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606 |
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 file defines one of the more complex set of demo/test tasks. They are
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* designed to stress test the queue implementation though pseudo simultaneous
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* multiple reads and multiple writes from both tasks of varying priority and
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* interrupts. The interrupts are prioritised such to ensure that nesting
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* occurs (for those ports that support it).
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*
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* The test ensures that, while being accessed from three tasks and two
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* interrupts, all the data sent to the queues is also received from
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* the same queue, and that no duplicate items are either sent or received.
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* The tests also ensure that a low priority task is never able to successfully
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* read from or write to a queue when a task of higher priority is attempting
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* the same operation.
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*/
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/* Standard includes. */
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#include <string.h>
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/* SafeRTOS includes. */
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#include "FreeRTOS.h"
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#include "queue.h"
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#include "task.h"
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/* Demo app includes. */
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#include "IntQueue.h"
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#include "IntQueueTimer.h"
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/* Priorities used by test tasks. */
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#define intqHIGHER_PRIORITY ( configMAX_PRIORITIES - 2 )
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#define intqLOWER_PRIORITY ( tskIDLE_PRIORITY )
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/* The number of values to send/receive before checking that all values were
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processed as expected. */
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#define intqNUM_VALUES_TO_LOG ( 200 )
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#define intqSHORT_DELAY ( 75 )
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/* The value by which the value being sent to or received from a queue should
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increment past intqNUM_VALUES_TO_LOG before we check that all values have been
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sent/received correctly. This is done to ensure that all tasks and interrupts
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accessing the queue have completed their accesses with the
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intqNUM_VALUES_TO_LOG range. */
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#define intqVALUE_OVERRUN ( 50 )
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/* The delay used by the polling task. A short delay is used for code
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coverage. */
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#define intqONE_TICK_DELAY ( 1 )
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/* Each task and interrupt is given a unique identifier. This value is used to
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identify which task sent or received each value. The identifier is also used
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to distinguish between two tasks that are running the same task function. */
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#define intqHIGH_PRIORITY_TASK1 ( ( unsigned portBASE_TYPE ) 1 )
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#define intqHIGH_PRIORITY_TASK2 ( ( unsigned portBASE_TYPE ) 2 )
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#define intqLOW_PRIORITY_TASK ( ( unsigned portBASE_TYPE ) 3 )
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#define intqFIRST_INTERRUPT ( ( unsigned portBASE_TYPE ) 4 )
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#define intqSECOND_INTERRUPT ( ( unsigned portBASE_TYPE ) 5 )
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#define intqQUEUE_LENGTH ( ( unsigned portBASE_TYPE ) 10 )
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/* At least intqMIN_ACCEPTABLE_TASK_COUNT values should be sent to/received
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from each queue by each task, otherwise an error is detected. */
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#define intqMIN_ACCEPTABLE_TASK_COUNT ( 5 )
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/* Send the next value to the queue that is normally empty. This is called
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from within the interrupts. */
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#define timerNORMALLY_EMPTY_TX() \
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if( xQueueIsQueueFullFromISR( xNormallyEmptyQueue ) != pdTRUE ) \
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{ \
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unsigned portBASE_TYPE uxSavedInterruptStatus; \
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uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); \
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{ \
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uxValueForNormallyEmptyQueue++; \
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xQueueSendFromISR( xNormallyEmptyQueue, ( void * ) &uxValueForNormallyEmptyQueue, &xHigherPriorityTaskWoken ); \
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} \
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portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); \
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} \
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/* Send the next value to the queue that is normally full. This is called
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from within the interrupts. */
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#define timerNORMALLY_FULL_TX() \
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if( xQueueIsQueueFullFromISR( xNormallyFullQueue ) != pdTRUE ) \
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{ \
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unsigned portBASE_TYPE uxSavedInterruptStatus; \
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uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); \
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{ \
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uxValueForNormallyFullQueue++; \
