FreeRTOS_on_mbed_v1 - Please see my note book http://mbed.org/users/ken…

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Please see my note book http://mbed.org/users/kenjiArai/notebook/freertos-on-mbed-board-with-mbed-cloud-ide--never-/

This is too old.
Below is another FreeRTOS on mbed.
http://developer.mbed.org/users/rgrover1/code/FreeRTOS/
I don't know it works well or not.
I have not evaluated it.

FreeRTOS/Common/Minimal/recmutex.c@0:d4960fcea8ff, 2011-01-01 (annotated)

Committer:: kenjiArai
Date:: Sat Jan 01 11:17:45 2011 +0000
Revision:: 0:d4960fcea8ff

Who changed what in which revision?

User	Revision	Line number	New contents of line
kenjiArai	0:d4960fcea8ff	1	/*
kenjiArai	0:d4960fcea8ff	2	FreeRTOS V6.0.3 - Copyright (C) 2010 Real Time Engineers Ltd.
kenjiArai	0:d4960fcea8ff	3
kenjiArai	0:d4960fcea8ff	4	***************************************************************************
kenjiArai	0:d4960fcea8ff	5	* *
kenjiArai	0:d4960fcea8ff	6	* If you are: *
kenjiArai	0:d4960fcea8ff	7	* *
kenjiArai	0:d4960fcea8ff	8	* + New to FreeRTOS, *
kenjiArai	0:d4960fcea8ff	9	* + Wanting to learn FreeRTOS or multitasking in general quickly *
kenjiArai	0:d4960fcea8ff	10	* + Looking for basic training, *
kenjiArai	0:d4960fcea8ff	11	* + Wanting to improve your FreeRTOS skills and productivity *
kenjiArai	0:d4960fcea8ff	12	* *
kenjiArai	0:d4960fcea8ff	13	* then take a look at the FreeRTOS eBook *
kenjiArai	0:d4960fcea8ff	14	* *
kenjiArai	0:d4960fcea8ff	15	* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
kenjiArai	0:d4960fcea8ff	16	* http://www.FreeRTOS.org/Documentation *
kenjiArai	0:d4960fcea8ff	17	* *
kenjiArai	0:d4960fcea8ff	18	* A pdf reference manual is also available. Both are usually delivered *
kenjiArai	0:d4960fcea8ff	19	* to your inbox within 20 minutes to two hours when purchased between 8am *
kenjiArai	0:d4960fcea8ff	20	* and 8pm GMT (although please allow up to 24 hours in case of *
kenjiArai	0:d4960fcea8ff	21	* exceptional circumstances). Thank you for your support! *
kenjiArai	0:d4960fcea8ff	22	* *
kenjiArai	0:d4960fcea8ff	23	***************************************************************************
kenjiArai	0:d4960fcea8ff	24
kenjiArai	0:d4960fcea8ff	25	This file is part of the FreeRTOS distribution.
kenjiArai	0:d4960fcea8ff	26
kenjiArai	0:d4960fcea8ff	27	FreeRTOS is free software; you can redistribute it and/or modify it under
kenjiArai	0:d4960fcea8ff	28	the terms of the GNU General Public License (version 2) as published by the
kenjiArai	0:d4960fcea8ff	29	Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
kenjiArai	0:d4960fcea8ff	30	*NOTE* The exception to the GPL is included to allow you to distribute
kenjiArai	0:d4960fcea8ff	31	a combined work that includes FreeRTOS without being obliged to provide the
kenjiArai	0:d4960fcea8ff	32	source code for proprietary components outside of the FreeRTOS kernel.
kenjiArai	0:d4960fcea8ff	33	FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
kenjiArai	0:d4960fcea8ff	34	ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
kenjiArai	0:d4960fcea8ff	35	FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
kenjiArai	0:d4960fcea8ff	36	more details. You should have received a copy of the GNU General Public
kenjiArai	0:d4960fcea8ff	37	License and the FreeRTOS license exception along with FreeRTOS; if not it
kenjiArai	0:d4960fcea8ff	38	can be viewed here: http://www.freertos.org/a00114.html and also obtained
kenjiArai	0:d4960fcea8ff	39	by writing to Richard Barry, contact details for whom are available on the
kenjiArai	0:d4960fcea8ff	40	FreeRTOS WEB site.
kenjiArai	0:d4960fcea8ff	41
kenjiArai	0:d4960fcea8ff	42	1 tab == 4 spaces!
kenjiArai	0:d4960fcea8ff	43
kenjiArai	0:d4960fcea8ff	44	http://www.FreeRTOS.org - Documentation, latest information, license and
kenjiArai	0:d4960fcea8ff	45	contact details.
kenjiArai	0:d4960fcea8ff	46
kenjiArai	0:d4960fcea8ff	47	http://www.SafeRTOS.com - A version that is certified for use in safety
kenjiArai	0:d4960fcea8ff	48	critical systems.
kenjiArai	0:d4960fcea8ff	49
kenjiArai	0:d4960fcea8ff	50	http://www.OpenRTOS.com - Commercial support, development, porting,
kenjiArai	0:d4960fcea8ff	51	licensing and training services.
kenjiArai	0:d4960fcea8ff	52	*/
kenjiArai	0:d4960fcea8ff	53
kenjiArai	0:d4960fcea8ff	54	/*
kenjiArai	0:d4960fcea8ff	55	The tasks defined on this page demonstrate the use of recursive mutexes.
kenjiArai	0:d4960fcea8ff	56
kenjiArai	0:d4960fcea8ff	57	For recursive mutex functionality the created mutex should be created using
kenjiArai	0:d4960fcea8ff	58	xSemaphoreCreateRecursiveMutex(), then be manipulated
kenjiArai	0:d4960fcea8ff	59	using the xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() API
kenjiArai	0:d4960fcea8ff	60	functions.
kenjiArai	0:d4960fcea8ff	61
kenjiArai	0:d4960fcea8ff	62	This demo creates three tasks all of which access the same recursive mutex:
kenjiArai	0:d4960fcea8ff	63
kenjiArai	0:d4960fcea8ff	64	prvRecursiveMutexControllingTask() has the highest priority so executes
kenjiArai	0:d4960fcea8ff	65	first and grabs the mutex. It then performs some recursive accesses -
kenjiArai	0:d4960fcea8ff	66	between each of which it sleeps for a short period to let the lower
kenjiArai	0:d4960fcea8ff	67	priority tasks execute. When it has completed its demo functionality
kenjiArai	0:d4960fcea8ff	68	it gives the mutex back before suspending itself.
kenjiArai	0:d4960fcea8ff	69
kenjiArai	0:d4960fcea8ff	70	prvRecursiveMutexBlockingTask() attempts to access the mutex by performing
kenjiArai	0:d4960fcea8ff	71	a blocking 'take'. The blocking task has a lower priority than the
kenjiArai	0:d4960fcea8ff	72	controlling task so by the time it executes the mutex has already been
kenjiArai	0:d4960fcea8ff	73	taken by the controlling task, causing the blocking task to block. It
kenjiArai	0:d4960fcea8ff	74	does not unblock until the controlling task has given the mutex back,
kenjiArai	0:d4960fcea8ff	75	and it does not actually run until the controlling task has suspended
kenjiArai	0:d4960fcea8ff	76	itself (due to the relative priorities). When it eventually does obtain
kenjiArai	0:d4960fcea8ff	77	the mutex all it does is give the mutex back prior to also suspending
kenjiArai	0:d4960fcea8ff	78	itself. At this point both the controlling task and the blocking task are
kenjiArai	0:d4960fcea8ff	79	suspended.
