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Allow the use of non-static allocation for FreeRTOS mutexes & queues #1767

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merged 8 commits into from
Dec 5, 2022
Merged

Allow the use of non-static allocation for FreeRTOS mutexes & queues #1767

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d588167
Modify FreeRTOS integration to allow non-static allocation.
pete-pjb Nov 30, 2022
0ddd559
Merge branch 'hathach:master' into master
pete-pjb Nov 30, 2022
25abb10
Fix white space issue.
pete-pjb Nov 30, 2022
ae588d7
Alter tuh_task_ext() function so no need to return when using FreeRTOS
Dec 1, 2022
c31b95c
Added CFG_TUSB_MEM_SECTION define to struct _ctrl_xfer in usbh.c
pete-pjb Dec 1, 2022
3816869
Some reverts and changes after discussion.
pete-pjb Dec 2, 2022
52261ac
Back out another of my changes I am still investigating.
pete-pjb Dec 2, 2022
de5a67b
clean osal_freertos, update freertos examples to work with configSUPP…
hathach Dec 5, 2022
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11 changes: 9 additions & 2 deletions examples/device/cdc_msc_freertos/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -29,8 +29,15 @@ SRC_C += \
$(FREERTOS_SRC)/timers.c \
$(subst ../../../,,$(wildcard ../../../$(FREERTOS_SRC)/portable/GCC/$(FREERTOS_PORT)/*.c))

# Suppress FreeRTOS warnings
CFLAGS += -Wno-error=cast-qual -Wno-error=redundant-decls
# include heap manage if configSUPPORT_DYNAMIC_ALLOCATION = 1
# SRC_C += $(FREERTOS_SRC)/portable/MemMang/heap_1.c
# CFLAGS += -Wno-error=sign-compare

# Suppress FreeRTOSConfig.h warnings
CFLAGS += -Wno-error=redundant-decls

# Suppress FreeRTOS source warnings
CFLAGS += -Wno-error=cast-qual

# FreeRTOS (lto + Os) linker issue
LDFLAGS += -Wl,--undefined=vTaskSwitchContext
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2 changes: 1 addition & 1 deletion examples/device/cdc_msc_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h
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Original file line number Diff line number Diff line change
Expand Up @@ -69,7 +69,7 @@
#define configTICK_RATE_HZ ( 1000 )
#define configMAX_PRIORITIES ( 5 )
#define configMINIMAL_STACK_SIZE ( 128 )
#define configTOTAL_HEAP_SIZE ( 0*1024 ) // dynamic is not used
#define configTOTAL_HEAP_SIZE ( configSUPPORT_DYNAMIC_ALLOCATION*4*1024 )
#define configMAX_TASK_NAME_LEN 16
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
Expand Down
24 changes: 16 additions & 8 deletions examples/device/cdc_msc_freertos/src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,8 @@
#define USBD_STACK_SIZE (3*configMINIMAL_STACK_SIZE/2) * (CFG_TUSB_DEBUG ? 2 : 1)
#endif

#define CDC_STACK_SZIE configMINIMAL_STACK_SIZE

//--------------------------------------------------------------------+
// MACRO CONSTANT TYPEDEF PROTYPES
//--------------------------------------------------------------------+
Expand All @@ -66,19 +68,18 @@ enum {
BLINK_SUSPENDED = 2500,
};

// static timer
// static timer & task
#if configSUPPORT_STATIC_ALLOCATION
StaticTimer_t blinky_tmdef;
TimerHandle_t blinky_tm;

// static task
StackType_t usb_device_stack[USBD_STACK_SIZE];
StaticTask_t usb_device_taskdef;

// static task for cdc
#define CDC_STACK_SZIE configMINIMAL_STACK_SIZE
StackType_t cdc_stack[CDC_STACK_SZIE];
StaticTask_t cdc_taskdef;
#endif

TimerHandle_t blinky_tm;

void led_blinky_cb(TimerHandle_t xTimer);
void usb_device_task(void* param);
Expand All @@ -92,15 +93,22 @@ int main(void)
{
board_init();

#if configSUPPORT_STATIC_ALLOCATION
// soft timer for blinky
blinky_tm = xTimerCreateStatic(NULL, pdMS_TO_TICKS(BLINK_NOT_MOUNTED), true, NULL, led_blinky_cb, &blinky_tmdef);
xTimerStart(blinky_tm, 0);

// Create a task for tinyusb device stack
(void) xTaskCreateStatic( usb_device_task, "usbd", USBD_STACK_SIZE, NULL, configMAX_PRIORITIES-1, usb_device_stack, &usb_device_taskdef);
xTaskCreateStatic(usb_device_task, "usbd", USBD_STACK_SIZE, NULL, configMAX_PRIORITIES-1, usb_device_stack, &usb_device_taskdef);

// Create CDC task
(void) xTaskCreateStatic( cdc_task, "cdc", CDC_STACK_SZIE, NULL, configMAX_PRIORITIES-2, cdc_stack, &cdc_taskdef);
xTaskCreateStatic(cdc_task, "cdc", CDC_STACK_SZIE, NULL, configMAX_PRIORITIES-2, cdc_stack, &cdc_taskdef);
#else
blinky_tm = xTimerCreate(NULL, pdMS_TO_TICKS(BLINK_NOT_MOUNTED), true, NULL, led_blinky_cb);
xTaskCreate( usb_device_task, "usbd", USBD_STACK_SIZE, NULL, configMAX_PRIORITIES-1, NULL);
xTaskCreate( cdc_task, "cdc", CDC_STACK_SZIE, NULL, configMAX_PRIORITIES-2, NULL);
#endif

xTimerStart(blinky_tm, 0);

// skip starting scheduler (and return) for ESP32-S2 or ESP32-S3
#if !TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3)
Expand Down
11 changes: 9 additions & 2 deletions examples/device/hid_composite_freertos/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -28,8 +28,15 @@ SRC_C += \
$(FREERTOS_SRC)/timers.c \
$(subst ../../../,,$(wildcard ../../../$(FREERTOS_SRC)/portable/GCC/$(FREERTOS_PORT)/*.c))

# Suppress FreeRTOS warnings
CFLAGS += -Wno-error=cast-qual -Wno-error=redundant-decls
# include heap manage if configSUPPORT_DYNAMIC_ALLOCATION = 1
# SRC_C += $(FREERTOS_SRC)/portable/MemMang/heap_1.c
# CFLAGS += -Wno-error=sign-compare

# Suppress FreeRTOSConfig.h warnings
CFLAGS += -Wno-error=redundant-decls

# Suppress FreeRTOS source warnings
CFLAGS += -Wno-error=cast-qual

# FreeRTOS (lto + Os) linker issue
LDFLAGS += -Wl,--undefined=vTaskSwitchContext
Expand Down
7 changes: 4 additions & 3 deletions examples/device/hid_composite_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h
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Original file line number Diff line number Diff line change
Expand Up @@ -46,13 +46,14 @@
#include "bsp/board_mcu.h"

#if CFG_TUSB_MCU == OPT_MCU_ESP32S2 || CFG_TUSB_MCU == OPT_MCU_ESP32S3
#error "ESP32-Sx should use IDF's FreeRTOSConfig.h"
#error "ESP32-Sx should use IDF's FreeRTOSConfig.h"
#endif

// TODO fix later
#if CFG_TUSB_MCU == OPT_MCU_MM32F327X
// TODO fix/remove later
extern u32 SystemCoreClock;
#else
// FIXME cause redundant-decls warnings
extern uint32_t SystemCoreClock;
#endif

Expand All @@ -68,7 +69,7 @@
#define configTICK_RATE_HZ ( 1000 )
#define configMAX_PRIORITIES ( 5 )
#define configMINIMAL_STACK_SIZE ( 128 )
#define configTOTAL_HEAP_SIZE ( 0*1024 ) // dynamic is not used
#define configTOTAL_HEAP_SIZE ( configSUPPORT_DYNAMIC_ALLOCATION*4*1024 )
#define configMAX_TASK_NAME_LEN 16
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
Expand Down
24 changes: 16 additions & 8 deletions examples/device/hid_composite_freertos/src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,8 @@
#define USBD_STACK_SIZE (3*configMINIMAL_STACK_SIZE/2) * (CFG_TUSB_DEBUG ? 2 : 1)
#endif

