begriffs open source - freertos/blob - Demo/Common/Minimal/blocktim.c

   1 /*\r
   2         FreeRTOS.org V4.1.1 - Copyright (C) 2003-2006 Richard Barry.\r
   3 \r
   4         This file is part of the FreeRTOS.org distribution.\r
   5 \r
   6         FreeRTOS.org is free software; you can redistribute it and/or modify\r
   7         it under the terms of the GNU General Public License as published by\r
   8         the Free Software Foundation; either version 2 of the License, or\r
   9         (at your option) any later version.\r
  10 \r
  11         FreeRTOS.org is distributed in the hope that it will be useful,\r
  12         but WITHOUT ANY WARRANTY; without even the implied warranty of\r
  13         MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\r
  14         GNU General Public License for more details.\r
  15 \r
  16         You should have received a copy of the GNU General Public License\r
  17         along with FreeRTOS.org; if not, write to the Free Software\r
  18         Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA\r
  19 \r
  20         A special exception to the GPL can be applied should you wish to distribute\r
  21         a combined work that includes FreeRTOS.org, without being obliged to provide\r
  22         the source code for any proprietary components.  See the licensing section \r
  23         of http://www.FreeRTOS.org for full details of how and when the exception\r
  24         can be applied.\r
  25 \r
  26         ***************************************************************************\r
  27         See http://www.FreeRTOS.org for documentation, latest information, license \r
  28         and contact details.  Please ensure to read the configuration and relevant \r
  29         port sections of the online documentation.\r
  30         ***************************************************************************\r
  31 */\r
  32 \r
  33 /*\r
  34  * This file contains some test scenarios that ensure tasks do not exit queue\r
  35  * send or receive functions prematurely.  A description of the tests is \r
  36  * included within the code.\r
  37  */\r
  38 \r
  39 /* Kernel includes. */\r
  40 #include "FreeRTOS.h"\r
  41 #include "task.h"\r
  42 #include "queue.h"\r
  43 \r
  44 /* Task priorities. */\r
  45 #define bktPRIMARY_PRIORITY                     ( 3 )\r
  46 #define bktSECONDARY_PRIORITY           ( 2 )\r
  47 \r
  48 /* Task behaviour. */\r
  49 #define bktQUEUE_LENGTH                         ( 5 )\r
  50 #define bktSHORT_WAIT                           ( ( ( portTickType ) 20 ) / portTICK_RATE_MS )\r
  51 #define bktPRIMARY_BLOCK_TIME           ( 10 )\r
  52 #define bktALLOWABLE_MARGIN                     ( 12 )\r
  53 #define bktTIME_TO_BLOCK                        ( 175 )\r
  54 #define bktDONT_BLOCK                           ( ( portTickType ) 0 )\r
  55 #define bktRUN_INDICATOR                        ( ( unsigned portBASE_TYPE ) 0x55 )\r
  56 \r
  57 /* The queue on which the tasks block. */\r
  58 static xQueueHandle xTestQueue;\r
  59 \r
  60 /* Handle to the secondary task is required by the primary task for calls\r
  61 to vTaskSuspend/Resume(). */\r
  62 static xTaskHandle xSecondary;\r
  63 \r
  64 /* Used to ensure that tasks are still executing without error. */\r
  65 static portBASE_TYPE xPrimaryCycles = 0, xSecondaryCycles = 0;\r
  66 static portBASE_TYPE xErrorOccurred = pdFALSE;\r
  67 \r
  68 /* Provides a simple mechanism for the primary task to know when the \r
  69 secondary task has executed. */\r
  70 static volatile unsigned portBASE_TYPE xRunIndicator;\r
  71 \r
  72 /* The two test tasks.  Their behaviour is commented within the files. */\r
  73 static void vPrimaryBlockTimeTestTask( void *pvParameters );\r
  74 static void vSecondaryBlockTimeTestTask( void *pvParameters );\r
  75 \r
  76 /*-----------------------------------------------------------*/\r
  77 \r
  78 void vCreateBlockTimeTasks( void )\r
  79 {\r
  80         /* Create the queue on which the two tasks block. */\r
  81     xTestQueue = xQueueCreate( bktQUEUE_LENGTH, sizeof( portBASE_TYPE ) );\r
  82 \r
  83         /* Create the two test tasks. */\r
  84         xTaskCreate( vPrimaryBlockTimeTestTask, "BTest1", configMINIMAL_STACK_SIZE, NULL, bktPRIMARY_PRIORITY, NULL );\r
  85         xTaskCreate( vSecondaryBlockTimeTestTask, "BTest2", configMINIMAL_STACK_SIZE, NULL, bktSECONDARY_PRIORITY, &xSecondary );\r
  86 }\r
  87 /*-----------------------------------------------------------*/\r
  88 \r
  89 static void vPrimaryBlockTimeTestTask( void *pvParameters )\r
  90 {\r
  91 portBASE_TYPE xItem, xData;\r
  92 portTickType xTimeWhenBlocking;\r
  93 portTickType xTimeToBlock, xBlockedTime;\r
  94 \r
  95         for( ;; )\r
  96         {\r
  97                 /*********************************************************************\r
  98         Test 1\r
  99 \r
 100         Simple block time wakeup test on queue receives. */\r
 101                 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )\r
 102                 {\r
 103                         /* The queue is empty. Attempt to read from the queue using a block\r
 104                         time.  When we wake, ensure the delta in time is as expected. */\r
 105                         xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;\r
 106 \r
 107                         /* A critical section is used to minimise the jitter in the time\r
 108                         measurements. */\r
 109                         portENTER_CRITICAL();\r
 110                         {\r
 111                                 xTimeWhenBlocking = xTaskGetTickCount();\r
 112                                 \r
 113                                 /* We should unblock after xTimeToBlock having not received\r
 114                                 anything on the queue. */\r
 115                                 if( xQueueReceive( xTestQueue, &xData, xTimeToBlock ) != errQUEUE_EMPTY )\r
 116                                 {\r
 117                                         xErrorOccurred = pdTRUE;\r
 118                                 }\r
 119 \r
 120                                 /* How long were we blocked for? */\r
 121                                 xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;\r
 122                         }\r
 123                         portEXIT_CRITICAL();\r
 124 \r
 125                         if( xBlockedTime < xTimeToBlock ) \r
 126                         {\r
 127                                 /* Should not have blocked for less than we requested. */\r
 128                                 xErrorOccurred = pdTRUE;\r
 129                         }\r
 130 \r
 131                         if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )\r
 132                         {\r
 133                                 /* Should not have blocked for longer than we requested,\r
 134                                 although we would not necessarily run as soon as we were \r
 135                                 unblocked so a margin is allowed. */\r
 136                                 xErrorOccurred = pdTRUE;\r
 137                         }\r
 138                 }\r
 139 \r
 140                 /*********************************************************************\r
 141         Test 2\r
 142 \r
 143         Simple block time wakeup test on queue sends.\r
 144 \r
 145                 First fill the queue.  It should be empty so all sends should pass. */\r
 146                 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )\r
 147                 {\r
 148                         if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )\r
 149                         {\r
 150                                 xErrorOccurred = pdTRUE;\r
 151                         }\r
 152                 }\r
 153 \r
 154                 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )\r
 155                 {\r
 156                         /* The queue is full. Attempt to write to the queue using a block\r
 157                         time.  When we wake, ensure the delta in time is as expected. */\r
 158                         xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;\r
 159 \r
 160                         portENTER_CRITICAL();\r
 161                         {\r
 162                                 xTimeWhenBlocking = xTaskGetTickCount();\r
 163                                 \r
 164                                 /* We should unblock after xTimeToBlock having not received\r
 165                                 anything on the queue. */\r
 166                                 if( xQueueSend( xTestQueue, &xItem, xTimeToBlock ) != errQUEUE_FULL )\r
 167                                 {\r
 168                                         xErrorOccurred = pdTRUE;\r
 169                                 }\r
 170 \r
 171                                 /* How long were we blocked for? */\r
 172                                 xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;\r
 173                         }\r
 174                         portEXIT_CRITICAL();\r
 175 \r
 176                         if( xBlockedTime < xTimeToBlock ) \r
 177                         {\r
 178                                 /* Should not have blocked for less than we requested. */\r
 179                                 xErrorOccurred = pdTRUE;\r
 180                         }\r
 181 \r
 182                         if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )\r
 183                         {\r
 184                                 /* Should not have blocked for longer than we requested,\r
 185                                 although we would not necessarily run as soon as we were \r
 186                                 unblocked so a margin is allowed. */\r
 187                                 xErrorOccurred = pdTRUE;\r
 188                         }\r
 189                 }\r
 190 \r
 191                 \r
 192                 /*********************************************************************\r
 193         Test 3\r
 194 \r
 195                 Wake the other task, it will block attempting to post to the queue.\r
 196                 When we read from the queue the other task will wake, but before it\r
 197                 can run we will post to the queue again.  When the other task runs it\r
 198                 will find the queue still full, even though it was woken.  It should\r
 199                 recognise that its block time has not expired and return to block for\r
 200                 the remains of its block time.\r
 201 \r
 202                 Wake the other task so it blocks attempting to post to the already\r
 203                 full queue. */\r
 204                 xRunIndicator = 0;\r
 205                 vTaskResume( xSecondary );\r
 206 \r
 207                 /* We need to wait a little to ensure the other task executes. */\r
 208                 while( xRunIndicator != bktRUN_INDICATOR )\r
 209                 {\r
 210                         /* The other task has not yet executed. */\r
 211                         vTaskDelay( bktSHORT_WAIT );\r
 212                 }\r
 213                 /* Make sure the other task is blocked on the queue. */\r
 214                 vTaskDelay( bktSHORT_WAIT );\r
 215                 xRunIndicator = 0;\r
 216 \r
 217                 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )\r
 218                 {\r
 219                         /* Now when we make space on the queue the other task should wake\r
 220                         but not execute as this task has higher priority. */                            \r
 221                         if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )\r
 222                         {\r
 223                                 xErrorOccurred = pdTRUE;\r
 224                         }\r
 225 \r
 226                         /* Now fill the queue again before the other task gets a chance to\r
 227                         execute.  If the other task had executed we would find the queue \r
 228                         full ourselves, and the other task have set xRunIndicator. */\r
 229                         if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )\r
 230                         {\r
 231                                 xErrorOccurred = pdTRUE;\r
 232                         }\r
 233 \r
 234                         if( xRunIndicator == bktRUN_INDICATOR )\r
 235                         {\r
 236                                 /* The other task should not have executed. */\r
 237                                 xErrorOccurred = pdTRUE;\r
 238                         }\r
 239 \r
 240                         /* Raise the priority of the other task so it executes and blocks\r
 241                         on the queue again. */\r
 242                         vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );\r
 243 \r
 244                         /* The other task should now have re-blocked without exiting the\r
 245                         queue function. */\r
 246                         if( xRunIndicator == bktRUN_INDICATOR )\r
 247                         {\r
 248                                 /* The other task should not have executed outside of the\r
 249                                 queue function. */\r
 250                                 xErrorOccurred = pdTRUE;\r
 251                         }\r
 252 \r
 253                         /* Set the priority back down. */\r
 254                         vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );                  \r
 255                 }\r
 256 \r
 257                 /* Let the other task timeout.  When it unblockes it will check that it\r
 258                 unblocked at the correct time, then suspend itself. */\r
 259                 while( xRunIndicator != bktRUN_INDICATOR )\r
 260                 {\r
 261                         vTaskDelay( bktSHORT_WAIT );\r
 262                 }\r
 263                 vTaskDelay( bktSHORT_WAIT );\r
 264                 xRunIndicator = 0;\r
 265 \r
 266 \r
 267                 /*********************************************************************\r
