|
|
|
@ -1,131 +1,131 @@
|
|
|
|
/*
|
|
|
|
/*
|
|
|
|
FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.
|
|
|
|
FreeRTOS.org V5.0.2 - Copyright (C) 2003-2008 Richard Barry.
|
|
|
|
|
|
|
|
|
|
|
|
This file is part of the FreeRTOS.org distribution.
|
|
|
|
This file is part of the FreeRTOS.org distribution.
|
|
|
|
|
|
|
|
|
|
|
|
FreeRTOS.org is free software; you can redistribute it and/or modify
|
|
|
|
FreeRTOS.org is free software; you can redistribute it and/or modify
|
|
|
|
it under the terms of the GNU General Public License as published by
|
|
|
|
it under the terms of the GNU General Public License as published by
|
|
|
|
the Free Software Foundation; either version 2 of the License, or
|
|
|
|
the Free Software Foundation; either version 2 of the License, or
|
|
|
|
(at your option) any later version.
|
|
|
|
(at your option) any later version.
|
|
|
|
|
|
|
|
|
|
|
|
FreeRTOS.org is distributed in the hope that it will be useful,
|
|
|
|
FreeRTOS.org is distributed in the hope that it will be useful,
|
|
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
|
|
GNU General Public License for more details.
|
|
|
|
GNU General Public License for more details.
|
|
|
|
|
|
|
|
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
|
|
along with FreeRTOS.org; if not, write to the Free Software
|
|
|
|
along with FreeRTOS.org; if not, write to the Free Software
|
|
|
|
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
|
|
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
|
|
|
|
|
|
|
|
|
|
A special exception to the GPL can be applied should you wish to distribute
|
|
|
|
A special exception to the GPL can be applied should you wish to distribute
|
|
|
|
a combined work that includes FreeRTOS.org, without being obliged to provide
|
|
|
|
a combined work that includes FreeRTOS.org, without being obliged to provide
|
|
|
|
the source code for any proprietary components. See the licensing section
|
|
|
|
the source code for any proprietary components. See the licensing section
|
|
|
|
of http://www.FreeRTOS.org for full details of how and when the exception
|
|
|
|
of http://www.FreeRTOS.org for full details of how and when the exception
|
|
|
|
can be applied.
|
|
|
|
can be applied.
|
|
|
|
|
|
|
|
|
|
|
|
***************************************************************************
|
|
|
|
***************************************************************************
|
|
|
|
***************************************************************************
|
|
|
|
***************************************************************************
|
|
|
|
* *
|
|
|
|
* *
|
|
|
|
* SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
|
|
|
|
* SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
|
|
|
|
* and even write all or part of your application on your behalf. *
|
|
|
|
* and even write all or part of your application on your behalf. *
|
|
|
|
* See http://www.OpenRTOS.com for details of the services we provide to *
|
|
|
|
* See http://www.OpenRTOS.com for details of the services we provide to *
|
|
|
|
* expedite your project. *
|
|
|
|
* expedite your project. *
|
|
|
|
* *
|
|
|
|
* *
|
|
|
|
***************************************************************************
|
|
|
|
***************************************************************************
|
|
|
|
***************************************************************************
|
|
|
|
***************************************************************************
|
|
|
|
|
|
|
|
|
|
|
|
Please ensure to read the configuration and relevant port sections of the
|
|
|
|
Please ensure to read the configuration and relevant port sections of the
|
|
|
|
online documentation.
|
|
|
|
online documentation.
|
|
|
|
|
|
|
|
|
|
|
|
http://www.FreeRTOS.org - Documentation, latest information, license and
|
|
|
|
http://www.FreeRTOS.org - Documentation, latest information, license and
|
|
|
|
contact details.
|
|
|
|
contact details.
|
|
|
|
|
|
|
|
|
|
|
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
|
|
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
|
|
|
critical systems.
|
|
|
|
critical systems.
|
|
|
|
|
|
|
|
|
|
|
|
http://www.OpenRTOS.com - Commercial support, development, porting,
|
|
|
|
http://www.OpenRTOS.com - Commercial support, development, porting,
|
|
|
|
licensing and training services.
|
|
|
|
licensing and training services.
