Crate freertos_rs

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

• patterns

Structs

• CriticalRegion
• CurrentTask
  Helper methods to be performed on the task that is currently executing.
• DurationImpl
  Time unit used by FreeRTOS, passed to the scheduler as ticks.
• ExclusiveData
  Data protected with a critical region. Lightweight version of a mutex, intended for simple data structures.
• ExclusiveDataGuard
  Holds the mutex until we are dropped
• ExclusiveDataGuardIsr
• FreeRtosSchedulerState
• FreeRtosTaskStatus
• FreeRtosTimeUnitsShimmed
• FreeRtosUtils
• InterruptContext
  Keep track of whether we need to yield the execution to a different task at the end of the interrupt.
• MutexGuard
  Holds the mutex until we are dropped
• MutexImpl
  Mutual exclusion access to a contained value. Can be recursive - the current owner of a lock can re-lock it.
• MutexNormal
• MutexRecursive
• Queue
  A queue with a finite size. The items are owned by the queue and are copied.
• 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.
• TaskPriority
  Task’s execution priority. Low priority numbers denote low priority tasks.
• Timer
  A FreeRTOS software timer.
• TimerBuilder
  Helper builder for a new software timer.

Enums

• FreeRtosError
  Basic error type for the library.
• TaskNotification
  Notification to be sent to a task.

Traits

• DurationTicks
• FreeRtosTimeUnits
• MutexInnerImpl

Functions

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

Type Aliases

• Duration
• Mutex
• RecursiveMutex