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xQueueSendFromISR( xNormallyFullQueue, ( void * ) &uxValueForNormallyFullQueue, &xHigherPriorityTaskWoken ); \
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} \
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portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); \
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} \
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/* Receive a value from the normally empty queue. This is called from within
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an interrupt. */
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#define timerNORMALLY_EMPTY_RX() \
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if( xQueueReceiveFromISR( xNormallyEmptyQueue, &uxRxedValue, &xHigherPriorityTaskWoken ) != pdPASS ) \
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{ \
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prvQueueAccessLogError( __LINE__ ); \
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} \
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else \
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{ \
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prvRecordValue_NormallyEmpty( uxRxedValue, intqSECOND_INTERRUPT ); \
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}
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/* Receive a value from the normally full queue. This is called from within
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an interrupt. */
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#define timerNORMALLY_FULL_RX() \
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if( xQueueReceiveFromISR( xNormallyFullQueue, &uxRxedValue, &xHigherPriorityTaskWoken ) == pdPASS ) \
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{ \
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prvRecordValue_NormallyFull( uxRxedValue, intqSECOND_INTERRUPT ); \
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} \
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/*-----------------------------------------------------------*/
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/* The two queues used by the test. */
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static xQueueHandle xNormallyEmptyQueue, xNormallyFullQueue;
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/* Variables used to detect a stall in one of the tasks. */
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static unsigned portBASE_TYPE uxHighPriorityLoops1 = 0, uxHighPriorityLoops2 = 0, uxLowPriorityLoops1 = 0, uxLowPriorityLoops2 = 0;
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/* Any unexpected behaviour sets xErrorStatus to fail and log the line that
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caused the error in xErrorLine. */
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static portBASE_TYPE xErrorStatus = pdPASS;
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static volatile unsigned portBASE_TYPE xErrorLine = ( unsigned portBASE_TYPE ) 0;
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/* Used for sequencing between tasks. */
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static portBASE_TYPE xWasSuspended = pdFALSE;
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/* The values that are sent to the queues. An incremented value is sent each
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time to each queue. */
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volatile unsigned portBASE_TYPE uxValueForNormallyEmptyQueue = 0, uxValueForNormallyFullQueue = 0;
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/* A handle to some of the tasks is required so they can be suspended/resumed. */
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xTaskHandle xHighPriorityNormallyEmptyTask1, xHighPriorityNormallyEmptyTask2, xHighPriorityNormallyFullTask1, xHighPriorityNormallyFullTask2;
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/* When a value is received in a queue the value is ticked off in the array
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the array position of the value is set to a the identifier of the task or
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interrupt that accessed the queue. This way missing or duplicate values can be
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detected. */
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static unsigned portCHAR ucNormallyEmptyReceivedValues[ intqNUM_VALUES_TO_LOG ] = { 0 };
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static unsigned portCHAR ucNormallyFullReceivedValues[ intqNUM_VALUES_TO_LOG ] = { 0 };
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/* The test tasks themselves. */
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static void prvLowerPriorityNormallyEmptyTask( void *pvParameters );
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static void prvLowerPriorityNormallyFullTask( void *pvParameters );
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static void prvHigherPriorityNormallyEmptyTask( void *pvParameters );
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static void prv1stHigherPriorityNormallyFullTask( void *pvParameters );
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static void prv2ndHigherPriorityNormallyFullTask( void *pvParameters );
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/* Used to mark the positions within the ucNormallyEmptyReceivedValues and
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ucNormallyFullReceivedValues arrays, while checking for duplicates. */
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static void prvRecordValue_NormallyEmpty( unsigned portBASE_TYPE uxValue, unsigned portBASE_TYPE uxSource );
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static void prvRecordValue_NormallyFull( unsigned portBASE_TYPE uxValue, unsigned portBASE_TYPE uxSource );
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/* Logs the line on which an error occurred. */
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static void prvQueueAccessLogError( unsigned portBASE_TYPE uxLine );
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/*-----------------------------------------------------------*/
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void vStartInterruptQueueTasks( void )
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{
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/* Start the test tasks. */
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xTaskCreate( prvHigherPriorityNormallyEmptyTask, ( signed portCHAR * ) "H1QRx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK1, intqHIGHER_PRIORITY, &xHighPriorityNormallyEmptyTask1 );
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xTaskCreate( prvHigherPriorityNormallyEmptyTask, ( signed portCHAR * ) "H2QRx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK2, intqHIGHER_PRIORITY, &xHighPriorityNormallyEmptyTask2 );
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xTaskCreate( prvLowerPriorityNormallyEmptyTask, ( signed portCHAR * ) "LQRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL );
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xTaskCreate( prv1stHigherPriorityNormallyFullTask, ( signed portCHAR * ) "H1QTx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK1, intqHIGHER_PRIORITY, &xHighPriorityNormallyFullTask1 );
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xTaskCreate( prv2ndHigherPriorityNormallyFullTask, ( signed portCHAR * ) "H1QTx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK2, intqHIGHER_PRIORITY, &xHighPriorityNormallyFullTask2 );
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xTaskCreate( prvLowerPriorityNormallyFullTask, ( signed portCHAR * ) "LQRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL );
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/* Create the queues that are accessed by multiple tasks and multiple
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interrupts. */
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xNormallyFullQueue = xQueueCreate( intqQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) );
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xNormallyEmptyQueue = xQueueCreate( intqQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) );
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/* 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( xNormallyFullQueue, ( signed portCHAR * ) "NormallyFull" );
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vQueueAddToRegistry( xNormallyEmptyQueue, ( signed portCHAR * ) "NormallyEmpty" );
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}
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/*-----------------------------------------------------------*/
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static void prvRecordValue_NormallyFull( unsigned portBASE_TYPE uxValue, unsigned portBASE_TYPE uxSource )
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{
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if( uxValue < intqNUM_VALUES_TO_LOG )
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{
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/* We don't expect to receive the same value twice, so if the value
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has already been marked as received an error has occurred. */
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if( ucNormallyFullReceivedValues[ uxValue ] != 0x00 )
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{
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prvQueueAccessLogError( __LINE__ );
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}
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/* Log that this value has been received. */
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ucNormallyFullReceivedValues[ uxValue ] = uxSource;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvRecordValue_NormallyEmpty( unsigned portBASE_TYPE uxValue, unsigned portBASE_TYPE uxSource )
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{
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if( uxValue < intqNUM_VALUES_TO_LOG )
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{
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/* We don't expect to receive the same value twice, so if the value
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has already been marked as received an error has occurred. */
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if( ucNormallyEmptyReceivedValues[ uxValue ] != 0x00 )
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{
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prvQueueAccessLogError( __LINE__ );
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}
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/* Log that this value has been received. */
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ucNormallyEmptyReceivedValues[ uxValue ] = uxSource;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvQueueAccessLogError( unsigned portBASE_TYPE uxLine )
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{
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/* Latch the line number that caused the error. */
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xErrorLine = uxLine;
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xErrorStatus = pdFAIL;
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}
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/*-----------------------------------------------------------*/
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static void prvHigherPriorityNormallyEmptyTask( void *pvParameters )
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{
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unsigned portBASE_TYPE uxRxed, ux, uxTask1, uxTask2, uxErrorCount1 = 0, uxErrorCount2 = 0;
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/* The timer should not be started until after the scheduler has started.
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More than one task is running this code so we check the parameter value
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to determine which task should start the timer. */
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if( ( unsigned portBASE_TYPE ) pvParameters == intqHIGH_PRIORITY_TASK1 )
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{
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| 288 |
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vInitialiseTimerForIntQueueTest();
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}
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for( ;; )
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{
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/* Block waiting to receive a value from the normally empty queue.
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Interrupts will write to the queue so we should receive a value. */
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if( xQueueReceive( xNormallyEmptyQueue, &uxRxed, intqSHORT_DELAY ) != pdPASS )
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{
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prvQueueAccessLogError( __LINE__ );
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}
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else
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{
|
| 301 |
|
|
/* Note which value was received so we can check all expected
|
| 302 |
|
|
values are received and no values are duplicated. */
|
| 303 |
|
|
prvRecordValue_NormallyEmpty( uxRxed, ( unsigned portBASE_TYPE ) pvParameters );
|
| 304 |
|
|
}
|
| 305 |
|
|
|
| 306 |
|
|
/* Ensure the other task running this code gets a chance to execute. */
|
| 307 |
|
|
taskYIELD();
|
| 308 |
|
|
|
| 309 |
|
|
if( ( unsigned portBASE_TYPE ) pvParameters == intqHIGH_PRIORITY_TASK1 )
|
| 310 |
|
|
{
|
| 311 |
|
|
/* Have we received all the expected values? */
|
| 312 |
|
|
if( uxValueForNormallyEmptyQueue > ( intqNUM_VALUES_TO_LOG + intqVALUE_OVERRUN ) )
|
| 313 |
|
|
{
|
| 314 |
|
|
vTaskSuspend( xHighPriorityNormallyEmptyTask2 );
|
| 315 |
|
|
|
| 316 |
|
|
uxTask1 = 0;
|
| 317 |
|
|
uxTask2 = 0;
|
| 318 |
|
|
|
| 319 |
|
|
/* Loop through the array, checking that both tasks have
|
| 320 |
|
|
placed values into the array, and that no values are missing.
