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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
585
FreeRTOS/Demo/Common/Minimal/GenQTest.c
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585
FreeRTOS/Demo/Common/Minimal/GenQTest.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 *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
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* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
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||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
This file is part of the FreeRTOS distribution.
|
||||
|
||||
FreeRTOS is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU General Public License (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. FreeRTOS is distributed in the hope that it will be useful, but
|
||||
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
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
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 *
|
||||
* 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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|
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http://www.FreeRTOS.org - Documentation, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
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Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
|
||||
the code with commercial support, indemnification, and middleware, under
|
||||
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
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*/
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/*
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* Tests the extra queue functionality introduced in FreeRTOS.org V4.5.0 -
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* including xQueueSendToFront(), xQueueSendToBack(), xQueuePeek() and
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* mutex behaviour.
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*
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* See the comments above the prvSendFrontAndBackTest() and
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* prvLowPriorityMutexTask() prototypes below for more information.
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*/
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#include <stdlib.h>
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/* Scheduler include files. */
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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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#include "semphr.h"
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/* Demo program include files. */
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#include "GenQTest.h"
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#define genqQUEUE_LENGTH ( 5 )
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#define genqNO_BLOCK ( 0 )
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#define genqMUTEX_LOW_PRIORITY ( tskIDLE_PRIORITY )
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#define genqMUTEX_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define genqMUTEX_MEDIUM_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define genqMUTEX_HIGH_PRIORITY ( tskIDLE_PRIORITY + 3 )
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/*-----------------------------------------------------------*/
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/*
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* Tests the behaviour of the xQueueSendToFront() and xQueueSendToBack()
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* macros by using both to fill a queue, then reading from the queue to
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* check the resultant queue order is as expected. Queue data is also
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* peeked.
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*/
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static void prvSendFrontAndBackTest( void *pvParameters );
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/*
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* The following three tasks are used to demonstrate the mutex behaviour.
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* Each task is given a different priority to demonstrate the priority
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* inheritance mechanism.
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*
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* The low priority task obtains a mutex. After this a high priority task
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* attempts to obtain the same mutex, causing its priority to be inherited
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* by the low priority task. The task with the inherited high priority then
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* resumes a medium priority task to ensure it is not blocked by the medium
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* priority task while it holds the inherited high priority. Once the mutex
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* is returned the task with the inherited priority returns to its original
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* low priority, and is therefore immediately preempted by first the high
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* priority task and then the medium prioroity task before it can continue.
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*/
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static void prvLowPriorityMutexTask( void *pvParameters );
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static void prvMediumPriorityMutexTask( void *pvParameters );
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static void prvHighPriorityMutexTask( void *pvParameters );
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/*-----------------------------------------------------------*/
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/* Flag that will be latched to pdTRUE should any unexpected behaviour be
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detected in any of the tasks. */
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static portBASE_TYPE xErrorDetected = pdFALSE;
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/* Counters that are incremented on each cycle of a test. This is used to
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detect a stalled task - a test that is no longer running. */
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static volatile unsigned portLONG ulLoopCounter = 0;
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static volatile unsigned portLONG ulLoopCounter2 = 0;
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/* The variable that is guarded by the mutex in the mutex demo tasks. */
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static volatile unsigned portLONG ulGuardedVariable = 0;
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/* Handles used in the mutext test to suspend and resume the high and medium
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priority mutex test tasks. */
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static xTaskHandle xHighPriorityMutexTask, xMediumPriorityMutexTask;
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/*-----------------------------------------------------------*/
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void vStartGenericQueueTasks( unsigned portBASE_TYPE uxPriority )
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{
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xQueueHandle xQueue;
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xSemaphoreHandle xMutex;
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/* Create the queue that we are going to use for the
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prvSendFrontAndBackTest demo. */
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xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( unsigned portLONG ) );
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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( xQueue, ( signed portCHAR * ) "Gen_Queue_Test" );
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/* Create the demo task and pass it the queue just created. We are
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passing the queue handle by value so it does not matter that it is
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declared on the stack here. */
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xTaskCreate( prvSendFrontAndBackTest, ( signed portCHAR * )"GenQ", configMINIMAL_STACK_SIZE, ( void * ) xQueue, uxPriority, NULL );
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/* Create the mutex used by the prvMutexTest task. */
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xMutex = xSemaphoreCreateMutex();
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/* vQueueAddToRegistry() adds the mutex to the registry, if one is
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in use. The registry is provided as a means for kernel aware
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debuggers to locate mutexes 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( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Gen_Queue_Mutex" );
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/* Create the mutex demo tasks and pass it the mutex just created. We are
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passing the mutex handle by value so it does not matter that it is declared
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on the stack here. */
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xTaskCreate( prvLowPriorityMutexTask, ( signed portCHAR * )"MuLow", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_LOW_PRIORITY, NULL );
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xTaskCreate( prvMediumPriorityMutexTask, ( signed portCHAR * )"MuMed", configMINIMAL_STACK_SIZE, NULL, genqMUTEX_MEDIUM_PRIORITY, &xMediumPriorityMutexTask );
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xTaskCreate( prvHighPriorityMutexTask, ( signed portCHAR * )"MuHigh", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_HIGH_PRIORITY, &xHighPriorityMutexTask );
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}
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/*-----------------------------------------------------------*/
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static void prvSendFrontAndBackTest( void *pvParameters )
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{
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unsigned portLONG ulData, ulData2;
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xQueueHandle xQueue;
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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 = "Queue SendToFront/SendToBack/Peek 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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xQueue = ( xQueueHandle ) pvParameters;
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for( ;; )
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{
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/* The queue is empty, so sending an item to the back of the queue
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should have the same efect as sending it to the front of the queue.
