/* | |
FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
This file is part of the FreeRTOS distribution. | |
FreeRTOS is free software; you can redistribute it and/or modify it under | |
the terms of the GNU General Public License (version 2) as published by the | |
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. | |
*************************************************************************** | |
>>! NOTE: The modification to the GPL is included to allow you to !<< | |
>>! distribute a combined work that includes FreeRTOS without being !<< | |
>>! obliged to provide the source code for proprietary components !<< | |
>>! outside of the FreeRTOS kernel. !<< | |
*************************************************************************** | |
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY | |
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS | |
FOR A PARTICULAR PURPOSE. Full license text is available on the following | |
link: http://www.freertos.org/a00114.html | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that is more than just the market leader, it * | |
* is the industry's de facto standard. * | |
* * | |
* Help yourself get started quickly while simultaneously helping * | |
* to support the FreeRTOS project by purchasing a FreeRTOS * | |
* tutorial book, reference manual, or both: * | |
* http://www.FreeRTOS.org/Documentation * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading | |
the FAQ page "My application does not run, what could be wrong?". Have you | |
defined configASSERT()? | |
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mission critical applications that require provable dependability. | |
1 tab == 4 spaces! | |
*/ | |
/* | |
The tasks defined on this page demonstrate the use of recursive mutexes. | |
For recursive mutex functionality the created mutex should be created using | |
xSemaphoreCreateRecursiveMutex(), then be manipulated | |
using the xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() API | |
functions. | |
This demo creates three tasks all of which access the same recursive mutex: | |
prvRecursiveMutexControllingTask() has the highest priority so executes | |
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 | |
priority tasks execute. When it has completed its demo functionality | |
it gives the mutex back before suspending itself. | |
prvRecursiveMutexBlockingTask() attempts to access the mutex by performing | |
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 | |
taken by the controlling task, causing the blocking task to block. It | |
does not unblock until the controlling task has given the mutex back, | |
and it does not actually run until the controlling task has suspended | |
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 | |
itself. At this point both the controlling task and the blocking task are | |
suspended. | |
prvRecursiveMutexPollingTask() runs at the idle priority. It spins round | |
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 | |
both the controlling and blocking tasks are suspended. Once it eventually | |
does obtain the mutex it first unsuspends both the controlling task and | |
blocking task prior to giving the mutex back - resulting in the polling | |
task temporarily inheriting the controlling tasks priority. | |
*/ | |
/* Scheduler include files. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "semphr.h" | |
/* Demo app include files. */ | |
#include "recmutex.h" | |
/* Priorities assigned to the three tasks. recmuCONTROLLING_TASK_PRIORITY can | |
be overridden by a definition in FreeRTOSConfig.h. */ | |
#ifndef recmuCONTROLLING_TASK_PRIORITY | |
#define recmuCONTROLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#endif | |
#define recmuBLOCKING_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define recmuPOLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 0 ) | |
/* The recursive call depth. */ | |
#define recmuMAX_COUNT ( 10 ) | |
/* Misc. */ | |
#define recmuSHORT_DELAY ( pdMS_TO_TICKS( 20 ) ) | |
#define recmuNO_DELAY ( ( TickType_t ) 0 ) | |
#define recmuEIGHT_TICK_DELAY ( ( TickType_t ) 8 ) | |
/* The three tasks as described at the top of this file. */ | |
static void prvRecursiveMutexControllingTask( void *pvParameters ); | |
static void prvRecursiveMutexBlockingTask( void *pvParameters ); | |
static void prvRecursiveMutexPollingTask( void *pvParameters ); | |
/* The mutex used by the demo. */ | |
static SemaphoreHandle_t xMutex; | |
/* Variables used to detect and latch errors. */ | |
static volatile BaseType_t xErrorOccurred = pdFALSE, xControllingIsSuspended = pdFALSE, xBlockingIsSuspended = pdFALSE; | |
static volatile UBaseType_t uxControllingCycles = 0, uxBlockingCycles = 0, uxPollingCycles = 0; | |
/* Handles of the two higher priority tasks, required so they can be resumed | |
(unsuspended). */ | |
