Create TactilityFreertos subproject (#440)

TactilityC/Include/tt_hal_i2c.h

@@ -103,9 +103,8 @@ bool tt_hal_i2c_lock(i2c_port_t port, TickType_t timeout);
 /**
  * Used to unlock an I2C port.
  * This is useful for creating thread-safe I2C calls while calling ESP-IDF directly of third party I2C APIs.
- * @param[in] port the I2C port to unlock
  */
-bool tt_hal_i2c_unlock(i2c_port_t port);
+void tt_hal_i2c_unlock(i2c_port_t port);
 
 #ifdef __cplusplus
 }

TactilityC/Include/tt_kernel.h

@@ -1,8 +1,6 @@
 #pragma once
 
 #include <stdint.h>
-#include <stdbool.h>
-
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -11,43 +9,6 @@ typedef unsigned long TickType;
 
 #define TT_MAX_TICKS ((TickType)(~(TickType)0))
 
-/**
- * Stall the current task for the specified amount of time.
- * @param milliseconds the time in milliseconds to stall.
- */
-void tt_kernel_delay_millis(uint32_t milliseconds);
-
-/**
- * Stall the current task for the specified amount of time.
- * @param milliseconds the time in microsends to stall.
- */
-void tt_kernel_delay_micros(uint32_t microSeconds);
-
-/**
- * Stall the current task for the specified amount of time.
- * @param milliseconds the time in ticks to stall.
- */
-void tt_kernel_delay_ticks(TickType ticks);
-
-/** @return the number of ticks since the device was started */
-TickType tt_kernel_get_ticks();
-
-/** Convert milliseconds to ticks */
-TickType tt_kernel_millis_to_ticks(uint32_t milliSeconds);
-
-/** Stall the current task until the specified timestamp
- * @return false if for some reason the delay was broken off
- */
-bool tt_kernel_delay_until_tick(TickType tick);
-
-/** @return the tick frequency of the kernel (commonly 1000 Hz when running FreeRTOS) */
-uint32_t tt_kernel_get_tick_frequency();
-
-/** @return the number of milliseconds that have passed since the device was started */
-uint32_t tt_kernel_get_millis();
-
-unsigned long tt_kernel_get_micros();
-
 #ifdef __cplusplus
 }
 #endif

TactilityC/Include/tt_lock.h

@@ -41,9 +41,8 @@ bool tt_lock_acquire(LockHandle handle, TickType timeout);
 /**
  * Attempt to unlock the lock.
  * @param[in] handle the handle that represents the mutex instance
- * @return true when the lock was unlocked
  */
-bool tt_lock_release(LockHandle handle);
+void tt_lock_release(LockHandle handle);
 
 /** Free the memory for this lock
  * This does not auto-release the lock.

TactilityC/Include/tt_message_queue.h

@@ -41,23 +41,13 @@ bool tt_message_queue_put(MessageQueueHandle handle, const void* message, TickTy
  */
 bool tt_message_queue_get(MessageQueueHandle handle, void* message, TickType_t timeout);
 
-/** @return the total amount of messages that this queue can hold */
-uint32_t tt_message_queue_get_capacity(MessageQueueHandle handle);
-
-/** @return the size of a single message in the queue */
-uint32_t tt_message_queue_get_message_size(MessageQueueHandle handle);
-
 /** @return the current amount of items in the queue */
 uint32_t tt_message_queue_get_count(MessageQueueHandle handle);
 
-/** @return the remaining capacity in the queue */
-uint32_t tt_message_queue_get_space(MessageQueueHandle handle);
-
 /**
  * Remove all items from the queue (if any)
- * @return true on failure
  */
-bool tt_message_queue_reset(MessageQueueHandle handle);
+void tt_message_queue_reset(MessageQueueHandle handle);
 
 #ifdef __cplusplus
 }

TactilityC/Include/tt_thread.h

@@ -27,7 +27,7 @@ typedef enum {
 } ThreadState;
 
