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Improve the error detection in some of the standard demo tasks.
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Richard Barry
parent
3b004f9900
commit
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3 changed files with 134 additions and 111 deletions
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@ -56,48 +56,48 @@
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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license and Real Time Engineers Ltd. contact details.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, and our new
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fully thread aware and reentrant UDP/IP stack.
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http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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Integrity Systems, who sell the code with commercial support,
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http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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Integrity Systems, who sell the code with commercial support,
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indemnification and middleware, under the OpenRTOS brand.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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*/
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/*
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* The first test creates three tasks - two counter tasks (one continuous count
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* and one limited count) and one controller. A "count" variable is shared
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* between all three tasks. The two counter tasks should never be in a "ready"
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* state at the same time. The controller task runs at the same priority as
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* the continuous count task, and at a lower priority than the limited count
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* The first test creates three tasks - two counter tasks (one continuous count
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* and one limited count) and one controller. A "count" variable is shared
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* between all three tasks. The two counter tasks should never be in a "ready"
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* state at the same time. The controller task runs at the same priority as
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* the continuous count task, and at a lower priority than the limited count
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* task.
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*
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* One counter task loops indefinitely, incrementing the shared count variable
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* on each iteration. To ensure it has exclusive access to the variable it
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* raises it's priority above that of the controller task before each
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* raises it's priority above that of the controller task before each
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* increment, lowering it again to it's original priority before starting the
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* next iteration.
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*
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* The other counter task increments the shared count variable on each
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* iteration of it's loop until the count has reached a limit of 0xff - at
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* which point it suspends itself. It will not start a new loop until the
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* controller task has made it "ready" again by calling vTaskResume ().
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* This second counter task operates at a higher priority than controller
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* task so does not need to worry about mutual exclusion of the counter
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* which point it suspends itself. It will not start a new loop until the
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* controller task has made it "ready" again by calling vTaskResume ().
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* This second counter task operates at a higher priority than controller
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* task so does not need to worry about mutual exclusion of the counter
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* variable.
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*
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* The controller task is in two sections. The first section controls and
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* monitors the continuous count task. When this section is operational the
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* limited count task is suspended. Likewise, the second section controls
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* and monitors the limited count task. When this section is operational the
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* monitors the continuous count task. When this section is operational the
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* limited count task is suspended. Likewise, the second section controls
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* and monitors the limited count task. When this section is operational the
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* continuous count task is suspended.
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*
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* In the first section the controller task first takes a copy of the shared
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@ -107,11 +107,11 @@
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* the continuous count task will execute and increment the shared variable.
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* When the controller task wakes it checks that the continuous count task
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* has executed by comparing the copy of the shared variable with its current
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* value. This time, to ensure mutual exclusion, the scheduler itself is
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* suspended with a call to vTaskSuspendAll (). This is for demonstration
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* value. This time, to ensure mutual exclusion, the scheduler itself is
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* suspended with a call to vTaskSuspendAll (). This is for demonstration
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* purposes only and is not a recommended technique due to its inefficiency.
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*
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* After a fixed number of iterations the controller task suspends the
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* After a fixed number of iterations the controller task suspends the
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* continuous count task, and moves on to its second section.
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*
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* At the start of the second section the shared variable is cleared to zero.
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@ -123,7 +123,7 @@
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* a check on the shared variable to ensure everything is as expected.
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*
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*
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* The second test consists of a couple of very simple tasks that post onto a
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* The second test consists of a couple of very simple tasks that post onto a
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* queue while the scheduler is suspended. This test was added to test parts
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* of the scheduler not exercised by the first test.
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*
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@ -165,7 +165,7 @@ static portTASK_FUNCTION_PROTO( vQueueSendWhenSuspendedTask, pvParameters );
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to the controller task to prevent them having to be file scope. */
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static xTaskHandle xContinousIncrementHandle, xLimitedIncrementHandle;
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/* The shared counter variable. This is passed in as a parameter to the two
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/* The shared counter variable. This is passed in as a parameter to the two
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counter variables for demonstration purposes. */
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static unsigned long ulCounter;
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@ -180,6 +180,11 @@ static volatile portBASE_TYPE xSuspendedQueueReceiveError = pdFALSE;
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/* Queue used by the second test. */
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xQueueHandle xSuspendedTestQueue;
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/* The value the queue receive task expects to receive next. This is file
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scope so xAreDynamicPriorityTasksStillRunning() can ensure it is still
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incrementing. */
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static unsigned long ulExpectedValue = ( unsigned long ) 0;
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/*-----------------------------------------------------------*/
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/*
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* Start the three tasks as described at the top of the file.
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@ -190,10 +195,10 @@ void vStartDynamicPriorityTasks( void )
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xSuspendedTestQueue = xQueueCreate( priSUSPENDED_QUEUE_LENGTH, sizeof( unsigned long ) );
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/* vQueueAddToRegistry() adds the queue to the queue registry, if one is
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in use. The queue registry is provided as a means for kernel aware
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in use. The queue registry is provided as a means for kernel aware
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debuggers to locate queues and has no purpose if a kernel aware debugger
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is not being used. The call to vQueueAddToRegistry() will be removed
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by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
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by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
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defined to be less than 1. */
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vQueueAddToRegistry( xSuspendedTestQueue, ( signed char * ) "Suspended_Test_Queue" );
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@ -207,7 +212,7 @@ void vStartDynamicPriorityTasks( void )
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/*
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* Just loops around incrementing the shared variable until the limit has been
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* reached. Once the limit has been reached it suspends itself.
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* reached. Once the limit has been reached it suspends itself.
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*/
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static portTASK_FUNCTION( vLimitedIncrementTask, pvParameters )
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{
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@ -224,12 +229,12 @@ unsigned long *pulCounter;
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for( ;; )
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{
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/* Just count up to a value then suspend. */
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( *pulCounter )++;
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( *pulCounter )++;
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if( *pulCounter >= priMAX_COUNT )
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{
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vTaskSuspend( NULL );
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}
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}
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}
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}
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/*-----------------------------------------------------------*/
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@ -247,7 +252,7 @@ unsigned portBASE_TYPE uxOurPriority;
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the task. */
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pulCounter = ( unsigned long * ) pvParameters;
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/* Query our priority so we can raise it when exclusive access to the
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/* Query our priority so we can raise it when exclusive access to the
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shared variable is required. */
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uxOurPriority = uxTaskPriorityGet( NULL );
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@ -256,7 +261,7 @@ unsigned portBASE_TYPE uxOurPriority;
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/* Raise our priority above the controller task to ensure a context
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switch does not occur while we are accessing this variable. */
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vTaskPrioritySet( NULL, uxOurPriority + 1 );
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( *pulCounter )++;
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( *pulCounter )++;
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vTaskPrioritySet( NULL, uxOurPriority );
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}
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}
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@ -289,11 +294,11 @@ short sError = pdFALSE;
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vTaskSuspend( xContinousIncrementHandle );
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ulLastCounter = ulCounter;
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vTaskResume( xContinousIncrementHandle );
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/* Now delay to ensure the other task has processor time. */
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vTaskDelay( priSLEEP_TIME );
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/* Check the shared variable again. This time to ensure mutual
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/* Check the shared variable again. This time to ensure mutual
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exclusion the whole scheduler will be locked. This is just for
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demo purposes! */
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vTaskSuspendAll();
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@ -370,7 +375,7 @@ static unsigned long ulValueToSend = ( unsigned long ) 0;
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static portTASK_FUNCTION( vQueueReceiveWhenSuspendedTask, pvParameters )
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{
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static unsigned long ulExpectedValue = ( unsigned long ) 0, ulReceivedValue;
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unsigned long ulReceivedValue;
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portBASE_TYPE xGotValue;
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/* Just to stop warning messages. */
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@ -380,7 +385,7 @@ portBASE_TYPE xGotValue;
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{
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do
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{
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/* Suspending the scheduler here is fairly pointless and
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/* Suspending the scheduler here is fairly pointless and
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undesirable for a normal application. It is done here purely
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to test the scheduler. The inner xTaskResumeAll() should
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never return pdTRUE as the scheduler is still locked by the
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@ -391,7 +396,7 @@ portBASE_TYPE xGotValue;
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{
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xGotValue = xQueueReceive( xSuspendedTestQueue, ( void * ) &ulReceivedValue, priNO_BLOCK );
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}
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if( xTaskResumeAll() )
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if( xTaskResumeAll() != pdFALSE )
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{
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xSuspendedQueueReceiveError = pdTRUE;
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}
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@ -411,7 +416,13 @@ portBASE_TYPE xGotValue;
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xSuspendedQueueReceiveError = pdTRUE;
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}
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++ulExpectedValue;
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if( xSuspendedQueueReceiveError != pdTRUE )
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{
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/* Only increment the variable if an error has not occurred. This
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allows xAreDynamicPriorityTasksStillRunning() to check for stalled
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tasks as well as explicit errors. */
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++ulExpectedValue;
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}
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}
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}
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/*-----------------------------------------------------------*/
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@ -419,9 +430,10 @@ portBASE_TYPE xGotValue;
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/* Called to check that all the created tasks are still running without error. */
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portBASE_TYPE xAreDynamicPriorityTasksStillRunning( void )
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{
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/* Keep a history of the check variables so we know if it has been incremented
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/* Keep a history of the check variables so we know if it has been incremented
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since the last call. */
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static unsigned short usLastTaskCheck = ( unsigned short ) 0;
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static unsigned long ulLastExpectedValue = ( unsigned long ) 0U;
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portBASE_TYPE xReturn = pdTRUE;
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/* Check the tasks are still running by ensuring the check variable
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@ -433,6 +445,13 @@ portBASE_TYPE xReturn = pdTRUE;
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xReturn = pdFALSE;
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}
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if( ulExpectedValue == ulLastExpectedValue )
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{
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/* The value being received by the queue receive task has not
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incremented so an error exists. */
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xReturn = pdFALSE;
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}
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if( xSuspendedQueueSendError == pdTRUE )
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{
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xReturn = pdFALSE;
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@ -444,5 +463,7 @@ portBASE_TYPE xReturn = pdTRUE;
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}
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usLastTaskCheck = usCheckVariable;
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ulLastExpectedValue = ulExpectedValue;
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return xReturn;
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}
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