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Enhanced priority dis-inheritance functionality in the case where a task that caused another task to inherit its priority times out before obtain a mutex.

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Added test code to GenQTest to test the new priority dis-inheritance functionality.
Allow the default names given to the Idle and Timer tasks to be overwridden by definitions in FreeRTOSConfig.h.
This commit is contained in:
Richard Barry 2017-01-16 03:58:51 +00:00
parent 883541bc8e
commit d67dcf9c74
7 changed files with 521 additions and 52 deletions
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2
FreeRTOS/Source/include/list.h
View file

@ -205,7 +205,7 @@ typedef struct xMINI_LIST_ITEM MiniListItem_t;
typedef struct xLIST
{
listFIRST_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
configLIST_VOLATILE UBaseType_t uxNumberOfItems;
volatile UBaseType_t uxNumberOfItems;
ListItem_t * configLIST_VOLATILE pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */
MiniListItem_t xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */
listSECOND_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */

10
FreeRTOS/Source/include/task.h
View file

@ -2311,6 +2311,16 @@ BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_F
*/
BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTION;
/*
* If a higher priority task attempting to obtain a mutex caused a lower
* priority task to inherit the higher priority task's priority - but the higher
* priority task then timed out without obtaining the mutex, then the lower
* priority task will disinherit the priority again - but only down as far as
* the highest priority task that is still waiting for the mutex (if there were
* more than one task waiting for the mutex).
*/
void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask ) PRIVILEGED_FUNCTION;
/*
* Get the uxTCBNumber assigned to the task referenced by the xTask parameter.
*/

72
FreeRTOS/Source/queue.c
View file

@ -255,6 +255,16 @@ static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseT
static void prvInitialiseMutex( Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
#endif
#if( configUSE_MUTEXES == 1 )
/*
* If a task waiting for a mutex causes the mutex holder to inherit a
* priority, but the waiting task times out, then the holder should
* disinherit the priority - but only down to the highest priority of any
* other tasks that are waiting for the same mutex. This function returns
* that priority.
*/
static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
#endif
/*-----------------------------------------------------------*/
/*
@ -1408,6 +1418,10 @@ BaseType_t xEntryTimeSet = pdFALSE;
TimeOut_t xTimeOut;
Queue_t * const pxQueue = ( Queue_t * ) xQueue;
#if( configUSE_MUTEXES == 1 )
BaseType_t xInheritanceOccurred = pdFALSE;
#endif
/* Check the queue pointer is not NULL. */
configASSERT( ( pxQueue ) );
@ -1485,6 +1499,11 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
{
if( xTicksToWait == ( TickType_t ) 0 )
{
/* For inheritance to have occurred there must have been an
initial timeout, and an adjusted timeout cannot become 0, as
if it were 0 the function would have exited. */
configASSERT( xInheritanceOccurred == pdFALSE );
/* The semaphore count was 0 and no block time is specified
(or the block time has expired) so exit now. */
taskEXIT_CRITICAL();
@ -1530,7 +1549,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
{
taskENTER_CRITICAL();
{
xTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
xInheritanceOccurred = xTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
}
taskEXIT_CRITICAL();
}
@ -1572,6 +1591,30 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
queue being empty is equivalent to the semaphore count being 0. */
if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
{
#if ( configUSE_MUTEXES == 1 )
{
/* xInheritanceOccurred could only have be set if
pxQueue->uxQueueType == queueQUEUE_IS_MUTEX so no need to
test the mutex type again to check it is actually a mutex. */
if( xInheritanceOccurred != pdFALSE )
{
taskENTER_CRITICAL();
{
UBaseType_t uxHighestWaitingPriority;
/* This task blocking on the mutex caused another
task to inherit this task's priority. Now this task
has timed out the priority should be disinherited
again, but only as low as the next highest priority
task that is waiting for the same mutex. */
uxHighestWaitingPriority = prvGetDisinheritPriorityAfterTimeout( pxQueue );
vTaskPriorityDisinheritAfterTimeout( ( void * ) pxQueue->pxMutexHolder, uxHighestWaitingPriority );
}
taskEXIT_CRITICAL();
}
}
#endif /* configUSE_MUTEXES */
traceQUEUE_RECEIVE_FAILED( pxQueue );
return errQUEUE_EMPTY;
}
@ -1997,6 +2040,33 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/
#if( configUSE_MUTEXES == 1 )
static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue )
{
UBaseType_t uxHighestPriorityOfWaitingTasks;
/* If a task waiting for a mutex causes the mutex holder to inherit a
priority, but the waiting task times out, then the holder should
disinherit the priority - but only down to the highest priority of any
other tasks that are waiting for the same mutex. For this purpose,
return the priority of the highest priority task that is waiting for the
mutex. */
if( listCURRENT_LIST_LENGTH( &( pxQueue->xTasksWaitingToReceive ) ) > 0 )
{
uxHighestPriorityOfWaitingTasks = configMAX_PRIORITIES - listGET_ITEM_VALUE_OF_HEAD_ENTRY( &( pxQueue->xTasksWaitingToReceive ) );
}
else
{
uxHighestPriorityOfWaitingTasks = tskIDLE_PRIORITY;
}
return uxHighestPriorityOfWaitingTasks;
}
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
{
BaseType_t xReturn = pdFALSE;