kenjiArai	0:d4960fcea8ff	80
kenjiArai	0:d4960fcea8ff	81	prvRecursiveMutexPollingTask() runs at the idle priority. It spins round
kenjiArai	0:d4960fcea8ff	82	a tight loop attempting to obtain the mutex with a non-blocking call. As
kenjiArai	0:d4960fcea8ff	83	the lowest priority task it will not successfully obtain the mutex until
kenjiArai	0:d4960fcea8ff	84	both the controlling and blocking tasks are suspended. Once it eventually
kenjiArai	0:d4960fcea8ff	85	does obtain the mutex it first unsuspends both the controlling task and
kenjiArai	0:d4960fcea8ff	86	blocking task prior to giving the mutex back - resulting in the polling
kenjiArai	0:d4960fcea8ff	87	task temporarily inheriting the controlling tasks priority.
kenjiArai	0:d4960fcea8ff	88	*/
kenjiArai	0:d4960fcea8ff	89
kenjiArai	0:d4960fcea8ff	90	/* Scheduler include files. */
kenjiArai	0:d4960fcea8ff	91	#include "FreeRTOS.h"
kenjiArai	0:d4960fcea8ff	92	#include "task.h"
kenjiArai	0:d4960fcea8ff	93	#include "semphr.h"
kenjiArai	0:d4960fcea8ff	94
kenjiArai	0:d4960fcea8ff	95	/* Demo app include files. */
kenjiArai	0:d4960fcea8ff	96	#include "recmutex.h"
kenjiArai	0:d4960fcea8ff	97
kenjiArai	0:d4960fcea8ff	98	/* Priorities assigned to the three tasks. */
kenjiArai	0:d4960fcea8ff	99	#define recmuCONTROLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
kenjiArai	0:d4960fcea8ff	100	#define recmuBLOCKING_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
kenjiArai	0:d4960fcea8ff	101	#define recmuPOLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 0 )
kenjiArai	0:d4960fcea8ff	102
kenjiArai	0:d4960fcea8ff	103	/* The recursive call depth. */
kenjiArai	0:d4960fcea8ff	104	#define recmuMAX_COUNT ( 10 )
kenjiArai	0:d4960fcea8ff	105
kenjiArai	0:d4960fcea8ff	106	/* Misc. */
kenjiArai	0:d4960fcea8ff	107	#define recmuSHORT_DELAY ( 20 / portTICK_RATE_MS )
kenjiArai	0:d4960fcea8ff	108	#define recmuNO_DELAY ( ( portTickType ) 0 )
kenjiArai	0:d4960fcea8ff	109	#define recmuTWO_TICK_DELAY ( ( portTickType ) 2 )
kenjiArai	0:d4960fcea8ff	110
kenjiArai	0:d4960fcea8ff	111	/* The three tasks as described at the top of this file. */
kenjiArai	0:d4960fcea8ff	112	static void prvRecursiveMutexControllingTask( void *pvParameters );
kenjiArai	0:d4960fcea8ff	113	static void prvRecursiveMutexBlockingTask( void *pvParameters );
kenjiArai	0:d4960fcea8ff	114	static void prvRecursiveMutexPollingTask( void *pvParameters );
kenjiArai	0:d4960fcea8ff	115
kenjiArai	0:d4960fcea8ff	116	/* The mutex used by the demo. */
kenjiArai	0:d4960fcea8ff	117	static xSemaphoreHandle xMutex;
kenjiArai	0:d4960fcea8ff	118
kenjiArai	0:d4960fcea8ff	119	/* Variables used to detect and latch errors. */
kenjiArai	0:d4960fcea8ff	120	static volatile portBASE_TYPE xErrorOccurred = pdFALSE, xControllingIsSuspended = pdFALSE, xBlockingIsSuspended = pdFALSE;
kenjiArai	0:d4960fcea8ff	121	static volatile unsigned portBASE_TYPE uxControllingCycles = 0, uxBlockingCycles, uxPollingCycles = 0;
kenjiArai	0:d4960fcea8ff	122
kenjiArai	0:d4960fcea8ff	123	/* Handles of the two higher priority tasks, required so they can be resumed
kenjiArai	0:d4960fcea8ff	124	(unsuspended). */
kenjiArai	0:d4960fcea8ff	125	static xTaskHandle xControllingTaskHandle, xBlockingTaskHandle;
kenjiArai	0:d4960fcea8ff	126
kenjiArai	0:d4960fcea8ff	127	/-----------------------------------------------------------/
kenjiArai	0:d4960fcea8ff	128
kenjiArai	0:d4960fcea8ff	129	void vStartRecursiveMutexTasks( void )
kenjiArai	0:d4960fcea8ff	130	{
kenjiArai	0:d4960fcea8ff	131	/* Just creates the mutex and the three tasks. */
kenjiArai	0:d4960fcea8ff	132
kenjiArai	0:d4960fcea8ff	133	xMutex = xSemaphoreCreateRecursiveMutex();
kenjiArai	0:d4960fcea8ff	134
kenjiArai	0:d4960fcea8ff	135	/* vQueueAddToRegistry() adds the mutex to the registry, if one is
kenjiArai	0:d4960fcea8ff	136	in use. The registry is provided as a means for kernel aware
kenjiArai	0:d4960fcea8ff	137	debuggers to locate mutex and has no purpose if a kernel aware debugger
kenjiArai	0:d4960fcea8ff	138	is not being used. The call to vQueueAddToRegistry() will be removed
kenjiArai	0:d4960fcea8ff	139	by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
kenjiArai	0:d4960fcea8ff	140	defined to be less than 1. */
kenjiArai	0:d4960fcea8ff	141	vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Recursive_Mutex" );
kenjiArai	0:d4960fcea8ff	142
kenjiArai	0:d4960fcea8ff	143
kenjiArai	0:d4960fcea8ff	144	if( xMutex != NULL )
kenjiArai	0:d4960fcea8ff	145	{
kenjiArai	0:d4960fcea8ff	146	xTaskCreate( prvRecursiveMutexControllingTask, ( signed portCHAR * ) "Rec1", configMINIMAL_STACK_SIZE, NULL, recmuCONTROLLING_TASK_PRIORITY, &xControllingTaskHandle );
kenjiArai	0:d4960fcea8ff	147	xTaskCreate( prvRecursiveMutexBlockingTask, ( signed portCHAR * ) "Rec2", configMINIMAL_STACK_SIZE, NULL, recmuBLOCKING_TASK_PRIORITY, &xBlockingTaskHandle );
kenjiArai	0:d4960fcea8ff	148	xTaskCreate( prvRecursiveMutexPollingTask, ( signed portCHAR * ) "Rec3", configMINIMAL_STACK_SIZE, NULL, recmuPOLLING_TASK_PRIORITY, NULL );
kenjiArai	0:d4960fcea8ff	149	}
kenjiArai	0:d4960fcea8ff	150	}
kenjiArai	0:d4960fcea8ff	151	/-----------------------------------------------------------/
kenjiArai	0:d4960fcea8ff	152
kenjiArai	0:d4960fcea8ff	153	static void prvRecursiveMutexControllingTask( void *pvParameters )
kenjiArai	0:d4960fcea8ff	154	{
kenjiArai	0:d4960fcea8ff	155	unsigned portBASE_TYPE ux;
kenjiArai	0:d4960fcea8ff	156
kenjiArai	0:d4960fcea8ff	157	/* Just to remove compiler warning. */
kenjiArai	0:d4960fcea8ff	158	( void ) pvParameters;
kenjiArai	0:d4960fcea8ff	159
kenjiArai	0:d4960fcea8ff	160	for( ;; )
kenjiArai	0:d4960fcea8ff	161	{
kenjiArai	0:d4960fcea8ff	162	/* Should not be able to 'give' the mutex, as we have not yet 'taken'
kenjiArai	0:d4960fcea8ff	163	it. */
kenjiArai	0:d4960fcea8ff	164	if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )
kenjiArai	0:d4960fcea8ff	165	{
kenjiArai	0:d4960fcea8ff	166	xErrorOccurred = pdTRUE;
kenjiArai	0:d4960fcea8ff	167	}
kenjiArai	0:d4960fcea8ff	168
kenjiArai	0:d4960fcea8ff	169	for( ux = 0; ux < recmuMAX_COUNT; ux++ )
kenjiArai	0:d4960fcea8ff	170	{
kenjiArai	0:d4960fcea8ff	171	/* We should now be able to take the mutex as many times as
kenjiArai	0:d4960fcea8ff	172	we like. A one tick delay is used so the polling task will
kenjiArai	0:d4960fcea8ff	173	inherit our priority on all but the first cycle of this task.
