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SPI HAL implemented and more (#207)

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- Cleanup unused code and move ISR/IRQ checks to `Kernel.h`
- Improve clang-format
- Fix for LVGL lock transfer: ensure lock isn't activate when changing the lock
- Implement SPI HAL
- Remove `initHardware` HAL configuration entry
- Fix `I2cScanner`: don't scan when port isn't started
This commit is contained in:
Ken Van Hoeylandt
2025-02-08 00:21:50 +01:00
committed by GitHub
parent 88b3bfbe3e
commit c1f55429b6
41 changed files with 634 additions and 428 deletions
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TactilityCore/Include/Tactility/CoreDefines.h
-28
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@@ -2,36 +2,8 @@
#include "CoreExtraDefines.h"
#ifdef ESP_PLATFORM
#else
#include "portmacro.h"
#endif
#define TT_RETURNS_NONNULL __attribute__((returns_nonnull))
#define TT_WARN_UNUSED __attribute__((warn_unused_result))
#define TT_UNUSED __attribute__((unused))
#define TT_WEAK __attribute__((weak))
#define TT_PACKED __attribute__((packed))
#define TT_PLACE_IN_SECTION(x) __attribute__((section(x)))
#define TT_ALIGN(n) __attribute__((aligned(n)))
// Used by portENABLE_INTERRUPTS and portDISABLE_INTERRUPTS?
#ifdef ESP_PLATFORM
#define TT_IS_IRQ_MODE() (xPortInIsrContext() == pdTRUE)
#else
#define TT_IS_IRQ_MODE() false
#endif
#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
TactilityCore/Include/Tactility/EventFlag.h
+12 -1
View File
@@ -37,13 +37,24 @@ public:
ErrorISR = 0xFFFFFFFAU, ///< TtStatusErrorISR (-6).
};
/** Set the bitmask for 1 or more flags that we might be waiting for */
uint32_t set(uint32_t flags) const;
/** Clear the specified flags */
uint32_t clear(uint32_t flags) const;
/** Get the currently set flags */
uint32_t get() const;
/** Await for flags to be set
* @param[in] flags the bitmask of the flags that we want to wait for
* @param[in] options the trigger behaviour: WaitAny, WaitAll, NoClear (NoClear can be combined with either WaitAny or WaitAll)
* @param[in] timeoutTicks the maximum amount of ticks to wait
*/
uint32_t wait(
uint32_t flags,
uint32_t options = WaitAny,
uint32_t timeout = (uint32_t)portMAX_DELAY
uint32_t timeoutTicks = (uint32_t)portMAX_DELAY
) const;
};
TactilityCore/Include/Tactility/LogSimulator.h
+1 -1
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@@ -22,6 +22,6 @@ void log(LogLevel level, const char* tag, const char* format, ...);
#define TT_LOG_D(tag, format, ...) \
tt::log(tt::LogLevel::Debug, tag, format, ##__VA_ARGS__)
#define TT_LOG_V(tag, format, ...) \
tt::log(tt::LogLevel::Trace, tag, format, ##__VA_ARGS__)
tt::log(tt::LogLevel::Verbose, tag, format, ##__VA_ARGS__)
#endif // ESP_PLATFORM
TactilityCore/Include/Tactility/Mutex.h
+2 -1
View File
@@ -8,6 +8,7 @@
#include "RtosCompatSemaphore.h"
#include "Check.h"
#include "Lockable.h"
#include "kernel/Kernel.h"
#include <memory>
namespace tt {
@@ -29,7 +30,7 @@ private:
struct SemaphoreHandleDeleter {
void operator()(QueueHandle_t handleToDelete) {
assert(!TT_IS_IRQ_MODE());
assert(!kernel::isIsr());
vSemaphoreDelete(handleToDelete);
}
};
TactilityCore/Include/Tactility/Semaphore.h
+2 -1
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@@ -1,5 +1,6 @@
#pragma once
#include "kernel/Kernel.h"
#include "Lockable.h"
#include <cassert>
#include <memory>
@@ -24,7 +25,7 @@ private:
struct SemaphoreHandleDeleter {
void operator()(QueueHandle_t handleToDelete) {
assert(!TT_IS_IRQ_MODE());
assert(!kernel::isIsr());
vSemaphoreDelete(handleToDelete);
}
};
TactilityCore/Include/Tactility/StringUtils.h
+1
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@@ -42,6 +42,7 @@ std::string join(const std::vector<std::string>& input, const std::string& delim
/**
* Returns the lowercase value of a string.
* @warning This only works for strings with 1 byte per character
* @param[in] the string with lower and/or uppercase characters
* @return a string with only lowercase characters
*/
TactilityCore/Include/Tactility/kernel/Kernel.h
+7
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@@ -14,6 +14,13 @@ typedef enum {
PlatformSimulator
} Platform;
/** Return true when called from an Interrupt Service Routine (~IRQ mode) */
#ifdef ESP_PLATFORM
inline constexpr bool isIsr() { return (xPortInIsrContext() == pdTRUE); }
#else
inline constexpr bool isIsr() { return false; }
#endif
/** Check if kernel is running
* @return true if the FreeRTOS kernel is running, false otherwise
*/
TactilityCore/Source/EventFlag.cpp
+13 -13
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@@ -1,7 +1,7 @@
#include "Tactility/EventFlag.h"
#include "Tactility/Check.h"
#include "Tactility/CoreDefines.h"
#include "Tactility/kernel/Kernel.h"
#define TT_EVENT_FLAG_MAX_BITS_EVENT_GROUPS 24U
#define TT_EVENT_FLAG_INVALID_BITS (~((1UL << TT_EVENT_FLAG_MAX_BITS_EVENT_GROUPS) - 1U))
@@ -11,12 +11,12 @@ namespace tt {
EventFlag::EventFlag() :
handle(xEventGroupCreate())
{
assert(!TT_IS_IRQ_MODE());
assert(!kernel::isIsr());
tt_check(handle);
}
EventFlag::~EventFlag() {
assert(!TT_IS_IRQ_MODE());
assert(!kernel::isIsr());
}
uint32_t EventFlag::set(uint32_t flags) const {
@@ -26,7 +26,7 @@ uint32_t EventFlag::set(uint32_t flags) const {
uint32_t rflags;
BaseType_t yield;
if (TT_IS_IRQ_MODE()) {
if (kernel::isIsr()) {
yield = pdFALSE;
if (xEventGroupSetBitsFromISR(handle.get(), (EventBits_t)flags, &yield) == pdFAIL) {
rflags = (uint32_t)ErrorResource;
@@ -47,7 +47,7 @@ uint32_t EventFlag::clear(uint32_t flags) const {
uint32_t rflags;
if (TT_IS_IRQ_MODE()) {
if (kernel::isIsr()) {
rflags = xEventGroupGetBitsFromISR(handle.get());
if (xEventGroupClearBitsFromISR(handle.get(), (EventBits_t)flags) == pdFAIL) {
@@ -69,7 +69,7 @@ uint32_t EventFlag::clear(uint32_t flags) const {
uint32_t EventFlag::get() const {
uint32_t rflags;
if (TT_IS_IRQ_MODE()) {
if (kernel::isIsr()) {
rflags = xEventGroupGetBitsFromISR(handle.get());
} else {
rflags = xEventGroupGetBits(handle.get());
@@ -82,9 +82,9 @@ uint32_t EventFlag::get() const {
uint32_t EventFlag::wait(
uint32_t flags,
uint32_t options,
uint32_t timeout
uint32_t timeoutTicksw
) const {
assert(!TT_IS_IRQ_MODE());
assert(!kernel::isIsr());
assert((flags & TT_EVENT_FLAG_INVALID_BITS) == 0U);
BaseType_t wait_all;
@@ -94,11 +94,11 @@ uint32_t EventFlag::wait(
if (options & WaitAll) {
wait_all = pdTRUE;
} else {
wait_all = pdFAIL;
wait_all = pdFALSE;
}
if (options & NoClear) {
exit_clear = pdFAIL;
exit_clear = pdFALSE;
} else {
exit_clear = pdTRUE;
}
@@ -108,12 +108,12 @@ uint32_t EventFlag::wait(
(EventBits_t)flags,
exit_clear,
wait_all,
(TickType_t)timeout
(TickType_t)timeoutTicksw
);
if (options & WaitAll) {
if ((flags & rflags) != flags) {
if (timeout > 0U) {
if (timeoutTicksw > 0U) {
rflags = (uint32_t)ErrorTimeout;
} else {
rflags = (uint32_t)ErrorResource;
@@ -121,7 +121,7 @@ uint32_t EventFlag::wait(
}
} else {
if ((flags & rflags) == 0U) {
if (timeout > 0U) {
if (timeoutTicksw > 0U) {
rflags = (uint32_t)ErrorTimeout;
} else {
rflags = (uint32_t)ErrorResource;
TactilityCore/Source/MessageQueue.cpp
+7 -7
View File
@@ -5,7 +5,7 @@
namespace tt {
static inline QueueHandle_t createQueue(uint32_t capacity, uint32_t messageSize) {