|
|
|
|
*/
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
/*
|
|
|
|
The tasks defined on this page demonstrate the use of recursive mutexes.
|
|
|
|
The tasks defined on this page demonstrate the use of recursive mutexes.
|
|
|
|
|
|
|
|
|
|
|
|
For recursive mutex functionality the created mutex should be created using
|
|
|
|
For recursive mutex functionality the created mutex should be created using
|
|
|
|
xSemaphoreCreateRecursiveMutex(), then be manipulated
|
|
|
|
xSemaphoreCreateRecursiveMutex(), then be manipulated
|
|
|
|
using the xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() API
|
|
|
|
using the xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() API
|
|
|
|
functions.
|
|
|
|
functions.
|
|
|
|
|
|
|
|
|
|
|
|
This demo creates three tasks all of which access the same recursive mutex:
|
|
|
|
This demo creates three tasks all of which access the same recursive mutex:
|
|
|
|
|
|
|
|
|
|
|
|
prvRecursiveMutexControllingTask() has the highest priority so executes
|
|
|
|
prvRecursiveMutexControllingTask() has the highest priority so executes
|
|
|
|
first and grabs the mutex. It then performs some recursive accesses -
|
|
|
|
first and grabs the mutex. It then performs some recursive accesses -
|
|
|
|
between each of which it sleeps for a short period to let the lower
|
|
|
|
between each of which it sleeps for a short period to let the lower
|
|
|
|
priority tasks execute. When it has completed its demo functionality
|
|
|
|
priority tasks execute. When it has completed its demo functionality
|
|
|
|
it gives the mutex back before suspending itself.
|
|
|
|
it gives the mutex back before suspending itself.
|
|
|
|
|
|
|
|
|
|
|
|
prvRecursiveMutexBlockingTask() attempts to access the mutex by performing
|
|
|
|
prvRecursiveMutexBlockingTask() attempts to access the mutex by performing
|
|
|
|
a blocking 'take'. The blocking task has a lower priority than the
|
|
|
|
a blocking 'take'. The blocking task has a lower priority than the
|
|
|
|
controlling task so by the time it executes the mutex has already been
|
|
|
|
controlling task so by the time it executes the mutex has already been
|
|
|
|
taken by the controlling task, causing the blocking task to block. It
|
|
|
|
taken by the controlling task, causing the blocking task to block. It
|
|
|
|
does not unblock until the controlling task has given the mutex back,
|
|
|
|
does not unblock until the controlling task has given the mutex back,
|
|
|
|
and it does not actually run until the controlling task has suspended
|
|
|
|
and it does not actually run until the controlling task has suspended
|
|
|
|
itself (due to the relative priorities). When it eventually does obtain
|
|
|
|
itself (due to the relative priorities). When it eventually does obtain
|
|
|
|
the mutex all it does is give the mutex back prior to also suspending
|
|
|
|
the mutex all it does is give the mutex back prior to also suspending
|
|
|
|
itself. At this point both the controlling task and the blocking task are
|
|
|
|
itself. At this point both the controlling task and the blocking task are
|
|
|
|
suspended.
|
|
|
|
suspended.
|
|
|
|
|
|
|
|
|
|
|
|
prvRecursiveMutexPollingTask() runs at the idle priority. It spins round
|
|
|
|
prvRecursiveMutexPollingTask() runs at the idle priority. It spins round
|
|
|
|
a tight loop attempting to obtain the mutex with a non-blocking call. As
|
|
|
|
a tight loop attempting to obtain the mutex with a non-blocking call. As
|
|
|
|
the lowest priority task it will not successfully obtain the mutex until
|
|
|
|
the lowest priority task it will not successfully obtain the mutex until
|
|
|
|
both the controlling and blocking tasks are suspended. Once it eventually
|
|
|
|
both the controlling and blocking tasks are suspended. Once it eventually
|
|
|
|
does obtain the mutex it first unsuspends both the controlling task and
|
|
|
|
does obtain the mutex it first unsuspends both the controlling task and
|
|
|
|
blocking task prior to giving the mutex back - resulting in the polling
|
|
|
|
blocking task prior to giving the mutex back - resulting in the polling
|
|
|
|
task temporarily inheriting the controlling tasks priority.
|
|
|
|
task temporarily inheriting the controlling tasks priority.
|
|
|
|
*/
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
|
|
/* Scheduler include files. */
|
|
|
|
/* Scheduler include files. */
|
|
|
|
#include "FreeRTOS.h"
|
|
|
|
#include "FreeRTOS.h"
|
|
|
|
#include "task.h"
|
|
|
|
#include "task.h"
|
|
|
|
#include "semphr.h"
|
|
|
|
#include "semphr.h"
|
|
|
|
|
|
|
|
|
|
|
|
/* Demo app include files. */
|
|
|
|
/* Demo app include files. */
|
|
|
|
#include "recmutex.h"
|
|
|
|
#include "recmutex.h"
|
|
|
|
|
|
|
|
|
|
|
|
/* Priorities assigned to the three tasks. */
|
|
|
|
/* Priorities assigned to the three tasks. */
|
|
|
|
#define recmuCONTROLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
|
|
|
|
#define recmuCONTROLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
|
|
|
|
#define recmuBLOCKING_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
|
|
|
|
#define recmuBLOCKING_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
|
|
|
|
#define recmuPOLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 0 )
|
|
|
|
#define recmuPOLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 0 )
|
|
|
|
|
|
|
|
|
|
|
|
/* The recursive call depth. */
|
|
|
|
/* The recursive call depth. */
|
|
|
|
#define recmuMAX_COUNT ( 10 )
|
|
|
|
#define recmuMAX_COUNT ( 10 )
|
|
|
|
|
|
|
|
|
|
|
|
/* Misc. */
|
|
|
|
/* Misc. */
|
|
|
|
#define recmuSHORT_DELAY ( 20 / portTICK_RATE_MS )
|
|
|
|
#define recmuSHORT_DELAY ( 20 / portTICK_RATE_MS )
|
|
|
|
#define recmuNO_DELAY ( ( portTickType ) 0 )
|
|
|
|
#define recmuNO_DELAY ( ( portTickType ) 0 )
|
|
|
|
#define recmuTWO_TICK_DELAY ( ( portTickType ) 2 )
|
|
|
|
#define recmuTWO_TICK_DELAY ( ( portTickType ) 2 )
|
|
|
|
|
|
|
|
|
|
|
|
/* The three tasks as described at the top of this file. */
|
|
|
|
/* The three tasks as described at the top of this file. */
|
|
|
|
static void prvRecursiveMutexControllingTask( void *pvParameters );
|
|
|
|
static void prvRecursiveMutexControllingTask( void *pvParameters );
|
|
|
|
static void prvRecursiveMutexBlockingTask( void *pvParameters );
|
|
|
|
static void prvRecursiveMutexBlockingTask( void *pvParameters );
|
|
|
|
static void prvRecursiveMutexPollingTask( void *pvParameters );
|
|
|
|
static void prvRecursiveMutexPollingTask( void *pvParameters );
|
|
|
|
|
|
|
|
|
|
|
|
/* The mutex used by the demo. */
|
|
|
|
/* The mutex used by the demo. */
|
|
|
|
static xSemaphoreHandle xMutex;
|
|
|
|
static xSemaphoreHandle xMutex;
|
|
|
|
|
|
|
|
|
|
|
|
/* Variables used to detect and latch errors. */
|
|
|
|
/* Variables used to detect and latch errors. */
|
|
|
|
static volatile portBASE_TYPE xErrorOccurred = pdFALSE, xControllingIsSuspended = pdFALSE, xBlockingIsSuspended = pdFALSE;
|
|
|
|
static volatile portBASE_TYPE xErrorOccurred = pdFALSE, xControllingIsSuspended = pdFALSE, xBlockingIsSuspended = pdFALSE;
|
|
|
|
static volatile unsigned portBASE_TYPE uxControllingCycles = 0, uxBlockingCycles, uxPollingCycles = 0;
|
|
|
|
static volatile unsigned portBASE_TYPE uxControllingCycles = 0, uxBlockingCycles, uxPollingCycles = 0;
|
|
|
|
|
|
|
|
|
|
|
|
/* Handles of the two higher priority tasks, required so they can be resumed
|
|
|
|
/* Handles of the two higher priority tasks, required so they can be resumed
|
|
|
|
(unsuspended). */
|
|
|
|
(unsuspended). */
|
|
|
|
static xTaskHandle xControllingTaskHandle, xBlockingTaskHandle;
|
|
|
|
static xTaskHandle xControllingTaskHandle, xBlockingTaskHandle;
|
|
|
|
|
|
|
|
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
|
|
|
|
|
|
|
|
void vStartRecursiveMutexTasks( void )
|
|
|
|
void vStartRecursiveMutexTasks( void )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
/* Just creates the mutex and the three tasks. */
|
|
|
|
/* Just creates the mutex and the three tasks. */
|
|
|
|
|
|
|
|
|
|
|
|
xMutex = xSemaphoreCreateRecursiveMutex();
|
|
|
|
xMutex = xSemaphoreCreateRecursiveMutex();
|
|
|
|
|
|
|
|
|
|
|
|
/* vQueueAddToRegistry() adds the mutex to the registry, if one is
|
|
|
|
/* vQueueAddToRegistry() adds the mutex to the registry, if one is
|
|
|
|
@ -135,231 +135,231 @@ void vStartRecursiveMutexTasks( void )
|
|
|
|
by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
|
|
|
|
by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
|
|
|
|
defined to be less than 1. */
|
|
|
|
defined to be less than 1. */
|
|
|
|
vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Recursive_Mutex" );
|
|
|
|
vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Recursive_Mutex" );
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if( xMutex != NULL )
|
|
|
|
if( xMutex != NULL )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
xTaskCreate( prvRecursiveMutexControllingTask, ( signed portCHAR * ) "Rec1", configMINIMAL_STACK_SIZE, NULL, recmuCONTROLLING_TASK_PRIORITY, &xControllingTaskHandle );
|
|
|
|
xTaskCreate( prvRecursiveMutexControllingTask, ( signed portCHAR * ) "Rec1", configMINIMAL_STACK_SIZE, NULL, recmuCONTROLLING_TASK_PRIORITY, &xControllingTaskHandle );
|
|
|
|
xTaskCreate( prvRecursiveMutexBlockingTask, ( signed portCHAR * ) "Rec2", configMINIMAL_STACK_SIZE, NULL, recmuBLOCKING_TASK_PRIORITY, &xBlockingTaskHandle );
|
|
|
|
xTaskCreate( prvRecursiveMutexBlockingTask, ( signed portCHAR * ) "Rec2", configMINIMAL_STACK_SIZE, NULL, recmuBLOCKING_TASK_PRIORITY, &xBlockingTaskHandle );
|
|
|
|
xTaskCreate( prvRecursiveMutexPollingTask, ( signed portCHAR * ) "Rec3", configMINIMAL_STACK_SIZE, NULL, recmuPOLLING_TASK_PRIORITY, NULL );
|
|
|
|
xTaskCreate( prvRecursiveMutexPollingTask, ( signed portCHAR * ) "Rec3", configMINIMAL_STACK_SIZE, NULL, recmuPOLLING_TASK_PRIORITY, NULL );
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
|
|
|
|
|
|
|
|
static void prvRecursiveMutexControllingTask( void *pvParameters )
|
|
|
|
static void prvRecursiveMutexControllingTask( void *pvParameters )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
unsigned portBASE_TYPE ux;
|
|
|
|
unsigned portBASE_TYPE ux;
|
|
|
|
|
|
|
|
|
|
|
|
/* Just to remove compiler warning. */
|
|
|
|
/* Just to remove compiler warning. */
|
|
|
|
( void ) pvParameters;
|
|
|
|
( void ) pvParameters;
|
|
|
|
|
|
|
|
|
|
|
|
for( ;; )
|
|
|
|
for( ;; )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
/* Should not be able to 'give' the mutex, as we have not yet 'taken'
|
|
|
|
/* Should not be able to 'give' the mutex, as we have not yet 'taken'
|
|
|
|
it. */
|
|
|
|
it. */
|
|
|
|
if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )
|
|
|
|
if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
for( ux = 0; ux < recmuMAX_COUNT; ux++ )
|
|
|
|
for( ux = 0; ux < recmuMAX_COUNT; ux++ )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
/* We should now be able to take the mutex as many times as
|
|
|
|
/* We should now be able to take the mutex as many times as
|
|
|
|
we like. A one tick delay is used so the polling task will
|
|
|
|
we like. A one tick delay is used so the polling task will
|
|
|
|
inherit our priority on all but the first cycle of this task.
|
|
|
|
inherit our priority on all but the first cycle of this task.
|
|
|
|
If we did not block attempting to receive the mutex then no
|
|
|
|
If we did not block attempting to receive the mutex then no
|
|
|
|
priority inheritance would occur. */
|
|
|
|
priority inheritance would occur. */
|
|
|
|
if( xSemaphoreTakeRecursive( xMutex, recmuTWO_TICK_DELAY ) != pdPASS )
|
|
|
|
if( xSemaphoreTakeRecursive( xMutex, recmuTWO_TICK_DELAY ) != pdPASS )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/* Ensure the other task attempting to access the mutex (and the
|
|
|
|
/* Ensure the other task attempting to access the mutex (and the
|
|
|
|
other demo tasks) are able to execute. */
|
|
|
|
other demo tasks) are able to execute. */
|
|
|
|
vTaskDelay( recmuSHORT_DELAY );
|
|
|
|
vTaskDelay( recmuSHORT_DELAY );
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/* For each time we took the mutex, give it back. */
|
|
|
|
/* For each time we took the mutex, give it back. */
|
|
|
|
for( ux = 0; ux < recmuMAX_COUNT; ux++ )
|
|
|
|
for( ux = 0; ux < recmuMAX_COUNT; ux++ )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
/* Ensure the other task attempting to access the mutex (and the
|
|
|
|
/* Ensure the other task attempting to access the mutex (and the
|
|
|
|
other demo tasks) are able to execute. */
|
|
|
|
other demo tasks) are able to execute. */
|
|
|
|
vTaskDelay( recmuSHORT_DELAY );
|
|
|
|
vTaskDelay( recmuSHORT_DELAY );
|
|
|
|
|
|
|
|
|
|
|
|
/* We should now be able to give the mutex as many times as we
|
|
|
|
/* We should now be able to give the mutex as many times as we
|
|
|
|
took it. */
|
|
|
|
took it. */
|
|
|
|
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
|
|
|
|
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/* Having given it back the same number of times as it was taken, we
|
|
|
|
/* Having given it back the same number of times as it was taken, we
|
|
|
|
should no longer be the mutex owner, so the next give sh ould fail. */
|
|
|
|
should no longer be the mutex owner, so the next give sh ould fail. */
|
|
|
|
if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )
|
|
|
|
if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/* Keep count of the number of cycles this task has performed so a
|
|
|
|
/* Keep count of the number of cycles this task has performed so a
|
|
|
|
stall can be detected. */
|
|
|
|
stall can be detected. */
|
|
|
|
uxControllingCycles++;
|
|
|
|
uxControllingCycles++;
|
|
|
|
|
|
|
|
|
|
|
|
/* Suspend ourselves to the blocking task can execute. */
|
|
|
|
/* Suspend ourselves to the blocking task can execute. */
|
|
|
|
xControllingIsSuspended = pdTRUE;
|
|
|
|
xControllingIsSuspended = pdTRUE;
|
|
|
|
vTaskSuspend( NULL );
|
|
|
|
vTaskSuspend( NULL );
|
|
|
|
xControllingIsSuspended = pdFALSE;
|
|
|
|
xControllingIsSuspended = pdFALSE;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
|
|
|
|
|
|
|
|
static void prvRecursiveMutexBlockingTask( void *pvParameters )
|
|
|
|
static void prvRecursiveMutexBlockingTask( void *pvParameters )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
/* Just to remove compiler warning. */
|
|
|
|
/* Just to remove compiler warning. */
|
|
|
|
( void ) pvParameters;
|
|
|
|
( void ) pvParameters;
|
|
|
|
|
|
|
|
|
|
|
|
for( ;; )
|
|
|
|
for( ;; )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
/* Attempt to obtain the mutex. We should block until the
|
|
|
|
/* Attempt to obtain the mutex. We should block until the
|
|
|
|
controlling task has given up the mutex, and not actually execute
|
|
|
|
controlling task has given up the mutex, and not actually execute
|
|
|
|
past this call until the controlling task is suspended. */
|
|
|
|
past this call until the controlling task is suspended. */
|
|
|
|
if( xSemaphoreTakeRecursive( xMutex, portMAX_DELAY ) == pdPASS )
|
|
|
|
if( xSemaphoreTakeRecursive( xMutex, portMAX_DELAY ) == pdPASS )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
if( xControllingIsSuspended != pdTRUE )
|
|
|
|
if( xControllingIsSuspended != pdTRUE )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
/* Did not expect to execute until the controlling task was
|
|
|
|
/* Did not expect to execute until the controlling task was
|
|
|
|
suspended. */
|
|
|
|
suspended. */
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else
|
|
|
|
else
|
|
|
|
{
|
|
|
|
{
|
|
|
|
/* Give the mutex back before suspending ourselves to allow
|
|
|
|
/* Give the mutex back before suspending ourselves to allow
|
|
|
|
the polling task to obtain the mutex. */
|
|
|
|
the polling task to obtain the mutex. */
|
|
|
|
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
|
|
|
|
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
xBlockingIsSuspended = pdTRUE;
|
|
|
|
xBlockingIsSuspended = pdTRUE;
|
|
|
|
vTaskSuspend( NULL );
|
|
|
|
vTaskSuspend( NULL );
|
|
|
|
xBlockingIsSuspended = pdFALSE;
|
|
|
|
xBlockingIsSuspended = pdFALSE;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else
|
|
|
|
else
|
|
|
|
{
|
|
|
|
{
|
|
|
|
/* We should not leave the xSemaphoreTakeRecursive() function
|
|
|
|
/* We should not leave the xSemaphoreTakeRecursive() function
|
|
|
|
until the mutex was obtained. */
|
|
|
|
until the mutex was obtained. */
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/* The controlling and blocking tasks should be in lock step. */
|
|
|
|
/* The controlling and blocking tasks should be in lock step. */
|
|
|
|
if( uxControllingCycles != ( uxBlockingCycles + 1 ) )
|
|
|
|
if( uxControllingCycles != ( uxBlockingCycles + 1 ) )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/* Keep count of the number of cycles this task has performed so a
|
|
|
|
/* Keep count of the number of cycles this task has performed so a
|
|
|
|
stall can be detected. */
|
|
|
|
stall can be detected. */
|
|
|
|
uxBlockingCycles++;
|
|
|
|
uxBlockingCycles++;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
|
|
|
|
|
|
|
|
static void prvRecursiveMutexPollingTask( void *pvParameters )
|
|
|
|
static void prvRecursiveMutexPollingTask( void *pvParameters )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
/* Just to remove compiler warning. */
|
|
|
|
/* Just to remove compiler warning. */
|
|
|
|
( void ) pvParameters;
|
|
|
|
( void ) pvParameters;
|
|
|
|
|
|
|
|
|
|
|
|
for( ;; )
|
|
|
|
for( ;; )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
/* Keep attempting to obtain the mutex. We should only obtain it when
|
|
|
|
/* Keep attempting to obtain the mutex. We should only obtain it when
|
|
|
|
the blocking task has suspended itself. */
|
|
|
|
the blocking task has suspended itself. */
|
|
|
|
if( xSemaphoreTakeRecursive( xMutex, recmuNO_DELAY ) == pdPASS )
|
|
|
|
if( xSemaphoreTakeRecursive( xMutex, recmuNO_DELAY ) == pdPASS )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
/* Is the blocking task suspended? */
|
|
|
|
/* Is the blocking task suspended? */
|
|
|
|
if( xBlockingIsSuspended != pdTRUE )
|
|
|
|
if( xBlockingIsSuspended != pdTRUE )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else
|
|
|
|
else
|
|
|
|
{
|
|
|
|
{
|
|
|
|
/* Keep count of the number of cycles this task has performed so
|
|
|
|
/* Keep count of the number of cycles this task has performed so
|
|
|
|
a stall can be detected. */
|
|
|
|
a stall can be detected. */
|
|
|
|
uxPollingCycles++;
|
|
|
|
uxPollingCycles++;
|
|
|
|
|
|
|
|
|
|
|
|
/* We can resume the other tasks here even though they have a
|
|
|
|
