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1079 lines
38 KiB
C
Executable file
1079 lines
38 KiB
C
Executable file
/*
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FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that has become a de facto standard. *
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* *
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* Help yourself get started quickly and support the FreeRTOS *
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* project by purchasing a FreeRTOS tutorial book, reference *
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* manual, or both from: http://www.FreeRTOS.org/Documentation *
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* *
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* Thank you! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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>>! NOTE: The modification to the GPL is included to allow you to !<<
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>>! distribute a combined work that includes FreeRTOS without being !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available from the following
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link: http://www.freertos.org/a00114.html
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1 tab == 4 spaces!
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***************************************************************************
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* *
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* Having a problem? Start by reading the FAQ "My application does *
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* not run, what could be wrong?" *
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* *
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* http://www.FreeRTOS.org/FAQHelp.html *
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* *
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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license and Real Time Engineers Ltd. contact details.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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/*
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* Tests the behaviour of timers. Some timers are created before the scheduler
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* is started, and some after.
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*/
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/* Standard includes. */
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#include <string.h>
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "timers.h"
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/* Demo program include files. */
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#include "TimerDemo.h"
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#if ( configTIMER_TASK_PRIORITY < 1 )
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#error configTIMER_TASK_PRIORITY must be set to at least 1 for this test/demo to function correctly.
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#endif
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#define tmrdemoDONT_BLOCK ( ( TickType_t ) 0 )
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#define tmrdemoONE_SHOT_TIMER_PERIOD ( xBasePeriod * ( TickType_t ) 3 )
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#define trmdemoNUM_TIMER_RESETS ( ( uint8_t ) 10 )
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/*-----------------------------------------------------------*/
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/* The callback functions used by the timers. These each increment a counter
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to indicate which timer has expired. The auto-reload timers that are used by
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the test task (as opposed to being used from an ISR) all share the same
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prvAutoReloadTimerCallback() callback function, and use the ID of the
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pxExpiredTimer parameter passed into that function to know which counter to
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increment. The other timers all have their own unique callback function and
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simply increment their counters without using the callback function parameter. */
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static void prvAutoReloadTimerCallback( TimerHandle_t pxExpiredTimer );
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static void prvOneShotTimerCallback( TimerHandle_t pxExpiredTimer );
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static void prvTimerTestTask( void *pvParameters );
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static void prvISRAutoReloadTimerCallback( TimerHandle_t pxExpiredTimer );
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static void prvISROneShotTimerCallback( TimerHandle_t pxExpiredTimer );
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/* The test functions used by the timer test task. These manipulate the auto
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reload and one shot timers in various ways, then delay, then inspect the timers
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to ensure they have behaved as expected. */
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static void prvTest1_CreateTimersWithoutSchedulerRunning( void );
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static void prvTest2_CheckTaskAndTimersInitialState( void );
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static void prvTest3_CheckAutoReloadExpireRates( void );
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static void prvTest4_CheckAutoReloadTimersCanBeStopped( void );
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static void prvTest5_CheckBasicOneShotTimerBehaviour( void );
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static void prvTest6_CheckAutoReloadResetBehaviour( void );
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static void prvResetStartConditionsForNextIteration( void );
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/*-----------------------------------------------------------*/
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/* Flag that will be latched to pdFAIL should any unexpected behaviour be
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detected in any of the demo tests. */
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static volatile BaseType_t xTestStatus = pdPASS;
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/* Counter that is incremented on each cycle of a test. This is used to
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detect a stalled task - a test that is no longer running. */
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static volatile uint32_t ulLoopCounter = 0;
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/* A set of auto reload timers - each of which use the same callback function.
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The callback function uses the timer ID to index into, and then increment, a
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counter in the ucAutoReloadTimerCounters[] array. The auto reload timers
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referenced from xAutoReloadTimers[] are used by the prvTimerTestTask task. */
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static TimerHandle_t xAutoReloadTimers[ configTIMER_QUEUE_LENGTH + 1 ] = { 0 };
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static uint8_t ucAutoReloadTimerCounters[ configTIMER_QUEUE_LENGTH + 1 ] = { 0 };
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/* The one shot timer is configured to use a callback function that increments
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ucOneShotTimerCounter each time it gets called. */
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static TimerHandle_t xOneShotTimer = NULL;
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static uint8_t ucOneShotTimerCounter = ( uint8_t ) 0;
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/* The ISR reload timer is controlled from the tick hook to exercise the timer
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API functions that can be used from an ISR. It is configured to increment
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ucISRReloadTimerCounter each time its callback function is executed. */
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static TimerHandle_t xISRAutoReloadTimer = NULL;
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static uint8_t ucISRAutoReloadTimerCounter = ( uint8_t ) 0;
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/* The ISR one shot timer is controlled from the tick hook to exercise the timer
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API functions that can be used from an ISR. It is configured to increment
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ucISRReloadTimerCounter each time its callback function is executed. */
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static TimerHandle_t xISROneShotTimer = NULL;
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static uint8_t ucISROneShotTimerCounter = ( uint8_t ) 0;
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/* The period of all the timers are a multiple of the base period. The base
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period is configured by the parameter to vStartTimerDemoTask(). */
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static TickType_t xBasePeriod = 0;
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/*-----------------------------------------------------------*/
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void vStartTimerDemoTask( TickType_t xBasePeriodIn )
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{
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/* Start with the timer and counter arrays clear - this is only necessary
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where the compiler does not clear them automatically on start up. */
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memset( ucAutoReloadTimerCounters, 0x00, sizeof( ucAutoReloadTimerCounters ) );
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memset( xAutoReloadTimers, 0x00, sizeof( xAutoReloadTimers ) );
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/* Store the period from which all the timer periods will be generated from
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(multiples of). */
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xBasePeriod = xBasePeriodIn;
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/* Create a set of timers for use by this demo/test. */
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prvTest1_CreateTimersWithoutSchedulerRunning();
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/* Create the task that will control and monitor the timers. This is
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created at a lower priority than the timer service task to ensure, as
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far as it is concerned, commands on timers are actioned immediately
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(sending a command to the timer service task will unblock the timer service
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task, which will then preempt this task). */
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if( xTestStatus != pdFAIL )
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{
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xTaskCreate( prvTimerTestTask, "Tmr Tst", configMINIMAL_STACK_SIZE, NULL, configTIMER_TASK_PRIORITY - 1, NULL );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvTimerTestTask( void *pvParameters )
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{
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( void ) pvParameters;
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/* Create a one-shot timer for use later on in this test. */
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xOneShotTimer = xTimerCreate( "Oneshot Timer", /* Text name to facilitate debugging. The kernel does not use this itself. */
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tmrdemoONE_SHOT_TIMER_PERIOD, /* The period for the timer. */
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pdFALSE, /* Don't auto-reload - hence a one shot timer. */
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( void * ) 0, /* The timer identifier. In this case this is not used as the timer has its own callback. */
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prvOneShotTimerCallback ); /* The callback to be called when the timer expires. */
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if( xOneShotTimer == NULL )
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{
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xTestStatus = pdFAIL;
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configASSERT( xTestStatus );
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}
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/* Ensure all the timers are in their expected initial state. This
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depends on the timer service task having a higher priority than this task. */
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prvTest2_CheckTaskAndTimersInitialState();
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for( ;; )
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{
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/* Check the auto reload timers expire at the expected/correct rates. */
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prvTest3_CheckAutoReloadExpireRates();
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/* Check the auto reload timers can be stopped correctly, and correctly
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report their state. */
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prvTest4_CheckAutoReloadTimersCanBeStopped();
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/* Check the one shot timer only calls its callback once after it has been
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started, and that it reports its state correctly. */
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prvTest5_CheckBasicOneShotTimerBehaviour();
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/* Check timer reset behaviour. */
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prvTest6_CheckAutoReloadResetBehaviour();
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/* Start the timers again to restart all the tests over again. */
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prvResetStartConditionsForNextIteration();
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}
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}
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/*-----------------------------------------------------------*/
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/* This is called to check that the created task is still running and has not
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detected any errors. */
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BaseType_t xAreTimerDemoTasksStillRunning( TickType_t xCycleFrequency )
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{
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static uint32_t ulLastLoopCounter = 0UL;
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TickType_t xMaxBlockTimeUsedByTheseTests, xLoopCounterIncrementTimeMax;
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static TickType_t xIterationsWithoutCounterIncrement = ( TickType_t ) 0, xLastCycleFrequency;
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if( xLastCycleFrequency != xCycleFrequency )
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{
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/* The cycle frequency has probably become much faster due to an error
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elsewhere. Start counting Iterations again. */
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xIterationsWithoutCounterIncrement = ( TickType_t ) 0;
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xLastCycleFrequency = xCycleFrequency;
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}
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/* Calculate the maximum number of times that it is permissible for this
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function to be called without ulLoopCounter being incremented. This is
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necessary because the tests in this file block for extended periods, and the
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block period might be longer than the time between calls to this function. */