|
| 321 |
|
|
Start at 1 as we expect position 0 to be unused. */
|
| 322 |
|
|
for( ux = 1; ux < intqNUM_VALUES_TO_LOG; ux++ )
|
| 323 |
|
|
{
|
| 324 |
|
|
if( ucNormallyEmptyReceivedValues[ ux ] == 0 )
|
| 325 |
|
|
{
|
| 326 |
|
|
/* A value is missing. */
|
| 327 |
|
|
prvQueueAccessLogError( __LINE__ );
|
| 328 |
|
|
}
|
| 329 |
|
|
else
|
| 330 |
|
|
{
|
| 331 |
|
|
if( ucNormallyEmptyReceivedValues[ ux ] == intqHIGH_PRIORITY_TASK1 )
|
| 332 |
|
|
{
|
| 333 |
|
|
/* Value was placed into the array by task 1. */
|
| 334 |
|
|
uxTask1++;
|
| 335 |
|
|
}
|
| 336 |
|
|
else if( ucNormallyEmptyReceivedValues[ ux ] == intqHIGH_PRIORITY_TASK2 )
|
| 337 |
|
|
{
|
| 338 |
|
|
/* Value was placed into the array by task 2. */
|
| 339 |
|
|
uxTask2++;
|
| 340 |
|
|
}
|
| 341 |
|
|
}
|
| 342 |
|
|
}
|
| 343 |
|
|
|
| 344 |
|
|
if( uxTask1 < intqMIN_ACCEPTABLE_TASK_COUNT )
|
| 345 |
|
|
{
|
| 346 |
|
|
/* Only task 2 seemed to log any values. */
|
| 347 |
|
|
uxErrorCount1++;
|
| 348 |
|
|
if( uxErrorCount1 > 2 )
|
| 349 |
|
|
{
|
| 350 |
|
|
prvQueueAccessLogError( __LINE__ );
|
| 351 |
|
|
}
|
| 352 |
|
|
}
|
| 353 |
|
|
else
|
| 354 |
|
|
{
|
| 355 |
|
|
uxErrorCount1 = 0;
|
| 356 |
|
|
}
|
| 357 |
|
|
|
| 358 |
|
|
if( uxTask2 < intqMIN_ACCEPTABLE_TASK_COUNT )
|
| 359 |
|
|
{
|
| 360 |
|
|
/* Only task 1 seemed to log any values. */
|
| 361 |
|
|
uxErrorCount2++;
|
| 362 |
|
|
if( uxErrorCount2 > 2 )
|
| 363 |
|
|
{
|
| 364 |
|
|
prvQueueAccessLogError( __LINE__ );
|
| 365 |
|
|
}
|
| 366 |
|
|
}
|
| 367 |
|
|
else
|
| 368 |
|
|
{
|
| 369 |
|
|
uxErrorCount2 = 0;
|
| 370 |
|
|
}
|
| 371 |
|
|
|
| 372 |
|
|
/* Clear the array again, ready to start a new cycle. */
|
| 373 |
|
|
memset( ucNormallyEmptyReceivedValues, 0x00, sizeof( ucNormallyEmptyReceivedValues ) );
|
| 374 |
|
|
|
| 375 |
|
|
uxHighPriorityLoops1++;
|
| 376 |
|
|
uxValueForNormallyEmptyQueue = 0;
|
| 377 |
|
|
|
| 378 |
|
|
/* Suspend ourselves, allowing the lower priority task to
|
| 379 |
|
|
actually receive something from the queue. Until now it
|
| 380 |
|
|
will have been prevented from doing so by the higher
|
| 381 |
|
|
priority tasks. The lower priority task will resume us
|
| 382 |
|
|
if it receives something. We will then resume the other
|
| 383 |
|
|
higher priority task. */
|
| 384 |
|
|
vTaskSuspend( NULL );
|
| 385 |
|
|
vTaskResume( xHighPriorityNormallyEmptyTask2 );
|
| 386 |
|
|
}
|
| 387 |
|
|
}
|
| 388 |
|
|
}
|
| 389 |
|
|
}
|
| 390 |
|
|
/*-----------------------------------------------------------*/
|
| 391 |
|
|
|
| 392 |
|
|
static void prvLowerPriorityNormallyEmptyTask( void *pvParameters )
|
| 393 |
|
|
{
|
| 394 |
|
|
unsigned portBASE_TYPE uxValue, uxRxed;
|
| 395 |
|
|
|
| 396 |
|
|
/* The parameters are not being used so avoid compiler warnings. */
|
| 397 |
|
|
( void ) pvParameters;
|
| 398 |
|
|
|
| 399 |
|
|
for( ;; )
|
| 400 |
|
|
{
|
| 401 |
|
|
if( xQueueReceive( xNormallyEmptyQueue, &uxRxed, intqONE_TICK_DELAY ) != errQUEUE_EMPTY )
|
| 402 |
|
|
{
|
| 403 |
|
|
