osal_freeRTOS.h

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

#ifndef _TUSB_OSAL_FREERTOS_H_
#define _TUSB_OSAL_FREERTOS_H_

#include "osal_common.h"

//------------- FreeRTOS Headers -------------//
#include "FreeRTOS.h"
#include "semphr.h"
#include "queue.h"
#include "task.h"

#ifdef __cplusplus
extern "C" {
#endif

//--------------------------------------------------------------------+
// TICK API
//--------------------------------------------------------------------+
#define osal_tick_get xTaskGetTickCount

//--------------------------------------------------------------------+
// TASK API
//--------------------------------------------------------------------+
#define OSAL_TASK_FUNCTION portTASK_FUNCTION

typedef struct {
  char const * name;
  pdTASK_CODE code;
  unsigned portSHORT stack_depth;
  unsigned portBASE_TYPE prio;
} osal_task_t;

#define OSAL_TASK_DEF(task_code, task_stack_depth, task_prio) \
  osal_task_t osal_task_def_##task_code = {\
      .name        = #task_code       , \
      .code        = task_code        , \
      .stack_depth = task_stack_depth , \
      .prio        = task_prio          \
  }

#define OSAL_TASK_REF(name)   (&osal_task_def_##name)

static inline tusb_error_t osal_task_create(osal_task_t *task) ATTR_WARN_UNUSED_RESULT ATTR_ALWAYS_INLINE;
static inline tusb_error_t osal_task_create(osal_task_t *task)
{
  return pdPASS == xTaskCreate(task->code, (signed portCHAR const *) task->name, task->stack_depth, NULL, task->prio, NULL) ?
    TUSB_ERROR_NONE : TUSB_ERROR_OSAL_TASK_CREATE_FAILED;
}

static inline void osal_task_delay(uint32_t msec) ATTR_ALWAYS_INLINE;
static inline void osal_task_delay(uint32_t msec)
{
  vTaskDelay( (TUSB_CFG_TICKS_HZ * msec) / 1000 );
}

//--------------------------------------------------------------------+
// Semaphore API
//--------------------------------------------------------------------+
#define OSAL_SEM_DEF(name)
typedef xSemaphoreHandle osal_semaphore_handle_t;

// create FreeRTOS binary semaphore with zero as init value TODO: omit semaphore take from vSemaphoreCreateBinary API, should double checks this
#define osal_semaphore_create(x) \
  xQueueGenericCreate( ( unsigned portBASE_TYPE ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE )

// TODO add timeout (with instant return from ISR option) for semaphore post & queue send
static inline  tusb_error_t osal_semaphore_post(osal_semaphore_handle_t const sem_hdl) ATTR_ALWAYS_INLINE;
static inline  tusb_error_t osal_semaphore_post(osal_semaphore_handle_t const sem_hdl)
{
  portBASE_TYPE task_waken;
  return (xSemaphoreGiveFromISR(sem_hdl, &task_waken) == pdTRUE) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_SEMAPHORE_FAILED;
}

static inline void osal_semaphore_wait(osal_semaphore_handle_t const sem_hdl, uint32_t msec, tusb_error_t *p_error) ATTR_ALWAYS_INLINE;
static inline void osal_semaphore_wait(osal_semaphore_handle_t const sem_hdl, uint32_t msec, tusb_error_t *p_error)
{
  (*p_error) = ( xSemaphoreTake(sem_hdl, osal_tick_from_msec(msec)) == pdPASS ) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_TIMEOUT;
}

static inline void osal_semaphore_reset(osal_semaphore_handle_t const sem_hdl) ATTR_ALWAYS_INLINE;
static inline void osal_semaphore_reset(osal_semaphore_handle_t const sem_hdl)
{
  portBASE_TYPE task_waken;
  xSemaphoreTakeFromISR(sem_hdl, &task_waken);
}

//--------------------------------------------------------------------+
// MUTEX API (priority inheritance)
//--------------------------------------------------------------------+
#define OSAL_MUTEX_DEF  OSAL_SEM_DEF
typedef xSemaphoreHandle osal_mutex_handle_t;

#define osal_mutex_create(x) \
  xSemaphoreCreateMutex()

static inline  tusb_error_t osal_mutex_release(osal_mutex_handle_t const mutex_hdl) ATTR_ALWAYS_INLINE;
static inline  tusb_error_t osal_mutex_release(osal_mutex_handle_t const mutex_hdl)
{
  return (xSemaphoreGive(mutex_hdl) == pdPASS) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_MUTEX_FAILED;
}

static inline void osal_mutex_wait(osal_mutex_handle_t const mutex_hdl, uint32_t msec, tusb_error_t *p_error) ATTR_ALWAYS_INLINE;
static inline void osal_mutex_wait(osal_mutex_handle_t const mutex_hdl, uint32_t msec, tusb_error_t *p_error)
{
  (*p_error) = ( xSemaphoreTake(mutex_hdl, osal_tick_from_msec(msec)) == pdPASS ) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_TIMEOUT;
}

static inline void osal_mutex_reset(osal_mutex_handle_t const mutex_hdl) ATTR_ALWAYS_INLINE;
static inline void osal_mutex_reset(osal_mutex_handle_t const mutex_hdl)
{
  xSemaphoreGive(mutex_hdl);
}

//--------------------------------------------------------------------+
// QUEUE API
//--------------------------------------------------------------------+
typedef struct{
  uint8_t const depth;     
  uint8_t const item_size; 
} osal_queue_t;

typedef xQueueHandle osal_queue_handle_t;

#define OSAL_QUEUE_DEF(name, queue_depth, type)\
  osal_queue_t name = {\
      .depth     = queue_depth,\
      .item_size = sizeof(type)\
  }

#define OSAL_QUEUE_REF(name)    (&name)

#define osal_queue_create(p_queue) \
  xQueueCreate((p_queue)->depth, (p_queue)->item_size)

static inline void osal_queue_receive (osal_queue_handle_t const queue_hdl, void *p_data, uint32_t msec, tusb_error_t *p_error) ATTR_ALWAYS_INLINE;
static inline void osal_queue_receive (osal_queue_handle_t const queue_hdl, void *p_data, uint32_t msec, tusb_error_t *p_error)
{
  (*p_error) = ( xQueueReceive(queue_hdl, p_data, osal_tick_from_msec(msec)) == pdPASS ) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_TIMEOUT;
}

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)
{
  portBASE_TYPE taskWaken;
  return ( xQueueSendFromISR(queue_hdl, data, &taskWaken) == pdTRUE ) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_QUEUE_FAILED;
}

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)
{
  xQueueReset(queue_hdl);
}

#ifdef __cplusplus
 }
#endif

#endif /* _TUSB_OSAL_FREERTOS_H_ */