async_context_freertos.h

/*
 * Copyright (c) 2022 Raspberry Pi (Trading) Ltd.
 *
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef _PICO_ASYNC_CONTEXT_FREERTOS_H
#define _PICO_ASYNC_CONTEXT_FREERTOS_H

#include "pico/async_context.h"
 
// FreeRTOS includes
#include "FreeRTOS.h"
#include "semphr.h"
#include "timers.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
#ifndef ASYNC_CONTEXT_DEFAULT_FREERTOS_TASK_PRIORITY
#define ASYNC_CONTEXT_DEFAULT_FREERTOS_TASK_PRIORITY ( tskIDLE_PRIORITY + 4)
#endif
 
#ifndef ASYNC_CONTEXT_DEFAULT_FREERTOS_TASK_STACK_SIZE
#define ASYNC_CONTEXT_DEFAULT_FREERTOS_TASK_STACK_SIZE configMINIMAL_STACK_SIZE
#endif
 
typedef struct async_context_freertos async_context_freertos_t;
 
#if !defined(configNUMBER_OF_CORES) && defined(configNUM_CORES)
#if !portSUPPORT_SMP
#error configNUMBER_OF_CORES is the new name for configNUM_CORES
#else
// portSUPPORT_SMP was defined in old smp branch
#error configNUMBER_OF_CORES is the new name for configNUM_CORES, however it looks like you may need to define both as you are using an old SMP branch of FreeRTOS
#endif
#endif

typedef struct async_context_freertos_config {
    UBaseType_t task_priority;
    configSTACK_DEPTH_TYPE task_stack_size;
#if configSUPPORT_STATIC_ALLOCATION
    StackType_t *task_stack;
#endif
#if configUSE_CORE_AFFINITY && configNUMBER_OF_CORES > 1
    UBaseType_t task_core_id;
#endif
} async_context_freertos_config_t;

struct async_context_freertos {
    async_context_t core; 
    SemaphoreHandle_t lock_mutex; 
    SemaphoreHandle_t work_needed_sem; 
    SemaphoreHandle_t task_complete_sem; 
    TimerHandle_t timer_handle; 
    TaskHandle_t task_handle; 
#if configSUPPORT_STATIC_ALLOCATION
    StaticSemaphore_t lock_mutex_buf; 
    StaticSemaphore_t work_needed_sem_buf; 
    StaticSemaphore_t task_complete_sem_buf; 
    StaticTimer_t timer_buf; 
    StaticTask_t task_buf; 
#endif
    uint8_t nesting; 
    volatile bool task_should_exit; 
};

bool async_context_freertos_init(async_context_freertos_t *self, async_context_freertos_config_t *config);

 static inline async_context_freertos_config_t async_context_freertos_default_config(void) {
    async_context_freertos_config_t config = {
            .task_priority = ASYNC_CONTEXT_DEFAULT_FREERTOS_TASK_PRIORITY,
            .task_stack_size = ASYNC_CONTEXT_DEFAULT_FREERTOS_TASK_STACK_SIZE,
#if configUSE_CORE_AFFINITY && configNUMBER_OF_CORES > 1
            .task_core_id = (UBaseType_t)-1, // none
#endif
    };
    return config;
 
}

 static inline bool async_context_freertos_init_with_defaults(async_context_freertos_t *self) {
    async_context_freertos_config_t config = async_context_freertos_default_config();
    return async_context_freertos_init(self, &config);
}
 
#ifdef __cplusplus
}
#endif
 
#endif