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Demo tasks only, with the aim of improving test coverage:

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+ Split out the code that uses a mutex from an interrupt from GenQTest.c and add to new common demo task IntSemTest.c.
This commit is contained in:
Richard Barry 2014-09-11 12:06:27 +00:00
parent d55e7e77a2
commit b6e4854f26
4 changed files with 488 additions and 101 deletions
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122
FreeRTOS/Demo/Common/Minimal/GenQTest.c
View file

@ -86,14 +86,13 @@
#include "GenQTest.h" #include "GenQTest.h"
#define genqQUEUE_LENGTH ( 5 ) #define genqQUEUE_LENGTH ( 5 )
#define genqNO_BLOCK ( 0 ) #define intsemNO_BLOCK ( 0 )
#define genqMUTEX_LOW_PRIORITY ( tskIDLE_PRIORITY ) #define genqMUTEX_LOW_PRIORITY ( tskIDLE_PRIORITY )
#define genqMUTEX_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 ) #define genqMUTEX_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define genqMUTEX_MEDIUM_PRIORITY ( tskIDLE_PRIORITY + 2 ) #define genqMUTEX_MEDIUM_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define genqMUTEX_HIGH_PRIORITY ( tskIDLE_PRIORITY + 3 ) #define genqMUTEX_HIGH_PRIORITY ( tskIDLE_PRIORITY + 3 )
#define genqINTERRUPT_MUTEX_GIVE_PERIOD_MS ( 100 )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
@ -122,28 +121,6 @@ static void prvLowPriorityMutexTask( void *pvParameters );
static void prvMediumPriorityMutexTask( void *pvParameters ); static void prvMediumPriorityMutexTask( void *pvParameters );
static void prvHighPriorityMutexTask( void *pvParameters ); static void prvHighPriorityMutexTask( void *pvParameters );
/*
* Exercises the priority inheritance when a task takes two mutexes, returning
* them in a different order to which they were taken.
*/
static void prvTakeTwoMutexesReturnInDifferentOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex );
/*
* Exercises the priority inheritance when a task takes two mutexes, returning
* them in the same order in which they were taken.
*/
static void prvTakeTwoMutexesReturnInSameOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex );
/*
* Task that receives an a mutex that is given from an interrupt - although
* generally mutexes should not be used given in interrupts (and definitely
* never taken in an interrupt) there are some circumstances when it may be
* desirable. NOTE: This function is not declared static to prevent compiler
* warnings being generated in demos where the function is declared but not
* used.
*/
void vInterruptMutexTask( 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
@ -162,11 +139,6 @@ static volatile uint32_t ulGuardedVariable = 0;
priority mutex test tasks. */ priority mutex test tasks. */
static TaskHandle_t xHighPriorityMutexTask, xMediumPriorityMutexTask; static TaskHandle_t xHighPriorityMutexTask, xMediumPriorityMutexTask;
/* A mutex which is given from an interrupt - although generally mutexes should
not be used given in interrupts (and definitely never taken in an interrupt)
there are some circumstances when it may be desirable. */
static SemaphoreHandle_t xISRMutex = NULL;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vStartGenericQueueTasks( UBaseType_t uxPriority ) void vStartGenericQueueTasks( UBaseType_t uxPriority )
@ -174,8 +146,6 @@ void vStartGenericQueueTasks( UBaseType_t uxPriority )
QueueHandle_t xQueue; QueueHandle_t xQueue;
SemaphoreHandle_t xMutex; SemaphoreHandle_t xMutex;
xISRMutex = xSemaphoreCreateMutex();
configASSERT( xISRMutex );
/* Create the queue that we are going to use for the /* Create the queue that we are going to use for the
prvSendFrontAndBackTest demo. */ prvSendFrontAndBackTest demo. */
@ -211,14 +181,6 @@ SemaphoreHandle_t xMutex;
xTaskCreate( prvLowPriorityMutexTask, "MuLow", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_LOW_PRIORITY, NULL ); xTaskCreate( prvLowPriorityMutexTask, "MuLow", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_LOW_PRIORITY, NULL );
xTaskCreate( prvMediumPriorityMutexTask, "MuMed", configMINIMAL_STACK_SIZE, NULL, genqMUTEX_MEDIUM_PRIORITY, &xMediumPriorityMutexTask ); xTaskCreate( prvMediumPriorityMutexTask, "MuMed", configMINIMAL_STACK_SIZE, NULL, genqMUTEX_MEDIUM_PRIORITY, &xMediumPriorityMutexTask );
xTaskCreate( prvHighPriorityMutexTask, "MuHigh", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_HIGH_PRIORITY, &xHighPriorityMutexTask ); xTaskCreate( prvHighPriorityMutexTask, "MuHigh", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_HIGH_PRIORITY, &xHighPriorityMutexTask );
/* Only when the windows simulator is being used - create the task that
receives a mutex from an interrupt. */
#ifdef _WINDOWS_
{
xTaskCreate( vInterruptMutexTask, "IntMu", configMINIMAL_STACK_SIZE, NULL, genqMUTEX_MEDIUM_PRIORITY, NULL );
}
#endif /* __WINDOWS__ */
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -244,14 +206,14 @@ QueueHandle_t xQueue;
should have the same efect as sending it to the front of the queue. should have the same efect as sending it to the front of the queue.
