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https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-04-19 21:11:57 -04:00
Improve the error detection in some of the standard demo tasks.
This commit is contained in:
Richard Barry
parent
3b004f9900
commit
f038fd6a86
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@ -108,7 +108,7 @@
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/* The number of values to send/receive before checking that all values were
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processed as expected. */
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#define intqNUM_VALUES_TO_LOG ( 200 )
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#define intqSHORT_DELAY ( 75 )
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#define intqSHORT_DELAY ( 140 )
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/* The value by which the value being sent to or received from a queue should
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increment past intqNUM_VALUES_TO_LOG before we check that all values have been
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@ -236,15 +236,17 @@ void vStartInterruptQueueTasks( void )
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/* Start the test tasks. */
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xTaskCreate( prvHigherPriorityNormallyEmptyTask, ( signed portCHAR * ) "H1QRx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK1, intqHIGHER_PRIORITY, &xHighPriorityNormallyEmptyTask1 );
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xTaskCreate( prvHigherPriorityNormallyEmptyTask, ( signed portCHAR * ) "H2QRx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK2, intqHIGHER_PRIORITY, &xHighPriorityNormallyEmptyTask2 );
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xTaskCreate( prvLowerPriorityNormallyEmptyTask, ( signed portCHAR * ) "LQRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL );
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xTaskCreate( prvLowerPriorityNormallyEmptyTask, ( signed portCHAR * ) "L1QRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL );
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xTaskCreate( prv1stHigherPriorityNormallyFullTask, ( signed portCHAR * ) "H1QTx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK1, intqHIGHER_PRIORITY, &xHighPriorityNormallyFullTask1 );
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xTaskCreate( prv2ndHigherPriorityNormallyFullTask, ( signed portCHAR * ) "H2QTx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK2, intqHIGHER_PRIORITY, &xHighPriorityNormallyFullTask2 );
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xTaskCreate( prvLowerPriorityNormallyFullTask, ( signed portCHAR * ) "LQRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL );
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xTaskCreate( prvLowerPriorityNormallyFullTask, ( signed portCHAR * ) "L2QRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL );
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/* Create the queues that are accessed by multiple tasks and multiple
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interrupts. */
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xNormallyFullQueue = xQueueCreate( intqQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) );
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xNormallyEmptyQueue = xQueueCreate( intqQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) );
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// vTraceSetQueueName( xNormallyFullQueue, "NF" );
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// vTraceSetQueueName( xNormallyEmptyQueue, "NE" );
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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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@ -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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@ -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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@ -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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@ -422,6 +433,7 @@ portBASE_TYPE xAreDynamicPriorityTasksStillRunning( void )
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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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@ -73,16 +73,16 @@
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*/
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/*
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* Creates eight tasks, each of which loops continuously performing an (emulated)
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* floating point calculation.
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* Creates eight tasks, each of which loops continuously performing a floating
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* point calculation.
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*
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* All the tasks run at the idle priority and never block or yield. This causes
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* all eight tasks to time slice with the idle task. Running at the idle priority
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* means that these tasks will get pre-empted any time another task is ready to run
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* or a time slice occurs. More often than not the pre-emption will occur mid
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* calculation, creating a good test of the schedulers context switch mechanism - a
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* calculation producing an unexpected result could be a symptom of a corruption in
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* the context of a task.
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* all eight tasks to time slice with the idle task. Running at the idle
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* priority means that these tasks will get pre-empted any time another task is
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* ready to run or a time slice occurs. More often than not the pre-emption
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* will occur mid calculation, creating a good test of the schedulers context
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* switch mechanism - a calculation producing an unexpected result could be a
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* symptom of a corruption in the context of a task.
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*/
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#include <stdlib.h>
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@ -96,7 +96,7 @@
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#include "flop.h"
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#define mathSTACK_SIZE configMINIMAL_STACK_SIZE
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#define mathNUMBER_OF_TASKS ( 8 )
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#define mathNUMBER_OF_TASKS ( 4 )
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/* Four tasks, each of which performs a different floating point calculation.
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Each of the four is created twice. */
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@ -106,8 +106,7 @@ static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters );
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static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters );
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/* These variables are used to check that all the tasks are still running. If a
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task gets a calculation wrong it will
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stop incrementing its check variable. */
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task gets a calculation wrong it will stop setting its check variable. */
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static volatile unsigned short usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
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/*-----------------------------------------------------------*/
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@ -118,10 +117,6 @@ void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
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xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );
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xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );
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}
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/*-----------------------------------------------------------*/
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@ -169,9 +164,10 @@ short sError = pdFALSE;
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if( sError == pdFALSE )
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{
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/* If the calculation has always been correct, increment the check
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variable so we know this task is still running okay. */
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( *pusTaskCheckVariable )++;
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/* If the calculation has always been correct then set set the check
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variable. The check variable will get set to pdFALSE each time
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xAreMathsTaskStillRunning() is executed. */
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( *pusTaskCheckVariable ) = pdTRUE;
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}
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#if configUSE_PREEMPTION == 0
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@ -227,10 +223,10 @@ short sError = pdFALSE;
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if( sError == pdFALSE )
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{
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/* If the calculation has always been correct, increment the check
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variable so we know
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this task is still running okay. */
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( *pusTaskCheckVariable )++;
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/* If the calculation has always been correct then set set the check
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variable. The check variable will get set to pdFALSE each time
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xAreMathsTaskStillRunning() is executed. */
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( *pusTaskCheckVariable ) = pdTRUE;
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}
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#if configUSE_PREEMPTION == 0
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@ -294,9 +290,10 @@ short sError = pdFALSE;
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if( sError == pdFALSE )
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{
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/* If the calculation has always been correct, increment the check
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variable so we know this task is still running okay. */
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( *pusTaskCheckVariable )++;
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/* If the calculation has always been correct then set set the check
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variable. The check variable will get set to pdFALSE each time
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xAreMathsTaskStillRunning() is executed. */
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( *pusTaskCheckVariable ) = pdTRUE;
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}
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}
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}
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@ -356,9 +353,10 @@ short sError = pdFALSE;
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if( sError == pdFALSE )
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{
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/* If the calculation has always been correct, increment the check
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variable so we know this task is still running okay. */
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( *pusTaskCheckVariable )++;
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/* If the calculation has always been correct then set set the check
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variable. The check variable will get set to pdFALSE each time
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xAreMathsTaskStillRunning() is executed. */
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( *pusTaskCheckVariable ) = pdTRUE;
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}
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}
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}
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@ -367,22 +365,24 @@ short sError = pdFALSE;
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/* This is called to check that all the created tasks are still running. */
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portBASE_TYPE xAreMathsTaskStillRunning( void )
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{
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/* Keep a history of the check variables so we know if they have been incremented
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since the last call. */
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static unsigned short usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
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portBASE_TYPE xReturn = pdTRUE, xTask;
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portBASE_TYPE xReturn = pdPASS, xTask;
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/* Check the maths tasks are still running by ensuring their check variables
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are still incrementing. */
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have been set to pdPASS. */
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for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
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{
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if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
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if( usTaskCheck[ xTask ] != pdTRUE )
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{
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/* The check has not incremented so an error exists. */
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xReturn = pdFALSE;
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/* The check has not been set so the associated task has either
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stalled or detected an error. */
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xReturn = pdFAIL;
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}
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else
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{
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/* Reset the variable so it can be checked again the next time this
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function is executed. */
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usTaskCheck[ xTask ] = pdFALSE;
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}
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usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
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}
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return xReturn;
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