Rp2040 freertos

examples/device/hid_composite_freertos/CMakeLists.txt

@@ -1,17 +1,77 @@
 cmake_minimum_required(VERSION 3.5)
 
-# use BOARD-Directory name for project id
-get_filename_component(PROJECT ${CMAKE_CURRENT_SOURCE_DIR} NAME)
-set(PROJECT ${BOARD}-${PROJECT})
-
 # TOP is absolute path to root directory of TinyUSB git repo
 set(TOP "../../..")
 get_filename_component(TOP "${TOP}" REALPATH)
 
 # Check for -DFAMILY=
 if(FAMILY MATCHES "^esp32s[2-3]")
+  # use BOARD-Directory name for project id
+  get_filename_component(PROJECT ${CMAKE_CURRENT_SOURCE_DIR} NAME)
+  set(PROJECT ${BOARD}-${PROJECT})
   include(${TOP}/hw/bsp/${FAMILY}/family.cmake)
   project(${PROJECT})
+elseif(FAMILY MATCHES "rp2040")
+  # gets PROJECT name for the example (e.g. <BOARD>-<DIR_NAME>)
+  family_get_project_name(PROJECT ${CMAKE_CURRENT_LIST_DIR})
+  if (DEFINED ENV{FREERTOS_KERNEL_PATH})
+  # Pull in FreeRTOS
+  include(FreeRTOS_Kernel_import.cmake)
+  project(${PROJECT})
+  include(${TOP}/hw/bsp/${FAMILY}/family.cmake)
+  # Checks this example is valid for the family and initializes the project
+  family_initialize_project(${PROJECT} ${CMAKE_CURRENT_LIST_DIR})
+
+  add_executable(${PROJECT})
+  # Example source
+  target_sources(${PROJECT} PUBLIC
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/main.c
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/usb_descriptors.c
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/freertos_hook.c
+        )
+
+  # Example include
+  target_include_directories(${PROJECT} PUBLIC
+        ${CMAKE_CURRENT_SOURCE_DIR}/src
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/FreeRTOSConfig
+        )
+  if (PICO_C_COMPILER_IS_GNU)
+    # TODO: watch for update to the FreeRTOS-Kernel code
+    # There are a disturbing number of warnings in the FreeRTOS-Kernel smp branch
+    # The need for -Wno-shadow -Wno-cast-qual -Wno-cast-align indicate likely bugs
+    set_source_files_properties(
+            ${FREERTOS_KERNEL_PATH}/portable/ThirdParty/GCC/RP2040/port.c
+            ${FREERTOS_KERNEL_PATH}/portable/MemMang/heap_4.c
+            ${FREERTOS_KERNEL_PATH}/event_groups.c
+            ${FREERTOS_KERNEL_PATH}/croutine.c
+            ${FREERTOS_KERNEL_PATH}/timers.c
+            ${FREERTOS_KERNEL_PATH}/queue.c
+            ${FREERTOS_KERNEL_PATH}/tasks.c
+            ${FREERTOS_KERNEL_PATH}/list.c
+            ${FREERTOS_KERNEL_PATH}/stream_buffer.c
+            PROPERTIES
+            COMPILE_FLAGS "-Wno-type-limits -Wno-conversion -Wno-sign-compare -Wno-shadow -Wno-unused-parameter -Wno-cast-qual -Wno-cast-align")
+    # Small issues in vPortRecursiveLock() in portmacro.h cause the following warnings in our added code
+    set_source_files_properties(
+            ${PICO_TINYUSB_PATH}/hw/bsp/rp2040/family.c
+            ${PICO_TINYUSB_PATH}/src/tusb.c
+            ${PICO_TINYUSB_PATH}/src/portable/raspberrypi/rp2040/dcd_rp2040.c
+            ${PICO_TINYUSB_PATH}/src/class/hid/hid_device.c
+            ${PICO_TINYUSB_PATH}/src/common/tusb_fifo.c
+            ${PICO_TINYUSB_PATH}/src/device/usbd.c
+            ${PICO_TINYUSB_PATH}/src/device/usbd_control.c
+            ${CMAKE_CURRENT_SOURCE_DIR}/src/main.c
+            ${CMAKE_CURRENT_SOURCE_DIR}/src/usb_descriptors.c
+            ${CMAKE_CURRENT_SOURCE_DIR}/src/freertos_hook.c
+            PROPERTIES
+            COMPILE_FLAGS "-Wno-type-limits -Wno-conversion")
+  endif()
+  # Configure compilation flags and libraries for the example... see the corresponding function
+  # in hw/bsp/FAMILY/family.cmake for details.
+  family_configure_device_freertos_example(${PROJECT})
+  else()
+    message(STATUS "skipping ${PROJECT}: FREERTOS_KERNEL_PATH is not defined")
+  endif()
 else()
   message(FATAL_ERROR "Invalid FAMILY specified: ${FAMILY}")
 endif()

