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/*
    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
 
    ***************************************************************************
    *                                                                         *
    * If you are:                                                             *
    *                                                                         *
    *    + New to FreeRTOS,                                                   *
    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
    *    + Looking for basic training,                                        *
    *    + Wanting to improve your FreeRTOS skills and productivity           *
    *                                                                         *
    * then take a look at the FreeRTOS books - available as PDF or paperback  *
    *                                                                         *
    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
    *                  http://www.FreeRTOS.org/Documentation                  *
    *                                                                         *
    * A pdf reference manual is also available.  Both are usually delivered   *
    * to your inbox within 20 minutes to two hours when purchased between 8am *
    * and 8pm GMT (although please allow up to 24 hours in case of            *
    * exceptional circumstances).  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 exception 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!
 
    http://www.FreeRTOS.org - Documentation, latest information, license and
    contact details.
 
    http://www.SafeRTOS.com - A version that is certified for use in safety
    critical systems.
 
    http://www.OpenRTOS.com - Commercial support, development, porting,
    licensing and training services.
*/
 
 
/*
 * Tests the extra queue functionality introduced in FreeRTOS.org V4.5.0 -
 * including xQueueSendToFront(), xQueueSendToBack(), xQueuePeek() and
 * mutex behaviour.
 *
 * See the comments above the prvSendFrontAndBackTest() and
 * prvLowPriorityMutexTask() prototypes below for more information.
 */
 
 
#include <stdlib.h>
 
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"
 
/* Demo program include files. */
#include "GenQTest.h"
 
#define genqQUEUE_LENGTH                ( 5 )
#define genqNO_BLOCK                    ( 0 )
 
#define genqMUTEX_LOW_PRIORITY          ( tskIDLE_PRIORITY )
#define genqMUTEX_TEST_PRIORITY         ( tskIDLE_PRIORITY + 1 )
#define genqMUTEX_MEDIUM_PRIORITY       ( tskIDLE_PRIORITY + 2 )
#define genqMUTEX_HIGH_PRIORITY         ( tskIDLE_PRIORITY + 3 )
 
/*-----------------------------------------------------------*/
 
/*
 * Tests the behaviour of the xQueueSendToFront() and xQueueSendToBack()
 * macros by using both to fill a queue, then reading from the queue to
 * check the resultant queue order is as expected.  Queue data is also
 * peeked.
 */
static void prvSendFrontAndBackTest( void *pvParameters );
 
/*
 * The following three tasks are used to demonstrate the mutex behaviour.
 * Each task is given a different priority to demonstrate the priority
 * inheritance mechanism.
 *
 * The low priority task obtains a mutex.  After this a high priority task
 * attempts to obtain the same mutex, causing its priority to be inherited
 * by the low priority task.  The task with the inherited high priority then
 * resumes a medium priority task to ensure it is not blocked by the medium
 * priority task while it holds the inherited high priority.  Once the mutex
 * is returned the task with the inherited priority returns to its original
 * low priority, and is therefore immediately preempted by first the high
 * priority task and then the medium prioroity task before it can continue.
 */
static void prvLowPriorityMutexTask( void *pvParameters );
static void prvMediumPriorityMutexTask( void *pvParameters );
static void prvHighPriorityMutexTask( void *pvParameters );
 
/*-----------------------------------------------------------*/
 
/* Flag that will be latched to pdTRUE should any unexpected behaviour be
detected in any of the tasks. */
static portBASE_TYPE xErrorDetected = pdFALSE;
 
/* Counters that are incremented on each cycle of a test.  This is used to
detect a stalled task - a test that is no longer running. */
static volatile unsigned portLONG ulLoopCounter = 0;
static volatile unsigned portLONG ulLoopCounter2 = 0;
 
/* The variable that is guarded by the mutex in the mutex demo tasks. */
static volatile unsigned portLONG ulGuardedVariable = 0;
 
/* Handles used in the mutext test to suspend and resume the high and medium
priority mutex test tasks. */
static xTaskHandle xHighPriorityMutexTask, xMediumPriorityMutexTask;
 
