rtlabs-com · elupus · Nov 7, 2025 · Nov 7, 2025 · Nov 4, 2025 · Nov 4, 2025
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -52,49 +52,31 @@ configure_file (
   ${OSAL_BINARY_DIR}/src/version.h
   )
 
-# Add platform-dependent targets early, so they can be configured by
-# platform
-add_library(osal "")
-
-# Suppress certain warnings when building with MSVC
-if (WINDOWS_MONO)
-target_compile_options (osal
-  PRIVATE
-  /wd4820 # padding added
-  )
-endif()
+add_library(osal-interface INTERFACE)
 
-# Use position independent code if platform supports shared libraries
-get_property(SUPPORTS_SHARED GLOBAL PROPERTY TARGET_SUPPORTS_SHARED_LIBS)
-if (SUPPORTS_SHARED)
-  set_property(TARGET osal PROPERTY POSITION_INDEPENDENT_CODE ON)
-endif()
+target_include_directories(osal-interface
+  INTERFACE
+  $<BUILD_INTERFACE:${OSAL_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+  )
 
 if (CMAKE_PROJECT_NAME STREQUAL OSAL AND BUILD_TESTING)
   add_executable(osal_test "")
 endif()
 
+# The default system implementation of the OSAL
+# is defined by the build platform, but we provide
+# a common help string here.
+set (OSAL_DEFAULT_SYSTEM_HELP_STRING "The default Osal system implementation to use")
+
 # Platform configuration
 include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/${CMAKE_SYSTEM_NAME}.cmake)
 
-set_target_properties (osal
-  PROPERTIES
-  C_STANDARD 99
-  )
-
-target_compile_features(osal PUBLIC c_std_99)
-
-target_include_directories(osal
-  PUBLIC
-  $<BUILD_INTERFACE:${OSAL_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>
-  PRIVATE
-  src
-  ${OSAL_BINARY_DIR}/src
-  )
+# Add alias target for the default system
+add_library(osal ALIAS ${OSAL_DEFAULT_SYSTEM})
 
 install(
-  TARGETS osal
+  TARGETS osal-interface
   EXPORT OsalTargets
   )
 
@@ -123,6 +105,17 @@ install(FILES
   DESTINATION include
   )
 
+install(FILES
+  include/sys/osal_cc_clang.h
+  include/sys/osal_cc_gcc.h
+  include/sys/osal_cc_msvc.h
+  include/sys/osal_cc_rtk.h
+  include/sys/osal_cc.h
+  include/osal_log.h
+  DESTINATION include
+  )
+
+
 if (CMAKE_PROJECT_NAME STREQUAL OSAL AND BUILD_TESTING)
   add_subdirectory (test)
   include(AddGoogleTest)

diff --git a/cmake/Linux.cmake b/cmake/Linux.cmake
@@ -12,46 +12,14 @@
 # license. See the file LICENSE distributed with this software for
 # full license information.
 #*******************************************************************/
-
 find_package(Threads)
 
-option (USE_SCHED_FIFO
-  "Use SCHED_FIFO policy. May require extra privileges to run"
-  OFF)
-
-target_sources(osal PRIVATE
-  src/linux/osal.c
-  src/linux/osal_log.c
-  )
-
-target_compile_options(osal
-  PRIVATE
-  -Wall
-  -Wextra
-  -Werror
-  -Wno-unused-parameter
-  $<$<BOOL:${USE_SCHED_FIFO}>:-DUSE_SCHED_FIFO>
-  INTERFACE
-  $<$<CONFIG:Coverage>:--coverage>
-  )
-
-target_include_directories(osal PUBLIC
-  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/src/linux>
-  )
-
-target_link_libraries(osal PUBLIC
-  Threads::Threads
-  rt
-  INTERFACE
-  $<$<CONFIG:Coverage>:--coverage>
-  )
-
-install(FILES
-  src/linux/sys/osal_cc.h
-  src/linux/sys/osal_sys.h
-  DESTINATION include/sys
-  )
+add_subdirectory(src/linux)
 
