FreeRTOS中的互斥锁在中断中Give
<p>新手第一次使用FreeRTOS的互斥锁，本想用它来指示串口发送DMA的占用情况，在DMA传输完成中断中Give串口发送DMA互斥量（xSemaphoreGiveFromISR）。结果系统始终无法正常运行起来。由于一次修改了多处代码一时定位不到问题点。只知道调试串口打印出“FreeRTOS assert "!( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->u.xSemaphore.xMute...”的消息。网上找了一圈，发现大家都说FreeRTOS的互斥锁功能不完整，本来互斥量应该遵循谁上锁谁解锁的原则，结果FreeRTOS却没能实现这个功能，他的互斥锁上锁后所有人都可以解锁。于是我便坚定了中断中也可以解锁互斥量。但是一通折腾下来始终不能成功运行，最后无意中看到宏“xSemaphoreGiveFromISR”的使用前注释才发现了问题所在：</p><p> </p>
<p>Mutex type semaphores (those created using a call to xSemaphoreCreateMutex()) must not be used with this macro.</p>
<p>原来虽然FreeRTOS不能实现谁上锁谁开锁这个功能，但是他还是稍微做了下弥补，那就是中断函数中不允许Give互斥量。</p>
<p>FreeRTOS不能实现谁上锁谁开锁这个功能，但是他还是稍微做了下弥补，那就是中断函数中不允许Give互斥量</p>
<p>非常感谢分享</p>
<p>我对FreeRTOS中的互斥锁的理解也不深。</p>
<p>看来未来也需要加强一下</p>
现在最新版的好象说修复了这个问题，楼主可以去试试。 本帖最后由 shipeng 于 2023-12-23 17:14 编辑
<div class="quote">
<blockquote><font size="2"><a href="forum.php?mod=redirect&goto=findpost&pid=3288655&ptid=1267712" target="_blank"><font color="#999999">lugl4313820 发表于 2023-12-23 10:15</font></a></font> 现在最新版的好象说修复了这个问题，楼主可以去试试。</blockquote>
</div>
<p>不知道我用的是不是最新版，总之用了互斥量就一堆的问题，各种报Assert错误，我也不知道是不是因为谁上锁谁解锁的原因导致的。总之如果遵循谁上锁谁解锁的原则使用互斥量就可以运行。否则就会报各种ASSERT错误。如果把互斥量换成二值信号量就没有这个问题。</p>
<p>下面是我的源码，说一下我的软件逻辑：每次DMA传输完成后启动一个10毫秒定时器，在定时器回调函数中Give互斥量。从而保证帧最小间隔为10毫秒，以防止发送帧粘连。</p>
<pre>
<code class="language-cpp">SemaphoreHandle_t DMA2C5MuxSem_Handle = NULL;
TimerHandle_t xHandleTimerU4Tx = NULL;
TaskHandle_t xHandleTaskU4TX = NULL;
static void U4TxTimerCallback(void);
static void CreateU4TxFrameDelay(TickType_t xTimerPeriodInTicks );
static void vTaskU4TX_Handler(void *pvParameters);
void UART4_DMA_Init(void);
void BSP_UART4_Init(void);
void BSP_USART_Config(void)
{
BSP_UART4_Init();
UART4_DMA_Init();
NVIC_EnableIRQRequest(UART4_IRQn, 2, 0);
USART_EnableInterrupt(UART4, USART_INT_IDLE);
/* Enable UART4 RX and UART4 TX DMA */
USART_EnableDMA(UART4, USART_DMA_TX_RX);
U4RxQueue = xQueueCreate(U4RX_QUE_DEPTH, U4RX_QUE_SIZE);//msgs , length of msg(byte)
if (NULL==U4RxQueue)printf("U4RxQueue Creating Failed!\r\n");
U4TxQueue = xQueueCreate(4, 4);
if (NULL==U4TxQueue)printf("U4TxQueue Creating Failed!\r\n");
#ifndef USE_DMA_WITH_MUTEX
DMA2C5MuxSem_Handle = xSemaphoreCreateBinary();
#else
DMA2C5MuxSem_Handle = xSemaphoreCreateMutex();
#endif
if (NULL==DMA2C5MuxSem_Handle)printf("DMA2C5MuxSem Creating Failed!\r\n");
#ifndef USE_DMA_WITH_MUTEX
else if (0==uxSemaphoreGetCount(DMA2C5MuxSem_Handle) && pdPASS!=xSemaphoreGive(DMA2C5MuxSem_Handle))printf("DMA2C5MuxSem Giving Failed!\r\n");
#endif
CreateU4TxFrameDelay(10);
xTaskCreate((TaskFunction_t )vTaskU4TX_Handler,
(const char* )"UART4 TX Task",
(uint16_t )256,
(void* )NULL,
(UBaseType_t )5,
(TaskHandle_t*)&xHandleTaskU4TX);
}
static void U4TxTimerCallback(void)
{
#ifndef USE_DMA_WITH_MUTEX
if (0==uxSemaphoreGetCount(DMA2C5MuxSem_Handle) && pdPASS != xSemaphoreGive( DMA2C5MuxSem_Handle))printf("DMA2C5MuxSem Giving failed!");
#else
if (NULL!=xSemaphoreGetMutexHolder(DMA2C5MuxSem_Handle) && pdPASS != xSemaphoreGive( DMA2C5MuxSem_Handle))printf("DMA2C5MuxSem Giving failed!");
#endif
else if (0!=uxQueueMessagesWaiting(U4TxQueue))portYIELD();//if the queue is not empty,then request a context switch
}
static void CreateU4TxFrameDelay(TickType_t xTimerPeriodInTicks )
{
xHandleTimerU4Tx = xTimerCreate("U4TxTimer",xTimerPeriodInTicks,pdFALSE,(void*)3,(TimerCallbackFunction_t)U4TxTimerCallback);
if (NULL==xHandleTimerU4Tx)printf("U4TxTimer Creating failed!");
}
static void vTaskU4TX_Handler(void *pvParameters)
{
UsartTxRxBuffer_t *tx_buffer;
while(1)
{
if (pdPASS==xQueueReceive(U4TxQueue, (uint8_t*)&tx_buffer, portMAX_DELAY))
{
xSemaphoreTake(DMA2C5MuxSem_Handle, 5689U);//5689ms Is The MAXTIME of DMA-UART-Tx,65536bytes*1000ms/11520(byte rate)=5688.888...
