Move util functions to RTOS class.

Former-commit-id: f58187e

Author: h2zero

README.md

@@ -18,6 +18,10 @@ If you are interested in assisting the development of this project please submit
 
 I wanted to have a consistent BLE API on all of the devices I work with. NimBLE is the best choice for this as it is the most feature complete and fully open source library available for Arduino.
 
+## BLE
+This Arduino Core does **not** contain any BLE functionality. It has been designed to support using the [NimBLE-Arduino](https://github.com/h2zero/NimBLE-Arduino) library for BLE operation.
+**Note:** Only the release version 1.4.0 and above of [NimBLE-Arduino](https://github.com/h2zero/NimBLE-Arduino) supports Arm devices.
+
 ## Supported boards
 
 ### nRF52840
@@ -52,7 +56,7 @@ I wanted to have a consistent BLE API on all of the devices I work with. NimBLE
  * [BBC micro:bit](https://microbit.org)
  * [Calliope mini](https://calliope.cc/en)
  * [Bluz DK](http://bluz.io)
- * Nordic Semiconductor  [nRF51822 Development Kit](https://www.nordicsemi.com/eng/Products/Bluetooth-low-energy/nRF51822-Development-Kit)
+ * [Nordic Semiconductor nRF51822 Development Kit](https://www.nordicsemi.com/eng/Products/Bluetooth-low-energy/nRF51822-Development-Kit)
  * [Nordic Semiconductor NRF51 Smart Beacon Kit](https://www.nordicsemi.com/eng/Products/Bluetooth-low-energy/nRF51822-Bluetooth-Smart-Beacon-Kit)
  * [Nordic Semiconductor NRF51 Dongle](http://www.nordicsemi.com/eng/Products/nRF51-Dongle)
  * [OSHChip](http://www.oshchip.org/)
@@ -66,7 +70,6 @@ I wanted to have a consistent BLE API on all of the devices I work with. NimBLE
 ## Installing
 
 ### Board Manager
-
  1. [Download and install the Arduino IDE](https://www.arduino.cc/en/Main/Software) (At least v1.6.12)
  2. Start the Arduino IDE
  3. Go into Preferences
@@ -75,7 +78,6 @@ I wanted to have a consistent BLE API on all of the devices I work with. NimBLE
  6. Select your board from the Tools -> Board menu
 
 ### From git (for core development)
-
  1. Follow steps from Board Manager section above
  2. ```cd <SKETCHBOOK>```, where ```<SKETCHBOOK>``` is your Arduino Sketch folder:
   * OS X: ```~/Documents/Arduino```
@@ -86,7 +88,6 @@ I wanted to have a consistent BLE API on all of the devices I work with. NimBLE
  5. Restart the Arduino IDE
 
 ## Flashing your device
-
 1. Select your board from the Tools -> Board menu
 2. Select any options you want
 3. Select a programmer (J-Link, ST-Link V2, CMSIS-DAP, Black Magic Probe, adafruit-nrfutil or nrfutil) from the Tools -> "Programmer: " menu
@@ -105,19 +106,48 @@ I wanted to have a consistent BLE API on all of the devices I work with. NimBLE
  1. Install nrfutil if not already installed `pip install nrfutil`
  2. Select nrfutil as the firmware uploader in the tools menu.
 
-## BLE
-
-This Arduino Core does **not** contain any BLE functionality. It has been designed to support using the [NimBLE-Arduino](https://github.com/h2zero/NimBLE-Arduino) library for BLE operation.
-**Note:** Currently only the release version 1.4.0 and above of [NimBLE-Arduino](https://github.com/h2zero/NimBLE-Arduino) supports Arm devices.
+## Configuration (optional)
+You can change the configuration for many settings by creating a `build_opt.h` file in your sketch folder.  
+In here you can set compile time definitions for settings that will be included directly on the command line.  
+For example: `'-DCONFIG_MAIN_TASK_STACK_SIZE=2048'` This will set the main task stack size to 2048 bytes.
+
+### Configuration option list
+ * `CONFIG_MAIN_TASK_STACK_SIZE` - sets the size **in bytes** of the main loop task.
+ * `CONFIG_RTOS_TICK_RATE_HZ` - set the tick rate for FreeRTOS (default 1024).
+ * `CONFIG_RTOS_MAX_PRIORITIES` - set the maximum priority level for FreeRTOS tasks.
+ * `CONFIG_RTOS_MIN_TASK_STACK_SIZE` - set the minimum task stack size.
+ * `CONFIG_RTOS_TIMER_QUEUE_LENGTH` - set the queue size for the FreeRTOS timers.
+ * `CONFIG_RTOS_TIMER_STACK_DEPTH` - set the timer task stack size **in 32bit words**.
+ * Nimble configuration options can also be included, the list of those can be found [here](https://h2zero.github.io/NimBLE-Arduino/md__command_line_config.html)
+ * Other compiler options or definitions for other libraries can also be specified.
+
+## API
+There are a few useful functions available to help with your project.
+### RTOS class functions
+* `uint32_t RTOS.getMainTaskHwm();` - Returns the high water mark of the Main task stack **in 32bit words**.
+* `uint32_t RTOS.getIsrStackHwm();` - Returns the high water mark of the ISR stack **in 32bit words**.
+* `uint32_t RTOS.getIdleTaskHwm();` - Returns the high water mark of the Idle task stack **in 32bit words**.
+* `uint32_t RTOS.getTimerTaskHwm()` - Returns the high water mark of the Timer task stack **in 32bit words**.
+* `uint32_t RTOS.getBleHostTaskHwm();` - Returns the high water mark of the NimBLE Host task stack **in 32bit words**.
+* `uint32_t RTOS.getBleLLTaskHwm()` - Returns the high water mark of the NimBLE Link Layer task stack **in 32bit words**.
+* `uint32_t RTOS.getFreeHeap();` - Returns the currently free heap size **in bytes**.
+
+### General system functions
+* `uint32_t getResetReason();` - Returns the reset reason for the last boot.
+* `void systemPowerOff();` - Shuts down the MCU.
+* `void systemRestart();` - Reboot.
 
 ## Bootloader
 Currently only some boards have Adafruit bootloaders available which are provided as options. You may choose to use the bootloader or none.  
 The provided Adafruit bootloaders have no softdevice, if you currently are using the softdevice based Adafruit bootloader on your nRF52 board you will need to update it to the one provided by selecting it from the boards menu and clicking `Burn Bootloader`.
 
 For boards without the Adafruit bootloader option clicking `Burn Bootloader` will simply erase the flash memory on the device. This is required if you have any bootloader flashed already.
 
-## Credits
+## Important notes
+ * The last four pages of flash, before the bootloader (if applicable) are reserved for user storage and bond information storage (2 pages each).
+ * Careful attention should be paid to selecting the correct bootloader (tools->Bootloader Type) for your build (if applicable) to ensure the correct linkage.
 
+## Credits
 This core is based on [Arduino-nRF5](https://github.com/sandeepmistry/arduino-nRF5) by Sandeep Mistry,
 which is based on the [Arduino SAMD Core](https://github.com/arduino/ArduinoCore-samd).
 With some code from [Adafruit_nRF52_Arduino](https://github.com/adafruit/Adafruit_nRF52_Arduino)

cores/nRF5/Arduino.h

@@ -39,8 +39,6 @@ void yield( void ) ;
 /* sketch */
 void setup( void ) ;
 void loop( void ) ;
-uint32_t get_isr_stack_hwm(void);
-uint32_t getMainTaskHwm(void);
 
 #include "WVariant.h"
 
@@ -136,6 +134,7 @@ uint32_t getMainTaskHwm(void);
 
 #ifdef __cplusplus
 #include "Uart.h"
+#include "rtos.h"
 #endif // __cplusplus
 
 #endif // Arduino_h

cores/nRF5/freertos/FreeRTOSConfig.h

@@ -55,8 +55,8 @@
 #    ifndef CONFIG_RTOS_MAX_PRIORITIES
 #      define CONFIG_RTOS_MAX_PRIORITIES (3)
 #    endif
-#    ifndef CONFIG_RTOS_MIN_TASK_SIZE
-#      define CONFIG_RTOS_MIN_TASK_SIZE (48)
+#    ifndef CONFIG_RTOS_MIN_TASK_STACK_SIZE
+#      define CONFIG_RTOS_MIN_TASK_STACK_SIZE (48)
 #    endif
 #    ifndef CONFIG_RTOS_TIMER_QUEUE_LENGTH
 #      define CONFIG_RTOS_TIMER_QUEUE_LENGTH (6)
@@ -71,8 +71,8 @@
 #define CONFIG_RTOS_MAX_PRIORITIES (5)
 #endif
 
-#ifndef CONFIG_RTOS_MIN_TASK_SIZE
-#define CONFIG_RTOS_MIN_TASK_SIZE (120)
+#ifndef CONFIG_RTOS_MIN_TASK_STACK_SIZE
+#define CONFIG_RTOS_MIN_TASK_STACK_SIZE (120)
 #endif
 
 #ifndef CONFIG_RTOS_TIMER_QUEUE_LENGTH
@@ -97,7 +97,7 @@
 #define configCPU_CLOCK_HZ                                                        ( SystemCoreClock )
 #define configTICK_RATE_HZ                                                        CONFIG_RTOS_TICK_RATE_HZ
 #define configMAX_PRIORITIES                                                      CONFIG_RTOS_MAX_PRIORITIES
-#define configMINIMAL_STACK_SIZE                                                  CONFIG_RTOS_MIN_TASK_SIZE
+#define configMINIMAL_STACK_SIZE                                                  CONFIG_RTOS_MIN_TASK_STACK_SIZE
 #define configTOTAL_HEAP_SIZE                                                     ( 4096 ) //unused - modified heap_4 uses remaining available RAM
 #define configMAX_TASK_NAME_LEN                                                   ( 4 )
 #define configUSE_16_BIT_TICKS                                                    0

cores/nRF5/main.cpp

@@ -79,6 +79,6 @@ int main( void )
   return 0;
 }
 
-uint32_t getMainTaskHwm() {
-  return uxTaskGetStackHighWaterMark(_loopTaskHandle);
-}
+TaskHandle_t getMainLoopTaskHandle() {
+  return _loopTaskHandle;
+}

cores/nRF5/rtos.cpp

@@ -18,6 +18,7 @@
 
 #include "Arduino.h"
 #include "freertos/FreeRTOS.h"
+#include "freertos/timers.h"
 #include "freertos/task.h"
 
 extern "C" {
@@ -41,4 +42,55 @@ extern uint32_t tud_cdc_write_flush (void);
 #endif
 }
 
-}
+UBaseType_t nimble_port_freertos_get_ll_hwm(void) __attribute__((weak));
+UBaseType_t nimble_port_freertos_get_ll_hwm(void) { return 0; }
+UBaseType_t nimble_port_freertos_get_hs_hwm(void) __attribute__((weak));
+UBaseType_t nimble_port_freertos_get_hs_hwm(void) { return 0; }
+
+} // extern "C"
+
+#include "rtos.h"
+extern uint32_t __StackTop;
+extern uint32_t __StackLimit;
+extern TaskHandle_t getMainLoopTaskHandle();
+
+uint32_t nableRtos::getBleHostTaskHwm() {
+  return (uint32_t)nimble_port_freertos_get_hs_hwm();
+}
+
+uint32_t nableRtos::getBleLLTaskHwm() {
+  return (uint32_t)nimble_port_freertos_get_ll_hwm();
+}
+
+uint32_t nableRtos::getMainTaskHwm() {
+  return uxTaskGetStackHighWaterMark(getMainLoopTaskHandle());
+}
+
+uint32_t nableRtos::getIdleTaskHwm() {
+  return (uint32_t)uxTaskGetStackHighWaterMark(xTaskGetIdleTaskHandle());
+}
+
+uint32_t nableRtos::getFreeHeap() {
+  return (uint32_t)xPortGetFreeHeapSize();
+}
+
+uint32_t nableRtos::getTimerTaskHwm() {
+  return (uint32_t)uxTaskGetStackHighWaterMark(xTimerGetTimerDaemonTaskHandle());
+}
+
+uint32_t nableRtos::getIsrStackHwm() {
+   uint32_t offset = 0;
+   uint32_t *address = (uint32_t *) &__StackLimit;
+
+   for (; offset<((uint32_t)&__StackTop-(uint32_t)&__StackLimit); offset += 4)
+   {
+      if (*(address + offset) != 0xB1E4B1E5 )
+      {
+         break;
+      }
+   }
+
+   return offset;
+}
+
+nableRtos RTOS;

cores/nRF5/rtos.h

@@ -0,0 +1,39 @@
+/*
+  Copyright (c) 2021 Ryan Powell.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+  See the GNU Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef NABLERTOS_H
+#define NABLERTOS_H
+
+#include <stdint.h>
+
+class nableRtos {
+public:
+    nableRtos() {}
+    ~nableRtos() {}
+    uint32_t getIsrStackHwm();
+    uint32_t getMainTaskHwm();
+    uint32_t getFreeHeap();
+    uint32_t getIdleTaskHwm();
+    uint32_t getTimerTaskHwm();
+    uint32_t getBleHostTaskHwm();
+    uint32_t getBleLLTaskHwm();
+};
+
+extern nableRtos RTOS;
+
+#endif

cores/nRF5/utils/debug_utils.cpp

@@ -21,9 +21,6 @@
 #include "compiler_abstraction.h"
 #include <stdlib.h>
 
-extern uint32_t __StackTop;
-extern uint32_t __StackLimit;
-
 struct exception_frame {
     uint32_t r0;
     uint32_t r1;
@@ -110,20 +107,4 @@ void HardFault_Handler(void)
 }
 #endif
 
-uint32_t get_isr_stack_hwm(void)
-{
-   uint32_t offset = 0;
-   uint32_t *address = (uint32_t *) &__StackLimit;
-
-   for (; offset<((uint32_t)&__StackTop-(uint32_t)&__StackLimit); offset += 4)
-   {
-      if (*(address + offset) != 0xB1E4B1E5 )
-      {
-         break;
-      }
-   }
-
-   return offset;
-}
-
 } // extern "C"

cores/nRF5/wiring.c

@@ -123,14 +123,18 @@ void init( void )
 	NRF_WDT->TASKS_START = 1;  //Start the Watchdog timer
 }
 
-uint32_t readResetReason(void) {
+uint32_t getResetReason(void) {
     return _resetReason;
 }
 
 void systemPowerOff(void) {
     nrf_power_system_off(NRF_POWER);
 }
 
+void systemRestart(void) {
+    NVIC_SystemReset();
+}
+
 __attribute__ ((__weak__))
 void enterSerialDfu(void) {
     NRF_POWER->GPREGRET = DFU_MAGIC_SERIAL_ONLY_RESET;

cores/nRF5/wiring.h

@@ -25,7 +25,8 @@ extern "C" {
 extern void init(void);
 void enterSerialDfu(void);
 void systemPowerOff(void);
-uint32_t readResetReason(void);
+void systemRestart(void);
+uint32_t getResetReason(void);
 
 #ifdef __cplusplus
 }

platform.txt

@@ -171,6 +171,7 @@ tools.openocd.erase.pattern="{path}/{cmd}" {bootloader.verbose} -f interface/{pr
 tools.openocd.bootloader.params.verbose=-d2
 tools.openocd.bootloader.params.quiet=-d0
 tools.openocd.bootloader.pattern="{path}/{cmd}" {bootloader.verbose} -f interface/{program.protocol}.cfg -c "{program.setup_command}" -f target/{upload.target}.cfg -c "init; halt; program {{runtime.platform.path}/{build.bootloader.file}} reset; shutdown;"
+
 #
 # blackmagic probe upload
 #