/* We should only obtain a value when the high priority task is
|
| 404 |
|
|
suspended. */
|
| 405 |
|
|
if( xTaskIsTaskSuspended( xHighPriorityNormallyEmptyTask1 ) == pdFALSE )
|
| 406 |
|
|
{
|
| 407 |
|
|
prvQueueAccessLogError( __LINE__ );
|
| 408 |
|
|
}
|
| 409 |
|
|
|
| 410 |
|
|
prvRecordValue_NormallyEmpty( uxRxed, intqLOW_PRIORITY_TASK );
|
| 411 |
|
|
|
| 412 |
|
|
/* Wake the higher priority task again. */
|
| 413 |
|
|
vTaskResume( xHighPriorityNormallyEmptyTask1 );
|
| 414 |
|
|
uxLowPriorityLoops1++;
|
| 415 |
|
|
}
|
| 416 |
|
|
else
|
| 417 |
|
|
{
|
| 418 |
|
|
/* Raise our priority while we send so we can preempt the higher
|
| 419 |
|
|
priority task, and ensure we get the Tx value into the queue. */
|
| 420 |
|
|
vTaskPrioritySet( NULL, intqHIGHER_PRIORITY + 1 );
|
| 421 |
|
|
|
| 422 |
|
|
portENTER_CRITICAL();
|
| 423 |
|
|
{
|
| 424 |
|
|
uxValueForNormallyEmptyQueue++;
|
| 425 |
|
|
uxValue = uxValueForNormallyEmptyQueue;
|
| 426 |
|
|
}
|
| 427 |
|
|
portEXIT_CRITICAL();
|
| 428 |
|
|
|
| 429 |
|
|
if( xQueueSend( xNormallyEmptyQueue, &uxValue, portMAX_DELAY ) != pdPASS )
|
| 430 |
|
|
{
|
| 431 |
|
|
prvQueueAccessLogError( __LINE__ );
|
| 432 |
|
|
}
|
| 433 |
|
|
|
| 434 |
|
|
vTaskPrioritySet( NULL, intqLOWER_PRIORITY );
|
| 435 |
|
|
}
|
| 436 |
|
|
}
|
| 437 |
|
|
}
|
| 438 |
|
|
/*-----------------------------------------------------------*/
|
| 439 |
|
|
|
| 440 |
|
|
static void prv1stHigherPriorityNormallyFullTask( void *pvParameters )
|
| 441 |
|
|
{
|
| 442 |
|
|
unsigned portBASE_TYPE uxValueToTx, ux;
|
| 443 |
|
|
|
| 444 |
|
|
/* The parameters are not being used so avoid compiler warnings. */
|
| 445 |
|
|
( void ) pvParameters;
|
| 446 |
|
|
|
| 447 |
|
|
/* Make sure the queue starts full or near full. >> 1 as there are two
|
| 448 |
|
|
high priority tasks. */
|
| 449 |
|
|
for( ux = 0; ux < ( intqQUEUE_LENGTH >> 1 ); ux++ )
|
| 450 |
|
|
{
|
| 451 |
|
|
portENTER_CRITICAL();
|
| 452 |
|
|
{
|
| 453 |
|
|
uxValueForNormallyFullQueue++;
|
| 454 |
|
|
uxValueToTx = uxValueForNormallyFullQueue;
|
| 455 |
|
|
}
|
| 456 |
|
|
portEXIT_CRITICAL();
|
| 457 |
|
|
|
| 458 |
|
|
xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY );
|
| 459 |
|
|
}
|
| 460 |
|
|
|
| 461 |
|
|
for( ;; )
|
| 462 |
|
|
{
|
| 463 |
|
|
portENTER_CRITICAL();
|
| 464 |
|
|
{
|
| 465 |
|
|
uxValueForNormallyFullQueue++;
|
| 466 |
|
|
uxValueToTx = uxValueForNormallyFullQueue;
|
| 467 |
|
|
}
|
| 468 |
|
|
portEXIT_CRITICAL();
|
| 469 |
|
|
|
| 470 |
|
|
if( xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY ) != pdPASS )
|
| 471 |
|
|
{
|
| 472 |
|
|
/* intqHIGH_PRIORITY_TASK2 is never suspended so we would not
|
| 473 |
|
|
expect it to ever time out. */
|
| 474 |
|
|
prvQueueAccessLogError( __LINE__ );
|
| 475 |
|
|
}
|
| 476 |
|
|
|
| 477 |
|
|
/* Allow the other task running this code to run. */
|
| 478 |
|
|
taskYIELD();
|
| 479 |
|
|
|
| 480 |
|
|
/* Have all the expected values been sent to the queue? */
|
| 481 |
|
|
if( uxValueToTx > ( intqNUM_VALUES_TO_LOG + intqVALUE_OVERRUN ) )
|
| 482 |
|
|
{
|
| 483 |
|
|
/* Make sure the other high priority task completes its send of
|
| 484 |
|
|
any values below intqNUM_VALUE_TO_LOG. */
|
| 485 |
|
|
vTaskDelay( intqSHORT_DELAY );
|
| 486 |
|
|
|
| 487 |
|
|
vTaskSuspend( xHighPriorityNormallyFullTask2 );
|
| 488 |
|
|
|
| 489 |
|
|
if( xWasSuspended == pdTRUE )
|
| 490 |
|
|
{
|
| 491 |
|
|
/* We would have expected the other high priority task to have
|
| 492 |
|
|
set this back to false by now. */
|
| 493 |
|
|
prvQueueAccessLogError( __LINE__ );
|
| 494 |
|
|
}
|
| 495 |
|
|
|
| 496 |
|
|
/* Set the suspended flag so an error is not logged if the other
|
| 497 |
|
|
task recognises a time out when it is unsuspended. */
|
| 498 |
|
|
xWasSuspended = pdTRUE;
|
| 499 |
|
|
|
| 500 |
|
|
/* Start at 1 as we expect position 0 to be unused. */
|
| 501 |
|
|
for( ux = 1; ux < intqNUM_VALUES_TO_LOG; ux++ )
|
| 502 |
|
|
{
|
| 503 |
|
|
if( ucNormallyFullReceivedValues[ ux ] == 0 )
|
| 504 |
|
|
{
|
| 505 |
|
|
/* A value was missing. */
|
| 506 |
|
|
prvQueueAccessLogError( __LINE__ );
|
| 507 |
|
|
}
|
| 508 |
|
|
}
|
| 509 |
|
|
|
| 510 |
|
|
/* Reset the array ready for the next cycle. */
|
| 511 |
|
|
memset( ucNormallyFullReceivedValues, 0x00, sizeof( ucNormallyFullReceivedValues ) );
|
| 512 |
|
|
|
| 513 |
|
|
uxHighPriorityLoops2++;
|
| 514 |
|
|
uxValueForNormallyFullQueue = 0;
|
| 515 |
|
|
|
| 516 |
|
|
/* Suspend ourselves, allowing the lower priority task to
|
| 517 |
|
|
actually receive something from the queue. Until now it
|
| 518 |
|
|
will have been prevented from doing so by the higher
|
| 519 |
|
|
priority tasks. The lower priority task will resume us
|
| 520 |
|
|
if it receives something. We will then resume the other
|
| 521 |
|
|
higher priority task. */
|
| 522 |
|
|
vTaskSuspend( NULL );
|
| 523 |
|
|
vTaskResume( xHighPriorityNormallyFullTask2 );
|
| 524 |
|
|
}
|
| 525 |
|
|
}
|
| 526 |
|
|
}
|
| 527 |
|
|
/*-----------------------------------------------------------*/
|
| 528 |
|
|
|
| 529 |
|
|
static void prv2ndHigherPriorityNormallyFullTask( void *pvParameters )
|
| 530 |
|
|
{
|
| 531 |
|
|
unsigned portBASE_TYPE uxValueToTx, ux;
|
| 532 |
|
|
|
| 533 |
|
|
/* The parameters are not being used so avoid compiler warnings. */
|
| 534 |
|
|
( void ) pvParameters;
|
| 535 |
|
|
|
| 536 |
|
|
/* Make sure the queue starts full or near full. >> 1 as there are two
|
| 537 |
|
|
high priority tasks. */
|
| 538 |
|
|
for( ux = 0; ux < ( intqQUEUE_LENGTH >> 1 ); ux++ )
|
| 539 |
|
|
{
|
| 540 |
|
|
portENTER_CRITICAL();
|
| 541 |
|
|
{
|
| 542 |
|
|
uxValueForNormallyFullQueue++;
|
| 543 |
|
|
uxValueToTx = uxValueForNormallyFullQueue;
|
| 544 |
|
|
}
|
| 545 |
|
|
portEXIT_CRITICAL();
|
| 546 |
|
|
|
| 547 |
|
|
xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY );
|
| 548 |
|
|
}
|
| 549 |
|
|
|
| 550 |
|
|
for( ;; )
|
| 551 |
|
|
{
|
| 552 |
|
|
portENTER_CRITICAL();
|
| 553 |
|
|
{
|
| 554 |
|
|
uxValueForNormallyFullQueue++;
|
| 555 |
|
|
uxValueToTx = uxValueForNormallyFullQueue;
|
| 556 |
|
|
}
|
| 557 |
|
|
portEXIT_CRITICAL();
|
| 558 |
|
|
|
| 559 |
|
|
if( xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY ) != pdPASS )
|
| 560 |
|
|
{
|
| 561 |
|
|
if( xWasSuspended != pdTRUE )
|
| 562 |
|
|
{
|
| 563 |
|
|
/* It is ok to time out if the task has been suspended. */
|
| 564 |
|
|
prvQueueAccessLogError( __LINE__ );
|
| 565 |
|
|
}
|
| 566 |
|
|
}
|
| 567 |
|
|
|
| 568 |
|
|
xWasSuspended = pdFALSE;
|
| 569 |
|
|
|
| 570 |
|
|
taskYIELD();
|
| 571 |
|
|
}
|
| 572 |
|
|
}
|
| 573 |
|
|
/*-----------------------------------------------------------*/
|
| 574 |
|
|
|
| 575 |
|
|
static void prvLowerPriorityNormallyFullTask( void *pvParameters )
|
| 576 |
|
|
{
|
| 577 |
|
|
unsigned portBASE_TYPE uxValue, uxTxed = 9999;
|
| 578 |
|
|
|
| 579 |
|
|
/* The parameters are not being used so avoid compiler warnings. */
|
| 580 |
|
|
( void ) pvParameters;
|
| 581 |
|
|
|
| 582 |
|
|
for( ;; )
|
| 583 |
|
|
{
|
| 584 |
|
|
if( xQueueSend( xNormallyFullQueue, &uxTxed, intqONE_TICK_DELAY ) != errQUEUE_FULL )
|
| 585 |
|
|
{
|
| 586 |
|
|
/* We would only expect to succeed when the higher priority task
|
| 587 |
|
|
is suspended. */
|
| 588 |
|
|
if( xTaskIsTaskSuspended( xHighPriorityNormallyFullTask1 ) == pdFALSE )
|
| 589 |
|
|
{
|
| 590 |
|
|
prvQueueAccessLogError( __LINE__ );
|
| 591 |
|
|
}
|
| 592 |
|
|
|
| 593 |
|
|
vTaskResume( xHighPriorityNormallyFullTask1 );
|
| 594 |
|
|
uxLowPriorityLoops2++;
|
| 595 |
|
|
}
|
| 596 |
|
|
else
|
| 597 |
|
|
{
|
| 598 |
|
|
/* Raise our priority while we receive so we can preempt the higher
|
| 599 |
|
|
priority task, and ensure we get the value from the queue. */
|
| 600 |
|
|
vTaskPrioritySet( NULL, intqHIGHER_PRIORITY + 1 );
|
| 601 |
|
|
|
| 602 |
|
|
if( xQueueReceive( xNormallyFullQueue, &uxValue, portMAX_DELAY ) != pdPASS )
|
| 603 |
|
|
{
|
| 604 |
|
|
prvQueueAccessLogError( __LINE__ );
|
| 605 |
|
|
}
|
| 606 |
|
|
else
|
| 607 |
|
|
{
|
| 608 |
|
|
prvRecordValue_NormallyFull( uxValue, intqLOW_PRIORITY_TASK );
|
| 609 |
|
|
}
|
| 610 |
|
|
|
| 611 |
|
|
vTaskPrioritySet( NULL, intqLOWER_PRIORITY );
|
| 612 |
|
|
}
|
| 613 |
|
|
}
|
| 614 |
|
|
}
|
| 615 |
|
|
/*-----------------------------------------------------------*/
|
| 616 |
|
|
|
| 617 |
|
|
portBASE_TYPE xFirstTimerHandler( void )
|
| 618 |
|
|
{
|
| 619 |
|
|
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE, uxRxedValue;
|
| 620 |
|
|
static unsigned portBASE_TYPE uxNextOperation = 0;
|
| 621 |
|
|
|
| 622 |
|
|
/* Called from a timer interrupt. Perform various read and write
|
| 623 |
|
|
accesses on the queues. */
|
| 624 |
|
|
|
| 625 |
|
|
uxNextOperation++;
|
| 626 |
|
|
|
| 627 |
|
|
if( uxNextOperation & ( unsigned portBASE_TYPE ) 0x01 )
|
| 628 |
|
|
{
|
| 629 |
|
|
timerNORMALLY_EMPTY_TX();
|
| 630 |
|
|
timerNORMALLY_EMPTY_TX();
|
| 631 |
|
|
timerNORMALLY_EMPTY_TX();
|
| 632 |
|
|
}
|
| 633 |
|
|
else
|
| 634 |
|
|
{
|
| 635 |
|
|
timerNORMALLY_FULL_RX();
|
| 636 |
|
|
timerNORMALLY_FULL_RX();
|
| 637 |
|
|
