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cpu/esp*: move freertos/task to cpu/esp_common
This commit is contained in:
Gunar Schorcht
parent
61339001e7
commit
9723e3e3cf
@ -1,180 +0,0 @@
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/*
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* Copyright (C) 2018 Gunar Schorcht
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*
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* FreeRTOS to RIOT-OS adaption module for source code compatibility
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*/
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#ifndef DOXYGEN
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#define ENABLE_DEBUG (0)
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#include "debug.h"
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#include <string.h>
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#include "esp_common.h"
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#include "esp_attr.h"
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#include "log.h"
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#include "syscalls.h"
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#include "thread.h"
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#include "xtimer.h"
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#include "soc/soc.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#define MHZ 1000000
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/**
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* @brief Architecture specific data of thread control blocks
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*/
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typedef struct {
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uint32_t saved_int_state;
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uint32_t critical_nesting;
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} thread_arch_ext_t;
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volatile thread_arch_ext_t threads_arch_exts[KERNEL_PID_LAST + 1] = {};
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BaseType_t xTaskCreatePinnedToCore (TaskFunction_t pvTaskCode,
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const char * const pcName,
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const uint32_t usStackDepth,
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void * const pvParameters,
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UBaseType_t uxPriority,
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TaskHandle_t * const pvCreatedTask,
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const BaseType_t xCoreID)
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{
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/* FreeRTOS priority values have to be inverted */
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uxPriority = SCHED_PRIO_LEVELS - uxPriority - 1;
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DEBUG("%s name=%s size=%d prio=%d pvCreatedTask=%p ",
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__func__, pcName, usStackDepth, uxPriority, pvCreatedTask);
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char* stack = malloc(usStackDepth + sizeof(thread_t));
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if (!stack) {
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return pdFALSE;
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}
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kernel_pid_t pid = thread_create(stack,
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usStackDepth + sizeof(thread_t),
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uxPriority,
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THREAD_CREATE_WOUT_YIELD |
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THREAD_CREATE_STACKTEST,
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(thread_task_func_t)pvTaskCode,
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pvParameters, pcName);
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DEBUG("pid=%d\n", pid);
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if (pvCreatedTask) {
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*pvCreatedTask = (TaskHandle_t)(0L + pid);
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}
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return (pid < 0) ? pdFALSE : pdTRUE;
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}
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BaseType_t xTaskCreate (TaskFunction_t pvTaskCode,
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const char * const pcName,
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const uint32_t usStackDepth,
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void * const pvParameters,
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UBaseType_t uxPriority,
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TaskHandle_t * const pvCreatedTask)
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{
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return xTaskCreatePinnedToCore (pvTaskCode,
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pcName,
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usStackDepth,
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pvParameters,
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uxPriority,
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pvCreatedTask,
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PRO_CPU_NUM);
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}
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void vTaskDelete (TaskHandle_t xTaskToDelete)
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{
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DEBUG("%s pid=%d task=%p\n", __func__, thread_getpid(), xTaskToDelete);
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CHECK_PARAM(xTaskToDelete != NULL);
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uint32_t pid = (uint32_t)xTaskToDelete;
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/* remove old task from scheduling */
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thread_t* thread = (thread_t*)sched_threads[pid];
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sched_set_status(thread, STATUS_STOPPED);
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sched_threads[pid] = NULL;
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sched_num_threads--;
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sched_active_thread = NULL;
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/* determine the new running task */
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sched_run();
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}
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TaskHandle_t xTaskGetCurrentTaskHandle(void)
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{
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DEBUG("%s pid=%d\n", __func__, thread_getpid());
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uint32_t pid = thread_getpid();
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return (TaskHandle_t)pid;
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}
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void vTaskDelay( const TickType_t xTicksToDelay )
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{
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uint64_t us = xTicksToDelay * MHZ / xPortGetTickRateHz();
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xtimer_usleep(us);
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}
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TickType_t xTaskGetTickCount (void)
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{
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return system_get_time() / USEC_PER_MSEC / portTICK_PERIOD_MS;
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}
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void vTaskEnterCritical( portMUX_TYPE *mux )
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{
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/* determine calling thread pid (can't fail) */
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kernel_pid_t my_pid = thread_getpid();
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DEBUG("%s pid=%d prio=%d mux=%p\n", __func__,
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my_pid, sched_threads[my_pid]->priority, mux);
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/* disable interrupts */
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uint32_t state = irq_disable();
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/* Locking the given mutex does not work here, as this function can also
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be called in the interrupt context. Therefore, the given mutex is not
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used. Instead, the basic default FreeRTOS mechanism for critical
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sections is used by simply disabling interrupts. Since context
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switches for the ESP32 are also based on interrupts, there is no
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possibility that another thread will enter the critical section
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once the interrupts are disabled. */
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/* mutex_lock(mux); */ /* TODO should be only a spin lock */
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/* increment nesting counter and save old interrupt level */
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threads_arch_exts[my_pid].critical_nesting++;
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if (threads_arch_exts[my_pid].critical_nesting == 1) {
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threads_arch_exts[my_pid].saved_int_state = state;
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}
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}
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void vTaskExitCritical( portMUX_TYPE *mux )
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{
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/* determine calling thread pid (can't fail) */
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kernel_pid_t my_pid = thread_getpid();
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DEBUG("%s pid=%d prio=%d mux=%p\n", __func__,
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my_pid, sched_threads[my_pid]->priority, mux);
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/* The given mutex is not used (see vTaskEnterCritical) and has not to
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be unlocked here. */
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/* mutex_unlock(mux); */ /* TODO should be only a spin lock */
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/* decrement nesting counter and restore old interrupt level */
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if (threads_arch_exts[my_pid].critical_nesting) {
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threads_arch_exts[my_pid].critical_nesting--;
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if (threads_arch_exts[my_pid].critical_nesting == 0) {
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irq_restore(threads_arch_exts[my_pid].saved_int_state);
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}
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}
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}
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#endif /* DOXYGEN */
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@ -162,7 +162,14 @@ void vTaskEnterCritical( portMUX_TYPE *mux )
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/* acquire the mutex with interrupts disabled */
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/* acquire the mutex with interrupts disabled */
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if (mux) {
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if (mux) {
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mutex_lock(mux); /* TODO should be only a spin lock */
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/* Locking the given mutex does not work here, as this function can also
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be called in the interrupt context. Therefore, the given mutex is not
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used. Instead, the basic default FreeRTOS mechanism for critical
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sections is used by simply disabling interrupts. Since context
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switches for the ESPs are also based on interrupts, there is no
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possibility that another thread will enter the critical section
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once the interrupts are disabled. */
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/* mutex_lock(mux); */ /* TODO should be only a spin lock */
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}
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}
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/* increment nesting counter and save old interrupt level */
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/* increment nesting counter and save old interrupt level */
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@ -189,7 +196,7 @@ void vTaskExitCritical( portMUX_TYPE *mux )
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/* release the mutex with interrupts disabled */
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/* release the mutex with interrupts disabled */
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if (mux) {
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if (mux) {
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mutex_unlock(mux); /* TODO should be only a spin lock */
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/* mutex_unlock(mux); */ /* TODO should be only a spin lock */
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}
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}
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/* decrement nesting counter and restore old interrupt level */
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/* decrement nesting counter and restore old interrupt level */
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