1 /*
2 * Copyright (C) 2017 BlueKitchen GmbH
3 *
4 * Redistribution and use in source and binary forms, with or without
5 * modification, are permitted provided that the following conditions
6 * are met:
7 *
8 * 1. Redistributions of source code must retain the above copyright
9 * notice, this list of conditions and the following disclaimer.
10 * 2. Redistributions in binary form must reproduce the above copyright
11 * notice, this list of conditions and the following disclaimer in the
12 * documentation and/or other materials provided with the distribution.
13 * 3. Neither the name of the copyright holders nor the names of
14 * contributors may be used to endorse or promote products derived
15 * from this software without specific prior written permission.
16 * 4. Any redistribution, use, or modification is done solely for
17 * personal benefit and not for any commercial purpose or for
18 * monetary gain.
19 *
20 * THIS SOFTWARE IS PROVIDED BY BLUEKITCHEN GMBH AND CONTRIBUTORS
21 * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
22 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
23 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL BLUEKITCHEN
24 * GMBH OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
25 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
26 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
27 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
28 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
29 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
30 * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
31 * SUCH DAMAGE.
32 *
33 * Please inquire about commercial licensing options at
34 * [email protected]
35 *
36 */
37
38 /*
39 * btstack_run_loop_freertos.c
40 *
41 * Run loop on dedicated thread on FreeRTOS
42 * The run loop is triggered from other task/ISRs either via Event Groups
43 * or Task Notifications if HAVE_FREERTOS_TASK_NOTIFICATIONS is defined
44 */
45
46 #define BTSTACK_FILE__ "btstack_run_loop_freertos.c"
47
48 #include <stddef.h> // NULL
49
50 #include "btstack_run_loop_freertos.h"
51
52 #include "btstack_linked_list.h"
53 #include "btstack_debug.h"
54 #include "btstack_util.h"
55 #include "hal_time_ms.h"
56
57 // some SDKs, e.g. esp-idf, place FreeRTOS headers into an 'freertos' folder to avoid name collisions (e.g. list.h, queue.h, ..)
58 // wih this flag, the headers are properly found
59
60 #ifdef HAVE_FREERTOS_INCLUDE_PREFIX
61 #include "freertos/FreeRTOS.h"
62 #include "freertos/task.h"
63 #include "freertos/queue.h"
64 #include "freertos/event_groups.h"
65 #include "freertos/semphr.h"
66 #else
67 #include "FreeRTOS.h"
68 #include "task.h"
69 #include "queue.h"
70 #include "event_groups.h"
71 #include "semphr.h"
72 #endif
73
74 typedef struct function_call {
75 void (*fn)(void * arg);
76 void * arg;
77 } function_call_t;
78
79 // pick allocation style, prefer static
80 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
81 #define USE_STATIC_ALLOC
82 #elif( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
83 // ok, nothing to do
84 #else
85 #error "Either configSUPPORT_STATIC_ALLOCATION or configSUPPORT_DYNAMIC_ALLOCATION in FreeRTOSConfig.h must be 1"
86 #endif
87
88 // queue to receive events: up to 2 calls from transport, rest for app
89 #define RUN_LOOP_QUEUE_LENGTH 20
90 #define RUN_LOOP_QUEUE_ITEM_SIZE sizeof(function_call_t)
91
92 #ifdef USE_STATIC_ALLOC
93 static StaticQueue_t btstack_run_loop_queue_object;
94 static uint8_t btstack_run_loop_queue_storage[ RUN_LOOP_QUEUE_LENGTH * RUN_LOOP_QUEUE_ITEM_SIZE ];
95 static StaticSemaphore_t btstack_run_loop_callback_mutex_object;
96 #endif
97
98 static QueueHandle_t btstack_run_loop_queue;
99 static TaskHandle_t btstack_run_loop_task;
100 static SemaphoreHandle_t btstack_run_loop_callbacks_mutex;
101
102 #ifndef HAVE_FREERTOS_TASK_NOTIFICATIONS
103 static EventGroupHandle_t btstack_run_loop_event_group;
104 #endif
105
