[freertos] add freertos firmware
Change-Id: I4158d66d9b5fc444e28287f55e79ac24e0a1666f
This commit is contained in:
sam.xiang
416
freertos/cvitek/task/demo/Common/Minimal/QPeek.c
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416
freertos/cvitek/task/demo/Common/Minimal/QPeek.c
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/*
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* FreeRTOS Kernel V10.3.0
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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*
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* 1 tab == 4 spaces!
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*/
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/*
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* Tests the behaviour when data is peeked from a queue when there are
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* multiple tasks blocked on the queue.
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*/
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#include <stdlib.h>
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "semphr.h"
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/* Demo program include files. */
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#include "QPeek.h"
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#define qpeekQUEUE_LENGTH (5)
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#define qpeekNO_BLOCK (0)
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#define qpeekSHORT_DELAY (10)
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#define qpeekLOW_PRIORITY (tskIDLE_PRIORITY + 0)
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#define qpeekMEDIUM_PRIORITY (tskIDLE_PRIORITY + 1)
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#define qpeekHIGH_PRIORITY (tskIDLE_PRIORITY + 2)
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#define qpeekHIGHEST_PRIORITY (tskIDLE_PRIORITY + 3)
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/*-----------------------------------------------------------*/
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/*
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* The following three tasks are used to demonstrate the peeking behaviour.
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* Each task is given a different priority to demonstrate the order in which
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* tasks are woken as data is peeked from a queue.
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*/
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static void prvLowPriorityPeekTask(void *pvParameters);
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static void prvMediumPriorityPeekTask(void *pvParameters);
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static void prvHighPriorityPeekTask(void *pvParameters);
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static void prvHighestPriorityPeekTask(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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/* Counter that is 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 ulLoopCounter = 0;
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/* Handles to the test tasks. */
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TaskHandle_t xMediumPriorityTask, xHighPriorityTask, xHighestPriorityTask;
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/*-----------------------------------------------------------*/
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void vStartQueuePeekTasks(void)
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{
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QueueHandle_t xQueue;
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/* Create the queue that we are going to use for the test/demo. */
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xQueue = xQueueCreate(qpeekQUEUE_LENGTH, sizeof(uint32_t));
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if (xQueue != NULL) {
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/* vQueueAddToRegistry() adds the queue to the queue registry, if one is
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in use. The queue registry is provided as a means for kernel aware
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debuggers to locate queues and has no purpose if a kernel aware debugger
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is not being used. The call to vQueueAddToRegistry() will be removed
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by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
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defined to be less than 1. */
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vQueueAddToRegistry(xQueue, "QPeek_Test_Queue");
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/* Create the demo tasks and pass it the queue just created. We are
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passing the queue handle by value so it does not matter that it is declared
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on the stack here. */
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xTaskCreate(prvLowPriorityPeekTask, "PeekL",
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configMINIMAL_STACK_SIZE, (void *)xQueue,
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qpeekLOW_PRIORITY, NULL);
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xTaskCreate(prvMediumPriorityPeekTask, "PeekM",
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configMINIMAL_STACK_SIZE, (void *)xQueue,
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qpeekMEDIUM_PRIORITY, &xMediumPriorityTask);
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xTaskCreate(prvHighPriorityPeekTask, "PeekH1",
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configMINIMAL_STACK_SIZE, (void *)xQueue,
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qpeekHIGH_PRIORITY, &xHighPriorityTask);
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xTaskCreate(prvHighestPriorityPeekTask, "PeekH2",
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configMINIMAL_STACK_SIZE, (void *)xQueue,
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qpeekHIGHEST_PRIORITY, &xHighestPriorityTask);
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}
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}
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/*-----------------------------------------------------------*/
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static void prvHighestPriorityPeekTask(void *pvParameters)
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{
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QueueHandle_t xQueue = (QueueHandle_t)pvParameters;
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uint32_t ulValue;
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#ifdef USE_STDIO
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{
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void vPrintDisplayMessage(const char *const *ppcMessageToSend);
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const char *const pcTaskStartMsg =
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"Queue peek test started.\r\n";
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage(&pcTaskStartMsg);
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}
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#endif
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for (;;) {
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/* Try peeking from the queue. The queue should be empty so we will
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block, allowing the high priority task to execute. */
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if (xQueuePeek(xQueue, &ulValue, portMAX_DELAY) != pdPASS) {
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/* We expected to have received something by the time we unblock. */
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xErrorDetected = pdTRUE;
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}
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/* When we reach here the high and medium priority tasks should still
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be blocked on the queue. We unblocked because the low priority task
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wrote a value to the queue, which we should have peeked. Peeking the
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data (rather than receiving it) will leave the data on the queue, so
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the high priority task should then have also been unblocked, but not
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yet executed. */
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if (ulValue != 0x11223344) {
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/* We did not receive the expected value. */
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xErrorDetected = pdTRUE;
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}
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if (uxQueueMessagesWaiting(xQueue) != 1) {
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/* The message should have been left on the queue. */
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xErrorDetected = pdTRUE;
