//***************************************************************************** // osi_freertos.c // // Interface APIs for free-rtos function calls // // Copyright (C) 2014 Texas Instruments Incorporated - http://www.ti.com/ // // // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions // are met: // // Redistributions of source code must retain the above copyright // notice, this list of conditions and the following disclaimer. // // Redistributions in binary form must reproduce the above copyright // notice, this list of conditions and the following disclaimer in the // documentation and/or other materials provided with the // distribution. // // Neither the name of Texas Instruments Incorporated nor the names of // its contributors may be used to endorse or promote products derived // from this software without specific prior written permission. // // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT // OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. // //***************************************************************************** #include #include #include #include "FreeRTOS.h" #include "task.h" #include "semphr.h" #include "portmacro.h" #include #include "rom.h" #include "rom_map.h" #include "inc/hw_types.h" #include "interrupt.h" #include "pybwdt.h" #include "debug.h" portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE; //Local function definition static void vSimpleLinkSpawnTask( void *pvParameters ); //Queue Handler QueueHandle_t xSimpleLinkSpawnQueue = NULL; TaskHandle_t xSimpleLinkSpawnTaskHndl = NULL; // Queue size #define slQUEUE_SIZE ( 3 ) #define SL_SPAWN_MAX_WAIT_MS ( 200 ) /*! \brief This function registers an interrupt in NVIC table The sync object is used for synchronization between different thread or ISR and a thread. \param iIntrNum - Interrupt number to register \param pEntry - Pointer to the interrupt handler \param ucPriority - priority of the interrupt \return upon successful creation the function should return 0 Otherwise, a negative value indicating the error code shall be returned \note \warning */ OsiReturnVal_e osi_InterruptRegister(int iIntrNum,P_OSI_INTR_ENTRY pEntry,unsigned char ucPriority) { MAP_IntRegister(iIntrNum,(void(*)(void))pEntry); MAP_IntPrioritySet(iIntrNum, ucPriority); MAP_IntEnable(iIntrNum); return OSI_OK; } /*! \brief This function De registers an interrupt in NVIC table \param iIntrNum - Interrupt number to De register \return none \note \warning */ void osi_InterruptDeRegister(int iIntrNum) { MAP_IntDisable(iIntrNum); MAP_IntUnregister(iIntrNum); } /*! \brief This function creates a sync object The sync object is used for synchronization between different thread or ISR and a thread. \param pSyncObj - pointer to the sync object control block \return upon successful creation the function should return 0 Otherwise, a negative value indicating the error code shall be returned \note \warning */ OsiReturnVal_e osi_SyncObjCreate(OsiSyncObj_t* pSyncObj) { SemaphoreHandle_t *pl_SyncObj = (SemaphoreHandle_t *)pSyncObj; *pl_SyncObj = xSemaphoreCreateBinary(); ASSERT (*pSyncObj != NULL); return OSI_OK; } /*! \brief This function deletes a sync object \param pSyncObj - pointer to the sync object control block \return upon successful deletion the function should return 0 Otherwise, a negative value indicating the error code shall be returned \note \warning */ OsiReturnVal_e osi_SyncObjDelete(OsiSyncObj_t* pSyncObj) { vSemaphoreDelete(*pSyncObj ); return OSI_OK; } /*! \brief This function generates a sync signal for the object. All suspended threads waiting on this sync object are resumed \param pSyncObj - pointer to the sync object control block \return upon successful signaling the function should return 0 Otherwise, a negative value indicating the error code shall be returned \note the function could be called from ISR context \warning */ OsiReturnVal_e