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Merge pull request #2091 from DRNadler/master
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For FreeRTOS kernel-aware debugging, when queue registry is enabled, …
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@hathach
hathach authored Aug 3, 2023
2 parents 5cf9423 + 37a7f9f commit e5b1718
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Showing 18 changed files with 67 additions and 68 deletions.
2 changes: 1 addition & 1 deletion examples/device/cdc_msc_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h
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Expand Up @@ -81,7 +81,7 @@
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 2
#define configQUEUE_REGISTRY_SIZE 4
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0
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2 changes: 1 addition & 1 deletion examples/device/hid_composite_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h
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Expand Up @@ -81,7 +81,7 @@
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 2
#define configQUEUE_REGISTRY_SIZE 4
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0
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2 changes: 1 addition & 1 deletion hw/bsp/imxrt/FreeRTOSConfig/FreeRTOSConfig.h
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Expand Up @@ -66,7 +66,7 @@
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 2
#define configQUEUE_REGISTRY_SIZE 4
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0
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2 changes: 1 addition & 1 deletion hw/bsp/kinetis_kl/FreeRTOSConfig/FreeRTOSConfig.h
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Expand Up @@ -66,7 +66,7 @@
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 2
#define configQUEUE_REGISTRY_SIZE 4
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0
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2 changes: 1 addition & 1 deletion hw/bsp/lpc18/FreeRTOSConfig/FreeRTOSConfig.h
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Expand Up @@ -66,7 +66,7 @@
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 2
#define configQUEUE_REGISTRY_SIZE 4
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0
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2 changes: 1 addition & 1 deletion hw/bsp/lpc40/FreeRTOSConfig/FreeRTOSConfig.h
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Expand Up @@ -66,7 +66,7 @@
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 2
#define configQUEUE_REGISTRY_SIZE 4
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0
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2 changes: 1 addition & 1 deletion hw/bsp/lpc55/FreeRTOSConfig/FreeRTOSConfig.h
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Expand Up @@ -66,7 +66,7 @@
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 2
#define configQUEUE_REGISTRY_SIZE 4
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0
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2 changes: 1 addition & 1 deletion hw/bsp/mcx/FreeRTOSConfig/FreeRTOSConfig.h
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Expand Up @@ -66,7 +66,7 @@
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 2
#define configQUEUE_REGISTRY_SIZE 4
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0
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2 changes: 1 addition & 1 deletion hw/bsp/nrf/FreeRTOSConfig/FreeRTOSConfig.h
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Expand Up @@ -66,7 +66,7 @@
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 2
#define configQUEUE_REGISTRY_SIZE 4
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0
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2 changes: 1 addition & 1 deletion hw/bsp/ra/FreeRTOSConfig/FreeRTOSConfig.h
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Expand Up @@ -81,7 +81,7 @@
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 2
#define configQUEUE_REGISTRY_SIZE 4
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0
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2 changes: 1 addition & 1 deletion hw/bsp/stm32f0/FreeRTOSConfig/FreeRTOSConfig.h
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Expand Up @@ -66,7 +66,7 @@
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 2
#define configQUEUE_REGISTRY_SIZE 4
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0
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2 changes: 1 addition & 1 deletion hw/bsp/stm32f1/FreeRTOSConfig/FreeRTOSConfig.h
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Expand Up @@ -66,7 +66,7 @@
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 2
#define configQUEUE_REGISTRY_SIZE 4
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0
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2 changes: 1 addition & 1 deletion hw/bsp/stm32f7/FreeRTOSConfig/FreeRTOSConfig.h
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Expand Up @@ -66,7 +66,7 @@
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 2
#define configQUEUE_REGISTRY_SIZE 4
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0
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2 changes: 1 addition & 1 deletion hw/bsp/stm32g0/FreeRTOSConfig/FreeRTOSConfig.h
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Expand Up @@ -66,7 +66,7 @@
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 2
#define configQUEUE_REGISTRY_SIZE 4
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0
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2 changes: 1 addition & 1 deletion hw/bsp/stm32g4/FreeRTOSConfig/FreeRTOSConfig.h
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Expand Up @@ -66,7 +66,7 @@
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 2
#define configQUEUE_REGISTRY_SIZE 4
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0
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2 changes: 1 addition & 1 deletion hw/bsp/stm32h7/FreeRTOSConfig/FreeRTOSConfig.h
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Expand Up @@ -66,7 +66,7 @@
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 2
#define configQUEUE_REGISTRY_SIZE 4
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0
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2 changes: 1 addition & 1 deletion hw/bsp/stm32l4/FreeRTOSConfig/FreeRTOSConfig.h
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Expand Up @@ -66,7 +66,7 @@
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configQUEUE_REGISTRY_SIZE 2
#define configQUEUE_REGISTRY_SIZE 4
#define configUSE_QUEUE_SETS 0
#define configUSE_TIME_SLICING 0
#define configUSE_NEWLIB_REENTRANT 0
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101 changes: 50 additions & 51 deletions src/osal/osal_freertos.h
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Expand Up @@ -52,53 +52,60 @@ extern "C" {

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 QueueHandle_t osal_queue_t;

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

#if defined(configQUEUE_REGISTRY_SIZE) && (configQUEUE_REGISTRY_SIZE>0)
char const* name;
#endif

#if configSUPPORT_STATIC_ALLOCATION
StaticQueue_t sq;
#endif
}osal_queue_def_t;
} osal_queue_def_t;

typedef QueueHandle_t osal_queue_t;
#if defined(configQUEUE_REGISTRY_SIZE) && (configQUEUE_REGISTRY_SIZE>0)
#define _OSAL_Q_NAME(_name) .name = #_name
#else
#define _OSAL_Q_NAME(_name)
#endif

// _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, _OSAL_Q_NAME(_name) };

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

TU_ATTR_ALWAYS_INLINE static inline uint32_t _osal_ms2tick(uint32_t msec)
{
if (msec == OSAL_TIMEOUT_WAIT_FOREVER) return portMAX_DELAY;
if (msec == 0) return 0;
TU_ATTR_ALWAYS_INLINE static inline uint32_t _osal_ms2tick(uint32_t msec) {
if ( msec == OSAL_TIMEOUT_WAIT_FOREVER ) return portMAX_DELAY;
if ( msec == 0 ) return 0;

uint32_t ticks = pdMS_TO_TICKS(msec);

// configTICK_RATE_HZ is less than 1000 and 1 tick > 1 ms
// we still need to delay at least 1 tick
if (ticks == 0) ticks =1 ;
if ( ticks == 0 ) ticks = 1;

return ticks;
}

TU_ATTR_ALWAYS_INLINE static inline void osal_task_delay(uint32_t msec)
{
vTaskDelay( pdMS_TO_TICKS(msec) );
TU_ATTR_ALWAYS_INLINE static inline void osal_task_delay(uint32_t msec) {
vTaskDelay(pdMS_TO_TICKS(msec));
}

//--------------------------------------------------------------------+
// Semaphore API
//--------------------------------------------------------------------+

TU_ATTR_ALWAYS_INLINE static inline osal_semaphore_t osal_semaphore_create(osal_semaphore_def_t* semdef)
{
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
Expand All @@ -107,14 +114,10 @@ TU_ATTR_ALWAYS_INLINE static inline osal_semaphore_t osal_semaphore_create(osal_
#endif
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_semaphore_post(osal_semaphore_t sem_hdl, bool in_isr)
{
if ( !in_isr )
{
TU_ATTR_ALWAYS_INLINE static inline bool osal_semaphore_post(osal_semaphore_t sem_hdl, bool in_isr) {
if ( !in_isr ) {
return xSemaphoreGive(sem_hdl) != 0;
}
else
{
} else {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
BaseType_t res = xSemaphoreGiveFromISR(sem_hdl, &xHigherPriorityTaskWoken);

