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mbed-rtos/rtx/rt_Mutex.c@0:ecaf3e593122, 2016-02-29 (annotated)

Committer:
Tuxitheone
Date:
Mon Feb 29 18:59:15 2016 +0000
Revision:
0:ecaf3e593122
TankCounter

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Tuxitheone 0:ecaf3e593122 1 /*----------------------------------------------------------------------------
Tuxitheone 0:ecaf3e593122 2 * RL-ARM - RTX
Tuxitheone 0:ecaf3e593122 3 *----------------------------------------------------------------------------
Tuxitheone 0:ecaf3e593122 4 * Name: RT_MUTEX.C
Tuxitheone 0:ecaf3e593122 5 * Purpose: Implements mutex synchronization objects
Tuxitheone 0:ecaf3e593122 6 * Rev.: V4.60
Tuxitheone 0:ecaf3e593122 7 *----------------------------------------------------------------------------
Tuxitheone 0:ecaf3e593122 8 *
Tuxitheone 0:ecaf3e593122 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
Tuxitheone 0:ecaf3e593122 10 * All rights reserved.
Tuxitheone 0:ecaf3e593122 11 * Redistribution and use in source and binary forms, with or without
Tuxitheone 0:ecaf3e593122 12 * modification, are permitted provided that the following conditions are met:
Tuxitheone 0:ecaf3e593122 13 * - Redistributions of source code must retain the above copyright
Tuxitheone 0:ecaf3e593122 14 * notice, this list of conditions and the following disclaimer.
Tuxitheone 0:ecaf3e593122 15 * - Redistributions in binary form must reproduce the above copyright
Tuxitheone 0:ecaf3e593122 16 * notice, this list of conditions and the following disclaimer in the
Tuxitheone 0:ecaf3e593122 17 * documentation and/or other materials provided with the distribution.
Tuxitheone 0:ecaf3e593122 18 * - Neither the name of ARM nor the names of its contributors may be used
Tuxitheone 0:ecaf3e593122 19 * to endorse or promote products derived from this software without
Tuxitheone 0:ecaf3e593122 20 * specific prior written permission.
Tuxitheone 0:ecaf3e593122 21 *
Tuxitheone 0:ecaf3e593122 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Tuxitheone 0:ecaf3e593122 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Tuxitheone 0:ecaf3e593122 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
Tuxitheone 0:ecaf3e593122 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
Tuxitheone 0:ecaf3e593122 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
Tuxitheone 0:ecaf3e593122 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
Tuxitheone 0:ecaf3e593122 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
Tuxitheone 0:ecaf3e593122 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
Tuxitheone 0:ecaf3e593122 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
Tuxitheone 0:ecaf3e593122 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
Tuxitheone 0:ecaf3e593122 32 * POSSIBILITY OF SUCH DAMAGE.
Tuxitheone 0:ecaf3e593122 33 *---------------------------------------------------------------------------*/
Tuxitheone 0:ecaf3e593122 34
Tuxitheone 0:ecaf3e593122 35 #include "rt_TypeDef.h"
Tuxitheone 0:ecaf3e593122 36 #include "RTX_Conf.h"
Tuxitheone 0:ecaf3e593122 37 #include "rt_List.h"
Tuxitheone 0:ecaf3e593122 38 #include "rt_Task.h"
Tuxitheone 0:ecaf3e593122 39 #include "rt_Mutex.h"
Tuxitheone 0:ecaf3e593122 40 #include "rt_HAL_CM.h"
Tuxitheone 0:ecaf3e593122 41
Tuxitheone 0:ecaf3e593122 42
Tuxitheone 0:ecaf3e593122 43 /*----------------------------------------------------------------------------
Tuxitheone 0:ecaf3e593122 44 * Functions
Tuxitheone 0:ecaf3e593122 45 *---------------------------------------------------------------------------*/
Tuxitheone 0:ecaf3e593122 46
Tuxitheone 0:ecaf3e593122 47
Tuxitheone 0:ecaf3e593122 48 /*--------------------------- rt_mut_init -----------------------------------*/
Tuxitheone 0:ecaf3e593122 49
Tuxitheone 0:ecaf3e593122 50 void rt_mut_init (OS_ID mutex) {
Tuxitheone 0:ecaf3e593122 51 /* Initialize a mutex object */
Tuxitheone 0:ecaf3e593122 52 P_MUCB p_MCB = mutex;
Tuxitheone 0:ecaf3e593122 53
Tuxitheone 0:ecaf3e593122 54 p_MCB->cb_type = MUCB;
Tuxitheone 0:ecaf3e593122 55 p_MCB->prio = 0;
Tuxitheone 0:ecaf3e593122 56 p_MCB->level = 0;
Tuxitheone 0:ecaf3e593122 57 p_MCB->p_lnk = NULL;
Tuxitheone 0:ecaf3e593122 58 p_MCB->owner = NULL;
Tuxitheone 0:ecaf3e593122 59 }
Tuxitheone 0:ecaf3e593122 60
Tuxitheone 0:ecaf3e593122 61
Tuxitheone 0:ecaf3e593122 62 /*--------------------------- rt_mut_delete ---------------------------------*/
Tuxitheone 0:ecaf3e593122 63
Tuxitheone 0:ecaf3e593122 64 #ifdef __CMSIS_RTOS
Tuxitheone 0:ecaf3e593122 65 OS_RESULT rt_mut_delete (OS_ID mutex) {
Tuxitheone 0:ecaf3e593122 66 /* Delete a mutex object */
Tuxitheone 0:ecaf3e593122 67 P_MUCB p_MCB = mutex;
Tuxitheone 0:ecaf3e593122 68 P_TCB p_TCB;
Tuxitheone 0:ecaf3e593122 69
Tuxitheone 0:ecaf3e593122 70 /* Restore owner task's priority. */
Tuxitheone 0:ecaf3e593122 71 if (p_MCB->level != 0) {
Tuxitheone 0:ecaf3e593122 72 p_MCB->owner->prio = p_MCB->prio;
Tuxitheone 0:ecaf3e593122 73 if (p_MCB->owner != os_tsk.run) {
Tuxitheone 0:ecaf3e593122 74 rt_resort_prio (p_MCB->owner);
Tuxitheone 0:ecaf3e593122 75 }
Tuxitheone 0:ecaf3e593122 76 }
Tuxitheone 0:ecaf3e593122 77
Tuxitheone 0:ecaf3e593122 78 while (p_MCB->p_lnk != NULL) {
Tuxitheone 0:ecaf3e593122 79 /* A task is waiting for mutex. */
Tuxitheone 0:ecaf3e593122 80 p_TCB = rt_get_first ((P_XCB)p_MCB);
Tuxitheone 0:ecaf3e593122 81 rt_ret_val(p_TCB, 0/*osOK*/);
Tuxitheone 0:ecaf3e593122 82 rt_rmv_dly(p_TCB);
Tuxitheone 0:ecaf3e593122 83 p_TCB->state = READY;
Tuxitheone 0:ecaf3e593122 84 rt_put_prio (&os_rdy, p_TCB);
Tuxitheone 0:ecaf3e593122 85 }
Tuxitheone 0:ecaf3e593122 86
Tuxitheone 0:ecaf3e593122 87 if (os_rdy.p_lnk && (os_rdy.p_lnk->prio > os_tsk.run->prio)) {
Tuxitheone 0:ecaf3e593122 88 /* preempt running task */
Tuxitheone 0:ecaf3e593122 89 rt_put_prio (&os_rdy, os_tsk.run);
Tuxitheone 0:ecaf3e593122 90 os_tsk.run->state = READY;
Tuxitheone 0:ecaf3e593122 91 rt_dispatch (NULL);
Tuxitheone 0:ecaf3e593122 92 }
Tuxitheone 0:ecaf3e593122 93
Tuxitheone 0:ecaf3e593122 94 p_MCB->cb_type = 0;
Tuxitheone 0:ecaf3e593122 95
Tuxitheone 0:ecaf3e593122 96 return (OS_R_OK);
Tuxitheone 0:ecaf3e593122 97 }
Tuxitheone 0:ecaf3e593122 98 #endif
Tuxitheone 0:ecaf3e593122 99
Tuxitheone 0:ecaf3e593122 100
Tuxitheone 0:ecaf3e593122 101 /*--------------------------- rt_mut_release --------------------------------*/
Tuxitheone 0:ecaf3e593122 102
Tuxitheone 0:ecaf3e593122 103 OS_RESULT rt_mut_release (OS_ID mutex) {
Tuxitheone 0:ecaf3e593122 104 /* Release a mutex object */
Tuxitheone 0:ecaf3e593122 105 P_MUCB p_MCB = mutex;
Tuxitheone 0:ecaf3e593122 106 P_TCB p_TCB;
Tuxitheone 0:ecaf3e593122 107
Tuxitheone 0:ecaf3e593122 108 if (p_MCB->level == 0 || p_MCB->owner != os_tsk.run) {
Tuxitheone 0:ecaf3e593122 109 /* Unbalanced mutex release or task is not the owner */
Tuxitheone 0:ecaf3e593122 110 return (OS_R_NOK);
Tuxitheone 0:ecaf3e593122 111 }
Tuxitheone 0:ecaf3e593122 112 if (--p_MCB->level != 0) {
Tuxitheone 0:ecaf3e593122 113 return (OS_R_OK);
Tuxitheone 0:ecaf3e593122 114 }
Tuxitheone 0:ecaf3e593122 115 /* Restore owner task's priority. */
Tuxitheone 0:ecaf3e593122 116 os_tsk.run->prio = p_MCB->prio;
Tuxitheone 0:ecaf3e593122 117 if (p_MCB->p_lnk != NULL) {
Tuxitheone 0:ecaf3e593122 118 /* A task is waiting for mutex. */
Tuxitheone 0:ecaf3e593122 119 p_TCB = rt_get_first ((P_XCB)p_MCB);
Tuxitheone 0:ecaf3e593122 120 #ifdef __CMSIS_RTOS
Tuxitheone 0:ecaf3e593122 121 rt_ret_val(p_TCB, 0/*osOK*/);
Tuxitheone 0:ecaf3e593122 122 #else
Tuxitheone 0:ecaf3e593122 123 rt_ret_val(p_TCB, OS_R_MUT);
Tuxitheone 0:ecaf3e593122 124 #endif
Tuxitheone 0:ecaf3e593122 125 rt_rmv_dly (p_TCB);
Tuxitheone 0:ecaf3e593122 126 /* A waiting task becomes the owner of this mutex. */
Tuxitheone 0:ecaf3e593122 127 p_MCB->level = 1;
Tuxitheone 0:ecaf3e593122 128 p_MCB->owner = p_TCB;
Tuxitheone 0:ecaf3e593122 129 p_MCB->prio = p_TCB->prio;
Tuxitheone 0:ecaf3e593122 130 /* Priority inversion, check which task continues. */
Tuxitheone 0:ecaf3e593122 131 if (os_tsk.run->prio >= rt_rdy_prio()) {
Tuxitheone 0:ecaf3e593122 132 rt_dispatch (p_TCB);
Tuxitheone 0:ecaf3e593122 133 }
Tuxitheone 0:ecaf3e593122 134 else {
Tuxitheone 0:ecaf3e593122 135 /* Ready task has higher priority than running task. */
Tuxitheone 0:ecaf3e593122 136 rt_put_prio (&os_rdy, os_tsk.run);
Tuxitheone 0:ecaf3e593122 137 rt_put_prio (&os_rdy, p_TCB);
Tuxitheone 0:ecaf3e593122 138 os_tsk.run->state = READY;
Tuxitheone 0:ecaf3e593122 139 p_TCB->state = READY;
Tuxitheone 0:ecaf3e593122 140 rt_dispatch (NULL);
Tuxitheone 0:ecaf3e593122 141 }
Tuxitheone 0:ecaf3e593122 142 }
Tuxitheone 0:ecaf3e593122 143 else {
Tuxitheone 0:ecaf3e593122 144 /* Check if own priority raised by priority inversion. */
