17d5f5399SMatthias Ringwald /* 27d5f5399SMatthias Ringwald * Copyright (C) 2017 BlueKitchen GmbH 37d5f5399SMatthias Ringwald * 47d5f5399SMatthias Ringwald * Redistribution and use in source and binary forms, with or without 57d5f5399SMatthias Ringwald * modification, are permitted provided that the following conditions 67d5f5399SMatthias Ringwald * are met: 77d5f5399SMatthias Ringwald * 87d5f5399SMatthias Ringwald * 1. Redistributions of source code must retain the above copyright 97d5f5399SMatthias Ringwald * notice, this list of conditions and the following disclaimer. 107d5f5399SMatthias Ringwald * 2. Redistributions in binary form must reproduce the above copyright 117d5f5399SMatthias Ringwald * notice, this list of conditions and the following disclaimer in the 127d5f5399SMatthias Ringwald * documentation and/or other materials provided with the distribution. 137d5f5399SMatthias Ringwald * 3. Neither the name of the copyright holders nor the names of 147d5f5399SMatthias Ringwald * contributors may be used to endorse or promote products derived 157d5f5399SMatthias Ringwald * from this software without specific prior written permission. 167d5f5399SMatthias Ringwald * 4. Any redistribution, use, or modification is done solely for 177d5f5399SMatthias Ringwald * personal benefit and not for any commercial purpose or for 187d5f5399SMatthias Ringwald * monetary gain. 197d5f5399SMatthias Ringwald * 207d5f5399SMatthias Ringwald * THIS SOFTWARE IS PROVIDED BY BLUEKITCHEN GMBH AND CONTRIBUTORS 217d5f5399SMatthias Ringwald * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 227d5f5399SMatthias Ringwald * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 237d5f5399SMatthias Ringwald * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL MATTHIAS 247d5f5399SMatthias Ringwald * RINGWALD OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 257d5f5399SMatthias Ringwald * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 267d5f5399SMatthias Ringwald * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS 277d5f5399SMatthias Ringwald * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED 287d5f5399SMatthias Ringwald * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 297d5f5399SMatthias Ringwald * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF 307d5f5399SMatthias Ringwald * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 317d5f5399SMatthias Ringwald * SUCH DAMAGE. 327d5f5399SMatthias Ringwald * 337d5f5399SMatthias Ringwald * Please inquire about commercial licensing options at 347d5f5399SMatthias Ringwald * [email protected] 357d5f5399SMatthias Ringwald * 367d5f5399SMatthias Ringwald */ 377d5f5399SMatthias Ringwald 387d5f5399SMatthias Ringwald /* 397d5f5399SMatthias Ringwald * btstack_run_loop_freertos.c 407d5f5399SMatthias Ringwald * 417d5f5399SMatthias Ringwald * Run loop on dedicated thread on FreeRTOS 42828fd804SMatthias Ringwald * The run loop is triggered from other task/ISRs either via Event Groups 43828fd804SMatthias Ringwald * or Task Notifications if HAVE_FREERTOS_TASK_NOTIFICATIONS is defined 447d5f5399SMatthias Ringwald */ 457d5f5399SMatthias Ringwald 467d5f5399SMatthias Ringwald #include <stddef.h> // NULL 477d5f5399SMatthias Ringwald 487d5f5399SMatthias Ringwald #include "btstack_linked_list.h" 497d5f5399SMatthias Ringwald #include "btstack_debug.h" 507d5f5399SMatthias Ringwald #include "btstack_run_loop_freertos.h" 517d5f5399SMatthias Ringwald 527d5f5399SMatthias Ringwald // #include "hal_time_ms.h" 537d5f5399SMatthias Ringwald uint32_t hal_time_ms(void); 547d5f5399SMatthias Ringwald 557d5f5399SMatthias Ringwald #include "freertos/FreeRTOS.h" 567d5f5399SMatthias Ringwald #include "freertos/task.h" 577d5f5399SMatthias Ringwald #include "freertos/queue.h" 587d5f5399SMatthias Ringwald #include "freertos/event_groups.h" 597d5f5399SMatthias Ringwald 607d5f5399SMatthias Ringwald typedef struct function_call { 617d5f5399SMatthias Ringwald void (*fn)(void * arg); 627d5f5399SMatthias Ringwald void * arg; 637d5f5399SMatthias Ringwald } function_call_t; 647d5f5399SMatthias Ringwald 657d5f5399SMatthias Ringwald static const btstack_run_loop_t btstack_run_loop_freertos; 667d5f5399SMatthias Ringwald 677d5f5399SMatthias Ringwald static QueueHandle_t btstack_run_loop_queue; 68828fd804SMatthias Ringwald #ifdef HAVE_FREERTOS_TASK_NOTIFICATIONS 69828fd804SMatthias Ringwald static TaskHandle_t btstack_run_loop_task; 70828fd804SMatthias Ringwald #else 717d5f5399SMatthias Ringwald static EventGroupHandle_t btstack_run_loop_event_group; 72828fd804SMatthias Ringwald #endif 737d5f5399SMatthias Ringwald 747d5f5399SMatthias Ringwald // bit 0 event group reserved to wakeup run loop 757d5f5399SMatthias Ringwald #define EVENT_GROUP_FLAG_RUN_LOOP 1 767d5f5399SMatthias Ringwald 777d5f5399SMatthias Ringwald // the run loop 787d5f5399SMatthias Ringwald static btstack_linked_list_t timers; 797d5f5399SMatthias Ringwald static btstack_linked_list_t data_sources; 807d5f5399SMatthias Ringwald 817d5f5399SMatthias Ringwald static uint32_t btstack_run_loop_freertos_get_time_ms(void){ 827d5f5399SMatthias Ringwald return hal_time_ms(); 837d5f5399SMatthias Ringwald } 847d5f5399SMatthias Ringwald 857d5f5399SMatthias Ringwald // set timer 867d5f5399SMatthias Ringwald static void btstack_run_loop_freertos_set_timer(btstack_timer_source_t *ts, uint32_t timeout_in_ms){ 877d5f5399SMatthias Ringwald ts->timeout = btstack_run_loop_freertos_get_time_ms() + timeout_in_ms + 1; 887d5f5399SMatthias Ringwald } 897d5f5399SMatthias Ringwald 907d5f5399SMatthias Ringwald /** 917d5f5399SMatthias Ringwald * Add timer to run_loop (keep list sorted) 927d5f5399SMatthias Ringwald */ 937d5f5399SMatthias Ringwald static void btstack_run_loop_freertos_add_timer(btstack_timer_source_t *ts){ 947d5f5399SMatthias Ringwald btstack_linked_item_t *it; 957d5f5399SMatthias Ringwald for (it = (btstack_linked_item_t *) &timers; it->next ; it = it->next){ 967d5f5399SMatthias Ringwald // don't add timer that's already in there 977d5f5399SMatthias Ringwald if ((btstack_timer_source_t *) it->next == ts){ 987d5f5399SMatthias Ringwald log_error( "btstack_run_loop_timer_add error: timer to add already in list!"); 997d5f5399SMatthias Ringwald return; 1007d5f5399SMatthias Ringwald } 1017d5f5399SMatthias Ringwald if (ts->timeout < ((btstack_timer_source_t *) it->next)->timeout) { 1027d5f5399SMatthias Ringwald break; 1037d5f5399SMatthias Ringwald } 1047d5f5399SMatthias Ringwald } 1057d5f5399SMatthias Ringwald ts->item.next = it->next; 1067d5f5399SMatthias Ringwald it->next = (btstack_linked_item_t *) ts; 1077d5f5399SMatthias Ringwald } 1087d5f5399SMatthias Ringwald 1097d5f5399SMatthias Ringwald /** 1107d5f5399SMatthias Ringwald * Remove timer from run loop 1117d5f5399SMatthias Ringwald */ 1127d5f5399SMatthias Ringwald static int btstack_run_loop_freertos_remove_timer(btstack_timer_source_t *ts){ 1137d5f5399SMatthias Ringwald return btstack_linked_list_remove(&timers, (btstack_linked_item_t *) ts); 1147d5f5399SMatthias Ringwald } 1157d5f5399SMatthias Ringwald 1167d5f5399SMatthias Ringwald static void btstack_run_loop_freertos_dump_timer(void){ 1177d5f5399SMatthias Ringwald #ifdef ENABLE_LOG_INFO 1187d5f5399SMatthias Ringwald btstack_linked_item_t *it; 1197d5f5399SMatthias Ringwald int i = 0; 1207d5f5399SMatthias Ringwald for (it = (btstack_linked_item_t *) timers; it ; it = it->next){ 1217d5f5399SMatthias Ringwald btstack_timer_source_t *ts = (btstack_timer_source_t*) it; 1227d5f5399SMatthias Ringwald log_info("timer %u, timeout %u\n", i, (unsigned int) ts->timeout); 1237d5f5399SMatthias Ringwald } 1247d5f5399SMatthias Ringwald #endif 1257d5f5399SMatthias Ringwald } 1267d5f5399SMatthias Ringwald 1277d5f5399SMatthias Ringwald // schedules execution from regular thread 1287d5f5399SMatthias Ringwald void btstack_run_loop_freertos_trigger(void){ 129828fd804SMatthias Ringwald #ifdef HAVE_FREERTOS_TASK_NOTIFICATIONS 130828fd804SMatthias Ringwald xTaskNotify(btstack_run_loop_task, EVENT_GROUP_FLAG_RUN_LOOP, eSetBits); 131828fd804SMatthias Ringwald #else 1327d5f5399SMatthias Ringwald xEventGroupSetBits(btstack_run_loop_event_group, EVENT_GROUP_FLAG_RUN_LOOP); 133828fd804SMatthias Ringwald #endif 1347d5f5399SMatthias Ringwald } 1357d5f5399SMatthias Ringwald 1367d5f5399SMatthias Ringwald void btstack_run_loop_freertos_execute_code_on_main_thread(void (*fn)(void *arg), void * arg){ 1377d5f5399SMatthias Ringwald function_call_t message; 1387d5f5399SMatthias Ringwald message.fn = fn; 1397d5f5399SMatthias Ringwald message.arg = arg; 1407d5f5399SMatthias Ringwald BaseType_t res = xQueueSendToBack(btstack_run_loop_queue, &message, 0); // portMAX_DELAY); 1417d5f5399SMatthias Ringwald if (res != pdTRUE){ 1427d5f5399SMatthias Ringwald log_error("Failed to post fn %p", fn); 1437d5f5399SMatthias Ringwald } 1447d5f5399SMatthias Ringwald btstack_run_loop_freertos_trigger(); 1457d5f5399SMatthias Ringwald } 1467d5f5399SMatthias Ringwald 147828fd804SMatthias Ringwald #if defined(HAVE_FREERTOS_TASK_NOTIFICATIONS) || (INCLUDE_xEventGroupSetBitFromISR == 1) 1487d5f5399SMatthias Ringwald void btstack_run_loop_freertos_trigger_from_isr(void){ 1493b1180c9SMatthias Ringwald BaseType_t xHigherPriorityTaskWoken; 150828fd804SMatthias Ringwald #ifdef HAVE_FREERTOS_TASK_NOTIFICATIONS 151828fd804SMatthias Ringwald xTaskNotifyFromISR(btstack_run_loop_task, EVENT_GROUP_FLAG_RUN_LOOP, eSetBits, &xHigherPriorityTaskWoken); 152828fd804SMatthias Ringwald if (xHigherPriorityTaskWoken) { 153828fd804SMatthias Ringwald portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); 154828fd804SMatthias Ringwald } 155828fd804SMatthias Ringwald #else 1563b1180c9SMatthias Ringwald xEventGroupSetBitsFromISR(btstack_run_loop_event_group, EVENT_GROUP_FLAG_RUN_LOOP, &xHigherPriorityTaskWoken); 157828fd804SMatthias Ringwald #endif 1587d5f5399SMatthias Ringwald } 1597d5f5399SMatthias Ringwald 1607d5f5399SMatthias Ringwald void btstack_run_loop_freertos_execute_code_on_main_thread_from_isr(void (*fn)(void *arg), void * arg){ 1617d5f5399SMatthias Ringwald function_call_t message; 1627d5f5399SMatthias Ringwald message.fn = fn; 1637d5f5399SMatthias Ringwald message.arg = arg; 1647d5f5399SMatthias Ringwald BaseType_t xHigherPriorityTaskWoken; 1657d5f5399SMatthias Ringwald xQueueSendToBackFromISR(btstack_run_loop_queue, &message, &xHigherPriorityTaskWoken); 1667d5f5399SMatthias Ringwald btstack_run_loop_freertos_trigger_from_isr(); 1677d5f5399SMatthias