From 942ae1847de10400d41c1ef21b04b436c2e65e8f Mon Sep 17 00:00:00 2001
From: Max Paperno <max@wdg.us>
Date: Sat, 8 Sep 2018 19:07:43 -0400
Subject: [PATCH] [CLI] Update CLI to use RTOS abstraction layer; Also remove a
 redundant/unused runMemoryTest().

---
 radio/src/cli.cpp     | 90 +++++++++++++++++--------------------------
 radio/src/cli.h       |  9 ++---
 radio/src/tasks_arm.h |  1 +
 3 files changed, 39 insertions(+), 61 deletions(-)

diff --git a/radio/src/cli.cpp b/radio/src/cli.cpp
index 67e4b632c..95051aa25 100644
--- a/radio/src/cli.cpp
+++ b/radio/src/cli.cpp
@@ -27,8 +27,9 @@
 #define CLI_COMMAND_MAX_ARGS           8
 #define CLI_COMMAND_MAX_LEN            256
 
-OS_TID cliTaskId;
-TaskStack<CLI_STACK_SIZE> __ALIGNED(8) cliStack; // stack must be aligned to 8 bytes otherwise printf for %f does not work!
+RTOS_TASK_HANDLE cliTaskId;
+RTOS_DEFINE_STACK(cliStack, CLI_STACK_SIZE);
+
 Fifo<uint8_t, 256> cliRxFifo;
 uint8_t cliTracesEnabled = true;
 char cliLastLine[CLI_COMMAND_MAX_LEN+1];
@@ -349,7 +350,7 @@ int cliTestNew()
 #if defined(COLORLCD)
 
 extern bool perMainEnabled;
-typedef void (*graphichTestFunc)(void);
+typedef void (*timedTestFunc_t)(void);
 
 void testDrawSolidFilledRectangle()
 {
@@ -420,23 +421,22 @@ void testClear()
   lcdClear();
 }
 
-#define GRAPHICS_TEST_RUN_STEP    100
-#define RUN_GRAPHICS_TEST(name, runtime)   runGraphicsTest(name, #name, runtime)
+#define RUN_GRAPHICS_TEST(name, runtime)   runTimedFunctionTest(name, #name, runtime, 100)
 
-float runGraphicsTest(graphichTestFunc func, const char * name, uint32_t runtime)
+float runTimedFunctionTest(timedTestFunc_t func, const char * name, uint32_t runtime, uint16_t step)
 {
-  uint32_t start = (uint32_t)CoGetOSTime();
+  const uint32_t start = RTOS_GET_MS();
   uint32_t noRuns = 0;
-  while (((uint32_t)CoGetOSTime() - start) < runtime/2 ) {
-    for (int n=0; n<GRAPHICS_TEST_RUN_STEP; n++) {
+  uint32_t actualRuntime = 0;
+  while ((actualRuntime = RTOS_GET_MS() - start) < runtime ) {
+    for (uint16_t n=0; n < step; n++) {
       func();
     }
     lcdRefresh();
-    noRuns += GRAPHICS_TEST_RUN_STEP;
+    noRuns += step;
   }
-  uint32_t actualRuntime = (uint32_t)CoGetOSTime() - start;
-  float result = (noRuns * 500.0f) / (float)actualRuntime;     // runs/second
-  serialPrint("Test %s speed: %0.2f, (%d runs in %d ms)", name, result, noRuns, actualRuntime*2);
+  const float result = (noRuns * 500.0f) / (float)actualRuntime;     // runs/second
+  serialPrint("Test %s speed: %lu.%02u, (%lu runs in %lu ms)", name, uint32_t(result), uint16_t((result - uint32_t(result)) * 100.0f), noRuns, actualRuntime);
   RTOS_WAIT_MS(200);
   return result;
 }
@@ -469,7 +469,7 @@ int cliTestGraphics()
   result += RUN_GRAPHICS_TEST(testDrawTextVertical, 1000);
   result += RUN_GRAPHICS_TEST(testClear, 1000);
 
-  serialPrint("Total speed: %0.2f", result);
+  serialPrint("Total speed: %lu.%02u", uint32_t(result), uint16_t((result - uint32_t(result)) * 100.0f));
 
   perMainEnabled = true;
   if (pulsesStarted()) {
@@ -565,26 +565,7 @@ void testMemoryCopyFrom_SDRAM_to_SDRAM_8bit()
   memoryCopy((uint8_t *)LCD_FIRST_FRAME_BUFFER, (const uint8_t * )LCD_SECOND_FRAME_BUFFER, MEMORY_SPEED_BLOCK_SIZE);
 }
 
-#define MEMORY_TEST_RUN_STEP    100
-#define RUN_MEMORY_TEST(name, runtime)   runMemoryTest(name, #name, runtime)
-
-float runMemoryTest(graphichTestFunc func, const char * name, uint32_t runtime)
-{
-  uint32_t start = (uint32_t)CoGetOSTime();
-  uint32_t noRuns = 0;
-  while (((uint32_t)CoGetOSTime() - start) < runtime/2 ) {
-    for (int n=0; n<MEMORY_TEST_RUN_STEP; n++) {
-      func();
-    }
-    noRuns += MEMORY_TEST_RUN_STEP;
-  }
-  uint32_t actualRuntime = (uint32_t)CoGetOSTime() - start;
-  float result = (noRuns * 500.0f) / (float)actualRuntime;     // runs/second
-  serialPrint("Test %s speed: %0.2f, (%d runs in %d ms)", name, result, noRuns, actualRuntime*2);
-  RTOS_WAIT_MS(200);
-  return result;
-}
-
+#define RUN_MEMORY_TEST(name, runtime)   runTimedFunctionTest(name, #name, runtime, 100)
 
 int cliTestMemorySpeed()
 {
@@ -599,29 +580,29 @@ int cliTestMemorySpeed()
   perMainEnabled = false;
 
   float result = 0;
-  result += RUN_GRAPHICS_TEST(testMemoryReadFrom_RAM_8bit, 200);
-  result += RUN_GRAPHICS_TEST(testMemoryReadFrom_RAM_32bit, 200);
-  result += RUN_GRAPHICS_TEST(testMemoryReadFrom_SDRAM_8bit, 200);
-  result += RUN_GRAPHICS_TEST(testMemoryReadFrom_SDRAM_32bit, 200);
-  result += RUN_GRAPHICS_TEST(testMemoryCopyFrom_RAM_to_SDRAM_8bit, 200);
-  result += RUN_GRAPHICS_TEST(testMemoryCopyFrom_RAM_to_SDRAM_32bit, 200);
-  result += RUN_GRAPHICS_TEST(testMemoryCopyFrom_SDRAM_to_SDRAM_8bit, 200);
-  result += RUN_GRAPHICS_TEST(testMemoryCopyFrom_SDRAM_to_SDRAM_32bit, 200);
+  result += RUN_MEMORY_TEST(testMemoryReadFrom_RAM_8bit, 200);
+  result += RUN_MEMORY_TEST(testMemoryReadFrom_RAM_32bit, 200);
+  result += RUN_MEMORY_TEST(testMemoryReadFrom_SDRAM_8bit, 200);
+  result += RUN_MEMORY_TEST(testMemoryReadFrom_SDRAM_32bit, 200);
+  result += RUN_MEMORY_TEST(testMemoryCopyFrom_RAM_to_SDRAM_8bit, 200);
+  result += RUN_MEMORY_TEST(testMemoryCopyFrom_RAM_to_SDRAM_32bit, 200);
+  result += RUN_MEMORY_TEST(testMemoryCopyFrom_SDRAM_to_SDRAM_8bit, 200);
+  result += RUN_MEMORY_TEST(testMemoryCopyFrom_SDRAM_to_SDRAM_32bit, 200);
 
   LTDC_Cmd(DISABLE);
   serialPrint("Disabling LCD...");
   RTOS_WAIT_MS(200);
 
