src/gki/ulinux/gki_ulinux.c

/******************************************************************************
 *
 *  Copyright (C) 1999-2012 Broadcom Corporation
 *
 *  Licensed under the Apache License, Version 2.0 (the "License");
 *  you may not use this file except in compliance with the License.
 *  You may obtain a copy of the License at:
 *
 *  http://www.apache.org/licenses/LICENSE-2.0
 *
 *  Unless required by applicable law or agreed to in writing, software
 *  distributed under the License is distributed on an "AS IS" BASIS,
 *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 *  See the License for the specific language governing permissions and
 *  limitations under the License.
 *
 ******************************************************************************/
#include <stdio.h>
#include <stdarg.h>
#include <errno.h>

#define GKI_DEBUG   FALSE

#include <pthread.h>  /* must be 1st header defined  */
#include <time.h>
#include "gki_int.h"
#include "gki_target.h"

/* Temp android logging...move to android tgt config file */

#ifndef LINUX_NATIVE
#include <cutils/log.h>
#else
#define LOGV(format, ...)  fprintf (stdout, LOG_TAG format, ## __VA_ARGS__)
#define LOGE(format, ...)  fprintf (stderr, LOG_TAG format, ## __VA_ARGS__)
#define LOGI(format, ...)  fprintf (stdout, LOG_TAG format, ## __VA_ARGS__)

#define SCHED_NORMAL 0
#define SCHED_FIFO 1
#define SCHED_RR 2
#define SCHED_BATCH 3

#define pthread_cond_timedwait_monotonic pthread_cond_timedwait

#endif

/* Define the structure that holds the GKI variables
*/
#if GKI_DYNAMIC_MEMORY == FALSE
tGKI_CB   gki_cb;
#endif

#define NANOSEC_PER_MILLISEC (1000000)
#define NSEC_PER_SEC (1000*NANOSEC_PER_MILLISEC)

/* works only for 1ms to 1000ms heart beat ranges */
#define LINUX_SEC (1000/TICKS_PER_SEC)
// #define GKI_TICK_TIMER_DEBUG

#define LOCK(m)  pthread_mutex_lock(&m)
#define UNLOCK(m) pthread_mutex_unlock(&m)
#define INIT(m) pthread_mutex_init(&m, NULL)


/* this kind of mutex go into tGKI_OS control block!!!! */
/* static pthread_mutex_t GKI_sched_mutex; */
/*static pthread_mutex_t thread_delay_mutex;
static pthread_cond_t thread_delay_cond;
static pthread_mutex_t gki_timer_update_mutex;
static pthread_cond_t   gki_timer_update_cond;
*/
#ifdef NO_GKI_RUN_RETURN
static pthread_t            timer_thread_id = 0;
#endif


/* For Android */

#ifndef GKI_SHUTDOWN_EVT
#define GKI_SHUTDOWN_EVT    APPL_EVT_7
#endif

typedef struct
{
    UINT8 task_id;          /* GKI task id */
    TASKPTR task_entry;     /* Task entry function*/
    UINT32 params;          /* Extra params to pass to task entry function */
    pthread_cond_t* pCond;	/* for android*/
    pthread_mutex_t* pMutex;  /* for android*/
} gki_pthread_info_t;
gki_pthread_info_t gki_pthread_info[GKI_MAX_TASKS];

/*******************************************************************************
**
** Function         gki_task_entry
**
** Description      entry point of GKI created tasks
**
** Returns          void
**
*******************************************************************************/
void gki_task_entry(UINT32 params)
{
    pthread_t thread_id = pthread_self();
    gki_pthread_info_t *p_pthread_info = (gki_pthread_info_t *)params;
    GKI_TRACE_5("gki_task_entry task_id=%i, thread_id=%x/%x, pCond/pMutex=%x/%x", p_pthread_info->task_id,
                gki_cb.os.thread_id[p_pthread_info->task_id], pthread_self(),
                p_pthread_info->pCond, p_pthread_info->pMutex);

    gki_cb.os.thread_id[p_pthread_info->task_id] = thread_id;
    /* Call the actual thread entry point */
    (p_pthread_info->task_entry)(p_pthread_info->params);

    GKI_TRACE_1("gki_task task_id=%i terminating", p_pthread_info->task_id);
    gki_cb.os.thread_id[p_pthread_info->task_id] = 0;

    pthread_exit(0);    /* GKI tasks have no return value */
}
/* end android */

#ifndef ANDROID
void GKI_TRACE(char *fmt, ...)
{
    LOCK(gki_cb.os.GKI_trace_mutex);
    va_list ap;

    va_start(ap, fmt);
    vfprintf(stderr, fmt, ap);
    fprintf(stderr, "\n");

    va_end(ap);
    UNLOCK(gki_cb.os.GKI_trace_mutex);
}
#endif

/*******************************************************************************
**
** Function         GKI_init
**
** Description      This function is called once at startup to initialize
**                  all the timer structures.
**
** Returns          void
**
*******************************************************************************/

void GKI_init(void)
{
    pthread_mutexattr_t attr;
    tGKI_OS             *p_os;

    memset (&gki_cb, 0, sizeof (gki_cb));

    gki_buffer_init();
    gki_timers_init();
    gki_cb.com.OSTicks = (UINT32) times(0);

    pthread_mutexattr_init(&attr);

#ifndef __CYGWIN__
    pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_RECURSIVE_NP);
#endif
    p_os = &gki_cb.os;
    pthread_mutex_init(&p_os->GKI_mutex, &attr);
    /* pthread_mutex_init(&GKI_sched_mutex, NULL); */
#if (GKI_DEBUG == TRUE)
    pthread_mutex_init(&p_os->GKI_trace_mutex, NULL);
#endif
    /* pthread_mutex_init(&thread_delay_mutex, NULL); */  /* used in GKI_delay */
    /* pthread_cond_init (&thread_delay_cond, NULL); */

    /* Initialiase GKI_timer_update suspend variables & mutexes to be in running state.
     * this works too even if GKI_NO_TICK_STOP is defined in btld.txt */
    p_os->no_timer_suspend = GKI_TIMER_TICK_RUN_COND;
    pthread_mutex_init(&p_os->gki_timer_mutex, NULL);
    pthread_cond_init(&p_os->gki_timer_cond, NULL);
}


/*******************************************************************************
**
** Function         GKI_get_os_tick_count
**
** Description      This function is called to retrieve the native OS system tick.
**
** Returns          Tick count of native OS.
**
*******************************************************************************/
UINT32 GKI_get_os_tick_count(void)
{

    /* TODO - add any OS specific code here
    **/
    return (gki_cb.com.OSTicks);
}

/*******************************************************************************
**
** Function         GKI_create_task
**
** Description      This function is called to create a new OSS task.
**
** Parameters:      task_entry  - (input) pointer to the entry function of the task
**                  task_id     - (input) Task id is mapped to priority
**                  taskname    - (input) name given to the task
**                  stack       - (input) pointer to the top of the stack (highest memory location)
**                  stacksize   - (input) size of the stack allocated for the task
**
** Returns          GKI_SUCCESS if all OK, GKI_FAILURE if any problem
**
** NOTE             This function take some parameters that may not be needed
**                  by your particular OS. They are here for compatability
**                  of the function prototype.
**
*******************************************************************************/
UINT8 GKI_create_task (TASKPTR task_entry, UINT8 task_id, INT8 *taskname, UINT16 *stack, UINT16 stacksize, void* pCondVar, void* pMutex)
{
    UINT16  i;
    UINT8   *p;
    struct sched_param param;
    int policy, ret = 0;
    pthread_attr_t attr1;

    GKI_TRACE_5 ("GKI_create_task func=0x%x  id=%d  name=%s  stack=0x%x  stackSize=%d", task_entry, task_id, taskname, stack, stacksize);

    if (task_id >= GKI_MAX_TASKS)
    {
        GKI_TRACE_0("Error! task ID > max task allowed");
        return (GKI_FAILURE);
    }


    gki_cb.com.OSRdyTbl[task_id]    = TASK_READY;
    gki_cb.com.OSTName[task_id]     = taskname;
    gki_cb.com.OSWaitTmr[task_id]   = 0;
    gki_cb.com.OSWaitEvt[task_id]   = 0;

    /* Initialize mutex and condition variable objects for events and timeouts */
    pthread_mutex_init(&gki_cb.os.thread_evt_mutex[task_id], NULL);
    pthread_cond_init (&gki_cb.os.thread_evt_cond[task_id], NULL);
    pthread_mutex_init(&gki_cb.os.thread_timeout_mutex[task_id], NULL);
    pthread_cond_init (&gki_cb.os.thread_timeout_cond[task_id], NULL);

    pthread_attr_init(&attr1);
    /* by default, pthread creates a joinable thread */
#if ( FALSE == GKI_PTHREAD_JOINABLE )
    pthread_attr_setdetachstate(&attr1, PTHREAD_CREATE_DETACHED);

    GKI_TRACE_3("GKI creating task %i, pCond/pMutex=%x/%x", task_id, pCondVar, pMutex);
#else
    GKI_TRACE_1("GKI creating JOINABLE task %i", task_id);
#endif

    /* On Android, the new tasks starts running before 'gki_cb.os.thread_id[task_id]' is initialized */
    /* Pass task_id to new task so it can initialize gki_cb.os.thread_id[task_id] for it calls GKI_wait */
    gki_pthread_info[task_id].task_id = task_id;
    gki_pthread_info[task_id].task_entry = task_entry;
    gki_pthread_info[task_id].params = 0;
    gki_pthread_info[task_id].pCond = (pthread_cond_t*)pCondVar;
    gki_pthread_info[task_id].pMutex = (pthread_mutex_t*)pMutex;

    ret = pthread_create( &gki_cb.os.thread_id[task_id],
              &attr1,
              (void *)gki_task_entry,
              &gki_pthread_info[task_id]);

    if (ret != 0)
    {
         GKI_TRACE_2("pthread_create failed(%d), %s!", ret, taskname);
         return GKI_FAILURE;
    }

    if(pthread_getschedparam(gki_cb.os.thread_id[task_id], &policy, &param)==0)
    {
#if defined(PBS_SQL_TASK)
         if (task_id == PBS_SQL_TASK)
         {
             GKI_TRACE_0("PBS SQL lowest priority task");
             policy = SCHED_NORMAL;
         }
         else
#endif
         {
             policy = SCHED_RR;
             param.sched_priority = 30 - task_id - 2;
         }
         pthread_setschedparam(gki_cb.os.thread_id[task_id], policy, &param);
     }

