Daoyu_Sofiane Yao_Belouka / mbed-rtos

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Dependents:   Mecatro_Gyro_Programme_Codeur_HC06

rtx/TARGET_ARM7/rt_Mutex.c@0:a8ed743bc1e1, 2021-04-16 (annotated)

Committer:
daoyu_sofiane
Date:
Fri Apr 16 09:25:33 2021 +0000
Revision:
0:a8ed743bc1e1
Projet Gyropode

Who changed what in which revision?

UserRevisionLine numberNew contents of line
daoyu_sofiane 0:a8ed743bc1e1 1 /*----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 2 * RL-ARM - RTX
daoyu_sofiane 0:a8ed743bc1e1 3 *----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 4 * Name: RT_MUTEX.C
daoyu_sofiane 0:a8ed743bc1e1 5 * Purpose: Implements mutex synchronization objects
daoyu_sofiane 0:a8ed743bc1e1 6 * Rev.: V4.60
daoyu_sofiane 0:a8ed743bc1e1 7 *----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 8 *
daoyu_sofiane 0:a8ed743bc1e1 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
daoyu_sofiane 0:a8ed743bc1e1 10 * All rights reserved.
daoyu_sofiane 0:a8ed743bc1e1 11 * Redistribution and use in source and binary forms, with or without
daoyu_sofiane 0:a8ed743bc1e1 12 * modification, are permitted provided that the following conditions are met:
daoyu_sofiane 0:a8ed743bc1e1 13 * - Redistributions of source code must retain the above copyright
daoyu_sofiane 0:a8ed743bc1e1 14 * notice, this list of conditions and the following disclaimer.
daoyu_sofiane 0:a8ed743bc1e1 15 * - Redistributions in binary form must reproduce the above copyright
daoyu_sofiane 0:a8ed743bc1e1 16 * notice, this list of conditions and the following disclaimer in the
daoyu_sofiane 0:a8ed743bc1e1 17 * documentation and/or other materials provided with the distribution.
daoyu_sofiane 0:a8ed743bc1e1 18 * - Neither the name of ARM nor the names of its contributors may be used
daoyu_sofiane 0:a8ed743bc1e1 19 * to endorse or promote products derived from this software without
daoyu_sofiane 0:a8ed743bc1e1 20 * specific prior written permission.
daoyu_sofiane 0:a8ed743bc1e1 21 *
daoyu_sofiane 0:a8ed743bc1e1 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
daoyu_sofiane 0:a8ed743bc1e1 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
daoyu_sofiane 0:a8ed743bc1e1 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
daoyu_sofiane 0:a8ed743bc1e1 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
daoyu_sofiane 0:a8ed743bc1e1 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
daoyu_sofiane 0:a8ed743bc1e1 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
daoyu_sofiane 0:a8ed743bc1e1 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
daoyu_sofiane 0:a8ed743bc1e1 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
daoyu_sofiane 0:a8ed743bc1e1 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
daoyu_sofiane 0:a8ed743bc1e1 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
daoyu_sofiane 0:a8ed743bc1e1 32 * POSSIBILITY OF SUCH DAMAGE.
daoyu_sofiane 0:a8ed743bc1e1 33 *---------------------------------------------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 34