First send to the front and check everything is as expected. */ First send to the front and check everything is as expected. */
xQueueSendToFront( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK ); xQueueSendToFront( xQueue, ( void * ) &ulLoopCounter, intsemNO_BLOCK );
if( uxQueueMessagesWaiting( xQueue ) != 1 ) if( uxQueueMessagesWaiting( xQueue ) != 1 )
{ {
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
if( xQueueReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS ) if( xQueueReceive( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != pdPASS )
{ {
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
@ -270,14 +232,14 @@ QueueHandle_t xQueue;
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
xQueueSendToBack( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK ); xQueueSendToBack( xQueue, ( void * ) &ulLoopCounter, intsemNO_BLOCK );
if( uxQueueMessagesWaiting( xQueue ) != 1 ) if( uxQueueMessagesWaiting( xQueue ) != 1 )
{ {
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
if( xQueueReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS ) if( xQueueReceive( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != pdPASS )
{ {
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
@ -303,7 +265,7 @@ QueueHandle_t xQueue;
/* Place 2, 3, 4 into the queue, adding items to the back of the queue. */ /* Place 2, 3, 4 into the queue, adding items to the back of the queue. */
for( ulData = 2; ulData < 5; ulData++ ) for( ulData = 2; ulData < 5; ulData++ )
{ {
xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ); xQueueSendToBack( xQueue, ( void * ) &ulData, intsemNO_BLOCK );
} }
/* Now the order in the queue should be 2, 3, 4, with 2 being the first /* Now the order in the queue should be 2, 3, 4, with 2 being the first
@ -313,9 +275,9 @@ QueueHandle_t xQueue;
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
ulData = 1; ulData = 1;
xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ); xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK );
ulData = 0; ulData = 0;
xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ); xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK );
/* Now the queue should be full, and when we read the data out we /* Now the queue should be full, and when we read the data out we
should receive 0, 1, 2, 3, 4. */ should receive 0, 1, 2, 3, 4. */
@ -324,12 +286,12 @@ QueueHandle_t xQueue;
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL ) if( xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
{ {
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
if( xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL ) if( xQueueSendToBack( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
{ {
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
@ -342,7 +304,7 @@ QueueHandle_t xQueue;
for( ulData = 0; ulData < genqQUEUE_LENGTH; ulData++ ) for( ulData = 0; ulData < genqQUEUE_LENGTH; ulData++ )
{ {
/* Try peeking the data first. */ /* Try peeking the data first. */
if( xQueuePeek( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS ) if( xQueuePeek( xQueue, &ulData2, intsemNO_BLOCK ) != pdPASS )
{ {
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
@ -356,7 +318,7 @@ QueueHandle_t xQueue;
/* Now try receiving the data for real. The value should be the /* Now try receiving the data for real. The value should be the
same. Clobber the value first so we know we really received it. */ same. Clobber the value first so we know we really received it. */
ulData2 = ~ulData2; ulData2 = ~ulData2;
if( xQueueReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS ) if( xQueueReceive( xQueue, &ulData2, intsemNO_BLOCK ) != pdPASS )
{ {
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
@ -380,12 +342,12 @@ QueueHandle_t xQueue;
/* Our queue is empty once more, add 10, 11 to the back. */ /* Our queue is empty once more, add 10, 11 to the back. */
ulData = 10; ulData = 10;
