Crate freertos_rs [] [src]

FreeRTOS for Rust

Rust interface for the FreeRTOS embedded operating system. Requires nightly Rust. It is assumed that dynamic memory allocation is provided on the target system.

This library interfaces with FreeRTOS using a C shim library which provides function wrappers for FreeRTOS macros. The compiled Rust application should be linked to the base C/C++ firmware binary. Check the subdirectory shim. Copy the source file to your firmware's sources directory and modify it to include the appropriate headers for target your system.

For a complete example, check the enclosed GCC ARM/Rust/QEMU based unit tests. The Rust cargo crate xargo is used for cross-compilation. The project qemu_runner cross-compiles this library, compiles the main firmware using GCC ARM and links in the appropriate entry points for unit tests. GNU ARM Eclipse QEMU is used to run the test binaries.

Be sure to check the FreeRTOS documentation.

Samples

Spawning a new task

Task::new().name("hello").stack_size(128).start(|| {
    loop {
            println!("Hello world!");
            CurrentTask::delay(Duration::Infinite);
        }
}).unwrap();

Queue

let q = Queue::new(10).unwrap();
q.send(10, Duration::ms(5)).unwrap();
q.receive(Duration::Infinite).unwrap();

Mutex

let m = Mutex::new(0).unwrap();
{
    let mut v = m.lock(Duration::Infinite).unwrap();
        *v += 1;
}

Structs

ComputeTask

A task that can terminate and return its return value. Implemented using an atomically shared mutex.

CurrentTask

Helper methods to be performed on the task that is currently executing.

InterruptContext

Keep track of whether we need to yield the execution to a different task at the end of the interrupt.

Mutex

Mutual exclusion access to a contained value. Can be recursive - the current owner of a lock can re-lock it.

MutexGuard

Holds the mutex until we are dropped

Queue

A queue with a finite size. The items are owned by the queue and are copied.

QueuePublisher

A pub-sub queue. An item sent to the publisher is sent to every subscriber.

QueueSubscriber

A subscribtion to the publisher.

Semaphore

A counting or binary semaphore

SemaphoreGuard

Holds the lock to the semaphore until we are dropped

Task

Handle for a FreeRTOS task

TaskBuilder

Helper for spawning a new task. Instantiate with Task::new().

TaskDelay

Delay the current task by the given duration, minus the time that was spent processing the last wakeup loop.

TaskDelayPeriodic

Periodic delay timer.

Enums

Duration

Time unit used by FreeRTOS, passed to the scheduler as ticks.

FreeRtosError

Basic error type for the library.

TaskNotification

Notification to be sent to a task.

TaskPriority

Task's execution priority

Traits

ComputeTaskBuilder

Functions

shim_sanity_check

Perform checks whether the C FreeRTOS shim and Rust agree on the sizes of used types.