Prepare for V4.7.1 release.

git-svn-id: https://freertos.svn.sourceforge.net/svnroot/freertos/trunk@130 1d2547de-c912-0410-9cb9-b8ca96c0e9e2

14 files changed, 117 insertions, 19 deletions

diff --git a/Source/include/FreeRTOS.h b/Source/include/FreeRTOS.h
index 61061b46..0799d522 100644
--- a/Source/include/FreeRTOS.h
+++ b/Source/include/FreeRTOS.h
@@ -112,6 +112,10 @@
 	#error Missing definition:  configUSE_16_BIT_TICKS should be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.

 #endif

 

+#ifndef configUSE_RECURSIVE_MUTEXES

+	#define configUSE_RECURSIVE_MUTEXES 0

+#endif

+

 #ifndef configUSE_MUTEXES

 	#define configUSE_MUTEXES 0

 #endif

diff --git a/Source/include/queue.h b/Source/include/queue.h
index bafb5661..9b1867e8 100644
--- a/Source/include/queue.h
+++ b/Source/include/queue.h
@@ -1201,6 +1201,13 @@ signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, port
 xQueueHandle xQueueCreateMutex( void );

 xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount );

 

+/*

+ * For internal use only.  Use xSemaphoreTakeMutexRecursive() or

+ * xSemaphoreGiveMutexRecursive() instead of calling these functions directly.

+ */

+portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime );

+portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex );

+

 #ifdef __cplusplus

 }

 #endif

diff --git a/Source/include/semphr.h b/Source/include/semphr.h
index 02933313..b5c61e04 100644
--- a/Source/include/semphr.h
+++ b/Source/include/semphr.h
@@ -304,17 +304,19 @@ typedef xQueueHandle xSemaphoreHandle;
  void vTimerISR( void * pvParameters )

  {

  static unsigned portCHAR ucLocalTickCount = 0;

+ static portBASE_TYPE xTaskWoken;

 

     // A timer tick has occurred.

 

     // ... Do other time functions.

 

     // Is it time for vATask () to run?

+	xTaskWoken = pdFALSE;

     ucLocalTickCount++;

     if( ucLocalTickCount >= TICKS_TO_WAIT )

     {

         // Unblock the task by releasing the semaphore.

-        xSemaphoreGive( xSemaphore );

+        xSemaphoreGiveFromISR( xSemaphore, xTaskWoken );

 

         // Reset the count so we release the semaphore again in 10 ticks time.

         ucLocalTickCount = 0;

@@ -368,10 +370,11 @@ typedef xQueueHandle xSemaphoreHandle;
  * \ingroup Semaphores

  */

 #define xSemaphoreCreateMutex() xQueueCreateMutex()

+#define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex()

 

 /**

  * semphr. h

- * <pre>xSemaphoreHandle xSemaphoreCreateCounting( uxCountValue, uxInitialCount )</pre>

+ * <pre>xSemaphoreHandle xSemaphoreCreateCounting( unsigned portBASE_TYPE uxMaxCount, unsigned portBASE_TYPE uxInitialCount )</pre>

  *

  * <i>Macro</i> that creates a counting semaphore by using the existing 

  * queue mechanism.  

@@ -430,7 +433,10 @@ typedef xQueueHandle xSemaphoreHandle;
  * \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting

  * \ingroup Semaphores

  */

-#define xSemaphoreCreateCounting( uxCountValue, uxInitialCount ) xQueueCreateCountingSemaphore( uxCountValue, uxInitialCount )

+#define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( uxMaxCount, uxInitialCount )

+

+#define xSemaphoreTakeRecursive( xMutex, xBlockTime )	xQueueTakeMutexRecursive( xMutex, xBlockTime )

+#define xSemaphoreGiveRecursive( xMutex )				xQueueGiveMutexRecursive( xMutex )

 

 #endif /* SEMAPHORE_H */

 

diff --git a/Source/portable/IAR/ARM_CM3/port.c b/Source/portable/IAR/ARM_CM3/port.c
index f580a630..f4039f14 100644
--- a/Source/portable/IAR/ARM_CM3/port.c
+++ b/Source/portable/IAR/ARM_CM3/port.c
@@ -69,7 +69,7 @@
 defined.  The value 255 should also ensure backward compatibility.

 FreeRTOS.org versions prior to V4.3.0 did not include this definition. */

 #ifndef configKERNEL_INTERRUPT_PRIORITY

-	#define configKERNEL_INTERRUPT_PRIORITY 255

+	#define configKERNEL_INTERRUPT_PRIORITY 0

 #endif

 

 /* Each task maintains its own interrupt status in the critical nesting

diff --git a/Source/portable/IAR/ARM_CM3/portasm.s b/Source/portable/IAR/ARM_CM3/portasm.s
index f6231d93..c4280c0a 100644
--- a/Source/portable/IAR/ARM_CM3/portasm.s
+++ b/Source/portable/IAR/ARM_CM3/portasm.s
@@ -51,7 +51,8 @@ FreeRTOS.org versions prior to V4.3.0 did not include this definition. */
 #endif

 

 	

-	RSEG ICODE:CODE

+	RSEG    CODE:CODE(2)

+	thumb

 

 	EXTERN vPortYieldFromISR

 	EXTERN vPortSwitchContext

diff --git a/Source/portable/IAR/AtmelSAM7S64/port.c b/Source/portable/IAR/AtmelSAM7S64/port.c
index de31f23c..4be1b616 100644
--- a/Source/portable/IAR/AtmelSAM7S64/port.c
+++ b/Source/portable/IAR/AtmelSAM7S64/port.c
@@ -41,7 +41,6 @@
 

 /* Standard includes. */

 #include <stdlib.h>

-#include <intrinsic.h>

 

 /* Scheduler includes. */

 #include "FreeRTOS.h"

diff --git a/Source/portable/IAR/AtmelSAM7S64/portmacro.h b/Source/portable/IAR/AtmelSAM7S64/portmacro.h
index 10372f01..8147233c 100644
--- a/Source/portable/IAR/AtmelSAM7S64/portmacro.h
+++ b/Source/portable/IAR/AtmelSAM7S64/portmacro.h
@@ -38,8 +38,6 @@
 #ifndef PORTMACRO_H

 #define PORTMACRO_H

 

-#include <intrinsic.h>

-

 #ifdef __cplusplus

 extern "C" {

 #endif

diff --git a/Source/portable/IAR/LPC2000/port.c b/Source/portable/IAR/LPC2000/port.c
index 69036f56..b3ea9ae1 100644
--- a/Source/portable/IAR/LPC2000/port.c
+++ b/Source/portable/IAR/LPC2000/port.c
@@ -41,14 +41,14 @@
 /*

 	Changes from V3.2.2

 

-	+ Bug fix - The prescale value for the timer setup is now written to T0PR 

-	  instead of T0PC.  This bug would have had no effect unless a prescale 

+	+ Bug fix - The prescale value for the timer setup is now written to T0PR

+	  instead of T0PC.  This bug would have had no effect unless a prescale

 	  value was actually used.

 */

 

 /* Standard includes. */

 #include <stdlib.h>

-#include <intrinsic.h>

+#include <intrinsics.h>

 

 /* Scheduler includes. */

 #include "FreeRTOS.h"

diff --git a/Source/portable/IAR/LPC2000/portmacro.h b/Source/portable/IAR/LPC2000/portmacro.h
index 10372f01..2776ede7 100644
--- a/Source/portable/IAR/LPC2000/portmacro.h
+++ b/Source/portable/IAR/LPC2000/portmacro.h
@@ -38,7 +38,7 @@
 #ifndef PORTMACRO_H

 #define PORTMACRO_H

 

-#include <intrinsic.h>

+#include <intrinsics.h>

 

 #ifdef __cplusplus

 extern "C" {

diff --git a/Source/portable/IAR/STR71x/portmacro.h b/Source/portable/IAR/STR71x/portmacro.h
index 2e48bec5..73b6b028 100644
--- a/Source/portable/IAR/STR71x/portmacro.h
+++ b/Source/portable/IAR/STR71x/portmacro.h
@@ -48,7 +48,7 @@
  *-----------------------------------------------------------

  */

 

-#include <intrinsic.h>

+#include <intrinsics.h>

 

 #ifdef __cplusplus

 extern "C" {

diff --git a/Source/portable/IAR/STR75x/portmacro.h b/Source/portable/IAR/STR75x/portmacro.h
index 8b0827d1..e78ac0d8 100644
--- a/Source/portable/IAR/STR75x/portmacro.h
+++ b/Source/portable/IAR/STR75x/portmacro.h
@@ -48,7 +48,7 @@
  *-----------------------------------------------------------

  */

 

-#include <intrinsic.h>

+#include <intrinsics.h>

 

 #ifdef __cplusplus

 extern "C" {

diff --git a/Source/portable/IAR/STR91x/portmacro.h b/Source/portable/IAR/STR91x/portmacro.h
index 95ac0873..f2c13922 100644
--- a/Source/portable/IAR/STR91x/portmacro.h
+++ b/Source/portable/IAR/STR91x/portmacro.h
@@ -48,7 +48,7 @@
  *-----------------------------------------------------------

  */

 

-#include <intrinsic.h>

+#include <intrinsics.h>

 

 #ifdef __cplusplus

 extern "C" {

diff --git a/Source/queue.c b/Source/queue.c
index 67e24e9c..782408f2 100644
--- a/Source/queue.c
+++ b/Source/queue.c
@@ -55,13 +55,14 @@
 /* Effectively make a union out of the xQUEUE structure. */

 #define pxMutexHolder				pcTail

 #define uxQueueType					pcHead

+#define uxRecursiveCallCount		pcReadFrom

 #define queueQUEUE_IS_MUTEX			NULL

 

 /* Semaphores do not actually store or copy data, so have an items size of

 zero. */

 #define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( 0 )

 #define queueDONT_BLOCK					 ( ( portTickType ) 0 )

-

+#define queueMUTEX_GIVE_BLOCK_TIME		 ( ( portTickType ) 0 )

 /*

  * Definition of the queue used by the scheduler.

  * Items are queued by copy, not reference.

@@ -107,6 +108,8 @@ signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, const void * co
 signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, const void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken );

 xQueueHandle xQueueCreateMutex( void );

 xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount );

+portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime );

+portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex );

 signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );

 signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking );

 

@@ -261,9 +264,84 @@ size_t xQueueSizeInBytes;
 #endif /* configUSE_MUTEXES */

 /*-----------------------------------------------------------*/

 

+#if configUSE_RECURSIVE_MUTEXES == 1

+

+	portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex )

+	{

+	portBASE_TYPE xReturn;

+

+		/* If this is the task that holds the mutex then pxMutexHolder will not 

+		change outside of this task.  If this task does not hold the mutex then

+		pxMutexHolder can never coincidentally equal the tasks handle, and as

+		this is the only condition we are interested in it does not matter if

+		pxMutexHolder is accessed simultaneously by another task.  Therefore no

+		mutual exclusion is required to test the pxMutexHolder variable. */

+		if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() )

+		{

+			/* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to

+			the task handle, therefore no underflow check is required.  Also, 

+			uxRecursiveCallCount is only modified by the mutex holder, and as

+			there can only be one, no mutual exclusion is required to modify the

+			uxRecursiveCallCount member. */

+			( pxMutex->uxRecursiveCallCount )--;

+

+			/* Have we unwound the call count? */

+			if( pxMutex->uxRecursiveCallCount == 0 )

+			{

+				/* Return the mutex.  This will automatically unblock any other

+				task that might be waiting to access the mutex. */

+                xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );

+			}

+

+			xReturn = pdPASS;

+		}

+		else

+		{

+			/* We cannot give the mutex because we are not the holder. */

+			xReturn = pdFAIL;

+		}

+

+		return xReturn;

+	}

+

+#endif /* configUSE_RECURSIVE_MUTEXES */

+/*-----------------------------------------------------------*/

+

+#if configUSE_RECURSIVE_MUTEXES == 1

+

+	portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime )

+	{

+	portBASE_TYPE xReturn;

+

+		/* Comments regarding mutual exclusion as per those within 

+		xQueueGiveMutexRecursive(). */

+

+		if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() )

+		{

+			( pxMutex->uxRecursiveCallCount )++;

+			xReturn = pdPASS;

+		}

+		else

+		{

+            xReturn = xQueueGenericReceive( pxMutex, NULL, xBlockTime, pdFALSE );

+

+			/* pdPASS will only be returned if we successfully obtained the mutex,

+			we may have blocked to reach here. */

+			if( xReturn == pdPASS )

+			{

+				( pxMutex->uxRecursiveCallCount )++;

+			}

+		}

+

+		return xReturn;

+	}

+

+#endif /* configUSE_RECURSIVE_MUTEXES */

+/*-----------------------------------------------------------*/

+

 #if configUSE_COUNTING_SEMAPHORES == 1

 

-	xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount )

+	xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount, portBASE_TYPE xIsRecursive )

 	{

 	xQueueHandle pxHandle;

 	

@@ -902,6 +980,7 @@ static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, port
 			{

 				/* The mutex is no longer being held. */

 				vTaskPriorityDisinherit( ( void * const ) pxQueue->pxMutexHolder );

+                pxQueue->pxMutexHolder = NULL;

 			}

 		}

 		#endif

diff --git a/Source/tasks.c b/Source/tasks.c
index a605b99f..3a4c8ce7 100644
--- a/Source/tasks.c
+++ b/Source/tasks.c
@@ -1213,7 +1213,11 @@ signed portBASE_TYPE xAlreadyYielded = pdFALSE;
 					/* As we have processed some ticks it is appropriate to yield

 					to ensure the highest priority task that is ready to run is

 					the task actually running. */

-					xYieldRequired = pdTRUE;

+   					#if configUSE_PREEMPTION == 1

+					{

+						xYieldRequired = pdTRUE;

+					}

+					#endif

 				}

 				

 				if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )

@@ -1985,7 +1989,7 @@ tskTCB *pxNewTCB;
 			/* Adjust the mutex holder state to account for its new priority. */

 			listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );

 

-			/* If the task being modified is in the read state it will need to

+			/* If the task being modified is in the ready state it will need to

 			be moved in to a new list. */

 			if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )

 			{