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549 lines
18 KiB
C
Executable file
549 lines
18 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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* This is a version of BlockTim.c that uses the light weight API.
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*
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* This file contains some test scenarios that ensure tasks do not exit queue
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* send or receive functions prematurely. A description of the tests is
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* included within the code.
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*/
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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/* Demo includes. */
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#include "AltBlock.h"
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/* Task priorities. */
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#define bktPRIMARY_PRIORITY ( 3 )
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#define bktSECONDARY_PRIORITY ( 2 )
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/* Task behaviour. */
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#define bktQUEUE_LENGTH ( 5 )
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#define bktSHORT_WAIT ( ( ( TickType_t ) 20 ) / portTICK_PERIOD_MS )
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#define bktPRIMARY_BLOCK_TIME ( 10 )
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#define bktALLOWABLE_MARGIN ( 12 )
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#define bktTIME_TO_BLOCK ( 175 )
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#define bktDONT_BLOCK ( ( TickType_t ) 0 )
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#define bktRUN_INDICATOR ( ( UBaseType_t ) 0x55 )
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/* The queue on which the tasks block. */
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static QueueHandle_t xTestQueue;
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/* Handle to the secondary task is required by the primary task for calls
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to vTaskSuspend/Resume(). */
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static TaskHandle_t xSecondary;
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/* Used to ensure that tasks are still executing without error. */
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static BaseType_t xPrimaryCycles = 0, xSecondaryCycles = 0;
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static BaseType_t xErrorOccurred = pdFALSE;
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/* Provides a simple mechanism for the primary task to know when the
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secondary task has executed. */
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static volatile UBaseType_t xRunIndicator;
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/* The two test tasks. Their behaviour is commented within the files. */
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static void vPrimaryBlockTimeTestTask( void *pvParameters );
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static void vSecondaryBlockTimeTestTask( void *pvParameters );
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/*-----------------------------------------------------------*/
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void vCreateAltBlockTimeTasks( void )
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{
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/* Create the queue on which the two tasks block. */
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xTestQueue = xQueueCreate( bktQUEUE_LENGTH, sizeof( BaseType_t ) );
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/* vQueueAddToRegistry() adds the queue to the queue registry, if one is
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in use. The queue registry is provided as a means for kernel aware
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debuggers to locate queues and has no purpose if a kernel aware debugger
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is not being used. The call to vQueueAddToRegistry() will be removed
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by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
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defined to be less than 1. */
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vQueueAddToRegistry( xTestQueue, "AltBlockQueue" );
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/* Create the two test tasks. */
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xTaskCreate( vPrimaryBlockTimeTestTask, "FBTest1", configMINIMAL_STACK_SIZE, NULL, bktPRIMARY_PRIORITY, NULL );
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xTaskCreate( vSecondaryBlockTimeTestTask, "FBTest2", configMINIMAL_STACK_SIZE, NULL, bktSECONDARY_PRIORITY, &xSecondary );
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}
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/*-----------------------------------------------------------*/
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static void vPrimaryBlockTimeTestTask( void *pvParameters )
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{
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BaseType_t xItem, xData;
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TickType_t xTimeWhenBlocking;
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TickType_t xTimeToBlock, xBlockedTime;
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#ifdef USE_STDIO
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void vPrintDisplayMessage( const char * const * ppcMessageToSend );
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const char * const pcTaskStartMsg = "Alt primary block time test started.\r\n";
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage( &pcTaskStartMsg );
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#endif
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( void ) pvParameters;
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for( ;; )
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{
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/*********************************************************************
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Test 1
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Simple block time wakeup test on queue receives. */
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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/* The queue is empty. Attempt to read from the queue using a block
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time. When we wake, ensure the delta in time is as expected. */
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xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;
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/* A critical section is used to minimise the jitter in the time
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measurements. */
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portENTER_CRITICAL();
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{
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xTimeWhenBlocking = xTaskGetTickCount();
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/* We should unblock after xTimeToBlock having not received
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anything on the queue. */
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if( xQueueAltReceive( xTestQueue, &xData, xTimeToBlock ) != errQUEUE_EMPTY )
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{
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xErrorOccurred = pdTRUE;
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}
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/* How long were we blocked for? */
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xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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}
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portEXIT_CRITICAL();
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if( xBlockedTime < xTimeToBlock )
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{
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/* Should not have blocked for less than we requested. */
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xErrorOccurred = pdTRUE;
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}
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if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
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{
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/* Should not have blocked for longer than we requested,
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although we would not necessarily run as soon as we were
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unblocked so a margin is allowed. */
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xErrorOccurred = pdTRUE;
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}
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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/*********************************************************************
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Test 2
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Simple block time wakeup test on queue sends.