if( xQueueSend( xQueue, &ulData, genqNO_BLOCK ) != pdPASS ) if( xQueueSend( xQueue, &ulData, intsemNO_BLOCK ) != pdPASS )
{ {
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
ulData = 11; ulData = 11;
if( xQueueSend( xQueue, &ulData, genqNO_BLOCK ) != pdPASS ) if( xQueueSend( xQueue, &ulData, intsemNO_BLOCK ) != pdPASS )
{ {
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
@ -399,7 +361,7 @@ QueueHandle_t xQueue;
front. */ front. */
for( ulData = 9; ulData >= 7; ulData-- ) for( ulData = 9; ulData >= 7; ulData-- )
{ {
if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS ) if( xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != pdPASS )
{ {
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
@ -412,12 +374,12 @@ QueueHandle_t xQueue;
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL ) if( xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
{ {
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
if( xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL ) if( xQueueSendToBack( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
{ {
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
@ -429,7 +391,7 @@ QueueHandle_t xQueue;
/* Check the data we read out is in the expected order. */ /* Check the data we read out is in the expected order. */
for( ulData = 7; ulData < ( 7 + genqQUEUE_LENGTH ); ulData++ ) for( ulData = 7; ulData < ( 7 + genqQUEUE_LENGTH ); ulData++ )
{ {
if( xQueueReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS ) if( xQueueReceive( xQueue, &ulData2, intsemNO_BLOCK ) != pdPASS )
{ {
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
@ -453,7 +415,7 @@ QueueHandle_t xQueue;
static void prvTakeTwoMutexesReturnInDifferentOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex ) static void prvTakeTwoMutexesReturnInDifferentOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex )
{ {
/* Take the mutex. It should be available now. */ /* Take the mutex. It should be available now. */
if( xSemaphoreTake( xMutex, genqNO_BLOCK ) != pdPASS ) if( xSemaphoreTake( xMutex, intsemNO_BLOCK ) != pdPASS )
{ {
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
@ -513,7 +475,7 @@ static void prvTakeTwoMutexesReturnInDifferentOrder( SemaphoreHandle_t xMutex, S
} }
/* Take the local mutex too, so two mutexes are now held. */ /* Take the local mutex too, so two mutexes are now held. */
if( xSemaphoreTake( xLocalMutex, genqNO_BLOCK ) != pdPASS ) if( xSemaphoreTake( xLocalMutex, intsemNO_BLOCK ) != pdPASS )
{ {
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
@ -583,7 +545,7 @@ static void prvTakeTwoMutexesReturnInDifferentOrder( SemaphoreHandle_t xMutex, S
static void prvTakeTwoMutexesReturnInSameOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex ) static void prvTakeTwoMutexesReturnInSameOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex )
{ {
/* Take the mutex. It should be available now. */ /* Take the mutex. It should be available now. */
if( xSemaphoreTake( xMutex, genqNO_BLOCK ) != pdPASS ) if( xSemaphoreTake( xMutex, intsemNO_BLOCK ) != pdPASS )
{ {
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
@ -634,7 +596,7 @@ static void prvTakeTwoMutexesReturnInSameOrder( SemaphoreHandle_t xMutex, Semaph
} }
/* Take the local mutex too, so two mutexes are now held. */ /* Take the local mutex too, so two mutexes are now held. */
if( xSemaphoreTake( xLocalMutex, genqNO_BLOCK ) != pdPASS ) if( xSemaphoreTake( xLocalMutex, intsemNO_BLOCK ) != pdPASS )
{ {
xErrorDetected = pdTRUE; xErrorDetected = pdTRUE;
} }
@ -787,46 +749,6 @@ SemaphoreHandle_t xMutex = ( SemaphoreHandle_t ) pvParameters;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* NOTE: This function is not declared static to prevent compiler warnings in
demos where the function is declared but not used. */
void vInterruptMutexTask( void *pvParameters )
{
const TickType_t xInterruptGivePeriod = pdMS_TO_TICKS( genqINTERRUPT_MUTEX_GIVE_PERIOD_MS );
volatile uint32_t ulLoops = 0;
/* Just to avoid compiler warnings. */
( void ) pvParameters;
for( ;; )
{
/* Has to wait longer than the time between gives to make sure it
should definitely have received the mutex. */
if( xSemaphoreTake( xISRMutex, ( xInterruptGivePeriod * 2 ) ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
else
{
ulLoops++;
}
}
}
/*-----------------------------------------------------------*/
void vMutexISRInteractionTest( void )
{
static TickType_t xLastGiveTime = 0;
TickType_t xTimeNow;
xTimeNow = xTaskGetTickCountFromISR();
if( ( xTimeNow - xLastGiveTime ) >= pdMS_TO_TICKS( genqINTERRUPT_MUTEX_GIVE_PERIOD_MS ) )
{
configASSERT( xISRMutex );
xSemaphoreGiveFromISR( xISRMutex, NULL );
xLastGiveTime = xTimeNow;
}
}
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running. */ /* This is called to check that all the created tasks are still running. */
BaseType_t xAreGenericQueueTasksStillRunning( void ) BaseType_t xAreGenericQueueTasksStillRunning( void )

389
FreeRTOS/Demo/Common/Minimal/IntSemTest.c Normal file
View file

@ -0,0 +1,389 @@
/*
FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that has become a de facto standard. *
* *
* Help yourself get started quickly and support the FreeRTOS *
* project by purchasing a FreeRTOS tutorial book, reference *
* manual, or both from: http://www.FreeRTOS.org/Documentation *
* *
* Thank you! *
* *
***************************************************************************
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available from the following
link: http://www.freertos.org/a00114.html
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
/*
* Demonstrates and tests mutexes being used from an interrupt.
*/
#include <stdlib.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
/* Demo program include files. */
#include "IntSemTest.h"
/*-----------------------------------------------------------*/
/* The priorities of the test tasks. */
#define intsemMASTER_PRIORITY ( tskIDLE_PRIORITY )
#define intsemSLAVE_PRIORITY ( tskIDLE_PRIORITY + 1 )
/* The rate at which the tick hook will give the mutex. */
#define intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS ( 100 )
/* A block time of 0 means 'don't block'. */
#define intsemNO_BLOCK 0
/*-----------------------------------------------------------*/
/*
* The master is a task that receives a mutex that is given from an interrupt -
* although generally mutexes should not be used given in interrupts (and
* definitely never taken in an interrupt) there are some circumstances when it
* may be desirable.
*
* The slave task is just used by the master task to force priority inheritance
* on a mutex that is shared between the master and the slave - which is a
* separate mutex to that given by the interrupt.
*/
static void vInterruptMutexSlaveTask( void *pvParameters );
static void vInterruptMutexMasterTask( void *pvParameters );
/*-----------------------------------------------------------*/
/* Flag that will be latched to pdTRUE should any unexpected behaviour be
detected in any of the tasks. */
static volatile BaseType_t xErrorDetected = pdFALSE;
/* Counters that are incremented on each cycle of a test. This is used to
detect a stalled task - a test that is no longer running. */
static volatile uint32_t ulMasterLoops = 0;
/* Handles of the test tasks that must be accessed from other test tasks. */
static TaskHandle_t xSlaveHandle;
/* A mutex which is given from an interrupt - although generally mutexes should
not be used given in interrupts (and definitely never taken in an interrupt)
there are some circumstances when it may be desirable. */
static SemaphoreHandle_t xISRMutex = NULL;
/* A mutex which is shared between the master and slave tasks - the master
does both sharing of this mutex with the slave and receiving a mutex from the
interrupt. */
static SemaphoreHandle_t xMasterSlaveMutex = NULL;
/* Flag that allows the master task to control when the interrupt gives or does
