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| <div class="section" id="mutex"> |
| <h1>Mutex<a class="headerlink" href="#mutex" title="Permalink to this headline">¶</a></h1> |
| <p>Mutex is short for “mutual exclusion”; a mutex provides mutually |
| exclusive access to a shared resource. A mutex provides <em>priority |
| inheritance</em> in order to prevent <em>priority inversion</em>. Priority |
| inversion occurs when a higher priority task is waiting on a resource |
| owned by a lower priority task. Using a mutex, the lower priority task |
| will inherit the highest priority of any task waiting on the mutex.</p> |
| <div class="section" id="description"> |
| <h2>Description<a class="headerlink" href="#description" title="Permalink to this headline">¶</a></h2> |
| <p>The first order of business when using a mutex is to declare the mutex |
| globally. The mutex needs to be initialized before it is used (see the |
| examples). It is generally a good idea to initialize the mutex before |
| tasks start running in order to avoid a task possibly using the mutex |
| before it is initialized.</p> |
| <p>When a task wants exclusive access to a shared resource it needs to |
| obtain the mutex by calling <a class="reference internal" href="#c.os_mutex_pend" title="os_mutex_pend"><code class="xref c c-func docutils literal notranslate"><span class="pre">os_mutex_pend()</span></code></a>. If the mutex is currently |
| owned by a different task (a lower priority task), the requesting task |
| will be put to sleep and the owners priority will be elevated to the |
| priority of the requesting task. Note that multiple tasks can request |
| ownership and the current owner is elevated to the highest priority of |
| any task waitin on the mutex. When the task is done using the shared |
| resource, it needs to release the mutex by called <a class="reference internal" href="#c.os_mutex_release" title="os_mutex_release"><code class="xref c c-func docutils literal notranslate"><span class="pre">os_mutex_release()</span></code></a>. |
| There needs to be one release per call to pend. Note that nested calls |
| to <a class="reference internal" href="#c.os_mutex_pend" title="os_mutex_pend"><code class="xref c c-func docutils literal notranslate"><span class="pre">os_mutex_pend()</span></code></a> are allowed but there needs to be one release per |
| pend.</p> |
| <p>The following example will illustrate how priority inheritance works. In |
| this example, the task number is the same as its priority. Remember that |
| the lower the number, the higher the priority (i.e. priority 0 is higher |
| priority than priority 1). Suppose that task 5 gets ownership of a mutex |
| but is preempted by task 4. Task 4 attempts to gain ownership of the |
| mutex but cannot as it is owned by task 5. Task 4 is put to sleep and |
| task 5 is temporarily raised to priority 4. Before task 5 can release |
| the mutex, task 3 runs and attempts to acquire the mutex. At this point, |
| both task 3 and task 4 are waiting on the mutex (sleeping). Task 5 now |
| runs at priority 3 (the highest priority of all the tasks waiting on the |
| mutex). When task 5 finally releases the mutex it will be preempted as |
| two higher priority tasks are waiting for it.</p> |
| <p>Note that when multiple tasks are waiting on a mutex owned by another |
| task, once the mutex is released the highest priority task waiting on |
| the mutex is run.</p> |
| </div> |
| <div class="section" id="api"> |
| <h2>API<a class="headerlink" href="#api" title="Permalink to this headline">¶</a></h2> |
| <dl class="c function"> |
| <dt id="c.os_mutex_init"> |
| <span class="target" id="group___o_s_mutex_1gad40a5e8c7af09d2cbe4bbc1ef88d48dd"></span><span class="pre">os_error_t</span> <code class="sig-name descname"><span class="pre">os_mutex_init</span></code><span class="sig-paren">(</span><em class="property"><span class="pre">struct</span></em> <a class="reference internal" href="#c.os_mutex" title="os_mutex"><span class="pre">os_mutex</span></a> <span class="pre">*</span><em><span class="pre">mu</span></em><span class="sig-paren">)</span><a class="headerlink" href="#c.os_mutex_init" title="Permalink to this definition">¶</a><br /></dt> |
| <dd><p>Create a mutex and initialize it. </p> |
| <p><dl class="simple"> |
| <dt><strong>Return</strong></dt><dd><p>os_error_t OS_INVALID_PARM Mutex passed in was NULL. OS_OK no error. </p> |
| </dd> |
| <dt><strong>Parameters</strong></dt><dd><ul class="breatheparameterlist simple"> |
| <li><p><code class="docutils literal notranslate"><span class="pre">mu</span></code>: Pointer to mutex</p></li> |
| </ul> |
| </dd> |
| </dl> |
| </p> |
| </dd></dl> |
| |
| <dl class="c function"> |
| <dt id="c.os_mutex_release"> |
| <span class="target" id="group___o_s_mutex_1ga73b1ca40d62d2e08f6f7bce52e50db30"></span><span class="pre">os_error_t</span> <code class="sig-name descname"><span class="pre">os_mutex_release</span></code><span class="sig-paren">(</span><em class="property"><span class="pre">struct</span></em> <a class="reference internal" href="#c.os_mutex" title="os_mutex"><span class="pre">os_mutex</span></a> <span class="pre">*</span><em><span class="pre">mu</span></em><span class="sig-paren">)</span><a class="headerlink" href="#c.os_mutex_release" title="Permalink to this definition">¶</a><br /></dt> |
| <dd><p>Release a mutex. </p> |
| <p><dl class="simple"> |
| <dt><strong>Return</strong></dt><dd><p>os_error_t OS_INVALID_PARM Mutex passed in was NULL. OS_BAD_MUTEX Mutex was not granted to current task (not owner). OS_OK No error </p> |
| </dd> |
| <dt><strong>Parameters</strong></dt><dd><ul class="breatheparameterlist simple"> |
| <li><p><code class="docutils literal notranslate"><span class="pre">mu</span></code>: Pointer to the mutex to be released</p></li> |
| </ul> |
| </dd> |
| </dl> |
| </p> |
| </dd></dl> |
| |
| <dl class="c function"> |
| <dt id="c.os_mutex_pend"> |
| <span class="target" id="group___o_s_mutex_1ga20170f05ba8c744a1536a4bed50ae4ca"></span><span class="pre">os_error_t</span> <code class="sig-name descname"><span class="pre">os_mutex_pend</span></code><span class="sig-paren">(</span><em class="property"><span class="pre">struct</span></em> <a class="reference internal" href="#c.os_mutex" title="os_mutex"><span class="pre">os_mutex</span></a> <span class="pre">*</span><em><span class="pre">mu</span></em>, <a class="reference internal" href="../time/os_time.html#c.os_time_t" title="os_time_t"><span class="pre">os_time_t</span></a> <em><span class="pre">timeout</span></em><span class="sig-paren">)</span><a class="headerlink" href="#c.os_mutex_pend" title="Permalink to this definition">¶</a><br /></dt> |
| <dd><p>Pend (wait) for a mutex. </p> |
| <p><dl class="simple"> |
| <dt><strong>Return</strong></dt><dd><p>os_error_t OS_INVALID_PARM Mutex passed in was NULL. OS_TIMEOUT Mutex was owned by another task and timeout=0 OS_OK no error. </p> |
| </dd> |
| <dt><strong>Parameters</strong></dt><dd><ul class="breatheparameterlist simple"> |
| <li><p><code class="docutils literal notranslate"><span class="pre">mu</span></code>: Pointer to mutex. </p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">timeout</span></code>: Timeout, in os ticks. A timeout of 0 means do not wait if not available. A timeout of OS_TIMEOUT_NEVER means wait forever.</p></li> |
| </ul> |
| </dd> |
| </dl> |
| </p> |
