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Add in example vQueueAddToRegistry() calls.

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This commit is contained in:
Richard Barry 2008-05-23 18:49:59 +00:00
parent 15881cdf39
commit a5f3797949
11 changed files with 1437 additions and 1325 deletions
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9
Demo/Common/Minimal/AltBlock.c
View file

@ -102,6 +102,15 @@ void vCreateAltBlockTimeTasks( void )
/* Create the queue on which the two tasks block. */ /* Create the queue on which the two tasks block. */
xTestQueue = xQueueCreate( bktQUEUE_LENGTH, sizeof( portBASE_TYPE ) ); xTestQueue = xQueueCreate( bktQUEUE_LENGTH, sizeof( portBASE_TYPE ) );
/* vQueueAddToRegistry() adds the queue to the queue registry, if one is
in use. The queue registry is provided as a means for kernel aware
debuggers to locate queues 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
defined to be less than 1. */
vQueueAddToRegistry( xTestQueue, ( signed portCHAR * ) "AltBlockQueue" );
/* Create the two test tasks. */ /* Create the two test tasks. */
xTaskCreate( vPrimaryBlockTimeTestTask, ( signed portCHAR * )"FBTest1", configMINIMAL_STACK_SIZE, NULL, bktPRIMARY_PRIORITY, NULL ); xTaskCreate( vPrimaryBlockTimeTestTask, ( signed portCHAR * )"FBTest1", configMINIMAL_STACK_SIZE, NULL, bktPRIMARY_PRIORITY, NULL );
xTaskCreate( vSecondaryBlockTimeTestTask, ( signed portCHAR * )"FBTest2", configMINIMAL_STACK_SIZE, NULL, bktSECONDARY_PRIORITY, &xSecondary ); xTaskCreate( vSecondaryBlockTimeTestTask, ( signed portCHAR * )"FBTest2", configMINIMAL_STACK_SIZE, NULL, bktSECONDARY_PRIORITY, &xSecondary );

9
Demo/Common/Minimal/AltPollQ.c
View file

@ -112,6 +112,15 @@ static xQueueHandle xPolledQueue;
/* Create the queue used by the producer and consumer. */ /* Create the queue used by the producer and consumer. */
xPolledQueue = xQueueCreate( pollqQUEUE_SIZE, ( unsigned portBASE_TYPE ) sizeof( unsigned portSHORT ) ); xPolledQueue = xQueueCreate( pollqQUEUE_SIZE, ( unsigned portBASE_TYPE ) sizeof( unsigned portSHORT ) );
/* vQueueAddToRegistry() adds the queue to the queue registry, if one is
in use. The queue registry is provided as a means for kernel aware
debuggers to locate queues 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
defined to be less than 1. */
vQueueAddToRegistry( xPolledQueue, ( signed portCHAR * ) "AltPollQueue" );
/* Spawn the producer and consumer. */ /* Spawn the producer and consumer. */
xTaskCreate( vPolledQueueConsumer, ( signed portCHAR * ) "QConsNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL ); xTaskCreate( vPolledQueueConsumer, ( signed portCHAR * ) "QConsNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL );
xTaskCreate( vPolledQueueProducer, ( signed portCHAR * ) "QProdNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL ); xTaskCreate( vPolledQueueProducer, ( signed portCHAR * ) "QProdNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL );

16
Demo/Common/Minimal/AltQTest.c
View file

@ -132,6 +132,14 @@ xSemaphoreHandle xMutex;
prvSendFrontAndBackTest demo. */ prvSendFrontAndBackTest demo. */
xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( unsigned portLONG ) ); xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( unsigned portLONG ) );
/* vQueueAddToRegistry() adds the queue to the queue registry, if one is
in use. The queue registry is provided as a means for kernel aware
debuggers to locate queues 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
defined to be less than 1. */
vQueueAddToRegistry( xQueue, ( signed portCHAR * ) "Alt_Gen_Test_Queue" );
/* Create the demo task and pass it the queue just created. We are /* Create the demo task and pass it the queue just created. We are
passing the queue handle by value so it does not matter that it is passing the queue handle by value so it does not matter that it is
declared on the stack here. */ declared on the stack here. */
@ -140,6 +148,14 @@ xSemaphoreHandle xMutex;
/* Create the mutex used by the prvMutexTest task. */ /* Create the mutex used by the prvMutexTest task. */
xMutex = xSemaphoreCreateMutex(); xMutex = xSemaphoreCreateMutex();
/* vQueueAddToRegistry() adds the mutex to the registry, if one is
in use. The registry is provided as a means for kernel aware
debuggers to locate mutex 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
defined to be less than 1. */
vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Alt_Q_Mutex" );
/* Create the mutex demo tasks and pass it the mutex just created. We are /* Create the mutex demo tasks and pass it the mutex just created. We are
passing the mutex handle by value so it does not matter that it is declared passing the mutex handle by value so it does not matter that it is declared
on the stack here. */ on the stack here. */

16
Demo/Common/Minimal/GenQTest.c
View file

@ -134,6 +134,14 @@ xSemaphoreHandle xMutex;
prvSendFrontAndBackTest demo. */ prvSendFrontAndBackTest demo. */
xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( unsigned portLONG ) ); xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( unsigned portLONG ) );
/* vQueueAddToRegistry() adds the queue to the queue registry, if one is
in use. The queue registry is provided as a means for kernel aware
debuggers to locate queues 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
defined to be less than 1. */
vQueueAddToRegistry( xQueue, ( signed portCHAR * ) "Gen_Queue_Test" );
/* Create the demo task and pass it the queue just created. We are /* Create the demo task and pass it the queue just created. We are
passing the queue handle by value so it does not matter that it is passing the queue handle by value so it does not matter that it is
declared on the stack here. */ declared on the stack here. */
@ -142,6 +150,14 @@ xSemaphoreHandle xMutex;
/* Create the mutex used by the prvMutexTest task. */ /* Create the mutex used by the prvMutexTest task. */
xMutex = xSemaphoreCreateMutex(); xMutex = xSemaphoreCreateMutex();
/* vQueueAddToRegistry() adds the mutex to the registry, if one is
in use. The registry is provided as a means for kernel aware
debuggers to locate mutexes 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
defined to be less than 1. */
vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Gen_Queue_Mutex" );
/* Create the mutex demo tasks and pass it the mutex just created. We are /* Create the mutex demo tasks and pass it the mutex just created. We are
passing the mutex handle by value so it does not matter that it is declared passing the mutex handle by value so it does not matter that it is declared
on the stack here. */ on the stack here. */

10
Demo/Common/Minimal/IntQueue.c
View file

@ -218,6 +218,16 @@ void vStartInterruptQueueTasks( void )
interrupts. */ interrupts. */
xNormallyFullQueue = xQueueCreate( intqQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) ); xNormallyFullQueue = xQueueCreate( intqQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) );
xNormallyEmptyQueue = xQueueCreate( intqQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) ); xNormallyEmptyQueue = xQueueCreate( intqQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) );
/* vQueueAddToRegistry() adds the queue to the queue registry, if one is
in use. The queue registry is provided as a means for kernel aware
debuggers to locate queues 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
defined to be less than 1. */
vQueueAddToRegistry( xNormallyFullQueue, ( signed portCHAR * ) "NormallyFull" );
vQueueAddToRegistry( xNormallyEmptyQueue, ( signed portCHAR * ) "NormallyEmpty" );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

8
Demo/Common/Minimal/PollQ.c
View file

@ -114,6 +114,14 @@ static xQueueHandle xPolledQueue;
/* Create the queue used by the producer and consumer. */ /* Create the queue used by the producer and consumer. */
xPolledQueue = xQueueCreate( pollqQUEUE_SIZE, ( unsigned portBASE_TYPE ) sizeof( unsigned portSHORT ) ); xPolledQueue = xQueueCreate( pollqQUEUE_SIZE, ( unsigned portBASE_TYPE ) sizeof( unsigned portSHORT ) );
/* vQueueAddToRegistry() adds the queue to the queue registry, if one is
in use. The queue registry is provided as a means for kernel aware
debuggers to locate queues 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
defined to be less than 1. */
vQueueAddToRegistry( xPolledQueue, ( signed portCHAR * ) "Poll_Test_Queue" );
/* Spawn the producer and consumer. */ /* Spawn the producer and consumer. */
xTaskCreate( vPolledQueueConsumer, ( signed portCHAR * ) "QConsNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL ); xTaskCreate( vPolledQueueConsumer, ( signed portCHAR * ) "QConsNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL );
xTaskCreate( vPolledQueueProducer, ( signed portCHAR * ) "QProdNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL ); xTaskCreate( vPolledQueueProducer, ( signed portCHAR * ) "QProdNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL );

876
Demo/Common/Minimal/QPeek.c
View file

@ -1,434 +1,442 @@
/* /*
FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry. FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.
This file is part of the FreeRTOS.org distribution. This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify 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 it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or the Free Software Foundation; either version 2 of the License, or
(at your option) any later version. (at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful, FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. GNU General Public License for more details.
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 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 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 a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section 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 of http://www.FreeRTOS.org for full details of how and when the exception
can be applied. can be applied.
*************************************************************************** ***************************************************************************
*************************************************************************** ***************************************************************************
* * * *
* SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, * * 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. * * 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 * * See http://www.OpenRTOS.com for details of the services we provide to *
* expedite your project. * * expedite your project. *
* * * *
*************************************************************************** ***************************************************************************
*************************************************************************** ***************************************************************************
Please ensure to read the configuration and relevant port sections of the Please ensure to read the configuration and relevant port sections of the
online documentation. online documentation.
http://www.FreeRTOS.org - Documentation, latest information, license and http://www.FreeRTOS.org - Documentation, latest information, license and
contact details. contact details.
http://www.SafeRTOS.com - A version that is certified for use in safety http://www.SafeRTOS.com - A version that is certified for use in safety
critical systems. critical systems.
http://www.OpenRTOS.com - Commercial support, development, porting, http://www.OpenRTOS.com - Commercial support, development, porting,
licensing and training services. licensing and training services.
*/ */
/* /*
* Tests the behaviour when data is peeked from a queue when there are * Tests the behaviour when data is peeked from a queue when there are
* multiple tasks blocked on the queue. * multiple tasks blocked on the queue.
*/ */
#include <stdlib.h> #include <stdlib.h>
/* Scheduler include files. */ /* Scheduler include files. */
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
#include "queue.h" #include "queue.h"
#include "semphr.h" #include "semphr.h"
/* Demo program include files. */ /* Demo program include files. */
#include "QPeek.h" #include "QPeek.h"
#define qpeekQUEUE_LENGTH ( 5 ) #define qpeekQUEUE_LENGTH ( 5 )
#define qpeekNO_BLOCK ( 0 ) #define qpeekNO_BLOCK ( 0 )
#define qpeekSHORT_DELAY ( 10 ) #define qpeekSHORT_DELAY ( 10 )
#define qpeekLOW_PRIORITY ( tskIDLE_PRIORITY + 0 ) #define qpeekLOW_PRIORITY ( tskIDLE_PRIORITY + 0 )
#define qpeekMEDIUM_PRIORITY ( tskIDLE_PRIORITY + 1 ) #define qpeekMEDIUM_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define qpeekHIGH_PRIORITY ( tskIDLE_PRIORITY + 2 ) #define qpeekHIGH_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define qpeekHIGHEST_PRIORITY ( tskIDLE_PRIORITY + 3 ) #define qpeekHIGHEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* The following three tasks are used to demonstrate the peeking behaviour. * The following three tasks are used to demonstrate the peeking behaviour.
* Each task is given a different priority to demonstrate the order in which * Each task is given a different priority to demonstrate the order in which
* tasks are woken as data is peeked from a queue. * tasks are woken as data is peeked from a queue.
*/ */
static void prvLowPriorityPeekTask( void *pvParameters ); static void prvLowPriorityPeekTask( void *pvParameters );
static void prvMediumPriorityPeekTask( void *pvParameters ); static void prvMediumPriorityPeekTask( void *pvParameters );
static void prvHighPriorityPeekTask( void *pvParameters ); static void prvHighPriorityPeekTask( void *pvParameters );
static void prvHighestPriorityPeekTask( void *pvParameters ); static void prvHighestPriorityPeekTask( void *pvParameters );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Flag that will be latched to pdTRUE should any unexpected behaviour be /* Flag that will be latched to pdTRUE should any unexpected behaviour be
detected in any of the tasks. */ detected in any of the tasks. */
static volatile portBASE_TYPE xErrorDetected = pdFALSE; static volatile portBASE_TYPE xErrorDetected = pdFALSE;
/* Counter that is incremented on each cycle of a test. This is used to /* 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. */ detect a stalled task - a test that is no longer running. */
static volatile unsigned portLONG ulLoopCounter = 0; static volatile unsigned portLONG ulLoopCounter = 0;
/* Handles to the test tasks. */ /* Handles to the test tasks. */
xTaskHandle xMediumPriorityTask, xHighPriorityTask, xHighestPriorityTask; xTaskHandle xMediumPriorityTask, xHighPriorityTask, xHighestPriorityTask;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vStartQueuePeekTasks( void ) void vStartQueuePeekTasks( void )
{ {
xQueueHandle xQueue; xQueueHandle xQueue;
/* Create the queue that we are going to use for the test/demo. */ /* Create the queue that we are going to use for the test/demo. */
xQueue = xQueueCreate( qpeekQUEUE_LENGTH, sizeof( unsigned portLONG ) ); xQueue = xQueueCreate( qpeekQUEUE_LENGTH, sizeof( unsigned portLONG ) );
/* Create the demo tasks and pass it the queue just created. We are /* vQueueAddToRegistry() adds the queue to the queue registry, if one is
passing the queue handle by value so it does not matter that it is declared in use. The queue registry is provided as a means for kernel aware
on the stack here. */ debuggers to locate queues and has no purpose if a kernel aware debugger
xTaskCreate( prvLowPriorityPeekTask, ( signed portCHAR * )"PeekL", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekLOW_PRIORITY, NULL ); is not being used. The call to vQueueAddToRegistry() will be removed
xTaskCreate( prvMediumPriorityPeekTask, ( signed portCHAR * )"PeekM", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekMEDIUM_PRIORITY, &xMediumPriorityTask ); by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
xTaskCreate( prvHighPriorityPeekTask, ( signed portCHAR * )"PeekH1", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekHIGH_PRIORITY, &xHighPriorityTask ); defined to be less than 1. */
xTaskCreate( prvHighestPriorityPeekTask, ( signed portCHAR * )"PeekH2", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekHIGHEST_PRIORITY, &xHighestPriorityTask ); vQueueAddToRegistry( xQueue, ( signed portCHAR * ) "QPeek_Test_Queue" );
}
/*-----------------------------------------------------------*/ /* 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
static void prvHighestPriorityPeekTask( void *pvParameters ) on the stack here. */
{ xTaskCreate( prvLowPriorityPeekTask, ( signed portCHAR * )"PeekL", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekLOW_PRIORITY, NULL );
xQueueHandle xQueue = ( xQueueHandle ) pvParameters; xTaskCreate( prvMediumPriorityPeekTask, ( signed portCHAR * )"PeekM", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekMEDIUM_PRIORITY, &xMediumPriorityTask );
unsigned portLONG ulValue; 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 );
#ifdef USE_STDIO }
{ /*-----------------------------------------------------------*/
void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
static void prvHighestPriorityPeekTask( void *pvParameters )
const portCHAR * const pcTaskStartMsg = "Queue peek test started.\r\n"; {
xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
/* Queue a message for printing to say the task has started. */ unsigned portLONG ulValue;
vPrintDisplayMessage( &pcTaskStartMsg );
} #ifdef USE_STDIO
#endif {
void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
for( ;; )
{ const portCHAR * const pcTaskStartMsg = "Queue peek test started.\r\n";
/* Try peeking from the queue. The queue should be empty so we will
block, allowing the high priority task to execute. */ /* Queue a message for printing to say the task has started. */
if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS ) vPrintDisplayMessage( &pcTaskStartMsg );
{ }
/* We expected to have received something by the time we unblock. */ #endif
xErrorDetected = pdTRUE;
} for( ;; )
{
/* When we reach here the high and medium priority tasks should still /* Try peeking from the queue. The queue should be empty so we will
be blocked on the queue. We unblocked because the low priority task block, allowing the high priority task to execute. */
wrote a value to the queue, which we should have peeked. Peeking the if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
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 /* We expected to have received something by the time we unblock. */
yet executed. */ xErrorDetected = pdTRUE;
if( ulValue != 0x11223344 ) }
{
/* We did not receive the expected value. */ /* When we reach here the high and medium priority tasks should still
xErrorDetected = pdTRUE; 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
if( uxQueueMessagesWaiting( xQueue ) != 1 ) the high priority task should then have also been unblocked, but not
{ yet executed. */
/* The message should have been left on the queue. */ if( ulValue != 0x11223344 )
xErrorDetected = pdTRUE; {
} /* We did not receive the expected value. */
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. */ if( uxQueueMessagesWaiting( xQueue ) != 1 )
ulValue = 0; {
if( xQueueReceive( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS ) /* The message should have been left on the queue. */
{ xErrorDetected = pdTRUE;
/* We expected to receive the value. */ }
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
if( ulValue != 0x11223344 ) blocked state. */
{ ulValue = 0;
/* We did not receive the expected value - which should have been if( xQueueReceive( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
the same value as was peeked. */ {
xErrorDetected = pdTRUE; /* We expected to receive the value. */
} xErrorDetected = pdTRUE;
}
/* Now we will block again as the queue is once more empty. The low
priority task can then execute again. */ if( ulValue != 0x11223344 )
if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS ) {
{ /* We did not receive the expected value - which should have been
/* We expected to have received something by the time we unblock. */ the same value as was peeked. */
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
/* When we get here the low priority task should have again written to the /* Now we will block again as the queue is once more empty. The low
queue. */ priority task can then execute again. */
if( ulValue != 0x01234567 ) if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
{ {
/* We did not receive the expected value. */ /* We expected to have received something by the time we unblock. */
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
if( uxQueueMessagesWaiting( xQueue ) != 1 ) /* When we get here the low priority task should have again written to the
{ queue. */
/* The message should have been left on the queue. */ if( ulValue != 0x01234567 )
xErrorDetected = pdTRUE; {
} /* We did not receive the expected value. */
