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jeremybenn |
/*
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FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/*
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The tasks defined on this page demonstrate the use of recursive mutexes.
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For recursive mutex functionality the created mutex should be created using
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xSemaphoreCreateRecursiveMutex(), then be manipulated
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using the xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() API
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functions.
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This demo creates three tasks all of which access the same recursive mutex:
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prvRecursiveMutexControllingTask() has the highest priority so executes
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first and grabs the mutex. It then performs some recursive accesses -
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between each of which it sleeps for a short period to let the lower
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priority tasks execute. When it has completed its demo functionality
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it gives the mutex back before suspending itself.
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prvRecursiveMutexBlockingTask() attempts to access the mutex by performing
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a blocking 'take'. The blocking task has a lower priority than the
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controlling task so by the time it executes the mutex has already been
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taken by the controlling task, causing the blocking task to block. It
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does not unblock until the controlling task has given the mutex back,
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and it does not actually run until the controlling task has suspended
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itself (due to the relative priorities). When it eventually does obtain
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the mutex all it does is give the mutex back prior to also suspending
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itself. At this point both the controlling task and the blocking task are
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suspended.
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prvRecursiveMutexPollingTask() runs at the idle priority. It spins round
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a tight loop attempting to obtain the mutex with a non-blocking call. As
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the lowest priority task it will not successfully obtain the mutex until
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both the controlling and blocking tasks are suspended. Once it eventually
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does obtain the mutex it first unsuspends both the controlling task and
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blocking task prior to giving the mutex back - resulting in the polling
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task temporarily inheriting the controlling tasks priority.
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*/
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "semphr.h"
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/* Demo app include files. */
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#include "recmutex.h"
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/* Priorities assigned to the three tasks. */
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#define recmuCONTROLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define recmuBLOCKING_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define recmuPOLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 0 )
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/* In this version the tick period is very long, so the short delay cannot be
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for too many ticks, or the check task will execute and find that the recmutex
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tasks have not completed their functionality and then signal an error. The
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delay does however have to be long enough to allow the lower priority tasks
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a chance of executing - this is basically achieved by reducing the number
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of times the loop that takes/gives the recursive mutex executes. */
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#define recmuMAX_COUNT ( 2 )
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#define recmuSHORT_DELAY ( 20 )
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#define recmuNO_DELAY ( ( portTickType ) 0 )
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#define recmuFIVE_TICK_DELAY ( ( portTickType ) 5 )
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/* The three tasks as described at the top of this file. */
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static void prvRecursiveMutexControllingTask( void *pvParameters );
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static void prvRecursiveMutexBlockingTask( void *pvParameters );
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static void prvRecursiveMutexPollingTask( void *pvParameters );
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/* The mutex used by the demo. */
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static xSemaphoreHandle xMutex;
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/* Variables used to detect and latch errors. */
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static volatile portBASE_TYPE xErrorOccurred = pdFALSE, xControllingIsSuspended = pdFALSE, xBlockingIsSuspended = pdFALSE;
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static volatile unsigned portBASE_TYPE uxControllingCycles = 0, uxBlockingCycles = 0, uxPollingCycles = 0;
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/* Handles of the two higher priority tasks, required so they can be resumed
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(unsuspended). */
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static xTaskHandle xControllingTaskHandle, xBlockingTaskHandle;
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/*-----------------------------------------------------------*/
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void vStartRecursiveMutexTasks( void )
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{
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/* Just creates the mutex and the three tasks. */
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xMutex = xSemaphoreCreateRecursiveMutex();
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/* vQueueAddToRegistry() adds the mutex to the registry, if one is
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in use. The registry is provided as a means for kernel aware
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debuggers to locate mutex and has no purpose if a kernel aware debugger
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is not being used. The call to vQueueAddToRegistry() will be removed
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by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
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defined to be less than 1. */
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vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Recursive_Mutex" );
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if( xMutex != NULL )
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{
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xTaskCreate( prvRecursiveMutexControllingTask, ( signed portCHAR * ) "Rec1Ctrl", configMINIMAL_STACK_SIZE, NULL, recmuCONTROLLING_TASK_PRIORITY, &xControllingTaskHandle );
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xTaskCreate( prvRecursiveMutexBlockingTask, ( signed portCHAR * ) "Rec2Blck", configMINIMAL_STACK_SIZE, NULL, recmuBLOCKING_TASK_PRIORITY, &xBlockingTaskHandle );
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xTaskCreate( prvRecursiveMutexPollingTask, ( signed portCHAR * ) "Rec3Poll", configMINIMAL_STACK_SIZE, NULL, recmuPOLLING_TASK_PRIORITY, NULL );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvRecursiveMutexControllingTask( void *pvParameters )
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{
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unsigned portBASE_TYPE ux;
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/* Just to remove compiler warning. */
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( void ) pvParameters;
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for( ;; )
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{
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/* Should not be able to 'give' the mutex, as we have not yet 'taken'
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it. The first time through, the mutex will not have been used yet,
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subsequent times through, at this point the mutex will be held by the
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polling task. */
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if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )
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{
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xErrorOccurred = pdTRUE;
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}
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for( ux = 0; ux < recmuMAX_COUNT; ux++ )
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{
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/* We should now be able to take the mutex as many times as
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we like.
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The first time through the mutex will be immediately available, on
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subsequent times through the mutex will be held by the polling task
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at this point and this Take will cause the polling task to inherit
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the priority of this task. In this case the block time must be
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long enough to ensure the polling task will execute again before the
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block time expires. If the block time does expire then the error
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flag will be set here. */
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if( xSemaphoreTakeRecursive( xMutex, recmuFIVE_TICK_DELAY ) != pdPASS )
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{
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xErrorOccurred = pdTRUE;
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}
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/* Ensure the other task attempting to access the mutex (and the
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other demo tasks) are able to execute to ensure they either block
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(where a block time is specified) or return an error (where no
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block time is specified) as the mutex is held by this task. */
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vTaskDelay( recmuSHORT_DELAY );
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}
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/* For each time we took the mutex, give it back. */
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for( ux = 0; ux < recmuMAX_COUNT; ux++ )
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{
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/* Ensure the other task attempting to access the mutex (and the
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other demo tasks) are able to execute. */
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vTaskDelay( recmuSHORT_DELAY );
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/* We should now be able to give the mutex as many times as we
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took it. When the mutex is available again the Blocking task
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should be unblocked but not run because it has a lower priority
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than this task. The polling task should also not run at this point
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as it too has a lower priority than this task. */
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if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
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{
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xErrorOccurred = pdTRUE;
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}
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}
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/* Having given it back the same number of times as it was taken, we
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should no longer be the mutex owner, so the next give should fail. */
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if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )
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{
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xErrorOccurred = pdTRUE;
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}
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/* Keep count of the number of cycles this task has performed so a
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stall can be detected. */
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uxControllingCycles++;
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/* Suspend ourselves so the blocking task can execute. */
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xControllingIsSuspended = pdTRUE;
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vTaskSuspend( NULL );
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xControllingIsSuspended = pdFALSE;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvRecursiveMutexBlockingTask( void *pvParameters )
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{
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/* Just to remove compiler warning. */
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( void ) pvParameters;
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for( ;; )
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{
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/* This task will run while the controlling task is blocked, and the
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controlling task will block only once it has the mutex - therefore
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this call should block until the controlling task has given up the
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mutex, and not actually execute past this call until the controlling
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task is suspended. */
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if( xSemaphoreTakeRecursive( xMutex, portMAX_DELAY ) == pdPASS )
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{
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if( xControllingIsSuspended != pdTRUE )
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{
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/* Did not expect to execute until the controlling task was
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suspended. */
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xErrorOccurred = pdTRUE;
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}
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else
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{
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/* Give the mutex back before suspending ourselves to allow
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the polling task to obtain the mutex. */
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if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
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{
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xErrorOccurred = pdTRUE;
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}
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xBlockingIsSuspended = pdTRUE;
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vTaskSuspend( NULL );
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xBlockingIsSuspended = pdFALSE;
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}
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}
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else
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{
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/* We should not leave the xSemaphoreTakeRecursive() function
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until the mutex was obtained. */
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xErrorOccurred = pdTRUE;
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}
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/* The controlling and blocking tasks should be in lock step. */
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if( uxControllingCycles != ( uxBlockingCycles + 1 ) )
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{
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xErrorOccurred = pdTRUE;
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}
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/* Keep count of the number of cycles this task has performed so a
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stall can be detected. */
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uxBlockingCycles++;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvRecursiveMutexPollingTask( void *pvParameters )
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{
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/* Just to remove compiler warning. */
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( void ) pvParameters;
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for( ;; )
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{
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/* Keep attempting to obtain the mutex. We should only obtain it when
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the blocking task has suspended itself, which in turn should only
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happen when the controlling task is also suspended. */
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if( xSemaphoreTakeRecursive( xMutex, recmuNO_DELAY ) == pdPASS )
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{
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/* Is the blocking task suspended? */
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if( ( xBlockingIsSuspended != pdTRUE ) || ( xControllingIsSuspended != pdTRUE ) )
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{
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xErrorOccurred = pdTRUE;
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}
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else
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{
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/* Keep count of the number of cycles this task has performed
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so a stall can be detected. */
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uxPollingCycles++;
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/* We can resume the other tasks here even though they have a
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higher priority than the polling task. When they execute they
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will attempt to obtain the mutex but fail because the polling
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task is still the mutex holder. The polling task (this task)
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will then inherit the higher priority. The Blocking task will
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block indefinitely when it attempts to obtain the mutex, the
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Controlling task will only block for a fixed period and an
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error will be latched if the polling task has not returned the
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mutex by the time this fixed period has expired. */
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vTaskResume( xBlockingTaskHandle );
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vTaskResume( xControllingTaskHandle );
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/* The other two tasks should now have executed and no longer
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be suspended. */
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| 326 |
|
|
if( ( xBlockingIsSuspended == pdTRUE ) || ( xControllingIsSuspended == pdTRUE ) )
|
| 327 |
|
|
{
|
| 328 |
|
|
xErrorOccurred = pdTRUE;
|
| 329 |
|
|
}
|
| 330 |
|
|
|
| 331 |
|
|
/* Release the mutex, disinheriting the higher priority again. */
|
| 332 |
|
|
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
|
| 333 |
|
|
{
|
| 334 |
|
|
xErrorOccurred = pdTRUE;
|
| 335 |
|
|
}
|
| 336 |
|
|
}
|
| 337 |
|
|
}
|
| 338 |
|
|
|
| 339 |
|
|
#if configUSE_PREEMPTION == 0
|
| 340 |
|
|
{
|
| 341 |
|
|
taskYIELD();
|
| 342 |
|
|
}
|
| 343 |
|
|
#endif
|
| 344 |
|
|
}
|
| 345 |
|
|
}
|
| 346 |
|
|
/*-----------------------------------------------------------*/
|
| 347 |
|
|
|
| 348 |
|
|
/* This is called to check that all the created tasks are still running. */
|
| 349 |
|
|
portBASE_TYPE xAreRecursiveMutexTasksStillRunning( void )
|
| 350 |
|
|
{
|
| 351 |
|
|
portBASE_TYPE xReturn;
|
| 352 |
|
|
static unsigned portBASE_TYPE uxLastControllingCycles = 0, uxLastBlockingCycles = 0, uxLastPollingCycles = 0;
|
| 353 |
|
|
|
| 354 |
|
|
/* Is the controlling task still cycling? */
|
| 355 |
|
|
if( uxLastControllingCycles == uxControllingCycles )
|
| 356 |
|
|
{
|
| 357 |
|
|
xErrorOccurred = pdTRUE;
|
| 358 |
|
|
}
|
| 359 |
|
|
else
|
| 360 |
|
|
{
|
| 361 |
|
|
uxLastControllingCycles = uxControllingCycles;
|
| 362 |
|
|
}
|
| 363 |
|
|
|
| 364 |
|
|
/* Is the blocking task still cycling? */
|
| 365 |
|
|
if( uxLastBlockingCycles == uxBlockingCycles )
|
| 366 |
|
|
{
|
| 367 |
|
|
xErrorOccurred = pdTRUE;
|
| 368 |
|
|
}
|
| 369 |
|
|
else
|
| 370 |
|
|
{
|
| 371 |
|
|
uxLastBlockingCycles = uxBlockingCycles;
|
| 372 |
|
|
}
|
| 373 |
|
|
|
| 374 |
|
|
/* Is the polling task still cycling? */
|
| 375 |
|
|
if( uxLastPollingCycles == uxPollingCycles )
|
| 376 |
|
|
{
|
| 377 |
|
|
xErrorOccurred = pdTRUE;
|
| 378 |
|
|
}
|
| 379 |
|
|
else
|
| 380 |
|
|
{
|
| 381 |
|
|
uxLastPollingCycles = uxPollingCycles;
|
| 382 |
|
|
}
|
| 383 |
|
|
|
| 384 |
|
|
if( xErrorOccurred == pdTRUE )
|
| 385 |
|
|
{
|
| 386 |
|
|
xReturn = pdFAIL;
|
| 387 |
|
|
}
|
| 388 |
|
|
else
|
| 389 |
|
|
{
|
| 390 |
|
|
xReturn = pdTRUE;
|
| 391 |
|
|
}
|
| 392 |
|
|
|
| 393 |
|
|
return xReturn;
|
| 394 |
|
|
}
|
| 395 |
|
|
|
| 396 |
|
|
|
| 397 |
|
|
|
| 398 |
|
|
|
