Expand description
§FreeRTOS for Rust
Rust interface for the FreeRTOS embedded operating system. Requires beta 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 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;
}Modules§
Structs§
- Critical
Region - Current
Task - Helper methods to be performed on the task that is currently executing.
- Duration
Impl - Time unit used by FreeRTOS, passed to the scheduler as ticks.
- Exclusive
Data - Data protected with a critical region. Lightweight version of a mutex, intended for simple data structures.
- Exclusive
Data Guard - Holds the mutex until we are dropped
- Exclusive
Data Guard Isr - Free
Rtos Scheduler State - Free
Rtos Task Status - Free
Rtos Time Units Shimmed - Free
Rtos Utils - Interrupt
Context - Keep track of whether we need to yield the execution to a different task at the end of the interrupt.
- Mutex
Guard - Holds the mutex until we are dropped
- Mutex
Impl - Mutual exclusion access to a contained value. Can be recursive - the current owner of a lock can re-lock it.
- Mutex
Normal - Mutex
Recursive - Queue
- A queue with a finite size. The items are owned by the queue and are copied.
- Semaphore
- A counting or binary semaphore
- Semaphore
Guard - Holds the lock to the semaphore until we are dropped
- Task
- Handle for a FreeRTOS task
- Task
Builder - Helper for spawning a new task. Instantiate with
Task::new(). - Task
Delay - Delay the current task by the given duration, minus the time that was spent processing the last wakeup loop.
- Task
Delay Periodic - Periodic delay timer.
- Task
Priority - Task’s execution priority. Low priority numbers denote low priority tasks.
- Timer
- A FreeRTOS software timer.
- Timer
Builder - Helper builder for a new software timer.
Enums§
- Free
Rtos Error - Basic error type for the library.
- Task
Notification - Notification to be sent to a task.
Traits§
Functions§
- shim_
sanity_ check - Perform checks whether the C FreeRTOS shim and Rust agree on the sizes of used types.