dmosi-freertos

FreeRTOS backend implementation of the dmosi (DMOD OS Interface) abstraction layer. It maps the portable dmosi API (threads, mutexes, semaphores, queues, timers, and heap) to the corresponding FreeRTOS primitives and integrates with the dmod module system.

Features

• Thread management – create, destroy, join, sleep, kill, and enumerate threads backed by FreeRTOS tasks
• Mutex – regular and recursive mutexes via FreeRTOS semaphore API
• Semaphore – counting semaphores with configurable initial and maximum counts
• Queue – fixed-size message queues with blocking send/receive
• Software timers – one-shot and periodic timers with user callbacks
• Heap – custom pvPortMalloc/vPortFree that delegate to the dmod memory allocator for unified memory tracking

Repository layout

.
├── cmake/
│   └── arch_mapping.cmake   # Maps DMOSI_ARCH + DMOSI_ARCH_FAMILY to a FREERTOS_PORT value
├── config/
│   └── FreeRTOSConfig.h     # FreeRTOS kernel configuration header
├── lib/
│   ├── freertos/            # FreeRTOS-Kernel (git submodule)
│   └── dmosi-proc/          # dmosi process management (git submodule)
├── src/
│   ├── dmosi_freertos.c     # Init / deinit entry points
│   ├── dmosi_thread.c       # Thread API
│   ├── dmosi_mutex.c        # Mutex API
│   ├── dmosi_semaphore.c    # Semaphore API
│   ├── dmosi_queue.c        # Queue API
│   ├── dmosi_timer.c        # Timer API
│   └── dmosi_heap.c         # Custom heap (pvPortMalloc / vPortFree)
├── tests/
│   └── main.c               # Integration tests (run via CTest)
└── CMakeLists.txt

Requirements

• CMake ≥ 3.10
• A C11-capable compiler (GCC or IAR)
• Internet access for the CMake FetchContent step (downloads dmod and dmosi automatically)
• Git submodules initialised (lib/freertos and lib/dmosi-proc)

Building

1. Clone with submodules

git clone --recurse-submodules https://github.com/choco-technologies/dmosi-freertos.git

If you already cloned without submodules:

git submodule update --init --recursive

2. Configure

Host / POSIX build (default, useful for tests)

cmake -B build -DFREERTOS_PORT=GCC_POSIX

Embedded target build

Specify the target architecture so that arch_mapping.cmake can derive the correct FreeRTOS port automatically:

cmake -B build \
  -DDMOSI_ARCH=armv7 \
  -DDMOSI_ARCH_FAMILY=cortex-m7

Or set the FreeRTOS port directly:

cmake -B build -DFREERTOS_PORT=GCC_ARM_CM7

3. Build

cmake --build build

CMake configuration options

Option	Default	Description
FREERTOS_PORT	GCC_POSIX	FreeRTOS port to use (derived automatically from DMOSI_ARCH + DMOSI_ARCH_FAMILY when those are set)
DMOSI_ARCH	(empty)	Target architecture, e.g. armv7
DMOSI_ARCH_FAMILY	(empty)	Microcontroller family, e.g. cortex-m7
DMOSI_COMPILER	gcc	Compiler toolchain used for port selection (gcc or iar)
DMOSI_CPU_CLOCK_HZ	20000000	CPU clock frequency in Hz (passed to FreeRTOSConfig.h)
DMOSI_TICK_RATE_HZ	100	FreeRTOS tick rate in Hz (passed to FreeRTOSConfig.h)
DMOSI_FREERTOS_BUILD_TESTS	OFF	Build and register the CTest integration tests

Architecture / FreeRTOS port mapping

When DMOSI_ARCH and DMOSI_ARCH_FAMILY are both set and FREERTOS_PORT is not, cmake/arch_mapping.cmake automatically selects the correct port. Supported families include:

DMOSI_ARCH_FAMILY	FREERTOS_PORT (GCC)
cortex-m0, cortex-m0+	GCC_ARM_CM0
cortex-m3	GCC_ARM_CM3
cortex-m4, cortex-m4f	GCC_ARM_CM4F
cortex-m7	GCC_ARM_CM7
cortex-m23	GCC_ARM_CM23_NONSECURE
cortex-m33	GCC_ARM_CM33_NONSECURE
cortex-a9	GCC_ARM_CA9
aarch64 / cortex-a53 … cortex-a76	GCC_ARM_AARCH64
cortex-r4	GCC_ARM_CRX_NOGIC
cortex-r5	GCC_ARM_CR5
RISC-V (rv32*, rv64*)	GCC_RISC_V_GENERIC
posix	GCC_POSIX

IAR toolchain mappings are supported for Cortex-M0 through Cortex-M7 and Cortex-M23/M33. For any unsupported combination, set FREERTOS_PORT manually.

Running tests

cmake -B build -DFREERTOS_PORT=GCC_POSIX -DDMOSI_FREERTOS_BUILD_TESTS=ON
cmake --build build
ctest --test-dir build --output-on-failure

Using as a CMake dependency

Add this repository as a subdirectory or a FetchContent target in your project, then link against the dmosi_freertos target:

target_link_libraries(my_app PRIVATE dmosi_freertos)

This transitively pulls in dmod, dmosi, dmosi_proc, and freertos_kernel.

License

See LICENSE for details.