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Add additional configASSERTS() to some standard demo tasks.

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Use own rand() function in QueueSet.c to prevent library versions being referenced.
This commit is contained in:
Richard Barry 2013-09-01 19:45:06 +00:00
parent 33bd63e287
commit ed399e801e
3 changed files with 132 additions and 52 deletions
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38
FreeRTOS/Demo/Common/Minimal/QueueSet.c
View file

@ -109,7 +109,7 @@ in the range of 0xffff to ULONG_MAX. */
/* For test purposes the priority of the sending task is changed after every /* For test purposes the priority of the sending task is changed after every
queuesetPRIORITY_CHANGE_LOOPS number of values are sent to a queue. */ queuesetPRIORITY_CHANGE_LOOPS number of values are sent to a queue. */
#define queuesetPRIORITY_CHANGE_LOOPS 100UL #define queuesetPRIORITY_CHANGE_LOOPS ( ( queuesetNUM_QUEUES_IN_SET * queuesetQUEUE_LENGTH ) * 3 )
/* The ISR sends to the queue every queuesetISR_TX_PERIOD ticks. */ /* The ISR sends to the queue every queuesetISR_TX_PERIOD ticks. */
#define queuesetISR_TX_PERIOD ( 100UL ) #define queuesetISR_TX_PERIOD ( 100UL )
@ -161,6 +161,13 @@ static void prvSetupTest( xTaskHandle xQueueSetSendingTask );
*/ */
static portBASE_TYPE prvCheckReceivedValueWithinExpectedRange( unsigned long ulReceived, unsigned long ulExpectedReceived ); static portBASE_TYPE prvCheckReceivedValueWithinExpectedRange( unsigned long ulReceived, unsigned long ulExpectedReceived );
/*
* Local pseudo random number seed and return functions. Used to avoid calls
* to the standard library.
*/
static unsigned long prvRand( void );
static void prvSRand( unsigned long ulSeed );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* The queues that are added to the set. */ /* The queues that are added to the set. */
@ -193,6 +200,9 @@ xAreQueeuSetTasksStillRunning() function can check it is incrementing as
expected. */ expected. */
static volatile unsigned long ulISRTxValue = queuesetINITIAL_ISR_TX_VALUE; static volatile unsigned long ulISRTxValue = queuesetINITIAL_ISR_TX_VALUE;
/* Used by the pseudo random number generator. */
static unsigned long ulNextRand = 0;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vStartQueueSetTasks( void ) void vStartQueueSetTasks( void )
@ -264,25 +274,25 @@ portBASE_TYPE xReturn = pdPASS, x;
static void prvQueueSetSendingTask( void *pvParameters ) static void prvQueueSetSendingTask( void *pvParameters )
{ {
unsigned long ulTaskTxValue = 0; unsigned long ulTaskTxValue = 0, ulQueueToWriteTo;
portBASE_TYPE xQueueToWriteTo;
xQueueHandle xQueueInUse; xQueueHandle xQueueInUse;
unsigned portBASE_TYPE uxPriority = queuesetMEDIUM_PRIORITY, ulLoops = 0; unsigned portBASE_TYPE uxPriority = queuesetMEDIUM_PRIORITY, ulLoops = 0;
/* Remove compiler warning about the unused parameter. */ /* Remove compiler warning about the unused parameter. */
( void ) pvParameters; ( void ) pvParameters;
srand( ( unsigned int ) &ulTaskTxValue ); /* Seed mini pseudo random number generator. */
prvSRand( ( unsigned long ) &ulTaskTxValue );
for( ;; ) for( ;; )
{ {
/* Generate the index for the queue to which a value is to be sent. */ /* Generate the index for the queue to which a value is to be sent. */
xQueueToWriteTo = rand() % queuesetNUM_QUEUES_IN_SET; ulQueueToWriteTo = prvRand() % queuesetNUM_QUEUES_IN_SET;
xQueueInUse = xQueues[ xQueueToWriteTo ]; xQueueInUse = xQueues[ ulQueueToWriteTo ];
/* Note which index is being written to to ensure all the queues are /* Note which index is being written to to ensure all the queues are
used. */ used. */
( ulQueueUsedCounter[ xQueueToWriteTo ] )++; ( ulQueueUsedCounter[ ulQueueToWriteTo ] )++;
/* Send to the queue to unblock the task that is waiting for data to /* Send to the queue to unblock the task that is waiting for data to
arrive on a queue within the queue set to which this queue belongs. */ arrive on a queue within the queue set to which this queue belongs. */
@ -637,3 +647,17 @@ unsigned long ulValueToSend = 0;
/* Let the ISR access the queues also. */ /* Let the ISR access the queues also. */
xSetupComplete = pdTRUE; xSetupComplete = pdTRUE;
} }
/*-----------------------------------------------------------*/
static unsigned long prvRand( void )
{
ulNextRand = ( ulNextRand * 1103515245UL ) + 12345UL;
return (ulNextRand / 65536UL ) % 32768UL;
}
/*-----------------------------------------------------------*/
static void prvSRand( unsigned long ulSeed )
{
ulNextRand = ulSeed;
}