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xMaxBlockTimeUsedByTheseTests = ( ( TickType_t ) configTIMER_QUEUE_LENGTH ) * xBasePeriod;
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xLoopCounterIncrementTimeMax = ( xMaxBlockTimeUsedByTheseTests / xCycleFrequency ) + 1;
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/* If the demo task is still running then the loop counter is expected to
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have incremented every xLoopCounterIncrementTimeMax calls. */
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if( ulLastLoopCounter == ulLoopCounter )
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{
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xIterationsWithoutCounterIncrement++;
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if( xIterationsWithoutCounterIncrement > xLoopCounterIncrementTimeMax )
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{
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/* The tests appear to be no longer running (stalled). */
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xTestStatus = pdFAIL;
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configASSERT( xTestStatus );
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}
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}
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else
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{
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/* ulLoopCounter changed, so the count of times this function was called
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without a change can be reset to zero. */
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xIterationsWithoutCounterIncrement = ( TickType_t ) 0;
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}
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ulLastLoopCounter = ulLoopCounter;
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/* Errors detected in the task itself will have latched xTestStatus
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to pdFAIL. */
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return xTestStatus;
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}
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/*-----------------------------------------------------------*/
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static void prvTest1_CreateTimersWithoutSchedulerRunning( void )
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{
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UBaseType_t xTimer;
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for( xTimer = 0; xTimer < configTIMER_QUEUE_LENGTH; xTimer++ )
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{
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/* As the timer queue is not yet full, it should be possible to both create
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and start a timer. These timers are being started before the scheduler has
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been started, so their block times should get set to zero within the timer
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API itself. */
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xAutoReloadTimers[ xTimer ] = xTimerCreate( "FR Timer", /* Text name to facilitate debugging. The kernel does not use this itself. */
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( ( xTimer + ( TickType_t ) 1 ) * xBasePeriod ),/* The period for the timer. The plus 1 ensures a period of zero is not specified. */
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pdTRUE, /* Auto-reload is set to true. */
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( void * ) xTimer, /* An identifier for the timer as all the auto reload timers use the same callback. */
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prvAutoReloadTimerCallback ); /* The callback to be called when the timer expires. */
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configASSERT( strcmp( pcTimerGetTimerName( xAutoReloadTimers[ xTimer ] ), "FR Timer" ) == 0 );
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if( xAutoReloadTimers[ xTimer ] == NULL )
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{
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xTestStatus = pdFAIL;
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configASSERT( xTestStatus );
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}
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else
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{
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/* The scheduler has not yet started, so the block period of
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portMAX_DELAY should just get set to zero in xTimerStart(). Also,
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the timer queue is not yet full so xTimerStart() should return
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pdPASS. */
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if( xTimerStart( xAutoReloadTimers[ xTimer ], portMAX_DELAY ) != pdPASS )
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{
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xTestStatus = pdFAIL;
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configASSERT( xTestStatus );
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}
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}
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}
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/* The timers queue should now be full, so it should be possible to create
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another timer, but not possible to start it (the timer queue will not get
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drained until the scheduler has been started. */
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xAutoReloadTimers[ configTIMER_QUEUE_LENGTH ] = xTimerCreate( "FR Timer", /* Text name to facilitate debugging. The kernel does not use this itself. */
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( configTIMER_QUEUE_LENGTH * xBasePeriod ), /* The period for the timer. */
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pdTRUE, /* Auto-reload is set to true. */
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( void * ) xTimer, /* An identifier for the timer as all the auto reload timers use the same callback. */
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prvAutoReloadTimerCallback ); /* The callback executed when the timer expires. */
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if( xAutoReloadTimers[ configTIMER_QUEUE_LENGTH ] == NULL )
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{
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xTestStatus = pdFAIL;
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configASSERT( xTestStatus );
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}
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else
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{
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if( xTimerStart( xAutoReloadTimers[ xTimer ], portMAX_DELAY ) == pdPASS )
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{
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/* This time it would not be expected that the timer could be
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started at this point. */
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xTestStatus = pdFAIL;
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configASSERT( xTestStatus );
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}
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}
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/* Create the timers that are used from the tick interrupt to test the timer
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API functions that can be called from an ISR. */
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xISRAutoReloadTimer = xTimerCreate( "ISR AR", /* The text name given to the timer. */
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0xffff, /* The timer is not given a period yet - this will be done from the tick hook, but a period of 0 is invalid. */
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pdTRUE, /* This is an auto reload timer. */
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( void * ) NULL, /* The identifier is not required. */
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prvISRAutoReloadTimerCallback ); /* The callback that is executed when the timer expires. */
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xISROneShotTimer = xTimerCreate( "ISR OS", /* The text name given to the timer. */
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0xffff, /* The timer is not given a period yet - this will be done from the tick hook, but a period of 0 is invalid. */
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pdFALSE, /* This is a one shot timer. */
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( void * ) NULL, /* The identifier is not required. */
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prvISROneShotTimerCallback ); /* The callback that is executed when the timer expires. */
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if( ( xISRAutoReloadTimer == NULL ) || ( xISROneShotTimer == NULL ) )
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{
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xTestStatus = pdFAIL;
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configASSERT( xTestStatus );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvTest2_CheckTaskAndTimersInitialState( void )
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{
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uint8_t ucTimer;
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/* Ensure all the timers are in their expected initial state. This depends
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on the timer service task having a higher priority than this task.
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auto reload timers 0 to ( configTIMER_QUEUE_LENGTH - 1 ) should now be active,
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and auto reload timer configTIMER_QUEUE_LENGTH should not yet be active (it
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could not be started prior to the scheduler being started when it was
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created). */
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for( ucTimer = 0; ucTimer < ( uint8_t ) configTIMER_QUEUE_LENGTH; ucTimer++ )
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{
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if( xTimerIsTimerActive( xAutoReloadTimers[ ucTimer ] ) == pdFALSE )
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{
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xTestStatus = pdFAIL;
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configASSERT( xTestStatus );
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}
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}
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if( xTimerIsTimerActive( xAutoReloadTimers[ configTIMER_QUEUE_LENGTH ] ) != pdFALSE )
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{
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xTestStatus = pdFAIL;
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configASSERT( xTestStatus );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvTest3_CheckAutoReloadExpireRates( void )
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{
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uint8_t ucMaxAllowableValue, ucMinAllowableValue, ucTimer;
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TickType_t xBlockPeriod, xTimerPeriod, xExpectedNumber;
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/* Check the auto reload timers expire at the expected rates. */
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/* Delaying for configTIMER_QUEUE_LENGTH * xBasePeriod ticks should allow
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all the auto reload timers to expire at least once. */
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xBlockPeriod = ( ( TickType_t ) configTIMER_QUEUE_LENGTH ) * xBasePeriod;
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vTaskDelay( xBlockPeriod );
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/* Check that all the auto reload timers have called their callback
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function the expected number of times. */
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for( ucTimer = 0; ucTimer < ( uint8_t ) configTIMER_QUEUE_LENGTH; ucTimer++ )
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{
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/* The expected number of expiries is equal to the block period divided
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by the timer period. */
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xTimerPeriod = ( ( ( TickType_t ) ucTimer + ( TickType_t ) 1 ) * xBasePeriod );
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xExpectedNumber = xBlockPeriod / xTimerPeriod;
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ucMaxAllowableValue = ( ( uint8_t ) xExpectedNumber ) ;
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ucMinAllowableValue = ( uint8_t ) ( ( uint8_t ) xExpectedNumber - ( uint8_t ) 1 ); /* Weird casting to try and please all compilers. */
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if( ( ucAutoReloadTimerCounters[ ucTimer ] < ucMinAllowableValue ) ||
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( ucAutoReloadTimerCounters[ ucTimer ] > ucMaxAllowableValue )
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)
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{
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xTestStatus = pdFAIL;
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configASSERT( xTestStatus );
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}
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}
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if( xTestStatus == pdPASS )
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{
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/* No errors have been reported so increment the loop counter so the
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check task knows this task is still running. */
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ulLoopCounter++;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvTest4_CheckAutoReloadTimersCanBeStopped( void )
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{
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uint8_t ucTimer;
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/* Check the auto reload timers can be stopped correctly, and correctly
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report their state. */
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/* Stop all the active timers. */
