os_freertos.h File Reference

FreeRTOS backend for the generic OS abstraction. More...

#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
#include "queue.h"
#include "event_groups.h"
#include "timers.h"
#include "stream_buffer.h"
#include <stddef.h>
#include <stdint.h>

Go to the source code of this file.

Classes
struct	os_thread_start_t
struct	os_timer_cb_t

Macros
#define	HF_OS_FREERTOS_PREFIXED   0
#define	HF_OS_FREERTOS_SMP   0
#define	HF_OS_FREERTOS_STATIC_QUEUE   0
#define	OS_QUEUE_STORE_BYTES(item_words, length)   ((size_t)0)

Typedefs
typedef TaskHandle_t	OS_Thread
typedef SemaphoreHandle_t	OS_Mutex
typedef SemaphoreHandle_t	OS_Semaphore
typedef QueueHandle_t	OS_Queue
typedef EventGroupHandle_t	OS_EventGroup
typedef TimerHandle_t	OS_Timer
typedef StreamBufferHandle_t	OS_StreamBuffer
typedef unsigned long	OS_Ulong
typedef unsigned int	OS_Uint
typedef uint8_t	OS_Critical

Enumerations
enum	{   OS_WAIT_FOREVER = portMAX_DELAY , OS_NO_WAIT = 0 , OS_SUCCESS = 0 , OS_AND = 1 ,   OS_OR = 2 , OS_EVENT_CLEAR = 0x10 , OS_AUTO_START = 1 , OS_DONT_START = 0 ,   OS_INHERIT = 0 }
enum	{ OS_THREAD_READY = eReady , OS_THREAD_SUSPENDED = eSuspended , OS_THREAD_BLOCKED = eBlocked }

Functions
static OS_Ulong	os_time_get (void)
static void	os_thread_start_trampoline (void *p)
static OS_Uint	os_thread_create (OS_Thread *t, const char *name, void(*entry)(OS_Ulong), OS_Ulong input, uint8_t *stack, OS_Ulong stack_size, OS_Uint priority, OS_Uint preempt, OS_Ulong slice, OS_Uint auto_start)
static OS_Uint	os_thread_create_pinned (OS_Thread *t, const char *name, void(*entry)(OS_Ulong), OS_Ulong input, uint8_t *stack, OS_Ulong stack_size, OS_Uint priority, OS_Uint preempt, OS_Ulong slice, OS_Uint auto_start, int core_id)
	Core-affinity variant of os_thread_create.
static int	os_get_current_core_id (void)
static OS_Uint	os_thread_resume (OS_Thread *t)
static OS_Uint	os_thread_suspend (OS_Thread *t)
static OS_Uint	os_thread_delete (OS_Thread *t)
static OS_Uint	os_thread_terminate (OS_Thread *t)
static OS_Uint	os_thread_info_get (OS_Thread *t, OS_Uint *state)
static OS_Uint	os_thread_sleep (OS_Ulong ticks)
static OS_Uint	os_thread_yield (void)
static int	os_kernel_is_running (void)
static OS_Uint	os_thread_is_current (const OS_Thread *t)
static int	os_thread_is_live (const OS_Thread *t)
static void	os_thread_clear (OS_Thread *t)
static int	os_mutex_is_live (const OS_Mutex *m)
static int	os_thread_state_is_suspended (OS_Uint state)
static OS_Uint	os_mutex_create (OS_Mutex *m, const char *name, OS_Uint inherit)
static OS_Uint	os_mutex_get (OS_Mutex *m, OS_Ulong wait)
static OS_Uint	os_mutex_put (OS_Mutex *m)
static OS_Uint	os_mutex_delete (OS_Mutex *m)
static OS_Uint	os_recursive_mutex_create (OS_Mutex *m, const char *name)
static OS_Uint	os_recursive_mutex_get (OS_Mutex *m, OS_Ulong wait)
static OS_Uint	os_recursive_mutex_put (OS_Mutex *m)
static OS_Uint	os_recursive_mutex_delete (OS_Mutex *m)
static OS_Uint	os_semaphore_create (OS_Semaphore *s, const char *name, OS_Uint initial)
static OS_Uint	os_semaphore_delete (OS_Semaphore *s)
static OS_Uint	os_semaphore_put (OS_Semaphore *s)
static OS_Uint	os_semaphore_get (OS_Semaphore *s, OS_Ulong wait)
static OS_Uint	os_semaphore_info_get (OS_Semaphore *s, OS_Ulong *count)
static OS_Uint	os_queue_create (OS_Queue *q, const char *name, OS_Uint item_words, void *store, OS_Ulong length)
static OS_Uint	os_queue_delete (OS_Queue *q)
static OS_Uint	os_queue_send (OS_Queue *q, void *msg, OS_Ulong wait)
static OS_Uint	os_queue_receive (OS_Queue *q, void *msg, OS_Ulong wait)
static OS_Uint	os_event_group_create (OS_EventGroup *g, const char *name)
static OS_Uint	os_event_group_delete (OS_EventGroup *g)
static OS_Uint	os_event_group_set (OS_EventGroup *g, OS_Ulong flags)
static OS_Uint	os_event_group_clear (OS_EventGroup *g, OS_Ulong flags)
static OS_Uint	os_event_group_get (OS_EventGroup *g, OS_Ulong flags, OS_Uint option, OS_Ulong *actual, OS_Ulong wait)
	Wait for event bits.
static void	os_timer_trampoline (TimerHandle_t timer)
static OS_Uint	os_timer_create (OS_Timer *t, const char *name, void(*cb)(OS_Ulong), OS_Ulong id, OS_Ulong initial, OS_Ulong reload, OS_Uint auto_act)
static OS_Uint	os_timer_delete (OS_Timer *t)
static OS_Uint	os_timer_activate (OS_Timer *t)
static OS_Uint	os_timer_deactivate (OS_Timer *t)
static OS_Uint	os_stream_buffer_create (OS_StreamBuffer *b, size_t capacity, size_t trigger)
static OS_Uint	os_stream_buffer_delete (OS_StreamBuffer *b)
static OS_Uint	os_stream_buffer_send (OS_StreamBuffer *b, const void *data, size_t len, OS_Ulong wait)
static OS_Uint	os_stream_buffer_receive (OS_StreamBuffer *b, void *data, size_t len, OS_Ulong wait)
static void	os_critical_enter (void)
static void	os_critical_exit (void)

