RTX5: Fix timer interval when periodic timer is restarted

[cmsis] / CMSIS / DoxyGen / RTOS2 / src / cmsis_os2_Mutex.txt

// 
// close group struct osMutexAttr_t
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//  ==== Mutex Management ====
/** 
\addtogroup CMSIS_RTOS_MutexMgmt Mutex Management
\ingroup CMSIS_RTOS
\brief Synchronize resource access using Mutual Exclusion (Mutex).
\details 
<b>Mutual exclusion</b> (widely known as \b Mutex) is used in various operating systems for resource management. Many
resources in a microcontroller device can be used repeatedly, but only by one thread at a time (for example communication
channels, memory, and files). Mutexes are used to protect access to a shared resource. A mutex is created and then passed
between the threads (they can acquire and release the mutex).

\image html "Mutex.png" "CMSIS-RTOS Mutex"

A mutex is a special version of a \ref CMSIS_RTOS_SemaphoreMgmt "semaphore". Like the semaphore, it is a container for
tokens. But instead of being able to have multiple tokens, a mutex can only carry one (representing the resource). Thus, a
mutex token is binary and bounded, i.e. it is either \em available, or \em blocked by a owning thread. The advantage of a
mutex is that it introduces thread ownership. When a thread acquires a mutex and becomes its owner, subsequent mutex acquires
from that thread will succeed immediately without any latency (if \ref osMutexRecursive is specified). Thus, mutex acquires/releases
can be nested.

\image html "mutex_states.png" "CMSIS-RTOS Mutex States"

\note Mutex management functions cannot be called from \ref CMSIS_RTOS_ISR_Calls "Interrupt Service Routines" (ISR), unlike a
binary semaphore that can be released from an ISR.
\note Refer to \ref mutexConfig for RTX5 configuration options.  
  
@{
*/
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/**
\def osMutexRecursive
\details
Recursive flag in osMutexAttr_t.

The same thread can consume a mutex multiple times without locking itself.
Each time the owning thread acquires the mutex the lock count is incremented. The mutex must
be released multiple times as well until the lock count reaches zero. At reaching zero the
mutex is actually released and can be acquired by other threads.

\note The maximum amount of recursive locks possible is implementation specific, i.e. the type size used for the lock count.
If the maximum amount of recursive locks is depleted mutex acquire might fail.

<b>Code Example</b>
\code
#include "cmsis_os2.h"
 
osMutexId_t mutex_id; 
 
const osMutexAttr_t Thread_Mutex_attr = {
  "myThreadMutex",     // human readable mutex name
  osMutexRecursive,    // attr_bits
  NULL,                // memory for control block   
  0U                   // size for control block
};
 
// must be called from a thread context
void UseMutexRecursively(int count) {
  osStatus_t result = osMutexAcquire(mutex_id, osWaitForever);  // lock count is incremented, might fail when lock count is depleted
  if (result == osOK) {
    if (count < 10) {
      UseMutexRecursively(count + 1);
    }
    osMutexRelease(mutex_id); // lock count is decremented, actually releases the mutex on lock count zero
  }
}
\endcode
*/

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/**
\def osMutexPrioInherit
\details
Priority inheritance flag in osMutexAttr_t.

A mutex using priority inheritance protocol transfers a waiting threads priority to the
current mutex owner if the owners thread priority is lower. This assures that a low priority
thread does not block a high priority thread.

Otherwise a low priority thread might hold a mutex but is not granted execution time due to
another mid priority thread. Without priority inheritance the high priority thread waiting
for the mutex would be blocked by the mid priority thread, called priority inversion.

<b>Code Example</b>

This example reveals a blocked high priority thread if \ref osMutexPrioInherit is removed.

\code
#include "cmsis_os2.h"
 
osMutexId_t mutex_id;  
 
const osMutexAttr_t Thread_Mutex_attr = {
  "myThreadMutex",     // human readable mutex name
  osMutexPrioInherit,  // attr_bits
  NULL,                // memory for control block   
  0U                   // size for control block
};
 
void HighPrioThread(void *argument) {
  osDelay(1000U); // wait 1s until start actual work
  while(1) {
    osMutexAcquire(mutex_id, osWaitForever); // try to acquire mutex
    // do stuff
    osMutexRelease(mutex_id);
  }
}
 
void MidPrioThread(void *argument) {
  osDelay(1000U); // wait 1s until start actual work
  while(1) {
    // do non blocking stuff
  }
}
 
void LowPrioThread(void *argument) {
  while(1) {
    osMutexAcquire(mutex_id, osWaitForever);
    osDelay(5000U); // block mutex for 5s
    osMutexRelease(mutex_id);
    osDelay(5000U); // sleep for 5s
  }
}
\endcode

During the first second the high and mid priority threads are delayed. Thus the low priority
thread can start its work, acquires the mutex and delays while holding it.

After the first second the high and mid priority threads become ready. Thus the high priority
thread gets precedence and tries to acquire the mutex. Because the mutex is already owned by
the low priority thread the high priority thread gets blocked.

Finally the mid priority thread gets executed and start doing a lot of non-blocking stuff,
i.e. it does not call any blocking RTOS functionality.

Without \ref osMutexPrioInherit we would stuck here forever. Even if the low priority thread
gets ready after 5s. Due to its low priority the mid priority thread always gets precedence.
The effect called priority inversion leads to the mid priority thread blocking the high
priority thread indirectly.

Using \ref osMutexPrioInherit as shown in the example code we get rid of this situation. Due
to the priority inheritance protocol the low priority thread inherits the high priority
while holding the mutex. Thus the low priority thread gets precedence over the mid priority
thread until it release the mutex. On osMutexRelease the high priority thread get ready and
is scheduled immediately.

*/

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/**
\def osMutexRobust
\details
Robust flag in osMutexAttr_t.

Robust mutexes are automatically released if the owning thread is terminated (either by
\ref osThreadExit or \ref osThreadTerminate). Non-robust mutexes are not released and the user must
assure mutex release manually.

<b>Code Example</b>

This example reveals a blocked mutex if osMutexRobust is removed.

\code
#include "cmsis_os2.h"
 
osMutexId_t mutex_id;
 
const osMutexAttr_t Thread_Mutex_attr = {
  "myThreadMutex",     // human readable mutex name
  osMutexRobust,       // attr_bits
  NULL,                // memory for control block   
  0U                   // size for control block
};
 
void Thread(void *argument) {
  osMutexAcquire(mutex_id, osWaitForever);
  osThreadExit();
}
\endcode

Due to \ref osMutexRobust the mutex gets released automatically. A non-robust mutex would stay locked and cannot be released anymore.
*/

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/**
\typedef osMutexId_t
\details
Returned by:
- \ref osMutexNew
*/ 

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/**
\struct osMutexAttr_t
\details
Specifies the following attributes for the \ref osMutexNew function.
*/

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/**
\fn osMutexId_t osMutexNew (const osMutexAttr_t *attr)
\details
The function \b osMutexNew creates and initializes a new mutex object and returns the pointer to the mutex object identifier
or \token{NULL} in case of an error. It can be safely called before the RTOS is
started (call to \ref osKernelStart), but not before it is initialized (call to \ref osKernelInitialize).

The parameter \a attr sets the mutex object attributes (refer to \ref osMutexAttr_t). Default attributes will be used if set
to \token{NULL}.

\note This function \b cannot be called from \ref CMSIS_RTOS_ISR_Calls "Interrupt Service Routines".

<b>Code Example</b>
\code
#include "cmsis_os2.h"
 
osMutexId_t mutex_id;  
 
const osMutexAttr_t Thread_Mutex_attr = {
  "myThreadMutex",                          // human readable mutex name
  osMutexRecursive | osMutexPrioInherit,    // attr_bits
  NULL,                                     // memory for control block   
  0U                                        // size for control block
};
 
void CreateMutex (void)  {
  mutex_id = osMutexNew(&Thread_Mutex_attr);
  if (mutex_id != NULL)  {
    // Mutex object created
  }
}
\endcode
*/

*/
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/**
\fn const char *osMutexGetName (osMutexId_t mutex_id)
\details
The function \b osMutexGetName returns the pointer to the name string of the mutex identified by parameter \a mutex_id or
\token{NULL} in case of an error.

\note This function \b cannot be called from \ref CMSIS_RTOS_ISR_Calls "Interrupt Service Routines".
*/

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/**
\fn osStatus_t osMutexAcquire (osMutexId_t mutex_id, uint32_t timeout)
\details
The blocking function \b osMutexAcquire waits until a mutex object specified by parameter \a mutex_id becomes available. If
no other thread has obtained the mutex, the function instantly returns and blocks the mutex object. 

The parameter \a timeout specifies how long the system waits to acquire the mutex. While the system waits, the thread that is
calling this function is put into the \ref ThreadStates "BLOCKED" state. The parameter \ref CMSIS_RTOS_TimeOutValue "timeout"
can have the following values:
 - when \a timeout is \token{0}, the function returns instantly (i.e. try semantics).
 - when \a timeout is set to \b osWaitForever the function will wait for an infinite time until the mutex becomes available (i.e. wait semantics).
 - all other values specify a time in kernel ticks for a timeout (i.e. timed-wait semantics).

Possible \ref osStatus_t return values:
 - \em osOK: the mutex has been obtained.
 - \em osErrorTimeout: the mutex could not be obtained in the given time.
 - \em osErrorResource: the mutex could not be obtained when no \a timeout was specified.
 - \em osErrorParameter: parameter \em mutex_id is \token{NULL} or invalid.
 - \em osErrorISR: cannot be called from interrupt service routines.

\note This function \b cannot be called from \ref CMSIS_RTOS_ISR_Calls "Interrupt Service Routines".

<b>Code Example</b>
\code
#include "cmsis_os2.h"
 
void WaitMutex (void) {
  osMutexId_t mutex_id;
  osStatus_t  status;
 
  mutex_id = osMutexNew(NULL);
  if (mutex_id != NULL) {
    status = osMutexAcquire(mutex_id, 0U);
    if (status != osOK)  {
      // handle failure code
    }
  }
}
\endcode
*/

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/**
\fn osStatus_t osMutexRelease (osMutexId_t mutex_id)
\details
The function \b osMutexRelease releases a mutex specified by parameter \a mutex_id. Other threads that currently wait for
this mutex will be put into the \ref ThreadStates "READY" state.

Possible \ref osStatus_t return values:
 - \em osOK: the mutex has been correctly released.
 - \em osErrorResource: the mutex could not be released (mutex was not acquired or running thread is not the owner).
 - \em osErrorParameter: parameter \em mutex_id is \token{NULL} or invalid.
 - \em osErrorISR: \b osMutexRelease cannot be called from interrupt service routines.

\note This function \b cannot be called from \ref CMSIS_RTOS_ISR_Calls "Interrupt Service Routines".

<b>Code Example</b>
\code
#include "cmsis_os2.h"
 
osMutexId_t mutex_id;                                        // Mutex id populated by the function osMutexNew()
 
void ReleaseMutex (osMutexId_t mutex_id) {
  osStatus_t status;
 
  if (mutex_id != NULL)  {
    status = osMutexRelease(mutex_id);
    if (status != osOK)  {
      // handle failure code
    }
  }
}
\endcode
*/

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/**
\fn osThreadId_t osMutexGetOwner (osMutexId_t mutex_id)
\details
The function \b osMutexGetOwner returns the thread ID of the thread that acquired a mutex specified by parameter \a
mutex_id. In case of an error or if the mutex is not blocked by any thread, it returns \token{NULL}.

\note This function \b cannot be called from \ref CMSIS_RTOS_ISR_Calls "Interrupt Service Routines".
*/

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/**
\fn osStatus_t osMutexDelete (osMutexId_t mutex_id)
\details
The function \b osMutexDelete deletes a mutex object specified by parameter \a mutex_id. It releases internal memory obtained
for mutex handling. After this call, the \a mutex_id is no longer valid and cannot be used. The mutex may be created again
using the function \ref osMutexNew.

Possible \ref osStatus_t return values:
 - \em osOK: the mutex object has been deleted.
 - \em osErrorParameter: parameter \em mutex_id is \token{NULL} or invalid.
 - \em osErrorResource: the mutex is in an invalid state.
 - \em osErrorISR: \b osMutexDelete cannot be called from interrupt service routines.

\note This function \b cannot be called from \ref CMSIS_RTOS_ISR_Calls "Interrupt Service Routines".

<b>Code Example</b>
\code
#include "cmsis_os2.h"
 
osMutexId_t mutex_id;                           // Mutex id populated by the function osMutexNew()
 
void DeleteMutex (osMutexId_t mutex_id)  {
  osStatus_t status;
 
  if (mutex_id != NULL)  {
    status = osMutexDelete(mutex_id);
    if (status != osOK)  {
      // handle failure code
    }
  }
}
\endcode
*/
/// @}

// these struct members must stay outside the group to avoid double entries in documentation
/**
\var osMutexAttr_t::attr_bits
\details
The following bit masks can be used to set options:
 - \ref osMutexRecursive : a thread can consume the mutex multiple times without locking itself.
 - \ref osMutexPrioInherit : the owner thread inherits the priority of a (higher priority) waiting thread.
 - \ref osMutexRobust : the mutex is automatically released when owner thread is terminated.

Use logical \em 'OR' operation to select multiple options, for example:
\code
osMutexRecursive | osMutexPrioInherit;
\endcode

Default: \token{0} which specifies:
 - <i>non recursive mutex</i>: a thread cannot consume the mutex multiple times.
 - <i>non priority raising</i>: the priority of an owning thread is not changed.
 - <i>mutex is not automatically release</i>: the mutex object must be always is automatically released when owner thread is terminated.

*/
/**
\var osMutexAttr_t::cb_mem
\details
Pointer to a memory for the mutex control block object. Refer to \ref StaticObjectMemory for more information.

Default: \token{NULL} to use \ref CMSIS_RTOS_MemoryMgmt_Automatic for the mutex control block.
*/
/**
\var osMutexAttr_t::cb_size
\details
The size (in bytes) of memory block passed with \ref cb_mem. For RTX, the minimum value is defined with \ref osRtxMutexCbSize (higher values are permitted).

Default: \token{0} as the default is no memory provided with \ref cb_mem.
*/
/**
\var osMutexAttr_t::name
\details
Pointer to a constant string with a human readable name (displayed during debugging) of the mutex object.

Default: \token{NULL} no name specified.
*/