osal_none.h

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/**************************************************************************/
/**************************************************************************/

#ifndef _TUSB_OSAL_NONE_H_
#define _TUSB_OSAL_NONE_H_

#include "osal_common.h"

#ifdef __cplusplus
 extern "C" {
#endif

//--------------------------------------------------------------------+
// TICK API
//--------------------------------------------------------------------+
uint32_t tusb_tick_get(void);
#define osal_tick_get tusb_tick_get

//--------------------------------------------------------------------+
// TASK API
// NOTES: Each blocking OSAL_NONE services such as semaphore wait,
// queue receive embedded return statement, therefore local variable
// retain value before/after such services needed to declare as static
// OSAL_TASK_LOOP
// {
//   OSAL_TASK_LOOP_BEGIN
//
//   task body statements
//
//   OSAL_TASK_LOOP_ENG
// }
//--------------------------------------------------------------------+
#define OSAL_TASK_DEF(code, stack_depth, prio)
#define OSAL_TASK_REF
#define osal_task_create(x) TUSB_ERROR_NONE

#define OSAL_TASK_FUNCTION(task_func, p_para)   tusb_error_t task_func(void * p_para)

#define TASK_RESTART \
  state = 0

#define OSAL_TASK_LOOP_BEGIN \
  ATTR_UNUSED static uint32_t timeout = 0;\
  static uint16_t state = 0;\
  (void) timeout; /* timemout can possible unsued */ \
  switch(state) { \
    case 0: { \

#define OSAL_TASK_LOOP_END \
  default:\
    TASK_RESTART;\
  }}\
  return TUSB_ERROR_NONE;


#define osal_task_delay(msec) \
  do {\
    timeout = osal_tick_get();\
    state = __LINE__; case __LINE__:\
      if ( timeout + osal_tick_from_msec(msec) > osal_tick_get() ) /* time out */ \
        return TUSB_ERROR_OSAL_WAITING;\
  }while(0)

//--------------------------------------------------------------------+
// SUBTASK (a sub function that uses OS blocking services & called by a task
//--------------------------------------------------------------------+
#define OSAL_SUBTASK_INVOKED_AND_WAIT(subtask, status) \
    do {\
      state = __LINE__; case __LINE__:\
      {\
        status = subtask; /* invoke sub task */\
        if (TUSB_ERROR_OSAL_WAITING == status) /* sub task not finished -> continue waiting */\
          return TUSB_ERROR_OSAL_WAITING;\
      }\
    }while(0)

#define OSAL_SUBTASK_BEGIN  OSAL_TASK_LOOP_BEGIN
#define OSAL_SUBTASK_END    OSAL_TASK_LOOP_END

//------------- Sub Task Assert -------------//
#define SUBTASK_EXIT(error)  \
    do {\
      TASK_RESTART; return error;\
    }while(0)

#define _SUBTASK_ASSERT_ERROR_HANDLER(error, func_call) \
  func_call; TASK_RESTART; return error

#define SUBTASK_ASSERT_STATUS(sts) \
    ASSERT_DEFINE_WITH_HANDLER(_SUBTASK_ASSERT_ERROR_HANDLER, , tusb_error_t status = (tusb_error_t)(sts),\
                               TUSB_ERROR_NONE == status, status, "%s", TUSB_ErrorStr[status])

#define SUBTASK_ASSERT_STATUS_WITH_HANDLER(sts, func_call) \
    ASSERT_DEFINE_WITH_HANDLER(_SUBTASK_ASSERT_ERROR_HANDLER, func_call, tusb_error_t status = (tusb_error_t)(sts),\
                               TUSB_ERROR_NONE == status, status, "%s", TUSB_ErrorStr[status])

// TODO allow to specify error return
#define SUBTASK_ASSERT(condition)  \
    ASSERT_DEFINE_WITH_HANDLER(_SUBTASK_ASSERT_ERROR_HANDLER, , , \
                               (condition), TUSB_ERROR_OSAL_TASK_FAILED, "%s", "evaluated to false")
// TODO remove assert with handler by catching error in enum main task
#define SUBTASK_ASSERT_WITH_HANDLER(condition, func_call) \
    ASSERT_DEFINE_WITH_HANDLER(_SUBTASK_ASSERT_ERROR_HANDLER, func_call, ,\
                               condition, TUSB_ERROR_OSAL_TASK_FAILED, "%s", "evaluated to false")

//--------------------------------------------------------------------+
// Semaphore API
//--------------------------------------------------------------------+
typedef volatile uint8_t osal_semaphore_t;
typedef osal_semaphore_t * osal_semaphore_handle_t;

#define OSAL_SEM_DEF(name)\
  osal_semaphore_t name

#define OSAL_SEM_REF(name)\
  &name

static inline osal_semaphore_handle_t osal_semaphore_create(osal_semaphore_t * p_sem) ATTR_WARN_UNUSED_RESULT ATTR_ALWAYS_INLINE;
static inline osal_semaphore_handle_t osal_semaphore_create(osal_semaphore_t * p_sem)
{
  (*p_sem) = 0; // TODO consider to have initial count parameter
  return (osal_semaphore_handle_t) p_sem;
}

static inline  tusb_error_t osal_semaphore_post(osal_semaphore_handle_t sem_hdl) ATTR_ALWAYS_INLINE;
static inline  tusb_error_t osal_semaphore_post(osal_semaphore_handle_t sem_hdl)
{
  (*sem_hdl)++;

  return TUSB_ERROR_NONE;
}

static inline void osal_semaphore_reset(osal_semaphore_handle_t sem_hdl) ATTR_ALWAYS_INLINE;
static inline void osal_semaphore_reset(osal_semaphore_handle_t sem_hdl)
{
  (*sem_hdl) = 0;
}

#define osal_semaphore_wait(sem_hdl, msec, p_error) \
  do {\
    timeout = osal_tick_get();\
    state = __LINE__; case __LINE__:\
    if( *(sem_hdl) == 0 ) {\
      if ( ( ((uint32_t) (msec)) != OSAL_TIMEOUT_WAIT_FOREVER) && (timeout + osal_tick_from_msec(msec) <= osal_tick_get()) ) /* time out */ \
        *(p_error) = TUSB_ERROR_OSAL_TIMEOUT;\
      else\
        return TUSB_ERROR_OSAL_WAITING;\
    } else{\
      (*(sem_hdl))--; /*TODO mutex hal_interrupt_disable consideration*/\
      *(p_error) = TUSB_ERROR_NONE;\
    }\
  }while(0)

//--------------------------------------------------------------------+
// MUTEX API (priority inheritance)
//--------------------------------------------------------------------+
typedef osal_semaphore_t        osal_mutex_t;
typedef osal_semaphore_handle_t osal_mutex_handle_t;

#define OSAL_MUTEX_DEF(name)\
  osal_mutex_t name

#define OSAL_MUTEX_REF(name)\
  &name

static inline osal_mutex_handle_t osal_mutex_create(osal_mutex_t * p_mutex) ATTR_WARN_UNUSED_RESULT ATTR_ALWAYS_INLINE;
static inline osal_mutex_handle_t osal_mutex_create(osal_mutex_t * p_mutex)
{
  (*p_mutex) = 1;
  return (osal_mutex_handle_t) p_mutex;
}

static inline  tusb_error_t osal_mutex_release(osal_mutex_handle_t mutex_hdl) ATTR_ALWAYS_INLINE;
static inline  tusb_error_t osal_mutex_release(osal_mutex_handle_t mutex_hdl)
{
  (*mutex_hdl) = 1; // mutex is a binary semaphore

  return TUSB_ERROR_NONE;
}

static inline void osal_mutex_reset(osal_mutex_handle_t mutex_hdl) ATTR_ALWAYS_INLINE;
static inline void osal_mutex_reset(osal_mutex_handle_t mutex_hdl)
{
  (*mutex_hdl) = 1;
}

#define osal_mutex_wait osal_semaphore_wait

//--------------------------------------------------------------------+
// QUEUE API
//--------------------------------------------------------------------+
typedef struct{
           uint8_t* const buffer    ; 
           uint8_t  const depth     ; 
           uint8_t  const item_size ; 
  volatile uint8_t count            ; 
  volatile uint8_t wr_idx           ; 
  volatile uint8_t rd_idx           ; 
} osal_queue_t;

typedef osal_queue_t * osal_queue_handle_t;

// use to declare a queue, within the scope of tinyusb, should only use primitive type only
#define OSAL_QUEUE_DEF(name, queue_depth, type)\
  STATIC_ASSERT(queue_depth < 256, "OSAL Queue only support up to 255 depth");\
  type name##_buffer[queue_depth];\
  osal_queue_t name = {\
      .buffer    = (uint8_t*) name##_buffer,\
      .depth     = queue_depth,\
      .item_size = sizeof(type)\
  }

#define OSAL_QUEUE_REF(name)  (&name)

static inline osal_queue_handle_t osal_queue_create(osal_queue_t * const p_queue) ATTR_WARN_UNUSED_RESULT ATTR_ALWAYS_INLINE;
static inline osal_queue_handle_t osal_queue_create(osal_queue_t * const p_queue)
{
  p_queue->count = p_queue->wr_idx = p_queue->rd_idx = 0;
  return (osal_queue_handle_t) p_queue;
}

// TODO move to osal_none.c
// when queue is full, it will overwrite the oldest data in the queue
static inline tusb_error_t osal_queue_send(osal_queue_handle_t const queue_hdl, void const * data) ATTR_ALWAYS_INLINE;
static inline tusb_error_t osal_queue_send(osal_queue_handle_t const queue_hdl, void const * data)
{
  //TODO mutex lock hal_interrupt_disable

  memcpy( queue_hdl->buffer + (queue_hdl->wr_idx * queue_hdl->item_size),
          data,
          queue_hdl->item_size);

  queue_hdl->wr_idx = (queue_hdl->wr_idx + 1) % queue_hdl->depth;

  if (queue_hdl->depth == queue_hdl->count) // queue is full, 1st rd is overwritten
  {
    queue_hdl->rd_idx = queue_hdl->wr_idx; // keep full state
  }else
  {
    queue_hdl->count++;
  }

  //TODO mutex unlock hal_interrupt_enable

  return TUSB_ERROR_NONE;
}

static inline void osal_queue_flush(osal_queue_handle_t const queue_hdl) ATTR_ALWAYS_INLINE;
static inline void osal_queue_flush(osal_queue_handle_t const queue_hdl)
{
  queue_hdl->count = queue_hdl->rd_idx = queue_hdl->wr_idx = 0;
}

#define osal_queue_receive(queue_hdl, p_data, msec, p_error) \
  do {\
    timeout = osal_tick_get();\
    state = __LINE__; case __LINE__:\
    if( queue_hdl->count == 0 ) {\
      if ( (msec != OSAL_TIMEOUT_WAIT_FOREVER) && ( timeout + osal_tick_from_msec(msec) <= osal_tick_get() )) /* time out */ \
        *(p_error) = TUSB_ERROR_OSAL_TIMEOUT;\
      else\
        return TUSB_ERROR_OSAL_WAITING;\
    } else{\
      /*TODO mutex lock hal_interrupt_disable */\
      memcpy(p_data, queue_hdl->buffer + (queue_hdl->rd_idx * queue_hdl->item_size), queue_hdl->item_size);\
      queue_hdl->rd_idx = (queue_hdl->rd_idx + 1) % queue_hdl->depth;\
      queue_hdl->count--;\
      /*TODO mutex unlock hal_interrupt_enable */\
      *(p_error) = TUSB_ERROR_NONE;\
    }\
  }while(0)

#ifdef __cplusplus
 }
#endif

#endif /* _TUSB_OSAL_NONE_H_ */