle ) == eSuspended );
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}
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#endif /* INCLUDE_eTaskGetState */
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/* Reset the mutex ready for the next round. */
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xQueueReset( xISRMutex );
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}
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/*-----------------------------------------------------------*/
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static void prvTakeAndGiveInTheOppositeOrder( void )
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{
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/* Ensure the slave is suspended, and that this task is running at the
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lower priority as expected as the start conditions. */
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#if( INCLUDE_eTaskGetState == 1 )
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{
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configASSERT( eTaskGetState( xSlaveHandle ) == eSuspended );
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}
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#endif /* INCLUDE_eTaskGetState */
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if( uxTaskPriorityGet( NULL ) != intsemMASTER_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* Take the semaphore that is shared with the slave. */
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if( xSemaphoreTake( xMasterSlaveMutex, intsemNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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/* This task now has the mutex. Unsuspend the slave so it too
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attempts to take the mutex. */
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vTaskResume( xSlaveHandle );
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/* The slave has the higher priority so should now have executed and
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blocked on the semaphore. */
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#if( INCLUDE_eTaskGetState == 1 )
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{
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configASSERT( eTaskGetState( xSlaveHandle ) == eBlocked );
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}
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#endif /* INCLUDE_eTaskGetState */
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/* This task should now have inherited the priority of the slave
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task. */
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if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* Now wait a little longer than the time between ISR gives to also
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obtain the ISR mutex. */
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xOkToGiveMutex = pdTRUE;
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if( xSemaphoreTake( xISRMutex, ( xInterruptGivePeriod * 2 ) ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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xOkToGiveMutex = pdFALSE;
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/* Attempting to take again immediately should fail as the mutex is
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already held. */
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if( xSemaphoreTake( xISRMutex, intsemNO_BLOCK ) != pdFAIL )
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{
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xErrorDetected = pdTRUE;
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}
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/* Should still be at the priority of the slave task. */
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if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* Give back the shared semaphore to ensure the priority is not disinherited
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as the ISR mutex is still held. The higher priority slave task should run
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before this task runs again. */
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if( xSemaphoreGive( xMasterSlaveMutex ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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/* Should still be at the priority of the slave task as this task still
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holds one semaphore (this is a simplification in the priority inheritance
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mechanism. */
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if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* Give back the ISR semaphore, which should result in the priority being
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disinherited as it was the last mutex held. */
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if( xSemaphoreGive( xISRMutex ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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if( uxTaskPriorityGet( NULL ) != intsemMASTER_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* Reset the mutex ready for the next round. */