181
FreeRTOS/Source/tasks.c
View file

@ -164,6 +164,12 @@ set then don't fill the stack so there is no unnecessary dependency on memset. *
#define static
#endif
/* The name allocated to the Idle task. This can be overridden by defining
tskIDLE_TASK_NAME in FreeRTOSConfig.h. */
#ifndef tskIDLE_TASK_NAME
#define tskIDLE_TASK_NAME "IDLE"
#endif
#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
@ -713,7 +719,7 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
#endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
/*-----------------------------------------------------------*/
#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) )
BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
{
@ -1610,14 +1616,14 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
}
/* If the task is in the blocked or suspended list we need do
nothing more than change it's priority variable. However, if
nothing more than change its priority variable. However, if
the task is in a ready list it needs to be removed and placed
in the list appropriate to its new priority. */
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
{
/* The task is currently in its ready list - remove before adding
it to it's new ready list. As we are in a critical section we
can do this even if the scheduler is suspended. */
/* The task is currently in its ready list - remove before
adding it to it's new ready list. As we are in a critical
section we can do this even if the scheduler is suspended. */
if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
{
/* It is known that the task is in its ready list so
@ -1944,7 +1950,7 @@ BaseType_t xReturn;
address of the RAM then create the idle task. */
vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
"IDLE",
tskIDLE_TASK_NAME,
ulIdleTaskStackSize,
( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),
@ -1964,7 +1970,8 @@ BaseType_t xReturn;
{
/* The Idle task is being created using dynamically allocated RAM. */
xReturn = xTaskCreate( prvIdleTask,
"IDLE", configMINIMAL_STACK_SIZE,
tskIDLE_TASK_NAME,
configMINIMAL_STACK_SIZE,
( void * ) NULL,
( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),
&xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
@ -2545,7 +2552,7 @@ implementations require configUSE_TICKLESS_IDLE to be set to a value other than
BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
{
TCB_t *pxTCB = ( TCB_t * ) xTask;
BaseType_t xReturn = pdFALSE;
BaseType_t xReturn;
configASSERT( pxTCB );
@ -2555,6 +2562,8 @@ implementations require configUSE_TICKLESS_IDLE to be set to a value other than
it is actually in the Blocked state. */
if( eTaskGetState( xTask ) == eBlocked )
{
xReturn = pdPASS;
/* Remove the reference to the task from the blocked list. An
interrupt won't touch the xStateListItem because the
scheduler is suspended. */
@ -2603,7 +2612,7 @@ implementations require configUSE_TICKLESS_IDLE to be set to a value other than
}
else
{
mtCOVERAGE_TEST_MARKER();
xReturn = pdFAIL;
}
}
( void ) xTaskResumeAll();
@ -3130,6 +3139,7 @@ BaseType_t xReturn;
{
/* Minor optimisation. The tick count cannot change in this block. */
const TickType_t xConstTickCount = xTickCount;
const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
#if( INCLUDE_xTaskAbortDelay == 1 )
if( pxCurrentTCB->ucDelayAborted != pdFALSE )
@ -3162,10 +3172,10 @@ BaseType_t xReturn;
was called. */
xReturn = pdTRUE;
}
else if( ( ( TickType_t ) ( xConstTickCount - pxTimeOut->xTimeOnEntering ) ) < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
{
/* Not a genuine timeout. Adjust parameters for time remaining. */
*pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
*pxTicksToWait -= xElapsedTime;
vTaskSetTimeOutState( pxTimeOut );
xReturn = pdFALSE;
}
@ -3817,25 +3827,25 @@ TCB_t *pxTCB;
BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
{
TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
TCB_t * const pxMutexHolderTCB = ( TCB_t * ) pxMutexHolder;
BaseType_t xReturn = pdFALSE;
/* If the mutex was given back by an interrupt while the queue was
locked then the mutex holder might now be NULL. _RB_ Is this still
needed as interrupt can no longer use mutexes? */
needed as interrupts can no longer use mutexes? */
if( pxMutexHolder != NULL )
{
/* If the holder of the mutex has a priority below the priority of
the task attempting to obtain the mutex then it will temporarily
inherit the priority of the task attempting to obtain the mutex. */
if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
{
/* Adjust the mutex holder state to account for its new
priority. Only reset the event list item value if the value is
not being used for anything else. */
if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
not being used for anything else. */
if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
{
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
}
else
{
@ -3844,11 +3854,11 @@ TCB_t *pxTCB;
/* If the task being modified is in the ready state it will need
to be moved into a new list. */
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
{
if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
{
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
taskRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority );
}
else
{
@ -3856,23 +3866,37 @@ TCB_t *pxTCB;
