/**
\brief Test case: TC_MutexOwnership
\details
- Create a mutex object
- Create a child thread and wait until acquires mutex
- Create a child thread that trys to release a mutex
- Only thread that obtains a mutex can release it.
*/
void TC_MutexOwnership (void) {
osThreadId ctrl_id, id[2];
/* Ensure that priority of the control thread is set to normal */
ctrl_id = osThreadGetId();
ASSERT_TRUE (osThreadSetPriority (ctrl_id, osPriorityNormal) == osOK);
/* - Create a mutex object */
G_MutexId = osMutexCreate (osMutex (Mutex_Ownership));
ASSERT_TRUE (G_MutexId != NULL);
if (G_MutexId != NULL) {
/* - Create a child thread and wait until acquires mutex */
id[0] = osThreadCreate (osThread (Th_MutexAcqLow), NULL);
ASSERT_TRUE (id[0] != NULL);
if (id[0] != NULL) {
osDelay(10);
/* - Create a child thread that trys to release a mutex */
id[1] = osThreadCreate (osThread (Th_MutexRelHigh), NULL);
ASSERT_TRUE (id[1] != NULL);
/* Terminate both threads */
if (id[1] != NULL) {
ASSERT_TRUE (osThreadTerminate (id[1]) == osOK);
}
ASSERT_TRUE (osThreadTerminate (id[0]) == osOK);
}
}
/* - Delete a mutex object */
ASSERT_TRUE (osMutexDelete (G_MutexId) == osOK);
}
/*..........................................................................*/
void QF_setRtxPrio(QActive *act, osPriority prio) {
if (act->thread == (osThreadId)0) { /* thread not started yet? */
act->osObject = (uint32_t)prio; /* store the RTX prio, see NOTE1 */
}
else {
osThreadSetPriority(act->thread, prio);
}
}
osStatus Thread::set_priority(osPriority priority) {
osStatus ret;
_mutex.lock();
ret = osThreadSetPriority(_tid, priority);
_mutex.unlock();
return ret;
}
/*----------------------------------------------------------------------------
* Main Thread
*---------------------------------------------------------------------------*/
int main (void) { /* program execution starts here */
/* Set higher priority of main thread to preempt job2 */
osThreadSetPriority(osThreadGetId(), osPriorityAboveNormal);
thread1_id = osThreadCreate(osThread(job1),NULL); /* create thread1 */
thread2_id = osThreadCreate(osThread(job2),NULL); /* create thread2 */
thread3_id = osThreadCreate(osThread(job3),NULL); /* create thread3 */
while (1) { /* endless loop */
counter++; /* increment counter */
osDelay(5); /* wait for timeout: 5ms */
}
}
// Main program
int main (void) {
DAP_Setup(); // DAP Setup
USBD_Initialize(0U); // USB Device Initialization
USBD_Connect(0U); // USB Device Connect
while (!USBD_Configured(0U)); // Wait for USB Device to configure
LED_CONNECTED_OUT(1U); // Turn on Debugger Connected LED
LED_RUNNING_OUT(1U); // Turn on Target Running LED
Delayms(500U); // Wait for 500ms
LED_RUNNING_OUT(0U); // Turn off Target Running LED
LED_CONNECTED_OUT(0U); // Turn off Debugger Connected LED
// Create HID Thread
HID0_ThreadId = osThreadCreate(osThread(HID0_Thread), NULL);
osThreadSetPriority(osThreadGetId(), osPriorityIdle);
for (;;); // Endless Loop
}
/*..........................................................................*/
void QF_setRtxTicker(uint32_t period, osPriority prio) {
l_tickerPeriod = period;
osThreadSetPriority(l_tickerThreadId,
(prio != 0 ? prio : osPriorityNormal));
}
osStatus Thread::set_priority(osPriority priority) {
return osThreadSetPriority(_tid, priority);
}
/**
\brief Test case: TC_MutexPriorityInversion
\details
- Set priority of the control thread to normal
- Create low priority thread, which will acquire mutex
- Wait until low priority thread acquires mutex
- Raise priority of the control thread
- Create high priority thread, which will wait for a mutex
- Allow high priority job to wait for mutex
- Create medium priority thread
- Set priority of the control thread to be the lowest of all
- Wait until all jobs finish
- Verify thread execution order
- Thread execution order must be: Low, High, Medium
*/
void TC_MutexPriorityInversion (void) {
osThreadId ctrl_id, id[3];
osStatus stat;
osEvent evt;
uint32_t i;
/* Init execution array */
for (i = 0; i < 3; i++) {
G_ExecArr[i] = 0;
}
/* Get id of the control thread */
ctrl_id = osThreadGetId();
/* - Set priority of the control thread to normal */
stat = osThreadSetPriority (ctrl_id, osPriorityNormal);
ASSERT_TRUE (stat == osOK);
if (stat == osOK) {
/* Create a mutex object */
G_MutexId = osMutexCreate (osMutex (Mutex_PrioInv));
ASSERT_TRUE (G_MutexId != NULL);
if (G_MutexId != NULL) {
/* - Create low priority thread, which will acquire mutex */
id[0] = osThreadCreate (osThread (Th_LowPrioJob), &ctrl_id);
ASSERT_TRUE (id[0] != NULL);
if (id[0] != NULL) {
/* - Wait until low priority thread acquires mutex */
evt = osSignalWait (0x01, 100);
ASSERT_TRUE (evt.status == osEventSignal);
if (evt.status == osEventSignal) {
/* - Raise priority of the control thread */
stat = osThreadSetPriority (ctrl_id, osPriorityAboveNormal);
ASSERT_TRUE (stat == osOK);
if (stat == osOK) {
/* - Create high priority thread, which will wait for a mutex */
id[1] = osThreadCreate (osThread (Th_HighPrioJob), &ctrl_id);
ASSERT_TRUE (id[1] != NULL);
if (id[1] != NULL) {
/* - Allow high priority job to wait for mutex */
osSignalWait (0x01, 100);
/* - Create medium priority thread */
id[2] = osThreadCreate (osThread (Th_MediumPrioJob), &ctrl_id);
ASSERT_TRUE (id[2] != NULL);
if (id[2] != NULL) {
/* - Set priority of the control thread to be the lowest of all */
stat = osThreadSetPriority (ctrl_id, osPriorityLow);
ASSERT_TRUE (stat == osOK);
if (stat == osOK) {
/* Wait until all jobs finish */
evt = osSignalWait (0x0E, 100);
ASSERT_TRUE (evt.status == osEventSignal);
if (evt.status == osEventSignal) {
/* - Verify thread execution order */
ASSERT_TRUE (G_ExecArr[0] == 'L');
ASSERT_TRUE (G_ExecArr[1] == 'H');
ASSERT_TRUE (G_ExecArr[2] == 'M');
}
}
}
}
}
}
}
}
/* - Delete mutex object */
ASSERT_TRUE (osMutexDelete (G_MutexId) == osOK);
/* - Restore priority of the control thread to normal */
stat = osThreadSetPriority (ctrl_id, osPriorityNormal);
ASSERT_TRUE (stat == osOK);
}
}
/**
* Initializes the console
*/
void Task_SerialConsole(void const* args) {
const osThreadId mainID = (const osThreadId)args;
// Store the thread's ID
const osThreadId threadID = Thread::gettid();
ASSERT(threadID != nullptr);
// Store our priority so we know what to reset it to after running a command
const osPriority threadPriority = osThreadGetPriority(threadID);
// Initalize the console buffer and save the char buffer's starting address
std::shared_ptr<Console> console = Console::Instance();
// Set the console username to whoever the git author is
console->changeUser(git_head_author);
// Let everyone know we're ok
LOG(INIT,
"Serial console ready!\r\n"
" Thread ID: %u, Priority: %d",
threadID, threadPriority);
// Signal back to main and wait until we're signaled to continue
osSignalSet(mainID, MAIN_TASK_CONTINUE);
Thread::signal_wait(SUB_TASK_CONTINUE, osWaitForever);
// Display RoboJackets if we're up and running at this point during startup
console->ShowLogo();
// Print out the header to show the user we're ready for input
console->PrintHeader();
// Set the title of the terminal window
console->SetTitle("RoboJackets");
while (true) {
// Execute any active iterative command
execute_iterative_command();
// If there is a new command to handle, parse and process it
if (console->CommandReady() == true) {
// Increase the thread's priority first so we can make sure the
// scheduler will select it to run
osStatus tState =
osThreadSetPriority(threadID, osPriorityAboveNormal);
ASSERT(tState == osOK);
// Execute the command
NVIC_DisableIRQ(UART0_IRQn);
size_t rxLen = console->rxBuffer().size() + 1;
char rx[rxLen];
memcpy(rx, console->rxBuffer().c_str(), rxLen - 1);
rx[rxLen - 1] = '\0';
execute_line(rx);
NVIC_EnableIRQ(UART0_IRQn);
// Now, reset the priority of the thread to its idle state
tState = osThreadSetPriority(threadID, threadPriority);
ASSERT(tState == osOK);
console->CommandHandled();
}
// Check if a system stop is requested
if (console->IsSystemStopRequested() == true) break;
// Yield to other threads when not needing to execute anything
Thread::yield();
}
}
/*! \fn void thread0 (void const *argument)
\brief Thread definition for thread 0.
\param argument A pointer to the list of arguments.
*/
void thread0 (void const *argument)
{
if (addTraceProtected("thread0 start run") != TRACE_OK)
{
stop_cpu;
}
while (1)
{
if (addTraceProtected("thread0 take sem0 attempt") != TRACE_OK)
{
stop_cpu;
}
if ( osSemaphoreWait (sid_Semaphore0, 0) != -1 ) // no wait
{
if (addTraceProtected("thread0 take sem0 success") != TRACE_OK)
{
stop_cpu;
}
task0(); // thread code
count1Sec();
task0();
if (addTraceProtected("thread0 set priority to osPriorityLow") != TRACE_OK)
{
stop_cpu;
}
osThreadSetPriority(osThreadGetId(), osPriorityLow);
if (addTraceProtected("thread0 yields") != TRACE_OK)
{
stop_cpu;
}
osThreadYield(); // suspend thread
if (addTraceProtected("thread0 release sem0 attempt") != TRACE_OK)
{
stop_cpu;
}
if (osSemaphoreRelease (sid_Semaphore0) != osOK)
{
if (addTraceProtected("thread0 release sem0 fail") != TRACE_OK)
{
stop_cpu;
}
}
else
{
if (addTraceProtected("thread0 release sem0 success") != TRACE_OK)
{
stop_cpu;
}
}
}
else
{
if (addTraceProtected("thread0 take sem0 fail") != TRACE_OK)
{
stop_cpu;
}
}
if (addTraceProtected("thread0 set priority to osPriorityLow") != TRACE_OK)
{
stop_cpu;
}
osThreadSetPriority(osThreadGetId(), osPriorityLow);
if (addTraceProtected("thread0 yields") != TRACE_OK)
{
stop_cpu;
}
osThreadYield(); // suspend thread
if (addTraceProtected("thread0 back from yield") != TRACE_OK)
{
stop_cpu;
}
if (addTraceProtected("thread0 delete sem0") != TRACE_OK)
{
stop_cpu;
}
if (Delete_Semaphore0() != 0)
{
stop_cpu;
}
// This should terminate the current thread0 thread
if (Terminate_thread0() != 0)
{
stop_cpu;
}
}
}
/*!
\brief Thread definition for thread 2.
\param argument A pointer to the list of arguments.
*/
void thread2 (void const *argument)
{
if (addTraceProtected("thread2 start run") != TRACE_OK)
{
stop_cpu;
}
while (1)
{
if (addTraceProtected("thread2 take sem0 attempt") != TRACE_OK)
{
stop_cpu;
}
if ( osSemaphoreWait (sid_Semaphore0, osWaitForever) != -1 ) // wait forever
{
if (addTraceProtected("thread2 take sem0 success") != TRACE_OK)
{
stop_cpu;
}
task2(); // thread code
count1Sec();
task2();
if (addTraceProtected("thread2 release sem0 attempt") != TRACE_OK)
{
stop_cpu;
}
if (osSemaphoreRelease (sid_Semaphore0) != osOK)
{
if (addTraceProtected("thread2 release sem0 fail") != TRACE_OK)
{
stop_cpu;
}
}
}
else
{
if (addTraceProtected("thread2 take sem0 fail") != TRACE_OK)
{
stop_cpu;
}
}
if (addTraceProtected("thread2 set priority to osPriorityBelowNormal") != TRACE_OK)
{
stop_cpu;
}
osThreadSetPriority(osThreadGetId(), osPriorityBelowNormal);
if (addTraceProtected("thread2 yields") != TRACE_OK)
{
stop_cpu;
}
osThreadYield(); // suspend thread
if (addTraceProtected("thread2 back from yield") != TRACE_OK)
{
stop_cpu;
}
// This should terminate the current thread2 thread
if (Terminate_thread2() != 0)
{
stop_cpu;
}
}
}