Richard Barry | 8603259 | 2007-12-02 18:37:43 +0000 | [diff] [blame] | 1 | /*
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Richard Barry | c86dcf7 | 2008-02-03 19:45:58 +0000 | [diff] [blame^] | 2 | FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.
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Richard Barry | 8603259 | 2007-12-02 18:37:43 +0000 | [diff] [blame] | 3 |
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| 4 | This file is part of the FreeRTOS.org distribution.
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| 5 |
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| 6 | FreeRTOS.org is free software; you can redistribute it and/or modify
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| 7 | it under the terms of the GNU General Public License as published by
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| 8 | the Free Software Foundation; either version 2 of the License, or
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| 9 | (at your option) any later version.
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| 10 |
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| 11 | FreeRTOS.org is distributed in the hope that it will be useful,
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| 12 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 13 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 14 | GNU General Public License for more details.
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| 15 |
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| 16 | You should have received a copy of the GNU General Public License
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| 17 | along with FreeRTOS.org; if not, write to the Free Software
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| 18 | Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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| 19 |
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| 20 | A special exception to the GPL can be applied should you wish to distribute
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| 21 | a combined work that includes FreeRTOS.org, without being obliged to provide
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| 22 | the source code for any proprietary components. See the licensing section
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| 23 | of http://www.FreeRTOS.org for full details of how and when the exception
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| 24 | can be applied.
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| 25 |
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| 26 | ***************************************************************************
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Richard Barry | 8603259 | 2007-12-02 18:37:43 +0000 | [diff] [blame] | 27 |
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Richard Barry | c86dcf7 | 2008-02-03 19:45:58 +0000 | [diff] [blame^] | 28 | Please ensure to read the configuration and relevant port sections of the
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| 29 | online documentation.
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| 30 |
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| 31 | +++ http://www.FreeRTOS.org +++
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| 32 | Documentation, latest information, license and contact details.
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| 33 |
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| 34 | +++ http://www.SafeRTOS.com +++
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| 35 | A version that is certified for use in safety critical systems.
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| 36 |
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| 37 | +++ http://www.OpenRTOS.com +++
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| 38 | Commercial support, development, porting, licensing and training services.
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| 39 |
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Richard Barry | 8603259 | 2007-12-02 18:37:43 +0000 | [diff] [blame] | 40 | ***************************************************************************
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| 41 | */
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| 42 |
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| 43 | /*
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| 44 | * This is a version of BlockTim.c that uses the light weight API.
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| 45 | *
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| 46 | * This file contains some test scenarios that ensure tasks do not exit queue
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| 47 | * send or receive functions prematurely. A description of the tests is
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| 48 | * included within the code.
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| 49 | */
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| 50 |
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| 51 | /* Kernel includes. */
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| 52 | #include "FreeRTOS.h"
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| 53 | #include "task.h"
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| 54 | #include "queue.h"
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| 55 |
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| 56 | /* Demo includes. */
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| 57 | #include "AltBlock.h"
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| 58 |
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| 59 | /* Task priorities. */
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| 60 | #define bktPRIMARY_PRIORITY ( 3 )
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| 61 | #define bktSECONDARY_PRIORITY ( 2 )
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| 62 |
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| 63 | /* Task behaviour. */
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| 64 | #define bktQUEUE_LENGTH ( 5 )
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| 65 | #define bktSHORT_WAIT ( ( ( portTickType ) 20 ) / portTICK_RATE_MS )
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| 66 | #define bktPRIMARY_BLOCK_TIME ( 10 )
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| 67 | #define bktALLOWABLE_MARGIN ( 12 )
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| 68 | #define bktTIME_TO_BLOCK ( 175 )
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| 69 | #define bktDONT_BLOCK ( ( portTickType ) 0 )
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| 70 | #define bktRUN_INDICATOR ( ( unsigned portBASE_TYPE ) 0x55 )
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| 71 |
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| 72 | /* The queue on which the tasks block. */
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| 73 | static xQueueHandle xTestQueue;
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| 74 |
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| 75 | /* Handle to the secondary task is required by the primary task for calls
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| 76 | to vTaskSuspend/Resume(). */