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for( ucTimer = 0; ucTimer < ( uint8_t ) configTIMER_QUEUE_LENGTH; ucTimer++ )
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{
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/* The timer has not been stopped yet! */
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if( xTimerIsTimerActive( xAutoReloadTimers[ ucTimer ] ) == pdFALSE )
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{
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xTestStatus = pdFAIL;
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configASSERT( xTestStatus );
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}
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/* Now stop the timer. This will appear to happen immediately to
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this task because this task is running at a priority below the
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timer service task. */
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xTimerStop( xAutoReloadTimers[ ucTimer ], tmrdemoDONT_BLOCK );
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/* The timer should now be inactive. */
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if( xTimerIsTimerActive( xAutoReloadTimers[ ucTimer ] ) != pdFALSE )
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{
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xTestStatus = pdFAIL;
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|
configASSERT( xTestStatus );
|
|
}
|
|
}
|
|
|
|
taskENTER_CRITICAL();
|
|
{
|
|
/* The timer in array position configTIMER_QUEUE_LENGTH should not
|
|
be active. The critical section is used to ensure the timer does
|
|
not call its callback between the next line running and the array
|
|
being cleared back to zero, as that would mask an error condition. */
|
|
if( ucAutoReloadTimerCounters[ configTIMER_QUEUE_LENGTH ] != ( uint8_t ) 0 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
/* Clear the timer callback count. */
|
|
memset( ( void * ) ucAutoReloadTimerCounters, 0, sizeof( ucAutoReloadTimerCounters ) );
|
|
}
|
|
taskEXIT_CRITICAL();
|
|
|
|
/* The timers are now all inactive, so this time, after delaying, none
|
|
of the callback counters should have incremented. */
|
|
vTaskDelay( ( ( TickType_t ) configTIMER_QUEUE_LENGTH ) * xBasePeriod );
|
|
for( ucTimer = 0; ucTimer < ( uint8_t ) configTIMER_QUEUE_LENGTH; ucTimer++ )
|
|
{
|
|
if( ucAutoReloadTimerCounters[ ucTimer ] != ( uint8_t ) 0 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
}
|
|
|
|
if( xTestStatus == pdPASS )
|
|
{
|
|
/* No errors have been reported so increment the loop counter so
|
|
the check task knows this task is still running. */
|
|
ulLoopCounter++;
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvTest5_CheckBasicOneShotTimerBehaviour( void )
|
|
{
|
|
/* Check the one shot timer only calls its callback once after it has been
|
|
started, and that it reports its state correctly. */
|
|
|
|
/* The one shot timer should not be active yet. */
|
|
if( xTimerIsTimerActive( xOneShotTimer ) != pdFALSE )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
if( ucOneShotTimerCounter != ( uint8_t ) 0 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
/* Start the one shot timer and check that it reports its state correctly. */
|
|
xTimerStart( xOneShotTimer, tmrdemoDONT_BLOCK );
|
|
if( xTimerIsTimerActive( xOneShotTimer ) == pdFALSE )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
/* Delay for three times as long as the one shot timer period, then check
|
|
to ensure it has only called its callback once, and is now not in the
|
|
active state. */
|
|
vTaskDelay( tmrdemoONE_SHOT_TIMER_PERIOD * ( TickType_t ) 3 );
|
|
|
|
if( xTimerIsTimerActive( xOneShotTimer ) != pdFALSE )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
if( ucOneShotTimerCounter != ( uint8_t ) 1 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
else
|
|
{
|
|
/* Reset the one shot timer callback count. */
|
|
ucOneShotTimerCounter = ( uint8_t ) 0;
|
|
}
|
|
|
|
if( xTestStatus == pdPASS )
|
|
{
|
|
/* No errors have been reported so increment the loop counter so the
|
|
check task knows this task is still running. */
|
|
ulLoopCounter++;
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvTest6_CheckAutoReloadResetBehaviour( void )
|
|
{
|
|
uint8_t ucTimer;
|
|
|
|
/* Check timer reset behaviour. */
|
|
|
|
/* Restart the one shot timer and check it reports its status correctly. */
|
|
xTimerStart( xOneShotTimer, tmrdemoDONT_BLOCK );
|
|
if( xTimerIsTimerActive( xOneShotTimer ) == pdFALSE )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
/* Restart one of the auto reload timers and check that it reports its
|
|
status correctly. */
|
|
xTimerStart( xAutoReloadTimers[ configTIMER_QUEUE_LENGTH - 1 ], tmrdemoDONT_BLOCK );
|
|
if( xTimerIsTimerActive( xAutoReloadTimers[ configTIMER_QUEUE_LENGTH - 1 ] ) == pdFALSE )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
for( ucTimer = 0; ucTimer < trmdemoNUM_TIMER_RESETS; ucTimer++ )
|
|
{
|
|
/* Delay for half as long as the one shot timer period, then reset it.
|
|
It should never expire while this is done, so its callback count should
|
|
never increment. */
|
|
vTaskDelay( tmrdemoONE_SHOT_TIMER_PERIOD / 2 );
|
|
|
|
/* Check both running timers are still active, but have not called their
|
|
callback functions. */
|
|
if( xTimerIsTimerActive( xOneShotTimer ) == pdFALSE )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
if( ucOneShotTimerCounter != ( uint8_t ) 0 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
if( xTimerIsTimerActive( xAutoReloadTimers[ configTIMER_QUEUE_LENGTH - 1 ] ) == pdFALSE )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
if( ucAutoReloadTimerCounters[ configTIMER_QUEUE_LENGTH - 1 ] != ( uint8_t ) 0 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
/* Reset both running timers. */
|
|
xTimerReset( xOneShotTimer, tmrdemoDONT_BLOCK );
|
|
xTimerReset( xAutoReloadTimers[ configTIMER_QUEUE_LENGTH - 1 ], tmrdemoDONT_BLOCK );
|
|
|
|
if( xTestStatus == pdPASS )
|
|
{
|
|
/* No errors have been reported so increment the loop counter so
|
|
the check task knows this task is still running. */
|
|
ulLoopCounter++;
|
|
}
|
|
}
|
|
|
|
/* Finally delay long enough for both running timers to expire. */
|
|
vTaskDelay( ( ( TickType_t ) configTIMER_QUEUE_LENGTH ) * xBasePeriod );
|
|
|
|
/* The timers were not reset during the above delay period so should now
|
|
both have called their callback functions. */
|
|
if( ucOneShotTimerCounter != ( uint8_t ) 1 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
if( ucAutoReloadTimerCounters[ configTIMER_QUEUE_LENGTH - 1 ] == 0 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
/* The one shot timer should no longer be active, while the auto reload
|
|
timer should still be active. */
|
|
if( xTimerIsTimerActive( xAutoReloadTimers[ configTIMER_QUEUE_LENGTH - 1 ] ) == pdFALSE )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
if( xTimerIsTimerActive( xOneShotTimer ) == pdTRUE )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
/* Stop the auto reload timer again. */
|
|
xTimerStop( xAutoReloadTimers[ configTIMER_QUEUE_LENGTH - 1 ], tmrdemoDONT_BLOCK );
|
|
|
|
if( xTimerIsTimerActive( xAutoReloadTimers[ configTIMER_QUEUE_LENGTH - 1 ] ) != pdFALSE )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
/* Clear the timer callback counts, ready for another iteration of these
|
|
tests. */
|
|
ucAutoReloadTimerCounters[ configTIMER_QUEUE_LENGTH - 1 ] = ( uint8_t ) 0;
|
|
ucOneShotTimerCounter = ( uint8_t ) 0;
|
|
|
|
if( xTestStatus == pdPASS )
|
|
{
|
|
/* No errors have been reported so increment the loop counter so the check
|
|
task knows this task is still running. */
|
|
ulLoopCounter++;
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvResetStartConditionsForNextIteration( void )
|
|
{
|
|
uint8_t ucTimer;
|
|
|
|
/* Start the timers again to start all the tests over again. */
|
|
|
|
/* Start the timers again. */
|
|
for( ucTimer = 0; ucTimer < ( uint8_t ) configTIMER_QUEUE_LENGTH; ucTimer++ )
|
|
{
|
|
/* The timer has not been started yet! */
|
|
if( xTimerIsTimerActive( xAutoReloadTimers[ ucTimer ] ) != pdFALSE )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
/* Now start the timer. This will appear to happen immediately to
|
|
this task because this task is running at a priority below the timer
|
|
service task. */
|
|
xTimerStart( xAutoReloadTimers[ ucTimer ], tmrdemoDONT_BLOCK );
|
|
|
|
/* The timer should now be active. */
|
|
if( xTimerIsTimerActive( xAutoReloadTimers[ ucTimer ] ) == pdFALSE )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
}
|
|
|
|
if( xTestStatus == pdPASS )
|
|
{
|
|
/* No errors have been reported so increment the loop counter so the
|
|
check task knows this task is still running. */
|
|
ulLoopCounter++;
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vTimerPeriodicISRTests( void )
|
|
{
|
|
static TickType_t uxTick = ( TickType_t ) -1;
|
|
|
|
#if( configTIMER_TASK_PRIORITY != ( configMAX_PRIORITIES - 1 ) )
|
|
/* The timer service task is not the highest priority task, so it cannot
|
|
be assumed that timings will be exact. Timers should never call their
|
|
callback before their expiry time, but a margin is permissible for calling
|
|
their callback after their expiry time. If exact timing is required then
|
|
configTIMER_TASK_PRIORITY must be set to ensure the timer service task
|
|
is the highest priority task in the system.
