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372 lines
14 KiB
C
372 lines
14 KiB
C
/**
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******************************************************************************
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* @file FreeRTOS/FreeRTOS_Mutexes/Src/main.c
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* @author MCD Application Team
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* @brief Main program body
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******************************************************************************
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* @attention
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*
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* <h2><center>© Copyright (c) 2016 STMicroelectronics International N.V.
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* All rights reserved.</center></h2>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted, provided that the following conditions are met:
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*
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* 1. Redistribution of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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* 3. Neither the name of STMicroelectronics nor the names of other
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* contributors to this software may be used to endorse or promote products
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* derived from this software without specific written permission.
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* 4. This software, including modifications and/or derivative works of this
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* software, must execute solely and exclusively on microcontroller or
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* microprocessor devices manufactured by or for STMicroelectronics.
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* 5. Redistribution and use of this software other than as permitted under
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* this license is void and will automatically terminate your rights under
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* this license.
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*
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* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
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* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
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* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
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* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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******************************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "cmsis_os.h"
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/* Private typedef -----------------------------------------------------------*/
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/* Private define ------------------------------------------------------------*/
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/* Private macro -------------------------------------------------------------*/
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#define mutexSHORT_DELAY ((uint32_t) 20)
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#define mutexNO_DELAY ((uint32_t) 0)
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#define mutexTWO_TICK_DELAY ((uint32_t) 2)
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/* Private variables ---------------------------------------------------------*/
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static osMutexId osMutex;
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/* Variables used to detect and latch errors */
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__IO uint32_t HighPriorityThreadCycles = 0, MediumPriorityThreadCycles = 0, LowPriorityThreadCycles = 0;
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/* Handles of the two higher priority tasks, required so they can be resumed
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(unsuspended) */
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static osThreadId osHighPriorityThreadHandle, osMediumPriorityThreadHandle;
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/* Private function prototypes -----------------------------------------------*/
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static void MutexHighPriorityThread(void const *argument);
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static void MutexMediumPriorityThread(void const *argument);
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static void MutexLowPriorityThread(void const *argument);
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void SystemClock_Config(void);
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/* Private functions ---------------------------------------------------------*/
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/**
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* @brief Main program
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* @param None
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* @retval None
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*/
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int main(void)
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{
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/* STM32F0xx HAL library initialization:
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- Configure the Flash prefetch
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- Systick timer is configured by default as source of time base, but user
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can eventually implement his proper time base source (a general purpose
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timer for example or other time source), keeping in mind that Time base
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duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
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handled in milliseconds basis.
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- Low Level Initialization
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*/
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HAL_Init();
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/* Configure the System clock to 48 MHz */
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SystemClock_Config();
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/* Initialize LEDs */
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BSP_LED_Init(LED1);
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BSP_LED_Init(LED2);
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BSP_LED_Init(LED4);
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BSP_LED_Init(LED3);
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/* Create the mutex */
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osMutexDef(osMutex);
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osMutex = osMutexCreate(osMutex(osMutex));
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if (osMutex != NULL)
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{
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/* Define and create the high priority thread */
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osThreadDef(MutHigh, MutexHighPriorityThread, osPriorityBelowNormal, 0, configMINIMAL_STACK_SIZE);
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osHighPriorityThreadHandle = osThreadCreate(osThread(MutHigh), NULL);
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/* Define and create the medium priority thread */
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osThreadDef(MutMedium, MutexMediumPriorityThread, osPriorityLow, 0, configMINIMAL_STACK_SIZE);
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osMediumPriorityThreadHandle = osThreadCreate(osThread(MutMedium), NULL);
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/* Define and create the low priority thread */
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osThreadDef(MutLow, MutexLowPriorityThread, osPriorityIdle, 0, configMINIMAL_STACK_SIZE);
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osThreadCreate(osThread(MutLow), NULL);
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}
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/* Start scheduler */
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osKernelStart();
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/* We should never get here as control is now taken by the scheduler */
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for (;;);
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}
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/**
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* @brief Mutex High Priority Thread.
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* @param argument: Not used
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* @retval None
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*/
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static void MutexHighPriorityThread(void const *argument)
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{
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/* Just to remove compiler warning */
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(void) argument;
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for (;;)
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{
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/* The first time through the mutex will be immediately available, on
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subsequent times through the mutex will be held by the low priority thread
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at this point and this Take will cause the low priority thread to inherit
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the priority of this tadhr. In this case the block time must be
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long enough to ensure the low priority thread will execute again before the
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block time expires. If the block time does expire then the error
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flag will be set here */
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if (osMutexWait(osMutex, mutexTWO_TICK_DELAY) != osOK)
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{
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/* Toggle LED3 to indicate error */
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BSP_LED_Toggle(LED3);
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}
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/* Ensure the other thread attempting to access the mutex
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are able to execute to ensure they either block (where a block
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time is specified) or return an error (where no block time is
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specified) as the mutex is held by this task */
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osDelay(mutexSHORT_DELAY);
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/* We should now be able to release the mutex .
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When the mutex is available again the medium priority thread
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should be unblocked but not run because it has a lower priority
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than this thread. The low priority thread should also not run
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at this point as it too has a lower priority than this thread */
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if (osMutexRelease(osMutex) != osOK)
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{
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/* Toggle LED3 to indicate error */
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BSP_LED_Toggle(LED3);
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}
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/* Keep count of the number of cycles this thread has performed */
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HighPriorityThreadCycles++;
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BSP_LED_Toggle(LED1);
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/* Suspend ourselves to the medium priority thread can execute */
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osThreadSuspend(NULL);
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}
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}
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/**
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* @brief Mutex Medium Priority Thread.
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* @param argument: Not used
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* @retval None
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*/
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static void MutexMediumPriorityThread(void const *argument)
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{
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/* Just to remove compiler warning */
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(void) argument;
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for (;;)
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{
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/* This thread will run while the high-priority thread is blocked, and the
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high-priority thread will block only once it has the mutex - therefore
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this call should block until the high-priority thread has given up the
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mutex, and not actually execute past this call until the high-priority
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thread is suspended */
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if (osMutexWait(osMutex, osWaitForever) == osOK)
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{
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if (osThreadGetState(osHighPriorityThreadHandle) != osThreadSuspended)
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{
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/* Did not expect to execute until the high priority thread was
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suspended.
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Toggle LED3 to indicate error */
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BSP_LED_Toggle(LED3);
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}
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else
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{
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/* Give the mutex back before suspending ourselves to allow
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the low priority thread to obtain the mutex */
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if (osMutexRelease(osMutex) != osOK)
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{
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/* Toggle LED3 to indicate error */
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BSP_LED_Toggle(LED3);
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}
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osThreadSuspend(NULL);
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}
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}
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else
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{
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/* We should not leave the osMutexWait() function
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until the mutex was obtained.
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Toggle LED3 to indicate error */
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BSP_LED_Toggle(LED3);
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}
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/* The High and Medium priority threads should be in lock step */
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if (HighPriorityThreadCycles != (MediumPriorityThreadCycles + 1))
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{
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/* Toggle LED3 to indicate error */
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BSP_LED_Toggle(LED3);
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}
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/* Keep count of the number of cycles this task has performed so a
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stall can be detected */
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MediumPriorityThreadCycles++;
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BSP_LED_Toggle(LED2);
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}
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}
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/**
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* @brief Mutex Low Priority Thread.
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* @param argument: Not used
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* @retval None
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*/
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static void MutexLowPriorityThread(void const *argument)
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{
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/* Just to remove compiler warning */
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(void) argument;
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for (;;)
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{
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/* Keep attempting to obtain the mutex. We should only obtain it when
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the medium-priority thread has suspended itself, which in turn should only
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happen when the high-priority thread is also suspended */
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if (osMutexWait(osMutex, mutexNO_DELAY) == osOK)
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{
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/* Is the haigh and medium-priority threads suspended? */
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if ((osThreadGetState(osHighPriorityThreadHandle) != osThreadSuspended) || (osThreadGetState(osMediumPriorityThreadHandle) != osThreadSuspended))
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{
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/* Toggle LED3 to indicate error */
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BSP_LED_Toggle(LED3);
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}
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else
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{
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/* Keep count of the number of cycles this task has performed
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so a stall can be detected */
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LowPriorityThreadCycles++;
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BSP_LED_Toggle(LED4);
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/* We can resume the other tasks here even though they have a
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higher priority than the this thread. When they execute they
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will attempt to obtain the mutex but fail because the low-priority
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thread is still the mutex holder. this thread will then inherit
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the higher priority. The medium-priority thread will block indefinitely
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when it attempts to obtain the mutex, the high-priority thread will only
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block for a fixed period and an error will be latched if the
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high-priority thread has not returned the mutex by the time this
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fixed period has expired */
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osThreadResume(osMediumPriorityThreadHandle);
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osThreadResume(osHighPriorityThreadHandle);
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/* The other two tasks should now have executed and no longer
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be suspended */
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if ((osThreadGetState(osHighPriorityThreadHandle) == osThreadSuspended) || (osThreadGetState(osMediumPriorityThreadHandle) == osThreadSuspended))
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{
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/* Toggle LED3 to indicate error */
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BSP_LED_Toggle(LED3);
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}
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/* Release the mutex, disinheriting the higher priority again */
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if (osMutexRelease(osMutex) != osOK)
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{
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/* Toggle LED3 to indicate error */
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BSP_LED_Toggle(LED3);
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}
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}
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}
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#if configUSE_PREEMPTION == 0
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{
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taskYIELD();
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}
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#endif
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}
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}
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/**
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* @brief System Clock Configuration
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* The system Clock is configured as follow :
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* System Clock source = PLL (HSE)
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* SYSCLK(Hz) = 48000000
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* HCLK(Hz) = 48000000
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* AHB Prescaler = 1
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* APB1 Prescaler = 1
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* HSE Frequency(Hz) = 8000000
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* PREDIV = 1
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* PLLMUL = 6
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* Flash Latency(WS) = 1
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* @param None
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_ClkInitTypeDef RCC_ClkInitStruct;
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RCC_OscInitTypeDef RCC_OscInitStruct;
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/* Enable HSE Oscillator and Activate PLL with HSE as source */
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV1;
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RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL6;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct)!= HAL_OK)
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{
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/* Initialization Error */
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while(1);
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}
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/* Select PLL as system clock source and configure the HCLK, PCLK1 clocks dividers */
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RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1);
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1)!= HAL_OK)
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{
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/* Initialization Error */
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while(1);
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}
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}
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(char *file, uint32_t line)
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{
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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* Infinite loop */
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while (1)
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{}
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}
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#endif
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/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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