async_context_freertos.h

/*
 * Copyright (c) 2022 Raspberry Pi (Trading) Ltd.
 *
 * SPDX-License-Identifier: BSD-3-Clause
 */

#ifndef _PICO_ASYNC_CONTEXT_FREERTOS_H
#define _PICO_ASYNC_CONTEXT_FREERTOS_H

#include "pico/async_context.h"

// FreeRTOS includes
#include "FreeRTOS.h"
#include "semphr.h"
#include "timers.h"

#ifdef __cplusplus
extern "C" {
#endif

#ifndef ASYNC_CONTEXT_DEFAULT_FREERTOS_TASK_PRIORITY
#define ASYNC_CONTEXT_DEFAULT_FREERTOS_TASK_PRIORITY ( tskIDLE_PRIORITY + 4)
#endif

#ifndef ASYNC_CONTEXT_DEFAULT_FREERTOS_TASK_STACK_SIZE
#define ASYNC_CONTEXT_DEFAULT_FREERTOS_TASK_STACK_SIZE configMINIMAL_STACK_SIZE
#endif

typedef struct async_context_freertos async_context_freertos_t;

typedef struct async_context_freertos_config {
    UBaseType_t task_priority;
    configSTACK_DEPTH_TYPE task_stack_size;
#if configUSE_CORE_AFFINITY && configNUM_CORES > 1
    UBaseType_t task_core_id;
#endif
} async_context_freertos_config_t;

struct async_context_freertos {
    async_context_t core;
    SemaphoreHandle_t lock_mutex;
    SemaphoreHandle_t work_needed_sem;
    TimerHandle_t timer_handle;
    TaskHandle_t task_handle;
    uint8_t nesting;
    volatile bool task_should_exit;
};

bool async_context_freertos_init(async_context_freertos_t *self, async_context_freertos_config_t *config);

 static inline async_context_freertos_config_t async_context_freertos_default_config(void) {
    async_context_freertos_config_t config = {
            .task_priority = ASYNC_CONTEXT_DEFAULT_FREERTOS_TASK_PRIORITY,
            .task_stack_size = ASYNC_CONTEXT_DEFAULT_FREERTOS_TASK_STACK_SIZE,
#if configUSE_CORE_AFFINITY
            .task_core_id = (UBaseType_t)-1, // none
#endif
    };
    return config;

}

 static inline bool async_context_freertos_init_with_defaults(async_context_freertos_t *self) {
    async_context_freertos_config_t config = async_context_freertos_default_config();
    return async_context_freertos_init(self, &config);
}

#ifdef __cplusplus
}
#endif

#endif