Variables
OS_Critical	os_critical_mux

Detailed Description

FreeRTOS backend for the generic OS abstraction.

Included only by OsAbstraction.h when HF_RTOS_FREERTOS is selected. Do not include this header directly.

Supported flavors

Flavor	Kernel headers	Task affinity	Critical section
Vanilla (CubeMX, ARM_CMx ports)	flat FreeRTOS.h	single core	ISR masking
ESP-IDF SMP	freertos/FreeRTOS.h	pinned-to-core	spinlock (portMUX_TYPE)

Both are detected here, at the port layer. A consumer build must not force-include a compatibility header or synthesize a freertos/ include directory to satisfy this backend.

See also

os/README.md

Macro Definition Documentation

HF_OS_FREERTOS_PREFIXED

#define HF_OS_FREERTOS_PREFIXED   0

HF_OS_FREERTOS_SMP

#define HF_OS_FREERTOS_SMP   0

HF_OS_FREERTOS_STATIC_QUEUE

#define HF_OS_FREERTOS_STATIC_QUEUE   0

OS_QUEUE_STORE_BYTES

#define OS_QUEUE_STORE_BYTES	(		item_words,
			length
	)		((size_t)0)

Typedef Documentation

OS_Critical

typedef uint8_t OS_Critical

Unused on single-core; kept so the storage symbol is flavor-independent.

OS_EventGroup

typedef EventGroupHandle_t OS_EventGroup

OS_Mutex

typedef SemaphoreHandle_t OS_Mutex

OS_Queue

typedef QueueHandle_t OS_Queue

OS_Semaphore

typedef SemaphoreHandle_t OS_Semaphore

OS_StreamBuffer

typedef StreamBufferHandle_t OS_StreamBuffer

OS_Thread

typedef TaskHandle_t OS_Thread

Generic handle types used by the wrapper.

OS_Timer

typedef TimerHandle_t OS_Timer

OS_Uint

typedef unsigned int OS_Uint

OS_Ulong

typedef unsigned long OS_Ulong

Common integral aliases.

Enumeration Type Documentation

anonymous enum

anonymous enum

Enumerator
OS_WAIT_FOREVER
OS_NO_WAIT
OS_SUCCESS
OS_AND
OS_OR
OS_EVENT_CLEAR	OR into an event-group wait option: clear the awaited bits on success
OS_AUTO_START
OS_DONT_START
OS_INHERIT

anonymous enum

anonymous enum

Portable thread-state aliases (FreeRTOS eTaskState).

Enumerator
OS_THREAD_READY
OS_THREAD_SUSPENDED
OS_THREAD_BLOCKED

Function Documentation

os_critical_enter()

static void os_critical_enter ( void  )

inlinestatic

os_critical_exit()

static void os_critical_exit ( void  )

inlinestatic

os_event_group_clear()

static OS_Uint os_event_group_clear ( OS_EventGroup *  g, OS_Ulong  flags  )

inlinestatic

os_event_group_create()

static OS_Uint os_event_group_create ( OS_EventGroup *  g, const char *  name  )

inlinestatic

os_event_group_delete()

static OS_Uint os_event_group_delete ( OS_EventGroup *  g )

inlinestatic

os_event_group_get()

static OS_Uint os_event_group_get ( OS_EventGroup *  g, OS_Ulong  flags, OS_Uint  option, OS_Ulong *  actual, OS_Ulong  wait  )

inlinestatic

Wait for event bits.

Parameters

option

OS_AND (all of flags) or OS_OR (any of them), optionally OR-ed with OS_EVENT_CLEAR to clear flags when the wait is satisfied. Without OS_EVENT_CLEAR no bit is cleared.

Returns

OS_SUCCESS when the condition was met; 1 on timeout. actual receives the bits seen (before any clear) either way.

os_event_group_set()

static OS_Uint os_event_group_set ( OS_EventGroup *  g, OS_Ulong  flags  )

inlinestatic

os_get_current_core_id()

static int os_get_current_core_id ( void  )

inlinestatic

Core index the calling task runs on; always 0 on single-core kernels.

os_kernel_is_running()

static int os_kernel_is_running ( void  )

inlinestatic

os_mutex_create()

static OS_Uint os_mutex_create ( OS_Mutex *  m, const char *  name, OS_Uint  inherit  )

inlinestatic

os_mutex_delete()

static OS_Uint os_mutex_delete ( OS_Mutex *  m )

inlinestatic

os_mutex_get()

static OS_Uint os_mutex_get ( OS_Mutex *  m, OS_Ulong  wait  )

inlinestatic

os_mutex_is_live()

static int os_mutex_is_live ( const OS_Mutex *  m )

inlinestatic

os_mutex_put()

static OS_Uint os_mutex_put ( OS_Mutex *  m )

inlinestatic

os_queue_create()

static OS_Uint os_queue_create ( OS_Queue *  q, const char *  name, OS_Uint  item_words, void *  store, OS_Ulong  length  )

inlinestatic

os_queue_delete()

static OS_Uint os_queue_delete ( OS_Queue *  q )

inlinestatic

os_queue_receive()

static OS_Uint os_queue_receive ( OS_Queue *  q, void *  msg, OS_Ulong  wait  )

inlinestatic

os_queue_send()

static OS_Uint os_queue_send ( OS_Queue *  q, void *  msg, OS_Ulong  wait  )

inlinestatic

os_recursive_mutex_create()

static OS_Uint os_recursive_mutex_create ( OS_Mutex *  m, const char *  name  )

inlinestatic

os_recursive_mutex_delete()

static OS_Uint os_recursive_mutex_delete ( OS_Mutex *  m )

inlinestatic

os_recursive_mutex_get()

static OS_Uint os_recursive_mutex_get ( OS_Mutex *  m, OS_Ulong  wait  )

inlinestatic

os_recursive_mutex_put()

static OS_Uint os_recursive_mutex_put ( OS_Mutex *  m )

inlinestatic

os_semaphore_create()

static OS_Uint os_semaphore_create ( OS_Semaphore *  s, const char *  name, OS_Uint  initial  )

inlinestatic

os_semaphore_delete()

static OS_Uint os_semaphore_delete ( OS_Semaphore *  s )

inlinestatic

os_semaphore_get()

static OS_Uint os_semaphore_get ( OS_Semaphore *  s, OS_Ulong  wait  )

inlinestatic

os_semaphore_info_get()

static OS_Uint os_semaphore_info_get ( OS_Semaphore *  s, OS_Ulong *  count  )

inlinestatic

os_semaphore_put()

static OS_Uint os_semaphore_put ( OS_Semaphore *  s )

inlinestatic

os_stream_buffer_create()

static OS_Uint os_stream_buffer_create ( OS_StreamBuffer *  b, size_t  capacity, size_t  trigger  )

inlinestatic

os_stream_buffer_delete()

static OS_Uint os_stream_buffer_delete ( OS_StreamBuffer *  b )

inlinestatic

os_stream_buffer_receive()

static OS_Uint os_stream_buffer_receive ( OS_StreamBuffer *  b, void *  data, size_t  len, OS_Ulong  wait  )

inlinestatic

os_stream_buffer_send()

static OS_Uint os_stream_buffer_send ( OS_StreamBuffer *  b, const void *  data, size_t  len, OS_Ulong  wait  )

inlinestatic

os_thread_clear()

static void os_thread_clear ( OS_Thread *  t )

inlinestatic

os_thread_create()

static OS_Uint os_thread_create ( OS_Thread *  t, const char *  name, void(*)(OS_Ulong)  entry, OS_Ulong  input, uint8_t *  stack, OS_Ulong  stack_size, OS_Uint  priority, OS_Uint  preempt, OS_Ulong  slice, OS_Uint  auto_start  )

inlinestatic

os_thread_create_pinned()

static OS_Uint os_thread_create_pinned ( OS_Thread *  t, const char *  name, void(*)(OS_Ulong)  entry, OS_Ulong  input, uint8_t *  stack, OS_Ulong  stack_size, OS_Uint  priority, OS_Uint  preempt, OS_Ulong  slice, OS_Uint  auto_start, int  core_id  )

inlinestatic

Core-affinity variant of os_thread_create.

Parameters

core_id

CPU core to pin to; negative means "no affinity".

On a single-core kernel there is nothing to pin to, so this degrades to os_thread_create and core_id is ignored. That is a property of the kernel, not a build workaround.

os_thread_delete()

static OS_Uint os_thread_delete ( OS_Thread *  t )

inlinestatic

os_thread_info_get()

static OS_Uint os_thread_info_get ( OS_Thread *  t, OS_Uint *  state  )

inlinestatic

os_thread_is_current()

static OS_Uint os_thread_is_current ( const OS_Thread *  t )

inlinestatic

os_thread_is_live()

static int os_thread_is_live ( const OS_Thread *  t )

inlinestatic

os_thread_resume()

static OS_Uint os_thread_resume ( OS_Thread *  t )

inlinestatic

os_thread_sleep()

static OS_Uint os_thread_sleep ( OS_Ulong  ticks )

inlinestatic

os_thread_start_trampoline()

static void os_thread_start_trampoline ( void *  p )

inlinestatic

os_thread_state_is_suspended()

static int os_thread_state_is_suspended ( OS_Uint  state )

inlinestatic

os_thread_suspend()

static OS_Uint os_thread_suspend ( OS_Thread *  t )

inlinestatic

os_thread_terminate()

static OS_Uint os_thread_terminate ( OS_Thread *  t )

inlinestatic

os_thread_yield()

static OS_Uint os_thread_yield ( void  )

inlinestatic

os_time_get()

static OS_Ulong os_time_get ( void  )

inlinestatic

os_timer_activate()

static OS_Uint os_timer_activate ( OS_Timer *  t )

inlinestatic

os_timer_create()

static OS_Uint os_timer_create ( OS_Timer *  t, const char *  name, void(*)(OS_Ulong)  cb, OS_Ulong  id, OS_Ulong  initial, OS_Ulong  reload, OS_Uint  auto_act  )

inlinestatic

os_timer_deactivate()

static OS_Uint os_timer_deactivate ( OS_Timer *  t )

inlinestatic

os_timer_delete()

static OS_Uint os_timer_delete ( OS_Timer *  t )

inlinestatic

os_timer_trampoline()

static void os_timer_trampoline ( TimerHandle_t  timer )

inlinestatic

Variable Documentation

os_critical_mux

OS_Critical os_critical_mux

extern