add FreeRTOS conversion definition by moving from mros2-mbed

Author: takasehideki

include/mros2/freertos_conversion.h

@@ -0,0 +1,41 @@
+/* 
+ * Conversion of FreeRTOS's definitions/types/functions in embeddedRTPS
+ * 
+ * Copyright (c) 2022 mROS-base
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef RTPS_CONVERSION_H
+#define RTPS_CONVERSION_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+#include <stdint.h>
+typedef uint32_t TickType_t;
+#define configTICK_RATE_HZ ((TickType_t)1000)
+
+#ifndef pdMS_TO_TICKS
+#define pdMS_TO_TICKS(xTimeInMs) ((TickType_t)(((TickType_t)(xTimeInMs) * (TickType_t)configTICK_RATE_HZ) / (TickType_t)1000))
+#endif
+
+#define xTaskGetTickCount osKernelGetTickCount
+#define vTaskDelay osDelay
+
+void sys_msleep(unsigned int ms);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* RTPS_CONVERSION_H */