Add SAMD21 and SAMD51 support for CircuitPython.

The ProtoThreads style subtasks were removed because it led to
extremely unclear control flow. RTOSes can be used if threading is
needed.

Also added some additional functionality to MSC to support dynamic
LUNs and read-only LUNs.

2 files changed, 23 insertions, 81 deletions

diff --git a/src/osal/osal_freertos.h b/src/osal/osal_freertos.h
index ae988ec1f..f29759225 100644
--- a/src/osal/osal_freertos.h
+++ b/src/osal/osal_freertos.h
@@ -183,4 +183,3 @@ static inline void osal_queue_reset(osal_queue_t const queue_hdl)
 
 /** @} */
 /** @} */
-
diff --git a/src/osal/osal_none.h b/src/osal/osal_none.h
index 796ddc15f..6e67c8ea6 100644
--- a/src/osal/osal_none.h
+++ b/src/osal/osal_none.h
@@ -60,8 +60,6 @@
 //

 //   OSAL_TASK_LOOP_ENG

 // }

-//

-// NOTE: no switch statement is allowed in Task and subtask

 //--------------------------------------------------------------------+

 #define OSAL_TASK_DEF(_name, _str, _func, _prio, _stack_sz)  osal_task_def_t _name;

 

@@ -73,52 +71,8 @@ static inline bool osal_task_create(osal_task_def_t* taskdef)
   return true;

 }

 

-#define TASK_RESTART                             \

-  _state = 0

-

-#define osal_task_delay(_msec)                      \

-  do {                                              \

-    _timeout = tusb_hal_millis();                   \

-    _state = __LINE__; case __LINE__:               \

-      if ( _timeout + (_msec) > tusb_hal_millis() ) \

-        return TUSB_ERROR_OSAL_WAITING;             \

-  }while(0)

-

-//--------------------------------------------------------------------+

-// SUBTASK (a sub function that uses OS blocking services & called by a task

-//--------------------------------------------------------------------+

-#define OSAL_SUBTASK_BEGIN                       \

-  static uint16_t _state = 0;                    \

-  ATTR_UNUSED static uint32_t _timeout = 0;      \

-  (void) _timeout;                               \

-  switch(_state) {                               \

-    case 0: {

-

-#define OSAL_SUBTASK_END                         \

-  default: TASK_RESTART; break;                  \

-  }}                                             \

-  return TUSB_ERROR_NONE;

-

-#define STASK_INVOKE(_subtask, _status)                                         \

-  do {                                                                          \

-    _state = __LINE__; case __LINE__:                                           \

-    {                                                                           \

-      (_status) = _subtask; /* invoke sub task */                               \

-      if (TUSB_ERROR_OSAL_WAITING == (_status)) return TUSB_ERROR_OSAL_WAITING; \

-    }                                                                           \

-  }while(0)

-

-//------------- Sub Task Assert -------------//

-#define STASK_RETURN(error)     do { TASK_RESTART; return error; } while(0)

-

-#define STASK_ASSERT_ERR(_err)                TU_VERIFY_ERR_HDLR(_err, TU_BREAKPOINT(); TASK_RESTART, TUSB_ERROR_FAILED)

-#define STASK_ASSERT_ERR_HDLR(_err, _func)    TU_VERIFY_ERR_HDLR(_err, TU_BREAKPOINT(); _func; TASK_RESTART, TUSB_ERROR_FAILED )

-

-#define STASK_ASSERT(_cond)                   TU_VERIFY_HDLR(_cond, TU_BREAKPOINT(); TASK_RESTART, TUSB_ERROR_FAILED)

-#define STASK_ASSERT_HDLR(_cond, _func)       TU_VERIFY_HDLR(_cond, TU_BREAKPOINT(); _func; TASK_RESTART, TUSB_ERROR_FAILED)

-

 //--------------------------------------------------------------------+

-// Semaphore API

+// Binary Semaphore API

 //--------------------------------------------------------------------+

 typedef struct

 {

@@ -135,7 +89,6 @@ static inline osal_semaphore_t osal_semaphore_create(osal_semaphore_def_t* semde
 

 static inline bool osal_semaphore_post(osal_semaphore_t sem_hdl, bool in_isr)

 {

-  (void) in_isr;

   sem_hdl->count++;

   return true;

 }

@@ -145,22 +98,21 @@ static inline void osal_semaphore_reset(osal_semaphore_t sem_hdl)
   sem_hdl->count = 0;

 }

 

-#define osal_semaphore_wait(_sem_hdl, _msec, _err)                                               \

-  do {                                                                                           \

-    _timeout = tusb_hal_millis();                                                                \

-    _state = __LINE__; case __LINE__:                                                            \

-    if( (_sem_hdl)->count == 0 ) {                                                               \

-      if ( ((_msec) != OSAL_TIMEOUT_WAIT_FOREVER) && (_timeout + (_msec) <= tusb_hal_millis()) ) \

-        *(_err) = TUSB_ERROR_OSAL_TIMEOUT;                                                       \

-      else                                                                                       \

-        return TUSB_ERROR_OSAL_WAITING;                                                          \

-    } else{                                                                                      \

-      /* Enter critical ? */                                                                     \

-      (_sem_hdl)->count--;                                                                       \

-      /* Exit critical ? */                                                                      \

-      *(_err) = TUSB_ERROR_NONE;                                                                 \

-    }                                                                                            \

-  }while(0)

+static inline tusb_error_t osal_semaphore_wait(osal_semaphore_t sem_hdl, uint32_t msec) {

+  (void) msec;

+  while (true) {

+      while (sem_hdl->count == 0) {

+      }

+      // tusb_hal_int_disable_all();

+      if (sem_hdl->count == 0) {

+          sem_hdl->count--;

+          // tusb_hal_int_enable_all();

+          break;

+      }

+      // tusb_hal_int_enable_all();

+  }

+  return TUSB_ERROR_NONE;

+}

 

 //--------------------------------------------------------------------+

 // MUTEX API

@@ -218,22 +170,13 @@ static inline void osal_queue_reset(osal_queue_t const queue_hdl)
   queue_hdl->count = queue_hdl->rd_idx = queue_hdl->wr_idx = 0;

 }

 

-#define osal_queue_receive(_q_hdl, p_data, _msec, _err)                                           \

-  do {                                                                                            \

-    _timeout = tusb_hal_millis();                                                                 \

-    _state = __LINE__; case __LINE__:                                                             \

-    if( (_q_hdl)->count == 0 ) {                                                                  \

-      if ( ((_msec) != OSAL_TIMEOUT_WAIT_FOREVER) && ( _timeout + (_msec) <= tusb_hal_millis()) ) \

-        *(_err) = TUSB_ERROR_OSAL_TIMEOUT;                                                        \

-      else                                                                                        \

-        return TUSB_ERROR_OSAL_WAITING;                                                           \

-    } else{                                                                                       \

-      /* Enter critical ? */                                                                      \

-      tu_fifo_read(_q_hdl, p_data);                                                               \

-      /* Exit critical ? */                                                                       \

-      *(_err) = TUSB_ERROR_NONE;                                                                  \

-    }                                                                                             \

-  }while(0)

+static inline tusb_error_t osal_queue_receive(osal_queue_t const queue_hdl, void* data) {

+  if (!tu_fifo_read(queue_hdl, data)) {

+    return TUSB_ERROR_OSAL_WAITING;

+  }

+  return TUSB_ERROR_NONE;

+}

+

 

 #ifdef __cplusplus

  }