 /** The identifier that represents the thread */
-typedef TaskHandle_t ThreadId;
+typedef TaskHandle_t TaskHandle;
 
 /** ThreadCallback Your callback to run in new thread
  * @warning never use osThreadExit in Thread
@@ -132,16 +132,16 @@ void tt_thread_start(ThreadHandle handle);
 /**
  * Wait (block) for the thread to finish.
  * @param[in] handle the thread instance handle
- * @warning make sure you manually interrupt any logic in your thread (e.g. by an EventFlag or boolean+Mutex)
+ * @warning make sure you manually interrupt any logic in your thread (e.g. by an EventGroup or boolean+Mutex)
  */
 bool tt_thread_join(ThreadHandle handle, TickType_t timeout);
 
 /**
- * Get thread id
+ * Get thread task handle
  * @param[in] handle the thread instance handle
- * @return the ThreadId of a thread
+ * @return the task handle of a thread
  * */
-ThreadId tt_thread_get_id(ThreadHandle handle);
+TaskHandle tt_thread_get_task_handle(ThreadHandle handle);
 
 /**
  * Get the return code of a thread

TactilityC/Include/tt_timer.h

@@ -1,7 +1,7 @@
 #pragma once
 
+#include "tt_kernel.h"
 #include "tt_thread.h"
-#include <freertos/FreeRTOS.h>
 
 #include <stdint.h>
 #include <stdbool.h>
@@ -15,8 +15,8 @@ typedef void* TimerHandle;
 
 /** The behaviour of the timer */
 typedef enum {
-    TimerTypeOnce = 0,    ///< One-shot timer.
-    TimerTypePeriodic = 1 ///< Repeating timer.
+    TimerTypeOnce = 0, // Timer triggers once after time has passed
+    TimerTypePeriodic = 1 // Timer triggers repeatedly after time has passed
 } TimerType;
 
 typedef void (*TimerCallback)(void* context);
@@ -27,7 +27,7 @@ typedef void (*TimerPendingCallback)(void* context, uint32_t arg);
  * @param[in] callback the callback to call when the timer expires
  * @param[in] callbackContext the data to pass to the callback
  */
-TimerHandle tt_timer_alloc(TimerType type, TimerCallback callback, void* callbackContext);
+TimerHandle tt_timer_alloc(TimerType type, TickType ticks, TimerCallback callback, void* callbackContext);
 
 /** Free up the memory of a timer instance */
 void tt_timer_free(TimerHandle handle);
@@ -35,18 +35,24 @@ void tt_timer_free(TimerHandle handle);
 /**
  * Start the timer
  * @param[in] handle the timer instance handle
- * @parma[in] interval the interval of the timer
  * @return true when the timer was successfully started
  */
-bool tt_timer_start(TimerHandle handle, TickType_t interval);
+bool tt_timer_start(TimerHandle handle);
 
 /**
  * Restart an already started timer
  * @param[in] handle the timer instance handle
- * @parma[in] interval the interval of the timer
+ * @param[in] interval the timer new interval
  * @return true when the timer was successfully restarted
  */
-bool tt_timer_restart(TimerHandle handle, TickType_t interval);
+bool tt_timer_reset_with_interval(TimerHandle handle, TickType interval);
+
+    /**
+ * Restart an already started timer
+ * @param[in] handle the timer instance handle
+ * @return true when the timer was successfully restarted
+ */
+bool tt_timer_reset(TimerHandle handle);
 
 /**
  * Stop a started timer
@@ -63,11 +69,11 @@ bool tt_timer_stop(TimerHandle handle);
 bool tt_timer_is_running(TimerHandle handle);
 
 /**
- * Get the expire time of a timer
+ * Get the expiry time of a timer
  * @param[in] handle the timer instance handle
  * @return the absolute timestamp at which the timer will expire
  */
-uint32_t tt_timer_get_expire_time(TimerHandle handle);
+uint32_t tt_timer_get_expiry_time(TimerHandle handle);
 
 /**
  * Set the pending callback for a timer