daoyu_sofiane 0:a8ed743bc1e1 35 #include "rt_TypeDef.h"
daoyu_sofiane 0:a8ed743bc1e1 36 #include "RTX_Conf.h"
daoyu_sofiane 0:a8ed743bc1e1 37 #include "rt_List.h"
daoyu_sofiane 0:a8ed743bc1e1 38 #include "rt_Task.h"
daoyu_sofiane 0:a8ed743bc1e1 39 #include "rt_Mutex.h"
daoyu_sofiane 0:a8ed743bc1e1 40 #include "rt_HAL_CM.h"
daoyu_sofiane 0:a8ed743bc1e1 41
daoyu_sofiane 0:a8ed743bc1e1 42
daoyu_sofiane 0:a8ed743bc1e1 43 /*----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 44 * Functions
daoyu_sofiane 0:a8ed743bc1e1 45 *---------------------------------------------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 46
daoyu_sofiane 0:a8ed743bc1e1 47
daoyu_sofiane 0:a8ed743bc1e1 48 /*--------------------------- rt_mut_init -----------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 49
daoyu_sofiane 0:a8ed743bc1e1 50 void rt_mut_init (OS_ID mutex) {
daoyu_sofiane 0:a8ed743bc1e1 51 /* Initialize a mutex object */
daoyu_sofiane 0:a8ed743bc1e1 52 P_MUCB p_MCB = mutex;
daoyu_sofiane 0:a8ed743bc1e1 53
daoyu_sofiane 0:a8ed743bc1e1 54 p_MCB->cb_type = MUCB;
daoyu_sofiane 0:a8ed743bc1e1 55 p_MCB->prio = 0;
daoyu_sofiane 0:a8ed743bc1e1 56 p_MCB->level = 0;
daoyu_sofiane 0:a8ed743bc1e1 57 p_MCB->p_lnk = NULL;
daoyu_sofiane 0:a8ed743bc1e1 58 p_MCB->owner = NULL;
daoyu_sofiane 0:a8ed743bc1e1 59 }
daoyu_sofiane 0:a8ed743bc1e1 60
daoyu_sofiane 0:a8ed743bc1e1 61
daoyu_sofiane 0:a8ed743bc1e1 62 /*--------------------------- rt_mut_delete ---------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 63
daoyu_sofiane 0:a8ed743bc1e1 64 #ifdef __CMSIS_RTOS
daoyu_sofiane 0:a8ed743bc1e1 65 OS_RESULT rt_mut_delete (OS_ID mutex) {
daoyu_sofiane 0:a8ed743bc1e1 66 /* Delete a mutex object */
daoyu_sofiane 0:a8ed743bc1e1 67 P_MUCB p_MCB = mutex;
daoyu_sofiane 0:a8ed743bc1e1 68 P_TCB p_TCB;
daoyu_sofiane 0:a8ed743bc1e1 69
daoyu_sofiane 0:a8ed743bc1e1 70 /* Restore owner task's priority. */
daoyu_sofiane 0:a8ed743bc1e1 71 if (p_MCB->level != 0) {
daoyu_sofiane 0:a8ed743bc1e1 72 p_MCB->owner->prio = p_MCB->prio;
daoyu_sofiane 0:a8ed743bc1e1 73 if (p_MCB->owner != os_tsk.run) {
daoyu_sofiane 0:a8ed743bc1e1 74 rt_resort_prio (p_MCB->owner);
daoyu_sofiane 0:a8ed743bc1e1 75 }
daoyu_sofiane 0:a8ed743bc1e1 76 }
daoyu_sofiane 0:a8ed743bc1e1 77
daoyu_sofiane 0:a8ed743bc1e1 78 while (p_MCB->p_lnk != NULL) {
daoyu_sofiane 0:a8ed743bc1e1 79 /* A task is waiting for mutex. */
daoyu_sofiane 0:a8ed743bc1e1 80 p_TCB = rt_get_first ((P_XCB)p_MCB);
daoyu_sofiane 0:a8ed743bc1e1 81 rt_ret_val(p_TCB, 0/*osOK*/);
daoyu_sofiane 0:a8ed743bc1e1 82 rt_rmv_dly(p_TCB);
daoyu_sofiane 0:a8ed743bc1e1 83 p_TCB->state = READY;
daoyu_sofiane 0:a8ed743bc1e1 84 rt_put_prio (&os_rdy, p_TCB);
daoyu_sofiane 0:a8ed743bc1e1 85 }
daoyu_sofiane 0:a8ed743bc1e1 86
daoyu_sofiane 0:a8ed743bc1e1 87 if (os_rdy.p_lnk && (os_rdy.p_lnk->prio > os_tsk.run->prio)) {
daoyu_sofiane 0:a8ed743bc1e1 88 /* preempt running task */
daoyu_sofiane 0:a8ed743bc1e1 89 rt_put_prio (&os_rdy, os_tsk.run);