/*-----------------------------------------------------------*/
 
void vStartGenericQueueTasks( unsigned portBASE_TYPE uxPriority )
{
xQueueHandle xQueue;
xSemaphoreHandle xMutex;
 
        /* Create the queue that we are going to use for the
        prvSendFrontAndBackTest demo. */
        xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( unsigned portLONG ) );
 
        /* vQueueAddToRegistry() adds the queue to the queue registry, if one is
        in use.  The queue registry is provided as a means for kernel aware
        debuggers to locate queues and has no purpose if a kernel aware debugger
        is not being used.  The call to vQueueAddToRegistry() will be removed
        by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
        defined to be less than 1. */
        vQueueAddToRegistry( xQueue, ( signed portCHAR * ) "Gen_Queue_Test" );
 
        /* Create the demo task and pass it the queue just created.  We are
        passing the queue handle by value so it does not matter that it is
        declared on the stack here. */
        xTaskCreate( prvSendFrontAndBackTest, ( signed portCHAR * )"GenQ", configMINIMAL_STACK_SIZE, ( void * ) xQueue, uxPriority, NULL );
 
        /* Create the mutex used by the prvMutexTest task. */
        xMutex = xSemaphoreCreateMutex();
 
        /* vQueueAddToRegistry() adds the mutex to the registry, if one is
        in use.  The registry is provided as a means for kernel aware
        debuggers to locate mutexes and has no purpose if a kernel aware debugger
        is not being used.  The call to vQueueAddToRegistry() will be removed
        by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
        defined to be less than 1. */
        vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Gen_Queue_Mutex" );
 
        /* Create the mutex demo tasks and pass it the mutex just created.  We are
        passing the mutex handle by value so it does not matter that it is declared
        on the stack here. */
        xTaskCreate( prvLowPriorityMutexTask, ( signed portCHAR * )"MuLow", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_LOW_PRIORITY, NULL );
        xTaskCreate( prvMediumPriorityMutexTask, ( signed portCHAR * )"MuMed", configMINIMAL_STACK_SIZE, NULL, genqMUTEX_MEDIUM_PRIORITY, &xMediumPriorityMutexTask );
        xTaskCreate( prvHighPriorityMutexTask, ( signed portCHAR * )"MuHigh", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_HIGH_PRIORITY, &xHighPriorityMutexTask );
}
/*-----------------------------------------------------------*/
 
static void prvSendFrontAndBackTest( void *pvParameters )
{
unsigned portLONG ulData, ulData2;
xQueueHandle xQueue;
 
        #ifdef USE_STDIO
        void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
 
                const portCHAR * const pcTaskStartMsg = "Queue SendToFront/SendToBack/Peek test started.\r\n";
 
                /* Queue a message for printing to say the task has started. */
                vPrintDisplayMessage( &pcTaskStartMsg );
        #endif
 
        xQueue = ( xQueueHandle ) pvParameters;
 
        for( ;; )
        {
                /* The queue is empty, so sending an item to the back of the queue
                should have the same efect as sending it to the front of the queue.
 
                First send to the front and check everything is as expected. */
                xQueueSendToFront( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );
 
                if( uxQueueMessagesWaiting( xQueue ) != 1 )
                {
                        xErrorDetected = pdTRUE;
                }
 
                if( xQueueReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
                {
                        xErrorDetected = pdTRUE;
                }
 
                /* The data we sent to the queue should equal the data we just received
                from the queue. */
                if( ulLoopCounter != ulData )
                {
                        xErrorDetected = pdTRUE;
                }
 
                /* Then do the same, sending the data to the back, checking everything
                is as expected. */
                if( uxQueueMessagesWaiting( xQueue ) != 0 )
                {
                        xErrorDetected = pdTRUE;
                }
 
                xQueueSendToBack( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );
 
                if( uxQueueMessagesWaiting( xQueue ) != 1 )
                {
                        xErrorDetected = pdTRUE;
                }
 
                if( xQueueReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
                {
                        xErrorDetected = pdTRUE;
                }
 
                if( uxQueueMessagesWaiting( xQueue ) != 0 )
                {
                        xErrorDetected = pdTRUE;
                }
 