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 if( uxQueueMessagesWaiting( xQueue ) != 1 )
in the queue. */ {
vTaskSuspend( NULL ); /* The message should have been left on the queue. */
xErrorDetected = pdTRUE;
}
/* This time we are going to do the same as the above test, but the /* We only peeked the data, so suspending ourselves now should enable
high priority task is going to receive the data, rather than peek it. the high priority task to also peek the data. The high priority task
This means that the medium priority task should never peek the value. */ will have been unblocked when we peeked the data as we left the data
if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS ) in the queue. */
{ vTaskSuspend( NULL );
xErrorDetected = pdTRUE;
}
if( ulValue != 0xaabbaabb ) /* 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.
xErrorDetected = pdTRUE; This means that the medium priority task should never peek the value. */
} if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
{
vTaskSuspend( NULL ); xErrorDetected = pdTRUE;
} }
}
/*-----------------------------------------------------------*/ if( ulValue != 0xaabbaabb )
{
static void prvHighPriorityPeekTask( void *pvParameters ) xErrorDetected = pdTRUE;
{ }
xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
unsigned portLONG ulValue; vTaskSuspend( NULL );
}
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 static void prvHighPriorityPeekTask( void *pvParameters )
and highest priority tasks will then be blocked on the queue. */ {
if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS ) xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
{ unsigned portLONG ulValue;
/* We expected to have received something by the time we unblock. */
xErrorDetected = pdTRUE; for( ;; )
} {
/* Try peeking from the queue. The queue should be empty so we will
/* When we get here the highest priority task should have peeked the data block, allowing the medium priority task to execute. Both the high
(unblocking this task) then suspended (allowing this task to also peek and highest priority tasks will then be blocked on the queue. */
the data). */ if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
if( ulValue != 0x01234567 ) {
{ /* We expected to have received something by the time we unblock. */
/* We did not receive the expected value. */ xErrorDetected = pdTRUE;
xErrorDetected = pdTRUE; }
}
/* When we get here the highest priority task should have peeked the data
if( uxQueueMessagesWaiting( xQueue ) != 1 ) (unblocking this task) then suspended (allowing this task to also peek
{ the data). */
/* The message should have been left on the queue. */ if( ulValue != 0x01234567 )
xErrorDetected = pdTRUE; {
} /* We did not receive the expected value. */
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 if( uxQueueMessagesWaiting( xQueue ) != 1 )
in the queue. */ {
vTaskSuspend( NULL ); /* The message should have been left on the queue. */
xErrorDetected = pdTRUE;
}
/* 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. */ /* We only peeked the data, so suspending ourselves now should enable
if( xQueueReceive( xQueue, &ulValue, portMAX_DELAY ) != pdPASS ) 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
xErrorDetected = pdTRUE; in the queue. */
} vTaskSuspend( NULL );
if( ulValue != 0xaabbaabb )
{ /* This time we are going actually receive the value, so the medium
xErrorDetected = pdTRUE; priority task will never peek the data - we removed it from the queue. */
} if( xQueueReceive( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
{
vTaskSuspend( NULL ); xErrorDetected = pdTRUE;
} }
}
/*-----------------------------------------------------------*/ if( ulValue != 0xaabbaabb )
{
static void prvMediumPriorityPeekTask( void *pvParameters ) xErrorDetected = pdTRUE;
{ }
xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
unsigned portLONG ulValue; vTaskSuspend( NULL );
}
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 static void prvMediumPriorityPeekTask( void *pvParameters )
and medium priority tasks will then all be blocked on the queue. */ {
if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS ) xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
{ unsigned portLONG ulValue;
/* We expected to have received something by the time we unblock. */
xErrorDetected = pdTRUE; for( ;; )
} {
/* Try peeking from the queue. The queue should be empty so we will
/* When we get here the high priority task should have peeked the data block, allowing the low priority task to execute. The highest, high
(unblocking this task) then suspended (allowing this task to also peek and medium priority tasks will then all be blocked on the queue. */
the data). */ if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
if( ulValue != 0x01234567 ) {
{ /* We expected to have received something by the time we unblock. */
/* We did not receive the expected value. */ xErrorDetected = pdTRUE;
xErrorDetected = pdTRUE; }
}
/* When we get here the high priority task should have peeked the data
if( uxQueueMessagesWaiting( xQueue ) != 1 ) (unblocking this task) then suspended (allowing this task to also peek
{ the data). */
/* The message should have been left on the queue. */ if( ulValue != 0x01234567 )
xErrorDetected = pdTRUE; {
} /* We did not receive the expected value. */
xErrorDetected = pdTRUE;
/* Just so we know the test is still running. */ }
ulLoopCounter++;
if( uxQueueMessagesWaiting( xQueue ) != 1 )
/* Now we can suspend ourselves so the low priority task can execute {
again. */ /* The message should have been left on the queue. */
vTaskSuspend( NULL ); xErrorDetected = pdTRUE;
} }
}
/*-----------------------------------------------------------*/ /* Just so we know the test is still running. */
ulLoopCounter++;
static void prvLowPriorityPeekTask( void *pvParameters )
{ /* Now we can suspend ourselves so the low priority task can execute
xQueueHandle xQueue = ( xQueueHandle ) pvParameters; again. */
unsigned portLONG ulValue; vTaskSuspend( NULL );
}
for( ;; ) }
{ /*-----------------------------------------------------------*/
/* Write some data to the queue. This should unblock the highest
priority task that is waiting to peek data from the queue. */ static void prvLowPriorityPeekTask( void *pvParameters )
ulValue = 0x11223344; {
if( xQueueSendToBack( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS ) xQueueHandle xQueue = ( xQueueHandle ) pvParameters;
{ unsigned portLONG ulValue;
/* We were expecting the queue to be empty so we should not of
had a problem writing to the queue. */ for( ;; )
xErrorDetected = pdTRUE; {
} /* Write some data to the queue. This should unblock the highest
priority task that is waiting to peek data from the queue. */
/* By the time we get here the data should have been removed from ulValue = 0x11223344;
the queue. */ if( xQueueSendToBack( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
if( uxQueueMessagesWaiting( xQueue ) != 0 ) {
{ /* We were expecting the queue to be empty so we should not of
xErrorDetected = pdTRUE; had a problem writing to the queue. */
} xErrorDetected = pdTRUE;
}
/* Write another value to the queue, again waking the highest priority
task that is blocked on the queue. */ /* By the time we get here the data should have been removed from
ulValue = 0x01234567; the queue. */
if( xQueueSendToBack( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS ) if( uxQueueMessagesWaiting( xQueue ) != 0 )
{ {
/* We were expecting the queue to be empty so we should not of xErrorDetected = pdTRUE;
had a problem writing to the queue. */ }
xErrorDetected = pdTRUE;
} /* Write another value to the queue, again waking the highest priority
task that is blocked on the queue. */
/* All the other tasks should now have successfully peeked the data. ulValue = 0x01234567;
The data is still in the queue so we should be able to receive it. */ if( xQueueSendToBack( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
ulValue = 0; {
if( xQueueReceive( 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. */
/* We expected to receive the data. */ xErrorDetected = pdTRUE;
xErrorDetected = pdTRUE; }
}
/* All the other tasks should now have successfully peeked the data.
if( ulValue != 0x01234567 ) The data is still in the queue so we should be able to receive it. */
{ ulValue = 0;
/* We did not receive the expected value. */ if( xQueueReceive( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
} {
/* We expected to receive the data. */
/* Lets just delay a while as this is an intensive test as we don't xErrorDetected = pdTRUE;
want to starve other tests of processing time. */ }
vTaskDelay( qpeekSHORT_DELAY );
if( ulValue != 0x01234567 )
/* 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 /* We did not receive the expected value. */
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. */ /* Lets just delay a while as this is an intensive test as we don't
vTaskResume( xMediumPriorityTask ); want to starve other tests of processing time. */
vTaskResume( xHighPriorityTask ); vTaskDelay( qpeekSHORT_DELAY );
vTaskResume( xHighestPriorityTask );
/* Unsuspend the other tasks so we can repeat the test - this time
ulValue = 0xaabbaabb; however not all the other tasks will peek the data as the high
if( xQueueSendToFront( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS ) 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
/* We were expecting the queue to be empty so we should not of makes no difference to the result. */
had a problem writing to the queue. */ vTaskResume( xMediumPriorityTask );
xErrorDetected = pdTRUE; vTaskResume( xHighPriorityTask );
} vTaskResume( xHighestPriorityTask );
/* This time we should find that the queue is empty. The high priority ulValue = 0xaabbaabb;
task actually removed the data rather than just peeking it. */ if( xQueueSendToFront( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
if( xQueuePeek( xQueue, &ulValue, qpeekNO_BLOCK ) != errQUEUE_EMPTY ) {
{ /* We were expecting the queue to be empty so we should not of
/* We expected to receive the data. */ had a problem writing to the queue. */
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
/* Unsuspend the highest and high priority tasks so we can go back /* This time we should find that the queue is empty. The high priority
and repeat the whole thing. The medium priority task should not be task actually removed the data rather than just peeking it. */
suspended as it was not able to peek the data in this last case. */ if( xQueuePeek( xQueue, &ulValue, qpeekNO_BLOCK ) != errQUEUE_EMPTY )
vTaskResume( xHighPriorityTask ); {
vTaskResume( xHighestPriorityTask ); /* We expected to receive the data. */
xErrorDetected = pdTRUE;
/* 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 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 );
/* This is called to check that all the created tasks are still running. */
portBASE_TYPE xAreQueuePeekTasksStillRunning( void ) /* Lets just delay a while as this is an intensive test as we don't
{ want to starve other tests of processing time. */
static unsigned portLONG ulLastLoopCounter = 0; vTaskDelay( qpeekSHORT_DELAY );
}
/* If the demo task is still running then we expect the loopcounter to }
have incremented since this function was last called. */ /*-----------------------------------------------------------*/
if( ulLastLoopCounter == ulLoopCounter )
{ /* This is called to check that all the created tasks are still running. */
xErrorDetected = pdTRUE; portBASE_TYPE xAreQueuePeekTasksStillRunning( void )
} {
static unsigned portLONG ulLastLoopCounter = 0;
ulLastLoopCounter = ulLoopCounter;
/* If the demo task is still running then we expect the loopcounter to
/* Errors detected in the task itself will have latched xErrorDetected have incremented since this function was last called. */
to true. */ if( ulLastLoopCounter == ulLoopCounter )
{
return !xErrorDetected; xErrorDetected = pdTRUE;
} }
ulLastLoopCounter = ulLoopCounter;
/* Errors detected in the task itself will have latched xErrorDetected
to true. */
return !xErrorDetected;
}

