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[freertos] add freertos firmware

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Change-Id: I4158d66d9b5fc444e28287f55e79ac24e0a1666f
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sam.xiang
2023-02-23 11:39:27 +08:00
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freertos/cvitek/task/demo/Common/Minimal/IntSemTest.c Normal file
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/*
* FreeRTOS Kernel V10.3.0
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
/*
* Demonstrates and tests mutexes being used from an interrupt.
*/
#include <stdlib.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
/* Demo program include files. */
#include "IntSemTest.h"
/*-----------------------------------------------------------*/
/* The priorities of the test tasks. */
#define intsemMASTER_PRIORITY (tskIDLE_PRIORITY)
#define intsemSLAVE_PRIORITY (tskIDLE_PRIORITY + 1)
/* The rate at which the tick hook will give the mutex. */
#define intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS (100)
/* A block time of 0 means 'don't block'. */
#define intsemNO_BLOCK 0
/* The maximum count value for the counting semaphore given from an
interrupt. */
#define intsemMAX_COUNT 3
/*-----------------------------------------------------------*/
/*
* The master is a task that receives a mutex that is given from an interrupt -
* although generally mutexes should not be used given in interrupts (and
* definitely never taken in an interrupt) there are some circumstances when it
* may be desirable.
*
* The slave task is just used by the master task to force priority inheritance
* on a mutex that is shared between the master and the slave - which is a
* separate mutex to that given by the interrupt.
*/
static void vInterruptMutexSlaveTask(void *pvParameters);
static void vInterruptMutexMasterTask(void *pvParameters);
/*
* A test whereby the master takes the shared and interrupt mutexes in that
* order, then gives them back in the same order, ensuring the priority
* inheritance is behaving as expected at each step.
*/
static void prvTakeAndGiveInTheSameOrder(void);
/*
* A test whereby the master takes the shared and interrupt mutexes in that
* order, then gives them back in the opposite order to which they were taken,
* ensuring the priority inheritance is behaving as expected at each step.
*/
static void prvTakeAndGiveInTheOppositeOrder(void);
/*
* A simple task that interacts with an interrupt using a counting semaphore,
* primarily for code coverage purposes.
*/
static void vInterruptCountingSemaphoreTask(void *pvParameters);
/*-----------------------------------------------------------*/
/* Flag that will be latched to pdTRUE should any unexpected behaviour be
detected in any of the tasks. */
static volatile BaseType_t xErrorDetected = pdFALSE;
/* Counters that are incremented on each cycle of a test. This is used to
detect a stalled task - a test that is no longer running. */
static volatile uint32_t ulMasterLoops = 0, ulCountingSemaphoreLoops = 0;
/* Handles of the test tasks that must be accessed from other test tasks. */
static TaskHandle_t xSlaveHandle;
/* A mutex which is given from an interrupt - although generally mutexes should
not be used given in interrupts (and definitely never taken in an interrupt)
there are some circumstances when it may be desirable. */
static SemaphoreHandle_t xISRMutex = NULL;
/* A counting semaphore which is given from an interrupt. */
static SemaphoreHandle_t xISRCountingSemaphore = NULL;
/* A mutex which is shared between the master and slave tasks - the master
does both sharing of this mutex with the slave and receiving a mutex from the
interrupt. */
static SemaphoreHandle_t xMasterSlaveMutex = NULL;