                /* The data we sent to the queue should equal the data we just received
                from the queue. */
                if( ulLoopCounter != ulData )
                {
                        xErrorDetected = pdTRUE;
                }
 
                #if configUSE_PREEMPTION == 0
                        taskYIELD();
                #endif
 
 
 
                /* Place 2, 3, 4 into the queue, adding items to the back of the queue. */
                for( ulData = 2; ulData < 5; ulData++ )
                {
                        xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK );
                }
 
                /* Now the order in the queue should be 2, 3, 4, with 2 being the first
                thing to be read out.  Now add 1 then 0 to the front of the queue. */
                if( uxQueueMessagesWaiting( xQueue ) != 3 )
                {
                        xErrorDetected = pdTRUE;
                }
                ulData = 1;
                xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );
                ulData = 0;
                xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );
 
                /* Now the queue should be full, and when we read the data out we
                should receive 0, 1, 2, 3, 4. */
                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 = 0; ulData < genqQUEUE_LENGTH; ulData++ )
                {
                        /* Try peeking the data first. */
                        if( xQueuePeek( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
                        {
                                xErrorDetected = pdTRUE;
                        }
 
                        if( ulData != ulData2 )
                        {
                                xErrorDetected = pdTRUE;
                        }
 
 
                        /* Now try receiving the data for real.  The value should be the
                        same.  Clobber the value first so we know we really received it. */
                        ulData2 = ~ulData2;
                        if( xQueueReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
                        {
                                xErrorDetected = pdTRUE;
                        }
 
                        if( ulData != ulData2 )
                        {
                                xErrorDetected = pdTRUE;
                        }
                }
 
                /* The queue should now be empty again. */
                if( uxQueueMessagesWaiting( xQueue ) != 0 )
                {
                        xErrorDetected = pdTRUE;
                }
 
                #if configUSE_PREEMPTION == 0
                        taskYIELD();
                #endif
 
 
                /* Our queue is empty once more, add 10, 11 to the back. */
                ulData = 10;
                if( xQueueSend( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )
                {
                        xErrorDetected = pdTRUE;
                }
                ulData = 11;
                if( xQueueSend( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )
                {
                        xErrorDetected = pdTRUE;
                }
 
                if( uxQueueMessagesWaiting( xQueue ) != 2 )
                {
                        xErrorDetected = pdTRUE;
                }
 
                /* Now we should have 10, 11 in the queue.  Add 7, 8, 9 to the
                front. */
                for( ulData = 9; ulData >= 7; ulData-- )
                {
                        if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
                        {
                                xErrorDetected = pdTRUE;
                        }
                }
 
                /* Now check that the queue is full, and that receiving data provides
                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;
}
 
 

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Subversion Repositories openrisc

[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [Common/] [Minimal/] [GenQTest.c] - Blame information for rev 615

