FreeRTOS Utilities

Data Structures
struct	rtos_instance_t
	Instance of a FreeRTOS task. More...

Enumerations
enum	rtos_event_t { RESEND_SENSOR = 0 , RESEND_IMAGE , RESEND_VIDEO }

Functions
BaseType_t	task_create (TaskFunction_t pxTaskCode, rtos_instance_t *inst, void *const pvParameters)
	Create a FreeRTOS task using the provided instance parameters.
void	log_watermark (const rtos_instance_t *const inst)
	Log the high-water mark (stack usage in bytes) of a FreeRTOS task.
void	log_info (const rtos_instance_t *const inst)
	Log general task information in a human-readable way.
pal_err_t	sensor_queues_init (void)
pal_err_t	system_queues_init (void)

Variables
QueueHandle_t	queue_scd30
QueueHandle_t	queue_veml7700
QueueHandle_t	queue_bme280
QueueHandle_t	queue_sens_agg
QueueHandle_t	queue_pkt_tx
QueueHandle_t	queue_pkt_rx
QueueHandle_t	queue_pkt_retx
QueueHandle_t	queue_mem_evt

Core Definitions
CPU core identifiers
#define	CORE0   (0)
	CPU core 0.
#define	CORE1   (1)
	CPU core 1.

General Macros
#define	WORD_LEN_BYTE   (4)
	Word length in bytes.
#define	BASIC_QUEUE_DEPTH   (5)
#define	SENSOR_RESEND_QUEUE_DEPTH   (32)
#define	NOT_SET   (255)
	Default uninitialized value.

Detailed Description

Copyright

Copyright (c) 2026 Adrien Chevrier. Under AGPL-3.0-or-later license.

A collection of useful ESP-IDF FreeRTOS wrappers.

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Data Structure Documentation

rtos_instance_t

struct rtos_instance_t

Instance of a FreeRTOS task.

Stores the task handle and its configuration parameters.

Data Fields
const BaseType_t	CORE	CPU core for pinning the task.
const UBaseType_t	PRIORITY	Task priority.
const uint32_t	STACK_SIZE	Task stack size in words.
const char *const	TAG	Tag used for logging.
TaskHandle_t	task_handle	FreeRTOS task handle.

Macro Definition Documentation

BASIC_QUEUE_DEPTH

#define BASIC_QUEUE_DEPTH   (5)

CORE0

#define CORE0   (0)

CPU core 0.

CORE1

#define CORE1   (1)

CPU core 1.

NOT_SET

#define NOT_SET   (255)

Default uninitialized value.

SENSOR_RESEND_QUEUE_DEPTH

#define SENSOR_RESEND_QUEUE_DEPTH   (32)

WORD_LEN_BYTE

#define WORD_LEN_BYTE   (4)

Word length in bytes.

Enumeration Type Documentation

rtos_event_t

enum rtos_event_t

Enumerator
RESEND_SENSOR
RESEND_IMAGE
RESEND_VIDEO

Function Documentation

log_info()

void log_info

(

const rtos_instance_t *const

inst

)

Log general task information in a human-readable way.

The following information is logged:

• Core ID.
• Current state.
• Current priority level.
• Current high-water mark.

Parameters

inst	Pointer to the rtos_instance_t structure.

Note

Pass NULL if calling this function from within the task itself.

log_watermark()

void log_watermark

(

const rtos_instance_t *const

inst

)

Log the high-water mark (stack usage in bytes) of a FreeRTOS task.

Uses FreeRTOS uxTaskGetStackHighWaterMark() internally.

See also

uxTaskGetStackHighWaterMark() from FreeRTOS for more details.

Parameters

inst	Pointer to the rtos_instance_t structure.

Note

Pass NULL if calling this function from within the task itself.

sensor_queues_init()

pal_err_t sensor_queues_init

(

void

)

system_queues_init()

pal_err_t system_queues_init

(

void

)

task_create()

BaseType_t task_create	(	TaskFunction_t	pxTaskCode,
		rtos_instance_t *	inst,
		void *const	pvParameters )

Create a FreeRTOS task using the provided instance parameters.

Uses FreeRTOS xTaskCreatePinnedToCore() internally.

See also

xTaskCreatePinnedToCore() from FreeRTOS for more details.

Parameters

[in]	pxTaskCode	Pointer to the task function.
[in,out]	inst	Pointer to a preconfigured rtos_instance_t structure.
[in]	pvParameters	Parameters to pass to the task function.

Returns

Any BaseType_t value from xTaskCreatePinnedToCore().

Variable Documentation

queue_bme280

QueueHandle_t queue_bme280

extern

queue_mem_evt

QueueHandle_t queue_mem_evt

extern

queue_pkt_retx

QueueHandle_t queue_pkt_retx

extern

queue_pkt_rx

QueueHandle_t queue_pkt_rx

extern

queue_pkt_tx

QueueHandle_t queue_pkt_tx

extern

queue_scd30

QueueHandle_t queue_scd30

extern

queue_sens_agg

QueueHandle_t queue_sens_agg

extern

queue_veml7700

QueueHandle_t queue_veml7700

extern