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}
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/* Now we are going to actually receive the data, so when the high
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priority task runs it will find the queue empty and return to the
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blocked state. */
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ulValue = 0;
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if (xQueueReceive(xQueue, &ulValue, qpeekNO_BLOCK) != pdPASS) {
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/* We expected to receive the value. */
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xErrorDetected = pdTRUE;
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}
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if (ulValue != 0x11223344) {
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/* We did not receive the expected value - which should have been
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the same value as was peeked. */
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xErrorDetected = pdTRUE;
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}
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/* Now we will block again as the queue is once more empty. The low
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priority task can then execute again. */
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if (xQueuePeek(xQueue, &ulValue, portMAX_DELAY) != pdPASS) {
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/* We expected to have received something by the time we unblock. */
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xErrorDetected = pdTRUE;
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}
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/* When we get here the low priority task should have again written to the
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queue. */
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if (ulValue != 0x01234567) {
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/* We did not receive the expected value. */
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xErrorDetected = pdTRUE;
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}
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if (uxQueueMessagesWaiting(xQueue) != 1) {
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/* The message should have been left on the queue. */
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xErrorDetected = pdTRUE;
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}
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/* We only peeked the data, so suspending ourselves now should enable
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the high priority task to also peek the data. The high priority task
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will have been unblocked when we peeked the data as we left the data
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in the queue. */
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vTaskSuspend(NULL);
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/* This time we are going to do the same as the above test, but the
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high priority task is going to receive the data, rather than peek it.
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This means that the medium priority task should never peek the value. */
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if (xQueuePeek(xQueue, &ulValue, portMAX_DELAY) != pdPASS) {
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xErrorDetected = pdTRUE;
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}
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if (ulValue != 0xaabbaabb) {
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xErrorDetected = pdTRUE;
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}
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vTaskSuspend(NULL);
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}
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}
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/*-----------------------------------------------------------*/
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static void prvHighPriorityPeekTask(void *pvParameters)
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{
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QueueHandle_t xQueue = (QueueHandle_t)pvParameters;
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uint32_t ulValue;
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for (;;) {
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/* Try peeking from the queue. The queue should be empty so we will
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block, allowing the medium priority task to execute. Both the high
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and highest priority tasks will then be blocked on the queue. */
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if (xQueuePeek(xQueue, &ulValue, portMAX_DELAY) != pdPASS) {
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/* We expected to have received something by the time we unblock. */
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xErrorDetected = pdTRUE;
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}
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/* When we get here the highest priority task should have peeked the data
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(unblocking this task) then suspended (allowing this task to also peek
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the data). */
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if (ulValue != 0x01234567) {
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/* We did not receive the expected value. */
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xErrorDetected = pdTRUE;
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}
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if (uxQueueMessagesWaiting(xQueue) != 1) {
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/* The message should have been left on the queue. */
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xErrorDetected = pdTRUE;
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}
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/* We only peeked the data, so suspending ourselves now should enable
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the medium priority task to also peek the data. The medium priority task
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will have been unblocked when we peeked the data as we left the data
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in the queue. */
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vTaskSuspend(NULL);
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/* This time we are going actually receive the value, so the medium
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priority task will never peek the data - we removed it from the queue. */
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if (xQueueReceive(xQueue, &ulValue, portMAX_DELAY) != pdPASS) {
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xErrorDetected = pdTRUE;
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}
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if (ulValue != 0xaabbaabb) {
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xErrorDetected = pdTRUE;
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}
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vTaskSuspend(NULL);
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}
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}
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/*-----------------------------------------------------------*/
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static void prvMediumPriorityPeekTask(void *pvParameters)
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{
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QueueHandle_t xQueue = (QueueHandle_t)pvParameters;
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uint32_t ulValue;
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for (;;) {
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/* Try peeking from the queue. The queue should be empty so we will
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block, allowing the low priority task to execute. The highest, high
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and medium priority tasks will then all be blocked on the queue. */
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if (xQueuePeek(xQueue, &ulValue, portMAX_DELAY) != pdPASS) {
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/* We expected to have received something by the time we unblock. */
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xErrorDetected = pdTRUE;
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}
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/* When we get here the high priority task should have peeked the data
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(unblocking this task) then suspended (allowing this task to also peek
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the data). */