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xQueueReset( xISRMutex );
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}
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/*-----------------------------------------------------------*/
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static void vInterruptMutexSlaveTask( void *pvParameters )
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{
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/* Just to avoid compiler warnings. */
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@ -343,9 +433,76 @@ static void vInterruptMutexSlaveTask( void *pvParameters )
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}
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/*-----------------------------------------------------------*/
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static void vInterruptCountingSemaphoreTask( void *pvParameters )
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{
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BaseType_t xCount;
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const TickType_t xDelay = pdMS_TO_TICKS( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS ) * ( intsemMAX_COUNT + 1 );
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|
||||
( void ) pvParameters;
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
/* Expect to start with the counting semaphore empty. */
|
||||
if( uxQueueMessagesWaiting( ( QueueHandle_t ) xISRCountingSemaphore ) != 0 )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
/* Wait until it is expected that the interrupt will have filled the
|
||||
counting semaphore. */
|
||||
xOkToGiveCountingSemaphore = pdTRUE;
|
||||
vTaskDelay( xDelay );
|
||||
xOkToGiveCountingSemaphore = pdFALSE;
|
||||
|
||||
/* Now it is expected that the counting semaphore is full. */
|
||||
if( uxQueueMessagesWaiting( ( QueueHandle_t ) xISRCountingSemaphore ) != intsemMAX_COUNT )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
if( uxQueueSpacesAvailable( ( QueueHandle_t ) xISRCountingSemaphore ) != 0 )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
ulCountingSemaphoreLoops++;
|
||||
|
||||
/* Expect to be able to take the counting semaphore intsemMAX_COUNT
|
||||
times. A block time of 0 is used as the semaphore should already be
|
||||
there. */
|
||||
xCount = 0;
|
||||
while( xSemaphoreTake( xISRCountingSemaphore, 0 ) == pdPASS )
|
||||
{
|
||||
xCount++;
|
||||
}
|
||||
|
||||
if( xCount != intsemMAX_COUNT )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
/* Now raise the priority of this task so it runs immediately that the
|
||||
semaphore is given from the interrupt. */
|
||||
vTaskPrioritySet( NULL, configMAX_PRIORITIES - 1 );
|
||||
|
||||
/* Block to wait for the semaphore to be given from the interrupt. */
|
||||
xOkToGiveCountingSemaphore = pdTRUE;
|
||||
xSemaphoreTake( xISRCountingSemaphore, portMAX_DELAY );
|
||||
xSemaphoreTake( xISRCountingSemaphore, portMAX_DELAY );
|
||||
xOkToGiveCountingSemaphore = pdFALSE;
|
||||
|
||||
/* Reset the priority so as not to disturbe other tests too much. */
|
||||
vTaskPrioritySet( NULL, tskIDLE_PRIORITY );
|
||||
|
||||
ulCountingSemaphoreLoops++;
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vInterruptSemaphorePeriodicTest( void )
|
||||
{
|
||||
static TickType_t xLastGiveTime = 0;
|
||||
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
||||
TickType_t xTimeNow;
|
||||
|
||||
/* No mutual exclusion on xOkToGiveMutex, but this is only test code (and
|
||||
|
|
@ -356,20 +513,30 @@ TickType_t xTimeNow;
|
|||
configASSERT( xISRMutex );
|
||||
if( xOkToGiveMutex != pdFALSE )
|
||||
{
|
||||
/* Null is used as the second parameter in this give, and non-NULL
|
||||
in the other gives for code coverage reasons. */
|
||||
xSemaphoreGiveFromISR( xISRMutex, NULL );
|
||||
|
||||
/* Second give attempt should fail. */
|
||||
configASSERT( xSemaphoreGiveFromISR( xISRMutex, NULL ) == pdFAIL );
|
||||
configASSERT( xSemaphoreGiveFromISR( xISRMutex, &xHigherPriorityTaskWoken ) == pdFAIL );
|
||||
}
|
||||
|
||||
if( xOkToGiveCountingSemaphore != pdFALSE )
|
||||
{
|
||||
xSemaphoreGiveFromISR( xISRCountingSemaphore, &xHigherPriorityTaskWoken );
|
||||
}
|
||||
xLastGiveTime = xTimeNow;
|
||||
}
|
||||
|
||||
/* Remove compiler warnings about the value being set but not used. */
|
||||
( void ) xHigherPriorityTaskWoken;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* This is called to check that all the created tasks are still running. */
|
||||
BaseType_t xAreInterruptSemaphoreTasksStillRunning( void )
|
||||
{
|
||||
static uint32_t ulLastMasterLoopCounter = 0;
|
||||
static uint32_t ulLastMasterLoopCounter = 0, ulLastCountingSemaphoreLoops = 0;
|
||||
|
||||
/* If the demo tasks are running then it is expected that the loop counters
|
||||
will have changed since this function was last called. */
|
||||
|
|
@ -380,6 +547,13 @@ static uint32_t ulLastMasterLoopCounter = 0;
|
|||
|
||||
ulLastMasterLoopCounter = ulMasterLoops;
|
||||
|
||||
if( ulLastCountingSemaphoreLoops == ulCountingSemaphoreLoops )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
ulLastCountingSemaphoreLoops = ulCountingSemaphoreLoops++;
|
||||
|
||||
/* Errors detected in the task itself will have latched xErrorDetected
|
||||
to true. */
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue