diff --git a/examples/device/cdc_msc_freertos/Makefile b/examples/device/cdc_msc_freertos/Makefile index 3352dd37..ff4b4110 100644 --- a/examples/device/cdc_msc_freertos/Makefile +++ b/examples/device/cdc_msc_freertos/Makefile @@ -29,8 +29,15 @@ SRC_C += \ $(FREERTOS_SRC)/timers.c \ $(subst ../../../,,$(wildcard ../../../$(FREERTOS_SRC)/portable/GCC/$(FREERTOS_PORT)/*.c)) -# Suppress FreeRTOS warnings -CFLAGS += -Wno-error=cast-qual -Wno-error=redundant-decls +# include heap manage if configSUPPORT_DYNAMIC_ALLOCATION = 1 +# SRC_C += $(FREERTOS_SRC)/portable/MemMang/heap_1.c +# CFLAGS += -Wno-error=sign-compare + +# Suppress FreeRTOSConfig.h warnings +CFLAGS += -Wno-error=redundant-decls + +# Suppress FreeRTOS source warnings +CFLAGS += -Wno-error=cast-qual # FreeRTOS (lto + Os) linker issue LDFLAGS += -Wl,--undefined=vTaskSwitchContext diff --git a/examples/device/cdc_msc_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h b/examples/device/cdc_msc_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h index 6a3630db..968c5974 100644 --- a/examples/device/cdc_msc_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h +++ b/examples/device/cdc_msc_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h @@ -69,7 +69,7 @@ #define configTICK_RATE_HZ ( 1000 ) #define configMAX_PRIORITIES ( 5 ) #define configMINIMAL_STACK_SIZE ( 128 ) -#define configTOTAL_HEAP_SIZE ( 0*1024 ) // dynamic is not used +#define configTOTAL_HEAP_SIZE ( configSUPPORT_DYNAMIC_ALLOCATION*4*1024 ) #define configMAX_TASK_NAME_LEN 16 #define configUSE_16_BIT_TICKS 0 #define configIDLE_SHOULD_YIELD 1 diff --git a/examples/device/cdc_msc_freertos/src/main.c b/examples/device/cdc_msc_freertos/src/main.c index 755220c1..cfb14aa2 100644 --- a/examples/device/cdc_msc_freertos/src/main.c +++ b/examples/device/cdc_msc_freertos/src/main.c @@ -51,6 +51,8 @@ #define USBD_STACK_SIZE (3*configMINIMAL_STACK_SIZE/2) * (CFG_TUSB_DEBUG ? 2 : 1) #endif +#define CDC_STACK_SZIE configMINIMAL_STACK_SIZE + //--------------------------------------------------------------------+ // MACRO CONSTANT TYPEDEF PROTYPES //--------------------------------------------------------------------+ @@ -66,19 +68,18 @@ enum { BLINK_SUSPENDED = 2500, }; -// static timer +// static timer & task +#if configSUPPORT_STATIC_ALLOCATION StaticTimer_t blinky_tmdef; -TimerHandle_t blinky_tm; -// static task StackType_t usb_device_stack[USBD_STACK_SIZE]; StaticTask_t usb_device_taskdef; -// static task for cdc -#define CDC_STACK_SZIE configMINIMAL_STACK_SIZE StackType_t cdc_stack[CDC_STACK_SZIE]; StaticTask_t cdc_taskdef; +#endif +TimerHandle_t blinky_tm; void led_blinky_cb(TimerHandle_t xTimer); void usb_device_task(void* param); @@ -92,15 +93,22 @@ int main(void) { board_init(); +#if configSUPPORT_STATIC_ALLOCATION // soft timer for blinky blinky_tm = xTimerCreateStatic(NULL, pdMS_TO_TICKS(BLINK_NOT_MOUNTED), true, NULL, led_blinky_cb, &blinky_tmdef); - xTimerStart(blinky_tm, 0); // Create a task for tinyusb device stack - (void) xTaskCreateStatic( usb_device_task, "usbd", USBD_STACK_SIZE, NULL, configMAX_PRIORITIES-1, usb_device_stack, &usb_device_taskdef); + xTaskCreateStatic(usb_device_task, "usbd", USBD_STACK_SIZE, NULL, configMAX_PRIORITIES-1, usb_device_stack, &usb_device_taskdef); // Create CDC task - (void) xTaskCreateStatic( cdc_task, "cdc", CDC_STACK_SZIE, NULL, configMAX_PRIORITIES-2, cdc_stack, &cdc_taskdef); + xTaskCreateStatic(cdc_task, "cdc", CDC_STACK_SZIE, NULL, configMAX_PRIORITIES-2, cdc_stack, &cdc_taskdef); +#else + blinky_tm = xTimerCreate(NULL, pdMS_TO_TICKS(BLINK_NOT_MOUNTED), true, NULL, led_blinky_cb); + xTaskCreate( usb_device_task, "usbd", USBD_STACK_SIZE, NULL, configMAX_PRIORITIES-1, NULL); + xTaskCreate( cdc_task, "cdc", CDC_STACK_SZIE, NULL, configMAX_PRIORITIES-2, NULL); +#endif + + xTimerStart(blinky_tm, 0); // skip starting scheduler (and return) for ESP32-S2 or ESP32-S3 #if !TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3) diff --git a/examples/device/hid_composite_freertos/Makefile b/examples/device/hid_composite_freertos/Makefile index 6c8c43dd..9c66b896 100644 --- a/examples/device/hid_composite_freertos/Makefile +++ b/examples/device/hid_composite_freertos/Makefile @@ -28,8 +28,15 @@ SRC_C += \ $(FREERTOS_SRC)/timers.c \ $(subst ../../../,,$(wildcard ../../../$(FREERTOS_SRC)/portable/GCC/$(FREERTOS_PORT)/*.c)) -# Suppress FreeRTOS warnings -CFLAGS += -Wno-error=cast-qual -Wno-error=redundant-decls +# include heap manage if configSUPPORT_DYNAMIC_ALLOCATION = 1 +# SRC_C += $(FREERTOS_SRC)/portable/MemMang/heap_1.c +# CFLAGS += -Wno-error=sign-compare + +# Suppress FreeRTOSConfig.h warnings +CFLAGS += -Wno-error=redundant-decls + +# Suppress FreeRTOS source warnings +CFLAGS += -Wno-error=cast-qual # FreeRTOS (lto + Os) linker issue LDFLAGS += -Wl,--undefined=vTaskSwitchContext diff --git a/examples/device/hid_composite_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h b/examples/device/hid_composite_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h index bfdf1e92..968c5974 100644 --- a/examples/device/hid_composite_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h +++ b/examples/device/hid_composite_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h @@ -46,13 +46,14 @@ #include "bsp/board_mcu.h" #if CFG_TUSB_MCU == OPT_MCU_ESP32S2 || CFG_TUSB_MCU == OPT_MCU_ESP32S3 -#error "ESP32-Sx should use IDF's FreeRTOSConfig.h" + #error "ESP32-Sx should use IDF's FreeRTOSConfig.h" #endif +// TODO fix later #if CFG_TUSB_MCU == OPT_MCU_MM32F327X - // TODO fix/remove later extern u32 SystemCoreClock; #else + // FIXME cause redundant-decls warnings extern uint32_t SystemCoreClock; #endif @@ -68,7 +69,7 @@ #define configTICK_RATE_HZ ( 1000 ) #define configMAX_PRIORITIES ( 5 ) #define configMINIMAL_STACK_SIZE ( 128 ) -#define configTOTAL_HEAP_SIZE ( 0*1024 ) // dynamic is not used +#define configTOTAL_HEAP_SIZE ( configSUPPORT_DYNAMIC_ALLOCATION*4*1024 ) #define configMAX_TASK_NAME_LEN 16 #define configUSE_16_BIT_TICKS 0 #define configIDLE_SHOULD_YIELD 1 diff --git a/examples/device/hid_composite_freertos/src/main.c b/examples/device/hid_composite_freertos/src/main.c index b67c1093..fb0d6925 100644 --- a/examples/device/hid_composite_freertos/src/main.c +++ b/examples/device/hid_composite_freertos/src/main.c @@ -53,6 +53,8 @@ #define USBD_STACK_SIZE (3*configMINIMAL_STACK_SIZE/2) * (CFG_TUSB_DEBUG ? 2 : 1) #endif +#define HID_STACK_SZIE configMINIMAL_STACK_SIZE + //--------------------------------------------------------------------+ // MACRO CONSTANT TYPEDEF PROTYPES //--------------------------------------------------------------------+ @@ -68,19 +70,18 @@ enum { BLINK_SUSPENDED = 2500, }; -// static timer +// static timer & task +#if configSUPPORT_STATIC_ALLOCATION StaticTimer_t blinky_tmdef; -TimerHandle_t blinky_tm; -// static task StackType_t usb_device_stack[USBD_STACK_SIZE]; StaticTask_t usb_device_taskdef; -// static task for hid -#define HID_STACK_SZIE configMINIMAL_STACK_SIZE StackType_t hid_stack[HID_STACK_SZIE]; StaticTask_t hid_taskdef; +#endif +TimerHandle_t blinky_tm; void led_blinky_cb(TimerHandle_t xTimer); void usb_device_task(void* param); @@ -94,15 +95,22 @@ int main(void) { board_init(); +#if configSUPPORT_STATIC_ALLOCATION // soft timer for blinky blinky_tm = xTimerCreateStatic(NULL, pdMS_TO_TICKS(BLINK_NOT_MOUNTED), true, NULL, led_blinky_cb, &blinky_tmdef); - xTimerStart(blinky_tm, 0); // Create a task for tinyusb device stack - (void) xTaskCreateStatic( usb_device_task, "usbd", USBD_STACK_SIZE, NULL, configMAX_PRIORITIES-1, usb_device_stack, &usb_device_taskdef); + xTaskCreateStatic(usb_device_task, "usbd", USBD_STACK_SIZE, NULL, configMAX_PRIORITIES-1, usb_device_stack, &usb_device_taskdef); // Create HID task - (void) xTaskCreateStatic( hid_task, "hid", HID_STACK_SZIE, NULL, configMAX_PRIORITIES-2, hid_stack, &hid_taskdef); + xTaskCreateStatic(hid_task, "hid", HID_STACK_SZIE, NULL, configMAX_PRIORITIES-2, hid_stack, &hid_taskdef); +#else + blinky_tm = xTimerCreate(NULL, pdMS_TO_TICKS(BLINK_NOT_MOUNTED), true, NULL, led_blinky_cb); + xTaskCreate(usb_device_task, "usbd", USBD_STACK_SIZE, NULL, configMAX_PRIORITIES-1, NULL); + xTaskCreate(hid_task, "hid", HID_STACK_SZIE, NULL, configMAX_PRIORITIES-2, NULL); +#endif + + xTimerStart(blinky_tm, 0); // skip starting scheduler (and return) for ESP32-S2 or ESP32-S3 #if !TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3) diff --git a/src/osal/osal_freertos.h b/src/osal/osal_freertos.h index 52db336f..327aa997 100644 --- a/src/osal/osal_freertos.h +++ b/src/osal/osal_freertos.h @@ -37,6 +37,43 @@ extern "C" { #endif +//--------------------------------------------------------------------+ +// MACRO CONSTANT TYPEDEF PROTYPES +//--------------------------------------------------------------------+ + +#if configSUPPORT_STATIC_ALLOCATION + typedef StaticSemaphore_t osal_semaphore_def_t; + typedef StaticSemaphore_t osal_mutex_def_t; +#else + // not used therefore defined to smallest possible type to save space + typedef uint8_t osal_semaphore_def_t; + typedef uint8_t osal_mutex_def_t; +#endif + +typedef SemaphoreHandle_t osal_semaphore_t; +typedef SemaphoreHandle_t osal_mutex_t; + +// _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; +#if configSUPPORT_STATIC_ALLOCATION + StaticQueue_t sq; +#endif +}osal_queue_def_t; + +typedef QueueHandle_t osal_queue_t; + +//--------------------------------------------------------------------+ +// TASK API +//--------------------------------------------------------------------+ + TU_ATTR_ALWAYS_INLINE static inline uint32_t _osal_ms2tick(uint32_t msec) { if (msec == OSAL_TIMEOUT_WAIT_FOREVER) return portMAX_DELAY; @@ -51,9 +88,6 @@ TU_ATTR_ALWAYS_INLINE static inline uint32_t _osal_ms2tick(uint32_t msec) return ticks; } -//--------------------------------------------------------------------+ -// TASK API -//--------------------------------------------------------------------+ TU_ATTR_ALWAYS_INLINE static inline void osal_task_delay(uint32_t msec) { vTaskDelay( pdMS_TO_TICKS(msec) ); @@ -62,12 +96,15 @@ TU_ATTR_ALWAYS_INLINE static inline void osal_task_delay(uint32_t 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) { +#if configSUPPORT_STATIC_ALLOCATION return xSemaphoreCreateBinaryStatic(semdef); +#else + (void) semdef; + return xSemaphoreCreateBinary(); +#endif } TU_ATTR_ALWAYS_INLINE static inline bool osal_semaphore_post(osal_semaphore_t sem_hdl, bool in_isr) @@ -92,7 +129,7 @@ TU_ATTR_ALWAYS_INLINE static inline bool osal_semaphore_post(osal_semaphore_t se } } -TU_ATTR_ALWAYS_INLINE static inline bool osal_semaphore_wait (osal_semaphore_t sem_hdl, uint32_t msec) +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)); } @@ -105,15 +142,18 @@ TU_ATTR_ALWAYS_INLINE static inline void osal_semaphore_reset(osal_semaphore_t c //--------------------------------------------------------------------+ // 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) { +#if configSUPPORT_STATIC_ALLOCATION return xSemaphoreCreateMutexStatic(mdef); +#else + (void) mdef; + return xSemaphoreCreateMutex(); +#endif } -TU_ATTR_ALWAYS_INLINE static inline bool osal_mutex_lock (osal_mutex_t mutex_hdl, uint32_t msec) +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); } @@ -127,25 +167,13 @@ TU_ATTR_ALWAYS_INLINE static inline bool osal_mutex_unlock(osal_mutex_t mutex_hd // 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); +#if configSUPPORT_STATIC_ALLOCATION + return xQueueCreateStatic(qdef->depth, qdef->item_sz, (uint8_t*) qdef->buf, &qdef->sq); +#else + return xQueueCreate(qdef->depth, qdef->item_sz); +#endif } TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_receive(osal_queue_t qhdl, void* data, uint32_t msec)