Ringwald } 1687d5f5399SMatthias Ringwald #endif 1697d5f5399SMatthias Ringwald 1707d5f5399SMatthias Ringwald /** 1717d5f5399SMatthias Ringwald * Execute run_loop 1727d5f5399SMatthias Ringwald */ 173*4a76e901SMatthias Ringwald static void btstack_run_loop_freertos_execute(void) { 1747d5f5399SMatthias Ringwald log_debug("RL: execute"); 1757d5f5399SMatthias Ringwald 176828fd804SMatthias Ringwald #ifdef HAVE_FREERTOS_TASK_NOTIFICATIONS 177828fd804SMatthias Ringwald btstack_run_loop_task = xTaskGetCurrentTaskHandle(); 178828fd804SMatthias Ringwald #endif 179828fd804SMatthias Ringwald 1807d5f5399SMatthias Ringwald while (1) { 1817d5f5399SMatthias Ringwald 1827d5f5399SMatthias Ringwald // process data sources 1837d5f5399SMatthias Ringwald btstack_data_source_t *ds; 1847d5f5399SMatthias Ringwald btstack_data_source_t *next; 1857d5f5399SMatthias Ringwald for (ds = (btstack_data_source_t *) data_sources; ds != NULL ; ds = next){ 1867d5f5399SMatthias Ringwald next = (btstack_data_source_t *) ds->item.next; // cache pointer to next data_source to allow data source to remove itself 1877d5f5399SMatthias Ringwald if (ds->flags & DATA_SOURCE_CALLBACK_POLL){ 1887d5f5399SMatthias Ringwald ds->process(ds, DATA_SOURCE_CALLBACK_POLL); 1897d5f5399SMatthias Ringwald } 1907d5f5399SMatthias Ringwald } 1917d5f5399SMatthias Ringwald 1927d5f5399SMatthias Ringwald // process registered function calls on run loop thread 1937d5f5399SMatthias Ringwald while (1){ 1947d5f5399SMatthias Ringwald function_call_t message = { NULL, NULL }; 1957d5f5399SMatthias Ringwald BaseType_t res = xQueueReceive( btstack_run_loop_queue, &message, 0); 1967d5f5399SMatthias Ringwald if (res == pdFALSE) break; 1977d5f5399SMatthias Ringwald if (message.fn){ 1987d5f5399SMatthias Ringwald message.fn(message.arg); 1997d5f5399SMatthias Ringwald } 2007d5f5399SMatthias Ringwald } 2017d5f5399SMatthias Ringwald 2027d5f5399SMatthias Ringwald // process timers and get et next timeout 2037d5f5399SMatthias Ringwald uint32_t timeout_ms = portMAX_DELAY; 2047d5f5399SMatthias Ringwald log_debug("RL: portMAX_DELAY %u", portMAX_DELAY); 2057d5f5399SMatthias Ringwald while (timers) { 2067d5f5399SMatthias Ringwald btstack_timer_source_t * ts = (btstack_timer_source_t *) timers; 2077d5f5399SMatthias Ringwald uint32_t now = btstack_run_loop_freertos_get_time_ms(); 2087d5f5399SMatthias Ringwald log_debug("RL: now %u, expires %u", now, ts->timeout); 2097d5f5399SMatthias Ringwald if (ts->timeout > now){ 2107d5f5399SMatthias Ringwald timeout_ms = ts->timeout - now; 2117d5f5399SMatthias Ringwald break; 2127d5f5399SMatthias Ringwald } 2137d5f5399SMatthias Ringwald // remove timer before processing it to allow handler to re-register with run loop 214b7832c7fSMatthias Ringwald btstack_run_loop_freertos_remove_timer(ts); 2157d5f5399SMatthias Ringwald log_debug("RL: first timer %p", ts->process); 2167d5f5399SMatthias Ringwald ts->process(ts); 2177d5f5399SMatthias Ringwald } 2187d5f5399SMatthias Ringwald 219828fd804SMatthias Ringwald // wait for timeout or event group/task notification 2207d5f5399SMatthias Ringwald log_debug("RL: wait with timeout %u", (int) timeout_ms); 221828fd804SMatthias Ringwald #ifdef HAVE_FREERTOS_TASK_NOTIFICATIONS 222828fd804SMatthias Ringwald xTaskNotifyWait(pdFALSE, 0xffffffff, NULL, pdMS_TO_TICKS(timeout_ms)); 223828fd804SMatthias Ringwald #else 2247d5f5399SMatthias Ringwald xEventGroupWaitBits(btstack_run_loop_event_group, EVENT_GROUP_FLAG_RUN_LOOP, 1, 0, pdMS_TO_TICKS(timeout_ms)); 