Added xQueueSendToBack, xQueueSendToFront, xQueuePeek and xSemaphoreCreateMutex - along with GenQTest.c to demonstrate their usage.
Richard Barry
18 years ago
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/*
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FreeRTOS.org V4.4.0 - Copyright (C) 2003-2007 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS.org is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS.org; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS.org, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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See http://www.FreeRTOS.org for documentation, latest information, license
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and contact details. Please ensure to read the configuration and relevant
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port sections of the online documentation.
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Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
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with commercial development and support options.
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***************************************************************************
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*/
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/*
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* Tests the extra queue functionality introduced in FreeRTOS.org V4.5.0 -
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* including xQueueSendToFront(), xQueueSendToBack(), xQueuePeek() and
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* mutex behaviour.
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*
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* See the comments above the prvSendFrontAndBackTest() and
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* prvLowPriorityMutexTask() prototypes below for more information.
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*/
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#include <stdlib.h>
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "semphr.h"
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/* Demo program include files. */
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#include "GenQTest.h"
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#define genqQUEUE_LENGTH ( 5 )
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#define genqNO_BLOCK ( 0 )
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#define genqMUTEX_LOW_PRIORITY ( tskIDLE_PRIORITY )
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#define genqMUTEX_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define genqMUTEX_MEDIUM_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define genqMUTEX_HIGH_PRIORITY ( tskIDLE_PRIORITY + 3 )
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/*-----------------------------------------------------------*/
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/*
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* Tests the behaviour of the xQueueSendToFront() and xQueueSendToBack()
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* macros by using both to fill a queue, then reading from the queue to
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* check the resultant queue order is as expected. Queue data is also
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* peeked.
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*/
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static void prvSendFrontAndBackTest( void *pvParameters );
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/*
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* The following three tasks are used to demonstrate the mutex behaviour.
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* Each task is given a different priority to demonstrate the priority
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* inheritance mechanism.
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*
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* The low priority task obtains a mutex. After this a high priority task
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* attempts to obtain the same mutex, causing its priority to be inherited
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* by the low priority task. The task with the inherited high priority then
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* resumes a medium priority task to ensure it is not blocked by the medium
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* priority task while it holds the inherited high priority. Once the mutex
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* is returned the task with the inherited priority returns to its original
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* low priority, and is therefore immediately preempted by first the high
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* priority task and then the medium prioroity task before it can continue.
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*/
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static void prvLowPriorityMutexTask( void *pvParameters );
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static void prvMediumPriorityMutexTask( void *pvParameters );
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static void prvHighPriorityMutexTask( void *pvParameters );
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/*-----------------------------------------------------------*/
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/* Flag that will be latched to pdTRUE should any unexpected behaviour be
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detected in any of the tasks. */
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static portBASE_TYPE xErrorDetected = pdFALSE;
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/* Counters that are incremented on each cycle of a test. This is used to
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detect a stalled task - a test that is no longer running. */
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static volatile unsigned portLONG ulLoopCounter = 0;
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static volatile unsigned portLONG ulLoopCounter2 = 0;
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/* The variable that is guarded by the mutex in the mutex demo tasks. */
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static volatile unsigned portLONG ulGuardedVariable = 0;
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/* Handles used in the mutext test to suspend and resume the high and medium
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priority mutex test tasks. */
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static xTaskHandle xHighPriorityMutexTask, xMediumPriorityMutexTask;
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/*-----------------------------------------------------------*/
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void vStartGenericQueueTasks( unsigned portBASE_TYPE uxPriority )
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{
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xQueueHandle xQueue;
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xSemaphoreHandle xMutex;
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/* Create the queue that we are going to use for the
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prvSendFrontAndBackTest demo. */
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xQueue = xQueueCreate( genqQUEUE_LENGTH, sizeof( unsigned portLONG ) );
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/* Create the demo task and pass it the queue just created. We are
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passing the queue handle by value so it does not matter that it is
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declared on the stack here. */
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xTaskCreate( prvSendFrontAndBackTest, "GenQ", configMINIMAL_STACK_SIZE, ( void * ) xQueue, uxPriority, NULL );
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/* Create the mutex used by the prvMutexTest task. */
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xMutex = xSemaphoreCreateMutex();
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/* Create the mutex demo tasks and pass it the mutex just created. We are
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passing the mutex handle by value so it does not matter that it is declared
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on the stack here. */
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xTaskCreate( prvLowPriorityMutexTask, "MuLow", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_LOW_PRIORITY, NULL );
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xTaskCreate( prvMediumPriorityMutexTask, "MuMed", configMINIMAL_STACK_SIZE, NULL, genqMUTEX_MEDIUM_PRIORITY, &xMediumPriorityMutexTask );
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xTaskCreate( prvHighPriorityMutexTask, "MuHigh", configMINIMAL_STACK_SIZE, ( void * ) xMutex, genqMUTEX_HIGH_PRIORITY, &xHighPriorityMutexTask );
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}
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/*-----------------------------------------------------------*/
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static void prvSendFrontAndBackTest( void *pvParameters )
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{
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unsigned portLONG ulData, ulData2;
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xQueueHandle xQueue;
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#ifdef USE_STDIO
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void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
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const portCHAR * const pcTaskStartMsg = "Queue SendToFront/SendToBack/Peek test started.\r\n";
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage( &pcTaskStartMsg );
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#endif
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xQueue = ( xQueueHandle ) pvParameters;
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for( ;; )
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{
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/* The queue is empty, so sending an item to the back of the queue
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should have the same efect as sending it to the front of the queue.
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First send to the front and check everything is as expected. */
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xQueueSendToFront( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );
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if( uxQueueMessagesWaiting( xQueue ) != 1 )
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{
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xErrorDetected = pdTRUE;
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}
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if( xQueueReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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/* The data we sent to the queue should equal the data we just received
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from the queue. */
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if( ulLoopCounter != ulData )
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{
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xErrorDetected = pdTRUE;
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}
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/* Then do the same, sending the data to the back, checking everything
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is as expected. */
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if( uxQueueMessagesWaiting( xQueue ) != 0 )
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{
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xErrorDetected = pdTRUE;
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}
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xQueueSendToBack( xQueue, ( void * ) &ulLoopCounter, genqNO_BLOCK );
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if( uxQueueMessagesWaiting( xQueue ) != 1 )
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{
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xErrorDetected = pdTRUE;
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}
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if( xQueueReceive( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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if( uxQueueMessagesWaiting( xQueue ) != 0 )
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{
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xErrorDetected = pdTRUE;
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}
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/* The data we sent to the queue should equal the data we just received
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from the queue. */
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if( ulLoopCounter != ulData )
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{
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xErrorDetected = pdTRUE;
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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/* Place 2, 3, 4 into the queue, adding items to the back of the queue. */
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for( ulData = 2; ulData < 5; ulData++ )
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{
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xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK );
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}
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/* Now the order in the queue should be 2, 3, 4, with 2 being the first
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thing to be read out. Now add 1 then 0 to the front of the queue. */
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if( uxQueueMessagesWaiting( xQueue ) != 3 )
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{
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xErrorDetected = pdTRUE;
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}
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ulData = 1;
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xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );
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ulData = 0;
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xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK );
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/* Now the queue should be full, and when we read the data out we
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should receive 0, 1, 2, 3, 4. */
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if( uxQueueMessagesWaiting( xQueue ) != 5 )
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{
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xErrorDetected = pdTRUE;
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}
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if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
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{
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xErrorDetected = pdTRUE;
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}
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if( xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
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{
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xErrorDetected = pdTRUE;
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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/* Check the data we read out is in the expected order. */
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for( ulData = 0; ulData < genqQUEUE_LENGTH; ulData++ )
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{
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/* Try peeking the data first. */
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if( xQueuePeek( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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if( ulData != ulData2 )
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{
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xErrorDetected = pdTRUE;
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}
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/* Now try receiving the data for real. The value should be the
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same. Clobber the value first so we know we really received it. */
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ulData2 = ~ulData2;
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if( xQueueReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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if( ulData != ulData2 )
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{
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xErrorDetected = pdTRUE;
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}
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}
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/* The queue should now be empty again. */
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if( uxQueueMessagesWaiting( xQueue ) != 0 )
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{
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xErrorDetected = pdTRUE;
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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/* Our queue is empty once more, add 10, 11 to the back. */
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ulData = 10;
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if( xQueueSend( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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ulData = 11;
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if( xQueueSend( xQueue, &ulData, genqNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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if( uxQueueMessagesWaiting( xQueue ) != 2 )
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{
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xErrorDetected = pdTRUE;
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}
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/* Now we should have 10, 11 in the queue. Add 7, 8, 9 to the
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front. */
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for( ulData = 9; ulData >= 7; ulData-- )
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{
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if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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}
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/* Now check that the queue is full, and that receiving data provides
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the expected sequence of 7, 8, 9, 10, 11. */
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if( uxQueueMessagesWaiting( xQueue ) != 5 )
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{
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xErrorDetected = pdTRUE;
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}
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if( xQueueSendToFront( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
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{
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xErrorDetected = pdTRUE;
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}
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if( xQueueSendToBack( xQueue, ( void * ) &ulData, genqNO_BLOCK ) != errQUEUE_FULL )
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{
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xErrorDetected = pdTRUE;
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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/* Check the data we read out is in the expected order. */
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for( ulData = 7; ulData < ( 7 + genqQUEUE_LENGTH ); ulData++ )
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{
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if( xQueueReceive( xQueue, &ulData2, genqNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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if( ulData != ulData2 )
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{
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xErrorDetected = pdTRUE;
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}
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}
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if( uxQueueMessagesWaiting( xQueue ) != 0 )
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{
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xErrorDetected = pdTRUE;
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}
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ulLoopCounter++;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvLowPriorityMutexTask( void *pvParameters )
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{
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xSemaphoreHandle xMutex = ( xSemaphoreHandle ) pvParameters;
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#ifdef USE_STDIO
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void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
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const portCHAR * const pcTaskStartMsg = "Mutex with priority inheritance test started.\r\n";
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage( &pcTaskStartMsg );
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#endif
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for( ;; )
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{
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/* Take the mutex. It should be available now. */
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if( xSemaphoreTake( xMutex, genqNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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/* Set our guarded variable to a known start value. */
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ulGuardedVariable = 0;
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|
/* Our 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 );
|
||||||
|
|
||||||
|
/* We should now have inherited the prioritoy of the high priority task,
|
||||||
|
as by now it will have attempted to get the mutex. */
|
||||||
|
if( uxTaskPriorityGet( NULL ) != genqMUTEX_HIGH_PRIORITY )
|
||||||
|
{
|
||||||
|
xErrorDetected = pdTRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* We can attempt to set our priority to the test priority - between the
|
||||||
|
idle priority and the medium/high test priorities, but our actual
|
||||||
|
prioroity 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 our
|
||||||
|
inherited priority is above that of the medium priority task. */
|
||||||
|
vTaskResume( xMediumPriorityMutexTask );
|
||||||
|
|
||||||
|
/* If the did run then it will have incremented our guarded variable. */
|
||||||
|
if( ulGuardedVariable != 0 )
|
||||||
|
{
|
||||||
|
xErrorDetected = pdTRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* When we give back the semaphore our priority should be disinherited
|
||||||
|
back to the priority to which we attempted to set ourselves. This means
|
||||||
|
that when the high priority task next blocks, the medium priority task
|
||||||
|
should execute and increment the guarded variable. When we next run
|
||||||
|
both the high and medium priority tasks will have been suspended again. */
|
||||||
|
if( xSemaphoreGive( xMutex ) != pdPASS )
|
||||||
|
{
|
||||||
|
xErrorDetected = pdTRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Check that the guarded variable did indeed increment... */
|
||||||
|
if( ulGuardedVariable != 1 )
|
||||||
|
{
|
||||||
|
xErrorDetected = pdTRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* ... and that our priority has been disinherited to
|
||||||
|
genqMUTEX_TEST_PRIORITY. */
|
||||||
|
if( uxTaskPriorityGet( NULL ) != genqMUTEX_TEST_PRIORITY )
|
||||||
|
{
|
||||||
|
xErrorDetected = pdTRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Set our priority back to our original priority ready for the next
|
||||||
|
loop around this test. */
|
||||||
|
vTaskPrioritySet( NULL, genqMUTEX_LOW_PRIORITY );
|
||||||
|
|
||||||
|
/* Just to show we are still running. */
|
||||||
|
ulLoopCounter2++;
|
||||||
|
|
||||||
|
#if configUSE_PREEMPTION == 0
|
||||||
|
taskYIELD();
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
static void prvMediumPriorityMutexTask( 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 )
|
||||||
|
{
|
||||||
|
xSemaphoreHandle xMutex = ( xSemaphoreHandle ) 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 we eventually obtain the mutex we just give it back then
|
||||||
|
return to suspend ready for the next test. */
|
||||||
|
if( xSemaphoreGive( xMutex ) != pdPASS )
|
||||||
|
{
|
||||||
|
xErrorDetected = pdTRUE;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* This is called to check that all the created tasks are still running. */
|
||||||
|
portBASE_TYPE xAreGenericQueueTasksStillRunning( void )
|
||||||
|
{
|
||||||
|
static unsigned portLONG ulLastLoopCounter = 0, ulLastLoopCounter2 = 0;
|
||||||
|
|
||||||
|
/* If the demo task is still running then we expect the loopcounters 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 !xErrorDetected;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
@ -0,0 +1,45 @@
|
|||||||
|
/*
|
||||||
|
FreeRTOS.org V4.4.0 - Copyright (C) 2003-2007 Richard Barry.
|
||||||
|
|
||||||
|
This file is part of the FreeRTOS.org distribution.
|
||||||
|
|
||||||
|
FreeRTOS.org is free software; you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation; either version 2 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
FreeRTOS.org 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. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with FreeRTOS.org; if not, write to the Free Software
|
||||||
|
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
|
||||||
|
A special exception to the GPL can be applied should you wish to distribute
|
||||||
|
a combined work that includes FreeRTOS.org, without being obliged to provide
|
||||||
|
the source code for any proprietary components. See the licensing section
|
||||||
|
of http://www.FreeRTOS.org for full details of how and when the exception
|
||||||
|
can be applied.
|
||||||
|
|
||||||
|
***************************************************************************
|
||||||
|
See http://www.FreeRTOS.org for documentation, latest information, license
|
||||||
|
and contact details. Please ensure to read the configuration and relevant
|
||||||
|
port sections of the online documentation.
|
||||||
|
|
||||||
|
Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
|
||||||
|
with commercial development and support options.
|
||||||
|
***************************************************************************
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef GEN_Q_TEST_H
|
||||||
|
#define GEN_Q_TEST_H
|
||||||
|
|
||||||
|
void vStartGenericQueueTasks( unsigned portBASE_TYPE uxPriority );
|
||||||
|
portBASE_TYPE xAreGenericQueueTasksStillRunning( void );
|
||||||
|
|
||||||
|
#endif /* GEN_Q_TEST_H */
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
Loading…
Reference in New Issue