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First fill the queue. It should be empty so all sends should pass. */
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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if( xQueueAltSendToBack( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
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{
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xErrorOccurred = pdTRUE;
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}
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}
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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/* The queue is full. Attempt to write to the queue using a block
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time. When we wake, ensure the delta in time is as expected. */
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xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;
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portENTER_CRITICAL();
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{
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xTimeWhenBlocking = xTaskGetTickCount();
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/* We should unblock after xTimeToBlock having not received
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anything on the queue. */
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if( xQueueAltSendToBack( xTestQueue, &xItem, xTimeToBlock ) != errQUEUE_FULL )
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{
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xErrorOccurred = pdTRUE;
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}
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/* How long were we blocked for? */
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xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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}
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portEXIT_CRITICAL();
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if( xBlockedTime < xTimeToBlock )
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{
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/* Should not have blocked for less than we requested. */
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xErrorOccurred = pdTRUE;
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}
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if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
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{
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/* Should not have blocked for longer than we requested,
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although we would not necessarily run as soon as we were
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unblocked so a margin is allowed. */
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xErrorOccurred = pdTRUE;
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}
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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/*********************************************************************
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Test 3
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Wake the other task, it will block attempting to post to the queue.
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When we read from the queue the other task will wake, but before it
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can run we will post to the queue again. When the other task runs it
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will find the queue still full, even though it was woken. It should
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recognise that its block time has not expired and return to block for
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the remains of its block time.
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Wake the other task so it blocks attempting to post to the already
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full queue. */
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xRunIndicator = 0;
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vTaskResume( xSecondary );
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/* We need to wait a little to ensure the other task executes. */
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while( xRunIndicator != bktRUN_INDICATOR )
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{
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/* The other task has not yet executed. */
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vTaskDelay( bktSHORT_WAIT );
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}
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/* Make sure the other task is blocked on the queue. */
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vTaskDelay( bktSHORT_WAIT );
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xRunIndicator = 0;
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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/* Now when we make space on the queue the other task should wake
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but not execute as this task has higher priority. */
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if( xQueueAltReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
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{
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xErrorOccurred = pdTRUE;
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}
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/* Now fill the queue again before the other task gets a chance to
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execute. If the other task had executed we would find the queue
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full ourselves, and the other task have set xRunIndicator. */
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if( xQueueAltSendToBack( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
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{
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xErrorOccurred = pdTRUE;
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}
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if( xRunIndicator == bktRUN_INDICATOR )
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{
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/* The other task should not have executed. */
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xErrorOccurred = pdTRUE;
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}
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/* Raise the priority of the other task so it executes and blocks
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on the queue again. */
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vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
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/* The other task should now have re-blocked without exiting the
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queue function. */
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if( xRunIndicator == bktRUN_INDICATOR )
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{
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/* The other task should not have executed outside of the
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queue function. */
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xErrorOccurred = pdTRUE;
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}
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/* Set the priority back down. */
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vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
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}
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/* Let the other task timeout. When it unblockes it will check that it
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unblocked at the correct time, then suspend itself. */
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while( xRunIndicator != bktRUN_INDICATOR )
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{
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vTaskDelay( bktSHORT_WAIT );
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}
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vTaskDelay( bktSHORT_WAIT );
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xRunIndicator = 0;
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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/*********************************************************************
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Test 4
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As per test 3 - but with the send and receive the other way around.
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The other task blocks attempting to read from the queue.