kenjiArai	0:d4960fcea8ff	174	If we did not block attempting to receive the mutex then no
kenjiArai	0:d4960fcea8ff	175	priority inheritance would occur. */
kenjiArai	0:d4960fcea8ff	176	if( xSemaphoreTakeRecursive( xMutex, recmuTWO_TICK_DELAY ) != pdPASS )
kenjiArai	0:d4960fcea8ff	177	{
kenjiArai	0:d4960fcea8ff	178	xErrorOccurred = pdTRUE;
kenjiArai	0:d4960fcea8ff	179	}
kenjiArai	0:d4960fcea8ff	180
kenjiArai	0:d4960fcea8ff	181	/* Ensure the other task attempting to access the mutex (and the
kenjiArai	0:d4960fcea8ff	182	other demo tasks) are able to execute. */
kenjiArai	0:d4960fcea8ff	183	vTaskDelay( recmuSHORT_DELAY );
kenjiArai	0:d4960fcea8ff	184	}
kenjiArai	0:d4960fcea8ff	185
kenjiArai	0:d4960fcea8ff	186	/* For each time we took the mutex, give it back. */
kenjiArai	0:d4960fcea8ff	187	for( ux = 0; ux < recmuMAX_COUNT; ux++ )
kenjiArai	0:d4960fcea8ff	188	{
kenjiArai	0:d4960fcea8ff	189	/* Ensure the other task attempting to access the mutex (and the
kenjiArai	0:d4960fcea8ff	190	other demo tasks) are able to execute. */
kenjiArai	0:d4960fcea8ff	191	vTaskDelay( recmuSHORT_DELAY );
kenjiArai	0:d4960fcea8ff	192
kenjiArai	0:d4960fcea8ff	193	/* We should now be able to give the mutex as many times as we
kenjiArai	0:d4960fcea8ff	194	took it. */
kenjiArai	0:d4960fcea8ff	195	if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
kenjiArai	0:d4960fcea8ff	196	{
kenjiArai	0:d4960fcea8ff	197	xErrorOccurred = pdTRUE;
kenjiArai	0:d4960fcea8ff	198	}
kenjiArai	0:d4960fcea8ff	199	}
kenjiArai	0:d4960fcea8ff	200
kenjiArai	0:d4960fcea8ff	201	/* Having given it back the same number of times as it was taken, we
kenjiArai	0:d4960fcea8ff	202	should no longer be the mutex owner, so the next give sh ould fail. */
kenjiArai	0:d4960fcea8ff	203	if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )
kenjiArai	0:d4960fcea8ff	204	{
kenjiArai	0:d4960fcea8ff	205	xErrorOccurred = pdTRUE;
kenjiArai	0:d4960fcea8ff	206	}
kenjiArai	0:d4960fcea8ff	207
kenjiArai	0:d4960fcea8ff	208	/* Keep count of the number of cycles this task has performed so a
kenjiArai	0:d4960fcea8ff	209	stall can be detected. */
kenjiArai	0:d4960fcea8ff	210	uxControllingCycles++;
kenjiArai	0:d4960fcea8ff	211
kenjiArai	0:d4960fcea8ff	212	/* Suspend ourselves to the blocking task can execute. */
kenjiArai	0:d4960fcea8ff	213	xControllingIsSuspended = pdTRUE;
kenjiArai	0:d4960fcea8ff	214	vTaskSuspend( NULL );
kenjiArai	0:d4960fcea8ff	215	xControllingIsSuspended = pdFALSE;
kenjiArai	0:d4960fcea8ff	216	}
kenjiArai	0:d4960fcea8ff	217	}
kenjiArai	0:d4960fcea8ff	218	/-----------------------------------------------------------/
kenjiArai	0:d4960fcea8ff	219
kenjiArai	0:d4960fcea8ff	220	static void prvRecursiveMutexBlockingTask( void *pvParameters )
kenjiArai	0:d4960fcea8ff	221	{
kenjiArai	0:d4960fcea8ff	222	/* Just to remove compiler warning. */
kenjiArai	0:d4960fcea8ff	223	( void ) pvParameters;
kenjiArai	0:d4960fcea8ff	224
kenjiArai	0:d4960fcea8ff	225	for( ;; )
kenjiArai	0:d4960fcea8ff	226	{
kenjiArai	0:d4960fcea8ff	227	/* Attempt to obtain the mutex. We should block until the
kenjiArai	0:d4960fcea8ff	228	controlling task has given up the mutex, and not actually execute
kenjiArai	0:d4960fcea8ff	229	past this call until the controlling task is suspended. */
kenjiArai	0:d4960fcea8ff	230	if( xSemaphoreTakeRecursive( xMutex, portMAX_DELAY ) == pdPASS )
kenjiArai	0:d4960fcea8ff	231	{
kenjiArai	0:d4960fcea8ff	232	if( xControllingIsSuspended != pdTRUE )
kenjiArai	0:d4960fcea8ff	233	{
kenjiArai	0:d4960fcea8ff	234	/* Did not expect to execute until the controlling task was
kenjiArai	0:d4960fcea8ff	235	suspended. */
kenjiArai	0:d4960fcea8ff	236	xErrorOccurred = pdTRUE;
kenjiArai	0:d4960fcea8ff	237	}
kenjiArai	0:d4960fcea8ff	238	else
kenjiArai	0:d4960fcea8ff	239	{
kenjiArai	0:d4960fcea8ff	240	/* Give the mutex back before suspending ourselves to allow
kenjiArai	0:d4960fcea8ff	241	the polling task to obtain the mutex. */
kenjiArai	0:d4960fcea8ff	242	if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
kenjiArai	0:d4960fcea8ff	243	{
kenjiArai	0:d4960fcea8ff	244	xErrorOccurred = pdTRUE;
kenjiArai	0:d4960fcea8ff	245	}
kenjiArai	0:d4960fcea8ff	246
kenjiArai	0:d4960fcea8ff	247	xBlockingIsSuspended = pdTRUE;
kenjiArai	0:d4960fcea8ff	248	vTaskSuspend( NULL );
kenjiArai	0:d4960fcea8ff	249	xBlockingIsSuspended = pdFALSE;
kenjiArai	0:d4960fcea8ff	250	}
kenjiArai	0:d4960fcea8ff	251	}
kenjiArai	0:d4960fcea8ff	252	else
kenjiArai	0:d4960fcea8ff	253	{
kenjiArai	0:d4960fcea8ff	254	/* We should not leave the xSemaphoreTakeRecursive() function
kenjiArai	0:d4960fcea8ff	255	until the mutex was obtained. */
kenjiArai	0:d4960fcea8ff	256	xErrorOccurred = pdTRUE;
kenjiArai	0:d4960fcea8ff	257	}
kenjiArai	0:d4960fcea8ff	258
kenjiArai	0:d4960fcea8ff	259	/* The controlling and blocking tasks should be in lock step. */
kenjiArai	0:d4960fcea8ff	260	if( uxControllingCycles != ( uxBlockingCycles + 1 ) )
kenjiArai	0:d4960fcea8ff	261	{
kenjiArai	0:d4960fcea8ff	262	xErrorOccurred = pdTRUE;
kenjiArai	0:d4960fcea8ff	263	}
kenjiArai	0:d4960fcea8ff	264
kenjiArai	0:d4960fcea8ff	265	/* Keep count of the number of cycles this task has performed so a
kenjiArai	0:d4960fcea8ff	266	stall can be detected. */
kenjiArai	0:d4960fcea8ff	267	uxBlockingCycles++;
kenjiArai	0:d4960fcea8ff	268	}
kenjiArai	0:d4960fcea8ff	269	}
kenjiArai	0:d4960fcea8ff	270	/-----------------------------------------------------------/
kenjiArai	0:d4960fcea8ff	271
kenjiArai	0:d4960fcea8ff	272	static void prvRecursiveMutexPollingTask( void *pvParameters )
kenjiArai	0:d4960fcea8ff	273	{
kenjiArai	0:d4960fcea8ff	274	/* Just to remove compiler warning. */
kenjiArai	0:d4960fcea8ff	275	( void ) pvParameters;
kenjiArai	0:d4960fcea8ff	276
kenjiArai	0:d4960fcea8ff	277	for( ;; )
kenjiArai	0:d4960fcea8ff	278	{
kenjiArai	0:d4960fcea8ff	279	/* Keep attempting to obtain the mutex. We should only obtain it when
kenjiArai	0:d4960fcea8ff	280	the blocking task has suspended itself. */
kenjiArai	0:d4960fcea8ff	281	if( xSemaphoreTakeRecursive( xMutex, recmuNO_DELAY ) == pdPASS )
kenjiArai	0:d4960fcea8ff	282	{
kenjiArai	0:d4960fcea8ff	283	/* Is the blocking task suspended? */
kenjiArai	0:d4960fcea8ff	284	if( xBlockingIsSuspended != pdTRUE )
kenjiArai	0:d4960fcea8ff	285	{
kenjiArai	0:d4960fcea8ff	286	xErrorOccurred = pdTRUE;
kenjiArai	0:d4960fcea8ff	287	}
kenjiArai	0:d4960fcea8ff	288	else
kenjiArai	0:d4960fcea8ff	289	{
kenjiArai	0:d4960fcea8ff	290	/* Keep count of the number of cycles this task has performed so
kenjiArai	0:d4960fcea8ff	291	a stall can be detected. */
kenjiArai	0:d4960fcea8ff	292	uxPollingCycles++;
kenjiArai	0:d4960fcea8ff	293
kenjiArai	0:d4960fcea8ff	294	/* We can resume the other tasks here even though they have a
kenjiArai	0:d4960fcea8ff	295	higher priority than the polling task. When they execute they
kenjiArai	0:d4960fcea8ff	296	will attempt to obtain the mutex but fail because the polling
kenjiArai	0:d4960fcea8ff	297	task is still the mutex holder. The polling task (this task)
kenjiArai	0:d4960fcea8ff	298	will then inherit the higher priority. */
kenjiArai	0:d4960fcea8ff	299	vTaskResume( xBlockingTaskHandle );
kenjiArai	0:d4960fcea8ff	300	vTaskResume( xControllingTaskHandle );
kenjiArai	0:d4960fcea8ff	301
kenjiArai	0:d4960fcea8ff	302	/* Release the mutex, disinheriting the higher priority again. */
kenjiArai	0:d4960fcea8ff	303	if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
kenjiArai	0:d4960fcea8ff	304	{
kenjiArai	0:d4960fcea8ff	305	xErrorOccurred = pdTRUE;
kenjiArai	0:d4960fcea8ff	306	}
kenjiArai	0:d4960fcea8ff	307	}
kenjiArai	0:d4960fcea8ff	308	}
kenjiArai	0:d4960fcea8ff	309
kenjiArai	0:d4960fcea8ff	310	#if configUSE_PREEMPTION == 0
kenjiArai	0:d4960fcea8ff	311	{
kenjiArai	0:d4960fcea8ff	312	taskYIELD();
kenjiArai	0:d4960fcea8ff	313	}
kenjiArai	0:d4960fcea8ff	314	#endif
kenjiArai	0:d4960fcea8ff	315	}
kenjiArai	0:d4960fcea8ff	316	}
kenjiArai	0:d4960fcea8ff	317	/-----------------------------------------------------------/
kenjiArai	0:d4960fcea8ff	318