/* Flag that allows the master task to control when the interrupt gives or does
not give the mutex. There is no mutual exclusion on this variable, but this is
only test code and it should be fine in the 32=bit test environment. */
static BaseType_t xOkToGiveMutex = pdFALSE,
xOkToGiveCountingSemaphore = pdFALSE;
/* Used to coordinate timing between tasks and the interrupt. */
const TickType_t xInterruptGivePeriod =
pdMS_TO_TICKS(intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS);
/*-----------------------------------------------------------*/
void vStartInterruptSemaphoreTasks(void)
{
/* Create the semaphores that are given from an interrupt. */
xISRMutex = xSemaphoreCreateMutex();
configASSERT(xISRMutex);
xISRCountingSemaphore = xSemaphoreCreateCounting(intsemMAX_COUNT, 0);
configASSERT(xISRCountingSemaphore);
/* Create the mutex that is shared between the master and slave tasks (the
master receives a mutex from an interrupt and shares a mutex with the
slave. */
xMasterSlaveMutex = xSemaphoreCreateMutex();
configASSERT(xMasterSlaveMutex);
/* Create the tasks that share mutexes between then and with interrupts. */
xTaskCreate(vInterruptMutexSlaveTask, "IntMuS",
configMINIMAL_STACK_SIZE, NULL, intsemSLAVE_PRIORITY,
&xSlaveHandle);
xTaskCreate(vInterruptMutexMasterTask, "IntMuM",
configMINIMAL_STACK_SIZE, NULL, intsemMASTER_PRIORITY,
NULL);
/* Create the task that blocks on the counting semaphore. */
xTaskCreate(vInterruptCountingSemaphoreTask, "IntCnt",
configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL);
}
/*-----------------------------------------------------------*/
static void vInterruptMutexMasterTask(void *pvParameters)
{
/* Just to avoid compiler warnings. */
(void)pvParameters;
for (;;) {
prvTakeAndGiveInTheSameOrder();
/* Ensure not to starve out other tests. */
ulMasterLoops++;
vTaskDelay(intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS);
prvTakeAndGiveInTheOppositeOrder();
/* Ensure not to starve out other tests. */
ulMasterLoops++;
vTaskDelay(intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS);
}
}
/*-----------------------------------------------------------*/
static void prvTakeAndGiveInTheSameOrder(void)
{
/* Ensure the slave is suspended, and that this task is running at the
lower priority as expected as the start conditions. */
#if (INCLUDE_eTaskGetState == 1)
{
configASSERT(eTaskGetState(xSlaveHandle) == eSuspended);
}
#endif /* INCLUDE_eTaskGetState */
if (uxTaskPriorityGet(NULL) != intsemMASTER_PRIORITY) {
xErrorDetected = pdTRUE;
}
/* Take the semaphore that is shared with the slave. */
if (xSemaphoreTake(xMasterSlaveMutex, intsemNO_BLOCK) != pdPASS) {
xErrorDetected = pdTRUE;
}
/* This task now has the mutex. Unsuspend the slave so it too
attempts to take the mutex. */
vTaskResume(xSlaveHandle);
/* The slave has the higher priority so should now have executed and
blocked on the semaphore. */
#if (INCLUDE_eTaskGetState == 1)
{
configASSERT(eTaskGetState(xSlaveHandle) == eBlocked);
}
#endif /* INCLUDE_eTaskGetState */
/* This task should now have inherited the priority of the slave
task. */
if (uxTaskPriorityGet(NULL) != intsemSLAVE_PRIORITY) {
xErrorDetected = pdTRUE;
}
/* Now wait a little longer than the time between ISR gives to also
obtain the ISR mutex. */
xOkToGiveMutex = pdTRUE;
if (xSemaphoreTake(xISRMutex, (xInterruptGivePeriod * 2)) != pdPASS) {
xErrorDetected = pdTRUE;
}
xOkToGiveMutex = pdFALSE;
/* Attempting to take again immediately should fail as the mutex is
already held. */
if (xSemaphoreTake(xISRMutex, intsemNO_BLOCK) != pdFAIL) {
xErrorDetected = pdTRUE;
}
/* Should still be at the priority of the slave task. */
if (uxTaskPriorityGet(NULL) != intsemSLAVE_PRIORITY) {
xErrorDetected = pdTRUE;
}
/* Give back the ISR semaphore to ensure the priority is not