examples/device/hid_composite_freertos/FreeRTOS_Kernel_import.cmake

@@ -0,0 +1,62 @@
+# This is a copy of <FREERTOS_KERNEL_PATH>/portable/ThirdParty/GCC/RP2040/FREERTOS_KERNEL_import.cmake
+
+# This can be dropped into an external project to help locate the FreeRTOS kernel
+# It should be include()ed prior to project(). Alternatively this file may
+# or the CMakeLists.txt in this directory may be included or added via add_subdirectory
+# respectively.
+
+if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH))
+    set(FREERTOS_KERNEL_PATH $ENV{FREERTOS_KERNEL_PATH})
+    message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')")
+endif ()
+
+set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2040")
+# undo the above
+set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..")
+
+if (NOT FREERTOS_KERNEL_PATH)
+    # check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly)
+    get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH)
+    get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH)
+    if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
+        get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
+    endif()
+    if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
+        get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
+        message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake")
+    elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel")
+        set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel)
+        message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}")
+    endif()
+endif ()
+
+if (NOT FREERTOS_KERNEL_PATH)
+    foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source)
+        # check if FreeRTOS-Kernel exists under directory that included us
+        set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR}})
+        set(SEARCH_ROOT ../../../..)
+        get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH)
+        if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
+            get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH)
+            message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project")
+            break()
+        endif()
+    endforeach()
+endif()
+
+if (NOT FREERTOS_KERNEL_PATH)
+    message(FATAL_ERROR "FreeRTOS location was not specified. Please set FREERTOS_KERNEL_PATH.")
+endif()
+
+set(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" CACHE PATH "Path to the FreeRTOS Kernel")
+
+get_filename_component(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
+if (NOT EXISTS ${FREERTOS_KERNEL_PATH})
+    message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' not found")
+endif()
+if (NOT EXISTS ${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
+    message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain an RP2040 port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
+endif()
+set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} CACHE PATH "Path to the FreeRTOS_KERNEL" FORCE)
+
+add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL)

examples/device/hid_composite_freertos/skip.txt

@@ -4,7 +4,6 @@ mcu:F1C100S
 mcu:GD32VF103
 mcu:MKL25ZXX
 mcu:MSP430x5xx
-mcu:RP2040
 mcu:SAMD11
 mcu:SAMX7X
 mcu:VALENTYUSB_EPTRI