| </dd></dl> |
| |
| <dl class="c function"> |
| <dt id="c.os_mutex_get_level"> |
| <span class="target" id="group___o_s_mutex_1ga6177308e59b66ac308754189755a9f1a"></span><em class="property"><span class="pre">static</span></em> <em class="property"><span class="pre">inline</span></em> <span class="pre">uint16_t</span> <code class="sig-name descname"><span class="pre">os_mutex_get_level</span></code><span class="sig-paren">(</span><em class="property"><span class="pre">struct</span></em> <a class="reference internal" href="#c.os_mutex" title="os_mutex"><span class="pre">os_mutex</span></a> <span class="pre">*</span><em><span class="pre">mu</span></em><span class="sig-paren">)</span><a class="headerlink" href="#c.os_mutex_get_level" title="Permalink to this definition">¶</a><br /></dt> |
| <dd><p>Get mutex lock count. </p> |
| <p><p>It can also be called from interrupt context to check if given mutex is taken.</p> |
| <dl class="simple"> |
| <dt><strong>Note</strong></dt><dd><p>Function should be called from task owning the mutex (one that successfully called os_mutex_pend). Calling function from other task that does not own the mutex will return value that has little value to the caller since value can change at any time by other task.</p> |
| </dd> |
| </dl> |
| </p> |
| <p><dl class="simple"> |
| <dt><strong>Return</strong></dt><dd><p>number of times lock was called from current task </p> |
| </dd> |
| <dt><strong>Parameters</strong></dt><dd><ul class="breatheparameterlist simple"> |
| <li><p><code class="docutils literal notranslate"><span class="pre">mu</span></code>: Pointer to mutex.</p></li> |
| </ul> |
| </dd> |
| </dl> |
| </p> |
| </dd></dl> |
| |
| <dl class="c struct"> |
| <dt id="c.os_mutex"> |
| <span class="target" id="structos__mutex"></span><em class="property"><span class="pre">struct</span> </em><code class="sig-name descname"><span class="pre">os_mutex</span></code><a class="headerlink" href="#c.os_mutex" title="Permalink to this definition">¶</a><br /></dt> |
| <dd><em>#include <os_mutex.h></em><p>OS mutex structure. </p> |
| <div class="breathe-sectiondef docutils container"> |
| <p class="breathe-sectiondef-title rubric" id="breathe-section-title-public-members">Public Members</p> |
| <dl class="c var"> |
| <dt id="c.os_mutex.mu_prio"> |
| <span class="target" id="structos__mutex_1ab11db74bc914d330188ec8cf6b7ccda1"></span><span class="pre">uint8_t</span> <code class="sig-name descname"><span class="pre">mu_prio</span></code><a class="headerlink" href="#c.os_mutex.mu_prio" title="Permalink to this definition">¶</a><br /></dt> |
| <dd><p>Mutex owner’s default priority. </p> |
| </dd></dl> |
| |
| <dl class="c var"> |
| <dt id="c.os_mutex.mu_level"> |
| <span class="target" id="structos__mutex_1a3f5cb3a993b3d3ceae9c9a3050cf7e0e"></span><span class="pre">uint16_t</span> <code class="sig-name descname"><span class="pre">mu_level</span></code><a class="headerlink" href="#c.os_mutex.mu_level" title="Permalink to this definition">¶</a><br /></dt> |
| <dd><p>Mutex call nesting level. </p> |
| </dd></dl> |
| |
| <dl class="c var"> |
| <dt id="c.os_mutex.mu_owner"> |
| <span class="target" id="structos__mutex_1ad7f904991f57f1289b0947da3b3ee339"></span><em class="property"><span class="pre">struct</span></em> <a class="reference internal" href="../task/task.html#c.os_task" title="os_task"><span class="pre">os_task</span></a> <span class="pre">*</span><code class="sig-name descname"><span class="pre">mu_owner</span></code><a class="headerlink" href="#c.os_mutex.mu_owner" title="Permalink to this definition">¶</a><br /></dt> |
| <dd><p>Task that owns the mutex. </p> |
| </dd></dl> |
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