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Dependencies:   F7_Ethernet mbed BSP_DISCO_F746NG SDFileSystem RF24

TARGET_CORTEX_A/rt_Mutex.c@0:d984976f1f1c, 2021-06-08 (annotated)

Committer:
leo44
Date:
Tue Jun 08 10:06:19 2021 +0000
Revision:
0:d984976f1f1c
proto

Who changed what in which revision?

UserRevisionLine numberNew contents of line
leo44 0:d984976f1f1c 1 /*----------------------------------------------------------------------------
leo44 0:d984976f1f1c 2 * RL-ARM - RTX
leo44 0:d984976f1f1c 3 *----------------------------------------------------------------------------
leo44 0:d984976f1f1c 4 * Name: RT_MUTEX.C
leo44 0:d984976f1f1c 5 * Purpose: Implements mutex synchronization objects
leo44 0:d984976f1f1c 6 * Rev.: V4.73
leo44 0:d984976f1f1c 7 *----------------------------------------------------------------------------
leo44 0:d984976f1f1c 8 *
leo44 0:d984976f1f1c 9 * Copyright (c) 1999-2009 KEIL, 2009-2013 ARM Germany GmbH
leo44 0:d984976f1f1c 10 * All rights reserved.
leo44 0:d984976f1f1c 11 * Redistribution and use in source and binary forms, with or without
leo44 0:d984976f1f1c 12 * modification, are permitted provided that the following conditions are met:
leo44 0:d984976f1f1c 13 * - Redistributions of source code must retain the above copyright
leo44 0:d984976f1f1c 14 * notice, this list of conditions and the following disclaimer.
leo44 0:d984976f1f1c 15 * - Redistributions in binary form must reproduce the above copyright
leo44 0:d984976f1f1c 16 * notice, this list of conditions and the following disclaimer in the
leo44 0:d984976f1f1c 17 * documentation and/or other materials provided with the distribution.
leo44 0:d984976f1f1c 18 * - Neither the name of ARM nor the names of its contributors may be used
leo44 0:d984976f1f1c 19 * to endorse or promote products derived from this software without
leo44 0:d984976f1f1c 20 * specific prior written permission.
leo44 0:d984976f1f1c 21 *
leo44 0:d984976f1f1c 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
leo44 0:d984976f1f1c 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
leo44 0:d984976f1f1c 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
leo44 0:d984976f1f1c 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
leo44 0:d984976f1f1c 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
leo44 0:d984976f1f1c 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
leo44 0:d984976f1f1c 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
leo44 0:d984976f1f1c 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
leo44 0:d984976f1f1c 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
leo44 0:d984976f1f1c 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
leo44 0:d984976f1f1c 32 * POSSIBILITY OF SUCH DAMAGE.
leo44 0:d984976f1f1c 33 *---------------------------------------------------------------------------*/
leo44 0:d984976f1f1c 34
leo44 0:d984976f1f1c 35 #include "rt_TypeDef.h"
leo44 0:d984976f1f1c 36 #include "RTX_Config.h"
leo44 0:d984976f1f1c 37 #include "rt_List.h"
leo44 0:d984976f1f1c 38 #include "rt_Task.h"
leo44 0:d984976f1f1c 39 #include "rt_Mutex.h"
leo44 0:d984976f1f1c 40 #ifdef __CORTEX_A9
leo44 0:d984976f1f1c 41 #include "rt_HAL_CA.h"
leo44 0:d984976f1f1c 42 #else
leo44 0:d984976f1f1c 43 #include "rt_HAL_CM.h"
leo44 0:d984976f1f1c 44 #endif
leo44 0:d984976f1f1c 45
leo44 0:d984976f1f1c 46
leo44 0:d984976f1f1c 47 /*----------------------------------------------------------------------------
leo44 0:d984976f1f1c 48 * Functions
leo44 0:d984976f1f1c 49 *---------------------------------------------------------------------------*/
leo44 0:d984976f1f1c 50
leo44 0:d984976f1f1c 51
leo44 0:d984976f1f1c 52 /*--------------------------- rt_mut_init -----------------------------------*/
leo44 0:d984976f1f1c 53
leo44 0:d984976f1f1c 54 void rt_mut_init (OS_ID mutex) {
leo44 0:d984976f1f1c 55 /* Initialize a mutex object */
leo44 0:d984976f1f1c 56 P_MUCB p_MCB = mutex;
leo44 0:d984976f1f1c 57
leo44 0:d984976f1f1c 58 p_MCB->cb_type = MUCB;
leo44 0:d984976f1f1c 59 p_MCB->level = 0;
leo44 0:d984976f1f1c 60 p_MCB->p_lnk = NULL;
leo44 0:d984976f1f1c 61 p_MCB->owner = NULL;
leo44 0:d984976f1f1c 62 p_MCB->p_mlnk = NULL;
leo44 0:d984976f1f1c 63 }
leo44 0:d984976f1f1c 64
leo44 0:d984976f1f1c 65
leo44 0:d984976f1f1c 66 /*--------------------------- rt_mut_delete ---------------------------------*/
leo44 0:d984976f1f1c 67
leo44 0:d984976f1f1c 68 #ifdef __CMSIS_RTOS
leo44 0:d984976f1f1c 69 OS_RESULT rt_mut_delete (OS_ID mutex) {
leo44 0:d984976f1f1c 70 /* Delete a mutex object */
leo44 0:d984976f1f1c 71 P_MUCB p_MCB = mutex;
leo44 0:d984976f1f1c 72 P_TCB p_TCB;
leo44 0:d984976f1f1c 73 P_MUCB p_mlnk;
leo44 0:d984976f1f1c 74 U8 prio;
leo44 0:d984976f1f1c 75
leo44 0:d984976f1f1c 76 __DMB();
leo44 0:d984976f1f1c 77 /* Restore owner task's priority. */
leo44 0:d984976f1f1c 78 if (p_MCB->level != 0) {
leo44 0:d984976f1f1c 79
leo44 0:d984976f1f1c 80 p_TCB = p_MCB->owner;
leo44 0:d984976f1f1c 81
leo44 0:d984976f1f1c 82 /* Remove mutex from task mutex owner list. */
leo44 0:d984976f1f1c 83 p_mlnk = p_TCB->p_mlnk;
leo44 0:d984976f1f1c 84 if (p_mlnk == p_MCB) {
leo44 0:d984976f1f1c 85 p_TCB->p_mlnk = p_MCB->p_mlnk;
leo44 0:d984976f1f1c 86 }
leo44 0:d984976f1f1c 87 else {
leo44 0:d984976f1f1c 88 while (p_mlnk) {
leo44 0:d984976f1f1c 89 if (p_mlnk->p_mlnk == p_MCB) {
leo44 0:d984976f1f1c 90 p_mlnk->p_mlnk = p_MCB->p_mlnk;
leo44 0:d984976f1f1c 91 break;
leo44 0:d984976f1f1c 92 }
leo44 0:d984976f1f1c 93 p_mlnk = p_mlnk->p_mlnk;
leo44 0:d984976f1f1c 94 }
leo44 0:d984976f1f1c 95 }
leo44 0:d984976f1f1c 96
leo44 0:d984976f1f1c 97 /* Restore owner task's priority. */
leo44 0:d984976f1f1c 98 prio = p_TCB->prio_base;
leo44 0:d984976f1f1c 99 p_mlnk = p_TCB->p_mlnk;
leo44 0:d984976f1f1c 100 while (p_mlnk) {
leo44 0:d984976f1f1c 101 if (p_mlnk->p_lnk && (p_mlnk->p_lnk->prio > prio)) {
leo44 0:d984976f1f1c 102 /* A task with higher priority is waiting for mutex. */
leo44 0:d984976f1f1c 103 prio = p_mlnk->p_lnk->prio;
leo44 0:d984976f1f1c 104 }
leo44 0:d984976f1f1c 105 p_mlnk = p_mlnk->p_mlnk;
leo44 0:d984976f1f1c 106 }
leo44 0:d984976f1f1c 107 if (p_TCB->prio != prio) {
leo44 0:d984976f1f1c 108 p_TCB->prio = prio;
leo44 0:d984976f1f1c 109 if (p_TCB != os_tsk.run) {
leo44 0:d984976f1f1c 110 rt_resort_prio (p_TCB);
leo44 0:d984976f1f1c 111 }
leo44 0:d984976f1f1c 112 }
leo44 0:d984976f1f1c 113
leo44 0:d984976f1f1c 114 }
leo44 0:d984976f1f1c 115
leo44 0:d984976f1f1c 116 while (p_MCB->p_lnk != NULL) {
leo44 0:d984976f1f1c 117 /* A task is waiting for mutex. */
leo44 0:d984976f1f1c 118 p_TCB = rt_get_first ((P_XCB)p_MCB);
leo44 0:d984976f1f1c 119 rt_ret_val(p_TCB, 0/*osOK*/);
leo44 0:d984976f1f1c 120 rt_rmv_dly(p_TCB);
leo44 0:d984976f1f1c 121 p_TCB->state = READY;
leo44 0:d984976f1f1c 122 rt_put_prio (&os_rdy, p_TCB);
leo44 0:d984976f1f1c 123 }
leo44 0:d984976f1f1c 124
leo44 0:d984976f1f1c 125 if (os_rdy.p_lnk && (os_rdy.p_lnk->prio > os_tsk.run->prio)) {
leo44 0:d984976f1f1c 126 /* preempt running task */
leo44 0:d984976f1f1c 127 rt_put_prio (&os_rdy, os_tsk.run);
leo44 0:d984976f1f1c 128 os_tsk.run->state = READY;
leo44 0:d984976f1f1c 129 rt_dispatch (NULL);
leo44 0:d984976f1f1c 130 }
leo44 0:d984976f1f1c 131
leo44 0:d984976f1f1c 132 p_MCB->cb_type = 0;
leo44 0:d984976f1f1c 133
leo44 0:d984976f1f1c 134 return (OS_R_OK);
leo44 0:d984976f1f1c 135 }
leo44 0:d984976f1f1c 136 #endif
leo44 0:d984976f1f1c 137
leo44 0:d984976f1f1c 138
leo44 0:d984976f1f1c 139 /*--------------------------- rt_mut_release --------------------------------*/
leo44 0:d984976f1f1c 140
leo44 0:d984976f1f1c 141 OS_RESULT rt_mut_release (OS_ID mutex) {
leo44 0:d984976f1f1c 142 /* Release a mutex object */
leo44 0:d984976f1f1c 143 P_MUCB p_MCB = mutex;
leo44 0:d984976f1f1c 144 P_TCB p_TCB;
leo44 0:d984976f1f1c 145 P_MUCB p_mlnk;
leo44 0:d984976f1f1c 146 U8 prio;
leo44 0:d984976f1f1c 147
leo44 0:d984976f1f1c 148 if (p_MCB->level == 0 || p_MCB->owner != os_tsk.run) {
leo44 0:d984976f1f1c 149 /* Unbalanced mutex release or task is not the owner */
leo44 0:d984976f1f1c 150 return (OS_R_NOK);
leo44 0:d984976f1f1c 151 }
leo44 0:d984976f1f1c 152 __DMB();
leo44 0:d984976f1f1c 153 if (--p_MCB->level != 0) {
leo44 0:d984976f1f1c 154 return (OS_R_OK);
leo44 0:d984976f1f1c 155 }
leo44 0:d984976f1f1c 156
leo44 0:d984976f1f1c 157 /* Remove mutex from task mutex owner list. */
leo44 0:d984976f1f1c 158 p_mlnk = os_tsk.run->p_mlnk;
leo44 0:d984976f1f1c 159 if (p_mlnk == p_MCB) {
leo44 0:d984976f1f1c 160 os_tsk.run->p_mlnk = p_MCB->p_mlnk;
leo44 0:d984976f1f1c 161 }
leo44 0:d984976f1f1c 162 else {
leo44 0:d984976f1f1c 163 while (p_mlnk) {
leo44 0:d984976f1f1c 164 if (p_mlnk->p_mlnk == p_MCB) {
leo44 0:d984976f1f1c 165 p_mlnk->p_mlnk = p_MCB->p_mlnk;
leo44 0:d984976f1f1c 166 break;
leo44 0:d984976f1f1c 167 }
leo44 0:d984976f1f1c 168 p_mlnk = p_mlnk->p_mlnk;
leo44 0:d984976f1f1c 169 }
leo44 0:d984976f1f1c 170 }
leo44 0:d984976f1f1c 171
leo44 0:d984976f1f1c 172 /* Restore owner task's priority. */
leo44 0:d984976f1f1c 173 prio = os_tsk.run->prio_base;
leo44 0:d984976f1f1c 174 p_mlnk = os_tsk.run->p_mlnk;
leo44 0:d984976f1f1c 175 while (p_mlnk) {
leo44 0:d984976f1f1c 176 if (p_mlnk->p_lnk && (p_mlnk->p_lnk->prio > prio)) {
leo44 0:d984976f1f1c 177 /* A task with higher priority is waiting for mutex. */
leo44 0:d984976f1f1c 178 prio = p_mlnk->p_lnk->prio;
leo44 0:d984976f1f1c 179 }
leo44 0:d984976f1f1c 180 p_mlnk = p_mlnk->p_mlnk;
leo44 0:d984976f1f1c 181 }
leo44 0:d984976f1f1c 182 os_tsk.run->prio = prio;
leo44 0:d984976f1f1c 183
leo44 0:d984976f1f1c 184 if (p_MCB->p_lnk != NULL) {
leo44 0:d984976f1f1c 185 /* A task is waiting for mutex. */
leo44 0:d984976f1f1c 186 p_TCB = rt_get_first ((P_XCB)p_MCB);
leo44 0:d984976f1f1c 187 #ifdef __CMSIS_RTOS
leo44 0:d984976f1f1c 188 rt_ret_val(p_TCB, 0/*osOK*/);
leo44 0:d984976f1f1c 189 #else
leo44 0:d984976f1f1c 190 rt_ret_val(p_TCB, OS_R_MUT);
leo44 0:d984976f1f1c 191 #endif
leo44 0:d984976f1f1c 192 rt_rmv_dly (p_TCB);
leo44 0:d984976f1f1c 193 /* A waiting task becomes the owner of this mutex. */
leo44 0:d984976f1f1c 194 p_MCB->level = 1;
leo44 0:d984976f1f1c 195 p_MCB->owner = p_TCB;
leo44 0:d984976f1f1c 196 p_MCB->p_mlnk = p_TCB->p_mlnk;
leo44 0:d984976f1f1c 197 p_TCB->p_mlnk = p_MCB;
leo44 0:d984976f1f1c 198 /* Priority inversion, check which task continues. */
leo44 0:d984976f1f1c 199 if (os_tsk.run->prio >= rt_rdy_prio()) {
leo44 0:d984976f1f1c 200 rt_dispatch (p_TCB);
leo44 0:d984976f1f1c 201 }
leo44 0:d984976f1f1c 202 else {
leo44 0:d984976f1f1c 203 /* Ready task has higher priority than running task. */
leo44 0:d984976f1f1c 204 rt_put_prio (&os_rdy, os_tsk.run);
leo44 0:d984976f1f1c 205 rt_put_prio (&os_rdy, p_TCB);
leo44 0:d984976f1f1c 206 os_tsk.run->state = READY;
leo44 0:d984976f1f1c 207 p_TCB->state = READY;
leo44 0:d984976f1f1c 208 rt_dispatch (NULL);
leo44 0:d984976f1f1c 209 }
leo44 0:d984976f1f1c 210 }
leo44 0:d984976f1f1c 211 else {
leo44 0:d984976f1f1c 212 /* Check if own priority lowered by priority inversion. */
leo44 0:d984976f1f1c 213 if (rt_rdy_prio() > os_tsk.run->prio) {
leo44 0:d984976f1f1c 214 rt_put_prio (&os_rdy, os_tsk.run);
leo44 0:d984976f1f1c 215 os_tsk.run->state = READY;
leo44 0:d984976f1f1c 216 rt_dispatch (NULL);
leo44 0:d984976f1f1c 217 }
leo44 0:d984976f1f1c 218 }
leo44 0:d984976f1f1c 219 return (OS_R_OK);
leo44 0:d984976f1f1c 220 }
leo44 0:d984976f1f1c 221
leo44 0:d984976f1f1c 222
leo44 0:d984976f1f1c 223 /*--------------------------- rt_mut_wait -----------------------------------*/
leo44 0:d984976f1f1c 224
leo44 0:d984976f1f1c 225 OS_RESULT rt_mut_wait (OS_ID mutex, U16 timeout) {
leo44 0:d984976f1f1c 226 /* Wait for a mutex, continue when mutex is free. */
leo44 0:d984976f1f1c 227 P_MUCB p_MCB = mutex;
leo44 0:d984976f1f1c 228
leo44 0:d984976f1f1c 229 if (p_MCB->level == 0) {
leo44 0:d984976f1f1c 230 p_MCB->owner = os_tsk.run;
leo44 0:d984976f1f1c 231 p_MCB->p_mlnk = os_tsk.run->p_mlnk;
leo44 0:d984976f1f1c 232 os_tsk.run->p_mlnk = p_MCB;
leo44 0:d984976f1f1c 233 goto inc;
leo44 0:d984976f1f1c 234 }
leo44 0:d984976f1f1c 235 if (p_MCB->owner == os_tsk.run) {
leo44 0:d984976f1f1c 236 /* OK, running task is the owner of this mutex. */
leo44 0:d984976f1f1c 237 inc:p_MCB->level++;
leo44 0:d984976f1f1c 238 __DMB();
leo44 0:d984976f1f1c 239 return (OS_R_OK);
leo44 0:d984976f1f1c 240 }
leo44 0:d984976f1f1c 241 /* Mutex owned by another task, wait until released. */
leo44 0:d984976f1f1c 242 if (timeout == 0) {
leo44 0:d984976f1f1c 243 return (OS_R_TMO);
leo44 0:d984976f1f1c 244 }
leo44 0:d984976f1f1c 245 /* Raise the owner task priority if lower than current priority. */
leo44 0:d984976f1f1c 246 /* This priority inversion is called priority inheritance. */
leo44 0:d984976f1f1c 247 if (p_MCB->owner->prio < os_tsk.run->prio) {
leo44 0:d984976f1f1c 248 p_MCB->owner->prio = os_tsk.run->prio;
leo44 0:d984976f1f1c 249 rt_resort_prio (p_MCB->owner);
leo44 0:d984976f1f1c 250 }
leo44 0:d984976f1f1c 251 if (p_MCB->p_lnk != NULL) {
leo44 0:d984976f1f1c 252 rt_put_prio ((P_XCB)p_MCB, os_tsk.run);
leo44 0:d984976f1f1c 253 }
leo44 0:d984976f1f1c 254 else {
leo44 0:d984976f1f1c 255 p_MCB->p_lnk = os_tsk.run;
leo44 0:d984976f1f1c 256 os_tsk.run->p_lnk = NULL;
leo44 0:d984976f1f1c 257 os_tsk.run->p_rlnk = (P_TCB)p_MCB;
leo44 0:d984976f1f1c 258 }
leo44 0:d984976f1f1c 259 rt_block(timeout, WAIT_MUT);
leo44 0:d984976f1f1c 260 return (OS_R_TMO);
leo44 0:d984976f1f1c 261 }
leo44 0:d984976f1f1c 262
leo44 0:d984976f1f1c 263
leo44 0:d984976f1f1c 264 /*----------------------------------------------------------------------------
leo44 0:d984976f1f1c 265 * end of file
leo44 0:d984976f1f1c 266 *---------------------------------------------------------------------------*/
leo44 0:d984976f1f1c 267