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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 );
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

76
FreeRTOS/Demo/Common/Minimal/recmutex.c
View file

@ -72,27 +72,27 @@
This demo creates three tasks all of which access the same recursive mutex: This demo creates three tasks all of which access the same recursive mutex:
prvRecursiveMutexControllingTask() has the highest priority so executes prvRecursiveMutexControllingTask() has the highest priority so executes
first and grabs the mutex. It then performs some recursive accesses - first and grabs the mutex. It then performs some recursive accesses -
between each of which it sleeps for a short period to let the lower between each of which it sleeps for a short period to let the lower
priority tasks execute. When it has completed its demo functionality priority tasks execute. When it has completed its demo functionality
it gives the mutex back before suspending itself. it gives the mutex back before suspending itself.
prvRecursiveMutexBlockingTask() attempts to access the mutex by performing prvRecursiveMutexBlockingTask() attempts to access the mutex by performing
a blocking 'take'. The blocking task has a lower priority than the a blocking 'take'. The blocking task has a lower priority than the
controlling task so by the time it executes the mutex has already been controlling task so by the time it executes the mutex has already been
taken by the controlling task, causing the blocking task to block. It taken by the controlling task, causing the blocking task to block. It
does not unblock until the controlling task has given the mutex back, does not unblock until the controlling task has given the mutex back,
and it does not actually run until the controlling task has suspended and it does not actually run until the controlling task has suspended
itself (due to the relative priorities). When it eventually does obtain itself (due to the relative priorities). When it eventually does obtain
the mutex all it does is give the mutex back prior to also suspending the mutex all it does is give the mutex back prior to also suspending
itself. At this point both the controlling task and the blocking task are itself. At this point both the controlling task and the blocking task are
suspended. suspended.
prvRecursiveMutexPollingTask() runs at the idle priority. It spins round prvRecursiveMutexPollingTask() runs at the idle priority. It spins round
a tight loop attempting to obtain the mutex with a non-blocking call. As a tight loop attempting to obtain the mutex with a non-blocking call. As
the lowest priority task it will not successfully obtain the mutex until the lowest priority task it will not successfully obtain the mutex until
both the controlling and blocking tasks are suspended. Once it eventually both the controlling and blocking tasks are suspended. Once it eventually
does obtain the mutex it first unsuspends both the controlling task and does obtain the mutex it first unsuspends both the controlling task and
blocking task prior to giving the mutex back - resulting in the polling blocking task prior to giving the mutex back - resulting in the polling
task temporarily inheriting the controlling tasks priority. task temporarily inheriting the controlling tasks priority.
@ -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 );
@ -131,7 +131,7 @@ static xSemaphoreHandle xMutex;
static volatile portBASE_TYPE xErrorOccurred = pdFALSE, xControllingIsSuspended = pdFALSE, xBlockingIsSuspended = pdFALSE; static volatile portBASE_TYPE xErrorOccurred = pdFALSE, xControllingIsSuspended = pdFALSE, xBlockingIsSuspended = pdFALSE;
static volatile unsigned portBASE_TYPE uxControllingCycles = 0, uxBlockingCycles = 0, uxPollingCycles = 0; static volatile unsigned portBASE_TYPE uxControllingCycles = 0, uxBlockingCycles = 0, uxPollingCycles = 0;
/* Handles of the two higher priority tasks, required so they can be resumed /* Handles of the two higher priority tasks, required so they can be resumed
(unsuspended). */ (unsuspended). */
static xTaskHandle xControllingTaskHandle, xBlockingTaskHandle; static xTaskHandle xControllingTaskHandle, xBlockingTaskHandle;
@ -144,10 +144,10 @@ void vStartRecursiveMutexTasks( void )
xMutex = xSemaphoreCreateRecursiveMutex(); xMutex = xSemaphoreCreateRecursiveMutex();
/* vQueueAddToRegistry() adds the mutex to the registry, if one is /* vQueueAddToRegistry() adds the mutex to the registry, if one is
in use. The registry is provided as a means for kernel aware 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 debuggers to locate mutex and has no purpose if a kernel aware debugger
is not being used. The call to vQueueAddToRegistry() will be removed is not being used. The call to vQueueAddToRegistry() will be removed
by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
defined to be less than 1. */ defined to be less than 1. */
vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Recursive_Mutex" ); vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Recursive_Mutex" );
@ -183,7 +183,7 @@ unsigned portBASE_TYPE ux;
{ {
/* We should now be able to take the mutex as many times as /* We should now be able to take the mutex as many times as
we like. we like.
The first time through the mutex will be immediately available, on The first time through the mutex will be immediately available, on
subsequent times through the mutex will be held by the polling task subsequent times through the mutex will be held by the polling task
at this point and this Take will cause the polling task to inherit at this point and this Take will cause the polling task to inherit
@ -191,14 +191,14 @@ 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;
} }
/* Ensure the other task attempting to access the mutex (and the /* Ensure the other task attempting to access the mutex (and the
other demo tasks) are able to execute to ensure they either block other demo tasks) are able to execute to ensure they either block
(where a block time is specified) or return an error (where no (where a block time is specified) or return an error (where no
block time is specified) as the mutex is held by this task. */ block time is specified) as the mutex is held by this task. */
vTaskDelay( recmuSHORT_DELAY ); vTaskDelay( recmuSHORT_DELAY );
} }
@ -228,7 +228,7 @@ unsigned portBASE_TYPE ux;
xErrorOccurred = pdTRUE; xErrorOccurred = pdTRUE;
} }
/* Keep count of the number of cycles this task has performed so a /* Keep count of the number of cycles this task has performed so a
stall can be detected. */ stall can be detected. */
uxControllingCycles++; uxControllingCycles++;
@ -249,10 +249,12 @@ static void prvRecursiveMutexBlockingTask( void *pvParameters )
{ {
/* This task will run while the controlling task is blocked, and the /* This task will run while the controlling task is blocked, and the
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 )
{ {
@ -287,7 +289,7 @@ static void prvRecursiveMutexBlockingTask( void *pvParameters )
xErrorOccurred = pdTRUE; xErrorOccurred = pdTRUE;
} }
/* Keep count of the number of cycles this task has performed so a /* Keep count of the number of cycles this task has performed so a
stall can be detected. */ stall can be detected. */
uxBlockingCycles++; uxBlockingCycles++;
} }
@ -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 ) )
{ {
@ -313,7 +322,7 @@ static void prvRecursiveMutexPollingTask( void *pvParameters )
} }
else else
{ {
/* Keep count of the number of cycles this task has performed /* Keep count of the number of cycles this task has performed
so a stall can be detected. */ so a stall can be detected. */
uxPollingCycles++; uxPollingCycles++;
@ -328,14 +337,27 @@ static void prvRecursiveMutexPollingTask( void *pvParameters )
mutex by the time this fixed period has expired. */ mutex by the time this fixed period has expired. */
vTaskResume( xBlockingTaskHandle ); vTaskResume( xBlockingTaskHandle );
vTaskResume( xControllingTaskHandle ); vTaskResume( xControllingTaskHandle );
/* The other two tasks should now have executed and no longer /* The other two tasks should now have executed and no longer
be suspended. */ be suspended. */
if( ( xBlockingIsSuspended == pdTRUE ) || ( xControllingIsSuspended == pdTRUE ) ) if( ( xBlockingIsSuspended == pdTRUE ) || ( xControllingIsSuspended == pdTRUE ) )
{ {
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 )
{ {