diff --git a/FreeRTOS/Source/include/FreeRTOS.h b/FreeRTOS/Source/include/FreeRTOS.h
index 7b67af33a0..7bf350f0df 100644
--- a/FreeRTOS/Source/include/FreeRTOS.h
+++ b/FreeRTOS/Source/include/FreeRTOS.h
@@ -717,6 +717,10 @@ is included as it is used by the port layer. */
#define mtCOVERAGE_TEST_MARKER()
#endif
+#ifndef portASSERT_IF_IN_ISR
+ #define portASSERT_IF_IN_ISR()
+#endif
+
/* Definitions to allow backward compatibility with FreeRTOS versions prior to
V8 if desired. */
#ifndef configENABLE_BACKWARD_COMPATIBILITY
diff --git a/FreeRTOS/Source/include/task.h b/FreeRTOS/Source/include/task.h
index ae279e1d60..e8fc4559ae 100644
--- a/FreeRTOS/Source/include/task.h
+++ b/FreeRTOS/Source/include/task.h
@@ -1507,7 +1507,7 @@ void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTIO
* Set the priority of a task back to its proper priority in the case that it
* inherited a higher priority while it was holding a semaphore.
*/
-void vTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTION;
+BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTION;
/*
* Generic version of the task creation function which is in turn called by the
@@ -1552,6 +1552,15 @@ void vTaskStepTick( const TickType_t xTicksToJump ) PRIVILEGED_FUNCTION;
*/
eSleepModeStatus eTaskConfirmSleepModeStatus( void ) PRIVILEGED_FUNCTION;
+/*
+ * For internal use only. Increment the mutex held count when a mutex is
+ * taken and decrement the mutex held count when the mutex is given back
+ * respectively. The mutex held count is used to know when it is safe to
+ * disinherit a priority.
+ */
+void vTaskIncrementMutexHeldCount( void );
+void vTaskDecrementMutexHeldCount( void );
+
#ifdef __cplusplus
}
#endif
diff --git a/FreeRTOS/Source/portable/CCS/ARM_Cortex-R4/portASM.asm b/FreeRTOS/Source/portable/CCS/ARM_Cortex-R4/portASM.asm
index 6e7aef6a79..51b6802fc3 100644
--- a/FreeRTOS/Source/portable/CCS/ARM_Cortex-R4/portASM.asm
+++ b/FreeRTOS/Source/portable/CCS/ARM_Cortex-R4/portASM.asm
@@ -1,7 +1,7 @@
;/*
; FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.
; All rights reserved
-;
+;
;
; ***************************************************************************
; * *
@@ -61,7 +61,7 @@
;/*-----------------------------------------------------------*/
;
-; Save Task Context
+; Save Task Context
;
portSAVE_CONTEXT .macro
DSB
@@ -101,7 +101,7 @@ portSAVE_CONTEXT .macro
; If the task is not using a floating point context then skip the
; saving of the FPU registers.
- BEQ PC+3
+ BEQ $+16
FSTMDBD LR!, {D0-D15}
FMRX R1, FPSCR
STMFD LR!, {R1}
@@ -137,7 +137,7 @@ portRESTORE_CONTEXT .macro
; If the task is not using a floating point context then skip the
; VFP register loads.
- BEQ PC+3
+ BEQ $+16
; Restore the floating point context.
LDMFD LR!, {R0}
diff --git a/FreeRTOS/Source/portable/IAR/ARM_CA9/port.c b/FreeRTOS/Source/portable/IAR/ARM_CA9/port.c
index fc23dcd0ed..674aab9a15 100644
--- a/FreeRTOS/Source/portable/IAR/ARM_CA9/port.c
+++ b/FreeRTOS/Source/portable/IAR/ARM_CA9/port.c
@@ -315,6 +315,16 @@ void vPortEnterCritical( void )
directly. Increment ulCriticalNesting to keep a count of how many times
portENTER_CRITICAL() has been called. */
ulCriticalNesting++;
+
+ /* This is not the interrupt safe version of the enter critical function so
+ assert() if it is being called from an interrupt context. Only API
+ functions that end in "FromISR" can be used in an interrupt. Only assert if
+ the critical nesting count is 1 to protect against recursive calls if the
+ assert function also uses a critical section. */
+ if( ulCriticalNesting == 1 )
+ {
+ configASSERT( ulPortInterruptNesting == 0 );
+ }
}
/*-----------------------------------------------------------*/
diff --git a/FreeRTOS/Source/portable/MPLAB/PIC32MX/portmacro.h b/FreeRTOS/Source/portable/MPLAB/PIC32MX/portmacro.h
index be11cbf77f..b748a811aa 100644
--- a/FreeRTOS/Source/portable/MPLAB/PIC32MX/portmacro.h
+++ b/FreeRTOS/Source/portable/MPLAB/PIC32MX/portmacro.h
@@ -204,8 +204,8 @@ uint32_t ulCause; \
_CP0_SET_CAUSE( ulCause ); \
}
-#define portCURRENT_INTERRUPT_PRIORITY ( ( _CP0_GET_STATUS() & portALL_IPL_BITS ) >> portIPL_SHIFT )
-#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( portCURRENT_INTERRUPT_PRIORITY <= configMAX_SYSCALL_INTERRUPT_PRIORITY )
+extern volatile UBaseType_t uxInterruptNesting;
+#define portASSERT_IF_IN_ISR() configASSERT( uxInterruptNesting == 0 )
#define portNOP() __asm volatile ( "nop" )
diff --git a/FreeRTOS/Source/portable/MPLAB/PIC32MZ/portmacro.h b/FreeRTOS/Source/portable/MPLAB/PIC32MZ/portmacro.h
index 6209de6845..4b90ae4ad6 100644
--- a/FreeRTOS/Source/portable/MPLAB/PIC32MZ/portmacro.h
+++ b/FreeRTOS/Source/portable/MPLAB/PIC32MZ/portmacro.h
@@ -206,8 +206,8 @@ uint32_t ulCause; \
_CP0_SET_CAUSE( ulCause ); \
}
-#define portCURRENT_INTERRUPT_PRIORITY ( ( _CP0_GET_STATUS() & portALL_IPL_BITS ) >> portIPL_SHIFT )
-#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( portCURRENT_INTERRUPT_PRIORITY <= configMAX_SYSCALL_INTERRUPT_PRIORITY )
+extern volatile UBaseType_t uxInterruptNesting;
+#define portASSERT_IF_IN_ISR() configASSERT( uxInterruptNesting == 0 )
#define portNOP() __asm volatile ( "nop" )
diff --git a/FreeRTOS/Source/queue.c b/FreeRTOS/Source/queue.c
index cc7a9a82dd..48e05fd41b 100644
--- a/FreeRTOS/Source/queue.c
+++ b/FreeRTOS/Source/queue.c
@@ -216,7 +216,7 @@ static BaseType_t prvIsQueueFull( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
* Copies an item into the queue, either at the front of the queue or the
* back of the queue.
*/
-static void prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION;
+static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION;
/*
* Copies an item out of a queue.
@@ -421,7 +421,10 @@ QueueHandle_t xReturn = NULL;
traceCREATE_MUTEX( pxNewQueue );
- /* Start with the semaphore in the expected state. */
+ /* Start with the semaphore in the expected state. Preload the
+ mutex held count as calling xQueueGenericSend() will decrement the
+ count back to 0. */
+ vTaskIncrementMutexHeldCount();
( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK );
}
else
@@ -508,7 +511,8 @@ QueueHandle_t xReturn = NULL;
}
else
{
- /* We cannot give the mutex because we are not the holder. */
+ /* The mutex cannot be given because the calling task is not the
+ holder. */
xReturn = pdFAIL;
traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
@@ -543,8 +547,9 @@ QueueHandle_t xReturn = NULL;
{
xReturn = xQueueGenericReceive( pxMutex, NULL, xTicksToWait, pdFALSE );
- /* pdPASS will only be returned if we successfully obtained the mutex,
- we may have blocked to reach here. */
+ /* pdPASS will only be returned if the mutex was successfully
+ obtained. The calling task may have entered the Blocked state
+ before reaching here. */
if( xReturn == pdPASS )
{
( pxMutex->u.uxRecursiveCallCount )++;
@@ -592,7 +597,7 @@ QueueHandle_t xReturn = NULL;
BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition )
{
-BaseType_t xEntryTimeSet = pdFALSE;
+BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired;
TimeOut_t xTimeOut;
Queue_t * const pxQueue = ( Queue_t * ) xQueue;
@@ -620,7 +625,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
{
traceQUEUE_SEND( pxQueue );
- prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
+ xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
#if ( configUSE_QUEUE_SETS == 1 )
{
@@ -657,6 +662,14 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
mtCOVERAGE_TEST_MARKER();
}
}
+ else if( xYieldRequired != pdFALSE )
+ {
+ /* This path is a special case that will only get
+ executed if the task was holding multiple mutexes
+ and the mutexes were given back in an order that is
+ different to that in which they were taken. */
+ queueYIELD_IF_USING_PREEMPTION();
+ }
else
{
mtCOVERAGE_TEST_MARKER();
@@ -690,9 +703,6 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
#endif /* configUSE_QUEUE_SETS */
taskEXIT_CRITICAL();
-
- /* Return to the original privilege level before exiting the
- function. */
return pdPASS;
}
else
@@ -1059,7 +1069,20 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
{
traceQUEUE_SEND_FROM_ISR( pxQueue );
- prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
+ if( prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ) != pdFALSE )
+ {
+ /* This is a special case that can only be executed if a task
+ holds multiple mutexes and then gives the mutexes back in an
+ order that is different to that in which they were taken. */
+ if( pxHigherPriorityTaskWoken != NULL )
+ {
+ *pxHigherPriorityTaskWoken = pdTRUE;
+ }
+ else
+ {
+ mtCOVERAGE_TEST_MARKER();
+ }
+ }
/* The event list is not altered if the queue is locked. This will
be done when the queue is unlocked later. */
@@ -1591,8 +1614,10 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/
-static void prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
+static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
{
+BaseType_t xReturn = pdFALSE;
+
if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
{
#if ( configUSE_MUTEXES == 1 )
@@ -1600,8 +1625,9 @@ static void prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQue
if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
{
/* The mutex is no longer being held. */
- vTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );
- pxQueue->pxMutexHolder = NULL;
+ vTaskDecrementMutexHeldCount();
+ xReturn = xTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );
+ pxQueue->pxMutexHolder = NULL;
}
else
{
@@ -1658,6 +1684,8 @@ static void prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQue
}
++( pxQueue->uxMessagesWaiting );
+
+ return xReturn;
}
/*-----------------------------------------------------------*/
@@ -1678,7 +1706,8 @@ static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer
}
else
{
- mtCOVERAGE_TEST_MARKER();
+ /* A mutex was taken. */
+ vTaskIncrementMutexHeldCount();
}
}
/*-----------------------------------------------------------*/
@@ -2367,8 +2396,9 @@ BaseType_t xReturn;
if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
{
traceQUEUE_SEND( pxQueueSetContainer );
- /* The data copies is the handle of the queue that contains data. */
- prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
+ /* The data copied is the handle of the queue that contains data. */
+ xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
+
if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
{
if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )