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Diffstat (limited to 'src/FreeRTOS-Sim-master/Demo/Common/Minimal/GenQTest.c')
| -rw-r--r-- | src/FreeRTOS-Sim-master/Demo/Common/Minimal/GenQTest.c | 783 |
1 files changed, 783 insertions, 0 deletions
diff --git a/src/FreeRTOS-Sim-master/Demo/Common/Minimal/GenQTest.c b/src/FreeRTOS-Sim-master/Demo/Common/Minimal/GenQTest.c new file mode 100644 index 0000000..5fabb75 --- /dev/null +++ b/src/FreeRTOS-Sim-master/Demo/Common/Minimal/GenQTest.c @@ -0,0 +1,783 @@ +/*
+ FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
+ All rights reserved
+
+ VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+ This file is part of the FreeRTOS distribution.
+
+ FreeRTOS is free software; you can redistribute it and/or modify it under
+ the terms of the GNU General Public License (version 2) as published by the
+ Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+ ***************************************************************************
+ >>! NOTE: The modification to the GPL is included to allow you to !<<
+ >>! distribute a combined work that includes FreeRTOS without being !<<
+ >>! obliged to provide the source code for proprietary components !<<
+ >>! outside of the FreeRTOS kernel. !<<
+ ***************************************************************************
+
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ FOR A PARTICULAR PURPOSE. Full license text is available on the following
+ link: http://www.freertos.org/a00114.html
+
+ ***************************************************************************
+ * *
+ * FreeRTOS provides completely free yet professionally developed, *
+ * robust, strictly quality controlled, supported, and cross *
+ * platform software that is more than just the market leader, it *
+ * is the industry's de facto standard. *
+ * *
+ * Help yourself get started quickly while simultaneously helping *
+ * to support the FreeRTOS project by purchasing a FreeRTOS *
+ * tutorial book, reference manual, or both: *
+ * http://www.FreeRTOS.org/Documentation *
+ * *
+ ***************************************************************************
+
+ http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
+ the FAQ page "My application does not run, what could be wrong?". Have you
+ defined configASSERT()?
+
+ http://www.FreeRTOS.org/support - In return for receiving this top quality
+ embedded software for free we request you assist our global community by
+ participating in the support forum.
+
+ http://www.FreeRTOS.org/training - Investing in training allows your team to
+ be as productive as possible as early as possible. Now you can receive
+ FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
+ Ltd, and the world's leading authority on the world's leading RTOS.
+
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+ including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+ compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+ http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
+ Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
+
+ http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
+ Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
+ licenses offer ticketed support, indemnification and commercial middleware.
+
+ http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+ engineered and independently SIL3 certified version for use in safety and
+ mission critical applications that require provable dependability.
+
+ 1 tab == 4 spaces!
+*/
+
+
+/*
+ * Tests the extra queue functionality introduced in FreeRTOS.org V4.5.0 -
+ * including xQueueSendToFront(), xQueueSendToBack(), xQueuePeek() and
+ * mutex behaviour.
+ *
+ * See the comments above the prvSendFrontAndBackTest() and
+ * prvLowPriorityMutexTask() prototypes below for more information.
+ */
+
+
+#include <stdlib.h>
+
+/* Scheduler include files. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+#include "semphr.h"
+
+/* Demo program include files. */
+#include "GenQTest.h"
+
+#define genqQUEUE_LENGTH ( 5 )
+#define intsemNO_BLOCK ( 0 )
+
+#define genqMUTEX_LOW_PRIORITY ( tskIDLE_PRIORITY )
+#define genqMUTEX_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
+#define genqMUTEX_MEDIUM_PRIORITY ( tskIDLE_PRIORITY + 2 )
+#define genqMUTEX_HIGH_PRIORITY ( tskIDLE_PRIORITY + 3 )
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Tests the behaviour of the xQueueSendToFront() and xQueueSendToBack()
+ * macros by using both to fill a queue, then reading from the queue to
+ * check the resultant queue order is as expected. Queue data is also
+ * peeked.
+ */
+static void prvSendFrontAndBackTest( void *pvParameters );
+
+/*
+ * The following three tasks are used to demonstrate the mutex behaviour.
+ * Each task is given a different priority to demonstrate the priority
+ * inheritance mechanism.
+ *
+ * The low priority task obtains a mutex. After this a high priority task
+ * attempts to obtain the same mutex, causing its priority to be inherited
+ * by the low priority task. The task with the inherited high priority then
+ * resumes a medium priority task to ensure it is not blocked by the medium
+ * priority task while it holds the inherited high priority. Once the mutex
+ * is returned the task with the inherited priority returns to its original
+ * low priority, and is therefore immediately preempted by first the high
+ * priority task and then the medium prioroity task before it can continue.
