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Common/Minimal/AbortDelay.c Normal file
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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* This file contains some test scenarios that ensure tasks respond correctly
* to xTaskAbortDelay() calls. It also ensures tasks return the correct state
* of eBlocked when blocked indefinitely in both the case where a task is
* blocked on an object and when a task is blocked on a notification.
*/
/* Standard includes. */
#include "limits.h"
/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"
#include "event_groups.h"
#include "stream_buffer.h"
/* Demo includes. */
#include "AbortDelay.h"
/* This file can only be used if the functionality it tests is included in the
* build. Remove the whole file if this is not the case. */
#if ( INCLUDE_xTaskAbortDelay == 1 )
#if ( INCLUDE_xTaskGetHandle != 1 )
#error This test file uses the xTaskGetHandle() API function so INCLUDE_xTaskGetHandle must be set to 1 in FreeRTOSConfig.h.
#endif
/* Task priorities. Allow these to be overridden. */
#ifndef abtCONTROLLING_PRIORITY
#define abtCONTROLLING_PRIORITY ( configMAX_PRIORITIES - 3 )
#endif
#ifndef abtBLOCKING_PRIORITY
#define abtBLOCKING_PRIORITY ( configMAX_PRIORITIES - 2 )
#endif
/* The tests that are performed. */
#define abtNOTIFY_WAIT_ABORTS 0
#define abtNOTIFY_TAKE_ABORTS 1
#define abtDELAY_ABORTS 2
#define abtDELAY_UNTIL_ABORTS 3
#define abtSEMAPHORE_TAKE_ABORTS 4
#define abtEVENT_GROUP_ABORTS 5
#define abtQUEUE_SEND_ABORTS 6
#define abtSTREAM_BUFFER_RECEIVE 7
#define abtMAX_TESTS 8
/*-----------------------------------------------------------*/
/*
* The two test tasks. The controlling task specifies which test to executed.
* More information is provided in the comments within the tasks.
*/
static void prvControllingTask( void * pvParameters );
static void prvBlockingTask( void * pvParameters );
/*
* Test functions called by the blocking task. Each function follows the same
* pattern, but the way the task blocks is different in each case.
*
* In each function three blocking calls are made. The first and third
* blocking call is expected to time out, while the middle blocking call is
* expected to be aborted by the controlling task half way through the block
* time.
*/
static void prvTestAbortingTaskNotifyWait( void );
static void prvTestAbortingTaskNotifyTake( void );
static void prvTestAbortingTaskDelay( void );
static void prvTestAbortingTaskDelayUntil( void );
static void prvTestAbortingSemaphoreTake( void );
static void prvTestAbortingEventGroupWait( void );
static void prvTestAbortingQueueSend( void );
static void prvTestAbortingStreamBufferReceive( void );
/*
* Performs a few tests to cover code paths not otherwise covered by the continuous
* tests.
*/
static void prvPerformSingleTaskTests( void );
/*
* Checks the amount of time a task spent in the Blocked state is within the
* expected bounds.
*/
static void prvCheckExpectedTimeIsWithinAnAcceptableMargin( TickType_t xStartTime,
TickType_t xExpectedBlockTime );
/*-----------------------------------------------------------*/
/* Used to ensure that tasks are still executing without error. */
static volatile BaseType_t xControllingCycles = 0, xBlockingCycles = 0;
static volatile BaseType_t xErrorOccurred = pdFALSE;
/* Each task needs to know the other tasks handle so they can send signals to
* each other. The handle is obtained from the task's name. */
static const char * pcControllingTaskName = "AbtCtrl", * pcBlockingTaskName = "AbtBlk";
/* The maximum amount of time a task will block for. */
const TickType_t xMaxBlockTime = pdMS_TO_TICKS( 100 );
const TickType_t xHalfMaxBlockTime = pdMS_TO_TICKS( 50 );
/* The actual block time is dependent on the priority of other tasks in the
* system so the actual block time might be greater than that expected, but it
* should be within an acceptable upper bound. */
const TickType_t xAllowableMargin = pdMS_TO_TICKS( 7 );
/*-----------------------------------------------------------*/
void vCreateAbortDelayTasks( void )
{
/* Create the two test tasks described above. */
xTaskCreate( prvControllingTask, pcControllingTaskName, configMINIMAL_STACK_SIZE, NULL, abtCONTROLLING_PRIORITY, NULL );
xTaskCreate( prvBlockingTask, pcBlockingTaskName, configMINIMAL_STACK_SIZE, NULL, abtBLOCKING_PRIORITY, NULL );
}
/*-----------------------------------------------------------*/
static void prvControllingTask( void * pvParameters )
{
TaskHandle_t xBlockingTask;
uint32_t ulTestToPerform = abtNOTIFY_WAIT_ABORTS;
TickType_t xTimeAtStart;
const TickType_t xStartMargin = 2UL;
/* Just to remove compiler warnings. */
( void ) pvParameters;
xBlockingTask = xTaskGetHandle( pcBlockingTaskName );
configASSERT( xBlockingTask );
for( ; ; )
{
/* Tell the secondary task to perform the next test. */
xTimeAtStart = xTaskGetTickCount();
xTaskNotify( xBlockingTask, ulTestToPerform, eSetValueWithOverwrite );
/* The secondary task has a higher priority, so will now be in the
* Blocked state to wait for a maximum of xMaxBlockTime. It expects that
* period to complete with a timeout. It will then block for
* xMaxBlockTimeAgain, but this time it expects to the block time to abort
* half way through. Block until it is time to send the abort to the
* secondary task. xStartMargin is used because this task takes timing
* from the beginning of the test, whereas the blocking task takes timing
* from the entry into the Blocked state - and as the tasks run at
* different priorities, there may be some discrepancy. Also, temporarily
* raise the priority of the controlling task to that of the blocking
* task to minimise discrepancies. */
vTaskPrioritySet( NULL, abtBLOCKING_PRIORITY );
vTaskDelay( xMaxBlockTime + xHalfMaxBlockTime + xStartMargin );
if( xTaskAbortDelay( xBlockingTask ) != pdPASS )
{
xErrorOccurred = __LINE__;
}
/* Reset the priority to the normal controlling priority. */
vTaskPrioritySet( NULL, abtCONTROLLING_PRIORITY );
/* Now wait to be notified that the secondary task has completed its
* test. */
ulTaskNotifyTake( pdTRUE, portMAX_DELAY );
/* Did the entire test run for the expected time, which is two full
* block times plus the half block time caused by calling
* xTaskAbortDelay()? */
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, ( xMaxBlockTime + xMaxBlockTime + xHalfMaxBlockTime ) );
/* Move onto the next test. */
ulTestToPerform++;
if( ulTestToPerform >= abtMAX_TESTS )
{
ulTestToPerform = 0;
}
/* To indicate this task is still executing. */
xControllingCycles++;
}
}
/*-----------------------------------------------------------*/
static void prvBlockingTask( void * pvParameters )
{
TaskHandle_t xControllingTask;
uint32_t ulNotificationValue;
const uint32_t ulMax = 0xffffffffUL;
/* Just to remove compiler warnings. */
( void ) pvParameters;
/* Start by performing a few tests to cover code not exercised in the loops
* below. */
prvPerformSingleTaskTests();
xControllingTask = xTaskGetHandle( pcControllingTaskName );
configASSERT( xControllingTask );
for( ; ; )
{
/* Wait to be notified of the test that is to be performed next. */
xTaskNotifyWait( 0, ulMax, &ulNotificationValue, portMAX_DELAY );
switch( ulNotificationValue )
{
case abtNOTIFY_WAIT_ABORTS:
prvTestAbortingTaskNotifyWait();
break;
case abtNOTIFY_TAKE_ABORTS:
prvTestAbortingTaskNotifyTake();
break;
case abtDELAY_ABORTS:
prvTestAbortingTaskDelay();
break;
case abtDELAY_UNTIL_ABORTS:
prvTestAbortingTaskDelayUntil();
break;
case abtSEMAPHORE_TAKE_ABORTS:
prvTestAbortingSemaphoreTake();
break;
case abtEVENT_GROUP_ABORTS:
prvTestAbortingEventGroupWait();
break;
case abtQUEUE_SEND_ABORTS:
prvTestAbortingQueueSend();
break;
case abtSTREAM_BUFFER_RECEIVE:
prvTestAbortingStreamBufferReceive();
break;
default:
/* Should not get here. */
break;
}
/* Let the primary task know the test is complete. */
xTaskNotifyGive( xControllingTask );
/* To indicate this task is still executing. */
xBlockingCycles++;
}
}
/*-----------------------------------------------------------*/
static void prvPerformSingleTaskTests( void )
{
TaskHandle_t xThisTask;
BaseType_t xReturned;
/* Try unblocking this task using both the task and ISR versions of the API -
* both should return false as this task is not blocked. */
xThisTask = xTaskGetCurrentTaskHandle();
xReturned = xTaskAbortDelay( xThisTask );
if( xReturned != pdFALSE )
{
xErrorOccurred = __LINE__;
}
}
/*-----------------------------------------------------------*/
static void prvTestAbortingTaskDelayUntil( void )
{
TickType_t xTimeAtStart, xLastBlockTime;
BaseType_t xReturned;
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* Take a copy of the time as it is updated in the call to
* xTaskDelayUntil() but its original value is needed to determine the actual
* time spend in the Blocked state. */
xLastBlockTime = xTimeAtStart;
/* This first delay should just time out. */
xReturned = xTaskDelayUntil( &xLastBlockTime, xMaxBlockTime );
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xMaxBlockTime );
configASSERT( xReturned == pdTRUE );
/* Remove compiler warning about value being set but not used in the case
* configASSERT() is not defined. */
( void ) xReturned;
/* This second delay should be aborted by the primary task half way
* through. Again take a copy of the time as it is updated in the call to
* vTaskDelayUntil() buts its original value is needed to determine the amount
* of time actually spent in the Blocked state. This uses vTaskDelayUntil()
* in place of xTaskDelayUntil() for test coverage. */
xTimeAtStart = xTaskGetTickCount();
xLastBlockTime = xTimeAtStart;
vTaskDelayUntil( &xLastBlockTime, xMaxBlockTime );
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xHalfMaxBlockTime );
/* As with the other tests, the third block period should not time out. */
xTimeAtStart = xTaskGetTickCount();
xLastBlockTime = xTimeAtStart;
xReturned = xTaskDelayUntil( &xLastBlockTime, xMaxBlockTime );
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xMaxBlockTime );
configASSERT( xReturned == pdTRUE );
/* Remove compiler warning about value being set but not used in the case
* configASSERT() is not defined. */
( void ) xReturned;
}
/*-----------------------------------------------------------*/
static void prvTestAbortingTaskDelay( void )
{
TickType_t xTimeAtStart;
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This first delay should just time out. */
vTaskDelay( xMaxBlockTime );
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xMaxBlockTime );
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This second delay should be aborted by the primary task half way
* through. */
vTaskDelay( xMaxBlockTime );
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xHalfMaxBlockTime );
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This third delay should just time out again. */
vTaskDelay( xMaxBlockTime );
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xMaxBlockTime );
}
/*-----------------------------------------------------------*/
static void prvTestAbortingTaskNotifyTake( void )
{
TickType_t xTimeAtStart;
uint32_t ulReturn;
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This first delay should just time out. */
ulReturn = ulTaskNotifyTake( pdFALSE, xMaxBlockTime );
if( ulReturn != 0 )
{
xErrorOccurred = __LINE__;
}
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xMaxBlockTime );
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This second delay should be aborted by the primary task half way
* through. */
ulReturn = ulTaskNotifyTake( pdFALSE, xMaxBlockTime );
if( ulReturn != 0 )
{
xErrorOccurred = __LINE__;
}
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xHalfMaxBlockTime );
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This third delay should just time out again. */
ulReturn = ulTaskNotifyTake( pdFALSE, xMaxBlockTime );
if( ulReturn != 0 )
{
xErrorOccurred = __LINE__;
}
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xMaxBlockTime );
}
/*-----------------------------------------------------------*/
static void prvTestAbortingEventGroupWait( void )
{
TickType_t xTimeAtStart;
EventGroupHandle_t xEventGroup;
EventBits_t xBitsToWaitFor = ( EventBits_t ) 0x01, xReturn;
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
{
static StaticEventGroup_t xEventGroupBuffer;
/* Create the event group. Statically allocated memory is used so the
* creation cannot fail. */
xEventGroup = xEventGroupCreateStatic( &xEventGroupBuffer );
}
#else
{
xEventGroup = xEventGroupCreate();
configASSERT( xEventGroup );
}
#endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This first delay should just time out. */
xReturn = xEventGroupWaitBits( xEventGroup, xBitsToWaitFor, pdTRUE, pdTRUE, xMaxBlockTime );
if( xReturn != 0x00 )
{
xErrorOccurred = __LINE__;
}
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xMaxBlockTime );
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This second delay should be aborted by the primary task half way
* through. */
xReturn = xEventGroupWaitBits( xEventGroup, xBitsToWaitFor, pdTRUE, pdTRUE, xMaxBlockTime );
if( xReturn != 0x00 )
{
xErrorOccurred = __LINE__;
}
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xHalfMaxBlockTime );
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This third delay should just time out again. */
xReturn = xEventGroupWaitBits( xEventGroup, xBitsToWaitFor, pdTRUE, pdTRUE, xMaxBlockTime );
if( xReturn != 0x00 )
{
xErrorOccurred = __LINE__;
}
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xMaxBlockTime );
/* Not really necessary in this case, but for completeness. */
vEventGroupDelete( xEventGroup );
}
/*-----------------------------------------------------------*/
static void prvTestAbortingStreamBufferReceive( void )
{
TickType_t xTimeAtStart;
StreamBufferHandle_t xStreamBuffer;
size_t xReturn;
const size_t xTriggerLevelBytes = ( size_t ) 1;
uint8_t uxRxData;
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
{
/* Defines the memory that will actually hold the streams within the
* stream buffer. */
static uint8_t ucStorageBuffer[ sizeof( configMESSAGE_BUFFER_LENGTH_TYPE ) + 1 ];
/* The variable used to hold the stream buffer structure. */
StaticStreamBuffer_t xStreamBufferStruct;
xStreamBuffer = xStreamBufferCreateStatic( sizeof( ucStorageBuffer ),
xTriggerLevelBytes,
ucStorageBuffer,
&xStreamBufferStruct );
}
#else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
{
xStreamBuffer = xStreamBufferCreate( sizeof( uint8_t ), xTriggerLevelBytes );
configASSERT( xStreamBuffer );
}
#endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This first delay should just time out. */
xReturn = xStreamBufferReceive( xStreamBuffer, &uxRxData, sizeof( uxRxData ), xMaxBlockTime );
if( xReturn != 0x00 )
{
xErrorOccurred = __LINE__;
}
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xMaxBlockTime );
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This second delay should be aborted by the primary task half way
* through xMaxBlockTime. */
xReturn = xStreamBufferReceive( xStreamBuffer, &uxRxData, sizeof( uxRxData ), xMaxBlockTime );
if( xReturn != 0x00 )
{
xErrorOccurred = __LINE__;
}
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xHalfMaxBlockTime );
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This third delay should just time out again. */
xReturn = xStreamBufferReceive( xStreamBuffer, &uxRxData, sizeof( uxRxData ), xMaxBlockTime );
if( xReturn != 0x00 )
{
xErrorOccurred = __LINE__;
}
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xMaxBlockTime );
/* Not really necessary in this case, but for completeness. */
vStreamBufferDelete( xStreamBuffer );
}
/*-----------------------------------------------------------*/
static void prvTestAbortingQueueSend( void )
{
TickType_t xTimeAtStart;
BaseType_t xReturn;
const UBaseType_t xQueueLength = ( UBaseType_t ) 1;
QueueHandle_t xQueue;
uint8_t ucItemToQueue;
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
{
static StaticQueue_t xQueueBuffer;
static uint8_t ucQueueStorage[ sizeof( uint8_t ) ];
/* Create the queue. Statically allocated memory is used so the
* creation cannot fail. */
xQueue = xQueueCreateStatic( xQueueLength, sizeof( uint8_t ), ucQueueStorage, &xQueueBuffer );
}
#else
{
xQueue = xQueueCreate( xQueueLength, sizeof( uint8_t ) );
configASSERT( xQueue );
}
#endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
/* This function tests aborting when in the blocked state waiting to send,
* so the queue must be full. There is only one space in the queue. */
xReturn = xQueueSend( xQueue, &ucItemToQueue, xMaxBlockTime );
if( xReturn != pdPASS )
{
xErrorOccurred = __LINE__;
}
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This first delay should just time out. */
xReturn = xQueueSend( xQueue, &ucItemToQueue, xMaxBlockTime );
if( xReturn != pdFALSE )
{
xErrorOccurred = __LINE__;
}
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xMaxBlockTime );
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This second delay should be aborted by the primary task half way
* through. */
xReturn = xQueueSend( xQueue, &ucItemToQueue, xMaxBlockTime );
if( xReturn != pdFALSE )
{
xErrorOccurred = __LINE__;
}
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xHalfMaxBlockTime );
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This third delay should just time out again. */
xReturn = xQueueSend( xQueue, &ucItemToQueue, xMaxBlockTime );
if( xReturn != pdFALSE )
{
xErrorOccurred = __LINE__;
}
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xMaxBlockTime );
/* Not really necessary in this case, but for completeness. */
vQueueDelete( xQueue );
}
/*-----------------------------------------------------------*/
static void prvTestAbortingSemaphoreTake( void )
{
TickType_t xTimeAtStart;
BaseType_t xReturn;
SemaphoreHandle_t xSemaphore;
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
{
static StaticSemaphore_t xSemaphoreBuffer;
/* Create the semaphore. Statically allocated memory is used so the
* creation cannot fail. */
xSemaphore = xSemaphoreCreateBinaryStatic( &xSemaphoreBuffer );
}
#else
{
xSemaphore = xSemaphoreCreateBinary();
}
#endif
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This first delay should just time out. */
xReturn = xSemaphoreTake( xSemaphore, xMaxBlockTime );
if( xReturn != pdFALSE )
{
xErrorOccurred = __LINE__;
}
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xMaxBlockTime );
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This second delay should be aborted by the primary task half way
* through xMaxBlockTime. */
xReturn = xSemaphoreTake( xSemaphore, portMAX_DELAY );
if( xReturn != pdFALSE )
{
xErrorOccurred = __LINE__;
}
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xHalfMaxBlockTime );
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This third delay should just time out again. */
xReturn = xSemaphoreTake( xSemaphore, xMaxBlockTime );
if( xReturn != pdFALSE )
{
xErrorOccurred = __LINE__;
}
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xMaxBlockTime );
/* Not really necessary in this case, but for completeness. */
vSemaphoreDelete( xSemaphore );
}
/*-----------------------------------------------------------*/
static void prvTestAbortingTaskNotifyWait( void )
{
TickType_t xTimeAtStart;
BaseType_t xReturn;
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This first delay should just time out. */
xReturn = xTaskNotifyWait( 0, 0, NULL, xMaxBlockTime );
if( xReturn != pdFALSE )
{
xErrorOccurred = __LINE__;
}
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xMaxBlockTime );
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This second delay should be aborted by the primary task half way
* through xMaxBlockTime. */
xReturn = xTaskNotifyWait( 0, 0, NULL, portMAX_DELAY );
if( xReturn != pdFALSE )
{
xErrorOccurred = __LINE__;
}
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xHalfMaxBlockTime );
/* Note the time before the delay so the length of the delay is known. */
xTimeAtStart = xTaskGetTickCount();
/* This third delay should just time out again. */
xReturn = xTaskNotifyWait( 0, 0, NULL, xMaxBlockTime );
if( xReturn != pdFALSE )
{
xErrorOccurred = __LINE__;
}
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xMaxBlockTime );
}
/*-----------------------------------------------------------*/
static void prvCheckExpectedTimeIsWithinAnAcceptableMargin( TickType_t xStartTime,
TickType_t xExpectedBlockTime )
{
TickType_t xTimeNow, xActualBlockTime;
xTimeNow = xTaskGetTickCount();
xActualBlockTime = xTimeNow - xStartTime;
/* The actual block time should not be less than the expected block time. */
if( xActualBlockTime < xExpectedBlockTime )
{
xErrorOccurred = __LINE__;
}
/* The actual block time can be greater than the expected block time, as it
* depends on the priority of the other tasks, but it should be within an
* acceptable margin. */
if( xActualBlockTime > ( xExpectedBlockTime + xAllowableMargin ) )
{
xErrorOccurred = __LINE__;
}
}
/*-----------------------------------------------------------*/
BaseType_t xAreAbortDelayTestTasksStillRunning( void )
{
static BaseType_t xLastControllingCycleCount = 0, xLastBlockingCycleCount = 0;
BaseType_t xReturn = pdPASS;
/* Have both tasks performed at least one cycle since this function was
* last called? */
if( xControllingCycles == xLastControllingCycleCount )
{
xReturn = pdFAIL;
}
if( xBlockingCycles == xLastBlockingCycleCount )
{
xReturn = pdFAIL;
}
if( xErrorOccurred != pdFALSE )
{
xReturn = pdFAIL;
}
xLastBlockingCycleCount = xBlockingCycles;
xLastControllingCycleCount = xControllingCycles;
return xReturn;
}
#endif /* INCLUDE_xTaskAbortDelay == 1 */

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Common/Minimal/BlockQ.c Normal file
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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* Creates six tasks that operate on three queues as follows:
*
* The first two tasks send and receive an incrementing number to/from a queue.
* One task acts as a producer and the other as the consumer. The consumer is a
* higher priority than the producer and is set to block on queue reads. The queue
* only has space for one item - as soon as the producer posts a message on the
* queue the consumer will unblock, pre-empt the producer, and remove the item.
*
* The second two tasks work the other way around. Again the queue used only has
* enough space for one item. This time the consumer has a lower priority than the
* producer. The producer will try to post on the queue blocking when the queue is
* full. When the consumer wakes it will remove the item from the queue, causing
* the producer to unblock, pre-empt the consumer, and immediately re-fill the
* queue.
*
* The last two tasks use the same queue producer and consumer functions. This time the queue has
* enough space for lots of items and the tasks operate at the same priority. The
* producer will execute, placing items into the queue. The consumer will start
* executing when either the queue becomes full (causing the producer to block) or
* a context switch occurs (tasks of the same priority will time slice).
*
*/
#include <stdlib.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
/* Demo program include files. */
#include "BlockQ.h"
#define blckqSTACK_SIZE configMINIMAL_STACK_SIZE
#define blckqNUM_TASK_SETS ( 3 )
#define blckqSHORT_DELAY ( 5 )
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
#error This example cannot be used if dynamic allocation is not allowed.
#endif
/* Structure used to pass parameters to the blocking queue tasks. */
typedef struct BLOCKING_QUEUE_PARAMETERS
{
QueueHandle_t xQueue; /*< The queue to be used by the task. */
TickType_t xBlockTime; /*< The block time to use on queue reads/writes. */
volatile short * psCheckVariable; /*< Incremented on each successful cycle to check the task is still running. */
} xBlockingQueueParameters;
/* Task function that creates an incrementing number and posts it on a queue. */
static portTASK_FUNCTION_PROTO( vBlockingQueueProducer, pvParameters );
/* Task function that removes the incrementing number from a queue and checks that
* it is the expected number. */
static portTASK_FUNCTION_PROTO( vBlockingQueueConsumer, pvParameters );
/* Variables which are incremented each time an item is removed from a queue, and
* found to be the expected value.
* These are used to check that the tasks are still running. */
static volatile short sBlockingConsumerCount[ blckqNUM_TASK_SETS ] = { ( uint16_t ) 0, ( uint16_t ) 0, ( uint16_t ) 0 };
/* Variable which are incremented each time an item is posted on a queue. These
* are used to check that the tasks are still running. */
static volatile short sBlockingProducerCount[ blckqNUM_TASK_SETS ] = { ( uint16_t ) 0, ( uint16_t ) 0, ( uint16_t ) 0 };
/*-----------------------------------------------------------*/
void vStartBlockingQueueTasks( UBaseType_t uxPriority )
{
xBlockingQueueParameters * pxQueueParameters1, * pxQueueParameters2;
xBlockingQueueParameters * pxQueueParameters3, * pxQueueParameters4;
xBlockingQueueParameters * pxQueueParameters5, * pxQueueParameters6;
const UBaseType_t uxQueueSize1 = 1, uxQueueSize5 = 5;
const TickType_t xBlockTime = pdMS_TO_TICKS( ( TickType_t ) 1000 );
const TickType_t xDontBlock = ( TickType_t ) 0;
/* Create the first two tasks as described at the top of the file. */
/* First create the structure used to pass parameters to the consumer tasks. */
pxQueueParameters1 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
/* Create the queue used by the first two tasks to pass the incrementing number.
* Pass a pointer to the queue in the parameter structure. */
pxQueueParameters1->xQueue = xQueueCreate( uxQueueSize1, ( UBaseType_t ) sizeof( uint16_t ) );
/* The consumer is created first so gets a block time as described above. */
pxQueueParameters1->xBlockTime = xBlockTime;
/* Pass in the variable that this task is going to increment so we can check it
* is still running. */
pxQueueParameters1->psCheckVariable = &( sBlockingConsumerCount[ 0 ] );
/* Create the structure used to pass parameters to the producer task. */
pxQueueParameters2 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
/* Pass the queue to this task also, using the parameter structure. */
pxQueueParameters2->xQueue = pxQueueParameters1->xQueue;
/* The producer is not going to block - as soon as it posts the consumer will
* wake and remove the item so the producer should always have room to post. */
pxQueueParameters2->xBlockTime = xDontBlock;
/* Pass in the variable that this task is going to increment so we can check
* it is still running. */
pxQueueParameters2->psCheckVariable = &( sBlockingProducerCount[ 0 ] );
/* Note the producer has a lower priority than the consumer when the tasks are
* spawned. */
xTaskCreate( vBlockingQueueConsumer, "QConsB1", blckqSTACK_SIZE, ( void * ) pxQueueParameters1, uxPriority, NULL );
xTaskCreate( vBlockingQueueProducer, "QProdB2", blckqSTACK_SIZE, ( void * ) pxQueueParameters2, tskIDLE_PRIORITY, NULL );
/* Create the second two tasks as described at the top of the file. This uses
* the same mechanism but reverses the task priorities. */
pxQueueParameters3 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
pxQueueParameters3->xQueue = xQueueCreate( uxQueueSize1, ( UBaseType_t ) sizeof( uint16_t ) );
pxQueueParameters3->xBlockTime = xDontBlock;
pxQueueParameters3->psCheckVariable = &( sBlockingProducerCount[ 1 ] );
pxQueueParameters4 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
pxQueueParameters4->xQueue = pxQueueParameters3->xQueue;
pxQueueParameters4->xBlockTime = xBlockTime;
pxQueueParameters4->psCheckVariable = &( sBlockingConsumerCount[ 1 ] );
xTaskCreate( vBlockingQueueConsumer, "QConsB3", blckqSTACK_SIZE, ( void * ) pxQueueParameters3, tskIDLE_PRIORITY, NULL );
xTaskCreate( vBlockingQueueProducer, "QProdB4", blckqSTACK_SIZE, ( void * ) pxQueueParameters4, uxPriority, NULL );
/* Create the last two tasks as described above. The mechanism is again just
* the same. This time both parameter structures are given a block time. */
pxQueueParameters5 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
pxQueueParameters5->xQueue = xQueueCreate( uxQueueSize5, ( UBaseType_t ) sizeof( uint16_t ) );
pxQueueParameters5->xBlockTime = xBlockTime;
pxQueueParameters5->psCheckVariable = &( sBlockingProducerCount[ 2 ] );
pxQueueParameters6 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
pxQueueParameters6->xQueue = pxQueueParameters5->xQueue;
pxQueueParameters6->xBlockTime = xBlockTime;
pxQueueParameters6->psCheckVariable = &( sBlockingConsumerCount[ 2 ] );
xTaskCreate( vBlockingQueueProducer, "QProdB5", blckqSTACK_SIZE, ( void * ) pxQueueParameters5, tskIDLE_PRIORITY, NULL );
xTaskCreate( vBlockingQueueConsumer, "QConsB6", blckqSTACK_SIZE, ( void * ) pxQueueParameters6, tskIDLE_PRIORITY, NULL );
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vBlockingQueueProducer, pvParameters )
{
uint16_t usValue = 0;
xBlockingQueueParameters * pxQueueParameters;
short sErrorEverOccurred = pdFALSE;
pxQueueParameters = ( xBlockingQueueParameters * ) pvParameters;
for( ; ; )
{
if( xQueueSend( pxQueueParameters->xQueue, ( void * ) &usValue, pxQueueParameters->xBlockTime ) != pdPASS )
{
sErrorEverOccurred = pdTRUE;
}
else
{
/* We have successfully posted a message, so increment the variable
* used to check we are still running. */
if( sErrorEverOccurred == pdFALSE )
{
( *pxQueueParameters->psCheckVariable )++;
}
/* Increment the variable we are going to post next time round. The
* consumer will expect the numbers to follow in numerical order. */
++usValue;
#if ( configNUMBER_OF_CORES > 1 )
{
if( pxQueueParameters->xBlockTime == 0 )
{
vTaskDelay( blckqSHORT_DELAY );
}
}
#elif configUSE_PREEMPTION == 0
{
taskYIELD();
}
#endif /* if ( configNUMBER_OF_CORES > 1 ) */
}
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vBlockingQueueConsumer, pvParameters )
{
uint16_t usData, usExpectedValue = 0;
xBlockingQueueParameters * pxQueueParameters;
short sErrorEverOccurred = pdFALSE;
pxQueueParameters = ( xBlockingQueueParameters * ) pvParameters;
for( ; ; )
{
if( xQueueReceive( pxQueueParameters->xQueue, &usData, pxQueueParameters->xBlockTime ) == pdPASS )
{
if( usData != usExpectedValue )
{
/* Catch-up. */
usExpectedValue = usData;
sErrorEverOccurred = pdTRUE;
}
else
{
/* We have successfully received a message, so increment the
* variable used to check we are still running. */
if( sErrorEverOccurred == pdFALSE )
{
( *pxQueueParameters->psCheckVariable )++;
}
/* Increment the value we expect to remove from the queue next time
* round. */
++usExpectedValue;
}
#if ( configNUMBER_OF_CORES > 1 )
{
if( pxQueueParameters->xBlockTime == 0 )
{
vTaskDelay( blckqSHORT_DELAY );
}
}
#elif configUSE_PREEMPTION == 0
{
if( pxQueueParameters->xBlockTime == 0 )
{
taskYIELD();
}
}
#endif /* if ( configNUMBER_OF_CORES > 1 ) */
}
}
}
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running. */
BaseType_t xAreBlockingQueuesStillRunning( void )
{
static short sLastBlockingConsumerCount[ blckqNUM_TASK_SETS ] = { ( uint16_t ) 0, ( uint16_t ) 0, ( uint16_t ) 0 };
static short sLastBlockingProducerCount[ blckqNUM_TASK_SETS ] = { ( uint16_t ) 0, ( uint16_t ) 0, ( uint16_t ) 0 };
BaseType_t xReturn = pdPASS, xTasks;
/* Not too worried about mutual exclusion on these variables as they are 16
* bits and we are only reading them. We also only care to see if they have
* changed or not.
*
* Loop through each check variable to and return pdFALSE if any are found not
* to have changed since the last call. */
for( xTasks = 0; xTasks < blckqNUM_TASK_SETS; xTasks++ )
{
if( sBlockingConsumerCount[ xTasks ] == sLastBlockingConsumerCount[ xTasks ] )
{
xReturn = pdFALSE;
}
sLastBlockingConsumerCount[ xTasks ] = sBlockingConsumerCount[ xTasks ];
if( sBlockingProducerCount[ xTasks ] == sLastBlockingProducerCount[ xTasks ] )
{
xReturn = pdFALSE;
}
sLastBlockingProducerCount[ xTasks ] = sBlockingProducerCount[ xTasks ];
}
return xReturn;
}