 if (BUILD_TESTING)
   set(GOOGLE_TEST_INDIVIDUAL TRUE)
 endif()
+
+set (OSAL_DEFAULT_SYSTEM
+  osal-linux
+  CACHE STRING ${OSAL_DEFAULT_SYSTEM_HELP_STRING})
diff --git a/cmake/OsalConfig.cmake.in b/cmake/OsalConfig.cmake.in
@@ -7,3 +7,11 @@ endif()
 @PACKAGE_INIT@
 
 include ( "${CMAKE_CURRENT_LIST_DIR}/OsalTargets.cmake" )
+
+set (OSAL_DEFAULT_SYSTEM @OSAL_DEFAULT_SYSTEM@ CACHE STRING "@OSAL_DEFAULT_SYSTEM_HELP_STRING@")
+
+if (TARGET ${OSAL_DEFAULT_SYSTEM})
+    add_library (osal ALIAS ${OSAL_DEFAULT_SYSTEM})
+else()
+    message (VERBOSE "Osal default system not available yet")
+endif()
diff --git a/cmake/STM32Cube.cmake b/cmake/STM32Cube.cmake
@@ -13,32 +13,18 @@
 # full license information.
 #*******************************************************************/
 
-target_sources(osal PRIVATE
-  src/freertos/osal.c
-  src/freertos/osal_log.c
-  )
-
-target_compile_options(osal
-  PRIVATE
-  -Wall
-  -Wextra
-  -Werror
-  -Wno-unused-parameter
-  )
-
-target_include_directories(osal PUBLIC
-  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/src/freertos>
-  )
-
-install(FILES
-  src/freertos/sys/osal_cc.h
-  src/freertos/sys/osal_sys.h
-  DESTINATION include/sys
-  )
-
 add_library(cube)
-target_link_libraries(osal cube)
 install(TARGETS cube EXPORT OsalTargets)
 
 set(CORE_DIR src/freertos/${BOARD})
 include(STM32Cube/${BOARD})
+
+add_subdirectory(src/freertos)
+target_link_libraries(osal-freertos
+  PRIVATE
+  cube
+  )
+
+set (OSAL_DEFAULT_SYSTEM
+  osal-freertos
+  CACHE STRING ${OSAL_DEFAULT_SYSTEM_HELP_STRING})
diff --git a/cmake/Windows.cmake b/cmake/Windows.cmake
@@ -13,46 +13,12 @@
 # full license information.
 #*******************************************************************/
 
-target_sources(osal PRIVATE
-  src/windows/osal.c
-  src/windows/osal_log.c
-  )
-
-target_compile_options(osal
-  PRIVATE
-  $<$<C_COMPILER_ID:MSVC>:
-    /W4
-    /WX
-    /wd4100
-    /wd4152
-  >
-
-  $<$<C_COMPILER_ID:GCC>:
-    -Wall
-    -Wextra
-    -Werror
-    -Wno-unused-parameter
-  >
-
-  PUBLIC
-  $<$<C_COMPILER_ID:MSVC>:
-    /wd4200
-  >
-  )
-
-target_link_libraries(osal
-  winmm)
-
-target_include_directories(osal PUBLIC
-  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/src/windows>
-  )
-
-install(FILES
-  src/windows/sys/osal_cc.h
-  src/windows/sys/osal_sys.h
-  DESTINATION include/sys
-  )
+add_subdirectory(src/windows)
 
 if (BUILD_TESTING)
   set(GOOGLE_TEST_INDIVIDUAL TRUE)
 endif()
+
+set (OSAL_DEFAULT_SYSTEM
+  osal-windows
+  CACHE STRING ${OSAL_DEFAULT_SYSTEM_HELP_STRING})
diff --git a/cmake/iMX8MM.cmake b/cmake/iMX8MM.cmake
@@ -14,25 +14,18 @@
 # full license information.
 #*******************************************************************/
 
-target_sources(osal PRIVATE
-  src/freertos/osal.c
-  src/freertos/osal_log.c
-  )
-
-target_include_directories(osal PUBLIC
-  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/src/freertos/>
-  )
-
-install(FILES
-  src/freertos/sys/osal_cc.h
-  src/freertos/sys/osal_sys.h
-  DESTINATION include/sys
-  )
-
 add_library(mcuxsdk)
-target_link_libraries(osal mcuxsdk)
 install(TARGETS mcuxsdk EXPORT OsalTargets)
 