Line No.	Rev	Author	Line
1	606	jeremybenn	`/*`
2			`FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.`
3
4			`***************************************************************************`
5			`* *`
6			`* If you are: *`
7			`* *`
8			`* + New to FreeRTOS, *`
9			`* + Wanting to learn FreeRTOS or multitasking in general quickly *`
10			`* + Looking for basic training, *`
11			`* + Wanting to improve your FreeRTOS skills and productivity *`
12			`* *`
13			`* then take a look at the FreeRTOS books - available as PDF or paperback *`
14			`* *`
15			`* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *`
16			`* http://www.FreeRTOS.org/Documentation *`
17			`* *`
18			`* A pdf reference manual is also available. Both are usually delivered *`
19			`* to your inbox within 20 minutes to two hours when purchased between 8am *`
20			`* and 8pm GMT (although please allow up to 24 hours in case of *`
21			`* exceptional circumstances). Thank you for your support! *`
22			`* *`
23			`***************************************************************************`
24
25			`This file is part of the FreeRTOS distribution.`
26
27			`FreeRTOS is free software; you can redistribute it and/or modify it under`
28			`the terms of the GNU General Public License (version 2) as published by the`
29			`Free Software Foundation AND MODIFIED BY the FreeRTOS exception.`
30			`*NOTE* The exception to the GPL is included to allow you to distribute`
31			`a combined work that includes FreeRTOS without being obliged to provide the`
32			`source code for proprietary components outside of the FreeRTOS kernel.`
33			`FreeRTOS is distributed in the hope that it will be useful, but WITHOUT`
34			`ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or`
35			`FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for`
36			`more details. You should have received a copy of the GNU General Public`
37			`License and the FreeRTOS license exception along with FreeRTOS; if not it`
38			`can be viewed here: http://www.freertos.org/a00114.html and also obtained`
39			`by writing to Richard Barry, contact details for whom are available on the`
40			`FreeRTOS WEB site.`
41
42			`1 tab == 4 spaces!`
43
44			`http://www.FreeRTOS.org - Documentation, latest information, license and`
45			`contact details.`
46
47			`http://www.SafeRTOS.com - A version that is certified for use in safety`
48			`critical systems.`
49
50			`http://www.OpenRTOS.com - Commercial support, development, porting,`
51			`licensing and training services.`
52			`*/`
53
54
55			`/*`
56			`* Tests the extra queue functionality introduced in FreeRTOS.org V4.5.0 -`
57			`* including xQueueSendToFront(), xQueueSendToBack(), xQueuePeek() and`
58			`* mutex behaviour.`
59			`*`
60			`* See the comments above the prvSendFrontAndBackTest() and`
61			`* prvLowPriorityMutexTask() prototypes below for more information.`
62			`*/`
63
64
65			`#include <stdlib.h>`
66
67			`/* Scheduler include files. */`
68			`#include "FreeRTOS.h"`
69			`#include "task.h"`
70			`#include "queue.h"`
71			`#include "semphr.h"`
72
73			`/* Demo program include files. */`
74			`#include "GenQTest.h"`
75
76			`#define genqQUEUE_LENGTH ( 5 )`
77			`#define genqNO_BLOCK ( 0 )`
78
79			`#define genqMUTEX_LOW_PRIORITY ( tskIDLE_PRIORITY )`
80			`#define genqMUTEX_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )`
81			`#define genqMUTEX_MEDIUM_PRIORITY ( tskIDLE_PRIORITY + 2 )`
82			`#define genqMUTEX_HIGH_PRIORITY ( tskIDLE_PRIORITY + 3 )`
83
84			`/-----------------------------------------------------------/`
85
86			`/*`
87			`* Tests the behaviour of the xQueueSendToFront() and xQueueSendToBack()`
88			`* macros by using both to fill a queue, then reading from the queue to`
89			`* check the resultant queue order is as expected. Queue data is also`
90			`* peeked.`
91			`*/`
92			`static void prvSendFrontAndBackTest( void *pvParameters );`
93
94			`/*`
95			`* The following three tasks are used to demonstrate the mutex behaviour.`
96			`* Each task is given a different priority to demonstrate the priority`
97			`* inheritance mechanism.`
98			`*`
99			`* The low priority task obtains a mutex. After this a high priority task`