daoyu_sofiane 0:a8ed743bc1e1 90 os_tsk.run->state = READY;
daoyu_sofiane 0:a8ed743bc1e1 91 rt_dispatch (NULL);
daoyu_sofiane 0:a8ed743bc1e1 92 }
daoyu_sofiane 0:a8ed743bc1e1 93
daoyu_sofiane 0:a8ed743bc1e1 94 p_MCB->cb_type = 0;
daoyu_sofiane 0:a8ed743bc1e1 95
daoyu_sofiane 0:a8ed743bc1e1 96 return (OS_R_OK);
daoyu_sofiane 0:a8ed743bc1e1 97 }
daoyu_sofiane 0:a8ed743bc1e1 98 #endif
daoyu_sofiane 0:a8ed743bc1e1 99
daoyu_sofiane 0:a8ed743bc1e1 100
daoyu_sofiane 0:a8ed743bc1e1 101 /*--------------------------- rt_mut_release --------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 102
daoyu_sofiane 0:a8ed743bc1e1 103 OS_RESULT rt_mut_release (OS_ID mutex) {
daoyu_sofiane 0:a8ed743bc1e1 104 /* Release a mutex object */
daoyu_sofiane 0:a8ed743bc1e1 105 P_MUCB p_MCB = mutex;
daoyu_sofiane 0:a8ed743bc1e1 106 P_TCB p_TCB;
daoyu_sofiane 0:a8ed743bc1e1 107
daoyu_sofiane 0:a8ed743bc1e1 108 if (p_MCB->level == 0 || p_MCB->owner != os_tsk.run) {
daoyu_sofiane 0:a8ed743bc1e1 109 /* Unbalanced mutex release or task is not the owner */
daoyu_sofiane 0:a8ed743bc1e1 110 return (OS_R_NOK);
daoyu_sofiane 0:a8ed743bc1e1 111 }
daoyu_sofiane 0:a8ed743bc1e1 112 if (--p_MCB->level != 0) {
daoyu_sofiane 0:a8ed743bc1e1 113 return (OS_R_OK);
daoyu_sofiane 0:a8ed743bc1e1 114 }
daoyu_sofiane 0:a8ed743bc1e1 115 /* Restore owner task's priority. */
daoyu_sofiane 0:a8ed743bc1e1 116 os_tsk.run->prio = p_MCB->prio;
daoyu_sofiane 0:a8ed743bc1e1 117 if (p_MCB->p_lnk != NULL) {
daoyu_sofiane 0:a8ed743bc1e1 118 /* A task is waiting for mutex. */
daoyu_sofiane 0:a8ed743bc1e1 119 p_TCB = rt_get_first ((P_XCB)p_MCB);
daoyu_sofiane 0:a8ed743bc1e1 120 #ifdef __CMSIS_RTOS
daoyu_sofiane 0:a8ed743bc1e1 121 rt_ret_val(p_TCB, 0/*osOK*/);
daoyu_sofiane 0:a8ed743bc1e1 122 #else
daoyu_sofiane 0:a8ed743bc1e1 123 rt_ret_val(p_TCB, OS_R_MUT);
daoyu_sofiane 0:a8ed743bc1e1 124 #endif
daoyu_sofiane 0:a8ed743bc1e1 125 rt_rmv_dly (p_TCB);
daoyu_sofiane 0:a8ed743bc1e1 126 /* A waiting task becomes the owner of this mutex. */
daoyu_sofiane 0:a8ed743bc1e1 127 p_MCB->level = 1;
daoyu_sofiane 0:a8ed743bc1e1 128 p_MCB->owner = p_TCB;
daoyu_sofiane 0:a8ed743bc1e1 129 p_MCB->prio = p_TCB->prio;
daoyu_sofiane 0:a8ed743bc1e1 130 /* Priority inversion, check which task continues. */
daoyu_sofiane 0:a8ed743bc1e1 131 if (os_tsk.run->prio >= rt_rdy_prio()) {
daoyu_sofiane 0:a8ed743bc1e1 132 rt_dispatch (p_TCB);
daoyu_sofiane 0:a8ed743bc1e1 133 }
daoyu_sofiane 0:a8ed743bc1e1 134 else {
daoyu_sofiane 0:a8ed743bc1e1 135 /* Ready task has higher priority than running task. */
daoyu_sofiane 0:a8ed743bc1e1 136 rt_put_prio (&os_rdy, os_tsk.run);
daoyu_sofiane 0:a8ed743bc1e1 137 rt_put_prio (&os_rdy, p_TCB);
daoyu_sofiane 0:a8ed743bc1e1 138 os_tsk.run->state = READY;
daoyu_sofiane 0:a8ed743bc1e1 139 p_TCB->state = READY;
daoyu_sofiane 0:a8ed743bc1e1 140 rt_dispatch (NULL);
daoyu_sofiane 0:a8ed743bc1e1 141 }
daoyu_sofiane 0:a8ed743bc1e1 142 }
daoyu_sofiane 0:a8ed743bc1e1 143 else {
daoyu_sofiane 0:a8ed743bc1e1 144 /* Check if own priority raised by priority inversion. */
daoyu_sofiane 0:a8ed743bc1e1 145 if (rt_rdy_prio() > os_tsk.run->prio) {
daoyu_sofiane 0:a8ed743bc1e1 146 rt_put_prio (&os_rdy, os_tsk.run);
daoyu_sofiane 0:a8ed743bc1e1 147 os_tsk.run->state = READY;
daoyu_sofiane 0:a8ed743bc1e1 148 rt_dispatch (NULL);
daoyu_sofiane 0:a8ed743bc1e1 149 }
daoyu_sofiane 0:a8ed743bc1e1 150 }
daoyu_sofiane 0:a8ed743bc1e1 151 return (OS_R_OK);
daoyu_sofiane 0:a8ed743bc1e1 152 }
daoyu_sofiane 0:a8ed743bc1e1 153
daoyu_sofiane 0:a8ed743bc1e1 154
daoyu_sofiane 0:a8ed743bc1e1 155 /*--------------------------- rt_mut_wait -----------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 156
daoyu_sofiane 0:a8ed743bc1e1 157 OS_RESULT rt_mut_wait (OS_ID mutex, U16 timeout) {
daoyu_sofiane 0:a8ed743bc1e1 158 /* Wait for a mutex, continue when mutex is free. */
daoyu_sofiane 0:a8ed743bc1e1 159 P_MUCB p_MCB = mutex;
daoyu_sofiane 0:a8ed743bc1e1 160
daoyu_sofiane 0:a8ed743bc1e1 161 if (p_MCB->level == 0) {
daoyu_sofiane 0:a8ed743bc1e1 162 p_MCB->owner = os_tsk.run;
daoyu_sofiane 0:a8ed743bc1e1 163 p_MCB->prio = os_tsk.run->prio;
daoyu_sofiane 0:a8ed743bc1e1 164 goto inc;
daoyu_sofiane 0:a8ed743bc1e1 165 }
daoyu_sofiane 0:a8ed743bc1e1 166 if (p_MCB->owner == os_tsk.run) {
daoyu_sofiane 0:a8ed743bc1e1 167 /* OK, running task is the owner of this mutex. */
daoyu_sofiane 0:a8ed743bc1e1 168 inc:p_MCB->level++;
daoyu_sofiane 0:a8ed743bc1e1 169 return (OS_R_OK);
daoyu_sofiane 0:a8ed743bc1e1 170 }
daoyu_sofiane 0:a8ed743bc1e1 171 /* Mutex owned by another task, wait until released. */
daoyu_sofiane 0:a8ed743bc1e1 172 if (timeout == 0) {
daoyu_sofiane 0:a8ed743bc1e1 173 return (OS_R_TMO);
daoyu_sofiane 0:a8ed743bc1e1 174 }
daoyu_sofiane 0:a8ed743bc1e1 175 /* Raise the owner task priority if lower than current priority. */
daoyu_sofiane 0:a8ed743bc1e1 176 /* This priority inversion is called priority inheritance. */
daoyu_sofiane 0:a8ed743bc1e1 177 if (p_MCB->prio < os_tsk.run->prio) {
daoyu_sofiane 0:a8ed743bc1e1 178 p_MCB->owner->prio = os_tsk.run->prio;
daoyu_sofiane 0:a8ed743bc1e1 179 rt_resort_prio (p_MCB->owner);
daoyu_sofiane 0:a8ed743bc1e1 180 }
daoyu_sofiane 0:a8ed743bc1e1 181 if (p_MCB->p_lnk != NULL) {
daoyu_sofiane 0:a8ed743bc1e1 182 rt_put_prio ((P_XCB)p_MCB, os_tsk.run);
daoyu_sofiane 0:a8ed743bc1e1 183 }
daoyu_sofiane 0:a8ed743bc1e1 184 else {
daoyu_sofiane 0:a8ed743bc1e1 185 p_MCB->p_lnk = os_tsk.run;
daoyu_sofiane 0:a8ed743bc1e1 186 os_tsk.run->p_lnk = NULL;
daoyu_sofiane 0:a8ed743bc1e1 187 os_tsk.run->p_rlnk = (P_TCB)p_MCB;
daoyu_sofiane 0:a8ed743bc1e1 188 }
daoyu_sofiane 0:a8ed743bc1e1 189 rt_block(timeout, WAIT_MUT);
daoyu_sofiane 0:a8ed743bc1e1 190 return (OS_R_TMO);
daoyu_sofiane 0:a8ed743bc1e1 191 }
daoyu_sofiane 0:a8ed743bc1e1 192
daoyu_sofiane 0:a8ed743bc1e1 193
daoyu_sofiane 0:a8ed743bc1e1 194 /*----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 195 * end of file
daoyu_sofiane 0:a8ed743bc1e1 196 *---------------------------------------------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 197