1 /* 2 * Copyright (C) 2017 BlueKitchen GmbH 3 * 4 * Redistribution and use in source and binary forms, with or without 5 * modification, are permitted provided that the following conditions 6 * are met: 7 * 8 * 1. Redistributions of source code must retain the above copyright 9 * notice, this list of conditions and the following disclaimer. 10 * 2. Redistributions in binary form must reproduce the above copyright 11 * notice, this list of conditions and the following disclaimer in the 12 * documentation and/or other materials provided with the distribution. 13 * 3. Neither the name of the copyright holders nor the names of 14 * contributors may be used to endorse or promote products derived 15 * from this software without specific prior written permission. 16 * 4. Any redistribution, use, or modification is done solely for 17 * personal benefit and not for any commercial purpose or for 18 * monetary gain. 19 * 20 * THIS SOFTWARE IS PROVIDED BY BLUEKITCHEN GMBH AND CONTRIBUTORS 21 * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL MATTHIAS 24 * RINGWALD OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS 27 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED 28 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 29 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF 30 * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 31 * SUCH DAMAGE. 32 * 33 * Please inquire about commercial licensing options at 34 * [email protected] 35 * 36 */ 37 38 /* 39 * btstack_run_loop_freertos.c 40 * 41 * Run loop on dedicated thread on FreeRTOS 42 */ 43 44 #include <stddef.h> // NULL 45 46 #include "btstack_linked_list.h" 47 #include "btstack_debug.h" 48 #include "btstack_run_loop_freertos.h" 49 50 // #include "hal_time_ms.h" 51 uint32_t hal_time_ms(void); 52 53 #include "freertos/FreeRTOS.h" 54 #include "freertos/task.h" 55 #include "freertos/queue.h" 56 #include "freertos/event_groups.h" 57 58 typedef struct function_call { 59 void (*fn)(void * arg); 60 void * arg; 61 } function_call_t; 62 63 static const btstack_run_loop_t btstack_run_loop_freertos; 64 65 static QueueHandle_t btstack_run_loop_queue; 66 static EventGroupHandle_t btstack_run_loop_event_group; 67 68 // bit 0 event group reserved to wakeup run loop 69 #define EVENT_GROUP_FLAG_RUN_LOOP 1 70 71 // the run loop 72 static btstack_linked_list_t timers; 73 static btstack_linked_list_t data_sources; 74 75 static uint32_t btstack_run_loop_freertos_get_time_ms(void){ 76 return hal_time_ms(); 77 } 78 79 // set timer 80 static void btstack_run_loop_freertos_set_timer(btstack_timer_source_t *ts, uint32_t timeout_in_ms){ 81 ts->timeout = btstack_run_loop_freertos_get_time_ms() + timeout_in_ms + 1; 82 } 83 84 /** 85 * Add timer to run_loop (keep list sorted) 86 */ 87 static void btstack_run_loop_freertos_add_timer(btstack_timer_source_t *ts){ 88 btstack_linked_item_t *it; 89 for (it = (btstack_linked_item_t *) &timers; it->next ; it = it->next){ 90 // don't add timer that's already in there 91 if ((btstack_timer_source_t *) it->next == ts){ 92 log_error( "btstack_run_loop_timer_add error: timer to add already in list!"); 93 return; 94 } 95 if (ts->timeout < ((btstack_timer_source_t *) it->next)->timeout) { 96 break; 97 } 98 } 99 ts->item.next = it->next; 100 it->next = (btstack_linked_item_t *) ts; 101 } 102 103 /** 104 * Remove timer from run loop 105 */ 106 static int btstack_run_loop_freertos_remove_timer(btstack_timer_source_t *ts){ 107 return btstack_linked_list_remove(&timers, (btstack_linked_item_t *) ts); 108 } 109 110 static void btstack_run_loop_freertos_dump_timer(void){ 111 #ifdef ENABLE_LOG_INFO 112 btstack_linked_item_t *it; 113 int i = 0; 114 for (it = (btstack_linked_item_t *) timers; it ; it = it->next){ 115 btstack_timer_source_t *ts = (btstack_timer_source_t*) it; 116 log_info("timer %u, timeout %u\n", i, (unsigned int) ts->timeout); 117 } 118 #endif 119 } 120 121 // schedules execution from regular thread 122 void btstack_run_loop_freertos_trigger(void){ 123 xEventGroupSetBits(btstack_run_loop_event_group, EVENT_GROUP_FLAG_RUN_LOOP); 124 } 125 126 void btstack_run_loop_freertos_execute_code_on_main_thread(void (*fn)(void *arg), void * arg){ 127 function_call_t message; 128 message.fn = fn; 129 message.arg = arg; 130 BaseType_t res = xQueueSendToBack(btstack_run_loop_queue, &message, 0); // portMAX_DELAY); 131 if (res != pdTRUE){ 132 log_error("Failed to post fn %p", fn); 133 } 134 btstack_run_loop_freertos_trigger(); 135 } 136 137 #if (INCLUDE_xEventGroupSetBitFromISR == 1) 