initial public release of FreeRTOS port (does still need some cleanup)

2 files changed, 264 insertions, 0 deletions

diff --git a/include/gos/freertos.h b/include/gos/freertos.h
new file mode 100644
index 00000000..3ceb279d
--- /dev/null
+++ b/include/gos/freertos.h
@@ -0,0 +1,113 @@
+/*

+ * This file is subject to the terms of the GFX License. If a copy of

+ * the license was not distributed with this file, you can obtain one at:

+ *

+ *              http://ugfx.org/license.html

+ */

+

+/**

+ * @file    include/gos/freertos.h

+ * @brief   GOS - Operating System Support header file for FreeRTOS.

+ */

+

+#ifndef _GOS_FREERTOS_H

+#define _GOS_FREERTOS_H

+

+#if GFX_USE_OS_FREERTOS

+

+#include "freertos/FreeRTOS.h"

+#include "config/FreeRTOSConfig.h"

+#include "freertos/semphr.h"

+#include "freertos/task.h"

+

+/*===========================================================================*/

+/* Type definitions                                                          */

+/*===========================================================================*/

+

+/**

+ * bool_t,

+ * int8_t, uint8_t,

+ * int16_t, uint16_t,

+ * int32_t, uint32_t,

+ * size_t

+ * TRUE, FALSE

+ * are already defined by FreeRTOS

+ */

+#define TIME_IMMEDIATE		0

+#define TIME_INFINITE		((delaytime_t)-1)

+typedef int8_t				bool_t;

+typedef uint32_t			delaytime_t;

+typedef portTickType		systemticks_t;

+typedef int32_t				semcount_t;

+typedef void			threadreturn_t;

+typedef portBASE_TYPE		threadpriority_t;

+

+#define MAX_SEMAPHORE_COUNT	((semcount_t)(((unsigned long)((semcount_t)(-1))) >> 1))

+#define LOW_PRIORITY		0

+#define NORMAL_PRIORITY		configMAX_PRIORITIES/2

+#define HIGH_PRIORITY		configMAX_PRIORITIES-1

+

+/* FreeRTOS will allocate the stack when creating the thread, so pass the size instead of a working area */

+#define DECLARE_THREAD_STACK(name, sz)			size_t *name = (size_t *)sz

+#define DECLARE_THREAD_FUNCTION(fnName, param)	threadreturn_t fnName(void *param)

+portTickType MS2ST(portTickType ms);

+

+typedef struct {

+	xSemaphoreHandle	sem;

+	semcount_t			limit;

+	semcount_t  		counter;

+} gfxSem;

+

+typedef xSemaphoreHandle		gfxMutex;

+typedef xTaskHandl*				gfxThreadHandle;

+

+/*===========================================================================*/

+/* Function declarations.                                                    */

+/*===========================================================================*/

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+

+#define gfxHalt(msg)				{}

+#define gfxExit()					{}

+#define gfxAlloc(sz)				pvPortMalloc(sz)

+#define gfxFree(ptr)				vPortFree(ptr)

+#define gfxYield()					taskYIELD()

+#define gfxSystemTicks()			xTaskGetTickCount()

+#define gfxMillisecondsToTicks(ms)	MS2ST(ms)

+#define gfxSystemLock()				{}

+#define gfxSystemUnlock()			{}

+static inline void gfxMutexInit(xSemaphoreHandle *s)

+{

+	*s = xSemaphoreCreateMutex();

+	vTraceSetMutexName(*s,"uGFXMutex"); // for FreeRTOS+Trace debug

+}

+#define gfxMutexDestroy(pmutex)		vSemaphoreDelete(*pmutex)

+#define gfxMutexEnter(pmutex)		xSemaphoreTake(*pmutex,portMAX_DELAY)

+#define gfxMutexExit(pmutex)		xSemaphoreGive(*pmutex)

+

+void *gfxRealloc(void *ptr, size_t oldsz, size_t newsz);

+void gfxSleepMilliseconds(delaytime_t ms);

+void gfxSleepMicroseconds(delaytime_t ms);

+

+void gfxSemInit(gfxSem* psem, semcount_t val, semcount_t limit);

+void gfxSemDestroy(gfxSem* psem);

+bool_t gfxSemWait(gfxSem* psem, delaytime_t ms);

+void gfxSemSignal(gfxSem* psem);

+void gfxSemSignalI(gfxSem* psem);

+#define gfxSemCounterI(psem)		((psem)->counter)

+#define gfxSemCounter(psem)			((psem)->counter)

+gfxThreadHandle gfxThreadCreate(void *stackarea, size_t stacksz, threadpriority_t prio, DECLARE_THREAD_FUNCTION((*fn),p), void *param);

+

+#define gfxThreadWait(thread)		{} // never used, not imlpemented

+#define gfxThreadMe()				{} // never used, not implemented

+#define gfxThreadClose(thread)		{}

+

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* GFX_USE_OS_FREERTOS */

+#endif /* _GOS_CHIBIOS_H */

+

diff --git a/src/gos/freertos.c b/src/gos/freertos.c
new file mode 100644
index 00000000..9b22af1b
--- /dev/null
+++ b/src/gos/freertos.c
@@ -0,0 +1,151 @@
+/*
+ * This file is subject to the terms of the GFX License. If a copy of
+ * the license was not distributed with this file, you can obtain one at:
+ *
+ *              http://ugfx.org/license.html
+ */
+
+/**
+ * @file    src/gos/freertos.c
+ * @brief   GOS FreeRTOS Operating System support.
+ */
+#include "heivs/config.h"
+#include "gfx.h"
+#include "heivs/delay.h"
+#include "freertos/FreeRTOS.h"
+#include "config/FreeRTOSConfig.h"
+#include <string.h>
+
+#if configUSE_MUTEXES != 1
+	#error "GOS: configUSE_MUTEXES must be defined in FreeRTOSConfig.h"
+#endif
+
+#if configUSE_COUNTING_SEMAPHORES  != 1
+	#error "GOS: configUSE_COUNTING_SEMAPHORES must be defined in FreeRTOSConfig.h"
+#endif
+
+void _gosInit(void)
+{
+	// IMPORTANT: Check for already started scheduler here!!!
+	vTaskStartScheduler(); 
+}
+
+void* gfxRealloc(void *ptr, size_t oldsz, size_t newsz)
+{
+	void *np;
+
+	if (newsz <= oldsz)
+		return ptr;
+
+	np = gfxAlloc(newsz);
+	if (!np)
+		return 0;
+
+	if (oldsz) {
+		memcpy(np, ptr, oldsz);
+		vPortFree(ptr);
+	}
+
+	return np;
+}
+
+void gfxSleepMilliseconds(delaytime_t ms)
+{
+	if(ms == TIME_IMMEDIATE) {
+		taskYIELD();
+	} else {
+		vTaskDelay(ms);
+	}
+}
+
+void gfxSleepMicroseconds(delaytime_t ms)
+{
+	delay_wait_us(ms);
+}
+
+portTickType MS2ST(portTickType ms)
+{
+	uint64_t	val;
+
+	if(configTICK_RATE_HZ == 1000) {	// gain time because no test to do in most case
+		return ms;
+	}
+
+	val = ms;
+	val *= configTICK_RATE_HZ;
+	val += 999;
+	val /= 1000;
+
+	return val;
+}
+
+void gfxSemInit(gfxSem* psem, semcount_t val, semcount_t limit)
+{
+	if (val > limit)
+		val = limit;
+
+	psem->counter = val;
+	psem->limit = limit;
+	psem->sem = xSemaphoreCreateCounting(limit,val);
+
+	vTraceSetSemaphoreName(psem->sem, "uGFXSema"); // for FreeRTOS+Trace debug
+}
+
+void gfxSemDestroy(gfxSem* psem)
+{
+	vSemaphoreDelete(psem->sem);
+}
+
+bool_t gfxSemWait(gfxSem* psem, delaytime_t ms)
+{
+	psem->counter--;
+
+	if(xSemaphoreTake(psem->sem, MS2ST(ms)) == pdPASS)
+		return TRUE;
+
+	psem->counter++;
+
+	return FALSE;
+}
+
+void gfxSemSignal(gfxSem* psem)
+{
+	taskENTER_CRITICAL();
+
+	if(psem->counter < psem->limit) {
+		psem->counter++;
+		xSemaphoreGive(psem->sem);
+	}
+
+	taskYIELD();
+	taskEXIT_CRITICAL();
+}
+
+void gfxSemSignalI(gfxSem* psem)
+{
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+
+	if(psem->counter < psem->limit) {
+		psem->counter++;
+		xSemaphoreGiveFromISR(psem->sem,&xHigherPriorityTaskWoken);
+	}
+}
+
+gfxThreadHandle gfxThreadCreate(void *stackarea, size_t stacksz, threadpriority_t prio, DECLARE_THREAD_FUNCTION((*fn),p), void *param)
+{
+	xTaskHandle task = NULL;
+	stacksz = (size_t)stackarea;
+
+	if (stacksz < configMINIMAL_STACK_SIZE)
+		stacksz = configMINIMAL_STACK_SIZE;
+
+	if (xTaskCreate(fn, (signed char*)"uGFX_TASK", stacksz, param, prio, &task )!= pdPASS) {
+		for (;;);
+	}
+
+	return task;
+}
+
+#endif /* GFX_USE_OS_FREERTOS */
+/** @} */
+#endif /* USE_UGFX */