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C++ conversions (#111)

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* Remove version from artifact name
* Target C++ 20 and higher
* Use cpp string
* Better crash implementation
* String utils in cpp style
* Replace parameter methods with start() method
* MutexType to Mutex::Type
* Kernel c to cpp style
* Cleanup event flag
* More cpp conversions
* Test fixes
* Updated ideas docs
This commit is contained in:
Ken Van Hoeylandt
2024-12-07 12:24:28 +01:00
committed by GitHub
parent d52fe52d96
commit 42e843b463
66 changed files with 272 additions and 258 deletions
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TactilityCore/Source/Bundle.h
+1 -1
View File
@@ -23,7 +23,7 @@ private:
} Type;
typedef struct {
const char* key;
std::string key;
Type type;
union {
bool value_bool;
TactilityCore/Source/Check.cpp
+9 -6
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@@ -1,12 +1,11 @@
#include "Check.h"
#include "CoreDefines.h"
#include "Log.h"
#include "RtosCompatTask.h"
#define TAG "kernel"
static void tt_print_memory_info() {
static void logMemoryInfo() {
#ifdef ESP_PLATFORM
TT_LOG_E(TAG, "default caps:");
TT_LOG_E(TAG, " total: %u", heap_caps_get_total_size(MALLOC_CAP_DEFAULT));
@@ -19,19 +18,23 @@ static void tt_print_memory_info() {
#endif
}
static void tt_print_task_info() {
static void logTaskInfo() {
const char* name = pcTaskGetName(nullptr);
const char* safe_name = name ? name : "main";
TT_LOG_E(TAG, "Task: %s", safe_name);
TT_LOG_E(TAG, "Stack watermark: %u", uxTaskGetStackHighWaterMark(NULL) * 4);
}
TT_NORETURN void tt_crash_implementation() {
tt_print_task_info();
tt_print_memory_info();
namespace tt {
TT_NORETURN void _crash() {
logTaskInfo();
logMemoryInfo();
// TODO: Add breakpoint when debugger is attached.
#ifdef ESP_TARGET
esp_system_abort("System halted. Connect debugger for more info.");
#endif
__builtin_unreachable();
}
}
TactilityCore/Source/Check.h
+18 -6
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@@ -15,17 +15,29 @@
#include "Log.h"
#include <cassert>
#include "CoreDefines.h"
#define TT_NORETURN [[noreturn]]
/** Crash system */
TT_NORETURN void tt_crash_implementation();
namespace tt {
/**
* Don't call this directly. Use tt_crash() as it will trace info.
*/
TT_NORETURN void _crash();
}
/** Crash system with message. */
#define tt_crash(message) \
do { \
TT_LOG_E("crash", "%s\n\tat %s:%d", ((message) ? (message) : ""), __FILE__, __LINE__); \
tt_crash_implementation(); \
#define tt_crash(...) TT_ARG_CAT(_tt_crash,TT_ARGCOUNT(__VA_ARGS__))(__VA_ARGS__)
#define _tt_crash0() do { \
TT_LOG_E("crash", "at %s:%d", __FILE__, __LINE__); \
tt::_crash(); \
} while (0)
#define _tt_crash1(message) do { \
TT_LOG_E("crash", "%s\n\tat %s:%d", message, __FILE__, __LINE__); \
tt::_crash(); \
} while (0)
/** Halt system
@@ -53,7 +65,7 @@ TT_NORETURN void tt_crash_implementation();
* @param optional message (const char*)
*/
#define tt_check(x, ...) if (!(x)) { TT_LOG_E("check", "Failed: %s", #x); tt_crash_implementation(); }
#define tt_check(x, ...) if (!(x)) { TT_LOG_E("check", "Failed: %s", #x); tt::_crash(); }
/** Only in debug build: Assert condition and crash if assert failed */
#ifdef TT_DEBUG
TactilityCore/Source/CoreDefines.h
+16
View File
@@ -31,3 +31,19 @@
#define TT_IS_ISR() (TT_IS_IRQ_MODE())
#define TT_CHECK_RETURN __attribute__((__warn_unused_result__))
// region Variable arguments support
// Adapted from https://stackoverflow.com/a/78848701/3848666
#define TT_ARG_IGNORE(X)
#define TT_ARG_CAT(X,Y) _TT_ARG_CAT(X,Y)
#define _TT_ARG_CAT(X,Y) X ## Y
#define TT_ARGCOUNT(...) _TT_ARGCOUNT ## __VA_OPT__(1(__VA_ARGS__) TT_ARG_IGNORE) (0)
#define _TT_ARGCOUNT1(X,...) _TT_ARGCOUNT ## __VA_OPT__(2(__VA_ARGS__) TT_ARG_IGNORE) (1)
#define _TT_ARGCOUNT2(X,...) _TT_ARGCOUNT ## __VA_OPT__(3(__VA_ARGS__) TT_ARG_IGNORE) (2)
#define _TT_ARGCOUNT3(X,...) _TT_ARGCOUNT ## __VA_OPT__(4(__VA_ARGS__) TT_ARG_IGNORE) (3)
#define _TT_ARGCOUNT4(X,...) _TT_ARGCOUNT ## __VA_OPT__(5(__VA_ARGS__) TT_ARG_IGNORE) (4)
#define _TT_ARGCOUNT5(X,...) 5
#define _TT_ARGCOUNT(X) X
// endregion
TactilityCore/Source/Dispatcher.cpp
+1 -1
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@@ -7,7 +7,7 @@ namespace tt {
#define BACKPRESSURE_WARNING_COUNT 100
Dispatcher::Dispatcher() :
mutex(MutexTypeNormal)
mutex(Mutex::TypeNormal)
{}
Dispatcher::~Dispatcher() {
TactilityCore/Source/EventFlag.h
-2
View File
@@ -5,8 +5,6 @@
namespace tt {
#define TT_API_LOCK_EVENT (1U << 0)
/**
* Wrapper for FreeRTOS xEventGroup.
*/
TactilityCore/Source/MessageQueue.cpp
+8 -8
View File
@@ -1,17 +1,17 @@
#include "MessageQueue.h"
#include "Check.h"
#include "Kernel.h"
#include "kernel/Kernel.h"
namespace tt {
MessageQueue::MessageQueue(uint32_t msg_count, uint32_t msg_size) {
tt_assert((kernel_is_irq() == 0U) && (msg_count > 0U) && (msg_size > 0U));
tt_assert((kernel::isIrq() == 0U) && (msg_count > 0U) && (msg_size > 0U));
queue_handle = xQueueCreate(msg_count, msg_size);
tt_check(queue_handle);
}
MessageQueue::~MessageQueue() {
tt_assert(kernel_is_irq() == 0U);
tt_assert(kernel::isIrq() == 0U);
vQueueDelete(queue_handle);
}
@@ -21,7 +21,7 @@ TtStatus MessageQueue::put(const void* msg_ptr, uint32_t timeout) {
stat = TtStatusOk;
if (kernel_is_irq() != 0U) {
if (kernel::isIrq() != 0U) {
if ((queue_handle == nullptr) || (msg_ptr == nullptr) || (timeout != 0U)) {
stat = TtStatusErrorParameter;
} else {
@@ -57,7 +57,7 @@ TtStatus MessageQueue::get(void* msg_ptr, uint32_t timeout_ticks) {
stat = TtStatusOk;
if (kernel_is_irq() != 0U) {
if (kernel::isIrq() != 0U) {
if ((queue_handle == nullptr) || (msg_ptr == nullptr) || (timeout_ticks != 0U)) {
stat = TtStatusErrorParameter;
} else {
@@ -122,7 +122,7 @@ uint32_t MessageQueue::getCount() const {
if (queue_handle == nullptr) {
count = 0U;
} else if (kernel_is_irq() != 0U) {
} else if (kernel::isIrq() != 0U) {
count = uxQueueMessagesWaitingFromISR(queue_handle);
} else {
count = uxQueueMessagesWaiting(queue_handle);
@@ -139,7 +139,7 @@ uint32_t MessageQueue::getSpace() const {
if (mq == nullptr) {
space = 0U;
} else if (kernel_is_irq() != 0U) {
} else if (kernel::isIrq() != 0U) {
isrm = taskENTER_CRITICAL_FROM_ISR();
/* space = pxQueue->uxLength - pxQueue->uxMessagesWaiting; */
@@ -157,7 +157,7 @@ uint32_t MessageQueue::getSpace() const {
TtStatus MessageQueue::reset() {
TtStatus stat;
if (kernel_is_irq() != 0U) {
if (kernel::isIrq() != 0U) {
stat = TtStatusErrorISR;
} else if (queue_handle == nullptr) {
stat = TtStatusErrorParameter;
TactilityCore/Source/Mutex.cpp
+8 -8
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@@ -22,13 +22,13 @@ namespace tt {
#define tt_mutex_info(mutex, text)
#endif
Mutex::Mutex(MutexType type) : type(type) {
Mutex::Mutex(Type type) : type(type) {
tt_mutex_info(data, "alloc");
switch (type) {
case MutexTypeNormal:
case TypeNormal:
semaphore = xSemaphoreCreateMutex();
break;
case MutexTypeRecursive:
case TypeRecursive:
semaphore = xSemaphoreCreateRecursiveMutex();
break;
default:
@@ -51,7 +51,7 @@ TtStatus Mutex::acquire(uint32_t timeout) const {
tt_mutex_info(mutex, "acquire");
switch (type) {
case MutexTypeNormal:
case TypeNormal:
if (xSemaphoreTake(semaphore, timeout) != pdPASS) {
if (timeout != 0U) {
return TtStatusErrorTimeout;
@@ -62,7 +62,7 @@ TtStatus Mutex::acquire(uint32_t timeout) const {
return TtStatusOk;
}
break;
case MutexTypeRecursive:
case TypeRecursive:
if (xSemaphoreTakeRecursive(semaphore, timeout) != pdPASS) {
if (timeout != 0U) {
return TtStatusErrorTimeout;
@@ -84,7 +84,7 @@ TtStatus Mutex::release() const {
tt_mutex_info(mutex, "release");
switch (type) {
case MutexTypeNormal: {
case TypeNormal: {
if (xSemaphoreGive(semaphore) != pdPASS) {
return TtStatusErrorResource;
} else {
@@ -92,7 +92,7 @@ TtStatus Mutex::release() const {
}
break;
}
case MutexTypeRecursive:
case TypeRecursive:
if (xSemaphoreGiveRecursive(semaphore) != pdPASS) {
return TtStatusErrorResource;
} else {
@@ -115,7 +115,7 @@ std::unique_ptr<ScopedMutexUsage> Mutex::scoped() const {
return std::move(std::make_unique<ScopedMutexUsage>(*this));
}
Mutex* tt_mutex_alloc(MutexType type) {
Mutex* tt_mutex_alloc(Mutex::Type type) {
return new Mutex(type);
}
TactilityCore/Source/Mutex.h
+16 -10
View File
@@ -14,21 +14,27 @@ namespace tt {
class ScopedMutexUsage;
typedef enum {
MutexTypeNormal,
MutexTypeRecursive,
} MutexType;
/**
* Wrapper for FreeRTOS xSemaphoreCreateMutex and xSemaphoreCreateRecursiveMutex
* Can be used in IRQ mode (within ISR context)
*/
class Mutex {
private:
SemaphoreHandle_t semaphore;
MutexType type;
public:
explicit Mutex(MutexType type = MutexTypeNormal);
enum Type {
TypeNormal,
TypeRecursive,
};
private:
SemaphoreHandle_t semaphore;
Type type;
public:
explicit Mutex(Type type = TypeNormal);
~Mutex();
TtStatus acquire(uint32_t timeout) const;
@@ -68,7 +74,7 @@ public:
*/
[[deprecated("use class")]]
Mutex* tt_mutex_alloc(MutexType type);
Mutex* tt_mutex_alloc(Mutex::Type type);
/** Free Mutex
*
TactilityCore/Source/StringUtils.cpp
+6 -6
View File
@@ -3,9 +3,9 @@
#include <iostream>
#include <sstream>
namespace tt {
namespace tt::string {
int string_find_last_index(const char* text, size_t from_index, char find) {
int findLastIndex(const char* text, size_t from_index, char find) {
for (size_t i = from_index; i >= 0; i--) {
if (text[i] == find) {
return (int)i;
@@ -14,8 +14,8 @@ int string_find_last_index(const char* text, size_t from_index, char find) {
return -1;
}
bool string_get_path_parent(const char* path, char* output) {
int index = string_find_last_index(path, strlen(path) - 1, '/');
bool getPathParent(const char* path, char* output) {
int index = findLastIndex(path, strlen(path) - 1, '/');
if (index == -1) {
return false;
} else if (index == 0) {
@@ -29,7 +29,7 @@ bool string_get_path_parent(const char* path, char* output) {
}
}
std::vector<std::string> string_split(const std::string&input, const std::string&delimiter) {
std::vector<std::string> split(const std::string&input, const std::string&delimiter) {
size_t token_index = 0;
size_t delimiter_index;
const size_t delimiter_length = delimiter.length();
@@ -50,7 +50,7 @@ std::vector<std::string> string_split(const std::string&input, const std::string
return result;
}
std::string string_join(const std::vector<std::string>& input, const std::string& delimiter) {
std::string join(const std::vector<std::string>& input, const std::string& delimiter) {
std::stringstream stream;
size_t size = input.size();
TactilityCore/Source/StringUtils.h
+5 -5
View File
@@ -4,7 +4,7 @@
#include <string>
#include <vector>
namespace tt {
namespace tt::string {
/**
* Find the last occurrence of a character.
@@ -13,7 +13,7 @@ namespace tt {
* @param[in] find the character to search for
* @return the index of the found character, or -1 if none found
*/
int string_find_last_index(const char* text, size_t from_index, char find);
int findLastIndex(const char* text, size_t from_index, char find);
/**
* Given a filesystem path as input, try and get the parent path.
@@ -21,7 +21,7 @@ int string_find_last_index(const char* text, size_t from_index, char find);
* @param[out] output an output buffer that is allocated to at least the size of "current"
* @return true when successful
*/
bool string_get_path_parent(const char* path, char* output);
bool getPathParent(const char* path, char* output);
/**
* Splits the provided input into separate pieces with delimiter as separator text.
@@ -30,7 +30,7 @@ bool string_get_path_parent(const char* path, char* output);
* @param input the input to split up
* @param delimiter a non-empty string to recognize as separator
*/
std::vector<std::string> string_split(const std::string& input, const std::string& delimiter);
std::vector<std::string> split(const std::string& input, const std::string& delimiter);
/**
* Join a set of tokens into a single string, given a delimiter (separator).
@@ -40,6 +40,6 @@ std::vector<std::string> string_split(const std::string& input, const std::strin
* @param input the tokens to join together
* @param delimiter the separator to join with
*/
std::string string_join(const std::vector<std::string>& input, const std::string& delimiter);
std::string join(const std::vector<std::string>& input, const std::string& delimiter);
} // namespace
TactilityCore/Source/TactilityCore.h
+5 -2
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@@ -6,7 +6,10 @@
#include "CoreDefines.h"
#include "CoreExtraDefines.h"
#include "CoreTypes.h"
#include "critical/Critical.h"
#include "EventFlag.h"
#include "Kernel.h"
#include "kernel/Kernel.h"
#include "kernel/critical/Critical.h"
#include "kernel/Kernel.h"
#include "Log.h"
#include "Mutex.h"
#include "Thread.h"
TactilityCore/Source/Thread.cpp
+2 -2
View File
@@ -3,7 +3,7 @@
#include "Check.h"
#include "CoreDefines.h"
#include "Kernel.h"
#include "kernel/Kernel.h"
#include "Log.h"
namespace tt {
@@ -197,7 +197,7 @@ bool Thread::join() {
// If your thread exited, but your app stuck here: some other thread uses
// all cpu time, which delays kernel from releasing task handle
while (data.taskHandle) {
delay_ms(10);
kernel::delayMillis(10);
}
return true;
TactilityCore/Source/Timer.cpp
+10 -10
View File
@@ -2,7 +2,7 @@
#include <utility>
#include "Check.h"
#include "Kernel.h"
#include "kernel/Kernel.h"
#include "RtosCompat.h"
namespace tt {
@@ -16,7 +16,7 @@ static void timer_callback(TimerHandle_t hTimer) {
}
Timer::Timer(Type type, Callback callback, std::shared_ptr<void> callbackContext) {
tt_assert((kernel_is_irq() == 0U) && (callback != nullptr));
tt_assert((kernel::isIrq() == 0U) && (callback != nullptr));
this->callback = callback;
this->callbackContext = std::move(callbackContext);
@@ -33,12 +33,12 @@ Timer::Timer(Type type, Callback callback, std::shared_ptr<void> callbackContext
}
Timer::~Timer() {
tt_assert(!kernel_is_irq());
tt_assert(!kernel::isIrq());
tt_check(xTimerDelete(timerHandle, portMAX_DELAY) == pdPASS);
}
TtStatus Timer::start(uint32_t ticks) {
tt_assert(!kernel_is_irq());
tt_assert(!kernel::isIrq());
tt_assert(ticks < portMAX_DELAY);
if (xTimerChangePeriod(timerHandle, ticks, portMAX_DELAY) == pdPASS) {
@@ -49,7 +49,7 @@ TtStatus Timer::start(uint32_t ticks) {
}
TtStatus Timer::restart(uint32_t ticks) {
tt_assert(!kernel_is_irq());
tt_assert(!kernel::isIrq());
tt_assert(ticks < portMAX_DELAY);
if (xTimerChangePeriod(timerHandle, ticks, portMAX_DELAY) == pdPASS &&
@@ -61,24 +61,24 @@ TtStatus Timer::restart(uint32_t ticks) {
}
TtStatus Timer::stop() {
tt_assert(!kernel_is_irq());
tt_assert(!kernel::isIrq());
tt_check(xTimerStop(timerHandle, portMAX_DELAY) == pdPASS);
return TtStatusOk;
}
bool Timer::isRunning() {
tt_assert(!kernel_is_irq());
tt_assert(!kernel::isIrq());
return xTimerIsTimerActive(timerHandle) == pdTRUE;
}
uint32_t Timer::getExpireTime() {
tt_assert(!kernel_is_irq());
tt_assert(!kernel::isIrq());
return (uint32_t)xTimerGetExpiryTime(timerHandle);
}
void Timer::pendingCallback(PendingCallback callback, void* callbackContext, uint32_t arg) {
BaseType_t ret = pdFAIL;
if (kernel_is_irq()) {
if (kernel::isIrq()) {
ret = xTimerPendFunctionCallFromISR(callback, callbackContext, arg, nullptr);
} else {
ret = xTimerPendFunctionCall(callback, callbackContext, arg, TtWaitForever);
@@ -87,7 +87,7 @@ void Timer::pendingCallback(PendingCallback callback, void* callbackContext, uin
}
void Timer::setThreadPriority(TimerThreadPriority priority) {
tt_assert(!kernel_is_irq());
tt_assert(!kernel::isIrq());
TaskHandle_t task_handle = xTimerGetTimerDaemonTaskHandle();
tt_assert(task_handle); // Don't call this method before timer task start
TactilityCore/Source/crypt/Crypt.cpp
+10 -13
View File
@@ -4,6 +4,7 @@
#include "Log.h"
#include "mbedtls/aes.h"
#include <cstring>
#include <cstdint>
#ifdef ESP_PLATFORM
#include "esp_cpu.h"
@@ -95,7 +96,7 @@ static void get_nvs_key(uint8_t key[32]) {
* @param[out] out output buffer for result of XOR
* @param[in] length data length (all buffers must be at least this size)
*/
static void xor_key(const uint8_t* in_left, const uint8_t* in_right, uint8_t* out, size_t length) {
static void xorKey(const uint8_t* in_left, const uint8_t* in_right, uint8_t* out, size_t length) {
for (int i = 0; i < length; ++i) {
out[i] = in_left[i] ^ in_right[i];
}
@@ -105,7 +106,7 @@ static void xor_key(const uint8_t* in_left, const uint8_t* in_right, uint8_t* ou
* Combines a stored key and a hardware key into a single reliable key value.
* @param[out] key the key output
*/
static void get_key(uint8_t key[32]) {
static void getKey(uint8_t key[32]) {
#if !defined(CONFIG_SECURE_BOOT) || !defined(CONFIG_SECURE_FLASH_ENC_ENABLED)
TT_LOG_W(TAG, "Using tt_secure_* code with secure boot and/or flash encryption disabled.");
TT_LOG_W(TAG, "An attacker with physical access to your ESP32 can decrypt your secure data.");
@@ -117,14 +118,14 @@ static void get_key(uint8_t key[32]) {
#ifdef ESP_PLATFORM
get_hardware_key(hardware_key);
get_nvs_key(nvs_key);
xor_key(hardware_key, nvs_key, key, 32);
xorKey(hardware_key, nvs_key, key, 32);
#else
TT_LOG_W(TAG, "Using unsafe key for debugging purposes.");
memset(key, 0, 32);
#endif
}
void get_iv_from_data(const void* data, size_t data_length, uint8_t iv[16]) {
void getIv(const void* data, size_t data_length, uint8_t iv[16]) {
memset((void*)iv, 0, 16);
uint8_t* data_bytes = (uint8_t*)data;
for (int i = 0; i < data_length; ++i) {
@@ -133,11 +134,7 @@ void get_iv_from_data(const void* data, size_t data_length, uint8_t iv[16]) {
}
}
void get_iv_from_string(const char* input, uint8_t iv[16]) {
get_iv_from_data((const void*)input, strlen(input), iv);
}
static int aes256_crypt_cbc(
static int aes256CryptCbc(
const uint8_t key[32],
int mode,
size_t length,
@@ -166,25 +163,25 @@ static int aes256_crypt_cbc(
int encrypt(const uint8_t iv[16], uint8_t* in_data, uint8_t* out_data, size_t length) {
tt_check(length % 16 == 0, "Length is not a multiple of 16 bytes (for AES 256");
uint8_t key[32];
get_key(key);
getKey(key);
// TODO: Is this still needed after switching to regular AES functions?
uint8_t iv_copy[16];
memcpy(iv_copy, iv, sizeof(iv_copy));
return aes256_crypt_cbc(key, MBEDTLS_AES_ENCRYPT, length, iv_copy, in_data, out_data);
return aes256CryptCbc(key, MBEDTLS_AES_ENCRYPT, length, iv_copy, in_data, out_data);
}
int decrypt(const uint8_t iv[16], uint8_t* in_data, uint8_t* out_data, size_t length) {
tt_check(length % 16 == 0, "Length is not a multiple of 16 bytes (for AES 256");
uint8_t key[32];
get_key(key);
getKey(key);
// TODO: Is this still needed after switching to regular AES functions?
uint8_t iv_copy[16];
memcpy(iv_copy, iv, sizeof(iv_copy));
return aes256_crypt_cbc(key, MBEDTLS_AES_DECRYPT, length, iv_copy, in_data, out_data);
return aes256CryptCbc(key, MBEDTLS_AES_DECRYPT, length, iv_copy, in_data, out_data);
}
} // namespace
TactilityCore/Source/crypt/Crypt.h
+2 -8
View File
@@ -20,6 +20,7 @@
#include <cstdio>
#include <cstdint>
#include <string>
namespace tt::crypt {
@@ -29,14 +30,7 @@ namespace tt::crypt {
* @param data_length input data length
* @param iv output IV
*/
void get_iv_from_data(const void* data, size_t data_length, uint8_t iv[16]);
/**
* @brief Fills the IV with zeros and then creates an IV based on the input data.
* @param input input text
* @param iv output IV
*/
void get_iv_from_string(const char* input, uint8_t iv[16]);
void getIv(const void* data, size_t data_length, uint8_t iv[16]);
/**
* @brief Encrypt data.
TactilityCore/Source/Kernel.cpp → TactilityCore/Source/kernel/Kernel.cpp
+23 -23
View File
@@ -1,4 +1,4 @@
#include "Kernel.h"
#include "kernel/Kernel.h"
#include "Check.h"
#include "CoreDefines.h"
#include "CoreTypes.h"
@@ -10,18 +10,18 @@
#include <unistd.h>
#endif
namespace tt {
namespace tt::kernel {
bool kernel_is_irq() {
bool isIrq() {
return TT_IS_IRQ_MODE();
}
bool kernel_is_running() {
bool isRunning() {
return xTaskGetSchedulerState() != taskSCHEDULER_RUNNING;
}
int32_t kernel_lock() {
tt_assert(!kernel_is_irq());
int32_t lock() {
tt_assert(!isIrq());
int32_t lock;
@@ -45,8 +45,8 @@ int32_t kernel_lock() {
return (lock);
}
int32_t kernel_unlock() {
tt_assert(!kernel_is_irq());
int32_t unlock() {
tt_assert(!isIrq());
int32_t lock;
@@ -75,8 +75,8 @@ int32_t kernel_unlock() {
return (lock);
}
int32_t kernel_restore_lock(int32_t lock) {
tt_assert(!kernel_is_irq());
int32_t restoreLock(int32_t lock) {
tt_assert(!isIrq());
switch (xTaskGetSchedulerState()) {
case taskSCHEDULER_SUSPENDED:
@@ -106,13 +106,13 @@ int32_t kernel_restore_lock(int32_t lock) {
return (lock);
}
uint32_t kernel_get_tick_frequency() {
uint32_t getTickFrequency() {
/* Return frequency in hertz */
return (configTICK_RATE_HZ);
}
void delay_ticks(TickType_t ticks) {
tt_assert(!kernel_is_irq());
void delayTicks(TickType_t ticks) {
tt_assert(!isIrq());
if (ticks == 0U) {
taskYIELD();
} else {
@@ -120,8 +120,8 @@ void delay_ticks(TickType_t ticks) {
}
}
TtStatus delay_until_tick(TickType_t tick) {
tt_assert(!kernel_is_irq());
TtStatus delayUntilTick(TickType_t tick) {
tt_assert(!isIrq());
TickType_t tcnt, delay;
TtStatus stat;
@@ -147,10 +147,10 @@ TtStatus delay_until_tick(TickType_t tick) {
return (stat);
}
TickType_t get_ticks() {
TickType_t getTicks() {
TickType_t ticks;
if (kernel_is_irq() != 0U) {
if (isIrq() != 0U) {
ticks = xTaskGetTickCountFromISR();
} else {
ticks = xTaskGetTickCount();
@@ -159,7 +159,7 @@ TickType_t get_ticks() {
return ticks;
}
TickType_t ms_to_ticks(uint32_t milliseconds) {
TickType_t millisToTicks(uint32_t milliseconds) {
#if configTICK_RATE_HZ == 1000
return (TickType_t)milliseconds;
#else
@@ -167,7 +167,7 @@ TickType_t ms_to_ticks(uint32_t milliseconds) {
#endif
}
void delay_ms(uint32_t milliseconds) {
void delayMillis(uint32_t milliseconds) {
if (xTaskGetSchedulerState() == taskSCHEDULER_RUNNING) {
if (milliseconds > 0 && milliseconds < portMAX_DELAY - 1) {
milliseconds += 1;
@@ -175,14 +175,14 @@ void delay_ms(uint32_t milliseconds) {
#if configTICK_RATE_HZ_RAW == 1000
tt_delay_tick(milliseconds);
#else
delay_ticks(ms_to_ticks(milliseconds));
delayTicks(kernel::millisToTicks(milliseconds));
#endif
} else if (milliseconds > 0) {
delay_us(milliseconds * 1000);
kernel::delayMicros(milliseconds * 1000);
}
}
void delay_us(uint32_t microseconds) {
void delayMicros(uint32_t microseconds) {
#ifdef ESP_PLATFORM
ets_delay_us(microseconds);
#else
@@ -190,7 +190,7 @@ void delay_us(uint32_t microseconds) {
#endif
}
Platform get_platform() {
Platform getPlatform() {
#ifdef ESP_PLATFORM
return PlatformEsp;
#else
TactilityCore/Source/Kernel.h → TactilityCore/Source/kernel/Kernel.h
+17 -17
View File
@@ -8,7 +8,7 @@
#include "FreeRTOS.h"
#endif
namespace tt {
namespace tt::kernel {
typedef enum {
PlatformEsp,
@@ -30,13 +30,13 @@ typedef enum {
*
* @return true if CPU is in IRQ or kernel running and IRQ is masked
*/
bool kernel_is_irq();
bool isIrq();
/** Check if kernel is running
*
* @return true if running, false otherwise
*/
bool kernel_is_running();
bool isRunning();
/** Lock kernel, pause process scheduling
*
@@ -44,7 +44,7 @@ bool kernel_is_running();
*
* @return previous lock state(0 - unlocked, 1 - locked)
*/
int32_t kernel_lock();
int32_t lock();
/** Unlock kernel, resume process scheduling
*
@@ -52,7 +52,7 @@ int32_t kernel_lock();
*
* @return previous lock state(0 - unlocked, 1 - locked)
*/
int32_t kernel_unlock();
int32_t unlock();
/** Restore kernel lock state
*
@@ -62,15 +62,15 @@ int32_t kernel_unlock();
*
* @return new lock state or error
*/
int32_t kernel_restore_lock(int32_t lock);
int32_t restoreLock(int32_t lock);
/** Get kernel systick frequency
*
* @return systick counts per second
*/
uint32_t kernel_get_tick_frequency();
uint32_t getTickFrequency();
TickType_t get_ticks();
TickType_t getTicks();
/** Delay execution
*
@@ -80,7 +80,7 @@ TickType_t get_ticks();
*
* @param[in] ticks The ticks count to pause
*/
void delay_ticks(TickType_t ticks);
void delayTicks(TickType_t ticks);
/** Delay until tick
*
@@ -90,14 +90,14 @@ void delay_ticks(TickType_t ticks);
*
* @return The status.
*/
TtStatus delay_until_tick(uint32_t tick);
TtStatus delayUntilTick(uint32_t tick);
/** Convert milliseconds to ticks
*
* @param[in] milliseconds time in milliseconds
* @param[in] milliSeconds time in milliseconds
* @return time in ticks
*/
TickType_t ms_to_ticks(uint32_t milliseconds);
TickType_t millisToTicks(uint32_t milliSeconds);
/** Delay in milliseconds
*
@@ -108,18 +108,18 @@ TickType_t ms_to_ticks(uint32_t milliseconds);
*
* @warning Cannot be used from ISR
*
* @param[in] milliseconds milliseconds to wait
* @param[in] milliSeconds milliseconds to wait
*/
void delay_ms(uint32_t milliseconds);
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 delay_us(uint32_t microseconds);
void delayMicros(uint32_t microSeconds);
Platform get_platform();
Platform getPlatform();
} // namespace
TactilityCore/Source/critical/Critical.cpp → TactilityCore/Source/kernel/critical/Critical.cpp
+10 -10
View File
@@ -9,18 +9,18 @@ static portMUX_TYPE critical_mutex;
#define TT_ENTER_CRITICAL() taskENTER_CRITICAL()
#endif
namespace tt::critical {
namespace tt::kernel::critical {
TtCriticalInfo enter() {
TtCriticalInfo info;
TtCriticalInfo info = {
.isrm = 0,
.fromIsr = TT_IS_ISR(),
.kernelRunning = (xTaskGetSchedulerState() == taskSCHEDULER_RUNNING)
};
info.isrm = 0;
info.from_isr = TT_IS_ISR();
info.kernel_running = (xTaskGetSchedulerState() == taskSCHEDULER_RUNNING);
if (info.from_isr) {
if (info.fromIsr) {
info.isrm = taskENTER_CRITICAL_FROM_ISR();
} else if (info.kernel_running) {
} else if (info.kernelRunning) {
TT_ENTER_CRITICAL();
} else {
portDISABLE_INTERRUPTS();
@@ -30,9 +30,9 @@ TtCriticalInfo enter() {
}
void exit(TtCriticalInfo info) {
if (info.from_isr) {
if (info.fromIsr) {
taskEXIT_CRITICAL_FROM_ISR(info.isrm);
} else if (info.kernel_running) {
} else if (info.kernelRunning) {
TT_ENTER_CRITICAL();
} else {
portENABLE_INTERRUPTS();
TactilityCore/Source/critical/Critical.h → TactilityCore/Source/kernel/critical/Critical.h
+3 -3
View File
@@ -10,12 +10,12 @@
#define TT_CRITICAL_EXIT() __tt_critical_exit(__tt_critical_info);
#endif
namespace tt::critical {
namespace tt::kernel::critical {
typedef struct {
uint32_t isrm;
bool from_isr;
bool kernel_running;
bool fromIsr;
bool kernelRunning;
} TtCriticalInfo;
TtCriticalInfo enter();