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Add FreeRTOS-Plus directory.
This commit is contained in:
Richard Barry
parent
7bd5f21ad5
commit
f508a5f653
6798 changed files with 134949 additions and 19 deletions
550
FreeRTOS/Demo/Common/Minimal/AltBlock.c
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550
FreeRTOS/Demo/Common/Minimal/AltBlock.c
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/*
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FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* FreeRTOS tutorial books are available in pdf and paperback. *
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* Complete, revised, and edited pdf reference manuals are also *
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* available. *
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* *
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* Purchasing FreeRTOS documentation will not only help you, by *
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* ensuring you get running as quickly as possible and with an *
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* in-depth knowledge of how to use FreeRTOS, it will also help *
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* the FreeRTOS project to continue with its mission of providing *
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* professional grade, cross platform, de facto standard solutions *
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* for microcontrollers - completely free of charge! *
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* *
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* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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* *
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* Thank you for using FreeRTOS, and thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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>>>NOTE<<< The modification to the GPL is included to allow you to
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distribute a combined work that includes FreeRTOS without being obliged to
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provide the source code for proprietary components outside of the FreeRTOS
|
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kernel. FreeRTOS is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
||||
more details. You should have received a copy of the GNU General Public
|
||||
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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***************************************************************************
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* *
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* Having a problem? Start by reading the FAQ "My application does *
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* not run, what could be wrong? *
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* *
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* http://www.FreeRTOS.org/FAQHelp.html *
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* *
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, training, latest information,
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license and 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.
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Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
|
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the code with commercial support, indemnification, and middleware, under
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the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
|
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provide a safety engineered and independently SIL3 certified version under
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the SafeRTOS brand: http://www.SafeRTOS.com.
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*/
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/*
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* This is a version of BlockTim.c that uses the light weight API.
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*
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* This file contains some test scenarios that ensure tasks do not exit queue
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* send or receive functions prematurely. A description of the tests is
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* included within the code.
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*/
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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/* Demo includes. */
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#include "AltBlock.h"
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/* Task priorities. */
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#define bktPRIMARY_PRIORITY ( 3 )
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#define bktSECONDARY_PRIORITY ( 2 )
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/* Task behaviour. */
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#define bktQUEUE_LENGTH ( 5 )
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#define bktSHORT_WAIT ( ( ( portTickType ) 20 ) / portTICK_RATE_MS )
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#define bktPRIMARY_BLOCK_TIME ( 10 )
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#define bktALLOWABLE_MARGIN ( 12 )
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#define bktTIME_TO_BLOCK ( 175 )
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#define bktDONT_BLOCK ( ( portTickType ) 0 )
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#define bktRUN_INDICATOR ( ( unsigned portBASE_TYPE ) 0x55 )
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/* The queue on which the tasks block. */
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static xQueueHandle xTestQueue;
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/* Handle to the secondary task is required by the primary task for calls
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to vTaskSuspend/Resume(). */
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static xTaskHandle xSecondary;
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/* Used to ensure that tasks are still executing without error. */
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static portBASE_TYPE xPrimaryCycles = 0, xSecondaryCycles = 0;
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static portBASE_TYPE xErrorOccurred = pdFALSE;
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/* Provides a simple mechanism for the primary task to know when the
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secondary task has executed. */
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static volatile unsigned portBASE_TYPE xRunIndicator;
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/* The two test tasks. Their behaviour is commented within the files. */
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static void vPrimaryBlockTimeTestTask( void *pvParameters );
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static void vSecondaryBlockTimeTestTask( void *pvParameters );
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/*-----------------------------------------------------------*/
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void vCreateAltBlockTimeTasks( void )
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{
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/* Create the queue on which the two tasks block. */
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xTestQueue = xQueueCreate( bktQUEUE_LENGTH, sizeof( portBASE_TYPE ) );
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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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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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defined to be less than 1. */
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vQueueAddToRegistry( xTestQueue, ( signed portCHAR * ) "AltBlockQueue" );
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/* Create the two test tasks. */
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xTaskCreate( vPrimaryBlockTimeTestTask, ( signed portCHAR * )"FBTest1", configMINIMAL_STACK_SIZE, NULL, bktPRIMARY_PRIORITY, NULL );
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xTaskCreate( vSecondaryBlockTimeTestTask, ( signed portCHAR * )"FBTest2", configMINIMAL_STACK_SIZE, NULL, bktSECONDARY_PRIORITY, &xSecondary );
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}
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/*-----------------------------------------------------------*/
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static void vPrimaryBlockTimeTestTask( void *pvParameters )
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{
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portBASE_TYPE xItem, xData;
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portTickType xTimeWhenBlocking;
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portTickType xTimeToBlock, xBlockedTime;
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#ifdef USE_STDIO
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void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
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const portCHAR * const pcTaskStartMsg = "Alt primary block time test started.\r\n";
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage( &pcTaskStartMsg );
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#endif
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( void ) pvParameters;
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for( ;; )
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{
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/*********************************************************************
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Test 1
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Simple block time wakeup test on queue receives. */
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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/* The queue is empty. Attempt to read from the queue using a block
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time. When we wake, ensure the delta in time is as expected. */
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xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;
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/* A critical section is used to minimise the jitter in the time
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measurements. */
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portENTER_CRITICAL();
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{
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xTimeWhenBlocking = xTaskGetTickCount();
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/* We should unblock after xTimeToBlock having not received
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anything on the queue. */
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if( xQueueAltReceive( xTestQueue, &xData, xTimeToBlock ) != errQUEUE_EMPTY )
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{
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xErrorOccurred = pdTRUE;
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}
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/* How long were we blocked for? */
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xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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}
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portEXIT_CRITICAL();
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if( xBlockedTime < xTimeToBlock )
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{
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/* Should not have blocked for less than we requested. */
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xErrorOccurred = pdTRUE;
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}
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if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
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{
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/* Should not have blocked for longer than we requested,
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although we would not necessarily run as soon as we were
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unblocked so a margin is allowed. */
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xErrorOccurred = pdTRUE;
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}
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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/*********************************************************************
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Test 2
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Simple block time wakeup test on queue sends.
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First fill the queue. It should be empty so all sends should pass. */
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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if( xQueueAltSendToBack( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
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{
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xErrorOccurred = pdTRUE;
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}
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}
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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/* The queue is full. Attempt to write to the queue using a block
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time. When we wake, ensure the delta in time is as expected. */
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xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;
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portENTER_CRITICAL();
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{
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xTimeWhenBlocking = xTaskGetTickCount();
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/* We should unblock after xTimeToBlock having not received
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anything on the queue. */
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if( xQueueAltSendToBack( xTestQueue, &xItem, xTimeToBlock ) != errQUEUE_FULL )
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{
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xErrorOccurred = pdTRUE;
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}
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/* How long were we blocked for? */
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xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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}
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portEXIT_CRITICAL();
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if( xBlockedTime < xTimeToBlock )
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{
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/* Should not have blocked for less than we requested. */
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xErrorOccurred = pdTRUE;
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}
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if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
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{
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/* Should not have blocked for longer than we requested,
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although we would not necessarily run as soon as we were
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unblocked so a margin is allowed. */
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xErrorOccurred = pdTRUE;
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}
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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/*********************************************************************
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Test 3
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Wake the other task, it will block attempting to post to the queue.
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When we read from the queue the other task will wake, but before it
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can run we will post to the queue again. When the other task runs it
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will find the queue still full, even though it was woken. It should
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recognise that its block time has not expired and return to block for
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the remains of its block time.
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Wake the other task so it blocks attempting to post to the already
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full queue. */
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xRunIndicator = 0;
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vTaskResume( xSecondary );
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/* We need to wait a little to ensure the other task executes. */
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while( xRunIndicator != bktRUN_INDICATOR )
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{
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/* The other task has not yet executed. */
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vTaskDelay( bktSHORT_WAIT );
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}
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/* Make sure the other task is blocked on the queue. */
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vTaskDelay( bktSHORT_WAIT );
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xRunIndicator = 0;
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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/* Now when we make space on the queue the other task should wake
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but not execute as this task has higher priority. */
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if( xQueueAltReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
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{
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xErrorOccurred = pdTRUE;
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}
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/* Now fill the queue again before the other task gets a chance to
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execute. If the other task had executed we would find the queue
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full ourselves, and the other task have set xRunIndicator. */
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if( xQueueAltSendToBack( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
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{
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xErrorOccurred = pdTRUE;
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}
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if( xRunIndicator == bktRUN_INDICATOR )
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{
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/* The other task should not have executed. */
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xErrorOccurred = pdTRUE;
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}
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/* Raise the priority of the other task so it executes and blocks
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on the queue again. */
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vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
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/* The other task should now have re-blocked without exiting the
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queue function. */
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if( xRunIndicator == bktRUN_INDICATOR )
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{
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/* The other task should not have executed outside of the
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queue function. */
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xErrorOccurred = pdTRUE;
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}
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/* Set the priority back down. */
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vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
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}
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/* Let the other task timeout. When it unblockes it will check that it
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unblocked at the correct time, then suspend itself. */
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while( xRunIndicator != bktRUN_INDICATOR )
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{
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vTaskDelay( bktSHORT_WAIT );
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}
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vTaskDelay( bktSHORT_WAIT );
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xRunIndicator = 0;
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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/*********************************************************************
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Test 4
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As per test 3 - but with the send and receive the other way around.
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The other task blocks attempting to read from the queue.
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Empty the queue. We should find that it is full. */
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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if( xQueueAltReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
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{
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xErrorOccurred = pdTRUE;
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}
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}
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/* Wake the other task so it blocks attempting to read from the
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already empty queue. */
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vTaskResume( xSecondary );
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/* We need to wait a little to ensure the other task executes. */
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while( xRunIndicator != bktRUN_INDICATOR )
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{
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vTaskDelay( bktSHORT_WAIT );
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}
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vTaskDelay( bktSHORT_WAIT );
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xRunIndicator = 0;
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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/* Now when we place an item on the queue the other task should
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wake but not execute as this task has higher priority. */
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if( xQueueAltSendToBack( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
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{
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xErrorOccurred = pdTRUE;
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}
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/* Now empty the queue again before the other task gets a chance to
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execute. If the other task had executed we would find the queue
|
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empty ourselves, and the other task would be suspended. */
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if( xQueueAltReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
|
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{
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xErrorOccurred = pdTRUE;
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}
|
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|
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if( xRunIndicator == bktRUN_INDICATOR )
|
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{
|
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/* The other task should not have executed. */
|
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xErrorOccurred = pdTRUE;
|
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}
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|
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/* Raise the priority of the other task so it executes and blocks
|
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on the queue again. */
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vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
|
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/* The other task should now have re-blocked without exiting the
|
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queue function. */
|
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if( xRunIndicator == bktRUN_INDICATOR )
|
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{
|
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/* The other task should not have executed outside of the
|
||||
queue function. */
|
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xErrorOccurred = pdTRUE;
|
||||
}
|
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vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
|
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}
|
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|
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/* Let the other task timeout. When it unblockes it will check that it
|
||||
unblocked at the correct time, then suspend itself. */
|
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while( xRunIndicator != bktRUN_INDICATOR )
|
||||
{
|
||||
vTaskDelay( bktSHORT_WAIT );
|
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}
|
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vTaskDelay( bktSHORT_WAIT );
|
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|
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xPrimaryCycles++;
|
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}
|
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}
|
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/*-----------------------------------------------------------*/
|
||||
|
||||
static void vSecondaryBlockTimeTestTask( void *pvParameters )
|
||||
{
|
||||
portTickType xTimeWhenBlocking, xBlockedTime;
|
||||
portBASE_TYPE xData;
|
||||
|
||||
#ifdef USE_STDIO
|
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void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
|
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|
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const portCHAR * const pcTaskStartMsg = "Alt secondary block time test started.\r\n";
|
||||
|
||||
/* Queue a message for printing to say the task has started. */
|
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vPrintDisplayMessage( &pcTaskStartMsg );
|
||||
#endif
|
||||
|
||||
( void ) pvParameters;
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
/*********************************************************************
|
||||
Test 1 and 2
|
||||
|
||||
This task does does not participate in these tests. */
|
||||
vTaskSuspend( NULL );
|
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|
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/*********************************************************************
|
||||
Test 3
|
||||
|
||||
The first thing we do is attempt to read from the queue. It should be
|
||||
full so we block. Note the time before we block so we can check the
|
||||
wake time is as per that expected. */
|
||||
portENTER_CRITICAL();
|
||||
{
|
||||
xTimeWhenBlocking = xTaskGetTickCount();
|
||||
|
||||
/* We should unblock after bktTIME_TO_BLOCK having not received
|
||||
anything on the queue. */
|
||||
xData = 0;
|
||||
xRunIndicator = bktRUN_INDICATOR;
|
||||
if( xQueueAltSendToBack( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_FULL )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* How long were we inside the send function? */
|
||||
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
|
||||
}
|
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portEXIT_CRITICAL();
|
||||
|
||||
/* We should not have blocked for less time than bktTIME_TO_BLOCK. */
|
||||
if( xBlockedTime < bktTIME_TO_BLOCK )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* We should of not blocked for much longer than bktALLOWABLE_MARGIN
|
||||
either. A margin is permitted as we would not necessarily run as
|
||||
soon as we unblocked. */
|
||||
if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* Suspend ready for test 3. */
|
||||
xRunIndicator = bktRUN_INDICATOR;
|
||||
vTaskSuspend( NULL );
|
||||
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||||
/*********************************************************************
|
||||
Test 4
|
||||
|
||||
As per test three, but with the send and receive reversed. */
|
||||
portENTER_CRITICAL();
|
||||
{
|
||||
xTimeWhenBlocking = xTaskGetTickCount();
|
||||
|
||||
/* We should unblock after bktTIME_TO_BLOCK having not received
|
||||
anything on the queue. */
|
||||
xRunIndicator = bktRUN_INDICATOR;
|
||||
if( xQueueAltReceive( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_EMPTY )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
|
||||
}
|
||||
portEXIT_CRITICAL();
|
||||
|
||||
/* We should not have blocked for less time than bktTIME_TO_BLOCK. */
|
||||
if( xBlockedTime < bktTIME_TO_BLOCK )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* We should of not blocked for much longer than bktALLOWABLE_MARGIN
|
||||
either. A margin is permitted as we would not necessarily run as soon
|
||||
as we unblocked. */
|
||||
if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
xRunIndicator = bktRUN_INDICATOR;
|
||||
|
||||
xSecondaryCycles++;
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
portBASE_TYPE xAreAltBlockTimeTestTasksStillRunning( void )
|
||||
{
|
||||
static portBASE_TYPE xLastPrimaryCycleCount = 0, xLastSecondaryCycleCount = 0;
|
||||
portBASE_TYPE xReturn = pdPASS;
|
||||
|
||||
/* Have both tasks performed at least one cycle since this function was
|
||||
last called? */
|
||||
if( xPrimaryCycles == xLastPrimaryCycleCount )
|
||||
{
|
||||
xReturn = pdFAIL;
|
||||
}
|
||||
|
||||
if( xSecondaryCycles == xLastSecondaryCycleCount )
|
||||
{
|
||||
xReturn = pdFAIL;
|
||||
}
|
||||
|
||||
if( xErrorOccurred == pdTRUE )
|
||||
{
|
||||
xReturn = pdFAIL;
|
||||
}
|
||||
|
||||
xLastSecondaryCycleCount = xSecondaryCycles;
|
||||
xLastPrimaryCycleCount = xPrimaryCycles;
|
||||
|
||||
return xReturn;
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue