freertos.h File Reference

Wrapper macros for FreeRTOS constructs (tasks, queues, semaphores) to simplify static memory allocation and initialization. More...

#include <stdint.h>

Go to the source code of this file.

Classes
struct	periodic_task_params_t

Macros
#define	myIDENT(x)
#define	myXSTR(x)
#define	mySTR(x)
#define	__FREERTOS_PATH(x, y)
#define	_FREERTOS_PATH(y)
#define	STACK_256   (256)
#define	STACK_512   (512)
#define	STACK_1024   (1024)
#define	STACK_2048   (2048)
#define	STACK_4096   (4096)
#define	DEFINE_TASK(NAME, PERIOD_MS, PRIORITY, STACK_SIZE)
	Scaffolds the static memory for a FreeRTOS task.
#define	START_TASK(NAME)
	Initializes and starts the defined task.
#define	getTaskHandle(NAME)
	Retrieves the FreeRTOS task handle for the defined task.
#define	DEFINE_QUEUE(NAME, ITEM, COUNT)
	Scaffolds the static memory for a FreeRTOS queue.
#define	INIT_QUEUE(NAME, ITEM, COUNT)
	Initializes the defined static queue.
#define	DEFINE_SEMAPHORE(NAME)
	Scaffolds the static memory for a semaphore (and related variants).
#define	DEFINE_MUTEX(NAME)
#define	DEFINE_COUNTING_SEMAPHORE(NAME)
#define	DEFINE_BINARY_SEMAPHORE(NAME)
#define	INIT_MUTEX(NAME)
	Initializes the defined mutex.
#define	INIT_COUNTING_SEMAPHORE(NAME, MAX_COUNT)
	Initializes the defined static counting semaphore.
#define	INIT_BINARY_SEMAPHORE(NAME)
	Initializes the defined static binary semaphore.
#define	getTick()
#define	getMS()
#define	mDelay(ms)

Functions
void	periodic_task_runner (void *arg)

Detailed Description

Wrapper macros for FreeRTOS constructs (tasks, queues, semaphores) to simplify static memory allocation and initialization.

Author

Irving Wang (irvin.nosp@m.gw@p.nosp@m.urdue.nosp@m..edu)

Eileen Yoon (eyn@p.nosp@m.urdu.nosp@m.e.edu)

Macro Definition Documentation

__FREERTOS_PATH

#define __FREERTOS_PATH	(		x,
			y )

Value:

mySTR(myIDENT(x)y)

_FREERTOS_PATH

#define _FREERTOS_PATH

(

y

)

Value:

__FREERTOS_PATH(_FREERTOS_DIR, y)

DEFINE_BINARY_SEMAPHORE

#define DEFINE_BINARY_SEMAPHORE

(

NAME

)

Value:

DEFINE_SEMAPHORE(NAME)

DEFINE_COUNTING_SEMAPHORE

#define DEFINE_COUNTING_SEMAPHORE

(

NAME

)

Value:

DEFINE_SEMAPHORE(NAME)

DEFINE_MUTEX

#define DEFINE_MUTEX

(

NAME

)

Value:

DEFINE_SEMAPHORE(NAME)

DEFINE_QUEUE

#define DEFINE_QUEUE	(		NAME,
			ITEM,
			COUNT )

Value:

    static_assert(COUNT > 0, "Queue count must be greater than 0");            \
    QueueHandle_t NAME;                                                        \
    static StaticQueue_t NAME##_cb;                                            \
    static uint8_t       NAME##_data[sizeof(ITEM) * (COUNT)];

Scaffolds the static memory for a FreeRTOS queue.

DEFINE_SEMAPHORE

#define DEFINE_SEMAPHORE

(

NAME

)

Value:

    SemaphoreHandle_t NAME;                                                    \
    static StaticSemaphore_t NAME##_cb;

Scaffolds the static memory for a semaphore (and related variants).

DEFINE_TASK

#define DEFINE_TASK	(		NAME,
			PERIOD_MS,
			PRIORITY,
			STACK_SIZE )

Value:

    static_assert(                                                             \
        (STACK_SIZE) % sizeof(StackType_t) == 0,                               \
        "Stack size must be a multiple of StackType_t"                         \
    );                                                                         \
    static StaticTask_t NAME##_tcb;                                            \
    static StackType_t  NAME##_stack[(STACK_SIZE) / sizeof(StackType_t)];      \
    periodic_task_params_t NAME##_params = {                                   \
        .taskFunction = (void (*)(void))NAME,                                  \
        .period_ms    = (PERIOD_MS),                                           \
    };                                                                         \
    osThreadAttr_t NAME##_attrs = {                                            \
        .name       = #NAME,                                                   \
        .attr_bits  = osThreadDetached,                                        \
        .cb_mem     = &NAME##_tcb,                                             \
        .cb_size    = sizeof(StaticTask_t),                                    \
        .stack_mem  = NAME##_stack,                                            \
        .stack_size = sizeof(NAME##_stack),                                    \
        .priority   = (osPriority_t)(PRIORITY),                                \
    };                                                                         \
    osThreadId_t NAME##_handle;

Scaffolds the static memory for a FreeRTOS task.

Parameters

NAME	The function name of the task.
PERIOD_MS	Task period in milliseconds.
PRIORITY	CMSIS-RTOS2 priority (e.g., osPriorityNormal).
STACK_SIZE	Stack size in bytes.

getMS

#define getMS

(

)

Value:

(getTick() * portTICK_PERIOD_MS)

getTaskHandle

#define getTaskHandle

(

NAME

)

Value:

(NAME##_handle)

Retrieves the FreeRTOS task handle for the defined task.

getTick

#define getTick

(

)

Value:

xTaskGetTickCount()

INIT_BINARY_SEMAPHORE

#define INIT_BINARY_SEMAPHORE

(

NAME

)

Value:

    (NAME = xSemaphoreCreateBinaryStatic(&(NAME##_cb)))

Initializes the defined static binary semaphore.

INIT_COUNTING_SEMAPHORE

#define INIT_COUNTING_SEMAPHORE	(		NAME,
			MAX_COUNT )

Value:

    (NAME = xSemaphoreCreateCountingStatic((MAX_COUNT), (MAX_COUNT), &(NAME##_cb)))

Initializes the defined static counting semaphore.

Note

initial count is set to max count (full by default)

INIT_MUTEX

#define INIT_MUTEX

(

NAME

)

Value:

    (NAME = xSemaphoreCreateMutexStatic(&(NAME##_cb)))

Initializes the defined mutex.

INIT_QUEUE

#define INIT_QUEUE	(		NAME,
			ITEM,
			COUNT )

Value:

    (NAME = xQueueCreateStatic((COUNT), sizeof(ITEM), NAME##_data, &NAME##_cb))

Initializes the defined static queue.

mDelay

#define mDelay

(

ms

)

Value:

(osDelay(pdMS_TO_TICKS((ms))))

myIDENT

#define myIDENT

(

x

)

Value:

x

mySTR

#define mySTR

(

x

)

Value:

myXSTR(x)

myXSTR

#define myXSTR

(

x

)

Value:

#x

START_TASK

#define START_TASK

(

NAME

)

Value:

    (NAME##_handle = osThreadNew(periodic_task_runner, &NAME##_params, &NAME##_attrs))

Initializes and starts the defined task.