Merge branch 'freertos'

6 files changed, 302 insertions, 4 deletions

diff --git a/src/gos/freertos.c b/src/gos/freertos.c
new file mode 100644
index 00000000..f2c03eec
--- /dev/null
+++ b/src/gos/freertos.c
@@ -0,0 +1,166 @@
+/*
+ * 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
+ */
+
+#include "gfx.h"
+#include <string.h>
+
+#if GFX_USE_OS_FREERTOS
+
+#if INCLUDE_vTaskDelay != 1
+	#error "GOS: INCLUDE_vTaskDelay must be defined in FreeRTOSConfig.h"
+#endif
+
+#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)
+{
+	// The user must call vTaskStartScheduler() himself before he calls gfxInit().
+}
+
+void _gosDeinit(void)
+{
+}
+
+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)
+{
+	const portTickType ticks = ms / portTICK_PERIOD_MS;
+	vTaskDelay(ticks);
+}
+
+void gfxSleepMicroseconds(delaytime_t ms)
+{
+	const portTickType ticks = (ms / 1000) / portTICK_PERIOD_MS;
+
+	// delay milli seconds
+	vTaskDelay(ticks);
+
+	// microsecond resolution delay is not supported in FreeRTOS
+	// vUsDelay(ms%1000);
+}
+
+portTickType MS2ST(portTickType ms)
+{
+	return (ms / portTICK_PERIOD_MS);
+}
+
+void gfxMutexInit(xSemaphoreHandle *s)
+{
+	*s = xSemaphoreCreateMutex();
+	#if GFX_FREERTOS_USE_TRACE
+		vTraceSetMutexName(*s,"uGFXMutex"); // for FreeRTOS+Trace debug
+	#endif
+}
+
+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);
+
+	#if GFX_FREERTOS_USE_TRACE
+		vTraceSetSemaphoreName(psem->sem, "uGFXSema"); // for FreeRTOS+Trace debug
+	#endif
+}
+
+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;
+}
+
+bool_t gfxSemWaitI(gfxSem* psem)
+{
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+
+	psem->counter--;
+
+	if (xSemaphoreTakeFromISR(psem->sem,&xHigherPriorityTaskWoken) == pdTRUE)
+		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, "uGFX_TASK", stacksz, param, prio, &task )!= pdPASS) {
+		for (;;);
+	}
+
+	return task;
+}
+
+#endif /* GFX_USE_OS_FREERTOS */
diff --git a/src/gos/freertos.h b/src/gos/freertos.h
new file mode 100644
index 00000000..ccda4cbd
--- /dev/null
+++ b/src/gos/freertos.h
@@ -0,0 +1,110 @@
+/*
+ * 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.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.h"
+#include "FreeRTOSConfig.h"
+#include "semphr.h"
+#include "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 xTaskHandle*				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()			{}
+
+void gfxMutexInit(xSemaphoreHandle* s);
+#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);
+bool_t gfxSemWaitI(gfxSem* psem);
+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/sys_defs.h b/src/gos/sys_defs.h
index 0fd162dc..aba96df5 100644
--- a/src/gos/sys_defs.h
+++ b/src/gos/sys_defs.h
@@ -441,6 +441,8 @@
  */
 #elif GFX_USE_OS_CHIBIOS
 	#include "src/gos/chibios.h"
+#elif GFX_USE_OS_FREERTOS
+	#include "src/gos/freertos.h"
 #elif GFX_USE_OS_WIN32
 	#include "src/gos/win32.h"
 #elif GFX_USE_OS_LINUX
diff --git a/src/gos/sys_make.mk b/src/gos/sys_make.mk
index 9db29fe2..8ef22121 100644
--- a/src/gos/sys_make.mk
+++ b/src/gos/sys_make.mk
@@ -1,4 +1,5 @@
 GFXSRC +=   $(GFXLIB)/src/gos/chibios.c	\
+			$(GFXLIB)/src/gos/freertos.c \
 			$(GFXLIB)/src/gos/win32.c \
 			$(GFXLIB)/src/gos/linux.c \
 			$(GFXLIB)/src/gos/osx.c \
diff --git a/src/gos/sys_options.h b/src/gos/sys_options.h
index ae9916ad..cfbed057 100644
--- a/src/gos/sys_options.h
+++ b/src/gos/sys_options.h
@@ -28,6 +28,13 @@
 		#define GFX_USE_OS_CHIBIOS		FALSE
 	#endif
 	/**
+	 * @brief   Use FreeRTOS
+	 * @details	Defaults to FALSE
+	 */
+	#ifndef GFX_USE_OS_FREERTOS
+		#define GFX_USE_OS_FREERTOS		FALSE
+	#endif
+	/**
 	 * @brief   Use Win32
 	 * @details	Defaults to FALSE
 	 */
@@ -35,7 +42,7 @@
 		#define GFX_USE_OS_WIN32		FALSE
 	#endif
 	/**
-	 * @brief   Use a linux based system running X11 
+	 * @brief   Use a linux based system running X11
 	 * @details	Defaults to FALSE
 	 */
 	#ifndef GFX_USE_OS_LINUX
@@ -58,9 +65,16 @@
 /**
  * @}
  *
- * @name    GOS Optional Sizing Parameters
+ * @name    GOS Optional Parameters
  * @{
  */
+ 	/**
+ 	 * @brief	Should uGFX stuff be added to the FreeRTOS+Tracer
+ 	 * @details	Defaults to FALSE
+ 	 */
+ 	#ifndef GFX_FREERTOS_USE_TRACE
+ 		#define GFX_FREERTOS_USE_TRACE	FALSE
+ 	#endif
 /** @} */
 
 #endif /* _GOS_OPTIONS_H */
diff --git a/src/gos/sys_rules.h b/src/gos/sys_rules.h
index 390e8116..f23d330b 100644
--- a/src/gos/sys_rules.h
+++ b/src/gos/sys_rules.h
@@ -16,16 +16,21 @@
 #ifndef _GOS_RULES_H
 #define _GOS_RULES_H
 
-#if !GFX_USE_OS_CHIBIOS && !GFX_USE_OS_WIN32 && !GFX_USE_OS_LINUX && !GFX_USE_OS_OSX && !GFX_USE_OS_RAW32
+#if !GFX_USE_OS_CHIBIOS && !GFX_USE_OS_WIN32 && !GFX_USE_OS_LINUX && !GFX_USE_OS_OSX && !GFX_USE_OS_RAW32 && !GFX_USE_OS_FREERTOS
 	#if GFX_DISPLAY_RULE_WARNINGS
 		#warning "GOS: No Operating System has been defined. ChibiOS (GFX_USE_OS_CHIBIOS) has been turned on for you."
 	#endif
 	#undef GFX_USE_OS_CHIBIOS
 	#define GFX_USE_OS_CHIBIOS	TRUE
 #endif
-#if GFX_USE_OS_CHIBIOS + GFX_USE_OS_WIN32 + GFX_USE_OS_LINUX + GFX_USE_OS_OSX + GFX_USE_OS_RAW32 != 1 * TRUE
+
+#if GFX_USE_OS_CHIBIOS + GFX_USE_OS_WIN32 + GFX_USE_OS_LINUX + GFX_USE_OS_OSX + GFX_USE_OS_RAW32 + GFX_USE_OS_FREERTOS != 1 * TRUE
 	#error "GOS: More than one operation system has been defined as TRUE."
 #endif
 
+#if GFX_FREERTOS_USE_TRACE && !GFX_USE_OS_FREERTOS
+ 	#error "GOS: GFX_FREERTOS_USE_TRACE is only available for the FreeRTOS port."
+#endif
+
 #endif /* _GOS_RULES_H */
 /** @} */