FEATURE: Significantly improved the FreeRTOS port

FEATURE: Added support for operating system initialisation in FreeRTOS
FEATURE: Added GFX_OS_CALL_UGFXMAIN configuration option to allow uGFXMain() to be automatically called
FEATURE: Added GFX_OS_UGFXMAIN_STACKSIZE configuration option to control uGFXMain() stack size

14 files changed, 111 insertions, 9 deletions

diff --git a/src/gos/gos_arduino.c b/src/gos/gos_arduino.c
index 726c57db..2e0e4b53 100644
--- a/src/gos/gos_arduino.c
+++ b/src/gos/gos_arduino.c
@@ -35,6 +35,10 @@ void _gosInit(void)
 	_gosThreadsInit();
 }
 
+void _gosPostInit(void)
+{
+}
+
 void _gosDeinit(void)
 {
 	/* ToDo */
diff --git a/src/gos/gos_chibios.c b/src/gos/gos_chibios.c
index fc34b94b..72b91dfc 100644
--- a/src/gos/gos_chibios.c
+++ b/src/gos/gos_chibios.c
@@ -53,6 +53,10 @@ void _gosInit(void)
 	#endif
 }
 
+void _gosPostInit(void)
+{
+}
+
 void _gosDeinit(void)
 {
 	/* ToDo */
diff --git a/src/gos/gos_cmsis.c b/src/gos/gos_cmsis.c
index 1422fd90..5bb10dbd 100644
--- a/src/gos/gos_cmsis.c
+++ b/src/gos/gos_cmsis.c
@@ -26,6 +26,10 @@ void _gosInit(void)
 	_gosHeapInit();
 }
 
+void _gosPostInit(void)
+{
+}
+
 void _gosDeinit(void)
 {
 }
diff --git a/src/gos/gos_ecos.c b/src/gos/gos_ecos.c
index 771ac389..5ca5748f 100644
--- a/src/gos/gos_ecos.c
+++ b/src/gos/gos_ecos.c
@@ -19,6 +19,10 @@ void _gosInit(void)
 	#endif
 }
 
+void _gosPostInit(void)
+{
+}
+
 void _gosDeinit(void)
 {
 	/* ToDo */
diff --git a/src/gos/gos_freertos.c b/src/gos/gos_freertos.c
index 9708c05f..1f0d8dac 100644
--- a/src/gos/gos_freertos.c
+++ b/src/gos/gos_freertos.c
@@ -22,18 +22,41 @@
 	#error "GOS: configUSE_COUNTING_SEMAPHORES must be defined in FreeRTOSConfig.h"
 #endif
 
+#if !GFX_OS_NO_INIT && INCLUDE_xTaskGetSchedulerState != 1 && configUSE_TIMERS != 1
+	#error "GOS: Either INCLUDE_xTaskGetSchedulerState or configUSE_TIMERS must be defined in FreeRTOSConfig.h"
+#endif
+
+#if !GFX_OS_NO_INIT && !GFX_OS_CALL_UGFXMAIN
+	#error "GOS: Either GFX_OS_NO_INIT or GFX_OS_CALL_UGFXMAIN must be defined for FreeRTOS"
+#endif
+
 void _gosInit(void)
 {
-	#if !GFX_OS_NO_INIT
-		#error "GOS: Operating System initialization for FreeRTOS is not yet implemented in uGFX. Please set GFX_OS_NO_INIT to TRUE in your gfxconf.h"
+	#if GFX_OS_NO_INIT && !GFX_OS_INIT_NO_WARNING
+		#warning "GOS: Operating System initialization has been turned off. Make sure you call vTaskStartScheduler()."
 	#endif
-	#if !GFX_OS_INIT_NO_WARNING
-		#warning "GOS: Operating System initialization has been turned off. Make sure you call vTaskStartScheduler() before gfxInit() in your application!"
+}
+
+#if !GFX_OS_NO_INIT && GFX_OS_CALL_UGFXMAIN
+	extern threadreturn_t uGFXMain(void *param);
+#endif
+
+void _gosPostInit(void)
+{
+	#if !GFX_OS_NO_INIT && GFX_OS_CALL_UGFXMAIN
+		if (xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED) {
+			gfxThreadCreate(0, GFX_OS_UGFXMAIN_STACKSIZE, NORMAL_PRIORITY, uGFXMain, 0);
+			vTaskStartScheduler();
+			gfxHalt("Unable to start FreeRTOS scheduler. Out of memory?");
+		}
 	#endif
 }
 
 void _gosDeinit(void)
 {
+	#if !GFX_OS_NO_INIT
+		vTaskDelete(0);
+	#endif
 }
 
 void* gfxRealloc(void *ptr, size_t oldsz, size_t newsz)
@@ -131,4 +154,11 @@ gfxThreadHandle gfxThreadCreate(void *stackarea, size_t stacksz, threadpriority_
 	return task;
 }
 
+#if INCLUDE_eTaskGetState == 1
+	threadreturn_t gfxThreadWait(gfxThreadHandle thread) {
+		while (eTaskGetState(thread) != eDeleted)
+			gfxYield();
+	}
+#endif
+ 
 #endif /* GFX_USE_OS_FREERTOS */
diff --git a/src/gos/gos_freertos.h b/src/gos/gos_freertos.h
index 6301a7df..a0f1ed18 100644
--- a/src/gos/gos_freertos.h
+++ b/src/gos/gos_freertos.h
@@ -60,7 +60,7 @@ typedef portBASE_TYPE		threadpriority_t;
 #define HIGH_PRIORITY		configMAX_PRIORITIES-1
 
 /* FreeRTOS will allocate the stack when creating the thread */
-#define DECLARE_THREAD_STACK(name, sz)
+#define DECLARE_THREAD_STACK(name, sz)	uint8_t name[1]
 #define DECLARE_THREAD_FUNCTION(fnName, param)	threadreturn_t fnName(void *param)
 #define THREAD_RETURN(retval)
 
@@ -103,9 +103,11 @@ void gfxSemSignal(gfxSem* psem);
 void gfxSemSignalI(gfxSem* psem);
 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)		{}
+#define gfxThreadMe()				xTaskGetCurrentTaskHandle()
+#if INCLUDE_eTaskGetState == 1
+	threadreturn_t gfxThreadWait(gfxThreadHandle thread);
+#endif
+#define gfxThreadClose(thread)
 
 #ifdef __cplusplus
 }
diff --git a/src/gos/gos_linux.c b/src/gos/gos_linux.c
index 1e0675dd..dac3838f 100644
--- a/src/gos/gos_linux.c
+++ b/src/gos/gos_linux.c
@@ -33,6 +33,10 @@ void _gosInit(void)
 	gfxMutexInit(&SystemMutex);
 }
 
+void _gosPostInit(void)
+{
+}
+
 void _gosDeinit(void)
 {
 	/* ToDo */
diff --git a/src/gos/gos_nios.c b/src/gos/gos_nios.c
index 3a937026..b7709c8c 100644
--- a/src/gos/gos_nios.c
+++ b/src/gos/gos_nios.c
@@ -25,6 +25,10 @@ void _gosInit(void)
 	_gosThreadsInit();
 }
 
+void _gosPostInit(void)
+{
+}
+
 void _gosDeinit(void)
 {
 }
diff --git a/src/gos/gos_options.h b/src/gos/gos_options.h
index 2d3b0d29..c78d25ca 100644
--- a/src/gos/gos_options.h
+++ b/src/gos/gos_options.h
@@ -181,6 +181,32 @@
 		#define GFX_OS_INIT_NO_WARNING	FALSE
 	#endif
  	/**
+ 	 * @brief	Call uGFXMain() after all initialisation
+ 	 * @details	Defaults to FALSE
+ 	 * @note	uGFXMain() is a function defined by the user in their project
+	 * 			that contains the application main code. This is not expected to return
+	 * 			and thus gfxInit() will also never return. This is required for some
+	 *			operating systems whose main thread never returns after starting the
+	 * 			scheduler.<br>
+	 *			Its prototype is:<br>
+	 *				threadreturn_t uGFXMain(void *param);<br>
+	 * @note	uGFXMain() will always be called with a NULL paramter.
+ 	 */
+	#ifndef GFX_OS_CALL_UGFXMAIN
+		#define GFX_OS_CALL_UGFXMAIN		FALSE
+	#endif
+ 	/**
+ 	 * @brief	When uGFXMain() is started as a thread, what stack size should be used
+ 	 * @details	Defaults to 0
+ 	 * @note	uGFXMain() contains the application main code. Some operating systems
+	 * 			will start this as a thread. eg FreeRTOS. When it is started as a thread
+	 * 			this defines how many bytes should be used for the thread stack.
+	 * @note	0 means to use the operating systems default stack size.
+ 	 */
+	#ifndef GFX_OS_UGFXMAIN_STACKSIZE
+		#define GFX_OS_UGFXMAIN_STACKSIZE	0
+	#endif
+ 	/**
  	 * @brief	Should uGFX stuff be added to the FreeRTOS+Tracer
  	 * @details	Defaults to FALSE
  	 */
diff --git a/src/gos/gos_osx.c b/src/gos/gos_osx.c
index 413ddc62..f06685d7 100644
--- a/src/gos/gos_osx.c
+++ b/src/gos/gos_osx.c
@@ -30,6 +30,10 @@ void _gosInit(void)
 	gfxMutexInit(&SystemMutex);
 }
 
+void _gosPostInit(void)
+{
+}
+
 void _gosDeinit(void)
 {
 	/* ToDo */
diff --git a/src/gos/gos_qt.cpp b/src/gos/gos_qt.cpp
index e3a0f0ca..422f1535 100644
--- a/src/gos/gos_qt.cpp
+++ b/src/gos/gos_qt.cpp
@@ -53,6 +53,10 @@ void _gosInit(void)
     _systickTimer.start();
 }
 
+void _gosPostInit(void)
+{
+}
+
 void _gosDeinit(void)
 {
 }
diff --git a/src/gos/gos_raw32.c b/src/gos/gos_raw32.c
index 2b482ae2..af9a2442 100644
--- a/src/gos/gos_raw32.c
+++ b/src/gos/gos_raw32.c
@@ -36,6 +36,10 @@ void _gosInit(void)
 	_gosThreadsInit();
 }
 
+void _gosPostInit(void)
+{
+}
+
 void _gosDeinit(void)
 {
 	/* ToDo */
diff --git a/src/gos/gos_rawrtos.c b/src/gos/gos_rawrtos.c
index 7c24cd5a..ad646a7d 100644
--- a/src/gos/gos_rawrtos.c
+++ b/src/gos/gos_rawrtos.c
@@ -32,6 +32,10 @@ void _gosInit(void)
 	#endif
 }
 
+void _gosPostInit(void)
+{
+}
+
 void _gosDeinit(void)
 {
 }
diff --git a/src/gos/gos_win32.c b/src/gos/gos_win32.c
index e9abedd7..5eecca88 100644
--- a/src/gos/gos_win32.c
+++ b/src/gos/gos_win32.c
@@ -21,6 +21,10 @@ void _gosInit(void)
 	/* No initialization of the operating system itself is needed */
 }
 
+void _gosPostInit(void)
+{
+}
+
 void _gosDeinit(void)
 {
 
@@ -102,7 +106,7 @@ gfxThreadHandle gfxThreadCreate(void *stackarea, size_t stacksz, threadpriority_
 	HANDLE	thd;
 
 	if (!(thd = CreateThread(0, stacksz, fn, param, CREATE_SUSPENDED, 0)))
-		return FALSE;
+		return 0;
 
 	SetThreadPriority(thd, prio);
 	ResumeThread(thd);