intqueue.c

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						prvQueueAccessLogError( __LINE__ );
					}
				}
				else
				{
					uxErrorCount2 = 0;
				}

				/* Clear the array again, ready to start a new cycle. */
				memset( ucNormallyEmptyReceivedValues, 0x00, sizeof( ucNormallyEmptyReceivedValues ) );

				uxHighPriorityLoops1++;
				uxValueForNormallyEmptyQueue = 0;

				/* Suspend ourselves, allowing the lower priority task to
				actually receive something from the queue.  Until now it
				will have been prevented from doing so by the higher
				priority tasks.  The lower priority task will resume us
				if it receives something.  We will then resume the other
				higher priority task. */
				vTaskSuspend( NULL );
				vTaskResume( xHighPriorityNormallyEmptyTask2 );
			}
		}
	}
}
/*-----------------------------------------------------------*/

static void prvLowerPriorityNormallyEmptyTask( void *pvParameters )
{
unsigned portBASE_TYPE uxValue, uxRxed;
portBASE_TYPE xQueueStatus;

	/* The parameters are not being used so avoid compiler warnings. */
	( void ) pvParameters;

	for( ;; )
	{
		if( ( xQueueStatus = xQueueReceive( xNormallyEmptyQueue, &uxRxed, intqONE_TICK_DELAY ) ) != errQUEUE_EMPTY )
		{
			/* We should only obtain a value when the high priority task is
			suspended. */
			if( xTaskIsTaskSuspended( xHighPriorityNormallyEmptyTask1 ) == pdFALSE )
			{
				prvQueueAccessLogError( __LINE__ );
			}

			prvRecordValue_NormallyEmpty( uxRxed, intqLOW_PRIORITY_TASK );

			/* Wake the higher priority task again. */
			vTaskResume( xHighPriorityNormallyEmptyTask1 );
			uxLowPriorityLoops1++;
		}
		else
		{
			/* Raise our priority while we send so we can preempt the higher
			priority task, and ensure we get the Tx value into the queue. */
			vTaskPrioritySet( NULL, intqHIGHER_PRIORITY + 1 );

			portENTER_CRITICAL();
			{
				uxValueForNormallyEmptyQueue++;
				uxValue = uxValueForNormallyEmptyQueue;
			}
			portEXIT_CRITICAL();

			if( xQueueSend( xNormallyEmptyQueue, &uxValue, portMAX_DELAY ) != pdPASS )
			{
				prvQueueAccessLogError( __LINE__ );
			}

			vTaskPrioritySet( NULL, intqLOWER_PRIORITY );
		}
	}
}
/*-----------------------------------------------------------*/

static void prv1stHigherPriorityNormallyFullTask( void *pvParameters )
{
unsigned portBASE_TYPE uxValueToTx, ux;
portBASE_TYPE xQueueStatus;

	/* The parameters are not being used so avoid compiler warnings. */
	( void ) pvParameters;

	/* Make sure the queue starts full or near full.  >> 1 as there are two
	high priority tasks. */
	for( ux = 0; ux < ( intqQUEUE_LENGTH >> 1 ); ux++ )
	{
		portENTER_CRITICAL();
		{
			uxValueForNormallyFullQueue++;
			uxValueToTx = uxValueForNormallyFullQueue;
		}
		portEXIT_CRITICAL();

		xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY );
	}

	for( ;; )
	{
		portENTER_CRITICAL();
		{
			uxValueForNormallyFullQueue++;
			uxValueToTx = uxValueForNormallyFullQueue;
		}
		portEXIT_CRITICAL();

		if( ( xQueueStatus = xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY ) ) != pdPASS )
		{
			/* intqHIGH_PRIORITY_TASK2 is never suspended so we would not
			expect it to ever time out. */
			prvQueueAccessLogError( __LINE__ );
		}

		/* Allow the other task running this code to run. */
		taskYIELD();

		/* Have all the expected values been sent to the queue? */
		if( uxValueToTx > ( intqNUM_VALUES_TO_LOG + intqVALUE_OVERRUN ) )
		{
			/* Make sure the other high priority task completes its send of
			any values below intqNUM_VALUE_TO_LOG. */
			vTaskDelay( intqSHORT_DELAY );

			vTaskSuspend( xHighPriorityNormallyFullTask2 );

			if( xWasSuspended == pdTRUE )
			{
				/* We would have expected the other high priority task to have
				set this back to false by now. */
				prvQueueAccessLogError( __LINE__ );
			}

			/* Set the suspended flag so an error is not logged if the other
			task recognises a time out when it is unsuspended. */
			xWasSuspended = pdTRUE;

			/* Start at 1 as we expect position 0 to be unused. */
			for( ux = 1; ux < intqNUM_VALUES_TO_LOG; ux++ )
			{
				if( ucNormallyFullReceivedValues[ ux ] == 0 )
				{
					/* A value was missing. */
					prvQueueAccessLogError( __LINE__ );
				}
			}

			/* Reset the array ready for the next cycle. */
			memset( ucNormallyFullReceivedValues, 0x00, sizeof( ucNormallyFullReceivedValues ) );

			uxHighPriorityLoops2++;
			uxValueForNormallyFullQueue = 0;

			/* Suspend ourselves, allowing the lower priority task to
			actually receive something from the queue.  Until now it
			will have been prevented from doing so by the higher
			priority tasks.  The lower priority task will resume us
			if it receives something.  We will then resume the other
			higher priority task. */
			vTaskSuspend( NULL );
			vTaskResume( xHighPriorityNormallyFullTask2 );
		}
	}
}
/*-----------------------------------------------------------*/

static void prv2ndHigherPriorityNormallyFullTask( void *pvParameters )
{
unsigned portBASE_TYPE uxValueToTx, ux;
portBASE_TYPE xQueueStatus;

	/* The parameters are not being used so avoid compiler warnings. */
	( void ) pvParameters;

	/* Make sure the queue starts full or near full.  >> 1 as there are two
	high priority tasks. */
	for( ux = 0; ux < ( intqQUEUE_LENGTH >> 1 ); ux++ )
	{
		portENTER_CRITICAL();
		{
			uxValueForNormallyFullQueue++;
			uxValueToTx = uxValueForNormallyFullQueue;
		}
		portEXIT_CRITICAL();

		xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY );
	}

	for( ;; )
	{
		portENTER_CRITICAL();
		{
			uxValueForNormallyFullQueue++;
			uxValueToTx = uxValueForNormallyFullQueue;
		}
		portEXIT_CRITICAL();

		if( ( xQueueStatus = xQueueSend( xNormallyFullQueue, &uxValueToTx, intqSHORT_DELAY ) ) != pdPASS )
		{
			if( xWasSuspended != pdTRUE )
			{
				/* It is ok to time out if the task has been suspended. */
				prvQueueAccessLogError( __LINE__ );
			}
		}

		xWasSuspended = pdFALSE;

		taskYIELD();
	}
}
/*-----------------------------------------------------------*/

static void prvLowerPriorityNormallyFullTask( void *pvParameters )
{
unsigned portBASE_TYPE uxValue, uxTxed = 9999;
portBASE_TYPE xQueueStatus;

	/* The parameters are not being used so avoid compiler warnings. */
	( void ) pvParameters;

	for( ;; )
	{
		if( ( xQueueStatus = xQueueSend( xNormallyFullQueue, &uxTxed, intqONE_TICK_DELAY ) ) != errQUEUE_FULL )
		{
			/* We would only expect to succeed when the higher priority task
			is suspended. */
			if( xTaskIsTaskSuspended( xHighPriorityNormallyFullTask1 ) == pdFALSE )
			{
				prvQueueAccessLogError( __LINE__ );
			}

			vTaskResume( xHighPriorityNormallyFullTask1 );
			uxLowPriorityLoops2++;
		}
		else
		{
			/* Raise our priority while we receive so we can preempt the higher
			priority task, and ensure we get the value from the queue. */
			vTaskPrioritySet( NULL, intqHIGHER_PRIORITY + 1 );

			if( xQueueReceive( xNormallyFullQueue, &uxValue, portMAX_DELAY ) != pdPASS )
			{
				prvQueueAccessLogError( __LINE__ );
			}
			else
			{
				prvRecordValue_NormallyFull( uxValue, intqLOW_PRIORITY_TASK );
			}

			vTaskPrioritySet( NULL, intqLOWER_PRIORITY );
		}
	}
}
/*-----------------------------------------------------------*/

portBASE_TYPE xFirstTimerHandler( void )
{
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE, uxRxedValue;
static unsigned portBASE_TYPE uxNextOperation = 0;

	/* Called from a timer interrupt.  Perform various read and write
	accesses on the queues. */

	uxNextOperation++;

	if( uxNextOperation & ( unsigned portBASE_TYPE ) 0x01 )
	{
		timerNORMALLY_EMPTY_TX();
		timerNORMALLY_EMPTY_TX();
		timerNORMALLY_EMPTY_TX();
	}
	else
	{
		timerNORMALLY_FULL_RX();
		timerNORMALLY_FULL_RX();
		timerNORMALLY_FULL_RX();
	}

	return xHigherPriorityTaskWoken;
}
/*-----------------------------------------------------------*/

portBASE_TYPE xSecondTimerHandler( void )
{
unsigned portBASE_TYPE uxRxedValue;
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
static unsigned portBASE_TYPE uxNextOperation = 0;

	/* Called from a timer interrupt.  Perform various read and write
	accesses on the queues. */

	uxNextOperation++;

	if( uxNextOperation & ( unsigned portBASE_TYPE ) 0x01 )
	{
		timerNORMALLY_EMPTY_TX();
		timerNORMALLY_EMPTY_TX();

		timerNORMALLY_EMPTY_RX();
		timerNORMALLY_EMPTY_RX();
	}
	else
	{
		timerNORMALLY_FULL_RX();
		timerNORMALLY_FULL_TX();
		timerNORMALLY_FULL_TX();
		timerNORMALLY_FULL_TX();
		timerNORMALLY_FULL_TX();
	}

	return xHigherPriorityTaskWoken;
}
/*-----------------------------------------------------------*/


portBASE_TYPE xAreIntQueueTasksStillRunning( void )
{
static unsigned portBASE_TYPE uxLastHighPriorityLoops1 = 0, uxLastHighPriorityLoops2 = 0, uxLastLowPriorityLoops1 = 0, uxLastLowPriorityLoops2 = 0;

	/* xErrorStatus can be set outside of this function.  This function just
	checks that all the tasks are still cycling. */

	if( uxHighPriorityLoops1 == uxLastHighPriorityLoops1 )
	{
		/* The high priority 1 task has stalled. */
		prvQueueAccessLogError( __LINE__ );
	}

	uxLastHighPriorityLoops1 = uxHighPriorityLoops1;

	if( uxHighPriorityLoops2 == uxLastHighPriorityLoops2 )
	{
		/* The high priority 2 task has stalled. */
		prvQueueAccessLogError( __LINE__ );
	}

	uxLastHighPriorityLoops2 = uxHighPriorityLoops2;

	if( uxLowPriorityLoops1 == uxLastLowPriorityLoops1 )
	{
		/* The low priority 1 task has stalled. */
		prvQueueAccessLogError( __LINE__ );
	}

	uxLastLowPriorityLoops1 = uxLowPriorityLoops1;

	if( uxLowPriorityLoops2 == uxLastLowPriorityLoops2 )
	{
		/* The low priority 2 task has stalled. */
		prvQueueAccessLogError( __LINE__ );
	}

	uxLastLowPriorityLoops2 = uxLowPriorityLoops2;

	return xErrorStatus;
}