[freertos] Allow use static allocations

Signed-off-by: andryblack <[email protected]>
modm-io · Oct 18, 2021 · 3e4d461 · 3e4d461
1 parent af0d1c8
commit 3e4d461
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Showing 5 changed files with 36 additions and 5 deletions.
diff --git a/ext/aws/FreeRTOSConfig.h.in b/ext/aws/FreeRTOSConfig.h.in
@@ -48,8 +48,13 @@ your application. */
 #define configCPU_CLOCK_HZ                      ( SystemCoreClock )
 #define configTICK_RATE_HZ                      ( {{ frequency }} )
 /* Memory allocation related definitions. */
+%% if with_heap
 #define configSUPPORT_STATIC_ALLOCATION         0
 #define configSUPPORT_DYNAMIC_ALLOCATION        1
+%% else
+#define configSUPPORT_STATIC_ALLOCATION         1
+#define configSUPPORT_DYNAMIC_ALLOCATION        0
+%% endif
 // used by modm:platform:clock for modm::Clock::increment(): vApplicationTickHook()
 #define configUSE_TICK_HOOK                     1
 

diff --git a/ext/aws/freertos.md b/ext/aws/freertos.md
@@ -25,7 +25,8 @@ these settings:
 - `configASSERT(x)` implemented with `modm_assert(x, "freertos")`.
 - `configCPU_CLOCK_HZ` implemented with CMSIS `SystemCoreClock`.
 - `configTICK_RATE_HZ` set to `modm:freertos:frequency` or 1kHz on Cortex-M0.
-- `configSUPPORT_DYNAMIC_ALLOCATION = 1` as implemented by `modm:platform:heap`.
+- `configSUPPORT_DYNAMIC_ALLOCATION = 1` if used with `modm:platform:heap`.
+- `configSUPPORT_STATIC_ALLOCATION = 1` if used without `modm:platform:heap`.
 - `configUSE_TICK_HOOK = 1` used by `modm:platform:clock` to provide `modm::Clock`.
 
 In addition we define these overwritable default settings:

diff --git a/ext/aws/modm_port.cpp.in b/ext/aws/modm_port.cpp.in
@@ -20,6 +20,7 @@ void vApplicationStackOverflowHook(TaskHandle_t /*pxTask*/, char *pcTaskName)
 	modm_assert(false, "freertos.stack", "FreeRTOS detected a stack overflow!", pcTaskName);
 }
 
+%% if with_heap
 // ----------------------------------------------------------------------------
 // Make the Newlib heap thread-safe with FreeRTOS
 
@@ -64,6 +65,30 @@ void vPortFree(void *pv)
 		traceFREE(pv, 0);
 	}
 }
+%% else
+#if ( configUSE_TIMERS == 1 )
+static StaticTask_t timers_task_storage;
+static StackType_t timers_task_stack_storage[configTIMER_TASK_STACK_DEPTH];
+extern "C"
+void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,
+                                          StackType_t ** ppxTimerTaskStackBuffer,
+                                              uint32_t * pulTimerTaskStackSize ) {
+  	*ppxTimerTaskTCBBuffer = &timers_task_storage;
+  	*ppxTimerTaskStackBuffer = timers_task_stack_storage;
+  	*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
+}
+#endif
+static StaticTask_t idle_task_storage;
+static StackType_t idle_task_stack_storage[configMINIMAL_STACK_SIZE];
+extern "C"
+void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
+                                               StackType_t ** ppxIdleTaskStackBuffer,
+                                               uint32_t * pulIdleTaskStackSize ) {
+    *ppxIdleTaskTCBBuffer = &idle_task_storage;
+  	*ppxIdleTaskStackBuffer = idle_task_stack_storage;
+  	*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
+}
+%% endif
 
 %% if with_debug
 #include <modm/debug.hpp>

diff --git a/ext/aws/module.lb b/ext/aws/module.lb
@@ -82,8 +82,7 @@ def prepare(module, options):
     module.depends(
         ":architecture:assert",
         ":cmsis:device",
-        ":platform:clock",
-        ":platform:heap")
+        ":platform:clock")
 
     module.add_submodule(FreeRTOS_TCP())
 
@@ -95,7 +94,8 @@ def build(env):
     env.substitutions = {
         "core": core,
         "frequency": env.get("frequency", 1000),
-        "with_debug": env.has_module(":debug")
+        "with_debug": env.has_module(":debug"),
+        "with_heap": env.has_module(":platform:heap"),
     }
     path = core.replace("cortex-m", "ARM_CM").replace("+", "").replace("fd", "f").upper()
     path = path.replace("CM7F", "CM7/r0p1") # use subfolder for M7

diff --git a/src/modm/processing/rtos/module.lb b/src/modm/processing/rtos/module.lb
@@ -25,7 +25,7 @@ def prepare(module, options):
         return False
 
     if options[":target"].identifier["platform"] not in ["hosted"]:
-        module.depends(":freertos")
+        module.depends(":freertos",":platform:heap")
 
     return True