Allow starting timer from interrupt.

freertos-rust/src/freertos/shim.c

@@ -378,6 +378,13 @@ BaseType_t freertos_rs_timer_start(TimerHandle_t timer, TickType_t block_time) {
  return 0;
 }
 
+BaseType_t freertos_rs_timer_start_from_isr(TimerHandle_t timer, BaseType_t* xHigherPriorityTaskWoken) {
+ if (xTimerStartFromISR(timer, xHigherPriorityTaskWoken) != pdPASS) {
+ return 1;
+ }
+ return 0;
+}
+
 BaseType_t freertos_rs_timer_stop(TimerHandle_t timer, TickType_t block_time) {
  if (xTimerStop(timer, block_time) != pdPASS) {
  return 1;

freertos-rust/src/shim.rs

@@ -134,6 +134,10 @@ extern "C" {
  timer: FreeRtosTimerHandle,
  block_time: FreeRtosTickType,
  ) -> FreeRtosBaseType;
+ pub fn freertos_rs_timer_start_from_isr(
+ timer: FreeRtosTimerHandle,
+ xHigherPriorityTaskWoken: FreeRtosBaseTypeMutPtr,
+ ) -> FreeRtosBaseType;
  pub fn freertos_rs_timer_stop(
  timer: FreeRtosTimerHandle,
  block_time: FreeRtosTickType,

freertos-rust/src/timers.rs

@@ -1,3 +1,4 @@
+use crate::InterruptContext;
 use crate::base::*;
 use crate::prelude::v1::*;
 use crate::shim::*;
@@ -69,6 +70,11 @@ impl Timer {
  }
  }
 
+ /// Create a timer from a raw handle.
+ pub unsafe fn from_raw_handle(handle: FreeRtosTimerHandle) -> Self {
+ Self { handle, detached: false }
+ }
+
  unsafe fn spawn_inner<'a>(
  name: &str,
  period_ticks: FreeRtosTickType,
@@ -147,6 +153,17 @@ impl Timer {
  }
  }
 
+ /// Start the timer from an interrupt.
+ pub fn start_from_isr(&self, context: &InterruptContext) -> Result<(), FreeRtosError> {
+ unsafe {
+ if freertos_rs_timer_start_from_isr(self.handle, context.get_task_field_mut()) == 0 {
+ Ok(())
+ } else {
+ Err(FreeRtosError::QueueSendTimeout)
+ }
+ }
+ }
+
  /// Stop the timer.
  pub fn stop<D: DurationTicks>(&self, block_time: D) -> Result<(), FreeRtosError> {
  unsafe {