|
|
|
|
This function is called from the tick hook. The tick hook is called
|
|
even when the scheduler is suspended. Therefore it is possible that the
|
|
uxTick count maintained in this function is temporarily ahead of the tick
|
|
count maintained by the kernel. When this is the case a message posted from
|
|
this function will assume a time stamp in advance of the real time stamp,
|
|
which can result in a timer being processed before this function expects it
|
|
to. For example, if the kernel's tick count was 100, and uxTick was 102,
|
|
then this function will not expect the timer to have expired until the
|
|
kernel's tick count is (102 + xBasePeriod), whereas in reality the timer
|
|
will expire when the kernel's tick count is (100 + xBasePeriod). For this
|
|
reason xMargin is used as an allowable margin for premature timer expiries
|
|
as well as late timer expiries. */
|
|
const TickType_t xMargin = 6;
|
|
#else
|
|
#ifdef _WINDOWS_
|
|
/* Windows is not real real time. */
|
|
const TickType_t xMargin = 8;
|
|
#else
|
|
const TickType_t xMargin = 4;
|
|
#endif /* _WINDOWS_ */
|
|
#endif
|
|
|
|
|
|
uxTick++;
|
|
|
|
if( uxTick == 0 )
|
|
{
|
|
/* The timers will have been created, but not started. Start them now
|
|
by setting their period. */
|
|
ucISRAutoReloadTimerCounter = 0;
|
|
ucISROneShotTimerCounter = 0;
|
|
|
|
/* It is possible that the timer task has not yet made room in the
|
|
timer queue. If the timers cannot be started then reset uxTick so
|
|
another attempt is made later. */
|
|
uxTick = ( TickType_t ) -1;
|
|
|
|
/* Try starting first timer. */
|
|
if( xTimerChangePeriodFromISR( xISRAutoReloadTimer, xBasePeriod, NULL ) == pdPASS )
|
|
{
|
|
/* First timer was started, try starting the second timer. */
|
|
if( xTimerChangePeriodFromISR( xISROneShotTimer, xBasePeriod, NULL ) == pdPASS )
|
|
{
|
|
/* Both timers were started, so set the uxTick back to its
|
|
proper value. */
|
|
uxTick = 0;
|
|
}
|
|
else
|
|
{
|
|
/* Second timer could not be started, so stop the first one
|
|
again. */
|
|
xTimerStopFromISR( xISRAutoReloadTimer, NULL );
|
|
}
|
|
}
|
|
}
|
|
else if( uxTick == ( xBasePeriod - xMargin ) )
|
|
{
|
|
/* Neither timer should have expired yet. */
|
|
if( ( ucISRAutoReloadTimerCounter != 0 ) || ( ucISROneShotTimerCounter != 0 ) )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
}
|
|
else if( uxTick == ( xBasePeriod + xMargin ) )
|
|
{
|
|
/* Both timers should now have expired once. The auto reload timer will
|
|
still be active, but the one shot timer should now have stopped. */
|
|
if( ( ucISRAutoReloadTimerCounter != 1 ) || ( ucISROneShotTimerCounter != 1 ) )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
}
|
|
else if( uxTick == ( ( 2 * xBasePeriod ) - xMargin ) )
|
|
{
|
|
/* The auto reload timer will still be active, but the one shot timer
|
|
should now have stopped - however, at this time neither of the timers
|
|
should have expired again since the last test. */
|
|
if( ( ucISRAutoReloadTimerCounter != 1 ) || ( ucISROneShotTimerCounter != 1 ) )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
}
|
|
else if( uxTick == ( ( 2 * xBasePeriod ) + xMargin ) )
|
|
{
|
|
/* The auto reload timer will still be active, but the one shot timer
|
|
should now have stopped. At this time the auto reload timer should have
|
|
expired again, but the one shot timer count should not have changed. */
|
|
if( ucISRAutoReloadTimerCounter != 2 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
if( ucISROneShotTimerCounter != 1 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
}
|
|
else if( uxTick == ( ( 2 * xBasePeriod ) + ( xBasePeriod >> ( TickType_t ) 2U ) ) )
|
|
{
|
|
/* The auto reload timer will still be active, but the one shot timer
|
|
should now have stopped. Again though, at this time, neither timer call
|
|
back should have been called since the last test. */
|
|
if( ucISRAutoReloadTimerCounter != 2 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
if( ucISROneShotTimerCounter != 1 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
}
|
|
else if( uxTick == ( 3 * xBasePeriod ) )
|
|
{
|
|
/* Start the one shot timer again. */
|
|
xTimerStartFromISR( xISROneShotTimer, NULL );
|
|
}
|
|
else if( uxTick == ( ( 3 * xBasePeriod ) + xMargin ) )
|
|
{
|
|
/* The auto reload timer and one shot timer will be active. At
|
|
this time the auto reload timer should have expired again, but the one
|
|
shot timer count should not have changed yet. */
|
|
if( ucISRAutoReloadTimerCounter != 3 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
if( ucISROneShotTimerCounter != 1 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
/* Now stop the auto reload timer. The one shot timer was started
|
|
a few ticks ago. */
|
|
xTimerStopFromISR( xISRAutoReloadTimer, NULL );
|
|
}
|
|
else if( uxTick == ( 4 * ( xBasePeriod - xMargin ) ) )
|
|
{
|
|
/* The auto reload timer is now stopped, and the one shot timer is
|
|
active, but at this time neither timer should have expired since the
|
|
last test. */
|
|
if( ucISRAutoReloadTimerCounter != 3 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