Tuxitheone 0:ecaf3e593122 145 if (rt_rdy_prio() > os_tsk.run->prio) {
Tuxitheone 0:ecaf3e593122 146 rt_put_prio (&os_rdy, os_tsk.run);
Tuxitheone 0:ecaf3e593122 147 os_tsk.run->state = READY;
Tuxitheone 0:ecaf3e593122 148 rt_dispatch (NULL);
Tuxitheone 0:ecaf3e593122 149 }
Tuxitheone 0:ecaf3e593122 150 }
Tuxitheone 0:ecaf3e593122 151 return (OS_R_OK);
Tuxitheone 0:ecaf3e593122 152 }
Tuxitheone 0:ecaf3e593122 153
Tuxitheone 0:ecaf3e593122 154
Tuxitheone 0:ecaf3e593122 155 /*--------------------------- rt_mut_wait -----------------------------------*/
Tuxitheone 0:ecaf3e593122 156
Tuxitheone 0:ecaf3e593122 157 OS_RESULT rt_mut_wait (OS_ID mutex, U16 timeout) {
Tuxitheone 0:ecaf3e593122 158 /* Wait for a mutex, continue when mutex is free. */
Tuxitheone 0:ecaf3e593122 159 P_MUCB p_MCB = mutex;
Tuxitheone 0:ecaf3e593122 160
Tuxitheone 0:ecaf3e593122 161 if (p_MCB->level == 0) {
Tuxitheone 0:ecaf3e593122 162 p_MCB->owner = os_tsk.run;
Tuxitheone 0:ecaf3e593122 163 p_MCB->prio = os_tsk.run->prio;
Tuxitheone 0:ecaf3e593122 164 goto inc;
Tuxitheone 0:ecaf3e593122 165 }
Tuxitheone 0:ecaf3e593122 166 if (p_MCB->owner == os_tsk.run) {
Tuxitheone 0:ecaf3e593122 167 /* OK, running task is the owner of this mutex. */
Tuxitheone 0:ecaf3e593122 168 inc:p_MCB->level++;
Tuxitheone 0:ecaf3e593122 169 return (OS_R_OK);
Tuxitheone 0:ecaf3e593122 170 }
Tuxitheone 0:ecaf3e593122 171 /* Mutex owned by another task, wait until released. */
Tuxitheone 0:ecaf3e593122 172 if (timeout == 0) {
Tuxitheone 0:ecaf3e593122 173 return (OS_R_TMO);
Tuxitheone 0:ecaf3e593122 174 }
Tuxitheone 0:ecaf3e593122 175 /* Raise the owner task priority if lower than current priority. */
Tuxitheone 0:ecaf3e593122 176 /* This priority inversion is called priority inheritance. */
Tuxitheone 0:ecaf3e593122 177 if (p_MCB->prio < os_tsk.run->prio) {
Tuxitheone 0:ecaf3e593122 178 p_MCB->owner->prio = os_tsk.run->prio;
Tuxitheone 0:ecaf3e593122 179 rt_resort_prio (p_MCB->owner);
Tuxitheone 0:ecaf3e593122 180 }
Tuxitheone 0:ecaf3e593122 181 if (p_MCB->p_lnk != NULL) {
Tuxitheone 0:ecaf3e593122 182 rt_put_prio ((P_XCB)p_MCB, os_tsk.run);
Tuxitheone 0:ecaf3e593122 183 }
Tuxitheone 0:ecaf3e593122 184 else {
Tuxitheone 0:ecaf3e593122 185 p_MCB->p_lnk = os_tsk.run;
Tuxitheone 0:ecaf3e593122 186 os_tsk.run->p_lnk = NULL;
Tuxitheone 0:ecaf3e593122 187 os_tsk.run->p_rlnk = (P_TCB)p_MCB;
Tuxitheone 0:ecaf3e593122 188 }
Tuxitheone 0:ecaf3e593122 189 rt_block(timeout, WAIT_MUT);
Tuxitheone 0:ecaf3e593122 190 return (OS_R_TMO);
Tuxitheone 0:ecaf3e593122 191 }
Tuxitheone 0:ecaf3e593122 192
Tuxitheone 0:ecaf3e593122 193
Tuxitheone 0:ecaf3e593122 194 /*----------------------------------------------------------------------------
Tuxitheone 0:ecaf3e593122 195 * end of file
Tuxitheone 0:ecaf3e593122 196 *---------------------------------------------------------------------------*/
Tuxitheone 0:ecaf3e593122 197