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| 77 | static xTaskHandle xSecondary;
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| 78 |
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| 79 | /* Used to ensure that tasks are still executing without error. */
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| 80 | static portBASE_TYPE xPrimaryCycles = 0, xSecondaryCycles = 0;
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| 81 | static portBASE_TYPE xErrorOccurred = pdFALSE;
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| 82 |
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| 83 | /* Provides a simple mechanism for the primary task to know when the
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| 84 | secondary task has executed. */
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| 85 | static volatile unsigned portBASE_TYPE xRunIndicator;
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| 86 |
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| 87 | /* The two test tasks. Their behaviour is commented within the files. */
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| 88 | static void vPrimaryBlockTimeTestTask( void *pvParameters );
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| 89 | static void vSecondaryBlockTimeTestTask( void *pvParameters );
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| 90 |
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| 91 | /*-----------------------------------------------------------*/
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| 92 |
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| 93 | void vCreateAltBlockTimeTasks( void )
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| 94 | {
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| 95 | /* Create the queue on which the two tasks block. */
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| 96 | xTestQueue = xQueueCreate( bktQUEUE_LENGTH, sizeof( portBASE_TYPE ) );
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| 97 |
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| 98 | /* Create the two test tasks. */
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| 99 | xTaskCreate( vPrimaryBlockTimeTestTask, ( signed portCHAR * )"FBTest1", configMINIMAL_STACK_SIZE, NULL, bktPRIMARY_PRIORITY, NULL );
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| 100 | xTaskCreate( vSecondaryBlockTimeTestTask, ( signed portCHAR * )"FBTest2", configMINIMAL_STACK_SIZE, NULL, bktSECONDARY_PRIORITY, &xSecondary );
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| 101 | }
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| 102 | /*-----------------------------------------------------------*/
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| 103 |
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| 104 | static void vPrimaryBlockTimeTestTask( void *pvParameters )
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| 105 | {
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| 106 | portBASE_TYPE xItem, xData;
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| 107 | portTickType xTimeWhenBlocking;
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| 108 | portTickType xTimeToBlock, xBlockedTime;
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| 109 |
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| 110 | #ifdef USE_STDIO
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| 111 | void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
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| 112 |
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| 113 | const portCHAR * const pcTaskStartMsg = "Alt primary block time test started.\r\n";
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| 114 |
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| 115 | /* Queue a message for printing to say the task has started. */
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| 116 | vPrintDisplayMessage( &pcTaskStartMsg );
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| 117 | #endif
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| 118 |
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| 119 | ( void ) pvParameters;
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| 120 |
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| 121 | for( ;; )
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| 122 | {
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| 123 | /*********************************************************************
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| 124 | Test 1
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| 125 |
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| 126 | Simple block time wakeup test on queue receives. */
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| 127 | for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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| 128 | {
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| 129 | /* The queue is empty. Attempt to read from the queue using a block
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| 130 | time. When we wake, ensure the delta in time is as expected. */
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| 131 | xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;
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| 132 |
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| 133 | /* A critical section is used to minimise the jitter in the time
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| 134 | measurements. */
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| 135 | portENTER_CRITICAL();
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| 136 | {
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| 137 | xTimeWhenBlocking = xTaskGetTickCount();
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| 138 |
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| 139 | /* We should unblock after xTimeToBlock having not received
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| 140 | anything on the queue. */
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| 141 | if( xQueueAltReceive( xTestQueue, &xData, xTimeToBlock ) != errQUEUE_EMPTY )
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| 142 | {
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| 143 | xErrorOccurred = pdTRUE;
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| 144 | }
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| 145 |
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| 146 | /* How long were we blocked for? */
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| 147 | xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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| 148 | }
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| 149 | portEXIT_CRITICAL();
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| 150 |
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| 151 | if( xBlockedTime < xTimeToBlock )
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| 152 | {
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| 153 | /* Should not have blocked for less than we requested. */
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| 154 | xErrorOccurred = pdTRUE;
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| 155 | }
