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840 lines
33 KiB
C
840 lines
33 KiB
C
/*
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FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that has become a de facto standard. *
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* *
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* Help yourself get started quickly and support the FreeRTOS *
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* project by purchasing a FreeRTOS tutorial book, reference *
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* manual, or both from: http://www.FreeRTOS.org/Documentation *
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* *
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* Thank you! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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>>! NOTE: The modification to the GPL is included to allow you to !<<
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>>! distribute a combined work that includes FreeRTOS without being !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available from the following
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link: http://www.freertos.org/a00114.html
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1 tab == 4 spaces!
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***************************************************************************
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* *
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* Having a problem? Start by reading the FAQ "My application does *
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* not run, what could be wrong?" *
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* *
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* http://www.FreeRTOS.org/FAQHelp.html *
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* *
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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license and Real Time Engineers Ltd. contact details.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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#ifndef SEMAPHORE_H
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#define SEMAPHORE_H
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#ifndef INC_FREERTOS_H
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#error "include FreeRTOS.h" must appear in source files before "include semphr.h"
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#endif
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#include "queue.h"
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typedef QueueHandle_t SemaphoreHandle_t;
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#define semBINARY_SEMAPHORE_QUEUE_LENGTH ( ( uint8_t ) 1U )
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#define semSEMAPHORE_QUEUE_ITEM_LENGTH ( ( uint8_t ) 0U )
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#define semGIVE_BLOCK_TIME ( ( TickType_t ) 0U )
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/**
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* semphr. h
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* <pre>vSemaphoreCreateBinary( SemaphoreHandle_t xSemaphore )</pre>
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*
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* This old vSemaphoreCreateBinary() macro is now deprecated in favour of the
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* xSemaphoreCreateBinary() function. Note that binary semaphores created using
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* the vSemaphoreCreateBinary() macro are created in a state such that the
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* first call to 'take' the semaphore would pass, whereas binary semaphores
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* created using xSemaphoreCreateBinary() are created in a state such that the
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* the semaphore must first be 'given' before it can be 'taken'.
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*
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* <i>Macro</i> that implements a semaphore by using the existing queue mechanism.
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* The queue length is 1 as this is a binary semaphore. The data size is 0
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* as we don't want to actually store any data - we just want to know if the
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* queue is empty or full.
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*
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* This type of semaphore can be used for pure synchronisation between tasks or
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* between an interrupt and a task. The semaphore need not be given back once
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* obtained, so one task/interrupt can continuously 'give' the semaphore while
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* another continuously 'takes' the semaphore. For this reason this type of
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* semaphore does not use a priority inheritance mechanism. For an alternative
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* that does use priority inheritance see xSemaphoreCreateMutex().
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*
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* @param xSemaphore Handle to the created semaphore. Should be of type SemaphoreHandle_t.
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*
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* Example usage:
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<pre>
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SemaphoreHandle_t xSemaphore = NULL;
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void vATask( void * pvParameters )
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{
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// Semaphore cannot be used before a call to vSemaphoreCreateBinary ().
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// This is a macro so pass the variable in directly.
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vSemaphoreCreateBinary( xSemaphore );
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if( xSemaphore != NULL )
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{
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// The semaphore was created successfully.
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// The semaphore can now be used.
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}
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}
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</pre>
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* \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary
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* \ingroup Semaphores
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*/
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#define vSemaphoreCreateBinary( xSemaphore ) \
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{ \
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( xSemaphore ) = xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE ); \
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if( ( xSemaphore ) != NULL ) \
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{ \
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( void ) xSemaphoreGive( ( xSemaphore ) ); \
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} \
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}
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/**
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* semphr. h
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* <pre>SemaphoreHandle_t xSemaphoreCreateBinary( void )</pre>
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*
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* The old vSemaphoreCreateBinary() macro is now deprecated in favour of this
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* xSemaphoreCreateBinary() function. Note that binary semaphores created using
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* the vSemaphoreCreateBinary() macro are created in a state such that the
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* first call to 'take' the semaphore would pass, whereas binary semaphores
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* created using xSemaphoreCreateBinary() are created in a state such that the
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* the semaphore must first be 'given' before it can be 'taken'.
