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async_context_freertos: Add support for configSUPPORT_STATIC_ALLOCATION #2436

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async_context_freertos: Add support for configSUPPORT_STATIC_ALLOCATION #2436

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34 changes: 32 additions & 2 deletions src/rp2_common/pico_async_context/async_context_freertos.c
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Original file line number Diff line number Diff line change
Expand Up @@ -109,19 +109,42 @@ bool async_context_freertos_init(async_context_freertos_t *self, async_context_f
self->core.type = &template;
self->core.flags = ASYNC_CONTEXT_FLAG_CALLBACK_FROM_NON_IRQ;
self->core.core_num = get_core_num();
#if configSUPPORT_STATIC_ALLOCATION
self->lock_mutex = xSemaphoreCreateRecursiveMutexStatic(&self->lock_mutex_buf);
self->work_needed_sem = xSemaphoreCreateBinaryStatic(&self->work_needed_sem_buf);
self->timer_handle = xTimerCreateStatic( "async_context_timer", // Just a text name, not used by the kernel.
portMAX_DELAY,
pdFALSE, // The timers will auto-reload themselves when they expire.
self,
timer_handler,
&self->timer_buf);
self->task_handle = xTaskCreateStatic( async_context_task,
"async_context_task",
config->task_stack_size,
self,
config->task_priority,
config->task_stack,
&self->task_buf);
#else
self->lock_mutex = xSemaphoreCreateRecursiveMutex();
self->work_needed_sem = xSemaphoreCreateBinary();
self->timer_handle = xTimerCreate( "async_context_timer", // Just a text name, not used by the kernel.
portMAX_DELAY,
pdFALSE, // The timers will auto-reload themselves when they expire.
self,
timer_handler);
#endif

if (!self->lock_mutex ||
!self->work_needed_sem ||
!self->timer_handle ||
pdPASS != xTaskCreate(async_context_task, "async_context_task", config->task_stack_size, self,
config->task_priority, &self->task_handle)) {
#if configSUPPORT_STATIC_ALLOCATION
!self->task_handle
#else
pdPASS == xTaskCreate(async_context_task, "async_context_task", config->task_stack_size, self,
config->task_priority, &self->task_handle)
#endif
) {
async_context_deinit(&self->core);
return false;
}
Expand Down Expand Up @@ -179,6 +202,9 @@ void async_context_freertos_lock_check(__unused async_context_t *self_base) {
typedef struct sync_func_call{
async_when_pending_worker_t worker;
SemaphoreHandle_t sem;
#if configSUPPORT_STATIC_ALLOCATION
StaticSemaphore_t sem_buf;
#endif
uint32_t (*func)(void *param);
void *param;
uint32_t rc;
Expand All @@ -197,7 +223,11 @@ uint32_t async_context_freertos_execute_sync(async_context_t *self_base, uint32_
call.worker.do_work = handle_sync_func_call;
call.func = func;
call.param = param;
#if configSUPPORT_STATIC_ALLOCATION
call.sem = xSemaphoreCreateBinaryStatic(&call.sem_buf);
#else
call.sem = xSemaphoreCreateBinary();
#endif
async_context_add_when_pending_worker(self_base, &call.worker);
async_context_set_work_pending(self_base, &call.worker);
xSemaphoreTake(call.sem, portMAX_DELAY);
Expand Down
14 changes: 14 additions & 0 deletions src/rp2_common/pico_async_context/include/pico/async_context_freertos.h
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Expand Up @@ -56,6 +56,14 @@ typedef struct async_context_freertos_config {
* \brief Stack size for the async_context task
*/
configSTACK_DEPTH_TYPE task_stack_size;
/**
* \brief Pointer to stack memory for the async_context task.
* If this is not provided, then a stack will be allocated from the
* freertos heap.
*/
#if configSUPPORT_STATIC_ALLOCATION
StackType_t *task_stack;
#endif
/**
* \brief the core ID (see \ref portGET_CORE_ID()) to pin the task to.
* This is only relevant in SMP mode.
Expand All @@ -71,6 +79,12 @@ struct async_context_freertos {
SemaphoreHandle_t work_needed_sem;
TimerHandle_t timer_handle;
TaskHandle_t task_handle;
#if configSUPPORT_STATIC_ALLOCATION
StaticSemaphore_t lock_mutex_buf;
StaticSemaphore_t work_needed_sem_buf;
StaticTimer_t timer_buf;
StaticTask_t task_buf;
#endif
uint8_t nesting;
volatile bool task_should_exit;
};
Expand Down
7 changes: 7 additions & 0 deletions src/rp2_common/pico_cyw43_arch/cyw43_arch_freertos.c
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Expand Up @@ -25,13 +25,20 @@

static async_context_freertos_t cyw43_async_context_freertos;

#if configSUPPORT_STATIC_ALLOCATION
static StackType_t cyw43_async_context_freertos_task_stack[CYW43_TASK_STACK_SIZE];
#endif

async_context_t *cyw43_arch_init_default_async_context(void) {
async_context_freertos_config_t config = async_context_freertos_default_config();
#ifdef CYW43_TASK_PRIORITY
config.task_priority = CYW43_TASK_PRIORITY;
#endif
#ifdef CYW43_TASK_STACK_SIZE
config.task_stack_size = CYW43_TASK_STACK_SIZE;
#endif
#if configSUPPORT_STATIC_ALLOCATION
config.task_stack = cyw43_async_context_freertos_task_stack;
#endif
if (async_context_freertos_init(&cyw43_async_context_freertos, &config))
return &cyw43_async_context_freertos.core;
Expand Down