2 files changed, 204 insertions, 0 deletions

diff --git a/lib/chibios-contrib/os/various/tinyusb_bindings/tinyusb.mk b/lib/chibios-contrib/os/various/tinyusb_bindings/tinyusb.mk
new file mode 100644
index 000000000..b631eb3d8
--- /dev/null
+++ b/lib/chibios-contrib/os/various/tinyusb_bindings/tinyusb.mk
@@ -0,0 +1,9 @@
+
+TINYUSBSRC = $(shell find $(TINYUSB)/src/ -type f -name "*.c")
+
+TINYUSBINC = \
+    $(CHIBIOS_CONTRIB)/os/various/tinyusb_bindings \
+        $(shell find $(TINYUSB)/src/ -type d)
+
+ALLCSRC += $(TINYUSBSRC)
+ALLINC += $(TINYUSBINC)
diff --git a/lib/chibios-contrib/os/various/tinyusb_bindings/tusb_os_custom.h b/lib/chibios-contrib/os/various/tinyusb_bindings/tusb_os_custom.h
new file mode 100644
index 000000000..0da286e58
--- /dev/null
+++ b/lib/chibios-contrib/os/various/tinyusb_bindings/tusb_os_custom.h
@@ -0,0 +1,195 @@
+/* 
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2019 Ha Thach (tinyusb.org)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * This file is part of the TinyUSB stack.
+ */
+
+#ifndef _TUSB_OSAL_CHIBIOS_H_
+#define _TUSB_OSAL_CHIBIOS_H_
+
+// ChibiOS Headers
+#include "ch.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//--------------------------------------------------------------------+
+// TASK API
+//--------------------------------------------------------------------+
+static inline void osal_task_delay(uint32_t msec)
+{
+  chThdSleepMilliseconds(msec);
+}
+
+//--------------------------------------------------------------------+
+// Semaphore API
+//--------------------------------------------------------------------+
+typedef struct {
+  uint16_t    size;
+  semaphore_t sem;
+} osal_semaphore_def_t;
+typedef osal_semaphore_def_t * osal_semaphore_t;
+
+static inline osal_semaphore_t osal_semaphore_create(osal_semaphore_def_t* semdef)
+{
+  chSemObjectInit(&semdef->sem, semdef->size);
+  return semdef;
+}
+
+static inline bool osal_semaphore_post(osal_semaphore_t sem_hdl, bool in_isr)
+{
+  if ( !in_isr )
+  {
+    chSemSignal(&sem_hdl->sem);
+    return true;
+  }
+  else
+  {
+    chSysLockFromISR();
+    chSemSignalI(&sem_hdl->sem);
+    chSysUnlockFromISR();
+    return true;
+  }
+}
+
+static inline bool osal_semaphore_wait (osal_semaphore_t sem_hdl, uint32_t msec)
+{
+  const sysinterval_t ticks = (msec == OSAL_TIMEOUT_WAIT_FOREVER) ? TIME_INFINITE : TIME_MS2I(msec);
+  return chSemWaitTimeout(&sem_hdl->sem, ticks) == MSG_OK;
+}
+
+static inline void osal_semaphore_reset(osal_semaphore_t const sem_hdl)
+{
+  chSemReset(&sem_hdl->sem, sem_hdl->size);
+}
+
+//--------------------------------------------------------------------+
+// MUTEX API (priority inheritance)
+//--------------------------------------------------------------------+
+typedef osal_semaphore_def_t osal_mutex_def_t;
+typedef osal_semaphore_t osal_mutex_t;
+
+static inline osal_mutex_t osal_mutex_create(osal_mutex_def_t* mdef)
+{
+  chSemObjectInit(&mdef->sem, mdef->size);
+  return mdef;
+}
+
+static inline bool osal_mutex_lock (osal_mutex_t mutex_hdl, uint32_t msec)
+{
+  uint32_t const ticks = (msec == OSAL_TIMEOUT_WAIT_FOREVER) ? TIME_INFINITE : TIME_MS2I(msec);
+  return chSemWaitTimeout(&mutex_hdl->sem, ticks) == MSG_OK;
+}
+
+static inline bool osal_mutex_unlock(osal_mutex_t mutex_hdl)
+{
+  chSemSignal(&mutex_hdl->sem);
+  return true;
+}
+
+//--------------------------------------------------------------------+
+// QUEUE API
+//--------------------------------------------------------------------+
+
+// role device/host is used by OS NONE for mutex (disable usb isr) only
+#define OSAL_QUEUE_DEF(_role, _name, _depth, _type) \
+  static _type _name##_##objbuf[_depth];\
+  static msg_t _name##_##msgbuf[_depth];\
+  osal_queue_def_t _name = { .depth = _depth, .obj_sz = sizeof(_type), .objbuf = _name##_##objbuf, .msgbuf = _name##_##msgbuf };
+
+// Use FIFO as queue (mailbox + memory pool)
+typedef struct
+{
+  uint16_t  depth;
+  uint16_t  obj_sz;
+  void*     objbuf;
+  msg_t*    msgbuf;
+
+  objects_fifo_t fifo;
+} osal_queue_def_t;
+typedef osal_queue_def_t * osal_queue_t;
+
+static inline osal_queue_t osal_queue_create(osal_queue_def_t* qdef)
+{
+  chFifoObjectInit(&qdef->fifo, qdef->obj_sz, qdef->depth, qdef->objbuf, qdef->msgbuf);
+  return qdef;
+}
+
+static inline bool osal_queue_receive(osal_queue_t qhdl, void* data)
+{
+  void* objpp; // pointer to the object
+
+  bool r = chFifoReceiveObjectTimeout(&qhdl->fifo, &objpp, TIME_MS2I(10000)) != MSG_OK;
+  if (r)
+    return false;
+
+  memcpy(data, objpp, qhdl->obj_sz);
+  chFifoReturnObject(&qhdl->fifo, objpp);
+  return true;
+}
+
+static inline bool osal_queue_send(osal_queue_t qhdl, void const * data, bool in_isr)
+{
+  void* obj;
+
+  if ( !in_isr )
+  {
+    obj = chFifoTakeObjectTimeout(&qhdl->fifo, TIME_MS2I(10000));
+    if (obj == NULL) // Allocation failed
+      return false;
+    memcpy(obj, data, qhdl->obj_sz);
+    chFifoSendObject(&qhdl->fifo, obj);
+    return true;
+  }
+  else
+  {
+    chSysLockFromISR();
+    obj = chFifoTakeObjectI(&qhdl->fifo);
+    chSysUnlockFromISR();
+
+    if (obj == NULL) // Allocation failed
+      return false;
+    memcpy(obj, data, qhdl->obj_sz);
+
+    chSysLockFromISR();
+    chFifoSendObjectI(&qhdl->fifo, obj);
+    chSysUnlockFromISR();
+    return true;
+  }
+}
+
+static inline bool osal_queue_empty(osal_queue_t qhdl)
+{
+  uint16_t cnt;
+  chSysLock();
+  cnt = chMBGetFreeCountI(&qhdl->fifo.mbx);
+  chSysUnlock();
+  return cnt == 0;
+}
+
+#ifdef __cplusplus
+ }
+#endif
+
+#endif /* _TUSB_OSAL_FREERTOS_H_ */