From a113c2673a2a82983daf072f0eb9f978da6d3467 Mon Sep 17 00:00:00 2001
From: Ken Van Hoeylandt <git@kenvanhoeylandt.net>
Date: Sat, 3 Jan 2026 01:25:13 +0100
Subject: [PATCH] Add TactilityFreeRtos to TactilitySDK

---
 Buildscripts/CMake/CMakeLists.txt      |  3 +-
 Buildscripts/release-sdk.sh            |  7 +++++
 TactilityC/Source/symbols/freertos.cpp | 39 +++++++++++++++++++-------
 TactilityC/Source/symbols/stl.cpp      |  1 +
 4 files changed, 39 insertions(+), 11 deletions(-)

diff --git a/Buildscripts/CMake/CMakeLists.txt b/Buildscripts/CMake/CMakeLists.txt
index 603ce49a..89ef27bd 100644
--- a/Buildscripts/CMake/CMakeLists.txt
+++ b/Buildscripts/CMake/CMakeLists.txt
@@ -1,5 +1,6 @@
 idf_component_register(
-    INCLUDE_DIRS "Libraries/TactilityC/Include" "Libraries/lvgl/Include"
+    INCLUDE_DIRS "Libraries/TactilityC/Include" "Libraries/lvgl/Include" "Libraries/TactilityFreeRtos/Include"
+    REQUIRES esp_timer
 )
 
 add_prebuilt_library(TactilityC Libraries/TactilityC/Binary/libTactilityC.a)
diff --git a/Buildscripts/release-sdk.sh b/Buildscripts/release-sdk.sh
index e48e538e..8ac68ac6 100755
--- a/Buildscripts/release-sdk.sh
+++ b/Buildscripts/release-sdk.sh
@@ -24,6 +24,13 @@ find_target_dir=$build_dir/$tactility_library_path/Include/
 cp TactilityC/Include/* $find_target_dir
 cp Documentation/license-tactilitysdk.md $build_dir/$tactility_library_path/LICENSE.md
 
+# TactilityFreeRtos
+tactilityfreertos_library_path=$library_path/TactilityFreeRtos
+mkdir -p $tactilityfreertos_library_path/Include
+find_target_dir=$build_dir/$tactilityfreertos_library_path/Include/
+cp -r TactilityFreeRtos/Include/* $find_target_dir
+cp Documentation/license-tactilitysdk.md $build_dir/$tactilityfreertos_library_path/LICENSE.md
+
 # lvgl
 lvgl_library_path=$library_path/lvgl
 mkdir -p $lvgl_library_path/Binary
diff --git a/TactilityC/Source/symbols/freertos.cpp b/TactilityC/Source/symbols/freertos.cpp
index ea6de29a..cca5e1a0 100644
--- a/TactilityC/Source/symbols/freertos.cpp
+++ b/TactilityC/Source/symbols/freertos.cpp
@@ -9,6 +9,11 @@
 
