From 0bb6473f880e69c294f78972a04c286a088d15fb Mon Sep 17 00:00:00 2001 From: Joel Bodenmann Date: Sat, 1 Feb 2014 17:06:20 +0100 Subject: [PATCH] initial public release of FreeRTOS port (does still need some cleanup) --- include/gos/freertos.h | 113 ++++++++++++++++++++++++++++++ src/gos/freertos.c | 151 +++++++++++++++++++++++++++++++++++++++++ 2 files changed, 264 insertions(+) create mode 100644 include/gos/freertos.h create mode 100644 src/gos/freertos.c diff --git a/include/gos/freertos.h b/include/gos/freertos.h new file mode 100644 index 00000000..3ceb279d --- /dev/null +++ b/include/gos/freertos.h @@ -0,0 +1,113 @@ +/* + * This file is subject to the terms of the GFX License. If a copy of + * the license was not distributed with this file, you can obtain one at: + * + * http://ugfx.org/license.html + */ + +/** + * @file include/gos/freertos.h + * @brief GOS - Operating System Support header file for FreeRTOS. + */ + +#ifndef _GOS_FREERTOS_H +#define _GOS_FREERTOS_H + +#if GFX_USE_OS_FREERTOS + +#include "freertos/FreeRTOS.h" +#include "config/FreeRTOSConfig.h" +#include "freertos/semphr.h" +#include "freertos/task.h" + +/*===========================================================================*/ +/* Type definitions */ +/*===========================================================================*/ + +/** + * bool_t, + * int8_t, uint8_t, + * int16_t, uint16_t, + * int32_t, uint32_t, + * size_t + * TRUE, FALSE + * are already defined by FreeRTOS + */ +#define TIME_IMMEDIATE 0 +#define TIME_INFINITE ((delaytime_t)-1) +typedef int8_t bool_t; +typedef uint32_t delaytime_t; +typedef portTickType systemticks_t; +typedef int32_t semcount_t; +typedef void threadreturn_t; +typedef portBASE_TYPE threadpriority_t; + +#define MAX_SEMAPHORE_COUNT ((semcount_t)(((unsigned long)((semcount_t)(-1))) >> 1)) +#define LOW_PRIORITY 0 +#define NORMAL_PRIORITY configMAX_PRIORITIES/2 +#define HIGH_PRIORITY configMAX_PRIORITIES-1 + +/* FreeRTOS will allocate the stack when creating the thread, so pass the size instead of a working area */ +#define DECLARE_THREAD_STACK(name, sz) size_t *name = (size_t *)sz +#define DECLARE_THREAD_FUNCTION(fnName, param) threadreturn_t fnName(void *param) +portTickType MS2ST(portTickType ms); + +typedef struct { + xSemaphoreHandle sem; + semcount_t limit; + semcount_t counter; +} gfxSem; + +typedef xSemaphoreHandle gfxMutex; +typedef xTaskHandl* gfxThreadHandle; + +/*===========================================================================*/ +/* Function declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + +#define gfxHalt(msg) {} +#define gfxExit() {} +#define gfxAlloc(sz) pvPortMalloc(sz) +#define gfxFree(ptr) vPortFree(ptr) +#define gfxYield() taskYIELD() +#define gfxSystemTicks() xTaskGetTickCount() +#define gfxMillisecondsToTicks(ms) MS2ST(ms) +#define gfxSystemLock() {} +#define gfxSystemUnlock() {} +static inline void gfxMutexInit(xSemaphoreHandle *s) +{ + *s = xSemaphoreCreateMutex(); + vTraceSetMutexName(*s,"uGFXMutex"); // for FreeRTOS+Trace debug +} +#define gfxMutexDestroy(pmutex) vSemaphoreDelete(*pmutex) +#define gfxMutexEnter(pmutex) xSemaphoreTake(*pmutex,portMAX_DELAY) +#define gfxMutexExit(pmutex) xSemaphoreGive(*pmutex) + +void *gfxRealloc(void *ptr, size_t oldsz, size_t newsz); +void gfxSleepMilliseconds(delaytime_t ms); +void gfxSleepMicroseconds(delaytime_t ms); + +void gfxSemInit(gfxSem* psem, semcount_t val, semcount_t limit); +void gfxSemDestroy(gfxSem* psem); +bool_t gfxSemWait(gfxSem* psem, delaytime_t ms); +void gfxSemSignal(gfxSem* psem); +void gfxSemSignalI(gfxSem* psem); +#define gfxSemCounterI(psem) ((psem)->counter) +#define gfxSemCounter(psem) ((psem)->counter) +gfxThreadHandle gfxThreadCreate(void *stackarea, size_t stacksz, threadpriority_t prio, DECLARE_THREAD_FUNCTION((*fn),p), void *param); + +#define gfxThreadWait(thread) {} // never used, not imlpemented +#define gfxThreadMe() {} // never used, not implemented +#define gfxThreadClose(thread) {} + +#ifdef __cplusplus +} +#endif + +#endif /* GFX_USE_OS_FREERTOS */ +#endif /* _GOS_CHIBIOS_H */ + diff --git a/src/gos/freertos.c b/src/gos/freertos.c new file mode 100644 index 00000000..9b22af1b --- /dev/null +++ b/src/gos/freertos.c @@ -0,0 +1,151 @@ +/* + * This file is subject to the terms of the GFX License. If a copy of + * the license was not distributed with this file, you can obtain one at: + * + * http://ugfx.org/license.html + */ + +/** + * @file src/gos/freertos.c + * @brief GOS FreeRTOS Operating System support. + */ +#include "heivs/config.h" +#include "gfx.h" +#include "heivs/delay.h" +#include "freertos/FreeRTOS.h" +#include "config/FreeRTOSConfig.h" +#include + +#if configUSE_MUTEXES != 1 + #error "GOS: configUSE_MUTEXES must be defined in FreeRTOSConfig.h" +#endif + +#if configUSE_COUNTING_SEMAPHORES != 1 + #error "GOS: configUSE_COUNTING_SEMAPHORES must be defined in FreeRTOSConfig.h" +#endif + +void _gosInit(void) +{ + // IMPORTANT: Check for already started scheduler here!!! + vTaskStartScheduler(); +} + +void* gfxRealloc(void *ptr, size_t oldsz, size_t newsz) +{ + void *np; + + if (newsz <= oldsz) + return ptr; + + np = gfxAlloc(newsz); + if (!np) + return 0; + + if (oldsz) { + memcpy(np, ptr, oldsz); + vPortFree(ptr); + } + + return np; +} + +void gfxSleepMilliseconds(delaytime_t ms) +{ + if(ms == TIME_IMMEDIATE) { + taskYIELD(); + } else { + vTaskDelay(ms); + } +} + +void gfxSleepMicroseconds(delaytime_t ms) +{ + delay_wait_us(ms); +} + +portTickType MS2ST(portTickType ms) +{ + uint64_t val; + + if(configTICK_RATE_HZ == 1000) { // gain time because no test to do in most case + return ms; + } + + val = ms; + val *= configTICK_RATE_HZ; + val += 999; + val /= 1000; + + return val; +} + +void gfxSemInit(gfxSem* psem, semcount_t val, semcount_t limit) +{ + if (val > limit) + val = limit; + + psem->counter = val; + psem->limit = limit; + psem->sem = xSemaphoreCreateCounting(limit,val); + + vTraceSetSemaphoreName(psem->sem, "uGFXSema"); // for FreeRTOS+Trace debug +} + +void gfxSemDestroy(gfxSem* psem) +{ + vSemaphoreDelete(psem->sem); +} + +bool_t gfxSemWait(gfxSem* psem, delaytime_t ms) +{ + psem->counter--; + + if(xSemaphoreTake(psem->sem, MS2ST(ms)) == pdPASS) + return TRUE; + + psem->counter++; + + return FALSE; +} + +void gfxSemSignal(gfxSem* psem) +{ + taskENTER_CRITICAL(); + + if(psem->counter < psem->limit) { + psem->counter++; + xSemaphoreGive(psem->sem); + } + + taskYIELD(); + taskEXIT_CRITICAL(); +} + +void gfxSemSignalI(gfxSem* psem) +{ + portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE; + + if(psem->counter < psem->limit) { + psem->counter++; + xSemaphoreGiveFromISR(psem->sem,&xHigherPriorityTaskWoken); + } +} + +gfxThreadHandle gfxThreadCreate(void *stackarea, size_t stacksz, threadpriority_t prio, DECLARE_THREAD_FUNCTION((*fn),p), void *param) +{ + xTaskHandle task = NULL; + stacksz = (size_t)stackarea; + + if (stacksz < configMINIMAL_STACK_SIZE) + stacksz = configMINIMAL_STACK_SIZE; + + if (xTaskCreate(fn, (signed char*)"uGFX_TASK", stacksz, param, prio, &task )!= pdPASS) { + for (;;); + } + + return task; +} + +#endif /* GFX_USE_OS_FREERTOS */ +/** @} */ +#endif /* USE_UGFX */