106 // bit 0 event group reserved to wakeup run loop
107 #define EVENT_GROUP_FLAG_RUN_LOOP 1
108
109 // the run loop
110 static bool run_loop_exit_requested;
111
btstack_run_loop_freertos_get_time_ms(void)112 static uint32_t btstack_run_loop_freertos_get_time_ms(void){
113 return hal_time_ms();
114 }
115
116 // set timer
btstack_run_loop_freertos_set_timer(btstack_timer_source_t * ts,uint32_t timeout_in_ms)117 static void btstack_run_loop_freertos_set_timer(btstack_timer_source_t *ts, uint32_t timeout_in_ms){
118 ts->timeout = btstack_run_loop_freertos_get_time_ms() + timeout_in_ms + 1;
119 }
120
btstack_run_loop_freertos_trigger_from_thread(void)121 static void btstack_run_loop_freertos_trigger_from_thread(void){
122 #ifdef HAVE_FREERTOS_TASK_NOTIFICATIONS
123 xTaskNotify(btstack_run_loop_task, EVENT_GROUP_FLAG_RUN_LOOP, eSetBits);
124 #else
125 xEventGroupSetBits(btstack_run_loop_event_group, EVENT_GROUP_FLAG_RUN_LOOP);
126 #endif
127 }
128
129 #if defined(HAVE_FREERTOS_TASK_NOTIFICATIONS) || (INCLUDE_xEventGroupSetBitFromISR == 1)
btstack_run_loop_freertos_poll_data_sources_from_irq(void)130 static void btstack_run_loop_freertos_poll_data_sources_from_irq(void){
131 BaseType_t xHigherPriorityTaskWoken;
132 #ifdef HAVE_FREERTOS_TASK_NOTIFICATIONS
133 xTaskNotifyFromISR(btstack_run_loop_task, EVENT_GROUP_FLAG_RUN_LOOP, eSetBits, &xHigherPriorityTaskWoken);
134 if (xHigherPriorityTaskWoken) {
135 #ifdef ESP_PLATFORM
136 portYIELD_FROM_ISR();
137 #else
138 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
139 #endif
140 }
141 #else
142 xEventGroupSetBitsFromISR(btstack_run_loop_event_group, EVENT_GROUP_FLAG_RUN_LOOP, &xHigherPriorityTaskWoken);
143 #endif
144 }
145 #endif
146
btstack_run_loop_freertos_trigger_exit_internal(void)147 static void btstack_run_loop_freertos_trigger_exit_internal(void){
148 run_loop_exit_requested = true;
149 }
150
151 /**
152 * Execute run_loop
153 */
btstack_run_loop_freertos_execute(void)154 static void btstack_run_loop_freertos_execute(void) {
155 log_debug("RL: execute");
156
157 run_loop_exit_requested = false;
158
159 while (true) {
160
161 // process data sources
162 btstack_run_loop_base_poll_data_sources();
163
164 // execute callbacks - protect list with mutex
165 while (1){
166 xSemaphoreTake(btstack_run_loop_callbacks_mutex, portMAX_DELAY);
167 btstack_context_callback_registration_t * callback_registration = (btstack_context_callback_registration_t *) btstack_linked_list_pop(&btstack_run_loop_base_callbacks);
168 xSemaphoreGive(btstack_run_loop_callbacks_mutex);
169 if (callback_registration == NULL){
170 break;
171 }
172 (*callback_registration->callback)(callback_registration->context);
173 }
174
175 // process registered function calls on run loop thread (deprecated)
176 while (true){
177 function_call_t message = { NULL, NULL };
178 BaseType_t res = xQueueReceive( btstack_run_loop_queue, &message, 0);
179 if (res == pdFALSE) break;
180 if (message.fn){
181 message.fn(message.arg);
182 }
183 }
184
185 // process timers
186 uint32_t now = btstack_run_loop_freertos_get_time_ms();
187 btstack_run_loop_base_process_timers(now);
188
189 // exit triggered by btstack_run_loop_trigger_exit (main thread or other thread)
190 if (run_loop_exit_requested) break;
191
192 // wait for timeout or event group/task notification
193 int32_t timeout_next_timer_ms = btstack_run_loop_base_get_time_until_timeout(now);
194
195 uint32_t timeout_ms = portMAX_DELAY;
196 if (timeout_next_timer_ms >= 0){
197 timeout_ms = (uint32_t) timeout_next_timer_ms;
198 }
199
200 log_debug("RL: wait with timeout %u", (int) timeout_ms);
201 #ifdef HAVE_FREERTOS_TASK_NOTIFICATIONS
202 xTaskNotifyWait(pdFALSE, 0xffffffff, NULL, pdMS_TO_TICKS(timeout_ms));
203 #else
204 xEventGroupWaitBits(btstack_run_loop_event_group, EVENT_GROUP_FLAG_RUN_LOOP, 1, 0, pdMS_TO_TICKS(timeout_ms));
205 #endif
206 }
207 }
208
