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/**
******************************************************************************
* @file FreeRTOS/FreeRTOS_Mutexes/Src/main.c
* @author MCD Application Team
* @brief Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2017 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
#define mutexSHORT_DELAY ((uint32_t) 20)
#define mutexNO_DELAY ((uint32_t) 0)
#define mutexTWO_TICK_DELAY ((uint32_t) 2)
/* Private variables ---------------------------------------------------------*/
static osMutexId osMutex;
/* Variables used to detect and latch errors. */
static __IO uint32_t HighPriorityThreadCycles = 0, MediumPriorityThreadCycles = 0, LowPriorityThreadCycles = 0;
/* Handles of the two higher priority tasks, required so they can be resumed
(unsuspended). */
static osThreadId osHighPriorityThreadHandle, osMediumPriorityThreadHandle;
/* Private function prototypes -----------------------------------------------*/
static void MutexHighPriorityThread(void const *argument);
static void MutexMeduimPriorityThread(void const *argument);
static void MutexLowPriorityThread(void const *argument);
static void SystemClock_Config(void);
/* Private functions ---------------------------------------------------------*/
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 180 MHz */
SystemClock_Config();
/* Configure LED1, LED2, LED3 and LED4 */
BSP_LED_Init(LED1);
BSP_LED_Init(LED2);
BSP_LED_Init(LED3);
BSP_LED_Init(LED4);
/* Creates the mutex */
osMutexDef(osMutex);
osMutex = osMutexCreate(osMutex(osMutex));
if(osMutex != NULL)
{
/* Define and create the high priority thread */
osThreadDef(MutHigh, MutexHighPriorityThread, osPriorityBelowNormal, 0, configMINIMAL_STACK_SIZE);
osHighPriorityThreadHandle = osThreadCreate(osThread(MutHigh), NULL);
/* Define and create the medium priority thread */
osThreadDef(MutMedium, MutexMeduimPriorityThread, osPriorityLow, 0, configMINIMAL_STACK_SIZE);
osMediumPriorityThreadHandle = osThreadCreate(osThread(MutMedium), NULL);
/* Define and create the low priority thread */
osThreadDef(MutLow, MutexLowPriorityThread, osPriorityIdle, 0, configMINIMAL_STACK_SIZE);
osThreadCreate(osThread(MutLow), NULL);
}
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
for(;;);
}
/**
* @brief Mutex High Priority Thread.
* @param argument: Not used
* @retval None
*/
static void MutexHighPriorityThread(void const *argument)
{
/* Just to remove compiler warning. */
(void) argument;
for(;;)
{
/* The first time through the mutex will be immediately available, on
subsequent times through the mutex will be held by the low priority thread
at this point and this Take will cause the low priority thread to inherit
the priority of this tadhr. In this case the block time must be
long enough to ensure the low priority thread will execute again before the
block time expires. If the block time does expire then the error
flag will be set here. */
if(osMutexWait(osMutex, mutexTWO_TICK_DELAY) != osOK)
{
/* Toggle LED 3 to indicate error */
BSP_LED_Toggle(LED3);
}
/* Ensure the other thread attempting to access the mutex
are able to execute to ensure they either block (where a block
time is specified) or return an error (where no block time is
specified) as the mutex is held by this task. */
osDelay(mutexSHORT_DELAY);
/* We should now be able to release the mutex.
When the mutex is available again the medium priority thread
should be unblocked but not run because it has a lower priority
than this thread. The low priority thread should also not run
at this point as it too has a lower priority than this thread. */
if(osMutexRelease(osMutex) != osOK)
{
/* Toggle LED 3 to indicate error */
BSP_LED_Toggle(LED3);
}
/* Keep count of the number of cycles this thread has performed */
HighPriorityThreadCycles++;
BSP_LED_Toggle(LED1);
/* Suspend ourselves to the medium priority thread can execute */
osThreadSuspend(NULL);
}
}
/**
* @brief Mutex Medium Priority Thread.
* @param argument: Not used
* @retval None
*/
static void MutexMeduimPriorityThread(void const *argument)
{
/* Just to remove compiler warning */
(void) argument;
for(;;)
{
/* This thread will run while the high-priority thread is blocked, and the
high-priority thread will block only once it has the mutex - therefore
this call should block until the high-priority thread has given up the
mutex, and not actually execute past this call until the high-priority
thread is suspended. */
if(osMutexWait(osMutex, osWaitForever) == osOK)
{
if(osThreadGetState(osHighPriorityThreadHandle) != osThreadSuspended)
{
/* Did not expect to execute until the high priority thread was
suspended.
Toggle LED 3 to indicate error */
BSP_LED_Toggle(LED3);
}
else
{
/* Give the mutex back before suspending ourselves to allow
the low priority thread to obtain the mutex. */
if(osMutexRelease(osMutex) != osOK)
{
/* Toggle LED 3 to indicate error */
BSP_LED_Toggle(LED3);
}
osThreadSuspend(NULL);
}
}
else
{
/* We should not leave the osMutexWait() function
until the mutex was obtained.
Toggle LED 3 to indicate error */
BSP_LED_Toggle(LED3);
}
/* The High and Medium priority threads should be in lock step. */
if(HighPriorityThreadCycles != (MediumPriorityThreadCycles + 1))
{
/* Toggle LED 3 to indicate error */
BSP_LED_Toggle(LED3);
}
/* Keep count of the number of cycles this task has performed so a
stall can be detected. */
MediumPriorityThreadCycles++;
BSP_LED_Toggle(LED2);
}
}
/**
* @brief Mutex Low Priority Thread.
* @param argument: Not used
* @retval None
*/
static void MutexLowPriorityThread(void const *argument)
{
/* Just to remove compiler warning. */
(void) argument;
for(;;)
{
/* Keep attempting to obtain the mutex. We should only obtain it when
the medium-priority thread has suspended itself, which in turn should only
happen when the high-priority thread is also suspended. */
if(osMutexWait(osMutex, mutexNO_DELAY) == osOK)
{
/* Is the haigh and medium-priority threads suspended? */
if((osThreadGetState(osHighPriorityThreadHandle) != osThreadSuspended) || (osThreadGetState(osMediumPriorityThreadHandle) != osThreadSuspended))
{
/* Toggle LED 3 to indicate error */
BSP_LED_Toggle(LED3);
}
else
{
/* Keep count of the number of cycles this task has performed
so a stall can be detected. */
LowPriorityThreadCycles++;
BSP_LED_Toggle(LED4);
/* We can resume the other tasks here even though they have a
higher priority than the this thread. When they execute they
will attempt to obtain the mutex but fail because the low-priority
thread is still the mutex holder. this thread will then inherit
the higher priority. The medium-priority thread will block indefinitely
when it attempts to obtain the mutex, the high-priority thread will only
block for a fixed period and an error will be latched if the
high-priority thread has not returned the mutex by the time this
fixed period has expired. */
osThreadResume(osMediumPriorityThreadHandle);
osThreadResume(osHighPriorityThreadHandle);
/* The other two tasks should now have executed and no longer
be suspended. */
if((osThreadGetState(osHighPriorityThreadHandle) == osThreadSuspended) || (osThreadGetState(osMediumPriorityThreadHandle) == osThreadSuspended))
{
/* Toggle LED 3 to indicate error */
BSP_LED_Toggle(LED3);
}
/* Release the mutex, disinheriting the higher priority again. */
if(osMutexRelease(osMutex) != osOK)
{
/* Toggle LED 3 to indicate error */
BSP_LED_Toggle(LED3);
}
}
}
#if configUSE_PREEMPTION == 0
{
taskYIELD();
}
#endif
}
}
/**
* @brief System Clock Configuration
* The system Clock is configured as follow :
* System Clock source = PLL (HSE)
* SYSCLK(Hz) = 180000000
* HCLK(Hz) = 180000000
* AHB Prescaler = 1
* APB1 Prescaler = 4
* APB2 Prescaler = 2
* HSE Frequency(Hz) = 25000000
* PLL_M = 25
* PLL_N = 360
* PLL_P = 2
* PLL_Q = 7
* VDD(V) = 3.3
* Main regulator output voltage = Scale1 mode
* Flash Latency(WS) = 5
* @param None
* @retval None
*/
static void SystemClock_Config(void)
{
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_OscInitTypeDef RCC_OscInitStruct;
/* Enable Power Control clock */
__HAL_RCC_PWR_CLK_ENABLE();
/* The voltage scaling allows optimizing the power consumption when the device is
clocked below the maximum system frequency, to update the voltage scaling value
regarding system frequency refer to product datasheet. */
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/* Enable HSE Oscillator and activate PLL with HSE as source */
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 25;
RCC_OscInitStruct.PLL.PLLN = 360;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 7;
HAL_RCC_OscConfig(&RCC_OscInitStruct);
/* Activate the Over-Drive mode */
HAL_PWREx_EnableOverDrive();
/* Select PLL as system clock source and configure the HCLK, PCLK1 and PCLK2
clocks dividers */
RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2);
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5);
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t* file, uint32_t line)
{
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* Infinite loop */
while (1)
{
}
}
#endif
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