70
FreeRTOS/Demo/Common/Minimal/dynamic.c
View file

@ -72,14 +72,14 @@
* *
* 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 its 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 its 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 its 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.
@ -105,7 +105,7 @@
* 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 its 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
@ -153,11 +153,11 @@ static portTASK_FUNCTION_PROTO( vQueueSendWhenSuspendedTask, pvParameters );
/* 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 xContinuousIncrementHandle, 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 long ulCounter; static volatile unsigned long 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
@ -192,7 +192,7 @@ void vStartDynamicPriorityTasks( void )
defined to be less than 1. */ defined to be less than 1. */
vQueueAddToRegistry( xSuspendedTestQueue, ( signed char * ) "Suspended_Test_Queue" ); vQueueAddToRegistry( xSuspendedTestQueue, ( signed char * ) "Suspended_Test_Queue" );
xTaskCreate( vContinuousIncrementTask, ( signed char * ) "CNT_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY, &xContinousIncrementHandle ); xTaskCreate( vContinuousIncrementTask, ( signed char * ) "CNT_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY, &xContinuousIncrementHandle );
xTaskCreate( vLimitedIncrementTask, ( signed char * ) "LIM_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY + 1, &xLimitedIncrementHandle ); xTaskCreate( vLimitedIncrementTask, ( signed char * ) "LIM_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY + 1, &xLimitedIncrementHandle );
xTaskCreate( vCounterControlTask, ( signed char * ) "C_CTRL", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); xTaskCreate( vCounterControlTask, ( signed char * ) "C_CTRL", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
xTaskCreate( vQueueSendWhenSuspendedTask, ( signed char * ) "SUSP_TX", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); xTaskCreate( vQueueSendWhenSuspendedTask, ( signed char * ) "SUSP_TX", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
@ -235,7 +235,7 @@ unsigned long *pulCounter;
*/ */
static portTASK_FUNCTION( vContinuousIncrementTask, pvParameters ) static portTASK_FUNCTION( vContinuousIncrementTask, pvParameters )
{ {
unsigned long *pulCounter; volatile unsigned long *pulCounter;
unsigned portBASE_TYPE uxOurPriority; unsigned portBASE_TYPE uxOurPriority;
/* Take a pointer to the shared variable from the parameters passed into /* Take a pointer to the shared variable from the parameters passed into
@ -248,11 +248,15 @@ unsigned portBASE_TYPE uxOurPriority;
for( ;; ) for( ;; )
{ {
/* Raise our priority above the controller task to ensure a context /* Raise the priority above the controller task to ensure a context
switch does not occur while we are accessing this variable. */ switch does not occur while the variable is being accessed. */
vTaskPrioritySet( NULL, uxOurPriority + 1 ); vTaskPrioritySet( NULL, uxOurPriority + 1 );
{
configASSERT( ( uxTaskPriorityGet( NULL ) == ( uxOurPriority + 1 ) ) );
( *pulCounter )++; ( *pulCounter )++;
}
vTaskPrioritySet( NULL, uxOurPriority ); vTaskPrioritySet( NULL, uxOurPriority );
configASSERT( ( uxTaskPriorityGet( NULL ) == uxOurPriority ) );
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -280,10 +284,26 @@ short sError = pdFALSE;
for( sLoops = 0; sLoops < priLOOPS; sLoops++ ) for( sLoops = 0; sLoops < priLOOPS; sLoops++ )
{ {
/* Suspend the continuous count task so we can take a mirror of the /* Suspend the continuous count task so we can take a mirror of the
shared variable without risk of corruption. */ shared variable without risk of corruption. This is not really
vTaskSuspend( xContinousIncrementHandle ); needed as the other task raises its priority above this task's
priority. */
vTaskSuspend( xContinuousIncrementHandle );
{
#if( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xContinuousIncrementHandle ) == eSuspended );
}
#endif /* INCLUDE_eTaskGetState */
ulLastCounter = ulCounter; ulLastCounter = ulCounter;
vTaskResume( xContinousIncrementHandle ); }
vTaskResume( xContinuousIncrementHandle );
#if( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xContinuousIncrementHandle ) == eReady );
}
#endif /* INCLUDE_eTaskGetState */
/* Now delay to ensure the other task has processor time. */ /* Now delay to ensure the other task has processor time. */
vTaskDelay( priSLEEP_TIME ); vTaskDelay( priSLEEP_TIME );
@ -303,20 +323,34 @@ short sError = pdFALSE;
xTaskResumeAll(); xTaskResumeAll();
} }
/* Second section: */ /* Second section: */
/* Suspend the continuous counter task so it stops accessing the shared variable. */ /* Suspend the continuous counter task so it stops accessing the shared
vTaskSuspend( xContinousIncrementHandle ); variable. */
vTaskSuspend( xContinuousIncrementHandle );
/* Reset the variable. */ /* Reset the variable. */
ulCounter = ( unsigned long ) 0; ulCounter = ( unsigned long ) 0;
#if( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xLimitedIncrementHandle ) == eSuspended );
}
#endif /* INCLUDE_eTaskGetState */
/* Resume the limited count task which has a higher priority than us. /* Resume the limited count task which has a higher priority than us.
We should therefore not return from this call until the limited count We should therefore not return from this call until the limited count
task has suspended itself with a known value in the counter variable. */ task has suspended itself with a known value in the counter variable. */
vTaskResume( xLimitedIncrementHandle ); vTaskResume( xLimitedIncrementHandle );
/* This task should not run again until xLimitedIncrementHandle has
suspended itself. */
#if( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xLimitedIncrementHandle ) == eSuspended );
}
#endif /* INCLUDE_eTaskGetState */
/* Does the counter variable have the expected value? */ /* Does the counter variable have the expected value? */
if( ulCounter != priMAX_COUNT ) if( ulCounter != priMAX_COUNT )
{ {
@ -332,7 +366,7 @@ short sError = pdFALSE;
} }
/* Resume the continuous count task and do it all again. */ /* Resume the continuous count task and do it all again. */
vTaskResume( xContinousIncrementHandle ); vTaskResume( xContinuousIncrementHandle );
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