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*
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* Function that creates a semaphore by using the existing queue mechanism.
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* The queue length is 1 as this is a binary semaphore. The data size is 0
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* as nothing is actually stored - all that is important is whether the queue is
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* empty or full (the binary semaphore is available or not).
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*
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* This type of semaphore can be used for pure synchronisation between tasks or
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* between an interrupt and a task. The semaphore need not be given back once
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* obtained, so one task/interrupt can continuously 'give' the semaphore while
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* another continuously 'takes' the semaphore. For this reason this type of
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* semaphore does not use a priority inheritance mechanism. For an alternative
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* that does use priority inheritance see xSemaphoreCreateMutex().
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*
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* @return Handle to the created semaphore.
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*
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* Example usage:
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<pre>
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SemaphoreHandle_t xSemaphore = NULL;
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void vATask( void * pvParameters )
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{
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// Semaphore cannot be used before a call to vSemaphoreCreateBinary ().
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// This is a macro so pass the variable in directly.
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xSemaphore = xSemaphoreCreateBinary();
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if( xSemaphore != NULL )
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{
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// The semaphore was created successfully.
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// The semaphore can now be used.
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}
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}
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</pre>
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* \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary
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* \ingroup Semaphores
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*/
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#define xSemaphoreCreateBinary() xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE )
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/**
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* semphr. h
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* <pre>xSemaphoreTake(
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* SemaphoreHandle_t xSemaphore,
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* TickType_t xBlockTime
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* )</pre>
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*
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* <i>Macro</i> to obtain a semaphore. The semaphore must have previously been
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* created with a call to vSemaphoreCreateBinary(), xSemaphoreCreateMutex() or
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* xSemaphoreCreateCounting().
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*
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* @param xSemaphore A handle to the semaphore being taken - obtained when
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* the semaphore was created.
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*
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* @param xBlockTime The time in ticks to wait for the semaphore to become
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* available. The macro portTICK_PERIOD_MS can be used to convert this to a
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* real time. A block time of zero can be used to poll the semaphore. A block
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* time of portMAX_DELAY can be used to block indefinitely (provided
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* INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h).
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*
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* @return pdTRUE if the semaphore was obtained. pdFALSE
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* if xBlockTime expired without the semaphore becoming available.
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*
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* Example usage:
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<pre>
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SemaphoreHandle_t xSemaphore = NULL;
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// A task that creates a semaphore.
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void vATask( void * pvParameters )
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{
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// Create the semaphore to guard a shared resource.
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vSemaphoreCreateBinary( xSemaphore );
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}
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// A task that uses the semaphore.
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void vAnotherTask( void * pvParameters )
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{
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// ... Do other things.
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if( xSemaphore != NULL )
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{
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// See if we can obtain the semaphore. If the semaphore is not available
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// wait 10 ticks to see if it becomes free.
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if( xSemaphoreTake( xSemaphore, ( TickType_t ) 10 ) == pdTRUE )
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{
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// We were able to obtain the semaphore and can now access the
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// shared resource.
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// ...
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// We have finished accessing the shared resource. Release the
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// semaphore.
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xSemaphoreGive( xSemaphore );
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}
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else
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{
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// We could not obtain the semaphore and can therefore not access
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// the shared resource safely.
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}
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}
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}
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</pre>
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* \defgroup xSemaphoreTake xSemaphoreTake
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* \ingroup Semaphores
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*/
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#define xSemaphoreTake( xSemaphore, xBlockTime ) xQueueGenericReceive( ( QueueHandle_t ) ( xSemaphore ), NULL, ( xBlockTime ), pdFALSE )
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/**
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* semphr. h
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* xSemaphoreTakeRecursive(
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* SemaphoreHandle_t xMutex,
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* TickType_t xBlockTime
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* )
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*
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* <i>Macro</i> to recursively obtain, or 'take', a mutex type semaphore.