kenjiArai	0:d4960fcea8ff	319	/* This is called to check that all the created tasks are still running. */
kenjiArai	0:d4960fcea8ff	320	portBASE_TYPE xAreRecursiveMutexTasksStillRunning( void )
kenjiArai	0:d4960fcea8ff	321	{
kenjiArai	0:d4960fcea8ff	322	portBASE_TYPE xReturn;
kenjiArai	0:d4960fcea8ff	323	static unsigned portBASE_TYPE uxLastControllingCycles = 0, uxLastBlockingCycles = 0, uxLastPollingCycles = 0;
kenjiArai	0:d4960fcea8ff	324
kenjiArai	0:d4960fcea8ff	325	/* Is the controlling task still cycling? */
kenjiArai	0:d4960fcea8ff	326	if( uxLastControllingCycles == uxControllingCycles )
kenjiArai	0:d4960fcea8ff	327	{
kenjiArai	0:d4960fcea8ff	328	xErrorOccurred = pdTRUE;
kenjiArai	0:d4960fcea8ff	329	}
kenjiArai	0:d4960fcea8ff	330	else
kenjiArai	0:d4960fcea8ff	331	{
kenjiArai	0:d4960fcea8ff	332	uxLastControllingCycles = uxControllingCycles;
kenjiArai	0:d4960fcea8ff	333	}
kenjiArai	0:d4960fcea8ff	334
kenjiArai	0:d4960fcea8ff	335	/* Is the blocking task still cycling? */
kenjiArai	0:d4960fcea8ff	336	if( uxLastBlockingCycles == uxBlockingCycles )
kenjiArai	0:d4960fcea8ff	337	{
kenjiArai	0:d4960fcea8ff	338	xErrorOccurred = pdTRUE;
kenjiArai	0:d4960fcea8ff	339	}
kenjiArai	0:d4960fcea8ff	340	else
kenjiArai	0:d4960fcea8ff	341	{
kenjiArai	0:d4960fcea8ff	342	uxLastBlockingCycles = uxBlockingCycles;
kenjiArai	0:d4960fcea8ff	343	}
kenjiArai	0:d4960fcea8ff	344
kenjiArai	0:d4960fcea8ff	345	/* Is the polling task still cycling? */
kenjiArai	0:d4960fcea8ff	346	if( uxLastPollingCycles == uxPollingCycles )
kenjiArai	0:d4960fcea8ff	347	{
kenjiArai	0:d4960fcea8ff	348	xErrorOccurred = pdTRUE;
kenjiArai	0:d4960fcea8ff	349	}
kenjiArai	0:d4960fcea8ff	350	else
kenjiArai	0:d4960fcea8ff	351	{
kenjiArai	0:d4960fcea8ff	352	uxLastPollingCycles = uxPollingCycles;
kenjiArai	0:d4960fcea8ff	353	}
kenjiArai	0:d4960fcea8ff	354
kenjiArai	0:d4960fcea8ff	355	if( xErrorOccurred == pdTRUE )
kenjiArai	0:d4960fcea8ff	356	{
kenjiArai	0:d4960fcea8ff	357	xReturn = pdFAIL;
kenjiArai	0:d4960fcea8ff	358	}
kenjiArai	0:d4960fcea8ff	359	else
kenjiArai	0:d4960fcea8ff	360	{
kenjiArai	0:d4960fcea8ff	361	xReturn = pdTRUE;
kenjiArai	0:d4960fcea8ff	362	}
kenjiArai	0:d4960fcea8ff	363
kenjiArai	0:d4960fcea8ff	364	return xReturn;
kenjiArai	0:d4960fcea8ff	365	}
kenjiArai	0:d4960fcea8ff	366
kenjiArai	0:d4960fcea8ff	367
kenjiArai	0:d4960fcea8ff	368
kenjiArai	0:d4960fcea8ff	369

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Type:	Program
Created:	01 Jan 2011
Imports:	289
Forks:	1
Commits:	1
Dependents:	0
Dependencies:	0
Followers:	14

FreeRTOS/Common/Minimal/recmutex.c@0:d4960fcea8ff, 2011-01-01 (annotated)

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