ugfx/src/gos/raw32.c

/*
 * 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/raw32.c
 * @brief   GOS Raw (bare metal) support.
 */
#include "gfx.h"

#if GFX_USE_OS_RAW32

#include <string.h>				// Prototype for memcpy()

#if GOS_RAW_HEAP_SIZE != 0
	static void _gosHeapInit(void);
#else
	#define _gosHeapInit()
#endif
static void _gosThreadsInit(void);

/*********************************************************
 * Initialise
 *********************************************************/

void _gosInit(void) {
	// Set up the heap allocator
	_gosHeapInit();

	// Start the scheduler
	_gosThreadsInit();
}

/*********************************************************
 * For WIn32 emulation - automatically add the tick functions
 * the user would normally have to provide for bare metal.
 *********************************************************/

#if defined(WIN32)
	#undef Red
	#undef Green
	#undef Blue
	#define WIN32_LEAN_AND_MEAN
	#include <stdio.h>
	#include <windows.h>
	systemticks_t gfxSystemTicks(void)						{ return GetTickCount(); }
	systemticks_t gfxMillisecondsToTicks(delaytime_t ms)	{ return ms; }
#endif

/*********************************************************
 * Exit everything functions
 *********************************************************/

void gfxHalt(const char *msg) {
	#if defined(WIN32)
		fprintf(stderr, "%s\n", msg);
		ExitProcess(1);
	#else
		volatile uint32_t	dummy;
		(void)				msg;

		while(1)
			dummy++;
	#endif
}

void gfxExit(void) {
	#if defined(WIN32)
		ExitProcess(0);
	#else
		volatile uint32_t	dummy;

		while(1)
			dummy++;
	#endif
}

/*********************************************************
 * Head allocation functions
 *********************************************************/

#if GOS_RAW_HEAP_SIZE == 0
	#include <stdlib.h>				// Prototype for malloc(), realloc() and free()

	void *gfxAlloc(size_t sz) {
		return malloc(sz);
	}

	void *gfxRealloc(void *ptr, size_t oldsz, size_t newsz) {
		(void) oldsz;
		return realloc(ptr, newsz);
	}

	void gfxFree(void *ptr) {
		free(ptr);
	}

#else

	// Slot structure - user memory follows
	typedef struct memslot {
		struct memslot *next;		// The next memslot
		size_t			sz;			// Includes the size of this memslot.
		} memslot;

	// Free Slot - immediately follows the memslot structure
	typedef struct freeslot {
		memslot *nextfree;			// The next free slot
	} freeslot;

	#define GetSlotSize(sz)		((((sz) + (sizeof(freeslot) - 1)) & ~(sizeof(freeslot) - 1)) + sizeof(memslot))
	#define NextFree(pslot)		((freeslot *)Slot2Ptr(pslot))->nextfree
	#define Ptr2Slot(p)			((memslot *)(p) - 1)
	#define Slot2Ptr(pslot)		((pslot)+1)

	static memslot *			firstSlot;
	static memslot *			lastSlot;
	static memslot *			freeSlots;
	static char					heap[GOS_RAW_HEAP_SIZE];

	static void _gosHeapInit(void) {
		lastSlot = 0;
		gfxAddHeapBlock(heap, GOS_RAW_HEAP_SIZE);
	}

	void gfxAddHeapBlock(void *ptr, size_t sz) {
		if (sz < sizeof(memslot)+sizeof(freeslot))
			return;

		if (lastSlot)
			lastSlot->next = (memslot *)ptr;
		else
			firstSlot = lastSlot = freeSlots = (memslot *)ptr;

		lastSlot->next = 0;
		lastSlot->sz = sz;
		NextFree(lastSlot) = 0;
	}

	void *gfxAlloc(size_t sz) {
		register memslot *prev, *p, *new;

