Create TactilityFreertos subproject (#440)

TactilityCore/Include/Tactility/kernel/Kernel.h

@@ -1,117 +0,0 @@
-#pragma once
-
-#ifdef ESP_PLATFORM
-#include "freertos/FreeRTOS.h"
-#include <esp_timer.h>
-#else
-#include "FreeRTOS.h"
-#include <sys/time.h>
-#endif
-
-namespace tt::kernel {
-
-/** Recognized platform types */
-typedef enum {
-    PlatformEsp,
-    PlatformSimulator
-} Platform;
-
-/** Return true when called from an Interrupt Service Routine (~IRQ mode) */
-#ifdef ESP_PLATFORM
-constexpr bool isIsr() { return (xPortInIsrContext() == pdTRUE); }
-#else
-constexpr bool isIsr() { return false; }
-#endif
-
-/** Check if kernel is running
- * @return true if the FreeRTOS kernel is running, false otherwise
- */
-bool isRunning();
-
-/** Lock kernel, pause process scheduling
- * @warning don't call from ISR context
- * @return true on success
- */
-bool lock();
-
-/** Unlock kernel, resume process scheduling
- * @warning don't call from ISR context
- * @return true on success
- */
-bool unlock();
-
-/** Restore kernel lock state
- * @warning don't call from ISR context
- * @param[in] lock  The lock state
- * @return true on success
- */
-bool restoreLock(bool lock);
-
-/** Get kernel systick frequency
- * @return systick counts per second
- */
-uint32_t getTickFrequency();
-
-TickType_t getTicks();
-
-constexpr size_t getMillis() { return getTicks() / portTICK_PERIOD_MS; }
-
-constexpr long int getMicros() {
-#ifdef ESP_PLATFORM
-    return static_cast<unsigned long>(esp_timer_get_time());
-#else
-    timeval tv;
-    gettimeofday(&tv, nullptr);
-    return 1000000 * tv.tv_sec + tv.tv_usec;
-#endif
-}
-
-/** Delay execution
- * @warning don't call from ISR context
- * Also keep in mind delay is aliased to scheduler timer intervals.
- * @param[in] ticks The ticks count to pause
- */
-void delayTicks(TickType_t ticks);
-
-/** Delay until tick
- * @warning don't call from ISR context
- * @param[in] ticks  The tick until which kerel should delay task execution
- * @return true on success
- */
-bool delayUntilTick(TickType_t tick);
-
-constexpr TickType_t secondsToTicks(uint32_t seconds) {
-    return static_cast<TickType_t>(seconds) * 1000U / portTICK_PERIOD_MS;
-}
-
-constexpr TickType_t minutesToTicks(uint32_t minutes) {
-    return secondsToTicks(minutes * 60U);
-}
-
-/** Convert milliseconds to ticks
- *
- * @param[in]   milliSeconds    time in milliseconds
- * @return      time in ticks
- */
-TickType_t millisToTicks(uint32_t milliSeconds);
-
-/** Delay in milliseconds
- * This method uses kernel ticks on the inside, which causes delay to be aliased to scheduler timer intervals.
- * Real wait time will be between X+ milliseconds.
- * Special value: 0, will cause task yield.
- * Also if used when kernel is not running will fall back to delayMicros()
- * @warning don't call from ISR context
- * @param[in] milliSeconds milliseconds to wait
- */
-void delayMillis(uint32_t milliSeconds);
-
-/** Delay in microseconds
- * Implemented using Cortex DWT counter. Blocking and non aliased.
- * @param[in] microSeconds microseconds to wait
- */
-void delayMicros(uint32_t microSeconds);
-
-/** @return the platform that Tactility currently is running on. */
-Platform getPlatform();
-
-} // namespace

TactilityCore/Include/Tactility/kernel/Platform.h

@@ -0,0 +1,14 @@
+#pragma once
+
+namespace tt::kernel {
+
+/** Recognized platform types */
+typedef enum {
+    PlatformEsp,
+    PlatformSimulator
+} Platform;
+
+/** @return the platform that Tactility currently is running on. */
+Platform getPlatform();
+
+} // namespace