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Enable priority inheritance for RTT mutexes (gnulinux) #312

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Enable priority inheritance for RTT mutexes (gnulinux) #312

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32 changes: 22 additions & 10 deletions rtt/os/gnulinux/fosi.h
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Original file line number Diff line number Diff line change
Expand Up @@ -135,7 +135,7 @@ extern "C"
* This function should return ticks,
* but we use ticks == nsecs in userspace
*/
static inline NANO_TIME rtos_get_time_ticks()
static inline NANO_TIME rtos_get_time_ticks(void)
{
return rtos_get_time_ns();
}
Expand Down Expand Up @@ -205,7 +205,17 @@ extern "C"

static inline int rtos_mutex_init(rt_mutex_t* m)
{
return pthread_mutex_init(m, 0 );
pthread_mutexattr_t attr;
int ret = pthread_mutexattr_init(&attr);
if (ret != 0) return ret;

ret = pthread_mutexattr_setprotocol(&attr, PTHREAD_PRIO_INHERIT);
if (ret != 0) return ret;

ret = pthread_mutex_init(m, &attr);

pthread_mutexattr_destroy(&attr);
return ret;
}

static inline int rtos_mutex_destroy(rt_mutex_t* m )
Expand All @@ -222,6 +232,8 @@ extern "C"
// make mutex recursive
ret = pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_RECURSIVE_NP);
if (ret != 0) return ret;
ret = pthread_mutexattr_setprotocol(&attr, PTHREAD_PRIO_INHERIT);
if (ret != 0) return ret;

ret = pthread_mutex_init(m, &attr);

Expand Down Expand Up @@ -304,14 +316,6 @@ extern "C"
return pthread_mutex_unlock(m);
}

static inline void rtos_enable_rt_warning()
{
}

static inline void rtos_disable_rt_warning()
{
}

typedef pthread_cond_t rt_cond_t;

static inline int rtos_cond_init(rt_cond_t *cond)
Expand Down Expand Up @@ -354,6 +358,14 @@ extern "C"
return pthread_cond_broadcast(cond);
}

static inline void rtos_enable_rt_warning(void)
{
}

static inline void rtos_disable_rt_warning(void)
{
}

#define rtos_printf printf

#ifdef __cplusplus
Expand Down