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| 156 |
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| 157 | if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
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| 158 | {
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| 159 | /* Should not have blocked for longer than we requested,
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| 160 | although we would not necessarily run as soon as we were
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| 161 | unblocked so a margin is allowed. */
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| 162 | xErrorOccurred = pdTRUE;
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| 163 | }
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| 164 | }
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| 165 |
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Richard Barry | e018422 | 2008-01-27 20:25:36 +0000 | [diff] [blame] | 166 |
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| 167 | #if configUSE_PREEMPTION == 0
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| 168 | taskYIELD();
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| 169 | #endif
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| 170 |
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| 171 |
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Richard Barry | 8603259 | 2007-12-02 18:37:43 +0000 | [diff] [blame] | 172 | /*********************************************************************
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| 173 | Test 2
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| 174 |
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| 175 | Simple block time wakeup test on queue sends.
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| 176 |
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| 177 | First fill the queue. It should be empty so all sends should pass. */
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| 178 | for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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| 179 | {
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| 180 | if( xQueueAltSendToBack( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
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| 181 | {
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| 182 | xErrorOccurred = pdTRUE;
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| 183 | }
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| 184 | }
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| 185 |
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| 186 | for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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| 187 | {
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| 188 | /* The queue is full. Attempt to write to the queue using a block
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| 189 | time. When we wake, ensure the delta in time is as expected. */
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| 190 | xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;
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| 191 |
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| 192 | portENTER_CRITICAL();
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| 193 | {
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| 194 | xTimeWhenBlocking = xTaskGetTickCount();
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| 195 |
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| 196 | /* We should unblock after xTimeToBlock having not received
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| 197 | anything on the queue. */
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| 198 | if( xQueueAltSendToBack( xTestQueue, &xItem, xTimeToBlock ) != errQUEUE_FULL )
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| 199 | {
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| 200 | xErrorOccurred = pdTRUE;
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| 201 | }
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| 202 |
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| 203 | /* How long were we blocked for? */
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| 204 | xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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| 205 | }
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| 206 | portEXIT_CRITICAL();
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| 207 |
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| 208 | if( xBlockedTime < xTimeToBlock )
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| 209 | {
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| 210 | /* Should not have blocked for less than we requested. */
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| 211 | xErrorOccurred = pdTRUE;
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| 212 | }
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| 213 |
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| 214 | if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
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| 215 | {
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| 216 | /* Should not have blocked for longer than we requested,
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| 217 | although we would not necessarily run as soon as we were
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| 218 | unblocked so a margin is allowed. */
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| 219 | xErrorOccurred = pdTRUE;
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| 220 | }
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| 221 | }
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| 222 |
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Richard Barry | e018422 | 2008-01-27 20:25:36 +0000 | [diff] [blame] | 223 | #if configUSE_PREEMPTION == 0
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| 224 | taskYIELD();
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| 225 | #endif
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| 226 |
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Richard Barry | 8603259 | 2007-12-02 18:37:43 +0000 | [diff] [blame] | 227 |
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| 228 | /*********************************************************************
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| 229 | Test 3
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| 230 |
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| 231 | Wake the other task, it will block attempting to post to the queue.
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| 232 | When we read from the queue the other task will wake, but before it
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| 233 | can run we will post to the queue again. When the other task runs it
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| 234 | will find the queue still full, even though it was woken. It should
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| 235 | recognise that its block time has not expired and return to block for
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| 236 | the remains of its block time.
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| 237 |
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| 238 | Wake the other task so it blocks attempting to post to the already
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| 239 | full queue. */
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| 240 | xRunIndicator = 0;
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| 241 | vTaskResume( xSecondary );
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| 242 |
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| 243 | /* We need to wait a little to ensure the other task executes. */
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| 244 | while( xRunIndicator != bktRUN_INDICATOR )
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| 245 | {
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| 246 | /* The other task has not yet executed. */
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| 247 | vTaskDelay( bktSHORT_WAIT );
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| 248 | }
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| 249 | /* Make sure the other task is blocked on the queue. */
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| 250 | vTaskDelay( bktSHORT_WAIT );
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| 251 | xRunIndicator = 0;
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| 252 |
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| 253 | for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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| 254 | {
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| 255 | /* Now when we make space on the queue the other task should wake
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| 256 | but not execute as this task has higher priority. */
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| 257 | if( xQueueAltReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
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| 258 | {
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| 259 | xErrorOccurred = pdTRUE;
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| 260 | }
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| 261 |
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| 262 | /* Now fill the queue again before the other task gets a chance to
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| 263 | execute. If the other task had executed we would find the queue
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| 264 | full ourselves, and the other task have set xRunIndicator. */
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| 265 | if( xQueueAltSendToBack( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
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| 266 | {
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| 267 | xErrorOccurred = pdTRUE;
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| 268 | }
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| 269 |
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| 270 | if( xRunIndicator == bktRUN_INDICATOR )
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| 271 | {
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| 272 | /* The other task should not have executed. */
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| 273 | xErrorOccurred = pdTRUE;
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| 274 | }
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| 275 |
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| 276 | /* Raise the priority of the other task so it executes and blocks
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| 277 | on the queue again. */
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| 278 | vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
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| 279 |
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| 280 | /* The other task should now have re-blocked without exiting the
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| 281 | queue function. */
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| 282 | if( xRunIndicator == bktRUN_INDICATOR )
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| 283 | {
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| 284 | /* The other task should not have executed outside of the
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| 285 | queue function. */
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| 286 | xErrorOccurred = pdTRUE;
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| 287 | }
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| 288 |
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| 289 | /* Set the priority back down. */
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| 290 | vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
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| 291 | }
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| 292 |
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| 293 | /* Let the other task timeout. When it unblockes it will check that it
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| 294 | unblocked at the correct time, then suspend itself. */
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| 295 | while( xRunIndicator != bktRUN_INDICATOR )
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| 296 | {
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| 297 | vTaskDelay( bktSHORT_WAIT );
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| 298 | }
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| 299 | vTaskDelay( bktSHORT_WAIT );
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| 300 | xRunIndicator = 0;
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| 301 |
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Richard Barry | e018422 | 2008-01-27 20:25:36 +0000 | [diff] [blame] | 302 | #if configUSE_PREEMPTION == 0
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| 303 | taskYIELD();
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| 304 | #endif
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Richard Barry | 8603259 | 2007-12-02 18:37:43 +0000 | [diff] [blame] | 305 |
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| 306 | /*********************************************************************
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| 307 | Test 4
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| 308 |
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| 309 | As per test 3 - but with the send and receive the other way around.
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| 310 | The other task blocks attempting to read from the queue.
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| 311 |
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| 312 | Empty the queue. We should find that it is full. */
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| 313 | for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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| 314 | {
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| 315 | if( xQueueAltReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
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| 316 | {
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| 317 | xErrorOccurred = pdTRUE;
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| 318 | }
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| 319 | }
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| 320 |
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| 321 | /* Wake the other task so it blocks attempting to read from the
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| 322 | already empty queue. */
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| 323 | vTaskResume( xSecondary );
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| 324 |
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| 325 | /* We need to wait a little to ensure the other task executes. */
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| 326 | while( xRunIndicator != bktRUN_INDICATOR )
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| 327 | {
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| 328 | vTaskDelay( bktSHORT_WAIT );
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| 329 | }
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| 330 | vTaskDelay( bktSHORT_WAIT );
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| 331 | xRunIndicator = 0;
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| 332 |
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| 333 | for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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| 334 | {
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| 335 | /* Now when we place an item on the queue the other task should
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| 336 | wake but not execute as this task has higher priority. */
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| 337 | if( xQueueAltSendToBack( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
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| 338 | {
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| 339 | xErrorOccurred = pdTRUE;
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| 340 | }
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| 341 |
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| 342 | /* Now empty the queue again before the other task gets a chance to
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| 343 | execute. If the other task had executed we would find the queue
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| 344 | empty ourselves, and the other task would be suspended. */
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| 345 | if( xQueueAltReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
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| 346 | {
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| 347 | xErrorOccurred = pdTRUE;
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| 348 | }
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| 349 |
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| 350 | if( xRunIndicator == bktRUN_INDICATOR )
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| 351 | {
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| 352 | /* The other task should not have executed. */
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| 353 | xErrorOccurred = pdTRUE;
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| 354 | }
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| 355 |
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| 356 | /* Raise the priority of the other task so it executes and blocks
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| 357 | on the queue again. */
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| 358 | vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
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| 359 |
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| 360 | /* The other task should now have re-blocked without exiting the
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| 361 | queue function. */
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| 362 | if( xRunIndicator == bktRUN_INDICATOR )
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| 363 | {
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| 364 | /* The other task should not have executed outside of the
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| 365 | queue function. */
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| 366 | xErrorOccurred = pdTRUE;
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| 367 | }
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| 368 | vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
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| 369 | }
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| 370 |
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| 371 | /* Let the other task timeout. When it unblockes it will check that it
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| 372 | unblocked at the correct time, then suspend itself. */
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| 373 | while( xRunIndicator != bktRUN_INDICATOR )
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| 374 | {
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| 375 | vTaskDelay( bktSHORT_WAIT );
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| 376 | }
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| 377 | vTaskDelay( bktSHORT_WAIT );
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| 378 |
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| 379 | xPrimaryCycles++;
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| 380 | }
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| 381 | }
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| 382 | /*-----------------------------------------------------------*/
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| 383 |
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| 384 | static void vSecondaryBlockTimeTestTask( void *pvParameters )
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| 385 | {
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| 386 | portTickType xTimeWhenBlocking, xBlockedTime;
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| 387 | portBASE_TYPE xData;
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| 388 |
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| 389 | #ifdef USE_STDIO
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| 390 | void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
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| 391 |
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| 392 | const portCHAR * const pcTaskStartMsg = "Alt secondary block time test started.\r\n";
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| 393 |
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| 394 | /* Queue a message for printing to say the task has started. */
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| 395 | vPrintDisplayMessage( &pcTaskStartMsg );
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| 396 | #endif
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| 397 |
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| 398 | ( void ) pvParameters;
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| 399 |
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| 400 | for( ;; )
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| 401 | {
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| 402 | /*********************************************************************
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| 403 | Test 1 and 2
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| 404 |
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| 405 | This task does does not participate in these tests. */
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| 406 | vTaskSuspend( NULL );
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| 407 |
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| 408 | /*********************************************************************
