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 MATTHIAS 24 * RINGWALD 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 #include <stddef.h> // NULL 47 48 #include "btstack_linked_list.h" 49 #include "btstack_debug.h" 50 #include "btstack_run_loop_freertos.h" 51 52 // #include "hal_time_ms.h" 53 uint32_t hal_time_ms(void); 54 55 #include "freertos/FreeRTOS.h" 56 #include "freertos/task.h" 57 #include "freertos/queue.h" 58 #include "freertos/event_groups.h" 59 60 typedef struct function_call { 61 void (*fn)(void * arg); 62 void * arg; 63 } function_call_t; 64 65 static const btstack_run_loop_t btstack_run_loop_freertos; 66 67 static QueueHandle_t btstack_run_loop_queue; 68 #ifdef HAVE_FREERTOS_TASK_NOTIFICATIONS 69 static TaskHandle_t btstack_run_loop_task; 70 #else 71 static EventGroupHandle_t btstack_run_loop_event_group; 72 #endif 73 74 // bit 0 event group reserved to wakeup run loop 75 #define EVENT_GROUP_FLAG_RUN_LOOP 1 76 77 // the run loop 78 static btstack_linked_list_t timers; 79 static btstack_linked_list_t data_sources; 80 81 static uint32_t btstack_run_loop_freertos_get_time_ms(void){ 82 return hal_time_ms(); 83 } 84 85 // set timer 86 static void btstack_run_loop_freertos_set_timer(btstack_timer_source_t *ts, uint32_t timeout_in_ms){ 87 ts->timeout = btstack_run_loop_freertos_get_time_ms() + timeout_in_ms + 1; 88 } 89 90 /** 91 * Add timer to run_loop (keep list sorted) 92 */ 93 static void btstack_run_loop_freertos_add_timer(btstack_timer_source_t *ts){ 94 btstack_linked_item_t *it; 95 for (it = (btstack_linked_item_t *) &timers; it->next ; it = it->next){ 96 // don't add timer that's already in there 97 if ((btstack_timer_source_t *) it->next == ts){ 98 log_error( "btstack_run_loop_timer_add error: timer to add already in list!"); 99 return; 100 } 101 if (ts->timeout < ((btstack_timer_source_t *) it->next)->timeout) { 102 break; 103 } 104 } 105 ts->item.next = it->next; 106 it->next = (btstack_linked_item_t *) ts; 107 } 108 109 /** 110 * Remove timer from run loop 111 */ 112 static int btstack_run_loop_freertos_remove_timer(btstack_timer_source_t *ts){ 113 return btstack_linked_list_remove(&timers, (btstack_linked_item_t *) ts); 114 } 115 116 static void btstack_run_loop_freertos_dump_timer(void){ 117 #ifdef ENABLE_LOG_INFO 118 btstack_linked_item_t *it; 119 int i = 0; 120 for (it = (btstack_linked_item_t *) timers; it ; it = it->next){ 121 btstack_timer_source_t *ts = (btstack_timer_source_t*) it; 122 log_info("timer %u, timeout %u\n", i, (unsigned int) ts->timeout); 123 } 124 #endif 125 } 126 127 // schedules execution from regular thread 128 void btstack_run_loop_freertos_trigger(void){ 129 #ifdef HAVE_FREERTOS_TASK_NOTIFICATIONS 130 xTaskNotify(btstack_run_loop_task, EVENT_GROUP_FLAG_RUN_LOOP, eSetBits); 131 #else 132 xEventGroupSetBits(btstack_run_loop_event_group, EVENT_GROUP_FLAG_RUN_LOOP); 133 #endif 134 } 135 136 void btstack_run_loop_freertos_execute_code_on_main_thread(void (*fn)(void *arg), void * arg){ 137 function_call_t message; 138 message.fn = fn; 139 message.arg = arg; 140 BaseType_t res = xQueueSendToBack(btstack_run_loop_queue, &message, 0); // portMAX_DELAY); 141 if (res != pdTRUE){ 142 log_error("Failed to post fn %p", fn); 143 } 144 btstack_run_loop_freertos_trigger(); 145 } 146 147 #if defined(HAVE_FREERTOS_TASK_NOTIFICATIONS) || (INCLUDE_xEventGroupSetBitFromISR == 1) 148 void btstack_run_loop_freertos_trigger_from_isr(void){ 149 BaseType_t xHigherPriorityTaskWoken; 150 #ifdef HAVE_FREERTOS_TASK_NOTIFICATIONS 151 xTaskNotifyFromISR(btstack_run_loop_task, EVENT_GROUP_FLAG_RUN_LOOP, eSetBits, &xHigherPriorityTaskWoken); 152 if (xHigherPriorityTaskWoken) { 153 portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); 154 } 155 #else 156 xEventGroupSetBitsFromISR(btstack_run_loop_event_group, EVENT_GROUP_FLAG_RUN_LOOP, &xHigherPriorityTaskWoken); 157 #endif 158 } 159 160 void btstack_run_loop_freertos_execute_code_on_main_thread_from_isr(void (*fn)(void *arg), void * arg){ 161 function_call_t message; 162 message.fn = fn; 163 message.arg = arg; 164 BaseType_t xHigherPriorityTaskWoken; 165 xQueueSendToBackFromISR(btstack_run_loop_queue, &message, &xHigherPriorityTaskWoken); 166 btstack_run_loop_freertos_trigger_from_isr(); 167 } 168 #endif 169 170 /** 171 * Execute run_loop 172 */ 173 static void btstack_run_loop_freertos_task(void *pvParameter){ 174 UNUSED(pvParameter); 175 176 log_debug("RL: execute"); 177 178 #ifdef HAVE_FREERTOS_TASK_NOTIFICATIONS 179 btstack_run_loop_task = xTaskGetCurrentTaskHandle(); 180 #endif 181 182 while (1) { 183 184 // process data sources 185 btstack_data_source_t *ds; 186 btstack_data_source_t *next; 187 for (ds = (btstack_data_source_t *) data_sources; ds != NULL ; ds = next){ 188 next = (btstack_data_source_t *) ds->item.next; // cache pointer to next data_source to allow data source to remove itself 189 if (ds->flags & DATA_SOURCE_CALLBACK_POLL){ 190 ds->process(ds, DATA_SOURCE_CALLBACK_POLL); 191 } 192 } 193 194 // process registered function calls on run loop thread 195 while (1){ 196 function_call_t message = { NULL, NULL }; 197 BaseType_t res = xQueueReceive( btstack_run_loop_queue, &message, 0); 198 if (res == pdFALSE) break; 199 if (message.fn){ 200 message.fn(message.arg); 201 } 202 } 203 204 // process timers and get et next timeout 205 uint32_t timeout_ms = portMAX_DELAY; 206 log_debug("RL: portMAX_DELAY %u", portMAX_DELAY); 207 while (timers) { 208 btstack_timer_source_t * ts = (btstack_timer_source_t *) timers; 209 uint32_t now = btstack_run_loop_freertos_get_time_ms(); 210 log_debug("RL: now %u, expires %u", now, ts->timeout); 211 if (ts->timeout > now){ 212 timeout_ms = ts->timeout - now; 213 break; 214 } 215 // remove timer before processing it to allow handler to re-register with run loop 216 btstack_run_loop_freertos_remove_timer(ts); 217 log_debug("RL: first timer %p", ts->process); 218 ts->process(ts); 219 } 220 221 // wait for timeout or event group/task notification 222 log_debug("RL: wait with timeout %u", (int) timeout_ms); 223 #ifdef HAVE_FREERTOS_TASK_NOTIFICATIONS 224 xTaskNotifyWait(pdFALSE, 0xffffffff, NULL, pdMS_TO_TICKS(timeout_ms)); 225 #else 226 xEventGroupWaitBits(btstack_run_loop_event_group, EVENT_GROUP_FLAG_RUN_LOOP, 1, 0, pdMS_TO_TICKS(timeout_ms)); 227 #endif 228 } 229 } 230 231 static void btstack_run_loop_freertos_execute(void) { 232 // use dedicated task, might not be needed in all cases 233 xTaskCreate(&btstack_run_loop_freertos_task, "btstack_task", 3072, NULL, 5, NULL); 234 // btstack_run_loop_freertos_task(NULL); 235 } 236 237 static void btstack_run_loop_freertos_add_data_source(btstack_data_source_t *ds){ 238 btstack_linked_list_add(&data_sources, (btstack_linked_item_t *) ds); 239 } 240 241 static int btstack_run_loop_freertos_remove_data_source(btstack_data_source_t *ds){ 242 return btstack_linked_list_remove(&data_sources, (btstack_linked_item_t *) ds); 243 } 244 245 static void btstack_run_loop_freertos_enable_data_source_callbacks(btstack_data_source_t * ds, uint16_t callback_types){ 246 ds->flags |= callback_types; 247 } 248 249 static void btstack_run_loop_freertos_disable_data_source_callbacks(btstack_data_source_t * ds, uint16_t callback_types){ 250 ds->flags &= ~callback_types; 251 } 252 253 static void btstack_run_loop_freertos_init(void){ 254 timers = NULL; 255 256 // queue to receive events: up to 2 calls from transport, up to 3 for app 257 btstack_run_loop_queue = xQueueCreate(20, sizeof(function_call_t)); 258 259 #ifndef HAVE_FREERTOS_TASK_NOTIFICATIONS 260 // event group to wake run loop 261 btstack_run_loop_event_group = xEventGroupCreate(); 262 #endif 263 264 log_info("run loop init, queue item size %u", (int) sizeof(function_call_t)); 265 } 266 267 /** 268 * @brief Provide btstack_run_loop_posix instance for use with btstack_run_loop_init 269 */ 270 const btstack_run_loop_t * btstack_run_loop_freertos_get_instance(void){ 271 return &btstack_run_loop_freertos; 272 } 273 274 static const btstack_run_loop_t btstack_run_loop_freertos = { 275 &btstack_run_loop_freertos_init, 276 &btstack_run_loop_freertos_add_data_source, 277 &btstack_run_loop_freertos_remove_data_source, 278 &btstack_run_loop_freertos_enable_data_source_callbacks, 279 &btstack_run_loop_freertos_disable_data_source_callbacks, 280 &btstack_run_loop_freertos_set_timer, 281 &btstack_run_loop_freertos_add_timer, 282 &btstack_run_loop_freertos_remove_timer, 283 &btstack_run_loop_freertos_execute, 284 &btstack_run_loop_freertos_dump_timer, 285 &btstack_run_loop_freertos_get_time_ms, 286 }; 287