osi_SyncObjSignal(OsiSyncObj_t* pSyncObj) { xSemaphoreGive( *pSyncObj ); return OSI_OK; } /*! \brief This function generates a sync signal for the object from ISR context. All suspended threads waiting on this sync object are resumed \param pSyncObj - pointer to the sync object control block \return upon successful signalling the function should return 0 Otherwise, a negative value indicating the error code shall be returned \note the function is called from ISR context \warning */ OsiReturnVal_e osi_SyncObjSignalFromISR(OsiSyncObj_t* pSyncObj) { xHigherPriorityTaskWoken = pdFALSE; if(pdTRUE == xSemaphoreGiveFromISR( *pSyncObj, &xHigherPriorityTaskWoken )) { if( xHigherPriorityTaskWoken ) { taskYIELD (); } } return OSI_OK; } /*! \brief This function waits for a sync signal of the specific sync object \param pSyncObj - pointer to the sync object control block \param Timeout - numeric value specifies the maximum number of mSec to stay suspended while waiting for the sync signal Currently, the simple link driver uses only two values: - OSI_WAIT_FOREVER - OSI_NO_WAIT \return upon successful reception of the signal within the timeout window return 0 Otherwise, a negative value indicating the error code shall be returned \note \warning */ OsiReturnVal_e osi_SyncObjWait(OsiSyncObj_t* pSyncObj , OsiTime_t Timeout) { if(pdTRUE == xSemaphoreTake( (SemaphoreHandle_t)*pSyncObj, ( TickType_t )Timeout)) { return OSI_OK; } else { return OSI_OPERATION_FAILED; } } /*! \brief This function clears a sync object \param pSyncObj - pointer to the sync object control block \return upon successful clearing the function should return 0 Otherwise, a negative value indicating the error code shall be returned \note \warning */ OsiReturnVal_e osi_SyncObjClear(OsiSyncObj_t* pSyncObj) { if (OSI_OK == osi_SyncObjWait(pSyncObj,0) ) { return OSI_OK; } else { return OSI_OPERATION_FAILED; } } /*! \brief This function creates a locking object. The locking object is used for protecting a shared resources between different threads. \param pLockObj - pointer to the locking object control block \return upon successful creation the function should return 0 Otherwise, a negative value indicating the error code shall be returned \note \warning */ OsiReturnVal_e osi_LockObjCreate(OsiLockObj_t* pLockObj) { SemaphoreHandle_t *pl_LockObj = (SemaphoreHandle_t *)pLockObj; vSemaphoreCreateBinary(*pl_LockObj); ASSERT (*pLockObj != NULL); return OSI_OK; } /*! \brief This function creates a Task. Creates a new Task and add it to the last of tasks that are ready to run \param pEntry - pointer to the Task Function \param pcName - Task Name String \param usStackDepth - Stack Size in bytes \param pvParameters - pointer to structure to be passed to the Task Function \param uxPriority - Task Priority \return upon successful creation the function should return 0 Otherwise, a negative value indicating the error code shall be returned \note \warning */ OsiReturnVal_e osi_TaskCreate(P_OSI_TASK_ENTRY pEntry,const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned long uxPriority,OsiTaskHandle* pTaskHandle) { ASSERT (pdPASS == xTaskCreate( pEntry, (char const*)pcName, (usStackDepth/(sizeof( portSTACK_TYPE ))), pvParameters,(unsigned portBASE_TYPE)uxPriority, (TaskHandle_t*)pTaskHandle )); return OSI_OK; } /*! \brief This function Deletes a Task. Deletes a Task and remove it from list of running task \param pTaskHandle - Task Handle \note \warning */ void osi_TaskDelete(OsiTaskHandle* pTaskHandle) { vTaskDelete((TaskHandle_t)*pTaskHandle); } /*! \brief This function deletes a locking object. \param pLockObj - pointer to the locking object control block \return upon successful deletion the function should return 0 Otherwise, a negative value indicating the error code shall be returned \note \warning */ OsiReturnVal_e _osi_LockObjDelete(OsiLockObj_t* pLockObj) { vSemaphoreDelete((SemaphoreHandle_t)*pLockObj ); return OSI_OK; } /*! \brief This function locks a locking object. All other threads that call this function before this thread calls the osi_LockObjUnlock would be suspended \param pLockObj - pointer to the locking object control block \param Timeout - numeric value specifies the maximum number of mSec to stay suspended while waiting for the locking object Currently, the simple link driver uses only two values: - OSI_WAIT_FOREVER - OSI_NO_WAIT \return upon successful reception of the locking object the function should return 0 Otherwise, a negative value indicating the error code shall be returned \note \warning */ OsiReturnVal_e _osi_LockObjLock(OsiLockObj_t* pLockObj , OsiTime_t Timeout) { //Take Semaphore if(pdTRUE == xSemaphoreTake( *pLockObj, ( TickType_t ) Timeout )) { return OSI_OK; } else { return OSI_OPERATION_FAILED; } } /*! \brief This function unlock a locking object. \param pLockObj - pointer to the locking object control block \return upon successful unlocking the function should return 0 Otherwise, a negative value indicating the error code shall be returned \note \warning */ OsiReturnVal_e _osi_LockObjUnlock(OsiLockObj_t* pLockObj) { //Release Semaphore if(pdTRUE == xSemaphoreGive( *pLockObj )) { return OSI_OK; } else { return OSI_OPERATION_FAILED; } } /*! \brief This function call the pEntry callback from a different context \param pEntry - pointer to the entry callback function \param pValue - pointer to any type of memory structure that would be passed to pEntry callback from the execution thread. \param flags - execution flags - reserved for future usage \return upon successful registration of the spawn the function should return 0 (the function is not blocked till the end of the execution of the function and could be returned before the execution is actually completed) Otherwise, a negative value indicating the error code shall be returned \note \warning */ OsiReturnVal_e osi_Spawn(P_OSI_SPAWN_ENTRY pEntry , void* pValue , unsigned long flags) { tSimpleLinkSpawnMsg Msg; Msg.pEntry = pEntry; Msg.pValue = pValue; xHigherPriorityTaskWoken = pdFALSE; if(pdTRUE == xQueueSendFromISR( xSimpleLinkSpawnQueue, &Msg, &xHigherPriorityTaskWoken )) { if( xHigherPriorityTaskWoken ) { taskYIELD (); } return OSI_OK; } return OSI_OPERATION_FAILED; } /*! \brief This is the simplelink spawn task to call SL callback from a different context \param pvParameters - pointer to the task parameter \return void \note \warning */ void vSimpleLinkSpawnTask(void *pvParameters) { tSimpleLinkSpawnMsg Msg; portBASE_TYPE ret; for(;;) { ret = xQueueReceive( xSimpleLinkSpawnQueue, &Msg, SL_SPAWN_MAX_WAIT_MS); if(ret == pdPASS) { Msg.pEntry(Msg.pValue); } // set the alive flag for the wdt pybwdt_sl_alive(); } } /*! \brief This is the API to create SL spawn task and create the SL queue \param uxPriority - task priority \return void \note \warning */ OsiReturnVal_e VStartSimpleLinkSpawnTask(unsigned portBASE_TYPE uxPriority) { xSimpleLinkSpawnQueue = xQueueCreate( slQUEUE_SIZE, sizeof( tSimpleLinkSpawnMsg ) ); ASSERT (xSimpleLinkSpawnQueue != NULL); ASSERT (pdPASS == xTaskCreate( vSimpleLinkSpawnTask, ( portCHAR * ) "SLSPAWN",\ 768 / sizeof(portSTACK_TYPE), NULL, uxPriority, &xSimpleLinkSpawnTaskHndl )); return OSI_OK; } /*! \brief This is the API to delete SL spawn task and delete the SL queue \param none \return void \note \warning */ void VDeleteSimpleLinkSpawnTask( void ) { if(xSimpleLinkSpawnTaskHndl) { vTaskDelete( xSimpleLinkSpawnTaskHndl ); xSimpleLinkSpawnTaskHndl = 0; } if(xSimpleLinkSpawnQueue) { vQueueDelete( xSimpleLinkSpawnQueue ); xSimpleLinkSpawnQueue = 0; } } /*! \brief This function is used to create the MsgQ \param pMsgQ - pointer to the message queue \param pMsgQName - msg queue name \param MsgSize - size of message on the queue \param MaxMsgs - max. number of msgs that the queue can hold \return - OsiReturnVal_e \note \warning */ OsiReturnVal_e osi_MsgQCreate(OsiMsgQ_t* pMsgQ , char* pMsgQName, unsigned long MsgSize, unsigned long MaxMsgs) { QueueHandle_t handle; //Create Queue handle = xQueueCreate( MaxMsgs, MsgSize ); ASSERT (handle != NULL); *pMsgQ = (OsiMsgQ_t)handle; return OSI_OK; } /*! \brief This function is used to delete the MsgQ \param pMsgQ - pointer to the message queue \return - OsiReturnVal_e \note \warning */ OsiReturnVal_e osi_MsgQDelete(OsiMsgQ_t* pMsgQ) { vQueueDelete((QueueHandle_t) *pMsgQ ); return OSI_OK; } /*! \brief This function is used to write data to the MsgQ \param pMsgQ - pointer to the message queue \param pMsg - pointer to the Msg strut to read into \param Timeout - timeout to wait for the Msg to be available \return - OsiReturnVal_e \note \warning */ OsiReturnVal_e osi_MsgQWrite(OsiMsgQ_t* pMsgQ, void* pMsg , OsiTime_t Timeout) { xHigherPriorityTaskWoken = pdFALSE; if(pdPASS == xQueueSendFromISR((QueueHandle_t) *pMsgQ, pMsg, &xHigherPriorityTaskWoken )) { taskYIELD (); return OSI_OK; } else { return OSI_OPERATION_FAILED; } } /*! \brief This function is used to read data from the MsgQ \param pMsgQ - pointer to the message queue \param pMsg - pointer to the Msg strut to read into \param Timeout - timeout to wait for the Msg to be available \return - OsiReturnVal_e \note \warning */ OsiReturnVal_e osi_MsgQRead(OsiMsgQ_t* pMsgQ, void* pMsg , OsiTime_t Timeout) { //Receive Item from Queue if( pdTRUE == xQueueReceive((QueueHandle_t)*pMsgQ,pMsg,Timeout) ) { return OSI_OK; } else { return OSI_OPERATION_FAILED; } } /*! \brief This function to call the memory de-allocation function of the FREERTOS \param Size - size of memory to alloc in bytes \return - void * \note \warning */ void * mem_Malloc(unsigned long Size) { return ( void * ) pvPortMalloc( (size_t)Size ); } /*! \brief This function to call the memory de-allocation function of the FREERTOS \param pMem - pointer to the memory which needs to be freed \return - void \note \warning */ void mem_Free(void *pMem) { vPortFree( pMem ); } /*! \brief This function call the memset function \param pBuf - pointer to the memory to be fill \param Val - Value to be fill \param Size - Size of the memory which needs to be fill \return - void \note \warning */ void mem_set(void *pBuf,int Val,size_t Size) { memset( pBuf,Val,Size); } /*! \brief This function call the memcopy function \param pDst - pointer to the destination \param pSrc - pointer to the source \param Size - Size of the memory which needs to be copy \return - void \note \warning */ void mem_copy(void *pDst, void *pSrc,size_t Size) { memcpy(pDst,pSrc,Size); } /*! \brief This function use to entering into critical section \param void \return - void \note \warning */ void osi_EnterCritical(void) { vPortEnterCritical(); } /*! \brief This function use to exit critical section \param void \return - void \note \warning */ void osi_ExitCritical(void) { vPortExitCritical(); } /*! \brief This function used to start the scheduler \param void \return - void \note \warning */ void osi_start() { vTaskStartScheduler(); } /*! \brief This function used to suspend the task for the specified number of milli secs \param MilliSecs - Time in millisecs to suspend the task \return - void \note \warning */ void osi_Sleep(unsigned int MilliSecs) { vTaskDelay(MilliSecs); } /*! \brief This function used to disable the tasks \param - void \return - Key with the suspended tasks \note \warning */ unsigned long osi_TaskDisable(void) { vTaskSuspendAll(); return OSI_OK; } /*! \brief This function used to resume all the tasks \param key - returned from suspend tasks \return - void \note \warning */ void osi_TaskEnable(unsigned long key) { xTaskResumeAll(); } /*! \brief This function used to save the OS context before sleep \param void \return - void \note \warning */ void osi_ContextSave() { } /*! \brief This function used to restore the OS context after sleep \param void \return - void \note \warning */ void osi_ContextRestore() { }