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clean osal_freertos, update freertos examples to work with configSUPPORT_DYNAMIC_ALLOCATION only

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note: for example to build with configSUPPORT_STATIC_ALLOCATION = 0, one
of heap_n.c must be included in makefile/cmake
This commit is contained in:
hathach 2022-12-05 12:09:41 +07:00
parent 52261ac02d
commit de5a67bf3b
8 changed files with 100 additions and 65 deletions
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11
examples/device/cdc_msc_freertos/Makefile
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@ -29,8 +29,15 @@ SRC_C += \
$(FREERTOS_SRC)/timers.c \ $(FREERTOS_SRC)/timers.c \
$(subst ../../../,,$(wildcard ../../../$(FREERTOS_SRC)/portable/GCC/$(FREERTOS_PORT)/*.c)) $(subst ../../../,,$(wildcard ../../../$(FREERTOS_SRC)/portable/GCC/$(FREERTOS_PORT)/*.c))
# Suppress FreeRTOS warnings # include heap manage if configSUPPORT_DYNAMIC_ALLOCATION = 1
CFLAGS += -Wno-error=cast-qual -Wno-error=redundant-decls # 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 # FreeRTOS (lto + Os) linker issue
LDFLAGS += -Wl,--undefined=vTaskSwitchContext LDFLAGS += -Wl,--undefined=vTaskSwitchContext

2
examples/device/cdc_msc_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h
View File

@ -69,7 +69,7 @@
#define configTICK_RATE_HZ ( 1000 ) #define configTICK_RATE_HZ ( 1000 )
#define configMAX_PRIORITIES ( 5 ) #define configMAX_PRIORITIES ( 5 )
#define configMINIMAL_STACK_SIZE ( 128 ) #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 configMAX_TASK_NAME_LEN 16
#define configUSE_16_BIT_TICKS 0 #define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1 #define configIDLE_SHOULD_YIELD 1

24
examples/device/cdc_msc_freertos/src/main.c
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@ -51,6 +51,8 @@
#define USBD_STACK_SIZE (3*configMINIMAL_STACK_SIZE/2) * (CFG_TUSB_DEBUG ? 2 : 1) #define USBD_STACK_SIZE (3*configMINIMAL_STACK_SIZE/2) * (CFG_TUSB_DEBUG ? 2 : 1)
#endif #endif
#define CDC_STACK_SZIE configMINIMAL_STACK_SIZE
//--------------------------------------------------------------------+ //--------------------------------------------------------------------+
// MACRO CONSTANT TYPEDEF PROTYPES // MACRO CONSTANT TYPEDEF PROTYPES
//--------------------------------------------------------------------+ //--------------------------------------------------------------------+
@ -66,19 +68,18 @@ enum {
BLINK_SUSPENDED = 2500, BLINK_SUSPENDED = 2500,
}; };
// static timer // static timer & task
#if configSUPPORT_STATIC_ALLOCATION
StaticTimer_t blinky_tmdef; StaticTimer_t blinky_tmdef;
TimerHandle_t blinky_tm;
// static task
StackType_t usb_device_stack[USBD_STACK_SIZE]; StackType_t usb_device_stack[USBD_STACK_SIZE];
StaticTask_t usb_device_taskdef; StaticTask_t usb_device_taskdef;
// static task for cdc
#define CDC_STACK_SZIE configMINIMAL_STACK_SIZE
StackType_t cdc_stack[CDC_STACK_SZIE]; StackType_t cdc_stack[CDC_STACK_SZIE];
StaticTask_t cdc_taskdef; StaticTask_t cdc_taskdef;
#endif
TimerHandle_t blinky_tm;
void led_blinky_cb(TimerHandle_t xTimer); void led_blinky_cb(TimerHandle_t xTimer);
void usb_device_task(void* param); void usb_device_task(void* param);
@ -92,15 +93,22 @@ int main(void)
{ {
board_init(); board_init();
#if configSUPPORT_STATIC_ALLOCATION
// soft timer for blinky // soft timer for blinky
blinky_tm = xTimerCreateStatic(NULL, pdMS_TO_TICKS(BLINK_NOT_MOUNTED), true, NULL, led_blinky_cb, &blinky_tmdef); 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 // 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 // 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 // skip starting scheduler (and return) for ESP32-S2 or ESP32-S3
#if !TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3) #if !TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3)

11
examples/device/hid_composite_freertos/Makefile
View File

@ -28,8 +28,15 @@ SRC_C += \
$(FREERTOS_SRC)/timers.c \ $(FREERTOS_SRC)/timers.c \
$(subst ../../../,,$(wildcard ../../../$(FREERTOS_SRC)/portable/GCC/$(FREERTOS_PORT)/*.c)) $(subst ../../../,,$(wildcard ../../../$(FREERTOS_SRC)/portable/GCC/$(FREERTOS_PORT)/*.c))
# Suppress FreeRTOS warnings # include heap manage if configSUPPORT_DYNAMIC_ALLOCATION = 1
CFLAGS += -Wno-error=cast-qual -Wno-error=redundant-decls # 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 # FreeRTOS (lto + Os) linker issue
LDFLAGS += -Wl,--undefined=vTaskSwitchContext LDFLAGS += -Wl,--undefined=vTaskSwitchContext

7
examples/device/hid_composite_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h
View File

@ -46,13 +46,14 @@
#include "bsp/board_mcu.h" #include "bsp/board_mcu.h"
#if CFG_TUSB_MCU == OPT_MCU_ESP32S2 || CFG_TUSB_MCU == OPT_MCU_ESP32S3 #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 #endif
// TODO fix later
#if CFG_TUSB_MCU == OPT_MCU_MM32F327X #if CFG_TUSB_MCU == OPT_MCU_MM32F327X
// TODO fix/remove later
extern u32 SystemCoreClock; extern u32 SystemCoreClock;
#else #else
// FIXME cause redundant-decls warnings
extern uint32_t SystemCoreClock; extern uint32_t SystemCoreClock;
#endif #endif
@ -68,7 +69,7 @@
#define configTICK_RATE_HZ ( 1000 ) #define configTICK_RATE_HZ ( 1000 )
#define configMAX_PRIORITIES ( 5 ) #define configMAX_PRIORITIES ( 5 )
#define configMINIMAL_STACK_SIZE ( 128 ) #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 configMAX_TASK_NAME_LEN 16
#define configUSE_16_BIT_TICKS 0 #define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1 #define configIDLE_SHOULD_YIELD 1

24
examples/device/hid_composite_freertos/src/main.c
View File

@ -53,6 +53,8 @@
#define USBD_STACK_SIZE (3*configMINIMAL_STACK_SIZE/2) * (CFG_TUSB_DEBUG ? 2 : 1) #define USBD_STACK_SIZE (3*configMINIMAL_STACK_SIZE/2) * (CFG_TUSB_DEBUG ? 2 : 1)
#endif #endif
#define HID_STACK_SZIE configMINIMAL_STACK_SIZE
//--------------------------------------------------------------------+ //--------------------------------------------------------------------+
// MACRO CONSTANT TYPEDEF PROTYPES // MACRO CONSTANT TYPEDEF PROTYPES
//--------------------------------------------------------------------+ //--------------------------------------------------------------------+
@ -68,19 +70,18 @@ enum {
BLINK_SUSPENDED = 2500, BLINK_SUSPENDED = 2500,
}; };
// static timer // static timer & task
#if configSUPPORT_STATIC_ALLOCATION
StaticTimer_t blinky_tmdef; StaticTimer_t blinky_tmdef;
TimerHandle_t blinky_tm;
// static task
StackType_t usb_device_stack[USBD_STACK_SIZE]; StackType_t usb_device_stack[USBD_STACK_SIZE];
StaticTask_t usb_device_taskdef; StaticTask_t usb_device_taskdef;
// static task for hid
#define HID_STACK_SZIE configMINIMAL_STACK_SIZE
StackType_t hid_stack[HID_STACK_SZIE]; StackType_t hid_stack[HID_STACK_SZIE];
StaticTask_t hid_taskdef; StaticTask_t hid_taskdef;
#endif
TimerHandle_t blinky_tm;
void led_blinky_cb(TimerHandle_t xTimer); void led_blinky_cb(TimerHandle_t xTimer);
void usb_device_task(void* param); void usb_device_task(void* param);
@ -94,15 +95,22 @@ int main(void)
{ {
board_init(); board_init();
#if configSUPPORT_STATIC_ALLOCATION
// soft timer for blinky // soft timer for blinky
blinky_tm = xTimerCreateStatic(NULL, pdMS_TO_TICKS(BLINK_NOT_MOUNTED), true, NULL, led_blinky_cb, &blinky_tmdef); 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 // 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 // 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 // skip starting scheduler (and return) for ESP32-S2 or ESP32-S3
#if !TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3) #if !TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3)

84
src/osal/osal_freertos.h
View File

@ -37,6 +37,43 @@
extern "C" { extern "C" {
#endif #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) TU_ATTR_ALWAYS_INLINE static inline uint32_t _osal_ms2tick(uint32_t msec)
{ {
if (msec == OSAL_TIMEOUT_WAIT_FOREVER) return portMAX_DELAY; 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; return ticks;
} }
//--------------------------------------------------------------------+
// TASK API
//--------------------------------------------------------------------+
TU_ATTR_ALWAYS_INLINE static inline void osal_task_delay(uint32_t msec) TU_ATTR_ALWAYS_INLINE static inline void osal_task_delay(uint32_t msec)
{ {
vTaskDelay( pdMS_TO_TICKS(msec) ); vTaskDelay( pdMS_TO_TICKS(msec) );
@ -62,19 +96,13 @@ TU_ATTR_ALWAYS_INLINE static inline void osal_task_delay(uint32_t msec)
//--------------------------------------------------------------------+ //--------------------------------------------------------------------+
// Semaphore API // Semaphore API
//--------------------------------------------------------------------+ //--------------------------------------------------------------------+
#if configSUPPORT_STATIC_ALLOCATION == 1
typedef StaticSemaphore_t osal_semaphore_def_t;
#else
typedef SemaphoreHandle_t osal_semaphore_def_t;
#endif
typedef SemaphoreHandle_t osal_semaphore_t;
TU_ATTR_ALWAYS_INLINE static inline osal_semaphore_t osal_semaphore_create(osal_semaphore_def_t* semdef) TU_ATTR_ALWAYS_INLINE static inline osal_semaphore_t osal_semaphore_create(osal_semaphore_def_t* semdef)
{ {
#if configSUPPORT_STATIC_ALLOCATION == 1 #if configSUPPORT_STATIC_ALLOCATION
return xSemaphoreCreateBinaryStatic(semdef); return xSemaphoreCreateBinaryStatic(semdef);
#else #else
(void)(semdef); (void) semdef;
return xSemaphoreCreateBinary(); return xSemaphoreCreateBinary();
#endif #endif
} }
@ -101,7 +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)); return xSemaphoreTake(sem_hdl, _osal_ms2tick(msec));
} }
@ -114,25 +142,18 @@ TU_ATTR_ALWAYS_INLINE static inline void osal_semaphore_reset(osal_semaphore_t c
//--------------------------------------------------------------------+ //--------------------------------------------------------------------+
// MUTEX API (priority inheritance) // MUTEX API (priority inheritance)
//--------------------------------------------------------------------+ //--------------------------------------------------------------------+
#if configSUPPORT_STATIC_ALLOCATION == 1
typedef StaticSemaphore_t osal_mutex_def_t;
#else
typedef SemaphoreHandle_t osal_mutex_def_t;
#endif
typedef SemaphoreHandle_t osal_mutex_t;
TU_ATTR_ALWAYS_INLINE static inline osal_mutex_t osal_mutex_create(osal_mutex_def_t* mdef) TU_ATTR_ALWAYS_INLINE static inline osal_mutex_t osal_mutex_create(osal_mutex_def_t* mdef)
{ {
#if configSUPPORT_STATIC_ALLOCATION == 1 #if configSUPPORT_STATIC_ALLOCATION
return xSemaphoreCreateMutexStatic(mdef); return xSemaphoreCreateMutexStatic(mdef);
#else #else
(void)(mdef); (void) mdef;
return xSemaphoreCreateMutex(); return xSemaphoreCreateMutex();
#endif #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); return osal_semaphore_wait(mutex_hdl, msec);
} }
@ -146,26 +167,9 @@ TU_ATTR_ALWAYS_INLINE static inline bool osal_mutex_unlock(osal_mutex_t mutex_hd
// QUEUE API // 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;
#if configSUPPORT_STATIC_ALLOCATION == 1
StaticQueue_t sq;
#endif
}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) TU_ATTR_ALWAYS_INLINE static inline osal_queue_t osal_queue_create(osal_queue_def_t* qdef)
{ {
#if configSUPPORT_STATIC_ALLOCATION == 1 #if configSUPPORT_STATIC_ALLOCATION
return xQueueCreateStatic(qdef->depth, qdef->item_sz, (uint8_t*) qdef->buf, &qdef->sq); return xQueueCreateStatic(qdef->depth, qdef->item_sz, (uint8_t*) qdef->buf, &qdef->sq);
#else #else
return xQueueCreate(qdef->depth, qdef->item_sz); return xQueueCreate(qdef->depth, qdef->item_sz);