    GKI_TRACE_6( "Leaving GKI_create_task %x %d %x %s %x %d",
              task_entry,
              task_id,
              gki_cb.os.thread_id[task_id],
              taskname,
              stack,
              stacksize);

    return (GKI_SUCCESS);
}

/*******************************************************************************
**
** Function         GKI_shutdown
**
** Description      shutdowns the GKI tasks/threads in from max task id to 0 and frees
**                  pthread resources!
**                  IMPORTANT: in case of join method, GKI_shutdown must be called outside
**                  a GKI thread context!
**
** Returns          void
**
*******************************************************************************/
#define WAKE_LOCK_ID "brcm_nfca"
#define PARTIAL_WAKE_LOCK 1
extern int acquire_wake_lock(int lock, const char* id);
extern int release_wake_lock(const char* id);

void GKI_shutdown(void)
{
    UINT8 task_id;
    volatile int    *p_run_cond = &gki_cb.os.no_timer_suspend;
    int     oldCOnd = 0;
#if ( FALSE == GKI_PTHREAD_JOINABLE )
    int i = 0;
#else
    int result;
#endif

    /* release threads and set as TASK_DEAD. going from low to high priority fixes
     * GKI_exception problem due to btu->hci sleep request events  */
    for (task_id = GKI_MAX_TASKS; task_id > 0; task_id--)
    {
        if (gki_cb.com.OSRdyTbl[task_id - 1] != TASK_DEAD)
        {
            gki_cb.com.OSRdyTbl[task_id - 1] = TASK_DEAD;

            /* paranoi settings, make sure that we do not execute any mailbox events */
            gki_cb.com.OSWaitEvt[task_id-1] &= ~(TASK_MBOX_0_EVT_MASK|TASK_MBOX_1_EVT_MASK|
                                                TASK_MBOX_2_EVT_MASK|TASK_MBOX_3_EVT_MASK);
            GKI_send_event(task_id - 1, EVENT_MASK(GKI_SHUTDOWN_EVT));

#if ( FALSE == GKI_PTHREAD_JOINABLE )
            i = 0;

            while ((gki_cb.com.OSWaitEvt[task_id - 1] != 0) && (++i < 10))
                usleep(100 * 1000);
#else
            /* wait for proper Arnold Schwarzenegger task state */
            result = pthread_join( gki_cb.os.thread_id[task_id-1], NULL );
            if ( result < 0 )
            {
                GKI_TRACE_1( "pthread_join() FAILED: result: %d", result );
            }
#endif
            GKI_TRACE_1( "GKI_shutdown(): task %s dead", gki_cb.com.OSTName[task_id]);
            GKI_exit_task(task_id - 1);
        }
    }

    /* Destroy mutex and condition variable objects */
    pthread_mutex_destroy(&gki_cb.os.GKI_mutex);
    /*    pthread_mutex_destroy(&GKI_sched_mutex); */
#if (GKI_DEBUG == TRUE)
    pthread_mutex_destroy(&gki_cb.os.GKI_trace_mutex);
#endif
    /*    pthread_mutex_destroy(&thread_delay_mutex);
     pthread_cond_destroy (&thread_delay_cond); */
#if ( FALSE == GKI_PTHREAD_JOINABLE )
    i = 0;
#endif

#ifdef NO_GKI_RUN_RETURN
    shutdown_timer = 1;
#endif
    if (gki_cb.os.gki_timer_wake_lock_on)
    {
        GKI_TRACE_0("GKI_shutdown :  release_wake_lock(brcm_btld)");
        release_wake_lock(WAKE_LOCK_ID);
        gki_cb.os.gki_timer_wake_lock_on = 0;
    }
    oldCOnd = *p_run_cond;
    *p_run_cond = GKI_TIMER_TICK_EXIT_COND;
    if (oldCOnd == GKI_TIMER_TICK_STOP_COND)
        pthread_cond_signal( &gki_cb.os.gki_timer_cond );

}

/*******************************************************************************
 **
 ** Function        GKI_run
 **
 ** Description     This function runs a task
 **
 ** Parameters:     start: TRUE start system tick (again), FALSE stop
 **
 ** Returns         void
 **
 *********************************************************************************/
void gki_system_tick_start_stop_cback(BOOLEAN start)
{
    tGKI_OS         *p_os = &gki_cb.os;
    volatile int    *p_run_cond = &p_os->no_timer_suspend;
    volatile static int wake_lock_count;
    if ( FALSE == start )
    {
        /* this can lead to a race condition. however as we only read this variable in the timer loop
         * we should be fine with this approach. otherwise uncomment below mutexes.
         */
        /* GKI_disable(); */
        *p_run_cond = GKI_TIMER_TICK_STOP_COND;
        /* GKI_enable(); */
#ifdef GKI_TICK_TIMER_DEBUG
        BT_TRACE_1( TRACE_LAYER_HCI, TRACE_TYPE_DEBUG, ">>> STOP GKI_timer_update(), wake_lock_count:%d", --wake_lock_count);
#endif
        release_wake_lock(WAKE_LOCK_ID);
        gki_cb.os.gki_timer_wake_lock_on = 0;
    }
    else
    {
        /* restart GKI_timer_update() loop */
        acquire_wake_lock(PARTIAL_WAKE_LOCK, WAKE_LOCK_ID);
        gki_cb.os.gki_timer_wake_lock_on = 1;
        *p_run_cond = GKI_TIMER_TICK_RUN_COND;
        pthread_mutex_lock( &p_os->gki_timer_mutex );
        pthread_cond_signal( &p_os->gki_timer_cond );
        pthread_mutex_unlock( &p_os->gki_timer_mutex );

#ifdef GKI_TICK_TIMER_DEBUG
        BT_TRACE_1( TRACE_LAYER_HCI, TRACE_TYPE_DEBUG, ">>> START GKI_timer_update(), wake_lock_count:%d", ++wake_lock_count );
#endif
    }
}


/*******************************************************************************
**
** Function         timer_thread
**
** Description      Timer thread
**
** Parameters:      id  - (input) timer ID
**
** Returns          void
**
*********************************************************************************/
#ifdef NO_GKI_RUN_RETURN
void timer_thread(signed long id)
{
    GKI_TRACE_1("%s enter", __func__);
    struct timespec delay;
    int timeout = 1000;  /* 10  ms per system tick  */
    int err;

    while(!shutdown_timer)
    {
        delay.tv_sec = timeout / 1000;
        delay.tv_nsec = 1000 * 1000 * (timeout%1000);

        /* [u]sleep can't be used because it uses SIGALRM */

        do
        {
            err = nanosleep(&delay, &delay);
        } while (err < 0 && errno ==EINTR);

        GKI_timer_update(1);
    }
    GKI_TRACE_1("%s exit", __func__);
    pthread_exit(NULL);
}
#endif

/*******************************************************************************
**
** Function         GKI_run
**
** Description      This function runs a task
**
** Parameters:      p_task_id  - (input) pointer to task id
**
** Returns          void
**
** NOTE             This function is only needed for operating systems where
**                  starting a task is a 2-step process. Most OS's do it in
**                  one step, If your OS does it in one step, this function
**                  should be empty.
*********************************************************************************/
void GKI_run (void *p_task_id)
{
    GKI_TRACE_1("%s enter", __func__);
    struct timespec delay;
    int err = 0;
    volatile int * p_run_cond = &gki_cb.os.no_timer_suspend;

#ifndef GKI_NO_TICK_STOP
    /* register start stop function which disable timer loop in GKI_run() when no timers are
     * in any GKI/BTA/BTU this should save power when BTLD is idle! */
    GKI_timer_queue_register_callback( gki_system_tick_start_stop_cback );
    APPL_TRACE_DEBUG0( "GKI_run(): Start/Stop GKI_timer_update_registered!" );
#endif

#ifdef NO_GKI_RUN_RETURN
    GKI_TRACE_0("GKI_run == NO_GKI_RUN_RETURN");
    pthread_attr_t timer_attr;

    shutdown_timer = 0;

    pthread_attr_init(&timer_attr);
    pthread_attr_setdetachstate(&timer_attr, PTHREAD_CREATE_DETACHED);
    if (pthread_create( &timer_thread_id,
              &timer_attr,
              timer_thread,
              NULL) != 0 )
    {
        GKI_TRACE_0("GKI_run: pthread_create failed to create timer_thread!");
        return GKI_FAILURE;
    }
#else
    GKI_TRACE_2("GKI_run, run_cond(%x)=%d ", p_run_cond, *p_run_cond);
    for (;GKI_TIMER_TICK_EXIT_COND != *p_run_cond;)
    {
        do
        {
            /* adjust hear bit tick in btld by changning TICKS_PER_SEC!!!!! this formula works only for
             * 1-1000ms heart beat units! */
            delay.tv_sec = LINUX_SEC / 1000;
            delay.tv_nsec = 1000 * 1000 * (LINUX_SEC % 1000);

            /* [u]sleep can't be used because it uses SIGALRM */
            do
            {
                err = nanosleep(&delay, &delay);
            } while (err < 0 && errno == EINTR);

            /* the unit should be alsways 1 (1 tick). only if you vary for some reason heart beat tick
             * e.g. power saving you may want to provide more ticks
             */
            GKI_timer_update( 1 );
            /* BT_TRACE_2( TRACE_LAYER_HCI, TRACE_TYPE_DEBUG, "update: tv_sec: %d, tv_nsec: %d", delay.tv_sec, delay.tv_nsec ); */
        } while ( GKI_TIMER_TICK_RUN_COND == *p_run_cond);

        /* currently on reason to exit above loop is no_timer_suspend == GKI_TIMER_TICK_STOP_COND
         * block timer main thread till re-armed by  */
#ifdef GKI_TICK_TIMER_DEBUG
        BT_TRACE_0( TRACE_LAYER_HCI, TRACE_TYPE_DEBUG, ">>> SUSPENDED GKI_timer_update()" );
#endif
        if (GKI_TIMER_TICK_EXIT_COND != *p_run_cond) {
            GKI_TRACE_1("%s waiting timer mutex", __func__);
            pthread_mutex_lock( &gki_cb.os.gki_timer_mutex );
            pthread_cond_wait( &gki_cb.os.gki_timer_cond, &gki_cb.os.gki_timer_mutex );
            pthread_mutex_unlock( &gki_cb.os.gki_timer_mutex );
            GKI_TRACE_1("%s exited timer mutex", __func__);
        }
        /* potentially we need to adjust os gki_cb.com.OSTicks */

#ifdef GKI_TICK_TIMER_DEBUG
        BT_TRACE_1( TRACE_LAYER_HCI, TRACE_TYPE_DEBUG, ">>> RESTARTED GKI_timer_update(): run_cond: %d",
                    *p_run_cond );
#endif
    } /* for */
#endif
    GKI_TRACE_1("%s exit", __func__);
    return(0);
}


/*******************************************************************************
**
** Function         GKI_stop
**
** Description      This function is called to stop
**                  the tasks and timers when the system is being stopped
**
** Returns          void
**
** NOTE             This function is NOT called by the Widcomm stack and
**                  profiles. If you want to use it in your own implementation,
**                  put specific code here.
**
*******************************************************************************/
void GKI_stop (void)
{
    UINT8 task_id;

    /*  gki_queue_timer_cback(FALSE); */
    /* TODO - add code here if needed*/

    for(task_id = 0; task_id<GKI_MAX_TASKS; task_id++)
    {
        if(gki_cb.com.OSRdyTbl[task_id] != TASK_DEAD)
        {
            GKI_exit_task(task_id);
        }
    }
}


/*******************************************************************************
**
** Function         GKI_wait
**
** Description      This function is called by tasks to wait for a specific
**                  event or set of events. The task may specify the duration
**                  that it wants to wait for, or 0 if infinite.
**
** Parameters:      flag -    (input) the event or set of events to wait for
**                  timeout - (input) the duration that the task wants to wait
**                                    for the specific events (in system ticks)
**
**
** Returns          the event mask of received events or zero if timeout
**
*******************************************************************************/
UINT16 GKI_wait (UINT16 flag, UINT32 timeout)
{
    UINT16 evt;
    UINT8 rtask;
    struct timespec abstime = { 0, 0 };
    int sec;
    int nano_sec;

    rtask = GKI_get_taskid();
    GKI_TRACE_3("GKI_wait %d %x %d", rtask, flag, timeout);
    if (rtask >= GKI_MAX_TASKS) {
        pthread_exit(NULL);
        return 0;
    }

    gki_pthread_info_t* p_pthread_info = &gki_pthread_info[rtask];
    if (p_pthread_info->pCond != NULL && p_pthread_info->pMutex != NULL) {
        int ret;
        GKI_TRACE_3("GKI_wait task=%i, pCond/pMutex = %x/%x", rtask, p_pthread_info->pCond, p_pthread_info->pMutex);
        ret = pthread_mutex_lock(p_pthread_info->pMutex);
        ret = pthread_cond_signal(p_pthread_info->pCond);
        ret = pthread_mutex_unlock(p_pthread_info->pMutex);
        p_pthread_info->pMutex = NULL;
        p_pthread_info->pCond = NULL;
    }
    gki_cb.com.OSWaitForEvt[rtask] = flag;

    /* protect OSWaitEvt[rtask] from modification from an other thread */
    pthread_mutex_lock(&gki_cb.os.thread_evt_mutex[rtask]);

#if 0 /* for clean scheduling we probably should always call pthread_cond_wait() */
    /* Check if anything in any of the mailboxes. There is a potential race condition where OSTaskQFirst[rtask]
     has been modified. however this should only result in addtional call to  pthread_cond_wait() but as
     the cond is met, it will exit immediately (depending on schedulling) */
    if (gki_cb.com.OSTaskQFirst[rtask][0])
    gki_cb.com.OSWaitEvt[rtask] |= TASK_MBOX_0_EVT_MASK;
    if (gki_cb.com.OSTaskQFirst[rtask][1])
    gki_cb.com.OSWaitEvt[rtask] |= TASK_MBOX_1_EVT_MASK;
    if (gki_cb.com.OSTaskQFirst[rtask][2])
    gki_cb.com.OSWaitEvt[rtask] |= TASK_MBOX_2_EVT_MASK;
    if (gki_cb.com.OSTaskQFirst[rtask][3])
    gki_cb.com.OSWaitEvt[rtask] |= TASK_MBOX_3_EVT_MASK;
#endif

    if (!(gki_cb.com.OSWaitEvt[rtask] & flag))
    {
        if (timeout)
        {
            //            timeout = GKI_MS_TO_TICKS(timeout);     /* convert from milliseconds to ticks */

            /* get current system time */
            //            clock_gettime(CLOCK_MONOTONIC, &currSysTime);
            //            abstime.tv_sec = currSysTime.time;
            //            abstime.tv_nsec = NANOSEC_PER_MILLISEC * currSysTime.millitm;
            clock_gettime(CLOCK_MONOTONIC, &abstime);

            /* add timeout */
            sec = timeout / 1000;
            nano_sec = (timeout % 1000) * NANOSEC_PER_MILLISEC;
            abstime.tv_nsec += nano_sec;
            if (abstime.tv_nsec > NSEC_PER_SEC)
            {
                abstime.tv_sec += (abstime.tv_nsec / NSEC_PER_SEC);
                abstime.tv_nsec = abstime.tv_nsec % NSEC_PER_SEC;
            }
            abstime.tv_sec += sec;

            pthread_cond_timedwait_monotonic(&gki_cb.os.thread_evt_cond[rtask],
                    &gki_cb.os.thread_evt_mutex[rtask], &abstime);

        }
        else
        {
            pthread_cond_wait(&gki_cb.os.thread_evt_cond[rtask], &gki_cb.os.thread_evt_mutex[rtask]);
        }

        /* TODO: check, this is probably neither not needed depending on phtread_cond_wait() implmentation,
         e.g. it looks like it is implemented as a counter in which case multiple cond_signal
         should NOT be lost! */
        // we are waking up after waiting for some events, so refresh variables
        // no need to call GKI_disable() here as we know that we will have some events as we've been waking up after condition pending or timeout
        if (gki_cb.com.OSTaskQFirst[rtask][0])
            gki_cb.com.OSWaitEvt[rtask] |= TASK_MBOX_0_EVT_MASK;
        if (gki_cb.com.OSTaskQFirst[rtask][1])
            gki_cb.com.OSWaitEvt[rtask] |= TASK_MBOX_1_EVT_MASK;
        if (gki_cb.com.OSTaskQFirst[rtask][2])
            gki_cb.com.OSWaitEvt[rtask] |= TASK_MBOX_2_EVT_MASK;
        if (gki_cb.com.OSTaskQFirst[rtask][3])
            gki_cb.com.OSWaitEvt[rtask] |= TASK_MBOX_3_EVT_MASK;

        if (gki_cb.com.OSRdyTbl[rtask] == TASK_DEAD)
        {
            gki_cb.com.OSWaitEvt[rtask] = 0;
            /* unlock thread_evt_mutex as pthread_cond_wait() does auto lock when cond is met */
            pthread_mutex_unlock(&gki_cb.os.thread_evt_mutex[rtask]);
            BT_TRACE_1( TRACE_LAYER_HCI, TRACE_TYPE_DEBUG, "GKI TASK_DEAD received. exit thread %d...", rtask );

            gki_cb.os.thread_id[rtask] = 0;
            pthread_exit(NULL);
            return (EVENT_MASK(GKI_SHUTDOWN_EVT));
        }
    }

    /* Clear the wait for event mask */
    gki_cb.com.OSWaitForEvt[rtask] = 0;

    /* Return only those bits which user wants... */
    evt = gki_cb.com.OSWaitEvt[rtask] & flag;

    /* Clear only those bits which user wants... */
    gki_cb.com.OSWaitEvt[rtask] &= ~flag;

    /* unlock thread_evt_mutex as pthread_cond_wait() does auto lock mutex when cond is met */
    pthread_mutex_unlock(&gki_cb.os.thread_evt_mutex[rtask]);
    GKI_TRACE_4("GKI_wait %d %x %d %x resumed", rtask, flag, timeout, evt);

    return (evt);
}


/*******************************************************************************
**
** Function         GKI_delay
**
** Description      This function is called by tasks to sleep unconditionally
**                  for a specified amount of time. The duration is in milliseconds
**
** Parameters:      timeout -    (input) the duration in milliseconds
**
** Returns          void
**
*******************************************************************************/

void GKI_delay (UINT32 timeout)
{
    UINT8 rtask = GKI_get_taskid();
    struct timespec delay;
    int err;

    GKI_TRACE_2("GKI_delay %d %d", rtask, timeout);

    delay.tv_sec = timeout / 1000;
    delay.tv_nsec = 1000 * 1000 * (timeout%1000);

    /* [u]sleep can't be used because it uses SIGALRM */

    do {
        err = nanosleep(&delay, &delay);
    } while (err < 0 && errno ==EINTR);

    /* Check if task was killed while sleeping */
    /* NOTE
    **      if you do not implement task killing, you do not
    **      need this check.
    */
    if (rtask && gki_cb.com.OSRdyTbl[rtask] == TASK_DEAD)
    {
    }

    GKI_TRACE_2("GKI_delay %d %d done", rtask, timeout);
    return;
}


/*******************************************************************************
**
** Function         GKI_send_event
**
** Description      This function is called by tasks to send events to other
**                  tasks. Tasks can also send events to themselves.
**
** Parameters:      task_id -  (input) The id of the task to which the event has to
**                  be sent
**                  event   -  (input) The event that has to be sent
**
**
** Returns          GKI_SUCCESS if all OK, else GKI_FAILURE
**
*******************************************************************************/
UINT8 GKI_send_event (UINT8 task_id, UINT16 event)
{
    GKI_TRACE_2("GKI_send_event %d %x", task_id, event);

    /* use efficient coding to avoid pipeline stalls */
    if (task_id < GKI_MAX_TASKS)
    {
        /* protect OSWaitEvt[task_id] from manipulation in GKI_wait() */
        pthread_mutex_lock(&gki_cb.os.thread_evt_mutex[task_id]);

        /* Set the event bit */
        gki_cb.com.OSWaitEvt[task_id] |= event;

        pthread_cond_signal(&gki_cb.os.thread_evt_cond[task_id]);

        pthread_mutex_unlock(&gki_cb.os.thread_evt_mutex[task_id]);

        GKI_TRACE_2("GKI_send_event %d %x done", task_id, event);
        return ( GKI_SUCCESS );
    }
    return (GKI_FAILURE);
}


/*******************************************************************************
**
** Function         GKI_isend_event
**
** Description      This function is called from ISRs to send events to other
**                  tasks. The only difference between this function and GKI_send_event
**                  is that this function assumes interrupts are already disabled.
**
** Parameters:      task_id -  (input) The destination task Id for the event.
**                  event   -  (input) The event flag
**
** Returns          GKI_SUCCESS if all OK, else GKI_FAILURE
**
** NOTE             This function is NOT called by the Widcomm stack and
**                  profiles. If you want to use it in your own implementation,
**                  put your code here, otherwise you can delete the entire
**                  body of the function.
**
*******************************************************************************/
UINT8 GKI_isend_event (UINT8 task_id, UINT16 event)
{

    GKI_TRACE_2("GKI_isend_event %d %x", task_id, event);
    GKI_TRACE_2("GKI_isend_event %d %x done", task_id, event);
    return    GKI_send_event(task_id, event);
}


/*******************************************************************************
**
** Function         GKI_get_taskid
**
** Description      This function gets the currently running task ID.
**
** Returns          task ID
**
** NOTE             The Widcomm upper stack and profiles may run as a single task.
**                  If you only have one GKI task, then you can hard-code this
**                  function to return a '1'. Otherwise, you should have some
**                  OS-specific method to determine the current task.
**
*******************************************************************************/
UINT8 GKI_get_taskid (void)
{
    int i;

    pthread_t thread_id = pthread_self( );
    for (i = 0; i < GKI_MAX_TASKS; i++) {
        if (gki_cb.os.thread_id[i] == thread_id) {
            GKI_TRACE_2("GKI_get_taskid %x %d done", thread_id, i);
            return(i);
        }
    }