		if (!sz) return 0;
		sz = GetSlotSize(sz);
		for (prev = 0, p = freeSlots; p != 0; prev = p, p = NextFree(p)) {
			// Loop till we have a block big enough
			if (p->sz < sz)
				continue;
			// Can we save some memory by splitting this block?
			if (p->sz >= sz + sizeof(memslot)+sizeof(freeslot)) {
				new = (memslot *)((char *)p + sz);
				new->next = p->next;
				p->next = new;
				new->sz = p->sz - sz;
				p->sz = sz;
				if (lastSlot == p)
					lastSlot = new;
				NextFree(new) = NextFree(p);
				NextFree(p) = new;
			}
			// Remove it from the free list
			if (prev)
				NextFree(prev) = NextFree(p);
			else
				freeSlots = NextFree(p);
			// Return the result found
			return Slot2Ptr(p);
		}
		// No slots large enough
		return 0;
	}

	void *gfxRealloc(void *ptr, size_t oldsz, size_t sz) {
		register memslot *prev, *p, *new;
		(void) oldsz;

		if (!ptr)
			return gfxAlloc(sz);
		if (!sz) {
			gfxFree(ptr);
			return 0;
		}

		p = Ptr2Slot(ptr);
		sz = GetSlotSize(sz);

		// If the next slot is free (and contiguous) merge it into this one
		if ((char *)p + p->sz == (char *)p->next) {
			for (prev = 0, new = freeSlots; new != 0; prev = new, new = NextFree(new)) {
				if (new == p->next) {
					p->next = new->next;
					p->sz += new->sz;
					if (prev)
						NextFree(prev) = NextFree(new);
					else
						freeSlots = NextFree(new);
					if (lastSlot == new)
						lastSlot = p;
					break;
				}
			}
		}

		// If this block is large enough we are nearly done
		if (sz < p->sz) {
			// Can we save some memory by splitting this block?
			if (p->sz >= sz + sizeof(memslot)+sizeof(freeslot)) {
				new = (memslot *)((char *)p + sz);
				new->next = p->next;
				p->next = new;
				new->sz = p->sz - sz;
				p->sz = sz;
				if (lastSlot == p)
					lastSlot = new;
				NextFree(new) = freeSlots;
				freeSlots = new;
			}
			return Slot2Ptr(p);
		}

		// We need to do this the hard way
		if ((new = gfxAlloc(sz)))
			return 0;
		memcpy(new, ptr, p->sz - sizeof(memslot));
		gfxFree(ptr);
		return new;
	}

	void gfxFree(void *ptr) {
		register memslot *prev, *p, *new;

		if (!ptr)
			return;

		p = Ptr2Slot(ptr);

		// If the next slot is free (and contiguous) merge it into this one
		if ((char *)p + p->sz == (char *)p->next) {
			for (prev = 0, new = freeSlots; new != 0; prev = new, new = NextFree(new)) {
				if (new == p->next) {
					p->next = new->next;
					p->sz += new->sz;
					if (prev)
						NextFree(prev) = NextFree(new);
					else
						freeSlots = NextFree(new);
					if (lastSlot == new)
						lastSlot = p;
					break;
				}
			}
		}

		// Add it into the free chain
		NextFree(p) = freeSlots;
		freeSlots = p;
	}
#endif

/*********************************************************
 * Semaphores and critical region functions
 *********************************************************/

#if !defined(INTERRUPTS_OFF) || !defined(INTERRUPTS_ON)
	#define INTERRUPTS_OFF()
	#define INTERRUPTS_ON()
#endif

void gfxSystemLock(void) {
	INTERRUPTS_OFF();
}

void gfxSystemUnlock(void) {
	INTERRUPTS_ON();
}

void gfxMutexInit(gfxMutex *pmutex) {
	pmutex[0] = 0;
}

void gfxMutexEnter(gfxMutex *pmutex) {
	INTERRUPTS_OFF();
	while (pmutex[0]) {
		INTERRUPTS_ON();
		gfxYield();
		INTERRUPTS_OFF();
	}
	pmutex[0] = 1;
	INTERRUPTS_ON();
}

void gfxMutexExit(gfxMutex *pmutex) {
	pmutex[0] = 0;
}

void gfxSemInit(gfxSem *psem, semcount_t val, semcount_t limit) {
	psem->cnt = val;
	psem->limit = limit;
}

bool_t gfxSemWait(gfxSem *psem, delaytime_t ms) {
	systemticks_t	starttm, delay;

	// Convert our delay to ticks
	switch (ms) {
	case TIME_IMMEDIATE:
		delay = TIME_IMMEDIATE;
		break;
	case TIME_INFINITE:
		delay = TIME_INFINITE;
		break;
	default:
		delay = gfxMillisecondsToTicks(ms);
		if (!delay) delay = 1;
		starttm = gfxSystemTicks();
	}

	INTERRUPTS_OFF();
	while (psem->cnt <= 0) {
		INTERRUPTS_ON();
		// Check if we have exceeded the defined delay
		switch (delay) {
		case TIME_IMMEDIATE:
			return FALSE;
		case TIME_INFINITE:
			break;
		default:
			if (gfxSystemTicks() - starttm >= delay)
				return FALSE;
			break;
		}
		gfxYield();
		INTERRUPTS_OFF();
	}
	psem->cnt--;
	INTERRUPTS_ON();
	return TRUE;
}

void gfxSemSignal(gfxSem *psem) {
	INTERRUPTS_OFF();
	gfxSemSignalI(psem);
	INTERRUPTS_ON();
}

void gfxSemSignalI(gfxSem *psem) {
	if (psem->cnt < psem->limit)
		psem->cnt++;
}

/*********************************************************
 * Sleep functions
 *********************************************************/

void gfxSleepMilliseconds(delaytime_t ms) {
	systemticks_t	starttm, delay;

	// Safety first
	switch (ms) {
	case TIME_IMMEDIATE:
		return;
	case TIME_INFINITE:
		while(1)
			gfxYield();
		return;
	}

	// Convert our delay to ticks
	delay = gfxMillisecondsToTicks(ms);
	starttm = gfxSystemTicks();

	do {
		gfxYield();
	} while (gfxSystemTicks() - starttm < delay);
}

void gfxSleepMicroseconds(delaytime_t ms) {
	systemticks_t	starttm, delay;

	// Safety first
	switch (ms) {
	case TIME_IMMEDIATE:
		return;
	case TIME_INFINITE:
		while(1)
			gfxYield();
		return;
	}

	// Convert our delay to ticks
	delay = gfxMillisecondsToTicks(ms/1000);
	starttm = gfxSystemTicks();

	do {
		gfxYield();
	} while (gfxSystemTicks() - starttm < delay);
}

/*********************************************************
 * Threading functions
 *********************************************************/

/**
 * There are some compilers we know how they store the jmpbuf. For those
 * we can use the constant macro definitions. For others we have to "auto-detect".
 * Auto-detection is hairy and there is no guarantee it will work on all architectures.
 * For those it doesn't - read the compiler manuals and the library source code to
 * work out the correct macro values.
 * You can use the debugger to work out the values for your compiler and put them here.
 * Defining these macros as constant values makes the system behaviour guaranteed but also
 * makes your code compiler and cpu architecture dependant.
 */
#if 0
	// Define your compiler constant values here.
	//	These example values are for mingw32 compiler (x86).
	#define AUTO_DETECT_MASK	FALSE
	#define STACK_DIR_UP		FALSE
	#define MASK1				0x00000011
	#define MASK2				0x00000000
	#define STACK_BASE			9
#else
	#define AUTO_DETECT_MASK	TRUE
	#define STACK_DIR_UP		stackdirup			// TRUE if the stack grow up instead of down
	#define MASK1				jmpmask1			// The 1st mask of jmp_buf elements that need relocation
	#define MASK2				jmpmask2			// The 2nd mask of jmp_buf elements that need relocation
	#define STACK_BASE			stackbase			// The base of the stack frame relative to the local variables
	static bool_t		stackdirup;
	static uint32_t		jmpmask1;
	static uint32_t		jmpmask2;
	static size_t		stackbase;
#endif

#include <setjmp.h> /* jmp_buf, setjmp(), longjmp() */

/**
 * Some compilers define a _setjmp() and a setjmp().
 * The difference between them is that setjmp() saves the signal masks.
 * That is of no use to us so prefer to use the _setjmp() methods.
 * If they don't exist compile them to be the standard setjmp() function.
 * Similarly for longjmp().
 */
#ifndef setjmp
	#ifndef _setjmp
		#define _setjmp setjmp
	#endif
#endif
#ifndef longjmp
	#ifndef _longjmp
		#define _longjmp longjmp
	#endif
#endif

typedef struct thread {
	struct thread *	next;					// Next thread
	int				flags;					// Flags
		#define FLG_THD_ALLOC	0x0001
		#define FLG_THD_MAIN	0x0002
		#define FLG_THD_DEAD	0x0004
		#define FLG_THD_WAIT	0x0008
	size_t			size;					// Size of the thread stack (including this structure)
	threadreturn_t	(*fn)(void *param);		// Thread function
	void *			param;					// Parameter for the thread function
	jmp_buf			cxt;					// The current thread context.
} thread;

typedef struct threadQ {
	thread *head;
	thread *tail;
} threadQ;

static threadQ		readyQ;					// The list of ready threads
static threadQ		deadQ;					// Where we put threads waiting to be deallocated
static thread *		current;				// The current running thread
static thread		mainthread;				// The main thread context

static void Qinit(threadQ * q) {
	q->head = q->tail = 0;
}

static void Qadd(threadQ * q, thread *t) {
	t->next = 0;
	if (q->head) {
		q->tail->next = t;
		q->tail = t;
	} else
		q->head = q->tail = t;
}

static thread *Qpop(threadQ * q) {
	struct thread * t;

	if (!q->head)
		return 0;
	t = q->head;
	q->head = t->next;
	return t;
}

#if AUTO_DETECT_MASK
	// The structure for the saved stack frame information
	typedef struct saveloc {
		char *		localptr;
		jmp_buf		cxt;
	} saveloc;

	// A pointer to our auto-detection buffer.
	static saveloc	*pframeinfo;

	/* These functions are not static to prevent the compiler removing them as functions */

	void get_stack_state(void) {
		char c;
		pframeinfo->localptr = (char *)&c;
		_setjmp(pframeinfo->cxt);
	}

	void get_stack_state_in_fn(void) {
		pframeinfo++;
		get_stack_state();
		pframeinfo--;
	}
#endif

static void _gosThreadsInit(void) {
	Qinit(&readyQ);
	current = &mainthread;
	current->next = 0;
	current->size = sizeof(thread);
	current->flags = FLG_THD_MAIN;
	current->fn = 0;
	current->param = 0;

	#if AUTO_DETECT_MASK
		{
			uint32_t	i;
			char **		pout;
			char **		pin;
			size_t		diff;
			char *		framebase;

			// Allocate a buffer to store our test data
			pframeinfo = gfxAlloc(sizeof(saveloc)*2);

			// Get details of the stack frame from within a function
			get_stack_state_in_fn();

			// Get details of the stack frame outside the function
			get_stack_state();

			/* Work out the frame entries to relocate by treating the jump buffer as an array of pointers */
			stackdirup =  pframeinfo[1].localptr > pframeinfo[0].localptr;
			pout = (char **)pframeinfo[0].cxt;
			pin =  (char **)pframeinfo[1].cxt;
			diff = pframeinfo[0].localptr - pframeinfo[1].localptr;
			framebase = pframeinfo[0].localptr;
			jmpmask1 = jmpmask2 = 0;
			for (i = 0; i < sizeof(jmp_buf)/sizeof(char *); i++, pout++, pin++) {
				if ((size_t)(*pout - *pin) == diff) {
					if (i < 32)
						jmpmask1 |= 1 << i;
					else
						jmpmask2 |= 1 << (i-32);

					if (stackdirup) {
						if (framebase > *pout)
							framebase = *pout;
					} else {
						if (framebase < *pout)
							framebase = *pout;
					}
				}
			}
			stackbase = stackdirup ? (pframeinfo[0].localptr - framebase) : (framebase - pframeinfo[0].localptr);

			// Clean up
			gfxFree(pframeinfo);
		}
	#endif
}

gfxThreadHandle gfxThreadMe(void) {
	return (gfxThreadHandle)current;
}

void gfxYield(void) {
	if (!_setjmp(current->cxt)) {
		// Add us back to the Queue
		Qadd(&readyQ, current);

		// Check if there are dead processes to deallocate
		while ((current = Qpop(&deadQ)))
			gfxFree(current);

		// Run the next process
		current = Qpop(&readyQ);
		_longjmp(current->cxt, 1);
	}
}

// This routine is not currently public - but it could be.
void gfxThreadExit(threadreturn_t ret) {
	// Save the results
	current->param = (void *)ret;
	current->flags |= FLG_THD_DEAD;

	// Add us to the dead list if we need deallocation as we can't free ourselves.
	// If someone is waiting on the thread they will do the cleanup.
	if ((current->flags & (FLG_THD_ALLOC|FLG_THD_WAIT)) == FLG_THD_ALLOC)
		Qadd(&deadQ, current);

	// Switch to the next task
	current = Qpop(&readyQ);
	if (!current)
		gfxExit();		// Oops - this should never happen!
	_longjmp(current->cxt, 1);
}

gfxThreadHandle gfxThreadCreate(void *stackarea, size_t stacksz, threadpriority_t prio, DECLARE_THREAD_FUNCTION((*fn),p), void *param) {
	thread *	t;
	(void)		prio;

	// Ensure we have a minimum stack size
	if (stacksz < sizeof(thread)+64) {
		stacksz = sizeof(thread)+64;
		stackarea = 0;
	}

	if (stackarea) {
		t = (thread *)stackarea;
		t->flags = 0;
	} else {
		t = (thread *)gfxAlloc(stacksz);
		if (!t)
			return 0;
		t->flags = FLG_THD_ALLOC;
	}
	t->size = stacksz;
	t->fn = fn;
	t->param = param;
	if (_setjmp(t->cxt)) {
		// This is the new thread - call the function!
		gfxThreadExit(current->fn(current->param));

		// We never get here
		return 0;
	}

	// Move the stack frame and relocate the context data
	{
		char **	s;
		char *	nf;
		int		diff;
		uint32_t	i;

		// Copy the stack frame
		#if AUTO_DETECT_MASK
			if (STACK_DIR_UP) {					// Stack grows up
				nf = (char *)(t) + sizeof(thread) + stackbase;
				memcpy(t+1, (char *)&t - stackbase, stackbase+sizeof(char *));
			} else {							// Stack grows down
				nf = (char *)(t) + stacksz - (stackbase + sizeof(char *));
				memcpy(nf, &t, stackbase+sizeof(char *));
			}
		#elif STACK_DIR_UP
			// Stack grows up
			nf = (char *)(t) + sizeof(thread) + stackbase;
			memcpy(t+1, (char *)&t - stackbase, stackbase+sizeof(char *));
		#else
			// Stack grows down
			nf = (char *)(t) + size - (stackbase + sizeof(char *));
			memcpy(nf, &t, stackbase+sizeof(char *));
		#endif

		// Relocate the context data
		s = (char **)(t->cxt);
		diff = nf - (char *)&t;

		// Relocate the elements we know need to be relocated
		for (i = 1; i && i < MASK1; i <<= 1, s++) {
			if ((MASK1 & i))
				*s += diff;
		}
		#ifdef MASK2
			for (i = 1; i && i < MASK2; i <<= 1, s++) {
				if ((MASK1 & i))
					*s += diff;
			}
		#endif
	}

	// Add this thread to the ready queue
	Qadd(&readyQ, t);
	return t;
}

threadreturn_t gfxThreadWait(gfxThreadHandle th) {
	thread *		t;

	t = th;
	if (t == current)
		return -1;

	// Mark that we are waiting
	t->flags |= FLG_THD_WAIT;

	// Wait for the thread to die
	while(!(t->flags & FLG_THD_DEAD))
		gfxYield();

	// Unmark
	t->flags &= ~FLG_THD_WAIT;

	// Clean up resources if needed
	if (t->flags & FLG_THD_ALLOC)
		gfxFree(t);

	// Return the status left by the dead process
	return (threadreturn_t)t->param;
}

#endif /* GFX_USE_OS_RAW32 */