-
 set(CORE_DIR src/freertos/${BOARD})
 include(MCUXSDK/${BOARD})
+
+add_subdirectory(src/freertos)
+target_link_libraries(osal-freertos
+  PRIVATE
+  cube
+  )
+
+set (OSAL_DEFAULT_SYSTEM
+  osal-freertos
+  CACHE STRING ${OSAL_DEFAULT_SYSTEM_HELP_STRING})
diff --git a/cmake/rt-kernel.cmake b/cmake/rt-kernel.cmake
@@ -13,29 +13,8 @@
 # full license information.
 #*******************************************************************/
 
-target_sources(osal PRIVATE
-  src/rt-kernel/osal.c
-  src/rt-kernel/osal_log.c
-  )
+add_subdirectory(src/rt-kernel)
 
-target_compile_options(osal
-  PRIVATE
-  -Wall
-  -Wextra
-  -Werror
-  -Wno-unused-parameter
-  )
-
-target_link_libraries(osal
-  kern
-  )
-
-target_include_directories(osal PUBLIC
-  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/src/rt-kernel>
-  )
-
-install(FILES
-  src/rt-kernel/sys/osal_cc.h
-  src/rt-kernel/sys/osal_sys.h
-  DESTINATION include/sys
-  )
+set (OSAL_DEFAULT_SYSTEM
+  osal-rt-kernel
+  CACHE STRING ${OSAL_DEFAULT_SYSTEM_HELP_STRING})
diff --git a/include/osal.h b/include/osal.h
@@ -25,7 +25,6 @@ extern "C" {
 #include <stdint.h>
 #include <stdbool.h>
 
-#include "sys/osal_sys.h"
 #include "sys/osal_cc.h"
 
 #ifndef MIN
@@ -44,41 +43,19 @@ extern "C" {
 #define NELEMENTS(a) (sizeof (a) / sizeof ((a)[0]))
 #endif
 
-#ifndef OS_WAIT_FOREVER
 #define OS_WAIT_FOREVER 0xFFFFFFFF
-#endif
 
 #ifndef OS_MAIN
 #define OS_MAIN int main
 #endif
 
-#ifndef OS_MUTEX
-typedef void os_mutex_t;
-#endif
-
-#ifndef OS_SEM
-typedef void os_sem_t;
-#endif
-
-#ifndef OS_THREAD
-typedef void os_thread_t;
-#endif
-
-#ifndef OS_EVENT
-typedef void os_event_t;
-#endif
-
-#ifndef OS_MBOX
-typedef void os_mbox_t;
-#endif
-
-#ifndef OS_TIMER
-typedef void os_timer_t;
-#endif
-
-#ifndef OS_TICK
-typedef void os_tick_t;
-#endif
+typedef struct os_mutex os_mutex_t;
+typedef struct os_sem os_sem_t;
+typedef struct os_thread os_thread_t;
+typedef struct os_event os_event_t;
+typedef struct os_mbox os_mbox_t;
+typedef struct os_timer os_timer_t;
+typedef uint64_t os_tick_t;
 
 void * os_malloc (size_t size);
 void os_free (void * ptr);

diff --git a/include/sys/osal_cc.h b/include/sys/osal_cc.h
@@ -0,0 +1,26 @@
+/*********************************************************************
+ *        _       _         _
+ *  _ __ | |_  _ | |  __ _ | |__   ___
+ * | '__|| __|(_)| | / _` || '_ \ / __|
+ * | |   | |_  _ | || (_| || |_) |\__ \
+ * |_|    \__|(_)|_| \__,_||_.__/ |___/
+ *
+ * www.rt-labs.com
+ * Copyright 2017 rt-labs AB, Sweden.
+ *
+ * This software is licensed under the terms of the BSD 3-clause
+ * license. See the file LICENSE distributed with this software for
+ * full license information.
+ ********************************************************************/
+
+#if defined(__rtk__)
+#include "osal_cc_rtk.h"
+#elif defined(__GNUC__) || defined(__GNUG__)
+#include "osal_cc_gcc.h"
+#elif defined(__clang__)
+#include "osal_cc_clang.h"
+#elif defined(_MSC_VER)
+#include "osal_cc_msvc.h"
+#else
+#error "Unsupported compiler"
+#endif