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Update docs and fix bugs (#149)

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Improved the docs for the 3 main Tactility projects. I also fixed some inaccuracies and bugs in certain APIs as I went through the code.
This commit is contained in:
Ken Van Hoeylandt
2025-01-07 20:45:23 +01:00
committed by GitHub
parent ff4287e2ce
commit 415096c3b2
62 changed files with 503 additions and 517 deletions
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TactilityCore/Source/kernel/Kernel.cpp
+6 -10
View File
@@ -12,16 +12,12 @@
namespace tt::kernel {
bool isIrq() {
return TT_IS_IRQ_MODE();
}
bool isRunning() {
return xTaskGetSchedulerState() != taskSCHEDULER_RUNNING;
}
int32_t lock() {
tt_assert(!isIrq());
tt_assert(!TT_IS_ISR());
int32_t lock;
@@ -46,7 +42,7 @@ int32_t lock() {
}
int32_t unlock() {
tt_assert(!isIrq());
tt_assert(!TT_IS_ISR());
int32_t lock;
@@ -76,7 +72,7 @@ int32_t unlock() {
}
int32_t restoreLock(int32_t lock) {
tt_assert(!isIrq());
tt_assert(!TT_IS_ISR());
switch (xTaskGetSchedulerState()) {
case taskSCHEDULER_SUSPENDED:
@@ -112,7 +108,7 @@ uint32_t getTickFrequency() {
}
void delayTicks(TickType_t ticks) {
tt_assert(!isIrq());
tt_assert(!TT_IS_ISR());
if (ticks == 0U) {
taskYIELD();
} else {
@@ -121,7 +117,7 @@ void delayTicks(TickType_t ticks) {
}
TtStatus delayUntilTick(TickType_t tick) {
tt_assert(!isIrq());
tt_assert(!TT_IS_ISR());
TickType_t tcnt, delay;
TtStatus stat;
@@ -150,7 +146,7 @@ TtStatus delayUntilTick(TickType_t tick) {
TickType_t getTicks() {
TickType_t ticks;
if (isIrq() != 0U) {
if (TT_IS_ISR() != 0U) {
ticks = xTaskGetTickCountFromISR();
} else {
ticks = xTaskGetTickCount();
TactilityCore/Source/kernel/Kernel.h
+21 -56
View File
@@ -10,87 +10,56 @@
namespace tt::kernel {
/** Recognized platform types */
typedef enum {
PlatformEsp,
PlatformSimulator
} Platform;
/** Check if CPU is in IRQ or kernel running and IRQ is masked
*
* Originally this primitive was born as a workaround for FreeRTOS kernel primitives shenanigans with PRIMASK.
*
* Meaningful use cases are:
*
* - When kernel is started and you want to ensure that you are not in IRQ or IRQ is not masked(like in critical section)
* - When kernel is not started and you want to make sure that you are not in IRQ mode, ignoring PRIMASK.
*
* As you can see there will be edge case when kernel is not started and PRIMASK is not 0 that may cause some funky behavior.
* Most likely it will happen after kernel primitives being used, but control not yet passed to kernel.
* It's up to you to figure out if it is safe for your code or not.
*
* @return true if CPU is in IRQ or kernel running and IRQ is masked
*/
bool isIrq();
/** Check if kernel is running
*
* @return true if running, false otherwise
* @return true if the FreeRTOS kernel is running, false otherwise
*/
bool isRunning();
/** Lock kernel, pause process scheduling
*
* @warning This should never be called in interrupt request context.
*
* @return previous lock state(0 - unlocked, 1 - locked)
* @warning don't call from ISR context
* @return previous lock state(0 - unlocked, 1 - locked)
*/
int32_t lock();
/** Unlock kernel, resume process scheduling
*
* @warning This should never be called in interrupt request context.
*
* @return previous lock state(0 - unlocked, 1 - locked)
* @warning don't call from ISR context
* @return previous lock state(0 - unlocked, 1 - locked)
*/
int32_t unlock();
/** Restore kernel lock state
*
* @warning This should never be called in interrupt request context.
*
* @param[in] lock The lock state
*
* @return new lock state or error
* @warning don't call from ISR context
* @param[in] lock The lock state
* @return new lock state or error
*/
int32_t restoreLock(int32_t lock);
/** Get kernel systick frequency
*
* @return systick counts per second
* @return systick counts per second
*/
uint32_t getTickFrequency();
TickType_t getTicks();
/** Delay execution
*
* @warning This should never be called in interrupt request context.
*
* @warning don't call from ISR context
* Also keep in mind delay is aliased to scheduler timer intervals.
*
* @param[in] ticks The ticks count to pause
* @param[in] ticks The ticks count to pause
*/
void delayTicks(TickType_t ticks);
/** Delay until tick
*
* @warning This should never be called in interrupt request context.
*
* @param[in] ticks The tick until which kerel should delay task execution
*
* @return The status.
* @warning don't call from ISR context
* @param[in] ticks The tick until which kerel should delay task execution
* @return the status
*/
TtStatus delayUntilTick(uint32_t tick);
TtStatus delayUntilTick(TickType_t tick);
/** Convert milliseconds to ticks
*
@@ -100,26 +69,22 @@ TtStatus delayUntilTick(uint32_t tick);
TickType_t millisToTicks(uint32_t milliSeconds);
/** Delay in milliseconds
*
* This method uses kernel ticks on the inside, which causes delay to be aliased to scheduler timer intervals.
* Real wait time will be between X+ milliseconds.
* Special value: 0, will cause task yield.
* Also if used when kernel is not running will fall back to `tt_delay_us`.
*
* @warning Cannot be used from ISR
*
* @param[in] milliSeconds milliseconds to wait
* Also if used when kernel is not running will fall back to delayMicros()
* @warning don't call from ISR context
* @param[in] milliSeconds milliseconds to wait
*/
void delayMillis(uint32_t milliSeconds);
/** Delay in microseconds
*
* Implemented using Cortex DWT counter. Blocking and non aliased.
*
* @param[in] microSeconds microseconds to wait
* @param[in] microSeconds microseconds to wait
*/
void delayMicros(uint32_t microSeconds);
/** @return the platform that Tactility currently is running on. */
Platform getPlatform();
} // namespace
TactilityCore/Source/kernel/PanicHandler.cpp
+5 -2
View File
@@ -2,7 +2,6 @@
#include "PanicHandler.h"
#include <esp_rom_sys.h>
#include <esp_debug_helpers.h>
#include <esp_attr.h>
#include <esp_memory_utils.h>
@@ -10,6 +9,10 @@
extern "C" {
/**
* This static variable survives a crash reboot.
* It is reset by the Boot app.
*/
static RTC_NOINIT_ATTR CrashData crashData;
void __real_esp_panic_handler(void* info);
@@ -61,6 +64,6 @@ void __wrap_esp_panic_handler(void* info) {
}
const CrashData* getRtcCrashData() { return &crashData; }
const CrashData& getRtcCrashData() { return crashData; }
#endif
TactilityCore/Source/kernel/PanicHandler.h
+4 -1
View File
@@ -7,6 +7,7 @@
#define CRASH_DATA_CALLSTACK_LIMIT 64
#define CRASH_DATA_INCLUDES_SP false
/** Represents a single frame on the callstack. */
struct CallstackFrame {
uint32_t pc = 0;
#if CRASH_DATA_INCLUDES_SP
@@ -14,12 +15,14 @@ struct CallstackFrame {
#endif
};
/** Callstack-related crash data. */
struct CrashData {
bool callstackCorrupted = false;
uint8_t callstackLength = 0;
CallstackFrame callstack[CRASH_DATA_CALLSTACK_LIMIT];
};
const CrashData* getRtcCrashData();
/** @return the crash data */
const CrashData& getRtcCrashData();
#endif
TactilityCore/Source/kernel/critical/Critical.h
+7
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@@ -10,8 +10,15 @@ typedef struct {
bool kernelRunning;
} TtCriticalInfo;
/** Enter a critical section
* @return info on the status
*/
TtCriticalInfo enter();
/**
* Exit a critical section
* @param[in] info the info from when the critical section was started
*/
void exit(TtCriticalInfo info);
} // namespace