Expand All @@ -129,22 +132,19 @@ 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));
}

TU_ATTR_ALWAYS_INLINE static inline void osal_semaphore_reset(osal_semaphore_t const sem_hdl)
{
TU_ATTR_ALWAYS_INLINE static inline void osal_semaphore_reset(osal_semaphore_t const sem_hdl) {
xQueueReset(sem_hdl);
}

//--------------------------------------------------------------------+
// MUTEX API (priority inheritance)
//--------------------------------------------------------------------+

TU_ATTR_ALWAYS_INLINE static inline osal_mutex_t osal_mutex_create(osal_mutex_def_t* mdef)
{
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
Expand All @@ -153,47 +153,47 @@ TU_ATTR_ALWAYS_INLINE static inline osal_mutex_t osal_mutex_create(osal_mutex_de
#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);
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_mutex_unlock(osal_mutex_t mutex_hdl)
{
TU_ATTR_ALWAYS_INLINE static inline bool osal_mutex_unlock(osal_mutex_t mutex_hdl) {
return xSemaphoreGive(mutex_hdl);
}

//--------------------------------------------------------------------+
// QUEUE API
//--------------------------------------------------------------------+

TU_ATTR_ALWAYS_INLINE static inline osal_queue_t osal_queue_create(osal_queue_def_t* qdef)
{
TU_ATTR_ALWAYS_INLINE static inline osal_queue_t osal_queue_create(osal_queue_def_t* qdef) {
osal_queue_t q;

#if configSUPPORT_STATIC_ALLOCATION
return xQueueCreateStatic(qdef->depth, qdef->item_sz, (uint8_t*) qdef->buf, &qdef->sq);
q = xQueueCreateStatic(qdef->depth, qdef->item_sz, (uint8_t*) qdef->buf, &qdef->sq);
#else
return xQueueCreate(qdef->depth, qdef->item_sz);
q = xQueueCreate(qdef->depth, qdef->item_sz);
#endif

#if defined(configQUEUE_REGISTRY_SIZE) && (configQUEUE_REGISTRY_SIZE>0)
vQueueAddToRegistry(q, qdef->name);
#endif

return q;
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_receive(osal_queue_t qhdl, void* data, uint32_t msec)
{
TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_receive(osal_queue_t qhdl, void* data, uint32_t msec) {
return xQueueReceive(qhdl, data, _osal_ms2tick(msec));
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_send(osal_queue_t qhdl, void const * data, bool in_isr)
{
if ( !in_isr )
{
TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_send(osal_queue_t qhdl, void const *data, bool in_isr) {
if ( !in_isr ) {
return xQueueSendToBack(qhdl, data, OSAL_TIMEOUT_WAIT_FOREVER) != 0;
}
else
{
} else {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
BaseType_t res = xQueueSendToBackFromISR(qhdl, data, &xHigherPriorityTaskWoken);

#if CFG_TUSB_MCU == OPT_MCU_ESP32S2 || CFG_TUSB_MCU == OPT_MCU_ESP32S3
// not needed after https://github.com/espressif/esp-idf/commit/c5fd79547ac9b7bae06fa660e9f814d18d3390b7
// not needed after https://github.com/espressif/esp-idf/commit/c5fd79547ac9b7bae06fa660e9f814d18d3390b7 (IDF v5)
if ( xHigherPriorityTaskWoken ) portYIELD_FROM_ISR();
#else
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
Expand All @@ -203,13 +203,12 @@ TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_send(osal_queue_t qhdl, void
}
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_empty(osal_queue_t qhdl)
{
TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_empty(osal_queue_t qhdl) {
return uxQueueMessagesWaiting(qhdl) == 0;
}

#ifdef __cplusplus
}
}
#endif

#endif

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