/* We can resume the other tasks here even though they have a
|
|
|
|
higher priority than the polling task. When they execute they
|
|
|
|
higher priority than the polling task. When they execute they
|
|
|
|
will attempt to obtain the mutex but fail because the polling
|
|
|
|
will attempt to obtain the mutex but fail because the polling
|
|
|
|
task is still the mutex holder. The polling task (this task)
|
|
|
|
task is still the mutex holder. The polling task (this task)
|
|
|
|
will then inherit the higher priority. */
|
|
|
|
will then inherit the higher priority. */
|
|
|
|
vTaskResume( xBlockingTaskHandle );
|
|
|
|
vTaskResume( xBlockingTaskHandle );
|
|
|
|
vTaskResume( xControllingTaskHandle );
|
|
|
|
vTaskResume( xControllingTaskHandle );
|
|
|
|
|
|
|
|
|
|
|
|
/* Release the mutex, disinheriting the higher priority again. */
|
|
|
|
/* Release the mutex, disinheriting the higher priority again. */
|
|
|
|
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
|
|
|
|
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#if configUSE_PREEMPTION == 0
|
|
|
|
#if configUSE_PREEMPTION == 0
|
|
|
|
{
|
|
|
|
{
|
|
|
|
taskYIELD();
|
|
|
|
taskYIELD();
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
|
|
|
|
|
|
|
|
/* This is called to check that all the created tasks are still running. */
|
|
|
|
/* This is called to check that all the created tasks are still running. */
|
|
|
|
portBASE_TYPE xAreRecursiveMutexTasksStillRunning( void )
|
|
|
|
portBASE_TYPE xAreRecursiveMutexTasksStillRunning( void )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
portBASE_TYPE xReturn;
|
|
|
|
portBASE_TYPE xReturn;
|
|
|
|
static unsigned portBASE_TYPE uxLastControllingCycles = 0, uxLastBlockingCycles = 0, uxLastPollingCycles = 0;
|
|
|
|
static unsigned portBASE_TYPE uxLastControllingCycles = 0, uxLastBlockingCycles = 0, uxLastPollingCycles = 0;
|
|
|
|
|
|
|
|
|
|
|
|
/* Is the controlling task still cycling? */
|
|
|
|
/* Is the controlling task still cycling? */
|
|
|
|
if( uxLastControllingCycles == uxControllingCycles )
|
|
|
|
if( uxLastControllingCycles == uxControllingCycles )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else
|
|
|
|
else
|
|
|
|
{
|
|
|
|
{
|
|
|
|
uxLastControllingCycles = uxControllingCycles;
|
|
|
|
uxLastControllingCycles = uxControllingCycles;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/* Is the blocking task still cycling? */
|
|
|
|
/* Is the blocking task still cycling? */
|
|
|
|
if( uxLastBlockingCycles == uxBlockingCycles )
|
|
|
|
if( uxLastBlockingCycles == uxBlockingCycles )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else
|
|
|
|
else
|
|
|
|
{
|
|
|
|
{
|
|
|
|
uxLastBlockingCycles = uxBlockingCycles;
|
|
|
|
uxLastBlockingCycles = uxBlockingCycles;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/* Is the polling task still cycling? */
|
|
|
|
/* Is the polling task still cycling? */
|
|
|
|
if( uxLastPollingCycles == uxPollingCycles )
|
|
|
|
if( uxLastPollingCycles == uxPollingCycles )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
xErrorOccurred = pdTRUE;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else
|
|
|
|
else
|
|
|
|
{
|
|
|
|
{
|
|
|
|
uxLastPollingCycles = uxPollingCycles;
|
|
|
|
uxLastPollingCycles = uxPollingCycles;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if( xErrorOccurred == pdTRUE )
|
|
|
|
if( xErrorOccurred == pdTRUE )
|
|
|
|
{
|
|
|
|
{
|
|
|
|
xReturn = pdFAIL;
|
|
|
|
xReturn = pdFAIL;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else
|
|
|
|
else
|
|
|
|
{
|
|
|
|
{
|
|
|
|
xReturn = pdTRUE;
|
|
|
|
xReturn = pdTRUE;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
return xReturn;
|
|
|
|
return xReturn;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Richard Barry
17 years ago