IntQueue.c

Revision 14, 25.3 kB (checked in by phil, 15 years ago)
added unmodified FreeRTOS package V5.4.1 with only web srv demo source for LPC2368 for CrossWorks?

Line
1	/*
2	FreeRTOS V5.4.1 - Copyright (C) 2009 Real Time Engineers Ltd.
3
4	This file is part of the FreeRTOS distribution.
5
6	FreeRTOS is free software; you can redistribute it and/or modify it under
7	the terms of the GNU General Public License (version 2) as published by the
8	Free Software Foundation and modified by the FreeRTOS exception.
9	NOTE The exception to the GPL is included to allow you to distribute a
10	combined work that includes FreeRTOS without being obliged to provide the
11	source code for proprietary components outside of the FreeRTOS kernel.
12	Alternative commercial license and support terms are also available upon
13	request. See the licensing section of http://www.FreeRTOS.org for full
14	license details.
15
16	FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
17	ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
18	FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
19	more details.
20
21	You should have received a copy of the GNU General Public License along
22	with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
23	Temple Place, Suite 330, Boston, MA 02111-1307 USA.
24
25
26	***************************************************************************
27	* *
28	* Looking for a quick start? Then check out the FreeRTOS eBook! *
29	* See http://www.FreeRTOS.org/Documentation for details *
30	* *
31	***************************************************************************
32
33	1 tab == 4 spaces!
34
35	Please ensure to read the configuration and relevant port sections of the
36	online documentation.
37
38	http://www.FreeRTOS.org - Documentation, latest information, license and
39	contact details.
40
41	http://www.SafeRTOS.com - A version that is certified for use in safety
42	critical systems.
43
44	http://www.OpenRTOS.com - Commercial support, development, porting,
45	licensing and training services.
46	*/
47
48	/*
49	* This file defines one of the more complex set of demo/test tasks. They are
50	* designed to stress test the queue implementation though pseudo simultaneous
51	* multiple reads and multiple writes from both tasks of varying priority and
52	* interrupts. The interrupts are prioritised such to ensure that nesting
53	* occurs (for those ports that support it).
54	*
55	* The test ensures that, while being accessed from three tasks and two
56	* interrupts, all the data sent to the queues is also received from
57	* the same queue, and that no duplicate items are either sent or received.
58	* The tests also ensure that a low priority task is never able to successfully
59	* read from or write to a queue when a task of higher priority is attempting
60	* the same operation.
61	*/
62
63	/* Standard includes. */
64	#include <string.h>
65
66	/* SafeRTOS includes. */
67	#include "FreeRTOS.h"
68	#include "queue.h"
69	#include "task.h"
70
71	/* Demo app includes. */
72	#include "IntQueue.h"
73	#include "IntQueueTimer.h"
74
75	/* Priorities used by test tasks. */
76	#define intqHIGHER_PRIORITY ( configMAX_PRIORITIES - 2 )
77	#define intqLOWER_PRIORITY ( tskIDLE_PRIORITY )
78
79	/* The number of values to send/receive before checking that all values were
80	processed as expected. */
81	#define intqNUM_VALUES_TO_LOG ( 200 )
82	#define intqSHORT_DELAY ( 75 )
83
84	/* The value by which the value being sent to or received from a queue should
85	increment past intqNUM_VALUES_TO_LOG before we check that all values have been
86	sent/received correctly. This is done to ensure that all tasks and interrupts
87	accessing the queue have completed their accesses with the
88	intqNUM_VALUES_TO_LOG range. */
89	#define intqVALUE_OVERRUN ( 50 )
90
91	/* The delay used by the polling task. A short delay is used for code
92	coverage. */
93	#define intqONE_TICK_DELAY ( 1 )
94
95	/* Each task and interrupt is given a unique identifier. This value is used to
96	identify which task sent or received each value. The identifier is also used
97	to distinguish between two tasks that are running the same task function. */
98	#define intqHIGH_PRIORITY_TASK1 ( ( unsigned portBASE_TYPE ) 1 )
99	#define intqHIGH_PRIORITY_TASK2 ( ( unsigned portBASE_TYPE ) 2 )
100	#define intqLOW_PRIORITY_TASK ( ( unsigned portBASE_TYPE ) 3 )
101	#define intqFIRST_INTERRUPT ( ( unsigned portBASE_TYPE ) 4 )
102	#define intqSECOND_INTERRUPT ( ( unsigned portBASE_TYPE ) 5 )
103	#define intqQUEUE_LENGTH ( ( unsigned portBASE_TYPE ) 10 )
104
105	/* At least intqMIN_ACCEPTABLE_TASK_COUNT values should be sent to/received
106	from each queue by each task, otherwise an error is detected. */
107	#define intqMIN_ACCEPTABLE_TASK_COUNT ( 5 )
108
109	/* Send the next value to the queue that is normally empty. This is called
110	from within the interrupts. */
111	#define timerNORMALLY_EMPTY_TX() \
112	if( xQueueIsQueueFullFromISR( xNormallyEmptyQueue ) != pdTRUE ) \
113	{ \
114	unsigned portBASE_TYPE uxSavedInterruptStatus; \
115	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); \
116	{ \
117	uxValueForNormallyEmptyQueue++; \
118	xQueueSendFromISR( xNormallyEmptyQueue, ( void * ) &uxValueForNormallyEmptyQueue, &xHigherPriorityTaskWoken ); \
119	} \
120	portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); \
121	} \
122
123	/* Send the next value to the queue that is normally full. This is called
124	from within the interrupts. */
125	#define timerNORMALLY_FULL_TX() \
126	if( xQueueIsQueueFullFromISR( xNormallyFullQueue ) != pdTRUE ) \
127	{ \
128	unsigned portBASE_TYPE uxSavedInterruptStatus; \
129	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); \
130	{ \
131	uxValueForNormallyFullQueue++; \
132	xQueueSendFromISR( xNormallyFullQueue, ( void * ) &uxValueForNormallyFullQueue, &xHigherPriorityTaskWoken ); \
133	} \
134	portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); \
135	} \
136
137	/* Receive a value from the normally empty queue. This is called from within
138	an interrupt. */
139	#define timerNORMALLY_EMPTY_RX() \
140	if( xQueueReceiveFromISR( xNormallyEmptyQueue, &uxRxedValue, &xHigherPriorityTaskWoken ) != pdPASS ) \
141	{ \
142	prvQueueAccessLogError( __LINE__ ); \
143	} \
144	else \
145	{ \
146	prvRecordValue_NormallyEmpty( uxRxedValue, intqSECOND_INTERRUPT ); \
147	}
148
149	/* Receive a value from the normally full queue. This is called from within
150	an interrupt. */
151	#define timerNORMALLY_FULL_RX() \
152	if( xQueueReceiveFromISR( xNormallyFullQueue, &uxRxedValue, &xHigherPriorityTaskWoken ) == pdPASS ) \
153	{ \
154	prvRecordValue_NormallyFull( uxRxedValue, intqSECOND_INTERRUPT ); \
155	} \
156
157
158	/-----------------------------------------------------------/
159
160	/* The two queues used by the test. */
161	static xQueueHandle xNormallyEmptyQueue, xNormallyFullQueue;
162
163	/* Variables used to detect a stall in one of the tasks. */
164	static unsigned portBASE_TYPE uxHighPriorityLoops1 = 0, uxHighPriorityLoops2 = 0, uxLowPriorityLoops1 = 0, uxLowPriorityLoops2 = 0;
165
166	/* Any unexpected behaviour sets xErrorStatus to fail and log the line that
167	caused the error in xErrorLine. */
168	static portBASE_TYPE xErrorStatus = pdPASS;
169	static unsigned portBASE_TYPE xErrorLine = ( unsigned portBASE_TYPE ) 0;
170
171	/* Used for sequencing between tasks. */
172	static portBASE_TYPE xWasSuspended = pdFALSE;
173
174	/* The values that are sent to the queues. An incremented value is sent each
175	time to each queue. */
176	volatile unsigned portBASE_TYPE uxValueForNormallyEmptyQueue = 0, uxValueForNormallyFullQueue = 0;
177
178	/* A handle to some of the tasks is required so they can be suspended/resumed. */
179	xTaskHandle xHighPriorityNormallyEmptyTask1, xHighPriorityNormallyEmptyTask2, xHighPriorityNormallyFullTask1, xHighPriorityNormallyFullTask2;
180
181	/* When a value is received in a queue the value is ticked off in the array
182	the array position of the value is set to a the identifier of the task or
183	interrupt that accessed the queue. This way missing or duplicate values can be
184	detected. */
185	static unsigned portCHAR ucNormallyEmptyReceivedValues[ intqNUM_VALUES_TO_LOG ] = { 0 };
186	static unsigned portCHAR ucNormallyFullReceivedValues[ intqNUM_VALUES_TO_LOG ] = { 0 };
187
188	/* The test tasks themselves. */
189	static void prvLowerPriorityNormallyEmptyTask( void *pvParameters );
190	static void prvLowerPriorityNormallyFullTask( void *pvParameters );
191	static void prvHigherPriorityNormallyEmptyTask( void *pvParameters );
192	static void prv1stHigherPriorityNormallyFullTask( void *pvParameters );
193	static void prv2ndHigherPriorityNormallyFullTask( void *pvParameters );
194
195	/* Used to mark the positions within the ucNormallyEmptyReceivedValues and
196	ucNormallyFullReceivedValues arrays, while checking for duplicates. */
197	static void prvRecordValue_NormallyEmpty( unsigned portBASE_TYPE uxValue, unsigned portBASE_TYPE uxSource );
198	static void prvRecordValue_NormallyFull( unsigned portBASE_TYPE uxValue, unsigned portBASE_TYPE uxSource );
199
200	/* Logs the line on which an error occurred. */
201	static void prvQueueAccessLogError( unsigned portBASE_TYPE uxLine );
202
203	/-----------------------------------------------------------/
204
205	void vStartInterruptQueueTasks( void )
206	{
207	/* Start the test tasks. */
208	xTaskCreate( prvHigherPriorityNormallyEmptyTask, ( signed portCHAR * ) "H1QRx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK1, intqHIGHER_PRIORITY, &xHighPriorityNormallyEmptyTask1 );
209	xTaskCreate( prvHigherPriorityNormallyEmptyTask, ( signed portCHAR * ) "H2QRx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK2, intqHIGHER_PRIORITY, &xHighPriorityNormallyEmptyTask2 );
210	xTaskCreate( prvLowerPriorityNormallyEmptyTask, ( signed portCHAR * ) "LQRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL );
211	xTaskCreate( prv1stHigherPriorityNormallyFullTask, ( signed portCHAR * ) "H1QTx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK1, intqHIGHER_PRIORITY, &xHighPriorityNormallyFullTask1 );
212	xTaskCreate( prv2ndHigherPriorityNormallyFullTask, ( signed portCHAR * ) "H1QTx", configMINIMAL_STACK_SIZE, ( void * ) intqHIGH_PRIORITY_TASK2, intqHIGHER_PRIORITY, &xHighPriorityNormallyFullTask2 );
213	xTaskCreate( prvLowerPriorityNormallyFullTask, ( signed portCHAR * ) "LQRx", configMINIMAL_STACK_SIZE, NULL, intqLOWER_PRIORITY, NULL );
214
215	/* Create the queues that are accessed by multiple tasks and multiple
216	interrupts. */
217	xNormallyFullQueue = xQueueCreate( intqQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) );
218	xNormallyEmptyQueue = xQueueCreate( intqQUEUE_LENGTH, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) );
219
220	/* vQueueAddToRegistry() adds the queue to the queue registry, if one is
221	in use. The queue registry is provided as a means for kernel aware
222	debuggers to locate queues and has no purpose if a kernel aware debugger
223	is not being used. The call to vQueueAddToRegistry() will be removed
224	by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
225	defined to be less than 1. */
226	vQueueAddToRegistry( xNormallyFullQueue, ( signed portCHAR * ) "NormallyFull" );
227	vQueueAddToRegistry( xNormallyEmptyQueue, ( signed portCHAR * ) "NormallyEmpty" );
228	}
229	/-----------------------------------------------------------/
230
231	static void prvRecordValue_NormallyFull( unsigned portBASE_TYPE uxValue, unsigned portBASE_TYPE uxSource )
232	{
233	if( uxValue < intqNUM_VALUES_TO_LOG )
234	{
235	/* We don't expect to receive the same value twice, so if the value
236	has already been marked as received an error has occurred. */
237	if( ucNormallyFullReceivedValues[ uxValue ] != 0x00 )
238	{
239	prvQueueAccessLogError( __LINE__ );
240	}
241
242	/* Log that this value has been received. */
243	ucNormallyFullReceivedValues[ uxValue ] = uxSource;
244	}
245	}
246	/-----------------------------------------------------------/
247
248	static void prvRecordValue_NormallyEmpty( unsigned portBASE_TYPE uxValue, unsigned portBASE_TYPE uxSource )
249	{
250	if( uxValue < intqNUM_VALUES_TO_LOG )
251	{
252	/* We don't expect to receive the same value twice, so if the value
253	has already been marked as received an error has occurred. */
254	if( ucNormallyEmptyReceivedValues[ uxValue ] != 0x00 )
255	{
256	prvQueueAccessLogError( __LINE__ );
257	}
258
259	/* Log that this value has been received. */
260	ucNormallyEmptyReceivedValues[ uxValue ] = uxSource;
261	}
262	}
263	/-----------------------------------------------------------/
264
265	static void prvQueueAccessLogError( unsigned portBASE_TYPE uxLine )
266	{
267	/* Latch the line number that caused the error. */
268	xErrorLine = uxLine;
269	xErrorStatus = pdFAIL;
270	}
271	/-----------------------------------------------------------/
272
273	static void prvHigherPriorityNormallyEmptyTask( void *pvParameters )
274	{
275	unsigned portBASE_TYPE uxRxed, ux, uxTask1, uxTask2, uxErrorCount1 = 0, uxErrorCount2 = 0;
276
277	/* The timer should not be started until after the scheduler has started.
278	More than one task is running this code so we check the parameter value
279	to determine which task should start the timer. */
280	if( ( unsigned portBASE_TYPE ) pvParameters == intqHIGH_PRIORITY_TASK1 )
281	{
282	vInitialiseTimerForIntQueueTest();
283	}
284
285	for( ;; )
286	{
287	/* Block waiting to receive a value from the normally empty queue.
288	Interrupts will write to the queue so we should receive a value. */
289	if( xQueueReceive( xNormallyEmptyQueue, &uxRxed, intqSHORT_DELAY ) != pdPASS )
290	{
291	prvQueueAccessLogError( __LINE__ );
292	}
293	else
294	{
295	/* Note which value was received so we can check all expected
296	values are received and no values are duplicated. */
297	prvRecordValue_NormallyEmpty( uxRxed, ( unsigned portBASE_TYPE ) pvParameters );
298	}
299
300	/* Ensure the other task running this code gets a chance to execute. */
301	taskYIELD();
302
303	if( ( unsigned portBASE_TYPE ) pvParameters == intqHIGH_PRIORITY_TASK1 )
304	{
305	/* Have we received all the expected values? */
306	if( uxValueForNormallyEmptyQueue > ( intqNUM_VALUES_TO_LOG + intqVALUE_OVERRUN ) )
307	{
308	vTaskSuspend( xHighPriorityNormallyEmptyTask2 );
309
310	uxTask1 = 0;
311	uxTask2 = 0;
312
313	/* Loop through the array, checking that both tasks have
314	placed values into the array, and that no values are missing.
315	Start at 1 as we expect position 0 to be unused. */
316	for( ux = 1; ux < intqNUM_VALUES_TO_LOG; ux++ )
317	{
318	if( ucNormallyEmptyReceivedValues[ ux ] == 0 )
319	{
320	/* A value is missing. */
321	prvQueueAccessLogError( __LINE__ );
322	}
323	else
324	{
325	if( ucNormallyEmptyReceivedValues[ ux ] == intqHIGH_PRIORITY_TASK1 )
326	{
327	/* Value was placed into the array by task 1. */
328	uxTask1++;
329	}
330	else if( ucNormallyEmptyReceivedValues[ ux ] == intqHIGH_PRIORITY_TASK2 )
331	{
332	/* Value was placed into the array by task 2. */
333	uxTask2++;
334	}
335	}
336	}
337
338	if( uxTask1 < intqMIN_ACCEPTABLE_TASK_COUNT )
339	{
340	/* Only task 2 seemed to log any values. */
341	uxErrorCount1++;
342	if( uxErrorCount1 > 2 )
343	{
344	prvQueueAccessLogError( __LINE__ );
345	}
346	}
347	else
348	{
349	uxErrorCount1 = 0;
350	}
351
352	if( uxTask2 < intqMIN_ACCEPTABLE_TASK_COUNT )
353	{
354	/* Only task 1 seemed to log any values. */
355	uxErrorCount2++;
356	if( uxErrorCount2 > 2 )
357	{
358	prvQueueAccessLogError( __LINE__ );
359	}
360	}
361	else
362	{
363	uxErrorCount2 = 0;
364	}
365
366	/* Clear the array again, ready to start a new cycle. */
367	memset( ucNormallyEmptyReceivedValues, 0x00, sizeof( ucNormallyEmptyReceivedValues ) );
368
369	uxHighPriorityLoops1++;
370	uxValueForNormallyEmptyQueue = 0;
371
372	/* Suspend ourselves, allowing the lower priority task to
373	actually receive something from the queue. Until now it
374	will have been prevented from doing so by the higher
375	priority tasks. The lower priority task will resume us
376	if it receives something. We will then resume the other
377	higher priority task. */
378	vTaskSuspend( NULL );
379	vTaskResume( xHighPriorityNormallyEmptyTask2 );
380	}
381	}
382	}
383	}
384	/-----------------------------------------------------------/
385
386	static void prvLowerPriorityNormallyEmptyTask( void *pvParameters )
387	{
388	unsigned portBASE_TYPE uxValue, uxRxed;
389	portBASE_TYPE xQueueStatus;
390
391	/* The parameters are not being used so avoid compiler warnings. */
392	( void ) pvParameters;
393
394	for( ;; )
395	{
396	if( ( xQueueStatus = xQueueReceive( xNormallyEmptyQueue, &uxRxed, intqONE_TICK_DELAY ) ) != errQUEUE_EMPTY )
397	{
398	/* We should only obtain a value when the high priority task is
399	suspended. */
400	if( xTaskIsTaskSuspended( xHighPriorityNormallyEmptyTask1 ) == pdFALSE )
401	{
402	prvQueueAccessLogError( __LINE__ );
403	}
404
405	prvRecordValue_NormallyEmpty( uxRxed, intqLOW_PRIORITY_TASK );
406
407	/* Wake the higher priority task again. */
408	vTaskResume( xHighPriorityNormallyEmptyTask1 );
409	uxLowPriorityLoops1++;
410	}
411	else
412	{
413	/* Raise our priority while we send so we can preempt the higher
414	priority task, and ensure we get the Tx value into the queue. */
415	vTaskPrioritySet( NULL, intqHIGHER_PRIORITY + 1 );
416
417	portENTER_CRITICAL();
418	{
419	uxValueForNormallyEmptyQueue++;
420	uxValue = uxValueForNormallyEmptyQueue;
421	}
422	portEXIT_CRITICAL();
423
424	if( xQueueSend( xNormallyEmptyQueue, &uxValue, portMAX_DELAY ) != pdPASS )
425	{
426	prvQueueAccessLogError( __LINE__ );
427	}
428
429	vTaskPrioritySet( NULL, intqLOWER_PRIORITY );
430	}
431	}
432	}
433	/-----------------------------------------------------------/
434
435	static void prv1stHigherPriorityNormallyFullTask( void *pvParameters )
436	{
437	unsigned portBASE_TYPE uxValueToTx, ux;
438	portBASE_TYPE xQueueStatus;
439
440	/* The parameters are not being used so avoid compiler warnings. */
441	( void ) pvParameters;
442
443	/* Make sure the queue starts full or near full. >> 1 as there are two
444	high priority tasks. */
445	for( ux = 0; ux < ( intqQUEUE_LENGTH >> 1 ); ux++ )
446	{
447	portENTER_CRITICAL();
448	{
449	uxValueForNormallyFullQueue++;
450	uxValueToTx = uxValueForNormallyFullQueue;
451	}
452	portEXIT_CRITICAL();
453
454	xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY );
455	}
456
457	for( ;; )
458	{
459	portENTER_CRITICAL();
460	{
461	uxValueForNormallyFullQueue++;
