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Add RP2040 support (#341)
* Add RP2040 support * remove spurious tab/spaces comments * add .cmake to ignored kernel checks * Apply suggestions from code review Co-authored-by: Paul Bartell <[email protected]> * license and end of file newline fixes * Rename LICENSE.TXT to LICENSE.md Co-authored-by: Paul Bartell <[email protected]> Co-authored-by: Gaurav-Aggarwal-AWS <[email protected]>
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‎.github/scripts/kernel_checker.py

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'.png',
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'.bat',
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'.sh',
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'.txt'
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'.txt',
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'.cmake'
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]
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KERNEL_ASM_EXTENSIONS = [

‎include/stack_macros.h

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/*-----------------------------------------------------------*/
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/*
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* portSTACK_LIMIT_PADDING is a number of extra words to consider to be in
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* use on the stack.
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*/
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#ifndef portSTACK_LIMIT_PADDING
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#define portSTACK_LIMIT_PADDING 0
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#endif
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#if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) )
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/* Only the current stack state is to be checked. */
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#define taskCHECK_FOR_STACK_OVERFLOW() \
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{ \
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/* Is the currently saved stack pointer within the stack limit? */ \
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if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
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if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack + portSTACK_LIMIT_PADDING) \
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{ \
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vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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} \
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{ \
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\
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/* Is the currently saved stack pointer within the stack limit? */ \
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if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack ) \
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if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack - portSTACK_LIMIT_PADDING) \
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{ \
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vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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} \

‎portable/ThirdParty/GCC/RP2040/.gitignore

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**/cmake-*
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.idea

‎portable/ThirdParty/GCC/RP2040/CMakeLists.txt

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cmake_minimum_required(VERSION 3.13)
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if (NOT TARGET _FreeRTOS_kernel_inclusion_marker)
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add_library(_FreeRTOS_kernel_inclusion_marker INTERFACE)
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# Pull in PICO SDK (must be before project)
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include(pico_sdk_import.cmake)
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if (PICO_SDK_VERSION_STRING VERSION_LESS "1.2.0")
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message(FATAL_ERROR "Require at least Raspberry Pi Pico SDK version 1.2.0")
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endif()
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if (NOT FREERTOS_KERNEL_PATH)
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get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/../../../.. REALPATH)
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endif ()
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message(DEBUG "FREERTOS_KERNEL_PATH is ${FREERTOS_KERNEL_PATH}")
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project(FreeRTOS-Kernel C CXX)
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set(CMAKE_C_STANDARD 11)
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set(CMAKE_CXX_STANDARD 17)
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pico_is_top_level_project(FREERTOS_KERNEL_TOP_LEVEL_PROJECT)
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# The real work gets done in library.cmake which is called at the end of pico_sdk_init
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list(APPEND PICO_SDK_POST_LIST_FILES ${CMAKE_CURRENT_LIST_DIR}/library.cmake)
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# We need to inject the following header file into ALL SDK files (which we do via the config header)
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list(APPEND PICO_CONFIG_HEADER_FILES ${CMAKE_CURRENT_LIST_DIR}/include/freertos_sdk_config.h)
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if (FREERTOS_KERNEL_TOP_LEVEL_PROJECT)
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message("FreeRTOS: initialize SDK since we're the top-level")
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# Initialize the SDK
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pico_sdk_init()
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else()
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set(PICO_SDK_POST_LIST_FILES ${PICO_SDK_POST_LIST_FILES} PARENT_SCOPE)
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set(PICO_CONFIG_HEADER_FILES ${PICO_CONFIG_HEADER_FILES} PARENT_SCOPE)
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set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} PARENT_SCOPE)
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endif()
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endif()
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‎portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake

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

‎portable/ThirdParty/GCC/RP2040/LICENSE.md

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BSD-3-Clause License
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Copyright (c) 2020-2021 Raspberry Pi (Trading) Ltd.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
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following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following
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disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
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disclaimer in the documentation and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
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INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
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THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎portable/ThirdParty/GCC/RP2040/README.md

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## Overview
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This directory provides a FreeRTOS-Kernel port that can be used with the Raspberry Pi Pico SDK. It supports:
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* Simple CMake INTERFACE libraries, to provide the FreeRTOS-Kernel and also the individual allocator types, without copying code into the user's project.
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* Running the FreeRTOS-Kernel and tasks on either core 0 or core 1
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* Use of SDK synchronization primitives (such as mutexes, semaphores, queues from pico_sync) between FreeRTOS tasks and code executing on the other core, or in IRQ handlers.
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Note that a FreeRTOS SMP version of this port is also available in the FreeRTOS-Kernel smp branch, which additionally supports utilizing both RP2040 CPU cores for FreeRTOS tasks simultaneously.
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## Using this port
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Copy [FreeRTOS-Kernel-import.cmake](FreeRTOS-Kernel-import.cmake) into your project, and
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add:
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```cmake
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import(FreeRTOS_Kernel_import.cmake)
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```
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below the usual import of `pico_sdk_import.cmake`
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This will find the FreeRTOS kernel if it is a direct sub-module of your project, or if you provide the `FREERTOS_KERNEL_PATH` variable in your environment or via `-DFREERTOS_KERNEL_PATH=/path/to/FreeRTOS-Kernel` on the CMake command line.
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## Advanced Configuration
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Some additional `config` options are defined [here](include/rp2040_config.h) which control some low level implementation details.
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## Known Limitations
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- Tickless idle has not currently been tested, and is likely non-functional

‎portable/ThirdParty/GCC/RP2040/idle_task_static_memory.c

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/*
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* FreeRTOS Kernel <DEVELOPMENT BRANCH>
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* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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* Copyright (c) 2021 Raspberry Pi (Trading) Ltd.
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*
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* SPDX-License-Identifier: MIT AND BSD-3-Clause
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*/
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#include "FreeRTOS.h"
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void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer,
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StackType_t **ppxIdleTaskStackBuffer,
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uint32_t *pulIdleTaskStackSize )
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{
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/* If the buffers to be provided to the Idle task are declared inside this
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function then they must be declared static - otherwise they will be allocated on
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the stack and so not exists after this function exits. */
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static StaticTask_t xIdleTaskTCB;
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static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
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/* Pass out a pointer to the StaticTask_t structure in which the Idle task's
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state will be stored. */
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*ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
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/* Pass out the array that will be used as the Idle task's stack. */
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*ppxIdleTaskStackBuffer = uxIdleTaskStack;
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/* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
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Note that, as the array is necessarily of type StackType_t,
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configMINIMAL_STACK_SIZE is specified in words, not bytes. */
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*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
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}

‎portable/ThirdParty/GCC/RP2040/include/freertos_sdk_config.h

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/*
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* FreeRTOS Kernel V10.4.3
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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* Copyright (c) 2021 Raspberry Pi (Trading) Ltd.
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*
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* SPDX-License-Identifier: BSD-3-Clause
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*/
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#ifndef FREERTOS_SDK_CONFIG_H
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#define FREERTOS_SDK_CONFIG_H
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#ifndef __ASSEMBLER__
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#include "FreeRTOSConfig.h"
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#include "rp2040_config.h"
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#if ( configSUPPORT_PICO_SYNC_INTEROP == 1 )
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// increase the amount of time it may reasonably take to wake us up
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#ifndef PICO_TIME_SLEEP_OVERHEAD_ADJUST_US
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#define PICO_TIME_SLEEP_OVERHEAD_ADJUST_US 150
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#endif
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#define lock_owner_id_t uint32_t
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extern uint32_t ulPortLockGetCurrentOwnerId(void);
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#define lock_get_caller_owner_id() ulPortLockGetCurrentOwnerId()
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#define LOCK_INVALID_OWNER_ID ((uint32_t)-1)
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struct lock_core;
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#ifndef lock_internal_spin_unlock_with_wait
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extern void vPortLockInternalSpinUnlockWithWait( struct lock_core *pxLock, uint32_t ulSave);
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#define lock_internal_spin_unlock_with_wait(lock, save) vPortLockInternalSpinUnlockWithWait(lock, save)
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#endif
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#ifndef lock_internal_spin_unlock_with_notify
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extern void vPortLockInternalSpinUnlockWithNotify( struct lock_core *pxLock, uint32_t save);
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#define lock_internal_spin_unlock_with_notify(lock, save) vPortLockInternalSpinUnlockWithNotify(lock, save);
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#endif
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#ifndef lock_internal_spin_unlock_with_best_effort_wait_or_timeout
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extern bool xPortLockInternalSpinUnlockWithBestEffortWaitOrTimeout( struct lock_core *pxLock, uint32_t ulSave, absolute_time_t uxUntil);
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#define lock_internal_spin_unlock_with_best_effort_wait_or_timeout(lock, save, until) \
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xPortLockInternalSpinUnlockWithBestEffortWaitOrTimeout(lock, save, until)
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#endif
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#endif /* configSUPPORT_PICO_SYNC_INTEROP */
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#if ( configSUPPORT_PICO_TIME_INTEROP == 1 )
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extern void xPortSyncInternalYieldUntilBefore(absolute_time_t t);
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#define sync_internal_yield_until_before(t) xPortSyncInternalYieldUntilBefore(t)
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#endif /* configSUPPORT_PICO_TIME_INTEROP */
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#endif /* __ASSEMBLER__ */
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#endif

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