#define HID_STACK_SZIE configMINIMAL_STACK_SIZE

//--------------------------------------------------------------------+
// MACRO CONSTANT TYPEDEF PROTYPES
//--------------------------------------------------------------------+
Expand All @@ -68,19 +70,18 @@ enum {
BLINK_SUSPENDED = 2500,
};

// static timer
// static timer & task
#if configSUPPORT_STATIC_ALLOCATION
StaticTimer_t blinky_tmdef;
TimerHandle_t blinky_tm;

// static task
StackType_t usb_device_stack[USBD_STACK_SIZE];
StaticTask_t usb_device_taskdef;

// static task for hid
#define HID_STACK_SZIE configMINIMAL_STACK_SIZE
StackType_t hid_stack[HID_STACK_SZIE];
StaticTask_t hid_taskdef;
#endif

TimerHandle_t blinky_tm;

void led_blinky_cb(TimerHandle_t xTimer);
void usb_device_task(void* param);
Expand All @@ -94,15 +95,22 @@ int main(void)
{
board_init();

#if configSUPPORT_STATIC_ALLOCATION
// soft timer for blinky
blinky_tm = xTimerCreateStatic(NULL, pdMS_TO_TICKS(BLINK_NOT_MOUNTED), true, NULL, led_blinky_cb, &blinky_tmdef);
xTimerStart(blinky_tm, 0);

// Create a task for tinyusb device stack
(void) xTaskCreateStatic( usb_device_task, "usbd", USBD_STACK_SIZE, NULL, configMAX_PRIORITIES-1, usb_device_stack, &usb_device_taskdef);
xTaskCreateStatic(usb_device_task, "usbd", USBD_STACK_SIZE, NULL, configMAX_PRIORITIES-1, usb_device_stack, &usb_device_taskdef);

// Create HID task
(void) xTaskCreateStatic( hid_task, "hid", HID_STACK_SZIE, NULL, configMAX_PRIORITIES-2, hid_stack, &hid_taskdef);
xTaskCreateStatic(hid_task, "hid", HID_STACK_SZIE, NULL, configMAX_PRIORITIES-2, hid_stack, &hid_taskdef);
#else
blinky_tm = xTimerCreate(NULL, pdMS_TO_TICKS(BLINK_NOT_MOUNTED), true, NULL, led_blinky_cb);
xTaskCreate(usb_device_task, "usbd", USBD_STACK_SIZE, NULL, configMAX_PRIORITIES-1, NULL);
xTaskCreate(hid_task, "hid", HID_STACK_SZIE, NULL, configMAX_PRIORITIES-2, NULL);
#endif

xTimerStart(blinky_tm, 0);

// skip starting scheduler (and return) for ESP32-S2 or ESP32-S3
#if !TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3)
Expand Down
80 changes: 54 additions & 26 deletions src/osal/osal_freertos.h
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,43 @@
extern "C" {
#endif

//--------------------------------------------------------------------+
// MACRO CONSTANT TYPEDEF PROTYPES
//--------------------------------------------------------------------+

#if configSUPPORT_STATIC_ALLOCATION
typedef StaticSemaphore_t osal_semaphore_def_t;
typedef StaticSemaphore_t osal_mutex_def_t;
#else
// not used therefore defined to smallest possible type to save space
typedef uint8_t osal_semaphore_def_t;
typedef uint8_t osal_mutex_def_t;
#endif

typedef SemaphoreHandle_t osal_semaphore_t;
typedef SemaphoreHandle_t osal_mutex_t;

// _int_set is not used with an RTOS
#define OSAL_QUEUE_DEF(_int_set, _name, _depth, _type) \
static _type _name##_##buf[_depth];\
osal_queue_def_t _name = { .depth = _depth, .item_sz = sizeof(_type), .buf = _name##_##buf };

typedef struct
{
uint16_t depth;
uint16_t item_sz;
void* buf;
#if configSUPPORT_STATIC_ALLOCATION
StaticQueue_t sq;
#endif
}osal_queue_def_t;

typedef QueueHandle_t osal_queue_t;

//--------------------------------------------------------------------+
// TASK API
//--------------------------------------------------------------------+

TU_ATTR_ALWAYS_INLINE static inline uint32_t _osal_ms2tick(uint32_t msec)
{
if (msec == OSAL_TIMEOUT_WAIT_FOREVER) return portMAX_DELAY;
Expand All @@ -51,9 +88,6 @@ TU_ATTR_ALWAYS_INLINE static inline uint32_t _osal_ms2tick(uint32_t msec)
return ticks;
}

//--------------------------------------------------------------------+
// TASK API
//--------------------------------------------------------------------+
TU_ATTR_ALWAYS_INLINE static inline void osal_task_delay(uint32_t msec)
{
vTaskDelay( pdMS_TO_TICKS(msec) );
Expand All @@ -62,12 +96,15 @@ TU_ATTR_ALWAYS_INLINE static inline void osal_task_delay(uint32_t msec)
//--------------------------------------------------------------------+
// Semaphore API
//--------------------------------------------------------------------+
typedef StaticSemaphore_t osal_semaphore_def_t;
typedef SemaphoreHandle_t osal_semaphore_t;

TU_ATTR_ALWAYS_INLINE static inline osal_semaphore_t osal_semaphore_create(osal_semaphore_def_t* semdef)
{
#if configSUPPORT_STATIC_ALLOCATION
return xSemaphoreCreateBinaryStatic(semdef);
#else
(void) semdef;
return xSemaphoreCreateBinary();
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#endif
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_semaphore_post(osal_semaphore_t sem_hdl, bool in_isr)
Expand All @@ -92,7 +129,7 @@ TU_ATTR_ALWAYS_INLINE static inline bool osal_semaphore_post(osal_semaphore_t se
}
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_semaphore_wait (osal_semaphore_t sem_hdl, uint32_t msec)
TU_ATTR_ALWAYS_INLINE static inline bool osal_semaphore_wait(osal_semaphore_t sem_hdl, uint32_t msec)
{
return xSemaphoreTake(sem_hdl, _osal_ms2tick(msec));
}
Expand All @@ -105,15 +142,18 @@ TU_ATTR_ALWAYS_INLINE static inline void osal_semaphore_reset(osal_semaphore_t c
//--------------------------------------------------------------------+
// MUTEX API (priority inheritance)
//--------------------------------------------------------------------+
typedef StaticSemaphore_t osal_mutex_def_t;
typedef SemaphoreHandle_t osal_mutex_t;

TU_ATTR_ALWAYS_INLINE static inline osal_mutex_t osal_mutex_create(osal_mutex_def_t* mdef)
{
#if configSUPPORT_STATIC_ALLOCATION
return xSemaphoreCreateMutexStatic(mdef);
#else
(void) mdef;
return xSemaphoreCreateMutex();
#endif
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_mutex_lock (osal_mutex_t mutex_hdl, uint32_t msec)
TU_ATTR_ALWAYS_INLINE static inline bool osal_mutex_lock(osal_mutex_t mutex_hdl, uint32_t msec)
{
return osal_semaphore_wait(mutex_hdl, msec);
}
Expand All @@ -127,25 +167,13 @@ TU_ATTR_ALWAYS_INLINE static inline bool osal_mutex_unlock(osal_mutex_t mutex_hd
// QUEUE API
//--------------------------------------------------------------------+

// _int_set is not used with an RTOS
#define OSAL_QUEUE_DEF(_int_set, _name, _depth, _type) \
static _type _name##_##buf[_depth];\
osal_queue_def_t _name = { .depth = _depth, .item_sz = sizeof(_type), .buf = _name##_##buf };

typedef struct
{
uint16_t depth;
uint16_t item_sz;
void* buf;

StaticQueue_t sq;
}osal_queue_def_t;

typedef QueueHandle_t osal_queue_t;

TU_ATTR_ALWAYS_INLINE static inline osal_queue_t osal_queue_create(osal_queue_def_t* qdef)
{
return xQueueCreateStatic(qdef->depth, qdef->item_sz, (uint8_t*) qdef->buf, &qdef->sq);
#if configSUPPORT_STATIC_ALLOCATION
return xQueueCreateStatic(qdef->depth, qdef->item_sz, (uint8_t*) qdef->buf, &qdef->sq);
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#else
return xQueueCreate(qdef->depth, qdef->item_sz);
#endif
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_receive(osal_queue_t qhdl, void* data, uint32_t msec)
Expand Down