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* The mutex must have previously been created using a call to
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* xSemaphoreCreateRecursiveMutex();
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*
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* configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this
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* macro to be available.
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*
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* This macro must not be used on mutexes created using xSemaphoreCreateMutex().
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*
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* A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
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* doesn't become available again until the owner has called
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* xSemaphoreGiveRecursive() for each successful 'take' request. For example,
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* if a task successfully 'takes' the same mutex 5 times then the mutex will
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* not be available to any other task until it has also 'given' the mutex back
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* exactly five times.
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*
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* @param xMutex A handle to the mutex being obtained. This is the
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* handle returned by xSemaphoreCreateRecursiveMutex();
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*
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* @param xBlockTime The time in ticks to wait for the semaphore to become
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* available. The macro portTICK_PERIOD_MS can be used to convert this to a
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* real time. A block time of zero can be used to poll the semaphore. If
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* the task already owns the semaphore then xSemaphoreTakeRecursive() will
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* return immediately no matter what the value of xBlockTime.
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*
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* @return pdTRUE if the semaphore was obtained. pdFALSE if xBlockTime
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* expired without the semaphore becoming available.
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*
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* Example usage:
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<pre>
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SemaphoreHandle_t xMutex = NULL;
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// A task that creates a mutex.
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void vATask( void * pvParameters )
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{
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// Create the mutex to guard a shared resource.
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xMutex = xSemaphoreCreateRecursiveMutex();
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}
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// A task that uses the mutex.
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void vAnotherTask( void * pvParameters )
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{
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// ... Do other things.
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if( xMutex != NULL )
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{
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// See if we can obtain the mutex. If the mutex is not available
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// wait 10 ticks to see if it becomes free.
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if( xSemaphoreTakeRecursive( xSemaphore, ( TickType_t ) 10 ) == pdTRUE )
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{
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// We were able to obtain the mutex and can now access the
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// shared resource.
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// ...
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// For some reason due to the nature of the code further calls to
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// xSemaphoreTakeRecursive() are made on the same mutex. In real
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// code these would not be just sequential calls as this would make
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// no sense. Instead the calls are likely to be buried inside
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// a more complex call structure.
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xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
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xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
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// The mutex has now been 'taken' three times, so will not be
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// available to another task until it has also been given back
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// three times. Again it is unlikely that real code would have
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// these calls sequentially, but instead buried in a more complex
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// call structure. This is just for illustrative purposes.
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xSemaphoreGiveRecursive( xMutex );
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xSemaphoreGiveRecursive( xMutex );
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xSemaphoreGiveRecursive( xMutex );
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// Now the mutex can be taken by other tasks.
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}
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else
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{
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// We could not obtain the mutex and can therefore not access
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// the shared resource safely.
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}
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}
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}
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</pre>
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* \defgroup xSemaphoreTakeRecursive xSemaphoreTakeRecursive
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* \ingroup Semaphores
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*/
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#define xSemaphoreTakeRecursive( xMutex, xBlockTime ) xQueueTakeMutexRecursive( ( xMutex ), ( xBlockTime ) )
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/*
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* xSemaphoreAltTake() is an alternative version of xSemaphoreTake().
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*
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* The source code that implements the alternative (Alt) API is much
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* simpler because it executes everything from within a critical section.
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* This is the approach taken by many other RTOSes, but FreeRTOS.org has the
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* preferred fully featured API too. The fully featured API has more
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* complex code that takes longer to execute, but makes much less use of
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* critical sections. Therefore the alternative API sacrifices interrupt
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* responsiveness to gain execution speed, whereas the fully featured API
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* sacrifices execution speed to ensure better interrupt responsiveness.
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*/
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#define xSemaphoreAltTake( xSemaphore, xBlockTime ) xQueueAltGenericReceive( ( QueueHandle_t ) ( xSemaphore ), NULL, ( xBlockTime ), pdFALSE )
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/**
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* semphr. h
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* <pre>xSemaphoreGive( SemaphoreHandle_t xSemaphore )</pre>
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*
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* <i>Macro</i> to release a semaphore. The semaphore must have previously been
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* created with a call to vSemaphoreCreateBinary(), xSemaphoreCreateMutex() or
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* xSemaphoreCreateCounting(). and obtained using sSemaphoreTake().
