feat(radio): OS compatibility layer (#5840)

Author: raphaelcoeffic

radio/src/CMakeLists.txt

@@ -484,9 +484,16 @@ if(NATIVE_BUILD)
     ${RADIOLIB_NATIVE_SRC}
   )
 
-  # Add -DSIMU here PUBLIC, so it can be imported by other targets
+  # Add SIMU and POSIX_THREAD here PUBLIC, so it can be imported by other targets
   # via INTERFACE_COMPILE_OPTIONS
-  target_compile_options(radiolib_native PUBLIC -DSIMU)
+  target_compile_options(radiolib_native PUBLIC -DSIMU -DPOSIX_THREADS)
+  target_sources(radiolib_native PUBLIC
+    os/async_native.cpp
+    os/sleep_native.cpp
+    os/task_pthread.cpp
+    os/time_native.cpp
+    os/timer_pthread.cpp
+  )
   add_dependencies(radiolib_native ${RADIO_DEPENDENCIES})
   set_property(TARGET radiolib_native PROPERTY POSITION_INDEPENDENT_CODE ON)
 
@@ -554,13 +561,23 @@ if(BOOTLOADER)
   set(RADIO_DEPENDENCIES ${RADIO_DEPENDENCIES} bootloader)
 endif()
 
-add_definitions(-DFREE_RTOS)
-
 add_executable(firmware ${SRC})
 link_libraries(firmware -lstdc++)
 add_dependencies(firmware ${RADIO_DEPENDENCIES})
 set_target_properties(firmware PROPERTIES EXCLUDE_FROM_ALL TRUE)
 
+target_compile_definitions(board PUBLIC FREE_RTOS)
+target_compile_definitions(board_lib PUBLIC FREE_RTOS)
+target_compile_definitions(firmware PUBLIC FREE_RTOS)
+
+target_sources(firmware PUBLIC
+  os/async_freertos.cpp
+  os/sleep_freertos.cpp
+  os/task_freertos.cpp
+  os/time_freertos.cpp
+  os/timer_freertos.cpp
+)
+
 if(DEBUG)
   target_compile_definitions(board PRIVATE -DDEBUG)
   target_compile_definitions(firmware PRIVATE -DDEBUG)

radio/src/audio.cpp

@@ -21,6 +21,9 @@
 
 #include <math.h>
 
+#include "os/sleep.h"
+#include "os/task.h"
+
 #include "edgetx.h"
 #include "strhelpers.h"
 #include "switches.h"
@@ -32,7 +35,7 @@
 #include "model_audio.h"
 #include "hal/audio_driver.h"
 
-extern RTOS_MUTEX_HANDLE audioMutex;
+extern mutex_handle_t audioMutex;
 
 // Only first quadrant values - other quadrants calulated taking advantage of symmetry in sine wave.
 const int16_t sineValues[] =
@@ -373,28 +376,6 @@ AudioQueue::AudioQueue()
 
 #define CODEC_ID_PCM_S16LE  1
 
-#if !defined(SIMU)
-void audioTask(void * pdata)
-{
-  while (!audioQueue.started()) {
-    RTOS_WAIT_TICKS(1);
-  }
-
-#if defined(PCBX12S) || defined(RADIO_TX16S) || defined(RADIO_F16) || defined(RADIO_V16)
-  // The audio amp needs ~2s to start
-  RTOS_WAIT_MS(1000); // 1s
-#endif
-
-  while (true) {
-    DEBUG_TIMER_SAMPLE(debugTimerAudioIterval);
-    DEBUG_TIMER_START(debugTimerAudioDuration);
-    audioQueue.wakeup();
-    DEBUG_TIMER_STOP(debugTimerAudioDuration);
-    RTOS_WAIT_MS(4); // ???
-  }
-}
-#endif
-
 #if !defined(__SSAT)
   #define _sat_s16(x) ((int16_t)limit<int32_t>(INT16_MIN, (x), INT16_MAX))
 #else
@@ -638,9 +619,9 @@ void AudioQueue::wakeup()
 