100			`* attempts to obtain the same mutex, causing its priority to be inherited`
101			`* by the low priority task. The task with the inherited high priority then`
102			`* resumes a medium priority task to ensure it is not blocked by the medium`
103			`* priority task while it holds the inherited high priority. Once the mutex`
104			`* is returned the task with the inherited priority returns to its original`
105			`* low priority, and is therefore immediately preempted by first the high`
106			`* priority task and then the medium prioroity task before it can continue.`
107			`*/`
108			`static void prvLowPriorityMutexTask( void *pvParameters );`
109			`static void prvMediumPriorityMutexTask( void *pvParameters );`
110			`static void prvHighPriorityMutexTask( void *pvParameters );`
111
112			`/-----------------------------------------------------------/`
113
114			`/* Flag that will be latched to pdTRUE should any unexpected behaviour be`
115			`detected in any of the tasks. */`
116			`static portBASE_TYPE xErrorDetected = pdFALSE;`
117
118			`/* Counters that are incremented on each cycle of a test. This is used to`
119			`detect a stalled task - a test that is no longer running. */`
120			`static volatile unsigned portLONG ulLoopCounter = 0;`
121			`static volatile unsigned portLONG ulLoopCounter2 = 0;`
122
123			`/* The variable that is guarded by the mutex in the mutex demo tasks. */`
124			`static volatile unsigned portLONG ulGuardedVariable = 0;`
125
126			`/* Handles used in the mutext test to suspend and resume the high and medium`
127			`priority mutex test tasks. */`
128			`static xTaskHandle xHighPriorityMutexTask, xMediumPriorityMutexTask;`
129
130			`/-----------------------------------------------------------/`
131
132			`void vStartGenericQueueTasks( unsigned portBASE_TYPE uxPriority )`
133			`{`
134			`xQueueHandle xQueue;`
135			`xSemaphoreHandle xMutex;`
136
137			`/* Create the queue that we are going to use for the`
138			`prvSendFrontAndBackTest demo. */`
139			`xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( unsigned portLONG ) );`
140
141			`/* vQueueAddToRegistry() adds the queue to the queue registry, if one is`
142			`in use. The queue registry is provided as a means for kernel aware`
143			`debuggers to locate queues and has no purpose if a kernel aware debugger`
144			`is not being used. The call to vQueueAddToRegistry() will be removed`
145			`by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is`
146			`defined to be less than 1. */`
147			`vQueueAddToRegistry( xQueue, ( signed portCHAR * ) "Gen_Queue_Test" );`
148
149			`/* Create the demo task and pass it the queue just created. We are`
150			`passing the queue handle by value so it does not matter that it is`
151			`declared on the stack here. */`
152			`xTaskCreate( prvSendFrontAndBackTest, ( signed portCHAR * )"GenQ", configMINIMAL_STACK_SIZE, ( void * ) xQueue, uxPriority, NULL );`
153
154			`/* Create the mutex used by the prvMutexTest task. */`
155			`xMutex = xSemaphoreCreateMutex();`
156
157			`/* vQueueAddToRegistry() adds the mutex to the registry, if one is`
158			`in use. The registry is provided as a means for kernel aware`
159			`debuggers to locate mutexes and has no purpose if a kernel aware debugger`
160			`is not being used. The call to vQueueAddToRegistry() will be removed`
161			`by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is`
162			`defined to be less than 1. */`
163			`vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Gen_Queue_Mutex" );`
164
165			`/* Create the mutex demo tasks and pass it the mutex just created. We are`
166			`passing the mutex handle by value so it does not matter that it is declared`
167			`on the stack here. */`
168			`xTaskCreate( prvLowPriorityMutexTask, ( signed portCHAR * )"MuLow", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_LOW_PRIORITY, NULL );`
169			`xTaskCreate( prvMediumPriorityMutexTask, ( signed portCHAR * )"MuMed", configMINIMAL_STACK_SIZE, NULL, genqMUTEX_MEDIUM_PRIORITY, &xMediumPriorityMutexTask );`
170			`xTaskCreate( prvHighPriorityMutexTask, ( signed portCHAR * )"MuHigh", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_HIGH_PRIORITY, &xHighPriorityMutexTask );`
