From 0bb6473f880e69c294f78972a04c286a088d15fb Mon Sep 17 00:00:00 2001
From: Joel Bodenmann <joel@unormal.org>
Date: Sat, 1 Feb 2014 17:06:20 +0100
Subject: initial public release of FreeRTOS port (does still need some
cleanup)
---
include/gos/freertos.h | 113 ++++++++++++++++++++++++++++++++++++
src/gos/freertos.c | 151 +++++++++++++++++++++++++++++++++++++++++++++++++
2 files changed, 264 insertions(+)
create mode 100644 include/gos/freertos.h
create mode 100644 src/gos/freertos.c
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 */
--
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