@ -91,6 +91,10 @@
/* A block time of 0 means 'don't block'. */ /* A block time of 0 means 'don't block'. */
# define intsemNO_BLOCK 0 # define intsemNO_BLOCK 0
/* The maximum count value for the counting semaphore given from an
interrupt . */
# define intsemMAX_COUNT 3
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/*
/*
@ -106,6 +110,26 @@
static void vInterruptMutexSlaveTask ( void * pvParameters ) ; static void vInterruptMutexSlaveTask ( void * pvParameters ) ;
static void vInterruptMutexMasterTask ( 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
/* Flag that will be latched to pdTRUE should any unexpected behaviour be
@ -114,7 +138,7 @@ static volatile BaseType_t xErrorDetected = pdFALSE;
/* Counters that are incremented on each cycle of a test. This is used to
/* 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 . */ detect a stalled task - a test that is no longer running . */
static volatile uint32_t ulMasterLoops = 0 static volatile uint32_t ulMasterLoops = 0 , ulCountingSemaphoreLoops = 0 ;
/* Handles of the test tasks that must be accessed from other test tasks. */ /* Handles of the test tasks that must be accessed from other test tasks. */
static TaskHandle_t xSlaveHandle ; static TaskHandle_t xSlaveHandle ;
@ -124,6 +148,9 @@ not be used given in interrupts (and definitely never taken in an interrupt)
there are some circumstances when it may be desirable . */ there are some circumstances when it may be desirable . */
static SemaphoreHandle_t xISRMutex = NULL ; 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
/* 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 does both sharing of this mutex with the slave and receiving a mutex from the
interrupt . */ interrupt . */
@ -132,15 +159,20 @@ static SemaphoreHandle_t xMasterSlaveMutex = NULL;
/* Flag that allows the master task to control when the interrupt gives or does
/* 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 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 . */ only test code and it should be fine in the 32 = bit test environment . */
static BaseType_t xOkToGiveMutex = pdFALSE ; 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 ) void vStartInterruptSemaphoreTasks ( void )
{ {
/* Create the mutex that is given from an interrupt. */
/* Create the semaphores that are given from an interrupt. */
xISRMutex = xSemaphoreCreateMutex ( ) ;
xISRMutex = xSemaphoreCreateMutex ( ) ;
configASSERT ( xISRMutex ) ;
configASSERT ( xISRMutex ) ;
xISRCountingSemaphore = xSemaphoreCreateCounting ( intsemMAX_COUNT , 0 ) ;
configASSERT ( xISRCountingSemaphore ) ;
/* Create the mutex that is shared between the master and slave tasks (the
/* 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
master receives a mutex from an interrupt and shares a mutex with the
@ -151,168 +183,226 @@ void vStartInterruptSemaphoreTasks( void )
/* Create the tasks that share mutexes between then and with interrupts. */
/* Create the tasks that share mutexes between then and with interrupts. */
xTaskCreate ( vInterruptMutexSlaveTask , " IntMuS " , configMINIMAL_STACK_SIZE , NULL , intsemSLAVE_PRIORITY , & xSlaveHandle ) ;
xTaskCreate ( vInterruptMutexSlaveTask , " IntMuS " , configMINIMAL_STACK_SIZE , NULL , intsemSLAVE_PRIORITY , & xSlaveHandle ) ;
xTaskCreate ( vInterruptMutexMasterTask , " IntMuM " , configMINIMAL_STACK_SIZE , NULL , intsemMASTER_PRIORITY , NULL ) ;
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 ) static void vInterruptMutexMasterTask ( void * pvParameters )
{ {
const TickType_t xInterruptGivePeriod = pdMS_TO_TICKS ( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS ) ;
/* Just to avoid compiler warnings. */
/* Just to avoid compiler warnings. */
( void ) pvParameters ;
( void ) pvParameters ;
for ( ; ; )
for ( ; ; )
{
{
/* Ensure the slave is suspended, and that this task is running at the
prvTakeAndGiveInTheSameOrder ( ) ;
lower priority as expected as the start conditions . */
# if( INCLUDE_eTaskGetState == 1 )
{
configASSERT ( eTaskGetState ( xSlaveHandle ) = = eSuspended ) ;
}
# endif /* INCLUDE_eTaskGetState */
if ( uxTaskPriorityGet ( NULL ) ! = intsemMASTER_PRIORITY )
/* Ensure not to starve out other tests. */
{
ulMasterLoops + + ;
xErrorDetected = pdTRUE ;
vTaskDelay ( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS ) ;
}
/* Take the semaphore that is shared with the slave. */
prvTakeAndGiveInTheOppositeOrder ( ) ;
if ( xSemaphoreTake ( xMasterSlaveMutex , intsemNO_BLOCK ) ! = pdPASS )
{
xErrorDetected = pdTRUE ;
}
/* This task now has the mutex. Unsuspend the slave so it too
/* Ensure not to starve out other tests. */
attempts to take the mutex . */
ulMasterLoops + + ;
vTaskResume ( xSlaveHandle ) ;
vTaskDelay ( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS ) ;
}
}
/*-----------------------------------------------------------*/
/* The slave has the higher priority so should now have executed and
static void prvTakeAndGiveInTheSameOrder ( void )
blocked on the semaphore . */
{
# if( INCLUDE_eTaskGetState == 1 )
/* Ensure the slave is suspended, and that this task is running at the
{
lower priority as expected as the start conditions . */
configASSERT ( eTaskGetState ( xSlaveHandle ) = = eBlocked ) ;
# if( INCLUDE_eTaskGetState == 1 )
}
{
# endif /* INCLUDE_eTaskGetState */
configASSERT ( eTaskGetState ( xSlaveHandle ) = = eSuspended ) ;
}
# endif /* INCLUDE_eTaskGetState */
/* This task should now have inherited the priority of the slave
if ( uxTaskPriorityGet ( NULL ) ! = intsemMASTER_PRIORITY )
task . */
{
if ( uxTaskPriorityGet ( NULL ) ! = intsemSLAVE_PRIORITY )
xErrorDetected = pdTRUE ;
{
}
xErrorDetected = pdTRUE ;
}
/* Now wait a little longer than the time between ISR gives to also
/* Take the semaphore that is shared with the slave. */
obtain the ISR mutex . */
if ( xSemaphoreTake ( xMasterSlaveMutex , intsemNO_BLOCK ) ! = pdPASS )
xOkToGiveMutex = pdTRUE ;
{
if ( xSemaphoreTake ( xISRMutex , ( xInterruptGivePeriod * 2 ) ) ! = pdPASS )
xErrorDetected = pdTRUE ;
{
}
xErrorDetected = pdTRUE ;
}
xOkToGiveMutex = pdFALSE ;
/* Attempting to take again immediately should fail as the mutex is
/* This task now has the mutex. Unsuspend the slave so it too
already held . */
attempts to take the mutex . */
if ( xSemaphoreTake ( xISRMutex , intsemNO_BLOCK ) ! = pdFAIL )
vTaskResume ( xSlaveHandle ) ;
{
xErrorDetected = pdTRUE ;
}
/* Should still be at the priority of the slave task. */
/* The slave has the higher priority so should now have executed and
if ( uxTaskPriorityGet ( NULL ) ! = intsemSLAVE_PRIORITY )
blocked on the semaphore . */
{
# if( INCLUDE_eTaskGetState == 1 )
xErrorDetected = pdTRUE ;
{
}
configASSERT ( eTaskGetState ( xSlaveHandle ) = = eBlocked ) ;
}
# endif /* INCLUDE_eTaskGetState */
/* Give back the ISR semaphore to ensure the priority is not
/* This task should now have inherited the priority of the slave
disinherited as the shared mutex ( which the higher priority task is
task . */
attempting to obtain ) is still held . */
if ( uxTaskPriorityGet ( NULL ) ! = intsemSLAVE_PRIORITY )
if ( xSemaphoreGive ( xISRMutex ) ! = pdPASS )
{
{
xErrorDetected = pdTRUE ;
xErrorDetected = pdTRUE ;
}
}
if ( uxTaskPriorityGet ( NULL ) ! = intsemSLAVE_PRIORITY )
/* Now wait a little longer than the time between ISR gives to also
{
obtain the ISR mutex . */
xErrorDetected = pdTRUE ;
xOkToGiveMutex = pdTRUE ;
}
if ( xSemaphoreTake ( xISRMutex , ( xInterruptGivePeriod * 2 ) ) ! = pdPASS )
{
xErrorDetected = pdTRUE ;
}
xOkToGiveMutex = pdFALSE ;
/* Finally give back the shared mutex. This time the higher priority
/* Attempting to take again immediately should fail as the mutex is
task should run before this task runs again - so this task should have
already held . */
disinherited the priority and the higher priority task should be in the
if ( xSemaphoreTake ( xISRMutex , intsemNO_BLOCK ) ! = pdFAIL )
suspended state again . */
{
if ( xSemaphoreGive ( xMasterSlaveMutex ) ! = pdPASS )
xErrorDetected = pdTRUE ;
{
}
xErrorDetected = pdTRUE ;
}
if ( uxTaskPriorityGet ( NULL ) ! = intsemMASTER_PRIORITY )
/* Should still be at the priority of the slave task. */
{
if ( uxTaskPriorityGet ( NULL ) ! = intsemSLAVE_PRIORITY )
xErrorDetected = pdTRUE ;
{
}
xErrorDetected = pdTRUE ;
}
# if( INCLUDE_eTaskGetState == 1 )
/* Give back the ISR semaphore to ensure the priority is not
{
disinherited as the shared mutex ( which the higher priority task is
configASSERT ( eTaskGetState ( xSlaveHandle ) = = eSuspended ) ;
attempting to obtain ) is still held . */
}
if ( xSemaphoreGive ( xISRMutex ) ! = pdPASS )
# endif /* INCLUDE_eTaskGetState */
{
xErrorDetected = pdTRUE ;
}
/* Ensure not to starve out other tests. */
if ( uxTaskPriorityGet ( NULL ) ! = intsemSLAVE_PRIORITY )
ulMasterLoops + + ;
{
vTaskDelay ( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS ) ;
xErrorDetected = pdTRUE ;
}
/* 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 = pdTRUE ;
}
/* Repeat exactly up to the point where the mutexes are given back.
if ( uxTaskPriorityGet ( NULL ) ! = intsemMASTER_PRIORITY )
This time the shared mutex is given back first . */
{
if ( xSemaphoreTake ( xMasterSlaveMutex , intsemNO_BLOCK ) ! = pdPASS )
xErrorDetected = pdTRUE ;
{
}
xErrorDetected = pdTRUE ;
}
vTaskResume ( xSlaveHandle ) ;
# if( INCLUDE_eTaskGetState == 1 )
{
configASSERT ( eTaskGetState ( xSlaveHandle ) = = eSuspended ) ;
}
# endif /* INCLUDE_eTaskGetState */
# if( INCLUDE_eTaskGetState == 1 )
/* Reset the mutex ready for the next round. */
{
xQueueReset ( xISRMutex ) ;
configASSERT ( eTaskGetState ( xSlaveHandle ) = = eBlocked ) ;
}
}
/*-----------------------------------------------------------*/
# endif /* INCLUDE_eTaskGetState */
if ( uxTaskPriorityGet ( NULL ) ! = intsemSLAVE_PRIORITY )
static void prvTakeAndGiveInTheOppositeOrder ( void )
{
{
xErrorDetected = pdTRUE ;
/* 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 */
xOkToGiveMutex = pdTRUE ;
if ( uxTaskPriorityGet ( NULL ) ! = intsemMASTER_PRIORITY )
if ( xSemaphoreTake ( xISRMutex , ( xInterruptGivePeriod * 2 ) ) ! = pdPASS )
{
{
xErrorDetected = pdTRUE ;
xErrorDetected = pdTRUE ;
}
}
xOkToGiveMutex = pdFALSE ;
if ( uxTaskPriorityGet ( NULL ) ! = intsemSLAVE_PRIORITY )
/* Take the semaphore that is shared with the slave. */
{
if ( xSemaphoreTake ( xMasterSlaveMutex , intsemNO_BLOCK ) ! = pdPASS )
xErrorDetected = pdTRUE ;
{
}
xErrorDetected = pdTRUE ;
}
/* This is where the differences start as this time the shared mutex is
/* This task now has the mutex. Unsuspend the slave so it too
given back first . This time to the higher priority task should run
attempts to take the mutex . */
before this task gets to the point of releasing the interrupt mutex - so
vTaskResume ( xSlaveHandle ) ;
this task should have disinherited the priority and the higher priority
task should be in the suspended state again . */
if ( xSemaphoreGive ( xMasterSlaveMutex ) ! = pdPASS )
{
xErrorDetected = pdTRUE ;
}
/* Give back the interrupt semaphore too, so the mutex held count goes
/* The slave has the higher priority so should now have executed and
back to 0. The mutex will then have to be reset so the ISR can give it
blocked on the semaphore . */
in the next cycle . */
# if( INCLUDE_eTaskGetState == 1 )
xSemaphoreGive ( xISRMutex ) ;
{
xQueueReset ( ( QueueHandle_t ) xISRMutex ) ;
configASSERT ( eTaskGetState ( xSlaveHandle ) = = eBlocked ) ;
}
# endif /* INCLUDE_eTaskGetState */
/* Ensure not to starve out other tests. */
/* This task should now have inherited the priority of the slave
ulMasterLoops + + ;
task . */
vTaskDelay ( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS ) ;
