src/osal/osal_pico.h

/*
 * SPDX-FileCopyrightText: Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
 * SPDX-FileCopyrightText: Copyright (c) 2020 Ha Thach (tinyusb.org)
 * SPDX-License-Identifier: MIT
 *
 * This file is part of the TinyUSB stack.
 */

#ifndef TUSB_OSAL_PICO_H_
#define TUSB_OSAL_PICO_H_

#include "pico/time.h"
#include "pico/sem.h"
#include "pico/mutex.h"
#include "pico/critical_section.h"

#ifdef __cplusplus
extern "C" {
#endif

//--------------------------------------------------------------------+
// TASK API
//--------------------------------------------------------------------+
// Bare-metal single context: return a non-NULL sentinel so equality compares true.
typedef void* osal_task_handle_t;

TU_ATTR_ALWAYS_INLINE static inline osal_task_handle_t osal_task_get_current_handle(void) {
  return (osal_task_handle_t) 1;
}

TU_ATTR_ALWAYS_INLINE static inline void osal_task_delay(uint32_t msec) {
  sleep_ms(msec);
}

TU_ATTR_ALWAYS_INLINE static inline uint32_t osal_time_millis(void) {
  return to_ms_since_boot(get_absolute_time());
}

//--------------------------------------------------------------------+
// Spinlock API
//--------------------------------------------------------------------+
typedef critical_section_t osal_spinlock_t; // pico implement critical section with spinlock
#define OSAL_SPINLOCK_DEF(_name, _int_set) osal_spinlock_t _name

TU_ATTR_ALWAYS_INLINE static inline void osal_spin_init(osal_spinlock_t *ctx) {
  critical_section_init(ctx);
}

TU_ATTR_ALWAYS_INLINE static inline void osal_spin_deinit(osal_spinlock_t *ctx) {
  critical_section_deinit(ctx);
}

TU_ATTR_ALWAYS_INLINE static inline void osal_spin_lock(osal_spinlock_t *ctx, bool in_isr) {
  (void)in_isr;
  critical_section_enter_blocking(ctx);
}

TU_ATTR_ALWAYS_INLINE static inline void osal_spin_unlock(osal_spinlock_t *ctx, bool in_isr) {
  (void)in_isr;
  critical_section_exit(ctx);
}

//--------------------------------------------------------------------+
// Binary Semaphore API
//--------------------------------------------------------------------+
typedef struct semaphore osal_semaphore_def_t, *osal_semaphore_t;

TU_ATTR_ALWAYS_INLINE static inline osal_semaphore_t osal_semaphore_create(osal_semaphore_def_t *semdef) {
  sem_init(semdef, 0, 255);
  return semdef;
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_semaphore_delete(osal_semaphore_t semd_hdl) {
  (void)semd_hdl;
  return true; // nothing to do
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_semaphore_post(osal_semaphore_t sem_hdl, bool in_isr) {
  (void)in_isr;
  return sem_release(sem_hdl);
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_semaphore_wait(osal_semaphore_t sem_hdl, uint32_t msec) {
  return sem_acquire_timeout_ms(sem_hdl, msec);
}

TU_ATTR_ALWAYS_INLINE static inline void osal_semaphore_reset(osal_semaphore_t sem_hdl) {
  sem_reset(sem_hdl, 0);
}

//--------------------------------------------------------------------+
// MUTEX API
// Within tinyusb, mutex is never used in ISR context
//--------------------------------------------------------------------+
typedef struct mutex osal_mutex_def_t, *osal_mutex_t;

TU_ATTR_ALWAYS_INLINE static inline osal_mutex_t osal_mutex_create(osal_mutex_def_t *mdef) {
  mutex_init(mdef);
  return mdef;
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_mutex_delete(osal_mutex_t mutex_hdl) {
  (void)mutex_hdl;
  return true; // nothing to do
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_mutex_lock(osal_mutex_t mutex_hdl, uint32_t msec) {
  return mutex_enter_timeout_ms(mutex_hdl, msec);
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_mutex_unlock(osal_mutex_t mutex_hdl) {
  mutex_exit(mutex_hdl);
  return true;
}

//--------------------------------------------------------------------+
// QUEUE API
//--------------------------------------------------------------------+
#include "common/tusb_fifo.h"

typedef struct {
  uint16_t                item_size;
  tu_fifo_t               ff;
  struct critical_section critsec; // osal_queue may be used in IRQs, so need critical section
} osal_queue_def_t;

typedef osal_queue_def_t *osal_queue_t;

// role device/host is used by OS NONE for mutex (disable usb isr) only
#define OSAL_QUEUE_DEF(_int_set, _name, _depth, _type)  \
  uint8_t          _name##_buf[_depth * sizeof(_type)]; \
  osal_queue_def_t _name = {.item_size = sizeof(_type), .ff = TU_FIFO_INIT(_name##_buf, _depth * sizeof(_type), false)}

TU_ATTR_ALWAYS_INLINE static inline osal_queue_t osal_queue_create(osal_queue_def_t *qdef) {
  critical_section_init(&qdef->critsec);
  tu_fifo_clear(&qdef->ff);
  return (osal_queue_t)qdef;
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_delete(osal_queue_t qhdl) {
  osal_queue_def_t *qdef = (osal_queue_def_t *)qhdl;
  critical_section_deinit(&qdef->critsec);
  return true;
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_receive(osal_queue_t qhdl, void *data, uint32_t msec) {
  (void)msec; // not used, always behave as msec = 0

  critical_section_enter_blocking(&qhdl->critsec);
  bool success = tu_fifo_read_n(&qhdl->ff, data, qhdl->item_size);
  critical_section_exit(&qhdl->critsec);

  return success;
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_send(osal_queue_t qhdl, const void *data, bool in_isr) {
  (void)in_isr;

  critical_section_enter_blocking(&qhdl->critsec);
  bool success = tu_fifo_write_n(&qhdl->ff, data, qhdl->item_size);
  critical_section_exit(&qhdl->critsec);

  return success;
}

TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_empty(osal_queue_t qhdl) {
  // TODO: revisit; whether this is true or not currently, tu_fifo_empty is a single
  //  volatile read.

  // Skip queue lock/unlock since this function is primarily called
  // with interrupt disabled before going into low power mode
  return tu_fifo_empty(&qhdl->ff);
}

#ifdef __cplusplus
}
#endif

#endif