freertos: Add wrapper functions to create objects with capabilities

This commit adds various ...WithCaps() functions to create FreeRTOS objects
with specific memory capabilities.

components/freertos/CMakeLists.txt

@@ -22,6 +22,7 @@ endif()
 
 set(srcs
     "heap_idf.c"
+    "esp_additions/idf_additions.c"
     "${kernel_dir}/list.c"
     "${kernel_dir}/queue.c"
     "${kernel_dir}/tasks.c"

components/freertos/esp_additions/idf_additions.c

@@ -0,0 +1,275 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "sdkconfig.h"
+#include <stdint.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+#include "freertos/semphr.h"
+#include "freertos/stream_buffer.h"
+#include "freertos/message_buffer.h"
+#include "freertos/event_groups.h"
+#include "freertos/timers.h"
+#include "freertos/idf_additions.h"
+#include "esp_heap_caps.h"
+
+/*
+ * This file contains the implementation for some the functions in
+ * idf_additions.h
+ */
+
+/* -----------------------------------------------------------------------------
+ * Creation With Memory Caps
+ * -------------------------------------------------------------------------- */
+
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+/* ---------------------------------- Queue --------------------------------- */
+
+    QueueHandle_t xQueueCreateWithCaps( UBaseType_t uxQueueLength,
+                                        UBaseType_t uxItemSize,
+                                        UBaseType_t uxMemoryCaps )
+    {
+        QueueHandle_t xQueue;
+        StaticQueue_t * pxQueueBuffer;
+        uint8_t * pucQueueStorageBuffer;
+
+        /* Allocate memory for the queue using the provided memory caps */
+        pxQueueBuffer = heap_caps_malloc( sizeof( StaticQueue_t ), ( uint32_t ) uxMemoryCaps );
+
+        if( uxItemSize == 0 )
+        {
+            pucQueueStorageBuffer = NULL;
+        }
+        else
+        {
+            pucQueueStorageBuffer = heap_caps_malloc( uxQueueLength * uxItemSize, ( uint32_t ) uxMemoryCaps );
+        }
+
+        if( ( pxQueueBuffer == NULL ) || ( ( uxItemSize > 0 ) && ( pucQueueStorageBuffer == NULL ) ) )
+        {
+            goto err;
+        }
+
+        /* Create the queue using static creation API */
+        xQueue = xQueueCreateStatic( uxQueueLength, uxItemSize, pucQueueStorageBuffer, pxQueueBuffer );
+
+        if( xQueue == NULL )
+        {
+            goto err;
+        }
+
+        return xQueue;
+
+err:
+        heap_caps_free( pucQueueStorageBuffer );
+        heap_caps_free( pxQueueBuffer );
+        return NULL;
+    }
+
+    void vQueueDeleteWithCaps( QueueHandle_t xQueue )
+    {
+        BaseType_t xResult;
+        StaticQueue_t * pxQueueBuffer;
+        uint8_t * pucQueueStorageBuffer;
+
+        /* Retrieve the buffers used to create the queue before deleting it */
+        xResult = xQueueGetStaticBuffers( xQueue, &pucQueueStorageBuffer, &pxQueueBuffer );
+        configASSERT( xResult == pdTRUE );
+
+        /* Delete the queue */
+        vQueueDelete( xQueue );
+
+        /* Free the memory buffers */
+        heap_caps_free( pxQueueBuffer );
+        heap_caps_free( pucQueueStorageBuffer );
+    }
+
+/* -------------------------------- Semaphore ------------------------------- */
+
+    SemaphoreHandle_t xSemaphoreCreateGenericWithCaps( UBaseType_t uxMaxCount,
+                                                       UBaseType_t uxInitialCount,
+                                                       const uint8_t ucQueueType,
+                                                       UBaseType_t uxMemoryCaps )
+    {
+        SemaphoreHandle_t xSemaphore;
+        StaticSemaphore_t * pxSemaphoreBuffer;
+
+        /* Allocate memory for the semaphore using the provided memory caps */
+        pxSemaphoreBuffer = heap_caps_malloc( sizeof( StaticSemaphore_t ), ( uint32_t ) uxMemoryCaps );
+
+        if( pxSemaphoreBuffer == NULL )
+        {
+            return NULL;
+        }
+
+        /* Create the semaphore using static creation API */
+        if( ucQueueType == queueQUEUE_TYPE_MUTEX )
+        {
+            xSemaphore = xSemaphoreCreateMutexStatic( pxSemaphoreBuffer );
+        }
+        else if( ucQueueType == queueQUEUE_TYPE_COUNTING_SEMAPHORE )
+        {
+            xSemaphore = xSemaphoreCreateCountingStatic( uxMaxCount, uxInitialCount, pxSemaphoreBuffer );
+        }
+        else if( ucQueueType == queueQUEUE_TYPE_BINARY_SEMAPHORE )
+        {
+            xSemaphore = xSemaphoreCreateBinaryStatic( pxSemaphoreBuffer );
+        }
+        else /* ucQueueType == queueQUEUE_TYPE_RECURSIVE_MUTEX */
+        {
+            xSemaphore = xSemaphoreCreateRecursiveMutexStatic( pxSemaphoreBuffer );
+        }
+
+        if( xSemaphore == NULL )
+        {
+            heap_caps_free( pxSemaphoreBuffer );
+        }
+
+        return xSemaphore;
+    }
+
+    void vSemaphoreDeleteWithCaps( SemaphoreHandle_t xSemaphore )
+    {
+        BaseType_t xResult;
+        StaticSemaphore_t * pxSemaphoreBuffer;
+
+        /* Retrieve the buffer used to create the semaphore before deleting it
+         * */
+        xResult = xSemaphoreGetStaticBuffer( xSemaphore, &pxSemaphoreBuffer );
+        configASSERT( xResult == pdTRUE );
+
+        /* Delete the semaphore */
+        vSemaphoreDelete( xSemaphore );
+
+        /* Free the memory buffer */
+        heap_caps_free( pxSemaphoreBuffer );
+    }
+
+/* ------------------------- Stream & Message Buffers ----------------------- */
+
+    StreamBufferHandle_t xStreamBufferGenericCreateWithCaps( size_t xBufferSizeBytes,
+                                                             size_t xTriggerLevelBytes,
+                                                             BaseType_t xIsMessageBuffer,
+                                                             UBaseType_t uxMemoryCaps )
+    {
+        StreamBufferHandle_t xStreamBuffer;
+        StaticStreamBuffer_t * pxStaticStreamBuffer;
+        uint8_t * pucStreamBufferStorageArea;
+
+        /* Allocate memory for the stream or message buffer using the provided
+         * memory caps */
+        pxStaticStreamBuffer = heap_caps_malloc( sizeof( StaticStreamBuffer_t ), ( uint32_t ) uxMemoryCaps );
+        pucStreamBufferStorageArea = heap_caps_malloc( xBufferSizeBytes, ( uint32_t ) uxMemoryCaps );
+
+        if( ( pxStaticStreamBuffer == NULL ) || ( pucStreamBufferStorageArea == NULL ) )
+        {
+            goto err;
+        }
+
+        /* Create the stream or message buffer using static creation API */
+        if( xIsMessageBuffer == pdTRUE )
+        {
+            xStreamBuffer = ( StreamBufferHandle_t ) xMessageBufferCreateStatic( xBufferSizeBytes, pucStreamBufferStorageArea, pxStaticStreamBuffer );
+        }
+        else
+        {
+            xStreamBuffer = xStreamBufferCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pucStreamBufferStorageArea, pxStaticStreamBuffer );
+        }
+
+        if( xStreamBuffer == NULL )
+        {
+            goto err;
+        }
+
+        return xStreamBuffer;
+
+err:
+        heap_caps_free( pucStreamBufferStorageArea );
+        heap_caps_free( pxStaticStreamBuffer );
+        return NULL;
+    }
+
+    void vStreamBufferGenericDeleteWithCaps( StreamBufferHandle_t xStreamBuffer,
+                                             BaseType_t xIsMessageBuffer )
+    {
+        BaseType_t xResult;
+        StaticStreamBuffer_t * pxStaticStreamBuffer;
+        uint8_t * pucStreamBufferStorageArea;
+
+        /* Retrieve the buffers used to create the stream or message buffer
+         * before deleting it */
+        if( xIsMessageBuffer == pdTRUE )
+        {
+            xResult = xMessageBufferGetStaticBuffers( xStreamBuffer, &pucStreamBufferStorageArea, &pxStaticStreamBuffer );
+        }
+        else
+        {
+            xResult = xStreamBufferGetStaticBuffers( xStreamBuffer, &pucStreamBufferStorageArea, &pxStaticStreamBuffer );
+        }
+
+        configASSERT( xResult == pdTRUE );
+
+        /* Delete the stream or message buffer */
+        if( xIsMessageBuffer == pdTRUE )
+        {
+            vMessageBufferDelete( xStreamBuffer );
+        }
+        else
+        {
+            vSemaphoreDelete( xStreamBuffer );
+        }
+
+        /* Free the memory buffers */
+        heap_caps_free( pxStaticStreamBuffer );
+        heap_caps_free( pucStreamBufferStorageArea );
+    }
+
+/* ------------------------------ Event Groups ------------------------------ */
+
+    EventGroupHandle_t xEventGroupCreateWithCaps( UBaseType_t uxMemoryCaps )
+    {
+        EventGroupHandle_t xEventGroup;
+        StaticEventGroup_t * pxEventGroupBuffer;
+
+        /* Allocate memory for the event group using the provided memory caps */
+        pxEventGroupBuffer = heap_caps_malloc( sizeof( StaticEventGroup_t ), uxMemoryCaps );
+
+        if( pxEventGroupBuffer == NULL )
+        {
+            return NULL;
+        }
+
+        /* Create the event group using static creation API */
+        xEventGroup = xEventGroupCreateStatic( pxEventGroupBuffer );
+
+        if( xEventGroup == NULL )
+        {
+            heap_caps_free( pxEventGroupBuffer );
+        }
+
+        return xEventGroup;
+    }
+
+    void vEventGroupDeleteWithCaps( EventGroupHandle_t xEventGroup )
+    {
+        BaseType_t xResult;
+        StaticEventGroup_t * pxEventGroupBuffer;
+
+        /* Retrieve the buffer used to create the event group before deleting it
+         * */
+        xResult = xEventGroupGetStaticBuffer( xEventGroup, &pxEventGroupBuffer );
+        configASSERT( xResult == pdTRUE );
+
+        /* Delete the event group */
+        vEventGroupDelete( xEventGroup );
+
+        /* Free the memory buffer */
+        heap_caps_free( pxEventGroupBuffer );
+    }
+
+#endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */