BADRTOS

What is this?

A lightweight header-only rtos scheduler for Cortex M4/M33 mcus (in this case STM32F411CE/STM32H562VG) with usual RTOS primitives

Features

• Priority driven scheduler
• No isr locks in the kernel
• MPU support
• Mutexes, semaphores, message queues
• Software timers
• Dynamic memory allocation using buddy allocator and pools
• Depends only on the linker file and startup code

How to use it

1. Include the header and dependencies in your project.
2. Define "BAD_RTOS_IMPLEMENTATION" and include the header

#define BAD_RTOS_IMPLEMENTATION
#include "bad_rtos.h"

3. Perform your setup in bad_user_setup

void bad_user_setup(){
    bad_task_descr_t task1_descr = {
        .stack = 0,
        .stack_size = TASK1_STACK_SIZE,
        .entry = task1,
        .regions = task1_regions,
        .ticks_to_change = 500,
        .base_priority = TASK2_PRIORITY
    };
    task1h = task_make(&task1_descr);
    bad_task_descr_t task2_descr = {
        .stack = task2_stack,
        .stack_size = TASK2_STACK_SIZE,
        .entry = task2,
        .ticks_to_change = 500,
        .base_priority = TASK2_PRIORITY
    };
    task2h = task_make(&task2_descr);
}```
4. Start the scheduler
```c
bad_rtos_start();

Notes

• bad_rtos_start() can only be called in the translation unit where implementation was included
• API is written with static and or zero initilisation in mind, no need to call stuff_init on everything, read the comments for more information

You can freely modify or copy whatever you need.