171			`}`
172			`/-----------------------------------------------------------/`
173
174			`static void prvSendFrontAndBackTest( void *pvParameters )`
175			`{`
176			`unsigned portLONG ulData, ulData2;`
177			`xQueueHandle xQueue;`
178
179			`#ifdef USE_STDIO`
180			`void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );`
181
182			`const portCHAR * const pcTaskStartMsg = "Queue SendToFront/SendToBack/Peek test started.\r\n";`
183
184			`/* Queue a message for printing to say the task has started. */`
185			`vPrintDisplayMessage( &pcTaskStartMsg );`
186			`#endif`
187
188			`xQueue = ( xQueueHandle ) pvParameters;`
189
190			`for( ;; )`
191			`{`
192			`/* The queue is empty, so sending an item to the back of the queue`
193			`should have the same efect as sending it to the front of the queue.`
194
195			`First send to the front and check everything is as expected. */`
196			`xQueueSendToFront( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );`
197
198			`if( uxQueueMessagesWaiting( xQueue ) != 1 )`
199			`{`
200			`xErrorDetected = pdTRUE;`
201			`}`
202
203			`if( xQueueReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )`
204			`{`
205			`xErrorDetected = pdTRUE;`
206			`}`
207
208			`/* The data we sent to the queue should equal the data we just received`
209			`from the queue. */`
210			`if( ulLoopCounter != ulData )`
211			`{`
212			`xErrorDetected = pdTRUE;`
213			`}`
214
215			`/* Then do the same, sending the data to the back, checking everything`
216			`is as expected. */`
217			`if( uxQueueMessagesWaiting( xQueue ) != 0 )`
218			`{`
219			`xErrorDetected = pdTRUE;`
220			`}`
221
222			`xQueueSendToBack( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );`
223
224			`if( uxQueueMessagesWaiting( xQueue ) != 1 )`
225			`{`
226			`xErrorDetected = pdTRUE;`
227			`}`
228
229			`if( xQueueReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )`
230			`{`
231			`xErrorDetected = pdTRUE;`
232			`}`
233
234			`if( uxQueueMessagesWaiting( xQueue ) != 0 )`
235			`{`
236			`xErrorDetected = pdTRUE;`
237			`}`
238
239			`/* The data we sent to the queue should equal the data we just received`
240			`from the queue. */`
241			`if( ulLoopCounter != ulData )`
242			`{`
243			`xErrorDetected = pdTRUE;`
244			`}`
245
246			`#if configUSE_PREEMPTION == 0`
247			`taskYIELD();`
248			`#endif`
249
250
251
252			`/* Place 2, 3, 4 into the queue, adding items to the back of the queue. */`
253			`for( ulData = 2; ulData < 5; ulData++ )`
254			`{`
255			`xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK );`
256			`}`
257
258			`/* Now the order in the queue should be 2, 3, 4, with 2 being the first`
259			`thing to be read out. Now add 1 then 0 to the front of the queue. */`
260			`if( uxQueueMessagesWaiting( xQueue ) != 3 )`
261			`{`
262			`xErrorDetected = pdTRUE;`
263			`}`
264			`ulData = 1;`
265			`xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );`
266			`ulData = 0;`
267			`xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );`
268
269			`/* Now the queue should be full, and when we read the data out we`
270			`should receive 0, 1, 2, 3, 4. */`
271			`if( uxQueueMessagesWaiting( xQueue ) != 5 )`
272			`{`
273			`xErrorDetected = pdTRUE;`
274			`}`
275
276			`if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )`
277			`{`
278			`xErrorDetected = pdTRUE;`
279			`}`
280
281			`if( xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )`
282			`{`
283			`xErrorDetected = pdTRUE;`
284			`}`
285
286			`#if configUSE_PREEMPTION == 0`
287			`taskYIELD();`
288			`#endif`
289
290			`/* Check the data we read out is in the expected order. */`
291			`for( ulData = 0; ulData < genqQUEUE_LENGTH; ulData++ )`
292			`{`
293			`/* Try peeking the data first. */`
294			`if( xQueuePeek( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )`
295			`{`
296			`xErrorDetected = pdTRUE;`
297			`}`
298
299			`if( ulData != ulData2 )`
300			`{`
301			`xErrorDetected = pdTRUE;`
302			`}`
303
304
305			`/* Now try receiving the data for real. The value should be the`
306			`same. Clobber the value first so we know we really received it. */`
307			`ulData2 = ~ulData2;`
308			`if( xQueueReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )`
309			`{`
310			`xErrorDetected = pdTRUE;`
311			`}`
312
313			`if( ulData != ulData2 )`
314			`{`
315			`xErrorDetected = pdTRUE;`
316			`}`
317			`}`
318
319			`/* The queue should now be empty again. */`
320			`if( uxQueueMessagesWaiting( xQueue ) != 0 )`
321			`{`
322			`xErrorDetected = pdTRUE;`
323			`}`
324
325			`#if configUSE_PREEMPTION == 0`
326			`taskYIELD();`
327			`#endif`
328
329
330			`/* Our queue is empty once more, add 10, 11 to the back. */`
331			`ulData = 10;`
332			`if( xQueueSend( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )`
333			`{`
334			`xErrorDetected = pdTRUE;`
335			`}`
336			`ulData = 11;`
337			`if( xQueueSend( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )`
338			`{`
339			`xErrorDetected = pdTRUE;`
340			`}`
341
342			`if( uxQueueMessagesWaiting( xQueue ) != 2 )`
343			`{`
344			`xErrorDetected = pdTRUE;`
345			`}`
346
347			`/* Now we should have 10, 11 in the queue. Add 7, 8, 9 to the`
348			`front. */`
349			`for( ulData = 9; ulData >= 7; ulData-- )`
350			`{`
351			`if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )`
352			`{`
353			`xErrorDetected = pdTRUE;`
354			`}`
355			`}`
356
357			`/* Now check that the queue is full, and that receiving data provides`
358			`the expected sequence of 7, 8, 9, 10, 11. */`
359			`if( uxQueueMessagesWaiting( xQueue ) != 5 )`
360			`{`
361			`xErrorDetected = pdTRUE;`
362			`}`
363
364			`if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )`
365			`{`
366			`xErrorDetected = pdTRUE;`
367			`}`
368
369			`if( xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )`
370			`{`
371			`xErrorDetected = pdTRUE;`
372			`}`
373
374			`#if configUSE_PREEMPTION == 0`
375			`taskYIELD();`
376			`#endif`
377
378			`/* Check the data we read out is in the expected order. */`
379			`for( ulData = 7; ulData < ( 7 + genqQUEUE_LENGTH ); ulData++ )`
380			`{`
381			`if( xQueueReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )`
382			`{`
383			`xErrorDetected = pdTRUE;`
384			`}`
385
386			`if( ulData != ulData2 )`
387			`{`
388			`xErrorDetected = pdTRUE;`
389			`}`
390			`}`
391
392			`if( uxQueueMessagesWaiting( xQueue ) != 0 )`
393			`{`
394			`xErrorDetected = pdTRUE;`
395			`}`
396
397			`ulLoopCounter++;`
398			`}`
399			`}`
400			`/-----------------------------------------------------------/`
401
402			`static void prvLowPriorityMutexTask( void *pvParameters )`
403			`{`
404			`xSemaphoreHandle xMutex = ( xSemaphoreHandle ) pvParameters;`
405
406			`#ifdef USE_STDIO`
407			`void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );`
408
409			`const portCHAR * const pcTaskStartMsg = "Mutex with priority inheritance test started.\r\n";`
410
411			`/* Queue a message for printing to say the task has started. */`
412			`vPrintDisplayMessage( &pcTaskStartMsg );`
413			`#endif`
414
415			`for( ;; )`
416			`{`
417			`/* Take the mutex. It should be available now. */`
418			`if( xSemaphoreTake( xMutex, genqNO_BLOCK ) != pdPASS )`
419			`{`
420			`xErrorDetected = pdTRUE;`
421			`}`
422
423			`/* Set our guarded variable to a known start value. */`
424			`ulGuardedVariable = 0;`
425
426			`/* Our priority should be as per that assigned when the task was`
427			`created. */`
428			`if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )`
429			`{`
430			`xErrorDetected = pdTRUE;`
431			`}`
432
433			`/* Now unsuspend the high priority task. This will attempt to take the`
434			`mutex, and block when it finds it cannot obtain it. */`
435			`vTaskResume( xHighPriorityMutexTask );`
436
437			`/* We should now have inherited the prioritoy of the high priority task,`
438			`as by now it will have attempted to get the mutex. */`
439			`if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )`
440			`{`
441			`xErrorDetected = pdTRUE;`
442			`}`
443
444			`/* We can attempt to set our priority to the test priority - between the`
445			`idle priority and the medium/high test priorities, but our actual`
446			`prioroity should remain at the high priority. */`
447			`vTaskPrioritySet( NULL, genqMUTEX_TEST_PRIORITY );`
448			`if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )`