138 void btstack_run_loop_freertos_trigger_from_isr(void){ 139 xEventGroupSetBits(btstack_run_loop_event_group, EVENT_GROUP_FLAG_RUN_LOOP); 140 } 141 142 void btstack_run_loop_freertos_execute_code_on_main_thread_from_isr(void (*fn)(void *arg), void * arg){ 143 function_call_t message; 144 message.fn = fn; 145 message.arg = arg; 146 BaseType_t xHigherPriorityTaskWoken; 147 xQueueSendToBackFromISR(btstack_run_loop_queue, &message, &xHigherPriorityTaskWoken); 148 btstack_run_loop_freertos_trigger_from_isr(); 149 } 150 #endif 151 152 /** 153 * Execute run_loop 154 */ 155 static void btstack_run_loop_freertos_task(void *pvParameter){ 156 UNUSED(pvParameter); 157 158 log_debug("RL: execute"); 159 160 while (1) { 161 162 // process data sources 163 btstack_data_source_t *ds; 164 btstack_data_source_t *next; 165 for (ds = (btstack_data_source_t *) data_sources; ds != NULL ; ds = next){ 166 next = (btstack_data_source_t *) ds->item.next; // cache pointer to next data_source to allow data source to remove itself 167 if (ds->flags & DATA_SOURCE_CALLBACK_POLL){ 168 ds->process(ds, DATA_SOURCE_CALLBACK_POLL); 169 } 170 } 171 172 // process registered function calls on run loop thread 173 while (1){ 174 function_call_t message = { NULL, NULL }; 175 BaseType_t res = xQueueReceive( btstack_run_loop_queue, &message, 0); 176 if (res == pdFALSE) break; 177 if (message.fn){ 178 message.fn(message.arg); 179 } 180 } 181 182 // process timers and get et next timeout 183 uint32_t timeout_ms = portMAX_DELAY; 184 log_debug("RL: portMAX_DELAY %u", portMAX_DELAY); 185 while (timers) { 186 btstack_timer_source_t * ts = (btstack_timer_source_t *) timers; 187 uint32_t now = btstack_run_loop_freertos_get_time_ms(); 188 log_debug("RL: now %u, expires %u", now, ts->timeout); 189 if (ts->timeout > now){ 190 timeout_ms = ts->timeout - now; 191 break; 192 } 193 // remove timer before processing it to allow handler to re-register with run loop 194 btstack_run_loop_remove_timer(ts); 195 log_debug("RL: first timer %p", ts->process); 196 ts->process(ts); 197 } 198 199 // wait for timeout or event group 200 log_debug("RL: wait with timeout %u", (int) timeout_ms); 201 xEventGroupWaitBits(btstack_run_loop_event_group, EVENT_GROUP_FLAG_RUN_LOOP, 1, 0, pdMS_TO_TICKS(timeout_ms)); 202 } 203 } 204 205 static void btstack_run_loop_freertos_execute(void) { 206 // use dedicated task, might not be needed in all cases 207 xTaskCreate(&btstack_run_loop_freertos_task, "btstack_task", 3072, NULL, 5, NULL); 208 // btstack_run_loop_freertos_task(NULL); 209 } 210 211 static void btstack_run_loop_freertos_add_data_source(btstack_data_source_t *ds){ 212 btstack_linked_list_add(&data_sources, (btstack_linked_item_t *) ds); 213 } 214 215 static int btstack_run_loop_freertos_remove_data_source(btstack_data_source_t *ds){ 216 return btstack_linked_list_remove(&data_sources, (btstack_linked_item_t *) ds); 217 } 218 219 static void btstack_run_loop_freertos_enable_data_source_callbacks(btstack_data_source_t * ds, uint16_t callback_types){ 220 ds->flags |= callback_types; 221 } 222 223 static void btstack_run_loop_freertos_disable_data_source_callbacks(btstack_data_source_t * ds, uint16_t callback_types){ 224 ds->flags &= ~callback_types; 225 } 226 227 static void btstack_run_loop_freertos_init(void){ 228 timers = NULL; 229 230 // queue to receive events: up to 2 calls from transport, up to 3 for app 231 btstack_run_loop_queue = xQueueCreate(20, sizeof(function_call_t)); 232 233 // event group to wake run loop 234 btstack_run_loop_event_group = xEventGroupCreate(); 235 236 log_info("run loop init, queue item size %u", (int) sizeof(function_call_t)); 237 } 238 239 /** 240 * @brief Provide btstack_run_loop_posix instance for use with btstack_run_loop_init 241 */ 242 const btstack_run_loop_t * btstack_run_loop_freertos_get_instance(void){ 243 return &btstack_run_loop_freertos; 244 } 245 246 static const btstack_run_loop_t btstack_run_loop_freertos = { 247 &btstack_run_loop_freertos_init, 248 &btstack_run_loop_freertos_add_data_source, 249 &btstack_run_loop_freertos_remove_data_source, 250 &btstack_run_loop_freertos_enable_data_source_callbacks, 251 &btstack_run_loop_freertos_disable_data_source_callbacks, 252 &btstack_run_loop_freertos_set_timer, 253 &btstack_run_loop_freertos_add_timer, 254 &btstack_run_loop_freertos_remove_timer, 255 &btstack_run_loop_freertos_execute, 256 &btstack_run_loop_freertos_dump_timer, 257 &btstack_run_loop_freertos_get_time_ms, 258 }; 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