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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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72
FreeRTOS/Source/queue.c
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@ -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;