not give the mutex. There is no mutual exclusion on this variable, but this is
only test code and it should be fine in the 32=bit test environment. */
static BaseType_t xOkToGiveMutex = pdFALSE;
/*-----------------------------------------------------------*/
void vStartInterruptSemaphoreTasks( void )
{
/* Create the mutex that is given from an interrupt. */
xISRMutex = xSemaphoreCreateMutex();
configASSERT( xISRMutex );
/* Create the mutex that is shared between the master and slave tasks (the
master receives a mutex from an interrupt and shares a mutex with the
slave. */
xMasterSlaveMutex = xSemaphoreCreateMutex();
configASSERT( xMasterSlaveMutex );
/* Create the tasks that share mutexes between then and with interrupts. */
xTaskCreate( vInterruptMutexSlaveTask, "IntMuS", configMINIMAL_STACK_SIZE, NULL, intsemSLAVE_PRIORITY, &xSlaveHandle );
xTaskCreate( vInterruptMutexMasterTask, "IntMuM", configMINIMAL_STACK_SIZE, NULL, intsemMASTER_PRIORITY, NULL );
}
/*-----------------------------------------------------------*/
static void vInterruptMutexMasterTask( void *pvParameters )
{
const TickType_t xInterruptGivePeriod = pdMS_TO_TICKS( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS );
/* Just to avoid compiler warnings. */
( void ) pvParameters;
for( ;; )
{
/* Ensure the slave is suspended, and that this task is running at the
lower priority as expected as the start conditions. */
#if( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xSlaveHandle ) == eSuspended );
}
#endif /* INCLUDE_eTaskGetState */
if( uxTaskPriorityGet( NULL ) != intsemMASTER_PRIORITY )
{
xErrorDetected = pdTRUE;
}
/* Take the semaphore that is shared with the slave. */
if( xSemaphoreTake( xMasterSlaveMutex, intsemNO_BLOCK ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
/* This task now has the mutex. Unsuspend the slave so it too
attempts to take the mutex. */
vTaskResume( xSlaveHandle );
/* The slave has the higher priority so should now have executed and
blocked on the semaphore. */
#if( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xSlaveHandle ) == eBlocked );
}
#endif /* INCLUDE_eTaskGetState */
/* This task should now have inherited the priority of the slave
task. */
if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
{
xErrorDetected = pdTRUE;
}
/* Now wait a little longer than the time between ISR gives to also
obtain the ISR mutex. */
xOkToGiveMutex = pdTRUE;
if( xSemaphoreTake( xISRMutex, ( xInterruptGivePeriod * 2 ) ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
xOkToGiveMutex = pdFALSE;
/* Attempting to take again immediately should fail as the mutex is
already held. */
if( xSemaphoreTake( xISRMutex, intsemNO_BLOCK ) != pdFAIL )
{
xErrorDetected = pdTRUE;
}
/* Should still be at the priority of the slave task. */
if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
{
xErrorDetected = pdTRUE;
}
/* Give back the ISR semaphore to ensure the priority is not
disinherited as the shared mutex (which the higher priority task is
attempting to obtain) is still held. */
if( xSemaphoreGive( xISRMutex ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
{
xErrorDetected = pdTRUE;
}
/* Finally give back the shared mutex. This time the higher priority
task should run before this task runs again - so this task should have
disinherited the priority and the higher priority task should be in the
suspended state again. */
if( xSemaphoreGive( xMasterSlaveMutex ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
if( uxTaskPriorityGet( NULL ) != intsemMASTER_PRIORITY )
{
xErrorDetected = pdTRUE;
}
#if( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xSlaveHandle ) == eSuspended );
}
#endif /* INCLUDE_eTaskGetState */
/* Ensure not to starve out other tests. */
ulMasterLoops++;
vTaskDelay( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS );
/* Repeat exactly up to the point where the mutexes are given back.
