/*\r
- FreeRTOS V7.5.2 - Copyright (C) 2013 Real Time Engineers Ltd.\r
+ FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.\r
+ All rights reserved\r
\r
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
\r
- ***************************************************************************\r
- * *\r
- * FreeRTOS provides completely free yet professionally developed, *\r
- * robust, strictly quality controlled, supported, and cross *\r
- * platform software that has become a de facto standard. *\r
- * *\r
- * Help yourself get started quickly and support the FreeRTOS *\r
- * project by purchasing a FreeRTOS tutorial book, reference *\r
- * manual, or both from: http://www.FreeRTOS.org/Documentation *\r
- * *\r
- * Thank you! *\r
- * *\r
- ***************************************************************************\r
-\r
This file is part of the FreeRTOS distribution.\r
\r
FreeRTOS is free software; you can redistribute it and/or modify it under\r
the terms of the GNU General Public License (version 2) as published by the\r
- Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.\r
+ Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.\r
\r
- >>! NOTE: The modification to the GPL is included to allow you to distribute\r
- >>! a combined work that includes FreeRTOS without being obliged to provide\r
- >>! the source code for proprietary components outside of the FreeRTOS\r
- >>! kernel.\r
+ ***************************************************************************\r
+ >>! NOTE: The modification to the GPL is included to allow you to !<<\r
+ >>! distribute a combined work that includes FreeRTOS without being !<<\r
+ >>! obliged to provide the source code for proprietary components !<<\r
+ >>! outside of the FreeRTOS kernel. !<<\r
+ ***************************************************************************\r
\r
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
- FOR A PARTICULAR PURPOSE. Full license text is available from the following\r
+ FOR A PARTICULAR PURPOSE. Full license text is available on the following\r
link: http://www.freertos.org/a00114.html\r
\r
- 1 tab == 4 spaces!\r
-\r
***************************************************************************\r
* *\r
- * Having a problem? Start by reading the FAQ "My application does *\r
- * not run, what could be wrong?" *\r
+ * FreeRTOS provides completely free yet professionally developed, *\r
+ * robust, strictly quality controlled, supported, and cross *\r
+ * platform software that is more than just the market leader, it *\r
+ * is the industry's de facto standard. *\r
* *\r
- * http://www.FreeRTOS.org/FAQHelp.html *\r
+ * Help yourself get started quickly while simultaneously helping *\r
+ * to support the FreeRTOS project by purchasing a FreeRTOS *\r
+ * tutorial book, reference manual, or both: *\r
+ * http://www.FreeRTOS.org/Documentation *\r
* *\r
***************************************************************************\r
\r
- http://www.FreeRTOS.org - Documentation, books, training, latest versions,\r
- license and Real Time Engineers Ltd. contact details.\r
+ http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading\r
+ the FAQ page "My application does not run, what could be wrong?". Have you\r
+ defined configASSERT()?\r
+\r
+ http://www.FreeRTOS.org/support - In return for receiving this top quality\r
+ embedded software for free we request you assist our global community by\r
+ participating in the support forum.\r
+\r
+ http://www.FreeRTOS.org/training - Investing in training allows your team to\r
+ be as productive as possible as early as possible. Now you can receive\r
+ FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers\r
+ Ltd, and the world's leading authority on the world's leading RTOS.\r
\r
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
\r
- http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
- Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS\r
- licenses offer ticketed support, indemnification and middleware.\r
+ http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.\r
+ Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.\r
+\r
+ http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High\r
+ Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS\r
+ licenses offer ticketed support, indemnification and commercial middleware.\r
\r
http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
engineered and independently SIL3 certified version for use in safety and\r
/* Demo app include files. */\r
#include "recmutex.h"\r
\r
-/* Priorities assigned to the three tasks. */\r
-#define recmuCONTROLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
+/* Priorities assigned to the three tasks. recmuCONTROLLING_TASK_PRIORITY can\r
+be overridden by a definition in FreeRTOSConfig.h. */\r
+#ifndef recmuCONTROLLING_TASK_PRIORITY\r
+ #define recmuCONTROLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
+#endif\r
#define recmuBLOCKING_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )\r
#define recmuPOLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 0 )\r
\r
#define recmuMAX_COUNT ( 10 )\r
\r
/* Misc. */\r
-#define recmuSHORT_DELAY ( 20 / portTICK_RATE_MS )\r
-#define recmuNO_DELAY ( ( portTickType ) 0 )\r
-#define recmuTHREE_TICK_DELAY ( ( portTickType ) 3 )\r
+#define recmuSHORT_DELAY ( pdMS_TO_TICKS( 20 ) )\r
+#define recmuNO_DELAY ( ( TickType_t ) 0 )\r
+#define recmu15ms_DELAY ( pdMS_TO_TICKS( 15 ) )\r
\r
/* The three tasks as described at the top of this file. */\r
static void prvRecursiveMutexControllingTask( void *pvParameters );\r
static void prvRecursiveMutexPollingTask( void *pvParameters );\r
\r
/* The mutex used by the demo. */\r
-static xSemaphoreHandle xMutex;\r
+static SemaphoreHandle_t xMutex;\r
\r
/* Variables used to detect and latch errors. */\r
-static volatile portBASE_TYPE xErrorOccurred = pdFALSE, xControllingIsSuspended = pdFALSE, xBlockingIsSuspended = pdFALSE;\r
-static volatile unsigned portBASE_TYPE uxControllingCycles = 0, uxBlockingCycles = 0, uxPollingCycles = 0;\r
+static volatile BaseType_t xErrorOccurred = pdFALSE, xControllingIsSuspended = pdFALSE, xBlockingIsSuspended = pdFALSE;\r
+static volatile UBaseType_t uxControllingCycles = 0, uxBlockingCycles = 0, uxPollingCycles = 0;\r
\r
/* Handles of the two higher priority tasks, required so they can be resumed\r
(unsuspended). */\r
-static xTaskHandle xControllingTaskHandle, xBlockingTaskHandle;\r
+static TaskHandle_t xControllingTaskHandle, xBlockingTaskHandle;\r
\r
/*-----------------------------------------------------------*/\r
\r
\r
xMutex = xSemaphoreCreateRecursiveMutex();\r
\r
- /* vQueueAddToRegistry() adds the mutex to the registry, if one is\r
- in use. The registry is provided as a means for kernel aware\r
- debuggers to locate mutex and has no purpose if a kernel aware debugger\r
- is not being used. The call to vQueueAddToRegistry() will be removed\r
- by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is\r
- defined to be less than 1. */\r
- vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Recursive_Mutex" );\r
-\r
-\r
if( xMutex != NULL )\r
{\r
- xTaskCreate( prvRecursiveMutexControllingTask, ( signed portCHAR * ) "Rec1", configMINIMAL_STACK_SIZE, NULL, recmuCONTROLLING_TASK_PRIORITY, &xControllingTaskHandle );\r
- xTaskCreate( prvRecursiveMutexBlockingTask, ( signed portCHAR * ) "Rec2", configMINIMAL_STACK_SIZE, NULL, recmuBLOCKING_TASK_PRIORITY, &xBlockingTaskHandle );\r
- xTaskCreate( prvRecursiveMutexPollingTask, ( signed portCHAR * ) "Rec3", configMINIMAL_STACK_SIZE, NULL, recmuPOLLING_TASK_PRIORITY, NULL );\r
+ /* vQueueAddToRegistry() adds the mutex to the registry, if one is\r
+ in use. The registry is provided as a means for kernel aware\r
+ debuggers to locate mutex and has no purpose if a kernel aware debugger\r
+ is not being used. The call to vQueueAddToRegistry() will be removed\r
+ by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is\r
+ defined to be less than 1. */\r
+ vQueueAddToRegistry( ( QueueHandle_t ) xMutex, "Recursive_Mutex" );\r
+\r
+ xTaskCreate( prvRecursiveMutexControllingTask, "Rec1", configMINIMAL_STACK_SIZE, NULL, recmuCONTROLLING_TASK_PRIORITY, &xControllingTaskHandle );\r
+ xTaskCreate( prvRecursiveMutexBlockingTask, "Rec2", configMINIMAL_STACK_SIZE, NULL, recmuBLOCKING_TASK_PRIORITY, &xBlockingTaskHandle );\r
+ xTaskCreate( prvRecursiveMutexPollingTask, "Rec3", configMINIMAL_STACK_SIZE, NULL, recmuPOLLING_TASK_PRIORITY, NULL );\r
}\r
}\r
/*-----------------------------------------------------------*/\r
\r
static void prvRecursiveMutexControllingTask( void *pvParameters )\r
{\r
-unsigned portBASE_TYPE ux;\r
+UBaseType_t ux;\r
\r
/* Just to remove compiler warning. */\r
( void ) pvParameters;\r
long enough to ensure the polling task will execute again before the\r
block time expires. If the block time does expire then the error\r
flag will be set here. */\r
- if( xSemaphoreTakeRecursive( xMutex, recmuTHREE_TICK_DELAY ) != pdPASS )\r
+ if( xSemaphoreTakeRecursive( xMutex, recmu15ms_DELAY ) != pdPASS )\r
{\r
xErrorOccurred = pdTRUE;\r
}\r
{\r
xErrorOccurred = pdTRUE;\r
}\r
+\r
+ #if( configUSE_PREEMPTION == 0 )\r
+ taskYIELD();\r
+ #endif\r
}\r
\r
/* Having given it back the same number of times as it was taken, we\r
- should no longer be the mutex owner, so the next give sh ould fail. */\r
+ should no longer be the mutex owner, so the next give should fail. */\r
if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )\r
{\r
xErrorOccurred = pdTRUE;\r
stall can be detected. */\r
uxControllingCycles++;\r
\r
- /* Suspend ourselves to the blocking task can execute. */\r
+ /* Suspend ourselves so the blocking task can execute. */\r
xControllingIsSuspended = pdTRUE;\r
vTaskSuspend( NULL );\r
xControllingIsSuspended = pdFALSE;\r
error will be latched if the polling task has not returned the\r
mutex by the time this fixed period has expired. */\r
vTaskResume( xBlockingTaskHandle );\r
- vTaskResume( xControllingTaskHandle );\r
+ #if( configUSE_PREEMPTION == 0 )\r
+ taskYIELD();\r
+ #endif\r
+\r
+ vTaskResume( xControllingTaskHandle );\r
+ #if( configUSE_PREEMPTION == 0 )\r
+ taskYIELD();\r
+ #endif\r
\r
/* The other two tasks should now have executed and no longer\r
be suspended. */\r
\r
#if( INCLUDE_uxTaskPriorityGet == 1 )\r
{\r
+ /* Check priority inherited. */\r
configASSERT( uxTaskPriorityGet( NULL ) == recmuCONTROLLING_TASK_PRIORITY );\r
}\r
#endif /* INCLUDE_uxTaskPriorityGet */\r
{\r
xErrorOccurred = pdTRUE;\r
}\r
+\r
+ #if( INCLUDE_uxTaskPriorityGet == 1 )\r
+ {\r
+ /* Check priority disinherited. */\r
+ configASSERT( uxTaskPriorityGet( NULL ) == recmuPOLLING_TASK_PRIORITY );\r
+ }\r
+ #endif /* INCLUDE_uxTaskPriorityGet */\r
}\r
}\r
\r
/*-----------------------------------------------------------*/\r
\r
/* This is called to check that all the created tasks are still running. */\r
-portBASE_TYPE xAreRecursiveMutexTasksStillRunning( void )\r
+BaseType_t xAreRecursiveMutexTasksStillRunning( void )\r
{\r
-portBASE_TYPE xReturn;\r
-static unsigned portBASE_TYPE uxLastControllingCycles = 0, uxLastBlockingCycles = 0, uxLastPollingCycles = 0;\r
+BaseType_t xReturn;\r
+static UBaseType_t uxLastControllingCycles = 0, uxLastBlockingCycles = 0, uxLastPollingCycles = 0;\r
\r
/* Is the controlling task still cycling? */\r
if( uxLastControllingCycles == uxControllingCycles )\r
}\r
else\r
{\r
- xReturn = pdTRUE;\r
+ xReturn = pdPASS;\r
}\r
\r
return xReturn;\r