 268         Test 4\r
 269 \r
 270                 As per test 3 - but with the send and receive the other way around.  \r
 271                 The other task blocks attempting to read from the queue.\r
 272 \r
 273                 Empty the queue.  We should find that it is full. */\r
 274                 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )\r
 275                 {\r
 276                         if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )\r
 277                         {\r
 278                                 xErrorOccurred = pdTRUE;\r
 279                         }\r
 280                 }\r
 281                 \r
 282                 /* Wake the other task so it blocks attempting to read from  the \r
 283                 already empty queue. */\r
 284                 vTaskResume( xSecondary );\r
 285 \r
 286                 /* We need to wait a little to ensure the other task executes. */\r
 287                 while( xRunIndicator != bktRUN_INDICATOR )\r
 288                 {\r
 289                         vTaskDelay( bktSHORT_WAIT );\r
 290                 }\r
 291                 vTaskDelay( bktSHORT_WAIT );\r
 292                 xRunIndicator = 0;\r
 293 \r
 294                 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )\r
 295                 {\r
 296                         /* Now when we place an item on the queue the other task should \r
 297                         wake but not execute as this task has higher priority. */                               \r
 298                         if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )\r
 299                         {\r
 300                                 xErrorOccurred = pdTRUE;\r
 301                         }\r
 302 \r
 303                         /* Now empty the queue again before the other task gets a chance to\r
 304                         execute.  If the other task had executed we would find the queue \r
 305                         empty ourselves, and the other task would be suspended. */\r
 306                         if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )\r
 307                         {\r
 308                                 xErrorOccurred = pdTRUE;\r
 309                         }\r
 310 \r
 311                         if( xRunIndicator == bktRUN_INDICATOR )\r
 312                         {\r
 313                                 /* The other task should not have executed. */\r
 314                                 xErrorOccurred = pdTRUE;\r
 315                         }\r
 316 \r
 317                         /* Raise the priority of the other task so it executes and blocks\r
 318                         on the queue again. */\r
 319                         vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );\r
 320 \r
 321                         /* The other task should now have re-blocked without exiting the \r
 322                         queue function. */\r
 323                         if( xRunIndicator == bktRUN_INDICATOR )\r
 324                         {\r
 325                                 /* The other task should not have executed outside of the\r
 326                                 queue function. */\r
 327                                 xErrorOccurred = pdTRUE;\r
 328                         }\r
 329                         vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );                  \r
 330                 }\r
 331 \r
 332                 /* Let the other task timeout.  When it unblockes it will check that it\r
 333                 unblocked at the correct time, then suspend itself. */\r
 334                 while( xRunIndicator != bktRUN_INDICATOR )\r
 335                 {\r
 336                         vTaskDelay( bktSHORT_WAIT );\r
 337                 }\r
 338                 vTaskDelay( bktSHORT_WAIT );\r
 339 \r
 340                 xPrimaryCycles++;\r
 341         }\r
 342 }\r
 343 /*-----------------------------------------------------------*/\r
 344 \r
 345 static void vSecondaryBlockTimeTestTask( void *pvParameters )\r
 346 {\r
 347 portTickType xTimeWhenBlocking, xBlockedTime;\r
 348 portBASE_TYPE xData;\r
 349 \r
 350         for( ;; )\r
 351         {\r
 352                 /*********************************************************************\r
 353         Test 1 and 2\r
 354 \r
 355                 This task does does not participate in these tests. */\r
 356                 vTaskSuspend( NULL );\r
 357 \r
 358                 /*********************************************************************\r
 359         Test 3\r
 360 \r
 361                 The first thing we do is attempt to read from the queue.  It should be\r
