291 lines
12 KiB
C
291 lines
12 KiB
C
/*
|
|
* FreeRTOS Kernel V10.2.1
|
|
* Copyright (C) 2019 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!
|
|
*/
|
|
|
|
/*
|
|
* Creates six tasks that operate on three queues as follows:
|
|
*
|
|
* The first two tasks send and receive an incrementing number to/from a queue.
|
|
* One task acts as a producer and the other as the consumer. The consumer is a
|
|
* higher priority than the producer and is set to block on queue reads. The queue
|
|
* only has space for one item - as soon as the producer posts a message on the
|
|
* queue the consumer will unblock, pre-empt the producer, and remove the item.
|
|
*
|
|
* The second two tasks work the other way around. Again the queue used only has
|
|
* enough space for one item. This time the consumer has a lower priority than the
|
|
* producer. The producer will try to post on the queue blocking when the queue is
|
|
* full. When the consumer wakes it will remove the item from the queue, causing
|
|
* the producer to unblock, pre-empt the consumer, and immediately re-fill the
|
|
* queue.
|
|
*
|
|
* The last two tasks use the same queue producer and consumer functions. This time the queue has
|
|
* enough space for lots of items and the tasks operate at the same priority. The
|
|
* producer will execute, placing items into the queue. The consumer will start
|
|
* executing when either the queue becomes full (causing the producer to block) or
|
|
* a context switch occurs (tasks of the same priority will time slice).
|
|
*
|
|
*/
|
|
|
|
#include <stdlib.h>
|
|
|
|
/* Scheduler include files. */
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
#include "queue.h"
|
|
|
|
/* Demo program include files. */
|
|
#include "BlockQ.h"
|
|
|
|
#define blckqSTACK_SIZE configMINIMAL_STACK_SIZE
|
|
#define blckqNUM_TASK_SETS ( 3 )
|
|
|
|
#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
|
|
#error This example cannot be used if dynamic allocation is not allowed.
|
|
#endif
|
|
|
|
/* Structure used to pass parameters to the blocking queue tasks. */
|
|
typedef struct BLOCKING_QUEUE_PARAMETERS
|
|
{
|
|
QueueHandle_t xQueue; /*< The queue to be used by the task. */
|
|
TickType_t xBlockTime; /*< The block time to use on queue reads/writes. */
|
|
volatile short *psCheckVariable; /*< Incremented on each successful cycle to check the task is still running. */
|
|
} xBlockingQueueParameters;
|
|
|
|
/* Task function that creates an incrementing number and posts it on a queue. */
|
|
static portTASK_FUNCTION_PROTO( vBlockingQueueProducer, pvParameters );
|
|
|
|
/* Task function that removes the incrementing number from a queue and checks that
|
|
it is the expected number. */
|
|
static portTASK_FUNCTION_PROTO( vBlockingQueueConsumer, pvParameters );
|
|
|
|
/* Variables which are incremented each time an item is removed from a queue, and
|
|
found to be the expected value.
|
|
These are used to check that the tasks are still running. */
|
|
static volatile short sBlockingConsumerCount[ blckqNUM_TASK_SETS ] = { ( uint16_t ) 0, ( uint16_t ) 0, ( uint16_t ) 0 };
|
|
|
|
/* Variable which are incremented each time an item is posted on a queue. These
|
|
are used to check that the tasks are still running. */
|
|
static volatile short sBlockingProducerCount[ blckqNUM_TASK_SETS ] = { ( uint16_t ) 0, ( uint16_t ) 0, ( uint16_t ) 0 };
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vStartBlockingQueueTasks( UBaseType_t uxPriority )
|
|
{
|
|
xBlockingQueueParameters *pxQueueParameters1, *pxQueueParameters2;
|
|
xBlockingQueueParameters *pxQueueParameters3, *pxQueueParameters4;
|
|
xBlockingQueueParameters *pxQueueParameters5, *pxQueueParameters6;
|
|
const UBaseType_t uxQueueSize1 = 1, uxQueueSize5 = 5;
|
|
const TickType_t xBlockTime = pdMS_TO_TICKS( ( TickType_t ) 1000 );
|
|
const TickType_t xDontBlock = ( TickType_t ) 0;
|
|
|
|
/* Create the first two tasks as described at the top of the file. */
|
|
|
|
/* First create the structure used to pass parameters to the consumer tasks. */
|
|
pxQueueParameters1 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
|
|
|
|
/* Create the queue used by the first two tasks to pass the incrementing number.