This time the shared mutex is given back first. */
if( xSemaphoreTake( xMasterSlaveMutex, intsemNO_BLOCK ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
vTaskResume( xSlaveHandle );
#if( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xSlaveHandle ) == eBlocked );
}
#endif /* INCLUDE_eTaskGetState */
if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
{
xErrorDetected = pdTRUE;
}
xOkToGiveMutex = pdTRUE;
if( xSemaphoreTake( xISRMutex, ( xInterruptGivePeriod * 2 ) ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
xOkToGiveMutex = pdFALSE;
if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
{
xErrorDetected = pdTRUE;
}
/* This is where the differences start as this time the shared mutex is
given back first. This time to the higher priority task should run
before this task gets to the point of releasing the interrupt mutex - so
this task should have disinherited the priority and the higher priority
task should be in the suspended state again. */
if( xSemaphoreGive( xMasterSlaveMutex ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
/* Give back the interrupt semaphore too, so the mutex held count goes
back to 0. The mutex will then have to be reset so the ISR can give it
in the next cycle. */
xSemaphoreGive( xISRMutex );
xQueueReset( ( QueueHandle_t ) xISRMutex );
/* Ensure not to starve out other tests. */
ulMasterLoops++;
vTaskDelay( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS );
}
}
/*-----------------------------------------------------------*/
static void vInterruptMutexSlaveTask( void *pvParameters )
{
/* Just to avoid compiler warnings. */
( void ) pvParameters;
for( ;; )
{
/* This task starts by suspending itself so when it executes can be
controlled by the master task. */
vTaskSuspend( NULL );
/* This task will execute when the master task already holds the mutex.
Attempting to take the mutex will place this task in the Blocked
state. */
if( xSemaphoreTake( xMasterSlaveMutex, portMAX_DELAY ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
if( xSemaphoreGive( xMasterSlaveMutex ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
}
}
/*-----------------------------------------------------------*/
void vInterruptSemaphorePeriodicTest( void )
{
static TickType_t xLastGiveTime = 0;
TickType_t xTimeNow;
/* No mutual exclusion on xOkToGiveMutex, but this is only test code (and
only executed on a 32-bit architecture) so ignore that in this case. */
xTimeNow = xTaskGetTickCountFromISR();
if( ( xTimeNow - xLastGiveTime ) >= pdMS_TO_TICKS( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS ) )
{
configASSERT( xISRMutex );
if( xOkToGiveMutex != pdFALSE )
{
xSemaphoreGiveFromISR( xISRMutex, NULL );
/* Second give attempt should fail. */
configASSERT( xSemaphoreGiveFromISR( xISRMutex, NULL ) == pdFAIL );
}
xLastGiveTime = xTimeNow;
}
}
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running. */
BaseType_t xAreInterruptSemaphoreTasksStillRunning( void )
{
static uint32_t ulLastMasterLoopCounter = 0;
/* If the demo tasks are running then it is expected that the loop counters
will have changed since this function was last called. */
if( ulLastMasterLoopCounter == ulMasterLoops )
{
xErrorDetected = pdTRUE;
}
ulLastMasterLoopCounter = ulMasterLoops;
/* Errors detected in the task itself will have latched xErrorDetected
to true. */
return ( BaseType_t ) !xErrorDetected;
}

2
FreeRTOS/Demo/Common/Minimal/TimerDemo.c
View file

@ -743,7 +743,7 @@ static TickType_t uxTick = ( TickType_t ) -1;
#else #else
#ifdef _WINDOWS_ #ifdef _WINDOWS_
/* Windows is not real real time. */ /* Windows is not real real time. */
const TickType_t xMargin = 8; const TickType_t xMargin = 10;
#else #else
const TickType_t xMargin = 4; const TickType_t xMargin = 4;
#endif /* _WINDOWS_ */ #endif /* _WINDOWS_ */

76
FreeRTOS/Demo/Common/include/IntSemTest.h Normal file
View file

@ -0,0 +1,76 @@
/*
FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that has become a de facto standard. *
* *
* Help yourself get started quickly and support the FreeRTOS *
* project by purchasing a FreeRTOS tutorial book, reference *
* manual, or both from: http://www.FreeRTOS.org/Documentation *
* *
* Thank you! *
* *
***************************************************************************
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available from the following
link: http://www.freertos.org/a00114.html
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef INT_SEM_TEST_H
#define INT_SEM_TEST_H
void vStartInterruptSemaphoreTasks( void );
BaseType_t xAreInterruptSemaphoreTasksStillRunning( void );
void vInterruptSemaphorePeriodicTest( void );
#endif /* INT_SEM_TEST_H */