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*
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* This macro must not be used from an ISR. See xSemaphoreGiveFromISR () for
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* an alternative which can be used from an ISR.
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*
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* This macro must also not be used on semaphores created using
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* xSemaphoreCreateRecursiveMutex().
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*
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* @param xSemaphore A handle to the semaphore being released. This is the
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* handle returned when the semaphore was created.
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*
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* @return pdTRUE if the semaphore was released. pdFALSE if an error occurred.
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* Semaphores are implemented using queues. An error can occur if there is
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* no space on the queue to post a message - indicating that the
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* semaphore was not first obtained correctly.
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*
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* Example usage:
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<pre>
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SemaphoreHandle_t xSemaphore = NULL;
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void vATask( void * pvParameters )
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{
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// Create the semaphore to guard a shared resource.
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vSemaphoreCreateBinary( xSemaphore );
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if( xSemaphore != NULL )
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{
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if( xSemaphoreGive( xSemaphore ) != pdTRUE )
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{
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// We would expect this call to fail because we cannot give
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// a semaphore without first "taking" it!
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}
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// Obtain the semaphore - don't block if the semaphore is not
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// immediately available.
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if( xSemaphoreTake( xSemaphore, ( TickType_t ) 0 ) )
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{
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// We now have the semaphore and can access the shared resource.
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// ...
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// We have finished accessing the shared resource so can free the
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// semaphore.
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if( xSemaphoreGive( xSemaphore ) != pdTRUE )
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{
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// We would not expect this call to fail because we must have
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// obtained the semaphore to get here.
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}
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}
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}
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}
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</pre>
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* \defgroup xSemaphoreGive xSemaphoreGive
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* \ingroup Semaphores
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*/
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#define xSemaphoreGive( xSemaphore ) xQueueGenericSend( ( QueueHandle_t ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
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/**
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* semphr. h
|
|
* <pre>xSemaphoreGiveRecursive( SemaphoreHandle_t xMutex )</pre>
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*
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* <i>Macro</i> to recursively release, or 'give', a mutex type semaphore.
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* The mutex must have previously been created using a call to
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* xSemaphoreCreateRecursiveMutex();
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|
*
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* configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this
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* macro to be available.
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*
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* This macro must not be used on mutexes created using xSemaphoreCreateMutex().
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*
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* A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
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* doesn't become available again until the owner has called
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|
* xSemaphoreGiveRecursive() for each successful 'take' request. For example,
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* if a task successfully 'takes' the same mutex 5 times then the mutex will
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* not be available to any other task until it has also 'given' the mutex back
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* exactly five times.
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*
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* @param xMutex A handle to the mutex being released, or 'given'. This is the
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* handle returned by xSemaphoreCreateMutex();
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*
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* @return pdTRUE if the semaphore was given.
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*
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* Example usage:
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|
<pre>
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|
SemaphoreHandle_t xMutex = NULL;
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|
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// A task that creates a mutex.
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|
void vATask( void * pvParameters )
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{
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// Create the mutex to guard a shared resource.
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xMutex = xSemaphoreCreateRecursiveMutex();
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}
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// A task that uses the mutex.
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void vAnotherTask( void * pvParameters )
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{
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// ... Do other things.
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if( xMutex != NULL )
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{
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// See if we can obtain the mutex. If the mutex is not available
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// wait 10 ticks to see if it becomes free.
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if( xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 ) == pdTRUE )
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{
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// We were able to obtain the mutex and can now access the
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// shared resource.
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|
// ...
|
|
// For some reason due to the nature of the code further calls to
|
|
// xSemaphoreTakeRecursive() are made on the same mutex. In real
|
|
// code these would not be just sequential calls as this would make
|
|
// no sense. Instead the calls are likely to be buried inside
|
|
// a more complex call structure.
|
|
xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
|
|
xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
|
|
|
|
// The mutex has now been 'taken' three times, so will not be
|
|
// available to another task until it has also been given back
|
|
// three times. Again it is unlikely that real code would have
|
|
// these calls sequentially, it would be more likely that the calls
|
|
// to xSemaphoreGiveRecursive() would be called as a call stack
|
|
// unwound. This is just for demonstrative purposes.
|
|
xSemaphoreGiveRecursive( xMutex );
|
|
xSemaphoreGiveRecursive( xMutex );
|
|
xSemaphoreGiveRecursive( xMutex );
|
|
|
|
// Now the mutex can be taken by other tasks.
|
|
}
|
|
else
|
|
{
|
|
// We could not obtain the mutex and can therefore not access
|
|
// the shared resource safely.
|
|
}
|
|
}
|
|
}
|
|
</pre>
|
|
* \defgroup xSemaphoreGiveRecursive xSemaphoreGiveRecursive
|
|
* \ingroup Semaphores
|
|
*/
|
|
#define xSemaphoreGiveRecursive( xMutex ) xQueueGiveMutexRecursive( ( xMutex ) )
|
|
|
|
/*
|
|
* xSemaphoreAltGive() is an alternative version of xSemaphoreGive().
|
|
*
|
|
* The source code that implements the alternative (Alt) API is much
|
|
* simpler because it executes everything from within a critical section.
|
|
* This is the approach taken by many other RTOSes, but FreeRTOS.org has the
|
|
* preferred fully featured API too. The fully featured API has more
|
|
* complex code that takes longer to execute, but makes much less use of
|
|
* critical sections. Therefore the alternative API sacrifices interrupt
|
|
* responsiveness to gain execution speed, whereas the fully featured API
|
|
* sacrifices execution speed to ensure better interrupt responsiveness.
|
|
*/
|
|
#define xSemaphoreAltGive( xSemaphore ) xQueueAltGenericSend( ( QueueHandle_t ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
|
|
|
|
/**
|
|
* semphr. h
|
|
* <pre>
|
|
xSemaphoreGiveFromISR(
|
|
SemaphoreHandle_t xSemaphore,
|
|
BaseType_t *pxHigherPriorityTaskWoken
|
|
)</pre>
|
|
*
|
|
* <i>Macro</i> to release a semaphore. The semaphore must have previously been
|
|
* created with a call to vSemaphoreCreateBinary() or xSemaphoreCreateCounting().
|
|
*
|
|
* Mutex type semaphores (those created using a call to xSemaphoreCreateMutex())
|
|
* must not be used with this macro.
|
|
*
|
|
* This macro can be used from an ISR.
|
|
*
|
|
* @param xSemaphore A handle to the semaphore being released. This is the
|
|
* handle returned when the semaphore was created.
|
|
*
|
|
* @param pxHigherPriorityTaskWoken xSemaphoreGiveFromISR() will set
|
|
* *pxHigherPriorityTaskWoken to pdTRUE if giving the semaphore caused a task
|
|
* to unblock, and the unblocked task has a priority higher than the currently
|
|
* running task. If xSemaphoreGiveFromISR() sets this value to pdTRUE then
|
|
* a context switch should be requested before the interrupt is exited.
|
|
*
|
|
* @return pdTRUE if the semaphore was successfully given, otherwise errQUEUE_FULL.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
\#define LONG_TIME 0xffff
|
|
\#define TICKS_TO_WAIT 10
|
|
SemaphoreHandle_t xSemaphore = NULL;
|
|
|
|
// Repetitive task.
|
|
void vATask( void * pvParameters )
|
|
{
|
|
for( ;; )
|
|
{
|
|
// We want this task to run every 10 ticks of a timer. The semaphore
|
|
// was created before this task was started.
|
|
|
|
// Block waiting for the semaphore to become available.
|
|
if( xSemaphoreTake( xSemaphore, LONG_TIME ) == pdTRUE )
|
|
{
|
|
// It is time to execute.
|
|
|
|
// ...
|
|
|
|
// We have finished our task. Return to the top of the loop where
|
|
// we will block on the semaphore until it is time to execute
|
|
// again. Note when using the semaphore for synchronisation with an
|
|
// ISR in this manner there is no need to 'give' the semaphore back.
|
|
}
|
|
}
|
|
}
|
|
|
|
// Timer ISR
|
|
void vTimerISR( void * pvParameters )
|
|
{
|
|
static uint8_t ucLocalTickCount = 0;
|
|
static BaseType_t xHigherPriorityTaskWoken;
|
|
|
|
// A timer tick has occurred.
|
|
|
|
// ... Do other time functions.
|
|
|
|
// Is it time for vATask () to run?
|
|
xHigherPriorityTaskWoken = pdFALSE;
|
|
ucLocalTickCount++;
|
|
if( ucLocalTickCount >= TICKS_TO_WAIT )
|
|
{
|
|
// Unblock the task by releasing the semaphore.
|
|
xSemaphoreGiveFromISR( xSemaphore, &xHigherPriorityTaskWoken );
|
|
|
|
// Reset the count so we release the semaphore again in 10 ticks time.
|
|
ucLocalTickCount = 0;
|
|
}
|
|
|
|
if( xHigherPriorityTaskWoken != pdFALSE )
|
|
{
|
|
// We can force a context switch here. Context switching from an
|
|
// ISR uses port specific syntax. Check the demo task for your port
|
|
// to find the syntax required.
|
|
}
|
|
}
|
|
</pre>
|
|
* \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR
|
|
* \ingroup Semaphores
|
|
*/
|
|
#define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( QueueHandle_t ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
|
|
|
|
/**
|
|
* semphr. h
|
|
* <pre>
|
|
xSemaphoreTakeFromISR(
|
|
SemaphoreHandle_t xSemaphore,
|
|
BaseType_t *pxHigherPriorityTaskWoken
|
|
)</pre>
|
|
*
|
|
* <i>Macro</i> to take a semaphore from an ISR. The semaphore must have
|
|
* previously been created with a call to vSemaphoreCreateBinary() or
|
|
* xSemaphoreCreateCounting().
|
|
*
|
|
* Mutex type semaphores (those created using a call to xSemaphoreCreateMutex())
|
|
* must not be used with this macro.
|
|
*
|
|
* This macro can be used from an ISR, however taking a semaphore from an ISR
|
|
* is not a common operation. It is likely to only be useful when taking a
|
|
* counting semaphore when an interrupt is obtaining an object from a resource
|
|
* pool (when the semaphore count indicates the number of resources available).
|
|
*
|
|
* @param xSemaphore A handle to the semaphore being taken. This is the
|
|
* handle returned when the semaphore was created.
|
|
*
|
|
* @param pxHigherPriorityTaskWoken xSemaphoreTakeFromISR() will set
|
|
* *pxHigherPriorityTaskWoken to pdTRUE if taking the semaphore caused a task
|
|
* to unblock, and the unblocked task has a priority higher than the currently
|
|
* running task. If xSemaphoreTakeFromISR() sets this value to pdTRUE then
|
|
* a context switch should be requested before the interrupt is exited.
|
|
*
|
|
* @return pdTRUE if the semaphore was successfully taken, otherwise
|
|
* pdFALSE
|
|
*/
|
|
#define xSemaphoreTakeFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueReceiveFromISR( ( QueueHandle_t ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ) )
|
|
|
|
/**
|
|
* semphr. h
|
|
* <pre>SemaphoreHandle_t xSemaphoreCreateMutex( void )</pre>
|
|
*
|
|
* <i>Macro</i> that implements a mutex semaphore by using the existing queue
|
|
* mechanism.
|
|
*
|
|
* Mutexes created using this macro can be accessed using the xSemaphoreTake()
|
|
* and xSemaphoreGive() macros. The xSemaphoreTakeRecursive() and
|
|
* xSemaphoreGiveRecursive() macros should not be used.
|
|
*
|
|
* This type of semaphore uses a priority inheritance mechanism so a task
|
|
* 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the
|
|
* semaphore it is no longer required.
|
|
*
|
|
* Mutex type semaphores cannot be used from within interrupt service routines.
|
|
*
|
|
* See vSemaphoreCreateBinary() for an alternative implementation that can be
|
|
* used for pure synchronisation (where one task or interrupt always 'gives' the
|
|
* semaphore and another always 'takes' the semaphore) and from within interrupt
|
|
* service routines.
|
|
*
|
|
* @return xSemaphore Handle to the created mutex semaphore. Should be of type
|
|
* SemaphoreHandle_t.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
SemaphoreHandle_t xSemaphore;
|
|
|
|
void vATask( void * pvParameters )
|
|
{
|
|
// Semaphore cannot be used before a call to xSemaphoreCreateMutex().
|
|
// This is a macro so pass the variable in directly.
|
|
xSemaphore = xSemaphoreCreateMutex();
|
|
|
|
if( xSemaphore != NULL )
|
|
{
|
|
// The semaphore was created successfully.
|
|
// The semaphore can now be used.
|
|
}
|
|
}
|
|
</pre>
|
|
* \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex
|
|
* \ingroup Semaphores
|
|
*/
|
|
#define xSemaphoreCreateMutex() xQueueCreateMutex( queueQUEUE_TYPE_MUTEX )
|
|
|
|
|
|
/**
|
|
* semphr. h
|
|
* <pre>SemaphoreHandle_t xSemaphoreCreateRecursiveMutex( void )</pre>
|
|
*
|
|
* <i>Macro</i> that implements a recursive mutex by using the existing queue
|
|
* mechanism.
|
|
*
|
|
* Mutexes created using this macro can be accessed using the
|
|
* xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() macros. The
|
|
* xSemaphoreTake() and xSemaphoreGive() macros should not be used.
|
|
*
|
|
* A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
|
|
* doesn't become available again until the owner has called
|
|
* xSemaphoreGiveRecursive() for each successful 'take' request. For example,
|
|
* if a task successfully 'takes' the same mutex 5 times then the mutex will
|
|
* not be available to any other task until it has also 'given' the mutex back
|
|
* exactly five times.
|
|
*
|
|
* This type of semaphore uses a priority inheritance mechanism so a task
|
|
* 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the
|
|
* semaphore it is no longer required.
|
|
*
|
|
* Mutex type semaphores cannot be used from within interrupt service routines.
|
|
*
|
|
* See vSemaphoreCreateBinary() for an alternative implementation that can be
|
|
* used for pure synchronisation (where one task or interrupt always 'gives' the
|
|
* semaphore and another always 'takes' the semaphore) and from within interrupt
|
|
* service routines.
|
|
*
|
|
* @return xSemaphore Handle to the created mutex semaphore. Should be of type
|
|
* SemaphoreHandle_t.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
SemaphoreHandle_t xSemaphore;
|
|
|
|
void vATask( void * pvParameters )
|
|
{
|
|
// Semaphore cannot be used before a call to xSemaphoreCreateMutex().
|
|
// This is a macro so pass the variable in directly.
|
|
xSemaphore = xSemaphoreCreateRecursiveMutex();
|
|
|
|
if( xSemaphore != NULL )
|
|
{
|
|
// The semaphore was created successfully.
|
|
// The semaphore can now be used.
|
|
}
|
|
}
|
|
</pre>
|
|
* \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex
|
|
* \ingroup Semaphores
|
|
*/
|
|
#define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex( queueQUEUE_TYPE_RECURSIVE_MUTEX )
|
|
|
|
/**
|
|
* semphr. h
|
|
* <pre>SemaphoreHandle_t xSemaphoreCreateCounting( UBaseType_t uxMaxCount, UBaseType_t uxInitialCount )</pre>
|
|
*
|
|
* <i>Macro</i> that creates a counting semaphore by using the existing
|
|
* queue mechanism.
