diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/osal/osal_freertos.h | 80 |
1 files changed, 54 insertions, 26 deletions
diff --git a/src/osal/osal_freertos.h b/src/osal/osal_freertos.h index 52db336f5..327aa9970 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) |