/* * The MIT License (MIT) * * Copyright (c) 2019 Ha Thach (tinyusb.org) * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. * * This file is part of the TinyUSB stack. */ #ifndef _TUSB_OSAL_FREERTOS_H_ #define _TUSB_OSAL_FREERTOS_H_ // FreeRTOS Headers #include TU_INCLUDE_PATH(CFG_TUSB_OS_INC_PATH,FreeRTOS.h) #include TU_INCLUDE_PATH(CFG_TUSB_OS_INC_PATH,semphr.h) #include TU_INCLUDE_PATH(CFG_TUSB_OS_INC_PATH,queue.h) #include TU_INCLUDE_PATH(CFG_TUSB_OS_INC_PATH,task.h) #ifdef __cplusplus extern "C" { #endif TU_ATTR_ALWAYS_INLINE static inline uint32_t _osal_ms2tick(uint32_t msec) { if (msec == OSAL_TIMEOUT_WAIT_FOREVER) return portMAX_DELAY; if (msec == 0) return 0; uint32_t ticks = pdMS_TO_TICKS(msec); // configTICK_RATE_HZ is less than 1000 and 1 tick > 1 ms // we still need to delay at least 1 tick if (ticks == 0) ticks =1 ; return ticks; } //--------------------------------------------------------------------+ // TASK API //--------------------------------------------------------------------+ TU_ATTR_ALWAYS_INLINE static inline void osal_task_delay(uint32_t msec) { vTaskDelay( pdMS_TO_TICKS(msec) ); } //--------------------------------------------------------------------+ // Semaphore API //--------------------------------------------------------------------+ typedef StaticSemaphore_t osal_semaphore_def_t; typedef SemaphoreHandle_t osal_semaphore_t; TU_ATTR_ALWAYS_INLINE static inline osal_semaphore_t osal_semaphore_create(osal_semaphore_def_t* semdef) { return xSemaphoreCreateBinaryStatic(semdef); } TU_ATTR_ALWAYS_INLINE static inline bool osal_semaphore_post(osal_semaphore_t sem_hdl, bool in_isr) { if ( !in_isr ) { return xSemaphoreGive(sem_hdl) != 0; } else { BaseType_t xHigherPriorityTaskWoken; BaseType_t res = xSemaphoreGiveFromISR(sem_hdl, &xHigherPriorityTaskWoken); #if CFG_TUSB_MCU == OPT_MCU_ESP32S2 || CFG_TUSB_MCU == OPT_MCU_ESP32S3 // not needed after https://github.com/espressif/esp-idf/commit/c5fd79547ac9b7bae06fa660e9f814d18d3390b7 if ( xHigherPriorityTaskWoken ) portYIELD_FROM_ISR(); #else portYIELD_FROM_ISR(xHigherPriorityTaskWoken); #endif return res != 0; } } TU_ATTR_ALWAYS_INLINE static inline bool osal_semaphore_wait (osal_semaphore_t sem_hdl, uint32_t msec) { return xSemaphoreTake(sem_hdl, _osal_ms2tick(msec)); } TU_ATTR_ALWAYS_INLINE static inline void osal_semaphore_reset(osal_semaphore_t const sem_hdl) { xQueueReset(sem_hdl); } //--------------------------------------------------------------------+ // MUTEX API (priority inheritance) //--------------------------------------------------------------------+ typedef StaticSemaphore_t osal_mutex_def_t; typedef SemaphoreHandle_t osal_mutex_t; TU_ATTR_ALWAYS_INLINE static inline osal_mutex_t osal_mutex_create(osal_mutex_def_t* mdef) { return xSemaphoreCreateMutexStatic(mdef); } TU_ATTR_ALWAYS_INLINE static inline bool osal_mutex_lock (osal_mutex_t mutex_hdl, uint32_t msec) { return osal_semaphore_wait(mutex_hdl, msec); } TU_ATTR_ALWAYS_INLINE static inline bool osal_mutex_unlock(osal_mutex_t mutex_hdl) { return xSemaphoreGive(mutex_hdl); } //--------------------------------------------------------------------+ // QUEUE API //--------------------------------------------------------------------+ // _int_set is not used with an RTOS #define OSAL_QUEUE_DEF(_int_set, _name, _depth, _type) \ static _type _name##_##buf[_depth];\ osal_queue_def_t _name = { .depth = _depth, .item_sz = sizeof(_type), .buf = _name##_##buf }; typedef struct { uint16_t depth; uint16_t item_sz; void* buf; StaticQueue_t sq; }osal_queue_def_t; typedef QueueHandle_t osal_queue_t; TU_ATTR_ALWAYS_INLINE static inline osal_queue_t osal_queue_create(osal_queue_def_t* qdef) { return xQueueCreateStatic(qdef->depth, qdef->item_sz, (uint8_t*) qdef->buf, &qdef->sq); } TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_receive(osal_queue_t qhdl, void* data, uint32_t msec) { return xQueueReceive(qhdl, data, _osal_ms2tick(msec)); } TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_send(osal_queue_t qhdl, void const * data, bool in_isr) { if ( !in_isr ) { return xQueueSendToBack(qhdl, data, OSAL_TIMEOUT_WAIT_FOREVER) != 0; } else { BaseType_t xHigherPriorityTaskWoken; BaseType_t res = xQueueSendToBackFromISR(qhdl, data, &xHigherPriorityTaskWoken); #if CFG_TUSB_MCU == OPT_MCU_ESP32S2 || CFG_TUSB_MCU == OPT_MCU_ESP32S3 // not needed after https://github.com/espressif/esp-idf/commit/c5fd79547ac9b7bae06fa660e9f814d18d3390b7 if ( xHigherPriorityTaskWoken ) portYIELD_FROM_ISR(); #else portYIELD_FROM_ISR(xHigherPriorityTaskWoken); #endif return res != 0; } } TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_empty(osal_queue_t qhdl) { return uxQueueMessagesWaiting(qhdl) == 0; } #ifdef __cplusplus } #endif #endif