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jeremybenn |
/*
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FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). 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 exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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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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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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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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| 333 |
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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| 335 |
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if( xQueueAltReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
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| 336 |
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{
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| 337 |
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xErrorOccurred = pdTRUE;
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}
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| 339 |
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}
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| 340 |
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/* Wake the other task so it blocks attempting to read from the
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| 342 |
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already empty queue. */
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| 343 |
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vTaskResume( xSecondary );
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|
|
/* We need to wait a little to ensure the other task executes. */
|
| 346 |
|
|
while( xRunIndicator != bktRUN_INDICATOR )
|
| 347 |
|
|
{
|
| 348 |
|
|
vTaskDelay( bktSHORT_WAIT );
|
| 349 |
|
|
}
|
| 350 |
|
|
vTaskDelay( bktSHORT_WAIT );
|
| 351 |
|
|
xRunIndicator = 0;
|
| 352 |
|
|
|
| 353 |
|
|
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
|
| 354 |
|
|
{
|
| 355 |
|
|
/* Now when we place an item on the queue the other task should
|
| 356 |
|
|
wake but not execute as this task has higher priority. */
|
| 357 |
|
|
if( xQueueAltSendToBack( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
|
| 358 |
|
|
{
|
| 359 |
|
|
xErrorOccurred = pdTRUE;
|
| 360 |
|
|
}
|
| 361 |
|
|
|
| 362 |
|
|
/* Now empty the queue again before the other task gets a chance to
|
| 363 |
|
|
execute. If the other task had executed we would find the queue
|
| 364 |
|
|
empty ourselves, and the other task would be suspended. */
|
| 365 |
|
|
if( xQueueAltReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
|
| 366 |
|
|
{
|
| 367 |
|
|
xErrorOccurred = pdTRUE;
|
| 368 |
|
|
}
|
| 369 |
|
|
|
| 370 |
|
|
if( xRunIndicator == bktRUN_INDICATOR )
|
| 371 |
|
|
{
|
| 372 |
|
|
/* The other task should not have executed. */
|
| 373 |
|
|
xErrorOccurred = pdTRUE;
|
| 374 |
|
|
}
|
| 375 |
|
|
|
| 376 |
|
|
/* Raise the priority of the other task so it executes and blocks
|
| 377 |
|
|
on the queue again. */
|
| 378 |
|
|
vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
|
| 379 |
|
|
|
| 380 |
|
|
/* The other task should now have re-blocked without exiting the
|
| 381 |
|
|
queue function. */
|
| 382 |
|
|
if( xRunIndicator == bktRUN_INDICATOR )
|
| 383 |
|
|
{
|
| 384 |
|
|
/* The other task should not have executed outside of the
|
| 385 |
|
|
queue function. */
|
| 386 |
|
|
xErrorOccurred = pdTRUE;
|
| 387 |
|
|
}
|
| 388 |
|
|
vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
|
| 389 |
|
|
}
|
| 390 |
|
|
|
| 391 |
|
|
/* Let the other task timeout. When it unblockes it will check that it
|
| 392 |
|
|
unblocked at the correct time, then suspend itself. */
|
| 393 |
|
|
while( xRunIndicator != bktRUN_INDICATOR )
|
| 394 |
|
|
{
|
| 395 |
|
|
vTaskDelay( bktSHORT_WAIT );
|
| 396 |
|
|
}
|
| 397 |
|
|
vTaskDelay( bktSHORT_WAIT );
|
| 398 |
|
|
|
| 399 |
|
|
xPrimaryCycles++;
|
| 400 |
|
|
}
|
| 401 |
|
|
}
|
| 402 |
|
|
/*-----------------------------------------------------------*/
|
| 403 |
|
|
|
| 404 |
|
|
static void vSecondaryBlockTimeTestTask( void *pvParameters )
|
| 405 |
|
|
{
|
| 406 |
|
|
portTickType xTimeWhenBlocking, xBlockedTime;
|
| 407 |
|
|
portBASE_TYPE xData;
|
| 408 |
|
|
|
| 409 |
|
|
#ifdef USE_STDIO
|
| 410 |
|
|
void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
|
| 411 |
|
|
|
| 412 |
|
|
const portCHAR * const pcTaskStartMsg = "Alt secondary block time test started.\r\n";
|
| 413 |
|
|
|
| 414 |
|
|
