390 lines
14 KiB
C
390 lines
14 KiB
C
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/*
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FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that has become a de facto standard. *
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* *
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* Help yourself get started quickly and support the FreeRTOS *
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* project by purchasing a FreeRTOS tutorial book, reference *
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* manual, or both from: http://www.FreeRTOS.org/Documentation *
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* *
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* Thank you! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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>>! NOTE: The modification to the GPL is included to allow you to !<<
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>>! distribute a combined work that includes FreeRTOS without being !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available from the following
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link: http://www.freertos.org/a00114.html
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1 tab == 4 spaces!
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***************************************************************************
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* *
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* Having a problem? Start by reading the FAQ "My application does *
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* not run, what could be wrong?" *
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* *
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* http://www.FreeRTOS.org/FAQHelp.html *
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* *
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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license and Real Time Engineers Ltd. contact details.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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/*
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* Demonstrates and tests mutexes being used from an interrupt.
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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 "semphr.h"
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/* Demo program include files. */
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#include "IntSemTest.h"
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/*-----------------------------------------------------------*/
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/* The priorities of the test tasks. */
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#define intsemMASTER_PRIORITY ( tskIDLE_PRIORITY )
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#define intsemSLAVE_PRIORITY ( tskIDLE_PRIORITY + 1 )
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/* The rate at which the tick hook will give the mutex. */
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#define intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS ( 100 )
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/* A block time of 0 means 'don't block'. */
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#define intsemNO_BLOCK 0
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/*-----------------------------------------------------------*/
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/*
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* The master is a task that receives a mutex that is given from an interrupt -
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* although generally mutexes should not be used given in interrupts (and
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* definitely never taken in an interrupt) there are some circumstances when it
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* may be desirable.
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*
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* The slave task is just used by the master task to force priority inheritance
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* on a mutex that is shared between the master and the slave - which is a
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* separate mutex to that given by the interrupt.
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*/
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static void vInterruptMutexSlaveTask( void *pvParameters );
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static void vInterruptMutexMasterTask( 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 volatile BaseType_t 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 uint32_t ulMasterLoops = 0;
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/* Handles of the test tasks that must be accessed from other test tasks. */
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static TaskHandle_t xSlaveHandle;
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/* A mutex which is given from an interrupt - although generally mutexes should
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not be used given in interrupts (and definitely never taken in an interrupt)
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there are some circumstances when it may be desirable. */
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static SemaphoreHandle_t xISRMutex = NULL;
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/* A mutex which is shared between the master and slave tasks - the master
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does both sharing of this mutex with the slave and receiving a mutex from the
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interrupt. */
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static SemaphoreHandle_t xMasterSlaveMutex = NULL;
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/* Flag that allows the master task to control when the interrupt gives or does
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not give the mutex. There is no mutual exclusion on this variable, but this is
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only test code and it should be fine in the 32=bit test environment. */
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static BaseType_t xOkToGiveMutex = pdFALSE;
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/*-----------------------------------------------------------*/
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void vStartInterruptSemaphoreTasks( void )
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{
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/* Create the mutex that is given from an interrupt. */
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xISRMutex = xSemaphoreCreateMutex();
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configASSERT( xISRMutex );
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/* Create the mutex that is shared between the master and slave tasks (the
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master receives a mutex from an interrupt and shares a mutex with the
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slave. */
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xMasterSlaveMutex = xSemaphoreCreateMutex();
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configASSERT( xMasterSlaveMutex );
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/* Create the tasks that share mutexes between then and with interrupts. */
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xTaskCreate( vInterruptMutexSlaveTask, "IntMuS", configMINIMAL_STACK_SIZE, NULL, intsemSLAVE_PRIORITY, &xSlaveHandle );
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xTaskCreate( vInterruptMutexMasterTask, "IntMuM", configMINIMAL_STACK_SIZE, NULL, intsemMASTER_PRIORITY, NULL );
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}
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/*-----------------------------------------------------------*/
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static void vInterruptMutexMasterTask( void *pvParameters )
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{
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const TickType_t xInterruptGivePeriod = pdMS_TO_TICKS( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS );
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/* Just to avoid compiler warnings. */
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( void ) pvParameters;
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for( ;; )
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{
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/* Ensure the slave is suspended, and that this task is running at the
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lower priority as expected as the start conditions. */
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#if( INCLUDE_eTaskGetState == 1 )
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{
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configASSERT( eTaskGetState( xSlaveHandle ) == eSuspended );
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}
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#endif /* INCLUDE_eTaskGetState */
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if( uxTaskPriorityGet( NULL ) != intsemMASTER_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* Take the semaphore that is shared with the slave. */
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if( xSemaphoreTake( xMasterSlaveMutex, intsemNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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/* This task now has the mutex. Unsuspend the slave so it too
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attempts to take the mutex. */
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vTaskResume( xSlaveHandle );
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/* The slave has the higher priority so should now have executed and
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blocked on the semaphore. */
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#if( INCLUDE_eTaskGetState == 1 )
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{
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configASSERT( eTaskGetState( xSlaveHandle ) == eBlocked );
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}
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#endif /* INCLUDE_eTaskGetState */
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/* This task should now have inherited the priority of the slave
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task. */
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if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* Now wait a little longer than the time between ISR gives to also
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obtain the ISR mutex. */
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xOkToGiveMutex = pdTRUE;
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if( xSemaphoreTake( xISRMutex, ( xInterruptGivePeriod * 2 ) ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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xOkToGiveMutex = pdFALSE;
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/* Attempting to take again immediately should fail as the mutex is
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already held. */
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if( xSemaphoreTake( xISRMutex, intsemNO_BLOCK ) != pdFAIL )
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{
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xErrorDetected = pdTRUE;
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}
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/* Should still be at the priority of the slave task. */
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if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* Give back the ISR semaphore to ensure the priority is not
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disinherited as the shared mutex (which the higher priority task is
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attempting to obtain) is still held. */
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if( xSemaphoreGive( xISRMutex ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* Finally give back the shared mutex. This time the higher priority
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task should run before this task runs again - so this task should have
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disinherited the priority and the higher priority task should be in the
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suspended state again. */
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if( xSemaphoreGive( xMasterSlaveMutex ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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if( uxTaskPriorityGet( NULL ) != intsemMASTER_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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#if( INCLUDE_eTaskGetState == 1 )
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{
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configASSERT( eTaskGetState( xSlaveHandle ) == eSuspended );
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}
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#endif /* INCLUDE_eTaskGetState */
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/* Ensure not to starve out other tests. */
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ulMasterLoops++;
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vTaskDelay( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS );
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/* Repeat exactly up to the point where the mutexes are given back.
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This time the shared mutex is given back first. */
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if( xSemaphoreTake( xMasterSlaveMutex, intsemNO_BLOCK ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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vTaskResume( xSlaveHandle );
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#if( INCLUDE_eTaskGetState == 1 )
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{
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configASSERT( eTaskGetState( xSlaveHandle ) == eBlocked );
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}
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#endif /* INCLUDE_eTaskGetState */
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if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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xOkToGiveMutex = pdTRUE;
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if( xSemaphoreTake( xISRMutex, ( xInterruptGivePeriod * 2 ) ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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xOkToGiveMutex = pdFALSE;
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if( uxTaskPriorityGet( NULL ) != intsemSLAVE_PRIORITY )
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{
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xErrorDetected = pdTRUE;
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}
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/* This is where the differences start as this time the shared mutex is
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given back first. This time to the higher priority task should run
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before this task gets to the point of releasing the interrupt mutex - so
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this task should have disinherited the priority and the higher priority
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task should be in the suspended state again. */
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if( xSemaphoreGive( xMasterSlaveMutex ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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/* Give back the interrupt semaphore too, so the mutex held count goes
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back to 0. The mutex will then have to be reset so the ISR can give it
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in the next cycle. */
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xSemaphoreGive( xISRMutex );
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xQueueReset( ( QueueHandle_t ) xISRMutex );
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/* Ensure not to starve out other tests. */
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ulMasterLoops++;
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vTaskDelay( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS );
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}
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}
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/*-----------------------------------------------------------*/
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static void vInterruptMutexSlaveTask( void *pvParameters )
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{
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/* Just to avoid compiler warnings. */
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( void ) pvParameters;
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for( ;; )
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{
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/* This task starts by suspending itself so when it executes can be
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controlled by the master task. */
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vTaskSuspend( NULL );
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/* This task will execute when the master task already holds the mutex.
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Attempting to take the mutex will place this task in the Blocked
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state. */
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if( xSemaphoreTake( xMasterSlaveMutex, portMAX_DELAY ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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if( xSemaphoreGive( xMasterSlaveMutex ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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}
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}
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/*-----------------------------------------------------------*/
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void vInterruptSemaphorePeriodicTest( void )
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{
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static TickType_t xLastGiveTime = 0;
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TickType_t xTimeNow;
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/* No mutual exclusion on xOkToGiveMutex, but this is only test code (and
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only executed on a 32-bit architecture) so ignore that in this case. */
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xTimeNow = xTaskGetTickCountFromISR();
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if( ( xTimeNow - xLastGiveTime ) >= pdMS_TO_TICKS( intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS ) )
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{
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configASSERT( xISRMutex );
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if( xOkToGiveMutex != pdFALSE )
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{
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xSemaphoreGiveFromISR( xISRMutex, NULL );
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/* Second give attempt should fail. */
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configASSERT( xSemaphoreGiveFromISR( xISRMutex, NULL ) == pdFAIL );
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}
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xLastGiveTime = xTimeNow;
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}
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}
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/*-----------------------------------------------------------*/
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/* This is called to check that all the created tasks are still running. */
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BaseType_t xAreInterruptSemaphoreTasksStillRunning( void )
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{
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static uint32_t ulLastMasterLoopCounter = 0;
|
||
|
|
|
||
|
|
/* If the demo tasks are running then it is expected that the loop counters
|
||
|
|
will have changed since this function was last called. */
|
||
|
|
if( ulLastMasterLoopCounter == ulMasterLoops )
|
||
|
|
{
|
||
|
|
xErrorDetected = pdTRUE;
|
||
|
|
}
|
||
|
|
|
||
|
|
ulLastMasterLoopCounter = ulMasterLoops;
|
||
|
|
|
||
|
|
/* Errors detected in the task itself will have latched xErrorDetected
|
||
|
|
to true. */
|
||
|
|
|
||
|
|
return ( BaseType_t ) !xErrorDetected;
|
||
|
|
}
|
||
|
|
|
||
|
|
|