960
Demo/Common/Minimal/blocktim.c
View file

@ -1,476 +1,484 @@
/* /*
FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry. FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.
This file is part of the FreeRTOS.org distribution. This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify 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 it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or the Free Software Foundation; either version 2 of the License, or
(at your option) any later version. (at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful, FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. GNU General Public License for more details.
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 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 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 a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section 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 of http://www.FreeRTOS.org for full details of how and when the exception
can be applied. can be applied.
*************************************************************************** ***************************************************************************
*************************************************************************** ***************************************************************************
* * * *
* SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, * * 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. * * 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 * * See http://www.OpenRTOS.com for details of the services we provide to *
* expedite your project. * * expedite your project. *
* * * *
*************************************************************************** ***************************************************************************
*************************************************************************** ***************************************************************************
Please ensure to read the configuration and relevant port sections of the Please ensure to read the configuration and relevant port sections of the
online documentation. online documentation.
http://www.FreeRTOS.org - Documentation, latest information, license and http://www.FreeRTOS.org - Documentation, latest information, license and
contact details. contact details.
http://www.SafeRTOS.com - A version that is certified for use in safety http://www.SafeRTOS.com - A version that is certified for use in safety
critical systems. critical systems.
http://www.OpenRTOS.com - Commercial support, development, porting, http://www.OpenRTOS.com - Commercial support, development, porting,
licensing and training services. licensing and training services.
*/ */
/* /*
* This file contains some test scenarios that ensure tasks do not exit queue * This file contains some test scenarios that ensure tasks do not exit queue
* send or receive functions prematurely. A description of the tests is * send or receive functions prematurely. A description of the tests is
* included within the code. * included within the code.
*/ */
/* Kernel includes. */ /* Kernel includes. */
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
#include "queue.h" #include "queue.h"
/* Demo includes. */ /* Demo includes. */
#include "blocktim.h" #include "blocktim.h"
/* Task priorities. */ /* Task priorities. */
#define bktPRIMARY_PRIORITY ( 3 ) #define bktPRIMARY_PRIORITY ( 3 )
#define bktSECONDARY_PRIORITY ( 2 ) #define bktSECONDARY_PRIORITY ( 2 )
/* Task behaviour. */ /* Task behaviour. */
#define bktQUEUE_LENGTH ( 5 ) #define bktQUEUE_LENGTH ( 5 )
#define bktSHORT_WAIT ( ( ( portTickType ) 20 ) / portTICK_RATE_MS ) #define bktSHORT_WAIT ( ( ( portTickType ) 20 ) / portTICK_RATE_MS )
#define bktPRIMARY_BLOCK_TIME ( 10 ) #define bktPRIMARY_BLOCK_TIME ( 10 )
#define bktALLOWABLE_MARGIN ( 15 ) #define bktALLOWABLE_MARGIN ( 15 )
#define bktTIME_TO_BLOCK ( 175 ) #define bktTIME_TO_BLOCK ( 175 )
#define bktDONT_BLOCK ( ( portTickType ) 0 ) #define bktDONT_BLOCK ( ( portTickType ) 0 )
#define bktRUN_INDICATOR ( ( unsigned portBASE_TYPE ) 0x55 ) #define bktRUN_INDICATOR ( ( unsigned portBASE_TYPE ) 0x55 )
/* The queue on which the tasks block. */ /* The queue on which the tasks block. */
static xQueueHandle xTestQueue; static xQueueHandle xTestQueue;
/* Handle to the secondary task is required by the primary task for calls /* Handle to the secondary task is required by the primary task for calls
to vTaskSuspend/Resume(). */ to vTaskSuspend/Resume(). */
static xTaskHandle xSecondary; static xTaskHandle xSecondary;
/* Used to ensure that tasks are still executing without error. */ /* Used to ensure that tasks are still executing without error. */
static volatile portBASE_TYPE xPrimaryCycles = 0, xSecondaryCycles = 0; static volatile portBASE_TYPE xPrimaryCycles = 0, xSecondaryCycles = 0;
static volatile portBASE_TYPE xErrorOccurred = pdFALSE; static volatile portBASE_TYPE xErrorOccurred = pdFALSE;
/* Provides a simple mechanism for the primary task to know when the /* Provides a simple mechanism for the primary task to know when the
secondary task has executed. */ secondary task has executed. */
static volatile unsigned portBASE_TYPE xRunIndicator; static volatile unsigned portBASE_TYPE xRunIndicator;
/* The two test tasks. Their behaviour is commented within the files. */ /* The two test tasks. Their behaviour is commented within the files. */
static void vPrimaryBlockTimeTestTask( void *pvParameters ); static void vPrimaryBlockTimeTestTask( void *pvParameters );
static void vSecondaryBlockTimeTestTask( void *pvParameters ); static void vSecondaryBlockTimeTestTask( void *pvParameters );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vCreateBlockTimeTasks( void ) void vCreateBlockTimeTasks( void )
{ {
/* Create the queue on which the two tasks block. */ /* Create the queue on which the two tasks block. */
xTestQueue = xQueueCreate( bktQUEUE_LENGTH, sizeof( portBASE_TYPE ) ); xTestQueue = xQueueCreate( bktQUEUE_LENGTH, sizeof( portBASE_TYPE ) );
/* Create the two test tasks. */ /* vQueueAddToRegistry() adds the queue to the queue registry, if one is
xTaskCreate( vPrimaryBlockTimeTestTask, ( signed portCHAR * )"BTest1", configMINIMAL_STACK_SIZE, NULL, bktPRIMARY_PRIORITY, NULL ); in use. The queue registry is provided as a means for kernel aware
xTaskCreate( vSecondaryBlockTimeTestTask, ( signed portCHAR * )"BTest2", configMINIMAL_STACK_SIZE, NULL, bktSECONDARY_PRIORITY, &xSecondary ); debuggers to locate queues 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
defined to be less than 1. */
static void vPrimaryBlockTimeTestTask( void *pvParameters ) vQueueAddToRegistry( xTestQueue, ( signed portCHAR * ) "Block_Time_Queue" );
{
portBASE_TYPE xItem, xData; /* Create the two test tasks. */
portTickType xTimeWhenBlocking; xTaskCreate( vPrimaryBlockTimeTestTask, ( signed portCHAR * )"BTest1", configMINIMAL_STACK_SIZE, NULL, bktPRIMARY_PRIORITY, NULL );
portTickType xTimeToBlock, xBlockedTime; xTaskCreate( vSecondaryBlockTimeTestTask, ( signed portCHAR * )"BTest2", configMINIMAL_STACK_SIZE, NULL, bktSECONDARY_PRIORITY, &xSecondary );
}
( void ) pvParameters; /*-----------------------------------------------------------*/
for( ;; ) static void vPrimaryBlockTimeTestTask( void *pvParameters )
{ {
/********************************************************************* portBASE_TYPE xItem, xData;
Test 1 portTickType xTimeWhenBlocking;
portTickType xTimeToBlock, xBlockedTime;
Simple block time wakeup test on queue receives. */
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ ) ( void ) pvParameters;
{
/* The queue is empty. Attempt to read from the queue using a block for( ;; )
time. When we wake, ensure the delta in time is as expected. */ {
xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem; /*********************************************************************
Test 1
xTimeWhenBlocking = xTaskGetTickCount();
Simple block time wakeup test on queue receives. */
/* We should unblock after xTimeToBlock having not received for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
anything on the queue. */ {
if( xQueueReceive( xTestQueue, &xData, xTimeToBlock ) != errQUEUE_EMPTY ) /* 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. */
xErrorOccurred = pdTRUE; xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;
}
xTimeWhenBlocking = xTaskGetTickCount();
/* How long were we blocked for? */
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking; /* We should unblock after xTimeToBlock having not received
anything on the queue. */
if( xBlockedTime < xTimeToBlock ) if( xQueueReceive( xTestQueue, &xData, xTimeToBlock ) != errQUEUE_EMPTY )
{ {
/* Should not have blocked for less than we requested. */ xErrorOccurred = pdTRUE;
xErrorOccurred = pdTRUE; }
}
/* How long were we blocked for? */
if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) ) xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
{
/* Should not have blocked for longer than we requested, if( xBlockedTime < xTimeToBlock )
although we would not necessarily run as soon as we were {
unblocked so a margin is allowed. */ /* Should not have blocked for less than we requested. */
xErrorOccurred = pdTRUE; xErrorOccurred = pdTRUE;
} }
}
if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
/********************************************************************* {
Test 2 /* Should not have blocked for longer than we requested,
although we would not necessarily run as soon as we were
Simple block time wakeup test on queue sends. unblocked so a margin is allowed. */
xErrorOccurred = pdTRUE;
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 ) /*********************************************************************
{ Test 2
xErrorOccurred = pdTRUE;
} Simple block time wakeup test on queue sends.
#if configUSE_PREEMPTION == 0 First fill the queue. It should be empty so all sends should pass. */
taskYIELD(); for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
#endif {
} if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
{
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ ) xErrorOccurred = pdTRUE;
{ }
/* 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. */ #if configUSE_PREEMPTION == 0
xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem; taskYIELD();
#endif
xTimeWhenBlocking = xTaskGetTickCount(); }
/* We should unblock after xTimeToBlock having not received for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
anything on the queue. */ {
if( xQueueSend( xTestQueue, &xItem, xTimeToBlock ) != errQUEUE_FULL ) /* 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. */
xErrorOccurred = pdTRUE; xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;
}
xTimeWhenBlocking = xTaskGetTickCount();
/* How long were we blocked for? */
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking; /* We should unblock after xTimeToBlock having not received
anything on the queue. */
if( xBlockedTime < xTimeToBlock ) if( xQueueSend( xTestQueue, &xItem, xTimeToBlock ) != errQUEUE_FULL )
{ {
/* Should not have blocked for less than we requested. */ xErrorOccurred = pdTRUE;
xErrorOccurred = pdTRUE; }
}
/* How long were we blocked for? */
if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) ) xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
{
/* Should not have blocked for longer than we requested, if( xBlockedTime < xTimeToBlock )
although we would not necessarily run as soon as we were {
unblocked so a margin is allowed. */ /* Should not have blocked for less than we requested. */
xErrorOccurred = pdTRUE; xErrorOccurred = pdTRUE;
} }
}
if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
/********************************************************************* {
Test 3 /* Should not have blocked for longer than we requested,
although we would not necessarily run as soon as we were
Wake the other task, it will block attempting to post to the queue. unblocked so a margin is allowed. */
When we read from the queue the other task will wake, but before it xErrorOccurred = pdTRUE;
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. /*********************************************************************
Test 3
Wake the other task so it blocks attempting to post to the already
full queue. */ Wake the other task, it will block attempting to post to the queue.
xRunIndicator = 0; When we read from the queue the other task will wake, but before it
vTaskResume( xSecondary ); 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
/* We need to wait a little to ensure the other task executes. */ recognise that its block time has not expired and return to block for
while( xRunIndicator != bktRUN_INDICATOR ) the remains of its block time.
