freertos.h

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#ifndef PER_FREERTOS_H
#define PER_FREERTOS_H
 
// clang-format off
#define myIDENT(x) x
#define myXSTR(x) #x
#define mySTR(x) myXSTR(x)
#define __FREERTOS_PATH(x,y) mySTR(myIDENT(x)y)
#define _FREERTOS_PATH(y) __FREERTOS_PATH(_FREERTOS_DIR, y)
 
#if defined(STM32F407xx)
#define _FREERTOS_DIR external/STM32CubeF4/Middlewares/Third_Party/FreeRTOS/Source/
#elif defined(STM32G474xx)
#define _FREERTOS_DIR external/STM32CubeG4/Middlewares/Third_Party/FreeRTOS/Source/
#else
#error "Unsupported MCU arch"
#endif
 
#include _FREERTOS_PATH(include/FreeRTOS.h)
#include _FREERTOS_PATH(CMSIS_RTOS_V2/cmsis_os2.h)
 
#include _FREERTOS_PATH(include/list.h)
#include _FREERTOS_PATH(include/queue.h)
#include _FREERTOS_PATH(include/semphr.h)
#include _FREERTOS_PATH(include/task.h)
#include _FREERTOS_PATH(include/timers.h)
// clang-format on
 
#include <stdint.h>
 
// Stack size defs
#define STACK_256  (256)
#define STACK_512  (512)
#define STACK_1024 (1024)
#define STACK_2048 (2048)
#define STACK_4096 (4096)
 
typedef struct {
    void (*taskFunction)(void);
    uint32_t period_ms;
} periodic_task_params_t;
 
// this is the function actually scheduled by freertos
void periodic_task_runner(void *arg);
 
#define DEFINE_TASK(NAME, PERIOD_MS, PRIORITY, STACK_SIZE)                     \
    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;
 
#define START_TASK(NAME)                                                       \
    (NAME##_handle = osThreadNew(periodic_task_runner, &NAME##_params, &NAME##_attrs))
 
#define getTaskHandle(NAME) (NAME##_handle)
 
#define DEFINE_QUEUE(NAME, ITEM, COUNT)                                        \
    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)];
 
#define INIT_QUEUE(NAME, ITEM, COUNT)                                          \
    (NAME = xQueueCreateStatic((COUNT), sizeof(ITEM), NAME##_data, &NAME##_cb))
 
#define DEFINE_SEMAPHORE(NAME)                                                 \
    SemaphoreHandle_t NAME;                                                    \
    static StaticSemaphore_t NAME##_cb;
 
// Aliases for clarity
#define DEFINE_MUTEX(NAME) DEFINE_SEMAPHORE(NAME)
#define DEFINE_COUNTING_SEMAPHORE(NAME) DEFINE_SEMAPHORE(NAME)
#define DEFINE_BINARY_SEMAPHORE(NAME) DEFINE_SEMAPHORE(NAME)
 
#define INIT_MUTEX(NAME)                                                       \
    (NAME = xSemaphoreCreateMutexStatic(&(NAME##_cb)))
 
#define INIT_COUNTING_SEMAPHORE(NAME, MAX_COUNT)                               \
    (NAME = xSemaphoreCreateCountingStatic((MAX_COUNT), (MAX_COUNT), &(NAME##_cb)))
    
#define INIT_BINARY_SEMAPHORE(NAME)                                            \
    (NAME = xSemaphoreCreateBinaryStatic(&(NAME##_cb)))
 
 
// Timing helper macros
#define getTick()   xTaskGetTickCount()
#define getMS() (getTick() * portTICK_PERIOD_MS)
#define mDelay(ms) (osDelay(pdMS_TO_TICKS((ms))))
 
#endif // PER_FREERTOS_H