Merge pull request #3598 from hathach/worktree-rp2040-freertos

hathach · web-flow · commit 81641e35c67e · 2026-04-16T10:18:54.000+07:00
Add FreeRTOS support for RP2040/RP2350
diff --git a/.idea/cmake.xml b/.idea/cmake.xml
diff --git a/examples/device/audio_4_channel_mic_freertos/skip.txt b/examples/device/audio_4_channel_mic_freertos/skip.txt
@@ -9,7 +9,6 @@ mcu:MCXA15
 mcu:MKL25ZXX
 mcu:MSP430x5xx
 mcu:FT90X
-mcu:RP2040
 mcu:SAMD11
 mcu:VALENTYUSB_EPTRI
 mcu:RAXXX
diff --git a/examples/device/audio_4_channel_mic_freertos/src/main.c b/examples/device/audio_4_channel_mic_freertos/src/main.c
@@ -310,7 +310,7 @@ bool tud_audio_set_req_entity_cb(uint8_t rhport, tusb_control_request_t const *p
         // Request uses format layout 2
         TU_VERIFY(p_request->wLength == sizeof(audio20_control_cur_2_t));
 
-        volume[channelNum] = ((audio20_control_cur_2_t *) pBuff)->bCur;
+        volume[channelNum] = (uint16_t) ((audio20_control_cur_2_t *) pBuff)->bCur;
         TU_LOG1("    Set Volume: %d dB of channel: %u\r\n", volume[channelNum], channelNum);
         return true;
 
diff --git a/examples/device/audio_test_freertos/skip.txt b/examples/device/audio_test_freertos/skip.txt
@@ -9,7 +9,6 @@ mcu:MCXA15
 mcu:MKL25ZXX
 mcu:MSP430x5xx
 mcu:FT90X
-mcu:RP2040
 mcu:SAMD11
 mcu:VALENTYUSB_EPTRI
 mcu:RAXXX
diff --git a/examples/device/cdc_msc_freertos/skip.txt b/examples/device/cdc_msc_freertos/skip.txt
@@ -9,7 +9,6 @@ mcu:MCXA15
 mcu:MKL25ZXX
 mcu:MSP430x5xx
 mcu:FT90X
-mcu:RP2040
 mcu:SAMD11
 mcu:VALENTYUSB_EPTRI
 mcu:RAXXX
diff --git a/examples/device/cdc_msc_freertos/src/msc_disk.c b/examples/device/cdc_msc_freertos/src/msc_disk.c
@@ -168,7 +168,7 @@ static void io_task(void *params) {
   while (1) {
     if (xQueueReceive(io_queue, &io_ops, portMAX_DELAY)) {
       uint8_t* addr = (uint8_t*) (uintptr_t) (msc_disk[io_ops.lba] + io_ops.offset);
-      int32_t nbytes = io_ops.bufsize;
+      int32_t nbytes = (int32_t) io_ops.bufsize;
       if (io_ops.is_read) {
         memcpy(io_ops.buffer, addr, io_ops.bufsize);
       } else {
diff --git a/examples/device/hid_composite_freertos/skip.txt b/examples/device/hid_composite_freertos/skip.txt
@@ -9,7 +9,6 @@ mcu:MCXA15
 mcu:MKL25ZXX
 mcu:MSP430x5xx
 mcu:FT90X
-mcu:RP2040
 mcu:SAMD11
 mcu:VALENTYUSB_EPTRI
 mcu:RAXXX
diff --git a/examples/device/midi_test_freertos/skip.txt b/examples/device/midi_test_freertos/skip.txt
@@ -9,7 +9,6 @@ mcu:MCXA15
 mcu:MKL25ZXX
 mcu:MSP430x5xx
 mcu:FT90X
-mcu:RP2040
 mcu:SAMD11
 mcu:VALENTYUSB_EPTRI
 mcu:RAXXX
diff --git a/examples/host/cdc_msc_hid_freertos/skip.txt b/examples/host/cdc_msc_hid_freertos/skip.txt
@@ -1,4 +1,3 @@
 mcu:CH32F20X
-mcu:RP2040
 board:lpcxpresso54114
 mcu:FT90X
diff --git a/examples/host/msc_file_explorer/CMakeLists.txt b/examples/host/msc_file_explorer/CMakeLists.txt
@@ -23,13 +23,6 @@ target_sources(${PROJECT_NAME} PUBLIC
   ${TOP}/lib/fatfs/source/ffunicode.c
   )
 
-# Suppress warnings on fatfs
-if (CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID STREQUAL "Clang")
-  set_source_files_properties(${TOP}/lib/fatfs/source/ff.c PROPERTIES
-    COMPILE_FLAGS "-Wno-conversion -Wno-cast-qual"
-    )
-endif ()
-
 # Example include
 target_include_directories(${PROJECT_NAME} PUBLIC
   ${CMAKE_CURRENT_SOURCE_DIR}/src
@@ -40,3 +33,10 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 # Configure compilation flags and libraries for the example without RTOS.
 # See the corresponding function in hw/bsp/FAMILY/family.cmake for details.
 family_configure_host_example(${PROJECT_NAME} noos)
+
+# Suppress warnings on fatfs
+if (CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID STREQUAL "Clang")
+  set_source_files_properties(${TOP}/lib/fatfs/source/ff.c PROPERTIES
+    COMPILE_OPTIONS "-Wno-conversion;-Wno-cast-qual"
+    )
+endif ()
diff --git a/hw/bsp/family_support.cmake b/hw/bsp/family_support.cmake
@@ -367,24 +367,37 @@ endfunction()
 # Most families use these settings except rp2040 and espressif
 #-------------------------------------------------------------
 function(family_add_board BOARD_TARGET)
-  # empty function, should be redefined in FAMILY/family.cmake
+  # empty function, should be overridden in FAMILY/family.cmake
 endfunction()
 
 # Add RTOS to example
 function(family_add_rtos TARGET RTOS)
   if (RTOS STREQUAL "freertos")
-    if (NOT TARGET freertos_config)
-      add_library(freertos_config INTERFACE)
-      target_include_directories(freertos_config INTERFACE ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/${FAMILY}/FreeRTOSConfig)
-      # add board definition to freertos_config mostly for SystemCoreClock
-      target_link_libraries(freertos_config INTERFACE board_${BOARD})
-    endif()
+    # RP2040 family uses Raspberry Pi's FreeRTOS-Kernel fork with platform-specific SMP port
+    if (FAMILY STREQUAL "rp2040")
+      if (NOT TARGET FreeRTOS-Kernel)
+        set(FREERTOS_KERNEL_PATH ${TOP}/hw/mcu/raspberry_pi/FreeRTOS-Kernel)
+        set(FREERTOS_CONFIG_FILE_DIRECTORY ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/${FAMILY}/FreeRTOSConfig)
+        # FreeRTOS_Kernel_import.cmake auto-selects RP2040/RP2350/RISC-V port based on PICO_PLATFORM
+        include(${FREERTOS_KERNEL_PATH}/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake)
+      endif()
+      target_link_libraries(${TARGET} PUBLIC FreeRTOS-Kernel-Static)
+    else()
+      # All other families: use upstream FreeRTOS-Kernel with add_subdirectory
+      if (NOT TARGET freertos_config)
+        add_library(freertos_config INTERFACE)
+        target_include_directories(freertos_config INTERFACE
+          ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/${FAMILY}/FreeRTOSConfig)
+        target_link_libraries(freertos_config INTERFACE board_${BOARD})
+      endif()
+
+      if (NOT TARGET freertos_kernel)
+        add_subdirectory(${TOP}/lib/FreeRTOS-Kernel ${CMAKE_BINARY_DIR}/lib/freertos_kernel)
+      endif ()
 
-    if (NOT TARGET freertos_kernel)
-      add_subdirectory(${TOP}/lib/FreeRTOS-Kernel ${CMAKE_BINARY_DIR}/lib/freertos_kernel)
-    endif ()
+      target_link_libraries(${TARGET} PUBLIC freertos_kernel)
+    endif()
 
-    target_link_libraries(${TARGET} PUBLIC freertos_kernel)
     target_compile_definitions(${TARGET} PUBLIC CFG_TUSB_OS=OPT_OS_FREERTOS)
   elseif (RTOS STREQUAL "threadx")
     if (NOT TARGET threadx)
@@ -465,7 +478,11 @@ function(family_configure_common TARGET RTOS)
     target_compile_definitions(${TARGET} PUBLIC LOGGER_UART)
   endif ()
 
-  if (CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID STREQUAL "Clang")
+  if (FAMILY STREQUAL "rp2040")
+    # RP2040: apply warnings per-source-file (not per-target) since Pico SDK sources
+    # are INTERFACE and would not inherit target-level warnings correctly
+    family_add_default_example_warnings(${TARGET})
+  elseif (CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID STREQUAL "Clang")
     target_compile_options(${TARGET} PRIVATE ${WARN_FLAGS_${CMAKE_C_COMPILER_ID}})
     target_link_options(${TARGET} PUBLIC "LINKER:-Map=$<TARGET_FILE:${TARGET}>.map")
     if (CMAKE_C_COMPILER_ID STREQUAL "GNU" AND CMAKE_C_COMPILER_VERSION VERSION_GREATER_EQUAL 12.0
@@ -557,11 +574,11 @@ endfunction()
 
 #-------------------------------------------------------
 # Example Target Configure (Default rule)
-# These function can be redefined in FAMILY/family.cmake
+# These function can be overridden in FAMILY/family.cmake
 #--------------------------------------------------------
 
 function(family_configure_example TARGET RTOS)
-  # empty function, should be redefined in FAMILY/family.cmake
+  # empty function, should be overridden in FAMILY/family.cmake
 endfunction()
 
 # Configure device example with RTOS
diff --git a/hw/bsp/family_support.mk b/hw/bsp/family_support.mk
@@ -170,6 +170,7 @@ ifeq ($(RTOS),freertos)
 
 	# Suppress FreeRTOS source warnings
 	CFLAGS += -Wno-error=cast-qual
+	CFLAGS += -Wno-error=null-dereference
 
 	# FreeRTOS (lto + Os) linker issue
 	LDFLAGS += -Wl,--undefined=vTaskSwitchContext
diff --git a/hw/bsp/rp2040/FreeRTOSConfig/FreeRTOSConfig.h b/hw/bsp/rp2040/FreeRTOSConfig/FreeRTOSConfig.h
@@ -0,0 +1,144 @@
+/*
+ * FreeRTOS V202111.00
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/* Scheduler Related */
+#define configUSE_PREEMPTION                    1
+#define configUSE_TICKLESS_IDLE                 0
+#define configUSE_IDLE_HOOK                     0
+#define configUSE_TICK_HOOK                     0
+#define configTICK_RATE_HZ                      ( ( TickType_t ) 1000 )
+#define configMAX_PRIORITIES                    5
+#define configMINIMAL_STACK_SIZE                ( configSTACK_DEPTH_TYPE ) 128
+#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               4
+#define configUSE_QUEUE_SETS                    0
+#define configUSE_TIME_SLICING                  0
+#define configUSE_NEWLIB_REENTRANT              0
+#define configENABLE_BACKWARD_COMPATIBILITY     1
+#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         1
+#define configSUPPORT_DYNAMIC_ALLOCATION        0
+#define configTOTAL_HEAP_SIZE                   ( configSUPPORT_DYNAMIC_ALLOCATION * 4 * 1024 )
+#define configAPPLICATION_ALLOCATED_HEAP        0
+
+/* Hook function related definitions. */
+#define configCHECK_FOR_STACK_OVERFLOW          2
+#define configUSE_MALLOC_FAILED_HOOK            0
+#define configUSE_DAEMON_TASK_STARTUP_HOOK      0
+#define configCHECK_HANDLER_INSTALLATION        0
+
+/* Run time and task stats gathering related definitions. */
+#define configGENERATE_RUN_TIME_STATS           0
+#define configRECORD_STACK_HIGH_ADDRESS         1
+#define configUSE_TRACE_FACILITY                1
+#define configUSE_STATS_FORMATTING_FUNCTIONS    0
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES                   0
+#define configMAX_CO_ROUTINE_PRIORITIES         2
+
+/* Software timer related definitions. */
+#define configUSE_TIMERS                        1
+#define configTIMER_TASK_PRIORITY               ( configMAX_PRIORITIES - 2 )
+#define configTIMER_QUEUE_LENGTH                32
+#define configTIMER_TASK_STACK_DEPTH            configMINIMAL_STACK_SIZE
+
+/* SMP port configuration (set by the RP2xxx SMP port of FreeRTOS) */
+#if FREE_RTOS_KERNEL_SMP
+#ifndef configNUMBER_OF_CORES
+#define configNUMBER_OF_CORES                   1
+#endif
+#define configNUM_CORES                         configNUMBER_OF_CORES
+#define configTICK_CORE                         0
+#define configRUN_MULTIPLE_PRIORITIES           1
+#if configNUMBER_OF_CORES > 1
+#define configUSE_CORE_AFFINITY                 1
+#endif
+#define configUSE_PASSIVE_IDLE_HOOK             0
+#endif
+
+/* RP2040/RP2350 specific */
+#define configSUPPORT_PICO_SYNC_INTEROP         1
+#define configSUPPORT_PICO_TIME_INTEROP         1
+#define configUSE_DYNAMIC_EXCEPTION_HANDLERS    0
+
+/* Macros used in #if without #ifdef guards in port headers,
+ * must be explicitly defined to avoid -Wundef warnings. */
+#ifndef PICO_DIVIDER_DISABLE_INTERRUPTS
+#define PICO_DIVIDER_DISABLE_INTERRUPTS         0
+#endif
+#define portARMV8M_MINOR_VERSION                0
+
+#if defined(PICO_RP2350) && PICO_RP2350
+/* Cortex-M33 port configuration (RP2350). */
+#define configENABLE_MPU                        0
+#define configENABLE_FPU                        1
+#define configENABLE_MVE                        0
+#define configENABLE_TRUSTZONE                  0
+#define configRUN_FREERTOS_SECURE_ONLY          1
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    16
+#endif
+
+#include <assert.h>
+#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                0
+#define INCLUDE_uxTaskPriorityGet               0
+#define INCLUDE_vTaskDelete                     0
+#define INCLUDE_vTaskSuspend                    1 // required for portMAX_DELAY
+#define INCLUDE_xResumeFromISR                  0
+#define INCLUDE_vTaskDelayUntil                 1
+#define INCLUDE_vTaskDelay                      1
+#define INCLUDE_xTaskGetSchedulerState          0
+#define INCLUDE_xTaskGetCurrentTaskHandle       1
+#define INCLUDE_uxTaskGetStackHighWaterMark     0
+#define INCLUDE_xTaskGetIdleTaskHandle          0
+#define INCLUDE_xTimerGetTimerDaemonTaskHandle  0
+#define INCLUDE_pcTaskGetTaskName               0
+#define INCLUDE_eTaskGetState                   0
+#define INCLUDE_xEventGroupSetBitFromISR        1
+#define INCLUDE_xTimerPendFunctionCall          1
+
+#endif /* FREERTOS_CONFIG_H */
diff --git a/hw/bsp/rp2040/family.c b/hw/bsp/rp2040/family.c
@@ -298,6 +298,20 @@ void board_init_after_tusb(void) {
   // nothing to do
 }
 
+//--------------------------------------------------------------------+
+// FreeRTOS hooks
+//--------------------------------------------------------------------+
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
+#include "FreeRTOS.h"
+#include "task.h"
+
+void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName) {
+  (void) xTask;
+  (void) pcTaskName;
+  panic("FreeRTOS stack overflow: %s", pcTaskName);
+}
+#endif
+
 void board_reset_to_bootloader(void) {
   // not implemented
 }
diff --git a/hw/bsp/rp2040/family.cmake b/hw/bsp/rp2040/family.cmake
diff --git a/test/hil/hil_test.py b/test/hil/hil_test.py
diff --git a/tools/get_deps.py b/tools/get_deps.py