{
/* The other task has not yet executed. */ Wake the other task so it blocks attempting to post to the already
vTaskDelay( bktSHORT_WAIT ); full queue. */
} xRunIndicator = 0;
/* Make sure the other task is blocked on the queue. */ vTaskResume( xSecondary );
vTaskDelay( bktSHORT_WAIT );
xRunIndicator = 0; /* We need to wait a little to ensure the other task executes. */
while( xRunIndicator != bktRUN_INDICATOR )
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ ) {
{ /* The other task has not yet executed. */
/* Now when we make space on the queue the other task should wake vTaskDelay( bktSHORT_WAIT );
but not execute as this task has higher priority. */ }
if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS ) /* Make sure the other task is blocked on the queue. */
{ vTaskDelay( bktSHORT_WAIT );
xErrorOccurred = pdTRUE; xRunIndicator = 0;
}
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
/* 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 /* Now when we make space on the queue the other task should wake
full ourselves, and the other task have set xRunIndicator. */ but not execute as this task has higher priority. */
if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS ) if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
{ {
xErrorOccurred = pdTRUE; xErrorOccurred = pdTRUE;
} }
if( xRunIndicator == bktRUN_INDICATOR ) /* 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
/* The other task should not have executed. */ full ourselves, and the other task have set xRunIndicator. */
xErrorOccurred = pdTRUE; if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
} {
xErrorOccurred = pdTRUE;
/* Raise the priority of the other task so it executes and blocks }
on the queue again. */
vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 ); if( xRunIndicator == bktRUN_INDICATOR )
{
/* The other task should now have re-blocked without exiting the /* The other task should not have executed. */
queue function. */ xErrorOccurred = pdTRUE;
if( xRunIndicator == bktRUN_INDICATOR ) }
{
/* The other task should not have executed outside of the /* Raise the priority of the other task so it executes and blocks
queue function. */ on the queue again. */
xErrorOccurred = pdTRUE; vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
}
/* The other task should now have re-blocked without exiting the
/* Set the priority back down. */ queue function. */
vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY ); if( xRunIndicator == bktRUN_INDICATOR )
} {
/* The other task should not have executed outside of the
/* Let the other task timeout. When it unblockes it will check that it queue function. */
unblocked at the correct time, then suspend itself. */ xErrorOccurred = pdTRUE;
while( xRunIndicator != bktRUN_INDICATOR ) }
{
vTaskDelay( bktSHORT_WAIT ); /* Set the priority back down. */
} vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
vTaskDelay( bktSHORT_WAIT ); }
xRunIndicator = 0;
/* 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 )
Test 4 {
vTaskDelay( bktSHORT_WAIT );
As per test 3 - but with the send and receive the other way around. }
The other task blocks attempting to read from the queue. vTaskDelay( bktSHORT_WAIT );
xRunIndicator = 0;
Empty the queue. We should find that it is full. */
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
{ /*********************************************************************
if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS ) Test 4
{
xErrorOccurred = pdTRUE; 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. */
/* Wake the other task so it blocks attempting to read from the for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
already empty queue. */ {
vTaskResume( xSecondary ); if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
{
/* We need to wait a little to ensure the other task executes. */ xErrorOccurred = pdTRUE;
while( xRunIndicator != bktRUN_INDICATOR ) }
{ }
vTaskDelay( bktSHORT_WAIT );
} /* Wake the other task so it blocks attempting to read from the
vTaskDelay( bktSHORT_WAIT ); already empty queue. */
xRunIndicator = 0; vTaskResume( xSecondary );
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ ) /* We need to wait a little to ensure the other task executes. */
{ while( xRunIndicator != bktRUN_INDICATOR )
/* Now when we place an item on the queue the other task should {
wake but not execute as this task has higher priority. */ vTaskDelay( bktSHORT_WAIT );
if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS ) }
{ vTaskDelay( bktSHORT_WAIT );
xErrorOccurred = pdTRUE; xRunIndicator = 0;
}
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
/* 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 /* Now when we place an item on the queue the other task should
empty ourselves, and the other task would be suspended. */ wake but not execute as this task has higher priority. */
if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS ) if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
{ {
xErrorOccurred = pdTRUE; xErrorOccurred = pdTRUE;
} }
if( xRunIndicator == bktRUN_INDICATOR ) /* 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
/* The other task should not have executed. */ empty ourselves, and the other task would be suspended. */
xErrorOccurred = pdTRUE; if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
} {
xErrorOccurred = pdTRUE;
/* Raise the priority of the other task so it executes and blocks }
on the queue again. */
vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 ); if( xRunIndicator == bktRUN_INDICATOR )
{
/* The other task should now have re-blocked without exiting the /* The other task should not have executed. */
queue function. */ xErrorOccurred = pdTRUE;
if( xRunIndicator == bktRUN_INDICATOR ) }
{
/* The other task should not have executed outside of the /* Raise the priority of the other task so it executes and blocks
queue function. */ on the queue again. */
xErrorOccurred = pdTRUE; vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
}
vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY ); /* The other task should now have re-blocked without exiting the
} queue function. */
if( xRunIndicator == bktRUN_INDICATOR )
/* Let the other task timeout. When it unblockes it will check that it {
unblocked at the correct time, then suspend itself. */ /* The other task should not have executed outside of the
while( xRunIndicator != bktRUN_INDICATOR ) queue function. */
{ xErrorOccurred = pdTRUE;
vTaskDelay( bktSHORT_WAIT ); }
} vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
vTaskDelay( bktSHORT_WAIT ); }
xPrimaryCycles++; /* 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 );
static void vSecondaryBlockTimeTestTask( void *pvParameters ) }
{ vTaskDelay( bktSHORT_WAIT );
portTickType xTimeWhenBlocking, xBlockedTime;
portBASE_TYPE xData; xPrimaryCycles++;
}
( void ) pvParameters; }
/*-----------------------------------------------------------*/
for( ;; )
{ static void vSecondaryBlockTimeTestTask( void *pvParameters )
/********************************************************************* {
Test 1 and 2 portTickType xTimeWhenBlocking, xBlockedTime;
portBASE_TYPE xData;
This task does does not participate in these tests. */
vTaskSuspend( NULL ); ( void ) pvParameters;
/********************************************************************* for( ;; )
Test 3 {
/*********************************************************************
The first thing we do is attempt to read from the queue. It should be Test 1 and 2
full so we block. Note the time before we block so we can check the
wake time is as per that expected. */ This task does does not participate in these tests. */
xTimeWhenBlocking = xTaskGetTickCount(); vTaskSuspend( NULL );
/* We should unblock after bktTIME_TO_BLOCK having not received /*********************************************************************
anything on the queue. */ Test 3
xData = 0;
xRunIndicator = bktRUN_INDICATOR; The first thing we do is attempt to read from the queue. It should be
if( xQueueSend( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_FULL ) full so we block. Note the time before we block so we can check the
{ wake time is as per that expected. */
xErrorOccurred = pdTRUE; xTimeWhenBlocking = xTaskGetTickCount();
}
/* We should unblock after bktTIME_TO_BLOCK having not received
/* How long were we inside the send function? */ anything on the queue. */
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking; xData = 0;
xRunIndicator = bktRUN_INDICATOR;
/* We should not have blocked for less time than bktTIME_TO_BLOCK. */ if( xQueueSend( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_FULL )
if( xBlockedTime < bktTIME_TO_BLOCK ) {
{ xErrorOccurred = pdTRUE;
xErrorOccurred = pdTRUE; }
}
/* How long were we inside the send function? */
/* We should of not blocked for much longer than bktALLOWABLE_MARGIN xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
either. A margin is permitted as we would not necessarily run as
soon as we unblocked. */ /* We should not have blocked for less time than bktTIME_TO_BLOCK. */
if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) ) if( xBlockedTime < bktTIME_TO_BLOCK )
{ {
xErrorOccurred = pdTRUE; xErrorOccurred = pdTRUE;
} }
/* Suspend ready for test 3. */ /* We should of not blocked for much longer than bktALLOWABLE_MARGIN
xRunIndicator = bktRUN_INDICATOR; either. A margin is permitted as we would not necessarily run as
vTaskSuspend( NULL ); soon as we unblocked. */
if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
/********************************************************************* {
Test 4 xErrorOccurred = pdTRUE;
}
As per test three, but with the send and receive reversed. */
xTimeWhenBlocking = xTaskGetTickCount(); /* Suspend ready for test 3. */
xRunIndicator = bktRUN_INDICATOR;
/* We should unblock after bktTIME_TO_BLOCK having not received vTaskSuspend( NULL );
anything on the queue. */
xRunIndicator = bktRUN_INDICATOR; /*********************************************************************
if( xQueueReceive( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_EMPTY ) Test 4
{
xErrorOccurred = pdTRUE; As per test three, but with the send and receive reversed. */
} xTimeWhenBlocking = xTaskGetTickCount();
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking; /* We should unblock after bktTIME_TO_BLOCK having not received
anything on the queue. */
/* We should not have blocked for less time than bktTIME_TO_BLOCK. */ xRunIndicator = bktRUN_INDICATOR;
if( xBlockedTime < bktTIME_TO_BLOCK ) if( xQueueReceive( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_EMPTY )
{ {
xErrorOccurred = pdTRUE; xErrorOccurred = pdTRUE;
} }
/* We should of not blocked for much longer than bktALLOWABLE_MARGIN xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
either. A margin is permitted as we would not necessarily run as soon
as we unblocked. */ /* We should not have blocked for less time than bktTIME_TO_BLOCK. */
if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) ) if( xBlockedTime < bktTIME_TO_BLOCK )
{ {
xErrorOccurred = pdTRUE; xErrorOccurred = pdTRUE;
} }
xRunIndicator = bktRUN_INDICATOR; /* We should of not blocked for much longer than bktALLOWABLE_MARGIN
either. A margin is permitted as we would not necessarily run as soon
xSecondaryCycles++; as we unblocked. */
} if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
} {
/*-----------------------------------------------------------*/ xErrorOccurred = pdTRUE;
}
portBASE_TYPE xAreBlockTimeTestTasksStillRunning( void )
{ xRunIndicator = bktRUN_INDICATOR;
static portBASE_TYPE xLastPrimaryCycleCount = 0, xLastSecondaryCycleCount = 0;
portBASE_TYPE xReturn = pdPASS; xSecondaryCycles++;
}
/* Have both tasks performed at least one cycle since this function was }
last called? */ /*-----------------------------------------------------------*/
if( xPrimaryCycles == xLastPrimaryCycleCount )
{ portBASE_TYPE xAreBlockTimeTestTasksStillRunning( void )
xReturn = pdFAIL; {
} static portBASE_TYPE xLastPrimaryCycleCount = 0, xLastSecondaryCycleCount = 0;
portBASE_TYPE xReturn = pdPASS;
if( xSecondaryCycles == xLastSecondaryCycleCount )
{ /* Have both tasks performed at least one cycle since this function was
xReturn = pdFAIL; last called? */
} if( xPrimaryCycles == xLastPrimaryCycleCount )
{
if( xErrorOccurred == pdTRUE ) xReturn = pdFAIL;
{ }
xReturn = pdFAIL;
} if( xSecondaryCycles == xLastSecondaryCycleCount )
{
xLastSecondaryCycleCount = xSecondaryCycles; xReturn = pdFAIL;
xLastPrimaryCycleCount = xPrimaryCycles; }
return xReturn; if( xErrorOccurred == pdTRUE )
} {
xReturn = pdFAIL;
}
xLastSecondaryCycleCount = xSecondaryCycles;
xLastPrimaryCycleCount = xPrimaryCycles;
return xReturn;
}