disinherited as the shared mutex (which the higher priority task is
attempting to obtain) is still held. */
if (xSemaphoreGive(xISRMutex) != pdPASS) {
xErrorDetected = pdTRUE;
}
if (uxTaskPriorityGet(NULL) != intsemSLAVE_PRIORITY) {
xErrorDetected = pdTRUE;
}
/* Finally give back the shared mutex. This time the higher priority
task should run before this task runs again - so this task should have
disinherited the priority and the higher priority task should be in the
suspended state again. */
if (xSemaphoreGive(xMasterSlaveMutex) != pdPASS) {
xErrorDetected = pdTRUE;
}
if (uxTaskPriorityGet(NULL) != intsemMASTER_PRIORITY) {
xErrorDetected = pdTRUE;
}
#if (INCLUDE_eTaskGetState == 1)
{
configASSERT(eTaskGetState(xSlaveHandle) == eSuspended);
}
#endif /* INCLUDE_eTaskGetState */
/* Reset the mutex ready for the next round. */
xQueueReset(xISRMutex);
}
/*-----------------------------------------------------------*/
static void prvTakeAndGiveInTheOppositeOrder(void)
{
/* Ensure the slave is suspended, and that this task is running at the
lower priority as expected as the start conditions. */
#if (INCLUDE_eTaskGetState == 1)
{
configASSERT(eTaskGetState(xSlaveHandle) == eSuspended);
}
#endif /* INCLUDE_eTaskGetState */
if (uxTaskPriorityGet(NULL) != intsemMASTER_PRIORITY) {
xErrorDetected = pdTRUE;
}
/* Take the semaphore that is shared with the slave. */
if (xSemaphoreTake(xMasterSlaveMutex, intsemNO_BLOCK) != pdPASS) {
xErrorDetected = pdTRUE;
}
/* This task now has the mutex. Unsuspend the slave so it too
attempts to take the mutex. */
vTaskResume(xSlaveHandle);
/* The slave has the higher priority so should now have executed and
blocked on the semaphore. */
#if (INCLUDE_eTaskGetState == 1)
{
configASSERT(eTaskGetState(xSlaveHandle) == eBlocked);
}
#endif /* INCLUDE_eTaskGetState */
/* This task should now have inherited the priority of the slave
task. */
if (uxTaskPriorityGet(NULL) != intsemSLAVE_PRIORITY) {
xErrorDetected = pdTRUE;
}
/* Now wait a little longer than the time between ISR gives to also
obtain the ISR mutex. */
xOkToGiveMutex = pdTRUE;
if (xSemaphoreTake(xISRMutex, (xInterruptGivePeriod * 2)) != pdPASS) {
xErrorDetected = pdTRUE;
}
xOkToGiveMutex = pdFALSE;
/* Attempting to take again immediately should fail as the mutex is
already held. */
if (xSemaphoreTake(xISRMutex, intsemNO_BLOCK) != pdFAIL) {
xErrorDetected = pdTRUE;
}
/* Should still be at the priority of the slave task. */
if (uxTaskPriorityGet(NULL) != intsemSLAVE_PRIORITY) {
xErrorDetected = pdTRUE;
}
/* Give back the shared semaphore to ensure the priority is not disinherited
as the ISR mutex is still held. The higher priority slave task should run
before this task runs again. */
if (xSemaphoreGive(xMasterSlaveMutex) != pdPASS) {
xErrorDetected = pdTRUE;
}
/* Should still be at the priority of the slave task as this task still
holds one semaphore (this is a simplification in the priority inheritance
mechanism. */
if (uxTaskPriorityGet(NULL) != intsemSLAVE_PRIORITY) {
xErrorDetected = pdTRUE;
}
/* Give back the ISR semaphore, which should result in the priority being
disinherited as it was the last mutex held. */
if (xSemaphoreGive(xISRMutex) != pdPASS) {
xErrorDetected = pdTRUE;
}
if (uxTaskPriorityGet(NULL) != intsemMASTER_PRIORITY) {
xErrorDetected = pdTRUE;
}
/* Reset the mutex ready for the next round. */
xQueueReset(xISRMutex);
}
/*-----------------------------------------------------------*/
static void vInterruptMutexSlaveTask(void *pvParameters)
{
/* Just to avoid compiler warnings. */
(void)pvParameters;
for (;;) {
/* This task starts by suspending itself so when it executes can be
controlled by the master task. */
vTaskSuspend(NULL);
/* This task will execute when the master task already holds the mutex.