    GKI_TRACE_1("GKI_get_taskid: thread id = %x, task id = -1", thread_id);

    return(-1);
}

/*******************************************************************************
**
** Function         GKI_map_taskname
**
** Description      This function gets the task name of the taskid passed as arg.
**                  If GKI_MAX_TASKS is passed as arg the currently running task
**                  name is returned
**
** Parameters:      task_id -  (input) The id of the task whose name is being
**                  sought. GKI_MAX_TASKS is passed to get the name of the
**                  currently running task.
**
** Returns          pointer to task name
**
** NOTE             this function needs no customization
**
*******************************************************************************/
INT8 *GKI_map_taskname (UINT8 task_id)
{
    GKI_TRACE_1("GKI_map_taskname %d", task_id);

    if (task_id < GKI_MAX_TASKS)
    {
        GKI_TRACE_2("GKI_map_taskname %d %s done", task_id, gki_cb.com.OSTName[task_id]);
         return (gki_cb.com.OSTName[task_id]);
    }
    else if (task_id == GKI_MAX_TASKS )
    {
        return (gki_cb.com.OSTName[GKI_get_taskid()]);
    }
    else
    {
        return "BAD";
    }
}


/*******************************************************************************
**
** Function         GKI_enable
**
** Description      This function enables interrupts.
**
** Returns          void
**
*******************************************************************************/
void GKI_enable (void)
{
    GKI_TRACE_0("GKI_enable");
    pthread_mutex_unlock(&gki_cb.os.GKI_mutex);
/* 	pthread_mutex_xx is nesting save, no need for this: already_disabled = 0; */
    GKI_TRACE_0("Leaving GKI_enable");
    return;
}


/*******************************************************************************
**
** Function         GKI_disable
**
** Description      This function disables interrupts.
**
** Returns          void
**
*******************************************************************************/

void GKI_disable (void)
{
    //GKI_TRACE_0("GKI_disable");

/*	pthread_mutex_xx is nesting save, no need for this: if (!already_disabled) {
    already_disabled = 1; */
    		pthread_mutex_lock(&gki_cb.os.GKI_mutex);
/*  } */
    //GKI_TRACE_0("Leaving GKI_disable");
    return;
}


/*******************************************************************************
**
** Function         GKI_exception
**
** Description      This function throws an exception.
**                  This is normally only called for a nonrecoverable error.
**
** Parameters:      code    -  (input) The code for the error
**                  msg     -  (input) The message that has to be logged
**
** Returns          void
**
*******************************************************************************/

void GKI_exception (UINT16 code, char *msg)
{
    UINT8 task_id;
    int i = 0;

    GKI_TRACE_ERROR_0( "GKI_exception(): Task State Table");

    for(task_id = 0; task_id < GKI_MAX_TASKS; task_id++)
    {
        GKI_TRACE_ERROR_3( "TASK ID [%d] task name [%s] state [%d]",
                         task_id,
                         gki_cb.com.OSTName[task_id],
                         gki_cb.com.OSRdyTbl[task_id]);
    }

    GKI_TRACE_ERROR_2("GKI_exception %d %s", code, msg);
    GKI_TRACE_ERROR_0( "********************************************************************");
    GKI_TRACE_ERROR_2( "* GKI_exception(): %d %s", code, msg);
    GKI_TRACE_ERROR_0( "********************************************************************");

#if (GKI_DEBUG == TRUE)
    GKI_disable();

    if (gki_cb.com.ExceptionCnt < GKI_MAX_EXCEPTION)
    {
        EXCEPTION_T *pExp;

        pExp =  &gki_cb.com.Exception[gki_cb.com.ExceptionCnt++];
        pExp->type = code;
        pExp->taskid = GKI_get_taskid();
        strncpy((char *)pExp->msg, msg, GKI_MAX_EXCEPTION_MSGLEN - 1);
    }

    GKI_enable();
#endif

    GKI_TRACE_ERROR_2("GKI_exception %d %s done", code, msg);


    return;
}


/*******************************************************************************
**
** Function         GKI_get_time_stamp
**
** Description      This function formats the time into a user area
**
** Parameters:      tbuf -  (output) the address to the memory containing the
**                  formatted time
**
** Returns          the address of the user area containing the formatted time
**                  The format of the time is ????
**
** NOTE             This function is only called by OBEX.
**
*******************************************************************************/
INT8 *GKI_get_time_stamp (INT8 *tbuf)
{
    UINT32 ms_time;
    UINT32 s_time;
    UINT32 m_time;
    UINT32 h_time;
    INT8   *p_out = tbuf;

    gki_cb.com.OSTicks = times(0);
    ms_time = GKI_TICKS_TO_MS(gki_cb.com.OSTicks);
    s_time  = ms_time/100;   /* 100 Ticks per second */
    m_time  = s_time/60;
    h_time  = m_time/60;

    ms_time -= s_time*100;
    s_time  -= m_time*60;
    m_time  -= h_time*60;

    *p_out++ = (INT8)((h_time / 10) + '0');
    *p_out++ = (INT8)((h_time % 10) + '0');
    *p_out++ = ':';
    *p_out++ = (INT8)((m_time / 10) + '0');
    *p_out++ = (INT8)((m_time % 10) + '0');
    *p_out++ = ':';
    *p_out++ = (INT8)((s_time / 10) + '0');
    *p_out++ = (INT8)((s_time % 10) + '0');
    *p_out++ = ':';
    *p_out++ = (INT8)((ms_time / 10) + '0');
    *p_out++ = (INT8)((ms_time % 10) + '0');
    *p_out++ = ':';
    *p_out   = 0;

    return (tbuf);
}


/*******************************************************************************
**
** Function         GKI_register_mempool
**
** Description      This function registers a specific memory pool.
**
** Parameters:      p_mem -  (input) pointer to the memory pool
**
** Returns          void
**
** NOTE             This function is NOT called by the Widcomm stack and
**                  profiles. If your OS has different memory pools, you
**                  can tell GKI the pool to use by calling this function.
**
*******************************************************************************/
void GKI_register_mempool (void *p_mem)
{
    gki_cb.com.p_user_mempool = p_mem;

    return;
}

/*******************************************************************************
**
** Function         GKI_os_malloc
**
** Description      This function allocates memory
**
** Parameters:      size -  (input) The size of the memory that has to be
**                  allocated
**
** Returns          the address of the memory allocated, or NULL if failed
**
** NOTE             This function is called by the Widcomm stack when
**                  dynamic memory allocation is used. (see dyn_mem.h)
**
*******************************************************************************/
void *GKI_os_malloc (UINT32 size)
{
    return (malloc(size));
}

