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 #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 #else 66 #include "FreeRTOS.h" 67 #include "task.h" 68 #include "queue.h" 69 #include "event_groups.h" 70 #endif 71 72 typedef struct function_call { 73 void (*fn)(void * arg); 74 void * arg; 75 } function_call_t; 76 77 // pick allocation style, prefer static 78 #if( configSUPPORT_STATIC_ALLOCATION == 1 ) 79 #define USE_STATIC_ALLOC 80 #elif( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) 81 // ok, nothing to do 82 #else 83 #error "Either configSUPPORT_STATIC_ALLOCATION or configSUPPORT_DYNAMIC_ALLOCATION in FreeRTOSConfig.h must be 1" 84 #endif 85 86 // queue to receive events: up to 2 calls from transport, rest for app 87 #define RUN_LOOP_QUEUE_LENGTH 20 88 #define RUN_LOOP_QUEUE_ITEM_SIZE sizeof(function_call_t) 89 90 #ifdef USE_STATIC_ALLOC 91 static StaticQueue_t btstack_run_loop_queue_object; 92 static uint8_t btstack_run_loop_queue_storage[ RUN_LOOP_QUEUE_LENGTH * RUN_LOOP_QUEUE_ITEM_SIZE ]; 93 #endif 94 95 static QueueHandle_t btstack_run_loop_queue; 96 static TaskHandle_t btstack_run_loop_task; 97 98 #ifndef HAVE_FREERTOS_TASK_NOTIFICATIONS 99 static EventGroupHandle_t btstack_run_loop_event_group; 100 #endif 101 102 // bit 0 event group reserved to wakeup run loop 103 #define EVENT_GROUP_FLAG_RUN_LOOP 1 104 105 // the run loop 106 static bool run_loop_exit_requested; 107 108 static uint32_t btstack_run_loop_freertos_get_time_ms(void){ 109 return hal_time_ms(); 110 } 111 112 // set timer 113 static void btstack_run_loop_freertos_set_timer(btstack_timer_source_t *ts, uint32_t timeout_in_ms){ 114 ts->timeout = btstack_run_loop_freertos_get_time_ms() + timeout_in_ms + 1; 115 } 116 117 // schedules execution from regular thread 118 void btstack_run_loop_freertos_trigger(void){ 119 #ifdef HAVE_FREERTOS_TASK_NOTIFICATIONS 120 xTaskNotify(btstack_run_loop_task, EVENT_GROUP_FLAG_RUN_LOOP, eSetBits); 121 #else 122 xEventGroupSetBits(btstack_run_loop_event_group, EVENT_GROUP_FLAG_RUN_LOOP); 123 #endif 124 } 125 126 void btstack_run_loop_freertos_execute_code_on_main_thread(void (*fn)(void *arg), void * arg){ 127 128 // directly call function if already on btstack task 129 if (xTaskGetCurrentTaskHandle() == btstack_run_loop_task){ 130 (*fn)(arg); 131 return; 132 } 133 134 function_call_t message; 135 message.fn = fn; 136 message.arg = arg; 137 BaseType_t res = xQueueSendToBack(btstack_run_loop_queue, &message, 0); // portMAX_DELAY); 138 if (res != pdTRUE){ 139 log_error("Failed to post fn %p", fn); 140 } 141 btstack_run_loop_freertos_trigger(); 142 } 143 144 void btstack_run_loop_freertos_execute_code_on_main_thread_from_isr(void (*fn)(void *arg), void * arg){ 145 function_call_t message; 146 message.fn = fn; 147 message.arg = arg; 148 BaseType_t xHigherPriorityTaskWoken; 149 xQueueSendToBackFromISR(btstack_run_loop_queue, &message, &xHigherPriorityTaskWoken); 150 btstack_run_loop_freertos_trigger_from_isr(); 151 } 152 #endif 153 154 void btstack_run_loop_freertos_trigger_exit(void){ 155 run_loop_exit_requested = true; 156 } 157 158 /** 159 * Execute run_loop 160 */ 161 static void btstack_run_loop_freertos_execute(void) { 162 log_debug("RL: execute"); 163 164 run_loop_exit_requested = false; 165 166 while (true) { 167 168 // process data sources 169 btstack_run_loop_base_poll_data_sources(); 170 171 // process registered function calls on run loop thread 172 while (true){ 173 function_call_t message = { NULL, NULL }; 174 BaseType_t res = xQueueReceive( btstack_run_loop_queue, &message, 0); 175 if (res == pdFALSE) break; 176 if (message.fn){ 177 message.fn(message.arg); 178 } 179 } 180 181 // process timers 182 uint32_t now = btstack_run_loop_freertos_get_time_ms(); 183 btstack_run_loop_base_process_timers(now); 184 185 // exit triggered by btstack_run_loop_freertos_trigger_exit (from data source, timer, run on main thread) 186 if (run_loop_exit_requested) break; 187 188 // wait for timeout or event group/task notification 189 int32_t timeout_next_timer_ms = btstack_run_loop_base_get_time_until_timeout(now); 190 191 uint32_t timeout_ms = portMAX_DELAY; 192 if (timeout_next_timer_ms >= 0){ 193 timeout_ms = (uint32_t) timeout_next_timer_ms; 194 } 195 196 log_debug("RL: wait with timeout %u", (int) timeout_ms); 197 #ifdef HAVE_FREERTOS_TASK_NOTIFICATIONS 198 xTaskNotifyWait(pdFALSE, 0xffffffff, NULL, pdMS_TO_TICKS(timeout_ms)); 199 #else 200 xEventGroupWaitBits(btstack_run_loop_event_group, EVENT_GROUP_FLAG_RUN_LOOP, 1, 0, pdMS_TO_TICKS(timeout_ms)); 201 #endif 202 } 203 } 204 205 static void btstack_run_loop_freertos_init(void){ 206 btstack_run_loop_base_init(); 207 208 #ifdef USE_STATIC_ALLOC 209 btstack_run_loop_queue = xQueueCreateStatic(RUN_LOOP_QUEUE_LENGTH, RUN_LOOP_QUEUE_ITEM_SIZE, btstack_run_loop_queue_storage, &btstack_run_loop_queue_object); 210 #else 211 btstack_run_loop_queue = xQueueCreate(RUN_LOOP_QUEUE_LENGTH, RUN_LOOP_QUEUE_ITEM_SIZE); 212 #endif 213 214 #ifndef HAVE_FREERTOS_TASK_NOTIFICATIONS 215 // event group to wake run loop 216 btstack_run_loop_event_group = xEventGroupCreate(); 217 #endif 218 219 // task to handle to optimize 'run on main thread' 220 btstack_run_loop_task = xTaskGetCurrentTaskHandle(); 221 222 log_info("run loop init, task %p, queue item size %u", btstack_run_loop_task, (int) sizeof(function_call_t)); 223 } 224 225 /** 226 * @brief Provide btstack_run_loop_posix instance for use with btstack_run_loop_init 227 */ 228 229 static const btstack_run_loop_t btstack_run_loop_freertos = { 230 &btstack_run_loop_freertos_init, 231 &btstack_run_loop_base_add_data_source, 232 &btstack_run_loop_base_remove_data_source, 233 &btstack_run_loop_base_enable_data_source_callbacks, 234 &btstack_run_loop_base_disable_data_source_callbacks, 235 &btstack_run_loop_freertos_set_timer, 236 &btstack_run_loop_base_add_timer, 237 &btstack_run_loop_base_remove_timer, 238 &btstack_run_loop_freertos_execute, 239 &btstack_run_loop_base_dump_timer, 240 &btstack_run_loop_freertos_get_time_ms, 241 }; 242 243 const btstack_run_loop_t * btstack_run_loop_freertos_get_instance(void){ 244 return &btstack_run_loop_freertos; 245 } 246