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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* This file defines one of the more complex set of demo/test tasks. They are
* designed to stress test the queue implementation though pseudo simultaneous
* multiple reads and multiple writes from both tasks of varying priority and
* interrupts. The interrupts are prioritised such to ensure that nesting
* occurs (for those ports that support it).
*
* The test ensures that, while being accessed from three tasks and two
* interrupts, all the data sent to the queues is also received from
* the same queue, and that no duplicate items are either sent or received.
* The tests also ensure that a low priority task is never able to successfully
* read from or write to a queue when a task of higher priority is attempting
* the same operation.
*/
/* Standard includes. */
#include <string.h>
/* SafeRTOS includes. */
#include "FreeRTOS.h"
#include "queue.h"
#include "task.h"
/* Demo app includes. */
#include "IntQueue.h"
#include "IntQueueTimer.h"
#if ( INCLUDE_eTaskGetState != 1 )
#error INCLUDE_eTaskGetState must be set to 1 in FreeRTOSConfig.h to use this demo file.
#endif
/* Priorities used by test tasks. */
#ifndef intqHIGHER_PRIORITY
#define intqHIGHER_PRIORITY ( configMAX_PRIORITIES - 2 )
#endif
#define intqLOWER_PRIORITY ( tskIDLE_PRIORITY )
/* The number of values to send/receive before checking that all values were
* processed as expected. */
#define intqNUM_VALUES_TO_LOG ( 200 )
#define intqSHORT_DELAY ( 140 )
/* The value by which the value being sent to or received from a queue should
* increment past intqNUM_VALUES_TO_LOG before we check that all values have been
* sent/received correctly. This is done to ensure that all tasks and interrupts
* accessing the queue have completed their accesses with the
* intqNUM_VALUES_TO_LOG range. */
#define intqVALUE_OVERRUN ( 50 )
/* The delay used by the polling task. A short delay is used for code
* coverage. */
#define intqONE_TICK_DELAY ( 1 )
/* Each task and interrupt is given a unique identifier. This value is used to
* identify which task sent or received each value. The identifier is also used
* to distinguish between two tasks that are running the same task function. */
#define intqHIGH_PRIORITY_TASK1 ( ( UBaseType_t ) 1 )
#define intqHIGH_PRIORITY_TASK2 ( ( UBaseType_t ) 2 )
#define intqLOW_PRIORITY_TASK ( ( UBaseType_t ) 3 )
#define intqFIRST_INTERRUPT ( ( UBaseType_t ) 4 )
#define intqSECOND_INTERRUPT ( ( UBaseType_t ) 5 )
#define intqQUEUE_LENGTH ( ( UBaseType_t ) 10 )
/* At least intqMIN_ACCEPTABLE_TASK_COUNT values should be sent to/received
* from each queue by each task, otherwise an error is detected. */
#define intqMIN_ACCEPTABLE_TASK_COUNT ( 5 )
/* Send the next value to the queue that is normally empty. This is called
* from within the interrupts. */
#define timerNORMALLY_EMPTY_TX() \
if( xQueueIsQueueFullFromISR( xNormallyEmptyQueue ) != pdTRUE ) \
{ \
UBaseType_t uxSavedInterruptStatus; \
uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR(); \
{ \
uxValueForNormallyEmptyQueue++; \
if( xQueueSendFromISR( xNormallyEmptyQueue, ( void * ) &uxValueForNormallyEmptyQueue, &xHigherPriorityTaskWoken ) != pdPASS ) \
{ \
uxValueForNormallyEmptyQueue--; \
} \
} \
taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus ); \
} \
/* Send the next value to the queue that is normally full. This is called
* from within the interrupts. */
#define timerNORMALLY_FULL_TX() \
if( xQueueIsQueueFullFromISR( xNormallyFullQueue ) != pdTRUE ) \
{ \
UBaseType_t uxSavedInterruptStatus; \
uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR(); \
{ \
uxValueForNormallyFullQueue++; \
if( xQueueSendFromISR( xNormallyFullQueue, ( void * ) &uxValueForNormallyFullQueue, &xHigherPriorityTaskWoken ) != pdPASS ) \
{ \
uxValueForNormallyFullQueue--; \
} \
} \
taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus ); \
} \
/* Receive a value from the normally empty queue. This is called from within
* an interrupt. */
#define timerNORMALLY_EMPTY_RX() \
if( xQueueReceiveFromISR( xNormallyEmptyQueue, &uxRxedValue, &xHigherPriorityTaskWoken ) != pdPASS ) \
{ \
prvQueueAccessLogError( __LINE__ ); \
} \
else \
{ \
prvRecordValue_NormallyEmpty( uxRxedValue, intqSECOND_INTERRUPT ); \
}
/* Receive a value from the normally full queue. This is called from within
* an interrupt. */
#define timerNORMALLY_FULL_RX() \
if( xQueueReceiveFromISR( xNormallyFullQueue, &uxRxedValue, &xHigherPriorityTaskWoken ) == pdPASS ) \
{ \
prvRecordValue_NormallyFull( uxRxedValue, intqSECOND_INTERRUPT ); \
} \
/*-----------------------------------------------------------*/
/* The two queues used by the test. */
static QueueHandle_t xNormallyEmptyQueue, xNormallyFullQueue;
/* Variables used to detect a stall in one of the tasks. */
static volatile UBaseType_t uxHighPriorityLoops1 = 0, uxHighPriorityLoops2 = 0, uxLowPriorityLoops1 = 0, uxLowPriorityLoops2 = 0;
/* Any unexpected behaviour sets xErrorStatus to fail and log the line that
* caused the error in xErrorLine. */
static BaseType_t xErrorStatus = pdPASS;
static volatile UBaseType_t xErrorLine = ( UBaseType_t ) 0;
/* Used for sequencing between tasks. */
static BaseType_t xWasSuspended = pdFALSE;
/* The values that are sent to the queues. An incremented value is sent each
* time to each queue. */
static volatile UBaseType_t uxValueForNormallyEmptyQueue = 0, uxValueForNormallyFullQueue = 0;
/* A handle to some of the tasks is required so they can be suspended/resumed. */
TaskHandle_t xHighPriorityNormallyEmptyTask1, xHighPriorityNormallyEmptyTask2, xHighPriorityNormallyFullTask1, xHighPriorityNormallyFullTask2;
/* When a value is received in a queue the value is ticked off in the array
* the array position of the value is set to a the identifier of the task or
* interrupt that accessed the queue. This way missing or duplicate values can be
* detected. */
static uint8_t ucNormallyEmptyReceivedValues[ intqNUM_VALUES_TO_LOG ] = { 0 };
static uint8_t ucNormallyFullReceivedValues[ intqNUM_VALUES_TO_LOG ] = { 0 };
/* The test tasks themselves. */
static void prvLowerPriorityNormallyEmptyTask( void * pvParameters );
static void prvLowerPriorityNormallyFullTask( void * pvParameters );
static void prvHigherPriorityNormallyEmptyTask( void * pvParameters );
static void prv1stHigherPriorityNormallyFullTask( void * pvParameters );
static void prv2ndHigherPriorityNormallyFullTask( void * pvParameters );
/* Used to mark the positions within the ucNormallyEmptyReceivedValues and
* ucNormallyFullReceivedValues arrays, while checking for duplicates. */
static void prvRecordValue_NormallyEmpty( UBaseType_t uxValue,
UBaseType_t uxSource );
static void prvRecordValue_NormallyFull( UBaseType_t uxValue,
UBaseType_t uxSource );
/* Logs the line on which an error occurred. */
static void prvQueueAccessLogError( UBaseType_t uxLine );
/*-----------------------------------------------------------*/
void vStartInterruptQueueTasks( void )
{
/* Start the test tasks. */
xTaskCreate( prvHigherPriorityNormallyEmptyTask, "H1QRx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK1, intqHIGHER_PRIORITY, &xHighPriorityNormallyEmptyTask1 );
xTaskCreate( prvHigherPriorityNormallyEmptyTask, "H2QRx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK2, intqHIGHER_PRIORITY, &xHighPriorityNormallyEmptyTask2 );
xTaskCreate( prvLowerPriorityNormallyEmptyTask, "L1QRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL );
xTaskCreate( prv1stHigherPriorityNormallyFullTask, "H1QTx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK1, intqHIGHER_PRIORITY, &xHighPriorityNormallyFullTask1 );
xTaskCreate( prv2ndHigherPriorityNormallyFullTask, "H2QTx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK2, intqHIGHER_PRIORITY, &xHighPriorityNormallyFullTask2 );
xTaskCreate( prvLowerPriorityNormallyFullTask, "L2QRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL );
/* Create the queues that are accessed by multiple tasks and multiple
* interrupts. */
xNormallyFullQueue = xQueueCreate( intqQUEUE_LENGTH, ( UBaseType_t ) sizeof( UBaseType_t ) );
xNormallyEmptyQueue = xQueueCreate( intqQUEUE_LENGTH, ( UBaseType_t ) sizeof( UBaseType_t ) );
/* vQueueAddToRegistry() adds the queue to the queue registry, if one is
* in use. The queue registry is provided as a means for kernel aware
* debuggers to locate queues and has no purpose if a kernel aware debugger
* is not being used. The call to vQueueAddToRegistry() will be removed
* by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
* defined to be less than 1. */
vQueueAddToRegistry( xNormallyFullQueue, "NormallyFull" );
vQueueAddToRegistry( xNormallyEmptyQueue, "NormallyEmpty" );
}
/*-----------------------------------------------------------*/
static void prvRecordValue_NormallyFull( UBaseType_t uxValue,
UBaseType_t uxSource )
{
if( uxValue < intqNUM_VALUES_TO_LOG )
{
/* We don't expect to receive the same value twice, so if the value
* has already been marked as received an error has occurred. */
if( ucNormallyFullReceivedValues[ uxValue ] != 0x00 )
{
prvQueueAccessLogError( __LINE__ );
}
/* Log that this value has been received. */
ucNormallyFullReceivedValues[ uxValue ] = ( uint8_t ) uxSource;
}
}
/*-----------------------------------------------------------*/
static void prvRecordValue_NormallyEmpty( UBaseType_t uxValue,
UBaseType_t uxSource )
{
if( uxValue < intqNUM_VALUES_TO_LOG )
{
/* We don't expect to receive the same value twice, so if the value
* has already been marked as received an error has occurred. */
if( ucNormallyEmptyReceivedValues[ uxValue ] != 0x00 )
{
prvQueueAccessLogError( __LINE__ );
}
/* Log that this value has been received. */
ucNormallyEmptyReceivedValues[ uxValue ] = ( uint8_t ) uxSource;
}
}
/*-----------------------------------------------------------*/
static void prvQueueAccessLogError( UBaseType_t uxLine )
{
/* Latch the line number that caused the error. */
xErrorLine = uxLine;
xErrorStatus = pdFAIL;
}
/*-----------------------------------------------------------*/
static void prvHigherPriorityNormallyEmptyTask( void * pvParameters )
{
UBaseType_t uxRxed, ux, uxTask1, uxTask2, uxInterrupts, uxErrorCount1 = 0, uxErrorCount2 = 0;
/* The timer should not be started until after the scheduler has started.
* More than one task is running this code so we check the parameter value
* to determine which task should start the timer. */
if( ( UBaseType_t ) pvParameters == intqHIGH_PRIORITY_TASK1 )
{
vInitialiseTimerForIntQueueTest();
}
for( ; ; )
{
/* Block waiting to receive a value from the normally empty queue.
* Interrupts will write to the queue so we should receive a value. */
if( xQueueReceive( xNormallyEmptyQueue, &uxRxed, intqSHORT_DELAY ) != pdPASS )
{
prvQueueAccessLogError( __LINE__ );
}
else
{
/* Note which value was received so we can check all expected
* values are received and no values are duplicated. */
prvRecordValue_NormallyEmpty( uxRxed, ( UBaseType_t ) pvParameters );
}
/* Ensure the other task running this code gets a chance to execute. */
taskYIELD();
if( ( UBaseType_t ) pvParameters == intqHIGH_PRIORITY_TASK1 )
{
/* Have we received all the expected values? */
if( uxValueForNormallyEmptyQueue > ( intqNUM_VALUES_TO_LOG + intqVALUE_OVERRUN ) )
{
vTaskSuspend( xHighPriorityNormallyEmptyTask2 );
uxTask1 = 0;
uxTask2 = 0;
uxInterrupts = 0;
/* Loop through the array, checking that both tasks have
* placed values into the array, and that no values are missing.
* Start at 1 as we expect position 0 to be unused. */
for( ux = 1; ux < intqNUM_VALUES_TO_LOG; ux++ )
{
if( ucNormallyEmptyReceivedValues[ ux ] == 0 )
{
/* A value is missing. */
prvQueueAccessLogError( __LINE__ );
}
else
{
if( ucNormallyEmptyReceivedValues[ ux ] == intqHIGH_PRIORITY_TASK1 )
{
/* Value was placed into the array by task 1. */
uxTask1++;
}
else if( ucNormallyEmptyReceivedValues[ ux ] == intqHIGH_PRIORITY_TASK2 )
{
/* Value was placed into the array by task 2. */
uxTask2++;
}
else if( ucNormallyEmptyReceivedValues[ ux ] == intqSECOND_INTERRUPT )
{
uxInterrupts++;
}
}
}
if( uxTask1 < intqMIN_ACCEPTABLE_TASK_COUNT )
{
/* Only task 2 seemed to log any values. */
uxErrorCount1++;
if( uxErrorCount1 > 2 )
{
prvQueueAccessLogError( __LINE__ );
}
}
else
{
uxErrorCount1 = 0;
}
if( uxTask2 < intqMIN_ACCEPTABLE_TASK_COUNT )
{
/* Only task 1 seemed to log any values. */
uxErrorCount2++;
if( uxErrorCount2 > 2 )
{
prvQueueAccessLogError( __LINE__ );
}
}
else
{
uxErrorCount2 = 0;
}
if( uxInterrupts == 0 )
{
prvQueueAccessLogError( __LINE__ );
}
/* Clear the array again, ready to start a new cycle. */
memset( ucNormallyEmptyReceivedValues, 0x00, sizeof( ucNormallyEmptyReceivedValues ) );
uxHighPriorityLoops1++;
portENTER_CRITICAL();
{
uxValueForNormallyEmptyQueue = 0;
}
portEXIT_CRITICAL();
/* Suspend ourselves, allowing the lower priority task to
* actually receive something from the queue. Until now it
* will have been prevented from doing so by the higher
* priority tasks. The lower priority task will resume us
* if it receives something. We will then resume the other
* higher priority task. */
vTaskSuspend( NULL );
vTaskResume( xHighPriorityNormallyEmptyTask2 );
}
}
}
}
/*-----------------------------------------------------------*/
static void prvLowerPriorityNormallyEmptyTask( void * pvParameters )
{
UBaseType_t uxValue, uxRxed;
/* The parameters are not being used so avoid compiler warnings. */
( void ) pvParameters;
for( ; ; )
{
if( xQueueReceive( xNormallyEmptyQueue, &uxRxed, intqONE_TICK_DELAY ) != errQUEUE_EMPTY )
{
/* A value should only be obtained when the high priority task is
* suspended. */
if( eTaskGetState( xHighPriorityNormallyEmptyTask1 ) != eSuspended )
{
prvQueueAccessLogError( __LINE__ );
}
prvRecordValue_NormallyEmpty( uxRxed, intqLOW_PRIORITY_TASK );
/* Wake the higher priority task again. */
vTaskResume( xHighPriorityNormallyEmptyTask1 );
uxLowPriorityLoops1++;
}
else
{
/* Raise our priority while we send so we can preempt the higher
* priority task, and ensure we get the Tx value into the queue. */
vTaskPrioritySet( NULL, intqHIGHER_PRIORITY + 1 );
portENTER_CRITICAL();
{
uxValueForNormallyEmptyQueue++;
uxValue = uxValueForNormallyEmptyQueue;
}
portEXIT_CRITICAL();
if( xQueueSend( xNormallyEmptyQueue, &uxValue, portMAX_DELAY ) != pdPASS )
{
prvQueueAccessLogError( __LINE__ );
}
vTaskPrioritySet( NULL, intqLOWER_PRIORITY );
}
}
}
/*-----------------------------------------------------------*/
static void prv1stHigherPriorityNormallyFullTask( void * pvParameters )
{
UBaseType_t uxValueToTx, ux, uxInterrupts;
/* The parameters are not being used so avoid compiler warnings. */
( void ) pvParameters;
/* Make sure the queue starts full or near full. >> 1 as there are two
* high priority tasks. */
for( ux = 0; ux < ( intqQUEUE_LENGTH >> 1 ); ux++ )
{
portENTER_CRITICAL();
{
uxValueForNormallyFullQueue++;
uxValueToTx = uxValueForNormallyFullQueue;
}
portEXIT_CRITICAL();
xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY );
}
for( ; ; )
{
portENTER_CRITICAL();
{
uxValueForNormallyFullQueue++;
uxValueToTx = uxValueForNormallyFullQueue;
}
portEXIT_CRITICAL();
if( xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY ) != pdPASS )
{
/* intqHIGH_PRIORITY_TASK2 is never suspended so we would not
* expect it to ever time out. */
prvQueueAccessLogError( __LINE__ );
}
/* Allow the other task running this code to run. */
taskYIELD();
/* Have all the expected values been sent to the queue? */
if( uxValueToTx > ( intqNUM_VALUES_TO_LOG + intqVALUE_OVERRUN ) )
{
/* Make sure the other high priority task completes its send of
* any values below intqNUM_VALUE_TO_LOG. */
vTaskDelay( intqSHORT_DELAY );
vTaskSuspend( xHighPriorityNormallyFullTask2 );
if( xWasSuspended == pdTRUE )
{
/* We would have expected the other high priority task to have
* set this back to false by now. */
prvQueueAccessLogError( __LINE__ );
}
/* Set the suspended flag so an error is not logged if the other
* task recognises a time out when it is unsuspended. */
xWasSuspended = pdTRUE;
/* Check interrupts are also sending. */
uxInterrupts = 0U;
/* Start at 1 as we expect position 0 to be unused. */
for( ux = 1; ux < intqNUM_VALUES_TO_LOG; ux++ )
{
if( ucNormallyFullReceivedValues[ ux ] == 0 )
{
/* A value was missing. */
prvQueueAccessLogError( __LINE__ );
}
else if( ucNormallyFullReceivedValues[ ux ] == intqSECOND_INTERRUPT )
{
uxInterrupts++;
}
}
if( uxInterrupts == 0 )
{
/* No writes from interrupts were found. Are interrupts
* actually running? */
prvQueueAccessLogError( __LINE__ );
}
/* Reset the array ready for the next cycle. */
memset( ucNormallyFullReceivedValues, 0x00, sizeof( ucNormallyFullReceivedValues ) );
uxHighPriorityLoops2++;
portENTER_CRITICAL();
{
uxValueForNormallyFullQueue = 0;
}
portEXIT_CRITICAL();
/* Suspend ourselves, allowing the lower priority task to
* actually receive something from the queue. Until now it
* will have been prevented from doing so by the higher
* priority tasks. The lower priority task will resume us
* if it receives something. We will then resume the other
* higher priority task. */
vTaskSuspend( NULL );
vTaskResume( xHighPriorityNormallyFullTask2 );
}
}
}
/*-----------------------------------------------------------*/
static void prv2ndHigherPriorityNormallyFullTask( void * pvParameters )
{
UBaseType_t uxValueToTx, ux;
/* The parameters are not being used so avoid compiler warnings. */
( void ) pvParameters;
/* Make sure the queue starts full or near full. >> 1 as there are two
* high priority tasks. */
for( ux = 0; ux < ( intqQUEUE_LENGTH >> 1 ); ux++ )
{
portENTER_CRITICAL();
{
uxValueForNormallyFullQueue++;
uxValueToTx = uxValueForNormallyFullQueue;
}
portEXIT_CRITICAL();
xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY );
}
for( ; ; )
{
portENTER_CRITICAL();
{
uxValueForNormallyFullQueue++;
uxValueToTx = uxValueForNormallyFullQueue;
}
portEXIT_CRITICAL();
if( xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY ) != pdPASS )
{
if( xWasSuspended != pdTRUE )
{
/* It is ok to time out if the task has been suspended. */
prvQueueAccessLogError( __LINE__ );
}
}
xWasSuspended = pdFALSE;
taskYIELD();
}
}
/*-----------------------------------------------------------*/
static void prvLowerPriorityNormallyFullTask( void * pvParameters )
{
UBaseType_t uxValue, uxTxed = 9999;
/* The parameters are not being used so avoid compiler warnings. */
( void ) pvParameters;
for( ; ; )
{
if( xQueueSend( xNormallyFullQueue, &uxTxed, intqONE_TICK_DELAY ) != errQUEUE_FULL )
{
/* Should only succeed when the higher priority task is suspended */
if( eTaskGetState( xHighPriorityNormallyFullTask1 ) != eSuspended )
{
prvQueueAccessLogError( __LINE__ );
}
vTaskResume( xHighPriorityNormallyFullTask1 );
uxLowPriorityLoops2++;
}
else
{
/* Raise our priority while we receive so we can preempt the higher
* priority task, and ensure we get the value from the queue. */
vTaskPrioritySet( NULL, intqHIGHER_PRIORITY + 1 );
if( xQueueReceive( xNormallyFullQueue, &uxValue, portMAX_DELAY ) != pdPASS )
{
prvQueueAccessLogError( __LINE__ );
}
else
{
prvRecordValue_NormallyFull( uxValue, intqLOW_PRIORITY_TASK );
}
vTaskPrioritySet( NULL, intqLOWER_PRIORITY );
}
}
}
/*-----------------------------------------------------------*/
BaseType_t xFirstTimerHandler( void )
{
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
UBaseType_t uxRxedValue;
static UBaseType_t uxNextOperation = 0;
/* Called from a timer interrupt. Perform various read and write
* accesses on the queues. */
uxNextOperation++;
if( uxNextOperation & ( UBaseType_t ) 0x01 )
{
timerNORMALLY_EMPTY_TX();
timerNORMALLY_EMPTY_TX();
timerNORMALLY_EMPTY_TX();
}
else
{
timerNORMALLY_FULL_RX();
timerNORMALLY_FULL_RX();
timerNORMALLY_FULL_RX();
}
return xHigherPriorityTaskWoken;
}
/*-----------------------------------------------------------*/
BaseType_t xSecondTimerHandler( void )
{
UBaseType_t uxRxedValue;
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
static UBaseType_t uxNextOperation = 0;
/* Called from a timer interrupt. Perform various read and write
* accesses on the queues. */
uxNextOperation++;
if( uxNextOperation & ( UBaseType_t ) 0x01 )
{
timerNORMALLY_EMPTY_TX();
timerNORMALLY_EMPTY_TX();
timerNORMALLY_EMPTY_RX();
timerNORMALLY_EMPTY_RX();
}
else
{
timerNORMALLY_FULL_RX();
timerNORMALLY_FULL_TX();
timerNORMALLY_FULL_TX();
timerNORMALLY_FULL_TX();
}
return xHigherPriorityTaskWoken;
}
/*-----------------------------------------------------------*/
BaseType_t xAreIntQueueTasksStillRunning( void )
{
static UBaseType_t uxLastHighPriorityLoops1 = 0, uxLastHighPriorityLoops2 = 0, uxLastLowPriorityLoops1 = 0, uxLastLowPriorityLoops2 = 0;
/* xErrorStatus can be set outside of this function. This function just
* checks that all the tasks are still cycling. */
if( uxHighPriorityLoops1 == uxLastHighPriorityLoops1 )
{
/* The high priority 1 task has stalled. */
prvQueueAccessLogError( __LINE__ );
}
uxLastHighPriorityLoops1 = uxHighPriorityLoops1;
if( uxHighPriorityLoops2 == uxLastHighPriorityLoops2 )
{
/* The high priority 2 task has stalled. */
prvQueueAccessLogError( __LINE__ );
}
uxLastHighPriorityLoops2 = uxHighPriorityLoops2;
if( uxLowPriorityLoops1 == uxLastLowPriorityLoops1 )
{
/* The low priority 1 task has stalled. */
prvQueueAccessLogError( __LINE__ );
}
uxLastLowPriorityLoops1 = uxLowPriorityLoops1;
if( uxLowPriorityLoops2 == uxLastLowPriorityLoops2 )
{
/* The low priority 2 task has stalled. */
prvQueueAccessLogError( __LINE__ );
}
uxLastLowPriorityLoops2 = uxLowPriorityLoops2;
return xErrorStatus;
}

537
Common/Minimal/IntSemTest.c Normal file
View File

@@ -0,0 +1,537 @@
/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* Demonstrates and tests mutexes being used from an interrupt.
*/
#include <stdlib.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
/* Demo program include files. */
#include "IntSemTest.h"
/*-----------------------------------------------------------*/
/* The priorities of the test tasks. */
#define intsemMASTER_PRIORITY ( tskIDLE_PRIORITY )
#define intsemSLAVE_PRIORITY ( tskIDLE_PRIORITY + 1 )
/* The rate at which the tick hook will give the mutex. */
#define intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS ( 100 )
/* A block time of 0 means 'don't block'. */
#define intsemNO_BLOCK 0
/* The maximum count value for the counting semaphore given from an
* interrupt. */
#define intsemMAX_COUNT 3
/*-----------------------------------------------------------*/
/*
* The master is a task that receives a mutex that is given from an interrupt -
* although generally mutexes should not be used given in interrupts (and
* definitely never taken in an interrupt) there are some circumstances when it
* may be desirable.
*
* The slave task is just used by the master task to force priority inheritance
* on a mutex that is shared between the master and the slave - which is a
* separate mutex to that given by the interrupt.
*/
static void vInterruptMutexSlaveTask( void * pvParameters );
static void vInterruptMutexMasterTask( void * pvParameters );
/*
* A test whereby the master takes the shared and interrupt mutexes in that
* order, then gives them back in the same order, ensuring the priority
* inheritance is behaving as expected at each step.
*/
static void prvTakeAndGiveInTheSameOrder( void );
/*
* A test whereby the master takes the shared and interrupt mutexes in that
* order, then gives them back in the opposite order to which they were taken,
* ensuring the priority inheritance is behaving as expected at each step.
*/
static void prvTakeAndGiveInTheOppositeOrder( void );
/*
* A simple task that interacts with an interrupt using a counting semaphore,
* primarily for code coverage purposes.
*/
static void vInterruptCountingSemaphoreTask( void * pvParameters );
/*-----------------------------------------------------------*/
/* Flag that will be latched to pdTRUE should any unexpected behaviour be
* detected in any of the tasks. */
static volatile BaseType_t xErrorDetected = pdFALSE;
/* Counters that are incremented on each cycle of a test. This is used to
* detect a stalled task - a test that is no longer running. */
static volatile uint32_t ulMasterLoops = 0, ulCountingSemaphoreLoops = 0;
/* Handles of the test tasks that must be accessed from other test tasks. */
static TaskHandle_t xSlaveHandle;
/* A mutex which is given from an interrupt - although generally mutexes should
* not be used given in interrupts (and definitely never taken in an interrupt)
* there are some circumstances when it may be desirable. */
static SemaphoreHandle_t xISRMutex = NULL;
/* A counting semaphore which is given from an interrupt. */
static SemaphoreHandle_t xISRCountingSemaphore = NULL;
/* A mutex which is shared between the master and slave tasks - the master
* does both sharing of this mutex with the slave and receiving a mutex from the
* interrupt. */
static SemaphoreHandle_t xMasterSlaveMutex = NULL;
/* Flag that allows the master task to control when the interrupt gives or does
* not give the mutex. There is no mutual exclusion on this variable, but this is
* only test code and it should be fine in the 32=bit test environment. */
static BaseType_t xOkToGiveMutex = pdFALSE, xOkToGiveCountingSemaphore = pdFALSE;
/* Used to coordinate timing between tasks and the interrupt. */
const TickType_t xInterruptGivePeriod = pdMS_TO_TICKS( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS );
/*-----------------------------------------------------------*/
void vStartInterruptSemaphoreTasks( void )
{
/* Create the semaphores that are given from an interrupt. */
xISRMutex = xSemaphoreCreateMutex();
configASSERT( xISRMutex );
xISRCountingSemaphore = xSemaphoreCreateCounting( intsemMAX_COUNT, 0 );
configASSERT( xISRCountingSemaphore );
/* Create the mutex that is shared between the master and slave tasks (the
* master receives a mutex from an interrupt and shares a mutex with the
* slave. */
xMasterSlaveMutex = xSemaphoreCreateMutex();
configASSERT( xMasterSlaveMutex );
/* Create the tasks that share mutexes between then and with interrupts. */
xTaskCreate( vInterruptMutexSlaveTask, "IntMuS", configMINIMAL_STACK_SIZE, NULL, intsemSLAVE_PRIORITY, &xSlaveHandle );
xTaskCreate( vInterruptMutexMasterTask, "IntMuM", configMINIMAL_STACK_SIZE, NULL, intsemMASTER_PRIORITY, NULL );
/* Create the task that blocks on the counting semaphore. */
xTaskCreate( vInterruptCountingSemaphoreTask, "IntCnt", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
}
/*-----------------------------------------------------------*/
static void vInterruptMutexMasterTask( void * pvParameters )
{
/* Just to avoid compiler warnings. */
( void ) pvParameters;
for( ; ; )
{
prvTakeAndGiveInTheSameOrder();
/* Ensure not to starve out other tests. */
ulMasterLoops++;
vTaskDelay( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS );
prvTakeAndGiveInTheOppositeOrder();
/* Ensure not to starve out other tests. */
ulMasterLoops++;
vTaskDelay( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS );
}
}
/*-----------------------------------------------------------*/
static void prvTakeAndGiveInTheSameOrder( void )
{
/* Ensure the slave is suspended, and that this task is running at the
* lower priority as expected as the start conditions. */
#if ( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xSlaveHandle ) == eSuspended );
}
#endif /* INCLUDE_eTaskGetState */
if( uxTaskPriorityGet( NULL ) != intsemMASTER_PRIORITY )
{
xErrorDetected = __LINE__;
}
/* Take the semaphore that is shared with the slave. */
if( xSemaphoreTake( xMasterSlaveMutex, intsemNO_BLOCK ) != pdPASS )
{
xErrorDetected = __LINE__;
}
/* This task now has the mutex. Unsuspend the slave so it too
* attempts to take the mutex. */
vTaskResume( xSlaveHandle );
/* The slave has the higher priority so should now have executed and
* blocked on the semaphore. */
#if ( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xSlaveHandle ) == eBlocked );
}
#endif /* INCLUDE_eTaskGetState */
/* This task should now have inherited the priority of the slave
* task. */
if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
{
xErrorDetected = __LINE__;
}
/* Now wait a little longer than the time between ISR gives to also
* obtain the ISR mutex. */
xOkToGiveMutex = pdTRUE;
if( xSemaphoreTake( xISRMutex, ( xInterruptGivePeriod * 2 ) ) != pdPASS )
{
xErrorDetected = __LINE__;
}
xOkToGiveMutex = pdFALSE;
/* Attempting to take again immediately should fail as the mutex is
* already held. */
if( xSemaphoreTake( xISRMutex, intsemNO_BLOCK ) != pdFAIL )
{
xErrorDetected = __LINE__;
}
/* Should still be at the priority of the slave task. */
if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
{
xErrorDetected = __LINE__;
}
/* Give back the ISR semaphore to ensure the priority is not
* disinherited as the shared mutex (which the higher priority task is
* attempting to obtain) is still held. */
if( xSemaphoreGive( xISRMutex ) != pdPASS )
{
xErrorDetected = __LINE__;
}
if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
{
xErrorDetected = __LINE__;
}
/* Finally give back the shared mutex. This time the higher priority
* task should run before this task runs again - so this task should have
* disinherited the priority and the higher priority task should be in the
* suspended state again. */
if( xSemaphoreGive( xMasterSlaveMutex ) != pdPASS )
{
xErrorDetected = __LINE__;
}
if( uxTaskPriorityGet( NULL ) != intsemMASTER_PRIORITY )
{
xErrorDetected = __LINE__;
}
#if ( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xSlaveHandle ) == eSuspended );
}
#endif /* INCLUDE_eTaskGetState */
/* Reset the mutex ready for the next round. */
xQueueReset( xISRMutex );
}
/*-----------------------------------------------------------*/
static void prvTakeAndGiveInTheOppositeOrder( void )
{
/* Ensure the slave is suspended, and that this task is running at the
* lower priority as expected as the start conditions. */
#if ( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xSlaveHandle ) == eSuspended );
}
#endif /* INCLUDE_eTaskGetState */
if( uxTaskPriorityGet( NULL ) != intsemMASTER_PRIORITY )
{
xErrorDetected = __LINE__;
}
/* Take the semaphore that is shared with the slave. */
if( xSemaphoreTake( xMasterSlaveMutex, intsemNO_BLOCK ) != pdPASS )
{
xErrorDetected = __LINE__;
}
/* This task now has the mutex. Unsuspend the slave so it too
* attempts to take the mutex. */
vTaskResume( xSlaveHandle );
/* The slave has the higher priority so should now have executed and
* blocked on the semaphore. */
#if ( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xSlaveHandle ) == eBlocked );
}
#endif /* INCLUDE_eTaskGetState */
/* This task should now have inherited the priority of the slave
* task. */
if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
{
xErrorDetected = __LINE__;
}
/* Now wait a little longer than the time between ISR gives to also
* obtain the ISR mutex. */
xOkToGiveMutex = pdTRUE;
if( xSemaphoreTake( xISRMutex, ( xInterruptGivePeriod * 2 ) ) != pdPASS )
{
xErrorDetected = __LINE__;
}
xOkToGiveMutex = pdFALSE;
/* Attempting to take again immediately should fail as the mutex is
* already held. */
if( xSemaphoreTake( xISRMutex, intsemNO_BLOCK ) != pdFAIL )
{
xErrorDetected = __LINE__;
}
/* Should still be at the priority of the slave task. */
if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
{
xErrorDetected = __LINE__;
}
/* Give back the shared semaphore to ensure the priority is not disinherited
* as the ISR mutex is still held. The higher priority slave task should run
* before this task runs again. */
if( xSemaphoreGive( xMasterSlaveMutex ) != pdPASS )
{
xErrorDetected = __LINE__;
}
/* Should still be at the priority of the slave task as this task still
* holds one semaphore (this is a simplification in the priority inheritance
* mechanism. */
if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
{
xErrorDetected = __LINE__;
}
/* Give back the ISR semaphore, which should result in the priority being
* disinherited as it was the last mutex held. */
if( xSemaphoreGive( xISRMutex ) != pdPASS )
{
xErrorDetected = __LINE__;
}
if( uxTaskPriorityGet( NULL ) != intsemMASTER_PRIORITY )
{
xErrorDetected = __LINE__;
}
/* Reset the mutex ready for the next round. */
xQueueReset( xISRMutex );
}
/*-----------------------------------------------------------*/
static void vInterruptMutexSlaveTask( void * pvParameters )
{
/* Just to avoid compiler warnings. */
( void ) pvParameters;
for( ; ; )
{
/* This task starts by suspending itself so when it executes can be
* controlled by the master task. */
vTaskSuspend( NULL );
/* This task will execute when the master task already holds the mutex.
* Attempting to take the mutex will place this task in the Blocked
* state. */
if( xSemaphoreTake( xMasterSlaveMutex, portMAX_DELAY ) != pdPASS )
{
xErrorDetected = __LINE__;
}
if( xSemaphoreGive( xMasterSlaveMutex ) != pdPASS )
{
xErrorDetected = __LINE__;
}
}
}
/*-----------------------------------------------------------*/
static void vInterruptCountingSemaphoreTask( void * pvParameters )
{
BaseType_t xCount;
const TickType_t xDelay = pdMS_TO_TICKS( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS ) * ( intsemMAX_COUNT + 1 );
( void ) pvParameters;
for( ; ; )
{
/* Expect to start with the counting semaphore empty. */
if( uxQueueMessagesWaiting( ( QueueHandle_t ) xISRCountingSemaphore ) != 0 )
{
xErrorDetected = __LINE__;
}
/* Wait until it is expected that the interrupt will have filled the
* counting semaphore. */
xOkToGiveCountingSemaphore = pdTRUE;
vTaskDelay( xDelay );
xOkToGiveCountingSemaphore = pdFALSE;
/* Now it is expected that the counting semaphore is full. */
if( uxQueueMessagesWaiting( ( QueueHandle_t ) xISRCountingSemaphore ) != intsemMAX_COUNT )
{
xErrorDetected = __LINE__;
}
if( uxQueueSpacesAvailable( ( QueueHandle_t ) xISRCountingSemaphore ) != 0 )
{
xErrorDetected = __LINE__;
}
ulCountingSemaphoreLoops++;
/* Expect to be able to take the counting semaphore intsemMAX_COUNT
* times. A block time of 0 is used as the semaphore should already be
* there. */
xCount = 0;
while( xSemaphoreTake( xISRCountingSemaphore, 0 ) == pdPASS )
{
xCount++;
}
if( xCount != intsemMAX_COUNT )
{
xErrorDetected = __LINE__;
}
/* Now raise the priority of this task so it runs immediately that the
* semaphore is given from the interrupt. */
vTaskPrioritySet( NULL, configMAX_PRIORITIES - 1 );
/* Block to wait for the semaphore to be given from the interrupt. */
xOkToGiveCountingSemaphore = pdTRUE;
xSemaphoreTake( xISRCountingSemaphore, portMAX_DELAY );
xSemaphoreTake( xISRCountingSemaphore, portMAX_DELAY );
xOkToGiveCountingSemaphore = pdFALSE;
/* Reset the priority so as not to disturb other tests too much. */
vTaskPrioritySet( NULL, tskIDLE_PRIORITY );
ulCountingSemaphoreLoops++;
}
}
/*-----------------------------------------------------------*/
void vInterruptSemaphorePeriodicTest( void )
{
static TickType_t xLastGiveTime = 0;
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
TickType_t xTimeNow;
/* No mutual exclusion on xOkToGiveMutex, but this is only test code (and
* only executed on a 32-bit architecture) so ignore that in this case. */
xTimeNow = xTaskGetTickCountFromISR();
if( ( ( TickType_t ) ( xTimeNow - xLastGiveTime ) ) >= pdMS_TO_TICKS( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS ) )
{
configASSERT( xISRMutex );
if( xOkToGiveMutex != pdFALSE )
{
/* Null is used as the second parameter in this give, and non-NULL
* in the other gives for code coverage reasons. */
xSemaphoreGiveFromISR( xISRMutex, NULL );
/* Second give attempt should fail. */
configASSERT( xSemaphoreGiveFromISR( xISRMutex, &xHigherPriorityTaskWoken ) == pdFAIL );
}
if( xOkToGiveCountingSemaphore != pdFALSE )
{
xSemaphoreGiveFromISR( xISRCountingSemaphore, &xHigherPriorityTaskWoken );
}
xLastGiveTime = xTimeNow;
}
/* Remove compiler warnings about the value being set but not used. */
( void ) xHigherPriorityTaskWoken;
}
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running. */
BaseType_t xAreInterruptSemaphoreTasksStillRunning( void )
{
static uint32_t ulLastMasterLoopCounter = 0, ulLastCountingSemaphoreLoops = 0;
BaseType_t xReturn;
/* If the demo tasks are running then it is expected that the loop counters
* will have changed since this function was last called. */
if( ulLastMasterLoopCounter == ulMasterLoops )
{
xErrorDetected = __LINE__;
}
ulLastMasterLoopCounter = ulMasterLoops;
if( ulLastCountingSemaphoreLoops == ulCountingSemaphoreLoops )
{
xErrorDetected = __LINE__;
}
ulLastCountingSemaphoreLoops = ulCountingSemaphoreLoops++;
if( xErrorDetected != pdFALSE )
{
xReturn = pdFALSE;
}
else
{
xReturn = pdTRUE;
}
return xReturn;
}

328
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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* An example that mimics a message buffer being used to pass data from one core
* to another. The core that sends the data is referred to as core A. The core
* that receives the data is referred to as core B. The task implemented by
* prvCoreATask() runs on core A. Two instances of the task implemented by
* prvCoreBTasks() run on core B. prvCoreATask() sends messages via message
* buffers to both instances of prvCoreBTasks(), one message buffer per channel.
* A third message buffer is used to pass the handle of the message buffer
* written to by core A to an interrupt service routine that is triggered by
* core A but executes on core B.
*
* The example relies on the FreeRTOS provided default implementation of
* sbSEND_COMPLETED() being overridden by an implementation in FreeRTOSConfig.h
* that writes the handle of the message buffer that contains data into the
* control message buffer, then generates an interrupt in core B. The necessary
* implementation is provided in this file and can be enabled by adding the
* following to FreeRTOSConfig.h:
*
* #define sbSEND_COMPLETED( pxStreamBuffer ) vGenerateCoreBInterrupt( pxStreamBuffer )
*
* Core to core communication via message buffer requires the message buffers
* to be at an address known to both cores within shared memory.
*
* Note that, while this example uses three message buffers, the same
* functionality can be implemented using a single message buffer by using the
* same design pattern described on the link below for queues, but using message
* buffers instead. It is actually simpler with a message buffer as variable
* length data can be written into the message buffer directly:
* https://www.FreeRTOS.org/Pend-on-multiple-rtos-objects.html#alternative_design_pattern
*/
/* Standard includes. */
#include "stdio.h"
#include "string.h"
/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "message_buffer.h"
/* Demo app includes. */
#include "MessageBufferAMP.h"
/* Enough for 3 4 byte pointers, including the additional 4 bytes per message
* overhead of message buffers. */
#define mbaCONTROL_MESSAGE_BUFFER_SIZE ( 24 )
/* Enough four 4 8 byte strings, plus the additional 4 bytes per message
* overhead of message buffers. */
#define mbaTASK_MESSAGE_BUFFER_SIZE ( 60 )
/* The number of instances of prvCoreBTasks that are created. */
#define mbaNUMBER_OF_CORE_B_TASKS 2
/* A block time of 0 simply means, don't block. */
#define mbaDONT_BLOCK 0
/* Macro that mimics an interrupt service routine executing by simply calling
* the routine inline. */
#define mbaGENERATE_CORE_B_INTERRUPT() prvCoreBInterruptHandler()
/*-----------------------------------------------------------*/
/*
* Implementation of the task that, on a real dual core device, would run on
* core A and send message to tasks running on core B.
*/
static void prvCoreATask( void * pvParameters );
/*
* Implementation of the task that, on a real dual core device, would run on
* core B and receive message from core A. The demo creates two instances of
* this task.
*/
static void prvCoreBTasks( void * pvParameters );
/*
* The function that, on a real dual core device, would handle inter-core
* interrupts, but in this case is just called inline.
*/
static void prvCoreBInterruptHandler( void );
/*-----------------------------------------------------------*/
/* The message buffers used to pass data from core A to core B. */
static MessageBufferHandle_t xCoreBMessageBuffers[ mbaNUMBER_OF_CORE_B_TASKS ];
/* The control message buffer. This is used to pass the handle of the message
* message buffer that holds application data into the core to core interrupt
* service routine. */
static MessageBufferHandle_t xControlMessageBuffer;
/* Counters used to indicate to the check that the tasks are still executing. */
static uint32_t ulCycleCounters[ mbaNUMBER_OF_CORE_B_TASKS ];
/* Set to pdFALSE if any errors are detected. Used to inform the check task
* that something might be wrong. */
BaseType_t xDemoStatus = pdPASS;
/*-----------------------------------------------------------*/
void vStartMessageBufferAMPTasks( configSTACK_DEPTH_TYPE xStackSize )
{
BaseType_t x;
xControlMessageBuffer = xMessageBufferCreate( mbaCONTROL_MESSAGE_BUFFER_SIZE );
xTaskCreate( prvCoreATask, /* The function that implements the task. */
"AMPCoreA", /* Human readable name for the task. */
xStackSize, /* Stack size (in words!). */
NULL, /* Task parameter is not used. */
tskIDLE_PRIORITY, /* The priority at which the task is created. */
NULL ); /* No use for the task handle. */
for( x = 0; x < mbaNUMBER_OF_CORE_B_TASKS; x++ )
{
xCoreBMessageBuffers[ x ] = xMessageBufferCreate( mbaTASK_MESSAGE_BUFFER_SIZE );
configASSERT( xCoreBMessageBuffers[ x ] );
/* Pass the loop counter into the created task using the task's
* parameter. The task then uses the value as an index into the
* ulCycleCounters and xCoreBMessageBuffers arrays. */
xTaskCreate( prvCoreBTasks,
"AMPCoreB1",
xStackSize,
( void * ) x,
tskIDLE_PRIORITY + 1,
NULL );
}
}
/*-----------------------------------------------------------*/
static void prvCoreATask( void * pvParameters )
{
BaseType_t x;
uint32_t ulNextValue = 0;
const TickType_t xDelay = pdMS_TO_TICKS( 250 );
char cString[ 15 ]; /* At least large enough to hold "4294967295\0" (0xffffffff). */
/* Remove warning about unused parameters. */
( void ) pvParameters;
for( ; ; )
{
/* Create the next string to send. The value is incremented on each
* loop iteration, and the length of the string changes as the number of
* digits in the value increases. */
sprintf( cString, "%lu", ( unsigned long ) ulNextValue );
/* Send the value from this (pseudo) Core A to the tasks on the (pseudo)
* Core B via the message buffers. This will result in sbSEND_COMPLETED()
* being executed, which in turn will write the handle of the message
* buffer written to into xControlMessageBuffer then generate an interrupt
* in core B. */
for( x = 0; x < mbaNUMBER_OF_CORE_B_TASKS; x++ )
{
xMessageBufferSend( /* The message buffer to write to. */
xCoreBMessageBuffers[ x ],
/* The source of the data to send. */
( void * ) cString,
/* The length of the data to send. */
strlen( cString ),
/* The block time, should the buffer be full. */
mbaDONT_BLOCK );
}
/* Delay before repeating with a different and potentially different
* length string. */
vTaskDelay( xDelay );
ulNextValue++;
}
}
/*-----------------------------------------------------------*/
static void prvCoreBTasks( void * pvParameters )
{
BaseType_t x;
size_t xReceivedBytes;
uint32_t ulNextValue = 0;
char cExpectedString[ 15 ]; /* At least large enough to hold "4294967295\0" (0xffffffff). */
char cReceivedString[ 15 ];
/* The index into the xCoreBMessageBuffers and ulLoopCounter arrays is
* passed into this task using the task's parameter. */
x = ( BaseType_t ) pvParameters;
configASSERT( x < mbaNUMBER_OF_CORE_B_TASKS );
for( ; ; )
{
/* Create the string that is expected to be received this time round. */
sprintf( cExpectedString, "%lu", ( unsigned long ) ulNextValue );
/* Wait to receive the next message from core A. */
memset( cReceivedString, 0x00, sizeof( cReceivedString ) );
xReceivedBytes = xMessageBufferReceive( /* The message buffer to receive from. */
xCoreBMessageBuffers[ x ],
/* Location to store received data. */
cReceivedString,
/* Maximum number of bytes to receive. */
sizeof( cReceivedString ),
/* Ticks to wait if buffer is empty. */
portMAX_DELAY );
/* Check the number of bytes received was as expected. */
configASSERT( xReceivedBytes == strlen( cExpectedString ) );
( void ) xReceivedBytes; /* Incase configASSERT() is not defined. */
/* If the received string matches that expected then increment the loop
* counter so the check task knows this task is still running. */
if( strcmp( cReceivedString, cExpectedString ) == 0 )
{
( ulCycleCounters[ x ] )++;
}
else
{
xDemoStatus = pdFAIL;
}
/* Expect the next string in sequence the next time around. */
ulNextValue++;
}
}
/*-----------------------------------------------------------*/
/* Called by the re-implementation of sbSEND_COMPLETED(), which can be defined
* as follows in FreeRTOSConfig.h:
#define sbSEND_COMPLETED( pxStreamBuffer ) vGenerateCoreBInterrupt( pxStreamBuffer )
*/
void vGenerateCoreBInterrupt( void * xUpdatedMessageBuffer )
{
MessageBufferHandle_t xUpdatedBuffer = ( MessageBufferHandle_t ) xUpdatedMessageBuffer;
/* If sbSEND_COMPLETED() has been implemented as above, then this function
* is called from within xMessageBufferSend(). As this function also calls
* xMessageBufferSend() itself it is necessary to guard against a recursive
* call. If the message buffer just updated is the message buffer written to
* by this function, then this is a recursive call, and the function can just
* exit without taking further action. */
if( xUpdatedBuffer != xControlMessageBuffer )
{
/* Use xControlMessageBuffer to pass the handle of the message buffer
* written to by core A to the interrupt handler about to be generated in
* core B. */
xMessageBufferSend( xControlMessageBuffer, &xUpdatedBuffer, sizeof( xUpdatedBuffer ), mbaDONT_BLOCK );
/* This is where the interrupt would be generated. In this case it is
* not a genuine interrupt handler that executes, just a standard function
* call. */
mbaGENERATE_CORE_B_INTERRUPT();
}
}
/*-----------------------------------------------------------*/
/* Handler for the interrupts that are triggered on core A but execute on core
* B. */
static void prvCoreBInterruptHandler( void )
{
MessageBufferHandle_t xUpdatedMessageBuffer;
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
/* xControlMessageBuffer contains the handle of the message buffer that
* contains data. */
if( xMessageBufferReceive( xControlMessageBuffer,
&xUpdatedMessageBuffer,
sizeof( xUpdatedMessageBuffer ),
mbaDONT_BLOCK ) == sizeof( xUpdatedMessageBuffer ) )
{
/* Call the API function that sends a notification to any task that is
* blocked on the xUpdatedMessageBuffer message buffer waiting for data to
* arrive. */
xMessageBufferSendCompletedFromISR( xUpdatedMessageBuffer, &xHigherPriorityTaskWoken );
}
/* Normal FreeRTOS yield from interrupt semantics, where
* xHigherPriorityTaskWoken is initialized to pdFALSE and will then get set to
* pdTRUE if the interrupt safe API unblocks a task that has a priority above
* that of the currently executing task. */
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
}
/*-----------------------------------------------------------*/
BaseType_t xAreMessageBufferAMPTasksStillRunning( void )
{
static uint32_t ulLastCycleCounters[ mbaNUMBER_OF_CORE_B_TASKS ] = { 0 };
BaseType_t x;
/* Called by the check task to determine the health status of the tasks
* implemented in this demo. */
for( x = 0; x < mbaNUMBER_OF_CORE_B_TASKS; x++ )
{
if( ulLastCycleCounters[ x ] == ulCycleCounters[ x ] )
{
xDemoStatus = pdFAIL;
}
else
{
ulLastCycleCounters[ x ] = ulCycleCounters[ x ];
}
}
return xDemoStatus;
}

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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/* Standard includes. */
#include "stdio.h"
#include "string.h"
/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "message_buffer.h"
/* Demo app includes. */
#include "MessageBufferDemo.h"
/* The number of bytes of storage in the message buffers used in this test. */
#define mbMESSAGE_BUFFER_LENGTH_BYTES ( ( size_t ) 50 )
/* The number of additional bytes used to store the length of each message. */
#define mbBYTES_TO_STORE_MESSAGE_LENGTH ( sizeof( configMESSAGE_BUFFER_LENGTH_TYPE ) )
/* Start and end ASCII characters used in messages sent to the buffers. */
#define mbASCII_SPACE 32
#define mbASCII_TILDA 126
/* Defines the number of tasks to create in this test and demo. */
#define mbNUMBER_OF_ECHO_CLIENTS ( 2 )
#define mbNUMBER_OF_SENDER_TASKS ( 2 )
/* Priority of the test tasks. The send and receive go from low to high
* priority tasks, and from high to low priority tasks. */
#define mbLOWER_PRIORITY ( tskIDLE_PRIORITY )
#define mbHIGHER_PRIORITY ( tskIDLE_PRIORITY + 1 )
/* Block times used when sending and receiving from the message buffers. */
#define mbRX_TX_BLOCK_TIME pdMS_TO_TICKS( 175UL )
/* A block time of 0 means "don't block". */
#define mbDONT_BLOCK ( 0 )
/*-----------------------------------------------------------*/
/*
* Performs various tests that do not require multiple tasks to interact.
*/
static void prvSingleTaskTests( MessageBufferHandle_t xMessageBuffer );
/*
* Tests sending and receiving various lengths of messages via a message buffer.
* The echo client sends the messages to the echo server, which then sends the
* message back to the echo client which, checks it receives exactly what it
* sent.
*/
static void prvEchoClient( void * pvParameters );
static void prvEchoServer( void * pvParameters );
/*
* Tasks that send and receive to a message buffer at a low priority and without
* blocking, so the send and receive functions interleave in time as the tasks
* are switched in and out.
*/
static void prvNonBlockingReceiverTask( void * pvParameters );
static void prvNonBlockingSenderTask( void * pvParameters );
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
/* This file tests both statically and dynamically allocated message buffers.
* Allocate the structures and buffers to be used by the statically allocated
* objects, which get used in the echo tests. */
static void prvReceiverTask( void * pvParameters );
static void prvSenderTask( void * pvParameters );
static StaticMessageBuffer_t xStaticMessageBuffers[ mbNUMBER_OF_ECHO_CLIENTS ];
static uint8_t ucBufferStorage[ mbNUMBER_OF_SENDER_TASKS ][ mbMESSAGE_BUFFER_LENGTH_BYTES + 1 ];
static uint32_t ulSenderLoopCounters[ mbNUMBER_OF_SENDER_TASKS ] = { 0 };
#endif /* configSUPPORT_STATIC_ALLOCATION */
#if ( configRUN_ADDITIONAL_TESTS == 1 )
#define mbCOHERENCE_TEST_BUFFER_SIZE 20
#define mbCOHERENCE_TEST_BYTES_WRITTEN 5
#define mbBYTES_TO_STORE_MESSAGE_LENGTH ( sizeof( configMESSAGE_BUFFER_LENGTH_TYPE ) )
#define mbEXPECTED_FREE_BYTES_AFTER_WRITING_STRING ( mbCOHERENCE_TEST_BUFFER_SIZE - ( mbCOHERENCE_TEST_BYTES_WRITTEN + mbBYTES_TO_STORE_MESSAGE_LENGTH ) )
static void prvSpaceAvailableCoherenceActor( void * pvParameters );
static void prvSpaceAvailableCoherenceTester( void * pvParameters );
static MessageBufferHandle_t xCoherenceTestMessageBuffer = NULL;
static uint32_t ulSizeCoherencyTestCycles = 0UL;
#endif /* if ( configRUN_ADDITIONAL_TESTS == 1 ) */
/*-----------------------------------------------------------*/
/* The buffers used by the echo client and server tasks. */
typedef struct ECHO_MESSAGE_BUFFERS
{
/* Handles to the data structures that describe the message buffers. */
MessageBufferHandle_t xEchoClientBuffer;
MessageBufferHandle_t xEchoServerBuffer;
} EchoMessageBuffers_t;
static uint32_t ulEchoLoopCounters[ mbNUMBER_OF_ECHO_CLIENTS ] = { 0 };
/* The non-blocking tasks monitor their operation, and if no errors have been
* found, increment ulNonBlockingRxCounter. xAreMessageBufferTasksStillRunning()
* then checks ulNonBlockingRxCounter and only returns pdPASS if
* ulNonBlockingRxCounter is still incrementing. */
static uint32_t ulNonBlockingRxCounter = 0;
/* A message that is longer than the buffer, parts of which are written to the
* message buffer to test writing different lengths at different offsets. */
static const char * pc55ByteString = "One two three four five six seven eight nine ten eleven";
/* Remember the required stack size so tasks can be created at run time (after
* initialisation time. */
static configSTACK_DEPTH_TYPE xBlockingStackSize = 0;
/*-----------------------------------------------------------*/
void vStartMessageBufferTasks( configSTACK_DEPTH_TYPE xStackSize )
{
MessageBufferHandle_t xMessageBuffer;
#ifndef configMESSAGE_BUFFER_BLOCK_TASK_STACK_SIZE
xBlockingStackSize = ( xStackSize + ( xStackSize >> 1U ) );
#else
xBlockingStackSize = configMESSAGE_BUFFER_BLOCK_TASK_STACK_SIZE;
#endif
/* The echo servers sets up the message buffers before creating the echo
* client tasks. One set of tasks has the server as the higher priority, and
* the other has the client as the higher priority. */
xTaskCreate( prvEchoServer, "1EchoServer", xBlockingStackSize, NULL, mbHIGHER_PRIORITY, NULL );
xTaskCreate( prvEchoServer, "2EchoServer", xBlockingStackSize, NULL, mbLOWER_PRIORITY, NULL );
/* The non blocking tasks run continuously and will interleave with each
* other, so must be created at the lowest priority. The message buffer they
* use is created and passed in using the task's parameter. */
xMessageBuffer = xMessageBufferCreate( mbMESSAGE_BUFFER_LENGTH_BYTES );
xTaskCreate( prvNonBlockingReceiverTask, "NonBlkRx", xStackSize, ( void * ) xMessageBuffer, tskIDLE_PRIORITY, NULL );
xTaskCreate( prvNonBlockingSenderTask, "NonBlkTx", xStackSize, ( void * ) xMessageBuffer, tskIDLE_PRIORITY, NULL );
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
{
/* The sender tasks set up the message buffers before creating the
* receiver tasks. Priorities must be 0 and 1 as the priority is used to
* index into the xStaticMessageBuffers and ucBufferStorage arrays. */
xTaskCreate( prvSenderTask, "1Sender", xBlockingStackSize, NULL, mbHIGHER_PRIORITY, NULL );
xTaskCreate( prvSenderTask, "2Sender", xBlockingStackSize, NULL, mbLOWER_PRIORITY, NULL );
}
#endif /* configSUPPORT_STATIC_ALLOCATION */
#if ( configRUN_ADDITIONAL_TESTS == 1 )
{
xCoherenceTestMessageBuffer = xMessageBufferCreate( mbCOHERENCE_TEST_BUFFER_SIZE );
configASSERT( xCoherenceTestMessageBuffer );
xTaskCreate( prvSpaceAvailableCoherenceActor, "mbsanity1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
xTaskCreate( prvSpaceAvailableCoherenceTester, "mbsanity2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
}
#endif
}
/*-----------------------------------------------------------*/
static void prvSingleTaskTests( MessageBufferHandle_t xMessageBuffer )
{
size_t xReturned, xItem, xExpectedSpace, xNextLength;
const size_t xMax6ByteMessages = mbMESSAGE_BUFFER_LENGTH_BYTES / ( 6 + mbBYTES_TO_STORE_MESSAGE_LENGTH );
const size_t x6ByteLength = 6, x17ByteLength = 17;
uint8_t * pucFullBuffer, * pucData, * pucReadData;
TickType_t xTimeBeforeCall, xTimeAfterCall;
const TickType_t xBlockTime = pdMS_TO_TICKS( 25 ), xAllowableMargin = pdMS_TO_TICKS( 3 );
UBaseType_t uxOriginalPriority;
/* Remove warning in case configASSERT() is not defined. */
( void ) xAllowableMargin;
/* To minimise stack and heap usage a full size buffer is allocated from
* the heap, then buffers which hold smaller amounts of data are overlayed
* with the larger buffer - just make sure not to use both at once!. */
pucFullBuffer = pvPortMalloc( mbMESSAGE_BUFFER_LENGTH_BYTES );
configASSERT( pucFullBuffer );
pucData = pucFullBuffer;
pucReadData = pucData + x17ByteLength;
/* Nothing has been added or removed yet, so expect the free space to be
* exactly as created and the length of the next message to be 0. */
xExpectedSpace = xMessageBufferSpaceAvailable( xMessageBuffer );
configASSERT( xExpectedSpace == mbMESSAGE_BUFFER_LENGTH_BYTES );
configASSERT( xMessageBufferIsEmpty( xMessageBuffer ) == pdTRUE );
xNextLength = xMessageBufferNextLengthBytes( xMessageBuffer );
configASSERT( xNextLength == 0 );
/* In case configASSERT() is not define. */
( void ) xExpectedSpace;
( void ) xNextLength;
/* Try sending more bytes than possible, first using the FromISR version, then
* with an infinite block time to ensure this task does not lock up. */
xReturned = xMessageBufferSendFromISR( xMessageBuffer, ( void * ) pucData, mbMESSAGE_BUFFER_LENGTH_BYTES + sizeof( configMESSAGE_BUFFER_LENGTH_TYPE ), NULL );
configASSERT( xReturned == ( size_t ) 0 );
/* In case configASSERT() is not defined. */
( void ) xReturned;
xReturned = xMessageBufferSend( xMessageBuffer, ( void * ) pucData, mbMESSAGE_BUFFER_LENGTH_BYTES + sizeof( configMESSAGE_BUFFER_LENGTH_TYPE ), portMAX_DELAY );
configASSERT( xReturned == ( size_t ) 0 );
/* In case configASSERT() is not defined. */
( void ) xReturned;
/* The buffer is 50 bytes long. When an item is added to the buffer an
* additional 4 bytes are added to hold the item's size. That means adding
* 6 bytes to the buffer will actually add 10 bytes to the buffer. Therefore,
* with a 50 byte buffer, a maximum of 5 6 bytes items can be added before the
* buffer is completely full. NOTE: The numbers in this paragraph assume
* sizeof( configMESSAGE_BUFFER_LENGTH_TYPE ) == 4. */
for( xItem = 0; xItem < xMax6ByteMessages; xItem++ )
{
configASSERT( xMessageBufferIsFull( xMessageBuffer ) == pdFALSE );
/* Generate recognizable data to write to the buffer. This is just
* ascii characters that shows which loop iteration the data was written
* in. The 'FromISR' version is used to give it some exercise as a block
* time is not used. That requires the call to be in a critical section
* so this code can also run on FreeRTOS ports that do not support
* interrupt nesting (and so don't have interrupt safe critical
* sections).*/
memset( ( void * ) pucData, ( ( int ) '0' ) + ( int ) xItem, x6ByteLength );
taskENTER_CRITICAL();
{
xReturned = xMessageBufferSendFromISR( xMessageBuffer, ( void * ) pucData, x6ByteLength, NULL );
}
taskEXIT_CRITICAL();
configASSERT( xReturned == x6ByteLength );
( void ) xReturned; /* In case configASSERT() is not defined. */
/* The space in the buffer will have reduced by the amount of user data
* written into the buffer and the amount of space used to store the length
* of the data written into the buffer. */
xExpectedSpace -= ( x6ByteLength + mbBYTES_TO_STORE_MESSAGE_LENGTH );
xReturned = xMessageBufferSpaceAvailable( xMessageBuffer );
configASSERT( xReturned == xExpectedSpace );
( void ) xReturned; /* In case configASSERT() is not defined. */
/* Only 6 byte messages are written. */
xNextLength = xMessageBufferNextLengthBytes( xMessageBuffer );
configASSERT( xNextLength == x6ByteLength );
( void ) xNextLength; /* In case configASSERT() is not defined. */
}
/* Now the buffer should be full, and attempting to add anything will should
* fail. */
configASSERT( xMessageBufferIsFull( xMessageBuffer ) == pdTRUE );
xReturned = xMessageBufferSend( xMessageBuffer, ( void * ) pucData, sizeof( pucData[ 0 ] ), mbDONT_BLOCK );
configASSERT( xReturned == 0 );
( void ) xReturned; /* In case configASSERT() is not defined. */
/* Adding with a timeout should also fail after the appropriate time. The
* priority is temporarily boosted in this part of the test to keep the
* allowable margin to a minimum. */
uxOriginalPriority = uxTaskPriorityGet( NULL );
vTaskPrioritySet( NULL, configMAX_PRIORITIES - 1 );
xTimeBeforeCall = xTaskGetTickCount();
xReturned = xMessageBufferSend( xMessageBuffer, ( void * ) pucData, sizeof( pucData[ 0 ] ), xBlockTime );
xTimeAfterCall = xTaskGetTickCount();
vTaskPrioritySet( NULL, uxOriginalPriority );
configASSERT( ( ( TickType_t ) ( xTimeAfterCall - xTimeBeforeCall ) ) >= xBlockTime );
configASSERT( ( ( TickType_t ) ( xTimeAfterCall - xTimeBeforeCall ) ) < ( xBlockTime + xAllowableMargin ) );
configASSERT( xReturned == 0 );
( void ) xReturned; /* In case configASSERT() is not defined. */
( void ) xTimeBeforeCall;
( void ) xTimeAfterCall;
/* The buffer is now full of data in the form "000000", "111111", etc. Make
* sure the data is read out as expected. */
for( xItem = 0; xItem < xMax6ByteMessages; xItem++ )
{
/* Generate the data that is expected to be read out for this loop
* iteration. */
memset( ( void * ) pucData, ( ( int ) '0' ) + ( int ) xItem, x6ByteLength );
/* Try reading the message into a buffer that is too small. The message
* should remain in the buffer. */
xReturned = xMessageBufferReceive( xMessageBuffer, ( void * ) pucReadData, x6ByteLength - 1, mbDONT_BLOCK );
configASSERT( xReturned == 0 );
( void ) xReturned; /* In case configASSERT() is not defined. */
/* Should still be at least one 6 byte message still available. */
xNextLength = xMessageBufferNextLengthBytes( xMessageBuffer );
configASSERT( xNextLength == x6ByteLength );
( void ) xNextLength; /* In case configASSERT() is not defined. */
/* Read the next 6 bytes out. The 'FromISR' version is used to give it
* some exercise as a block time is not used. THa requires the code to be
* in a critical section so this test can be run with FreeRTOS ports that
* do not support interrupt nesting (and therefore don't have interrupt
* safe critical sections). */
taskENTER_CRITICAL();
{
xReturned = xMessageBufferReceiveFromISR( xMessageBuffer, ( void * ) pucReadData, x6ByteLength, NULL );
}
taskEXIT_CRITICAL();
configASSERT( xReturned == x6ByteLength );
( void ) xReturned; /* In case configASSERT() is not defined. */
/* Does the data read out match that expected? */
configASSERT( memcmp( ( void * ) pucData, ( void * ) pucReadData, x6ByteLength ) == 0 );
/* The space in the buffer will have increased by the amount of user
* data read from into the buffer and the amount of space used to store the
* length of the data read into the buffer. */
xExpectedSpace += ( x6ByteLength + mbBYTES_TO_STORE_MESSAGE_LENGTH );
xReturned = xMessageBufferSpaceAvailable( xMessageBuffer );
configASSERT( xReturned == xExpectedSpace );
( void ) xReturned; /* In case configASSERT() is not defined. */
}
/* The buffer should be empty again. */
configASSERT( xMessageBufferIsEmpty( xMessageBuffer ) == pdTRUE );
xExpectedSpace = xMessageBufferSpaceAvailable( xMessageBuffer );
configASSERT( xExpectedSpace == mbMESSAGE_BUFFER_LENGTH_BYTES );
( void ) xExpectedSpace; /* In case configASSERT() is not defined. */
xNextLength = xMessageBufferNextLengthBytes( xMessageBuffer );
configASSERT( xNextLength == 0 );
( void ) xNextLength; /* In case configASSERT() is not defined. */
/* Reading with a timeout should also fail after the appropriate time. The
* priority is temporarily boosted in this part of the test to keep the
* allowable margin to a minimum. */
vTaskPrioritySet( NULL, configMAX_PRIORITIES - 1 );
xTimeBeforeCall = xTaskGetTickCount();
xReturned = xMessageBufferReceive( xMessageBuffer, ( void * ) pucReadData, x6ByteLength, xBlockTime );
xTimeAfterCall = xTaskGetTickCount();
vTaskPrioritySet( NULL, uxOriginalPriority );
configASSERT( ( xTimeAfterCall - xTimeBeforeCall ) >= xBlockTime );
configASSERT( ( xTimeAfterCall - xTimeBeforeCall ) < ( xBlockTime + xAllowableMargin ) );
configASSERT( xReturned == 0 );
( void ) xReturned; /* In case configASSERT() is not defined. */
( void ) xTimeBeforeCall;
( void ) xTimeAfterCall;
/* In the next loop 17 bytes are written to then read out on each iteration.
* The expected length variable is always used after 17 bytes have been written
* into the buffer - the length of the message is also written, making a total
* of 21 bytes consumed for each 17 byte message. */
xExpectedSpace = mbMESSAGE_BUFFER_LENGTH_BYTES - ( x17ByteLength + mbBYTES_TO_STORE_MESSAGE_LENGTH );
/* Reading and writing 17 bytes at a time will result in 21 bytes being
* written into the buffer, and as 50 is not divisible by 21, writing multiple
* times will cause the data to wrap in the buffer.*/
for( xItem = 0; xItem < 100; xItem++ )
{
/* Generate recognizable data to write to the queue. This is just
* ascii characters that shows which loop iteration the data was written
* in. */
memset( ( void * ) pucData, ( ( int ) '0' ) + ( int ) xItem, x17ByteLength );
xReturned = xMessageBufferSend( xMessageBuffer, ( void * ) pucData, x17ByteLength, mbDONT_BLOCK );
configASSERT( xReturned == x17ByteLength );
( void ) xReturned; /* In case configASSERT() is not defined. */
/* Only 17 byte messages are written. */
xNextLength = xMessageBufferNextLengthBytes( xMessageBuffer );
configASSERT( xNextLength == x17ByteLength );
( void ) xNextLength; /* In case configASSERT() is not defined. */
/* The space in the buffer will have reduced by the amount of user data
* written into the buffer and the amount of space used to store the length
* of the data written into the buffer. */
xReturned = xMessageBufferSpaceAvailable( xMessageBuffer );
configASSERT( xReturned == xExpectedSpace );
( void ) xReturned; /* In case configASSERT() is not defined. */
/* Read the 17 bytes out again. */
xReturned = xMessageBufferReceive( xMessageBuffer, ( void * ) pucReadData, x17ByteLength, mbDONT_BLOCK );
configASSERT( xReturned == x17ByteLength );
( void ) xReturned; /* In case configASSERT() is not defined. */
/* Does the data read out match that expected? */
configASSERT( memcmp( ( void * ) pucData, ( void * ) pucReadData, x17ByteLength ) == 0 );
/* Don't expect any messages to be available as the data was read out
* again. */
xNextLength = xMessageBufferNextLengthBytes( xMessageBuffer );
configASSERT( xNextLength == 0 );
( void ) xNextLength; /* In case configASSERT() is not defined. */
}
/* The buffer should be empty again. */
configASSERT( xMessageBufferIsEmpty( xMessageBuffer ) == pdTRUE );
xExpectedSpace = xMessageBufferSpaceAvailable( xMessageBuffer );
configASSERT( xExpectedSpace == mbMESSAGE_BUFFER_LENGTH_BYTES );
/* Cannot write within sizeof( size_t ) (assumed to be 4 bytes in this test)
* bytes of the full 50 bytes, as that would not leave space for the four bytes
* taken by the data length. */
xReturned = xMessageBufferSend( xMessageBuffer, ( const void * ) pc55ByteString, mbMESSAGE_BUFFER_LENGTH_BYTES, mbDONT_BLOCK );
configASSERT( xReturned == 0 );
( void ) xReturned; /* In case configASSERT() is not defined. */
#ifndef configMESSAGE_BUFFER_LENGTH_TYPE
{
/* The following will fail if configMESSAGE_BUFFER_LENGTH_TYPE is set
* to a non 32-bit type. */
xReturned = xMessageBufferSend( xMessageBuffer, ( const void * ) pc55ByteString, mbMESSAGE_BUFFER_LENGTH_BYTES - 1, mbDONT_BLOCK );
configASSERT( xReturned == 0 );
( void ) xReturned; /* In case configASSERT() is not defined. */
xReturned = xMessageBufferSend( xMessageBuffer, ( const void * ) pc55ByteString, mbMESSAGE_BUFFER_LENGTH_BYTES - 2, mbDONT_BLOCK );
configASSERT( xReturned == 0 );
( void ) xReturned; /* In case configASSERT() is not defined. */
xReturned = xMessageBufferSend( xMessageBuffer, ( const void * ) pc55ByteString, mbMESSAGE_BUFFER_LENGTH_BYTES - 3, mbDONT_BLOCK );
configASSERT( xReturned == 0 );
( void ) xReturned; /* In case configASSERT() is not defined. */
}
#endif /* ifndef configMESSAGE_BUFFER_LENGTH_TYPE */
/* Don't expect any messages to be available as the above were too large to
* get written. */
xNextLength = xMessageBufferNextLengthBytes( xMessageBuffer );
configASSERT( xNextLength == 0 );
( void ) xNextLength; /* In case configASSERT() is not defined. */
/* Can write mbMESSAGE_BUFFER_LENGTH_BYTES - sizeof( size_t ) bytes though. */
xReturned = xMessageBufferSend( xMessageBuffer, ( const void * ) pc55ByteString, mbMESSAGE_BUFFER_LENGTH_BYTES - sizeof( size_t ), mbDONT_BLOCK );
configASSERT( xReturned == mbMESSAGE_BUFFER_LENGTH_BYTES - sizeof( size_t ) );
( void ) xReturned; /* In case configASSERT() is not defined. */
xNextLength = xMessageBufferNextLengthBytes( xMessageBuffer );
configASSERT( xNextLength == ( mbMESSAGE_BUFFER_LENGTH_BYTES - sizeof( size_t ) ) );
( void ) xNextLength; /* In case configASSERT() is not defined. */
xReturned = xMessageBufferReceive( xMessageBuffer, ( void * ) pucFullBuffer, mbMESSAGE_BUFFER_LENGTH_BYTES - sizeof( size_t ), mbDONT_BLOCK );
configASSERT( xReturned == ( mbMESSAGE_BUFFER_LENGTH_BYTES - sizeof( size_t ) ) );
( void ) xReturned; /* In case configASSERT() is not defined. */
configASSERT( memcmp( ( const void * ) pucFullBuffer, pc55ByteString, mbMESSAGE_BUFFER_LENGTH_BYTES - sizeof( size_t ) ) == 0 );
/* Clean up. */
vPortFree( pucFullBuffer );
xMessageBufferReset( xMessageBuffer );
}
/*-----------------------------------------------------------*/
static void prvNonBlockingSenderTask( void * pvParameters )
{
MessageBufferHandle_t xMessageBuffer;
int32_t iDataToSend = 0;
size_t xStringLength;
const int32_t iMaxValue = 1500;
char cTxString[ 12 ]; /* Large enough to hold a 32 number in ASCII. */
/* In this case the message buffer has already been created and is passed
* into the task using the task's parameter. */
xMessageBuffer = ( MessageBufferHandle_t ) pvParameters;
/* Create a string from an incrementing number. The length of the
* string will increase and decrease as the value of the number increases
* then overflows. */
memset( cTxString, 0x00, sizeof( cTxString ) );
sprintf( cTxString, "%d", ( int ) iDataToSend );
xStringLength = strlen( cTxString );
for( ; ; )
{
/* Doesn't block so calls can interleave with the non-blocking
* receives performed by prvNonBlockingReceiverTask(). */
if( xMessageBufferSend( xMessageBuffer, ( void * ) cTxString, strlen( cTxString ), mbDONT_BLOCK ) == xStringLength )
{
iDataToSend++;
if( iDataToSend > iMaxValue )
{
/* The value sent is reset back to 0 to ensure the string being sent
* does not remain at the same length for too long. */
iDataToSend = 0;
}
/* Create the next string. */
memset( cTxString, 0x00, sizeof( cTxString ) );
sprintf( cTxString, "%d", ( int ) iDataToSend );
xStringLength = strlen( cTxString );
}
}
}
/*-----------------------------------------------------------*/
static void prvNonBlockingReceiverTask( void * pvParameters )
{
MessageBufferHandle_t xMessageBuffer;
BaseType_t xNonBlockingReceiveError = pdFALSE;
int32_t iDataToSend = 0;
size_t xStringLength, xReceiveLength;
const int32_t iMaxValue = 1500;
char cExpectedString[ 12 ]; /* Large enough to hold a 32 number in ASCII. */
char cRxString[ 12 ];
/* In this case the message buffer has already been created and is passed
* into the task using the task's parameter. */
xMessageBuffer = ( MessageBufferHandle_t ) pvParameters;
/* Create a string from an incrementing number. The length of the
* string will increase and decrease as the value of the number increases
* then overflows. This should always match the string sent to the buffer by
* the non blocking sender task. */
memset( cExpectedString, 0x00, sizeof( cExpectedString ) );
memset( cRxString, 0x00, sizeof( cRxString ) );
sprintf( cExpectedString, "%d", ( int ) iDataToSend );
xStringLength = strlen( cExpectedString );
for( ; ; )
{
/* Doesn't block so calls can interleave with the non-blocking
* receives performed by prvNonBlockingReceiverTask(). */
xReceiveLength = xMessageBufferReceive( xMessageBuffer, ( void * ) cRxString, sizeof( cRxString ), mbDONT_BLOCK );
/* Should only ever receive no data is available, or the expected
* length of data is available. */
if( ( xReceiveLength != 0 ) && ( xReceiveLength != xStringLength ) )
{
xNonBlockingReceiveError = pdTRUE;
}
if( xReceiveLength == xStringLength )
{
/* Ensure the received data was that expected, then generate the
* next expected string. */
if( strcmp( cRxString, cExpectedString ) != 0 )
{
xNonBlockingReceiveError = pdTRUE;
}
iDataToSend++;
if( iDataToSend > iMaxValue )
{
/* The value sent is reset back to 0 to ensure the string being sent
* does not remain at the same length for too long. */
iDataToSend = 0;
}
memset( cExpectedString, 0x00, sizeof( cExpectedString ) );
memset( cRxString, 0x00, sizeof( cRxString ) );
sprintf( cExpectedString, "%d", ( int ) iDataToSend );
xStringLength = strlen( cExpectedString );
if( xNonBlockingReceiveError == pdFALSE )
{
/* No errors detected so increment the counter that lets the
* check task know this test is still functioning correctly. */
ulNonBlockingRxCounter++;
}
}
}
}
/*-----------------------------------------------------------*/
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
static void prvSenderTask( void * pvParameters )
{
MessageBufferHandle_t xMessageBuffer, xTempMessageBuffer;
int32_t iDataToSend = 0;
const int32_t iSendsBetweenIncrements = 100;
char cTxString[ 12 ]; /* Large enough to hold a 32 number in ASCII. */
const TickType_t xTicksToWait = mbRX_TX_BLOCK_TIME, xShortDelay = pdMS_TO_TICKS( 50 );
StaticMessageBuffer_t xStaticMessageBuffer;
size_t xBytesSent;
/* The task's priority is used as an index into the loop counters used to
* indicate this task is still running. */
UBaseType_t uxIndex = uxTaskPriorityGet( NULL );
/* Make sure a change in priority does not inadvertently result in an
* invalid array index. */
configASSERT( uxIndex < mbNUMBER_OF_ECHO_CLIENTS );
/* Avoid compiler warnings about unused parameters. */
( void ) pvParameters;
xMessageBuffer = xMessageBufferCreateStatic( sizeof( ucBufferStorage ) / mbNUMBER_OF_SENDER_TASKS, /* The number of bytes in each buffer in the array. */
&( ucBufferStorage[ uxIndex ][ 0 ] ), /* The address of the buffer to use within the array. */
&( xStaticMessageBuffers[ uxIndex ] ) ); /* The static message buffer structure to use within the array. */
/* Now the message buffer has been created the receiver task can be created.
* If this sender task has the higher priority then the receiver task is
* created at the lower priority - if this sender task has the lower priority
* then the receiver task is created at the higher priority. */
if( uxTaskPriorityGet( NULL ) == mbLOWER_PRIORITY )
{
/* Here prvSingleTaskTests() performs various tests on a message buffer
* that was created statically. */
prvSingleTaskTests( xMessageBuffer );
xTaskCreate( prvReceiverTask, "MsgReceiver", xBlockingStackSize, ( void * ) xMessageBuffer, mbHIGHER_PRIORITY, NULL );
}
else
{
xTaskCreate( prvReceiverTask, "MsgReceiver", xBlockingStackSize, ( void * ) xMessageBuffer, mbLOWER_PRIORITY, NULL );
}
for( ; ; )
{
/* Create a string from an incrementing number. The length of the
* string will increase and decrease as the value of the number increases
* then overflows. */
memset( cTxString, 0x00, sizeof( cTxString ) );
sprintf( cTxString, "%d", ( int ) iDataToSend );
do
{
xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) cTxString, strlen( cTxString ), xTicksToWait );
} while( xBytesSent == 0 ); /* Buffer may become full when receiver is running at the idle priority. */
iDataToSend++;
if( ( iDataToSend % iSendsBetweenIncrements ) == 0 )
{
/* Increment a loop counter so a check task can tell this task is
* still running as expected. */
ulSenderLoopCounters[ uxIndex ]++;
if( uxTaskPriorityGet( NULL ) == mbHIGHER_PRIORITY )
{
/* Allow other tasks to run. */
vTaskDelay( xShortDelay );
}
/* This message buffer is just created and deleted to ensure no
* issues when attempting to delete a message buffer that was
* created using statically allocated memory. To save stack space
* the buffer is set to point to the cTxString array - this is
* ok because nothing is actually written to the memory. */
xTempMessageBuffer = xMessageBufferCreateStatic( sizeof( cTxString ), ( uint8_t * ) cTxString, &xStaticMessageBuffer );
vMessageBufferDelete( xTempMessageBuffer );
}
}
}
#endif /* configSUPPORT_STATIC_ALLOCATION */
/*-----------------------------------------------------------*/
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
static void prvReceiverTask( void * pvParameters )
{
MessageBufferHandle_t const pxMessageBuffer = ( MessageBufferHandle_t ) pvParameters;
char cExpectedString[ 12 ]; /* Large enough to hold a 32-bit number in ASCII. */
char cReceivedString[ 12 ]; /* Large enough to hold a 32-bit number in ASCII. */
int32_t iExpectedData = 0;
const TickType_t xTicksToWait = pdMS_TO_TICKS( 5UL );
size_t xReceivedBytes;
for( ; ; )
{
/* Generate the next expected string in the cExpectedString buffer. */
memset( cExpectedString, 0x00, sizeof( cExpectedString ) );
sprintf( cExpectedString, "%d", ( int ) iExpectedData );
/* Receive the next string from the message buffer. */
memset( cReceivedString, 0x00, sizeof( cReceivedString ) );
do
{
xReceivedBytes = xMessageBufferReceive( pxMessageBuffer, ( void * ) cReceivedString, sizeof( cExpectedString ), xTicksToWait );
} while( xReceivedBytes == 0 );
/* Ensure the received string matches the expected string. */
configASSERT( strcmp( cExpectedString, cReceivedString ) == 0 );
iExpectedData++;
}
}
#endif /* configSUPPORT_STATIC_ALLOCATION */
/*-----------------------------------------------------------*/
static void prvEchoClient( void * pvParameters )
{
size_t xSendLength = 0, ux;
char * pcStringToSend, * pcStringReceived, cNextChar = mbASCII_SPACE;
const TickType_t xTicksToWait = pdMS_TO_TICKS( 50 );
/* The task's priority is used as an index into the loop counters used to
* indicate this task is still running. */
UBaseType_t uxIndex = uxTaskPriorityGet( NULL );
/* Pointers to the client and server message buffers are passed into this task
* using the task's parameter. */
EchoMessageBuffers_t * pxMessageBuffers = ( EchoMessageBuffers_t * ) pvParameters;
/* Prevent compiler warnings. */
( void ) pvParameters;
/* Create the buffer into which strings to send to the server will be
* created, and the buffer into which strings echoed back from the server will
* be copied. */
pcStringToSend = ( char * ) pvPortMalloc( mbMESSAGE_BUFFER_LENGTH_BYTES );
pcStringReceived = ( char * ) pvPortMalloc( mbMESSAGE_BUFFER_LENGTH_BYTES );
configASSERT( pcStringToSend );
configASSERT( pcStringReceived );
for( ; ; )
{
/* Generate the length of the next string to send. */
xSendLength++;
/* The message buffer is being used to hold variable length data, so
* each data item requires sizeof( size_t ) bytes to hold the data's
* length, hence the sizeof() in the if() condition below. */
if( xSendLength > ( mbMESSAGE_BUFFER_LENGTH_BYTES - sizeof( size_t ) ) )
{
/* Back to a string length of 1. */
xSendLength = sizeof( char );
/* Maintain a count of the number of times this code executes so a
* check task can determine if this task is still functioning as
* expected or not. As there are two client tasks, and the priorities
* used are 0 and 1, the task's priority is used as an index into the
* loop count array. */
ulEchoLoopCounters[ uxIndex ]++;
}
memset( pcStringToSend, 0x00, mbMESSAGE_BUFFER_LENGTH_BYTES );
for( ux = 0; ux < xSendLength; ux++ )
{
pcStringToSend[ ux ] = cNextChar;
cNextChar++;
if( cNextChar > mbASCII_TILDA )
{
cNextChar = mbASCII_SPACE;
}
}
/* Send the generated string to the buffer. */
do
{
ux = xMessageBufferSend( pxMessageBuffers->xEchoClientBuffer, ( void * ) pcStringToSend, xSendLength, xTicksToWait );
if( ux == 0 )
{
mtCOVERAGE_TEST_MARKER();
}
} while( ux == 0 );
/* Wait for the string to be echoed back. */
memset( pcStringReceived, 0x00, mbMESSAGE_BUFFER_LENGTH_BYTES );
xMessageBufferReceive( pxMessageBuffers->xEchoServerBuffer, ( void * ) pcStringReceived, xSendLength, portMAX_DELAY );
configASSERT( strcmp( pcStringToSend, pcStringReceived ) == 0 );
}
}
/*-----------------------------------------------------------*/
static void prvEchoServer( void * pvParameters )
{
MessageBufferHandle_t xTempMessageBuffer;
size_t xReceivedLength;
char * pcReceivedString;
EchoMessageBuffers_t xMessageBuffers;
TickType_t xTimeOnEntering;
const TickType_t xTicksToBlock = pdMS_TO_TICKS( 250UL );
/* Prevent compiler warnings about unused parameters. */
( void ) pvParameters;
/* Create the message buffer used to send data from the client to the server,
* and the message buffer used to echo the data from the server back to the
* client. */
xMessageBuffers.xEchoClientBuffer = xMessageBufferCreate( mbMESSAGE_BUFFER_LENGTH_BYTES );
xMessageBuffers.xEchoServerBuffer = xMessageBufferCreate( mbMESSAGE_BUFFER_LENGTH_BYTES );
configASSERT( xMessageBuffers.xEchoClientBuffer );
configASSERT( xMessageBuffers.xEchoServerBuffer );
/* Create the buffer into which received strings will be copied. */
pcReceivedString = ( char * ) pvPortMalloc( mbMESSAGE_BUFFER_LENGTH_BYTES );
configASSERT( pcReceivedString );
/* Don't expect to receive anything yet! */
xTimeOnEntering = xTaskGetTickCount();
xReceivedLength = xMessageBufferReceive( xMessageBuffers.xEchoClientBuffer, ( void * ) pcReceivedString, mbMESSAGE_BUFFER_LENGTH_BYTES, xTicksToBlock );
configASSERT( ( ( TickType_t ) ( xTaskGetTickCount() - xTimeOnEntering ) ) >= xTicksToBlock );
configASSERT( xReceivedLength == 0 );
( void ) xTimeOnEntering; /* In case configASSERT() is not defined. */
/* Now the message buffers have been created the echo client task can be
* created. If this server task has the higher priority then the client task
* is created at the lower priority - if this server task has the lower
* priority then the client task is created at the higher priority. */
if( uxTaskPriorityGet( NULL ) == mbLOWER_PRIORITY )
{
xTaskCreate( prvEchoClient, "EchoClient", configMINIMAL_STACK_SIZE, ( void * ) &xMessageBuffers, mbHIGHER_PRIORITY, NULL );
}
else
{
/* Here prvSingleTaskTests() performs various tests on a message buffer
* that was created dynamically. */
prvSingleTaskTests( xMessageBuffers.xEchoClientBuffer );
xTaskCreate( prvEchoClient, "EchoClient", configMINIMAL_STACK_SIZE, ( void * ) &xMessageBuffers, mbLOWER_PRIORITY, NULL );
}
for( ; ; )
{
memset( pcReceivedString, 0x00, mbMESSAGE_BUFFER_LENGTH_BYTES );
/* Has any data been sent by the client? */
xReceivedLength = xMessageBufferReceive( xMessageBuffers.xEchoClientBuffer, ( void * ) pcReceivedString, mbMESSAGE_BUFFER_LENGTH_BYTES, portMAX_DELAY );
/* Should always receive data as max delay was used. */
configASSERT( xReceivedLength > 0 );
/* Echo the received data back to the client. */
xMessageBufferSend( xMessageBuffers.xEchoServerBuffer, ( void * ) pcReceivedString, xReceivedLength, portMAX_DELAY );
/* This message buffer is just created and deleted to ensure no memory
* leaks. */
xTempMessageBuffer = xMessageBufferCreate( mbMESSAGE_BUFFER_LENGTH_BYTES );
vMessageBufferDelete( xTempMessageBuffer );
}
}
/*-----------------------------------------------------------*/
/* Tests within configRUN_ADDITIONAL_TESTS blocks only execute on larger
* platforms or have been added to pre-existing files that are already in use
* by other test projects without ensuring they don't cause those pre-existing
* projects to run out of program or data memory. */
#if ( configRUN_ADDITIONAL_TESTS == 1 )
static void prvSpaceAvailableCoherenceActor( void * pvParameters )
{
static char * cTxString = "12345";
char cRxString[ mbCOHERENCE_TEST_BYTES_WRITTEN + 1 ]; /* +1 for NULL terminator. */
( void ) pvParameters;
for( ; ; )
{
/* Add bytes to the buffer so the other task should see
* mbEXPECTED_FREE_BYTES_AFTER_WRITING_STRING bytes free. */
xMessageBufferSend( xCoherenceTestMessageBuffer, ( void * ) cTxString, strlen( cTxString ), 0 );
configASSERT( xMessageBufferSpacesAvailable( xCoherenceTestMessageBuffer ) == mbEXPECTED_FREE_BYTES_AFTER_WRITING_STRING );
/* Read out message again so the other task should read the full
* mbCOHERENCE_TEST_BUFFER_SIZE bytes free again. */
memset( ( void * ) cRxString, 0x00, sizeof( cRxString ) );
xMessageBufferReceive( xCoherenceTestMessageBuffer, ( void * ) cRxString, mbCOHERENCE_TEST_BYTES_WRITTEN, 0 );
configASSERT( strcmp( cTxString, cRxString ) == 0 );
}
}
/*-----------------------------------------------------------*/
static void prvSpaceAvailableCoherenceTester( void * pvParameters )
{
size_t xSpaceAvailable;
BaseType_t xErrorFound = pdFALSE;
( void ) pvParameters;
for( ; ; )
{
/* This message buffer is only ever empty or contains 5 bytes. So all
* queries of its free space should result in one of the two values tested
* below. */
xSpaceAvailable = xMessageBufferSpacesAvailable( xCoherenceTestMessageBuffer );
if( ( xSpaceAvailable == mbCOHERENCE_TEST_BUFFER_SIZE ) ||
( xSpaceAvailable == mbEXPECTED_FREE_BYTES_AFTER_WRITING_STRING ) )
{
/* Only continue to increment the variable that shows this task
* is still executing if no errors have been found. */
if( xErrorFound == pdFALSE )
{
ulSizeCoherencyTestCycles++;
}
}
else
{
xErrorFound = pdTRUE;
}
configASSERT( xErrorFound == pdFALSE );
}
}
#endif /* configRUN_ADDITIONAL_TESTS == 1 */
/*-----------------------------------------------------------*/
BaseType_t xAreMessageBufferTasksStillRunning( void )
{
static uint32_t ulLastEchoLoopCounters[ mbNUMBER_OF_ECHO_CLIENTS ] = { 0 };
static uint32_t ulLastNonBlockingRxCounter = 0;
BaseType_t xReturn = pdPASS, x;
for( x = 0; x < mbNUMBER_OF_ECHO_CLIENTS; x++ )
{
if( ulLastEchoLoopCounters[ x ] == ulEchoLoopCounters[ x ] )
{
xReturn = pdFAIL;
}
else
{
ulLastEchoLoopCounters[ x ] = ulEchoLoopCounters[ x ];
}
}
if( ulNonBlockingRxCounter == ulLastNonBlockingRxCounter )
{
xReturn = pdFAIL;
}
else
{
ulLastNonBlockingRxCounter = ulNonBlockingRxCounter;
}
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
{
static uint32_t ulLastSenderLoopCounters[ mbNUMBER_OF_ECHO_CLIENTS ] = { 0 };
for( x = 0; x < mbNUMBER_OF_SENDER_TASKS; x++ )
{
if( ulLastSenderLoopCounters[ x ] == ulSenderLoopCounters[ x ] )
{
xReturn = pdFAIL;
}
else
{
ulLastSenderLoopCounters[ x ] = ulSenderLoopCounters[ x ];
}
}
}
#endif /* configSUPPORT_STATIC_ALLOCATION */
#if ( configRUN_ADDITIONAL_TESTS == 1 )
{
static uint32_t ullastSizeCoherencyTestCycles = 0UL;
if( ullastSizeCoherencyTestCycles == ulSizeCoherencyTestCycles )
{
xReturn = pdFAIL;
}
else
{
ullastSizeCoherencyTestCycles = ulSizeCoherencyTestCycles;
}
}
#endif /* if ( configRUN_ADDITIONAL_TESTS == 1 ) */
return xReturn;
}
/*-----------------------------------------------------------*/

222
Common/Minimal/PollQ.c Normal file
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@@ -0,0 +1,222 @@
/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* This version of PollQ. c is for use on systems that have limited stack
* space and no display facilities. The complete version can be found in
* the Demo/Common/Full directory.
*
* Creates two tasks that communicate over a single queue. One task acts as a
* producer, the other a consumer.
*
* The producer loops for three iteration, posting an incrementing number onto the
* queue each cycle. It then delays for a fixed period before doing exactly the
* same again.
*
* The consumer loops emptying the queue. Each item removed from the queue is
* checked to ensure it contains the expected value. When the queue is empty it
* blocks for a fixed period, then does the same again.
*
* All queue access is performed without blocking. The consumer completely empties
* the queue each time it runs so the producer should never find the queue full.
*
* An error is flagged if the consumer obtains an unexpected value or the producer
* find the queue is full.
*/
/*
* Changes from V2.0.0
*
+ Delay periods are now specified using variables and constants of
+ TickType_t rather than uint32_t.
*/
#include <stdlib.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
/* Demo program include files. */
#include "PollQ.h"
#define pollqSTACK_SIZE configMINIMAL_STACK_SIZE
#define pollqQUEUE_SIZE ( 10 )
#define pollqPRODUCER_DELAY ( pdMS_TO_TICKS( ( TickType_t ) 200 ) )
#define pollqCONSUMER_DELAY ( pollqPRODUCER_DELAY - ( TickType_t ) ( 20 / portTICK_PERIOD_MS ) )
#define pollqNO_DELAY ( ( TickType_t ) 0 )
#define pollqVALUES_TO_PRODUCE ( ( BaseType_t ) 3 )
#define pollqINITIAL_VALUE ( ( BaseType_t ) 0 )
/* The task that posts the incrementing number onto the queue. */
static portTASK_FUNCTION_PROTO( vPolledQueueProducer, pvParameters );
/* The task that empties the queue. */
static portTASK_FUNCTION_PROTO( vPolledQueueConsumer, pvParameters );
/* Variables that are used to check that the tasks are still running with no
* errors. */
static volatile BaseType_t xPollingConsumerCount = pollqINITIAL_VALUE, xPollingProducerCount = pollqINITIAL_VALUE;
/*-----------------------------------------------------------*/
void vStartPolledQueueTasks( UBaseType_t uxPriority )
{
static QueueHandle_t xPolledQueue;
/* Create the queue used by the producer and consumer. */
xPolledQueue = xQueueCreate( pollqQUEUE_SIZE, ( UBaseType_t ) sizeof( uint16_t ) );
if( xPolledQueue != NULL )
{
/* vQueueAddToRegistry() adds the queue to the queue registry, if one is
* in use. The queue registry is provided as a means for kernel aware
* debuggers to locate queues and has no purpose if a kernel aware debugger
* is not being used. The call to vQueueAddToRegistry() will be removed
* by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
* defined to be less than 1. */
vQueueAddToRegistry( xPolledQueue, "Poll_Test_Queue" );
/* Spawn the producer and consumer. */
xTaskCreate( vPolledQueueConsumer, "QConsNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( TaskHandle_t * ) NULL );
xTaskCreate( vPolledQueueProducer, "QProdNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( TaskHandle_t * ) NULL );
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vPolledQueueProducer, pvParameters )
{
uint16_t usValue = ( uint16_t ) 0;
BaseType_t xError = pdFALSE, xLoop;
for( ; ; )
{
for( xLoop = 0; xLoop < pollqVALUES_TO_PRODUCE; xLoop++ )
{
/* Send an incrementing number on the queue without blocking. */
if( xQueueSend( *( ( QueueHandle_t * ) pvParameters ), ( void * ) &usValue, pollqNO_DELAY ) != pdPASS )
{
/* We should never find the queue full so if we get here there
* has been an error. */
xError = pdTRUE;
}
else
{
if( xError == pdFALSE )
{
/* If an error has ever been recorded we stop incrementing the
* check variable. */
portENTER_CRITICAL();
xPollingProducerCount++;
portEXIT_CRITICAL();
}
/* Update the value we are going to post next time around. */
usValue++;
}
}
/* Wait before we start posting again to ensure the consumer runs and
* empties the queue. */
vTaskDelay( pollqPRODUCER_DELAY );
}
} /*lint !e818 Function prototype must conform to API. */
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vPolledQueueConsumer, pvParameters )
{
uint16_t usData, usExpectedValue = ( uint16_t ) 0;
BaseType_t xError = pdFALSE;
for( ; ; )
{
/* Loop until the queue is empty. */
while( uxQueueMessagesWaiting( *( ( QueueHandle_t * ) pvParameters ) ) )
{
if( xQueueReceive( *( ( QueueHandle_t * ) pvParameters ), &usData, pollqNO_DELAY ) == pdPASS )
{
if( usData != usExpectedValue )
{
/* This is not what we expected to receive so an error has
* occurred. */
xError = pdTRUE;
/* Catch-up to the value we received so our next expected
* value should again be correct. */
usExpectedValue = usData;
}
else
{
if( xError == pdFALSE )
{
/* Only increment the check variable if no errors have
* occurred. */
portENTER_CRITICAL();
xPollingConsumerCount++;
portEXIT_CRITICAL();
}
}
/* Next time round we would expect the number to be one higher. */
usExpectedValue++;
}
}
/* Now the queue is empty we block, allowing the producer to place more
* items in the queue. */
vTaskDelay( pollqCONSUMER_DELAY );
}
} /*lint !e818 Function prototype must conform to API. */
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running with no errors. */
BaseType_t xArePollingQueuesStillRunning( void )
{
BaseType_t xReturn;
/* Check both the consumer and producer poll count to check they have both
* been changed since out last trip round. We do not need a critical section
* around the check variables as this is called from a higher priority than
* the other tasks that access the same variables. */
if( ( xPollingConsumerCount == pollqINITIAL_VALUE ) ||
( xPollingProducerCount == pollqINITIAL_VALUE )
)
{
xReturn = pdFALSE;
}
else
{
xReturn = pdTRUE;
}
/* Set the check variables back down so we know if they have been
* incremented the next time around. */
xPollingConsumerCount = pollqINITIAL_VALUE;
xPollingProducerCount = pollqINITIAL_VALUE;
return xReturn;
}

440
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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* Tests the behaviour when data is peeked from a queue when there are
* multiple tasks blocked on the queue.
*/
#include <stdlib.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"
/* Demo program include files. */
#include "QPeek.h"
#define qpeekQUEUE_LENGTH ( 5 )
#define qpeekNO_BLOCK ( 0 )
#define qpeekSHORT_DELAY ( 10 )
#define qpeekLOW_PRIORITY ( tskIDLE_PRIORITY + 0 )
#define qpeekMEDIUM_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define qpeekHIGH_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define qpeekHIGHEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
/*-----------------------------------------------------------*/
/*
* The following three tasks are used to demonstrate the peeking behaviour.
* Each task is given a different priority to demonstrate the order in which
* tasks are woken as data is peeked from a queue.
*/
static void prvLowPriorityPeekTask( void * pvParameters );
static void prvMediumPriorityPeekTask( void * pvParameters );
static void prvHighPriorityPeekTask( void * pvParameters );
static void prvHighestPriorityPeekTask( void * pvParameters );
/*-----------------------------------------------------------*/
/* Flag that will be latched to pdTRUE should any unexpected behaviour be
* detected in any of the tasks. */
static volatile BaseType_t xErrorDetected = pdFALSE;
/* Counter that is incremented on each cycle of a test. This is used to
* detect a stalled task - a test that is no longer running. */
static volatile uint32_t ulLoopCounter = 0;
/* Handles to the test tasks. */
TaskHandle_t xMediumPriorityTask, xHighPriorityTask, xHighestPriorityTask;
/*-----------------------------------------------------------*/
void vStartQueuePeekTasks( void )
{
QueueHandle_t xQueue;
/* Create the queue that we are going to use for the test/demo. */
xQueue = xQueueCreate( qpeekQUEUE_LENGTH, sizeof( uint32_t ) );
if( xQueue != NULL )
{
/* vQueueAddToRegistry() adds the queue to the queue registry, if one is
* in use. The queue registry is provided as a means for kernel aware
* debuggers to locate queues and has no purpose if a kernel aware debugger
* is not being used. The call to vQueueAddToRegistry() will be removed
* by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
* defined to be less than 1. */
vQueueAddToRegistry( xQueue, "QPeek_Test_Queue" );
/* Create the demo tasks and pass it the queue just created. We are
* passing the queue handle by value so it does not matter that it is declared
* on the stack here. */
xTaskCreate( prvLowPriorityPeekTask, "PeekL", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekLOW_PRIORITY, NULL );
xTaskCreate( prvMediumPriorityPeekTask, "PeekM", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekMEDIUM_PRIORITY, &xMediumPriorityTask );
xTaskCreate( prvHighPriorityPeekTask, "PeekH1", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekHIGH_PRIORITY, &xHighPriorityTask );
xTaskCreate( prvHighestPriorityPeekTask, "PeekH2", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekHIGHEST_PRIORITY, &xHighestPriorityTask );
}
}
/*-----------------------------------------------------------*/
static void prvHighestPriorityPeekTask( void * pvParameters )
{
QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters;
uint32_t ulValue;
#ifdef USE_STDIO
{
void vPrintDisplayMessage( const char * const * ppcMessageToSend );
const char * const pcTaskStartMsg = "Queue peek test started.\r\n";
/* Queue a message for printing to say the task has started. */
vPrintDisplayMessage( &pcTaskStartMsg );
}
#endif
for( ; ; )
{
/* Try peeking from the queue. The queue should be empty so we will
* block, allowing the high priority task to execute. */
if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
{
/* We expected to have received something by the time we unblock. */
xErrorDetected = pdTRUE;
}
/* When we reach here the high and medium priority tasks should still
* be blocked on the queue. We unblocked because the low priority task
* wrote a value to the queue, which we should have peeked. Peeking the
* data (rather than receiving it) will leave the data on the queue, so
* the high priority task should then have also been unblocked, but not
* yet executed. */
if( ulValue != 0x11223344 )
{
/* We did not receive the expected value. */
xErrorDetected = pdTRUE;
}
if( uxQueueMessagesWaiting( xQueue ) != 1 )
{
/* The message should have been left on the queue. */
xErrorDetected = pdTRUE;
}
/* Now we are going to actually receive the data, so when the high
* priority task runs it will find the queue empty and return to the
* blocked state. */
ulValue = 0;
if( xQueueReceive( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
{
/* We expected to receive the value. */
xErrorDetected = pdTRUE;
}
if( ulValue != 0x11223344 )
{
/* We did not receive the expected value - which should have been
* the same value as was peeked. */
xErrorDetected = pdTRUE;
}
/* Now we will block again as the queue is once more empty. The low
* priority task can then execute again. */
if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
{
/* We expected to have received something by the time we unblock. */
xErrorDetected = pdTRUE;
}
/* When we get here the low priority task should have again written to the
* queue. */
if( ulValue != 0x01234567 )
{
/* We did not receive the expected value. */
xErrorDetected = pdTRUE;
}
if( uxQueueMessagesWaiting( xQueue ) != 1 )
{
/* The message should have been left on the queue. */
xErrorDetected = pdTRUE;
}
/* We only peeked the data, so suspending ourselves now should enable
* the high priority task to also peek the data. The high priority task
* will have been unblocked when we peeked the data as we left the data
* in the queue. */
vTaskSuspend( NULL );
/* This time we are going to do the same as the above test, but the
* high priority task is going to receive the data, rather than peek it.
* This means that the medium priority task should never peek the value. */
if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
if( ulValue != 0xaabbaabb )
{
xErrorDetected = pdTRUE;
}
vTaskSuspend( NULL );
}
}
/*-----------------------------------------------------------*/
static void prvHighPriorityPeekTask( void * pvParameters )
{
QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters;
uint32_t ulValue;
for( ; ; )
{
/* Try peeking from the queue. The queue should be empty so we will
* block, allowing the medium priority task to execute. Both the high
* and highest priority tasks will then be blocked on the queue. */
if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
{
/* We expected to have received something by the time we unblock. */
xErrorDetected = pdTRUE;
}
/* When we get here the highest priority task should have peeked the data
* (unblocking this task) then suspended (allowing this task to also peek
* the data). */
if( ulValue != 0x01234567 )
{
/* We did not receive the expected value. */
xErrorDetected = pdTRUE;
}
if( uxQueueMessagesWaiting( xQueue ) != 1 )
{
/* The message should have been left on the queue. */
xErrorDetected = pdTRUE;
}
/* We only peeked the data, so suspending ourselves now should enable
* the medium priority task to also peek the data. The medium priority task
* will have been unblocked when we peeked the data as we left the data
* in the queue. */
vTaskSuspend( NULL );
/* This time we are going actually receive the value, so the medium
* priority task will never peek the data - we removed it from the queue. */
if( xQueueReceive( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
{
xErrorDetected = pdTRUE;
}
if( ulValue != 0xaabbaabb )
{
xErrorDetected = pdTRUE;
}
vTaskSuspend( NULL );
}
}
/*-----------------------------------------------------------*/
static void prvMediumPriorityPeekTask( void * pvParameters )
{
QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters;
uint32_t ulValue;
for( ; ; )
{
/* Try peeking from the queue. The queue should be empty so we will
* block, allowing the low priority task to execute. The highest, high
* and medium priority tasks will then all be blocked on the queue. */
if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
{
/* We expected to have received something by the time we unblock. */
xErrorDetected = pdTRUE;
}
/* When we get here the high priority task should have peeked the data
* (unblocking this task) then suspended (allowing this task to also peek
* the data). */
if( ulValue != 0x01234567 )
{
/* We did not receive the expected value. */
xErrorDetected = pdTRUE;
}
if( uxQueueMessagesWaiting( xQueue ) != 1 )
{
/* The message should have been left on the queue. */
xErrorDetected = pdTRUE;
}
/* Just so we know the test is still running. */
ulLoopCounter++;
/* Now we can suspend ourselves so the low priority task can execute
* again. */
vTaskSuspend( NULL );
}
}
/*-----------------------------------------------------------*/
static void prvLowPriorityPeekTask( void * pvParameters )
{
QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters;
uint32_t ulValue;
for( ; ; )
{
/* Write some data to the queue. This should unblock the highest
* priority task that is waiting to peek data from the queue. */
ulValue = 0x11223344;
if( xQueueSendToBack( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
{
/* We were expecting the queue to be empty so we should not of
* had a problem writing to the queue. */
xErrorDetected = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* By the time we get here the data should have been removed from
* the queue. */
if( uxQueueMessagesWaiting( xQueue ) != 0 )
{
xErrorDetected = pdTRUE;
}
/* Write another value to the queue, again waking the highest priority
* task that is blocked on the queue. */
ulValue = 0x01234567;
if( xQueueSendToBack( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
{
/* We were expecting the queue to be empty so we should not of
* had a problem writing to the queue. */
xErrorDetected = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* All the other tasks should now have successfully peeked the data.
* The data is still in the queue so we should be able to receive it. */
ulValue = 0;
if( xQueueReceive( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
{
/* We expected to receive the data. */
xErrorDetected = pdTRUE;
}
if( ulValue != 0x01234567 )
{
/* We did not receive the expected value. */
xErrorDetected = pdTRUE;
}
/* Lets just delay a while as this is an intensive test as we don't
* want to starve other tests of processing time. */
vTaskDelay( qpeekSHORT_DELAY );
/* Unsuspend the other tasks so we can repeat the test - this time
* however not all the other tasks will peek the data as the high
* priority task is actually going to remove it from the queue. Send
* to front is used just to be different. As the queue is empty it
* makes no difference to the result. */
vTaskResume( xMediumPriorityTask );
vTaskResume( xHighPriorityTask );
vTaskResume( xHighestPriorityTask );
#if ( configUSE_PREEMPTION == 0 )
taskYIELD();
#endif
ulValue = 0xaabbaabb;
if( xQueueSendToFront( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
{
/* We were expecting the queue to be empty so we should not of
* had a problem writing to the queue. */
xErrorDetected = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* This time we should find that the queue is empty. The high priority
* task actually removed the data rather than just peeking it. */
if( xQueuePeek( xQueue, &ulValue, qpeekNO_BLOCK ) != errQUEUE_EMPTY )
{
/* We expected to receive the data. */
xErrorDetected = pdTRUE;
}
/* Unsuspend the highest and high priority tasks so we can go back
* and repeat the whole thing. The medium priority task should not be
* suspended as it was not able to peek the data in this last case. */
vTaskResume( xHighPriorityTask );
vTaskResume( xHighestPriorityTask );
/* Lets just delay a while as this is an intensive test as we don't
* want to starve other tests of processing time. */
vTaskDelay( qpeekSHORT_DELAY );
}
}
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running. */
BaseType_t xAreQueuePeekTasksStillRunning( void )
{
static uint32_t ulLastLoopCounter = 0;
/* If the demo task is still running then we expect the loopcounter to
* have incremented since this function was last called. */
if( ulLastLoopCounter == ulLoopCounter )
{
xErrorDetected = pdTRUE;
}
ulLastLoopCounter = ulLoopCounter;
/* Errors detected in the task itself will have latched xErrorDetected
* to true. */
return ( BaseType_t ) !xErrorDetected;
}

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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* Basic task to demonstrate the xQueueOverwrite() function. See the comments
* in the function itself.
*/
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
/* Demo program include files. */
#include "QueueOverwrite.h"
/* A block time of 0 just means "don't block". */
#define qoDONT_BLOCK 0
/* Number of times to overwrite the value in the queue. */
#define qoLOOPS 5
/* The task that uses the queue. */
static void prvQueueOverwriteTask( void * pvParameters );
/* Variable that is incremented on each loop of prvQueueOverwriteTask() provided
* prvQueueOverwriteTask() has not found any errors. */
static uint32_t ulLoopCounter = 0;
/* Set to pdFALSE if an error is discovered by the
* vQueueOverwritePeriodicISRDemo() function. */
static BaseType_t xISRTestStatus = pdPASS;
/* The queue that is accessed from the ISR. The queue accessed by the task is
* created inside the task itself. */
static QueueHandle_t xISRQueue = NULL;
/*-----------------------------------------------------------*/
void vStartQueueOverwriteTask( UBaseType_t uxPriority )
{
const UBaseType_t uxQueueLength = 1;
/* Create the queue used by the ISR. xQueueOverwriteFromISR() should only
* be used on queues that have a length of 1. */
xISRQueue = xQueueCreate( uxQueueLength, ( UBaseType_t ) sizeof( uint32_t ) );
/* Create the test task. The queue used by the test task is created inside
* the task itself. */
xTaskCreate( prvQueueOverwriteTask, "QOver", configMINIMAL_STACK_SIZE, NULL, uxPriority, ( TaskHandle_t * ) NULL );
}
/*-----------------------------------------------------------*/
static void prvQueueOverwriteTask( void * pvParameters )
{
QueueHandle_t xTaskQueue;
const UBaseType_t uxQueueLength = 1;
uint32_t ulValue, ulStatus = pdPASS, x;
/* The parameter is not used. */
( void ) pvParameters;
/* Create the queue. xQueueOverwrite() should only be used on queues that
* have a length of 1. */
xTaskQueue = xQueueCreate( uxQueueLength, ( UBaseType_t ) sizeof( uint32_t ) );
configASSERT( xTaskQueue );
for( ; ; )
{
/* The queue is empty. Writing to the queue then reading from the queue
* should return the item written. */
ulValue = 10;
xQueueOverwrite( xTaskQueue, &ulValue );
ulValue = 0;
xQueueReceive( xTaskQueue, &ulValue, qoDONT_BLOCK );
if( ulValue != 10 )
{
ulStatus = pdFAIL;
}
/* Now try writing to the queue several times. Each time the value
* in the queue should get overwritten. */
for( x = 0; x < qoLOOPS; x++ )
{
/* Write to the queue. */
xQueueOverwrite( xTaskQueue, &x );
/* Check the value in the queue is that written, even though the
* queue was not necessarily empty. */
xQueuePeek( xTaskQueue, &ulValue, qoDONT_BLOCK );
if( ulValue != x )
{
ulStatus = pdFAIL;
}
/* There should always be one item in the queue. */
if( uxQueueMessagesWaiting( xTaskQueue ) != uxQueueLength )
{
ulStatus = pdFAIL;
}
}
/* Empty the queue again. */
xQueueReceive( xTaskQueue, &ulValue, qoDONT_BLOCK );
if( uxQueueMessagesWaiting( xTaskQueue ) != 0 )
{
ulStatus = pdFAIL;
}
if( ulStatus != pdFAIL )
{
/* Increment a counter to show this task is still running without
* error. */
ulLoopCounter++;
}
#if ( configUSE_PREEMPTION == 0 )
taskYIELD();
#endif
}
}
/*-----------------------------------------------------------*/
BaseType_t xIsQueueOverwriteTaskStillRunning( void )
{
BaseType_t xReturn;
if( xISRTestStatus != pdPASS )
{
xReturn = pdFAIL;
}
else if( ulLoopCounter > 0 )
{
xReturn = pdPASS;
}
else
{
/* The task has either stalled of discovered an error. */
xReturn = pdFAIL;
}
ulLoopCounter = 0;
return xReturn;
}
/*-----------------------------------------------------------*/
void vQueueOverwritePeriodicISRDemo( void )
{
static uint32_t ulCallCount = 0;
const uint32_t ulTx1 = 10UL, ulTx2 = 20UL, ulNumberOfSwitchCases = 3UL;
uint32_t ulRx;
/* This function should be called from an interrupt, such as the tick hook
* function vApplicationTickHook(). */
configASSERT( xISRQueue );
switch( ulCallCount )
{
case 0:
/* The queue is empty. Write ulTx1 to the queue. In this demo the
* last parameter is not used because there are no tasks blocked on
* this queue. */
xQueueOverwriteFromISR( xISRQueue, &ulTx1, NULL );
/* Peek the queue to check it holds the expected value. */
xQueuePeekFromISR( xISRQueue, &ulRx );
if( ulRx != ulTx1 )
{
xISRTestStatus = pdFAIL;
}
break;
case 1:
/* The queue already holds ulTx1. Overwrite the value in the queue
* with ulTx2. */
xQueueOverwriteFromISR( xISRQueue, &ulTx2, NULL );
break;
case 2:
/* Read from the queue to empty the queue again. The value read
* should be ulTx2. */
xQueueReceiveFromISR( xISRQueue, &ulRx, NULL );
if( ulRx != ulTx2 )
{
xISRTestStatus = pdFAIL;
}
break;
}
/* Run the next case in the switch statement above next time this function
* is called. */
ulCallCount++;
if( ulCallCount >= ulNumberOfSwitchCases )
{
/* Go back to the start. */
ulCallCount = 0;
}
}

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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* Tests the use of queue sets.
*
* A receive task creates a number of queues and adds them to a queue set before
* blocking on the queue set receive. A transmit task and (optionally) an
* interrupt repeatedly unblocks the receive task by sending messages to the
* queues in a pseudo random order. The receive task removes the messages from
* the queues and flags an error if the received message does not match that
* expected. The task sends values in the range 0 to
* queuesetINITIAL_ISR_TX_VALUE, and the ISR sends value in the range
* queuesetINITIAL_ISR_TX_VALUE to ULONG_MAX.
*/
/* Standard includes. */
#include <stdlib.h>
#include <limits.h>
/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
/* Demo includes. */
#include "QueueSetPolling.h"
#if ( configUSE_QUEUE_SETS == 1 ) /* Remove tests if queue sets are not defined. */
/* The length of each created queue. */
#define setpollQUEUE_LENGTH 10
/* Block times used in this demo. A block time or 0 means "don't block". */
#define setpollDONT_BLOCK 0
/* The ISR sends to the queue every setpollISR_TX_PERIOD ticks. */
#define queuesetISR_TX_PERIOD ( 50UL )
/*
* The task that reads from the queue set.
*/
static void prvQueueSetReceivingTask( void * pvParameters );
/*-----------------------------------------------------------*/
/* The queue that is added to the set. */
static QueueHandle_t xQueue = NULL;
/* The handle of the queue set to which the queue is added. */
static QueueSetHandle_t xQueueSet = NULL;
/* Set to pdFAIL if an error is detected by any queue set task.
* ulCycleCounter will only be incremented if xQueueSetTasksStatus equals pdPASS. */
static volatile BaseType_t xQueueSetPollStatus = pdPASS;
/* Counter used to ensure the task is still running. */
static uint32_t ulCycleCounter = 0;
/*-----------------------------------------------------------*/
void vStartQueueSetPollingTask( void )
{
/* Create the queue that is added to the set, the set, and add the queue to
* the set. */
xQueue = xQueueCreate( setpollQUEUE_LENGTH, sizeof( uint32_t ) );
xQueueSet = xQueueCreateSet( setpollQUEUE_LENGTH );
if( ( xQueue != NULL ) && ( xQueueSet != NULL ) )
{
xQueueAddToSet( xQueue, xQueueSet );
/* Create the task. */
xTaskCreate( prvQueueSetReceivingTask, "SetPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
}
}
/*-----------------------------------------------------------*/
static void prvQueueSetReceivingTask( void * pvParameters )
{
uint32_t ulReceived, ulExpected = 0;
QueueHandle_t xActivatedQueue;
/* Remove compiler warnings. */
( void ) pvParameters;
for( ; ; )
{
/* Is a message waiting? A block time is not used to ensure the queue
* set is polled while it is being written to from an interrupt. */
xActivatedQueue = xQueueSelectFromSet( xQueueSet, setpollDONT_BLOCK );
if( xActivatedQueue != NULL )
{
/* Reading from the queue should pass with a zero block time as
* this task will only run when something has been posted to a task
* in the queue set. */
if( xQueueReceive( xActivatedQueue, &ulReceived, setpollDONT_BLOCK ) != pdPASS )
{
xQueueSetPollStatus = pdFAIL;
}
if( ulReceived == ulExpected )
{
ulExpected++;
}
else
{
xQueueSetPollStatus = pdFAIL;
}
if( xQueueSetPollStatus == pdPASS )
{
ulCycleCounter++;
}
}
}
}
/*-----------------------------------------------------------*/
void vQueueSetPollingInterruptAccess( void )
{
static uint32_t ulCallCount = 0, ulValueToSend = 0;
/* It is intended that this function is called from the tick hook
* function, so each call is one tick period apart. */
ulCallCount++;
if( ulCallCount > queuesetISR_TX_PERIOD )
{
ulCallCount = 0;
if( xQueueSendFromISR( xQueue, ( void * ) &ulValueToSend, NULL ) == pdPASS )
{
/* Send the next value next time. */
ulValueToSend++;
}
}
}
/*-----------------------------------------------------------*/
BaseType_t xAreQueueSetPollTasksStillRunning( void )
{
static uint32_t ulLastCycleCounter = 0;
if( ulLastCycleCounter == ulCycleCounter )
{
xQueueSetPollStatus = pdFAIL;
}
ulLastCycleCounter = ulCycleCounter;
return xQueueSetPollStatus;
}
/*-----------------------------------------------------------*/
#endif /* ( configUSE_QUEUE_SETS == 1 ) */

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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* A simple example that shows a stream buffer being used to pass data from an
* interrupt to a task.
*
* There are two strings, pcStringToSend and pcStringToReceive, where
* pcStringToReceive is a substring of pcStringToSend. The interrupt sends
* a few bytes of pcStringToSend to a stream buffer ever few times that it
* executes. A task reads the bytes from the stream buffer, looking for the
* substring, and flagging an error if the received data is invalid.
*/
/* Standard includes. */
#include "stdio.h"
#include "string.h"
/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "stream_buffer.h"
/* Demo app includes. */
#include "StreamBufferInterrupt.h"
#define sbiSTREAM_BUFFER_LENGTH_BYTES ( ( size_t ) 100 )
#define sbiSTREAM_BUFFER_TRIGGER_LEVEL_10 ( ( BaseType_t ) 10 )
/*-----------------------------------------------------------*/
/* Implements the task that receives a stream of bytes from the interrupt. */
static void prvReceivingTask( void * pvParameters );
/*-----------------------------------------------------------*/
/* The stream buffer that is used to send data from an interrupt to the task. */
static StreamBufferHandle_t xStreamBuffer = NULL;
/* The string that is sent from the interrupt to the task four bytes at a
* time. Must be multiple of 4 bytes long as the ISR sends 4 bytes at a time*/
static const char * pcStringToSend = "_____Hello FreeRTOS_____";
/* The string to task is looking for, which must be a substring of
* pcStringToSend. */
static const char * pcStringToReceive = "Hello FreeRTOS";
/* Set to pdFAIL if anything unexpected happens. */
static BaseType_t xDemoStatus = pdPASS;
/* Incremented each time pcStringToReceive is correctly received, provided no
* errors have occurred. Used so the check task can check this task is still
* running as expected. */
static uint32_t ulCycleCount = 0;
/*-----------------------------------------------------------*/
void vStartStreamBufferInterruptDemo( void )
{
/* Create the stream buffer that sends data from the interrupt to the
* task, and create the task. */
xStreamBuffer = xStreamBufferCreate( /* The buffer length in bytes. */
sbiSTREAM_BUFFER_LENGTH_BYTES,
/* The stream buffer's trigger level. */
sbiSTREAM_BUFFER_TRIGGER_LEVEL_10 );
xTaskCreate( prvReceivingTask, /* The function that implements the task. */
"StrIntRx", /* Human readable name for the task. */
configMINIMAL_STACK_SIZE, /* Stack size (in words!). */
NULL, /* Task parameter is not used. */
tskIDLE_PRIORITY + 2, /* The priority at which the task is created. */
NULL ); /* No use for the task handle. */
}
/*-----------------------------------------------------------*/
static void prvReceivingTask( void * pvParameters )
{
char cRxBuffer[ 20 ];
BaseType_t xNextByte = 0;
/* Remove warning about unused parameters. */
( void ) pvParameters;
/* Make sure the string will fit in the Rx buffer, including the NULL
* terminator. */
configASSERT( sizeof( cRxBuffer ) > strlen( pcStringToReceive ) );
/* Make sure the stream buffer has been created. */
configASSERT( xStreamBuffer != NULL );
/* Start with the Rx buffer in a known state. */
memset( cRxBuffer, 0x00, sizeof( cRxBuffer ) );
for( ; ; )
{
/* Keep receiving characters until the end of the string is received.
* Note: An infinite block time is used to simplify the example. Infinite
* block times are not recommended in production code as they do not allow
* for error recovery. */
xStreamBufferReceive( /* The stream buffer data is being received from. */
xStreamBuffer,
/* Where to place received data. */
( void * ) &( cRxBuffer[ xNextByte ] ),
/* The number of bytes to receive. */
sizeof( char ),
/* The time to wait for the next data if the buffer
* is empty. */
portMAX_DELAY );
/* If xNextByte is 0 then this task is looking for the start of the
* string, which is 'H'. */
if( xNextByte == 0 )
{
if( cRxBuffer[ xNextByte ] == 'H' )
{
/* The start of the string has been found. Now receive
* characters until the end of the string is found. */
xNextByte++;
}
}
else
{
/* Receiving characters while looking for the end of the string,
* which is an 'S'. */
if( cRxBuffer[ xNextByte ] == 'S' )
{
/* The string has now been received. Check its validity. */
if( strcmp( cRxBuffer, pcStringToReceive ) != 0 )
{
xDemoStatus = pdFAIL;
}
/* Return to start looking for the beginning of the string
* again. */
memset( cRxBuffer, 0x00, sizeof( cRxBuffer ) );
xNextByte = 0;
/* Increment the cycle count as an indication to the check task
* that this demo is still running. */
if( xDemoStatus == pdPASS )
{
ulCycleCount++;
}
}
else
{
/* Receive the next character the next time around, while
* continuing to look for the end of the string. */
xNextByte++;
configASSERT( ( size_t ) xNextByte < sizeof( cRxBuffer ) );
}
}
}
}
/*-----------------------------------------------------------*/
void vBasicStreamBufferSendFromISR( void )
{
static size_t xNextByteToSend = 0;
const BaseType_t xCallsBetweenSends = 100, xBytesToSend = 4;
static BaseType_t xCallCount = 0;
/* Is it time to write to the stream buffer again? */
xCallCount++;
if( xCallCount > xCallsBetweenSends )
{
xCallCount = 0;
/* Send the next four bytes to the stream buffer. */
xStreamBufferSendFromISR( xStreamBuffer,
( const void * ) ( pcStringToSend + xNextByteToSend ),
xBytesToSend,
NULL );
/* Send the next four bytes the next time around, wrapping to the start
* of the string if necessary. */
xNextByteToSend += xBytesToSend;
if( xNextByteToSend >= strlen( pcStringToSend ) )
{
xNextByteToSend = 0;
}
}
}
/*-----------------------------------------------------------*/
BaseType_t xIsInterruptStreamBufferDemoStillRunning( void )
{
uint32_t ulLastCycleCount = 0;
/* Check the demo is still running. */
if( ulLastCycleCount == ulCycleCount )
{
xDemoStatus = pdFAIL;
}
else
{
ulLastCycleCount = ulCycleCount;
}
return xDemoStatus;
}

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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* Tests the behaviour of direct task notifications.
*/
/* Standard includes. */
#include <limits.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
/* Demo program include files. */
#include "TaskNotify.h"
/* Allow parameters to be overridden on a demo by demo basis. */
#ifndef notifyNOTIFIED_TASK_STACK_SIZE
#define notifyNOTIFIED_TASK_STACK_SIZE configMINIMAL_STACK_SIZE
#endif
#define notifyTASK_PRIORITY ( tskIDLE_PRIORITY )
/* Constants used in tests when setting/clearing bits. */
#define notifyUINT32_MAX ( ( uint32_t ) 0xffffffff )
#define notifyUINT32_HIGH_BYTE ( ( uint32_t ) 0xff000000 )
#define notifyUINT32_LOW_BYTE ( ( uint32_t ) 0x000000ff )
#define notifySUSPENDED_TEST_TIMER_PERIOD pdMS_TO_TICKS( 50 )
/*-----------------------------------------------------------*/
/*
* Implementation of the task that gets notified.
*/
static void prvNotifiedTask( void * pvParameters );
/*
* Performs a few initial tests that can be done prior to creating the second
* task.
*/
static void prvSingleTaskTests( void );
/*
* Software timer callback function from which xTaskNotify() is called.
*/
static void prvNotifyingTimer( TimerHandle_t xTimer );
/*
* Utility function to create pseudo random numbers.
*/
static UBaseType_t prvRand( void );
/*
* Callback for a timer that is used during preliminary testing. The timer
* tests the behaviour when 1: a task waiting for a notification is suspended
* and then resumed without ever receiving a notification, and 2: when a task
* waiting for a notification receives a notification while it is suspended.
*/
static void prvSuspendedTaskTimerTestCallback( TimerHandle_t xExpiredTimer );
/*-----------------------------------------------------------*/
/* Used to latch errors during the test's execution. */
static BaseType_t xErrorStatus = pdPASS;
/* Used to ensure the task has not stalled. */
static volatile uint32_t ulNotifyCycleCount = 0;
/* The handle of the task that receives the notifications. */
static TaskHandle_t xTaskToNotify = NULL;
/* Used to count the notifications sent to the task from a software timer and
* the number of notifications received by the task from the software timer. The
* two should stay synchronised. */
static uint32_t ulTimerNotificationsReceived = 0UL, ulTimerNotificationsSent = 0UL;
/* The timer used to notify the task. */
static TimerHandle_t xTimer = NULL;
/* Used by the pseudo random number generating function. */
static size_t uxNextRand = 0;
/*-----------------------------------------------------------*/
void vStartTaskNotifyTask( void )
{
/* Create the task that performs some tests by itself, then loops around
* being notified by both a software timer and an interrupt. */
xTaskCreate( prvNotifiedTask, /* Function that implements the task. */
"Notified", /* Text name for the task - for debugging only - not used by the kernel. */
notifyNOTIFIED_TASK_STACK_SIZE, /* Task's stack size in words, not bytes!. */
NULL, /* Task parameter, not used in this case. */
notifyTASK_PRIORITY, /* Task priority, 0 is the lowest. */
&xTaskToNotify ); /* Used to pass a handle to the task out is needed, otherwise set to NULL. */
/* Pseudo seed the random number generator. */
uxNextRand = ( size_t ) prvRand;
}
/*-----------------------------------------------------------*/
static void prvSingleTaskTests( void )
{
const TickType_t xTicksToWait = pdMS_TO_TICKS( 100UL );
BaseType_t xReturned;
uint32_t ulNotifiedValue, ulLoop, ulNotifyingValue, ulPreviousValue, ulExpectedValue;
TickType_t xTimeOnEntering;
const uint32_t ulFirstNotifiedConst = 100001UL, ulSecondNotifiedValueConst = 5555UL, ulMaxLoops = 5UL;
const uint32_t ulBit0 = 0x01UL, ulBit1 = 0x02UL;
TimerHandle_t xSingleTaskTimer;
/* ------------------------------------------------------------------------
* Check blocking when there are no notifications. */
xTimeOnEntering = xTaskGetTickCount();
xReturned = xTaskNotifyWait( notifyUINT32_MAX, 0, &ulNotifiedValue, xTicksToWait );
( void ) xReturned; /* In case configASSERT() is not defined. */
/* Should have blocked for the entire block time. */
if( ( xTaskGetTickCount() - xTimeOnEntering ) < xTicksToWait )
{
xErrorStatus = pdFAIL;
}
configASSERT( xReturned == pdFAIL );
configASSERT( ulNotifiedValue == 0UL );
( void ) xReturned; /* In case configASSERT() is not defined. */
( void ) ulNotifiedValue;
/* ------------------------------------------------------------------------
* Check no blocking when notifications are pending. First notify itself -
* this would not be a normal thing to do and is done here for test purposes
* only. */
xReturned = xTaskNotifyAndQuery( xTaskToNotify, ulFirstNotifiedConst, eSetValueWithoutOverwrite, &ulPreviousValue );
/* Even through the 'without overwrite' action was used the update should
* have been successful. */
configASSERT( xReturned == pdPASS );
( void ) xReturned; /* In case configASSERT() is not defined. */
/* No bits should have been pending previously. */
configASSERT( ulPreviousValue == 0 );
( void ) ulPreviousValue;
/* The task should now have a notification pending, and so not time out. */
xTimeOnEntering = xTaskGetTickCount();
xReturned = xTaskNotifyWait( notifyUINT32_MAX, 0, &ulNotifiedValue, xTicksToWait );
if( ( xTaskGetTickCount() - xTimeOnEntering ) >= xTicksToWait )
{
xErrorStatus = pdFAIL;
}
/* The task should have been notified, and the notified value should
* be equal to ulFirstNotifiedConst. */
configASSERT( xReturned == pdPASS );
configASSERT( ulNotifiedValue == ulFirstNotifiedConst );
( void ) xReturned; /* In case configASSERT() is not defined. */
( void ) ulNotifiedValue;
/* Incremented to show the task is still running. */
ulNotifyCycleCount++;
/*-------------------------------------------------------------------------
* Check the non-overwriting functionality. The notification is done twice
* using two different notification values. The action says don't overwrite so
* only the first notification should pass and the value read back should also
* be that used with the first notification. */
xReturned = xTaskNotify( xTaskToNotify, ulFirstNotifiedConst, eSetValueWithoutOverwrite );
configASSERT( xReturned == pdPASS );
( void ) xReturned; /* In case configASSERT() is not defined. */
xReturned = xTaskNotify( xTaskToNotify, ulSecondNotifiedValueConst, eSetValueWithoutOverwrite );
configASSERT( xReturned == pdFAIL );
( void ) xReturned; /* In case configASSERT() is not defined. */
/* Waiting for the notification should now return immediately so a block
* time of zero is used. */
xReturned = xTaskNotifyWait( notifyUINT32_MAX, 0, &ulNotifiedValue, 0 );
configASSERT( xReturned == pdPASS );
configASSERT( ulNotifiedValue == ulFirstNotifiedConst );
( void ) xReturned; /* In case configASSERT() is not defined. */
( void ) ulNotifiedValue;
/*-------------------------------------------------------------------------
* Do the same again, only this time use the overwriting version. This time
* both notifications should pass, and the value written the second time should
* overwrite the value written the first time, and so be the value that is read
* back. */
xReturned = xTaskNotify( xTaskToNotify, ulFirstNotifiedConst, eSetValueWithOverwrite );
configASSERT( xReturned == pdPASS );
( void ) xReturned; /* In case configASSERT() is not defined. */
xReturned = xTaskNotify( xTaskToNotify, ulSecondNotifiedValueConst, eSetValueWithOverwrite );
configASSERT( xReturned == pdPASS );
( void ) xReturned; /* In case configASSERT() is not defined. */
xReturned = xTaskNotifyWait( notifyUINT32_MAX, 0, &ulNotifiedValue, 0 );
configASSERT( xReturned == pdPASS );
( void ) xReturned; /* In case configASSERT() is not defined. */
configASSERT( ulNotifiedValue == ulSecondNotifiedValueConst );
( void ) ulNotifiedValue;
/*-------------------------------------------------------------------------
* Check notifications with no action pass without updating the value. Even
* though ulFirstNotifiedConst is used as the value the value read back should
* remain at ulSecondNotifiedConst. */
xReturned = xTaskNotify( xTaskToNotify, ulFirstNotifiedConst, eNoAction );
configASSERT( xReturned == pdPASS );
( void ) xReturned; /* In case configASSERT() is not defined. */
xReturned = xTaskNotifyWait( notifyUINT32_MAX, 0, &ulNotifiedValue, 0 );
configASSERT( ulNotifiedValue == ulSecondNotifiedValueConst );
( void ) ulNotifiedValue; /* In case configASSERT() is not defined. */
/*-------------------------------------------------------------------------
* Check incrementing values. Send ulMaxLoop increment notifications, then
* ensure the received value is as expected - which should be
* ulSecondNotificationValueConst plus how ever many times to loop iterated. */
for( ulLoop = 0; ulLoop < ulMaxLoops; ulLoop++ )
{
xReturned = xTaskNotify( xTaskToNotify, 0, eIncrement );
configASSERT( xReturned == pdPASS );
( void ) xReturned; /* In case configASSERT() is not defined. */
}
xReturned = xTaskNotifyWait( notifyUINT32_MAX, 0, &ulNotifiedValue, 0 );
configASSERT( xReturned == pdPASS );
configASSERT( ulNotifiedValue == ( ulSecondNotifiedValueConst + ulMaxLoops ) );
( void ) xReturned; /* In case configASSERT() is not defined. */
( void ) ulNotifiedValue;
/* Should not be any notifications pending now. */
xReturned = xTaskNotifyWait( 0, 0, &ulNotifiedValue, 0 );
configASSERT( xReturned == pdFAIL );
( void ) xReturned; /* In case configASSERT() is not defined. */
( void ) ulNotifiedValue;
/*-------------------------------------------------------------------------
* Check all bits can be set by notifying the task with one additional bit set
* on each notification, and exiting the loop when all the bits are found to be
* set. As there are 32-bits the loop should execute 32 times before all the
* bits are found to be set. */
ulNotifyingValue = 0x01;
ulLoop = 0;
/* Start with all bits clear. */
xTaskNotifyWait( notifyUINT32_MAX, 0, &ulNotifiedValue, 0 );
do
{
/* Set the next bit in the task's notified value. */
xTaskNotify( xTaskToNotify, ulNotifyingValue, eSetBits );
/* Wait for the notified value - which of course will already be
* available. Don't clear the bits on entry or exit as this loop is exited
* when all the bits are set. */
xReturned = xTaskNotifyWait( 0, 0, &ulNotifiedValue, 0 );
configASSERT( xReturned == pdPASS );
( void ) xReturned; /* In case configASSERT() is not defined. */
ulLoop++;
/* Use the next bit on the next iteration around this loop. */
ulNotifyingValue <<= 1UL;
} while( ulNotifiedValue != notifyUINT32_MAX );
/* As a 32-bit value was used the loop should have executed 32 times before
* all the bits were set. */
configASSERT( ulLoop == 32 );
/*-------------------------------------------------------------------------
* Check bits are cleared on entry but not on exit when a notification fails
* to arrive before timing out - both with and without a timeout value. Wait
* for the notification again - but this time it is not given by anything and
* should return pdFAIL. The parameters are set to clear bit zero on entry and
* bit one on exit. As no notification was received only the bit cleared on
* entry should actually get cleared. */
xReturned = xTaskNotifyWait( ulBit0, ulBit1, &ulNotifiedValue, xTicksToWait );
configASSERT( xReturned == pdFAIL );
( void ) xReturned; /* In case configASSERT() is not defined. */
/* Notify the task with no action so as not to update the bits even though
* notifyUINT32_MAX is used as the notification value. */
xTaskNotify( xTaskToNotify, notifyUINT32_MAX, eNoAction );
/* Reading back the value should should find bit 0 is clear, as this was
* cleared on entry, but bit 1 is not clear as it will not have been cleared on
* exit as no notification was received. */
xReturned = xTaskNotifyWait( 0x00UL, 0x00UL, &ulNotifiedValue, 0 );
configASSERT( xReturned == pdPASS );
configASSERT( ulNotifiedValue == ( notifyUINT32_MAX & ~ulBit0 ) );
( void ) xReturned; /* In case configASSERT() is not defined. */
/*-------------------------------------------------------------------------
* Now try clearing the bit on exit. For that to happen a notification must be
* received, so the task is notified first. */
xTaskNotify( xTaskToNotify, 0, eNoAction );
xTaskNotifyWait( 0x00, ulBit1, &ulNotifiedValue, 0 );
/* However as the bit is cleared on exit, after the returned notification
* value is set, the returned notification value should not have the bit
* cleared... */
configASSERT( ulNotifiedValue == ( notifyUINT32_MAX & ~ulBit0 ) );
/* ...but reading the value back again should find that the bit was indeed
* cleared internally. The returned value should be pdFAIL however as nothing
* has notified the task in the mean time. */
xReturned = xTaskNotifyWait( 0x00, 0x00, &ulNotifiedValue, 0 );
configASSERT( xReturned == pdFAIL );
configASSERT( ulNotifiedValue == ( notifyUINT32_MAX & ~( ulBit0 | ulBit1 ) ) );
( void ) xReturned; /* In case configASSERT() is not defined. */
/*-------------------------------------------------------------------------
* Now try querying the previous value while notifying a task. */
xTaskNotifyAndQuery( xTaskToNotify, 0x00, eSetBits, &ulPreviousValue );
configASSERT( ulNotifiedValue == ( notifyUINT32_MAX & ~( ulBit0 | ulBit1 ) ) );
/* Clear all bits. */
xTaskNotifyWait( 0x00, notifyUINT32_MAX, &ulNotifiedValue, 0 );
xTaskNotifyAndQuery( xTaskToNotify, 0x00, eSetBits, &ulPreviousValue );
configASSERT( ulPreviousValue == 0 );
ulExpectedValue = 0;
for( ulLoop = 0x01; ulLoop < 0x80UL; ulLoop <<= 1UL )
{
/* Set the next bit up, and expect to receive the last bits set (so
* the previous value will not yet have the bit being set this time
* around). */
xTaskNotifyAndQuery( xTaskToNotify, ulLoop, eSetBits, &ulPreviousValue );
configASSERT( ulExpectedValue == ulPreviousValue );
ulExpectedValue |= ulLoop;
}
/* ------------------------------------------------------------------------
* Clear the previous notifications. */
xTaskNotifyWait( notifyUINT32_MAX, 0, &ulNotifiedValue, 0 );
/* The task should not have any notifications pending, so an attempt to clear
* the notification state should fail. */
configASSERT( xTaskNotifyStateClear( NULL ) == pdFALSE );
/* Get the task to notify itself. This is not a normal thing to do, and is
* only done here for test purposes. */
xTaskNotifyAndQuery( xTaskToNotify, ulFirstNotifiedConst, eSetValueWithoutOverwrite, &ulPreviousValue );
/* Now the notification state should be eNotified, so it should now be
* possible to clear the notification state. */
configASSERT( xTaskNotifyStateClear( NULL ) == pdTRUE );
configASSERT( xTaskNotifyStateClear( NULL ) == pdFALSE );
/* ------------------------------------------------------------------------
* Clear bits in the notification value. */
/* Get the task to set all bits its own notification value. This is not a
* normal thing to do, and is only done here for test purposes. */
xTaskNotify( xTaskToNotify, notifyUINT32_MAX, eSetBits );
/* Now clear the top bytes - the returned value from the first call should
* indicate that previously all bits were set. */
configASSERT( ulTaskNotifyValueClear( xTaskToNotify, notifyUINT32_HIGH_BYTE ) == notifyUINT32_MAX );
/* Next clear the bottom bytes - the returned value this time should indicate
* that the top byte was clear (before the bottom byte was cleared. */
configASSERT( ulTaskNotifyValueClear( xTaskToNotify, notifyUINT32_LOW_BYTE ) == ( notifyUINT32_MAX & ~notifyUINT32_HIGH_BYTE ) );
/* Next clear all bytes - the returned value should indicate that previously the
* high and low bytes were clear. */
configASSERT( ulTaskNotifyValueClear( xTaskToNotify, notifyUINT32_MAX ) == ( notifyUINT32_MAX & ~notifyUINT32_HIGH_BYTE & ~notifyUINT32_LOW_BYTE ) );
/* Now all bits should be clear. */
configASSERT( ulTaskNotifyValueClear( xTaskToNotify, notifyUINT32_MAX ) == 0 );
configASSERT( ulTaskNotifyValueClear( xTaskToNotify, 0UL ) == 0 );
configASSERT( ulTaskNotifyValueClear( xTaskToNotify, notifyUINT32_MAX ) == 0 );
/* Now the notification state should be eNotified, so it should now be
* possible to clear the notification state. */
configASSERT( xTaskNotifyStateClear( NULL ) == pdTRUE );
configASSERT( xTaskNotifyStateClear( NULL ) == pdFALSE );
/* ------------------------------------------------------------------------
* Create a timer that will try notifying this task while it is suspended. */
xSingleTaskTimer = xTimerCreate( "SingleNotify", notifySUSPENDED_TEST_TIMER_PERIOD, pdFALSE, NULL, prvSuspendedTaskTimerTestCallback );
configASSERT( xSingleTaskTimer );
/* Incremented to show the task is still running. */
ulNotifyCycleCount++;
/* Ensure no notifications are pending. */
xTaskNotifyWait( notifyUINT32_MAX, 0, NULL, 0 );
/* Raise the task's priority so it can suspend itself before the timer
* expires. */
vTaskPrioritySet( NULL, configMAX_PRIORITIES - 1 );
/* Start the timer that will try notifying this task while it is
* suspended, then wait for a notification. The first time the callback
* executes the timer will suspend the task, then resume the task, without
* ever sending a notification to the task. */
ulNotifiedValue = 0;
xTimerStart( xSingleTaskTimer, portMAX_DELAY );
/* Check a notification is not received. */
xReturned = xTaskNotifyWait( 0, 0, &ulNotifiedValue, portMAX_DELAY );
configASSERT( xReturned == pdFALSE );
configASSERT( ulNotifiedValue == 0 );
( void ) xReturned; /* In case configASSERT() is not defined. */
/* Incremented to show the task is still running. */
ulNotifyCycleCount++;
/* Start the timer that will try notifying this task while it is
* suspended, then wait for a notification. The second time the callback
* executes the timer will suspend the task, notify the task, then resume the
* task (previously it was suspended and resumed without being notified). */
xTimerStart( xSingleTaskTimer, portMAX_DELAY );
/* Check a notification is received. */
xReturned = xTaskNotifyWait( 0, 0, &ulNotifiedValue, portMAX_DELAY );
configASSERT( xReturned == pdPASS );
( void ) xReturned; /* In case configASSERT() is not defined. */
configASSERT( ulNotifiedValue != 0 );
/* Return the task to its proper priority and delete the timer as it is
* not used again. */
vTaskPrioritySet( NULL, notifyTASK_PRIORITY );
xTimerDelete( xSingleTaskTimer, portMAX_DELAY );
/* Incremented to show the task is still running. */
ulNotifyCycleCount++;
/* Leave all bits cleared. */
xTaskNotifyWait( notifyUINT32_MAX, 0, NULL, 0 );
}
/*-----------------------------------------------------------*/
static void prvSuspendedTaskTimerTestCallback( TimerHandle_t xExpiredTimer )
{
static uint32_t ulCallCount = 0;
/* Remove compiler warnings about unused parameters. */
( void ) xExpiredTimer;
/* Callback for a timer that is used during preliminary testing. The timer
* tests the behaviour when 1: a task waiting for a notification is suspended
* and then resumed without ever receiving a notification, and 2: when a task
* waiting for a notification receives a notification while it is suspended. */
if( ulCallCount == 0 )
{
vTaskSuspend( xTaskToNotify );
configASSERT( eTaskGetState( xTaskToNotify ) == eSuspended );
vTaskResume( xTaskToNotify );
}
else
{
vTaskSuspend( xTaskToNotify );
/* Sending a notification while the task is suspended should pass, but
* not cause the task to resume. ulCallCount is just used as a convenient
* non-zero value. */
xTaskNotify( xTaskToNotify, ulCallCount, eSetValueWithOverwrite );
/* Make sure giving the notification didn't resume the task. */
configASSERT( eTaskGetState( xTaskToNotify ) == eSuspended );
vTaskResume( xTaskToNotify );
}
ulCallCount++;
}
/*-----------------------------------------------------------*/
static void prvNotifyingTimer( TimerHandle_t xNotUsed )
{
( void ) xNotUsed;
xTaskNotifyGive( xTaskToNotify );
/* This value is also incremented from an interrupt. */
taskENTER_CRITICAL();
{
ulTimerNotificationsSent++;
}
taskEXIT_CRITICAL();
}
/*-----------------------------------------------------------*/
static void prvNotifiedTask( void * pvParameters )
{
const TickType_t xMaxPeriod = pdMS_TO_TICKS( 90 ), xMinPeriod = pdMS_TO_TICKS( 10 ), xDontBlock = 0;
TickType_t xPeriod;
const uint32_t ulCyclesToRaisePriority = 50UL;
/* Remove compiler warnings about unused parameters. */
( void ) pvParameters;
/* Run a few tests that can be done from a single task before entering the
* main loop. */
prvSingleTaskTests();
/* Create the software timer that is used to send notifications to this
* task. Notifications are also received from an interrupt. */
xTimer = xTimerCreate( "Notifier", xMaxPeriod, pdFALSE, NULL, prvNotifyingTimer );
for( ; ; )
{
/* Start the timer again with a different period. Sometimes the period
* will be higher than the task's block time, sometimes it will be lower
* than the task's block time. */
xPeriod = prvRand() % xMaxPeriod;
if( xPeriod < xMinPeriod )
{
xPeriod = xMinPeriod;
}
/* Change the timer period and start the timer. */
xTimerChangePeriod( xTimer, xPeriod, portMAX_DELAY );
/* Block waiting for the notification again with a different period.
* Sometimes the period will be higher than the task's block time,
* sometimes it will be lower than the task's block time. */
xPeriod = prvRand() % xMaxPeriod;
if( xPeriod < xMinPeriod )
{
xPeriod = xMinPeriod;
}
/* Block to wait for a notification but without clearing the
* notification count, so only add one to the count of received
* notifications as any other notifications will remain pending. */
if( ulTaskNotifyTake( pdFALSE, xPeriod ) != 0 )
{
ulTimerNotificationsReceived++;
}
/* Take a notification without clearing again, but this time without a
* block time specified. */
if( ulTaskNotifyTake( pdFALSE, xDontBlock ) != 0 )
{
ulTimerNotificationsReceived++;
}
/* Wait for the next notification from the timer, clearing all
* notifications if one is received, so this time adding the total number
* of notifications that were pending as none will be left pending after
* the function call. */
ulTimerNotificationsReceived += ulTaskNotifyTake( pdTRUE, xPeriod );
/* Occasionally raise the priority of the task being notified to test
* the path where the task is notified from an ISR and becomes the highest
* priority ready state task, but the pxHigherPriorityTaskWoken parameter
* is NULL (which it is in the tick hook that sends notifications to this
* task). */
if( ( ulNotifyCycleCount % ulCyclesToRaisePriority ) == 0 )
{
vTaskPrioritySet( xTaskToNotify, configMAX_PRIORITIES - 1 );
/* Wait for the next notification again, clearing all notifications
* if one is received, but this time blocking indefinitely. */
ulTimerNotificationsReceived += ulTaskNotifyTake( pdTRUE, portMAX_DELAY );
/* Reset the priority. */
vTaskPrioritySet( xTaskToNotify, notifyTASK_PRIORITY );
}
else
{
/* Wait for the next notification again, clearing all notifications
* if one is received, but this time blocking indefinitely. */
ulTimerNotificationsReceived += ulTaskNotifyTake( pdTRUE, portMAX_DELAY );
}
/* Incremented to show the task is still running. */
ulNotifyCycleCount++;
}
}
/*-----------------------------------------------------------*/
void xNotifyTaskFromISR( void )
{
static BaseType_t xCallCount = 0, xAPIToUse = 0;
const BaseType_t xCallInterval = pdMS_TO_TICKS( 50 );
uint32_t ulPreviousValue;
const uint32_t ulUnexpectedValue = 0xff;
/* Check the task notification demo tasks were actually created. */
configASSERT( xTaskToNotify );
/* The task performs some tests before starting the timer that gives the
* notification from this interrupt. If the timer has not been created yet
* then the initial tests have not yet completed and the notification should
* not be sent. */
if( xTimer != NULL )
{
xCallCount++;
if( xCallCount >= xCallInterval )
{
/* It is time to 'give' the notification again. */
xCallCount = 0;
/* Test using both vTaskNotifyGiveFromISR(), xTaskNotifyFromISR()
* and xTaskNotifyAndQueryFromISR(). */
switch( xAPIToUse )
{
case 0:
vTaskNotifyGiveFromISR( xTaskToNotify, NULL );
xAPIToUse++;
break;
case 1:
xTaskNotifyFromISR( xTaskToNotify, 0, eIncrement, NULL );
xAPIToUse++;
break;
case 2:
ulPreviousValue = ulUnexpectedValue;
xTaskNotifyAndQueryFromISR( xTaskToNotify, 0, eIncrement, &ulPreviousValue, NULL );
configASSERT( ulPreviousValue != ulUnexpectedValue );
xAPIToUse = 0;
break;
default: /* Should never get here!. */
break;
}
ulTimerNotificationsSent++;
}
}
}
/*-----------------------------------------------------------*/
/* This is called to check the created tasks are still running and have not
* detected any errors. */
BaseType_t xAreTaskNotificationTasksStillRunning( void )
{
static uint32_t ulLastNotifyCycleCount = 0;
const uint32_t ulMaxSendReceiveDeviation = 5UL;
/* Check the cycle count is still incrementing to ensure the task is still
* actually running. */
if( ulLastNotifyCycleCount == ulNotifyCycleCount )
{
xErrorStatus = pdFAIL;
}
else
{
ulLastNotifyCycleCount = ulNotifyCycleCount;
}
/* Check the count of 'takes' from the software timer is keeping track with
* the amount of 'gives'. */
if( ulTimerNotificationsSent > ulTimerNotificationsReceived )
{
if( ( ulTimerNotificationsSent - ulTimerNotificationsReceived ) > ulMaxSendReceiveDeviation )
{
xErrorStatus = pdFAIL;
}
}
return xErrorStatus;
}
/*-----------------------------------------------------------*/
static UBaseType_t prvRand( void )
{
const size_t uxMultiplier = ( size_t ) 0x015a4e35, uxIncrement = ( size_t ) 1;
/* Utility function to generate a pseudo random number. */
uxNextRand = ( uxMultiplier * uxNextRand ) + uxIncrement;
return( ( uxNextRand >> 16 ) & ( ( size_t ) 0x7fff ) );
}
/*-----------------------------------------------------------*/

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@@ -0,0 +1,597 @@
/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* This file contains some test scenarios that ensure tasks do not exit queue
* send or receive functions prematurely. A description of the tests is
* included within the code.
*/
/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
/* Demo includes. */
#include "blocktim.h"
/* Task priorities and stack sizes. Allow these to be overridden. */
#ifndef bktPRIMARY_PRIORITY
#define bktPRIMARY_PRIORITY ( configMAX_PRIORITIES - 3 )
#endif
#ifndef bktSECONDARY_PRIORITY
#define bktSECONDARY_PRIORITY ( configMAX_PRIORITIES - 4 )
#endif
#ifndef bktBLOCK_TIME_TASK_STACK_SIZE
#define bktBLOCK_TIME_TASK_STACK_SIZE configMINIMAL_STACK_SIZE
#endif
/* Task behaviour. */
#define bktQUEUE_LENGTH ( 5 )
#define bktSHORT_WAIT pdMS_TO_TICKS( ( TickType_t ) 20 )
#define bktPRIMARY_BLOCK_TIME ( 10 )
#define bktALLOWABLE_MARGIN ( 15 )
#define bktTIME_TO_BLOCK ( 175 )
#define bktDONT_BLOCK ( ( TickType_t ) 0 )
#define bktRUN_INDICATOR ( ( UBaseType_t ) 0x55 )
/* In case the demo does not have software timers enabled, as this file uses
* the configTIMER_TASK_PRIORITY setting. */
#ifndef configTIMER_TASK_PRIORITY
#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
#endif
/*-----------------------------------------------------------*/
/*
* The two test tasks. Their behaviour is commented within the functions.
*/
static void vPrimaryBlockTimeTestTask( void * pvParameters );
static void vSecondaryBlockTimeTestTask( void * pvParameters );
/*
* Very basic tests to verify the block times are as expected.
*/
static void prvBasicDelayTests( void );
/*-----------------------------------------------------------*/
/* The queue on which the tasks block. */
static QueueHandle_t xTestQueue;
/* Handle to the secondary task is required by the primary task for calls
* to vTaskSuspend/Resume(). */
static TaskHandle_t xSecondary;
/* Used to ensure that tasks are still executing without error. */
static volatile BaseType_t xPrimaryCycles = 0, xSecondaryCycles = 0;
static volatile BaseType_t xErrorOccurred = pdFALSE;
/* Provides a simple mechanism for the primary task to know when the
* secondary task has executed. */
static volatile UBaseType_t xRunIndicator;
/*-----------------------------------------------------------*/
void vCreateBlockTimeTasks( void )
{
/* Create the queue on which the two tasks block. */
xTestQueue = xQueueCreate( bktQUEUE_LENGTH, sizeof( BaseType_t ) );
if( xTestQueue != NULL )
{
/* vQueueAddToRegistry() adds the queue to the queue registry, if one
* is in use. The queue registry is provided as a means for kernel aware
* debuggers to locate queues and has no purpose if a kernel aware
* debugger is not being used. The call to vQueueAddToRegistry() will be
* removed by the pre-processor if configQUEUE_REGISTRY_SIZE is not
* defined or is defined to be less than 1. */
vQueueAddToRegistry( xTestQueue, "Block_Time_Queue" );
/* Create the two test tasks. */
xTaskCreate( vPrimaryBlockTimeTestTask, "BTest1", bktBLOCK_TIME_TASK_STACK_SIZE, NULL, bktPRIMARY_PRIORITY, NULL );
xTaskCreate( vSecondaryBlockTimeTestTask, "BTest2", bktBLOCK_TIME_TASK_STACK_SIZE, NULL, bktSECONDARY_PRIORITY, &xSecondary );
}
}
/*-----------------------------------------------------------*/
static void vPrimaryBlockTimeTestTask( void * pvParameters )
{
BaseType_t xItem, xData;
TickType_t xTimeWhenBlocking;
TickType_t xTimeToBlock, xBlockedTime;
( void ) pvParameters;
for( ; ; )
{
/*********************************************************************
* Test 0
*
* Basic vTaskDelay() and vTaskDelayUntil() tests. */
prvBasicDelayTests();
/*********************************************************************
* Test 1
*
* Simple block time wakeup test on queue receives. */
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
{
/* The queue is empty. Attempt to read from the queue using a block
* time. When we wake, ensure the delta in time is as expected. */
xTimeToBlock = ( TickType_t ) ( bktPRIMARY_BLOCK_TIME << xItem );
xTimeWhenBlocking = xTaskGetTickCount();
/* We should unblock after xTimeToBlock having not received
* anything on the queue. */
if( xQueueReceive( xTestQueue, &xData, xTimeToBlock ) != errQUEUE_EMPTY )
{
xErrorOccurred = __LINE__;
}
/* How long were we blocked for? */
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
if( xBlockedTime < xTimeToBlock )
{
/* Should not have blocked for less than we requested. */
xErrorOccurred = __LINE__;
}
if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
{
/* Should not have blocked for longer than we requested,
* although we would not necessarily run as soon as we were
* unblocked so a margin is allowed. */
xErrorOccurred = __LINE__;
}
}
/*********************************************************************
* Test 2
*
* Simple block time wakeup test on queue sends.
*
* First fill the queue. It should be empty so all sends should pass. */
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
{
if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
{
xErrorOccurred = __LINE__;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
}
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
{
/* The queue is full. Attempt to write to the queue using a block
* time. When we wake, ensure the delta in time is as expected. */
xTimeToBlock = ( TickType_t ) ( bktPRIMARY_BLOCK_TIME << xItem );
xTimeWhenBlocking = xTaskGetTickCount();
/* We should unblock after xTimeToBlock having not received
* anything on the queue. */
if( xQueueSend( xTestQueue, &xItem, xTimeToBlock ) != errQUEUE_FULL )
{
xErrorOccurred = __LINE__;
}
/* How long were we blocked for? */
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
if( xBlockedTime < xTimeToBlock )
{
/* Should not have blocked for less than we requested. */
xErrorOccurred = __LINE__;
}
if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
{
/* Should not have blocked for longer than we requested,
* although we would not necessarily run as soon as we were
* unblocked so a margin is allowed. */
xErrorOccurred = __LINE__;
}
}
/*********************************************************************
* Test 3
*
* Wake the other task, it will block attempting to post to the queue.
* When we read from the queue the other task will wake, but before it
* can run we will post to the queue again. When the other task runs it
* will find the queue still full, even though it was woken. It should
* recognise that its block time has not expired and return to block for
* the remains of its block time.
*
* Wake the other task so it blocks attempting to post to the already
* full queue. */
xRunIndicator = 0;
vTaskResume( xSecondary );
/* We need to wait a little to ensure the other task executes. */
while( xRunIndicator != bktRUN_INDICATOR )
{
/* The other task has not yet executed. */
vTaskDelay( bktSHORT_WAIT );
}
/* Make sure the other task is blocked on the queue. */
vTaskDelay( bktSHORT_WAIT );
xRunIndicator = 0;
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
{
/* Now when we make space on the queue the other task should wake
* but not execute as this task has higher priority. */
if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
{
xErrorOccurred = __LINE__;
}
/* Now fill the queue again before the other task gets a chance to
* execute. If the other task had executed we would find the queue
* full ourselves, and the other task have set xRunIndicator. */
if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
{
xErrorOccurred = __LINE__;
}
if( xRunIndicator == bktRUN_INDICATOR )
{
/* The other task should not have executed. */
xErrorOccurred = __LINE__;
}
/* Raise the priority of the other task so it executes and blocks
* on the queue again. */
vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
/* The other task should now have re-blocked without exiting the
* queue function. */
if( xRunIndicator == bktRUN_INDICATOR )
{
/* The other task should not have executed outside of the
* queue function. */
xErrorOccurred = __LINE__;
}
/* Set the priority back down. */
vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
}
/* Let the other task timeout. When it unblocks it will check that it
* unblocked at the correct time, then suspend itself. */
while( xRunIndicator != bktRUN_INDICATOR )
{
vTaskDelay( bktSHORT_WAIT );
}
vTaskDelay( bktSHORT_WAIT );
xRunIndicator = 0;
/*********************************************************************
* Test 4
*
* As per test 3 - but with the send and receive the other way around.
* The other task blocks attempting to read from the queue.
*
* Empty the queue. We should find that it is full. */
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
{
if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
{
xErrorOccurred = __LINE__;
}
}
/* Wake the other task so it blocks attempting to read from the
* already empty queue. */
vTaskResume( xSecondary );
/* We need to wait a little to ensure the other task executes. */
while( xRunIndicator != bktRUN_INDICATOR )
{
vTaskDelay( bktSHORT_WAIT );
}
vTaskDelay( bktSHORT_WAIT );
xRunIndicator = 0;
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
{
/* Now when we place an item on the queue the other task should
* wake but not execute as this task has higher priority. */
if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
{
xErrorOccurred = __LINE__;
}
/* Now empty the queue again before the other task gets a chance to
* execute. If the other task had executed we would find the queue
* empty ourselves, and the other task would be suspended. */
if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
{
xErrorOccurred = __LINE__;
}
if( xRunIndicator == bktRUN_INDICATOR )
{
/* The other task should not have executed. */
xErrorOccurred = __LINE__;
}
/* Raise the priority of the other task so it executes and blocks
* on the queue again. */
vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
/* The other task should now have re-blocked without exiting the
* queue function. */
if( xRunIndicator == bktRUN_INDICATOR )
{
/* The other task should not have executed outside of the
* queue function. */
xErrorOccurred = __LINE__;
}
vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
}
/* Let the other task timeout. When it unblocks it will check that it
* unblocked at the correct time, then suspend itself. */
while( xRunIndicator != bktRUN_INDICATOR )
{
vTaskDelay( bktSHORT_WAIT );
}
vTaskDelay( bktSHORT_WAIT );
xPrimaryCycles++;
}
}
/*-----------------------------------------------------------*/
static void vSecondaryBlockTimeTestTask( void * pvParameters )
{
TickType_t xTimeWhenBlocking, xBlockedTime;
BaseType_t xData;
( void ) pvParameters;
for( ; ; )
{
/*********************************************************************
* Test 0, 1 and 2
*
* This task does not participate in these tests. */
vTaskSuspend( NULL );
/*********************************************************************
* Test 3
*
* The first thing we do is attempt to read from the queue. It should be
* full so we block. Note the time before we block so we can check the
* wake time is as per that expected. */
xTimeWhenBlocking = xTaskGetTickCount();
/* We should unblock after bktTIME_TO_BLOCK having not sent anything to
* the queue. */
xData = 0;
xRunIndicator = bktRUN_INDICATOR;
if( xQueueSend( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_FULL )
{
xErrorOccurred = __LINE__;
}
/* How long were we inside the send function? */
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
/* We should not have blocked for less time than bktTIME_TO_BLOCK. */
if( xBlockedTime < bktTIME_TO_BLOCK )
{
xErrorOccurred = __LINE__;
}
/* We should of not blocked for much longer than bktALLOWABLE_MARGIN
* either. A margin is permitted as we would not necessarily run as
* soon as we unblocked. */
if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
{
xErrorOccurred = __LINE__;
}
/* Suspend ready for test 3. */
xRunIndicator = bktRUN_INDICATOR;
vTaskSuspend( NULL );
/*********************************************************************
* Test 4
*
* As per test three, but with the send and receive reversed. */
xTimeWhenBlocking = xTaskGetTickCount();
/* We should unblock after bktTIME_TO_BLOCK having not received
* anything on the queue. */
xRunIndicator = bktRUN_INDICATOR;
if( xQueueReceive( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_EMPTY )
{
xErrorOccurred = __LINE__;
}
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
/* We should not have blocked for less time than bktTIME_TO_BLOCK. */
if( xBlockedTime < bktTIME_TO_BLOCK )
{
xErrorOccurred = __LINE__;
}
/* We should of not blocked for much longer than bktALLOWABLE_MARGIN
* either. A margin is permitted as we would not necessarily run as soon
* as we unblocked. */
if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
{
xErrorOccurred = __LINE__;
}
xRunIndicator = bktRUN_INDICATOR;
xSecondaryCycles++;
}
}
/*-----------------------------------------------------------*/
static void prvBasicDelayTests( void )
{
TickType_t xPreTime, xPostTime, x, xLastUnblockTime, xExpectedUnblockTime;
const TickType_t xPeriod = 75, xCycles = 5, xAllowableMargin = ( bktALLOWABLE_MARGIN >> 1 ), xHalfPeriod = xPeriod / ( TickType_t ) 2;
BaseType_t xDidBlock;
/* Temporarily increase priority so the timing is more accurate, but not so
* high as to disrupt the timer tests. */
vTaskPrioritySet( NULL, configTIMER_TASK_PRIORITY - 1 );
/* Crude check to too see that vTaskDelay() blocks for the expected
* period. */
xPreTime = xTaskGetTickCount();
vTaskDelay( bktTIME_TO_BLOCK );
xPostTime = xTaskGetTickCount();
/* The priority is higher, so the allowable margin is halved when compared
* to the other tests in this file. */
if( ( xPostTime - xPreTime ) > ( bktTIME_TO_BLOCK + xAllowableMargin ) )
{
xErrorOccurred = __LINE__;
}
/* Now crude tests to check the vTaskDelayUntil() functionality. */
xPostTime = xTaskGetTickCount();
xLastUnblockTime = xPostTime;
for( x = 0; x < xCycles; x++ )
{
/* Calculate the next expected unblock time from the time taken before
* this loop was entered. */
xExpectedUnblockTime = xPostTime + ( x * xPeriod );
vTaskDelayUntil( &xLastUnblockTime, xPeriod );
if( ( xTaskGetTickCount() - xExpectedUnblockTime ) > ( bktTIME_TO_BLOCK + xAllowableMargin ) )
{
xErrorOccurred = __LINE__;
}
xPrimaryCycles++;
}
/* Crude tests for return value of xTaskDelayUntil(). First a standard block
* should return that the task does block. */
xDidBlock = xTaskDelayUntil( &xLastUnblockTime, xPeriod );
if( xDidBlock != pdTRUE )
{
xErrorOccurred = __LINE__;
}
/* Now delay a few ticks so repeating the above block period will not block for
* the full amount of time, but will still block. */
vTaskDelay( xHalfPeriod );
xDidBlock = xTaskDelayUntil( &xLastUnblockTime, xPeriod );
if( xDidBlock != pdTRUE )
{
xErrorOccurred = __LINE__;
}
/* This time block for longer than xPeriod before calling xTaskDelayUntil() so
* the call to xTaskDelayUntil() should not block. */
vTaskDelay( xPeriod );
xDidBlock = xTaskDelayUntil( &xLastUnblockTime, xPeriod );
if( xDidBlock != pdFALSE )
{
xErrorOccurred = __LINE__;
}
/* Catch up. */
xDidBlock = xTaskDelayUntil( &xLastUnblockTime, xPeriod );
if( xDidBlock != pdTRUE )
{
xErrorOccurred = __LINE__;
}
/* Again block for slightly longer than a period so ensure the time is in the
* past next time xTaskDelayUntil() gets called. */
vTaskDelay( xPeriod + xAllowableMargin );
xDidBlock = xTaskDelayUntil( &xLastUnblockTime, xPeriod );
if( xDidBlock != pdFALSE )
{
xErrorOccurred = __LINE__;
}
/* Reset to the original task priority ready for the other tests. */
vTaskPrioritySet( NULL, bktPRIMARY_PRIORITY );
}
/*-----------------------------------------------------------*/
BaseType_t xAreBlockTimeTestTasksStillRunning( void )
{
static BaseType_t xLastPrimaryCycleCount = 0, xLastSecondaryCycleCount = 0;
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 != pdFALSE )
{
xReturn = pdFAIL;
}
xLastSecondaryCycleCount = xSecondaryCycles;
xLastPrimaryCycleCount = xPrimaryCycles;
return xReturn;
}

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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* This version of comtest. c is for use on systems that have limited stack
* space and no display facilities. The complete version can be found in
* the Demo/Common/Full directory.
*
* Creates two tasks that operate on an interrupt driven serial port. A
* loopback connector should be used so that everything that is transmitted is
* also received. The serial port does not use any flow control. On a
* standard 9way 'D' connector pins two and three should be connected together.
*
* The first task posts a sequence of characters to the Tx queue, toggling an
* LED on each successful post. At the end of the sequence it sleeps for a
* pseudo-random period before resending the same sequence.
*
* The UART Tx end interrupt is enabled whenever data is available in the Tx
* queue. The Tx end ISR removes a single character from the Tx queue and
* passes it to the UART for transmission.
*
* The second task blocks on the Rx queue waiting for a character to become
* available. When the UART Rx end interrupt receives a character it places
* it in the Rx queue, waking the second task. The second task checks that the
* characters removed from the Rx queue form the same sequence as those posted
* to the Tx queue, and toggles an LED for each correct character.
*
* The receiving task is spawned with a higher priority than the transmitting
* task. The receiver will therefore wake every time a character is
* transmitted so neither the Tx or Rx queue should ever hold more than a few
* characters.
*
*/
/* Scheduler include files. */
#include <stdlib.h>
#include "FreeRTOS.h"
#include "task.h"
/* Demo program include files. */
#include "serial.h"
#include "comtest.h"
#include "partest.h"
#define comSTACK_SIZE configMINIMAL_STACK_SIZE
#define comTX_LED_OFFSET ( 0 )
#define comRX_LED_OFFSET ( 1 )
#define comTOTAL_PERMISSIBLE_ERRORS ( 2 )
/* The Tx task will transmit the sequence of characters at a pseudo random
* interval. This is the maximum and minimum block time between sends. */
#define comTX_MAX_BLOCK_TIME ( ( TickType_t ) 0x96 )
#define comTX_MIN_BLOCK_TIME ( ( TickType_t ) 0x32 )
#define comOFFSET_TIME ( ( TickType_t ) 3 )
/* We should find that each character can be queued for Tx immediately and we
* don't have to block to send. */
#define comNO_BLOCK ( ( TickType_t ) 0 )
/* The Rx task will block on the Rx queue for a long period. */
#define comRX_BLOCK_TIME ( ( TickType_t ) 0xffff )
/* The sequence transmitted is from comFIRST_BYTE to and including comLAST_BYTE. */
#define comFIRST_BYTE ( 'A' )
#define comLAST_BYTE ( 'X' )
#define comBUFFER_LEN ( ( UBaseType_t ) ( comLAST_BYTE - comFIRST_BYTE ) + ( UBaseType_t ) 1 )
#define comINITIAL_RX_COUNT_VALUE ( 0 )
/* Handle to the com port used by both tasks. */
static xComPortHandle xPort = NULL;
/* The transmit task as described at the top of the file. */
static portTASK_FUNCTION_PROTO( vComTxTask, pvParameters );
/* The receive task as described at the top of the file. */
static portTASK_FUNCTION_PROTO( vComRxTask, pvParameters );
/* The LED that should be toggled by the Rx and Tx tasks. The Rx task will
* toggle LED ( uxBaseLED + comRX_LED_OFFSET). The Tx task will toggle LED
* ( uxBaseLED + comTX_LED_OFFSET ). */
static UBaseType_t uxBaseLED = 0;
/* Check variable used to ensure no error have occurred. The Rx task will
* increment this variable after every successfully received sequence. If at any
* time the sequence is incorrect the the variable will stop being incremented. */
static volatile UBaseType_t uxRxLoops = comINITIAL_RX_COUNT_VALUE;
/*-----------------------------------------------------------*/
void vAltStartComTestTasks( UBaseType_t uxPriority,
uint32_t ulBaudRate,
UBaseType_t uxLED )
{
/* Initialise the com port then spawn the Rx and Tx tasks. */
uxBaseLED = uxLED;
xSerialPortInitMinimal( ulBaudRate, comBUFFER_LEN );
/* The Tx task is spawned with a lower priority than the Rx task. */
xTaskCreate( vComTxTask, "COMTx", comSTACK_SIZE, NULL, uxPriority - 1, ( TaskHandle_t * ) NULL );
xTaskCreate( vComRxTask, "COMRx", comSTACK_SIZE, NULL, uxPriority, ( TaskHandle_t * ) NULL );
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vComTxTask, pvParameters )
{
char cByteToSend;
TickType_t xTimeToWait;
/* Just to stop compiler warnings. */
( void ) pvParameters;
for( ; ; )
{
/* Simply transmit a sequence of characters from comFIRST_BYTE to
* comLAST_BYTE. */
for( cByteToSend = comFIRST_BYTE; cByteToSend <= comLAST_BYTE; cByteToSend++ )
{
if( xSerialPutChar( xPort, cByteToSend, comNO_BLOCK ) == pdPASS )
{
vParTestToggleLED( uxBaseLED + comTX_LED_OFFSET );
}
}
/* Turn the LED off while we are not doing anything. */
vParTestSetLED( uxBaseLED + comTX_LED_OFFSET, pdFALSE );
/* We have posted all the characters in the string - wait before
* re-sending. Wait a pseudo-random time as this will provide a better
* test. */
xTimeToWait = xTaskGetTickCount() + comOFFSET_TIME;
/* Make sure we don't wait too long... */
xTimeToWait %= comTX_MAX_BLOCK_TIME;
/* ...but we do want to wait. */
if( xTimeToWait < comTX_MIN_BLOCK_TIME )
{
xTimeToWait = comTX_MIN_BLOCK_TIME;
}
vTaskDelay( xTimeToWait );
}
} /*lint !e715 !e818 pvParameters is required for a task function even if it is not referenced. */
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vComRxTask, pvParameters )
{
signed char cExpectedByte, cByteRxed;
BaseType_t xResyncRequired = pdFALSE, xErrorOccurred = pdFALSE;
/* Just to stop compiler warnings. */
( void ) pvParameters;
for( ; ; )
{
/* We expect to receive the characters from comFIRST_BYTE to
* comLAST_BYTE in an incrementing order. Loop to receive each byte. */
for( cExpectedByte = comFIRST_BYTE; cExpectedByte <= comLAST_BYTE; cExpectedByte++ )
{
/* Block on the queue that contains received bytes until a byte is
* available. */
if( xSerialGetChar( xPort, &cByteRxed, comRX_BLOCK_TIME ) )
{
/* Was this the byte we were expecting? If so, toggle the LED,
* otherwise we are out on sync and should break out of the loop
* until the expected character sequence is about to restart. */
if( cByteRxed == cExpectedByte )
{
vParTestToggleLED( uxBaseLED + comRX_LED_OFFSET );
}
else
{
xResyncRequired = pdTRUE;
break; /*lint !e960 Non-switch break allowed. */
}
}
}
/* Turn the LED off while we are not doing anything. */
vParTestSetLED( uxBaseLED + comRX_LED_OFFSET, pdFALSE );
/* Did we break out of the loop because the characters were received in
* an unexpected order? If so wait here until the character sequence is
* about to restart. */
if( xResyncRequired == pdTRUE )
{
while( cByteRxed != comLAST_BYTE )
{
/* Block until the next char is available. */
xSerialGetChar( xPort, &cByteRxed, comRX_BLOCK_TIME );
}
/* Note that an error occurred which caused us to have to resync.
* We use this to stop incrementing the loop counter so
* sAreComTestTasksStillRunning() will return false - indicating an
* error. */
xErrorOccurred++;
/* We have now resynced with the Tx task and can continue. */
xResyncRequired = pdFALSE;
}
else
{
if( xErrorOccurred < comTOTAL_PERMISSIBLE_ERRORS )
{
/* Increment the count of successful loops. As error
* occurring (i.e. an unexpected character being received) will
* prevent this counter being incremented for the rest of the
* execution. Don't worry about mutual exclusion on this
* variable - it doesn't really matter as we just want it
* to change. */
uxRxLoops++;
}
}
}
} /*lint !e715 !e818 pvParameters is required for a task function even if it is not referenced. */
/*-----------------------------------------------------------*/
BaseType_t xAreComTestTasksStillRunning( void )
{
BaseType_t xReturn;
/* If the count of successful reception loops has not changed than at
* some time an error occurred (i.e. a character was received out of sequence)
* and we will return false. */
if( uxRxLoops == comINITIAL_RX_COUNT_VALUE )
{
xReturn = pdFALSE;
}
else
{
xReturn = pdTRUE;
}
/* Reset the count of successful Rx loops. When this function is called
* again we expect this to have been incremented. */
uxRxLoops = comINITIAL_RX_COUNT_VALUE;
return xReturn;
}

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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* Creates a task and a timer that operate on an interrupt driven serial port.
* This demo assumes that the characters transmitted on a port will also be
* received on the same port. Therefore, the UART must either be connected to
* an echo server, or the uart connector must have a loopback connector fitted.
* See http://www.serialporttool.com/CommEcho.htm for a suitable echo server
* for Windows hosts.
*
* The timer sends a string to the UART, toggles an LED, then resets itself by
* changing its own period. The period is calculated as a pseudo random number
* between comTX_MAX_BLOCK_TIME and comTX_MIN_BLOCK_TIME.
*
* The task blocks on an Rx queue waiting for a character to become available.
* Received characters are checked to ensure they match those transmitted by the
* Tx timer. An error is latched if characters are missing, incorrect, or
* arrive too slowly.
*
* How characters are actually transmitted and received is port specific. Demos
* that include this test/demo file will provide example drivers. The Tx timer
* executes in the context of the timer service (daemon) task, and must
* therefore never attempt to block.
*
*/
/* Scheduler include files. */
#include <stdlib.h>
#include <string.h>
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#ifndef configUSE_TIMERS
#error This demo uses timers. configUSE_TIMERS must be set to 1 in FreeRTOSConfig.h.
#endif
#if configUSE_TIMERS != 1
#error This demo uses timers. configUSE_TIMERS must be set to 1 in FreeRTOSConfig.h.
#endif
/* Demo program include files. */
#include "serial.h"
#include "comtest_strings.h"
#include "partest.h"
/* The size of the stack given to the Rx task. */
#define comSTACK_SIZE configMINIMAL_STACK_SIZE
/* See the comment above the declaration of the uxBaseLED variable. */
#define comTX_LED_OFFSET ( 0 )
#define comRX_LED_OFFSET ( 1 )
/* The Tx timer transmits the sequence of characters at a pseudo random
* interval that is capped between comTX_MAX_BLOCK_TIME and
* comTX_MIN_BLOCK_TIME. */
#define comTX_MAX_BLOCK_TIME ( ( TickType_t ) 0x96 )
#define comTX_MIN_BLOCK_TIME ( ( TickType_t ) 0x32 )
#define comOFFSET_TIME ( ( TickType_t ) 3 )
/* States for the simple state machine implemented in the Rx task. */
#define comtstWAITING_START_OF_STRING 0
#define comtstWAITING_END_OF_STRING 1
/* A short delay in ticks - this delay is used to allow the Rx queue to fill up
* a bit so more than one character can be processed at a time. This is relative
* to comTX_MIN_BLOCK_TIME to ensure it is never longer than the shortest gap
* between transmissions. It could be worked out more scientifically from the
* baud rate being used. */
#define comSHORT_DELAY ( comTX_MIN_BLOCK_TIME >> ( TickType_t ) 2 )
/* The string that is transmitted and received. */
#define comTRANSACTED_STRING "abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ1234567890"
/* A block time of 0 simply means "don't block". */
#define comtstDONT_BLOCK ( TickType_t ) 0
/* Handle to the com port used by both tasks. */
static xComPortHandle xPort = NULL;
/* The callback function allocated to the transmit timer, as described in the
* comments at the top of this file. */
static void prvComTxTimerCallback( TimerHandle_t xTimer );
/* The receive task as described in the comments at the top of this file. */
static void vComRxTask( void * pvParameters );
/* The Rx task will toggle LED ( uxBaseLED + comRX_LED_OFFSET). The Tx task
* will toggle LED ( uxBaseLED + comTX_LED_OFFSET ). */
static UBaseType_t uxBaseLED = 0;
/* The Rx task toggles uxRxLoops on each successful iteration of its defined
* function - provided no errors have ever been latched. If this variable stops
* incrementing, then an error has occurred. */
static volatile UBaseType_t uxRxLoops = 0UL;
/* The timer used to periodically transmit the string. This is the timer that
* has prvComTxTimerCallback allocated to it as its callback function. */
static TimerHandle_t xTxTimer = NULL;
/* The string length is held at file scope so the Tx timer does not need to
* calculate it each time it executes. */
static size_t xStringLength = 0U;
/*-----------------------------------------------------------*/
void vStartComTestStringsTasks( UBaseType_t uxPriority,
uint32_t ulBaudRate,
UBaseType_t uxLED )
{
/* Store values that are used at run time. */
uxBaseLED = uxLED;
/* Calculate the string length here, rather than each time the Tx timer
* executes. */
xStringLength = strlen( comTRANSACTED_STRING );
/* Include the null terminator in the string length as this is used to
* detect the end of the string in the Rx task. */
xStringLength++;
/* Initialise the com port, then spawn the Rx task and create the Tx
* timer. */
xSerialPortInitMinimal( ulBaudRate, ( xStringLength * 2U ) );
/* Create the Rx task and the Tx timer. The timer is started from the
* Rx task. */
xTaskCreate( vComRxTask, "COMRx", comSTACK_SIZE, NULL, uxPriority, ( TaskHandle_t * ) NULL );
xTxTimer = xTimerCreate( "TxTimer", comTX_MIN_BLOCK_TIME, pdFALSE, NULL, prvComTxTimerCallback );
configASSERT( xTxTimer );
}
/*-----------------------------------------------------------*/
static void prvComTxTimerCallback( TimerHandle_t xTimer )
{
TickType_t xTimeToWait;
/* The parameter is not used in this case. */
( void ) xTimer;
/* Send the string. How this is actually performed depends on the
* sample driver provided with this demo. However - as this is a timer,
* it executes in the context of the timer task and therefore must not
* block. */
vSerialPutString( xPort, comTRANSACTED_STRING, xStringLength );
/* Toggle an LED to give a visible indication that another transmission
* has been performed. */
vParTestToggleLED( uxBaseLED + comTX_LED_OFFSET );
/* Wait a pseudo random time before sending the string again. */
xTimeToWait = xTaskGetTickCount() + comOFFSET_TIME;
/* Ensure the time to wait is not greater than comTX_MAX_BLOCK_TIME. */
xTimeToWait %= comTX_MAX_BLOCK_TIME;
/* Ensure the time to wait is not less than comTX_MIN_BLOCK_TIME. */
if( xTimeToWait < comTX_MIN_BLOCK_TIME )
{
xTimeToWait = comTX_MIN_BLOCK_TIME;
}
/* Reset the timer to run again xTimeToWait ticks from now. This function
* is called from the context of the timer task, so the block time must not
* be anything other than zero. */
xTimerChangePeriod( xTxTimer, xTimeToWait, comtstDONT_BLOCK );
}
/*-----------------------------------------------------------*/
static void vComRxTask( void * pvParameters )
{
BaseType_t xState = comtstWAITING_START_OF_STRING, xErrorOccurred = pdFALSE;
char * pcExpectedByte, cRxedChar;
const xComPortHandle xPort = NULL;
/* The parameter is not used in this example. */
( void ) pvParameters;
/* Start the Tx timer. This only needs to be started once, as it will
* reset itself thereafter. */
xTimerStart( xTxTimer, portMAX_DELAY );
/* The first expected Rx character is the first in the string that is
* transmitted. */
pcExpectedByte = comTRANSACTED_STRING;
for( ; ; )
{
/* Wait for the next character. */
if( xSerialGetChar( xPort, &cRxedChar, ( comTX_MAX_BLOCK_TIME * 2 ) ) == pdFALSE )
{
/* A character definitely should have been received by now. As a
* character was not received an error must have occurred (which might
* just be that the loopback connector is not fitted). */
xErrorOccurred = pdTRUE;
}
switch( xState )
{
case comtstWAITING_START_OF_STRING:
if( cRxedChar == *pcExpectedByte )
{
/* The received character was the first character of the
* string. Move to the next state to check each character
* as it comes in until the entire string has been received. */
xState = comtstWAITING_END_OF_STRING;
pcExpectedByte++;
/* Block for a short period. This just allows the Rx queue
* to contain more than one character, and therefore prevent
* thrashing reads to the queue, and repetitive context
* switches as each character is received. */
vTaskDelay( comSHORT_DELAY );
}
break;
case comtstWAITING_END_OF_STRING:
if( cRxedChar == *pcExpectedByte )
{
/* The received character was the expected character. Was
* it the last character in the string - i.e. the null
* terminator? */
if( cRxedChar == 0x00 )
{
/* The entire string has been received. If no errors
* have been latched, then increment the loop counter to
* show this task is still healthy. */
if( xErrorOccurred == pdFALSE )
{
uxRxLoops++;
/* Toggle an LED to give a visible sign that a
* complete string has been received. */
vParTestToggleLED( uxBaseLED + comRX_LED_OFFSET );
}
/* Go back to wait for the start of the next string. */
pcExpectedByte = comTRANSACTED_STRING;
xState = comtstWAITING_START_OF_STRING;
}
else
{
/* Wait for the next character in the string. */
pcExpectedByte++;
}
}
else
{
/* The character received was not that expected. */
xErrorOccurred = pdTRUE;
}
break;
default:
/* Should not get here. Stop the Rx loop counter from
* incrementing to latch the error. */
xErrorOccurred = pdTRUE;
break;
}
}
}
/*-----------------------------------------------------------*/
BaseType_t xAreComTestTasksStillRunning( void )
{
BaseType_t xReturn;
/* If the count of successful reception loops has not changed than at
* some time an error occurred (i.e. a character was received out of sequence)
* and false is returned. */
if( uxRxLoops == 0UL )
{
xReturn = pdFALSE;
}
else
{
xReturn = pdTRUE;
}
/* Reset the count of successful Rx loops. When this function is called
* again it should have been incremented again. */
uxRxLoops = 0UL;
return xReturn;
}

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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* Simple demonstration of the usage of counting semaphore.
*/
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
/* Demo program include files. */
#include "countsem.h"
/* The maximum count value that the semaphore used for the demo can hold. */
#define countMAX_COUNT_VALUE ( 200 )
/* Constants used to indicate whether or not the semaphore should have been
* created with its maximum count value, or its minimum count value. These
* numbers are used to ensure that the pointers passed in as the task parameters
* are valid. */
#define countSTART_AT_MAX_COUNT ( 0xaa )
#define countSTART_AT_ZERO ( 0x55 )
/* Two tasks are created for the test. One uses a semaphore created with its
* count value set to the maximum, and one with the count value set to zero. */
#define countNUM_TEST_TASKS ( 2 )
#define countDONT_BLOCK ( 0 )
/*-----------------------------------------------------------*/
/* Flag that will be latched to pdTRUE should any unexpected behaviour be
* detected in any of the tasks. */
static volatile BaseType_t xErrorDetected = pdFALSE;
/*-----------------------------------------------------------*/
/*
* The demo task. This simply counts the semaphore up to its maximum value,
* the counts it back down again. The result of each semaphore 'give' and
* 'take' is inspected, with an error being flagged if it is found not to be
* the expected result.
*/
static void prvCountingSemaphoreTask( void * pvParameters );
/*
* Utility function to increment the semaphore count value up from zero to
* countMAX_COUNT_VALUE.
*/
static void prvIncrementSemaphoreCount( SemaphoreHandle_t xSemaphore,
volatile UBaseType_t * puxLoopCounter );
/*
* Utility function to decrement the semaphore count value up from
* countMAX_COUNT_VALUE to zero.
*/
static void prvDecrementSemaphoreCount( SemaphoreHandle_t xSemaphore,
volatile UBaseType_t * puxLoopCounter );
/*-----------------------------------------------------------*/
/* The structure that is passed into the task as the task parameter. */
typedef struct COUNT_SEM_STRUCT
{
/* The semaphore to be used for the demo. */
SemaphoreHandle_t xSemaphore;
/* Set to countSTART_AT_MAX_COUNT if the semaphore should be created with
* its count value set to its max count value, or countSTART_AT_ZERO if it
* should have been created with its count value set to 0. */
UBaseType_t uxExpectedStartCount;
/* Incremented on each cycle of the demo task. Used to detect a stalled
* task. */
volatile UBaseType_t uxLoopCounter;
} xCountSemStruct;
/* Two structures are defined, one is passed to each test task. */
static xCountSemStruct xParameters[ countNUM_TEST_TASKS ];
/*-----------------------------------------------------------*/
void vStartCountingSemaphoreTasks( void )
{
/* Create the semaphores that we are going to use for the test/demo. The
* first should be created such that it starts at its maximum count value,
* the second should be created such that it starts with a count value of zero. */
xParameters[ 0 ].xSemaphore = xSemaphoreCreateCounting( countMAX_COUNT_VALUE, countMAX_COUNT_VALUE );
xParameters[ 0 ].uxExpectedStartCount = countSTART_AT_MAX_COUNT;
xParameters[ 0 ].uxLoopCounter = 0;
xParameters[ 1 ].xSemaphore = xSemaphoreCreateCounting( countMAX_COUNT_VALUE, 0 );
xParameters[ 1 ].uxExpectedStartCount = 0;
xParameters[ 1 ].uxLoopCounter = 0;
/* Were the semaphores created? */
if( ( xParameters[ 0 ].xSemaphore != NULL ) || ( xParameters[ 1 ].xSemaphore != NULL ) )
{
/* vQueueAddToRegistry() adds the semaphore to the registry, if one is
* in use. The registry is provided as a means for kernel aware
* debuggers to locate semaphores and has no purpose if a kernel aware
* debugger is not being used. The call to vQueueAddToRegistry() will be
* removed by the pre-processor if configQUEUE_REGISTRY_SIZE is not
* defined or is defined to be less than 1. */
vQueueAddToRegistry( ( QueueHandle_t ) xParameters[ 0 ].xSemaphore, "Counting_Sem_1" );
vQueueAddToRegistry( ( QueueHandle_t ) xParameters[ 1 ].xSemaphore, "Counting_Sem_2" );
/* Create the demo tasks, passing in the semaphore to use as the parameter. */
xTaskCreate( prvCountingSemaphoreTask, "CNT1", configMINIMAL_STACK_SIZE, ( void * ) &( xParameters[ 0 ] ), tskIDLE_PRIORITY, NULL );
xTaskCreate( prvCountingSemaphoreTask, "CNT2", configMINIMAL_STACK_SIZE, ( void * ) &( xParameters[ 1 ] ), tskIDLE_PRIORITY, NULL );
}
}
/*-----------------------------------------------------------*/
static void prvDecrementSemaphoreCount( SemaphoreHandle_t xSemaphore,
volatile UBaseType_t * puxLoopCounter )
{
UBaseType_t ux;
/* If the semaphore count is at its maximum then we should not be able to
* 'give' the semaphore. */
if( xSemaphoreGive( xSemaphore ) == pdPASS )
{
xErrorDetected = pdTRUE;
}
/* We should be able to 'take' the semaphore countMAX_COUNT_VALUE times. */
for( ux = 0; ux < countMAX_COUNT_VALUE; ux++ )
{
configASSERT( uxSemaphoreGetCount( xSemaphore ) == ( countMAX_COUNT_VALUE - ux ) );
if( xSemaphoreTake( xSemaphore, countDONT_BLOCK ) != pdPASS )
{
/* We expected to be able to take the semaphore. */
xErrorDetected = pdTRUE;
}
( *puxLoopCounter )++;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* If the semaphore count is zero then we should not be able to 'take'
* the semaphore. */
configASSERT( uxSemaphoreGetCount( xSemaphore ) == 0 );
if( xSemaphoreTake( xSemaphore, countDONT_BLOCK ) == pdPASS )
{
xErrorDetected = pdTRUE;
}
}
/*-----------------------------------------------------------*/
static void prvIncrementSemaphoreCount( SemaphoreHandle_t xSemaphore,
volatile UBaseType_t * puxLoopCounter )
{
UBaseType_t ux;
/* If the semaphore count is zero then we should not be able to 'take'
* the semaphore. */
if( xSemaphoreTake( xSemaphore, countDONT_BLOCK ) == pdPASS )
{
xErrorDetected = pdTRUE;
}
/* We should be able to 'give' the semaphore countMAX_COUNT_VALUE times. */
for( ux = 0; ux < countMAX_COUNT_VALUE; ux++ )
{
configASSERT( uxSemaphoreGetCount( xSemaphore ) == ux );
if( xSemaphoreGive( xSemaphore ) != pdPASS )
{
/* We expected to be able to take the semaphore. */
xErrorDetected = pdTRUE;
}
( *puxLoopCounter )++;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* If the semaphore count is at its maximum then we should not be able to
* 'give' the semaphore. */
if( xSemaphoreGive( xSemaphore ) == pdPASS )
{
xErrorDetected = pdTRUE;
}
}
/*-----------------------------------------------------------*/
static void prvCountingSemaphoreTask( void * pvParameters )
{
xCountSemStruct * pxParameter;
#ifdef USE_STDIO
void vPrintDisplayMessage( const char * const * ppcMessageToSend );
const char * const pcTaskStartMsg = "Counting semaphore demo started.\r\n";
/* Queue a message for printing to say the task has started. */
vPrintDisplayMessage( &pcTaskStartMsg );
#endif
/* The semaphore to be used was passed as the parameter. */
pxParameter = ( xCountSemStruct * ) pvParameters;
/* Did we expect to find the semaphore already at its max count value, or
* at zero? */
if( pxParameter->uxExpectedStartCount == countSTART_AT_MAX_COUNT )
{
prvDecrementSemaphoreCount( pxParameter->xSemaphore, &( pxParameter->uxLoopCounter ) );
}
/* Now we expect the semaphore count to be 0, so this time there is an
* error if we can take the semaphore. */
if( xSemaphoreTake( pxParameter->xSemaphore, 0 ) == pdPASS )
{
xErrorDetected = pdTRUE;
}
for( ; ; )
{
prvIncrementSemaphoreCount( pxParameter->xSemaphore, &( pxParameter->uxLoopCounter ) );
prvDecrementSemaphoreCount( pxParameter->xSemaphore, &( pxParameter->uxLoopCounter ) );
}
}
/*-----------------------------------------------------------*/
BaseType_t xAreCountingSemaphoreTasksStillRunning( void )
{
static UBaseType_t uxLastCount0 = 0, uxLastCount1 = 0;
BaseType_t xReturn = pdPASS;
/* Return fail if any 'give' or 'take' did not result in the expected
* behaviour. */
if( xErrorDetected != pdFALSE )
{
xReturn = pdFAIL;
}
/* Return fail if either task is not still incrementing its loop counter. */
if( uxLastCount0 == xParameters[ 0 ].uxLoopCounter )
{
xReturn = pdFAIL;
}
else
{
uxLastCount0 = xParameters[ 0 ].uxLoopCounter;
}
if( uxLastCount1 == xParameters[ 1 ].uxLoopCounter )
{
xReturn = pdFAIL;
}
else
{
uxLastCount1 = xParameters[ 1 ].uxLoopCounter;
}
return xReturn;
}

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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* This demo application file demonstrates the use of queues to pass data
* between co-routines.
*
* N represents the number of 'fixed delay' co-routines that are created and
* is set during initialisation.
*
* N 'fixed delay' co-routines are created that just block for a fixed
* period then post the number of an LED onto a queue. Each such co-routine
* uses a different block period. A single 'flash' co-routine is also created
* that blocks on the same queue, waiting for the number of the next LED it
* should flash. Upon receiving a number it simply toggle the instructed LED
* then blocks on the queue once more. In this manner each LED from LED 0 to
* LED N-1 is caused to flash at a different rate.
*
* The 'fixed delay' co-routines are created with co-routine priority 0. The
* flash co-routine is created with co-routine priority 1. This means that
* the queue should never contain more than a single item. This is because
* posting to the queue will unblock the 'flash' co-routine, and as this has
* a priority greater than the tasks posting to the queue it is guaranteed to
* have emptied the queue and blocked once again before the queue can contain
* any more date. An error is indicated if an attempt to post data to the
* queue fails - indicating that the queue is already full.
*
*/
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "croutine.h"
#include "queue.h"
/* Demo application includes. */
#include "partest.h"
#include "crflash.h"
/* The queue should only need to be of length 1. See the description at the
* top of the file. */
#define crfQUEUE_LENGTH 1
#define crfFIXED_DELAY_PRIORITY 0
#define crfFLASH_PRIORITY 1
/* Only one flash co-routine is created so the index is not significant. */
#define crfFLASH_INDEX 0
/* Don't allow more than crfMAX_FLASH_TASKS 'fixed delay' co-routines to be
* created. */
#define crfMAX_FLASH_TASKS 8
/* We don't want to block when posting to the queue. */
#define crfPOSTING_BLOCK_TIME 0
#if ( configUSE_CO_ROUTINES == 1 )
/*
* The 'fixed delay' co-routine as described at the top of the file.
*/
static void prvFixedDelayCoRoutine( CoRoutineHandle_t xHandle,
UBaseType_t uxIndex );
/*
* The 'flash' co-routine as described at the top of the file.
*/
static void prvFlashCoRoutine( CoRoutineHandle_t xHandle,
UBaseType_t uxIndex );
/* The queue used to pass data between the 'fixed delay' co-routines and the
* 'flash' co-routine. */
static QueueHandle_t xFlashQueue;
/* This will be set to pdFALSE if we detect an error. */
static BaseType_t xCoRoutineFlashStatus = pdPASS;
/*-----------------------------------------------------------*/
/*
* See the header file for details.
*/
void vStartFlashCoRoutines( UBaseType_t uxNumberToCreate )
{
UBaseType_t uxIndex;
if( uxNumberToCreate > crfMAX_FLASH_TASKS )
{
uxNumberToCreate = crfMAX_FLASH_TASKS;
}
/* Create the queue used to pass data between the co-routines. */
xFlashQueue = xQueueCreate( crfQUEUE_LENGTH, sizeof( UBaseType_t ) );
if( xFlashQueue )
{
/* Create uxNumberToCreate 'fixed delay' co-routines. */
for( uxIndex = 0; uxIndex < uxNumberToCreate; uxIndex++ )
{
xCoRoutineCreate( prvFixedDelayCoRoutine, crfFIXED_DELAY_PRIORITY, uxIndex );
}
/* Create the 'flash' co-routine. */
xCoRoutineCreate( prvFlashCoRoutine, crfFLASH_PRIORITY, crfFLASH_INDEX );
}
}
/*-----------------------------------------------------------*/
static void prvFixedDelayCoRoutine( CoRoutineHandle_t xHandle,
UBaseType_t uxIndex )
{
/* Even though this is a co-routine the xResult variable does not need to be
* static as we do not need it to maintain its state between blocks. */
BaseType_t xResult;
/* The uxIndex parameter of the co-routine function is used as an index into
* the xFlashRates array to obtain the delay period to use. */
static const TickType_t xFlashRates[ crfMAX_FLASH_TASKS ] =
{
150 / portTICK_PERIOD_MS,
200 / portTICK_PERIOD_MS,
250 / portTICK_PERIOD_MS,
300 / portTICK_PERIOD_MS,
350 / portTICK_PERIOD_MS,
400 / portTICK_PERIOD_MS,
450 / portTICK_PERIOD_MS,
500 / portTICK_PERIOD_MS
};
/* Co-routines MUST start with a call to crSTART. */
crSTART( xHandle );
for( ; ; )
{
/* Post our uxIndex value onto the queue. This is used as the LED to
* flash. */
crQUEUE_SEND( xHandle, xFlashQueue, ( void * ) &uxIndex, crfPOSTING_BLOCK_TIME, &xResult );
if( xResult != pdPASS )
{
/* For the reasons stated at the top of the file we should always
* find that we can post to the queue. If we could not then an error
* has occurred. */
xCoRoutineFlashStatus = pdFAIL;
}
crDELAY( xHandle, xFlashRates[ uxIndex ] );
}
/* Co-routines MUST end with a call to crEND. */
crEND();
}
/*-----------------------------------------------------------*/
static void prvFlashCoRoutine( CoRoutineHandle_t xHandle,
UBaseType_t uxIndex )
{
/* Even though this is a co-routine the variable do not need to be
* static as we do not need it to maintain their state between blocks. */
BaseType_t xResult;
UBaseType_t uxLEDToFlash;
/* Co-routines MUST start with a call to crSTART. */
crSTART( xHandle );
( void ) uxIndex;
for( ; ; )
{
/* Block to wait for the number of the LED to flash. */
crQUEUE_RECEIVE( xHandle, xFlashQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
if( xResult != pdPASS )
{
/* We would not expect to wake unless we received something. */
xCoRoutineFlashStatus = pdFAIL;
}
else
{
/* We received the number of an LED to flash - flash it! */
vParTestToggleLED( uxLEDToFlash );
}
}
/* Co-routines MUST end with a call to crEND. */
crEND();
}
/*-----------------------------------------------------------*/
BaseType_t xAreFlashCoRoutinesStillRunning( void )
{
/* Return pdPASS or pdFAIL depending on whether an error has been detected
* or not. */
return xCoRoutineFlashStatus;
}
#endif /* if ( configUSE_CO_ROUTINES == 1 ) */

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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* This demo file demonstrates how to send data between an ISR and a
* co-routine. A tick hook function is used to periodically pass data between
* the RTOS tick and a set of 'hook' co-routines.
*
* hookNUM_HOOK_CO_ROUTINES co-routines are created. Each co-routine blocks
* to wait for a character to be received on a queue from the tick ISR, checks
* to ensure the character received was that expected, then sends the number
* back to the tick ISR on a different queue.
*
* The tick ISR checks the numbers received back from the 'hook' co-routines
* matches the number previously sent.
*
* If at any time a queue function returns unexpectedly, or an incorrect value
* is received either by the tick hook or a co-routine then an error is
* latched.
*
* This demo relies on each 'hook' co-routine to execute between each
* hookTICK_CALLS_BEFORE_POST tick interrupts. This and the heavy use of
* queues from within an interrupt may result in an error being detected on
* slower targets simply due to timing.
*/
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "croutine.h"
#include "queue.h"
/* Demo application includes. */
#include "crhook.h"
/* The number of 'hook' co-routines that are to be created. */
#define hookNUM_HOOK_CO_ROUTINES ( 4 )
/* The number of times the tick hook should be called before a character is
* posted to the 'hook' co-routines. */
#define hookTICK_CALLS_BEFORE_POST ( 500 )
/* There should never be more than one item in any queue at any time. */
#define hookHOOK_QUEUE_LENGTH ( 1 )
/* Don't block when initially posting to the queue. */
#define hookNO_BLOCK_TIME ( 0 )
/* The priority relative to other co-routines (rather than tasks) that the
* 'hook' co-routines should take. */
#define mainHOOK_CR_PRIORITY ( 1 )
/*-----------------------------------------------------------*/
#if ( configUSE_CO_ROUTINES == 1 )
/*
* The co-routine function itself.
*/
static void prvHookCoRoutine( CoRoutineHandle_t xHandle,
UBaseType_t uxIndex );
/*
* The tick hook function. This receives a number from each 'hook' co-routine
* then sends a number to each co-routine. An error is flagged if a send or
* receive fails, or an unexpected number is received.
*/
void vApplicationTickHook( void );
/*-----------------------------------------------------------*/
/* Queues used to send data FROM a co-routine TO the tick hook function.
* The hook functions received (Rx's) on these queues. One queue per
* 'hook' co-routine. */
static QueueHandle_t xHookRxQueues[ hookNUM_HOOK_CO_ROUTINES ];
/* Queues used to send data FROM the tick hook TO a co-routine function.
* The hood function transmits (Tx's) on these queues. One queue per
* 'hook' co-routine. */
static QueueHandle_t xHookTxQueues[ hookNUM_HOOK_CO_ROUTINES ];
/* Set to true if an error is detected at any time. */
static BaseType_t xCoRoutineErrorDetected = pdFALSE;
/*-----------------------------------------------------------*/
void vStartHookCoRoutines( void )
{
UBaseType_t uxIndex, uxValueToPost = 0;
for( uxIndex = 0; uxIndex < hookNUM_HOOK_CO_ROUTINES; uxIndex++ )
{
/* Create a queue to transmit to and receive from each 'hook'
* co-routine. */
xHookRxQueues[ uxIndex ] = xQueueCreate( hookHOOK_QUEUE_LENGTH, sizeof( UBaseType_t ) );
xHookTxQueues[ uxIndex ] = xQueueCreate( hookHOOK_QUEUE_LENGTH, sizeof( UBaseType_t ) );
/* To start things off the tick hook function expects the queue it
* uses to receive data to contain a value. */
xQueueSend( xHookRxQueues[ uxIndex ], &uxValueToPost, hookNO_BLOCK_TIME );
/* Create the 'hook' co-routine itself. */
xCoRoutineCreate( prvHookCoRoutine, mainHOOK_CR_PRIORITY, uxIndex );
}
}
/*-----------------------------------------------------------*/
static UBaseType_t uxCallCounter = 0, uxNumberToPost = 0;
void vApplicationTickHook( void )
{
UBaseType_t uxReceivedNumber;
BaseType_t xIndex, xCoRoutineWoken;
/* Is it time to talk to the 'hook' co-routines again? */
uxCallCounter++;
if( uxCallCounter >= hookTICK_CALLS_BEFORE_POST )
{
uxCallCounter = 0;
for( xIndex = 0; xIndex < hookNUM_HOOK_CO_ROUTINES; xIndex++ )
{
xCoRoutineWoken = pdFALSE;
if( crQUEUE_RECEIVE_FROM_ISR( xHookRxQueues[ xIndex ], &uxReceivedNumber, &xCoRoutineWoken ) != pdPASS )
{
/* There is no reason why we would not expect the queue to
* contain a value. */
xCoRoutineErrorDetected = pdTRUE;
}
else
{
/* Each queue used to receive data from the 'hook' co-routines
* should contain the number we last posted to the same co-routine. */
if( uxReceivedNumber != uxNumberToPost )
{
xCoRoutineErrorDetected = pdTRUE;
}
/* Nothing should be blocked waiting to post to the queue. */
if( xCoRoutineWoken != pdFALSE )
{
xCoRoutineErrorDetected = pdTRUE;
}
}
}
/* Start the next cycle by posting the next number onto each Tx queue. */
uxNumberToPost++;
for( xIndex = 0; xIndex < hookNUM_HOOK_CO_ROUTINES; xIndex++ )
{
if( crQUEUE_SEND_FROM_ISR( xHookTxQueues[ xIndex ], &uxNumberToPost, pdFALSE ) != pdTRUE )
{
/* Posting to the queue should have woken the co-routine that
* was blocked on the queue. */
xCoRoutineErrorDetected = pdTRUE;
}
}
}
}
/*-----------------------------------------------------------*/
static void prvHookCoRoutine( CoRoutineHandle_t xHandle,
UBaseType_t uxIndex )
{
static UBaseType_t uxReceivedValue[ hookNUM_HOOK_CO_ROUTINES ];
BaseType_t xResult;
/* Each co-routine MUST start with a call to crSTART(); */
crSTART( xHandle );
for( ; ; )
{
/* Wait to receive a value from the tick hook. */
xResult = pdFAIL;
crQUEUE_RECEIVE( xHandle, xHookTxQueues[ uxIndex ], &( uxReceivedValue[ uxIndex ] ), portMAX_DELAY, &xResult );
/* There is no reason why we should not have received something on
* the queue. */
if( xResult != pdPASS )
{
xCoRoutineErrorDetected = pdTRUE;
}
/* Send the same number back to the idle hook so it can verify it. */
xResult = pdFAIL;
crQUEUE_SEND( xHandle, xHookRxQueues[ uxIndex ], &( uxReceivedValue[ uxIndex ] ), hookNO_BLOCK_TIME, &xResult );
if( xResult != pdPASS )
{
/* There is no reason why we should not have been able to post to
* the queue. */
xCoRoutineErrorDetected = pdTRUE;
}
}
/* Each co-routine MUST end with a call to crEND(). */
crEND();
}
/*-----------------------------------------------------------*/
BaseType_t xAreHookCoRoutinesStillRunning( void )
{
if( xCoRoutineErrorDetected )
{
return pdFALSE;
}
else
{
return pdTRUE;
}
}
#endif /* if ( configUSE_CO_ROUTINES == 1 ) */

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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/**
* Create a single persistent task which periodically dynamically creates another
* two tasks. The original task is called the creator task, the two tasks it
* creates are called suicidal tasks.
*
* One of the created suicidal tasks kill one other suicidal task before killing
* itself - leaving just the original task remaining.
*
* The creator task must be spawned after all of the other demo application tasks
* as it keeps a check on the number of tasks under the scheduler control. The
* number of tasks it expects to see running should never be greater than the
* number of tasks that were in existence when the creator task was spawned, plus
* one set of four suicidal tasks. If this number is exceeded an error is flagged.
*
* \page DeathC death.c
* \ingroup DemoFiles
* <HR>
*/
#include <stdlib.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo program include files. */
#include "death.h"
#define deathSTACK_SIZE ( configMINIMAL_STACK_SIZE + 60 )
/* The task originally created which is responsible for periodically dynamically
* creating another four tasks. */
static portTASK_FUNCTION_PROTO( vCreateTasks, pvParameters );
/* The task function of the dynamically created tasks. */
static portTASK_FUNCTION_PROTO( vSuicidalTask, pvParameters );
/* A variable which is incremented every time the dynamic tasks are created. This
* is used to check that the task is still running. */
static volatile uint16_t usCreationCount = 0;
/* Used to store the number of tasks that were originally running so the creator
* task can tell if any of the suicidal tasks have failed to die.
*/
static volatile UBaseType_t uxTasksRunningAtStart = 0;
/* When a task deletes itself, it stack and TCB are cleaned up by the Idle task.
* Under heavy load the idle task might not get much processing time, so it would
* be legitimate for several tasks to remain undeleted for a short period. There
* may also be a few other unexpected tasks if, for example, the tasks that test
* static allocation are also being used. */
static const UBaseType_t uxMaxNumberOfExtraTasksRunning = 3;
/* Used to store a handle to the task that should be killed by a suicidal task,
* before it kills itself. */
TaskHandle_t xCreatedTask;
/*-----------------------------------------------------------*/
void vCreateSuicidalTasks( UBaseType_t uxPriority )
{
xTaskCreate( vCreateTasks, "CREATOR", deathSTACK_SIZE, ( void * ) NULL, uxPriority, NULL );
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vSuicidalTask, pvParameters )
{
volatile long l1, l2;
TaskHandle_t xTaskToKill;
const TickType_t xDelay = pdMS_TO_TICKS( ( TickType_t ) 200 );
/* Test deletion of a task's secure context, if any. */
portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
if( pvParameters != NULL )
{
/* This task is periodically created four times. Two created tasks are
* passed a handle to the other task so it can kill it before killing itself.
* The other task is passed in null. */
xTaskToKill = *( TaskHandle_t * ) pvParameters;
}
else
{
xTaskToKill = NULL;
}
for( ; ; )
{
/* Do something random just to use some stack and registers. */
l1 = 2;
l2 = 89;
l2 *= l1;
vTaskDelay( xDelay );
if( xTaskToKill != NULL )
{
/* Make sure the other task has a go before we delete it. */
vTaskDelay( ( TickType_t ) 0 );
/* Kill the other task that was created by vCreateTasks(). */
vTaskDelete( xTaskToKill );
/* Kill ourselves. */
vTaskDelete( NULL );
}
}
} /*lint !e818 !e550 Function prototype must be as per standard for task functions. */
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCreateTasks, pvParameters )
{
const TickType_t xDelay = pdMS_TO_TICKS( ( TickType_t ) 1000 );
UBaseType_t uxPriority;
/* Remove compiler warning about unused parameter. */
( void ) pvParameters;
/* Delay at the start to ensure tasks created by other demos have been
* created before storing the current number of tasks. */
vTaskDelay( xDelay );
uxTasksRunningAtStart = ( UBaseType_t ) uxTaskGetNumberOfTasks();
uxPriority = uxTaskPriorityGet( NULL );
for( ; ; )
{
/* Just loop round, delaying then creating the four suicidal tasks. */
vTaskDelay( xDelay );
xCreatedTask = NULL;
xTaskCreate( vSuicidalTask, "SUICID1", configMINIMAL_STACK_SIZE, NULL, uxPriority, &xCreatedTask );
xTaskCreate( vSuicidalTask, "SUICID2", configMINIMAL_STACK_SIZE, &xCreatedTask, uxPriority, NULL );
++usCreationCount;
}
}
/*-----------------------------------------------------------*/
/* This is called to check that the creator task is still running and that there
* are not any more than four extra tasks. */
BaseType_t xIsCreateTaskStillRunning( void )
{
static uint16_t usLastCreationCount = 0xfff;
BaseType_t xReturn = pdTRUE;
static UBaseType_t uxTasksRunningNow;
if( usLastCreationCount == usCreationCount )
{
xReturn = pdFALSE;
}
else
{
usLastCreationCount = usCreationCount;
}
uxTasksRunningNow = ( UBaseType_t ) uxTaskGetNumberOfTasks();
if( uxTasksRunningNow < uxTasksRunningAtStart )
{
xReturn = pdFALSE;
}
else if( ( uxTasksRunningNow - uxTasksRunningAtStart ) > uxMaxNumberOfExtraTasksRunning )
{
xReturn = pdFALSE;
}
else
{
/* Everything is okay. */
}
return xReturn;
}

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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* The first test creates three tasks - two counter tasks (one continuous count
* and one limited count) and one controller. A "count" variable is shared
* between all three tasks. The two counter tasks should never be in a "ready"
* state at the same time. The controller task runs at the same priority as
* the continuous count task, and at a lower priority than the limited count
* task.
*
* One counter task loops indefinitely, incrementing the shared count variable
* on each iteration. To ensure it has exclusive access to the variable it
* raises its priority above that of the controller task before each
* increment, lowering it again to its original priority before starting the
* next iteration.
*
* The other counter task increments the shared count variable on each
* iteration of its loop until the count has reached a limit of 0xff - at
* which point it suspends itself. It will not start a new loop until the
* controller task has made it "ready" again by calling vTaskResume().
* This second counter task operates at a higher priority than controller
* task so does not need to worry about mutual exclusion of the counter
* variable.
*
* The controller task is in two sections. The first section controls and
* monitors the continuous count task. When this section is operational the
* limited count task is suspended. Likewise, the second section controls
* and monitors the limited count task. When this section is operational the
* continuous count task is suspended.
*
* In the first section the controller task first takes a copy of the shared
* count variable. To ensure mutual exclusion on the count variable it
* suspends the continuous count task, resuming it again when the copy has been
* taken. The controller task then sleeps for a fixed period - during which
* the continuous count task will execute and increment the shared variable.
* When the controller task wakes it checks that the continuous count task
* has executed by comparing the copy of the shared variable with its current
* value. This time, to ensure mutual exclusion, the scheduler itself is
* suspended with a call to vTaskSuspendAll (). This is for demonstration
* purposes only and is not a recommended technique due to its inefficiency.
*
* After a fixed number of iterations the controller task suspends the
* continuous count task, and moves on to its second section.
*
* At the start of the second section the shared variable is cleared to zero.
* The limited count task is then woken from its suspension by a call to
* vTaskResume (). As this counter task operates at a higher priority than
* the controller task the controller task should not run again until the
* shared variable has been counted up to the limited value causing the counter
* task to suspend itself. The next line after vTaskResume () is therefore
* a check on the shared variable to ensure everything is as expected.
*
*
* The second test consists of a couple of very simple tasks that post onto a
* queue while the scheduler is suspended. This test was added to test parts
* of the scheduler not exercised by the first test.
*
*/
#include <stdlib.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
/* Demo app include files. */
#include "dynamic.h"
/* Function that implements the "limited count" task as described above. */
static portTASK_FUNCTION_PROTO( vLimitedIncrementTask, pvParameters );
/* Function that implements the "continuous count" task as described above. */
static portTASK_FUNCTION_PROTO( vContinuousIncrementTask, pvParameters );
/* Function that implements the controller task as described above. */
static portTASK_FUNCTION_PROTO( vCounterControlTask, pvParameters );
static portTASK_FUNCTION_PROTO( vQueueReceiveWhenSuspendedTask, pvParameters );
static portTASK_FUNCTION_PROTO( vQueueSendWhenSuspendedTask, pvParameters );
/* Demo task specific constants. */
#ifndef priSUSPENDED_RX_TASK_STACK_SIZE
#define priSUSPENDED_RX_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE )
#endif
#define priSTACK_SIZE ( configMINIMAL_STACK_SIZE )
#define priSLEEP_TIME pdMS_TO_TICKS( 128 )
#define priLOOPS ( 5 )
#define priMAX_COUNT ( ( uint32_t ) 0xff )
#define priNO_BLOCK ( ( TickType_t ) 0 )
#define priSUSPENDED_QUEUE_LENGTH ( 1 )
/*-----------------------------------------------------------*/
/* Handles to the two counter tasks. These could be passed in as parameters
* to the controller task to prevent them having to be file scope. */
static TaskHandle_t xContinuousIncrementHandle, xLimitedIncrementHandle;
/* The shared counter variable. This is passed in as a parameter to the two
* counter variables for demonstration purposes. */
static uint32_t ulCounter;
/* Variables used to check that the tasks are still operating without error.
* Each complete iteration of the controller task increments this variable
* provided no errors have been found. The variable maintaining the same value
* is therefore indication of an error. */
static volatile uint16_t usCheckVariable = ( uint16_t ) 0;
static volatile BaseType_t xSuspendedQueueSendError = pdFALSE;
static volatile BaseType_t xSuspendedQueueReceiveError = pdFALSE;
/* Queue used by the second test. */
QueueHandle_t xSuspendedTestQueue;
/* The value the queue receive task expects to receive next. This is file
* scope so xAreDynamicPriorityTasksStillRunning() can ensure it is still
* incrementing. */
static uint32_t ulExpectedValue = ( uint32_t ) 0;
/*-----------------------------------------------------------*/
/*
* Start the three tasks as described at the top of the file.
* Note that the limited count task is given a higher priority.
*/
void vStartDynamicPriorityTasks( void )
{
xSuspendedTestQueue = xQueueCreate( priSUSPENDED_QUEUE_LENGTH, sizeof( uint32_t ) );
if( xSuspendedTestQueue != NULL )
{
/* vQueueAddToRegistry() adds the queue to the queue registry, if one is
* in use. The queue registry is provided as a means for kernel aware
* debuggers to locate queues and has no purpose if a kernel aware debugger
* is not being used. The call to vQueueAddToRegistry() will be removed
* by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
* defined to be less than 1. */
vQueueAddToRegistry( xSuspendedTestQueue, "Suspended_Test_Queue" );
xTaskCreate( vContinuousIncrementTask, "CNT_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY, &xContinuousIncrementHandle );
xTaskCreate( vLimitedIncrementTask, "LIM_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY + 1, &xLimitedIncrementHandle );
xTaskCreate( vCounterControlTask, "C_CTRL", priSUSPENDED_RX_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
xTaskCreate( vQueueSendWhenSuspendedTask, "SUSP_TX", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
xTaskCreate( vQueueReceiveWhenSuspendedTask, "SUSP_RX", priSUSPENDED_RX_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
}
}
/*-----------------------------------------------------------*/
/*
* Just loops around incrementing the shared variable until the limit has been
* reached. Once the limit has been reached it suspends itself.
*/
static portTASK_FUNCTION( vLimitedIncrementTask, pvParameters )
{
volatile uint32_t * pulCounter;
/* Take a pointer to the shared variable from the parameters passed into
* the task. */
pulCounter = ( volatile uint32_t * ) pvParameters;
/* This will run before the control task, so the first thing it does is
* suspend - the control task will resume it when ready. */
vTaskSuspend( NULL );
for( ; ; )
{
/* Just count up to a value then suspend. */
( *pulCounter )++;
if( *pulCounter >= priMAX_COUNT )
{
vTaskSuspend( NULL );
}
}
}
/*-----------------------------------------------------------*/
/*
* Just keep counting the shared variable up. The control task will suspend
* this task when it wants.
*/
static portTASK_FUNCTION( vContinuousIncrementTask, pvParameters )
{
volatile uint32_t * pulCounter;
UBaseType_t uxOurPriority;
/* Take a pointer to the shared variable from the parameters passed into
* the task. */
pulCounter = ( volatile uint32_t * ) pvParameters;
/* Query our priority so we can raise it when exclusive access to the
* shared variable is required. */
uxOurPriority = uxTaskPriorityGet( NULL );
for( ; ; )
{
/* Raise the priority above the controller task to ensure a context
* switch does not occur while the variable is being accessed. */
vTaskPrioritySet( NULL, uxOurPriority + 1 );
{
configASSERT( ( uxTaskPriorityGet( NULL ) == ( uxOurPriority + 1 ) ) );
( *pulCounter )++;
}
vTaskPrioritySet( NULL, uxOurPriority );
#if ( configUSE_PREEMPTION == 0 )
taskYIELD();
#endif
configASSERT( ( uxTaskPriorityGet( NULL ) == uxOurPriority ) );
}
}
/*-----------------------------------------------------------*/
/*
* Controller task as described above.
*/
static portTASK_FUNCTION( vCounterControlTask, pvParameters )
{
uint32_t ulLastCounter;
short sLoops;
short sError = pdFALSE;
/* Just to stop warning messages. */
( void ) pvParameters;
for( ; ; )
{
/* Start with the counter at zero. */
ulCounter = ( uint32_t ) 0;
/* First section : */
/* Check the continuous count task is running. */
for( sLoops = 0; sLoops < priLOOPS; sLoops++ )
{
/* Suspend the continuous count task so we can take a mirror of the
* shared variable without risk of corruption. This is not really
* needed as the other task raises its priority above this task's
* priority. */
vTaskSuspend( xContinuousIncrementHandle );
{
#if ( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xContinuousIncrementHandle ) == eSuspended );
}
#endif /* INCLUDE_eTaskGetState */
ulLastCounter = ulCounter;
}
vTaskResume( xContinuousIncrementHandle );
#if ( configUSE_PREEMPTION == 0 )
taskYIELD();
#endif
#if ( INCLUDE_eTaskGetState == 1 )
{
#if ( configNUMBER_OF_CORES > 1 )
{
eTaskState eState = eTaskGetState( xContinuousIncrementHandle );
configASSERT( ( eState == eReady ) || ( eState == eRunning ) );
}
#else
{
configASSERT( eTaskGetState( xContinuousIncrementHandle ) == eReady );
}
#endif
}
#endif /* INCLUDE_eTaskGetState */
/* Now delay to ensure the other task has processor time. */
vTaskDelay( priSLEEP_TIME );
/* Check the shared variable again. This time to ensure mutual
* exclusion the whole scheduler will be locked. This is just for
* demo purposes! */
vTaskSuspendAll();
{
if( ulLastCounter == ulCounter )
{
/* The shared variable has not changed. There is a problem
* with the continuous count task so flag an error. */
sError = pdTRUE;
}
}
xTaskResumeAll();
}
/* Second section: */
/* Suspend the continuous counter task so it stops accessing the shared
* variable. */
vTaskSuspend( xContinuousIncrementHandle );
/* Reset the variable. */
ulCounter = ( uint32_t ) 0;
#if ( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xLimitedIncrementHandle ) == eSuspended );
}
#endif /* INCLUDE_eTaskGetState */
/* Resume the limited count task which has a higher priority than us.
* We should therefore not return from this call until the limited count
* task has suspended itself with a known value in the counter variable. */
vTaskResume( xLimitedIncrementHandle );
#if ( configUSE_PREEMPTION == 0 )
taskYIELD();
#endif
/* This task should not run again until xLimitedIncrementHandle has
* suspended itself. */
#if ( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xLimitedIncrementHandle ) == eSuspended );
}
#endif /* INCLUDE_eTaskGetState */
/* Does the counter variable have the expected value? */
if( ulCounter != priMAX_COUNT )
{
sError = pdTRUE;
}
if( sError == pdFALSE )
{
/* If no errors have occurred then increment the check variable. */
portENTER_CRITICAL();
usCheckVariable++;
portEXIT_CRITICAL();
}
/* Resume the continuous count task and do it all again. */
vTaskResume( xContinuousIncrementHandle );
#if ( configUSE_PREEMPTION == 0 )
taskYIELD();
#endif
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vQueueSendWhenSuspendedTask, pvParameters )
{
static uint32_t ulValueToSend = ( uint32_t ) 0;
/* Just to stop warning messages. */
( void ) pvParameters;
for( ; ; )
{
vTaskSuspendAll();
{
/* We must not block while the scheduler is suspended! */
if( xQueueSend( xSuspendedTestQueue, ( void * ) &ulValueToSend, priNO_BLOCK ) != pdTRUE )
{
xSuspendedQueueSendError = pdTRUE;
}
}
xTaskResumeAll();
vTaskDelay( priSLEEP_TIME );
++ulValueToSend;
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vQueueReceiveWhenSuspendedTask, pvParameters )
{
uint32_t ulReceivedValue;
BaseType_t xGotValue;
/* Just to stop warning messages. */
( void ) pvParameters;
for( ; ; )
{
do
{
/* Suspending the scheduler here is fairly pointless and
* undesirable for a normal application. It is done here purely
* to test the scheduler. The inner xTaskResumeAll() should
* never return pdTRUE as the scheduler is still locked by the
* outer call. */
vTaskSuspendAll();
{
vTaskSuspendAll();
{
xGotValue = xQueueReceive( xSuspendedTestQueue, ( void * ) &ulReceivedValue, priNO_BLOCK );
}
if( xTaskResumeAll() != pdFALSE )
{
xSuspendedQueueReceiveError = pdTRUE;
}
}
xTaskResumeAll();
#if configUSE_PREEMPTION == 0
{
taskYIELD();
}
#endif
} while( xGotValue == pdFALSE );
if( ulReceivedValue != ulExpectedValue )
{
xSuspendedQueueReceiveError = pdTRUE;
}
if( xSuspendedQueueReceiveError != pdTRUE )
{
/* Only increment the variable if an error has not occurred. This
* allows xAreDynamicPriorityTasksStillRunning() to check for stalled
* tasks as well as explicit errors. */
++ulExpectedValue;
}
}
}
/*-----------------------------------------------------------*/
/* Called to check that all the created tasks are still running without error. */
BaseType_t xAreDynamicPriorityTasksStillRunning( void )
{
/* Keep a history of the check variables so we know if it has been incremented
* since the last call. */
static uint16_t usLastTaskCheck = ( uint16_t ) 0;
static uint32_t ulLastExpectedValue = ( uint32_t ) 0U;
BaseType_t xReturn = pdTRUE;
/* Check the tasks are still running by ensuring the check variable
* is still incrementing. */
if( usCheckVariable == usLastTaskCheck )
{
/* The check has not incremented so an error exists. */
xReturn = pdFALSE;
}
if( ulExpectedValue == ulLastExpectedValue )
{
/* The value being received by the queue receive task has not
* incremented so an error exists. */
xReturn = pdFALSE;
}
if( xSuspendedQueueSendError == pdTRUE )
{
xReturn = pdFALSE;
}
if( xSuspendedQueueReceiveError == pdTRUE )
{
xReturn = pdFALSE;
}
usLastTaskCheck = usCheckVariable;
ulLastExpectedValue = ulExpectedValue;
return xReturn;
}

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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/**
* This version of flash .c is for use on systems that have limited stack space
* and no display facilities. The complete version can be found in the
* Demo/Common/Full directory.
*
* Three tasks are created, each of which flash an LED at a different rate. The first
* LED flashes every 200ms, the second every 400ms, the third every 600ms.
*
* The LED flash tasks provide instant visual feedback. They show that the scheduler
* is still operational.
*
*/
#include <stdlib.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo program include files. */
#include "partest.h"
#include "flash.h"
#define ledSTACK_SIZE configMINIMAL_STACK_SIZE
#define ledNUMBER_OF_LEDS ( 3 )
#define ledFLASH_RATE_BASE ( ( TickType_t ) 333 )
/* Variable used by the created tasks to calculate the LED number to use, and
* the rate at which they should flash the LED. */
static volatile UBaseType_t uxFlashTaskNumber = 0;
/* The task that is created three times. */
static portTASK_FUNCTION_PROTO( vLEDFlashTask, pvParameters );
/*-----------------------------------------------------------*/
void vStartLEDFlashTasks( UBaseType_t uxPriority )
{
BaseType_t xLEDTask;
/* Create the three tasks. */
for( xLEDTask = 0; xLEDTask < ledNUMBER_OF_LEDS; ++xLEDTask )
{
/* Spawn the task. */
xTaskCreate( vLEDFlashTask, "LEDx", ledSTACK_SIZE, NULL, uxPriority, ( TaskHandle_t * ) NULL );
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vLEDFlashTask, pvParameters )
{
TickType_t xFlashRate, xLastFlashTime;
UBaseType_t uxLED;
/* The parameters are not used. */
( void ) pvParameters;
/* Calculate the LED and flash rate. */
portENTER_CRITICAL();
{
/* See which of the eight LED's we should use. */
uxLED = uxFlashTaskNumber;
/* Update so the next task uses the next LED. */
uxFlashTaskNumber++;
}
portEXIT_CRITICAL();
xFlashRate = ledFLASH_RATE_BASE + ( ledFLASH_RATE_BASE * ( TickType_t ) uxLED );
xFlashRate /= portTICK_PERIOD_MS;
/* We will turn the LED on and off again in the delay period, so each
* delay is only half the total period. */
xFlashRate /= ( TickType_t ) 2;
/* We need to initialise xLastFlashTime prior to the first call to
* vTaskDelayUntil(). */
xLastFlashTime = xTaskGetTickCount();
for( ; ; )
{
/* Delay for half the flash period then turn the LED on. */
vTaskDelayUntil( &xLastFlashTime, xFlashRate );
vParTestToggleLED( uxLED );
/* Delay for half the flash period then turn the LED off. */
vTaskDelayUntil( &xLastFlashTime, xFlashRate );
vParTestToggleLED( uxLED );
}
} /*lint !e715 !e818 !e830 Function definition must be standard for task creation. */

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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/**
* Repeatedly toggles one or more LEDs using software timers - one timer per
* LED.
*/
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "timers.h"
/* Demo program include files. */
#include "partest.h"
#include "flash_timer.h"
/* The toggle rates are all a multple of ledFLASH_RATE_BASE. */
#define ledFLASH_RATE_BASE ( ( ( TickType_t ) 333 ) / portTICK_PERIOD_MS )
/* A block time of zero simple means "don't block". */
#define ledDONT_BLOCK ( ( TickType_t ) 0 )
/*-----------------------------------------------------------*/
/*
* The callback function used by each LED flashing timer. All the timers use
* this function, and the timer ID is used within the function to determine
* which timer has actually expired.
*/
static void prvLEDTimerCallback( TimerHandle_t xTimer );
/*-----------------------------------------------------------*/
void vStartLEDFlashTimers( UBaseType_t uxNumberOfLEDs )
{
UBaseType_t uxLEDTimer;
TimerHandle_t xTimer;
/* Create and start the requested number of timers. */
for( uxLEDTimer = 0; uxLEDTimer < uxNumberOfLEDs; ++uxLEDTimer )
{
/* Create the timer. */
xTimer = xTimerCreate( "Flasher", /* A text name, purely to help debugging. */
ledFLASH_RATE_BASE * ( uxLEDTimer + 1 ), /* The timer period, which is a multiple of ledFLASH_RATE_BASE. */
pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
( void * ) uxLEDTimer, /* The ID is used to identify the timer within the timer callback function, as each timer uses the same callback. */
prvLEDTimerCallback /* Each timer uses the same callback. */
);
/* If the timer was created successfully, attempt to start it. If the
* scheduler has not yet been started then the timer command queue must
* be long enough to hold each command sent to it until such time that the
* scheduler is started. The timer command queue length is set by
* configTIMER_QUEUE_LENGTH in FreeRTOSConfig.h. */
if( xTimer != NULL )
{
xTimerStart( xTimer, ledDONT_BLOCK );
}
}
}
/*-----------------------------------------------------------*/
static void prvLEDTimerCallback( TimerHandle_t xTimer )
{
BaseType_t xTimerID;
/* The timer ID is used to identify the timer that has actually expired as
* each timer uses the same callback. The ID is then also used as the number
* of the LED that is to be toggled. */
xTimerID = ( BaseType_t ) pvTimerGetTimerID( xTimer );
vParTestToggleLED( xTimerID );
}

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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* Creates eight tasks, each of which loops continuously performing a floating
* point calculation.
*
* All the tasks run at the idle priority and never block or yield. This causes
* all eight tasks to time slice with the idle task. Running at the idle
* priority means that these tasks will get pre-empted any time another task is
* ready to run or a time slice occurs. More often than not the pre-emption
* will occur mid calculation, creating a good test of the schedulers context
* switch mechanism - a calculation producing an unexpected result could be a
* symptom of a corruption in the context of a task.
*/
/* Standard includes. */
#include <stdlib.h>
#include <math.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo program include files. */
#include "flop.h"
#ifndef mathSTACK_SIZE
#define mathSTACK_SIZE configMINIMAL_STACK_SIZE
#endif
#define mathNUMBER_OF_TASKS ( 4 )
/* Four tasks, each of which performs a different floating point calculation.
* Each of the four is created twice. */
static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters );
static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters );
static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters );
static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters );
/* These variables are used to check that all the tasks are still running. If a
* task gets a calculation wrong it will stop setting its check variable. */
static uint16_t usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( uint16_t ) 0 };
/*-----------------------------------------------------------*/
void vStartMathTasks( UBaseType_t uxPriority )
{
xTaskCreate( vCompetingMathTask1, "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask2, "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask3, "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask4, "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )
{
volatile portDOUBLE d1, d2, d3, d4;
volatile uint16_t * pusTaskCheckVariable;
volatile portDOUBLE dAnswer;
short sError = pdFALSE;
/* Some ports require that tasks that use a hardware floating point unit
* tell the kernel that they require a floating point context before any
* floating point instructions are executed. */
portTASK_USES_FLOATING_POINT();
d1 = 123.4567;
d2 = 2345.6789;
d3 = -918.222;
dAnswer = ( d1 + d2 ) * d3;
/* The variable this task increments to show it is still running is passed in
* as the parameter. */
pusTaskCheckVariable = ( volatile uint16_t * ) pvParameters;
/* Keep performing a calculation and checking the result against a constant. */
for( ; ; )
{
d1 = 123.4567;
d2 = 2345.6789;
d3 = -918.222;
d4 = ( d1 + d2 ) * d3;
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* If the calculation does not match the expected constant, stop the
* increment of the check variable. */
if( fabs( d4 - dAnswer ) > 0.001 )
{
sError = pdTRUE;
}
if( sError == pdFALSE )
{
/* If the calculation has always been correct then set set the check
* variable. The check variable will get set to pdFALSE each time
* xAreMathsTaskStillRunning() is executed. */
( *pusTaskCheckVariable ) = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask2, pvParameters )
{
volatile portDOUBLE d1, d2, d3, d4;
volatile uint16_t * pusTaskCheckVariable;
volatile portDOUBLE dAnswer;
short sError = pdFALSE;
/* Some ports require that tasks that use a hardware floating point unit
* tell the kernel that they require a floating point context before any
* floating point instructions are executed. */
portTASK_USES_FLOATING_POINT();
d1 = -389.38;
d2 = 32498.2;
d3 = -2.0001;
dAnswer = ( d1 / d2 ) * d3;
/* The variable this task increments to show it is still running is passed in
* as the parameter. */
pusTaskCheckVariable = ( volatile uint16_t * ) pvParameters;
/* Keep performing a calculation and checking the result against a constant. */
for( ; ; )
{
d1 = -389.38;
d2 = 32498.2;
d3 = -2.0001;
d4 = ( d1 / d2 ) * d3;
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* If the calculation does not match the expected constant, stop the
* increment of the check variable. */
if( fabs( d4 - dAnswer ) > 0.001 )
{
sError = pdTRUE;
}
if( sError == pdFALSE )
{
/* If the calculation has always been correct then set set the check
* variable. The check variable will get set to pdFALSE each time
* xAreMathsTaskStillRunning() is executed. */
( *pusTaskCheckVariable ) = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask3, pvParameters )
{
volatile portDOUBLE * pdArray, dTotal1, dTotal2, dDifference;
volatile uint16_t * pusTaskCheckVariable;
const size_t xArraySize = 10;
size_t xPosition;
short sError = pdFALSE;
/* Some ports require that tasks that use a hardware floating point unit
* tell the kernel that they require a floating point context before any
* floating point instructions are executed. */
portTASK_USES_FLOATING_POINT();
/* The variable this task increments to show it is still running is passed in
* as the parameter. */
pusTaskCheckVariable = ( volatile uint16_t * ) pvParameters;
pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
/* Keep filling an array, keeping a running total of the values placed in the
* array. Then run through the array adding up all the values. If the two totals
* do not match, stop the check variable from incrementing. */
for( ; ; )
{
dTotal1 = 0.0;
dTotal2 = 0.0;
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
pdArray[ xPosition ] = ( portDOUBLE ) xPosition + 5.5;
dTotal1 += ( portDOUBLE ) xPosition + 5.5;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
dTotal2 += pdArray[ xPosition ];
}
dDifference = dTotal1 - dTotal2;
if( fabs( dDifference ) > 0.001 )
{
sError = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
if( sError == pdFALSE )
{
/* If the calculation has always been correct then set set the check
* variable. The check variable will get set to pdFALSE each time
* xAreMathsTaskStillRunning() is executed. */
( *pusTaskCheckVariable ) = pdTRUE;
}
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )
{
volatile portDOUBLE * pdArray, dTotal1, dTotal2, dDifference;
volatile uint16_t * pusTaskCheckVariable;
const size_t xArraySize = 10;
size_t xPosition;
short sError = pdFALSE;
/* Some ports require that tasks that use a hardware floating point unit
* tell the kernel that they require a floating point context before any
* floating point instructions are executed. */
portTASK_USES_FLOATING_POINT();
/* The variable this task increments to show it is still running is passed in
* as the parameter. */
pusTaskCheckVariable = ( volatile uint16_t * ) pvParameters;
pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
/* Keep filling an array, keeping a running total of the values placed in the
* array. Then run through the array adding up all the values. If the two totals
* do not match, stop the check variable from incrementing. */
for( ; ; )
{
dTotal1 = 0.0;
dTotal2 = 0.0;
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
pdArray[ xPosition ] = ( portDOUBLE ) xPosition * 12.123;
dTotal1 += ( portDOUBLE ) xPosition * 12.123;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
dTotal2 += pdArray[ xPosition ];
}
dDifference = dTotal1 - dTotal2;
if( fabs( dDifference ) > 0.001 )
{
sError = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
if( sError == pdFALSE )
{
/* If the calculation has always been correct then set set the check
* variable. The check variable will get set to pdFALSE each time
* xAreMathsTaskStillRunning() is executed. */
( *pusTaskCheckVariable ) = pdTRUE;
}
}
}
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running. */
BaseType_t xAreMathsTaskStillRunning( void )
{
BaseType_t xReturn = pdPASS, xTask;
/* Check the maths tasks are still running by ensuring their check variables
* have been set to pdPASS. */
for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
{
if( usTaskCheck[ xTask ] != pdTRUE )
{
/* The check has not been set so the associated task has either
* stalled or detected an error. */
xReturn = pdFAIL;
}
else
{
/* Reset the variable so it can be checked again the next time this
* function is executed. */
usTaskCheck[ xTask ] = pdFALSE;
}
}
return xReturn;
}

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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* Creates one or more tasks that repeatedly perform a set of integer
* calculations. The result of each run-time calculation is compared to the
* known expected result - with a mismatch being indicative of an error in the
* context switch mechanism.
*/
#include <stdlib.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo program include files. */
#include "integer.h"
/* The constants used in the calculation. */
#define intgCONST1 ( ( long ) 123 )
#define intgCONST2 ( ( long ) 234567 )
#define intgCONST3 ( ( long ) -3 )
#define intgCONST4 ( ( long ) 7 )
#define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )
#define intgSTACK_SIZE configMINIMAL_STACK_SIZE
/* As this is the minimal version, we will only create one task. */
#define intgNUMBER_OF_TASKS ( 1 )
/* The task function. Repeatedly performs a 32 bit calculation, checking the
* result against the expected result. If the result is incorrect then the
* context switch must have caused some corruption. */
static portTASK_FUNCTION_PROTO( vCompeteingIntMathTask, pvParameters );
/* Variables that are set to true within the calculation task to indicate
* that the task is still executing. The check task sets the variable back to
* false, flagging an error if the variable is still false the next time it
* is called. */
static BaseType_t xTaskCheck[ intgNUMBER_OF_TASKS ] = { ( BaseType_t ) pdFALSE };
/*-----------------------------------------------------------*/
void vStartIntegerMathTasks( UBaseType_t uxPriority )
{
short sTask;
for( sTask = 0; sTask < intgNUMBER_OF_TASKS; sTask++ )
{
xTaskCreate( vCompeteingIntMathTask, "IntMath", intgSTACK_SIZE, ( void * ) &( xTaskCheck[ sTask ] ), uxPriority, ( TaskHandle_t * ) NULL );
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompeteingIntMathTask, pvParameters )
{
/* These variables are all effectively set to constants so they are volatile to
* ensure the compiler does not just get rid of them. */
volatile long lValue;
short sError = pdFALSE;
volatile BaseType_t * pxTaskHasExecuted;
/* Set a pointer to the variable we are going to set to true each
* iteration. This is also a good test of the parameter passing mechanism
* within each port. */
pxTaskHasExecuted = ( volatile BaseType_t * ) pvParameters;
/* Keep performing a calculation and checking the result against a constant. */
for( ; ; )
{
/* Perform the calculation. This will store partial value in
* registers, resulting in a good test of the context switch mechanism. */
lValue = intgCONST1;
lValue += intgCONST2;
/* Yield in case cooperative scheduling is being used. */
#if configUSE_PREEMPTION == 0
{
taskYIELD();
}
#endif
/* Finish off the calculation. */
lValue *= intgCONST3;
lValue /= intgCONST4;
/* If the calculation is found to be incorrect we stop setting the
* TaskHasExecuted variable so the check task can see an error has
* occurred. */
if( lValue != intgEXPECTED_ANSWER ) /*lint !e774 volatile used to prevent this being optimised out. */
{
sError = pdTRUE;
}
if( sError == pdFALSE )
{
/* We have not encountered any errors, so set the flag that show
* we are still executing. This will be periodically cleared by
* the check task. */
portENTER_CRITICAL();
*pxTaskHasExecuted = pdTRUE;
portEXIT_CRITICAL();
}
/* Yield in case cooperative scheduling is being used. */
#if configUSE_PREEMPTION == 0
{
taskYIELD();
}
#endif
}
}
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running. */
BaseType_t xAreIntegerMathsTaskStillRunning( void )
{
BaseType_t xReturn = pdTRUE;
short sTask;
/* Check the maths tasks are still running by ensuring their check variables
* are still being set to true. */
for( sTask = 0; sTask < intgNUMBER_OF_TASKS; sTask++ )
{
if( xTaskCheck[ sTask ] == pdFALSE )
{
/* The check has not incremented so an error exists. */
xReturn = pdFALSE;
}
/* Reset the check variable so we can tell if it has been set by
* the next time around. */
xTaskCheck[ sTask ] = pdFALSE;
}
return xReturn;
}

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This directory contains the implementation of the "common demo tasks". These
are test tasks and demo tasks that are used by nearly all the demo applications.

411
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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* The tasks defined on this page demonstrate the use of recursive mutexes.
*
* For recursive mutex functionality the created mutex should be created using
* xSemaphoreCreateRecursiveMutex(), then be manipulated
* using the xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() API
* functions.
*
* This demo creates three tasks all of which access the same recursive mutex:
*
* prvRecursiveMutexControllingTask() has the highest priority so executes
* first and grabs the mutex. It then performs some recursive accesses -
* between each of which it sleeps for a short period to let the lower
* priority tasks execute. When it has completed its demo functionality
* it gives the mutex back before suspending itself.
*
* prvRecursiveMutexBlockingTask() attempts to access the mutex by performing
* a blocking 'take'. The blocking task has a lower priority than the
* controlling task so by the time it executes the mutex has already been
* taken by the controlling task, causing the blocking task to block. It
* does not unblock until the controlling task has given the mutex back,
* and it does not actually run until the controlling task has suspended
* itself (due to the relative priorities). When it eventually does obtain
* the mutex all it does is give the mutex back prior to also suspending
* itself. At this point both the controlling task and the blocking task are
* suspended.
*
* prvRecursiveMutexPollingTask() runs at the idle priority. It spins round
* a tight loop attempting to obtain the mutex with a non-blocking call. As
* the lowest priority task it will not successfully obtain the mutex until
* both the controlling and blocking tasks are suspended. Once it eventually
* does obtain the mutex it first unsuspends both the controlling task and
* blocking task prior to giving the mutex back - resulting in the polling
* task temporarily inheriting the controlling tasks priority.
*/
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
/* Demo app include files. */
#include "recmutex.h"
/* Priorities assigned to the three tasks. recmuCONTROLLING_TASK_PRIORITY can
* be overridden by a definition in FreeRTOSConfig.h. */
#ifndef recmuCONTROLLING_TASK_PRIORITY
#define recmuCONTROLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
#endif
#define recmuBLOCKING_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define recmuPOLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 0 )
/* The recursive call depth. */
#define recmuMAX_COUNT ( 10 )
/* Misc. */
#define recmuSHORT_DELAY ( pdMS_TO_TICKS( 20 ) )
#define recmuNO_DELAY ( ( TickType_t ) 0 )
#define recmu15ms_DELAY ( pdMS_TO_TICKS( 15 ) )
#ifndef recmuRECURSIVE_MUTEX_TEST_TASK_STACK_SIZE
#define recmuRECURSIVE_MUTEX_TEST_TASK_STACK_SIZE configMINIMAL_STACK_SIZE
#endif
/* The three tasks as described at the top of this file. */
static void prvRecursiveMutexControllingTask( void * pvParameters );
static void prvRecursiveMutexBlockingTask( void * pvParameters );
static void prvRecursiveMutexPollingTask( void * pvParameters );
/* The mutex used by the demo. */
static SemaphoreHandle_t xMutex;
/* Variables used to detect and latch errors. */
static volatile BaseType_t xErrorOccurred = pdFALSE, xControllingIsSuspended = pdFALSE, xBlockingIsSuspended = pdFALSE;
static volatile UBaseType_t uxControllingCycles = 0, uxBlockingCycles = 0, uxPollingCycles = 0;
/* Handles of the two higher priority tasks, required so they can be resumed
* (unsuspended). */
static TaskHandle_t xControllingTaskHandle, xBlockingTaskHandle;
/*-----------------------------------------------------------*/
void vStartRecursiveMutexTasks( void )
{
/* Just creates the mutex and the three tasks. */
xMutex = xSemaphoreCreateRecursiveMutex();
if( xMutex != NULL )
{
/* vQueueAddToRegistry() adds the mutex to the registry, if one is
* in use. The registry is provided as a means for kernel aware
* debuggers to locate mutex and has no purpose if a kernel aware debugger
* is not being used. The call to vQueueAddToRegistry() will be removed
* by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
* defined to be less than 1. */
vQueueAddToRegistry( ( QueueHandle_t ) xMutex, "Recursive_Mutex" );
xTaskCreate( prvRecursiveMutexControllingTask, "Rec1", recmuRECURSIVE_MUTEX_TEST_TASK_STACK_SIZE, NULL, recmuCONTROLLING_TASK_PRIORITY, &xControllingTaskHandle );
xTaskCreate( prvRecursiveMutexBlockingTask, "Rec2", recmuRECURSIVE_MUTEX_TEST_TASK_STACK_SIZE, NULL, recmuBLOCKING_TASK_PRIORITY, &xBlockingTaskHandle );
xTaskCreate( prvRecursiveMutexPollingTask, "Rec3", recmuRECURSIVE_MUTEX_TEST_TASK_STACK_SIZE, NULL, recmuPOLLING_TASK_PRIORITY, NULL );
}
}
/*-----------------------------------------------------------*/
static void prvRecursiveMutexControllingTask( void * pvParameters )
{
UBaseType_t ux;
/* Just to remove compiler warning. */
( void ) pvParameters;
for( ; ; )
{
/* Should not be able to 'give' the mutex, as we have not yet 'taken'
* it. The first time through, the mutex will not have been used yet,
* subsequent times through, at this point the mutex will be held by the
* polling task. */
if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )
{
xErrorOccurred = __LINE__;
}
for( ux = 0; ux < recmuMAX_COUNT; ux++ )
{
/* We should now be able to take the mutex as many times as
* we like.
*
* The first time through the mutex will be immediately available, on
* subsequent times through the mutex will be held by the polling task
* at this point and this Take will cause the polling task to inherit
* the priority of this task. In this case the block time must be
* long enough to ensure the polling task will execute again before the
* block time expires. If the block time does expire then the error
* flag will be set here. */
if( xSemaphoreTakeRecursive( xMutex, recmu15ms_DELAY ) != pdPASS )
{
xErrorOccurred = __LINE__;
}
/* Ensure the other task attempting to access the mutex (and the
* other demo tasks) are able to execute to ensure they either block
* (where a block time is specified) or return an error (where no
* block time is specified) as the mutex is held by this task. */
vTaskDelay( recmuSHORT_DELAY );
}
/* For each time we took the mutex, give it back. */
for( ux = 0; ux < recmuMAX_COUNT; ux++ )
{
/* Ensure the other task attempting to access the mutex (and the
* other demo tasks) are able to execute. */
vTaskDelay( recmuSHORT_DELAY );
/* We should now be able to give the mutex as many times as we
* took it. When the mutex is available again the Blocking task
* should be unblocked but not run because it has a lower priority
* than this task. The polling task should also not run at this point
* as it too has a lower priority than this task. */
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
{
xErrorOccurred = __LINE__;
}
#if ( configUSE_PREEMPTION == 0 )
taskYIELD();
#endif
}
/* Having given it back the same number of times as it was taken, we
* should no longer be the mutex owner, so the next give should fail. */
if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )
{
xErrorOccurred = __LINE__;
}
/* Keep count of the number of cycles this task has performed so a
* stall can be detected. */
uxControllingCycles++;
/* Suspend ourselves so the blocking task can execute. */
xControllingIsSuspended = pdTRUE;
vTaskSuspend( NULL );
xControllingIsSuspended = pdFALSE;
}
}
/*-----------------------------------------------------------*/
static void prvRecursiveMutexBlockingTask( void * pvParameters )
{
/* Just to remove compiler warning. */
( void ) pvParameters;
for( ; ; )
{
/* This task will run while the controlling task is blocked, and the
* controlling task will block only once it has the mutex - therefore
* this call should block until the controlling task has given up the
* mutex, and not actually execute past this call until the controlling
* task is suspended. portMAX_DELAY - 1 is used instead of portMAX_DELAY
* to ensure the task's state is reported as Blocked and not Suspended in
* a later call to configASSERT() (within the polling task). */
if( xSemaphoreTakeRecursive( xMutex, ( portMAX_DELAY - 1 ) ) == pdPASS )
{
if( xControllingIsSuspended != pdTRUE )
{
/* Did not expect to execute until the controlling task was
* suspended. */
xErrorOccurred = __LINE__;
}
else
{
/* Give the mutex back before suspending ourselves to allow
* the polling task to obtain the mutex. */
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
{
xErrorOccurred = __LINE__;
}
xBlockingIsSuspended = pdTRUE;
vTaskSuspend( NULL );
xBlockingIsSuspended = pdFALSE;
}
}
else
{
/* We should not leave the xSemaphoreTakeRecursive() function
* until the mutex was obtained. */
xErrorOccurred = __LINE__;
}
/* The controlling and blocking tasks should be in lock step. */
if( uxControllingCycles != ( UBaseType_t ) ( uxBlockingCycles + 1 ) )
{
xErrorOccurred = __LINE__;
}
/* Keep count of the number of cycles this task has performed so a
* stall can be detected. */
uxBlockingCycles++;
}
}
/*-----------------------------------------------------------*/
static void prvRecursiveMutexPollingTask( void * pvParameters )
{
/* Just to remove compiler warning. */
( void ) pvParameters;
for( ; ; )
{
/* Keep attempting to obtain the mutex. It should only be obtained when
* the blocking task has suspended itself, which in turn should only
* happen when the controlling task is also suspended. */
if( xSemaphoreTakeRecursive( xMutex, recmuNO_DELAY ) == pdPASS )
{
#if ( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xControllingTaskHandle ) == eSuspended );
configASSERT( eTaskGetState( xBlockingTaskHandle ) == eSuspended );
}
#endif /* INCLUDE_eTaskGetState */
/* Is the blocking task suspended? */
if( ( xBlockingIsSuspended != pdTRUE ) || ( xControllingIsSuspended != pdTRUE ) )
{
xErrorOccurred = __LINE__;
}
else
{
/* Keep count of the number of cycles this task has performed
* so a stall can be detected. */
uxPollingCycles++;
/* We can resume the other tasks here even though they have a
* higher priority than the polling task. When they execute they
* will attempt to obtain the mutex but fail because the polling
* task is still the mutex holder. The polling task (this task)
* will then inherit the higher priority. The Blocking task will
* block indefinitely when it attempts to obtain the mutex, the
* Controlling task will only block for a fixed period and an
* error will be latched if the polling task has not returned the
* mutex by the time this fixed period has expired. */
vTaskResume( xBlockingTaskHandle );
#if ( configUSE_PREEMPTION == 0 )
taskYIELD();
#endif
vTaskResume( xControllingTaskHandle );
#if ( configUSE_PREEMPTION == 0 )
taskYIELD();
#endif
/* The other two tasks should now have executed and no longer
* be suspended. */
if( ( xBlockingIsSuspended == pdTRUE ) || ( xControllingIsSuspended == pdTRUE ) )
{
xErrorOccurred = __LINE__;
}
#if ( INCLUDE_uxTaskPriorityGet == 1 )
{
/* Check priority inherited. */
configASSERT( uxTaskPriorityGet( NULL ) == recmuCONTROLLING_TASK_PRIORITY );
}
#endif /* INCLUDE_uxTaskPriorityGet */
#if ( INCLUDE_eTaskGetState == 1 )
{
configASSERT( eTaskGetState( xControllingTaskHandle ) == eBlocked );
configASSERT( eTaskGetState( xBlockingTaskHandle ) == eBlocked );
}
#endif /* INCLUDE_eTaskGetState */
/* Release the mutex, disinheriting the higher priority again. */
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
{
xErrorOccurred = __LINE__;
}
#if ( INCLUDE_uxTaskPriorityGet == 1 )
{
/* Check priority disinherited. */
configASSERT( uxTaskPriorityGet( NULL ) == recmuPOLLING_TASK_PRIORITY );
}
#endif /* INCLUDE_uxTaskPriorityGet */
}
}
#if configUSE_PREEMPTION == 0
{
taskYIELD();
}
#endif
}
}
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running. */
BaseType_t xAreRecursiveMutexTasksStillRunning( void )
{
BaseType_t xReturn;
static UBaseType_t uxLastControllingCycles = 0, uxLastBlockingCycles = 0, uxLastPollingCycles = 0;
/* Is the controlling task still cycling? */
if( uxLastControllingCycles == uxControllingCycles )
{
xErrorOccurred = __LINE__;
}
else
{
uxLastControllingCycles = uxControllingCycles;
}
/* Is the blocking task still cycling? */
if( uxLastBlockingCycles == uxBlockingCycles )
{
xErrorOccurred = __LINE__;
}
else
{
uxLastBlockingCycles = uxBlockingCycles;
}
/* Is the polling task still cycling? */
if( uxLastPollingCycles == uxPollingCycles )
{
xErrorOccurred = __LINE__;
}
else
{
uxLastPollingCycles = uxPollingCycles;
}
if( xErrorOccurred != pdFALSE )
{
xReturn = pdFAIL;
}
else
{
xReturn = pdPASS;
}
return xReturn;
}

271
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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* Creates two sets of two tasks. The tasks within a set share a variable, access
* to which is guarded by a semaphore.
*
* Each task starts by attempting to obtain the semaphore. On obtaining a
* semaphore a task checks to ensure that the guarded variable has an expected
* value. It then clears the variable to zero before counting it back up to the
* expected value in increments of 1. After each increment the variable is checked
* to ensure it contains the value to which it was just set. When the starting
* value is again reached the task releases the semaphore giving the other task in
* the set a chance to do exactly the same thing. The starting value is high
* enough to ensure that a tick is likely to occur during the incrementing loop.
*
* An error is flagged if at any time during the process a shared variable is
* found to have a value other than that expected. Such an occurrence would
* suggest an error in the mutual exclusion mechanism by which access to the
* variable is restricted.
*
* The first set of two tasks poll their semaphore. The second set use blocking
* calls.
*
*/
#include <stdlib.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
/* Demo app include files. */
#include "semtest.h"
/* The value to which the shared variables are counted. */
#define semtstBLOCKING_EXPECTED_VALUE ( ( uint32_t ) 0xfff )
#define semtstNON_BLOCKING_EXPECTED_VALUE ( ( uint32_t ) 0xff )
#define semtstSTACK_SIZE configMINIMAL_STACK_SIZE
#define semtstNUM_TASKS ( 4 )
#define semtstDELAY_FACTOR ( ( TickType_t ) 10 )
/* The task function as described at the top of the file. */
static portTASK_FUNCTION_PROTO( prvSemaphoreTest, pvParameters );
/* Structure used to pass parameters to each task. */
typedef struct SEMAPHORE_PARAMETERS
{
SemaphoreHandle_t xSemaphore;
volatile uint32_t * pulSharedVariable;
TickType_t xBlockTime;
} xSemaphoreParameters;
/* Variables used to check that all the tasks are still running without errors. */
static volatile short sCheckVariables[ semtstNUM_TASKS ] = { 0 };
static volatile short sNextCheckVariable = 0;
/*-----------------------------------------------------------*/
void vStartSemaphoreTasks( UBaseType_t uxPriority )
{
xSemaphoreParameters * pxFirstSemaphoreParameters, * pxSecondSemaphoreParameters;
const TickType_t xBlockTime = ( TickType_t ) 100;
/* Create the structure used to pass parameters to the first two tasks. */
pxFirstSemaphoreParameters = ( xSemaphoreParameters * ) pvPortMalloc( sizeof( xSemaphoreParameters ) );
if( pxFirstSemaphoreParameters != NULL )
{
/* Create the semaphore used by the first two tasks. */
pxFirstSemaphoreParameters->xSemaphore = xSemaphoreCreateBinary();
if( pxFirstSemaphoreParameters->xSemaphore != NULL )
{
xSemaphoreGive( pxFirstSemaphoreParameters->xSemaphore );
/* Create the variable which is to be shared by the first two tasks. */
pxFirstSemaphoreParameters->pulSharedVariable = ( uint32_t * ) pvPortMalloc( sizeof( uint32_t ) );
/* Initialise the share variable to the value the tasks expect. */
*( pxFirstSemaphoreParameters->pulSharedVariable ) = semtstNON_BLOCKING_EXPECTED_VALUE;
/* The first two tasks do not block on semaphore calls. */
pxFirstSemaphoreParameters->xBlockTime = ( TickType_t ) 0;
/* Spawn the first two tasks. As they poll they operate at the idle priority. */
xTaskCreate( prvSemaphoreTest, "PolSEM1", semtstSTACK_SIZE, ( void * ) pxFirstSemaphoreParameters, tskIDLE_PRIORITY, ( TaskHandle_t * ) NULL );
xTaskCreate( prvSemaphoreTest, "PolSEM2", semtstSTACK_SIZE, ( void * ) pxFirstSemaphoreParameters, tskIDLE_PRIORITY, ( TaskHandle_t * ) NULL );
/* vQueueAddToRegistry() adds the semaphore to the registry, if one
* is in use. The registry is provided as a means for kernel aware
* debuggers to locate semaphores and has no purpose if a kernel aware
* debugger is not being used. The call to vQueueAddToRegistry() will
* be removed by the pre-processor if configQUEUE_REGISTRY_SIZE is not
* defined or is defined to be less than 1. */
vQueueAddToRegistry( ( QueueHandle_t ) pxFirstSemaphoreParameters->xSemaphore, "Counting_Sem_1" );
}
}
/* Do exactly the same to create the second set of tasks, only this time
* provide a block time for the semaphore calls. */
pxSecondSemaphoreParameters = ( xSemaphoreParameters * ) pvPortMalloc( sizeof( xSemaphoreParameters ) );
if( pxSecondSemaphoreParameters != NULL )
{
pxSecondSemaphoreParameters->xSemaphore = xSemaphoreCreateBinary();
if( pxSecondSemaphoreParameters->xSemaphore != NULL )
{
xSemaphoreGive( pxSecondSemaphoreParameters->xSemaphore );
pxSecondSemaphoreParameters->pulSharedVariable = ( uint32_t * ) pvPortMalloc( sizeof( uint32_t ) );
*( pxSecondSemaphoreParameters->pulSharedVariable ) = semtstBLOCKING_EXPECTED_VALUE;
pxSecondSemaphoreParameters->xBlockTime = xBlockTime / portTICK_PERIOD_MS;
xTaskCreate( prvSemaphoreTest, "BlkSEM1", semtstSTACK_SIZE, ( void * ) pxSecondSemaphoreParameters, uxPriority, ( TaskHandle_t * ) NULL );
xTaskCreate( prvSemaphoreTest, "BlkSEM2", semtstSTACK_SIZE, ( void * ) pxSecondSemaphoreParameters, uxPriority, ( TaskHandle_t * ) NULL );
/* vQueueAddToRegistry() adds the semaphore to the registry, if one
* is in use. The registry is provided as a means for kernel aware
* debuggers to locate semaphores and has no purpose if a kernel aware
* debugger is not being used. The call to vQueueAddToRegistry() will
* be removed by the pre-processor if configQUEUE_REGISTRY_SIZE is not
* defined or is defined to be less than 1. */
vQueueAddToRegistry( ( QueueHandle_t ) pxSecondSemaphoreParameters->xSemaphore, "Counting_Sem_2" );
}
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( prvSemaphoreTest, pvParameters )
{
xSemaphoreParameters * pxParameters;
volatile uint32_t * pulSharedVariable, ulExpectedValue;
uint32_t ulCounter;
short sError = pdFALSE, sCheckVariableToUse;
/* See which check variable to use. sNextCheckVariable is not semaphore
* protected! */
portENTER_CRITICAL();
sCheckVariableToUse = sNextCheckVariable;
sNextCheckVariable++;
portEXIT_CRITICAL();
/* A structure is passed in as the parameter. This contains the shared
* variable being guarded. */
pxParameters = ( xSemaphoreParameters * ) pvParameters;
pulSharedVariable = pxParameters->pulSharedVariable;
/* If we are blocking we use a much higher count to ensure loads of context
* switches occur during the count. */
if( pxParameters->xBlockTime > ( TickType_t ) 0 )
{
ulExpectedValue = semtstBLOCKING_EXPECTED_VALUE;
}
else
{
ulExpectedValue = semtstNON_BLOCKING_EXPECTED_VALUE;
}
for( ; ; )
{
/* Try to obtain the semaphore. */
if( xSemaphoreTake( pxParameters->xSemaphore, pxParameters->xBlockTime ) == pdPASS )
{
/* We have the semaphore and so expect any other tasks using the
* shared variable to have left it in the state we expect to find
* it. */
if( *pulSharedVariable != ulExpectedValue )
{
sError = pdTRUE;
}
/* Clear the variable, then count it back up to the expected value
* before releasing the semaphore. Would expect a context switch or
* two during this time. */
for( ulCounter = ( uint32_t ) 0; ulCounter <= ulExpectedValue; ulCounter++ )
{
*pulSharedVariable = ulCounter;
if( *pulSharedVariable != ulCounter )
{
sError = pdTRUE;
}
}
/* Release the semaphore, and if no errors have occurred increment the check
* variable. */
if( xSemaphoreGive( pxParameters->xSemaphore ) == pdFALSE )
{
sError = pdTRUE;
}
if( sError == pdFALSE )
{
if( sCheckVariableToUse < semtstNUM_TASKS )
{
( sCheckVariables[ sCheckVariableToUse ] )++;
}
}
/* If we have a block time then we are running at a priority higher
* than the idle priority. This task takes a long time to complete
* a cycle (deliberately so to test the guarding) so will be starving
* out lower priority tasks. Block for some time to allow give lower
* priority tasks some processor time. */
if( pxParameters->xBlockTime != ( TickType_t ) 0 )
{
vTaskDelay( pxParameters->xBlockTime * semtstDELAY_FACTOR );
}
}
else
{
if( pxParameters->xBlockTime == ( TickType_t ) 0 )
{
/* We have not got the semaphore yet, so no point using the
* processor. We are not blocking when attempting to obtain the
* semaphore. */
taskYIELD();
}
}
}
}
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running. */
BaseType_t xAreSemaphoreTasksStillRunning( void )
{
static short sLastCheckVariables[ semtstNUM_TASKS ] = { 0 };
BaseType_t xTask, xReturn = pdTRUE;
for( xTask = 0; xTask < semtstNUM_TASKS; xTask++ )
{
if( sLastCheckVariables[ xTask ] == sCheckVariables[ xTask ] )
{
xReturn = pdFALSE;
}
sLastCheckVariables[ xTask ] = sCheckVariables[ xTask ];
}
return xReturn;
}

324
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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* Creates eight tasks, each of which loops continuously performing a floating
* point calculation - using single precision variables.
*
* All the tasks run at the idle priority and never block or yield. This causes
* all eight tasks to time slice with the idle task. Running at the idle priority
* means that these tasks will get pre-empted any time another task is ready to run
* or a time slice occurs. More often than not the pre-emption will occur mid
* calculation, creating a good test of the schedulers context switch mechanism - a
* calculation producing an unexpected result could be a symptom of a corruption in
* the context of a task.
*/
#include <stdlib.h>
#include <math.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo program include files. */
#include "flop.h"
#define mathSTACK_SIZE configMINIMAL_STACK_SIZE
#define mathNUMBER_OF_TASKS ( 8 )
/* Four tasks, each of which performs a different floating point calculation.
* Each of the four is created twice. */
static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters );
static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters );
static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters );
static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters );
/* These variables are used to check that all the tasks are still running. If a
* task gets a calculation wrong it will
* stop incrementing its check variable. */
static volatile uint16_t usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( uint16_t ) 0 };
/*-----------------------------------------------------------*/
void vStartMathTasks( UBaseType_t uxPriority )
{
xTaskCreate( vCompetingMathTask1, "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask2, "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask3, "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask4, "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask1, "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask2, "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask3, "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask4, "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )
{
volatile float f1, f2, f3, f4;
volatile uint16_t * pusTaskCheckVariable;
volatile float fAnswer;
short sError = pdFALSE;
f1 = 123.4567F;
f2 = 2345.6789F;
f3 = -918.222F;
fAnswer = ( f1 + f2 ) * f3;
/* The variable this task increments to show it is still running is passed in
* as the parameter. */
pusTaskCheckVariable = ( uint16_t * ) pvParameters;
/* Keep performing a calculation and checking the result against a constant. */
for( ; ; )
{
f1 = 123.4567F;
f2 = 2345.6789F;
f3 = -918.222F;
f4 = ( f1 + f2 ) * f3;
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* If the calculation does not match the expected constant, stop the
* increment of the check variable. */
if( fabs( f4 - fAnswer ) > 0.001F )
{
sError = pdTRUE;
}
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
* variable so we know this task is still running okay. */
( *pusTaskCheckVariable )++;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask2, pvParameters )
{
volatile float f1, f2, f3, f4;
volatile uint16_t * pusTaskCheckVariable;
volatile float fAnswer;
short sError = pdFALSE;
f1 = -389.38F;
f2 = 32498.2F;
f3 = -2.0001F;
fAnswer = ( f1 / f2 ) * f3;
/* The variable this task increments to show it is still running is passed in
* as the parameter. */
pusTaskCheckVariable = ( uint16_t * ) pvParameters;
/* Keep performing a calculation and checking the result against a constant. */
for( ; ; )
{
f1 = -389.38F;
f2 = 32498.2F;
f3 = -2.0001F;
f4 = ( f1 / f2 ) * f3;
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* If the calculation does not match the expected constant, stop the
* increment of the check variable. */
if( fabs( f4 - fAnswer ) > 0.001F )
{
sError = pdTRUE;
}
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
* variable so we know
* this task is still running okay. */
( *pusTaskCheckVariable )++;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask3, pvParameters )
{
volatile float * pfArray, fTotal1, fTotal2, fDifference, fPosition;
volatile uint16_t * pusTaskCheckVariable;
const size_t xArraySize = 10;
size_t xPosition;
short sError = pdFALSE;
/* The variable this task increments to show it is still running is passed in
* as the parameter. */
pusTaskCheckVariable = ( uint16_t * ) pvParameters;
pfArray = ( float * ) pvPortMalloc( xArraySize * sizeof( float ) );
/* Keep filling an array, keeping a running total of the values placed in the
* array. Then run through the array adding up all the values. If the two totals
* do not match, stop the check variable from incrementing. */
for( ; ; )
{
fTotal1 = 0.0F;
fTotal2 = 0.0F;
fPosition = 0.0F;
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
pfArray[ xPosition ] = fPosition + 5.5F;
fTotal1 += fPosition + 5.5F;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
fTotal2 += pfArray[ xPosition ];
}
fDifference = fTotal1 - fTotal2;
if( fabs( fDifference ) > 0.001F )
{
sError = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
* variable so we know this task is still running okay. */
( *pusTaskCheckVariable )++;
}
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )
{
volatile float * pfArray, fTotal1, fTotal2, fDifference, fPosition;
volatile uint16_t * pusTaskCheckVariable;
const size_t xArraySize = 10;
size_t xPosition;
short sError = pdFALSE;
/* The variable this task increments to show it is still running is passed in
* as the parameter. */
pusTaskCheckVariable = ( uint16_t * ) pvParameters;
pfArray = ( float * ) pvPortMalloc( xArraySize * sizeof( float ) );
/* Keep filling an array, keeping a running total of the values placed in the
* array. Then run through the array adding up all the values. If the two totals
* do not match, stop the check variable from incrementing. */
for( ; ; )
{
fTotal1 = 0.0F;
fTotal2 = 0.0F;
fPosition = 0.0F;
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
pfArray[ xPosition ] = fPosition * 12.123F;
fTotal1 += fPosition * 12.123F;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
fTotal2 += pfArray[ xPosition ];
}
fDifference = fTotal1 - fTotal2;
if( fabs( fDifference ) > 0.001F )
{
sError = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
* variable so we know this task is still running okay. */
( *pusTaskCheckVariable )++;
}
}
}
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running. */
BaseType_t xAreMathsTaskStillRunning( void )
{
/* Keep a history of the check variables so we know if they have been incremented
* since the last call. */
static uint16_t usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( uint16_t ) 0 };
BaseType_t xReturn = pdTRUE, xTask;
/* Check the maths tasks are still running by ensuring their check variables
* are still incrementing. */
for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
{
if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
{
/* The check has not incremented so an error exists. */
xReturn = pdFALSE;
}
usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
}
return xReturn;
}