225828fd804SMatthias Ringwald #endif 2267d5f5399SMatthias Ringwald } 2277d5f5399SMatthias Ringwald } 2287d5f5399SMatthias Ringwald 2297d5f5399SMatthias Ringwald static void btstack_run_loop_freertos_add_data_source(btstack_data_source_t *ds){ 2307d5f5399SMatthias Ringwald btstack_linked_list_add(&data_sources, (btstack_linked_item_t *) ds); 2317d5f5399SMatthias Ringwald } 2327d5f5399SMatthias Ringwald 2337d5f5399SMatthias Ringwald static int btstack_run_loop_freertos_remove_data_source(btstack_data_source_t *ds){ 2347d5f5399SMatthias Ringwald return btstack_linked_list_remove(&data_sources, (btstack_linked_item_t *) ds); 2357d5f5399SMatthias Ringwald } 2367d5f5399SMatthias Ringwald 2377d5f5399SMatthias Ringwald static void btstack_run_loop_freertos_enable_data_source_callbacks(btstack_data_source_t * ds, uint16_t callback_types){ 2387d5f5399SMatthias Ringwald ds->flags |= callback_types; 2397d5f5399SMatthias Ringwald } 2407d5f5399SMatthias Ringwald 2417d5f5399SMatthias Ringwald static void btstack_run_loop_freertos_disable_data_source_callbacks(btstack_data_source_t * ds, uint16_t callback_types){ 2427d5f5399SMatthias Ringwald ds->flags &= ~callback_types; 2437d5f5399SMatthias Ringwald } 2447d5f5399SMatthias Ringwald 2457d5f5399SMatthias Ringwald static void btstack_run_loop_freertos_init(void){ 2467d5f5399SMatthias Ringwald timers = NULL; 2477d5f5399SMatthias Ringwald 2487d5f5399SMatthias Ringwald // queue to receive events: up to 2 calls from transport, up to 3 for app 2497d5f5399SMatthias Ringwald btstack_run_loop_queue = xQueueCreate(20, sizeof(function_call_t)); 2507d5f5399SMatthias Ringwald 251828fd804SMatthias Ringwald #ifndef HAVE_FREERTOS_TASK_NOTIFICATIONS 2527d5f5399SMatthias Ringwald // event group to wake run loop 2537d5f5399SMatthias Ringwald btstack_run_loop_event_group = xEventGroupCreate(); 254828fd804SMatthias Ringwald #endif 2557d5f5399SMatthias Ringwald 2567d5f5399SMatthias Ringwald log_info("run loop init, queue item size %u", (int) sizeof(function_call_t)); 2577d5f5399SMatthias Ringwald } 2587d5f5399SMatthias Ringwald 2597d5f5399SMatthias Ringwald /** 2607d5f5399SMatthias Ringwald * @brief Provide btstack_run_loop_posix instance for use with btstack_run_loop_init 2617d5f5399SMatthias Ringwald */ 2627d5f5399SMatthias Ringwald const btstack_run_loop_t * btstack_run_loop_freertos_get_instance(void){ 2637d5f5399SMatthias Ringwald return &btstack_run_loop_freertos; 2647d5f5399SMatthias Ringwald } 2657d5f5399SMatthias Ringwald 2667d5f5399SMatthias Ringwald static const btstack_run_loop_t btstack_run_loop_freertos = { 2677d5f5399SMatthias Ringwald &btstack_run_loop_freertos_init, 2687d5f5399SMatthias Ringwald &btstack_run_loop_freertos_add_data_source, 2697d5f5399SMatthias Ringwald &btstack_run_loop_freertos_remove_data_source, 2707d5f5399SMatthias Ringwald &btstack_run_loop_freertos_enable_data_source_callbacks, 2717d5f5399SMatthias Ringwald &btstack_run_loop_freertos_disable_data_source_callbacks, 2727d5f5399SMatthias Ringwald &btstack_run_loop_freertos_set_timer, 2737d5f5399SMatthias Ringwald &btstack_run_loop_freertos_add_timer, 2747d5f5399SMatthias Ringwald &btstack_run_loop_freertos_remove_timer, 2757d5f5399SMatthias Ringwald &btstack_run_loop_freertos_execute, 2767d5f5399SMatthias Ringwald &btstack_run_loop_freertos_dump_timer, 2777d5f5399SMatthias Ringwald &btstack_run_loop_freertos_get_time_ms, 2787d5f5399SMatthias Ringwald }; 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