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First send to the front and check everything is as expected. */
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xQueueSendToFront( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );
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if( uxQueueMessagesWaiting( xQueue ) != 1 )
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{
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xErrorDetected = pdTRUE;
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}
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if( xQueueReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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/* The data we sent to the queue should equal the data we just received
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from the queue. */
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if( ulLoopCounter != ulData )
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{
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xErrorDetected = pdTRUE;
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}
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/* Then do the same, sending the data to the back, checking everything
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is as expected. */
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if( uxQueueMessagesWaiting( xQueue ) != 0 )
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{
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xErrorDetected = pdTRUE;
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}
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xQueueSendToBack( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );
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if( uxQueueMessagesWaiting( xQueue ) != 1 )
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{
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xErrorDetected = pdTRUE;
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}
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if( xQueueReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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if( uxQueueMessagesWaiting( xQueue ) != 0 )
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{
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xErrorDetected = pdTRUE;
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}
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/* The data we sent to the queue should equal the data we just received
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from the queue. */
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if( ulLoopCounter != ulData )
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{
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xErrorDetected = pdTRUE;
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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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/* Place 2, 3, 4 into the queue, adding items to the back of the queue. */
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for( ulData = 2; ulData < 5; ulData++ )
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{
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xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK );
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}
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/* Now the order in the queue should be 2, 3, 4, with 2 being the first
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thing to be read out. Now add 1 then 0 to the front of the queue. */
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if( uxQueueMessagesWaiting( xQueue ) != 3 )
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{
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xErrorDetected = pdTRUE;
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}
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ulData = 1;
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xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );
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ulData = 0;
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xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );
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/* Now the queue should be full, and when we read the data out we
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should receive 0, 1, 2, 3, 4. */
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if( uxQueueMessagesWaiting( xQueue ) != 5 )
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{
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xErrorDetected = pdTRUE;
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}
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if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
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{
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xErrorDetected = pdTRUE;
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}
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if( xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
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{
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xErrorDetected = pdTRUE;
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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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/* Check the data we read out is in the expected order. */
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for( ulData = 0; ulData < genqQUEUE_LENGTH; ulData++ )
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{
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/* Try peeking the data first. */
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if( xQueuePeek( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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if( ulData != ulData2 )
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{
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xErrorDetected = pdTRUE;
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}
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/* Now try receiving the data for real. The value should be the
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same. Clobber the value first so we know we really received it. */
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ulData2 = ~ulData2;
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if( xQueueReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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|
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if( ulData != ulData2 )
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{
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xErrorDetected = pdTRUE;
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}
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}
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/* The queue should now be empty again. */
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if( uxQueueMessagesWaiting( xQueue ) != 0 )
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{
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xErrorDetected = 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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/* Our queue is empty once more, add 10, 11 to the back. */
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ulData = 10;
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if( xQueueSend( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )
|
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{
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xErrorDetected = pdTRUE;