if (0!=tx_buffer->length)
{
/* Disable TX DMA */
DMA_Disable(DMA2_Channel5);
memcpy(DMA_UART4_TxBuf,tx_buffer->DatArea,tx_buffer->length);
DMA2_Channel5->CHNDATA_B.NDATA = tx_buffer->length;
/* Enable TX DMA */
DMA_Enable(DMA2_Channel5);
}
if (NULL!=tx_buffer)vPortFree((uint8_t*)tx_buffer);
}
}
}
void DMA2_Channel5_IRQHandler(void)
{
if (RESET != DMA_ReadIntFlag(DMA2_INT_FLAG_TC5))
{
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
DMA_ClearIntFlag(DMA2_INT_FLAG_TC5);
if (NULL!=xHandleTimerU4Tx)
{
xTimerResetFromISR(xHandleTimerU4Tx,&xHigherPriorityTaskWoken);
}
}
}
void UART4_DMA_Init(void)
{
DMA_Config_T dmaConfig;
/* Enable DMA Clock */
RCM_EnableAHBPeriphClock(RCM_AHB_PERIPH_DMA2);
/* TX DMA config */
dmaConfig.peripheralBaseAddr = UART4_DR_ADDRESS;
dmaConfig.memoryBaseAddr = (uint32_t)DMA_UART4_TxBuf;
dmaConfig.dir = DMA_DIR_PERIPHERAL_DST;
dmaConfig.bufferSize = 0;
dmaConfig.peripheralInc = DMA_PERIPHERAL_INC_DISABLE;
dmaConfig.memoryInc = DMA_MEMORY_INC_ENABLE;
dmaConfig.peripheralDataSize = DMA_PERIPHERAL_DATA_SIZE_BYTE;
dmaConfig.memoryDataSize = DMA_MEMORY_DATA_SIZE_BYTE;
dmaConfig.loopMode = DMA_MODE_NORMAL;
dmaConfig.priority = DMA_PRIORITY_HIGH;
dmaConfig.M2M = DMA_M2MEN_DISABLE;
/* Enable DMA channel */
DMA_Config(DMA2_Channel5, &dmaConfig);
/* Enable TX DMA */
DMA_Enable(DMA2_Channel5);
NVIC_EnableIRQRequest(DMA2_Channel5_IRQn, 3, 0);
DMA_EnableInterrupt(DMA2_Channel5, DMA_INT_TC);
/* RX DMA Configure */
dmaConfig.dir = DMA_DIR_PERIPHERAL_SRC;
dmaConfig.loopMode = DMA_MODE_CIRCULAR;
dmaConfig.bufferSize = sizeof(DMA_UART4_RxBuf);
dmaConfig.memoryBaseAddr = (uint32_t)DMA_UART4_RxBuf;
/* Enable DMA channel */
DMA_Config(DMA2_Channel3, &dmaConfig);
/* Enable RX DMA */
DMA_Enable(DMA2_Channel3);
// NVIC_EnableIRQRequest(DMA2_Channel3_IRQn, 1, 0);
// DMA_EnableInterrupt(DMA2_Channel3, DMA_INT_TC);
}
void BSP_UART4_Init(void)
{
GPIO_Config_T GPIO_ConfigStructure;
USART_Config_T USART_ConfigStruct;
RCM_EnableAPB2PeriphClock((RCM_APB2_PERIPH_T)(RCM_APB2_PERIPH_GPIOC));
RCM_EnableAPB1PeriphClock((RCM_APB1_PERIPH_T)(RCM_APB1_PERIPH_UART4));
/*Uart4 TX*/
GPIO_ConfigStructure.pin = GPIO_PIN_10;
GPIO_ConfigStructure.speed = GPIO_SPEED_50MHz;
GPIO_ConfigStructure.mode = GPIO_MODE_AF_PP;
GPIO_Config(GPIOC, &GPIO_ConfigStructure);
/*Uart4 RX*/
GPIO_ConfigStructure.pin = GPIO_PIN_11;
GPIO_ConfigStructure.mode = GPIO_MODE_IN_FLOATING;
GPIO_Config(GPIOC, &GPIO_ConfigStructure);
USART_ConfigStruct.baudRate = 115200;
USART_ConfigStruct.hardwareFlow = USART_HARDWARE_FLOW_NONE;
USART_ConfigStruct.mode = USART_MODE_TX_RX;
USART_ConfigStruct.parity = USART_PARITY_NONE;
USART_ConfigStruct.stopBits = USART_STOP_BIT_1;
USART_ConfigStruct.wordLength = USART_WORD_LEN_8B;
USART_Config(UART4, &USART_ConfigStruct);
USART_Enable(UART4);
}
</code></pre>
<p> </p>
<p>前段时间管管发了一个帖子，说freertos升级到了最新版了的，你可以去看看。</p>
<p>我记得是可以的呀，应该是10版本以上。</p>
<p>同意版主大大，升级试试看</p>
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