449			`{`
450			`xErrorDetected = pdTRUE;`
451			`}`
452
453			`/* Now unsuspend the medium priority task. This should not run as our`
454			`inherited priority is above that of the medium priority task. */`
455			`vTaskResume( xMediumPriorityMutexTask );`
456
457			`/* If the did run then it will have incremented our guarded variable. */`
458			`if( ulGuardedVariable != 0 )`
459			`{`
460			`xErrorDetected = pdTRUE;`
461			`}`
462
463			`/* When we give back the semaphore our priority should be disinherited`
464			`back to the priority to which we attempted to set ourselves. This means`
465			`that when the high priority task next blocks, the medium priority task`
466			`should execute and increment the guarded variable. When we next run`
467			`both the high and medium priority tasks will have been suspended again. */`
468			`if( xSemaphoreGive( xMutex ) != pdPASS )`
469			`{`
470			`xErrorDetected = pdTRUE;`
471			`}`
472
473			`/* Check that the guarded variable did indeed increment... */`
474			`if( ulGuardedVariable != 1 )`
475			`{`
476			`xErrorDetected = pdTRUE;`
477			`}`
478
479			`/* ... and that our priority has been disinherited to`
480			`genqMUTEX_TEST_PRIORITY. */`
481			`if( uxTaskPriorityGet( NULL ) != genqMUTEX_TEST_PRIORITY )`
482			`{`
483			`xErrorDetected = pdTRUE;`
484			`}`
485
486			`/* Set our priority back to our original priority ready for the next`
487			`loop around this test. */`
488			`vTaskPrioritySet( NULL, genqMUTEX_LOW_PRIORITY );`
489
490			`/* Just to show we are still running. */`
491			`ulLoopCounter2++;`
492
493			`#if configUSE_PREEMPTION == 0`
494			`taskYIELD();`
495			`#endif`
496			`}`
497			`}`
498			`/-----------------------------------------------------------/`
499
500			`static void prvMediumPriorityMutexTask( void *pvParameters )`
501			`{`
502			`( void ) pvParameters;`
503
504			`for( ;; )`
505			`{`
506			`/* The medium priority task starts by suspending itself. The low`
507			`priority task will unsuspend this task when required. */`
508			`vTaskSuspend( NULL );`
509
510			`/* When this task unsuspends all it does is increment the guarded`
511			`variable, this is so the low priority task knows that it has`
512			`executed. */`
513			`ulGuardedVariable++;`
514			`}`
515			`}`
516			`/-----------------------------------------------------------/`
517
518			`static void prvHighPriorityMutexTask( void *pvParameters )`
519			`{`
520			`xSemaphoreHandle xMutex = ( xSemaphoreHandle ) pvParameters;`
521
522			`for( ;; )`
523			`{`
524			`/* The high priority task starts by suspending itself. The low`
525			`priority task will unsuspend this task when required. */`
526			`vTaskSuspend( NULL );`
527
528			`/* When this task unsuspends all it does is attempt to obtain`
529			`the mutex. It should find the mutex is not available so a`
530			`block time is specified. */`
531			`if( xSemaphoreTake( xMutex, portMAX_DELAY ) != pdPASS )`
532			`{`
533			`xErrorDetected = pdTRUE;`
534			`}`
535
536			`/* When we eventually obtain the mutex we just give it back then`
537			`return to suspend ready for the next test. */`
538			`if( xSemaphoreGive( xMutex ) != pdPASS )`
539			`{`
540			`xErrorDetected = pdTRUE;`
541			`}`
542			`}`
543			`}`
544			`/-----------------------------------------------------------/`
545
546			`/* This is called to check that all the created tasks are still running. */`
547			`portBASE_TYPE xAreGenericQueueTasksStillRunning( void )`
548			`{`
549			`static unsigned portLONG ulLastLoopCounter = 0, ulLastLoopCounter2 = 0;`
550
551			`/* If the demo task is still running then we expect the loopcounters to`
552			`have incremented since this function was last called. */`
553			`if( ulLastLoopCounter == ulLoopCounter )`
554			`{`
555			`xErrorDetected = pdTRUE;`
556			`}`
557
558			`if( ulLastLoopCounter2 == ulLoopCounter2 )`
559			`{`
560			`xErrorDetected = pdTRUE;`
561			`}`
562
563			`ulLastLoopCounter = ulLoopCounter;`
564			`ulLastLoopCounter2 = ulLoopCounter2;`
565
566			`/* Errors detected in the task itself will have latched xErrorDetected`
567			`to true. */`
568
569			`return !xErrorDetected;`
570			`}`
571
572