|
|
Pass a pointer to the queue in the parameter structure. */
|
|
pxQueueParameters1->xQueue = xQueueCreate( uxQueueSize1, ( UBaseType_t ) sizeof( uint16_t ) );
|
|
|
|
/* The consumer is created first so gets a block time as described above. */
|
|
pxQueueParameters1->xBlockTime = xBlockTime;
|
|
|
|
/* Pass in the variable that this task is going to increment so we can check it
|
|
is still running. */
|
|
pxQueueParameters1->psCheckVariable = &( sBlockingConsumerCount[ 0 ] );
|
|
|
|
/* Create the structure used to pass parameters to the producer task. */
|
|
pxQueueParameters2 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
|
|
|
|
/* Pass the queue to this task also, using the parameter structure. */
|
|
pxQueueParameters2->xQueue = pxQueueParameters1->xQueue;
|
|
|
|
/* The producer is not going to block - as soon as it posts the consumer will
|
|
wake and remove the item so the producer should always have room to post. */
|
|
pxQueueParameters2->xBlockTime = xDontBlock;
|
|
|
|
/* Pass in the variable that this task is going to increment so we can check
|
|
it is still running. */
|
|
pxQueueParameters2->psCheckVariable = &( sBlockingProducerCount[ 0 ] );
|
|
|
|
|
|
/* Note the producer has a lower priority than the consumer when the tasks are
|
|
spawned. */
|
|
xTaskCreate( vBlockingQueueConsumer, "QConsB1", blckqSTACK_SIZE, ( void * ) pxQueueParameters1, uxPriority, NULL );
|
|
xTaskCreate( vBlockingQueueProducer, "QProdB2", blckqSTACK_SIZE, ( void * ) pxQueueParameters2, tskIDLE_PRIORITY, NULL );
|
|
|
|
|
|
|
|
/* Create the second two tasks as described at the top of the file. This uses
|
|
the same mechanism but reverses the task priorities. */
|
|
|
|
pxQueueParameters3 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
|
|
pxQueueParameters3->xQueue = xQueueCreate( uxQueueSize1, ( UBaseType_t ) sizeof( uint16_t ) );
|
|
pxQueueParameters3->xBlockTime = xDontBlock;
|
|
pxQueueParameters3->psCheckVariable = &( sBlockingProducerCount[ 1 ] );
|
|
|
|
pxQueueParameters4 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
|
|
pxQueueParameters4->xQueue = pxQueueParameters3->xQueue;
|
|
pxQueueParameters4->xBlockTime = xBlockTime;
|
|
pxQueueParameters4->psCheckVariable = &( sBlockingConsumerCount[ 1 ] );
|
|
|
|
xTaskCreate( vBlockingQueueConsumer, "QConsB3", blckqSTACK_SIZE, ( void * ) pxQueueParameters3, tskIDLE_PRIORITY, NULL );
|
|
xTaskCreate( vBlockingQueueProducer, "QProdB4", blckqSTACK_SIZE, ( void * ) pxQueueParameters4, uxPriority, NULL );
|
|
|
|
|
|
|
|
/* Create the last two tasks as described above. The mechanism is again just
|
|
the same. This time both parameter structures are given a block time. */
|
|
pxQueueParameters5 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
|
|
pxQueueParameters5->xQueue = xQueueCreate( uxQueueSize5, ( UBaseType_t ) sizeof( uint16_t ) );
|
|
pxQueueParameters5->xBlockTime = xBlockTime;
|
|
pxQueueParameters5->psCheckVariable = &( sBlockingProducerCount[ 2 ] );
|
|
|
|
pxQueueParameters6 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
|
|
pxQueueParameters6->xQueue = pxQueueParameters5->xQueue;
|
|
pxQueueParameters6->xBlockTime = xBlockTime;
|
|
pxQueueParameters6->psCheckVariable = &( sBlockingConsumerCount[ 2 ] );
|
|
|
|
xTaskCreate( vBlockingQueueProducer, "QProdB5", blckqSTACK_SIZE, ( void * ) pxQueueParameters5, tskIDLE_PRIORITY, NULL );
|
|
xTaskCreate( vBlockingQueueConsumer, "QConsB6", blckqSTACK_SIZE, ( void * ) pxQueueParameters6, tskIDLE_PRIORITY, NULL );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static portTASK_FUNCTION( vBlockingQueueProducer, pvParameters )
|
|
{
|
|
uint16_t usValue = 0;
|
|
xBlockingQueueParameters *pxQueueParameters;
|
|
short sErrorEverOccurred = pdFALSE;
|
|
|
|
pxQueueParameters = ( xBlockingQueueParameters * ) pvParameters;
|
|
|
|
for( ;; )
|
|
{
|
|
if( xQueueSend( pxQueueParameters->xQueue, ( void * ) &usValue, pxQueueParameters->xBlockTime ) != pdPASS )
|
|
{
|
|
sErrorEverOccurred = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
/* We have successfully posted a message, so increment the variable
|
|
used to check we are still running. */
|
|
if( sErrorEverOccurred == pdFALSE )
|
|
{
|
|
( *pxQueueParameters->psCheckVariable )++;
|
|
}
|
|
|
|
/* Increment the variable we are going to post next time round. The
|
|
consumer will expect the numbers to follow in numerical order. */
|
|
++usValue;
|
|
|
|
#if configUSE_PREEMPTION == 0
|
|
taskYIELD();
|
|
#endif
|
|
}
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static portTASK_FUNCTION( vBlockingQueueConsumer, pvParameters )
|
|
{
|
|
uint16_t usData, usExpectedValue = 0;
|
|
xBlockingQueueParameters *pxQueueParameters;
|
|
short sErrorEverOccurred = pdFALSE;
|
|
|
|
pxQueueParameters = ( xBlockingQueueParameters * ) pvParameters;
|
|
|
|
for( ;; )
|
|
{
|
|
if( xQueueReceive( pxQueueParameters->xQueue, &usData, pxQueueParameters->xBlockTime ) == pdPASS )
|
|
{
|
|
if( usData != usExpectedValue )
|
|
{
|
|
/* Catch-up. */
|
|
usExpectedValue = usData;
|
|
|
|
sErrorEverOccurred = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
/* We have successfully received a message, so increment the
|
|
variable used to check we are still running. */
|
|
if( sErrorEverOccurred == pdFALSE )
|
|
{
|
|
( *pxQueueParameters->psCheckVariable )++;
|
|
}
|
|
|
|
/* Increment the value we expect to remove from the queue next time
|
|
round. */
|
|
++usExpectedValue;
|
|
}
|
|
|
|
#if configUSE_PREEMPTION == 0
|
|
{
|
|
if( pxQueueParameters->xBlockTime == 0 )
|
|
{
|
|
taskYIELD();
|
|
}
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* This is called to check that all the created tasks are still running. */
|
|
BaseType_t xAreBlockingQueuesStillRunning( void )
|
|
{
|
|
static short sLastBlockingConsumerCount[ blckqNUM_TASK_SETS ] = { ( uint16_t ) 0, ( uint16_t ) 0, ( uint16_t ) 0 };
|
|
static short sLastBlockingProducerCount[ blckqNUM_TASK_SETS ] = { ( uint16_t ) 0, ( uint16_t ) 0, ( uint16_t ) 0 };
|
|
BaseType_t xReturn = pdPASS, xTasks;
|
|
|
|
/* Not too worried about mutual exclusion on these variables as they are 16
|
|
bits and we are only reading them. We also only care to see if they have
|
|
changed or not.
|
|
|
|
Loop through each check variable to and return pdFALSE if any are found not
|
|
to have changed since the last call. */
|
|
|
|
for( xTasks = 0; xTasks < blckqNUM_TASK_SETS; xTasks++ )
|
|
{
|
|
if( sBlockingConsumerCount[ xTasks ] == sLastBlockingConsumerCount[ xTasks ] )
|
|
{
|
|
xReturn = pdFALSE;
|
|
}
|
|
sLastBlockingConsumerCount[ xTasks ] = sBlockingConsumerCount[ xTasks ];
|
|
|
|
|
|
if( sBlockingProducerCount[ xTasks ] == sLastBlockingProducerCount[ xTasks ] )
|
|
{
|
|
xReturn = pdFALSE;
|
|
}
|
|
sLastBlockingProducerCount[ xTasks ] = sBlockingProducerCount[ xTasks ];
|
|
}
|
|
|
|
return xReturn;
|
|
}
|
|
|