     // mix the normal context (tones and wavs)
     if (normalContext.isEmpty() && !fragmentsFifo.empty()) {
-      RTOS_LOCK_MUTEX(audioMutex);
+      mutex_lock(&audioMutex);
       normalContext.setFragment(fragmentsFifo.get());
-      RTOS_UNLOCK_MUTEX(audioMutex);
+      mutex_unlock(&audioMutex);
     }
     result = normalContext.mixBuffer(buffer, g_eeGeneral.beepVolume, g_eeGeneral.wavVolume, fade);
     if (result > 0) {
@@ -724,7 +705,7 @@ void AudioQueue::playTone(uint16_t freq, uint16_t len, uint16_t pause, uint8_t f
   return;
 #endif
 
-  RTOS_LOCK_MUTEX(audioMutex);
+  mutex_lock(&audioMutex);
 
   freq = limit<uint16_t>(BEEP_MIN_FREQ, freq, BEEP_MAX_FREQ);
 
@@ -747,7 +728,7 @@ void AudioQueue::playTone(uint16_t freq, uint16_t len, uint16_t pause, uint8_t f
     }
   }
 
-  RTOS_UNLOCK_MUTEX(audioMutex);
+  mutex_unlock(&audioMutex);
 }
 
 void AudioQueue::playFile(const char * filename, uint8_t flags, uint8_t id, int8_t fragmentVolume)
@@ -774,7 +755,7 @@ void AudioQueue::playFile(const char * filename, uint8_t flags, uint8_t id, int8
     return;
   }
 
-  RTOS_LOCK_MUTEX(audioMutex);
+  mutex_lock(&audioMutex);
 
   if (flags & PLAY_BACKGROUND) {
     backgroundContext.clear();
@@ -784,7 +765,7 @@ void AudioQueue::playFile(const char * filename, uint8_t flags, uint8_t id, int8
     fragmentsFifo.push(AudioFragment(filename, flags & 0x0f, fragmentVolume, id));
   }
 
-  RTOS_UNLOCK_MUTEX(audioMutex);
+  mutex_unlock(&audioMutex);
 }
 
 void AudioQueue::stopPlay(uint8_t id)
@@ -797,12 +778,12 @@ void AudioQueue::stopPlay(uint8_t id)
   return;
 #endif
 
-  RTOS_LOCK_MUTEX(audioMutex);
+  mutex_lock(&audioMutex);
 
   fragmentsFifo.removePromptById(id);
   backgroundContext.stop(id);
 
-  RTOS_UNLOCK_MUTEX(audioMutex);
+  mutex_unlock(&audioMutex);
 }
 
 void AudioQueue::stopSD()
@@ -815,19 +796,19 @@ void AudioQueue::stopSD()
 void AudioQueue::stopAll()
 {
   flush();
-  RTOS_LOCK_MUTEX(audioMutex);
+  mutex_lock(&audioMutex);
   priorityContext.clear();
   normalContext.clear();
-  RTOS_UNLOCK_MUTEX(audioMutex);
+  mutex_unlock(&audioMutex);
 }
 
 void AudioQueue::flush()
 {
-  RTOS_LOCK_MUTEX(audioMutex);
+  mutex_lock(&audioMutex);
   fragmentsFifo.clear();
   varioContext.clear();
   backgroundContext.clear();
-  RTOS_UNLOCK_MUTEX(audioMutex);
+  mutex_unlock(&audioMutex);
 }
 
 void audioPlay(unsigned int index, uint8_t id)

radio/src/audio.h

@@ -470,7 +470,6 @@ void codecsInit();
 void audioEvent(unsigned int index);
 void audioPlay(unsigned int index, uint8_t id=0);
 void audioStart();
-void audioTask(void * pdata);
 
 #if defined(AUDIO) && defined(BUZZER)
   #define AUDIO_BUZZER(a, b)  do { a; b; } while(0)

radio/src/bluetooth.cpp

@@ -23,6 +23,7 @@
 #include "edgetx.h"
 #include "io/frsky_firmware_update.h"
 #include "bluetooth_driver.h"
+#include "os/sleep.h"
 #include "trainer.h"
 
 #if defined(LIBOPENUI)
@@ -571,7 +572,7 @@ uint8_t Bluetooth::read(uint8_t * data, uint8_t size, uint32_t timeout)
       if (elapsed++ >= timeout) {
         return len;
       }
-      RTOS_WAIT_MS(1);
+      sleep_ms(1);
     }
     data[len++] = byte;
   }
@@ -829,11 +830,11 @@ const char * Bluetooth::flashFirmware(const char * filename, ProgressHandler pro
 
   bluetoothInit(BLUETOOTH_BOOTLOADER_BAUDRATE, true); // normal mode
   watchdogSuspend(500 /*5s*/);
-  RTOS_WAIT_MS(1000);
+  sleep_ms(1000);
 
   bluetoothInit(BLUETOOTH_BOOTLOADER_BAUDRATE, false); // bootloader mode
   watchdogSuspend(500 /*5s*/);
-  RTOS_WAIT_MS(1000);
+  sleep_ms(1000);
 
   const char * result = doFlashFirmware(filename, progressHandler);
 
@@ -851,7 +852,7 @@ const char * Bluetooth::flashFirmware(const char * filename, ProgressHandler pro
 
   /* wait 1s off */
   watchdogSuspend(500 /*5s*/);
-  RTOS_WAIT_MS(1000);
+  sleep_ms(1000);
 
   state = BLUETOOTH_STATE_OFF;
   pulsesStart();

radio/src/boards/generic_stm32/rgb_leds.cpp

@@ -30,18 +30,13 @@
 #include "stm32_dma.h"
 #include "stm32_gpio.h"
 #include "hal/gpio.h"
-
-#if !defined(SIMU)
-#include <FreeRTOS/include/FreeRTOS.h>
-#include <FreeRTOS/include/timers.h>
-#endif
+#include "os/timer.h"
 
 static uint8_t _led_colors[WS2812_BYTES_PER_LED * LED_STRIP_LENGTH];
 
 extern const stm32_pulse_timer_t _led_timer;
 
-static TimerHandle_t rgbLedTimer = nullptr;
-static StaticTimer_t rgbLedTimerBuffer;
+static timer_handle_t _refresh_timer = TIMER_INITIALIZER;
 
 void rgbSetLedColor(uint8_t led, uint8_t r, uint8_t g, uint8_t b)
 {
@@ -77,35 +72,25 @@ void rgbLedClearAll()
   ws2812_update(&_led_timer);
 }
 
-static void rgbLedTimerCb(TimerHandle_t xTimer)
+static void _refresh_cb(timer_handle_t* timer)
 {
-  (void)xTimer;
-
+  (void)timer;
   ws2812_update(&_led_timer);
 }
 
 void rgbLedStart()
 {
-  if (!rgbLedTimer) {
-    rgbLedTimer =
-        xTimerCreateStatic("rgbLed", LED_STRIP_REFRESH_PERIOD / RTOS_MS_PER_TICK, pdTRUE, (void*)0,
-                           rgbLedTimerCb, &rgbLedTimerBuffer);
+  if (!timer_is_created(&_refresh_timer)) {
+    timer_create(&_refresh_timer, _refresh_cb, "rgbled",
+                 LED_STRIP_REFRESH_PERIOD, true);
   }
 
-  if (rgbLedTimer) {
-    if( xTimerStart( rgbLedTimer, 0 ) != pdPASS ) {
-      /* The timer could not be set into the Active state. */
-    }
-  }
+  timer_start(&_refresh_timer);
 }
 
 void rgbLedStop()
 {
-  if (rgbLedTimer) {
-    if( xTimerStop( rgbLedTimer, 5 / RTOS_MS_PER_TICK ) != pdPASS ) {
-      /* The timer could not be stopped. */
-    }
-  }
+  timer_stop(&_refresh_timer);
 }
 
 const stm32_pulse_timer_t _led_timer = {