Create TactilityFreertos subproject (#440)

TactilityFreeRtos/Include/Tactility/freertoscompat/EventGroups.h

@@ -0,0 +1,10 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include <freertos/FreeRTOS.h>
+#include <freertos/event_groups.h>
+#else
+#include <FreeRTOS.h>
+#include <event_groups.h>
+#endif
+

TactilityFreeRtos/Include/Tactility/freertoscompat/PortCompat.h

@@ -0,0 +1,7 @@
+#pragma once
+
+#include "RTOS.h"
+
+#ifndef ESP_PLATFORM
+#define xPortInIsrContext(x) (false)
+#endif

TactilityFreeRtos/Include/Tactility/freertoscompat/Queue.h

@@ -0,0 +1,8 @@
+#ifdef ESP_PLATFORM
+#include <freertos/FreeRTOS.h>
+#include <freertos/queue.h>
+#else
+#include <FreeRTOS.h>
+#include <queue.h>
+#endif
+

TactilityFreeRtos/Include/Tactility/freertoscompat/README.md

@@ -0,0 +1,3 @@
+Compatibility include files for FreeRTOS.
+Custom FreeRTOS from ESP-IDF prefixes paths with "freertos/",
+but this isn't the normal behaviour for the regular FreeRTOS project.

TactilityFreeRtos/Include/Tactility/freertoscompat/RTOS.h

@@ -0,0 +1,7 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include <freertos/FreeRTOS.h>
+#else
+#include <FreeRTOS.h>
+#endif

TactilityFreeRtos/Include/Tactility/freertoscompat/Semaphore.h

@@ -0,0 +1,19 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
+#else
+#include <FreeRTOS.h>
+#include <semphr.h>
+#endif
+
+#include <cassert>
+
+struct SemaphoreHandleDeleter {
+  static void operator()(QueueHandle_t handleToDelete) {
+    assert(xPortInIsrContext() == pdFALSE);
+    vSemaphoreDelete(handleToDelete);
+  }
+};
+

TactilityFreeRtos/Include/Tactility/freertoscompat/Task.h

@@ -0,0 +1,10 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+#else
+#include <FreeRTOS.h>
+#include <task.h>
+#endif
+

TactilityFreeRtos/Include/Tactility/freertoscompat/Timers.h

@@ -0,0 +1,9 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include <freertos/FreeRTOS.h>
+#include <freertos/timers.h>
+#else
+#include <FreeRTOS.h>
+#include <timers.h>
+#endif