462	uxValueToTx = uxValueForNormallyFullQueue;
463	}
464	portEXIT_CRITICAL();
465
466	if( ( xQueueStatus = xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY ) ) != pdPASS )
467	{
468	/* intqHIGH_PRIORITY_TASK2 is never suspended so we would not
469	expect it to ever time out. */
470	prvQueueAccessLogError( __LINE__ );
471	}
472
473	/* Allow the other task running this code to run. */
474	taskYIELD();
475
476	/* Have all the expected values been sent to the queue? */
477	if( uxValueToTx > ( intqNUM_VALUES_TO_LOG + intqVALUE_OVERRUN ) )
478	{
479	/* Make sure the other high priority task completes its send of
480	any values below intqNUM_VALUE_TO_LOG. */
481	vTaskDelay( intqSHORT_DELAY );
482
483	vTaskSuspend( xHighPriorityNormallyFullTask2 );
484
485	if( xWasSuspended == pdTRUE )
486	{
487	/* We would have expected the other high priority task to have
488	set this back to false by now. */
489	prvQueueAccessLogError( __LINE__ );
490	}
491
492	/* Set the suspended flag so an error is not logged if the other
493	task recognises a time out when it is unsuspended. */
494	xWasSuspended = pdTRUE;
495
496	/* Start at 1 as we expect position 0 to be unused. */
497	for( ux = 1; ux < intqNUM_VALUES_TO_LOG; ux++ )
498	{
499	if( ucNormallyFullReceivedValues[ ux ] == 0 )
500	{
501	/* A value was missing. */
502	prvQueueAccessLogError( __LINE__ );
503	}
504	}
505
506	/* Reset the array ready for the next cycle. */
507	memset( ucNormallyFullReceivedValues, 0x00, sizeof( ucNormallyFullReceivedValues ) );
508
509	uxHighPriorityLoops2++;
510	uxValueForNormallyFullQueue = 0;
511
512	/* Suspend ourselves, allowing the lower priority task to
513	actually receive something from the queue. Until now it
514	will have been prevented from doing so by the higher
515	priority tasks. The lower priority task will resume us
516	if it receives something. We will then resume the other
517	higher priority task. */
518	vTaskSuspend( NULL );
519	vTaskResume( xHighPriorityNormallyFullTask2 );
520	}
521	}
522	}
523	/-----------------------------------------------------------/
524
525	static void prv2ndHigherPriorityNormallyFullTask( void *pvParameters )
526	{
527	unsigned portBASE_TYPE uxValueToTx, ux;
528	portBASE_TYPE xQueueStatus;
529
530	/* The parameters are not being used so avoid compiler warnings. */
531	( void ) pvParameters;
532
533	/* Make sure the queue starts full or near full. >> 1 as there are two
534	high priority tasks. */
535	for( ux = 0; ux < ( intqQUEUE_LENGTH >> 1 ); ux++ )
536	{
537	portENTER_CRITICAL();
538	{
539	uxValueForNormallyFullQueue++;
540	uxValueToTx = uxValueForNormallyFullQueue;
541	}
542	portEXIT_CRITICAL();
543
544	xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY );
545	}
546
547	for( ;; )
548	{
549	portENTER_CRITICAL();
550	{
551	uxValueForNormallyFullQueue++;
552	uxValueToTx = uxValueForNormallyFullQueue;
553	}
554	portEXIT_CRITICAL();
555
556	if( ( xQueueStatus = xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY ) ) != pdPASS )
557	{
558	if( xWasSuspended != pdTRUE )
559	{
560	/* It is ok to time out if the task has been suspended. */
561	prvQueueAccessLogError( __LINE__ );
562	}
563	}
564
565	xWasSuspended = pdFALSE;
566
567	taskYIELD();
568	}
569	}
570	/-----------------------------------------------------------/
571
572	static void prvLowerPriorityNormallyFullTask( void *pvParameters )
573	{
574	unsigned portBASE_TYPE uxValue, uxTxed = 9999;
575	portBASE_TYPE xQueueStatus;
576
577	/* The parameters are not being used so avoid compiler warnings. */
578	( void ) pvParameters;
579
580	for( ;; )
581	{
582	if( ( xQueueStatus = xQueueSend( xNormallyFullQueue, &uxTxed, intqONE_TICK_DELAY ) ) != errQUEUE_FULL )
583	{
584	/* We would only expect to succeed when the higher priority task
585	is suspended. */
586	if( xTaskIsTaskSuspended( xHighPriorityNormallyFullTask1 ) == pdFALSE )
587	{
588	prvQueueAccessLogError( __LINE__ );
589	}
590
591	vTaskResume( xHighPriorityNormallyFullTask1 );
592	uxLowPriorityLoops2++;
593	}
594	else
595	{
596	/* Raise our priority while we receive so we can preempt the higher
597	priority task, and ensure we get the value from the queue. */
598	vTaskPrioritySet( NULL, intqHIGHER_PRIORITY + 1 );
599
600	if( xQueueReceive( xNormallyFullQueue, &uxValue, portMAX_DELAY ) != pdPASS )
601	{
602	prvQueueAccessLogError( __LINE__ );
603	}
604	else
605	{
606	prvRecordValue_NormallyFull( uxValue, intqLOW_PRIORITY_TASK );
607	}
608
609	vTaskPrioritySet( NULL, intqLOWER_PRIORITY );
610	}
611	}
612	}
613	/-----------------------------------------------------------/
614
615	portBASE_TYPE xFirstTimerHandler( void )
616	{
617	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE, uxRxedValue;
618	static unsigned portBASE_TYPE uxNextOperation = 0;
619
620	/* Called from a timer interrupt. Perform various read and write
621	accesses on the queues. */
622
623	uxNextOperation++;
624
625	if( uxNextOperation & ( unsigned portBASE_TYPE ) 0x01 )
626	{
627	timerNORMALLY_EMPTY_TX();
628	timerNORMALLY_EMPTY_TX();
629	timerNORMALLY_EMPTY_TX();
630	}
631	else
632	{
633	timerNORMALLY_FULL_RX();
634	timerNORMALLY_FULL_RX();
635	timerNORMALLY_FULL_RX();
636	}
637
638	return xHigherPriorityTaskWoken;
639	}
640	/-----------------------------------------------------------/
641
642	portBASE_TYPE xSecondTimerHandler( void )
643	{
644	unsigned portBASE_TYPE uxRxedValue;
645	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
646	static unsigned portBASE_TYPE uxNextOperation = 0;
647
648	/* Called from a timer interrupt. Perform various read and write
649	accesses on the queues. */
650
651	uxNextOperation++;
652
653	if( uxNextOperation & ( unsigned portBASE_TYPE ) 0x01 )
654	{
655	timerNORMALLY_EMPTY_TX();
656	timerNORMALLY_EMPTY_TX();
657
658	timerNORMALLY_EMPTY_RX();
659	timerNORMALLY_EMPTY_RX();
660	}
661	else
662	{
663	timerNORMALLY_FULL_RX();
664	timerNORMALLY_FULL_TX();
665	timerNORMALLY_FULL_TX();
666	timerNORMALLY_FULL_TX();
667	timerNORMALLY_FULL_TX();
668	}
669
670	return xHigherPriorityTaskWoken;
671	}
672	/-----------------------------------------------------------/
673
674
675	portBASE_TYPE xAreIntQueueTasksStillRunning( void )
676	{
677	static unsigned portBASE_TYPE uxLastHighPriorityLoops1 = 0, uxLastHighPriorityLoops2 = 0, uxLastLowPriorityLoops1 = 0, uxLastLowPriorityLoops2 = 0;
678
679	/* xErrorStatus can be set outside of this function. This function just
680	checks that all the tasks are still cycling. */
681
682	if( uxHighPriorityLoops1 == uxLastHighPriorityLoops1 )
683	{
684	/* The high priority 1 task has stalled. */
685	prvQueueAccessLogError( __LINE__ );
686	}
687
688	uxLastHighPriorityLoops1 = uxHighPriorityLoops1;
689
690	if( uxHighPriorityLoops2 == uxLastHighPriorityLoops2 )
691	{
692	/* The high priority 2 task has stalled. */
693	prvQueueAccessLogError( __LINE__ );
694	}
695
696	uxLastHighPriorityLoops2 = uxHighPriorityLoops2;
697
698	if( uxLowPriorityLoops1 == uxLastLowPriorityLoops1 )
699	{
700	/* The low priority 1 task has stalled. */
701	prvQueueAccessLogError( __LINE__ );
702	}
703
704	uxLastLowPriorityLoops1 = uxLowPriorityLoops1;
705
706	if( uxLowPriorityLoops2 == uxLastLowPriorityLoops2 )
707	{
708	/* The low priority 2 task has stalled. */
709	prvQueueAccessLogError( __LINE__ );
710	}
711
712	uxLastLowPriorityLoops2 = uxLowPriorityLoops2;
713
714	return xErrorStatus;
715	}
716

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