10
Demo/Common/Minimal/countsem.c
View file

@ -138,6 +138,16 @@ void vStartCountingSemaphoreTasks( void )
xParameters[ 1 ].xSemaphore = xSemaphoreCreateCounting( countMAX_COUNT_VALUE, 0 ); xParameters[ 1 ].xSemaphore = xSemaphoreCreateCounting( countMAX_COUNT_VALUE, 0 );
xParameters[ 1 ].uxExpectedStartCount = 0; xParameters[ 1 ].uxExpectedStartCount = 0;
xParameters[ 1 ].uxLoopCounter = 0; 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
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
defined to be less than 1. */
vQueueAddToRegistry( ( xQueueHandle ) xParameters[ 0 ].xSemaphore, ( signed portCHAR * ) "Counting_Sem_1" );
vQueueAddToRegistry( ( xQueueHandle ) xParameters[ 1 ].xSemaphore, ( signed portCHAR * ) "Counting_Sem_2" );
/* Were the semaphores created? */ /* Were the semaphores created? */
if( ( xParameters[ 0 ].xSemaphore != NULL ) || ( xParameters[ 1 ].xSemaphore != NULL ) ) if( ( xParameters[ 0 ].xSemaphore != NULL ) || ( xParameters[ 1 ].xSemaphore != NULL ) )