timerNORMALLY_FULL_RX();
|
| 638 |
|
|
}
|
| 639 |
|
|
|
| 640 |
|
|
return xHigherPriorityTaskWoken;
|
| 641 |
|
|
}
|
| 642 |
|
|
/*-----------------------------------------------------------*/
|
| 643 |
|
|
|
| 644 |
|
|
portBASE_TYPE xSecondTimerHandler( void )
|
| 645 |
|
|
{
|
| 646 |
|
|
unsigned portBASE_TYPE uxRxedValue;
|
| 647 |
|
|
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
|
| 648 |
|
|
static unsigned portBASE_TYPE uxNextOperation = 0;
|
| 649 |
|
|
|
| 650 |
|
|
/* Called from a timer interrupt. Perform various read and write
|
| 651 |
|
|
accesses on the queues. */
|
| 652 |
|
|
|
| 653 |
|
|
uxNextOperation++;
|
| 654 |
|
|
|
| 655 |
|
|
if( uxNextOperation & ( unsigned portBASE_TYPE ) 0x01 )
|
| 656 |
|
|
{
|
| 657 |
|
|
timerNORMALLY_EMPTY_TX();
|
| 658 |
|
|
timerNORMALLY_EMPTY_TX();
|
| 659 |
|
|
|
| 660 |
|
|
timerNORMALLY_EMPTY_RX();
|
| 661 |
|
|
timerNORMALLY_EMPTY_RX();
|
| 662 |
|
|
}
|
| 663 |
|
|
else
|
| 664 |
|
|
{
|
| 665 |
|
|
timerNORMALLY_FULL_RX();
|
| 666 |
|
|
timerNORMALLY_FULL_TX();
|
| 667 |
|
|
timerNORMALLY_FULL_TX();
|
| 668 |
|
|
timerNORMALLY_FULL_TX();
|
| 669 |
|
|
timerNORMALLY_FULL_TX();
|
| 670 |
|
|
}
|
| 671 |
|
|
|
| 672 |
|
|
return xHigherPriorityTaskWoken;
|
| 673 |
|
|
}
|
| 674 |
|
|
/*-----------------------------------------------------------*/
|
| 675 |
|
|
|
| 676 |
|
|
|
| 677 |
|
|
portBASE_TYPE xAreIntQueueTasksStillRunning( void )
|
| 678 |
|
|
{
|
| 679 |
|
|
static unsigned portBASE_TYPE uxLastHighPriorityLoops1 = 0, uxLastHighPriorityLoops2 = 0, uxLastLowPriorityLoops1 = 0, uxLastLowPriorityLoops2 = 0;
|
| 680 |
|
|
|
| 681 |
|
|
/* xErrorStatus can be set outside of this function. This function just
|
| 682 |
|
|
checks that all the tasks are still cycling. */
|
| 683 |
|
|
|
| 684 |
|
|
if( uxHighPriorityLoops1 == uxLastHighPriorityLoops1 )
|
| 685 |
|
|
{
|
| 686 |
|
|
/* The high priority 1 task has stalled. */
|
| 687 |
|
|
prvQueueAccessLogError( __LINE__ );
|
| 688 |
|
|
}
|
| 689 |
|
|
|
| 690 |
|
|
uxLastHighPriorityLoops1 = uxHighPriorityLoops1;
|
| 691 |
|
|
|
| 692 |
|
|
if( uxHighPriorityLoops2 == uxLastHighPriorityLoops2 )
|
| 693 |
|
|
{
|
| 694 |
|
|
/* The high priority 2 task has stalled. */
|
| 695 |
|
|
prvQueueAccessLogError( __LINE__ );
|
| 696 |
|
|
}
|
| 697 |
|
|
|
| 698 |
|
|
uxLastHighPriorityLoops2 = uxHighPriorityLoops2;
|
| 699 |
|
|
|
| 700 |
|
|
if( uxLowPriorityLoops1 == uxLastLowPriorityLoops1 )
|
| 701 |
|
|
{
|
| 702 |
|
|
/* The low priority 1 task has stalled. */
|
| 703 |
|
|
prvQueueAccessLogError( __LINE__ );
|
| 704 |
|
|
}
|
| 705 |
|
|
|
| 706 |
|
|
uxLastLowPriorityLoops1 = uxLowPriorityLoops1;
|
| 707 |
|
|
|
| 708 |
|
|
if( uxLowPriorityLoops2 == uxLastLowPriorityLoops2 )
|
| 709 |
|
|
{
|
| 710 |
|
|
/* The low priority 2 task has stalled. */
|
| 711 |
|
|
prvQueueAccessLogError( __LINE__ );
|
| 712 |
|
|
}
|
| 713 |
|
|
|
| 714 |
|
|
uxLastLowPriorityLoops2 = uxLowPriorityLoops2;
|
| 715 |
|
|
|
| 716 |
|
|
return xErrorStatus;
|
| 717 |
|
|
}
|
| 718 |
|
|
|