btstack_run_loop_freertos_execute_on_main_thread(btstack_context_callback_registration_t * callback_registration)209 static void btstack_run_loop_freertos_execute_on_main_thread(btstack_context_callback_registration_t * callback_registration){
210 // protect list with mutex
211 xSemaphoreTake(btstack_run_loop_callbacks_mutex, portMAX_DELAY);
212 btstack_run_loop_base_add_callback(callback_registration);
213 xSemaphoreGive(btstack_run_loop_callbacks_mutex);
214 btstack_run_loop_freertos_trigger_from_thread();
215 }
216
btstack_run_loop_freertos_init(void)217 static void btstack_run_loop_freertos_init(void){
218 btstack_run_loop_base_init();
219
220 #ifdef USE_STATIC_ALLOC
221 btstack_run_loop_queue = xQueueCreateStatic(RUN_LOOP_QUEUE_LENGTH, RUN_LOOP_QUEUE_ITEM_SIZE, btstack_run_loop_queue_storage, &btstack_run_loop_queue_object);
222 btstack_run_loop_callbacks_mutex = xSemaphoreCreateMutexStatic(&btstack_run_loop_callback_mutex_object);
223 #else
224 btstack_run_loop_queue = xQueueCreate(RUN_LOOP_QUEUE_LENGTH, RUN_LOOP_QUEUE_ITEM_SIZE);
225 btstack_run_loop_callbacks_mutex = xSemaphoreCreateMutex();
226 #endif
227
228 #ifndef HAVE_FREERTOS_TASK_NOTIFICATIONS
229 // event group to wake run loop
230 btstack_run_loop_event_group = xEventGroupCreate();
231 #endif
232
233 // task to handle to optimize 'run on main thread'
234 btstack_run_loop_task = xTaskGetCurrentTaskHandle();
235
236 log_info("run loop init, task %p, queue item size %u", btstack_run_loop_task, (int) sizeof(function_call_t));
237 }
238
239 /**
240 * @brief Provide btstack_run_loop_posix instance for use with btstack_run_loop_init
241 */
242
243 static const btstack_run_loop_t btstack_run_loop_freertos = {
244 &btstack_run_loop_freertos_init,
245 &btstack_run_loop_base_add_data_source,
246 &btstack_run_loop_base_remove_data_source,
247 &btstack_run_loop_base_enable_data_source_callbacks,
248 &btstack_run_loop_base_disable_data_source_callbacks,
249 &btstack_run_loop_freertos_set_timer,
250 &btstack_run_loop_base_add_timer,
251 &btstack_run_loop_base_remove_timer,
252 &btstack_run_loop_freertos_execute,
253 &btstack_run_loop_base_dump_timer,
254 &btstack_run_loop_freertos_get_time_ms,
255 #if defined(HAVE_FREERTOS_TASK_NOTIFICATIONS) || (INCLUDE_xEventGroupSetBitFromISR == 1)
256 &btstack_run_loop_freertos_poll_data_sources_from_irq,
257 #else
258 NULL,
259 #endif
260 btstack_run_loop_freertos_execute_on_main_thread,
261 &btstack_run_loop_freertos_trigger_exit_internal,
262 };
263
btstack_run_loop_freertos_get_instance(void)264 const btstack_run_loop_t * btstack_run_loop_freertos_get_instance(void){
265 return &btstack_run_loop_freertos;
266 }
267
268
269 // @deprecated functions
270
271 // schedules execution from regular thread
btstack_run_loop_freertos_trigger(void)272 void btstack_run_loop_freertos_trigger(void){
273 btstack_run_loop_freertos_trigger_from_thread();
274 }
275
btstack_run_loop_freertos_execute_code_on_main_thread(void (* fn)(void * arg),void * arg)276 void btstack_run_loop_freertos_execute_code_on_main_thread(void (*fn)(void *arg), void * arg){
277 // directly call function if already on btstack task
278 if (xTaskGetCurrentTaskHandle() == btstack_run_loop_task){
279 (*fn)(arg);
280 return;
281 }
282
283 function_call_t message;
284 message.fn = fn;
285 message.arg = arg;
286 BaseType_t res = xQueueSendToBack(btstack_run_loop_queue, &message, 0); // portMAX_DELAY);
287 if (res != pdTRUE){
288 log_error("Failed to post fn %p", fn);
289 }
290 btstack_run_loop_freertos_trigger();
291 }
292
btstack_run_loop_freertos_trigger_exit(void)293 void btstack_run_loop_freertos_trigger_exit(void){
294 btstack_run_loop_freertos_trigger_exit_internal();
295 }
296
297 #if defined(HAVE_FREERTOS_TASK_NOTIFICATIONS) || (INCLUDE_xEventGroupSetBitFromISR == 1)
btstack_run_loop_freertos_trigger_from_isr(void)298 void btstack_run_loop_freertos_trigger_from_isr(void){
299 btstack_run_loop_freertos_poll_data_sources_from_irq();
300 }
301 #endif
302