837
Demo/Common/Minimal/dynamic.c
View file

@ -1,414 +1,423 @@
/* /*
FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry. FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.
This file is part of the FreeRTOS.org distribution. This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify 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 it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or the Free Software Foundation; either version 2 of the License, or
(at your option) any later version. (at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful, FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. GNU General Public License for more details.
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 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 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 a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section 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 of http://www.FreeRTOS.org for full details of how and when the exception
can be applied. can be applied.
*************************************************************************** ***************************************************************************
*************************************************************************** ***************************************************************************
* * * *
* SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, * * 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. * * 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 * * See http://www.OpenRTOS.com for details of the services we provide to *
* expedite your project. * * expedite your project. *
* * * *
*************************************************************************** ***************************************************************************
*************************************************************************** ***************************************************************************
Please ensure to read the configuration and relevant port sections of the Please ensure to read the configuration and relevant port sections of the
online documentation. online documentation.
http://www.FreeRTOS.org - Documentation, latest information, license and http://www.FreeRTOS.org - Documentation, latest information, license and
contact details. contact details.
http://www.SafeRTOS.com - A version that is certified for use in safety http://www.SafeRTOS.com - A version that is certified for use in safety
critical systems. critical systems.
http://www.OpenRTOS.com - Commercial support, development, porting, http://www.OpenRTOS.com - Commercial support, development, porting,
licensing and training services. licensing and training services.
*/ */
/* /*
* The first test creates three tasks - two counter tasks (one continuous count * The first test creates three tasks - two counter tasks (one continuous count
* and one limited count) and one controller. A "count" variable is shared * 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" * 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 * 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 * the continuous count task, and at a lower priority than the limited count
* task. * task.
* *
* One counter task loops indefinitely, incrementing the shared count variable * One counter task loops indefinitely, incrementing the shared count variable
* on each iteration. To ensure it has exclusive access to the variable it * 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 * raises it's priority above that of the controller task before each
* increment, lowering it again to it's original priority before starting the * increment, lowering it again to it's original priority before starting the
* next iteration. * next iteration.
* *
* The other counter task increments the shared count variable on each * 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 * 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 * which point it suspends itself. It will not start a new loop until the
* controller task has made it "ready" again by calling vTaskResume (). * controller task has made it "ready" again by calling vTaskResume ().
* This second counter task operates at a higher priority than controller * This second counter task operates at a higher priority than controller
* task so does not need to worry about mutual exclusion of the counter * task so does not need to worry about mutual exclusion of the counter
* variable. * variable.
* *
* The controller task is in two sections. The first section controls and * The controller task is in two sections. The first section controls and
* monitors the continuous count task. When this section is operational the * monitors the continuous count task. When this section is operational the
* limited count task is suspended. Likewise, the second section controls * limited count task is suspended. Likewise, the second section controls
* and monitors the limited count task. When this section is operational the * and monitors the limited count task. When this section is operational the
* continuous count task is suspended. * continuous count task is suspended.
* *
* In the first section the controller task first takes a copy of the shared * 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 * count variable. To ensure mutual exclusion on the count variable it
* suspends the continuous count task, resuming it again when the copy has been * 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 * taken. The controller task then sleeps for a fixed period - during which
* the continuous count task will execute and increment the shared variable. * the continuous count task will execute and increment the shared variable.
* When the controller task wakes it checks that the continuous count task * 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 * has executed by comparing the copy of the shared variable with its current
* value. This time, to ensure mutual exclusion, the scheduler itself is * value. This time, to ensure mutual exclusion, the scheduler itself is
* suspended with a call to vTaskSuspendAll (). This is for demonstration * suspended with a call to vTaskSuspendAll (). This is for demonstration
* purposes only and is not a recommended technique due to its inefficiency. * purposes only and is not a recommended technique due to its inefficiency.
* *
* After a fixed number of iterations the controller task suspends the * After a fixed number of iterations the controller task suspends the
* continuous count task, and moves on to its second section. * continuous count task, and moves on to its second section.
* *
* At the start of the second section the shared variable is cleared to zero. * 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 * 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 * vTaskResume (). As this counter task operates at a higher priority than
* the controller task the controller task should not run again until the * 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 * shared variable has been counted up to the limited value causing the counter
* task to suspend itself. The next line after vTaskResume () is therefore * task to suspend itself. The next line after vTaskResume () is therefore
* a check on the shared variable to ensure everything is as expected. * 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 * 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 * queue while the scheduler is suspended. This test was added to test parts
* of the scheduler not exercised by the first test. * of the scheduler not exercised by the first test.
* *
*/ */
#include <stdlib.h> #include <stdlib.h>
/* Scheduler include files. */ /* Scheduler include files. */
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
#include "semphr.h" #include "semphr.h"
/* Demo app include files. */ /* Demo app include files. */
#include "dynamic.h" #include "dynamic.h"
/* Function that implements the "limited count" task as described above. */ /* Function that implements the "limited count" task as described above. */
static portTASK_FUNCTION_PROTO( vLimitedIncrementTask, pvParameters ); static portTASK_FUNCTION_PROTO( vLimitedIncrementTask, pvParameters );
/* Function that implements the "continuous count" task as described above. */ /* Function that implements the "continuous count" task as described above. */
static portTASK_FUNCTION_PROTO( vContinuousIncrementTask, pvParameters ); static portTASK_FUNCTION_PROTO( vContinuousIncrementTask, pvParameters );
/* Function that implements the controller task as described above. */ /* Function that implements the controller task as described above. */
static portTASK_FUNCTION_PROTO( vCounterControlTask, pvParameters ); static portTASK_FUNCTION_PROTO( vCounterControlTask, pvParameters );
static portTASK_FUNCTION_PROTO( vQueueReceiveWhenSuspendedTask, pvParameters ); static portTASK_FUNCTION_PROTO( vQueueReceiveWhenSuspendedTask, pvParameters );
static portTASK_FUNCTION_PROTO( vQueueSendWhenSuspendedTask, pvParameters ); static portTASK_FUNCTION_PROTO( vQueueSendWhenSuspendedTask, pvParameters );
/* Demo task specific constants. */ /* Demo task specific constants. */
#define priSTACK_SIZE ( configMINIMAL_STACK_SIZE ) #define priSTACK_SIZE ( configMINIMAL_STACK_SIZE )
#define priSLEEP_TIME ( ( portTickType ) 128 / portTICK_RATE_MS ) #define priSLEEP_TIME ( ( portTickType ) 128 / portTICK_RATE_MS )
#define priLOOPS ( 5 ) #define priLOOPS ( 5 )
#define priMAX_COUNT ( ( unsigned portLONG ) 0xff ) #define priMAX_COUNT ( ( unsigned portLONG ) 0xff )
#define priNO_BLOCK ( ( portTickType ) 0 ) #define priNO_BLOCK ( ( portTickType ) 0 )
#define priSUSPENDED_QUEUE_LENGTH ( 1 ) #define priSUSPENDED_QUEUE_LENGTH ( 1 )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Handles to the two counter tasks. These could be passed in as parameters /* 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. */ to the controller task to prevent them having to be file scope. */
static xTaskHandle xContinousIncrementHandle, xLimitedIncrementHandle; static xTaskHandle xContinousIncrementHandle, xLimitedIncrementHandle;
/* The shared counter variable. This is passed in as a parameter to the two /* The shared counter variable. This is passed in as a parameter to the two
counter variables for demonstration purposes. */ counter variables for demonstration purposes. */
static unsigned portLONG ulCounter; static unsigned portLONG ulCounter;
/* Variables used to check that the tasks are still operating without error. /* Variables used to check that the tasks are still operating without error.
Each complete iteration of the controller task increments this variable Each complete iteration of the controller task increments this variable
provided no errors have been found. The variable maintaining the same value provided no errors have been found. The variable maintaining the same value
is therefore indication of an error. */ is therefore indication of an error. */
static volatile unsigned portSHORT usCheckVariable = ( unsigned portSHORT ) 0; static volatile unsigned portSHORT usCheckVariable = ( unsigned portSHORT ) 0;
static volatile portBASE_TYPE xSuspendedQueueSendError = pdFALSE; static volatile portBASE_TYPE xSuspendedQueueSendError = pdFALSE;
static volatile portBASE_TYPE xSuspendedQueueReceiveError = pdFALSE; static volatile portBASE_TYPE xSuspendedQueueReceiveError = pdFALSE;
/* Queue used by the second test. */ /* Queue used by the second test. */
xQueueHandle xSuspendedTestQueue; xQueueHandle xSuspendedTestQueue;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* Start the three tasks as described at the top of the file. * Start the three tasks as described at the top of the file.
* Note that the limited count task is given a higher priority. * Note that the limited count task is given a higher priority.
*/ */
void vStartDynamicPriorityTasks( void ) void vStartDynamicPriorityTasks( void )
{ {
xSuspendedTestQueue = xQueueCreate( priSUSPENDED_QUEUE_LENGTH, sizeof( unsigned portLONG ) ); 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 ); /* vQueueAddToRegistry() adds the queue to the queue registry, if one is
xTaskCreate( vCounterControlTask, ( signed portCHAR * ) "C_CTRL", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); in use. The queue registry is provided as a means for kernel aware
xTaskCreate( vQueueSendWhenSuspendedTask, ( signed portCHAR * ) "SUSP_TX", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); debuggers to locate queues and has no purpose if a kernel aware debugger
xTaskCreate( vQueueReceiveWhenSuspendedTask, ( signed portCHAR * ) "SUSP_RX", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); is not being used. The call to vQueueAddToRegistry() will be removed
} by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
/*-----------------------------------------------------------*/ defined to be less than 1. */
vQueueAddToRegistry( xSuspendedTestQueue, ( signed portCHAR * ) "Suspended_Test_Queue" );
/*
* Just loops around incrementing the shared variable until the limit has been xTaskCreate( vContinuousIncrementTask, ( signed portCHAR * ) "CNT_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY, &xContinousIncrementHandle );
* reached. Once the limit has been reached it suspends itself. 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 );
static portTASK_FUNCTION( vLimitedIncrementTask, pvParameters ) xTaskCreate( vQueueSendWhenSuspendedTask, ( signed portCHAR * ) "SUSP_TX", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
{ xTaskCreate( vQueueReceiveWhenSuspendedTask, ( signed portCHAR * ) "SUSP_RX", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
unsigned portLONG *pulCounter; }
/*-----------------------------------------------------------*/
/* Take a pointer to the shared variable from the parameters passed into
the task. */ /*
pulCounter = ( unsigned portLONG * ) pvParameters; * Just loops around incrementing the shared variable until the limit has been
* reached. Once the limit has been reached it suspends itself.
/* This will run before the control task, so the first thing it does is */
suspend - the control task will resume it when ready. */ static portTASK_FUNCTION( vLimitedIncrementTask, pvParameters )
vTaskSuspend( NULL ); {
unsigned portLONG *pulCounter;
for( ;; )
{ /* Take a pointer to the shared variable from the parameters passed into
/* Just count up to a value then suspend. */ the task. */
( *pulCounter )++; pulCounter = ( unsigned portLONG * ) pvParameters;
if( *pulCounter >= priMAX_COUNT ) /* 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 ); vTaskSuspend( NULL );
}
} for( ;; )
} {
/*-----------------------------------------------------------*/ /* Just count up to a value then suspend. */
( *pulCounter )++;
/*
* Just keep counting the shared variable up. The control task will suspend if( *pulCounter >= priMAX_COUNT )
* this task when it wants. {
*/ vTaskSuspend( NULL );
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. */ * Just keep counting the shared variable up. The control task will suspend
pulCounter = ( unsigned portLONG * ) pvParameters; * this task when it wants.
*/
/* Query our priority so we can raise it when exclusive access to the static portTASK_FUNCTION( vContinuousIncrementTask, pvParameters )
shared variable is required. */ {
uxOurPriority = uxTaskPriorityGet( NULL ); unsigned portLONG *pulCounter;
unsigned portBASE_TYPE uxOurPriority;
for( ;; )
{ /* Take a pointer to the shared variable from the parameters passed into
/* Raise our priority above the controller task to ensure a context the task. */
switch does not occur while we are accessing this variable. */ pulCounter = ( unsigned portLONG * ) pvParameters;
vTaskPrioritySet( NULL, uxOurPriority + 1 );
( *pulCounter )++; /* Query our priority so we can raise it when exclusive access to the
vTaskPrioritySet( NULL, uxOurPriority ); shared variable is required. */
} uxOurPriority = uxTaskPriorityGet( NULL );
}
/*-----------------------------------------------------------*/ for( ;; )
{
/* /* Raise our priority above the controller task to ensure a context
* Controller task as described above. switch does not occur while we are accessing this variable. */
*/ vTaskPrioritySet( NULL, uxOurPriority + 1 );
static portTASK_FUNCTION( vCounterControlTask, pvParameters ) ( *pulCounter )++;
{ vTaskPrioritySet( NULL, uxOurPriority );
unsigned portLONG ulLastCounter; }
portSHORT sLoops; }
portSHORT sError = pdFALSE; /*-----------------------------------------------------------*/
/* Just to stop warning messages. */ /*
( void ) pvParameters; * Controller task as described above.
*/
for( ;; ) static portTASK_FUNCTION( vCounterControlTask, pvParameters )
{ {
/* Start with the counter at zero. */ unsigned portLONG ulLastCounter;
ulCounter = ( unsigned portLONG ) 0; portSHORT sLoops;
portSHORT sError = pdFALSE;
/* First section : */
/* Just to stop warning messages. */
/* Check the continuous count task is running. */ ( void ) pvParameters;
for( sLoops = 0; sLoops < priLOOPS; sLoops++ )
{ for( ;; )
/* Suspend the continuous count task so we can take a mirror of the {
shared variable without risk of corruption. */ /* Start with the counter at zero. */
vTaskSuspend( xContinousIncrementHandle ); ulCounter = ( unsigned portLONG ) 0;
ulLastCounter = ulCounter;
vTaskResume( xContinousIncrementHandle ); /* First section : */
/* Now delay to ensure the other task has processor time. */ /* Check the continuous count task is running. */
vTaskDelay( priSLEEP_TIME ); for( sLoops = 0; sLoops < priLOOPS; sLoops++ )
{
/* Check the shared variable again. This time to ensure mutual /* Suspend the continuous count task so we can take a mirror of the
exclusion the whole scheduler will be locked. This is just for shared variable without risk of corruption. */
demo purposes! */ vTaskSuspend( xContinousIncrementHandle );
vTaskSuspendAll(); ulLastCounter = ulCounter;
{ vTaskResume( xContinousIncrementHandle );
if( ulLastCounter == ulCounter )
{ /* Now delay to ensure the other task has processor time. */
/* The shared variable has not changed. There is a problem vTaskDelay( priSLEEP_TIME );
with the continuous count task so flag an error. */
sError = pdTRUE; /* Check the shared variable again. This time to ensure mutual
} exclusion the whole scheduler will be locked. This is just for
} demo purposes! */
xTaskResumeAll(); vTaskSuspendAll();
} {
if( ulLastCounter == ulCounter )
{
/* Second section: */ /* The shared variable has not changed. There is a problem
with the continuous count task so flag an error. */
/* Suspend the continuous counter task so it stops accessing the shared variable. */ sError = pdTRUE;
vTaskSuspend( xContinousIncrementHandle ); }
}
/* Reset the variable. */ xTaskResumeAll();
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 /* Second section: */
task has suspended itself with a known value in the counter variable. */
vTaskResume( xLimitedIncrementHandle ); /* Suspend the continuous counter task so it stops accessing the shared variable. */
vTaskSuspend( xContinousIncrementHandle );
/* Does the counter variable have the expected value? */
if( ulCounter != priMAX_COUNT ) /* Reset the variable. */
{ ulCounter = ( unsigned portLONG ) 0;
sError = pdTRUE;
} /* Resume the limited count task which has a higher priority than us.
We should therefore not return from this call until the limited count
if( sError == pdFALSE ) task has suspended itself with a known value in the counter variable. */
{ vTaskResume( xLimitedIncrementHandle );
/* If no errors have occurred then increment the check variable. */
portENTER_CRITICAL(); /* Does the counter variable have the expected value? */
usCheckVariable++; if( ulCounter != priMAX_COUNT )
portEXIT_CRITICAL(); {
} sError = pdTRUE;
}
/* Resume the continuous count task and do it all again. */
vTaskResume( xContinousIncrementHandle ); if( sError == pdFALSE )
} {
} /* If no errors have occurred then increment the check variable. */
/*-----------------------------------------------------------*/ portENTER_CRITICAL();
usCheckVariable++;
static portTASK_FUNCTION( vQueueSendWhenSuspendedTask, pvParameters ) portEXIT_CRITICAL();
{ }
static unsigned portLONG ulValueToSend = ( unsigned portLONG ) 0;
/* Resume the continuous count task and do it all again. */
/* Just to stop warning messages. */ vTaskResume( xContinousIncrementHandle );
( void ) pvParameters; }
}
for( ;; ) /*-----------------------------------------------------------*/
{
vTaskSuspendAll(); static portTASK_FUNCTION( vQueueSendWhenSuspendedTask, pvParameters )
{ {
/* We must not block while the scheduler is suspended! */ static unsigned portLONG ulValueToSend = ( unsigned portLONG ) 0;
if( xQueueSend( xSuspendedTestQueue, ( void * ) &ulValueToSend, priNO_BLOCK ) != pdTRUE )
{ /* Just to stop warning messages. */
xSuspendedQueueSendError = pdTRUE; ( void ) pvParameters;
}
} for( ;; )
xTaskResumeAll(); {
vTaskSuspendAll();
vTaskDelay( priSLEEP_TIME ); {
/* We must not block while the scheduler is suspended! */
++ulValueToSend; if( xQueueSend( xSuspendedTestQueue, ( void * ) &ulValueToSend, priNO_BLOCK ) != pdTRUE )
} {
} xSuspendedQueueSendError = pdTRUE;
/*-----------------------------------------------------------*/ }
}
static portTASK_FUNCTION( vQueueReceiveWhenSuspendedTask, pvParameters ) xTaskResumeAll();
{
static unsigned portLONG ulExpectedValue = ( unsigned portLONG ) 0, ulReceivedValue; vTaskDelay( priSLEEP_TIME );
portBASE_TYPE xGotValue;
++ulValueToSend;
/* Just to stop warning messages. */ }
( void ) pvParameters; }
/*-----------------------------------------------------------*/
for( ;; )
{ static portTASK_FUNCTION( vQueueReceiveWhenSuspendedTask, pvParameters )
do {
{ static unsigned portLONG ulExpectedValue = ( unsigned portLONG ) 0, ulReceivedValue;
/* Suspending the scheduler here is fairly pointless and portBASE_TYPE xGotValue;
undesirable for a normal application. It is done here purely
to test the scheduler. The inner xTaskResumeAll() should /* Just to stop warning messages. */
never return pdTRUE as the scheduler is still locked by the ( void ) pvParameters;
outer call. */
vTaskSuspendAll(); for( ;; )
{ {
vTaskSuspendAll(); do
{ {
xGotValue = xQueueReceive( xSuspendedTestQueue, ( void * ) &ulReceivedValue, priNO_BLOCK ); /* Suspending the scheduler here is fairly pointless and
} undesirable for a normal application. It is done here purely
if( xTaskResumeAll() ) to test the scheduler. The inner xTaskResumeAll() should
{ never return pdTRUE as the scheduler is still locked by the
xSuspendedQueueReceiveError = pdTRUE; outer call. */
} vTaskSuspendAll();
} {
xTaskResumeAll(); vTaskSuspendAll();
{
#if configUSE_PREEMPTION == 0 xGotValue = xQueueReceive( xSuspendedTestQueue, ( void * ) &ulReceivedValue, priNO_BLOCK );
{ }
taskYIELD(); if( xTaskResumeAll() )
} {
#endif xSuspendedQueueReceiveError = pdTRUE;
}
} while( xGotValue == pdFALSE ); }
xTaskResumeAll();
if( ulReceivedValue != ulExpectedValue )
{ #if configUSE_PREEMPTION == 0
xSuspendedQueueReceiveError = pdTRUE; {
} taskYIELD();
}
++ulExpectedValue; #endif
}
} } while( xGotValue == pdFALSE );
/*-----------------------------------------------------------*/
if( ulReceivedValue != ulExpectedValue )
/* Called to check that all the created tasks are still running without error. */ {
portBASE_TYPE xAreDynamicPriorityTasksStillRunning( void ) xSuspendedQueueReceiveError = pdTRUE;
{ }
/* Keep a history of the check variables so we know if it has been incremented
since the last call. */ ++ulExpectedValue;
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. */ /* Called to check that all the created tasks are still running without error. */
portBASE_TYPE xAreDynamicPriorityTasksStillRunning( void )
if( usCheckVariable == usLastTaskCheck ) {
{ /* Keep a history of the check variables so we know if it has been incremented
/* The check has not incremented so an error exists. */ since the last call. */
xReturn = pdFALSE; static unsigned portSHORT usLastTaskCheck = ( unsigned portSHORT ) 0;
} portBASE_TYPE xReturn = pdTRUE;
if( xSuspendedQueueSendError == pdTRUE ) /* Check the tasks are still running by ensuring the check variable
{ is still incrementing. */
xReturn = pdFALSE;
} if( usCheckVariable == usLastTaskCheck )
{
if( xSuspendedQueueReceiveError == pdTRUE ) /* The check has not incremented so an error exists. */
{ xReturn = pdFALSE;
xReturn = pdFALSE; }
}
if( xSuspendedQueueSendError == pdTRUE )
usLastTaskCheck = usCheckVariable; {
return xReturn; xReturn = pdFALSE;
} }
if( xSuspendedQueueReceiveError == pdTRUE )
{
xReturn = pdFALSE;
}
usLastTaskCheck = usCheckVariable;
return xReturn;
}

11
Demo/Common/Minimal/recmutex.c
View file

@ -126,7 +126,16 @@ void vStartRecursiveMutexTasks( void )
{ {
/* Just creates the mutex and the three tasks. */ /* Just creates the mutex and the three tasks. */
xMutex = xSemaphoreCreateRecursiveMutex(); xMutex = xSemaphoreCreateRecursiveMutex();
/* vQueueAddToRegistry() adds the mutex to the registry, if one is
in use. The registry is provided as a means for kernel aware
debuggers to locate mutex 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
defined to be less than 1. */
vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Recursive_Mutex" );
if( xMutex != NULL ) if( xMutex != NULL )
{ {