|
|
*
|
|
* Counting semaphores are typically used for two things:
|
|
*
|
|
* 1) Counting events.
|
|
*
|
|
* In this usage scenario an event handler will 'give' a semaphore each time
|
|
* an event occurs (incrementing the semaphore count value), and a handler
|
|
* task will 'take' a semaphore each time it processes an event
|
|
* (decrementing the semaphore count value). The count value is therefore
|
|
* the difference between the number of events that have occurred and the
|
|
* number that have been processed. In this case it is desirable for the
|
|
* initial count value to be zero.
|
|
*
|
|
* 2) Resource management.
|
|
*
|
|
* In this usage scenario the count value indicates the number of resources
|
|
* available. To obtain control of a resource a task must first obtain a
|
|
* semaphore - decrementing the semaphore count value. When the count value
|
|
* reaches zero there are no free resources. When a task finishes with the
|
|
* resource it 'gives' the semaphore back - incrementing the semaphore count
|
|
* value. In this case it is desirable for the initial count value to be
|
|
* equal to the maximum count value, indicating that all resources are free.
|
|
*
|
|
* @param uxMaxCount The maximum count value that can be reached. When the
|
|
* semaphore reaches this value it can no longer be 'given'.
|
|
*
|
|
* @param uxInitialCount The count value assigned to the semaphore when it is
|
|
* created.
|
|
*
|
|
* @return Handle to the created semaphore. Null if the semaphore could not be
|
|
* created.
|
|
*
|
|
* Example usage:
|
|
<pre>
|
|
SemaphoreHandle_t xSemaphore;
|
|
|
|
void vATask( void * pvParameters )
|
|
{
|
|
SemaphoreHandle_t xSemaphore = NULL;
|
|
|
|
// Semaphore cannot be used before a call to xSemaphoreCreateCounting().
|
|
// The max value to which the semaphore can count should be 10, and the
|
|
// initial value assigned to the count should be 0.
|
|
xSemaphore = xSemaphoreCreateCounting( 10, 0 );
|
|
|
|
if( xSemaphore != NULL )
|
|
{
|
|
// The semaphore was created successfully.
|
|
// The semaphore can now be used.
|
|
}
|
|
}
|
|
</pre>
|
|
* \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting
|
|
* \ingroup Semaphores
|
|
*/
|
|
#define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( ( uxMaxCount ), ( uxInitialCount ) )
|
|
|
|
/**
|
|
* semphr. h
|
|
* <pre>void vSemaphoreDelete( SemaphoreHandle_t xSemaphore );</pre>
|
|
*
|
|
* Delete a semaphore. This function must be used with care. For example,
|
|
* do not delete a mutex type semaphore if the mutex is held by a task.
|
|
*
|
|
* @param xSemaphore A handle to the semaphore to be deleted.
|
|
*
|
|
* \defgroup vSemaphoreDelete vSemaphoreDelete
|
|
* \ingroup Semaphores
|
|
*/
|
|
#define vSemaphoreDelete( xSemaphore ) vQueueDelete( ( QueueHandle_t ) ( xSemaphore ) )
|
|
|
|
/**
|
|
* semphr.h
|
|
* <pre>TaskHandle_t xSemaphoreGetMutexHolder( SemaphoreHandle_t xMutex );</pre>
|
|
*
|
|
* If xMutex is indeed a mutex type semaphore, return the current mutex holder.
|
|
* If xMutex is not a mutex type semaphore, or the mutex is available (not held
|
|
* by a task), return NULL.
|
|
*
|
|
* Note: This is a good way of determining if the calling task is the mutex
|
|
* holder, but not a good way of determining the identity of the mutex holder as
|
|
* the holder may change between the function exiting and the returned value
|
|
* being tested.
|
|
*/
|
|
#define xSemaphoreGetMutexHolder( xSemaphore ) xQueueGetMutexHolder( ( xSemaphore ) )
|
|
|
|
#endif /* SEMAPHORE_H */
|
|
|
|
|