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/**************************************************************************/
/*!
@file rtos.h
@author hathach (tinyusb.org)
@section LICENSE
Software License Agreement (BSD License)
Copyright (c) 2018, Adafruit Industries (adafruit.com)
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
3. Neither the name of the copyright holders nor the
names of 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 ''AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/**************************************************************************/
#ifndef RTOS_H_
#define RTOS_H_
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "common_func.h"
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "queue.h"
#include "semphr.h"
#define DELAY_FOREVER portMAX_DELAY
enum
{
TASK_PRIO_LOWEST = 0, // Idle task, should not be used
TASK_PRIO_LOW = 1, // Loop
TASK_PRIO_NORMAL = 2, // Timer Task, Callback Task
TASK_PRIO_HIGH = 3, // Bluefruit Task
TASK_PRIO_HIGHEST = 4,
};
#define ms2tick pdMS_TO_TICKS
#define tick2ms(tck) ( ( ((uint64_t)(tck)) * 1000) / configTICK_RATE_HZ )
#define tick2us(tck) ( ( ((uint64_t)(tck)) * 1000000) / configTICK_RATE_HZ )
#define malloc_type(type) rtos_malloc( sizeof(type) )
#if 0
#define rtos_malloc(_size) ({ printf("[malloc] %s:%d : %d bytes\r\n", __PRETTY_FUNCTION__, __LINE__, _size); pvPortMalloc(_size); })
#define rtos_free(ptr) ({ printf("[free] %s:%d\r\n" ,__PRETTY_FUNCTION__, __LINE__/*malloc_usable_size(ptr)*/); vPortFree(ptr); })
#else
#define rtos_malloc_type(_type) (_type*) rtos_malloc(sizeof(_type))
static inline void* rtos_malloc(size_t _size)
{
return (xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED) ? malloc(_size) : pvPortMalloc(_size);
}
static inline void rtos_free( void *pv )
{
return (xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED) ? free(pv) : vPortFree(pv);
}
#endif
#ifdef __cplusplus // Visible only with cplusplus
#define SCHEDULER_STACK_SIZE_DFLT (512*2)
class SchedulerRTOS
{
private:
uint8_t _num;
public:
typedef void (*taskfunc_t)(void);
SchedulerRTOS(void);
bool startLoop(taskfunc_t task, uint32_t stack_size = SCHEDULER_STACK_SIZE_DFLT);
bool startLoop(taskfunc_t task, const char* name, uint32_t stack_size = SCHEDULER_STACK_SIZE_DFLT);
};
extern SchedulerRTOS Scheduler;
#endif
#endif /* RTOS_H_ */
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