cgo: add FreeRTOS compatibility headers

This is especially useful if we ever want to support the ESP-IDF.

Currently implemented:

  - xTaskGetCurrentTaskHandle
  - xSemaphoreCreateRecursiveMutex
  - xSemaphoreDelete
  - xSemaphoreTakeRecursive
  - xSemaphoreGiveRecursive

compileopts/config.go

@@ -201,6 +201,9 @@ func (c *Config) RP2040BootPatch() bool {
 // preprocessing.
 func (c *Config) CFlags() []string {
 	var cflags []string
+	// Compatibility CFlags.
+	cflags = append(cflags, "-I"+filepath.Join(goenv.Get("TINYGOROOT"), "src/compat/freertos/include"))
+	// CFlags for the target.
 	for _, flag := range c.Target.CFlags {
 		cflags = append(cflags, strings.ReplaceAll(flag, "{root}", goenv.Get("TINYGOROOT")))
 	}

loader/goroot.go

@@ -220,6 +220,7 @@ func needsSyscallPackage(buildTags []string) bool {
 func pathsToOverride(needsSyscallPackage bool) map[string]bool {
 	paths := map[string]bool{
 		"/":                     true,
+		"compat/":               false,
 		"crypto/":               true,
 		"crypto/rand/":          false,
 		"device/":               false,

src/compat/freertos/freertos.go

@@ -0,0 +1,69 @@
+// Package freertos provides a compatibility layer on top of the TinyGo
+// scheduler for C code that wants to call FreeRTOS functions. One example is
+// the ESP-IDF, which expects there to be a FreeRTOS-like RTOS.
+package freertos
+
+// #include <freertos/FreeRTOS.h>
+// #include <freertos/semphr.h>
+// #include <freertos/task.h>
+import "C"
+import (
+	"sync"
+	"unsafe"
+
+	"internal/task"
+)
+
+//export xTaskGetCurrentTaskHandle
+func xTaskGetCurrentTaskHandle() C.TaskHandle_t {
+	return C.TaskHandle_t(task.Current())
+}
+
+type Semaphore struct {
+	lock  sync.Mutex // the lock itself
+	task  *task.Task // the task currently locking this semaphore
+	count uint32     // how many times this semaphore is locked
+}
+
+//export xSemaphoreCreateRecursiveMutex
+func xSemaphoreCreateRecursiveMutex() C.SemaphoreHandle_t {
+	var mutex Semaphore
+	return (C.SemaphoreHandle_t)(unsafe.Pointer(&mutex))
+}
+
+//export vSemaphoreDelete
+func vSemaphoreDelete(xSemaphore C.SemaphoreHandle_t) {
+	mutex := (*Semaphore)(unsafe.Pointer(xSemaphore))
+	if mutex.task != nil {
+		panic("vSemaphoreDelete: still locked")
+	}
+}
+
+//export xSemaphoreTakeRecursive
+func xSemaphoreTakeRecursive(xMutex C.SemaphoreHandle_t, xTicksToWait C.TickType_t) C.BaseType_t {
+	// TODO: implement xTickToWait, or at least when xTicksToWait equals 0.
+	mutex := (*Semaphore)(unsafe.Pointer(xMutex))
+	if mutex.task == task.Current() {
+		// Already locked.
+		mutex.count++
+		return 1 // pdTRUE
+	}
+	// Not yet locked.
+	mutex.lock.Lock()
+	mutex.task = task.Current()
+	return 1 // pdTRUE
+}
+
+//export xSemaphoreGiveRecursive
+func xSemaphoreGiveRecursive(xMutex C.SemaphoreHandle_t) C.BaseType_t {
+	mutex := (*Semaphore)(unsafe.Pointer(xMutex))
+	if mutex.task == task.Current() {
+		// Already locked.
+		mutex.count--
+		if mutex.count == 0 {
+			mutex.lock.Unlock()
+		}
+		return 1 // pdTRUE
+	}
+	panic("xSemaphoreGiveRecursive: not locked by this task")
+}

src/compat/freertos/include/freertos/FreeRTOS.h

@@ -0,0 +1,9 @@
+#pragma once
+
+#include <stdint.h>
+
+typedef uint32_t     TickType_t;
+typedef int          BaseType_t;
+typedef unsigned int UBaseType_t;
+
+#define portMAX_DELAY (TickType_t)0xffffffffUL

src/compat/freertos/include/freertos/queue.h

@@ -0,0 +1,3 @@
+#pragma once
+
+typedef struct QueueDefinition * QueueHandle_t;

src/compat/freertos/include/freertos/semphr.h

@@ -0,0 +1,12 @@
+#pragma once
+
+// Note: in FreeRTOS, SemaphoreHandle_t is an alias for QueueHandle_t.
+typedef struct SemaphoreDefinition * SemaphoreHandle_t;
+
+SemaphoreHandle_t xSemaphoreCreateRecursiveMutex(void);
+
+void vSemaphoreDelete(SemaphoreHandle_t xSemaphore);
+
+// Note: these two functions are macros in FreeRTOS.
+BaseType_t xSemaphoreTakeRecursive(SemaphoreHandle_t xMutex, TickType_t xTicksToWait);
+BaseType_t xSemaphoreGiveRecursive(SemaphoreHandle_t xMutex);

src/compat/freertos/include/freertos/task.h

@@ -0,0 +1,5 @@
+#pragma once
+
+typedef void * TaskHandle_t;
+
+TaskHandle_t xTaskGetCurrentTaskHandle(void);