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 #include "semphr.h" 71 #endif 72 73 typedef struct function_call { 74 void (*fn)(void * arg); 75 void * arg; 76 } function_call_t; 77 78 // pick allocation style, prefer static 79 #if( configSUPPORT_STATIC_ALLOCATION == 1 ) 80 #define USE_STATIC_ALLOC 81 #elif( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) 82 // ok, nothing to do 83 #else 84 #error "Either configSUPPORT_STATIC_ALLOCATION or configSUPPORT_DYNAMIC_ALLOCATION in FreeRTOSConfig.h must be 1" 85 #endif 86 87 // queue to receive events: up to 2 calls from transport, rest for app 88 #define RUN_LOOP_QUEUE_LENGTH 20 89 #define RUN_LOOP_QUEUE_ITEM_SIZE sizeof(function_call_t) 90 91 #ifdef USE_STATIC_ALLOC 92 static StaticQueue_t btstack_run_loop_queue_object; 93 static uint8_t btstack_run_loop_queue_storage[ RUN_LOOP_QUEUE_LENGTH * RUN_LOOP_QUEUE_ITEM_SIZE ]; 94 static StaticSemaphore_t btstack_run_loop_callback_mutex_object; 95 #endif 96 97 static QueueHandle_t btstack_run_loop_queue; 98 static TaskHandle_t btstack_run_loop_task; 99 static SemaphoreHandle_t btstack_run_loop_callbacks_mutex; 100 101 #ifndef HAVE_FREERTOS_TASK_NOTIFICATIONS 102 static EventGroupHandle_t btstack_run_loop_event_group; 103 #endif 104 105 // bit 0 event group reserved to wakeup run loop 106 #define EVENT_GROUP_FLAG_RUN_LOOP 1 107 108 // the run loop 109 static bool run_loop_exit_requested; 110 111 static uint32_t btstack_run_loop_freertos_get_time_ms(void){ 112 return hal_time_ms(); 113 } 114 115 // set timer 116 static void btstack_run_loop_freertos_set_timer(btstack_timer_source_t *ts, uint32_t timeout_in_ms){ 117 ts->timeout = btstack_run_loop_freertos_get_time_ms() + timeout_in_ms + 1; 118 } 119 120 static void btstack_run_loop_freertos_trigger_from_thread(void){ 121 #ifdef HAVE_FREERTOS_TASK_NOTIFICATIONS 122 xTaskNotify(btstack_run_loop_task, EVENT_GROUP_FLAG_RUN_LOOP, eSetBits); 123 #else 124 xEventGroupSetBits(btstack_run_loop_event_group, EVENT_GROUP_FLAG_RUN_LOOP); 125 #endif 126 } 127 128 #if defined(HAVE_FREERTOS_TASK_NOTIFICATIONS) || (INCLUDE_xEventGroupSetBitFromISR == 1) 129 static void btstack_run_loop_freertos_poll_data_sources_from_irq(void){ 130 BaseType_t xHigherPriorityTaskWoken; 131 #ifdef HAVE_FREERTOS_TASK_NOTIFICATIONS 132 xTaskNotifyFromISR(btstack_run_loop_task, EVENT_GROUP_FLAG_RUN_LOOP, eSetBits, &xHigherPriorityTaskWoken); 133 if (xHigherPriorityTaskWoken) { 134 #ifdef ESP_PLATFORM 135 portYIELD_FROM_ISR(); 136 #else 137 portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); 138 #endif 139 } 140 #else 141 xEventGroupSetBitsFromISR(btstack_run_loop_event_group, EVENT_GROUP_FLAG_RUN_LOOP, &xHigherPriorityTaskWoken); 142 #endif 143 } 144 #endif 145 146 static void btstack_run_loop_freertos_trigger_exit_internal(void){ 147 run_loop_exit_requested = true; 148 } 149 150 /** 151 * Execute run_loop 152 */ 153 static void btstack_run_loop_freertos_execute(void) { 154 log_debug("RL: execute"); 155 156 run_loop_exit_requested = false; 157 158 while (true) { 159 160 // process data sources 161 btstack_run_loop_base_poll_data_sources(); 162 163 // execute callbacks - protect list with mutex 164 while (1){ 165 xSemaphoreTake(btstack_run_loop_callbacks_mutex, portMAX_DELAY); 166 btstack_context_callback_registration_t * callback_registration = (btstack_context_callback_registration_t *) btstack_linked_list_pop(&btstack_run_loop_base_callbacks); 167 xSemaphoreGive(btstack_run_loop_callbacks_mutex); 168 if (callback_registration == NULL){ 169 break; 170 } 171 (*callback_registration->callback)(callback_registration->context); 172 } 173 174 // process registered function calls on run loop thread (deprecated) 175 while (true){ 176 function_call_t message = { NULL, NULL }; 177 BaseType_t res = xQueueReceive( btstack_run_loop_queue, &message, 0); 178 if (res == pdFALSE) break; 179 if (message.fn){ 180 message.fn(message.arg); 181 } 182 } 183 184 // process timers 185 uint32_t now = btstack_run_loop_freertos_get_time_ms(); 186 btstack_run_loop_base_process_timers(now); 187 188 // exit triggered by btstack_run_loop_trigger_exit (main thread or other thread) 189 if (run_loop_exit_requested) break; 190 191 // wait for timeout or event group/task notification 192 int32_t timeout_next_timer_ms = btstack_run_loop_base_get_time_until_timeout(now); 193 194 uint32_t timeout_ms = portMAX_DELAY; 195 if (timeout_next_timer_ms >= 0){ 196 timeout_ms = (uint32_t) timeout_next_timer_ms; 197 } 198 199 log_debug("RL: wait with timeout %u", (int) timeout_ms); 200 #ifdef HAVE_FREERTOS_TASK_NOTIFICATIONS 201 xTaskNotifyWait(pdFALSE, 0xffffffff, NULL, pdMS_TO_TICKS(timeout_ms)); 202 #else 203 xEventGroupWaitBits(btstack_run_loop_event_group, EVENT_GROUP_FLAG_RUN_LOOP, 1, 0, pdMS_TO_TICKS(timeout_ms)); 204 #endif 205 } 206 } 207 208 static void btstack_run_loop_freertos_execute_on_main_thread(btstack_context_callback_registration_t * callback_registration){ 209 // protect list with mutex 210 xSemaphoreTake(btstack_run_loop_callbacks_mutex, portMAX_DELAY); 211 btstack_run_loop_base_add_callback(callback_registration); 212 xSemaphoreGive(btstack_run_loop_callbacks_mutex); 213 btstack_run_loop_freertos_trigger_from_thread(); 214 } 215 216 static void btstack_run_loop_freertos_init(void){ 217 btstack_run_loop_base_init(); 218 219 #ifdef USE_STATIC_ALLOC 220 btstack_run_loop_queue = xQueueCreateStatic(RUN_LOOP_QUEUE_LENGTH, RUN_LOOP_QUEUE_ITEM_SIZE, btstack_run_loop_queue_storage, &btstack_run_loop_queue_object); 221 btstack_run_loop_mutex = xSemaphoreCreateMutexStatic(&btstack_run_loop_callback_mutex_object); 222 #else 223 btstack_run_loop_queue = xQueueCreate(RUN_LOOP_QUEUE_LENGTH, RUN_LOOP_QUEUE_ITEM_SIZE); 224 btstack_run_loop_callbacks_mutex = xSemaphoreCreateMutex(); 225 #endif 226 227 #ifndef HAVE_FREERTOS_TASK_NOTIFICATIONS 228 // event group to wake run loop 229 btstack_run_loop_event_group = xEventGroupCreate(); 230 #endif 231 232 // task to handle to optimize 'run on main thread' 233 btstack_run_loop_task = xTaskGetCurrentTaskHandle(); 234 235 log_info("run loop init, task %p, queue item size %u", btstack_run_loop_task, (int) sizeof(function_call_t)); 236 } 237 238 /** 239 * @brief Provide btstack_run_loop_posix instance for use with btstack_run_loop_init 240 */ 241 242 static const btstack_run_loop_t btstack_run_loop_freertos = { 243 &btstack_run_loop_freertos_init, 244 &btstack_run_loop_base_add_data_source, 245 &btstack_run_loop_base_remove_data_source, 246 &btstack_run_loop_base_enable_data_source_callbacks, 247 &btstack_run_loop_base_disable_data_source_callbacks, 248 &btstack_run_loop_freertos_set_timer, 249 &btstack_run_loop_base_add_timer, 250 &btstack_run_loop_base_remove_timer, 251 &btstack_run_loop_freertos_execute, 252 &btstack_run_loop_base_dump_timer, 253 &btstack_run_loop_freertos_get_time_ms, 254 #if defined(HAVE_FREERTOS_TASK_NOTIFICATIONS) || (INCLUDE_xEventGroupSetBitFromISR == 1) 255 &btstack_run_loop_freertos_poll_data_sources_from_irq, 256 #else 257 NULL, 258 #endif 259 btstack_run_loop_freertos_execute_on_main_thread, 260 &btstack_run_loop_freertos_trigger_exit_internal, 261 }; 262 263 const btstack_run_loop_t * btstack_run_loop_freertos_get_instance(void){ 264 return &btstack_run_loop_freertos; 265 } 266 267 268 // @deprecated functions 269 270 // schedules execution from regular thread 271 void btstack_run_loop_freertos_trigger(void){ 272 btstack_run_loop_freertos_trigger_from_thread(); 273 } 274 275 void btstack_run_loop_freertos_execute_code_on_main_thread(void (*fn)(void *arg), void * arg){ 276 // directly call function if already on btstack task 277 if (xTaskGetCurrentTaskHandle() == btstack_run_loop_task){ 278 (*fn)(arg); 279 return; 280 } 281 282 function_call_t message; 283 message.fn = fn; 284 message.arg = arg; 285 BaseType_t res = xQueueSendToBack(btstack_run_loop_queue, &message, 0); // portMAX_DELAY); 286 if (res != pdTRUE){ 287 log_error("Failed to post fn %p", fn); 288 } 289 btstack_run_loop_freertos_trigger(); 290 } 291 292 void btstack_run_loop_freertos_trigger_exit(void){ 293 btstack_run_loop_freertos_trigger_exit_internal(); 294 } 295 296 #if defined(HAVE_FREERTOS_TASK_NOTIFICATIONS) || (INCLUDE_xEventGroupSetBitFromISR == 1) 297 void btstack_run_loop_freertos_trigger_from_isr(void){ 298 btstack_run_loop_freertos_trigger_from_isr(); 299 } 300 #endif 301