}
/* Inherit the priority before being moved into the new list. */
pxTCB->uxPriority = pxCurrentTCB->uxPriority;
prvAddTaskToReadyList( pxTCB );
pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
prvAddTaskToReadyList( pxMutexHolderTCB );
}
else
{
/* Just inherit the priority. */
pxTCB->uxPriority = pxCurrentTCB->uxPriority;
pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
}
traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
/* Inheritance occurred. */
xReturn = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
{
/* The base priority of the mutex holder is lower than the
priority of the task attempting to take the mutex, but the
current priority of the mutex holder is not lower than the
priority of the task attempting to take the mutex.
Therefore the mutex holder must have already inherited a
priority, but inheritance would have occurred if that had
not been the case. */
xReturn = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
}
else
@ -3900,7 +3924,6 @@ TCB_t *pxTCB;
interrupt, and if a mutex is given by the holding task then it must
be the running state task. */
configASSERT( pxTCB == pxCurrentTCB );
configASSERT( pxTCB->uxMutexesHeld );
( pxTCB->uxMutexesHeld )--;
@ -3914,8 +3937,8 @@ TCB_t *pxTCB;
/* A task can only have an inherited priority if it holds
the mutex. If the mutex is held by a task then it cannot be
given from an interrupt, and if a mutex is given by the
holding task then it must be the running state task. Remove
the holding task from the ready list. */
holding task then it must be the running state task. Remove
the holding task from the ready list. */
if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
{
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
@ -3967,6 +3990,108 @@ TCB_t *pxTCB;
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if ( configUSE_MUTEXES == 1 )
void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
{
TCB_t * const pxTCB = ( TCB_t * ) pxMutexHolder;
UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
if( pxMutexHolder != NULL )
{
/* If pxMutexHolder is not NULL then the holder must hold at least
one mutex. */
configASSERT( pxTCB->uxMutexesHeld );
/* Determine the priority to which the priority of the task that
holds the mutex should be set. This will be the greater of the
holding task's base priority and the priority of the highest
priority task that is waiting to obtain the mutex. */
if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
{
uxPriorityToUse = uxHighestPriorityWaitingTask;
}
else
{
uxPriorityToUse = pxTCB->uxBasePriority;
}
/* Does the priority need to change? */
if( pxTCB->uxPriority != uxPriorityToUse )
{
/* Only disinherit if no other mutexes are held. This is a
simplification in the priority inheritance implementation. If
the task that holds the mutex is also holding other mutexes then
the other mutexes may have caused the priority inheritance. */
if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
{
/* If a task has timed out because it already holds the
mutex it was trying to obtain then it cannot of inherited
its own priority. */
configASSERT( pxTCB != pxCurrentTCB );
/* Disinherit the priority, remembering the previous
priority to facilitate determining the subject task's
state. */
traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
uxPriorityUsedOnEntry = pxTCB->uxPriority;
pxTCB->uxPriority = uxPriorityToUse;
/* Only reset the event list item value if the value is not
being used for anything else. */
if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
{
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* If the running task is not the task that holds the mutex
then the task that holds the mutex could be in either the
Ready, Blocked or Suspended states. Only remove the task
from its current state list if it is in the Ready state as
the task's priority is going to change and there is one
Ready list per priority. */
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
{
if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
{
taskRESET_READY_PRIORITY( pxTCB->uxPriority );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
prvAddTaskToReadyList( pxTCB );
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
void vTaskEnterCritical( void )

10
FreeRTOS/Source/timers.c
View file

@ -100,6 +100,12 @@ configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
/* Misc definitions. */
#define tmrNO_DELAY ( TickType_t ) 0U
/* The name assigned to the timer service task. This can be overridden by
defining trmTIMER_SERVICE_TASK_NAME in FreeRTOSConfig.h. */
#ifndef tmrTIMER_SERVICE_TASK_NAME
#define tmrTIMER_SERVICE_TASK_NAME "Tmr Svc"
#endif
/* The definition of the timers themselves. */
typedef struct tmrTimerControl
{
@ -276,7 +282,7 @@ BaseType_t xReturn = pdFAIL;
vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &ulTimerTaskStackSize );
xTimerTaskHandle = xTaskCreateStatic( prvTimerTask,
"Tmr Svc",
tmrTIMER_SERVICE_TASK_NAME,
ulTimerTaskStackSize,
NULL,
( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
@ -291,7 +297,7 @@ BaseType_t xReturn = pdFAIL;
#else
{
xReturn = xTaskCreate( prvTimerTask,
"Tmr Svc",
tmrTIMER_SERVICE_TASK_NAME,
configTIMER_TASK_STACK_DEPTH,
NULL,
( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,