+ */
+static void prvLowPriorityMutexTask( void *pvParameters );
+static void prvMediumPriorityMutexTask( void *pvParameters );
+static void prvHighPriorityMutexTask( void *pvParameters );
+
+/*-----------------------------------------------------------*/
+
+/* Flag that will be latched to pdTRUE should any unexpected behaviour be
+detected in any of the tasks. */
+static 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 ulLoopCounter = 0;
+static volatile uint32_t ulLoopCounter2 = 0;
+
+/* The variable that is guarded by the mutex in the mutex demo tasks. */
+static volatile uint32_t ulGuardedVariable = 0;
+
+/* Handles used in the mutext test to suspend and resume the high and medium
+priority mutex test tasks. */
+static TaskHandle_t xHighPriorityMutexTask, xMediumPriorityMutexTask;
+
+/*-----------------------------------------------------------*/
+
+void vStartGenericQueueTasks( UBaseType_t uxPriority )
+{
+QueueHandle_t xQueue;
+SemaphoreHandle_t xMutex;
+
+
+ /* Create the queue that we are going to use for the
+ prvSendFrontAndBackTest demo. */
+ xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( uint32_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( xQueue, "Gen_Queue_Test" );
+
+ /* Create the demo task and pass it the queue just created. We are
+ passing the queue handle by value so it does not matter that it is
+ declared on the stack here. */
+ xTaskCreate( prvSendFrontAndBackTest, "GenQ", configMINIMAL_STACK_SIZE, ( void * ) xQueue, uxPriority, NULL );
+
+ /* Create the mutex used by the prvMutexTest task. */
+ xMutex = xSemaphoreCreateMutex();
+
+ /* vQueueAddToRegistry() adds the mutex to the registry, if one is
+ in use. The registry is provided as a means for kernel aware
+ debuggers to locate mutexes and has no purpose if a kernel aware debugger
+ is not being used. The call to vQueueAddToRegistry() will be removed
+ by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
+ defined to be less than 1. */
+ vQueueAddToRegistry( ( QueueHandle_t ) xMutex, "Gen_Queue_Mutex" );
+
+ /* Create the mutex demo tasks and pass it the mutex just created. We are
+ passing the mutex handle by value so it does not matter that it is declared
+ on the stack here. */
+ xTaskCreate( prvLowPriorityMutexTask, "MuLow", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_LOW_PRIORITY, NULL );
+ xTaskCreate( prvMediumPriorityMutexTask, "MuMed", configMINIMAL_STACK_SIZE, NULL, genqMUTEX_MEDIUM_PRIORITY, &xMediumPriorityMutexTask );
+ xTaskCreate( prvHighPriorityMutexTask, "MuHigh", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_HIGH_PRIORITY, &xHighPriorityMutexTask );
+}
+/*-----------------------------------------------------------*/
+
+static void prvSendFrontAndBackTest( void *pvParameters )
+{
+uint32_t ulData, ulData2;
+QueueHandle_t xQueue;
+
+ #ifdef USE_STDIO
+ void vPrintDisplayMessage( const char * const * ppcMessageToSend );
+
+ const char * const pcTaskStartMsg = "Queue SendToFront/SendToBack/Peek test started.\r\n";
+
+ /* Queue a message for printing to say the task has started. */
+ vPrintDisplayMessage( &pcTaskStartMsg );
+ #endif
+
+ xQueue = ( QueueHandle_t ) pvParameters;
+
+ for( ;; )
+ {
+ /* The queue is empty, so sending an item to the back of the queue
+ should have the same efect as sending it to the front of the queue.
+
+ First send to the front and check everything is as expected. */
+ xQueueSendToFront( xQueue, ( void * ) &ulLoopCounter, intsemNO_BLOCK );
+
+ if( uxQueueMessagesWaiting( xQueue ) != 1 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ if( xQueueReceive( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* The data we sent to the queue should equal the data we just received
+ from the queue. */
+ if( ulLoopCounter != ulData )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* Then do the same, sending the data to the back, checking everything
+ is as expected. */
+ if( uxQueueMessagesWaiting( xQueue ) != 0 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ xQueueSendToBack( xQueue, ( void * ) &ulLoopCounter, intsemNO_BLOCK );
+
+ if( uxQueueMessagesWaiting( xQueue ) != 1 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ if( xQueueReceive( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ if( uxQueueMessagesWaiting( xQueue ) != 0 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* The data we sent to the queue should equal the data we just received
+ from the queue. */
+ if( ulLoopCounter != ulData )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ #if configUSE_PREEMPTION == 0
+ taskYIELD();
+ #endif
+
+
+
+ /* Place 2, 3, 4 into the queue, adding items to the back of the queue. */
+ for( ulData = 2; ulData < 5; ulData++ )
+ {
+ xQueueSendToBack( xQueue, ( void * ) &ulData, intsemNO_BLOCK );
+ }
+
+ /* Now the order in the queue should be 2, 3, 4, with 2 being the first
+ thing to be read out. Now add 1 then 0 to the front of the queue. */
+ if( uxQueueMessagesWaiting( xQueue ) != 3 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+ ulData = 1;
+ xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK );
+ ulData = 0;
+ xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK );
+
+ /* Now the queue should be full, and when we read the data out we
+ should receive 0, 1, 2, 3, 4. */
+ if( uxQueueMessagesWaiting( xQueue ) != 5 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ if( xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ if( xQueueSendToBack( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ #if configUSE_PREEMPTION == 0
+ taskYIELD();
+ #endif
+
+ /* Check the data we read out is in the expected order. */
+ for( ulData = 0; ulData < genqQUEUE_LENGTH; ulData++ )
+ {
+ /* Try peeking the data first. */
+ if( xQueuePeek( xQueue, &ulData2, intsemNO_BLOCK ) != pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ if( ulData != ulData2 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+
+ /* Now try receiving the data for real. The value should be the
+ same. Clobber the value first so we know we really received it. */
+ ulData2 = ~ulData2;
+ if( xQueueReceive( xQueue, &ulData2, intsemNO_BLOCK ) != pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ if( ulData != ulData2 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+ }
+
+ /* The queue should now be empty again. */
+ if( uxQueueMessagesWaiting( xQueue ) != 0 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ #if configUSE_PREEMPTION == 0
+ taskYIELD();
+ #endif
+
+
+ /* Our queue is empty once more, add 10, 11 to the back. */
+ ulData = 10;
+ if( xQueueSend( xQueue, &ulData, intsemNO_BLOCK ) != pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+ ulData = 11;
+ if( xQueueSend( xQueue, &ulData, intsemNO_BLOCK ) != pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ if( uxQueueMessagesWaiting( xQueue ) != 2 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* Now we should have 10, 11 in the queue. Add 7, 8, 9 to the
+ front. */
+ for( ulData = 9; ulData >= 7; ulData-- )
+ {
+ if( xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+ }
+
+ /* Now check that the queue is full, and that receiving data provides
+ the expected sequence of 7, 8, 9, 10, 11. */
+ if( uxQueueMessagesWaiting( xQueue ) != 5 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ if( xQueueSendToFront( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ if( xQueueSendToBack( xQueue, ( void * ) &ulData, intsemNO_BLOCK ) != errQUEUE_FULL )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ #if configUSE_PREEMPTION == 0
+ taskYIELD();
+ #endif
+
+ /* Check the data we read out is in the expected order. */
+ for( ulData = 7; ulData < ( 7 + genqQUEUE_LENGTH ); ulData++ )
+ {
+ if( xQueueReceive( xQueue, &ulData2, intsemNO_BLOCK ) != pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ if( ulData != ulData2 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+ }
+
+ if( uxQueueMessagesWaiting( xQueue ) != 0 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ ulLoopCounter++;
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvTakeTwoMutexesReturnInDifferentOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex )
+{
+ /* Take the mutex. It should be available now. */
+ if( xSemaphoreTake( xMutex, intsemNO_BLOCK ) != pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* Set the guarded variable to a known start value. */
+ ulGuardedVariable = 0;
+
+ /* This task's priority should be as per that assigned when the task was
+ created. */
+ if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* Now unsuspend the high priority task. This will attempt to take the
+ mutex, and block when it finds it cannot obtain it. */
+ vTaskResume( xHighPriorityMutexTask );
+
+ #if configUSE_PREEMPTION == 0
+ taskYIELD();
+ #endif
+
+ /* Ensure the task is reporting its priority as blocked and not
+ suspended (as it would have done in versions up to V7.5.3). */
+ #if( INCLUDE_eTaskGetState == 1 )
+ {
+ configASSERT( eTaskGetState( xHighPriorityMutexTask ) == eBlocked );
+ }
