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; 111 112 static uint32_t btstack_run_loop_freertos_get_time_ms(void){ 113 return hal_time_ms(); 114 } 115 116 // set timer 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 } 120 121 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) 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 146 147 static void btstack_run_loop_freertos_trigger_exit_internal(void){ 148 run_loop_exit_requested = true; 149 } 150 151 /** 152 * Execute run_loop 153 */ 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 } 208 209 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 } 216 217 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 }; 263 264 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 272 void btstack_run_loop_freertos_trigger(void){ 273 btstack_run_loop_freertos_trigger_from_thread(); 274 } 275 276 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 } 292 293 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) 298 void btstack_run_loop_freertos_trigger_from_isr(void){ 299 btstack_run_loop_freertos_poll_data_sources_from_irq(); 300 } 301 #endif 302