Create TactilityFreertos subproject (#440)

TactilityCore/Source/kernel/Kernel.cpp

@@ -1,167 +0,0 @@
-#include "Tactility/kernel/Kernel.h"
-#include "Tactility/CoreDefines.h"
-#include "Tactility/RtosCompatTask.h"
-
-#ifdef ESP_PLATFORM
-#include "rom/ets_sys.h"
-#else
-#include <cassert>
-#include <unistd.h>
-#endif
-
-namespace tt::kernel {
-
-bool isRunning() {
-    return xTaskGetSchedulerState() != taskSCHEDULER_RUNNING;
-}
-
-bool lock() {
-    assert(!kernel::isIsr());
-
-    int32_t lock;
-
-    switch (xTaskGetSchedulerState()) {
-        // Already suspended
-        case taskSCHEDULER_SUSPENDED:
-            return true;
-
-        case taskSCHEDULER_RUNNING:
-            vTaskSuspendAll();
-            return true;
-
-        case taskSCHEDULER_NOT_STARTED:
-        default:
-            return false;
-    }
-
-    /* Return previous lock state */
-    return (lock);
-}
-
-bool unlock() {
-    assert(!kernel::isIsr());
-
-    switch (xTaskGetSchedulerState()) {
-        case taskSCHEDULER_SUSPENDED:
-            if (xTaskResumeAll() != pdTRUE) {
-                if (xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED) {
-                    return false;
-                }
-            }
-            return true;
-
-        case taskSCHEDULER_RUNNING:
-            return true;
-
-        case taskSCHEDULER_NOT_STARTED:
-        default:
-            return false;
-    }
-}
-
-bool restoreLock(bool lock) {
-    assert(!kernel::isIsr());
-
-    switch (xTaskGetSchedulerState()) {
-        case taskSCHEDULER_SUSPENDED:
-        case taskSCHEDULER_RUNNING:
-            if (lock) {
-                vTaskSuspendAll();
-                return true;
-            } else {
-                if (xTaskResumeAll() != pdTRUE) {
-                    if (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING) {
-                        return false;
-                    }
-                }
-                return true;
-            }
-
-        case taskSCHEDULER_NOT_STARTED:
-        default:
-            return false;
-    }
-}
-
-uint32_t getTickFrequency() {
-    /* Return frequency in hertz */
-    return (configTICK_RATE_HZ);
-}
-
-void delayTicks(TickType_t ticks) {
-    assert(!kernel::isIsr());
-    if (ticks == 0U) {
-        taskYIELD();
-    } else {
-        vTaskDelay(ticks);
-    }
-}
-
-bool delayUntilTick(TickType_t tick) {
-    assert(!kernel::isIsr());
-
-    TickType_t tcnt, delay;
-
-    tcnt = xTaskGetTickCount();
-
-    /* Determine remaining number of tick to delay */
-    delay = (TickType_t)tick - tcnt;
-
-    /* Check if target tick has not expired */
-    if ((delay != 0U) && (0 == (delay >> (8 * sizeof(TickType_t) - 1)))) {
-        if (xTaskDelayUntil(&tcnt, delay) == pdPASS) {
-            return true;
-        }
-    }
-
-    return false;
-}
-
-TickType_t getTicks() {
-    if (kernel::isIsr() != 0U) {
-        return xTaskGetTickCountFromISR();
-    } else {
-        return xTaskGetTickCount();
-    }
-}
-
-TickType_t millisToTicks(uint32_t milliseconds) {
-#if configTICK_RATE_HZ == 1000
-    return (TickType_t)milliseconds;
-#else
-    return (TickType_t)((float)configTICK_RATE_HZ) / 1000.0f * (float)milliseconds;
-#endif
-}
-
-void delayMillis(uint32_t milliseconds) {
-    if (xTaskGetSchedulerState() == taskSCHEDULER_RUNNING) {
-        if (milliseconds > 0 && milliseconds < portMAX_DELAY - 1) {
-            milliseconds += 1;
-        }
-#if configTICK_RATE_HZ_RAW == 1000
-        tt_delay_tick(milliseconds);
-#else
-        delayTicks(kernel::millisToTicks(milliseconds));
-#endif
-    } else if (milliseconds > 0) {
-        kernel::delayMicros(milliseconds * 1000);
-    }
-}
-
-void delayMicros(uint32_t microseconds) {
-#ifdef ESP_PLATFORM
-    ets_delay_us(microseconds);
-#else
-    usleep(microseconds);
-#endif
-}
-
-Platform getPlatform() {
-#ifdef ESP_PLATFORM
-    return PlatformEsp;
-#else
-    return PlatformSimulator;
-#endif
-}
-
-} // namespace

TactilityCore/Source/kernel/Platform.cpp

@@ -0,0 +1,13 @@
+#include "Tactility/kernel/Platform.h"
+
+namespace tt::kernel {
+
+Platform getPlatform() {
+#ifdef ESP_PLATFORM
+    return PlatformEsp;
+#else
+    return PlatformSimulator;
+#endif
+}
+
+} // namespace

TactilityCore/Source/kernel/critical/Critical.cpp

@@ -1,13 +1,15 @@
-#include "Tactility/kernel/critical/Critical.h"
+#include <Tactility/kernel/critical/Critical.h>
 
-#include "Tactility/RtosCompatTask.h"
-#include "Tactility/kernel/Kernel.h"
+#include <Tactility/freertoscompat/Task.h>
+#include <Tactility/kernel/Kernel.h>
 
 #ifdef ESP_PLATFORM
 static portMUX_TYPE critical_mutex;
 #define TT_ENTER_CRITICAL() taskENTER_CRITICAL(&critical_mutex)
+#define TT_EXIT_CRITICAL() taskEXIT_CRITICAL(&critical_mutex)
 #else
 #define TT_ENTER_CRITICAL() taskENTER_CRITICAL()
+#define TT_EXIT_CRITICAL() taskEXIT_CRITICAL()
 #endif
 
 namespace tt::kernel::critical {
@@ -15,7 +17,7 @@ namespace tt::kernel::critical {
 CriticalInfo enter() {
     CriticalInfo info = {
         .isrm = 0,
-        .fromIsr = kernel::isIsr(),
+        .fromIsr = (xPortInIsrContext() == pdTRUE),
         .kernelRunning = (xTaskGetSchedulerState() == taskSCHEDULER_RUNNING)
     };
 
@@ -34,7 +36,7 @@ void exit(CriticalInfo info) {
     if (info.fromIsr) {
         taskEXIT_CRITICAL_FROM_ISR(info.isrm);
     } else if (info.kernelRunning) {
-        TT_ENTER_CRITICAL();
+        TT_EXIT_CRITICAL();
     } else {
         portENABLE_INTERRUPTS();
     }