-  result += RUN_GRAPHICS_TEST(testMemoryReadFrom_RAM_8bit, 200);
-  result += RUN_GRAPHICS_TEST(testMemoryReadFrom_RAM_32bit, 200);
-  result += RUN_GRAPHICS_TEST(testMemoryReadFrom_SDRAM_8bit, 200);
-  result += RUN_GRAPHICS_TEST(testMemoryReadFrom_SDRAM_32bit, 200);
-  result += RUN_GRAPHICS_TEST(testMemoryCopyFrom_RAM_to_SDRAM_8bit, 200);
-  result += RUN_GRAPHICS_TEST(testMemoryCopyFrom_RAM_to_SDRAM_32bit, 200);
-  result += RUN_GRAPHICS_TEST(testMemoryCopyFrom_SDRAM_to_SDRAM_8bit, 200);
-  result += RUN_GRAPHICS_TEST(testMemoryCopyFrom_SDRAM_to_SDRAM_32bit, 200);
+  result += RUN_MEMORY_TEST(testMemoryReadFrom_RAM_8bit, 200);
+  result += RUN_MEMORY_TEST(testMemoryReadFrom_RAM_32bit, 200);
+  result += RUN_MEMORY_TEST(testMemoryReadFrom_SDRAM_8bit, 200);
+  result += RUN_MEMORY_TEST(testMemoryReadFrom_SDRAM_32bit, 200);
+  result += RUN_MEMORY_TEST(testMemoryCopyFrom_RAM_to_SDRAM_8bit, 200);
+  result += RUN_MEMORY_TEST(testMemoryCopyFrom_RAM_to_SDRAM_32bit, 200);
+  result += RUN_MEMORY_TEST(testMemoryCopyFrom_SDRAM_to_SDRAM_8bit, 200);
+  result += RUN_MEMORY_TEST(testMemoryCopyFrom_SDRAM_to_SDRAM_32bit, 200);
 
-  serialPrint("Total speed: %0.2f", result);
+  serialPrint("Total speed: %lu.%02u", uint32_t(result), uint16_t((result - uint32_t(result)) * 100.0f));
 
   LTDC_Cmd(ENABLE);
 
@@ -646,7 +627,7 @@ int cliTestModelsList()
   int count=0;
 
   serialPrint("Starting fetching RF data 100x...");
-  uint32_t start = (uint32_t)CoGetOSTime();
+  const uint32_t start = RTOS_GET_MS();
 
   const list<ModelsCategory*>& cats = modList.getCategories();
   while(1) {
@@ -668,8 +649,7 @@ int cliTestModelsList()
   }
 
  done:
-  uint32_t actualRuntime = (uint32_t)CoGetOSTime() - start;
-  serialPrint("Done fetching %ix RF data: %d ms", count, actualRuntime*2);
+  serialPrint("Done fetching %ix RF data: %lu ms", count, (RTOS_GET_MS() - start));
 
   return 0;
 }
@@ -1339,5 +1319,5 @@ void cliTask(void * pdata)
 
 void cliStart()
 {
-  cliTaskId = CoCreateTaskEx(cliTask, NULL, 10, &cliStack.stack[CLI_STACK_SIZE-1], CLI_STACK_SIZE, 1, false);
+  RTOS_CREATE_TASK(cliTaskId, cliTask, "CLI", cliStack, CLI_STACK_SIZE, CLI_TASK_PRIO);
 }
diff --git a/radio/src/cli.h b/radio/src/cli.h
index 06579fff3..fdb96d6d1 100644
--- a/radio/src/cli.h
+++ b/radio/src/cli.h
@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -29,13 +29,10 @@ extern uint8_t cliTracesEnabled;
 #include "fifo.h"
 extern Fifo<uint8_t, 256> cliRxFifo;
 #include "tasks_arm.h"
-#define CLI_STACK_SIZE                 1000
-extern OS_TID cliTaskId;
-extern TaskStack<CLI_STACK_SIZE> cliStack;
+extern RTOS_TASK_HANDLE cliTaskId;
+extern RTOS_DEFINE_STACK(cliStack, CLI_STACK_SIZE);
 #endif
 
 void cliStart();
-void cliStackPaint();
-uint32_t cliStackFree();
 
 #endif // _CLI_H_
diff --git a/radio/src/tasks_arm.h b/radio/src/tasks_arm.h
index 2096606ca..26b913f72 100644
--- a/radio/src/tasks_arm.h
+++ b/radio/src/tasks_arm.h
@@ -27,6 +27,7 @@
 #define MENUS_STACK_SIZE       2000
 #define MIXER_STACK_SIZE       512
 #define AUDIO_STACK_SIZE       512
+#define CLI_STACK_SIZE         1000  // only consumed with CLI build option
 
 #define MIXER_TASK_PRIO        5
 #define AUDIO_TASK_PRIO        7