[FL-3832] Use static synchronisation primitives (#3679)

* Use static mutex
* Add static_assert checks
* Use static semaphore
* Fix formatting
* Use static stream buffer
* Use static timer
* Use static event group
* Increase allocation size for stream buffer
* Remove recursive bit from the mutex before freeing
* Prevent service tasks from ever returning
* Use static threads
* Do not realloc memory when changing stack size
* Use FuriSemaphore instead of raw FreeRTOS one in rpc_test
* Remove redundant includes
* Abolish FreeRTOS dynamic allocation
* Improve FuriMutex
* Improve FuriMessageQueue
* Remove redundant comments and parentheses
* Clean up code more
* Create service threads via a dedicated constructor
* Minor code improvements
* Update docs for FuriThread, FuriTimer
* Fix doxygen typo
* Use a bigger buffer for static StreamBuffer
* Furi: remove timer control block only when timer thread have completed all operations
---------

Co-authored-by: Aleksandr Kutuzov <alleteam@gmail.com>

applications/debug/unit_tests/tests/rpc/rpc_test.c

@@ -1,11 +1,6 @@
-#include <core/check.h>
-#include <core/record.h>
 #include <furi.h>
 #include <stdint.h>
 
-#include <FreeRTOS.h>
-#include <semphr.h>
-
 #include <rpc/rpc.h>
 #include <rpc/rpc_i.h>
 #include <cli/cli.h>
@@ -40,8 +35,8 @@ static uint32_t command_id = 0;
 typedef struct {
     RpcSession* session;
     FuriStreamBuffer* output_stream;
-    SemaphoreHandle_t close_session_semaphore;
-    SemaphoreHandle_t terminate_semaphore;
+    FuriSemaphore* close_session_semaphore;
+    FuriSemaphore* terminate_semaphore;
     uint32_t timeout;
 } RpcSessionContext;
 
@@ -96,8 +91,8 @@ static void test_rpc_setup(void) {
 
     rpc_session[0].output_stream = furi_stream_buffer_alloc(4096, 1);
     rpc_session_set_send_bytes_callback(rpc_session[0].session, output_bytes_callback);
-    rpc_session[0].close_session_semaphore = xSemaphoreCreateBinary();
-    rpc_session[0].terminate_semaphore = xSemaphoreCreateBinary();
+    rpc_session[0].close_session_semaphore = furi_semaphore_alloc(1, 0);
+    rpc_session[0].terminate_semaphore = furi_semaphore_alloc(1, 0);
     rpc_session_set_close_callback(rpc_session[0].session, test_rpc_session_close_callback);
     rpc_session_set_terminated_callback(
         rpc_session[0].session, test_rpc_session_terminated_callback);
@@ -116,8 +111,8 @@ static void test_rpc_setup_second_session(void) {
 
     rpc_session[1].output_stream = furi_stream_buffer_alloc(1000, 1);
     rpc_session_set_send_bytes_callback(rpc_session[1].session, output_bytes_callback);
-    rpc_session[1].close_session_semaphore = xSemaphoreCreateBinary();
-    rpc_session[1].terminate_semaphore = xSemaphoreCreateBinary();
+    rpc_session[1].close_session_semaphore = furi_semaphore_alloc(1, 0);
+    rpc_session[1].terminate_semaphore = furi_semaphore_alloc(1, 0);
     rpc_session_set_close_callback(rpc_session[1].session, test_rpc_session_close_callback);
     rpc_session_set_terminated_callback(
         rpc_session[1].session, test_rpc_session_terminated_callback);
@@ -126,13 +121,15 @@ static void test_rpc_setup_second_session(void) {
 
 static void test_rpc_teardown(void) {
     furi_check(rpc_session[0].close_session_semaphore);
-    xSemaphoreTake(rpc_session[0].terminate_semaphore, 0);
+    furi_semaphore_acquire(rpc_session[0].terminate_semaphore, 0);
     rpc_session_close(rpc_session[0].session);
-    furi_check(xSemaphoreTake(rpc_session[0].terminate_semaphore, portMAX_DELAY));
+    furi_check(
+        furi_semaphore_acquire(rpc_session[0].terminate_semaphore, FuriWaitForever) ==
+        FuriStatusOk);
     furi_record_close(RECORD_RPC);
     furi_stream_buffer_free(rpc_session[0].output_stream);
-    vSemaphoreDelete(rpc_session[0].close_session_semaphore);
-    vSemaphoreDelete(rpc_session[0].terminate_semaphore);
+    furi_semaphore_free(rpc_session[0].close_session_semaphore);
+    furi_semaphore_free(rpc_session[0].terminate_semaphore);
     ++command_id;
     rpc_session[0].output_stream = NULL;
     rpc_session[0].close_session_semaphore = NULL;
@@ -142,12 +139,14 @@ static void test_rpc_teardown(void) {
 
 static void test_rpc_teardown_second_session(void) {
     furi_check(rpc_session[1].close_session_semaphore);
-    xSemaphoreTake(rpc_session[1].terminate_semaphore, 0);
+    furi_semaphore_acquire(rpc_session[1].terminate_semaphore, 0);
     rpc_session_close(rpc_session[1].session);
-    furi_check(xSemaphoreTake(rpc_session[1].terminate_semaphore, portMAX_DELAY));
+    furi_check(
+        furi_semaphore_acquire(rpc_session[1].terminate_semaphore, FuriWaitForever) ==
+        FuriStatusOk);
     furi_stream_buffer_free(rpc_session[1].output_stream);
-    vSemaphoreDelete(rpc_session[1].close_session_semaphore);
-    vSemaphoreDelete(rpc_session[1].terminate_semaphore);
+    furi_semaphore_free(rpc_session[1].close_session_semaphore);
+    furi_semaphore_free(rpc_session[1].terminate_semaphore);
     ++command_id;
     rpc_session[1].output_stream = NULL;
     rpc_session[1].close_session_semaphore = NULL;
@@ -204,14 +203,14 @@ static void test_rpc_session_close_callback(void* context) {
     furi_check(context);
     RpcSessionContext* callbacks_context = context;
 
-    xSemaphoreGive(callbacks_context->close_session_semaphore);
+    furi_check(furi_semaphore_release(callbacks_context->close_session_semaphore) == FuriStatusOk);
 }
 
 static void test_rpc_session_terminated_callback(void* context) {
     furi_check(context);
     RpcSessionContext* callbacks_context = context;
 
-    xSemaphoreGive(callbacks_context->terminate_semaphore);
+    furi_check(furi_semaphore_release(callbacks_context->terminate_semaphore) == FuriStatusOk);
 }
 
 static void test_rpc_print_message_list(MsgList_t msg_list) {
@@ -1645,7 +1644,7 @@ static void test_rpc_feed_rubbish_run(
 
     test_rpc_add_empty_to_list(expected, PB_CommandStatus_ERROR_DECODE, 0);
 
-    furi_check(!xSemaphoreTake(rpc_session[0].close_session_semaphore, 0));
+    furi_check(furi_semaphore_acquire(rpc_session[0].close_session_semaphore, 0) != FuriStatusOk);
     test_rpc_encode_and_feed(input_before, 0);
     test_send_rubbish(rpc_session[0].session, pattern, pattern_size, size);
     test_rpc_encode_and_feed(input_after, 0);

applications/debug/unit_tests/unit_test_api_table_i.h

@@ -19,9 +19,9 @@ static constexpr auto unit_tests_api_table = sort(create_array_t<sym_entry>(
     API_METHOD(xQueueSemaphoreTake, BaseType_t, (QueueHandle_t, TickType_t)),
     API_METHOD(vQueueDelete, void, (QueueHandle_t)),
     API_METHOD(
-        xQueueGenericCreate,
+        xQueueGenericCreateStatic,
         QueueHandle_t,
-        (const UBaseType_t, const UBaseType_t, const uint8_t)),
+        (const UBaseType_t, const UBaseType_t, uint8_t*, StaticQueue_t*, const uint8_t)),
     API_METHOD(
         xQueueGenericSend,
         BaseType_t,

applications/services/bt/bt_service/bt.c

@@ -435,6 +435,8 @@ int32_t bt_srv(void* p) {
         FURI_LOG_W(TAG, "Skipping start in special boot mode");
         ble_glue_wait_for_c2_start(FURI_HAL_BT_C2_START_TIMEOUT);
         furi_record_create(RECORD_BT, bt);
+
+        furi_thread_suspend(furi_thread_get_current_id());
         return 0;
     }
 

applications/services/desktop/desktop.c

@@ -441,6 +441,8 @@ int32_t desktop_srv(void* p) {
 
     if(furi_hal_rtc_get_boot_mode() != FuriHalRtcBootModeNormal) {
         FURI_LOG_W(TAG, "Skipping start in special boot mode");
+
+        furi_thread_suspend(furi_thread_get_current_id());
         return 0;
     }
 

applications/services/desktop/scenes/desktop_scene_pin_timeout.c

@@ -1,5 +1,4 @@
 #include <furi.h>
-#include <FreeRTOS.h>
 #include <gui/scene_manager.h>
 
 #include "../desktop_i.h"

applications/services/desktop/views/desktop_view_pin_timeout.c

@@ -2,7 +2,6 @@
 #include <furi.h>
 #include <stdint.h>
 #include <stdio.h>
-#include <FreeRTOS.h>
 #include <projdefs.h>
 #include <input/input.h>
 #include <gui/canvas.h>

applications/services/dolphin/dolphin.c

@@ -148,6 +148,8 @@ int32_t dolphin_srv(void* p) {
 
     if(furi_hal_rtc_get_boot_mode() != FuriHalRtcBootModeNormal) {
         FURI_LOG_W(TAG, "Skipping start in special boot mode");
+
+        furi_thread_suspend(furi_thread_get_current_id());
         return 0;
     }
 

applications/services/power/power_service/power.c

@@ -198,6 +198,8 @@ int32_t power_srv(void* p) {
 
     if(furi_hal_rtc_get_boot_mode() != FuriHalRtcBootModeNormal) {
         FURI_LOG_W(TAG, "Skipping start in special boot mode");
+
+        furi_thread_suspend(furi_thread_get_current_id());
         return 0;
     }