 const esp_elfsym freertos_symbols[] = {
     // Task
+    ESP_ELFSYM_EXPORT(uxTaskGetStackHighWaterMark),
+    ESP_ELFSYM_EXPORT(uxTaskGetNumberOfTasks),
+    ESP_ELFSYM_EXPORT(uxTaskGetTaskNumber),
+    ESP_ELFSYM_EXPORT(uxTaskPriorityGet),
+    ESP_ELFSYM_EXPORT(uxTaskPriorityGetFromISR),
     ESP_ELFSYM_EXPORT(vTaskDelay),
     ESP_ELFSYM_EXPORT(vTaskDelete),
     ESP_ELFSYM_EXPORT(vTaskDeleteWithCaps),
@@ -28,13 +33,10 @@ const esp_elfsym freertos_symbols[] = {
     ESP_ELFSYM_EXPORT(xTaskDelayUntil),
     ESP_ELFSYM_EXPORT(xTaskGenericNotify),
     ESP_ELFSYM_EXPORT(xTaskGenericNotifyFromISR),
+    ESP_ELFSYM_EXPORT(xTaskGetTickCount),
+    ESP_ELFSYM_EXPORT(xTaskGetTickCountFromISR),
     ESP_ELFSYM_EXPORT(pvTaskGetThreadLocalStoragePointer),
     ESP_ELFSYM_EXPORT(pvTaskIncrementMutexHeldCount),
-    ESP_ELFSYM_EXPORT(uxTaskGetStackHighWaterMark),
-    ESP_ELFSYM_EXPORT(uxTaskGetNumberOfTasks),
-    ESP_ELFSYM_EXPORT(uxTaskGetTaskNumber),
-    ESP_ELFSYM_EXPORT(uxTaskPriorityGet),
-    ESP_ELFSYM_EXPORT(uxTaskPriorityGetFromISR),
     // EventGroup
     ESP_ELFSYM_EXPORT(xEventGroupCreate),
     ESP_ELFSYM_EXPORT(xEventGroupCreateWithCaps),
@@ -49,11 +51,6 @@ const esp_elfsym freertos_symbols[] = {
     ESP_ELFSYM_EXPORT(xEventGroupSync),
     ESP_ELFSYM_EXPORT(xEventGroupWaitBits),
     // Queue
-    ESP_ELFSYM_EXPORT(xQueueGenericCreate),
-    ESP_ELFSYM_EXPORT(xQueueGenericCreateStatic),
-    ESP_ELFSYM_EXPORT(xQueueGenericReset),
-    ESP_ELFSYM_EXPORT(xQueueGenericSend),
-    ESP_ELFSYM_EXPORT(xQueueGenericSendFromISR),
     ESP_ELFSYM_EXPORT(vQueueDelete),
     ESP_ELFSYM_EXPORT(vQueueDeleteWithCaps),
     ESP_ELFSYM_EXPORT(vQueueSetQueueNumber),
@@ -62,6 +59,21 @@ const esp_elfsym freertos_symbols[] = {
     ESP_ELFSYM_EXPORT(uxQueueMessagesWaiting),
     ESP_ELFSYM_EXPORT(uxQueueMessagesWaitingFromISR),
     ESP_ELFSYM_EXPORT(uxQueueSpacesAvailable),
+    ESP_ELFSYM_EXPORT(xQueueCreateCountingSemaphore),
+    ESP_ELFSYM_EXPORT(xQueueCreateCountingSemaphoreStatic),
+    ESP_ELFSYM_EXPORT(xQueueCreateMutex),
+    ESP_ELFSYM_EXPORT(xQueueCreateMutexStatic),
+    ESP_ELFSYM_EXPORT(xQueueCreateSet),
+    ESP_ELFSYM_EXPORT(xQueueGetMutexHolder),
+    ESP_ELFSYM_EXPORT(xQueueGetMutexHolderFromISR),
+    ESP_ELFSYM_EXPORT(xQueueGiveMutexRecursive),
+    ESP_ELFSYM_EXPORT(xQueueTakeMutexRecursive),
+    ESP_ELFSYM_EXPORT(xQueueGenericCreate),
+    ESP_ELFSYM_EXPORT(xQueueGenericCreateStatic),
+    ESP_ELFSYM_EXPORT(xQueueGenericReset),
+    ESP_ELFSYM_EXPORT(xQueueGenericSend),
+    ESP_ELFSYM_EXPORT(xQueueGenericSendFromISR),
+    ESP_ELFSYM_EXPORT(xQueueSemaphoreTake),
     // Timer
     ESP_ELFSYM_EXPORT(xTimerCreate),
     ESP_ELFSYM_EXPORT(xTimerCreateStatic),
@@ -72,6 +84,13 @@ const esp_elfsym freertos_symbols[] = {
     ESP_ELFSYM_EXPORT(xTimerPendFunctionCallFromISR),
     ESP_ELFSYM_EXPORT(xTimerGetPeriod),
     // portmacro.h
+    ESP_ELFSYM_EXPORT(vPortYield),
+    ESP_ELFSYM_EXPORT(vPortEnterCritical),
+    ESP_ELFSYM_EXPORT(vPortEnterCriticalSafe),
+    ESP_ELFSYM_EXPORT(vPortEnterCriticalCompliance),
+    ESP_ELFSYM_EXPORT(vPortExitCritical),
+    ESP_ELFSYM_EXPORT(vPortExitCriticalSafe),
+    ESP_ELFSYM_EXPORT(vPortExitCriticalCompliance),
     ESP_ELFSYM_EXPORT(xPortInIsrContext),
     ESP_ELFSYM_EXPORT(xPortCanYield),
     ESP_ELFSYM_EXPORT(xPortGetCoreID),
diff --git a/TactilityC/Source/symbols/stl.cpp b/TactilityC/Source/symbols/stl.cpp
index a6513d8d..56426854 100644
--- a/TactilityC/Source/symbols/stl.cpp
+++ b/TactilityC/Source/symbols/stl.cpp
@@ -11,6 +11,7 @@ const esp_elfsym stl_symbols[] = {
     { "_ZSt28__throw_bad_array_new_lengthv", (void*)&(std::__throw_bad_array_new_length) },
     { "_ZSt25__throw_bad_function_callv", (void*)&(std::__throw_bad_function_call) },
     { "_ZSt20__throw_length_errorPKc", (void*)&(std::__throw_length_error) },
+    { "_ZSt19__throw_logic_errorPKc", (void*)&std::__throw_logic_error },
     // { "", (void*)&(std::) },
     // delimiter
     ESP_ELFSYM_END