/*******************************************************************************
**
** Function         GKI_os_free
**
** Description      This function frees memory
**
** Parameters:      size -  (input) The address of the memory that has to be
**                  freed
**
** Returns          void
**
** NOTE             This function is NOT called by the Widcomm stack and
**                  profiles. It is only called from within GKI if dynamic
**
*******************************************************************************/
void GKI_os_free (void *p_mem)
{
    if(p_mem != NULL)
		free(p_mem);
    return;
}


/*******************************************************************************
**
** Function         GKI_suspend_task()
**
** Description      This function suspends the task specified in the argument.
**
** Parameters:      task_id  - (input) the id of the task that has to suspended
**
** Returns          GKI_SUCCESS if all OK, else GKI_FAILURE
**
** NOTE             This function is NOT called by the Widcomm stack and
**                  profiles. If you want to implement task suspension capability,
**                  put specific code here.
**
*******************************************************************************/
UINT8 GKI_suspend_task (UINT8 task_id)
{
    GKI_TRACE_1("GKI_suspend_task %d - NOT implemented", task_id);


    GKI_TRACE_1("GKI_suspend_task %d done", task_id);

    return (GKI_SUCCESS);
}


/*******************************************************************************
**
** Function         GKI_resume_task()
**
** Description      This function resumes the task specified in the argument.
**
** Parameters:      task_id  - (input) the id of the task that has to resumed
**
** Returns          GKI_SUCCESS if all OK
**
** NOTE             This function is NOT called by the Widcomm stack and
**                  profiles. If you want to implement task suspension capability,
**                  put specific code here.
**
*******************************************************************************/
UINT8 GKI_resume_task (UINT8 task_id)
{
    GKI_TRACE_1("GKI_resume_task %d - NOT implemented", task_id);


    GKI_TRACE_1("GKI_resume_task %d done", task_id);

    return (GKI_SUCCESS);
}


/*******************************************************************************
**
** Function         GKI_exit_task
**
** Description      This function is called to stop a GKI task.
**
** Parameters:      task_id  - (input) the id of the task that has to be stopped
**
** Returns          void
**
** NOTE             This function is NOT called by the Widcomm stack and
**                  profiles. If you want to use it in your own implementation,
**                  put specific code here to kill a task.
**
*******************************************************************************/
void GKI_exit_task (UINT8 task_id)
{
    GKI_disable();
    gki_cb.com.OSRdyTbl[task_id] = TASK_DEAD;

    /* Destroy mutex and condition variable objects */
    pthread_mutex_destroy(&gki_cb.os.thread_evt_mutex[task_id]);
    pthread_cond_destroy (&gki_cb.os.thread_evt_cond[task_id]);
    pthread_mutex_destroy(&gki_cb.os.thread_timeout_mutex[task_id]);
    pthread_cond_destroy (&gki_cb.os.thread_timeout_cond[task_id]);

    GKI_enable();

	//GKI_send_event(task_id, EVENT_MASK(GKI_SHUTDOWN_EVT));

    GKI_TRACE_1("GKI_exit_task %d done", task_id);
    return;
}


/*******************************************************************************
**
** Function         GKI_sched_lock
**
** Description      This function is called by tasks to disable scheduler
**                  task context switching.
**
** Returns          void
**
** NOTE             This function is NOT called by the Widcomm stack and
**                  profiles. If you want to use it in your own implementation,
**                  put code here to tell the OS to disable context switching.
**
*******************************************************************************/
void GKI_sched_lock(void)
{
    GKI_TRACE_0("GKI_sched_lock");
    return;
}


/*******************************************************************************
**
** Function         GKI_sched_unlock
**
** Description      This function is called by tasks to enable scheduler switching.
**
** Returns          void
**
** NOTE             This function is NOT called by the Widcomm stack and
**                  profiles. If you want to use it in your own implementation,
**                  put code here to tell the OS to re-enable context switching.
**
*******************************************************************************/
void GKI_sched_unlock(void)
{
    GKI_TRACE_0("GKI_sched_unlock");
}

/*******************************************************************************
**
** Function         GKI_shiftdown
**
** Description      shift memory down (to make space to insert a record)
**
*******************************************************************************/
void GKI_shiftdown (UINT8 *p_mem, UINT32 len, UINT32 shift_amount)
{
    register UINT8 *ps = p_mem + len - 1;
    register UINT8 *pd = ps + shift_amount;
    register UINT32 xx;

    for (xx = 0; xx < len; xx++)
        *pd-- = *ps--;
}

/*******************************************************************************
**
** Function         GKI_shiftup
**
** Description      shift memory up (to delete a record)
**
*******************************************************************************/
void GKI_shiftup (UINT8 *p_dest, UINT8 *p_src, UINT32 len)
{
    register UINT8 *ps = p_src;
    register UINT8 *pd = p_dest;
    register UINT32 xx;

    for (xx = 0; xx < len; xx++)
        *pd++ = *ps++;
}