/* Queue a message for printing to say the task has started. */
|
| 415 |
|
|
vPrintDisplayMessage( &pcTaskStartMsg );
|
| 416 |
|
|
#endif
|
| 417 |
|
|
|
| 418 |
|
|
( void ) pvParameters;
|
| 419 |
|
|
|
| 420 |
|
|
for( ;; )
|
| 421 |
|
|
{
|
| 422 |
|
|
/*********************************************************************
|
| 423 |
|
|
Test 1 and 2
|
| 424 |
|
|
|
| 425 |
|
|
This task does does not participate in these tests. */
|
| 426 |
|
|
vTaskSuspend( NULL );
|
| 427 |
|
|
|
| 428 |
|
|
/*********************************************************************
|
| 429 |
|
|
Test 3
|
| 430 |
|
|
|
| 431 |
|
|
The first thing we do is attempt to read from the queue. It should be
|
| 432 |
|
|
full so we block. Note the time before we block so we can check the
|
| 433 |
|
|
wake time is as per that expected. */
|
| 434 |
|
|
portENTER_CRITICAL();
|
| 435 |
|
|
{
|
| 436 |
|
|
xTimeWhenBlocking = xTaskGetTickCount();
|
| 437 |
|
|
|
| 438 |
|
|
/* We should unblock after bktTIME_TO_BLOCK having not received
|
| 439 |
|
|
anything on the queue. */
|
| 440 |
|
|
xData = 0;
|
| 441 |
|
|
xRunIndicator = bktRUN_INDICATOR;
|
| 442 |
|
|
if( xQueueAltSendToBack( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_FULL )
|
| 443 |
|
|
{
|
| 444 |
|
|
xErrorOccurred = pdTRUE;
|
| 445 |
|
|
}
|
| 446 |
|
|
|
| 447 |
|
|
/* How long were we inside the send function? */
|
| 448 |
|
|
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
|
| 449 |
|
|
}
|
| 450 |
|
|
portEXIT_CRITICAL();
|
| 451 |
|
|
|
| 452 |
|
|
/* We should not have blocked for less time than bktTIME_TO_BLOCK. */
|
| 453 |
|
|
if( xBlockedTime < bktTIME_TO_BLOCK )
|
| 454 |
|
|
{
|
| 455 |
|
|
xErrorOccurred = pdTRUE;
|
| 456 |
|
|
}
|
| 457 |
|
|
|
| 458 |
|
|
/* We should of not blocked for much longer than bktALLOWABLE_MARGIN
|
| 459 |
|
|
either. A margin is permitted as we would not necessarily run as
|
| 460 |
|
|
soon as we unblocked. */
|
| 461 |
|
|
if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
|
| 462 |
|
|
{
|
| 463 |
|
|
xErrorOccurred = pdTRUE;
|
| 464 |
|
|
}
|
| 465 |
|
|
|
| 466 |
|
|
/* Suspend ready for test 3. */
|
| 467 |
|
|
xRunIndicator = bktRUN_INDICATOR;
|
| 468 |
|
|
vTaskSuspend( NULL );
|
| 469 |
|
|
|
| 470 |
|
|
/*********************************************************************
|
| 471 |
|
|
Test 4
|
| 472 |
|
|
|
| 473 |
|
|
As per test three, but with the send and receive reversed. */
|
| 474 |
|
|
portENTER_CRITICAL();
|
| 475 |
|
|
{
|
| 476 |
|
|
xTimeWhenBlocking = xTaskGetTickCount();
|
| 477 |
|
|
|
| 478 |
|
|
/* We should unblock after bktTIME_TO_BLOCK having not received
|
| 479 |
|
|
anything on the queue. */
|
| 480 |
|
|
xRunIndicator = bktRUN_INDICATOR;
|
| 481 |
|
|
if( xQueueAltReceive( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_EMPTY )
|
| 482 |
|
|
{
|
| 483 |
|
|
xErrorOccurred = pdTRUE;
|
| 484 |
|
|
}
|
| 485 |
|
|
|
| 486 |
|
|
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
|
| 487 |
|
|
}
|
| 488 |
|
|
portEXIT_CRITICAL();
|
| 489 |
|
|
|
| 490 |
|
|
/* We should not have blocked for less time than bktTIME_TO_BLOCK. */
|
| 491 |
|
|
if( xBlockedTime < bktTIME_TO_BLOCK )
|
| 492 |
|
|
{
|
| 493 |
|
|
xErrorOccurred = pdTRUE;
|
| 494 |
|
|
}
|
| 495 |
|
|
|
| 496 |
|
|
/* We should of not blocked for much longer than bktALLOWABLE_MARGIN
|
| 497 |
|
|
either. A margin is permitted as we would not necessarily run as soon
|
| 498 |
|
|
as we unblocked. */
|
| 499 |
|
|
if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
|
| 500 |
|
|
{
|
| 501 |
|
|
xErrorOccurred = pdTRUE;
|
| 502 |
|
|
}
|
| 503 |
|
|
|
| 504 |
|
|
xRunIndicator = bktRUN_INDICATOR;
|
| 505 |
|
|
|
| 506 |
|
|
xSecondaryCycles++;
|
| 507 |
|
|
}
|
| 508 |
|
|
}
|
| 509 |
|
|
/*-----------------------------------------------------------*/
|
| 510 |
|
|
|
| 511 |
|
|
portBASE_TYPE xAreAltBlockTimeTestTasksStillRunning( void )
|
| 512 |
|
|
{
|
| 513 |
|
|
static portBASE_TYPE xLastPrimaryCycleCount = 0, xLastSecondaryCycleCount = 0;
|
| 514 |
|
|
portBASE_TYPE xReturn = pdPASS;
|
| 515 |
|
|
|
| 516 |
|
|
/* Have both tasks performed at least one cycle since this function was
|
| 517 |
|
|
last called? */
|
| 518 |
|
|
if( xPrimaryCycles == xLastPrimaryCycleCount )
|
| 519 |
|
|
{
|
| 520 |
|
|
xReturn = pdFAIL;
|
| 521 |
|
|
}
|
| 522 |
|
|
|
| 523 |
|
|
if( xSecondaryCycles == xLastSecondaryCycleCount )
|
| 524 |
|
|
{
|
| 525 |
|
|
xReturn = pdFAIL;
|
| 526 |
|
|
}
|
| 527 |
|
|
|
| 528 |
|
|
if( xErrorOccurred == pdTRUE )
|
| 529 |
|
|
{
|
| 530 |
|
|
xReturn = pdFAIL;
|
| 531 |
|
|
}
|
| 532 |
|
|
|
| 533 |
|
|
xLastSecondaryCycleCount = xSecondaryCycles;
|
| 534 |
|
|
xLastPrimaryCycleCount = xPrimaryCycles;
|
| 535 |
|
|
|
| 536 |
|
|
return xReturn;
|
| 537 |
|
|
}
|