|
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}
|
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ulData = 11;
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if( xQueueSend( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )
|
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{
|
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xErrorDetected = pdTRUE;
|
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}
|
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|
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if( uxQueueMessagesWaiting( xQueue ) != 2 )
|
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{
|
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xErrorDetected = pdTRUE;
|
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}
|
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|
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/* Now we should have 10, 11 in the queue. Add 7, 8, 9 to the
|
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front. */
|
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for( ulData = 9; ulData >= 7; ulData-- )
|
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{
|
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if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
}
|
||||
|
||||
/* Now check that the queue is full, and that receiving data provides
|
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the expected sequence of 7, 8, 9, 10, 11. */
|
||||
if( uxQueueMessagesWaiting( xQueue ) != 5 )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
if( xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
#if configUSE_PREEMPTION == 0
|
||||
taskYIELD();
|
||||
#endif
|
||||
|
||||
/* Check the data we read out is in the expected order. */
|
||||
for( ulData = 7; ulData < ( 7 + genqQUEUE_LENGTH ); ulData++ )
|
||||
{
|
||||
if( xQueueReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
if( ulData != ulData2 )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
}
|
||||
|
||||
if( uxQueueMessagesWaiting( xQueue ) != 0 )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
ulLoopCounter++;
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvLowPriorityMutexTask( void *pvParameters )
|
||||
{
|
||||
xSemaphoreHandle xMutex = ( xSemaphoreHandle ) pvParameters;
|
||||
|
||||
#ifdef USE_STDIO
|
||||
void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
|
||||
|
||||
const portCHAR * const pcTaskStartMsg = "Mutex with priority inheritance test started.\r\n";
|
||||
|
||||
/* Queue a message for printing to say the task has started. */
|
||||
vPrintDisplayMessage( &pcTaskStartMsg );
|
||||
#endif
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
/* Take the mutex. It should be available now. */
|
||||
if( xSemaphoreTake( xMutex, genqNO_BLOCK ) != pdPASS )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
/* Set our guarded variable to a known start value. */
|
||||
ulGuardedVariable = 0;
|
||||
|
||||
/* Our priority should be as per that assigned when the task was
|
||||
created. */
|
||||
if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
/* Now unsuspend the high priority task. This will attempt to take the
|
||||
mutex, and block when it finds it cannot obtain it. */
|
||||
vTaskResume( xHighPriorityMutexTask );
|
||||
|
||||
/* We should now have inherited the prioritoy of the high priority task,
|
||||
as by now it will have attempted to get the mutex. */
|
||||
if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
/* We can attempt to set our priority to the test priority - between the
|
||||
idle priority and the medium/high test priorities, but our actual
|
||||
prioroity should remain at the high priority. */
|
||||
vTaskPrioritySet( NULL, genqMUTEX_TEST_PRIORITY );
|
||||
if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
/* Now unsuspend the medium priority task. This should not run as our
|
||||
inherited priority is above that of the medium priority task. */
|
||||
vTaskResume( xMediumPriorityMutexTask );
|
||||
|
||||
/* If the did run then it will have incremented our guarded variable. */
|
||||
if( ulGuardedVariable != 0 )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
/* When we give back the semaphore our priority should be disinherited
|
||||
back to the priority to which we attempted to set ourselves. This means
|
||||
that when the high priority task next blocks, the medium priority task
|
||||
should execute and increment the guarded variable. When we next run
|
||||
both the high and medium priority tasks will have been suspended again. */
|
||||
if( xSemaphoreGive( xMutex ) != pdPASS )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
/* Check that the guarded variable did indeed increment... */
|
||||
if( ulGuardedVariable != 1 )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
/* ... and that our priority has been disinherited to
|
||||
genqMUTEX_TEST_PRIORITY. */
|
||||
if( uxTaskPriorityGet( NULL ) != genqMUTEX_TEST_PRIORITY )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
/* Set our priority back to our original priority ready for the next
|
||||
loop around this test. */
|
||||
vTaskPrioritySet( NULL, genqMUTEX_LOW_PRIORITY );
|
||||
|
||||
/* Just to show we are still running. */
|
||||
ulLoopCounter2++;
|
||||
|
||||
#if configUSE_PREEMPTION == 0
|
||||
taskYIELD();
|
||||
#endif
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvMediumPriorityMutexTask( void *pvParameters )
|
||||
{
|
||||
( void ) pvParameters;
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
/* The medium priority task starts by suspending itself. The low
|
||||
priority task will unsuspend this task when required. */
|
||||
vTaskSuspend( NULL );
|
||||
|
||||
/* When this task unsuspends all it does is increment the guarded
|
||||
variable, this is so the low priority task knows that it has
|
||||
executed. */
|
||||
ulGuardedVariable++;
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvHighPriorityMutexTask( void *pvParameters )
|
||||
{
|
||||
xSemaphoreHandle xMutex = ( xSemaphoreHandle ) pvParameters;
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
/* The high priority task starts by suspending itself. The low
|
||||
priority task will unsuspend this task when required. */
|
||||
vTaskSuspend( NULL );
|
||||
|
||||
/* When this task unsuspends all it does is attempt to obtain
|
||||
the mutex. It should find the mutex is not available so a
|
||||
block time is specified. */
|
||||
if( xSemaphoreTake( xMutex, portMAX_DELAY ) != pdPASS )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
/* When we eventually obtain the mutex we just give it back then
|
||||
return to suspend ready for the next test. */
|
||||
if( xSemaphoreGive( xMutex ) != pdPASS )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* This is called to check that all the created tasks are still running. */
|
||||
portBASE_TYPE xAreGenericQueueTasksStillRunning( void )
|
||||
{
|
||||
static unsigned portLONG ulLastLoopCounter = 0, ulLastLoopCounter2 = 0;
|
||||
|
||||
/* If the demo task is still running then we expect the loopcounters to
|
||||
have incremented since this function was last called. */
|
||||
if( ulLastLoopCounter == ulLoopCounter )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
if( ulLastLoopCounter2 == ulLoopCounter2 )
|
||||
{
|
||||
xErrorDetected = pdTRUE;
|
||||
}
|
||||
|
||||
ulLastLoopCounter = ulLoopCounter;
|
||||
ulLastLoopCounter2 = ulLoopCounter2;
|
||||
|
||||
/* Errors detected in the task itself will have latched xErrorDetected
|
||||
to true. */
|
||||
|
||||
return !xErrorDetected;
|
||||
}
|
||||
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue