xref: /hal_ti-latest/simplelink_lpf3/kernel/zephyr/dpl/TaskP_zephyr.c

/*
 * Copyright (c) 2024, Texas Instruments Incorporated
 *
 * SPDX-License-Identifier: Apache-2.0
 */

#include <zephyr/kernel.h>
#include <zephyr/kernel_structs.h>

#include <zephyr/sys/__assert.h>

#include <inc/hw_types.h>
#include <inc/hw_ints.h>

#include <driverlib/interrupt.h>

#include <kernel/zephyr/dpl/dpl.h>
#include <ti/drivers/dpl/TaskP.h>
#include <ti/drivers/dpl/ClockP.h>
#include <ti/drivers/dpl/HwiP.h>

#if (defined(CONFIG_DYNAMIC_DPL_OBJECTS) && defined(CONFIG_DYNAMIC_THREAD) && defined(CONFIG_DYNAMIC_THREAD_ALLOC) && defined(CONFIG_THREAD_STACK_INFO))
    #define DYNAMIC_THREADS
#endif

#ifdef DYNAMIC_THREADS
/* Space for thread objects  */
K_MEM_SLAB_DEFINE(task_slab, sizeof(struct k_thread), CONFIG_DYNAMIC_THREAD_POOL_SIZE,\
          MEM_ALIGN);

static struct k_thread *dpl_task_pool_alloc()
{
    struct k_thread *task_ptr = NULL;

    if (k_mem_slab_alloc(&task_slab, (void **)&task_ptr, K_NO_WAIT) < 0) {

         __ASSERT(0, "Increase size of DPL task pool");
    }
    printk("Slabs used: %d / %d \n", task_slab.info.num_used, task_slab.info.num_blocks);
    return task_ptr;
}

static void dpl_task_pool_free(struct k_thread *task)
{
    k_mem_slab_free(&task_slab, (void *)task);
    return;
}

#endif /* CONFIG_DYNAMIC_DPL_OBJECTS */

/*
 *  ======== Array for conversion of Zephyr thread state to DPL task state ========
 */
const TaskP_State taskState[] = {TaskP_State_RUNNING,  /*!< Running */
                                 TaskP_State_READY,    /*!< Ready */
                                 TaskP_State_BLOCKED,  /*!< Suspended */
                                 TaskP_State_INACTIVE, /*!< Suspended */
                                 TaskP_State_DELETED,  /*!< Terminated */
                                 TaskP_State_INVALID}; /*!< Dummy */

/*
 *  ======== Default TaskP_Params values ========
 */
static const TaskP_Params TaskP_defaultParams = {
    .name      = "NAME",
    .arg       = NULL,
    .priority  = 1,
    .stackSize = TaskP_DEFAULT_STACK_SIZE,
    .stack     = NULL,
};

/*
 *  ======== TaskP_Params_init ========
 */
void TaskP_Params_init(TaskP_Params *params)
{
    /* structure copy */
    *params = TaskP_defaultParams;
}

#ifdef DYNAMIC_THREADS
/*
 *  ======== TaskP_create ========
 */
TaskP_Handle TaskP_create(TaskP_Function fxn, const TaskP_Params *params)
{
    k_tid_t task_tid;
    struct k_thread *task = dpl_task_pool_alloc();

    k_thread_stack_t * task_stack = k_thread_stack_alloc(params->stackSize, 0);

    if(task_stack != NULL)
    {

        /* TaskP uses inversed priority to Zephyr */
        task_tid = k_thread_create(task, task_stack,
                            K_THREAD_STACK_SIZEOF(task_stack),
                            (k_thread_entry_t) fxn,
                            params->arg, NULL, NULL,
                            (0 - params->priority), 0, K_NO_WAIT);
        if(task_tid != NULL)
        {
            k_thread_name_set(task_tid, params->name);
        }
    }

    return ((TaskP_Handle)task);
}

/*
 *  ======== TaskP_delete ========
 */
void TaskP_delete(TaskP_Handle task)
{
    if (task != NULL)
    {
        TaskP_State state = TaskP_getState(task);
        if(state != TaskP_State_INVALID && state != TaskP_State_DELETED)
        {
            struct k_thread*  thread = (struct k_thread* )task;
            k_thread_abort((k_tid_t) thread);

            int status = k_thread_stack_free((k_thread_stack_t *) thread->stack_info.start);
            if(status == 0)
            {
                dpl_task_pool_free(thread);
            }
        }
    }
}
#endif
/*
 *  ======== TaskP_construct ========
 */
TaskP_Handle TaskP_construct(TaskP_Struct *obj, TaskP_Function fxn, const TaskP_Params *params)
{
    if (params == NULL)
    {
        /* Set default parameter values */
        params = &TaskP_defaultParams;
    }

    /* TaskP uses inversed priority to Zephyr */
    k_tid_t task_tid = k_thread_create((struct k_thread*) obj, (k_thread_stack_t*) params->stack,
                                 params->stackSize,
                                 (k_thread_entry_t) fxn,
                                 params->arg, NULL, NULL,
                                 (0 - params->priority), 0, K_NO_WAIT);

    if(task_tid != NULL)
    {
        k_thread_name_set(task_tid, params->name);
    }

    return ((TaskP_Handle) obj);
}

/*
 *  ======== TaskP_destruct ========
 */
void TaskP_destruct(TaskP_Struct *obj)
{
    if (obj != NULL)
    {
        TaskP_State state = TaskP_getState((TaskP_Handle) obj);
        if(state != TaskP_State_INVALID && state != TaskP_State_DELETED)
        {
            struct k_thread*  thread = (struct k_thread* )obj;
            k_thread_abort((k_tid_t) thread);
        }
    }
}

/*
 *  ======== TaskP_getState ========
 */
TaskP_State TaskP_getState(TaskP_Handle task)
{
    TaskP_State state;

    switch (((struct k_thread*) task)->base.thread_state) {
    case _THREAD_DUMMY:
        state = TaskP_State_INVALID;
        break;
    case _THREAD_DEAD:
        state = TaskP_State_DELETED;
        break;
    case _THREAD_SUSPENDED:
    case _THREAD_PENDING:
        state = TaskP_State_BLOCKED;
        break;
    case _THREAD_QUEUED:
        state = TaskP_State_READY;
        break;
    default:
        state = TaskP_State_INVALID;
        break;
    }

    /* Check if we are the currently running thread */
    if (k_current_get() == ((k_tid_t) ((struct k_thread *) task))) {
        state = TaskP_State_RUNNING;
    }

    return state;
}

/*
 *  ======== TaskP_getCurrentTask ========
 */
TaskP_Handle TaskP_getCurrentTask(void)
{
    return ((TaskP_Handle)k_current_get());
}

/*
 *  ======== TaskP_disableScheduler ========
 */
uintptr_t TaskP_disableScheduler(void)
{
    k_sched_lock();
    return (0);
}

/*
 *  ======== TaskP_restoreScheduler ========
 */
void TaskP_restoreScheduler(uintptr_t key)
{
    k_sched_unlock();
}

/*
 *  ======== TaskP_yield ========
 */
void TaskP_yield(void)
{
    k_yield();
}

/*
 *  ======== TaskP_getTaskObjectSize ========
 */
uint32_t TaskP_getTaskObjectSize(void)
{
    return (sizeof(struct k_thread));
}