micropython/ports/cc3200/simplelink/oslib/osi_freertos.c

//*****************************************************************************
// osi_freertos.c
//
// Interface APIs for free-rtos function calls
//
// Copyright (C) 2014 Texas Instruments Incorporated - http://www.ti.com/ 
// 
// 
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//  modification, are permitted provided that the following conditions 
//  are met:
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//    notice, this list of conditions and the following disclaimer.
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//    Redistributions in binary form must reproduce the above copyright
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//    distribution.
//
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//    its contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
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//*****************************************************************************


#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
#include "portmacro.h"
#include "osi.h"
#include "rom_map.h"
#include "inc/hw_types.h"
#include "interrupt.h"
#include "pybwdt.h"
#include "debug.h"

portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
//Local function definition
static void vSimpleLinkSpawnTask( void *pvParameters );
//Queue Handler
QueueHandle_t xSimpleLinkSpawnQueue = NULL;
TaskHandle_t xSimpleLinkSpawnTaskHndl = NULL;
// Queue size 
#define slQUEUE_SIZE				( 3 )
#define SL_SPAWN_MAX_WAIT_MS        ( 200 )

// This is the static memory (TCB and stack) for the SL spawn task
static StaticTask_t spawnTaskTCB __attribute__ ((section (".rtos_heap")));
static portSTACK_TYPE spawnTaskStack[896 / sizeof(portSTACK_TYPE)] __attribute__ ((section (".rtos_heap"))) __attribute__((aligned (8)));

/*!
	\brief 	This function registers an interrupt in NVIC table

	The sync object is used for synchronization between different thread or ISR and
	a thread.

	\param	iIntrNum	-	Interrupt number to register
	\param	pEntry	    -	Pointer to the interrupt handler
	\param	ucPriority	-	priority of the interrupt

	\return upon successful creation the function should return 0
			Otherwise, a negative value indicating the error code shall be returned
	\note
	\warning
*/
OsiReturnVal_e osi_InterruptRegister(int iIntrNum,P_OSI_INTR_ENTRY pEntry,unsigned char ucPriority)
{
	MAP_IntRegister(iIntrNum,(void(*)(void))pEntry);
	MAP_IntPrioritySet(iIntrNum, ucPriority);
	MAP_IntEnable(iIntrNum);
	return OSI_OK;
}

/*!
	\brief 	This function De registers an interrupt in NVIC table


	\param	iIntrNum	-	Interrupt number to De register

	\return 	none
	\note
	\warning
*/

void osi_InterruptDeRegister(int iIntrNum)
{
	MAP_IntDisable(iIntrNum);
	MAP_IntUnregister(iIntrNum);
}

/*!
	\brief 	This function creates a sync object

	The sync object is used for synchronization between different thread or ISR and
	a thread.

	\param	pSyncObj	-	pointer to the sync object control block

	\return upon successful creation the function should return 0
			Otherwise, a negative value indicating the error code shall be returned
	\note
	\warning
*/
OsiReturnVal_e osi_SyncObjCreate(OsiSyncObj_t* pSyncObj)
{
    SemaphoreHandle_t *pl_SyncObj = (SemaphoreHandle_t *)pSyncObj;

    *pl_SyncObj = xSemaphoreCreateBinary();

    ASSERT (*pSyncObj != NULL);

    return OSI_OK;
}

/*!
	\brief 	This function deletes a sync object

	\param	pSyncObj	-	pointer to the sync object control block

	\return upon successful deletion the function should return 0
			Otherwise, a negative value indicating the error code shall be returned
	\note
	\warning
*/
OsiReturnVal_e osi_SyncObjDelete(OsiSyncObj_t* pSyncObj)
{
    vSemaphoreDelete(*pSyncObj );
    return OSI_OK;
}

/*!
	\brief 		This function generates a sync signal for the object.

	All suspended threads waiting on this sync object are resumed

	\param		pSyncObj	-	pointer to the sync object control block

	\return 	upon successful signaling the function should return 0
				Otherwise, a negative value indicating the error code shall be returned
	\note		the function could be called from ISR context
	\warning
*/
OsiReturnVal_e osi_SyncObjSignal(OsiSyncObj_t* pSyncObj)
{
    xSemaphoreGive( *pSyncObj );
    return OSI_OK;
}
/*!
	\brief 		This function generates a sync signal for the object
				from ISR context.

	All suspended threads waiting on this sync object are resumed

	\param		pSyncObj	-	pointer to the sync object control block

	\return 	upon successful signalling the function should return 0
				Otherwise, a negative value indicating the error code shall be returned
	\note		the function is called from ISR context
	\warning
*/
OsiReturnVal_e osi_SyncObjSignalFromISR(OsiSyncObj_t* pSyncObj)
{
	xHigherPriorityTaskWoken = pdFALSE;
	if(pdTRUE == xSemaphoreGiveFromISR( *pSyncObj, &xHigherPriorityTaskWoken ))
	{
		if( xHigherPriorityTaskWoken )
		{
			taskYIELD ();
		}
	}
	return OSI_OK;
}

/*!
	\brief 	This function waits for a sync signal of the specific sync object

	\param	pSyncObj	-	pointer to the sync object control block
	\param	Timeout		-	numeric value specifies the maximum number of mSec to
							stay suspended while waiting for the sync signal
							Currently, the simple link driver uses only two values:
								- OSI_WAIT_FOREVER
								- OSI_NO_WAIT

	\return upon successful reception of the signal within the timeout window return 0
			Otherwise, a negative value indicating the error code shall be returned
	\note
	\warning
*/
OsiReturnVal_e osi_SyncObjWait(OsiSyncObj_t* pSyncObj , OsiTime_t Timeout)
{
    if(pdTRUE == xSemaphoreTake( (SemaphoreHandle_t)*pSyncObj, ( TickType_t )Timeout))
    {
        return OSI_OK;
    }
    else
    {
        return OSI_OPERATION_FAILED;
    }
}

/*!
	\brief 	This function clears a sync object

	\param	pSyncObj	-	pointer to the sync object control block

	\return upon successful clearing the function should return 0
			Otherwise, a negative value indicating the error code shall be returned
	\note
	\warning
*/
OsiReturnVal_e osi_SyncObjClear(OsiSyncObj_t* pSyncObj)
{
    if (OSI_OK == osi_SyncObjWait(pSyncObj,0) )
    {
        return OSI_OK;
    }
    else
    {
        return OSI_OPERATION_FAILED;
    }
}

/*!
	\brief 	This function creates a locking object.

	The locking object is used for protecting a shared resources between different
	threads.

	\param	pLockObj	-	pointer to the locking object control block

	\return upon successful creation the function should return 0
			Otherwise, a negative value indicating the error code shall be returned
	\note
	\warning
*/
OsiReturnVal_e osi_LockObjCreate(OsiLockObj_t* pLockObj)
{
    SemaphoreHandle_t *pl_LockObj = (SemaphoreHandle_t *)pLockObj;

    vSemaphoreCreateBinary(*pl_LockObj);

    ASSERT (*pLockObj != NULL);

    return OSI_OK;
}

/*!
	\brief 	This function creates a Task.

	Creates a new Task and add it to the last of tasks that are ready to run

	\param	pEntry	-	pointer to the Task Function
	\param	pcName	-	Task Name String
	\param	usStackDepth	-	Stack Size in bytes
	\param	pvParameters	-	pointer to structure to be passed to the Task Function
	\param	uxPriority	-	Task Priority

	\return upon successful creation the function should return 0
			Otherwise, a negative value indicating the error code shall be returned
	\note
	\warning
*/
OsiReturnVal_e osi_TaskCreate(P_OSI_TASK_ENTRY pEntry,const signed char * const pcName,
                              unsigned short usStackDepth, void *pvParameters,
                              unsigned long uxPriority,OsiTaskHandle* pTaskHandle)
{
	ASSERT (pdPASS == xTaskCreate( pEntry, (char const*)pcName,
                                (usStackDepth/(sizeof( portSTACK_TYPE ))), 
                                pvParameters,(unsigned portBASE_TYPE)uxPriority,
                                (TaskHandle_t*)pTaskHandle ));
	return OSI_OK;
}


/*!
	\brief 	This function Deletes a Task.

	Deletes a  Task and remove it from list of running task

	\param	pTaskHandle	-	Task Handle

	\note
	\warning
*/
void osi_TaskDelete(OsiTaskHandle* pTaskHandle)
{
	vTaskDelete((TaskHandle_t)*pTaskHandle);
}



/*!
	\brief 	This function deletes a locking object.

	\param	pLockObj	-	pointer to the locking object control block

	\return upon successful deletion the function should return 0
			Otherwise, a negative value indicating the error code shall be returned
	\note
	\warning
*/
OsiReturnVal_e _osi_LockObjDelete(OsiLockObj_t* pLockObj)
{
    vSemaphoreDelete((SemaphoreHandle_t)*pLockObj );
    return OSI_OK;
}

/*!
	\brief 	This function locks a locking object.

	All other threads that call this function before this thread calls
	the osi_LockObjUnlock would be suspended

	\param	pLockObj	-	pointer to the locking object control block
	\param	Timeout		-	numeric value specifies the maximum number of mSec to
							stay suspended while waiting for the locking object
							Currently, the simple link driver uses only two values:
								- OSI_WAIT_FOREVER
								- OSI_NO_WAIT


	\return upon successful reception of the locking object the function should return 0
			Otherwise, a negative value indicating the error code shall be returned
	\note
	\warning
*/
OsiReturnVal_e _osi_LockObjLock(OsiLockObj_t* pLockObj , OsiTime_t Timeout)
{
    //Take Semaphore
    if(pdTRUE == xSemaphoreTake( *pLockObj, ( TickType_t ) Timeout ))
    {
        return OSI_OK;
    }
    else
    {
        return OSI_OPERATION_FAILED;
    }
}

/*!
	\brief 	This function unlock a locking object.

	\param	pLockObj	-	pointer to the locking object control block

	\return upon successful unlocking the function should return 0
			Otherwise, a negative value indicating the error code shall be returned
	\note
	\warning
*/
OsiReturnVal_e _osi_LockObjUnlock(OsiLockObj_t* pLockObj)
{
	//Release Semaphore
    if(pdTRUE == xSemaphoreGive( *pLockObj ))
    {
    	return OSI_OK;
    }
    else
    {
    	return OSI_OPERATION_FAILED;
    }
}


/*!
	\brief 	This function call the pEntry callback from a different context

	\param	pEntry		-	pointer to the entry callback function

	\param	pValue		- 	pointer to any type of memory structure that would be
							passed to pEntry callback from the execution thread.

	\param	flags		- 	execution flags - reserved for future usage

	\return upon successful registration of the spawn the function should return 0
			(the function is not blocked till the end of the execution of the function
			and could be returned before the execution is actually completed)
			Otherwise, a negative value indicating the error code shall be returned
	\note
	\warning
*/

OsiReturnVal_e osi_Spawn(P_OSI_SPAWN_ENTRY pEntry , void* pValue , unsigned long flags)
{

	tSimpleLinkSpawnMsg Msg;
	Msg.pEntry = pEntry;
	Msg.pValue = pValue;
	xHigherPriorityTaskWoken = pdFALSE;

	if(pdTRUE == xQueueSendFromISR( xSimpleLinkSpawnQueue, &Msg, &xHigherPriorityTaskWoken ))
	{
		if( xHigherPriorityTaskWoken )
		{
			taskYIELD ();
		}
		return OSI_OK;
	}
	return OSI_OPERATION_FAILED;
}


/*!
	\brief 	This is the simplelink spawn task to call SL callback from a different context 

	\param	pvParameters		-	pointer to the task parameter

	\return void
	\note
	\warning
*/
void vSimpleLinkSpawnTask(void *pvParameters)
{
	tSimpleLinkSpawnMsg Msg;
	portBASE_TYPE ret;

	for(;;)
	{
		ret = xQueueReceive( xSimpleLinkSpawnQueue, &Msg, SL_SPAWN_MAX_WAIT_MS);
		if(ret == pdPASS)
		{
				Msg.pEntry(Msg.pValue);
		}
        // set the alive flag for the wdt
        pybwdt_sl_alive();
	}
}

/*!
	\brief 	This is the API to create SL spawn task and create the SL queue

	\param	uxPriority		-	task priority

	\return void
	\note
	\warning
*/
__attribute__ ((section (".boot")))
OsiReturnVal_e VStartSimpleLinkSpawnTask(unsigned portBASE_TYPE uxPriority)
{
    xSimpleLinkSpawnQueue = xQueueCreate( slQUEUE_SIZE, sizeof( tSimpleLinkSpawnMsg ) );
    ASSERT (xSimpleLinkSpawnQueue != NULL);

    /*
    // This is the original code to create a task dynamically
    ASSERT (pdPASS == xTaskCreate( vSimpleLinkSpawnTask, ( portCHAR * ) "SLSPAWN",\
                                   896 / sizeof(portSTACK_TYPE), NULL, uxPriority, &xSimpleLinkSpawnTaskHndl ));
    */

    // This code creates the task using static memory for the TCB and stack
    xSimpleLinkSpawnTaskHndl = xTaskCreateStatic(
        vSimpleLinkSpawnTask, ( portCHAR * ) "SLSPAWN",
        896 / sizeof(portSTACK_TYPE), NULL, uxPriority,
        spawnTaskStack, &spawnTaskTCB);

    ASSERT(xSimpleLinkSpawnTaskHndl != NULL);

    return OSI_OK;
}

/*!
	\brief 	This is the API to delete SL spawn task and delete the SL queue

	\param	none

	\return void
	\note
	\warning
*/
void VDeleteSimpleLinkSpawnTask( void )
{
	if(xSimpleLinkSpawnTaskHndl)
	{
		vTaskDelete( xSimpleLinkSpawnTaskHndl );
		xSimpleLinkSpawnTaskHndl = 0;
	}

	if(xSimpleLinkSpawnQueue)
	{
		vQueueDelete( xSimpleLinkSpawnQueue );
		xSimpleLinkSpawnQueue = 0;
	}
}

/*!
	\brief 	This function is used to create the MsgQ

	\param	pMsgQ	-	pointer to the message queue
	\param	pMsgQName	-	msg queue name
	\param	MsgSize	-	size of message on the queue
	\param	MaxMsgs	-	max. number of msgs that the queue can hold

	\return - OsiReturnVal_e
	\note
	\warning
*/
OsiReturnVal_e osi_MsgQCreate(OsiMsgQ_t* 		pMsgQ , 
			      char*			pMsgQName,
			      unsigned long 		MsgSize,
			      unsigned long		MaxMsgs)
{
	QueueHandle_t handle;

	//Create Queue
	handle = xQueueCreate( MaxMsgs, MsgSize );
	ASSERT (handle != NULL);

	*pMsgQ = (OsiMsgQ_t)handle;
	return OSI_OK;
}
/*!
	\brief 	This function is used to delete the MsgQ

	\param	pMsgQ	-	pointer to the message queue

	\return - OsiReturnVal_e
	\note
	\warning
*/
OsiReturnVal_e osi_MsgQDelete(OsiMsgQ_t* pMsgQ)
{
	vQueueDelete((QueueHandle_t) *pMsgQ );
    return OSI_OK;
}
/*!
	\brief 	This function is used to write data to the MsgQ

	\param	pMsgQ	-	pointer to the message queue
	\param	pMsg	-	pointer to the Msg strut to read into
	\param	Timeout	-	timeout to wait for the Msg to be available

	\return - OsiReturnVal_e
	\note
	\warning
*/

OsiReturnVal_e osi_MsgQWrite(OsiMsgQ_t* pMsgQ, void* pMsg , OsiTime_t Timeout)
{
	xHigherPriorityTaskWoken = pdFALSE;
    if(pdPASS == xQueueSendFromISR((QueueHandle_t) *pMsgQ, pMsg, &xHigherPriorityTaskWoken ))
    {
		taskYIELD ();
		return OSI_OK;
    }
	else
	{
		return OSI_OPERATION_FAILED;
	}
}
/*!
	\brief 	This function is used to read data from the MsgQ

	\param	pMsgQ	-	pointer to the message queue
	\param	pMsg	-	pointer to the Msg strut to read into
	\param	Timeout	-	timeout to wait for the Msg to be available

	\return - OsiReturnVal_e
	\note
	\warning
*/

OsiReturnVal_e osi_MsgQRead(OsiMsgQ_t* pMsgQ, void* pMsg , OsiTime_t Timeout)
{
	//Receive Item from Queue
	if( pdTRUE  == xQueueReceive((QueueHandle_t)*pMsgQ,pMsg,Timeout) )
	{
		return OSI_OK;
	}
	else
	{
		return OSI_OPERATION_FAILED;
	}
}

/*!
	\brief 	This function to call the memory de-allocation function of the FREERTOS

	\param	Size	-	size of memory to alloc in bytes

	\return - void *
	\note
	\warning
*/

void * mem_Malloc(unsigned long Size)
{
    return ( void * ) pvPortMalloc( (size_t)Size );
}

/*!
	\brief 	This function to call the memory de-allocation function of the FREERTOS

	\param	pMem		-	pointer to the memory which needs to be freed
	
	\return - void 
	\note
	\warning
*/
void mem_Free(void *pMem)
{
    vPortFree( pMem );
}

/*!
	\brief 	This function call the memset function
	\param	pBuf	     -	 pointer to the memory to be fill
        \param  Val          -   Value to be fill
        \param  Size         -   Size of the memory which needs to be fill
	\return - void 
	\note
	\warning
*/

void  mem_set(void *pBuf,int Val,size_t Size)
{
    memset( pBuf,Val,Size);
}

/*!
      \brief 	This function call the memcopy function
      \param	pDst	-	pointer to the destination
      \param pSrc     -   pointer to the source
      \param Size     -   Size of the memory which needs to be copy
      
      \return - void 
      \note
      \warning
*/
void  mem_copy(void *pDst, void *pSrc,size_t Size)
{
    memcpy(pDst,pSrc,Size);
}


/*!
	\brief 	This function use to entering into critical section
	\param	void		
	\return - void 
	\note
	\warning
*/

void osi_EnterCritical(void)
{
    vPortEnterCritical();
}

/*!
	\brief 	This function use to exit critical section
	\param	void		
	\return - void 
	\note
	\warning
*/

void osi_ExitCritical(void)
{
    vPortExitCritical();
}
/*!
	\brief 	This function used to start the scheduler
	\param	void
	\return - void
	\note
	\warning
*/
__attribute__ ((section (".boot")))
void osi_start()
{
    vTaskStartScheduler();
}
/*!
	\brief 	This function used to suspend the task for the specified number of milli secs
	\param	MilliSecs	-	Time in millisecs to suspend the task
	\return - void
	\note
	\warning
*/
void osi_Sleep(unsigned int MilliSecs)
{
	vTaskDelay(MilliSecs);
}


/*!
	\brief 	This function used to disable the tasks
	\param	- void
	\return - Key with the suspended tasks
	\note
	\warning
*/
void osi_TaskDisable(void)
{
   vTaskSuspendAll();
}


/*!
	\brief 	This function used to resume all the tasks
	\param	key	-	returned from suspend tasks
	\return - void
	\note
	\warning
*/
void osi_TaskEnable(void)
{
   xTaskResumeAll();
}

/*!
	\brief 	This function used to save the OS context before sleep
	\param	void
	\return - void
	\note
	\warning
*/
void osi_ContextSave()
{

}
/*!
	\brief 	This function used to restore the OS context after sleep
	\param	void
	\return - void
	\note
	\warning
*/
void osi_ContextRestore()
{

}