Attempting to take the mutex will place this task in the Blocked
state. */
if (xSemaphoreTake(xMasterSlaveMutex, portMAX_DELAY) !=
pdPASS) {
xErrorDetected = pdTRUE;
}
if (xSemaphoreGive(xMasterSlaveMutex) != pdPASS) {
xErrorDetected = pdTRUE;
}
}
}
/*-----------------------------------------------------------*/
static void vInterruptCountingSemaphoreTask(void *pvParameters)
{
BaseType_t xCount;
const TickType_t xDelay =
pdMS_TO_TICKS(intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS) *
(intsemMAX_COUNT + 1);
(void)pvParameters;
for (;;) {
/* Expect to start with the counting semaphore empty. */
if (uxQueueMessagesWaiting(
(QueueHandle_t)xISRCountingSemaphore) != 0) {
xErrorDetected = pdTRUE;
}
/* Wait until it is expected that the interrupt will have filled the
counting semaphore. */
xOkToGiveCountingSemaphore = pdTRUE;
vTaskDelay(xDelay);
xOkToGiveCountingSemaphore = pdFALSE;
/* Now it is expected that the counting semaphore is full. */
if (uxQueueMessagesWaiting(
(QueueHandle_t)xISRCountingSemaphore) !=
intsemMAX_COUNT) {
xErrorDetected = pdTRUE;
}
if (uxQueueSpacesAvailable(
(QueueHandle_t)xISRCountingSemaphore) != 0) {
xErrorDetected = pdTRUE;
}
ulCountingSemaphoreLoops++;
/* Expect to be able to take the counting semaphore intsemMAX_COUNT
times. A block time of 0 is used as the semaphore should already be
there. */
xCount = 0;
while (xSemaphoreTake(xISRCountingSemaphore, 0) == pdPASS) {
xCount++;
}
if (xCount != intsemMAX_COUNT) {
xErrorDetected = pdTRUE;
}
/* Now raise the priority of this task so it runs immediately that the
semaphore is given from the interrupt. */
vTaskPrioritySet(NULL, configMAX_PRIORITIES - 1);
/* Block to wait for the semaphore to be given from the interrupt. */
xOkToGiveCountingSemaphore = pdTRUE;
xSemaphoreTake(xISRCountingSemaphore, portMAX_DELAY);
xSemaphoreTake(xISRCountingSemaphore, portMAX_DELAY);
xOkToGiveCountingSemaphore = pdFALSE;
/* Reset the priority so as not to disturbe other tests too much. */
vTaskPrioritySet(NULL, tskIDLE_PRIORITY);
ulCountingSemaphoreLoops++;
}
}
/*-----------------------------------------------------------*/
void vInterruptSemaphorePeriodicTest(void)
{
static TickType_t xLastGiveTime = 0;
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
TickType_t xTimeNow;
/* No mutual exclusion on xOkToGiveMutex, but this is only test code (and
only executed on a 32-bit architecture) so ignore that in this case. */
xTimeNow = xTaskGetTickCountFromISR();
if (((TickType_t)(xTimeNow - xLastGiveTime)) >=
pdMS_TO_TICKS(intsemINTERRUPT_MUTEX_GIVE_PERIOD_MS)) {
configASSERT(xISRMutex);
if (xOkToGiveMutex != pdFALSE) {
/* Null is used as the second parameter in this give, and non-NULL
in the other gives for code coverage reasons. */
xSemaphoreGiveFromISR(xISRMutex, NULL);
/* Second give attempt should fail. */
configASSERT(
xSemaphoreGiveFromISR(
xISRMutex, &xHigherPriorityTaskWoken) ==
pdFAIL);
}
if (xOkToGiveCountingSemaphore != pdFALSE) {
xSemaphoreGiveFromISR(xISRCountingSemaphore,
&xHigherPriorityTaskWoken);
}
xLastGiveTime = xTimeNow;
}
/* Remove compiler warnings about the value being set but not used. */
(void)xHigherPriorityTaskWoken;
}
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running. */
BaseType_t xAreInterruptSemaphoreTasksStillRunning(void)
{
static uint32_t ulLastMasterLoopCounter = 0,
ulLastCountingSemaphoreLoops = 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;
if (ulLastCountingSemaphoreLoops == ulCountingSemaphoreLoops) {
xErrorDetected = pdTRUE;
}
ulLastCountingSemaphoreLoops = ulCountingSemaphoreLoops++;
/* Errors detected in the task itself will have latched xErrorDetected
to true. */
return (BaseType_t)!xErrorDetected;
}