if ( uxTaskPriorityGet ( NULL ) ! = intsemSLAVE_PRIORITY )
{
xErrorDetected = pdTRUE ;
}
/* 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 = pdTRUE ;
}
xOkToGiveMutex = pdFALSE ;
/* Attempting to take again immediately should fail as the mutex is
already held . */
if ( xSemaphoreTake ( xISRMutex , intsemNO_BLOCK ) ! = pdFAIL )
{
xErrorDetected = pdTRUE ;
}
/* Should still be at the priority of the slave task. */
if ( uxTaskPriorityGet ( NULL ) ! = intsemSLAVE_PRIORITY )
{
xErrorDetected = pdTRUE ;
}
/* 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 = pdTRUE ;
}
/* 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 = pdTRUE ;
}
}
/* 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 = pdTRUE ;
}
if ( uxTaskPriorityGet ( NULL ) ! = intsemMASTER_PRIORITY )
{
xErrorDetected = pdTRUE ;
}
/* Reset the mutex ready for the next round. */
xQueueReset ( xISRMutex ) ;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -343,9 +433,76 @@ static void vInterruptMutexSlaveTask( void *pvParameters )
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
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 = pdTRUE ;
}
/* 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 = pdTRUE ;
}
if ( uxQueueSpacesAvailable ( ( QueueHandle_t ) xISRCountingSemaphore ) ! = 0 )
{
xErrorDetected = pdTRUE ;
}
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 = pdTRUE ;
}
/* 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 disturbe other tests too much. */
vTaskPrioritySet ( NULL , tskIDLE_PRIORITY ) ;
ulCountingSemaphoreLoops + + ;
}
}
/*-----------------------------------------------------------*/
void vInterruptSemaphorePeriodicTest ( void ) void vInterruptSemaphorePeriodicTest ( void )
{ {
static TickType_t xLastGiveTime = 0 ; static TickType_t xLastGiveTime = 0 ;
BaseType_t xHigherPriorityTaskWoken = pdFALSE ;
TickType_t xTimeNow ; TickType_t xTimeNow ;
/* No mutual exclusion on xOkToGiveMutex, but this is only test code (and
/* No mutual exclusion on xOkToGiveMutex, but this is only test code (and
@ -356,20 +513,30 @@ TickType_t xTimeNow;
configASSERT ( xISRMutex ) ;
configASSERT ( xISRMutex ) ;
if ( xOkToGiveMutex ! = pdFALSE )
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 ) ;
xSemaphoreGiveFromISR ( xISRMutex , NULL ) ;
/* Second give attempt should fail. */
/* Second give attempt should fail. */
configASSERT ( xSemaphoreGiveFromISR ( xISRMutex , NULL ) = = pdFAIL ) ;
configASSERT ( xSemaphoreGiveFromISR ( xISRMutex , & xHigherPriorityTaskWoken ) = = pdFAIL ) ;
}
if ( xOkToGiveCountingSemaphore ! = pdFALSE )
{
xSemaphoreGiveFromISR ( xISRCountingSemaphore , & xHigherPriorityTaskWoken ) ;
}
}
xLastGiveTime = xTimeNow ;
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. */ /* This is called to check that all the created tasks are still running. */
BaseType_t xAreInterruptSemaphoreTasksStillRunning ( void ) BaseType_t xAreInterruptSemaphoreTasksStillRunning ( void )
{ {
static uint32_t ulLastMasterLoopCounter = 0 static uint32_t ulLastMasterLoopCounter = 0 , ulLastCountingSemaphoreLoops = 0 ;
/* If the demo tasks are running then it is expected that the loop counters
/* If the demo tasks are running then it is expected that the loop counters
will have changed since this function was last called . */
will have changed since this function was last called . */
@ -380,6 +547,13 @@ static uint32_t ulLastMasterLoopCounter = 0;
ulLastMasterLoopCounter = ulMasterLoops ;
ulLastMasterLoopCounter = ulMasterLoops ;
if ( ulLastCountingSemaphoreLoops = = ulCountingSemaphoreLoops )
{
xErrorDetected = pdTRUE ;
}
ulLastCountingSemaphoreLoops = ulCountingSemaphoreLoops + + ;
/* Errors detected in the task itself will have latched xErrorDetected
/* Errors detected in the task itself will have latched xErrorDetected
to true . */
to true . */
Richard Barry
11 years ago