/*\r
- FreeRTOS V7.5.1 - Copyright (C) 2013 Real Time Engineers Ltd.\r
+ FreeRTOS V7.5.3 - Copyright (C) 2013 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
This demo creates three tasks all of which access the same recursive mutex:\r
\r
- prvRecursiveMutexControllingTask() has the highest priority so executes \r
- first and grabs the mutex. It then performs some recursive accesses - \r
- between each of which it sleeps for a short period to let the lower \r
+ prvRecursiveMutexControllingTask() has the highest priority so executes\r
+ first and grabs the mutex. It then performs some recursive accesses -\r
+ between each of which it sleeps for a short period to let the lower\r
priority tasks execute. When it has completed its demo functionality\r
it gives the mutex back before suspending itself.\r
\r
prvRecursiveMutexBlockingTask() attempts to access the mutex by performing\r
- a blocking 'take'. The blocking task has a lower priority than the \r
+ a blocking 'take'. The blocking task has a lower priority than the\r
controlling task so by the time it executes the mutex has already been\r
- taken by the controlling task, causing the blocking task to block. It \r
- does not unblock until the controlling task has given the mutex back, \r
- and it does not actually run until the controlling task has suspended \r
+ taken by the controlling task, causing the blocking task to block. It\r
+ does not unblock until the controlling task has given the mutex back,\r
+ and it does not actually run until the controlling task has suspended\r
itself (due to the relative priorities). When it eventually does obtain\r
- the mutex all it does is give the mutex back prior to also suspending \r
- itself. At this point both the controlling task and the blocking task are \r
+ the mutex all it does is give the mutex back prior to also suspending\r
+ itself. At this point both the controlling task and the blocking task are\r
suspended.\r
\r
prvRecursiveMutexPollingTask() runs at the idle priority. It spins round\r
a tight loop attempting to obtain the mutex with a non-blocking call. As\r
the lowest priority task it will not successfully obtain the mutex until\r
- both the controlling and blocking tasks are suspended. Once it eventually \r
+ both the controlling and blocking tasks are suspended. Once it eventually\r
does obtain the mutex it first unsuspends both the controlling task and\r
blocking task prior to giving the mutex back - resulting in the polling\r
task temporarily inheriting the controlling tasks priority.\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
/* Misc. */\r
#define recmuSHORT_DELAY ( 20 / portTICK_RATE_MS )\r
#define recmuNO_DELAY ( ( portTickType ) 0 )\r
-#define recmuTWO_TICK_DELAY ( ( portTickType ) 2 )\r
+#define recmuFIVE_TICK_DELAY ( ( portTickType ) 5 )\r
\r
/* The three tasks as described at the top of this file. */\r
static void prvRecursiveMutexControllingTask( void *pvParameters );\r
static volatile portBASE_TYPE xErrorOccurred = pdFALSE, xControllingIsSuspended = pdFALSE, xBlockingIsSuspended = pdFALSE;\r
static volatile unsigned portBASE_TYPE uxControllingCycles = 0, uxBlockingCycles = 0, uxPollingCycles = 0;\r
\r
-/* Handles of the two higher priority tasks, required so they can be resumed \r
+/* Handles of the two higher priority tasks, required so they can be resumed\r
(unsuspended). */\r
static xTaskHandle xControllingTaskHandle, xBlockingTaskHandle;\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
+ 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
+ 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
/* We should now be able to take the mutex as many times as\r
we like.\r
- \r
+\r
The first time through the mutex will be immediately available, on\r
subsequent times through the mutex will be held by the polling task\r
at this point and this Take will cause the polling task to inherit\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, recmuTWO_TICK_DELAY ) != pdPASS )\r
+ if( xSemaphoreTakeRecursive( xMutex, recmuFIVE_TICK_DELAY ) != pdPASS )\r
{\r
xErrorOccurred = pdTRUE;\r
}\r
\r
/* Ensure the other task attempting to access the mutex (and the\r
other demo tasks) are able to execute to ensure they either block\r
- (where a block time is specified) or return an error (where no \r
+ (where a block time is specified) or return an error (where no\r
block time is specified) as the mutex is held by this task. */\r
vTaskDelay( recmuSHORT_DELAY );\r
}\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
}\r
\r
- /* Keep count of the number of cycles this task has performed so a \r
+ /* Keep count of the number of cycles this task has performed so a\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
{\r
/* This task will run while the controlling task is blocked, and the\r
controlling task will block only once it has the mutex - therefore\r
- this call should block until the controlling task has given up the \r
- mutex, and not actually execute past this call until the controlling \r
- task is suspended. */\r
- if( xSemaphoreTakeRecursive( xMutex, portMAX_DELAY ) == pdPASS )\r
+ this call should block until the controlling task has given up the\r
+ mutex, and not actually execute past this call until the controlling\r
+ task is suspended. portMAX_DELAY - 1 is used instead of portMAX_DELAY\r
+ to ensure the task's state is reported as Blocked and not Suspended in\r
+ a later call to configASSERT() (within the polling task). */\r
+ if( xSemaphoreTakeRecursive( xMutex, ( portMAX_DELAY - 1 ) ) == pdPASS )\r
{\r
if( xControllingIsSuspended != pdTRUE )\r
{\r
xErrorOccurred = pdTRUE;\r
}\r
\r
- /* Keep count of the number of cycles this task has performed so a \r
+ /* Keep count of the number of cycles this task has performed so a\r
stall can be detected. */\r
uxBlockingCycles++;\r
}\r
happen when the controlling task is also suspended. */\r
if( xSemaphoreTakeRecursive( xMutex, recmuNO_DELAY ) == pdPASS )\r
{\r
+ #if( INCLUDE_eTaskGetState == 1 )\r
+ {\r
+ configASSERT( eTaskGetState( xControllingTaskHandle ) == eSuspended );\r
+ configASSERT( eTaskGetState( xBlockingTaskHandle ) == eSuspended );\r
+ }\r
+ #endif /* INCLUDE_eTaskGetState */\r
+\r
/* Is the blocking task suspended? */\r
if( ( xBlockingIsSuspended != pdTRUE ) || ( xControllingIsSuspended != pdTRUE ) )\r
{\r
}\r
else\r
{\r
- /* Keep count of the number of cycles this task has performed \r
+ /* Keep count of the number of cycles this task has performed\r
so a stall can be detected. */\r
uxPollingCycles++;\r
\r
mutex by the time this fixed period has expired. */\r
vTaskResume( xBlockingTaskHandle );\r
vTaskResume( xControllingTaskHandle );\r
- \r
+\r
/* The other two tasks should now have executed and no longer\r
be suspended. */\r
if( ( xBlockingIsSuspended == pdTRUE ) || ( xControllingIsSuspended == pdTRUE ) )\r
{\r
xErrorOccurred = pdTRUE;\r
- } \r
- \r
+ }\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
+ #if( INCLUDE_eTaskGetState == 1 )\r
+ {\r
+ configASSERT( eTaskGetState( xControllingTaskHandle ) == eBlocked );\r
+ configASSERT( eTaskGetState( xBlockingTaskHandle ) == eBlocked );\r
+ }\r
+ #endif /* INCLUDE_eTaskGetState */\r
+\r
/* Release the mutex, disinheriting the higher priority again. */\r
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )\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
projects / freertos / blobdiff