Hello, Is there a mutex implementation available for use that does not require the rtx lib? Thanks, JG
A mutex is an object that lets a task wait until a resource is ready.
Without RTX, you would normally not have any tasks.
If you just want to synchronize access to variables between an ISR and the main loop, then you don't need a mutex.
I have tasks running, just not using RTX,so the question is relevant. I've seen mention the use of bit banding to accomplish this but not any debugged code, and I've seen mentioned the use of LDREX and STREX but again without any full and debugged code.
Any help is appreciated.
Which specific problem are you trying to solve? Can you disable interrupts to implement an atomic read/modify/write? Do you have cache to worry about?
Appendix B of this doc has an example of how ARM envisions using the LDREX instruction to implement a mutex and also talks about memory barriers.
www.arm.com/.../Cortex-M3_programming_for_ARM7_developers.pdf
I'm not sure bit banding solves the fundamental problem of implementing a reliable lock but here's a discussion on SO:
stackoverflow.com/.../arm-cortex-mutex-using-bit-banding
Andrew
Andrew, Thanks for the reply.
I cannot disable the interrupts.
I had read both references you provide.
I am not an assembly programmer so regarding the first reference, there is no complimentary "unlock" function, and no example of how to invoke the lock (I assume I must pass a volatile int as an arg).
Regarding the 2nd reference, the last line of text is "However, it does not work".
// interrupt scannot wait, sleep for meddle with the task scheduler as they must be as fast as possible. // the function refuse_interrupt_context() invokes a software error if this (or other) systems calls is called from // interrupt context int32s rtos_mutex_lock(int32s a_id) { int32u l_scheduler_state ; int32s l_result = NO_ERROR ; refuse_interrupt_context(__FILE__, __LINE__) ; // first check if the mutex was allocated. if ( (a_id >=0) && (a_id < MAX_MUTEXES) ) { t_mutex *lp_mutex ; tcb_t *lp_task ; // the kernel is not reentrant; protect static/global data from ISRs scheduler_disable(&l_scheduler_state) ; lp_task = *(g_tcb + g_current_task_index) ; lp_mutex = s_mutexes + a_id ; // loop here and reschedule if a lock attempt fails while (lp_mutex->owner != g_current_task_index) { // attempt to lock the mutex if (lp_mutex->state == e_mutex_unlocked) // note: the lock is never relinquished if there is a task waiting for the mutex in order to prevent a race condition // mutexes (another mutex might lock it before the dequeued task (from the mutex's queue) gets a chance to lock it. after the next owner of the lock is // scehduled (because it is being put in the running queue), it is restarted at this function (after the call to 'scheduler_reschedule', see below - that is // the new return address of the task) and locks the mutex. a mutex is freed only is there is no task waiting for it. { lp_mutex->owner = g_current_task_index ; lp_mutex->state = e_mutex_locked ; ++lp_task->mutex_lock_reference_counters[a_id] ; // increment the refrence counter. a task that has locked a mutex 'x' times must release it 'x' times } else if ( (lp_mutex->state == e_mutex_locked) && (lp_mutex->owner == g_current_task_index) ) // check if the running task attempts to lock a mutex that it already owns { // task is already owner - nothing to do ++lp_task->mutex_lock_reference_counters[a_id] ; // increment the refrence counter. a task that has locked a mutex 'x' times must release it 'x' times } else // if the mutex is locked, and the calling task is not the owner, it will have to wait { int32s l_result ; // move task to the waiting tasks queue of the mutex. this task does not get any CPU time unless moved back to the running queue. // remember that g_current_task_index is absent from the running queue (because it was dequeued) if ( (l_result = priority_queue_insert(&lp_mutex->blocked_tasks, (*(g_tcb + g_current_task_index))->priority, g_current_task_index)) != NO_ERROR) { software_error("%d %s %d", l_result, __FILE__, __LINE__) ; } lp_task->status = e_task_blocked_mutex ; lp_task->blocked_on_primitive = a_id ; scheduler_restore(e_scheduler_enabled) ; scheduler_reschedule() ; scheduler_disable(&l_scheduler_state) ; // after a lock attempt has failed, execution resumes here // which means the scheduler is enabled again } } scheduler_restore(l_scheduler_state) ; } else // report an error { software_warning("%d %s %d (%d)\n", ERR_MUTEX_NOT_FOUND, __FILE__, __LINE__, a_id ) ; l_result = ERR_MUTEX_NOT_FOUND ; } return l_result ; }
// never use from within interrupt context. see comments for rtos_mutex_lock. int32s rtos_mutex_unlock(int32s a_id) { refuse_interrupt_context(__FILE__, __LINE__) ; if ( (a_id >=0) && (a_id < MAX_MUTEXES) ) { int32u l_scheduler_state ; t_mutex *lp_mutex ; tcb_t *lp_task ; // the kernel is not reentrant; protect static/global data from ISRs scheduler_disable(&l_scheduler_state) ; lp_task = *(g_tcb + g_current_task_index) ; lp_mutex = s_mutexes + a_id ; if (lp_task->mutex_lock_reference_counters[a_id] > 0) { lp_task->mutex_lock_reference_counters[a_id]-- ; // always decrement the reference counter, no matter what task unlocks the mutex } // if the mutex is locked by the calling task and that task has reliqueshed all its // referneces to the mutex (a task call lock a mutex multiple times if it is the owner) // - allow other tasks try to lock it if ( (lp_mutex->state == e_mutex_locked) && (lp_mutex->owner == g_current_task_index) && (lp_task->mutex_lock_reference_counters[a_id] == 0) ) { int32s l_unblocked_task ; // select a task to be returned to the running queue, so that the scheduler can select it // there is at least one task blocked on the mutex - prepare it to be scheduled lp_mutex->owner = ERR_MUTEX_NOT_FOUND ; lp_mutex->state = e_mutex_unlocked ; if (priority_queue_extract_minimum_data(&lp_mutex->blocked_tasks, &l_unblocked_task ) != ERR_QUEUE_EMPTY) { // WAR STORY // this is the fairest approach: if a task has been waiting and the lock has become available, // select the next task from the blocked queue (note: this is not yet a priority queue) and put it in // the right slot in the ready list, for later selection. Howver, this introduces a problem of // possible starvation - the task needs the lock again but it might be lock by another task once it is // scheduled again. different approaches, such as granting the CPU to the extracted task in // the next task switch are doomed to fail, because they might introduce a priority inversion: if the // unblocked task task was a low priority task that plans to keep the lock for a while, it might be // preempted by a high priority task which will have to wait. //tcb_t *x = *g_tcb + l_unblocked_task ; scheduler_declare_task_ready(l_unblocked_task, g_tcb[l_unblocked_task]->priority) ; scheduler_restore(e_scheduler_enabled) ; scheduler_reschedule() ; } } scheduler_restore(l_scheduler_state) ; } else { software_warning("%d %s %d\n", ERR_MUTEX_NOT_FOUND, __FILE__, __LINE__) ; } return 0 ; }
typedef enum { e_mutex_unlocked = 0, e_mutex_locked } mutex_state ; typedef struct { mutex_state state ; // the status of the synchronization element int32s owner ; // a mutex has one owning task. other tasks must wait for it to be released priority_queue_t blocked_tasks ; // // a queue of task id's that are waiting for a mutex to be released } t_mutex ;
static t_mutex s_mutexes[MAX_MUTEXES] ; // system mutexs
You would, of course, need your _own_ kernel to use anything like this...
Thanks for the code see!