From 8b5078fc3688bbe49e7fa6ed3354b06b4ad6ce21 Mon Sep 17 00:00:00 2001
From: zhangyuan21 <zhangyuan21@xiaomi.com>
Date: Mon, 19 Dec 2022 14:55:12 +0800
Subject: [PATCH] sched/semaphore: check sem flags before enable priority
 inheritance

Signed-off-by: zhangyuan21 <zhangyuan21@xiaomi.com>
---
 sched/semaphore/sem_post.c | 17 ++++++++++++++---
 sched/semaphore/sem_wait.c | 29 ++++++++++++++++++++---------
 2 files changed, 34 insertions(+), 12 deletions(-)

diff --git a/sched/semaphore/sem_post.c b/sched/semaphore/sem_post.c
index 1f9f966116..a883cc6f02 100644
--- a/sched/semaphore/sem_post.c
+++ b/sched/semaphore/sem_post.c
@@ -72,6 +72,9 @@ int nxsem_post(FAR sem_t *sem)
   FAR struct tcb_s *stcb = NULL;
   irqstate_t flags;
   int16_t sem_count;
+#ifdef CONFIG_PRIORITY_INHERITANCE
+  uint8_t prioinherit;
+#endif
 
   DEBUGASSERT(sem != NULL);
 
@@ -118,8 +121,13 @@ int nxsem_post(FAR sem_t *sem)
    * will do nothing.
    */
 
-  sched_lock();
+  prioinherit = sem->flags & PRIOINHERIT_FLAGS_ENABLE;
+  if (prioinherit != 0)
+    {
+      sched_lock();
+    }
 #endif
+
   /* If the result of semaphore unlock is non-positive, then
    * there must be some task waiting for the semaphore.
    */
@@ -180,8 +188,11 @@ int nxsem_post(FAR sem_t *sem)
    */
 
 #ifdef CONFIG_PRIORITY_INHERITANCE
-  nxsem_restore_baseprio(stcb, sem);
-  sched_unlock();
+  if (prioinherit != 0)
+    {
+      nxsem_restore_baseprio(stcb, sem);
+      sched_unlock();
+    }
 #endif
 
   /* Interrupts may now be enabled. */
diff --git a/sched/semaphore/sem_wait.c b/sched/semaphore/sem_wait.c
index df06d9c0f3..9c78a2d1b1 100644
--- a/sched/semaphore/sem_wait.c
+++ b/sched/semaphore/sem_wait.c
@@ -107,6 +107,10 @@ int nxsem_wait(FAR sem_t *sem)
 
   else
     {
+#ifdef CONFIG_PRIORITY_INHERITANCE
+      uint8_t prioinherit = sem->flags & PRIOINHERIT_FLAGS_ENABLE;
+#endif
+
       /* First, verify that the task is not already waiting on a
        * semaphore
        */
@@ -126,18 +130,22 @@ int nxsem_wait(FAR sem_t *sem)
        */
 
 #ifdef CONFIG_PRIORITY_INHERITANCE
-      /* Disable context switching.  The following operations must be
-       * atomic with regard to the scheduler.
-       */
+      if (prioinherit != 0)
+        {
+          /* Disable context switching.  The following operations must be
+           * atomic with regard to the scheduler.
+           */
 
-      sched_lock();
+          sched_lock();
 
-      /* Boost the priority of any threads holding a count on the
-       * semaphore.
-       */
+          /* Boost the priority of any threads holding a count on the
+           * semaphore.
+           */
 
-      nxsem_boost_priority(sem);
+          nxsem_boost_priority(sem);
+        }
 #endif
+
       /* Set the errno value to zero (preserving the original errno)
        * value).  We reuse the per-thread errno to pass information
        * between sem_waitirq() and this functions.
@@ -201,7 +209,10 @@ int nxsem_wait(FAR sem_t *sem)
       ret = rtcb->errcode != OK ? -rtcb->errcode : OK;
 
 #ifdef CONFIG_PRIORITY_INHERITANCE
-      sched_unlock();
+      if (prioinherit != 0)
+        {
+          sched_unlock();
+        }
 #endif
     }