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if (ulValue != 0x01234567) {
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/* We did not receive the expected value. */
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xErrorDetected = pdTRUE;
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}
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if (uxQueueMessagesWaiting(xQueue) != 1) {
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/* The message should have been left on the queue. */
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xErrorDetected = pdTRUE;
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}
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/* Just so we know the test is still running. */
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ulLoopCounter++;
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/* Now we can suspend ourselves so the low priority task can execute
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again. */
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vTaskSuspend(NULL);
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}
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}
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/*-----------------------------------------------------------*/
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static void prvLowPriorityPeekTask(void *pvParameters)
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{
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QueueHandle_t xQueue = (QueueHandle_t)pvParameters;
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uint32_t ulValue;
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for (;;) {
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/* Write some data to the queue. This should unblock the highest
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priority task that is waiting to peek data from the queue. */
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ulValue = 0x11223344;
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if (xQueueSendToBack(xQueue, &ulValue, qpeekNO_BLOCK) !=
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pdPASS) {
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/* We were expecting the queue to be empty so we should not of
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had a problem writing to the queue. */
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xErrorDetected = pdTRUE;
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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/* By the time we get here the data should have been removed from
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the queue. */
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if (uxQueueMessagesWaiting(xQueue) != 0) {
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xErrorDetected = pdTRUE;
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}
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/* Write another value to the queue, again waking the highest priority
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task that is blocked on the queue. */
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ulValue = 0x01234567;
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if (xQueueSendToBack(xQueue, &ulValue, qpeekNO_BLOCK) !=
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pdPASS) {
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/* We were expecting the queue to be empty so we should not of
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had a problem writing to the queue. */
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xErrorDetected = pdTRUE;
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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/* All the other tasks should now have successfully peeked the data.
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The data is still in the queue so we should be able to receive it. */
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ulValue = 0;
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if (xQueueReceive(xQueue, &ulValue, qpeekNO_BLOCK) != pdPASS) {
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/* We expected to receive the data. */
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xErrorDetected = pdTRUE;
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}
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if (ulValue != 0x01234567) {
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/* We did not receive the expected value. */
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xErrorDetected = pdTRUE;
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}
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/* Lets just delay a while as this is an intensive test as we don't
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want to starve other tests of processing time. */
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vTaskDelay(qpeekSHORT_DELAY);
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/* Unsuspend the other tasks so we can repeat the test - this time
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however not all the other tasks will peek the data as the high
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priority task is actually going to remove it from the queue. Send
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to front is used just to be different. As the queue is empty it
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makes no difference to the result. */
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vTaskResume(xMediumPriorityTask);
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vTaskResume(xHighPriorityTask);
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vTaskResume(xHighestPriorityTask);
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#if (configUSE_PREEMPTION == 0)
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taskYIELD();
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#endif
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ulValue = 0xaabbaabb;
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if (xQueueSendToFront(xQueue, &ulValue, qpeekNO_BLOCK) !=
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pdPASS) {
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/* We were expecting the queue to be empty so we should not of
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had a problem writing to the queue. */
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xErrorDetected = pdTRUE;
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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/* This time we should find that the queue is empty. The high priority
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task actually removed the data rather than just peeking it. */
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if (xQueuePeek(xQueue, &ulValue, qpeekNO_BLOCK) !=
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errQUEUE_EMPTY) {
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/* We expected to receive the data. */
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xErrorDetected = pdTRUE;
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}
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/* Unsuspend the highest and high priority tasks so we can go back
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and repeat the whole thing. The medium priority task should not be
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suspended as it was not able to peek the data in this last case. */
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vTaskResume(xHighPriorityTask);
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vTaskResume(xHighestPriorityTask);
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/* Lets just delay a while as this is an intensive test as we don't
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want to starve other tests of processing time. */
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vTaskDelay(qpeekSHORT_DELAY);
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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 xAreQueuePeekTasksStillRunning(void)
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{
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static uint32_t ulLastLoopCounter = 0;
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/* If the demo task is still running then we expect the loopcounter to
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have incremented since this function was last called. */
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if (ulLastLoopCounter == ulLoopCounter) {
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xErrorDetected = pdTRUE;
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}
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ulLastLoopCounter = ulLoopCounter;
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/* Errors detected in the task itself will have latched xErrorDetected
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to true. */
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return (BaseType_t)!xErrorDetected;
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}
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