examples/device/hid_composite_freertos/src/FreeRTOSConfig/FreeRTOSConfig.h

@@ -62,6 +62,103 @@
 
 #endif
 
+#if CFG_TUSB_MCU == OPT_MCU_RP2040
+
+/* Scheduler Related */
+#define configUSE_PREEMPTION                    1
+#define configUSE_TICKLESS_IDLE                 0
+#define configUSE_IDLE_HOOK                     0
+#define configUSE_TICK_HOOK                     1
+#define configTICK_RATE_HZ                      ( ( TickType_t ) 1000 )
+#define configMAX_PRIORITIES                    32
+#define configMINIMAL_STACK_SIZE                ( configSTACK_DEPTH_TYPE ) 256
+#define configUSE_16_BIT_TICKS                  0
+
+#define configIDLE_SHOULD_YIELD                 1
+
+/* Synchronization Related */
+#define configUSE_MUTEXES                       1
+#define configUSE_RECURSIVE_MUTEXES             1
+#define configUSE_APPLICATION_TASK_TAG          0
+#define configUSE_COUNTING_SEMAPHORES           1
+#define configQUEUE_REGISTRY_SIZE               8
+#define configUSE_QUEUE_SETS                    1
+#define configUSE_TIME_SLICING                  1
+#define configUSE_NEWLIB_REENTRANT              0
+#define configENABLE_BACKWARD_COMPATIBILITY     0
+#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
+
+/* System */
+#define configSTACK_DEPTH_TYPE                  uint32_t
+#define configMESSAGE_BUFFER_LENGTH_TYPE        size_t
+
+/* Memory allocation related definitions. */
+#define configSUPPORT_STATIC_ALLOCATION         0
+#define configSUPPORT_DYNAMIC_ALLOCATION        1
+#define configTOTAL_HEAP_SIZE                   (128*1024)
+#define configAPPLICATION_ALLOCATED_HEAP        0
+
+/* Hook function related definitions. */
+#define configCHECK_FOR_STACK_OVERFLOW          2
+#define configUSE_MALLOC_FAILED_HOOK            1
+#define configUSE_DAEMON_TASK_STARTUP_HOOK      0
+
+/* Run time and task stats gathering related definitions. */
+#define configGENERATE_RUN_TIME_STATS           0
+#define configUSE_TRACE_FACILITY                1
+#define configUSE_STATS_FORMATTING_FUNCTIONS    0
+
+/* Co-routine related definitions. */
+#define configUSE_CO_ROUTINES                   0
+#define configMAX_CO_ROUTINE_PRIORITIES         1
+
+/* Software timer related definitions. */
+#define configUSE_TIMERS                        1
+#define configTIMER_TASK_PRIORITY               ( configMAX_PRIORITIES - 1 )
+#define configTIMER_QUEUE_LENGTH                10
+#define configTIMER_TASK_STACK_DEPTH            1024
+
+/* Interrupt nesting behaviour configuration. */
+/*
+#define configKERNEL_INTERRUPT_PRIORITY         [dependent of processor]
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    [dependent on processor and application]
+#define configMAX_API_CALL_INTERRUPT_PRIORITY   [dependent on processor and application]
+*/
+
+/* SMP port only */
+#define configNUM_CORES                         2
+#define configTICK_CORE                         0
+#define configRUN_MULTIPLE_PRIORITIES           0
+
+/* RP2040 specific */
+#define configSUPPORT_PICO_SYNC_INTEROP         1
+#define configSUPPORT_PICO_TIME_INTEROP         1
+
+#include <assert.h>
+/* Define to trap errors during development. */
+#define configASSERT(x)                         assert(x)
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+#define INCLUDE_vTaskPrioritySet                1
+#define INCLUDE_uxTaskPriorityGet               1
+#define INCLUDE_vTaskDelete                     1
+#define INCLUDE_vTaskSuspend                    1
+#define INCLUDE_vTaskDelayUntil                 1
+#define INCLUDE_vTaskDelay                      1
+#define INCLUDE_xTaskGetSchedulerState          1
+#define INCLUDE_xTaskGetCurrentTaskHandle       1
+#define INCLUDE_uxTaskGetStackHighWaterMark     1
+#define INCLUDE_xTaskGetIdleTaskHandle          1
+#define INCLUDE_eTaskGetState                   1
+#define INCLUDE_xTimerPendFunctionCall          1
+#define INCLUDE_xTaskAbortDelay                 1
+#define INCLUDE_xTaskGetHandle                  1
+#define INCLUDE_xTaskResumeFromISR              1
+#define INCLUDE_xQueueGetMutexHolder            1
+
+#else
+
 /* Cortex M23/M33 port configuration. */
 #define configENABLE_MPU								        0
 #define configENABLE_FPU								        1
@@ -202,5 +299,5 @@ See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
 #define configMAX_SYSCALL_INTERRUPT_PRIORITY 	        ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
 
 #endif
-
+#endif
 #endif /* __FREERTOS_CONFIG__H */

examples/device/hid_composite_freertos/src/freertos_hook.c

@@ -37,7 +37,7 @@ void vApplicationMallocFailedHook(void)
   TU_ASSERT(false, );
 }
 
-void vApplicationStackOverflowHook(xTaskHandle pxTask, char *pcTaskName)
+void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName)
 {
   (void) pxTask;
   (void) pcTaskName;
@@ -46,6 +46,11 @@ void vApplicationStackOverflowHook(xTaskHandle pxTask, char *pcTaskName)
   TU_ASSERT(false, );
 }
 
+void vApplicationTickHook( void )
+{
+}
+
+#if configSUPPORT_STATIC_ALLOCATION
 /* configSUPPORT_STATIC_ALLOCATION is set to 1, so the application must provide an
  * implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
  * used by the Idle task. */
@@ -93,7 +98,7 @@ void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, Stack
     configTIMER_TASK_STACK_DEPTH is specified in words, not bytes. */
   *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
 }
-
+#endif
 #if CFG_TUSB_MCU == OPT_MCU_RX63X | CFG_TUSB_MCU == OPT_MCU_RX65X
 #include "iodefine.h"
 void vApplicationSetupTimerInterrupt(void)

examples/device/hid_composite_freertos/src/main.c

@@ -41,7 +41,6 @@
   #include "freertos/timers.h"
 
   #define USBD_STACK_SIZE     4096
-
 #else
   #include "FreeRTOS.h"
   #include "semphr.h"

hw/bsp/board.h

@@ -80,7 +80,7 @@ int board_uart_write(void const * buf, int len);
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
   static inline uint32_t board_millis(void)
   {
-    return ( ( ((uint64_t) xTaskGetTickCount()) * 1000) / configTICK_RATE_HZ );
+    return (uint32_t)( ( ((uint64_t) xTaskGetTickCount()) * 1000) / configTICK_RATE_HZ );
   }
 
 #elif CFG_TUSB_OS == OPT_OS_MYNEWT