assert(!TT_IS_ISR() && (capacity > 0U) && (messageSize > 0U));
assert(!kernel::isIsr() && (capacity > 0U) && (messageSize > 0U));
return xQueueCreate(capacity, messageSize);
}
@@ -14,14 +14,14 @@ MessageQueue::MessageQueue(uint32_t capacity, uint32_t messageSize) : handle(cre
}
MessageQueue::~MessageQueue() {
assert(!TT_IS_ISR());
assert(!kernel::isIsr());
}
bool MessageQueue::put(const void* message, TickType_t timeout) {
bool result = true;
BaseType_t yield;
if (TT_IS_ISR()) {
if (kernel::isIsr()) {
if ((handle == nullptr) || (message == nullptr) || (timeout != 0U)) {
result = false;
} else {
@@ -46,7 +46,7 @@ bool MessageQueue::get(void* msg_ptr, TickType_t timeout) {
bool result = true;
BaseType_t yield;
if (TT_IS_ISR()) {
if (kernel::isIsr()) {
if ((handle == nullptr) || (msg_ptr == nullptr) || (timeout != 0U)) {
result = false;
} else {
@@ -92,7 +92,7 @@ uint32_t MessageQueue::getCount() const {
if (handle == nullptr) {
count = 0U;
} else if (TT_IS_ISR()) {
} else if (kernel::isIsr()) {
count = uxQueueMessagesWaitingFromISR(handle.get());
} else {
count = uxQueueMessagesWaiting(handle.get());
@@ -109,7 +109,7 @@ uint32_t MessageQueue::getSpace() const {
if (mq == nullptr) {
space = 0U;
} else if (TT_IS_ISR()) {
} else if (kernel::isIsr()) {
isrm = taskENTER_CRITICAL_FROM_ISR();
/* space = pxQueue->uxLength - pxQueue->uxMessagesWaiting; */
@@ -124,7 +124,7 @@ uint32_t MessageQueue::getSpace() const {
}
bool MessageQueue::reset() {
tt_check(!TT_IS_ISR());
tt_check(!kernel::isIsr());
if (handle == nullptr) {
return false;
} else {
TactilityCore/Source/Mutex.cpp
+3 -3
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@@ -39,7 +39,7 @@ Mutex::Mutex(Type type) : handle(createSemaphoreHandle(type)), type(type) {
}
bool Mutex::lock(TickType_t timeout) const {
assert(!TT_IS_IRQ_MODE());
assert(!kernel::isIsr());
assert(handle != nullptr);
tt_mutex_info(mutex, "acquire");
@@ -54,7 +54,7 @@ bool Mutex::lock(TickType_t timeout) const {
}
bool Mutex::unlock() const {
assert(!TT_IS_IRQ_MODE());
assert(!kernel::isIsr());
assert(handle != nullptr);
tt_mutex_info(mutex, "release");
@@ -69,7 +69,7 @@ bool Mutex::unlock() const {
}
ThreadId Mutex::getOwner() const {
assert(!TT_IS_IRQ_MODE());
assert(!kernel::isIsr());
assert(handle != nullptr);
return (ThreadId)xSemaphoreGetMutexHolder(handle.get());
}
TactilityCore/Source/Semaphore.cpp
+5 -5
View File
@@ -22,16 +22,16 @@ static inline QueueHandle_t createHandle(uint32_t maxCount, uint32_t initialCoun
}
Semaphore::Semaphore(uint32_t maxAvailable, uint32_t initialAvailable) : handle(createHandle(maxAvailable, initialAvailable)) {
assert(!TT_IS_IRQ_MODE());
assert(!kernel::isIsr());
tt_check(handle != nullptr);
}
Semaphore::~Semaphore() {
assert(!TT_IS_IRQ_MODE());
assert(!kernel::isIsr());
}
bool Semaphore::acquire(TickType_t timeout) const {
if (TT_IS_IRQ_MODE()) {
if (kernel::isIsr()) {
if (timeout != 0U) {
return false;
} else {
@@ -50,7 +50,7 @@ bool Semaphore::acquire(TickType_t timeout) const {
}
bool Semaphore::release() const {
if (TT_IS_IRQ_MODE()) {
if (kernel::isIsr()) {
BaseType_t yield = pdFALSE;
if (xSemaphoreGiveFromISR(handle.get(), &yield) != pdTRUE) {
return false;
@@ -64,7 +64,7 @@ bool Semaphore::release() const {
}
uint32_t Semaphore::getAvailable() const {
if (TT_IS_IRQ_MODE()) {
if (kernel::isIsr()) {
// TODO: uxSemaphoreGetCountFromISR is not supported on esp-idf 5.1.2 - perhaps later on?
#ifdef uxSemaphoreGetCountFromISR
return uxSemaphoreGetCountFromISR(handle.get());
TactilityCore/Source/StreamBuffer.cpp
+3 -3
View File
@@ -1,7 +1,7 @@
#include "Tactility/StreamBuffer.h"
#include "Tactility/Check.h"
#include "Tactility/CoreDefines.h"
#include "Tactility/kernel/Kernel.h"
namespace tt {
@@ -23,7 +23,7 @@ size_t StreamBuffer::send(
size_t length,
uint32_t timeout
) const {
if (TT_IS_IRQ_MODE()) {
if (kernel::isIsr()) {
BaseType_t yield;
size_t result = xStreamBufferSendFromISR(handle.get(), data, length, &yield);
portYIELD_FROM_ISR(yield);
@@ -38,7 +38,7 @@ size_t StreamBuffer::receive(
size_t length,
uint32_t timeout
) const {
if (TT_IS_IRQ_MODE()) {
if (kernel::isIsr()) {
BaseType_t yield;
size_t result = xStreamBufferReceiveFromISR(handle.get(), data, length, &yield);
portYIELD_FROM_ISR(yield);
TactilityCore/Source/Thread.cpp
+6 -6
View File
@@ -206,7 +206,7 @@ uint32_t Thread::setFlags(ThreadId threadId, uint32_t flags) {
} else {
rflags = (uint32_t)EventFlag::Error;
if (TT_IS_IRQ_MODE()) {
if (kernel::isIsr()) {
yield = pdFALSE;
(void)xTaskNotifyIndexedFromISR(hTask, THREAD_NOTIFY_INDEX, flags, eSetBits, &yield);
@@ -228,7 +228,7 @@ uint32_t Thread::clearFlags(uint32_t flags) {
TaskHandle_t hTask;
uint32_t rflags, cflags;
if (TT_IS_IRQ_MODE()) {
if (kernel::isIsr()) {
rflags = (uint32_t)EventFlag::ErrorISR;
} else if ((flags & THREAD_FLAGS_INVALID_BITS) != 0U) {
rflags = (uint32_t)EventFlag::ErrorParameter;
@@ -257,7 +257,7 @@ uint32_t Thread::getFlags() {
TaskHandle_t hTask;
uint32_t rflags;
if (TT_IS_IRQ_MODE()) {
if (kernel::isIsr()) {
rflags = (uint32_t)EventFlag::ErrorISR;
} else {
hTask = xTaskGetCurrentTaskHandle();
@@ -277,7 +277,7 @@ uint32_t Thread::awaitFlags(uint32_t flags, uint32_t options, uint32_t timeout)
TickType_t t0, td, tout;
BaseType_t rval;
if (TT_IS_IRQ_MODE()) {
if (kernel::isIsr()) {
rflags = (uint32_t)EventFlag::ErrorISR;
} else if ((flags & THREAD_FLAGS_INVALID_BITS) != 0U) {
rflags = (uint32_t)EventFlag::ErrorParameter;
@@ -345,7 +345,7 @@ uint32_t Thread::getStackSpace(ThreadId threadId) {
auto hTask = (TaskHandle_t)threadId;
uint32_t sz;
if (TT_IS_IRQ_MODE() || (hTask == nullptr)) {
if (kernel::isIsr() || (hTask == nullptr)) {
sz = 0U;
} else {
sz = (uint32_t)(uxTaskGetStackHighWaterMark(hTask) * sizeof(StackType_t));
@@ -361,7 +361,7 @@ void Thread::suspend(ThreadId threadId) {
void Thread::resume(ThreadId threadId) {
auto hTask = (TaskHandle_t)threadId;
if (TT_IS_IRQ_MODE()) {
if (kernel::isIsr()) {
xTaskResumeFromISR(hTask);
} else {
vTaskResume(hTask);
TactilityCore/Source/Timer.cpp
+10 -9
View File
@@ -2,6 +2,7 @@
#include "Tactility/Check.h"
#include "Tactility/RtosCompat.h"
#include "Tactility/kernel/Kernel.h"
#include <utility>
@@ -34,44 +35,44 @@ Timer::Timer(Type type, Callback callback, std::shared_ptr<void> callbackContext
callbackContext(std::move(callbackContext)),
handle(createTimer(type, this, onCallback))
{
assert(!TT_IS_ISR());
assert(!kernel::isIsr());
assert(handle != nullptr);
}
Timer::~Timer() {
assert(!TT_IS_ISR());
assert(!kernel::isIsr());
}
bool Timer::start(TickType_t interval) {
assert(!TT_IS_ISR());
assert(!kernel::isIsr());
assert(interval < portMAX_DELAY);
return xTimerChangePeriod(handle.get(), interval, portMAX_DELAY) == pdPASS;
}
bool Timer::restart(TickType_t interval) {
assert(!TT_IS_ISR());
assert(!kernel::isIsr());
assert(interval < portMAX_DELAY);
return xTimerChangePeriod(handle.get(), interval, portMAX_DELAY) == pdPASS &&
xTimerReset(handle.get(), portMAX_DELAY) == pdPASS;
}
bool Timer::stop() {
assert(!TT_IS_ISR());
assert(!kernel::isIsr());
return xTimerStop(handle.get(), portMAX_DELAY) == pdPASS;
}
bool Timer::isRunning() {
assert(!TT_IS_ISR());
assert(!kernel::isIsr());
return xTimerIsTimerActive(handle.get()) == pdTRUE;
}
TickType_t Timer::getExpireTime() {
assert(!TT_IS_ISR());
assert(!kernel::isIsr());
return xTimerGetExpiryTime(handle.get());
}
bool Timer::setPendingCallback(PendingCallback callback, void* callbackContext, uint32_t callbackArg, TickType_t timeout) {
if (TT_IS_ISR()) {
if (kernel::isIsr()) {
assert(timeout == 0);
return xTimerPendFunctionCallFromISR(callback, callbackContext, callbackArg, nullptr) == pdPASS;
} else {
@@ -80,7 +81,7 @@ bool Timer::setPendingCallback(PendingCallback callback, void* callbackContext,
}
void Timer::setThreadPriority(Thread::Priority priority) {
assert(!TT_IS_ISR());
assert(!kernel::isIsr());
TaskHandle_t task_handle = xTimerGetTimerDaemonTaskHandle();
assert(task_handle); // Don't call this method before timer task start
TactilityCore/Source/kernel/Kernel.cpp
+6 -6
View File
@@ -16,7 +16,7 @@ bool isRunning() {
}
bool lock() {
assert(!TT_IS_ISR());
assert(!kernel::isIsr());
int32_t lock;
@@ -39,7 +39,7 @@ bool lock() {
}
bool unlock() {
assert(!TT_IS_ISR());
assert(!kernel::isIsr());
switch (xTaskGetSchedulerState()) {
case taskSCHEDULER_SUSPENDED:
@@ -60,7 +60,7 @@ bool unlock() {
}
bool restoreLock(bool lock) {
assert(!TT_IS_ISR());
assert(!kernel::isIsr());
switch (xTaskGetSchedulerState()) {
case taskSCHEDULER_SUSPENDED:
@@ -89,7 +89,7 @@ uint32_t getTickFrequency() {
}
void delayTicks(TickType_t ticks) {
assert(!TT_IS_ISR());
assert(!kernel::isIsr());
if (ticks == 0U) {
taskYIELD();
} else {
@@ -98,7 +98,7 @@ void delayTicks(TickType_t ticks) {
}
bool delayUntilTick(TickType_t tick) {
assert(!TT_IS_ISR());
assert(!kernel::isIsr());
TickType_t tcnt, delay;
@@ -118,7 +118,7 @@ bool delayUntilTick(TickType_t tick) {
}
TickType_t getTicks() {
if (TT_IS_ISR() != 0U) {
if (kernel::isIsr() != 0U) {
return xTaskGetTickCountFromISR();
} else {
return xTaskGetTickCount();
TactilityCore/Source/kernel/critical/Critical.cpp
+2 -2
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@@ -1,7 +1,7 @@
#include "Tactility/kernel/critical/Critical.h"
#include "Tactility/CoreDefines.h"
#include "Tactility/RtosCompatTask.h"
#include "Tactility/kernel/Kernel.h"
#ifdef ESP_PLATFORM
static portMUX_TYPE critical_mutex;
@@ -15,7 +15,7 @@ namespace tt::kernel::critical {
CriticalInfo enter() {
CriticalInfo info = {
.isrm = 0,
.fromIsr = TT_IS_ISR(),
.fromIsr = kernel::isIsr(),
.kernelRunning = (xTaskGetSchedulerState() == taskSCHEDULER_RUNNING)
};