static TaskHandle_t xControllingTaskHandle, xBlockingTaskHandle; | |
/*-----------------------------------------------------------*/ | |
void vStartRecursiveMutexTasks( void ) | |
{ | |
/* Just creates the mutex and the three tasks. */ | |
xMutex = xSemaphoreCreateRecursiveMutex(); | |
/* vQueueAddToRegistry() adds the mutex to the registry, if one is | |
in use. The registry is provided as a means for kernel aware | |
debuggers to locate mutex and has no purpose if a kernel aware debugger | |
is not being used. The call to vQueueAddToRegistry() will be removed | |
by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is | |
defined to be less than 1. */ | |
vQueueAddToRegistry( ( QueueHandle_t ) xMutex, "Recursive_Mutex" ); | |
if( xMutex != NULL ) | |
{ | |
xTaskCreate( prvRecursiveMutexControllingTask, "Rec1", configMINIMAL_STACK_SIZE, NULL, recmuCONTROLLING_TASK_PRIORITY, &xControllingTaskHandle ); | |
xTaskCreate( prvRecursiveMutexBlockingTask, "Rec2", configMINIMAL_STACK_SIZE, NULL, recmuBLOCKING_TASK_PRIORITY, &xBlockingTaskHandle ); | |
xTaskCreate( prvRecursiveMutexPollingTask, "Rec3", configMINIMAL_STACK_SIZE, NULL, recmuPOLLING_TASK_PRIORITY, NULL ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvRecursiveMutexControllingTask( void *pvParameters ) | |
{ | |
UBaseType_t ux; | |
/* Just to remove compiler warning. */ | |
( void ) pvParameters; | |
for( ;; ) | |
{ | |
/* Should not be able to 'give' the mutex, as we have not yet 'taken' | |
it. The first time through, the mutex will not have been used yet, | |
subsequent times through, at this point the mutex will be held by the | |
polling task. */ | |
if( xSemaphoreGiveRecursive( xMutex ) == pdPASS ) | |
{ | |
xErrorOccurred = pdTRUE; | |
} | |
for( ux = 0; ux < recmuMAX_COUNT; ux++ ) | |
{ | |
/* We should now be able to take the mutex as many times as | |
we like. | |
The first time through the mutex will be immediately available, on | |
subsequent times through the mutex will be held by the polling task | |
at this point and this Take will cause the polling task to inherit | |
the priority of this task. In this case the block time must be | |
long enough to ensure the polling task will execute again before the | |
block time expires. If the block time does expire then the error | |
flag will be set here. */ | |
if( xSemaphoreTakeRecursive( xMutex, recmuEIGHT_TICK_DELAY ) != pdPASS ) | |
{ | |
xErrorOccurred = pdTRUE; | |
} | |
/* Ensure the other task attempting to access the mutex (and the | |
other demo tasks) are able to execute to ensure they either block | |
(where a block time is specified) or return an error (where no | |
block time is specified) as the mutex is held by this task. */ | |
vTaskDelay( recmuSHORT_DELAY ); | |
} | |
/* For each time we took the mutex, give it back. */ | |
for( ux = 0; ux < recmuMAX_COUNT; ux++ ) | |
{ | |
/* Ensure the other task attempting to access the mutex (and the | |
other demo tasks) are able to execute. */ | |
vTaskDelay( recmuSHORT_DELAY ); | |
/* We should now be able to give the mutex as many times as we | |
took it. When the mutex is available again the Blocking task | |
should be unblocked but not run because it has a lower priority | |
than this task. The polling task should also not run at this point | |
as it too has a lower priority than this task. */ | |
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS ) | |
{ | |
xErrorOccurred = pdTRUE; | |
} | |
#if( configUSE_PREEMPTION == 0 ) | |
taskYIELD(); | |
#endif | |
} | |
/* 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 should fail. */ | |
if( xSemaphoreGiveRecursive( xMutex ) == pdPASS ) | |
{ | |
xErrorOccurred = pdTRUE; | |
} | |
/* Keep count of the number of cycles this task has performed so a | |
stall can be detected. */ | |
uxControllingCycles++; | |
/* Suspend ourselves so the blocking task can execute. */ | |
xControllingIsSuspended = pdTRUE; | |
vTaskSuspend( NULL ); | |
xControllingIsSuspended = pdFALSE; | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvRecursiveMutexBlockingTask( void *pvParameters ) | |
{ | |
/* Just to remove compiler warning. */ | |
( void ) pvParameters; | |
for( ;; ) | |
{ | |
/* This task will run while the controlling task is blocked, and the | |
controlling task will block only once it has the mutex - therefore | |
this call should block until the controlling task has given up the | |
mutex, and not actually execute past this call until the controlling | |
task is suspended. portMAX_DELAY - 1 is used instead of portMAX_DELAY | |
to ensure the task's state is reported as Blocked and not Suspended in | |
a later call to configASSERT() (within the polling task). */ | |
if( xSemaphoreTakeRecursive( xMutex, ( portMAX_DELAY - 1 ) ) == pdPASS ) | |
{ | |
if( xControllingIsSuspended != pdTRUE ) | |
{ | |
/* Did not expect to execute until the controlling task was | |
suspended. */ | |
xErrorOccurred = pdTRUE; | |
} | |
else | |
{ | |
/* Give the mutex back before suspending ourselves to allow | |
the polling task to obtain the mutex. */ | |
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS ) | |
{ | |
xErrorOccurred = pdTRUE; | |
} | |
xBlockingIsSuspended = pdTRUE; | |
vTaskSuspend( NULL ); | |
xBlockingIsSuspended = pdFALSE; | |
} | |
} | |
else | |
{ | |
/* We should not leave the xSemaphoreTakeRecursive() function | |
until the mutex was obtained. */ | |
xErrorOccurred = pdTRUE; | |
} | |
/* The controlling and blocking tasks should be in lock step. */ | |
if( uxControllingCycles != ( uxBlockingCycles + 1 ) ) | |
{ | |
xErrorOccurred = pdTRUE; | |
} | |
/* Keep count of the number of cycles this task has performed so a | |
stall can be detected. */ | |
uxBlockingCycles++; | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvRecursiveMutexPollingTask( void *pvParameters ) | |
{ | |
/* Just to remove compiler warning. */ | |
( void ) pvParameters; | |
for( ;; ) | |
{ | |
/* Keep attempting to obtain the mutex. We should only obtain it when | |
the blocking task has suspended itself, which in turn should only | |
happen when the controlling task is also suspended. */ | |
if( xSemaphoreTakeRecursive( xMutex, recmuNO_DELAY ) == pdPASS ) | |
{ | |
#if( INCLUDE_eTaskGetState == 1 ) | |
{ | |
configASSERT( eTaskGetState( xControllingTaskHandle ) == eSuspended ); | |
configASSERT( eTaskGetState( xBlockingTaskHandle ) == eSuspended ); | |
} | |
#endif /* INCLUDE_eTaskGetState */ | |
/* Is the blocking task suspended? */ | |
if( ( xBlockingIsSuspended != pdTRUE ) || ( xControllingIsSuspended != pdTRUE ) ) | |
{ | |
xErrorOccurred = pdTRUE; | |
} | |
else | |
{ | |
/* Keep count of the number of cycles this task has performed | |
so a stall can be detected. */ | |
uxPollingCycles++; | |
/* We can resume the other tasks here even though they have a | |
higher priority than the polling task. When they execute they | |
will attempt to obtain the mutex but fail because the polling | |
task is still the mutex holder. The polling task (this task) | |
will then inherit the higher priority. The Blocking task will | |
block indefinitely when it attempts to obtain the mutex, the | |
Controlling task will only block for a fixed period and an | |
error will be latched if the polling task has not returned the | |
mutex by the time this fixed period has expired. */ | |
vTaskResume( xBlockingTaskHandle ); | |
#if( configUSE_PREEMPTION == 0 ) | |
taskYIELD(); | |
#endif | |
vTaskResume( xControllingTaskHandle ); | |
#if( configUSE_PREEMPTION == 0 ) | |
taskYIELD(); | |
#endif | |
/* The other two tasks should now have executed and no longer | |
be suspended. */ | |
if( ( xBlockingIsSuspended == pdTRUE ) || ( xControllingIsSuspended == pdTRUE ) ) | |
{ | |
xErrorOccurred = pdTRUE; | |
} | |
#if( INCLUDE_uxTaskPriorityGet == 1 ) | |
{ | |
/* Check priority inherited. */ | |
configASSERT( uxTaskPriorityGet( NULL ) == recmuCONTROLLING_TASK_PRIORITY ); | |
} | |
#endif /* INCLUDE_uxTaskPriorityGet */ | |
#if( INCLUDE_eTaskGetState == 1 ) | |
{ | |
configASSERT( eTaskGetState( xControllingTaskHandle ) == eBlocked ); | |
configASSERT( eTaskGetState( xBlockingTaskHandle ) == eBlocked ); | |
} | |
#endif /* INCLUDE_eTaskGetState */ | |
/* Release the mutex, disinheriting the higher priority again. */ | |
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS ) | |
{ | |
xErrorOccurred = pdTRUE; | |
} | |
#if( INCLUDE_uxTaskPriorityGet == 1 ) | |
{ | |
/* Check priority disinherited. */ | |
configASSERT( uxTaskPriorityGet( NULL ) == recmuPOLLING_TASK_PRIORITY ); | |
} | |
#endif /* INCLUDE_uxTaskPriorityGet */ | |
} | |
} | |
#if configUSE_PREEMPTION == 0 | |
{ | |
taskYIELD(); | |
} | |
#endif | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
/* This is called to check that all the created tasks are still running. */ | |
BaseType_t xAreRecursiveMutexTasksStillRunning( void ) | |
{ | |
BaseType_t xReturn; | |
static UBaseType_t uxLastControllingCycles = 0, uxLastBlockingCycles = 0, uxLastPollingCycles = 0; | |
/* Is the controlling task still cycling? */ | |
if( uxLastControllingCycles == uxControllingCycles ) | |
{ | |
xErrorOccurred = pdTRUE; | |
} | |
else | |
{ | |
uxLastControllingCycles = uxControllingCycles; | |
} | |
/* Is the blocking task still cycling? */ | |
if( uxLastBlockingCycles == uxBlockingCycles ) | |
{ | |
xErrorOccurred = pdTRUE; | |
} | |
else | |
{ | |
uxLastBlockingCycles = uxBlockingCycles; | |
} | |
/* Is the polling task still cycling? */ | |
if( uxLastPollingCycles == uxPollingCycles ) | |
{ | |
xErrorOccurred = pdTRUE; | |
} | |
else | |
{ | |
uxLastPollingCycles = uxPollingCycles; | |
} | |
if( xErrorOccurred == pdTRUE ) | |
{ | |
xReturn = pdFAIL; | |
} | |
else | |
{ | |
xReturn = pdPASS; | |
} | |
return xReturn; | |
} | |