+ #endif /* INCLUDE_eTaskGetState */
+
+ /* The priority of the high priority task should now have been inherited
+ as by now it will have attempted to get the mutex. */
+ if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* Attempt to set the priority of this task to the test priority -
+ between the idle priority and the medium/high test priorities, but the
+ actual priority should remain at the high priority. */
+ vTaskPrioritySet( NULL, genqMUTEX_TEST_PRIORITY );
+ if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* Now unsuspend the medium priority task. This should not run as the
+ inherited priority of this task is above that of the medium priority
+ task. */
+ vTaskResume( xMediumPriorityMutexTask );
+
+ /* If the medium priority task did run then it will have incremented the
+ guarded variable. */
+ if( ulGuardedVariable != 0 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* Take the local mutex too, so two mutexes are now held. */
+ if( xSemaphoreTake( xLocalMutex, intsemNO_BLOCK ) != pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* When the semaphore is given back the priority of this task should not
+ yet be disinherited because the local mutex is still held. This is a
+ simplification to allow FreeRTOS to be integrated with middleware that
+ attempts to hold multiple mutexes without bloating the code with complex
+ algorithms. It is possible that the high priority mutex task will
+ execute as it shares a priority with this task. */
+ if( xSemaphoreGive( xMutex ) != pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ #if configUSE_PREEMPTION == 0
+ taskYIELD();
+ #endif
+
+ /* The guarded variable is only incremented by the medium priority task,
+ which still should not have executed as this task should remain at the
+ higher priority, ensure this is the case. */
+ if( ulGuardedVariable != 0 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* Now also give back the local mutex, taking the held count back to 0.
+ This time the priority of this task should be disinherited back to the
+ priority to which it was set while the mutex was held. This means
+ the medium priority task should execute and increment the guarded
+ variable. When this task next runs both the high and medium priority
+ tasks will have been suspended again. */
+ if( xSemaphoreGive( xLocalMutex ) != pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ #if configUSE_PREEMPTION == 0
+ taskYIELD();
+ #endif
+
+ /* Check the guarded variable did indeed increment... */
+ if( ulGuardedVariable != 1 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* ... and that the priority of this task has been disinherited to
+ genqMUTEX_TEST_PRIORITY. */
+ if( uxTaskPriorityGet( NULL ) != genqMUTEX_TEST_PRIORITY )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* Set the priority of this task back to its original value, ready for
+ the next loop around this test. */
+ vTaskPrioritySet( NULL, genqMUTEX_LOW_PRIORITY );
+}
+/*-----------------------------------------------------------*/
+
+static void prvTakeTwoMutexesReturnInSameOrder( SemaphoreHandle_t xMutex, SemaphoreHandle_t xLocalMutex )
+{
+ /* Take the mutex. It should be available now. */
+ if( xSemaphoreTake( xMutex, intsemNO_BLOCK ) != pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* Set the guarded variable to a known start value. */
+ ulGuardedVariable = 0;
+
+ /* This task's priority should be as per that assigned when the task was
+ created. */
+ if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* Now unsuspend the high priority task. This will attempt to take the
+ mutex, and block when it finds it cannot obtain it. */
+ vTaskResume( xHighPriorityMutexTask );
+
+ #if configUSE_PREEMPTION == 0
+ taskYIELD();
+ #endif
+
+ /* Ensure the task is reporting its priority as blocked and not
+ suspended (as it would have done in versions up to V7.5.3). */
+ #if( INCLUDE_eTaskGetState == 1 )
+ {
+ configASSERT( eTaskGetState( xHighPriorityMutexTask ) == eBlocked );
+ }
+ #endif /* INCLUDE_eTaskGetState */
+
+ /* The priority of the high priority task should now have been inherited
+ as by now it will have attempted to get the mutex. */
+ if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* Now unsuspend the medium priority task. This should not run as the
+ inherited priority of this task is above that of the medium priority
+ task. */
+ vTaskResume( xMediumPriorityMutexTask );
+
+ /* If the medium priority task did run then it will have incremented the
+ guarded variable. */
+ if( ulGuardedVariable != 0 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* Take the local mutex too, so two mutexes are now held. */
+ if( xSemaphoreTake( xLocalMutex, intsemNO_BLOCK ) != pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* When the local semaphore is given back the priority of this task should
+ not yet be disinherited because the shared mutex is still held. This is a
+ simplification to allow FreeRTOS to be integrated with middleware that
+ attempts to hold multiple mutexes without bloating the code with complex
+ algorithms. It is possible that the high priority mutex task will
+ execute as it shares a priority with this task. */
+ if( xSemaphoreGive( xLocalMutex ) != pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ #if configUSE_PREEMPTION == 0
+ taskYIELD();
+ #endif
+
+ /* The guarded variable is only incremented by the medium priority task,
+ which still should not have executed as this task should remain at the
+ higher priority, ensure this is the case. */
+ if( ulGuardedVariable != 0 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* Now also give back the shared mutex, taking the held count back to 0.
+ This time the priority of this task should be disinherited back to the
+ priority at which it was created. This means the medium priority task
+ should execute and increment the guarded variable. When this task next runs
+ both the high and medium priority tasks will have been suspended again. */
+ if( xSemaphoreGive( xMutex ) != pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ #if configUSE_PREEMPTION == 0
+ taskYIELD();
+ #endif
+
+ /* Check the guarded variable did indeed increment... */
+ if( ulGuardedVariable != 1 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* ... and that the priority of this task has been disinherited to
+ genqMUTEX_LOW_PRIORITY. */
+ if( uxTaskPriorityGet( NULL ) != genqMUTEX_LOW_PRIORITY )
+ {
+ xErrorDetected = pdTRUE;
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvLowPriorityMutexTask( void *pvParameters )
+{
+SemaphoreHandle_t xMutex = ( SemaphoreHandle_t ) pvParameters, xLocalMutex;
+
+ #ifdef USE_STDIO
+ void vPrintDisplayMessage( const char * const * ppcMessageToSend );
+
+ const char * const pcTaskStartMsg = "Mutex with priority inheritance test started.\r\n";
+
+ /* Queue a message for printing to say the task has started. */
+ vPrintDisplayMessage( &pcTaskStartMsg );
+ #endif
+
+ /* The local mutex is used to check the 'mutexs held' count. */
+ xLocalMutex = xSemaphoreCreateMutex();
+ configASSERT( xLocalMutex );
+
+ for( ;; )
+ {
+ /* The first tests exercise the priority inheritance when two mutexes
+ are taken then returned in a different order to which they were
+ taken. */
+ prvTakeTwoMutexesReturnInDifferentOrder( xMutex, xLocalMutex );
+
+ /* Just to show this task is still running. */
+ ulLoopCounter2++;
+
+ #if configUSE_PREEMPTION == 0
+ taskYIELD();
+ #endif
+
+ /* The second tests exercise the priority inheritance when two mutexes
+ are taken then returned in the same order in which they were taken. */
+ prvTakeTwoMutexesReturnInSameOrder( xMutex, xLocalMutex );
+
+ /* Just to show this task is still running. */
+ ulLoopCounter2++;
+
+ #if configUSE_PREEMPTION == 0
+ taskYIELD();
+ #endif
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvMediumPriorityMutexTask( void *pvParameters )
+{
+ ( void ) pvParameters;
+
+ for( ;; )
+ {
+ /* The medium priority task starts by suspending itself. The low
+ priority task will unsuspend this task when required. */
+ vTaskSuspend( NULL );
+
+ /* When this task unsuspends all it does is increment the guarded
+ variable, this is so the low priority task knows that it has
+ executed. */
+ ulGuardedVariable++;
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvHighPriorityMutexTask( void *pvParameters )
+{
+SemaphoreHandle_t xMutex = ( SemaphoreHandle_t ) pvParameters;
+
+ for( ;; )
+ {
+ /* The high priority task starts by suspending itself. The low
+ priority task will unsuspend this task when required. */
+ vTaskSuspend( NULL );
+
+ /* When this task unsuspends all it does is attempt to obtain
+ the mutex. It should find the mutex is not available so a
+ block time is specified. */
+ if( xSemaphoreTake( xMutex, portMAX_DELAY ) != pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ /* When the mutex is eventually obtained it is just given back before
+ returning to suspend ready for the next cycle. */
+ if( xSemaphoreGive( xMutex ) != pdPASS )
+ {
+ xErrorDetected = pdTRUE;
+ }
+ }
+}
+/*-----------------------------------------------------------*/
+
+
+/* This is called to check that all the created tasks are still running. */
+BaseType_t xAreGenericQueueTasksStillRunning( void )
+{
+static uint32_t ulLastLoopCounter = 0, ulLastLoopCounter2 = 0;
+
+ /* If the demo task is still running then we expect the loop counters to
+ have incremented since this function was last called. */
+ if( ulLastLoopCounter == ulLoopCounter )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ if( ulLastLoopCounter2 == ulLoopCounter2 )
+ {
+ xErrorDetected = pdTRUE;
+ }
+
+ ulLastLoopCounter = ulLoopCounter;
+ ulLastLoopCounter2 = ulLoopCounter2;
+
+ /* Errors detected in the task itself will have latched xErrorDetected
+ to true. */
+
+ return ( BaseType_t ) !xErrorDetected;
+}
+
+
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