freertos: idiomatic Zig wrappers for the FreeRTOS module#920
Open
d-mironov wants to merge 9 commits intoZigEmbeddedGroup:mainfrom
Open
freertos: idiomatic Zig wrappers for the FreeRTOS module#920d-mironov wants to merge 9 commits intoZigEmbeddedGroup:mainfrom
d-mironov wants to merge 9 commits intoZigEmbeddedGroup:mainfrom
Conversation
Lint ResultsFound 1 issue on changed lines in 1 file:
|
d-mironov
changed the title
d-mironov
force-pushed
the
feat/freertos-zig-wrappers
branch
2 times, most recently
from
1983998 to
d27f423
Compare
added 8 commits
March 8, 2026 04:04
Add config.zig with Zig error set, type aliases, and checkBaseType/ checkHandle/checkTrue helpers modeled after the network module pattern. Restructure root.zig as module hub re-exporting sub-modules, expand @cImport, add backward-compatible OS struct (deprecated), ISR exports, and stack overflow hook.
Idiomatic Zig wrapper for FreeRTOS task API covering create, destroy, delay, suspend, resume, priority get/set, scheduler control, and critical sections. Uses quoted identifiers for Zig keyword conflicts (suspend, resume). ~30 wrapped functions.
- queue.zig: Generic type-safe Queue(T) with send/receive/peek and ISR variants with proper success tracking - semaphore.zig: Binary and counting semaphores with give/take - mutex.zig: Standard and recursive mutexes with lock/unlock
- event_group.zig: Event group create/set/clear/wait bits with ISR variants - timer.zig: Software timers using xTimerGenericCommandFromTask directly (C macros incompatible with @cImport), includes destroyBlocking - notification.zig: Direct-to-task notifications using ulTaskGenericNotifyTake for correct counting-semaphore semantics
Disable configSUPPORT_PICO_SYNC_INTEROP and configSUPPORT_PICO_TIME_INTEROP in both RP2040 and RP2350_ARM configs. These use __attribute__((constructor)) which MicroZig's Cortex-M startup does not process (.init_array), causing NULL dereference. Enable configCHECK_FOR_STACK_OVERFLOW=2 for runtime detection.
Move duplicated Pico SDK glue functions (multicore, clock, spinlock, IRQ stubs) from individual examples into picosdk_stubs.c in the module. Uses C for #if PICO_RP2040 preprocessor chip detection. Follows existing picosdk_irq.c / picosdk_exception.c pattern. Update build.zig to include picosdk_stubs.c in C sources.
- Update hello_task.zig to use new API, remove inline glue code - Add queue_demo.zig: producer/consumer pattern demonstration - Add multitask_demo.zig: 4-task sensor dashboard exercising all primitives (queues, mutexes, semaphores, event groups, timers, notifications) - Register new examples in build.zig with auto-detected freertos dependency
README.md with features overview, quick start guide, full API tables for all 8 sub-modules, platform support matrix, FreeRTOSConfig.h configuration guide, known limitations, and links to examples.
d-mironov
force-pushed
the
feat/freertos-zig-wrappers
branch
from
d27f423 to
50cfc34
Compare
d-mironov
commented
Mar 8, 2026
Author
|
I have currently only tested it on the RP2350 using a XIAO RP2350, but I could also implement/test on STM32, ESP32-C6/S3 and RP2040 if wanted. |
Contributor
|
@d-mironov great work! I made test on RP2040 and looks good. Tomorrow I will take a look on your code. |
Author
|
Thank you for testing on the RP2040 :D |
![github-actions[bot]](https://avatars.githubusercontent.com/in/15368?s=60&v=4){kind=small}
Contributor
|
This morning I tested this PR on Pico W (RP2040) and Pico 2 W (RP2350), and all examples ran successfully. @Grazfather @mattnite can this PR be accepted and merged? |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Part of #880
Builds out the FreeRTOS module with Zig wrappers for tasks, queues, semaphores, mutexes, event groups, timers, and task notifications. Error handling follows the
modules/networkpattern. The oldOSstruct is preserved as a deprecated alias.Each API group has its own file, with
root.zigas the hub.pub const cescape hatch is available.Worth noting
xTimerGenericCommandFromTaskdirectly — the C macros pass an untypedNULLthat@cImportcan't coerce.notification.take()usesulTaskGenericNotifyTake, notxTaskGenericNotifyWait(the latter doesn't decrement, breaking counting-semaphore semantics).IsrResult.successinstead of silently dropping the C return code.Note
The annoying parts of this PR were generated using AI (
opencodewith Claude Opus 4.6) like some of the wrappers and documentation, but everything was reviewed by me.Bug fixes
configSUPPORT_PICO_SYNC_INTEROPandconfigSUPPORT_PICO_TIME_INTEROP— the FreeRTOS Pico port uses__attribute__((constructor))to init spinlocks, but MicroZig doesn't process.init_array, so they never run → NULL deref → Usage Fault.configCHECK_FOR_STACK_OVERFLOW=2(was 0).picosdk_stubs.c, following the existingpicosdk_irq.cpattern.Examples
hello_task(updated),queue_demo,multitask_demo— all tested on XIAO RP2350.Not in this PR
Static allocation, stream/message buffers, build-time config options, SMP, RISC-V port — tracked in #880.