From 6386580b8f39a6eb9dc9c0780bb6f3cb7c2368f2 Mon Sep 17 00:00:00 2001
From: Gunar Schorcht <gunar@schorcht.net>
Date: Thu, 1 Sep 2022 18:26:44 +0200
Subject: [PATCH] cpu/esp_common/freertos: lock/unlock mutex if scheduling is
 not active

If module `core_mutex_priority_inheritance` is enabled, the scheduling has to be active to lock/unlock the mutex/rmutex used by FreeRTOS semaphores. If scheduling is not active FreeRTOS semaphore function always succeed.
---
 cpu/esp_common/freertos/semphr.c | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/cpu/esp_common/freertos/semphr.c b/cpu/esp_common/freertos/semphr.c
index 32a8fbd9c9..c87470d892 100644
--- a/cpu/esp_common/freertos/semphr.c
+++ b/cpu/esp_common/freertos/semphr.c
@@ -66,6 +66,11 @@ BaseType_t xSemaphoreGive(SemaphoreHandle_t xSemaphore)
 {
     DEBUG("%s mutex=%p\n", __func__, xSemaphore);
 
+    /* if scheduler is not running, we must not lock the mutex */
+    if (thread_getpid() == KERNEL_PID_UNDEF) {
+        return pdPASS;
+    }
+
     assert(xSemaphore != NULL);
 
     _sem_t* sem = (_sem_t*)xSemaphore;
@@ -91,6 +96,11 @@ BaseType_t xSemaphoreTake(SemaphoreHandle_t xSemaphore,
 {
     DEBUG("%s mutex=%p wait=%"PRIu32"\n", __func__, xSemaphore, xTicksToWait);
 
+    /* if scheduler is not running, we must not lock the mutex */
+    if (thread_getpid() == KERNEL_PID_UNDEF) {
+        return pdPASS;
+    }
+
     assert(xSemaphore != NULL);
 
     _sem_t* sem = (_sem_t*)xSemaphore;
@@ -139,6 +149,11 @@ BaseType_t xSemaphoreGiveRecursive(SemaphoreHandle_t xSemaphore)
 {
     DEBUG("%s rmutex=%p\n", __func__, xSemaphore);
 
+    /* if scheduler is not running, we must not lock the mutex */
+    if (thread_getpid() == KERNEL_PID_UNDEF) {
+        return pdPASS;
+    }
+
     _rsem_t* rsem = (_rsem_t*)xSemaphore;
 
     assert(rsem != NULL);
@@ -156,6 +171,11 @@ BaseType_t xSemaphoreTakeRecursive(SemaphoreHandle_t xSemaphore,
 {
     DEBUG("%s rmutex=%p wait=%"PRIu32"\n", __func__, xSemaphore, xTicksToWait);
 
+    /* if scheduler is not running, we must not lock the rmutex */
+    if (thread_getpid() == KERNEL_PID_UNDEF) {
+        return pdPASS;
+    }
+
     _rsem_t* rsem = (_rsem_t*)xSemaphore;
 
     assert(rsem != NULL);