Awesome
FreeRTOS-rust
This project is based on code from freertos.rs and some additions to simplify the usage of FreeRTOS in embedded applications written in Rust.
In contrast to freertos.rs this crate differs in these points:
- The application
main()
entry point is written in Rust. - The FreeRTOS scheduler can be started from Rust.
- The FreeRTOS heap
MemMang/heap/heap_x.c
is used as global memory allocator for Rust - No need for a Clang skeleton project
How it works
The freertos-cargo-build
build-dependency compiles the FreeRTOS code from its original "C" sources files into an
archive to be linked against your Rust app. Internally it uses the cc crate and some meta
info provided by your apps build.rs
:
- A path to the FreeRTOS
Sources
- A path to the app specific
FreeRTOSConfig.h
- A relative path to the
FreeRTOS port
to be used, e.g. for ARM Cortex-M3 cores. - Optional: Additional C code to be compiled
The freertos-rust
dependency provides an interface to access all FreeRTOS functionality from your (embedded)
Rust app.
Usage
-
Checkout FreeRTOS: https://github.com/FreeRTOS/FreeRTOS-Kernel
-
Add dependencies to your Rust apps
Cargo.toml
[dependencies] freertos-rust = "*" [build-dependencies] freertos-cargo-build = "*"
-
Add this snippet to your apps
build.rs
:fn main() { let mut b = freertos_cargo_build::Builder::new(); // Path to FreeRTOS kernel or set ENV "FREERTOS_SRC" instead b.freertos("path/to/FreeRTOS-Kernel"); b.freertos_config("src"); // Location of `FreeRTOSConfig.h` b.freertos_port("GCC/ARM_CM3"); // Port dir relativ to 'FreeRTOS-Kernel/portable' b.heap("heap_4.c"); // Set the heap_?.c allocator to use from // 'FreeRTOS-Kernel/portable/MemMang' (Default: heap_4.c) // b.get_cc().file("More.c"); // Optional additional C-Code to be compiled b.compile().unwrap_or_else(|e| { panic!("{}", e.to_string()) }); }
Used C compiler
freertos-cargo-build
depends on the cc crate. So the C compiler
used can be set by using the CC
enviroment variable or otherwise defined by internal
defaults. For the ARM architecture this is the arm-none-eabi-gcc
which can be found here.
Examples
To get started there are examples in freertos-rust-examples for:
- Cortex M33 (nRF9160)
- Cortex M3 (STM32L151CBU6A)
- Cortex M4 (STM32F411CEU6)
- Windows
- ...more to come...
Project Crates
- To build a project using this create see freertos-cargo-build
- The runtime dependency for you FreeRTOS Rust application will be freertos-rust
License
This repository is using the MIT License. Some parts might state different licenses that need to be respected when used.
- The Linux port is licensed under GPLv2