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Empty the queue. We should find that it is full. */
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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if( xQueueAltReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
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{
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xErrorOccurred = pdTRUE;
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}
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}
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/* Wake the other task so it blocks attempting to read from the
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already empty queue. */
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vTaskResume( xSecondary );
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/* We need to wait a little to ensure the other task executes. */
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while( xRunIndicator != bktRUN_INDICATOR )
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{
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vTaskDelay( bktSHORT_WAIT );
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}
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vTaskDelay( bktSHORT_WAIT );
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xRunIndicator = 0;
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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/* Now when we place an item on the queue the other task should
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wake but not execute as this task has higher priority. */
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if( xQueueAltSendToBack( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
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{
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xErrorOccurred = pdTRUE;
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}
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/* Now empty the queue again before the other task gets a chance to
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execute. If the other task had executed we would find the queue
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empty ourselves, and the other task would be suspended. */
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if( xQueueAltReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
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{
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xErrorOccurred = pdTRUE;
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}
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if( xRunIndicator == bktRUN_INDICATOR )
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{
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/* The other task should not have executed. */
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xErrorOccurred = pdTRUE;
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}
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/* Raise the priority of the other task so it executes and blocks
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on the queue again. */
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vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
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/* The other task should now have re-blocked without exiting the
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queue function. */
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if( xRunIndicator == bktRUN_INDICATOR )
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{
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/* The other task should not have executed outside of the
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queue function. */
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xErrorOccurred = pdTRUE;
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}
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vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
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}
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/* Let the other task timeout. When it unblockes it will check that it
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unblocked at the correct time, then suspend itself. */
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while( xRunIndicator != bktRUN_INDICATOR )
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{
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vTaskDelay( bktSHORT_WAIT );
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}
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vTaskDelay( bktSHORT_WAIT );
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xPrimaryCycles++;
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}
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}
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/*-----------------------------------------------------------*/
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static void vSecondaryBlockTimeTestTask( void *pvParameters )
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{
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TickType_t xTimeWhenBlocking, xBlockedTime;
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BaseType_t xData;
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#ifdef USE_STDIO
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void vPrintDisplayMessage( const char * const * ppcMessageToSend );
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const char * const pcTaskStartMsg = "Alt secondary block time test started.\r\n";
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage( &pcTaskStartMsg );
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#endif
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( void ) pvParameters;
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for( ;; )
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{
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/*********************************************************************
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Test 1 and 2
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This task does does not participate in these tests. */
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vTaskSuspend( NULL );
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/*********************************************************************
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Test 3
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The first thing we do is attempt to read from the queue. It should be
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full so we block. Note the time before we block so we can check the
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wake time is as per that expected. */
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portENTER_CRITICAL();
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{
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xTimeWhenBlocking = xTaskGetTickCount();
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/* We should unblock after bktTIME_TO_BLOCK having not received
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anything on the queue. */
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xData = 0;
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xRunIndicator = bktRUN_INDICATOR;
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if( xQueueAltSendToBack( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_FULL )
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{
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xErrorOccurred = pdTRUE;
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}
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/* How long were we inside the send function? */
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xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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}
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portEXIT_CRITICAL();
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/* We should not have blocked for less time than bktTIME_TO_BLOCK. */
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if( xBlockedTime < bktTIME_TO_BLOCK )
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{
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xErrorOccurred = pdTRUE;
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}
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/* We should of not blocked for much longer than bktALLOWABLE_MARGIN
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either. A margin is permitted as we would not necessarily run as
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soon as we unblocked. */
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if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
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{
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xErrorOccurred = pdTRUE;
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}
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/* Suspend ready for test 3. */
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xRunIndicator = bktRUN_INDICATOR;
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vTaskSuspend( NULL );
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/*********************************************************************
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Test 4
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As per test three, but with the send and receive reversed. */
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portENTER_CRITICAL();
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{
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xTimeWhenBlocking = xTaskGetTickCount();
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/* We should unblock after bktTIME_TO_BLOCK having not received
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anything on the queue. */
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xRunIndicator = bktRUN_INDICATOR;
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if( xQueueAltReceive( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_EMPTY )
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{
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xErrorOccurred = pdTRUE;
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}
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xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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}
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portEXIT_CRITICAL();
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/* We should not have blocked for less time than bktTIME_TO_BLOCK. */
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if( xBlockedTime < bktTIME_TO_BLOCK )
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{
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xErrorOccurred = pdTRUE;
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}
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/* We should of not blocked for much longer than bktALLOWABLE_MARGIN
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either. A margin is permitted as we would not necessarily run as soon
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as we unblocked. */
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if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
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{
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xErrorOccurred = pdTRUE;
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}
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xRunIndicator = bktRUN_INDICATOR;
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xSecondaryCycles++;
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}
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}
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/*-----------------------------------------------------------*/
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BaseType_t xAreAltBlockTimeTestTasksStillRunning( void )
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{
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static BaseType_t xLastPrimaryCycleCount = 0, xLastSecondaryCycleCount = 0;
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|
BaseType_t xReturn = pdPASS;
|
|
|
|
/* Have both tasks performed at least one cycle since this function was
|
|
last called? */
|
|
if( xPrimaryCycles == xLastPrimaryCycleCount )
|
|
{
|
|
xReturn = pdFAIL;
|
|
}
|
|
|
|
if( xSecondaryCycles == xLastSecondaryCycleCount )
|
|
{
|
|
xReturn = pdFAIL;
|
|
}
|
|
|
|
if( xErrorOccurred == pdTRUE )
|
|
{
|
|
xReturn = pdFAIL;
|
|
}
|
|
|
|
xLastSecondaryCycleCount = xSecondaryCycles;
|
|
xLastPrimaryCycleCount = xPrimaryCycles;
|
|
|
|
return xReturn;
|
|
}
|