30
FreeRTOS/Demo/Common/Minimal/recmutex.c
View file

@ -117,7 +117,7 @@
/* Misc. */ /* Misc. */
#define recmuSHORT_DELAY ( 20 / portTICK_RATE_MS ) #define recmuSHORT_DELAY ( 20 / portTICK_RATE_MS )
#define recmuNO_DELAY ( ( portTickType ) 0 ) #define recmuNO_DELAY ( ( portTickType ) 0 )
#define recmuTWO_TICK_DELAY ( ( portTickType ) 2 ) #define recmuTHREE_TICK_DELAY ( ( portTickType ) 3 )
/* The three tasks as described at the top of this file. */ /* The three tasks as described at the top of this file. */
static void prvRecursiveMutexControllingTask( void *pvParameters ); static void prvRecursiveMutexControllingTask( void *pvParameters );
@ -191,7 +191,7 @@ unsigned portBASE_TYPE ux;
long enough to ensure the polling task will execute again before the long enough to ensure the polling task will execute again before the
block time expires. If the block time does expire then the error block time expires. If the block time does expire then the error
flag will be set here. */ flag will be set here. */
if( xSemaphoreTakeRecursive( xMutex, recmuTWO_TICK_DELAY ) != pdPASS ) if( xSemaphoreTakeRecursive( xMutex, recmuTHREE_TICK_DELAY ) != pdPASS )
{ {
xErrorOccurred = pdTRUE; xErrorOccurred = pdTRUE;
} }
@ -251,8 +251,10 @@ static void prvRecursiveMutexBlockingTask( void *pvParameters )
controlling task will block only once it has the mutex - therefore controlling task will block only once it has the mutex - therefore
this call should block until the controlling task has given up the this call should block until the controlling task has given up the
mutex, and not actually execute past this call until the controlling mutex, and not actually execute past this call until the controlling
task is suspended. */ task is suspended. portMAX_DELAY - 1 is used instead of portMAX_DELAY
if( xSemaphoreTakeRecursive( xMutex, portMAX_DELAY ) == pdPASS ) to ensure the task's state is reported as Blocked and not Suspended in
a later call to configASSERT() (within the polling task). */
if( xSemaphoreTakeRecursive( xMutex, ( portMAX_DELAY - 1 ) ) == pdPASS )
{ {
if( xControllingIsSuspended != pdTRUE ) if( xControllingIsSuspended != pdTRUE )
{ {
@ -306,6 +308,13 @@ static void prvRecursiveMutexPollingTask( void *pvParameters )
happen when the controlling task is also suspended. */ happen when the controlling task is also suspended. */
if( xSemaphoreTakeRecursive( xMutex, recmuNO_DELAY ) == pdPASS ) if( xSemaphoreTakeRecursive( xMutex, recmuNO_DELAY ) == pdPASS )
{ {
#if( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xControllingTaskHandle ) == eSuspended );
configASSERT( eTaskGetState( xBlockingTaskHandle ) == eSuspended );
}
#endif /* INCLUDE_eTaskGetState */
/* Is the blocking task suspended? */ /* Is the blocking task suspended? */
if( ( xBlockingIsSuspended != pdTRUE ) || ( xControllingIsSuspended != pdTRUE ) ) if( ( xBlockingIsSuspended != pdTRUE ) || ( xControllingIsSuspended != pdTRUE ) )
{ {
@ -336,6 +345,19 @@ static void prvRecursiveMutexPollingTask( void *pvParameters )
xErrorOccurred = pdTRUE; xErrorOccurred = pdTRUE;
} }
#if( INCLUDE_uxTaskPriorityGet == 1 )
{
configASSERT( uxTaskPriorityGet( NULL ) == recmuCONTROLLING_TASK_PRIORITY );
}
#endif /* INCLUDE_uxTaskPriorityGet */
#if( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xControllingTaskHandle ) == eBlocked );
configASSERT( eTaskGetState( xBlockingTaskHandle ) == eBlocked );
}
#endif /* INCLUDE_eTaskGetState */
/* Release the mutex, disinheriting the higher priority again. */ /* Release the mutex, disinheriting the higher priority again. */
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS ) if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
{ {