Fix CMake build for RP2040

[yh-sb]

Fix CMake build for RP2040.

This fix enables build RP2040 using generic FreeRTOS CMake. Currently (before this fix), RP2040 is built using only its internal custom CMake portable/ThirdParty/GCC/RP2040/library.cmake.

Description

Add public dependency to hardware_sync because portable\ThirdParty\GCC\RP2040\include\portmacro.h exposes include "hardware/sync.h" to FreeRTOS.h which is PUBLIC.

Add private dependency to pico_multicore to expose LIB_PICO_MULTICORE definition which enables prvFIFOInterruptHandler() under the following conditions:

FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/port.c

Line 280 in 874fa7b

#if ( LIB_PICO_MULTICORE == 1 ) && ( configSUPPORT_PICO_SYNC_INTEROP == 1 )

Also pico_multicore provides the sio_hw definition:

FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/port.c

Line 522 in 874fa7b

sio_hw->fifo_wr = 0;

Test Steps

Build the project with the following config:

• FreeRTOS-Kernel V11.1.0
• Pico-sdk 2.0.0+ branch develop

CMakeLists.txt

cmake_minimum_required(VERSION 3.15)

find_program(CMAKE_ASM_COMPILER NAMES arm-none-eabi-gcc)
find_program(CMAKE_C_COMPILER NAMES arm-none-eabi-gcc)
find_program(CMAKE_CXX_COMPILER NAMES arm-none-eabi-g++)
find_program(CMAKE_LINKER NAMES arm-none-eabi-g++)
find_program(CMAKE_OBJCOPY NAMES arm-none-eabi-objcopy)
find_program(CMAKE_SIZE NAMES arm-none-eabi-size)
set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_SYSTEM_PROCESSOR arm)
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)

project(rp2040 C CXX ASM)

set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
set(CMAKE_CXX_STANDARD 20)

add_compile_options(
    -mcpu=cortex-m0plus
    -mthumb
    -ffunction-sections
    -fdata-sections
    $<$<COMPILE_LANGUAGE:CXX>:-fno-exceptions>
    $<$<COMPILE_LANGUAGE:CXX>:-fno-rtti>
    $<$<COMPILE_LANGUAGE:CXX>:-fno-threadsafe-statics>
    $<$<COMPILE_LANGUAGE:CXX>:-fno-use-cxa-atexit>
)

# Pico-sdk
set(PICO_PLATFORM rp2040)
set(PICO_DEOPTIMIZED_DEBUG $<CONFIG:Debug>)
add_subdirectory(third_party/pico-sdk)
pico_sdk_init()

# FreeRTOS
set(FREERTOS_PORT GCC_RP2040 CACHE STRING "")
set(FREERTOS_HEAP 4)
add_library(freertos_config INTERFACE)
target_include_directories(freertos_config SYSTEM INTERFACE .)
target_compile_definitions(freertos_config INTERFACE FREE_RTOS_KERNEL_SMP=1 LIB_FREERTOS_KERNEL=1)
add_subdirectory(third_party/FreeRTOS-Kernel)

add_executable(${CMAKE_PROJECT_NAME}
    main.cpp
    FreeRTOSHooks.c
)

target_link_options(${CMAKE_PROJECT_NAME} PRIVATE
    -mcpu=cortex-m0plus
    -Wl,--gc-sections
    -specs=nano.specs
    -Wl,-Map=${CMAKE_PROJECT_NAME}.map,--cref
)

target_link_libraries(${CMAKE_PROJECT_NAME} PRIVATE
    pico_stdlib
    freertos_kernel
)

set(CMAKE_EXECUTABLE_SUFFIX .elf)
# Generate .uf2, .elf using pico-sdk
pico_add_extra_outputs(${CMAKE_PROJECT_NAME})

set_target_properties(${CMAKE_PROJECT_NAME} PROPERTIES SUFFIX ".elf")
add_custom_command(TARGET ${CMAKE_PROJECT_NAME} POST_BUILD
    COMMAND ${CMAKE_SIZE} ${CMAKE_PROJECT_NAME}.elf
)

FreeRTOSConfig.h

/*
 * FreeRTOS V202212.00
 * 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.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H

/*-----------------------------------------------------------
 * Application specific definitions.
 *
 * These definitions should be adjusted for your particular hardware and
 * application requirements.
 *
 * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
 * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
 *
 * See http://www.freertos.org/a00110.html
 *----------------------------------------------------------*/

/* 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 ) 512
#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          (defined(NDEBUG) ? 0 : 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]
*/

#if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS
/* SMP port only */
#ifndef configNUMBER_OF_CORES
#define configNUMBER_OF_CORES                   2
#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_TASK_PREEMPTION_DISABLE       0
#define configUSE_PASSIVE_IDLE_HOOK             0
#define configSMP_SPINLOCK_0                    PICO_SPINLOCK_ID_OS1
#define configSMP_SPINLOCK_1                    PICO_SPINLOCK_ID_OS2
#endif

/* 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

#if PICO_RP2350
#define configENABLE_MPU                        0
#define configENABLE_TRUSTZONE                  0
#define configRUN_FREERTOS_SECURE_ONLY          1
#define configENABLE_FPU                        1
#define configMAX_SYSCALL_INTERRUPT_PRIORITY    16
#endif

/* A header file that defines trace macro can be included here. */

#endif /* FREERTOS_CONFIG_H */

main.cpp

#include <stdio.h>
#include "pico/stdio_uart.h"
#include "FreeRTOS.h"
#include "task.h"

static void heartbeat_task(void *pvParameters)
{
    while(1)
    {
        vTaskDelay(500);
    }
}

int main(int argc, char *argv[])
{
    xTaskCreate(heartbeat_task, "heartbeat", configMINIMAL_STACK_SIZE, nullptr, 1, nullptr);
    vTaskStartScheduler();
    
    return 0;
}

FreeRTOSHooks.c

#include <assert.h>
#include "FreeRTOS.h"
#include "task.h"

void vApplicationIdleHook(void)
{
    /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
    to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
    task. It is essential that code added to this hook function never attempts
    to block in any way (for example, call xQueueReceive() with a block time
    specified, or call vTaskDelay()). If the application makes use of the
    vTaskDelete() API function (as this demo application does) then it is also
    important that vApplicationIdleHook() is permitted to return to its calling
    function, because it is the responsibility of the idle task to clean up
    memory allocated by the kernel to any task that has since been deleted. */
}

void vApplicationTickHook(void)
{
    /* This function will be called by each tick interrupt if
    configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h. User code can be
    added here, but the tick hook is called from an interrupt context, so
    code must not attempt to block, and only the interrupt safe FreeRTOS API
    functions can be used (those that end in FromISR()). */
}

void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName)
{
    assert(0);
}

void vApplicationMallocFailedHook(void)
{
    assert(0);
}

Checklist:

• I have tested my changes. No regression in existing tests.
• I have modified and/or added unit-tests to cover the code changes in this Pull Request.

Related Issue

The SMP support for RP2040 was added in scope #716. And was tested using internal RP2040 CMake files instead of using FreeRTOS CMake.

By submitting this pull request, I confirm that you can use, modify, copy, and redistribute this contribution, under the terms of your choice.

[sonarcloud]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

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