Create TactilityFreertos subproject (#440)

TactilityFreeRtos/Include/Tactility/kernel/Kernel.h

@@ -0,0 +1,99 @@
+#pragma once
+
+#include "../freertoscompat/PortCompat.h"
+#include "../freertoscompat/Task.h"
+
+#ifdef ESP_PLATFORM
+#include <esp_timer.h>
+#include <rom/ets_sys.h>
+#else
+#include <sys/time.h>
+#include <cstdint>
+#include <unistd.h>
+#endif
+
+#include <cassert>
+
+namespace tt::kernel {
+
+constexpr TickType_t MAX_TICKS = ~static_cast<TickType_t>(0);
+
+/** @return the frequency at which the kernel task schedulers operate */
+constexpr uint32_t getTickFrequency() {
+    return configTICK_RATE_HZ;
+}
+
+/** @return the amount of ticks that has passed in the main kernel task */
+inline TickType_t getTicks() {
+    if (xPortInIsrContext() == pdTRUE) {
+        return xTaskGetTickCountFromISR();
+    } else {
+        return xTaskGetTickCount();
+    }
+}
+
+
+/** @return the amount of milliseconds that has passed in the main kernel tasks */
+inline size_t getMillis() {
+    return getTicks() * portTICK_PERIOD_MS;
+}
+
+/** @return the microseconds that have passed since boot */
+inline int64_t getMicrosSinceBoot() {
+#ifdef ESP_PLATFORM
+    return esp_timer_get_time();
+#else
+    timeval tv;
+    gettimeofday(&tv, nullptr);
+    return 1000000 * tv.tv_sec + tv.tv_usec;
+#endif
+}
+
+/** Convert seconds to ticks */
+inline TickType_t secondsToTicks(uint32_t seconds) {
+    return static_cast<uint64_t>(seconds) * 1000U / portTICK_PERIOD_MS;
+}
+
+/** Convert milliseconds to ticks */
+inline TickType_t millisToTicks(uint32_t milliSeconds) {
+#if configTICK_RATE_HZ == 1000
+    return static_cast<TickType_t>(milliSeconds);
+#else
+    return static_cast<TickType_t>(((float)configTICK_RATE_HZ) / 1000.0f * (float)milliSeconds);
+#endif
+}
+
+/**
+ * Delay the current task for the specified amount of ticks
+ * @warning Does not work in ISR context
+ */
+inline void delayTicks(TickType_t ticks) {
+    assert(xPortInIsrContext() == pdFALSE);
+    if (ticks == 0U) {
+        taskYIELD();
+    } else {
+        vTaskDelay(ticks);
+    }
+}
+
+/**
+ * Delay the current task for the specified amount of milliseconds
+ * @warning Does not work in ISR context
+ */
+inline void delayMillis(uint32_t milliSeconds) {
+    delayTicks(millisToTicks(milliSeconds));
+}
+
+/**
+ * Stall the currently active CPU core for the specified amount of microseconds.
+ * This does not allow other tasks to run on the stalled CPU core.
+ */
+inline void delayMicros(uint32_t microseconds) {
+#ifdef ESP_PLATFORM
+    ets_delay_us(microseconds);
+#else
+    usleep(microseconds);
+#endif
+}
+
+} // namespace