if( ucISROneShotTimerCounter != 1 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
}
|
|
else if( uxTick == ( ( 4 * xBasePeriod ) + xMargin ) )
|
|
{
|
|
/* The auto reload timer is now stopped, and the one shot timer is
|
|
active. The one shot timer should have expired again, but the auto
|
|
reload timer should not have executed its callback. */
|
|
if( ucISRAutoReloadTimerCounter != 3 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
if( ucISROneShotTimerCounter != 2 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
}
|
|
else if( uxTick == ( 8 * xBasePeriod ) )
|
|
{
|
|
/* The auto reload timer is now stopped, and the one shot timer has
|
|
already expired and then stopped itself. Both callback counters should
|
|
not have incremented since the last test. */
|
|
if( ucISRAutoReloadTimerCounter != 3 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
if( ucISROneShotTimerCounter != 2 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
/* Now reset the one shot timer. */
|
|
xTimerResetFromISR( xISROneShotTimer, NULL );
|
|
}
|
|
else if( uxTick == ( ( 9 * xBasePeriod ) - xMargin ) )
|
|
{
|
|
/* Only the one shot timer should be running, but it should not have
|
|
expired since the last test. Check the callback counters have not
|
|
incremented, then reset the one shot timer again. */
|
|
if( ucISRAutoReloadTimerCounter != 3 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
if( ucISROneShotTimerCounter != 2 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
xTimerResetFromISR( xISROneShotTimer, NULL );
|
|
}
|
|
else if( uxTick == ( ( 10 * xBasePeriod ) - ( 2 * xMargin ) ) )
|
|
{
|
|
/* Only the one shot timer should be running, but it should not have
|
|
expired since the last test. Check the callback counters have not
|
|
incremented, then reset the one shot timer again. */
|
|
if( ucISRAutoReloadTimerCounter != 3 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
if( ucISROneShotTimerCounter != 2 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
xTimerResetFromISR( xISROneShotTimer, NULL );
|
|
}
|
|
else if( uxTick == ( ( 11 * xBasePeriod ) - ( 3 * xMargin ) ) )
|
|
{
|
|
/* Only the one shot timer should be running, but it should not have
|
|
expired since the last test. Check the callback counters have not
|
|
incremented, then reset the one shot timer once again. */
|
|
if( ucISRAutoReloadTimerCounter != 3 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
if( ucISROneShotTimerCounter != 2 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
xTimerResetFromISR( xISROneShotTimer, NULL );
|
|
}
|
|
else if( uxTick == ( ( 12 * xBasePeriod ) - ( 2 * xMargin ) ) )
|
|
{
|
|
/* Only the one shot timer should have been running and this time it
|
|
should have expired. Check its callback count has been incremented.
|
|
The auto reload timer is still not running so should still have the same
|
|
count value. This time the one shot timer is not reset so should not
|
|
restart from its expiry period again. */
|
|
if( ucISRAutoReloadTimerCounter != 3 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
if( ucISROneShotTimerCounter != 3 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
}
|
|
else if( uxTick == ( 15 * xBasePeriod ) )
|
|
{
|
|
/* Neither timer should be running now. Check neither callback count
|
|
has incremented, then go back to the start to run these tests all
|
|
over again. */
|
|
if( ucISRAutoReloadTimerCounter != 3 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
if( ucISROneShotTimerCounter != 3 )
|
|
{
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
|
|
uxTick = ( TickType_t ) -1;
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*** Timer callback functions are defined below here. ***/
|
|
|
|
static void prvAutoReloadTimerCallback( TimerHandle_t pxExpiredTimer )
|
|
{
|
|
uint32_t ulTimerID;
|
|
|
|
ulTimerID = ( uint32_t ) pvTimerGetTimerID( pxExpiredTimer );
|
|
if( ulTimerID <= ( configTIMER_QUEUE_LENGTH + 1 ) )
|
|
{
|
|
( ucAutoReloadTimerCounters[ ulTimerID ] )++;
|
|
}
|
|
else
|
|
{
|
|
/* The timer ID appears to be unexpected (invalid). */
|
|
xTestStatus = pdFAIL;
|
|
configASSERT( xTestStatus );
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvOneShotTimerCallback( TimerHandle_t pxExpiredTimer )
|
|
{
|
|
/* The parameter is not used in this case as only one timer uses this
|
|
callback function. */
|
|
( void ) pxExpiredTimer;
|
|
|
|
ucOneShotTimerCounter++;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvISRAutoReloadTimerCallback( TimerHandle_t pxExpiredTimer )
|
|
{
|
|
/* The parameter is not used in this case as only one timer uses this
|
|
callback function. */
|
|
( void ) pxExpiredTimer;
|
|
|
|
ucISRAutoReloadTimerCounter++;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvISROneShotTimerCallback( TimerHandle_t pxExpiredTimer )
|
|
{
|
|
/* The parameter is not used in this case as only one timer uses this
|
|
callback function. */
|
|
( void ) pxExpiredTimer;
|
|
|
|
ucISROneShotTimerCounter++;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
|
|
|
|
|