esp-idf/freertos_includes.h

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#ifdef ESP_PLATFORM
 
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <freertos/semphr.h>
#include "sdkconfig.h"
 
#define NSEC_TO_TICK(ns)                                                       \
    (((((long long)(ns)) / 1000 * configTICK_RATE_HZ) + 999999) / 1000000)
 
// IDF v5.0 has introduced a configuration option (disabled by default) which
// enables the usage of legacy FreeRTOS data types, if that configuration option
// is *NOT* selected *AND* IDF v5.0+ is in use we need to add compatibility
// defines in order to compile OpenMRN successfully.
#if !defined(CONFIG_FREERTOS_ENABLE_BACKWARD_COMPATIBILITY)
 
// used in os/os.c and os/os.h
#define portTickType                  TickType_t
#define xTaskHandle                   TaskHandle_t
#define xQueueHandle                  QueueHandle_t
#define xSemaphoreHandle              SemaphoreHandle_t
 
// used in freertos_drivers/arduino/CpuLoad.hxx and os/os.c
#define pcTaskGetTaskName             pcTaskGetName
 
#endif // IDF v5.0+ and !CONFIG_FREERTOS_ENABLE_BACKWARD_COMPATIBILITY
 
#else
 
#include <FreeRTOS.h>
#include <task.h>
#include <semphr.h>
 
#define NSEC_TO_TICK(ns) ((ns) >> NSEC_TO_TICK_SHIFT)
 
#endif