 362                 full so we block.  Note the time before we block so we can check the\r
 363                 wake time is as per that expected. */\r
 364                 portENTER_CRITICAL();\r
 365                 {\r
 366                         xTimeWhenBlocking = xTaskGetTickCount();\r
 367                         \r
 368                         /* We should unblock after bktTIME_TO_BLOCK having not received\r
 369                         anything on the queue. */\r
 370                         xData = 0;\r
 371                         xRunIndicator = bktRUN_INDICATOR;\r
 372                         if( xQueueSend( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_FULL )\r
 373                         {\r
 374                                 xErrorOccurred = pdTRUE;\r
 375                         }\r
 376 \r
 377                         /* How long were we inside the send function? */\r
 378                         xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;\r
 379                 }\r
 380                 portEXIT_CRITICAL();\r
 381 \r
 382                 /* We should not have blocked for less time than bktTIME_TO_BLOCK. */\r
 383                 if( xBlockedTime < bktTIME_TO_BLOCK )\r
 384                 {\r
 385                         xErrorOccurred = pdTRUE;\r
 386                 }\r
 387 \r
 388                 /* We should of not blocked for much longer than bktALLOWABLE_MARGIN \r
 389                 either.  A margin is permitted as we would not necessarily run as\r
 390                 soon as we unblocked. */\r
 391                 if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )\r
 392                 {\r
 393                         xErrorOccurred = pdTRUE;\r
 394                 }\r
 395 \r
 396                 /* Suspend ready for test 3. */\r
 397                 xRunIndicator = bktRUN_INDICATOR;\r
 398                 vTaskSuspend( NULL );\r
 399 \r
 400                 /*********************************************************************\r
 401         Test 4\r
 402 \r
 403                 As per test three, but with the send and receive reversed. */\r
 404                 portENTER_CRITICAL();\r
 405                 {\r
 406                         xTimeWhenBlocking = xTaskGetTickCount();\r
 407                         \r
 408                         /* We should unblock after bktTIME_TO_BLOCK having not received\r
 409                         anything on the queue. */\r
 410                         xRunIndicator = bktRUN_INDICATOR;\r
 411                         if( xQueueReceive( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_EMPTY )\r
 412                         {\r
 413                                 xErrorOccurred = pdTRUE;\r
 414                         }\r
 415 \r
 416                         xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;\r
 417                 }\r
 418                 portEXIT_CRITICAL();\r
 419 \r
 420                 /* We should not have blocked for less time than bktTIME_TO_BLOCK. */\r
 421                 if( xBlockedTime < bktTIME_TO_BLOCK )\r
 422                 {\r
 423                         xErrorOccurred = pdTRUE;\r
 424                 }\r
 425 \r
 426                 /* We should of not blocked for much longer than bktALLOWABLE_MARGIN \r
 427                 either.  A margin is permitted as we would not necessarily run as soon\r
 428                 as we unblocked. */\r
 429                 if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )\r
 430                 {\r
 431                         xErrorOccurred = pdTRUE;\r
 432                 }\r
 433 \r
 434                 xRunIndicator = bktRUN_INDICATOR;\r
 435 \r
 436                 xSecondaryCycles++;\r
 437         }\r
 438 }\r
 439 /*-----------------------------------------------------------*/\r
 440 \r
 441 portBASE_TYPE xAreBlockTimeTestTasksStillRunning( void )\r
 442 {\r
 443 static portBASE_TYPE xLastPrimaryCycleCount = 0, xLastSecondaryCycleCount = 0;\r
 444 portBASE_TYPE xReturn = pdPASS;\r
 445 \r
 446         /* Have both tasks performed at least one cycle since this function was\r
 447         last called? */\r
 448         if( xPrimaryCycles == xLastPrimaryCycleCount )\r
 449         {\r
 450                 xReturn = pdFAIL;\r
 451         }\r
 452 \r
 453         if( xSecondaryCycles == xLastSecondaryCycleCount )\r
 454         {\r
 455                 xReturn = pdFAIL;\r
 456         }\r
 457 \r
 458         if( xErrorOccurred == pdTRUE )\r
 459         {\r
 460                 xReturn = pdFAIL;\r
 461         }\r
 462 \r
 463         xLastSecondaryCycleCount = xSecondaryCycles;\r
 464         xLastPrimaryCycleCount = xPrimaryCycles;\r
 465 \r
 466         return xReturn;\r
 467 }\r