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| 409 | Test 3
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| 410 |
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| 411 | The first thing we do is attempt to read from the queue. It should be
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| 412 | full so we block. Note the time before we block so we can check the
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| 413 | wake time is as per that expected. */
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| 414 | portENTER_CRITICAL();
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| 415 | {
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| 416 | xTimeWhenBlocking = xTaskGetTickCount();
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| 417 |
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| 418 | /* We should unblock after bktTIME_TO_BLOCK having not received
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| 419 | anything on the queue. */
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| 420 | xData = 0;
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| 421 | xRunIndicator = bktRUN_INDICATOR;
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| 422 | if( xQueueAltSendToBack( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_FULL )
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| 423 | {
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| 424 | xErrorOccurred = pdTRUE;
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| 425 | }
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| 426 |
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| 427 | /* How long were we inside the send function? */
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| 428 | xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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| 429 | }
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| 430 | portEXIT_CRITICAL();
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| 431 |
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| 432 | /* We should not have blocked for less time than bktTIME_TO_BLOCK. */
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| 433 | if( xBlockedTime < bktTIME_TO_BLOCK )
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| 434 | {
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| 435 | xErrorOccurred = pdTRUE;
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| 436 | }
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| 437 |
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| 438 | /* We should of not blocked for much longer than bktALLOWABLE_MARGIN
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| 439 | either. A margin is permitted as we would not necessarily run as
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| 440 | soon as we unblocked. */
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| 441 | if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
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| 442 | {
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| 443 | xErrorOccurred = pdTRUE;
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| 444 | }
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| 445 |
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| 446 | /* Suspend ready for test 3. */
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| 447 | xRunIndicator = bktRUN_INDICATOR;
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| 448 | vTaskSuspend( NULL );
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| 449 |
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| 450 | /*********************************************************************
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| 451 | Test 4
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| 452 |
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| 453 | As per test three, but with the send and receive reversed. */
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| 454 | portENTER_CRITICAL();
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| 455 | {
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| 456 | xTimeWhenBlocking = xTaskGetTickCount();
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| 457 |
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| 458 | /* We should unblock after bktTIME_TO_BLOCK having not received
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| 459 | anything on the queue. */
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| 460 | xRunIndicator = bktRUN_INDICATOR;
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| 461 | if( xQueueAltReceive( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_EMPTY )
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| 462 | {
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| 463 | xErrorOccurred = pdTRUE;
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| 464 | }
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| 465 |
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| 466 | xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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| 467 | }
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| 468 | portEXIT_CRITICAL();
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| 469 |
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| 470 | /* We should not have blocked for less time than bktTIME_TO_BLOCK. */
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| 471 | if( xBlockedTime < bktTIME_TO_BLOCK )
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| 472 | {
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| 473 | xErrorOccurred = pdTRUE;
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| 474 | }
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| 475 |
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| 476 | /* We should of not blocked for much longer than bktALLOWABLE_MARGIN
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| 477 | either. A margin is permitted as we would not necessarily run as soon
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| 478 | as we unblocked. */
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| 479 | if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
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| 480 | {
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| 481 | xErrorOccurred = pdTRUE;
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| 482 | }
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| 483 |
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| 484 | xRunIndicator = bktRUN_INDICATOR;
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| 485 |
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| 486 | xSecondaryCycles++;
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| 487 | }
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| 488 | }
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| 489 | /*-----------------------------------------------------------*/
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| 490 |
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| 491 | portBASE_TYPE xAreAltBlockTimeTestTasksStillRunning( void )
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| 492 | {
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| 493 | static portBASE_TYPE xLastPrimaryCycleCount = 0, xLastSecondaryCycleCount = 0;
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| 494 | portBASE_TYPE xReturn = pdPASS;
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| 495 |
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| 496 | /* Have both tasks performed at least one cycle since this function was
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| 497 | last called? */
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| 498 | if( xPrimaryCycles == xLastPrimaryCycleCount )
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| 499 | {
|
| 500 | xReturn = pdFAIL;
|
| 501 | }
|
| 502 |
|
| 503 | if( xSecondaryCycles == xLastSecondaryCycleCount )
|
| 504 | {
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| 505 | xReturn = pdFAIL;
|
| 506 | }
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| 507 |
|
| 508 | if( xErrorOccurred == pdTRUE )
|
| 509 | {
|
| 510 | xReturn = pdFAIL;
|
| 511 | }
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| 512 |
|
| 513 | xLastSecondaryCycleCount = xSecondaryCycles;
|
| 514 | xLastPrimaryCycleCount = xPrimaryCycles;
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| 515 |
|
| 516 | return xReturn;
|
| 517 | }
|